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0
Pe Pmax Sin
Now if we give an incremental change in delta
0
2 H d 2 ( 0 )
Pm Pmax Sin ( 0 )
s dt 2
Pmax cos 0
2 H d 2
Pmax cos 0 0
s dt 2
S p Pmax cos 0
2 H d
2
S 0
s dt 2 p
d s S P
2
2
0 Equation of simple
dt 2H
d 2x harmonic motion
n x 0
2
2
dt
s S P In electrical
n rad/sec
2H
n Natural frequency
dPe
Pmax cos 0
d
Sp is the slope of the power angle
characteristic.
The coefficients of the linear model give
us information about how the system
behaves for small excursions around the
operating point at which the coefficients
(tangent) were evaluated.
N.B. Here the primary requirement is that
the synchronizing coefficient must be
positive for the system to be stable under
small disturbances
NOTE: We cannot use the coefficients of the
linearised model evaluated at one point to
make predictions about how the system will
behave for small excursions at a different
point around another operating point
Different slopes imply different small-signal
characteristics
Generally we will have non-linear equations
(models) of many variables resulting in a
linearised model with numerous coefficients
arranged in matrix (state space) form
Many powerful linear systems analysis
techniques exist with which to interpret the
information locked inside the coefficients of
these matrices.
However, by far the most important of these is the
eigenvalues of the system.
there are a number of eigenvalues and these can
be plotted in the complex (, j) plane: the type
and position of these eigenvalues in the complex
plane tell us specific details about the small-signal
characteristics of the system. Each eigenvalue (or
complex conjugate pair of eigenvalues) tells us
specifics about one mode of small-signal response
of the system.
N.B.The system will have a number of eigenvalues
and its time response will be a combination of these
small- signal modes
H 5MJ / MVA
Pe 2 sin
0 60 0
S P 2 cos 0 1
f 50 Hz
314 1
n
25
31.4 5.6electrad / sec
n
fn 0.89 Hz
2
SMALL-SIGNAL STABILITY
CHARACTERISTICS
= = 0
= 0
is the synchronising
torque coefficient.
Linearising the equation of motion and changing
variables p to p , Te to Te and Tm to Tm for
the reason, we have the linear model of the system
dynamics for small changes around a given operating
point:
1
= ( )
2
= 0
where KD = D is the damping torque coefficient
K s Te
And which in matrix form is:
Or
0 1
= ( + )
2
0 1
= ( + )
2 0
2
0
+ + 0 =
2 2 2
2
+ + 0 = 0
2 2
Here the coefficients are functions of system operating
condition and system parameters
Ks
As the synchronizing torque coeffcient
Increases, the natural frequency increases
and the damping ratio decreases.
2 + 2 + 2 = 0
0
2 2
Further Reading
Effects of SM field circuit dynamics
Effects of field flux linkage variation on
system stability