Power System Stability
Power System Stability
Power system is defined as a network of one or more
generating units, loads and power transmission lines
including the associated equipments connected to it.
The stability of a power system is its ability to develop
restoring forces equal to or greater than the disturbing forces
to maintain the state of equilibrium.
Power system stability problem gets more pronounced in
case of interconnection of large power networks.
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Definition
A Proposed Definition by IEEE
“Power system stability is the ability of an electric power
system, for a given initial operating condition, to regain
a state of operating equilibrium after being subjected to
a physical disturbance, with most system variables
bounded so that practically the entire system remains
intact.”
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Classification of stability
Classification is based on the following considerations:
physical nature of the resulting instability
size of the disturbance considered
processes, and the time span involved
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Steady State Stability
Ability to regain normal and stable operation after being
subjected to gradual or slow change in the load.
Load is assume to be applied at a rate which is slow.
System is Analysis by the set of linear equation.
Action of Voltage regulators and turbine governors are not
included.
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Transient Stability
Ability to regain normal and stable operation after being
subjected to sudden & large changes in the load.
Losses-generator excitation, transmission, switching
operations and faults.
Linearization of system equation is not permitted.
Studied on the basis of swing.
Action of Voltage regulators and turbine governor are not
included.
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Dynamic Stability
Same as steady state stability
Included action of turbine governors and voltage regulators.
Study time is 4-10 sec
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Swing Equation
The figure below shows the torque, speed and flow of
mechanical and electrical powers in a synchronous machine.
The differential equation governing the rotor dynamics can
then be written as m= angle in rad (mech)
Tm=mechanical torque in Nm;
Te= electromagnetic torque developed in Nm;
Multiplying both sides by sm we can write
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Let rotor angular displacement from synchronously rotating
reference frame (called torque angle/power angle)
swing equation
Synchronous Machine Models for Stability Studies
The simplest model for stability analysis is the classical model,
where the machine is represented by a constant voltage E' behind
the direct axis transient reactance Xd‘
Consider a generator connected to an infinite bus (sub-station)
through a transmission line as shown below.
The node representing the generator terminal voltage Vg can be
eliminated by converting the Y-connected impedances to an
equivalent ▲ with admittances given by
The nodal equations can be given as
In terms of admittance matrix
The real power at node 1 is given as
For an inductive network, all resistances are neglected hence 11 and
12 are 90°, hence the above equation become
The relation shows that the power transmitted depends upon the
transfer reactance and the angle between the two voltages.
The curve P versus is known as the power angle curve and is
shown below
The gradual increase of the generator power output is possible
until the maximum electrical power is transferred. This maximum
power is referred to as the steady- state stability limit, and occurs
at an angular displacement of 90°.
Steady state stability-small disturbances
The swing equation can be put as follows-non linear function of
power angle; but can be linearized for small change in
Consider a small deviation in power angle from the initial
operating point 0, i.e.
Since at the initial condition
Then
The quantity Pmaxcos0 is the slope of the power-angle curve at 0.
It is known as the synchronizing coefficient, denoted by Ps.
The solution of the above second-order differential equation
depends on the roots of the characteristic equation given by
When Ps is negative, we have one root in the right-half s-plane,
and the response is exponentially increasing and stability is lost.
When Ps is positive, we have two roots on the j-w axis, and the
motion is oscillatory and un damped.
The system is marginally stable with a natural frequency of
oscillation given by
If damping is considered, the linearized swing equation becomes
In terms of the standard SODE
The characteristics equation is
The roots of the characteristics equation are
Transient stability-Equal area criterion
The transient stability studies involve the determination of whether
or not synchronism is maintained after the machine has been
subjected to severe disturbance.
This may be sudden application of load, loss of generation, loss of
large load, or a fault on the system.
In most disturbances, oscillations are of such magnitude that
linearization is not permissible and the nonlinear swing equation
must be solved.
A graphical based solution method known as the equal-area criterion
can be used for a quick prediction of stability.
Consider a synchronous machine connected to an infinite bus. The
swing equation with damping neglected as given by:
The above equation gives the relative speed of the machine with
respect to the synchronously revolving reference frame.
For stability, this speed must become zero at some time after the
disturbance.
Consider the machine operating at the equilibrium point 0,
corresponding to the mechanical power input Pmo = Peo as shown
below.
Consider a sudden step increase in input power represented by the
horizontal line Pm1.
Since Pm1 > Peo, the accelerating power on the rotor is positive and
the power angle increases.
The excess energy stored in the rotor during the initial acceleration
is
Application to sudden increase in power input
Applying equal area criterion
Transient stability limit
The solution to the non-linear equation can be obtained using NR
iterative process as
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