1

International Conference on Advanced Power Engineering 2013

System Embedded With

Thyristor Controlled Resistive Brake and Static
Reactive Power Compensator for Small Signal
Stability Investigation
Modeling of Power

Balwinder Singh Surjan, Member, IEEE, and Gurnam Singh, Senior Member, IEEE

excitation system of generator [3]. Application of PSS has

been one of the first measures to enhance the damping of
power swings. With increasing transmission line loading long
over distances, the use of conventional PSS might in some
cases, not provide sufficient damping for inter-area power
swings [4].
The dynamic braking resistor has been known to be a
useful tool in stabilizing power systems following large
disturbances in the system. The braking resistor can be viewed
as fast load injection to absorb excess transient energy of an
area caused by a large disturbance. It has generally been
Index Terms-- Dynamic Brake, ISE, Modified Phillips-Heffron studies as a shunt resistor load connected at a generator site
and its energy absorbing capacity is limited by the maximum
Model, Small Signal Stability, SMIB, SVC.
temperature rise of the braking resistor material [5]-[7].
Normally, switching of the resistors in these installations is
I. INTRODUCTION
done on the basis of open loop, predetermined strategies. A
number
of theoretical and Computer studies on braking
MALL signal stability is of vital importance to circumvent
resistor
switching
strategies are reported in literature [7].
occurrence major system failure.
Small signal are the
With
the
advanced
technologies in power electronic
oscillation associated in the frequency range of 0.2 to 2.5Hz.
such
as
devices,
thyristor
switches, has been used to improve
These low frequency oscillations may be confined to a group
and
power
system
stability,
capacity to transfer power. Switch
of machines or they may be between two or more machine
control
of
a
resistor
is one of the effective methods to
braking
groups or they may propagate between interareas. The
absorb
the
excessive
caused by system disturbances
energy
frequency of oscillations slides towards lower range as the
and
enhancement
provides
stability
[5], [6], [8], [9]. In [10]
system inertia adds up. Low frequency oscillations (LFO) are
transient
is
stability
investigation
presented
using thyristor
detrimental to the goals of maximum power transfer and
controlled
which
connected
across the
braking
resistor,
power system security. These are generator rotor angle
terminals
of
controlled
rectifier
three-phase
bridge.
oscillations having a frequency between 0.1 to 2.5Hz. The
Dynamic voltage support and reactive power compensation
small signal oscillations are divided into three categories [1],
have
been long recognized as a very significant measure to
[2], (a) local mode of oscillations with frequency range from
the performance of electric power systems. The rapid
improve
0.5 to 2.5 Hz, (b) intermachine mode of oscillation with
in the power electronics area have made it both
advances
frequency range from 0.3 to l.OHz, (c) inter-area or global
and
economic to design powerful thyristor controlled
practical
mode of oscillations with frequency range from 0.1 to 0.6 Hz.
reactive
power
compensators (SVC). The primary purpose of
In many power systems constrained by stability the
SVC
is to maintain bus voltage at near a constant
application
limiting factors are not first swing stability but the damping of
In
level.
addition
SVC may improve transient stability by
system oscillations. The traditional method used to increase
the voltage at key points and steady
dynamically
supporting
the damping of a power system is by adding PSS in the
state stability by helping to increase swing oscillation
damping [12]-[14]. Effectiveness of SVC is dependent on its
Balwinder Singh Surjan is Assistant Professor with Punjab Engineering location, and load characteristics. It becomes more effective
College (DU) Chandigarh-12(INDIA) balwindersingh658(Thyahoo.com
for controlling power swings at higher levels of power
Gurnam Singh is Professor with Punjab Engineering College (DU),
transfer.
Chandigarh-12(INDIA) GtURNAMSINGHPEC(yahoo.comn
In this paper Thyristor controlled resistive brake and static
reactive power compensator (SRPC) are coordinated for the
small signal stability investigation will be presented, along
Abstract-- In this paper Thyristor controlled resistive brake
and static reactive power compensator are modeled and
coordinated for the small signal stability investigation. The
Modification of Phillips-Heffron SMIB model for small signal
stability study will be presented to accommodate reactive power
injection. The controllers tested with SMIB system will also be
employed to multimachine environment. The performance of the
systems studied is based on minimum integral squared error.
The results presented in this paper indicate the effectiveness of
these controllers in small signal stability enhancement.

International Conference on Advanced Power Engineering 2013

with Modification of Phillips-Heffron SMIB model for small

signal stability study will be presented. The controllers tested
with SMIB system will be employed to multimachine
environment. The performance of the systems studied is based
on minimum integral squared error.
II. MODELING

The units of various constants are: H is the inertia constant

in MW-s/MVA, Tdo is the d-axis open circuit time constant of
the machine field winding, TA is the time constant and KA the
amplifier gain in the exciter and voltage regulator circuit, TR
is the total time constant of machine terminal voltage
transducer and measuring circuit. Where in the above linear
differential and algebraic equation, A6, A(o, AEqI AEfd,
AVR, AVt , AVREF ,ATm ,ATe are the small signal deviations

A. Synchronous Generator and Exciter

Modeling of power system components for small signal
stability includes synchronous generators, generator field B. Thyristor Controlled Resistive Brake [18]-[20]
excitation system, external network, and system stabilizing
Thyristor Controlled Resistive Brake (TCBR) may be
equipments. The apparatus having larger time constants can visualized as a load connected at generator terminals. The
be excluded from the system representation.
power dissipated across the resistor can be varied as a
Synchronous generator may be represented using constant function of triggering angle. The power dissipated across the
flux or decaying flux models depending upon the requirement braking resistor as a function of triggering angle is given
of system study. The constant flux model assumes that the below
field circuit dynamics can be neglected in comparison to rotor
I
(8)
Pd
dynamics. Whereas, in the flux decay representation of
[K1Vtcos(o)]2
RB
synchronous generator both field circuit and rotor dynamics
are considered. The flux decay models differ in the where, ac is the triggering angle of the thyristor, Vt is the
representation of number of damper winding along d-axis and terminal voltage of the generator, and RB is the braking
q-axis [15]. In the present study rotor circuit with only field resistor. K is the value of constant depending upon the type of
winding along d-axis is considered, the effect of damper thyristor device used. The value of triggering angle is a
windings neglected is compensated by introducing damping dependent upon the generator rotor speed. Linearizing the
terms in the rotor mechanical dynamics equation. The above equation about initial values of Vto and triggering angle
excitation system can be rotating (DC or AC) or Static types. we obtain the small signal braking torque as given below
(9)
The excitation system models include a transducer and load ATTCBR =K12 *A(XTCBR
compensation, voltage regulator, transient gain reduction,
the small variation of rectifier

voltage limiters, effect of saturation, amplifier depending

upon the type of exciter considered. In this paper, static
exciter comprising of amplifier gain, and its time constant has
been modeled.
The single generator equipped with static exciter and
connected to an infinite bus may be well represented though
Phillips-Heffron Model which is widely used to evaluate
effectiveness of various controllers in terms of stability
enhancement. The dynamic characteristics of the SMIB
system may be expressed in terms of six constants K1 to K6
[15]-[17]. The corresponding mathematical relations among
the different variables and constants expressed through the
linearized differential equations are given below [15]:
(1)
dA6
dt

dAco
dt
dt

(co_>(2

2H) [ATm-ATe-DAo3],

q='_(TdO K1AE'AE-KA6l
q
fd 4

(2)

(3)

dEd I
K
[-AEdfd KA(AVRF-AVR)]
dt
( TA)

(4)

dAVR= I[AVt-AVR]

AVFAV(4

dt
TR)
The related algebraic equations are given below

ATe =K A6+K2E q',

AVt K5A6+K6AEq

where, =TCBR -oc, A(cTCBR is

TCR2

triggering angle, AcLTCBR is the small variation of rectifier

triggering angle, and
K 12 =

[2K

Vt. ] cos(aTcBRo)

The linearized differential equation modifies as given below

A~(o= ( H

[ATm - (ATe +ATTCDB) -DA(o]

(11)

C. Static Reactive Power Compensator

The proposed SRPC comprises of a fixed capacitor and a
thyristor controlled variable reactor connected in parallel at
the generator terminals [20]. To limit the harmonics entering
the system, some of the fixed capacitors are connected as
series tuned filters [21]. The maximum capacitive var output
is available when TCR is switched off (c=0). The net reactive
power exchanged by the SRPC, with SMIB system is given by
the difference of reactive powers of TCR inductor and fixed
capacitor, as given below
QSRPC =Vt2BL L2 -(

v2B.

sin2xJ

(12)

where G5 =2(7t-a). The reactive power of TCR is a function of

triggering angle ac. B L = 1 is the constant susceptance of
y

XL

(6)

(7)

the reactor at the fundamental frequency. Bc is the capacitive

susceptance of capacitor branch of static reactive power
compensator.

International Conference on Advanced Power Engineering 2013

The small signal model of SRPC may be obtained by about

the operating values of generator terminal voltage vt and
triggering angle c10, as given below
(13)
AQsRc (Kl3AVt +K14AucL
Where
(14)
2Vo
K13

K4

LBL(2- 2+ Slflo)fBj

=:::: -V OBL

The flux linkage equation including the compensator reactive

AQsRpc modifies as given below
dt

YTd.

[-(1+K10K,, )AE'q +(K9K11 )A6+K, [AQg -QSRPc]+AEfdI

(16)

The different constants and expression for SRPC power are

derived and explained in Appendix-A.
CONTROLLER TUNING PROCEDURE

III.

Various combinations of controllers considered are tuned

for the minimum magnitude of Integral of Squared Error (ISE)
in the generator rotor angle. The time constants of different
components are selected from the literature [22]. The gain of
each controller loop is varied to achieve minimum ISE. The
controllers TCBR and SRPC are tuned first individually. In
the next step first TCBR is tuned and then SRPC is tuned in.
In the next step first SRPC is tuned and then TCBR is tuned
in. For the multimachine system TGR and PSS are also
considered. The TCBR ,SRPC, and PSS are tuned
individually and their different combinations are tuned to
minimum ISE tuning constraint.
IV. SYSTEM FOR STABILITY INVESTIGATION
A. SMIB System
The relevant data of SMIB system for the small signal
stability investigation is reproduced from the reference [23].
The generator and external network data is given in Table I.
The constants in per unit for Modified form of HeffronPhillips model of SMIB Test system are given in Table II. The
modified Phillips-Heffron SMIB model based on derivations
in Appendix is shown in Fig. 1.
TABLE I
DATA FOR THE SMIB SYSTEM [23]
Inertia Constant, H

3.66

Rated MVA

1280

Rated KV
Power Factor (lag)

22
0.95
2.02
0.358
1.86
0.0019
9.1
50
0.02

Xd

Xd

xq

Rs

Tdo

KA
TA

K1
K4

1.0307

K2

1.242

K3

1.9651

K9

0.189

K10

K11

K12

2.260

K13

0.000

K14

-0.101
1.346
-5.339
-1.273

0.362

0.1749
-0.9531

K5
K8

K6

K7

0.313

(15)

-[I1- cos2u0o]

power

dAt

TABLE II
MODIFIED HEFFRON-PHILLIPS SMIB SYSTEM CONSTANTS

Re

0.0

Xe

0.4

MW-s/MVA

B. Multimachine-Machine Infinite Bus System

The multimachine power system comprising of threegenerators, eight buses, and eight lines is shown in Fig. 2. The
proposed controllers for enhancement of small signal system
stability applied to SMIB system are embedded with
multimachine system comprising of three-generators, eightload, and eight buses. The required system data is given in
Table III [23], [24].
TABLE III
MULTIMACHINE GENERATOR DATA [23]-[24]

Rs
Xd
Xd'
Xq
xq'

GI
23.64
0.0
0.146
0.0608
0.0969
0.0969

G2

6.40
0.0
0.895
0.895
0.8645
0.1969

G3
3.01
0.0
1.312
1.312
1.2578
0.250

Td.'

8.96

6.00

5.89

Tqo
KA

0.310

0.5355

50

50

0.60
50

TA
TR

0.01

0.01

0.01

0.01

0.01

0.01

V. RESULTS

A. SMIB System
The response of the SMIB system obtained for unit impulse
rotor angle variation applied at the simulation time t=0.0
seconds. The variation of system parameters as a function of
time is shown in Fig. 3 to Fig. 6. The effectiveness of
different controllers individually and as a possible
combinations may be observed from these curves. The
presence of TCBR improves the system performance by
reducing the ISE value from 0.2231 to 0.1997 and settling
time from 3.005 to 1.607 seconds. The presence of SRPC
improves the system performance by reducing the ISE from
0.2231 to 0.1979 and settling time from 3.005 to 2.600
seconds. The controller combination of TCBR and SRPC
further improves the system performance by reducing ISE
value form 0.2231 to 0.1754 and settling time from 3.005 to
1.441 seconds. The variation of ISE for different controllers is
also shown in Fig. 6.

International Conference on Advanced Power Engineering 2013

B. Multimachine System
(21)
AQg =ldoAEq +(Vqo -XdIdO )AId -(XqIqo +VdO )AIq,
The machine angle curves in Fig. 7 to Fig. 8 correspond to the Writing the above equation as in terms of coefficients of
case when unit impulse rotor angle disturbance is applied to A6 and AE as Kg and Klo respectively
generator GI at bus nol. The curves in Fig. 7 correspond to
(22)
the relative angle of machine at bus 2 with respect to machine AldI
(
A6KiAE'AQg)
10S q Q )
9A+
(2
=(Vq _X 1Ido -(K
at bus no. 1.
The curves in Fig. 8 correspond to the relative angle of where, Kg=9 -{R V SInJaXeXd)vy,cosao}(VdoXqI)](
machine at bus 3 with respect to machine at bus no. 1. The
ISE value reduces in the presence of tuned controllers as
K = -[Ido R (XqIqo Vdo)]
(24)
shown in Table IV.
The equation for the decay of flux linkage in synchronous
TABLE IV
is given by the following equation in terms A6 and
generator
ISE OF MULTIMACHINE SYSTEM FOR DIFFERENT
AEB q in the above equation
CONTROLLER COMBINATIONS
Controller

ISEsYSTEM

Without TGR
With TGR Only
PSS
TCDB
PSS and TCDB

1896.2
1627.0
1214.8
1059.8
1143.3

TCDB and SRPC

PSS, TCDB, and SRPC

1025.1

dt
dt
where

1086.8

[1]

[2]

[3]

[4]

[5]

[6]

VII. APPENDIX
[7]

The expression for the reactive power may be written [26]

Q=VqId -VdIq,
(17)
Where, Vd, Id, Vq, Iq are the voltage and current components
in d-axis and q-axis respectively. Linearizing the above
equation about an operating point, and substituting the partial
derivatives of voltage and current components [26], we get the
following equation of generator reactive power
(18)
AQg=K7Ad +K8AEq ,
The constants K7 and K8 in the equation (18) are given below
[-(-R V,cos6b +(X +X q )VXsinO )](Vq-X

[8]

[9]
[10]

[11]

Id)

1~~~~~~~~~~~~(9
+(XeXd)Vo,s60 )X(Vdo XqIqo)
-[-(R,Vx,sin6o

[12]

(19)

K8

= ['do

,X 1(0 +Vdo)I
+ (,+
(XeXq)(Vqo -XdIdo)-ARe(XqIqo

Small deviation in generator reactive

following equation

)[(1+K0KlKl)AEq+(KgKll)A6+KllAQg+AEfd]

(25)
(Xd X-d)

(26)

VIII. REFERENCES

The controller effectiveness may be evaluated from the

magnitude of system ISE and nature of response. In
multimachine machine environment, the relative movement of
rotors with respect to reference rotor position may be included
in the controller performance. From the response obtained and
the results obtained This may be concluded that the
coordinated TCBR and SRPC controller may be employed to
enhance rotor angle and voltage stability of the SMIB system
as well as multimachine power system small signal stability,
since in renders lowest value of ISESYSTEM. The modified P-H
SMIB model may be employed to study the system dynamics
in the presence of reactive power compensators.

Tdo(

qodd

VI. CONCLUSION

power may

(20)

be given by

[13]

M.S.Moorty, et al, "Generalized Design Of Damping Control," Power

systems for the year 2000 and beyond, Proc. of Sixth National Power
Systems Conference, I.I.T./ I.G.I.D.R.Bombay, June 4-7,1990,Published
by Tata McGraw-Hill Publishing Company Ltd., New Delhi, pp. 220226.
N.K.Sharma, B.Das, et al, "Coordinated Control Of PSS And SVC For
Small Signal Stability Improvement," Emerging Trends in Power
Systems Proc.of VIII N.P.S.C., I.I.T.Delhi, Allied Publishers Ltd., New
Delhi, Dec -14-17,1994, pp. 520-525.
E. V. Larsen, D. A. Swann, "Applying Power System Stabilizers PartIII: Practical Considerations," IEEE Trans. on Power system and
apparatus, Vol.PAS-100, No.6, June 1981, pp.3034-3046.
IEEE Special Stability Controls Working Group, " Static Var
Compensator Models For Power Flow Dynamic Performance
Simulation," IEEE Trans. On Power Systems, Vol.9, No. 1, Feb 1994,
pp 229-240.
S. S. Joshi, Tamaskar, "Augmentation Of Transient Stability Limit Of A
Power System By Automatic Multiple Application Of Dynamic
Braking," IEEE Trans. on Power system and apparatus, Vol-PAS-104,
No.1,Nov 1985, pp. 3004-3012.
T. Hiyama, et al, "Fuzzy Logic Switching Of Thyristor Controlled
Braking Resistor Considering Coordination With SVC,"IEEE Trans.On
Power Delivery, Vol. 10, No.4, Oct 1995, pp.2020-2026.
A. H. M. A. Rahim, et al, "Optimal Switching Of Dynamic Braking
Resistor, Reactor Or Capacitor For Transient Stability Of Power
Systems," IEE Proceedings-C, Vol. 138, No. 1, January 1991, pp.89-93.
T. K. Nag Sarkar, C. S. Rao, "Some Aspects Of Transient Stability
Improvement With Thyristor Controlled Dynamic Brake," IEEE Winter
Power Meeting Paper No.A 80 004-2 winter meeting, Feb 1980.
C. S. Rao, T. K. Nag Sarkar, "Halfwave Thyristor Controlled Dynamic
Brake To
Improve Transient Stability ," IEEE Summer Power
Meeting Conference Paper No.83 SM 386-0, July 1983.
C. S. Rao, T. K. Nag Sarkar, "Transient Stability Improvement With
Thyristor Controlled Braking Device," IEEE Winter Power Meeting
Paper No. A 80 079 -4, Feb 1980.
E.Z.Zhou, " Application of Static Var Compensators to Increase Power
System Damping," IEEE Trans. On Power Systems, Vol.8, No. 2, May
1993, pp 655-661.
Narain Hingorani, et al, "Understanding FACTS: Concepts And
Technology Of Flexible AC Transmission Systems," IEEE Press
Standard Publisher Distributors, Delhi- 1 10006,1 st Indian Edition,200 1.
L.Anguist et.al., "Power Oscillation Damping Using Controlled
Reactive Power Compenstion- A Comparison Between Series and Shunt
Approaches," IEEE Trans. On Power Systems, Vol.8, No. 2, May 1993,
pp 687-700.

International Conference on Advanced Power Engineering 2013

[14] H.F.Wang, F.J.Swift, " A Unified Model for the Analysis of FACTS
Devices in Damping Power System Oscillations Part I: Single-Machine
Infinite Bus Power System," IEEE Trans. on Power
Delivery,Vol. 12,No.2, April 1997, pp.941-946.
[15] K.R. Padiyar, "Power System Dynamics: Stability And Control,"
Interline Publishing Pvt. Ltd Banglore, 1996.
[16] F.P. demello, T.F. Laskowski, "Concepts Of Power System Dynamic
Stability," IEEE Trans. On Power system and apparatus, Vol-PAS-94,
No.3, May/June 1975, pp 827-833.
[17] P. Kundur, "Power system stability and control" New York: McGrawHill, 1994.
[18] Narain Hingorani, et al, "Understanding FACTS: Concepts And
Technology Of Flexible AC Transmission Systems," IEEE Press
Standard Publisher Distributors, Delhi- 1 10006,1 St Indian Edition,200 1.

[19] W. shepherd, L. N. Hulley, D. T. W. Liang, "Power electronics and

motor control," 2nd edition, Cambridge University Press, 1998.
[20] A. Chakarbarti, " Fundamentals of Power Electronics and Drives," Ist
edition, Delhi: Publisher Dhanpat Rai and Co. Pvt. Ltd. ,2002.
[21] M.A. Pai, D. P. Sen Gupta, K.R. Padiyar, " Small Signal Analysis of
Power Systems," New Delhi :Narosa Publishing House, 2004.
[22] S.Lefebvre, " Tuning Of Stabilizers In Multimachine Power Systems,"
IEEE Trasn. On PAS, Vol. PAS- 102, No.2, Feb. 1983.
[23] P.M Anderson, A.A Fouad, Power System Control and Stability, IEEE
Press, 1997.
[24] Peter.W.Sauer, M.A.Pai, "Power System Dynamics And Stability,"
Published by Pearson Education (Singapore) Pte. Ltd., Indian Branch,
482 F.I.E. Patparganj Delhi, 1 st Indian Reprint, 2002.

Fig. 1. SMIB system equipped with static exciter, TCBR and SRPC.

l8kvT
fi','','
pf

B5

iI

v iO0,0625 0
Leia
Lo afd

128.OMVA
=O. 85

Q-. JI

Load
D1

16.5230

0576
1 6.5kv i
jO

247 5MVA
pI-f.

Fig. 2. Single line diagram of multimachine system.

3O0Jai

International Conference on Advanced Power Engineering 2013

- -6-

* r_

r-- - - - - - - r - - - - - - - -T - - - - - - - -T - - - - - - - -T - - - - - - - -T - - - - - - - -

0. 2 --------r -.- ---

lx~~~~~~~~~~~~~~~~~~~~~~~~~~~~----

W~4J_~~
0.2
r

.f

-- -- - -- tr- -- -- --- T- -- -- - --tr

0.

LU
co

7-

1.5

2
Time(Sec)

- -- -- - -- - -- -- - -- - -- -- - --

25

35

Fig. 6. Variation of ISE with different tuned controllers.

Fig. 3. Deviation of generator rotor angle with individual tuned controller.

No Controller

0 --- --------t- - -L- --- ---- - --- ----- - -- ------ - - ------ t- - ----CE- -r1
0.26

- - - - - - - - ', - - - - - - - - T,- - - - ---- - - - -----

0----

---

0.2

---- .

82 1 0

---

6 .8

- ----

~
r~ ~

TCRC Only

--

~ ~

-RP Only 1

--------------------:

-0.4

11---------------------:

-0.6

II----------------------I

-0.8

O.02 - - - R- fEl- - - -------- - - - T- -------E----------------0.4

-0.2

---

II---------------------10

Time(Sec)

Fig. 7. Variation of rotor angle of machine 2 relative to machine 1 with

machines equipped with various controller combinations.

~~~~~~~~~~TGI1
Only

Li U

0.--

-04

|>
0

60

6.5
0. 5

1.5
1.e;

2.5
2.d5

3.5
3.5;

Time(Sec)
5.
TCRP only AndTCRP tunedii
rotor
4.
Deviation
of
Fig.
generator
angle with SRCB
TRCBR
inthe presence of tunedSRCBR

15

-- -

631

-0. 2

T--

0 E; 13, ' PE~~~~~~P S

- - -

-- ---T----------I

Only

TC DB And SRPC

s STCDB And SRtPC

-~~~~~~P
--

--------------

--

- -- -- -- -- -- -- -- --

---

-08

Tim e(S )

10

Fig. 8. Variation of rotor angle of machine 3 relative to machine 1 with

machines equipped with various controller combinations.

15