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CHAPTER 4
SMALL SIGNAL STABILITY OF MULTI MACHINE SYSTEMS

4.1

INTRODUCTION

In a stability study of a large number of synchronous machines, the response of

the system to a given disturbance is investigated. The complete mathematical
description of the system would therefore be very complicated unless some
simplifications were used. Often only a few machines are modeled in detail, usually
those nearest the disturbance; while others are described by simpler models. The
simplifications adopted depend upon the location of the machine with respect to the
disturbance causing the transient and upon the type of disturbance being investigated.
This chapter outlines the procedure involved in small signal stability analysis of a
multi-machine system.
4.2

MULTIMACHINE STABILITY ANALYSIS

Analysis of practical power systems involves the simultaneous solution of

equations representing the following:
Synchronous machines, and the associated excitation systems and prime
movers
Interconnecting transmission network
Static and dynamic (motor) loads
Other devices such as HVDC converters, static var compensators
For system stability studies it is appropriate to neglect the transmission network and
machine stator transients. The dynamics of machine rotor circuits, excitation systems,

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prime mover and other devices are represented by differential equations. The result is
that the complete system model consists of a large number of ordinary differential and
algebraic equations.
Each machine model is expressed in its own d-q reference frame which rotates
with its rotor. For the solution of interconnecting network equations, all voltages and
currents must be expressed in a common reference frame. Usually a reference frame
rotating at synchronous speed is used as the common reference. Axis transformation
equations are used to transform between the individual machine (d-q) reference
frames and the common (R-I) reference frame as shown in Figure 4.1. For a machine
represented by a classical model, the rotor angle is the angle by which the voltage E
leads the R-axis. Under dynamic conditions, the angle changes with rotor speed.

Figure 4.1 Reference Frame Transformation

The formulation of the state equations for small-signal analysis involves the
development of linearized equations about an operating point and elimination of all
variables other than the state variables. The general procedure is similar to that used
for a single-machine infinite bus system. However, the need to allow for the
representation of extensive transmission networks, loads, a variety of excitation
systems and prime mover models makes the process complex. Therefore, the

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formulation of the state equations requires a systematic procedure for treating the wide
range of devices, which is described in the following section.

4.3

PRELIMINARY CALCULATION

To prepare the system data for a stability study, the following preliminary
calculations are made:
1) All system data are converted to a common base: a system base of 100 MVA is
frequently used.
2) The loads are converted to equivalent impedances or admittances. The needed
data for this step are obtained from the load-flow study. Thus if a certain load
bus has a voltage VL, power PL, reactive power QL' and current IL flowing into a
load, then load shunt admittance YL = GL + jBL, is given by
r
r
r
E '' V jX''I
(4.1)
3) The internal voltages of the generators depend on the modeling of the generator
as of whether transient or sub-transient or classical model is used. Firstly,
position of individual machine q-axis with respect to system reference axis is
calculated. Then depending on the generator modeling, internal voltage is
calculated.
a) Position of q-axis:
This method is used if the following data are available from load flow:
machine terminal voltage Va, machine current Ia and the power factor
angle. Then the q-axis phasor is given by,

r
r
r
Eqa V (Ra jXq) I

(4.2)
b) Internal voltage calculation:
Depending on the generator modelling, internal voltage is calculated.
Voltage behind sub-transient reactance is given by,

r
r
r
E '' V jX''I

(4.3)

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Voltage behind transient reactance is given by,

r
r
r
E ' V jX'I

(4.4)
Projection of these voltages on the corresponding machine q-axis
gives the internal voltage of the machines in the d-q- axis.

4.4

ANALYSIS METHODOLOGY

In this section, procedure for deriving equations for multi-machine system in

state variable canonical form is outlined; the equations represent the dynamics of the
machines and controllers. The steps involved are:
1. Equations in network coordinates:
Network(algebraic) equations are written in nodal form. Machine internal
nodes are explicitly included. Loads are represented as constant admittances.
Network controllers are represented as current or voltage sources.
2. Reduction of Network Equations:
All non-generator nodes are eliminated, resulting in a reduced set of algebraic
equations. Only machine internal nodes and nodes connected to fictitious
current and voltage sources that are due to controller modelling are retained.
3. Transformation of reduced Network equations:
The reduced set of equations obtained in step 2 is transformed to individual
machine qd coordinates. They are related through the phasor form of inverse
Parks transformation.
4. Linearization of Transformed Network Equations:
The transformed network equations in individual machine rotor coordinates,
obtained in step 3 are linearized. This will yield appropriate expressions for the
incremental changes in algebraic variables (currents) in terms of the
incremental changes in state variables.
5. Linearization of Differential equations:
Differential equations for the machines and the controllers are linearized. The
resulting equations will contain in general incremental changes in algebraic
variables (currents). Differential equations describing the machines depends on
the order of the model considered.

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6. Elimination of Algebraic variables:

Incremental changes in algebraic variables are eliminated from the linearized
differential equations obtained in step 5 using the expressions for the
incremental changes derived in step 4. The resulting equations will be in state
variable canonical form.
7. Apply eigenvalue technique for stability assessment.

4.5

SUMMARY
In this chapter, a brief description about multimachine stability analysis is

provided. Preliminary calculations required to prepare the system data for stability
study is outlined. Procedure for deriving equations for multi-machine system in state
variable canonical form is outlined.