Simulation Modelling Practice and Theory 15 (2007) 786800 www.elsevier.

com/locate/simpat

A novel tool for transient stability analysis of large-scale power systems: Its application to the KEPCO system
Yoon-Sung Cho
a b

a,b

, Jungsoo Park a, Gilsoo Jang

a,*

School of Electrical Engineering, Korea University, Seoul 136-701, South Korea Electrotechnology R&D Center, LS Industrial Systems, Cheongju 361-720, South Korea Received 31 July 2006; received in revised form 3 April 2007; accepted 11 April 2007 Available online 29 April 2007

Abstract Time-domain simulation is an important tool for power system dynamic analysis. We solve a set of dierential and algebraic equations (DAE) in order to study the dynamic behavior of power systems. These power systems include thousands of generators, exciters, turbine-governors, loads, and other devices. The resultant large-scale DAEs are very dicult to handle and solve. Nevertheless, solution techniques are needed to not just guarantee accuracy but have computational eciency. In this paper, we report on a novel tool that we developed to deal with time-domain simulation for dynamic analysis and operation of large-scale power systems. The tool has several major features related to transient stability analysis, contingency screening, and ranking. We mainly discuss the structure of this tool and the accuracy of the included dynamic models. Also, the paper proposes a new load model to overcome the low-voltage problem. The proposed technique provides a good performance and convergence when the terminal voltage is below some predened value. Compared to the commercial tools, the developed tool is numerically well conditioned by introducing the ZIP model algorithm. This tool has been used to support and enhance power engineering education at both the undergraduate and graduate levels. In the case study, simulation results were validated through comparative simulations with the Power System Simulator for Engineering (PSS/E) and Transient Security Assessment Tool (TSAT). 2007 Published by Elsevier B.V.
Keywords: Transient stability analysis; Power system modeling; Large-scale power systems; PSS/E; TSAT

1. Introduction Because of deregulation and privatization in the power market and the increasing trend of interconnection of power grids, the dynamic characteristics of power systems are being signicantly changed [1]. Therefore, the analysis of the dynamic behavior of power systems has become important. The results of stability analysis are critically dependent on the choice of power system analysis tools. The summer peak load of the Korea Electric
*

Corresponding author. Tel.: +82 2 3290 3246; fax: +82 2 3290 3692. E-mail address: gjang@korea.ac.kr (G. Jang).

1569-190X/$ - see front matter 2007 Published by Elsevier B.V. doi:10.1016/j.simpat.2007.04.007

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Power Company (KEPCO) system in the year, 2005, was 54,631 MW. Its installed generating capacity in August, 2005 was 61,737 MW. Despite the KEPCO systems demand increases of 6% per year, there has been no tool for transient stability analysis of the KEPCO system. In the restructuring process, engineers in the KEPCO are also faced with the need of a power system simulation tool developed with use of domestic technology. The use of a KEPCO specic tool is to provide a convenient simulation environment taking into account the dynamic and geographical characteristics of the KEPCO system. The objective of this paper is to report on our eorts in developing a transient stability analysis tool for the KEPCO system. Traditional tools for power system dynamic simulation, such as the PSS/E [2,3], EUROSTAG, ETMSP, and TSAT [4], are very ecient and reasonably user-friendly. Also, most of these tools provide the possibility of creating models for use in a dynamic simulation (e.g., Model writing of PSS/E, Macroblock of EUROSTAG, and the User-dened model of TSAT). However, implementation of new component models within these simulators is very dicult. Many papers have published this topic for the power system dynamic simulation tools as documented in the literature [515]. In the last decade, the topic of power system simulation in MATLAB/SIMULINK has been presented in [59]. The use of the MATLAB/SIMULINK for the development of power system component can provides a very strong benet in handling control blocks and power system elements, validating new component through comparison of the simulation results for various events, and understanding of the basic concepts of power system modeling and simulation. Also, the extensive study from the viewpoint of transient stability, voltage stability, and small-signal stability within the SIMULINK environment is available. However, MATLAB/SIMULINK-based simulation tools need their supporting programs such as the MATLAB, SIMULINK, and so on. Although the MATLAB/SIMULINK is very ecient and reasonably user-friendly, the developed models using the SIMULINK cannot be implemented directly into the structure of the current tool we developed. This paper presents the development of a novel tool for transient stability analysis of large-scale power systems. The developed tool can be used to analyze the dynamic behaviors of large-scale power systems without other supporting programs such as the MATLAB. And, the developed tool has several features related to contingency analysis and enhanced output processing. In addition, the proposed ZIP model algorithm improved the accuracy of the developed tool. The developed tool has a robust stability of numerical integration and the computational eciency required for the large-scale power systems. The developed tool, with a good performance for the dynamic behaviors of the generators, exciters, turbine-governors, power system stabilizers, and load models with respect to power system stability, can provide a very strong benet in facilitating engineers understanding of the basic concepts of a power system dynamics, control, and operation. In addition, the developed tool permits students to study large-scale power system dynamic simulations easily with an enhanced user-friendly interface which allows users to compose the contingency and scenario lists. The important factor of the developed tool is to have a comparable accuracy with the PSS/E and TSAT, and it has been accomplished well. The comparison among the developed tool, the PSS/E, and the TSAT is necessary to validate the developed dynamic models, the proposed algorithms, and etc. For example, in order to implement the block diagrams such as the PSS/E library and IEEE Standards into the developed tool, we have developed our own source codes for the models. In this paper, the tool we developed was applied to a test system and the KEPCO system in the year, 2005. This paper is organized as follows. An overview of the tools structure and modules is presented in Section 2. Section 3 includes a discussion of the development of the tools power system models based on the proposed modeling procedure. We introduce techniques used in developing a constant ImpedanceCurrent Power (ZIP) model. To demonstrate the validity of the component library against the commercial tool, comparative simulations of a 3-generator, 9-bus test system and the KEPCO system were conducted. The results are presented in Section 4. Some conclusions and comments about the developed tool are presented in Section 5. 2. Overview of the developed tool The power system calculations performed and actions provided by the developed tool are summarized as follows.

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Mandatory Data Powrflow Dynamic Control Monitor

Simulation Engine

Simulation Result

Dynamic Simulation

Graphic Module - Copy/save/print - Comparison - Others

Contingency Screening Text Module - Contingency Ranking - Security Index - Others

Optional Data Contingency Scenario Security Computation

Fig. 1. The overall structure of the developed tool.

Power ow Time-domain simulation Transient security assessment Contingency analysis Scenario setup module Output module

The overall structure of the developed tool is shown in Fig. 1. The input and output modules are written in C++ and the simulation engine is written in FORTRAN. The developed tool accepts a power ow data le in the PTI and IEEE formats. It also accepts a dynamic data le in the PTI format. The remaining data les use a new format. The control data le denes a sequence of switching commands. The monitor data le species the monitored machine parameter, bus, and branch. The contingency data le denes a list of contingencies. The output module performs detailed analysis on the results obtained from the time-domain simulation, the transient security assessment, and the contingency analysis. In addition, the tool includes a user-friendly interface which allows users to compose the contingency list and scenario and a exible user-friendly graphical user interface (GUI). Fig. 2 shows the simulation framework of the developed tool. The security computation module is calculated using various security indices [4]. When the criteria are dissatised, the result shows that the system is insecure. Also, the contingency screening and ranking module can be used to rapidly screen and to rank a set of severe contingencies in terms of a critical clearing time (CCT). A fast contingency screening algorithm using a single machine equivalent was adopted for use in the tool [16,17]. 3. Power system modeling Fig. 3 illustrates the steps involved in developing modeling regime and the overall ow of a dynamic simulation in the tool. The numerical integration of some modules aects the validity of the results. The secondorder Euler method to solve power system DAEs is used. Since the second-order Euler method is used for commercial tools such as the PSS/E, the numerical instability, an important property of numerical integration, will not be discussed in this paper [1820]. As shown in Fig. 3, computational modeling involves a step-by-step procedure for solving a mathematical model. Dynamic simulation requires that each component aecting the response of a physical system to a disturbance be faithfully modeled. Then, the procedure is to use model writing in the PSS/E to obtain the desired results. Verication tests involve a well-designed set of tests to verify that the modeling accurately represent the intended characteristics of the power system. This includes comparison with results obtained from the

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Fig. 2. Graphical user interface of the developed tool. (a) A main conguration and display of simulation results and (b) wizard for contingency process.

commercial tool. Unsatisfactory results of this testing require modications of modeling as appropriate. Since the PSS/E has been used by KEPCO engineers for the operation and planning of the KEPCO system, the model library of PSS/E was implemented in the tool as shown in Table 1. 3.1. Proposed modeling procedure The process to develop a dynamic model [2127] of a power system is proposed as follows: Step 1. Construct a block diagram representing the requirements of the dynamic model. Step 2. Determine the DAEs of the equipment to be modeled and identify the state variables associated with the model. Step 3. Develop the decomposed model by converting the transfer function blocks such as lag, washout, and lead/lag into decomposed blocks illustrated in Fig. 4.

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Data Acquirement

Model Definition Mathematical Modeling Computational Modeling Model Writing

Initialization

Network Solution Time Derivative Calculation Optionally Apply Disturbances Output Numerical Integration
Yes
Yes

Simulation Run Satisfactory?

No

Debug The step involved in developing a dynamic model

Advance Time
No

Analysis of results
Fig. 3. Proposed modeling procedure and dynamic simulation ow. Table 1 Power system model library in developed tool Generator GENROU GENSAL Exciter IEEET1 IEEEX1 IEEX2A EXAC1A EXST1 EXST3 EXPIC1 IEEET3 IEEEX2 EXAC1 EXAC3 EXST2 SCRX ESST4B Turbine-governor TGOV1 HYGOV IEEEG1 IEEEG3 GAST GAST2A IEESGO PSS IEEEST PTIST1 PSS2A Othersa SVC STATCOM UPFC HVDC

The task of expanding additional devices is underway.

Step 4. Calculate initial machine conditions and state variable time derivatives. Step 5. Go back to Step 3 when the criteria, the initial values, and the characteristics in accordance with the dynamic simulation are not in agreement with the PSS/E and TSAT. Step 6. Use the power system models developed with the proposed procedure if simulation performs satisfactory. The test model in this application was based on a simplied excitation system as shown in Fig. 4(a). Applying the proposed procedure (Step 3), a decomposed model was developed. The block diagram of the developed model is shown in Fig. 4(b). Applying the proposed procedure (Step 4), the initial values and state variable time derivatives can be expressed as Initialization:   TA EFD y1 1 1 K TB y 2 EFD 2

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VREF EC + + VS
1+TA s 1+TB s K 1+TE s

EMAX EFD

E MIN

VREF U1 EC + + VS x1
TA TB

+ +

y1
K

+ -

1 TE

x2

1 s

EMAX y2 EFD

+ -

1 TB

1 s

EMIN

Fig. 4. Block diagram of simplied excitation system. (a) Transfer function block and (b) decomposed block.

Simulation: x1 U 1 U 1 T A =T B y 1 TB U 1 T A =T B y 1 K y 2 x2 TE 3 4

where x1, x2 denote the state variable and y1, y2 represent the state variable time derivatives. With non-windup limit, the state variable (y2) in Eq. (4) is limited. 3.2. Load model Power system load modeling is one of the most important parts of analyzing power system transient stability [2834]. Network solution involves computing of current injections and solving YV = I. Especially, load models with constant impedance, current, and power characteristics, which are the algebraic part of the DAEs, bring singularity issues into time-domain simulation of power systems. It is because the current injection of constant impedance type is zero, whereas the current injection of constant current and power are not zero. In order to solve this problem, the load current must be recomputed and the network must be resolved repeatedly until the currents and voltages converge to a nal value. However, the representation of constant impedance load is simple to implement, whereas the representation of constant current and MVA load is difcult to implement, cause low-voltage problem when the terminal voltage is small. This problem results in loss of accuracy, poor convergence, and divergence. In general, the load models used for stability analysis in several simulation tools about the low-voltage should be overcome by using a constant impedance model to represent loads where the voltage is below predened value. A load modeling relevant to dynamic studies is described from the following equation. For a constant MVA load model, the boundary condition is given by [3] REALvk i P k k IMAGvk i Qk k
k

5 6

Since this characteristic is not realistic for voltages below 0.8 per unit, Eqs. (5) and (6) are modied to make Pit and Qk functions of the magnitude of the bus voltage as shown in Fig. 5(a). For the constant current load model, load may be obtained as follows [3]: REALvk i k I pk jvk j IMAGvk i k I qk jvk j 7 8

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1.0

P or Q (pu)

0.5

0.0 0.0 0.5 1.0

Voltage (pu)

1.0

Current (pu)

0.5

0.0 0.0 0.2 0.4 0.6 0.8

Voltage (pu)

Fig. 5. Load characteristic. (a) Constant MVA and (b) constant current.

Eqs. (7) and (8) are modied to make Ipk and Iqk functions of the magnitude of the bus voltage as shown in Fig. 5(b), because this characteristic is not realistic for voltages below 0.5 per unit. The overall structure of the ZIP model algorithm to analyze the power system stability is shown in Fig. 6. The V_Load and Cur in Fig. 6 are the complex voltage at load bus and the complex injection current used during the network solution. The Load_cur and Load_MVA in Fig. 6 are the complex constant current and MVA load at load bus. In Fig. 6, the P/Q_Fig. 5(a) is the P or Q value at the magnitude of the low bus voltage as shown in Fig. 5(a), the Current_Fig. 5(b) is the current value at the magnitude of the low bus voltage as shown in Fig. 5(b). 4. Numerical results 4.1. The test system To examine the validity of the component library in the tool, comparative simulation was performed on the modied nine-bus system [25]. This system has 3 generators and 9 buses, where the double line was adopted. Each generator was assumed to be equipped with the same type of exciter and governor. The round rotor generator model (GENROU), the proportional/integral excitation system (EXPIC1) and the steam turbine-governor (TGOV1) were used. To demonstrate the performance of the PST, six scenarios were dened and are shown in Table 2. The value for the ZIP model is based on a static characteristic of the KEPCO system summer load as shown in Table 3. Before the transient stability performance of the PST, the calculation of initial condition values was performed. Tables 4 and 5 show the results of the initial machine conditions of the commercial tools and the developed tool.

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Start

Volt = V_Load VM = |Volt|

Load_cur = P_Load_cur + jQ_Load_cur

No

Load_cur
Ye s

VM > 0.5 (pu)

Ye s

No

Load_cur = Load_cur Current_Figure 4(b)

Cur = Cur

VM (Load_cur / Volt) *

Load_MVA = P_Load_MVA + jQ_Load_MVA

No

Load_MVA
Ye s

VM > 0.8 (pu)

Ye s

No

Load_MVA = Load_MVA P/Q_Figure 4(a)

Cur = Cur

(Load_MVA / Volt) *

Constant Impedance (Cur = 0)

End
Fig. 6. ZIP model algorithm.

In Scenario A, a three-phase fault between buses #5 and #7 was applied in the dynamic simulation. It was initiated at 1.0 s and cleared at 1.35 s. The simulation was performed for 5 s. The rotor angle plot for the generator at bus #2, with respect to the generator at bus #1, is illustrated in Fig. 7(a). Fig. 7(b) and (c) show the eld voltage and the electrical power for the generator at bus #2. From the results, we saw that the system was stable. The results exhibited good agreement between the commercial tools and our tool. In Scenario B, a simulation is performed to examine the validity of the PST over a wide range of CCT. Table 6 shows the result of CCT by the PSS/E, TSAT and the PST. It should be noted that the commercial tools dier in the CCT respect and the PST is similar to the PSS/E. The dierence between the PST and the TSAT corresponds to 1 time step (approximately 0.0083 s). In order to show the simulation results with the same clearing time, the PSS/E, PST and the TSAT were initiated at 1.0 s and cleared at 1.3917 s. The simulation was performed for 2.5 s. Fig. 8 shows the response of the relative rotor angle of the generator #2 when the fault duration time of the three tools is 0.3917 s. The dierence between the TSAT and other tools is caused by a dierent fault clearing time. The results of Fig. 8 show the transient stability performance of the PST.

794 Table 2 Description of scenarios Scenario A B C D E F

a

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Fault type Line fault

Fault location One circuit of buses #5 and #7

Fault duration (s) 0.3500 0.3917 0.1000 0.1000 0.1000 0.1750

Load model Impedance Impedance Current MVA ZIPa ZIPa

Stability Stable Unstable Stable Unstable Stable Unstable

Output Fig. Fig. Fig. Fig. Fig. Fig. 7(a)(c) 8 9(a) 9(b) 9(c) 9(d)

Coecients of load characteristics for simulations are summarized as follows: constant impedance (%): 14.1, constant current (%): 35.1, constant impedance (%): 50.8.

Table 3 Static load characteristics of the KEPCO system (a summer peak case) At 04:00 Constant impedance Active power (%) Reactive power (%) 12.8 32.1 Constant current 34.4 42.9 At 15:00 (peak) Constant impedance 14.1 29.3 Constant current 35.1 44.4 At 19:00 Constant impedance 14.0 30.8 Constant current 35.5 42.9

Table 4 Initial machine condition (rotor angle) Generator # Rotor angle (degree) PSS/E 1 2 3 34.599 73.519 49.239 TSAT 34.444 73.514 48.962 PST 34.596 73.509 49.245

Table 5 Initial machine condition (EFD) Generator # EFD (pu) PSS/E 1 2 3 1.9290 2.9302 1.4178 TSAT 1.9169 2.9141 1.4157 PST 1.9284 2.9305 1.4177

To demonstrate the eect of the load model used for the PST on stability, four scenarios were used. The response of the generator rotor angle was compared to the PSS/E and the TSAT. In Scenarios C and D, loads were considered to be 100% constant current and 100% constant MVA, respectively. The point of these scenarios, with the same fault-clearing time, was to show that simulation results are critically dependent on the choice of the load models. In Scenarios E and F, loads were modeled as ZIP models. Fig. 9 shows that the relative rotor angle of generator #2 with respect to various load models. In Fig. 9, the dierence between the PST and the TSAT corresponds to 12 time steps. The stability among the three tools should be determined by the modeling method of the constant MVA load model as shown in Fig. 9. For the constant MVA model the PST used the proposed algorithm when the voltage is below the predened value. But the constant MVA model of the TSAT used a constant impedance model to represent the load in the situation. As a result, having accurate models considering load behavior during disturbance enhances the power systems stability in anticipation of potential emergency conditions. The results of investigations on six scenarios with signicantly dierent characteristics have made it evident that the PST performs satisfactory.

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200
PSS/E TSAT PST

795

4.5
PSS/E TSAT PST

Relative angle (degrees)

150

4.0

50

EFD (pu)
0 1 2 3 4 5

100

3.5

3.0

2.5

-50

2.0

Time (seconds)
220 200

Time (seconds)

Electrical power(MW)

180 160 140 120 100 80 60 40 20 0 1 2 3 4 5

PSS/E TSAT PST

Time (seconds)
Fig. 7. The simulation results of generator #2 for Scenario A. (a) Relative rotor angle, (b) EFD and (c) electrical power.

Table 6 Critical clearing time of Scenario B Clearing time (s) 1.3750 1.3833 1.3917 PSS/E Stable Stable Unstable TSAT Stable Unstable Unstable PST Stable Stable Unstable

As shown in Figs. 8 and 9, the dierence among the three tools is due to the dierence in modeling the generators, exciters, turbine-governors, power system stabilizers, and loads. Also, the numerical and network solution methods to solve DAEs aect the results. The computational time of the PSS/E, the TSAT and the PST in Scenario E is shown in Table 7. It shows that the PST requires more time than the commercial tools to nish the dynamic simulation. 4.2. Study on dynamic characteristics of the KEPCO system More than 40% of the total load demand is in the metropolitan region, while the majority of generation is in the non-metropolitan regions. Because of this reality, a large amount of active power ows through a set of interface lines connecting the metropolitan regions and other regions. To reduce transmission congestion in metropolitan regions, FACTS devices are currently being studied, and an 80 MVA UPFC, one such FACTS device, installed as a pilot system in Gangjin is now in operation.

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500

Relative angle (degrees)

400

300

200

100
PSS/E TSAT PST

0 0.5 1.0 1.5 2.0 2.5

Time (seconds)

Fig. 8. The relative rotor angle of generator #2 for Scenario B.

90

6000

Relative angle (degrees)

70 60 50 40 30 20 0 1 2 3 4 5

Relative angle (degrees)

80

PSS/E PST TSAT

5000 4000 3000 2000 1000 0

PSS/E PST TSAT

Time (seconds)
90 4000

Time (seconds)
PSS/E PST TSAT

Relative angle (degrees)

5

80

PSS/E PST TSAT

Relative angle (degrees)

3000

70 60 50 40 30 20 0 1 2 3 4

2000

1000

Time (seconds)

Time (seconds)

Fig. 9. The relative rotor angle of generator #2 with respect to various load models. (a) Scenario C, (b) Scenario D, (c) Scenario E and (d) Scenario F.

The test system was based on the KEPCO system in the year, 2005. The system consisted of 258 generators, 1622 buses, and 2716 AC branches. Its total generation was 52238.2 MW and 12221.7 MVAR. 994 loads had 51434.6 MW and 23768.3 MVAR. The contingencies of the simulation were a double line three-phase fault at

Y.-S. Cho et al. / Simulation Modelling Practice and Theory 15 (2007) 786800 Table 7 Computational time for Scenario E

797

CPU time (s) PSS/E TSAT PST 0.210 0.300 0.519

345 kV and 765 kV lines cleared by tripping the double line. The contingency ranking module was applied to the contingency list of 106 contingencies. The top 17 severe contingencies are listed in Table 8. From this result, it was found that the contingencies were divided into two components: plant fault and inter-area fault. To deal with the detailed simulation for the inter-area fault where an entire area separates from the rest of the system, we selected the contingency of the main transmission line between buses #4010 and #6030. This is an important line as the amount of active power transfer on this line has 7.27% of the load of the metropolitan region. Fig. 10(a) shows the rotor angle plot for the generator at bus #26201 with respect to the generator at bus #29351 for the stable case. In the critical case, generators at bus #26101 and bus #26151 lost synchronism with respect to the rest of the system as shown in Fig. 10(b) obtained from the PST. The contingencies aecting the inter-area mode have had signicant inuence on the stability of the KEPCO system. Through comprehensive simulation results under large-scale power systems, the PST is compatible with those commercial programs in terms of transient stability analysis. Table 9 shows the computational time of the PSS/E, the TSAT and the PST in the above-mentioned contingency which was ranked 14th on the Table 8. It was initiated at 1.0 s and cleared at 1.1 s. The simulation was performed for 5 s. The PSS/E is almost twice as fast as the PST. From Tables 7 and 9, we observe that network solution problem aects the computational time of the PST. The time-domain simulation involves tasks such as network solution, numerical integration, and interfacing

Table 8 Results of contingency analysis for the KEPCO system Rank 1 1 1 1 1 1 7 8 9 10 Fault location From 6020 7900 9150 10301 1020 6450 7150 5150 10150 6300 To 6030 87,200 9800 10350 5010 7151 7600 5600 10700 6950 PST CCT (s) 0.0831 0.0872 0.1078 0.1078 PSS/E Actual CCT 0.07500.0833 0.07500.0833 0.10000.1083 0.10000.1083 TSAT CCT (s) 0.0710 0.0830 0.1070 0.1190 Mode* P P P P I P P P P P Critical generator 262014 288113 291512 30351 251514 271556 271514 251514 301516 261016 269516 262014 244514 251556 301516 261016 261516 262014 261016 261016 261016 269516 262014

11 12 13 14

4400 5152 10150 4010

4450 5500 10800 6030

0.1127 0.1128 0.1218 0.1220

0.10830.1167 0.10830.1167 0.11670.1250 0.11670.1250

0.1130 0.1130 0.1250 0.1250

P P P I

15 16 17

6100 6101 6300

6900 6300 6900

0.1329 0.1331 0.1461

0.12500.1333 0.13330.1417 0.14170.1500

0.1370 0.1370 0.1550

P P P

* I: The contingency is a double line three-phase fault at interface lines between the region and the neighboring regions. P: The contingency is a double line three-phase fault at transmission lines within region.

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80 60 40 20 0 -20 -40 0.0 0.5 1.0 1.5 2.0
PSS/E TSAT PST

Relative angle (degrees)

Time (seconds)
800

Relative angle (degrees)

600

Bus #23251 (MP area) Bus #26101 (ML area) Bus #26151 (ML area) Bus #27151 (SW area)

400

200

0.0

0.5

1.0

1.5

2.0

Time (seconds)
Fig. 10. The simulation results of the KEPCO system. (a) Relative rotor angle of generator #26201, (b) relative rotor angle of generators #23251, #26101, #26151 and #27151 using only PST.

Table 9 Computational time for the KEPCO system CPU time (s) PSS/E TSAT PST 7.831 10.000 15.537

the solutions of the DAEs. Generally, optimally ordered triangular factorization of sparse matrix has been employed to speed up the solution of algebraic equations. From this perspective, the task of optimizing the PST with more computational time is underway. 5. Conclusions This paper presented the development of a transient stability analysis tool for large-scale power systems. The validity of the developed tool was evaluated for the cases of a modied nine-bus system and the KEPCO system. Various scenarios were simulated and stability was analyzed. The key conclusions, drawn from this study are as follows. The results exhibited good agreement between our developed tool and the commercial tools. Therefore, the developed tools can be used to analyze the dynamic behaviors of large-scale power system.

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The generators, exciters, turbine-governors, loads, and other devices were accurately modeled using the proposed modeling procedure. Because the characteristics of the load model were not realistic for low-voltage, a ZIP model, based on the proposed algorithm, was developed. The development of a ZIP model improved the accuracy of the developed tool. This novel tool was sucient for graduate students and undergraduate students who major in power systems enabling them to understand and learn about power systems. Also, the developed tool has been useful for engineers who are new to the subject of design and operation of the KEPCO system. The developed tool has been used for the students of several power engineering courses at Korea University since the fall semester of 2006. They used it well with one day training, and we will get their feedback to enhance our tool. Also, the tool is going to be used at the research group at Cornell University. The students obtain a good knowledge of the power system dynamic simulation associated with understanding differential and algebraic equations, assessing transient stability analysis, and handing small power system as well as large-scale power system. Especially, they get experience and enjoyment in learning about timedomain simulation of power system through the comparative study between theoretical derivations and simulations results. The necessity for user-dened functions for educational and research purposes has being signicantly increased. Although the commercial tools provide the possibility of creating new components models and modifying existed models, the approach for implementation of new component models within these tools is very dicult. The developed tool does not provide a convenient function for the modication or addition of new component models and algorithms, but the authors are trying to enhance the ability of the developed tool. Further work on incorporating FACTS devices, nonlinear load models, and KEPCOs recently installed unique dynamic equipment, is going on. Also, the PST is continuously under development as optimal ordering method, triangular factorization method and forward-elimination/back-substitution using LU method w.r.t. solving YV = I.

Acknowledgements The authors greatly appreciate the support by MOCIE through EIRC program with APSRC at Korea University.

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