Application of a modal-based
transient energy function to a
large-scale stressed power system:
assessment of transient stability
and transient voltage dip
Roger Treinen, Vijay V i t t a l and A A Fouad
Department of Electrical Engineering and Computer
Engineering, Iowa State University, Ames, Iowa 5001 1,
USA
In this paper a modal-based transient energy function
( M T E F ) is used to analyse a large-scale stressed power
system exhibiting the inter-area mode phenomenon.
The analysis consists o f two parts. In the first part, direct
transient stabili O, analysis o f the inter-area mode is
conducted by determining the dominant modes of oscil-
lation involved in the non-linear interaction. Using the
machines that have large participation in these modes,
relevant disturbed machine groupings are formed. These
groupings are then used in the M T E F m e t h o d for transient
stability assessment. In the second part, the M T E F is also
used to predict the post-disturbance voltage dip at various
buses using an energy based criteria.
The developed procedures are tested on a 161-generator
coherency-based dynamic equivalent of the Northern
States Power ,s;vstem which is part of the Mid-continent
Area Power Pool in North America.
Keywords." short-term system dynamics, transient stability,
security enhancement
I. I n t r o d u c t i o n
Many power systems in the North American inter-
connection presently operate with a heavily loaded
transmission system. When subjected to a disturbance,
these stressed large scale power systems exhibit a
complex dynamic behaviour known as the inter-area
mode phenomenon. The inter-area mode phenomenon is
characterized by the separation of a large group of
generators, some of which may be far from the disturb-
ance, from the rest of the system. Furthermore, the post
Received14 January 1992; revisedand accepted15 October1992
Volume 15 Number 2 1993 01 42-061 5 / 9 3 / 0 2 1 1 7 - 0 9 1993 Butterworth-Heinemann Ltd
disturbance network is characterized by weak synchron-
izing forces caused by large transmission impedances.
Transient stability studies conducted on such systems to
verify regional reliability criteria, are not necessarily
limited to the verification of loss of synchronism. Due to
the inherent stress on the system, other parameters may
have a pronounced effect on the system dynamic
performance. In particular the transient voltage at certain
buses following a disturbance may be a critical parameter
when voltage sensitive components, such as coolant
motors of a nuclear plant, are present in the power
system.
This paper describes an analysis of the transient
stability and transient voltage assessment of power
systems exhibiting the inter-area mode phenomenon. The
direct method of transient stability analysis using the
transient energy function 1 is used. This method has been
shown to assess first swing stability accurately when
applied to unstressed power systems. In previous appli-
cations of the T E F method to the inter-area mode
phenomenon 2 4, the stability assessment results were
'mixed'. In several instances the T E F method resulted in
poor transient stability assessment. The poor results can
be attributed to the fact that the energy exchange
phenomenon was not accurately captured by the T E F
method, when the inter-area mode was characterized by
a single inertial mode of oscillation.
Results from earlier work 4 indicate that the inter-area
mode phenomenon occurs as a result of non-linear
interactions between the dominant natural modes of
oscillation of the power system. This explanation leads
to a logical solution of the transient stability assessment
problem by formulating the transient energy in terms of
the energy associated with the dominant inertial modes.
Modal analysis is used to identify the dominant modes,
and machines that have a greater influence than others
117
in a given mode of oscillation can be determined through
the use of participation factors -~.
In earlier work based on slow-coherency analysis,
Khorasani et al. 6 used a physically based decomposition
technique to develop the concept of a modal-based
transient energy function. Using the notion of relevant
disturbed areas, a partial energy function containing only
appropriate components of the energy terms was obtained
and used for stability assessment.
The above developments, i.e., the dominant modes
concept and the modal based partial energy function,
have been combined in Reference 7 in the following
manner. The dominant interacting modes of oscillation
are determined'*. The machines participating in each
mode are found using participation factors. Each domi-
nant mode is treated as a relevant disturbed area.
However, in this work these relevant disturbed areas are
replaced by relevant disturbed machine groupings. A
relevant disturbed machine grouping is a group of
machines that have significant participation in a dominant
mode. The decomposition in Reference 6 is then invoked
to obtain a partial modal-based transient energy function
(MTEF). This function is used in transient stability
assessment.
The voltage dip and its time duration may have adverse
effects on a power system during a transient. The adverse
effects are even more pronounced for the buses at nuclear
plants. The transient dip in voltage following a disturb-
ance results in the tripping of coolant motors and leads
to the plant shutting down because of a loss of coolant.
The loss of a major plant further complicates the effect
of the disturbance and may cause cascading outages. For
some systems, this is used as the stability criteria.
The approach used in this paper is based on the
principle that, following a disturbance, the voltage near
the electrical centre of the system dips to a minimum at
the instant the angular swing of the generators on either
side of the electrical centre is a maximum. The T E F
method can detect the instant of maximum angular swing
using an energy criterion s'9. In this paper the M T E F is
used to determine the instant of maximum angular swing
in the inter-area mode case. This approach is based on
the premise that the M T E F method accurately accounts
for the energy exchange phenomenon in the inter-area
mode.
The procedures developed are tested on a realistic
161-generator equivalent of the Northern State Power
(NSP) system. NSP is a large utility which forms a part
of the Mid-continent Area Power Pool (MAPP) in the
Northern American interconnection.
II. M a t h e m a t i c a l model of p o w e r system
The classical power system model is used in this study 1.
Using the centre of inertia (COI) reference frame, the
system equations are given below.
MirTJ)i= P i - P,.i- (mi/mr)Pco, = f/(0) (1)
0i=(7.)i i = 1 , 2 . . . . . n--1
and the nth angle and the nth speed terms O. and &., are
defined as
n--1
On=- 2 (MiOi)/Mn
i=1
n-I
(7),=- Z (Mi&i)/M.
i=1
where
Pi : 1),,,i E, G.
n
p,,~= ~ [C~jsin(O~-Oil+D~jcos(O ~ Oj)]
i= 1
.jJ- i
Cij = EiEjBii, D~j = E~EiG~.i
Pcol =- ~, (Pi- Pei)
i=1
M r - ~ Mi
i=1
and
n number of machines
G, driving point conductance
P,,i mechanical power input
Ei internal bus voltage of machine i
M~ inertia constant
Gz~+jB~j the transfer admittance between machines
i and j
&i, 0~ machine i rotor speed and angle deviations
with respect to a COI reference frame.
The loads are represented by constant impedances and
the network is reduced to the internal machine nodes.
III. D e t e r m i n a t i o n of non-linear
interacting d o m i n a n t modes
In Reference 4 a procedure was developed to determine
the dominant non-linear interacting modes and to
identify the machines participating in these modes. This
procedure consisted of three main steps: (1) the identifi-
cation of the dominant modes through modal analysis
on the linearization of equation (1) evaluated around the
post-disturbance stable equilibrium point (SEP); (2) the
identification of the machines participating in these
dominant modes through the use of participation factors,
and (3) the identification of the non-linear interacting
dominant modes by forming the Taylor's series expansion
of equation (1) about the post-disturbance SEP and then
neglecting all terms higher than second order. This
procedure is very computationally intensive (due mainly
to step (3)). However, it was found that, for the stressed
systems used to test this procedure, the machines that
had significant participation in the dominant non-linear
interacting modes consisted of those that were advanced
in the controlling UEP, plus a few more machines whose
UEP angles were close to, but yet less than 7r/2 radians
(advanced refers to machines whose angle in COI at the
controlling U E P is greater than ~/2 radians). In the
procedure reported upon in this paper, the controlling
UEP, and hence the advanced machines, are already
known. If the dominant modes of oscillation in which
the advanced machines have significant participation can
be found, these modes should represent the non-linear
interacting dominant modes in the inter-area mode of
separation. Hence the Taylor's series expansion of
equation (1) can be avoided.
Iil.1 Identification of the dominant modes
The identification of the dominant modes is accomplished
by the linearization of equation (1) around the post-
disturbance SEP. The free-response of the post-
disturbance system with initial conditions can be written
as
X ( t ) = ~ cqe~"ui (2)
,-1
where
m= 2n-2
x(t) is the perturbation vector of the machine rotor
angles and speeds.
2, is the ith eigenvalue of the linearized system
matrix.
is the ith right eigenvector of the linearized
U,
system matrix corresponding to mode i.
l; i is the ith left eigenvector of the linearized system
matrix corresponding to mode i.
x(o) is the initial condition vector of angles and
speeds.
is v~X(O).
All vectors listed above are of length m.
There are two constraints imposed on the eigenvectors,
they are
]vil12= l.O, and vTiui=1.0
The dominance measure is defined as the scalar
value, F,=[cq[. Hui[[2. Where [['112:C"---,R is defined by,
[[~[2=~.~, where ~ e C " and H implies a conjugate
transpose.
II 1.2 Determination o{ the machine participation in
the dominant modes
The relative participation of machine k in mode i can be
determined via the participation factor defined as
Pki=Vk~Uu. The participation factor is a dimensionless
quantity. The larger the participation factor the more
participation or influence the machine has in the mode.
111.3 Selection of the relevant disturbed machine
groupings
The actual selection of the relevant disturbed machine
groupings can now be accomplished by performing the
following algorithm.
For each machine k advanced at the controlling UEP,
perform steps (i) to (iv) below. Note that machine k
corresponds to the kth row of the state vector as given
in equation (2) with respect to the rotor angle.
(i) Calculate the participation factor for every mode.
This consists of calculating Pk, = Vk~Uk,,i = 1,3 . . . . . m.
(ii) Select the modes in which the participation factor Pk,,
i ----1,3 . . . . . m are significant. This consists of selecting
the modes where Pk~, i = 1,3,..., m are greater than
a specified minimum value. For the power system
investigated, typically a value of 0.01 has been used.
Let o,//be the set of modes selected for this advanced
machine k. In other words,
o.#={i:Pki>O.Ol, i = 1,3 . . . . . m}.
(iii) Rank the modes of .J# in descending order of
F. For example let d be the number of modes
selected in step (ii), then ~# = {[`~, F 2. . . . . Va} where
F 1 > F2 > --. > Fa. The advanced machine k may not
always be placed in the most dominating mode of
,/l. The identification of the mode in which the
advanced machine is to be placed, depends on the
dominance measure of the mode and also on the
degree to which the advanced machine participates
in the mode. These two factors need to be carefully
weighted. This gives the motivation for step (iv)
below in that it gives a weighting factor for that
particular mode in equation (2). The participation
factor then gives the relative participation of the
advanced machine in that mode.
(iv) Let the mode corresponding to F~ be a and the mode
corresponding to F 2 be b, if eJC~b>Pkb/Pk~ the
advanced machine k will be put into mode a.
Otherwise, let the mode corresponding to F'2 be a
and let the mode corresponding to ['3 be b, and
repeat the test for the remaining modes in o,h'.
A note of caution is in order. Not all of the advanced
machines may have a significant participation in any of
the dominant modes. If this situation occurs, then the
advanced machine should not be considered while
performing the above algorithm.
In conclusion, by performing steps (i) to (iv) for each
advanced machine, a set of modes in which each mode
contains at least one advanced machine, is produced.
IV. M o d a l - b a s e d t r a n s i e n t e n e r g y
function
The transient energy function 1 derived from equation (1)
is given by
1 " 1 "-1
r = 21=1E Mi~D2 -- M T ~=, ~ (PiMj-- PjMi)(Oij-- O~j)
- ~
"lk{ "= j = i + l
c,j(cos 0,~- cos 0,~)
i=1 j=i+l
-ff'f;DijcosOqd(Oi+Oi) } (3)
In order to obtain the desired decomposition of equation
(3) (refer to Reference 6 for detailed derivation) the system
is divided into r groups, where each group contains at
least one machine. The COIs of these r groups form the
slow subsystem. The difference between the C O I angle
of each of these r groups and each machine rotor angle
within each group constitutes the fast subsystem. For the
subsequent discussion, two typical groups, e and fl, are
denoted, and have centre of inertia angles y~ and y~
respectively. As in Reference 6, the rotor angles with
respect to the local COls are defined as
X,=Oi--ya, ie~, ~ = 1,2 . . . . . r
and those of the local COIs with respect to the global
COl, 30, as
~=y~-6 o, :~= 1,2 . . . . . r
Also define
MT~ = ~ M,
The transient energy function (3) can be expressed in
terms of the slow variables y~, and the fast variables
2,. Note that the symbol ~ is used to imply a sum-
mation over all machines in the group e. The transient
energy function, in terms of the variables 2,, y~,
ice, c~= 1,2 . . . . . r, is given by
V = v K E - ] - V PE
where where.~ is the set of relevant disturbed group> and PARI
refers to the partial energy. It should be noted that ~he
Vlqt!= I mi-(:~ ~- M T ~ . ~?;2
, number of relevant disturbed groups in .# is equal t~
2~= 1 = t.... 1. The rth group consists of the machines not
contained in ~
KE
= v,~,,~+ ~ ~,KE
....
~'--1 ~--1
V. Transient stability assessment using
= vf.V, + K,% 141 the M T E F method
The potential energy is divided into three parts so that In order to determine the relevant disturbed machine
vPE= vPE ~_ PE PE groupings by modal analysis and to assess transient
slow-- Vfast-}- [/fast slow (5)
stability using the M T E F method, it is essential that the
The potential energy components are defined by controlling U E P is known. The procedure used for
determining the controlling U E P is based on the method
K,o. = ~X E (PiMg-- P eMI)(y~#- Y:t~) proposed in Reference 12. A brief outline of this
1 //=~+ 1 j procedure is given below.
(5a)
(1) Integrate the disturbed system.
PF
V<,,,= ~f MI ( ~~ ~'~ (P,M~-P~M,)(Sc,~ 2[0 Save conditions at clearing.
:e= 1 k T\ i j=i+ 1 Check for exit point, x e, this is encountered when the
summation, ~ 7 - l - j i & i , goes through a zero (i.e.,
+~ ~[ (PiMj -- PjMi)(2ij -- 5i5) goes from a positive value to a negative value).
(2) Integrate the associated gradient system, with x e as
~s the initial condition, to a point, x c, where, ~7= 1[~(0)1
+ y, Cu(cos 2 u - cos xo-) - I~,,
i /=i+1 i j=i+l is a minimum. For a stressed power network, this
(5b) gradient system is typically stiff, hence a variable

PE
Vfast s l w = 0 t = l
i{ii' -
i O=~t+l
y~ C ~ ; [ c o s ( ~ j - S'=#)
j
step-size integration technique is utilized for its
numerical solution.
(3) Solve the n non-linear equations, Ji(0)=0, for the
controlling U E P with x c as the starting point.
- cos(.%- y~#)]
Transient stability is assessed by calculating the partial
(5c) energy margin given by
i j=i+l i /1==+1

where
A VPART =V:..TI%
PE PARTIO (7)

where 0 u and (F ~ are the c o n t r o l l i n g U E P and clearing

.% - ~ + ~j- 2~ . .
IF. ~- Du(sm 2 u - sm 27~) angles respectively. &c~ are the speeds at clearing. If
('~(ij "~is]) A VpA,T> 0 the system is stable. If A VpAR~= 0 the system
is critically stable. Otherwise the system is unstable.
i
FSh- - J~ ~s x t) - ) J
ix U x~i)- -

Vl. Prediction of transient voltage dip

I^ FS, = 3'uD u[sin(2u + )V~tO-- sm(xu
" ~s ~s
+ Y~tt)]
~ u - (2~+ 2 , - x~ ~ - ) 7,~ ) - (x~
~S
+ ~,~- x~ s/ - ~'})
are obtained using the linear trajectory approximation ~
for the path dependent integral terms.
The M T E F now consists of: (1) slow energy associated
with the centres of inertia of all r groups; (2) fast energies
associated with inter-machine oscillation within all the r
groups, and (3) slow-fast energies associated with the
interactions between the slow energies and the fast
energies. The decomposition of the kinetic energy in
terms of these fast and slow components is clearly
exhibited in equation (4). Also the slow (5a), fast (5b),
and fast slow (5c) variables are evident in the potential
energy equation (5).
Further, in Reference 6 the authors approximate the
system transient energy function in terms of the relevant
disturbed groups by including only the machines advanced
at the controlling UEP. Similarly, the approximate
(partial) modal-based transient energy function used in
transient stability assessment is given by
~---
ae#
Z V~.~,.~+
KE
= VI~ART q- VpPAERT
VI.1 The basic approach
-{- X i .}'~ - - X j - - y ~
In the T E F method, prediction of the transient voltage
dip is made by assuming that it occurs at the instant the
angular swing of the generators on either side of the
electrical centre is maximum. This in turn is detected by
identifying the point on the system trajectory where the
potential energy is maximum 8'9. Thus a system trajectory
between conditions at disturbance clearing and the U E P
is assumed. The point on this trajectory where the
potential energy is maximum is then located. The
corresponding voltages at the various network buses are
then computed.
For a given point on the system trajectory, the actual
bus voltages can be solved for by solving the matrix
equation I = Ybu~ V. I is the vector of current injections
and has zero components for the non-generator buses.
Ybus is the modified admittance matrix, and V is the bus
voltages, which are to be solved for. The vector of current
injections, L is formed by converting the voltage source
representation of the synchronous machine to the current
source representation. The shunt element of each current
source can now be incorporated into the corresponding
l/slow + gslow -}-
cce~
Y~ Vf.s.~
~ + ~
I/fast--slow diagonal elements of the admittance matrix to form the
modified admittance matrix, Ybus. The matrix equation
(6) 1--: Ybus V can then be solved for the bus voltages, V.
Vl.2 Point of maximum voltage dip
In Reference 8 a linear trajectory connecting the clearing
angle, 0 cl, to the controlling U E P angle, 0 u was employed;
the one-dimensional bisection method was used to locate
the maximum potential energy along the trajectory. In
Reference 9 an exponential trajectory was used instead
of the linear trajectory. It must be noted that the test
systems used in Reference 8 and in Reference 9 were
unstressed. Although in Reference 9 it was stated that
the exponential trajectory technique was tested on the
stressed 50-generator reduced Ontario Hydro system
with only modest success.
For the NSP system, the critical bus at which the
transient voltage dip is to be determined is the Prairie
Island 345kV bus. The results obtained by direct
methods (either T E F or M T E F ) are compared with
those obtained by time simulation using the Electric
Power Research lnstitute's Extended Transient Mid-term
Stability Program (ETMSP) 13. Three system trajectory
approximations were tried: a linear trajectory 8, an
exponential trajectory 9, and a Fourier series approxi-
mation 14. The results were unsatisfactory since the
computed transient voltage dip did not compare well
with that obtained by time simulation. It was concluded
that the discrepancy is due to the complex dynamic
behaviour of the inter-area mode.
Careful examination of a number of simulations,
showed that the instant at which the m a x i m u m voltage
dip occurs did not always correspond to the instant where
the first maximum of potential energy occurred. When
the maximum voltage dip does occur at the instant the
first maximum of potential energy is encountered, the
system response is dominated by the first swing transient
and the inter-area mode phenomenon had little effect on
the voltage dip. On the other hand, when these two
instants do not coincide, the inter-area mode phenomenon
dominates the system response. In the latter case the
maximum voltage dip occurs when the potential energy
is at a maximum, but this m a x i m u m of potential energy
is not the first encountered. Hence, in order to identify
the maximum potential energy that corresponds to the
maximum voltage dip correctly, a new criterion is used.
The criterion has been developed to account for the
complex dynamic behaviour experienced with a stressed
power network.
For a system exhibiting an inter-area mode type
behaviour the criterion simply states that the point on
the system trajectory corresponding to a maximum
transient voltage dip is when the difference between V~AERT
and V~ERX is maximum. It must be noted that for an
inter-area mode V~AERTand V~ERTmay go through more
than one minimum and peak; the point of interest is
when the difference is at its peak. For a plant mode, or
when there is one dominant system mode, only one such
peak is encountered. The use of the PrOposed criterion
is outlined below.
Along the actual trajectory, the M T E F is evaluated.
This includes the evaluation of the values of Vfast,,~?
, K E Vslo
wKid
and V ~ v . Where
v KE __ KE
fast..J- Z Vfast,~
Now in order to find the point along the system trajectory
which corresponds to the maximum voltage dip, the
following criteria must be met. (1) Within a given time
range, ~owKE and Vfast.:
KE ~ both m u s t pass through a
minimum along with vpPERTpassing through a maximum.
(2) For a specified time period, if there is more than one
instant at which the criterion in (1) holds, then the
difference between V~AERTand V~ERXfor each of these
instants must be compared. The larger the difference, the
larger the voltage dip will be. Hence the largest difference
between VPERT and V~ERT of these instants corresponds
to the maximum voltage dip.
It should be noted, however, that extreme care must
be exercised when the energy components are numerically
determined, since the energy values are computed at
discrete time instants and are dependent on the integra-
tion step size. As a result, the exact instants at which
these components go through a maximum or minimum
cannot be precisely determined.
VII. N u m e r i c a l results of t r a n s i e n t
stability assessment
The M T E F method was tested on a reduced model of
the N S P system which contains 161 generators and 901
buses. Numerical results comparing critical clearing times
are presented below. These were obtained by: (i)
conventional time simulation (ETMSP); (ii) the M T E F
method, and (iii) the T E F method with kinetic energy
correction. The energy function of method (iii) is given
by equation (3). The critical clearing times were obtained
for five different three-phase fault locations. These
three-phase faults were applied to buses that are part of
the 345kV loop that surrounds the Twin Cities area.
Figure 1 is a map depicting this 345 kV loop. The 345 kV
buses at which the faults are to be applied are identified.
These buses are Coon Creek, King, Monticello, and
Sherco. Also the Prairie Island 345 kV bus is identified.
In all five cases, the inter-area phenomenon can be
witnessed. This is illustrated in Figure 2 which shows
three unstable angular trajectories in COI reference frame
for case 5, a fault at Sherco with a line to Coon Creek
cleared.
Generator number 41, at Sherco, is located in
Minneapolis. Generator number 34, at Coat Creek, is
located in central North Dakota, over 350 miles from
Minneapolis. Generator number 70, at boundary Dam,
is located in southern Saskatchewan, over 500 miles from
Minneapolis. Notice that the angular trajectory of
generator 41 peaks, seems to recover in the first swing,
and then tends to separate from the system. Also as
shown, some generators far from the fault become
severely disturbed and tend to separate.
These generators are shown because they are typical
of many other generators in the system in terms of
dynamic behaviour for this clearing time. Hence, they
are not the only generators that separate from the rest
of the system. The generators shown above were also
advanced at the controlling UEP, which may give an
indication of which machines will separate from the rest
of the system.
Comparison of critical clearing times are presented
below in Table 1. Table 2, shows the corresponding
relevant disturbed machine groupings. The relevant
disturbed machine groupings in column two of Table 2
were obtained by performing the algorithm outlined in
section III.3.
It should be noted that if V~ERXand V ~ v were
evaluated to include all r groups of machines, A VpART
would equal the energy margin obtained by equation (3).
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NO i CASTLE R [ 3-1GI
'~027 / 9290 5-16I
]N I 5/B9 - _ - ~ EW PRAGUE I MARIOIW CASTLE R ,PRAIRIE
~F" - - ~ - " 7627 N.O. VESELI 7614 ISLANO
LESUEUR 77B69, B 6 ~ 7622 5-1602 92L:~
7-1603 SPRING
17673 ) I~IRCLE LAKE 8-7642 L CREEK RE
~ ~15~sEDEN. . . . .~ . . . ) ~ PRAGLE_
9259 I~/. . . _. ~., I_~ _ _ . _
L~-.L%Q__.
8-=!.216
ILAKE EMILY
ER' 7676
)MONTGOMERY
k 087
!
I ~
9210 j ~e I\
~IELO CANN~4~AL
)1 ~" f';:klTtCt~ I va, , v DIST

Figure 1. Map of the 345kV loop around the Twin Cities area

Note that both equations (3) and (6) are evaluated groups. The energy absorbing capacity between the
between the conditions at clearing and the controlling non-disturbed machines is neglected.
UEP. By summing V ~ T only over the relevant disturbed
groups, the energy associated with the inter-machine
oscillations of the rest of the system (i.e., non-disturbed V I I I . N u m e r i c a l results of p r e d i c t e d
machines) is neglected. By doing so, V ~ T better v o l t a g e dip
represents the energy of separation associated with the The same five contingency cases previously analysed are
critical group of machines. A similar statement can be used to test the accuracy of the procedure for determining
made for summing V~RT only over the relevant disturbed the post-disturbance transient voltage dip. In all five
 300 Notice that V~fw, and VfaKE~,pass through a minimum
Clearing time
=O.~ / and V~AERTpasses through a maximum simultaneously at
about 0.52 and 1.96 s. However, the difference between
200 VpPAERTand V p ~ is larger at 1.96 s. Hence it is this point
that is used to solve for the Prairie Island voltage. It is
interesting to note that the plots of Vslow
, K E and Vfast
KE,.~ in
I00 Figure 3 illustrate the oscillatory features of both the fast
and slow subsystems.
Boundary Dam #70 The bottom graph of Figure 3 illustrates the COI angle
i i
of a group of thirteen generators that are located in the
I
Time (seconds)
2 Twin Cities area. Note here that the COI angle peaks of
the group correspond to the Prairie Island voltage dips.
Figure 2. Unstable swing curves for case 5 The data for the voltage magnitude at the Prairie Island
bus and the post-disturbance system trajectory were
obtained by time simulation (ETMSP). The post-
Table 1. Conlparison of critical clearing times disturbance system trajectory associated with the second
and third graphs was obtained by time simulation
Critical clearing incorporated into the TEF computer program. This time
time (s) simulation consists of a modified trapezoidal method 15.
Time simulation Critical Critical In Table 3, results are shown that compare the voltage
(ETMSP) clearing clearing dip at the Prairie Island 345 kV bus obtained by time
time (s) time (s)
Stable Unstable MTEF TEF*
Table 2. Relevant disturbed machine groupings
Fault at 0.1200 0.1250 0.1124 0.131
Coon Creek Advanced machines
Clear Terminal not in
Case 1 Relevant disturbed relevant disturbed
machine groupings machine groupings
Fault at King 0.1460 0.1465 0.1469 0.168
Clear Red Rock Case 1 (74,77,78)(79)(12,13,35) 8,19,20,24,25,26
Case 2 (31,32)(15)(80)(9,10,11 )
Fault at 0.1175 0.1180 0.1178 0.132 (27)(29,76)(16,17)(65,66)
Monticello (67, 68,69,70,73)
Clear Parkers Lake (21,23,30,33,34,36,37,
Case 3 38,39,40,41,75)(72)(71)
Fault at 0.1250 0.1255 0.1217 0.149
Monticello Case 2 (74,77,78,79)(12,13) 8,15,19,20,24,25,26
Clear Sherco (31,32)(80)(9,10,11,73)
Case 4 (27)(29)(16, 17)
(65,66,67,68,69,70)
Fault at Sherco 0.1115 0.1120 0.1091 0.144
(21,23,30,33,38,39,40,
Clear Coon Creek
41,75)(72)(71 )(76)
Case 5
Case 3 (49)(69)(72) 8,24,26,35,67,68
* This m e t h o d used kinetic e n e r g y c o r r e c t i o n 1.
(65,74, 77,78,80)(22)(28)
cases, the clearing time is set at 0.1 s (6 cycles) so that (48)(44)(12,13,14)(31,32)
each case is stable. (15)(80)(9,10,11)(27)
Through extensive analysis of the system using the (29,30,50,76)(66,70,71,73)
ETMSP time simulation program, it was observed that (19,20,21,23,25,33,34,
there are only two instants during the post-disturbance 42,75)(36,37,45)(16,17)
period in which the voltage magnitude at the Prairie (38,39,40,41,46,47)
Island bus seems to experience a substantial dip. The
first dip usually occurs at about 0.4 s, whereas the second Case 4 (74,77,78,79,80)(76)(71)
dip occurs at about 1.9 s. (9,10)(29,30)(19,20)
The three graphs in Figure 3 illustrate the procedure (65,66,67,68,69,70)
described earlier for case 5. The top graph of Figure 3 (21,23,33,34,36, 37, 38,39,
is comprised of the voltage magnitude at the Prairie 40, 41,75 )(48 )(24)(49)(42)
Island bus and the partial potential energy (with reference (11,25,35,45)
to the conditions at clearing) evaluated along the
post-disturbance system trajectory. Note the two sub- Case 5 (74, 80)(79)(77,78)
stantial voltage dips. This top graph is presented to verify (35)(71)(9,10,11)
the energy based criteria associated with the middle graph (29,30, 76)(19,20, 25)
of Figure 3. (65,66,67,68,69,70)
The middle graph of Figure 3 has the values of V ~ T, (23,33,75)(36,37,42,45)
KE
V~ow, and VfKE (38,39,40,41)(48)(24)
asr ,.~, as evaluated along the system trajectory.
 Reference 5 which were formed using slow cohcrcnc~
analysis and are independent of fault location.
While the proposed procedure is computationall~
,4
intensive, it should bc noted that for on-line applications
only certain disturbances may be of interest. F'or each
post-disturbance system operating at a certain nominal
point, modal analysis can be used only once to calculate
the relevant disturbed machine groupings. The M T E F
/11 ~ i ~ i ! i x- i ! i VPE part

- - PI v o l t
method can then be used for transient stability assessmem.
However, the validity of these groupings will be in
question when the system operating point is substantially
changed. The range of operating conditions for a
generator grouping is a subject for future investigation.
In the second part of this paper a procedure to predict
the maximum post-disturbance transient voltage dip is
', ,:L[ 1 1 1 / VKE part
presented. In actuality it is not only the magnitude of
................ VKE slow the dip that is important but also the time duration of
- - ~ fast
this voltage dip. This procedure can be helpful in an
on-line or fast screening environment because it can be
used to test for the violation of a voltage dip limit. If the
voltage does not dip below this limit, the time duration
is irrelevant. Otherwise, further investigation by time
simulation may be required. In the United States the
} ...................
/I ........... ...........
i........... ..........
current regulations state that in a nuclear plant, fi)r the
I:::: coolant motors to be in jeopardy, the voltage must dip
below 0.7 pu for 1 s. None of the contingencies studied
:::::::::::::::::::::::::::::: here gave results that would require further study with
time simulation. However, if such a disturbance did
, ' I I
occur, it is felt that the proposed technique would perform
Time/seconds) satisfactorily.
The procedure seemed to sort out carefully the instants
Figure 3. Voltage-energy, energy and angle plots for where the given criterion almost held up but where there
case 5 was no substantial dip in the voltage. It also accurately
predicted the post-disturbance voltage dip as can be seen
when compared with time simulation results. The
simulation and by the procedure incorporating the procedure demonstrated (as is illustrated by Figure 3)
MTEF. The times at which the voltage dips do occur that the maximum voltage dip did not always coincide
are also shown for both methods. with the largest peak of partial potential energy.
In cases 3, 4, and 5 the maximum voltage dip occurred
at about l.Os. A smaller voltage dip also occurred at
IX. Discussion and conclusions about 0.4 0.5 s in these three cases. It should be noticed
The technique developed for transient stability assess- that the actual difference between the corresponding
ment effectively combines two independent ideas: (1) voltage dips at about 1.9 s and about 0.4 0.5 s is relatively
dominant mode interaction and (2) the modal-based
transient energy function. These are used to capture the
Table 3. Comparison of voltage dips
energy exchange mechanism which occurs in the inter-
area mode separation, even if it occurs several seconds
Voltage dip (in pu) from
into the transient. This is evident in the critical clearing
times obtained.
Time Error
As illustrated in Figure 2, the system seems to maintain
simulation MTEF percent
stability in its first swing; however, the system eventually
becomes unstable. Whereas the T E F method may
Case l 0.927 0.926 0.108 %
incorrectly categorize this case as stable, the M T E F
(a 0.41 s ,~ 0.44s 7.32%
method results agree with the time simulation results.
Therefore, it is evident that the M T E F method has the
Case 2 0.952 0.9522 ....0.021%
capability to assess transient stability beyond the first
(a 0.38 s (, 0.42 s - 10.53%
swing.
The results also reinforce the concept of dominant mode
Case 3 0.922 0.914 0.868%
interactions causing the inter-area mode of separation.
ii~ 1.95s (is 1.94s 0.52%
The relevant disturbed machine groupings are depen-
dent on the disturbance location as well as the system
Case 4 0.934 0.929 0.538%
operating point. The machines in these groupings are
(o 1.88s (a 1.88s 0.00%
placed there because of their strong participation in
certain modes. There is no constraint requiring them to
Case 5 0.904 0.897 0.78 %
be electrically close to each other. These groupings are
,~ 1.92s ,~ 1.96s .... 2.08%
in contrast to the relevant disturbed areas described in
small. Hence if the first instant at which criterion (1),
which was defined in section V.2, holds is picked and the
voltage solved for, the accuracy of the voltage dip results
may be adequate.
The main goal of this work was to demonstrate the
ability of a criterion based on the M T E F to predict the
voltage dip during the transient. The method developed
is general and could be applied without loss of generality
to any load model. However, in this work the constant
impedance load model was used as suggested by the
utility engineers on whose system the technique was
tested.
X. A c k n o w l e d g m e n t s
This work was supported by Iowa State University and
by a grant from the Northern States Power Co. (NSP)
to whom grateful acknowledgement is made.
The authors wish to thank Messrs Dan Nordell, Mike
McMullen and Craig Turner of NSP for providing the
data for the study and for their helpful comments and
suggestions
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