310

IEEE Transactionson Energy Conversion, Vol. 6, No. 2, June 1991

Multivariable Self-Tuning Power System Stabilizer Simulation and Implementation Studies

N. C. Pahalawaththa, G. S . Hope, 0. PoMal&

Department of Electrical Engineering, The University of Calgary, Calgary, Canada.
Key Words - Self-Tuning, adaptive, multiple input multiple output control, power systems stabilizer, pole-shijiting.

Abstract A multi-input multi-output (MIMO) adaptive power system stabilizer which damps dynamic oscillations is presented. The single-input single-output pole-shijting adaptive control algorithm is used as the basis. Its extension to the MIMO controller combines and co-ordinates the stabilizing contributions from f the both the excitation and governor systems. The advantage o adaptive feature is that it can track the operating conditions and system structure changes. The proposed stabilizer can be used with hy&o and turbo-generators. The results show that the aahptive stabilizer improves the w i n g of power system oscillations. Introduction The power system stabilization problem has attracted large interest in the past two decades. Problems associated with earlier stabilizer designs have been identified and power system stabilizer (PSS) performance has been improved [1,2]. In the earlier studies most of the effort was concentrated on supplementary excitation control. Small time lags associated with the excitation control system and ease of controlling the electrical quantities made this approach very attractive. Governor control also plays a very important role in power system stabilization. It has been shown that the combination of closing the main steam valves at maximum rate and forcing the field voltage to its maximum is a very effective method to establish system stability after a fault [3]. In the early attempts to stabilize power system inter-area low frequency oscillations, governor control has proved to be effective 141. The successful use of fast valving methods to improve the power system stability and the availability of improved governor designs strengthen the possibility of using the governor control as a means of damping power system oscillations [ 5 ] . Control of the generating units using separate governor and excitation control loops does not necessarily give the best performance [ 6 ] . The operation of one control loop can have ill effects on the operation of the other loop. Use of the optimal control approach to coordinate excitation and governor control is proposed in 171. The dynamic characteristics of the path, through which the stablking signal acts to modulate electrical torque, depend on the characteristics of the voltage regulator, excitation system and the power system. Power system components are non-linear. The

characteristics of the above path change with changes in the system structure or the operating point. Therefore, to obtain the optimum performance from the power system stabilizers under all operating conditions, stabilizer characteristics should also be varied. Some successful attempts have been made in digitally vatying the gain of the conventional PSS, depending on the loading of the generator [8]. In this method the phase characteristics are kept constant at preset values. By using adaptive control, it is possible to include phase compensation with gain compensation to give optimum performance for all operating conditions. Power systems are non-deterministic. The system structure, power demand, etc, vary randomly. Therefore stochastic adaptive control approach is more suited to the design of the power system stabilizers. Previous research in this area has demonstrated that the single input single output (SISO) self-tuning adaptive controller can be used successfully to improve the stability of power systems [9]. These adaptive stabilizers were shown to give optimum performance for varying system dynamic characteristics. Multivariable versions of the self-tuning controllers also have been developed during the past few years. By using the MTMO adaptive power system stabilizers it is possible to obtain the advantages of the adaptive control and also to coordinate the action of the governor and excitation system for optimal system response.

MIMO Pole-Shifting Control

Self-tuning adaptive control algorithms consist of two major parts; system or controller parameter identification and computation of the control output. Implicit algorithms identify the controller parameters from the input-output data, and the control is calculated using these identified parameters and the input-output data. Explicit algorithms identify the system parameters from the input-output data and calculate the controller parameters using these identified system parameters. These calculated controller parameters are subsequently used with the input-output data to calculate the necessary control signal. MIMO poleshifting (5) control used for the design of PSS in this paper is an explicit algorithm. Fig. 1 shows a schematic diagram of the system setup of an adaptive control scheme as described above. In the MIMO pole-shifting algorithm the control is computed such that the closed loop poles are placed closer to the centre of the unit circle in the z-plane than the open I m p poles. This improves damping. The closed loop pole positions are selected such that the open loop positions are shifted radially towards the center by a fraction a as shown in Fig. 2. Therefore if the system open loop pole positions, Poi, are described by Poi = r i d e (1) then the closed loop pole positions, P ,.i, are given by PCi = arieje.
(2)

89 W M 016-7 EC A paper recommended and approved by the IEEE Energy Development and Power Generation Committee of the IEEE Power Engineering Society for presentation at the IEEE/PES 1989 Winter Meeting, New York, New York, January 29 - February 3, 1989. Manuscript submitted May 23, 1988; made available for printing November 17, 1988.

where ri is the distance to the ith pole from the centre of the unit circle in 9-e z-plane.

0885-896Y/91/0600-O3 lorSol .WO 1991 E F E

311

Yl

"2

I
I--"-"

Yz

The closed loop system poles are given by, det I { I + A (z-') } { I + F (z-') } + B (z-') G (z-') I = 0 (8) If the closed loop poles are placed such that they are a fraction, a, closer to the centre than the open loop poles as described above then closed loop pole positions are given by the solution of the equation det I { I + A ( a z - ' ) } I = 0. (9) The parameters of the feedback control law which give the above closed loop characteristic poles can be obtained by solving the equation given by equating equations (8) and (9).

--- - --1

{I +A(z-')}{I

+F(z-')}+B(z-')G(z-') = { I +A(az-')].(lO)

Fig. 1 MIMO System Configuration Pole-shifting in the h4Ih40 system is achieved by combining the fundamental approaches used in the SISO pole shifting algorithm [lo] and the MIMO pole placement algorithm [l 11. The MIMO PS controller uses the basic inputloutput difference equation structure for the scalar case. The inputloutput relationship of the process to be controlled is described using matrix polynomial equations, including moving average white noise as shown in equation (3). The process is assumed to have as many inputs as outputs.
[I

Once the parameter matrices F1 , F2 and Go ,.. G2 are obtained, the required control input can be computed from equation (5). A one step solution of this requires the inversion of the polynomial matrix [ I + F(z-') 1. This can be avoided and the compugtions can be greatly simplified by using intermediate variables, F ( z - ' ) and G (z-') such that

+ P (2-') I-' 6 (2-') = - G (2-l) [ I + F (z-') I-' . (11) Once the values of P and 6 are computed, the control output
[I

can be obtained using the equation

U ( t ) = G ( z . - ' ) y ( t ) -$(z-') U(t) . (12) This algorithm has the following properties. 1. The smaller the value of a, the higher the stability margin of the closed loop system. 2. The closer the closed loop poles are to the centre of the unit circle the higher is the value of the control effort required. The optimal value of "a" is a compromise between the above two properties. If the system characteristics are approximately constant over the whole operating region and if the disturbances are of small magnitude, then such a compromise is easily made. When the system is very non-linear and the disturbance is large the compromise becomes quite difficult. For a large disturbance, the control output often hits the control actuator physical limits if the selected value of a is too small. Usually a moderate value of a is selected to give a reasonably stable system with acceptable improvement in the system response. Saturation of the control signal results in poor process parameter identification. This may have adverse effects on the closed loop performance. To avoid this problem in the pole shifting algorithm, "the self-searching variable pole shifting" algorithm was proposed [SI. In this approach a is determined such that it shifts the closed loop system poles as close as possible to the centre of the unit circle without violating the control constraints. The extension of this algorithm for the multivariable pole-shifting control is as follows. From equation (12) the sensitivity of the control output u ( t ) with respect to a is given by

+ A (z-') 1 y ( t ) = B (z-')

U(t)

+ [ I + c(z-')1 e ( r ) (3)

In this process model y is the output vector, U is the input vector, and { e ( t ) } is a sequence of independent equally distributed random vectors with zero mean value and covariance E[ e T ( t )e ( r ) 3 = R . The vectors y ( t ) , u ( t ) , and e ( t ) are a l l of dimension p . A (z-'), B (2-l) and C (z-') take the form where Xi

X p ) = x,z-1 +x2z-* + * . i = 1, n r , are p x p matrices.

+ x,z-

(4)

Let the feedback control law be defined as

U(t)

= -G(z-*) [ I

+ F(z-') I-'
* *

y(t)

(5)

where F(z-') takes the form given in equation (4) and G ( z - ' ) takes the form
X(z-1) =

x , + xp-1 +

- +xmz- .
+F(z-')}+

(6)

Substituting in equation (3),

y(t) = {Z+F(z-')}[{I+A(z-')}{I

B (z-') G (z-')

I-'

{I

+ C(z-')} e ( t ) .

(7)

Control margin vector Au is defined by

1
I

x
0

-openlooppoles

- closed loop poles

Au = I U ( t ) I - IUIM I . (14) The amount by which the pole-shifting factor should be modified with respect to each control signal to avoid actuator saturation is given by

Fig. 2 Positioning The Closed Loop Poles

312

The possible values of new pole-shifting factors are given by

i = 1,..&16) where k is a constant chosen to avoid excessive variation in a. The updated value of the pole-shifting factor is chosen as
a(r) = max (al ,...., up) (17) which is capable of keeping all control signals within limits. The pole-shifting algorithm described above needs more numerical computations for the calculation of the control output than implicit algorithms such as minimum variance controller. However these simple implicit algorithms are not suitable for the control of non-minimum phase systems such as power systems. The applicability of the pole-shifting algorithm to non-minimum phase systems over-shadows the disadvantage of requiring additional computations.

ai = a(r

- 1) + kAai

W I H

PSPSS
CPPSS

3
-0.95

-.
0

TIME ( s)
1

5.0

10.0

Simulation Studies A computer simulation of a power system was done to study the performance of the pole-shifting power system stabilizer (PSPSS). The power system model simulated consists of a synchronous machine connected to an infinite bus through a double circuit transmission line. The electrical characteristics of the synchronous machine were modeled with five states and the mechanical characteristics with two states. Time constants of the transmission line dynamics are very small as compared to those of the machine. Therefore they are not considered in the model. A type 1 AVR[12] was simulated for the excitation control. Appropriate governor and turbine models[l3] were simulated as prime-mover drives for different studies. The performance of the PSPSS was compared to a conventional fixed parameter stabilizer [14]. The diagrams of the AVR and the governor models used and the parameters of those models used for the simulation studies are given in the appendix. The Vax 780, under UNx 4.8 operating system was used during the initial stages of simulation program design and debugging. The simulation runs were done on the Cyber 205 super computer. T4e use of this computer greatly reduced the turn around time of the lengthy simulations. The differential equations of the simulation model were solved by using RK4 numerical integration method. A constant 0.001 s time interval w a s used as the integration step. The sampling time of 0.1 s was selected for the sampled data control system. For the stabilizer design, it is assumed that the system dynamics of a power system can be approximated by a two input, two output system model with third order matrix polynomial representation and first order noise dynamics, ie. p = 2, na = 3, nh = 3, and n, = 0 . Parameters of the model were identified using a recursive least-squares identification algorithm

Fig. 3 Response to a --Phase Short Circuit sible selection as the input signals to the controller. From these, P, and AV,, were selected. The power system was subjected to several system faults and the response was monitored to evaluate the effectiveness of the PSPSS. Fig. 3 shows the variation of the load angle during a three phase short circuit applied at the middle of one of the transmission lines at 150s when the machine was operating at 0.74 pu power at 0.85 pf lagging. The short circuit was removed after 100 ms by isolating the faulted line. The performance of PSPSS and a constant parameter power system stabilizer (CPPSS)acting via the excitation control system are compared. Fig. 4 shows the variation of the pole-shifting factor during this study. The poles are not shifted when the pole-shifting factor a equals 1 . Figs 5 and 6 show the variation of the two control signals. As can be seen from Fig. 3, the initial part of the response is equally damped by both stabilizers. The subsequent part of the response demonstrate that the PSPSS gives improved damping of the dynamic oscillations. The low damping of the initial part of the response can be explained by observing the control outputs and the pole-shifting factor variation. During that time the controls hit the limits and the pole shift that can be obtained is rather small. Improvement during the initial period is limited by the ceiling on the control. During the latter part of the response the pole-shifting factor decreases producing a more stable and well damped system. As a is reduced, the controller becomes more and more sensitive. The variable pole-shifting factor is designed to avoid large values of the pole-shifting factor that requke high control demands causing the saturation of control actuators for a long time. However it is difficult to achieve smooth control without imposing a lower limit on the pole-shifting factor. This problem has also been observed during the implementation of the SISO pole-shifting power system stabilizers [16]. The lower limit was selected after several trials so that the controller operation is acceptable at all operating conditions. For hydro machines, a lower limit of 0 . 7 was found t o be acceptable.
d 0 w

WI.
Although actual power systems are complex, nonlinear and of very high system order, the above model is sufficient to track the important dynamics. Error due to the low model order is reduced because the model is identified on line every sampling interval. This on-line identification gives a model that is a best fit of the inputloutput dynamics prevailing at that instant of time. MIMO PSS with Hydro Generators The performance of a hydro turbine driven generating unit controlled by a PSPSS is examined in this section. The power system model described above was simulated with a hydraulic turbine and a mechanical-hydraulic governor[131. Various output signals, such as variation in electrical power output ( M e ) , variation in speed @a), accelerating power ( P a ) , and variation in , were tested by simulation studies for posterminal voltage (AV,1

0.85

0.75

0.65

TIME(s)
I

5.0

10.0

Fig. 4 Variation of The Pole-ShiftingFactor During a Three-phaseShort Circuit

313

2
0 i+

0.01

-.

v1 5 -0.5
Y

-PSPSS
CPPSS

r
1
0

TIME (s)

5.0

I
10.0

Fig. 5 Excitation Control for PSPSS During a Three-phase Short Circuit It can be seen from Figs. 5 and 6 that the excitation control signal does not hit the controller limits as much as the governor control signal does. .The governor control is hard limited so that the turbine idet wicket gates are not operated at a speed above safe l i m i t s . Slow action of the valves means longer governor control saturation than excitation signal saturation. Fig. 7 shows the performance comparison of PSPSS and CPPSS for a 10% step increase in reference voltage when the machine was operating at 0.55 pu power and 0 . 9 pf leading. System contingencies such as line outages or demands of economic operation often require changes in the operating system structure. Power often has to be transmitted over longer distances. New transmission lines or new plants also change the network configuration changing the effective system impedance as Seen by the generating units. The following study was done, in order to compare the performance of PSPSS and CPPSS under such a contingency. Fig. 8 shows the system response when the machine is connected to the infinite bus through a longer double circuit transmission line, xe = 0.4 re = 0.04. The CPPSS used is the same as that was used for the earlier studies where CPPSS was tunned for the shorter line, xe = 0.25 re = 0.035 which was used for those studies. The response shown is for a three-phase short-circuit when the machine was operating with 0.5 pu power at 1.0 pf. This study shows the adaptability of the PSPSS when the system structure changes. Simulation Studies with Turbo Generators Simulation studies were also carried out to evaluate the performance of the PSPSS used with steam turbine driven genemtors. An electro hydraulic governor and a tandom compound steam turbine w i t h a single reheat stage were simulated. Speed variation and change in the turbine inlet valve position were selected as the input signals to the stabilizer.

0 5.0 1o.n Fig. 7 System Response to a Step Change in VREF Fig. 9 shows the system response for a three-phase shortcircuit test, similar to that for Fig. 3, when the machine was operating with 0.4 pu power at 0.88 pf leading. System response when one circuit of the double circuit transmission line was opened (loss of a line) is shown in Fig. 10. The prefault operating condition was 0 . 9 3 pu power at 0.8 pf lagging. These results show that the damping is improved. They also show that there is no appreciable improvement in damping during the initial part of the swing after a fault. The reasons for this are discussed in the previous section. However the PSPSS always provides improved damping of the subsequent oscillations establishing the effectiveness of PSPSS in improving the dynamic stability. Implementation Studies

The PSS described above was implemented on a multimicroprocessor configuration and tested on the physical power system model available in the power systems laboratory at the University of Calgary. The system model consists of a 3 kVA micro machine connected to the utility bus through a transmission line. The transmission line is modeled with 12 IC sections connected together to represent a 300 km double circuit line. An electro hydraulic governor and a non-reheat steam turbine were
-c.45 -0.55
h

-PSPSS -----CPPSS

v)

2
cl W

-0.65
-0.75

t i

2
cl 0

-0-85 -0.95
TIME^)

-1.05
0

5.0

1 0 . 0

0.0051

> U c
H H 3

O t

PI z H -0.0057 i

cl 0 d i+

-0.o1t

i
0

LI I

Fig. 8 Response to a Three-phase Short Circuit on a System with a Longer Transmission Line

!i
; s

----- CPPSS

PSPSS

5:O

10.0

-1.3

TIME ( s)
I

Fig. 6 Governor Control for PSPSS During a Three-phase Short Circuit

I 4

t
8

Fig. 9. Response to a Three-phase Short Circuit

314

, .

PSPSS
CPPSS

$-Is7t J-1.9 0

TIME ( s )
I
2
I
I

f 8

Fig. 10. System Response to a Loss of Line modeled by a suitable control circuitry, power mosfets and the dc motor driving the 3 kVA synchf.onousmachine. The system identification has been extended to identify the noise dynamics using the model given in equation (3) with nc = 2. This was necessary because of the large amount of external noise present in the system. The extended least squares method has been used to identify the system parameters [17]. An efficient control calculation algorithm and a stream-lined identification algorithm have been developed to reduce the calculation burden. The numerical computation time is further reduced by using three Intel 8086 micro-processors working in parallel for the PSS implementation. One micro-processor was dedicated to the system identification calculations and another to controller parameter and output calculations. The third micro-processor was used for man-machine interface (h4MI). Fig. 11 shows the simplified coordination scheme for identification and control processors. The MMI processor was operated asynchronous to the above two processors. With this approach it was possible to reduce the sampling time of the sampled data system to 100 ms. However it was found that the sampling time of 150 ms gives better system identification and stable control system characteristics. For the implementation of PSS,electrical power output is prefered as a input signal over the speed deviation because of its inherent lower sensitivity to the tortional interaction. Therefore change in electrical power output and change in the turbine inlet valve position were used as the input signals to the controller. These were obtained by passing the instantaneous values of the electrical power output and the turbine inlet valve position through the washout filters. Therefore the signals observed are the deviation of the above quantities from their steady state values. Fig, 12 shows the system response for a three-phase short circuit with unsuccessful recloser when the machine was opemting with 0.33 pu power at 0.8 pf lagging. The faulted line was isolated 0.15 s after the inception of the fault and again
INTERRUPrs

'

(b) WlthcPPSs Fig. 12 Variation of M E During a T h n e - p k Short Circuit

'

12

automatically reclosed 0.45 s later. The system response when a 0.67 pu resistive load is connected and disconnected at the middle of one of the transmission lines is shown i n Fig. 13. For this study the prefault operating condition was 0.75 pu power at 0.85 lagging pf. These results show that the damping of the oscillations has been improved by PSPSS. When the disturbances are small, an improvement in system damping can be observed after ths first or the second swing. For large disturbances the improvements can be seen during the latter part of the oscillations only. This observation agrees with the simulation studies as discussed earlier. Overall, these results show the effectiveness of the proposed PSPSS in damping power system dynamic oscillations. Conclusions Application of adaptive MIMO pole-shifting controller as a power system stabilizer has been studied. The power system was identified as a third order model and was successfully used to compute the required control action. The control actuator saturation problem was overcome by using the multivariable self-

-/

3 E - r z z k
ID-ATION PRaEssoR

'

Cl - Sample System Output Signals

C 2 - Controller Parameters and Control Calculation

C3 - Output Control
C4 - PS Factor Calculation I - System Identification Calculation

Fig. 11 Processor Synchronization

315

searching pole-shifting algorithm. U s i n g two-input two-output control strategy the control actions from the excitation system and the governor system have been coordinated to improve the system damping. The simulation studies with hydro-generators and turbo-generators, and the real time implementation studies show that the proposed controller can improve the damping of the dynamic oscillations.

Acknowledgment

The authors would l i k e to thank Mr. K. Wong, Mr. G. Hancock, and Mr. P. Walsh for their help in the hardware realization of the project. The first author gratefully acknowledge liis indebtedness to the the Canadian Commonwealth Scholarship and Fellowship Committee for the financial support.

. Ydstie, Fortescue, T. R., L. S. Kershenbaum and B. E "Implementation of self-tuning regulators with variable forgetting factors", Automatica, Vol. 17, No. 6, November 1981, pp. 831-835. Cheng, S. J., "A self-tuning power system stabilizer", Ph.D Thesis, Department of Electrical Eng., The University of Calgary,1986. Penuska, V., "An adaptive recursive least squares identification algorithm", Proc. 8th IEEE Symposium on Adaptive Processes, Pennsylvania State University, 1967, pp. 6-e-1 - 6-e-5.
APPENDIX System Parameters . All param&ters are in pu Hydro Generator Parameters: = 0.6258 r , = 0.007 x d = 1.116 xq rf = 0.00089 xd = 1.2329 xq = 0.7427
rM rQ

REFERENCE
DeMello, F. P. and C. Concordia, "Concepts of Synchronous Machine Stability as Affected by Excitation Control", IEEE Trans., Vol. PAS-88, NO. 4, April 1969, pp. 316-330. Larsen, E. V. and D. A. Swann, "Applying power system stabilizers, Part I, II and III", JEEE Trans., Vol. PAS-100, No. 6, June 1981, pp. 3017-3046. Wilson, W. J. and J. D. Aplevich, "Coordinated control of excitation and goveming on large steam turbine generators, Ontario Hydro", Report prepaired for Canadian Electrical Association, Contract No. 77-26. Keay, F. W. and W. H. South, "Design of a power system stabilizer sensing frequency deviation", IEEE Trans., Vol. PAS-90, NO.2, March/April 1971, pp. 707-713. IEEE Committee report, "Tyrbine fast valving to aid system stability, benefits and other considerations", IEEE Trans., Vol. PWRS-1, No. 1, February 1986, pp. 149153. Coles, H. E., "Dynamic perfohnance of a turbo alternat o r utilizing 3-term governor tontrol and voltage regulation", E E Proc., Vol. 115, No. 2, February i961: pp. 266-279. . J. Cory, "Optimum control of Iyer, Narayana S. and B a turbo-generator including an exciter and governor", IEEE Trans., Vol. PAS-90, No. 5, September/October 1971, p ~ 2142-2148. . . ,L. H. Hannett and J. R. Willis, "ImplemenCzuba, J. S tation of power system stabilizer at the Ludington pumped storage plant", IEEE Trans., Vol. PWRS-1, No. 1, February 1986, pp. 121-128. Cheng Shi-Jie, Y. S. Chow, 0. P. Malik, and G. S. Hope, "An adaptive synchronous machine stabilizer", IEEE Trans., Vol. PWRS-1, NO. 3, August 1986, pp. 101-109. Ghosh, A., G. Ledwich, 0. P. Mal* and G. S. Hope, "Power system stabilizer based on adaptive control techniques", IEEE Trans., Vol. PAS-103, No. 8, August 1984, pp. 1983-1989. Prager, D.L. and P. E. Wellstead, "Multivariable pole assignment self-tuning regulators", IEE Proc., Vol. 128, Pt D., NO. 1, January 1981, pp. 9-18. IEEE Committee Report, "Computer fepresentation of excitation systems", IEEE Trans., Vol. PAS-87, No. 6, June 1968, pp. 1460-1464. IEEE Committee Report, "Dynamic models for steam and hydro turbines in power studies", IEEE Trans., Vol. PAS-92, No. 6, November/December 1973, pp. 19041915. Dandeno, P.L., "Practical application of eigenvalue techniques in the analysis of power system dynamic stability problems", Can. Elec. Engg. J., Vol. 1, No. 1, January 1976, pp. 35-46.

= 0.023
= 0.023

xf = 1.331 x 4 x u = 1.142

= 0.6522

Transmission Line Parameters: xe = 0.25 re = 0.035 d Mechanical Hydraulic Governor Parameters (Fig. 14): 0.2 o = 0.04 T, = 5.0 C , = 0.1 P , = 1.0 0.04 6 = 0.34 T, = 1.6 C , , = -0.1 P & = 0.0 AVR Parameters (Fig. 15):

, = 6.0 Ka = 200.00 Ke = 1.0 Kf = 0.03 V Tu = 0.02 Te = 0.8 Tf = 1.0 Vd, = - 6.0

Fixed Parameter Stabilizer for Hydro Generators:

Kpss = 3.0, Tq = 1.5 TI = 0.1 Tz = 0.08

Turbo Generator Parameters: ra = 0.002 xd = 1.45 xq = 1.45 rf = 0.001 xd = 1.6 xq = 1.6 ru = 0.009 xf = 1.6 rk = 0 . 0 0 9 XM = 1.51 x 4 = 1.51 H = 3.0 Electro-Hydraulic Governor Parameters (Fig. 16): K, = 25.0 T, = 0.1 c , = 0.5 Cd, = - 0.5 , P = 1.0 P , , = 0.0 Reheat Steam Turbine Parameters (Fig. 21):
TCH = 0.2 TRH = 4.0 TCO = 0.4

F H ~ = 0.3 Flp = 0.4 F L ~ = 0.3 Non-reheat Steam Turbine Parameters:

TCH = 0.4
Fixed Parameter Stabilizer for Turbo Generators:
KPs = 6.0

Tq = 1.5, TI = 0.1

T2 = 0.08

Electro-Hydraulic Governor Parameters (Fig. 20): Kg = 25.0 T, = 0.1 C , = 0.5 C,n = 0.5 , P = 1.0 P - = 0.0

316

AQ "0
1

C,MAX

C,MAX

l-Tws T W9 l t 2
k

To ( 1 + T ps 1

-Tm

Fig. 14 Mechanical Hydraulic Governor Model N. C. Pahalawaththa, was born in Mampe, North Sri Lanka on November 7, 1958. He received the B.Sc. degree in Electrical Engineering from the University of Moratuwa, Sri Lanka in 1982. He received his Ph.D. from the University of Calgary, Canada, in 1988. D r .Pahalawaththa's research topic was Multi Input Multi Output Adaptive Power Systems Stabilizers.

V , MAX 1
Et

K , + sle
V,MIN

Fig. 15 AVR Model

Reheat Steam Turbine Parameters (Fig. 17): TCH = 0.2 T m = 4.0 Tco = 0.4 FJip = 0.3 Flp = 0.4 F L ~ = 0.3 Non-reheat Steam Turbine Parameters: TCJJ = 0.4 Fixed Parameter Stabilizer for Turbo Generators: T, = 0 . 0 8 Tn = 1.5, TI = 0.1 Kpsc = 6.0

G.S. Hope (S'56 - M'67 - SM'72) was born i n Edmonton, Alberta, Canada, on September 19, 1931. He received the B.Sc. degree in electrical engineering from the University of Alberta, Edmonton, Canada; the Ph.D. and D.1.C degrees in electrical engineering (pwer systems) from Imperial College, University of London, London, England, in 1957 and 1966, respectively. From 1957 to 1961, he worked with Canadian General Electric Co. L t d . , Civilian Atomic Power Department, Peterborough, Ontario. In 1962 and 1963, he was employed as a Consultant to the Petrochemical Industry in Southern Alberta. He joined the staff at The University of Calgary, apartment of Electrical Engineering, in 1967; at present, he holds the rank of Professor. D r . Hope's current research interests are: Computer interfacing, digital relaying, system identification and power system's computer application.

I
Fig. 16 Electro Hydraulic Governor Model

Fig. 17 Steam Turbine Model

engineering from Delhi Polytechnic, India,-in 1952 and obtained the M.E. degree in electrical machine design from the Unversity of Roorkee, India, in 1962. In 1965 he received the Ph.D. degree from the Univesity of London, London, England, and D . I . C .from the Imperial College of Science and Technology, London. From 1952 to 1961 he worked with electric utilities in India on various aspects of design, construction, and operation of power systems, For one year he was a Confederation of British Industries scholar in the United Kingdom. In 1965 he worked with the English Electric Company in England. He is now in Canada, where he taught for two years at the University of Windsor and is at present at The University of Calgary. Dr. Malik is a fellow of the Institution of Electrical Engineers (London), a member of the Canadian Electrical Association, and the American Society for Engineering Education. He is a registered Professional Engineer in the Provinces of Alberta and Ontario, Canada.

317

Discussion
T. J. Hammons (Glasgow University, Glasgow G12 SQQ, Scotland, U.K.): The Authors are to be commended on developing a multi-input multi-output adaptive power system stabilizer to damp rotor swing which co-ordinates stabilizing contributions from both the excitation and governor systems. They have performed implementation studies using a multimicroprocessor configuration with a micro-machine system which was connected to the utility bus through a transmission line. The electro-hydraulic governor and a non-reheat steam turbine were modelled in the micro-machine model by suitable control circuitry, power mosfets, and a dc motor driving the 3 kVA synchronous machine. The Authors have also shown that micro-machine results agree with digital simulation studies. With the stabilizer, there is an improvement in system damping following small disturbances after the first or second swing, and for large disturbances after latter swings. Investigations undertaken by this discussor indicate that shaft flexibility, particularly in the case of turbine-generators with flexible shafts where natural torsional frequencies can be as low as 5 Hz, can influence governing of large turbine-generators following grid network faults. Location of the speed sensor along the shaft can have a noticeable influence on governor and steam turbine response. The phenomena can be minimised by filtering the control signal. This may be done in a real machine by speed sensor location as intimated above and by processing speed or acceleration signals to filter out control signal components due to unwanted shaft torsional vibrations. Influence of shaft torsionals in controlling large steam turbine-generators is more onerous if non-linear valve stroking is employed, and in turbines equipped with fast valving. The effect should not be ignored in assessing rotor swing following a severe system fault whether or not an adaptive power system stabilizer is employed. Impact of shaft torsionals in steam turbine control is examined by T. J. Hammons in Reference [A]. Use of continuum and reduced shaft models in evaluating amplitude of predominant low-frequency shaft torsional vibrations which can impact on steam turbine control is analysed by Hammons, Istin and Crocquevieille (1987) in Reference [B]. A typical speed/load control system which incorporates transfer functions for the governor control valves, steam chests, reheaters and turbines, and which simulates shaft torsional phenomena and the turbine-generator and which could be employed for detailed implementation investigations is illustrated in Figure A. This speed/load control system is explained in Figure 6 of Reference [A] and in Reference [HI. Detail of damper circuit modelling and the fault clearing process can also have a noticeable influence on first swing performance of a real machine and ensuing transient response. Classical equivalent circuits, with one damper on each axis, have long been recognised as inadequate for

simulating steam turbine-generator rotors. The presence of solid iron and deep slot wedges give rise to larger iron saturation and 'skin' effects than in multiple designs with laminated iron and discrete damper windings. Additional rotor circuits are required to match, more accurately, the operational inductances of steam-turbine generators. Figure B illustrates the effect damper circuit modelling and the fault clearing process has on rotor swing following a 185 m, L-L-L HV system fault with clearance. Three, two and one rotor circuit fits to standstill frequency response data are employed as a basis for the comparisons. Such equivalent circuits can be derived also from design data. Identification and determination of the characteristic qualities for equivalent circuits is described by Canay (1984) in References [C] and [D]. Effect damper circuit modelling and the fault clearing process has on machine transient response following severe disturbances on the electrical supply is examined by Hammons and Canay (1986) in Reference [E]. Figure B illustrates that peak rotor angle to effective infinite busbar corresponding to the (2d, 3q), (Id, 2q), and (Id, lq) damper models for clearance of a 185 ms HV system short-circuit at fault current zeros where supply system infeed is simulated is 92.6", 99.0", and 97.0" respectively. Peak rotor angle corresponding to the detailed (2d, 3q) damper representation following simultaneous clearance of the same short-circuit is 92.1'. Peak rotor angle is significantly less when the detailed representation is employed on account of improved low frequency electrical damping of rotor swing. Peak rotor angle is marginally lower following simultaneous interruption on account of reduced effective duration of the fault. Detailed damper models where the fault clearing process is adequately modelled should be employed in precise evaluations of rotor swing. This applies whether or not a power system stabilizer is used. It should be noted that speed governing systems of many thermal generating units include auxiliary control features designed to assist in limiting overspeed following load rejection. Different manufacturers use different devices to respond to an island situation. Some turbine control systems use an acceleration device to identify the island and respond by closing the control valves virtually instantaneously then returning the unit to droop control once the acceleration is removed. Others use a mechanical/electrical mismatch measurement to unload the unit and run back to zero power awaiting operator interventions. Shaft torsionals can affect behaviour of the control system under system islanding conditions. Multivariable self-tuning power system stabilizers should respond correctly to the above situations. Impact of turbine overspeed controls on unit performance under system disturbance conditions is examined by Kundur et. al. (1985) in Reference [F]. Problems experienced during electric grid islanding with nuclear generating stations and their chances of surviving a severe grid disturbance, grid islanding operation, and grid restoration which could impact on performance of a multivariable self-tuning power system stabilizer are described by Chou, Kundur, Acchione and Lautsch (1989) in Reference [GI.

TRANSFER FUNCTIONS

m 4
F i i s l ~ ~ VALVES VALVES NONLINEAR RESPONSE COMPENSATION

INTERCEPT VALVES

\
MULTIPLIER

SPEED/LOAD CHANGER CONTROL SYSTEM REF

MAIN CONTROL VALVES

COMPENSATION

-- -- -- - - '1

NOTE SPEED Ttp(s1 may comprise several angulor inertias w c h connected by a ftexibtr shaft

PRESSURE/LOAO
TRANSDUCER

IMPULSE CHAMBER PRESSURE

Fig. A. Typical Speed/Load Control System.

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Duration of fault 0.185s. Fault interruption at fault current zeros. Torques are p.u. on generator MVA rating. AVR and governor action ignored. Transformer impedance (0.0016 + j0.1400) P.U. Supply network impedance (0.0040 + j0.0400) p.u.

(2d, (Id, (iii) (Id, (iv) (2d, (i)

(i)

3q) model with interruption at fault current zeros 2q) model with intemption at fault current zeros

lq) model with interruption at fault Current zeros 3q) model with simultaneous interruption

a m p e r Modelling on Rotor Swing following a L-L-LNon-ground HV System Fault. Fig. B. Effect of D

To summarise, this Discussor is of the opinion that in the implementation of multivariable self-tuning power system stabilizers in real machines, particularly turbine-generators with flexible shafts and which employ fast valving with non-linear steam valve stroking:

be

The presence of shaft torsional modes in the shaft system should Of and appropriate allowance made in the the stabilizer. The location of the speed transducer system@),and the frequency response of the stabilizer control system should be so designed that continuous excitation of any torsional modes under any conditions is avoided. Where measurements of machine acceleration are derived bv differentiation of the speed signal or otherwise, appropriate filteiing or other means should be employed such that components of shaft torsional vibration are. reduced to sufficientiy low levels that spurious operation is avoided. In digitally-based systems the effective sampling rate, or frequency of speed measurement should be chosen to avoid aliasing problems with any torsional mode of significance, and where necessary, appropriate anti-aliasing filters should be employed.

Stressing of Turbine-Gefterator Shafts, IEEE Transactions on Energy Conversion, Vol. EC-l, (l), 1986, pp. 113-121. [Fl P. Kundur, D. C. Lee, J. P. Bayne, and P. L. Dandeno. Impact of Turbine-Generator Overspeed Controls on Unit Performance under System Disturbance Conditions, IEEE Transactions on Power Apparatus and Systems, Vol. PAS-104, (6), 1985, pp. 1262-1270. [GI Q, B. Chou, p, Kundur, p. N. Acchione, and B. kutsch. hproving Nuclear Generating Station Response for Electrical Grid Islanding, IEEE Transactions on Energy Conversion, Vol. EC-4, (3), 1984, pp. 406-413. [HI ~ ~ ~ - 1 2 2 - 1 9 Recommended 85 Practice for Functional and Performance Characteristics of Control Systems for Steam Turbine-Genera1u1 UIU1S.

^.__
TT_I._

Manuscript received Febqm 20, 1989.

N. C .

P W W A T W T H A , G. S. HOPE and 0. P. MALM. The authors would like thank T. J. Hammons for his discussion. The authors agree with the discusser that natural torsion

In simulation studies, detailed damper models using preferably a (2d, 3 4 damper representation should be employed in addition to adequately simulating shaft-torsionalphenomena (if significant) and turbine overspeed controls for a precise evaluation of multivariable power system stabilizer performance following a supply network disturbance. The Authors comments on the practical implementation of multi-variable self-tuning power system stabilizers on real turbine-generators in a real power system in the context of this Discussors remarks would enhance usefulness of the presented results. References

frequency can be as low as 5Hz on flexible shaft turbo governors, and that the location Of speed along the shaft can have a noticeable influence on governor and steam turbine
response. The discusser points out that this phenomena can be minimized by filtering the control signal. Indeed, the authors maintain that the control signal must be filtered. As the discusser points out, classical equivalent circuits with one damper winding on each axis does not give a detailed similation of steam-turbine generator rotors. Where a detailed study is required, it is indeed best to use a more detailed model. The shaft models given by the discusser provides the details required for precise evaluations of rotor swings. In self-tuning adaptors the identifier inherently traces the dominant subharmonic. To improve identification speed in self-tuners the number of poles should be limited to three. This also increases controller action. The discusser raises a number of points and asks for the authors comments. They are as follows:

T. J. Hammons. Impact of Shaft Torsionals in Steam Turbine Control, IEEE Transactions on Energy Conversion, Vol. EC-4, (2), 1989, pp. 143-151. T. J. Hammons, M. Istin, and A. Crocquevieille. Analysis of Continuum and Reduced Shaft Models in Evaluating Turbine-Generator Shaft Torsional Response following Severe Disturbances on the System Supply, Electric Machines and Power Systems, Vol. 13, 1987, pp. 387-408. I. M. Canay. Identification and Determination of Synchronous Machine Parameters, Brown Boveri Review, Vol. 71, (6/7), 1984, pp. 299-304. I. M. Canay. Determination of Synchronous Machine Model Parameters from Characteristic Quantities applicable also to Subsubtransient Data, Electric Machines and Power Systems, Vol. 9, (l), 1984, pp. 33-48. T. J. Hammons and I. M. Canay. Effect of Damper Circuit Modelling and the Fault Clearing Process on Response Torque and

i)

It is very important that the stabilizer should be designed to recognize shah torsional modes. The smbilizer detects each In& of osiiilxion Jcqt~c~&Xy UIJt1tkreh-s IIIUS, luilg,e over the proper frequencies of shaft vibration. This is one of the things that makes multi-variable self-tuning difficult.

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ii)

The discusser is correct. The location of the speed transducer is important and of Come the frequency response of the stabilizer must be designed to damp any torsional modes under all conditions. ic) The discusser points that filtering of shaft torsional vibration is needed. iv) The discusser makes the point that in digitally-based systems the effective sampling rate should be chosen to

avoid aliasing problems and that appropriate aliasing filters should (must) be employed. This is important. Also, it is important that the correct sample frequency be chosen and that the correct anti-aliasing filters for this sample frequency be If the rate and anti-aliasing are incorrectly chosen, a self-tuning stabilizer functions poorly. This is especially true of multi-variables stabilizers. procedures may be the Understanding of proper key elementin their success.