Electrical Power and Energy Systems 61 (2014) 482488

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Electrical Power and Energy Systems

journal homepage: www.elsevier.com/locate/ijepes

Improvement on probabilistic small-signal stability of power system

with large-scale wind farm integration
X.Y. Bian a, X.X. Huang a, K.C. Wong b, K.L. Lo c, Yang Fu a,, S.H. Xuan a
a
Electric Engineering College, Shanghai University of Electric Power, China
b
Department of Electrical Engineering, The Hong Kong Polytechnic University, Hong Kong
c
Faculty of Engineering, University of Strathclyde, Glasgow, Scotland, UK

a r t i c l e i n f o a b s t r a c t

Article history: This paper studies probabilistic small-signal stability of power systems with wind farm integration, con-
Received 17 January 2014 sidering the stochastic uncertainty of system operating conditions. The distribution function of the real-
Received in revised form 31 March 2014 part of system eigenvalue is computed by the method of probabilistic eigenvalue analysis. For improving
Accepted 2 April 2014
probabilistic small-signal stability, PSS is adopted. A method for optimizing PSS based on participation
Available online 3 May 2014
factor and center frequency method is proposed. In order to evaluate the above proposed methods, the
procedure is applied to a test system. The simulation results show that the stochastic variation of wind
Keywords:
generation can induce a higher probability of system instability when compared with one that has no
Wind farm integration
Probabilistic eigenvalue analysis
wind generation. With eigenvalues distributing in a wider range, it becomes difcult for PSS tuning. By
Power system stabilizer (PSS) applying the proposed optimized PSSs approach, probabilistic stability of system can be signicantly
Participation factor improved.
Center frequency method 2014 Elsevier Ltd. All rights reserved.

Introduction
With the rapid development of wind power in China, impacts of
large scale wind power penetration on power system stability have
been paid more and more attention [14]. The random uctuations
of wind power output increase the uncertainty of the system,
which will produce adverse effect on the system dynamic stability,
especially the small-signal stability. It is meaningful to analyze
power system small-signal stability with probabilistic methods
considering the effects of uncertainty of wind power farm output
and stochastic change of load. There are two kinds of methods to
analyze small-signal probabilistic stability of power system with
wind power penetration: one is based on the Monte Carlo simula-
tion by which a large number of deterministic samples are gener-
ated by Monte Carlo sampling to calculate the probability of
stability. This method is employed in [5,6]. Although the Monte
Carlo simulation has accurate results, it is a time-demanding
method because it requires computation of a large number of
deterministic samples. The other one is the numerical analysis
method. The probabilistic characteristics of eigenvalues are
obtained by a formula to determine the probability of stability
which is used only in Refs. [7,8]. The method requires complex
Corresponding author. Tel.: +86 21 35303121.
E-mail address: 1093752637@qq.com (Y. Fu).
formula derivation, but only one step of calculation to obtain the
probabilistic distribution of system eigenvalues. In [7,8], Gram
Charlier series and system eigenvalue sensitivity are applied to
study the impact of wind power uctuations on the small-signal
probability stability of the system, and is used to verify the correct-
ness of numerical analysis method. But the wind generation model
established in [7,8] is a simple one, and only the output variation of
wind farm is considered as system uncertainties. It is veried in [8]
that the integration of wind farm would cause system probabilistic
small-signal instability, but in their study, no measures are pro-
posed to improve system probabilistic stability.
Based on the former studies [914], a probabilistic small-signal
stability method is proposed in this paper by considering the sto-
chastic variation of wind farm output, the uctuation of load and
the synchronous generator output. The complete DFIG transient
model [1517] is adopted. The probabilistic small-signal stability
of power system with wind power integration is analyzed by
numerical analysis method, and power system stabilizer (PSS) on
synchronous generators is applied to improve the stability proba-
bility. The previous study on PSS [18,19] shows that the coordi-
nated PSS can enhance the network damping. The PSS in this
previous work is designed without considering the uncertainties
of random wind power, generating and loading conditions. It
may lose damping performance and fail to stabilize the system
when operating condition changes. In order to adapt the PSS
parameters in multi-operating conditions of power system, this

http://dx.doi.org/10.1016/j.ijepes.2014.04.005
0142-0615/ 2014 Elsevier Ltd. All rights reserved.
 X.Y. Bian et al. / Electrical Power and Energy Systems 61 (2014) 482488
paper presents an approach based on participation factors and cen-
ter frequency method for PSS parameters tuning and coordination.
The paper is organized as follows. In PMT modeling technique,
the Plug-in Modeling Technology (PMT) [20] is introduced to build
the complete system model. In Probabilistic distribution of power
system eigenvalues in multi-operating conditions, the expression
of the probability distribution of system eigenvalues is obtained
by the GramCharlier expansion method. In PSS parameter adjust-
ment/setting based on the center frequency method, the center
frequency method based on participation factors is proposed for
adjusting the parameters of PSS for improving probabilistic
small-signal stability. In Case study, an example of 4-machine 2-
area power system with grid-connected wind power source is
given. The proposed approach is applied to analyze and improve
the probabilistic stability. The results of probabilistic stability anal-
ysis on the test system demonstrate that the small-signal stability
of power system is indeed affected by the stochastic variation of
grid-connected wind generation and can be improved by the pro-
posed installation of PSS.
PMT modeling technique
PMT is adopted in this paper to construct state matrix of power
system when analyzing small-signal stability of electric power sys-
tem [9,12,20]. The whole model of the system is shown in Fig. 1.
In Fig. 1, each system component is modeled as a module with 4
pins of voltage and current, which can be conveniently plugged
into the network module.
The models of synchronous generator units in [21,22], which
contain the complete six-order generator model, including the exci-
tation system and the prime mover model, are used to represent the
general power plants in this paper. Complete transient models [15
17] of the Doubly Fed Induction Generator (DFIG), which is widely
used in wind farm, are adopted. The whole model [1517] of the
doubly fed induction generator including wind turbine, two-mass
shaft system, rotor-side converter and grid-side converter and their
control system, and pitch angle control system for reecting the
effect of wind farm on power system are all included.
Fig. 1. The power system with DIFG in PMT.
483
Probabilistic distribution of power system eigenvalues in multi-
operating conditions
The eigenvalues of the state matrix A are used to determine the
stability of the power system with respect to small disturbances.
The eigenvalues are determined by the operating state given by
each set of generation and load. Hence it should be noted that, as
the operating state varies with respect to generation and load
changes, the eigenvalues also vary.
Under multi-operating conditions, with loads and output of
wind turbine generator and synchronous generators regarded as
random variables which may possess any type of distribution,
probabilistic methods are applied to load ow calculation and
eigenvalue computation. The method based on GramCharlier
expansion with a hybrid algorithm using moments and cumulates
is employed to obtain the Probabilistic Density Function (PDF) of
system critical eigenvalues.
For probabilistic load ow computation, all nodal voltages (V)
and nodal injections (Y) are regarded as random variables. In an
N-node system, Y can be expressed as a quadratic function.
Y f V gV 1 V 1 ; . . . ; V i V j ; . . . ; V 2N V 2N 1
With expansion at expectation point V using Taylor series, these
equations can be represented as in Eq. (2).
Y f V J V DV f DV 2

V
where J V is the Jacobin matrix at the expectation point J V @f@V 
VV
 DY, the expected value of Y is expressed as in
With Y Y
Eq. (3).
Y f V f DV 3
where f DV gC V 1 ;V 1 ; . . . ; C V i ;V J ; . . . ; C V 2N ;V 2N ; C V i ;V J can be obtained
by Eq. (4)
n h i
C V J 1 C Y  E J V DVf T DV f DVDV T J TV f DVf T DV
V
o  T
f DVf T DV J 1 4
V
484 X.Y. Bian et al. / Electrical Power and Energy Systems 61 (2014) 482488

where DV J 1V
DY J 1
V
Y  Y,CY is the covariance of nodal injec- where f kk is probability density function of the eigenvalue kk , N(x)
tions, and are calculated from Y in (2) and Y in (3). These values are is the probability density function for the standard normal distribu-
substituted into (3) and the expected value of the operation voltage tion, cj kk is a J order semi-invariant variable, x kk Ek
r
k
is a nor-
of power system is then iterated until it converges. malizing variable, and the standard variance of eigenvalues can be
The covariance matrix of the voltage is: obtained by Eq. (10).
T
C V EDV DV T J 1
V
C Y J 1
V
5 PSS parameter adjustment/setting based on the center
According to the nature [23,24] of cumulants, j-order cumulants frequency method
of voltage deviation are:
Power system stabilizer
j
cj DV J 1
V
cj DY 6
Phase lead provided by power system stabilizer (PSS) can com-
where CV and CY are covariance matrices of voltage vector and pensate the phase lag caused by an excitation control device and as
injected power respectively. cj(DV) and cj(DY) are J-order cumu- such the damping level of the system can be greatly improved.
lants of the voltage and the injected power respectively. The linearized transfer function module of the excitation sys-
A certain eigenvalue of power system can be expressed as a tem adopted in this paper is shown in Fig. 2.
nonlinear function of the node voltage vector: where DVt is the input voltage of the excitation system, DVPSS is
1
kk g k V 7 the voltage signal from PSS, 1pT is the transfer function of the
A1
automatic voltage regulator, KA2 is the excitation gain, and DEfd is
By expansion using Taylor Series at the vicinity of the expected
the excitation voltage output.
value of voltage and keeping the 2-order approximate expression,
The angle lag caused by excitation system is as follows.
these equation can be obtained as in Eq. (8):
2N    uf arctan T A1 x 16
X @g k  1X2N X2N
@ 2 gk
kk gV DV i j  DV i DV j 8
@V 
i1 i VV 2 i1 j1 @V i @V j VV The module of the PSS is as follows.
where Kp is PSS gain, Tw and T1/T2 are the washout and lead/lag
The expected value of the eigenvalue can be interpreted as time constants, respectively.
follows:
PSS parameter adjustment
Ekk gV 9
The covariance of the eigenvalue can be got according to the The frequency characteristic of excitation system shows that
denition of covariance and expressed as Eq. (10). the phase of excitation system becomes slightly lag or may even
lead at low frequency. Therefore, Tw should be set as a high value
X
2N X
2N
to make the washout stage as a high-pass lter such that the PSS
C km ;kn Efkm  Ekm kn  Ekn  J km;i J kn;j C v i ;v j 10
i1 j1
does not respond to DC offsets and very low frequency modes.
When the input signal is Dx, Tw may be set to about 10 s, and
By neglecting the higher order term in Eq. (8) and re-arranging lead-lag phase of pT w
of the excitation system can be obtained
1pT w
the terms yields:
as uf = arctan Twx. When the parameters of the lead-lag stage
Dk J k DV 11 are T1 and T2 respectively, the relationship of the rotating speed
and phase angle of the compensation can be expressed as follows.
where Jk is the retained rst order derivative term. DV J Y DY is
obtained according to the probabilistic load ow equation and is T 1  T 2 x
uPSS arctan 17
substituted into the following equation: 1  T1T2x
Dk J k J Y DY JDY 12 The maximum compensation phase angle is expressed as
follows.
where J Y J1 .
Thus the relation between nodal injection power
V
and the eigenvalue is obtained. 1 T  T
2
uMAX arctan p 18
According to the nature [24] of cumulants, J-order cumulants of 2 T1T2
eigenvalue kk can be obtained as follow.
The center frequency is
X
2N
cj kk Jjk;i ck Y i 13 1
fPSS p 19
i1 2p T 1 T 2
The probability density function and cumulative distribution The corresponding rotational speed is
function of the eigenvalue kk can be obtained by applying Gram p
Charlier series. It can be expressed in Eqs. (14) and (15) xjuMAX 1= T 1 T 2 20
respectively:
Let

c kk c kk
f kk Nx 1 3 3 x3  3x 4 4 x4  6x2 3 T 1 kT 2 21
6r 24r

c5 kk 5
x  10x3 15x 14
120r5
Z xc 
c3 kk 2
c kk

Pfkk < xc g Nxdx  Nxc xc  1 4 4 x3c  3xc

1 6r 3 24r

c5 kk 4

x  6x2c 3 15
120r5 c Fig. 2. The module of the excitation system.
 X.Y. Bian et al. / Electrical Power and Energy Systems 61 (2014) 482488
Fig. 3. Module of the PSS.
Then
k  1T 2 k  1
uMAX arctan q arctan p 22
2 2 k
2 kT 2
In a single-machine system, PSS provides damping to the gener-
ator at system oscillation frequency. The lead phase and center fre-
quency can be obtained according to the system oscillation modes
and phase frequency characteristics of the excitation system.
Suppose an oscillation mode of a single-machine system is
p
q + jx, then x xjuMAX 1= T 1 T 2 . With uMAX = ufd, k is obtained
according to Eq. (22). T1 and T2 are obtained by substituting Eqs.
(22) into Eq. (21).
For multi-machine system, each oscillation mode is contributed
by several machines. Participation factor is adopted for evaluating
the participation degree of each machine to each mode. Suppose
one machine participates in two oscillation modes q1 + jx1 and
q2 + jx2 with participation factors q1 and q2 respectively, the set-
ting of the machine PSS parameter should involve the two oscilla-
tion modes. The higher the participation degree of a machine to a
mode, the closer the center frequency is to this mode oscillation
frequency. Namely, the center frequency should consider the
weight of the participation factor of machines in each mode, and
are adjusted as follows,
Fig. 4. A two-area system with wind farm integration.
Fig. 5. Operating curves of wind farm.
485
X
n
xjuMAX qi xi =qR 23
1
qi
uPSS  u 24
qR fd
where qi is the participation factor of the variable Dx of the
machine involving in an oscillation mode. qR is the sum of all Dx
participation factors of machines in this mode. ufd and uPSS are
the lead-lag angle of excitation system and the phase angle of PSS
compensation respectively.
PSS parameters obtained by Eqs. (23) and (24) can give the best
compensation effect to the oscillation mode to which the machine
has the biggest participation factor, and can produce possible les-
ser effect on the other modes. Since coordination is needed in
the multi-machine system, the most suitable PSS compensation
phase angle could not be determined directly. Eq. (24) is the con-
straints of the PSS compensation phase angle of this generator.
By adopting Eq. (24), the most suitable PSS parameter can be
obtained.
Case study
Test system
A two-area system [21] shown in Fig. 4, which is widely used for
studies of power system oscillations, is adopted in this paper to
demonstrate the proposed method. The network and generator
data can be obtained from [21]. G5 represents a wind farm with
486 X.Y. Bian et al. / Electrical Power and Energy Systems 61 (2014) 482488

a capacity of 120 MW, or 80 DFIG with 1.5 MW each, details of the Table 1
system and DFIG parameters are listed in the Appendix. The origi- Electromechanical modes of the original system.

nal system [21] without wind farm and the test system with DFIG-
type wind farm are both simulated and compared.
A single equivalent model was used to represent all individual
units within the wind farm and it is connected to the system using
a typical layout as shown in the appendix. All synchronous gener-
ators are represented using 6-order models and are extended to
include exciter and power system stabilizer (PSS) models. The
whole system model is represented using the aforementioned
PMT modeling method.
The standardized daily operating curves of load1, load2, G1, G2,
G3 and G4 are given in [9]. The standardized daily operating curves
of wind farm output and voltage are shown in Fig. 5.
The small-signal probabilistic stability analyses
By adopting the proposed probabilistic eigenvalue analysis
method in section III, the simulation results on the original system
is obtained. There are three electromechanical oscillation modes in
the original system without the wind farm. These mode shapes are
shown in Fig. 6. From the mode shapes, it is observed that Mode 1
is a local mode and with generator G1 swinging against G2; Mode 2
is also a local mode and with generator G3 swinging against G4;
whereas Mode 3 is an inter-area mode and with generators G1
and G2 in area 1 swinging against generators G3 and G4 in area
2. Table 1 gives information about the distribution of these 3
modes. It shows that the stability problem is likely to occur
because Mode 3 has a probability of 81.78% to remain in the left
Mode Eigenvalues r jx Frequency (Hz) Damping n P{r < 0} (%)
1 1.0293 j5.8877 0.94 0.172 100
2 0.9726 j5.5302 0.88 0.173 100
3 0.90122 j2.9196 0.46 0.004 81.78
half-plane and it is poorly damped, with the mean of damping ratio
is 0.0004 and the probability of more than 0.1 is 0.
For the test system with the wind farm integration, the statisti-
cal result of electromechanical oscillation modes are shown in
Table 2. There is a new electromechanical oscillation mode (Mode
4) caused by the wind farm. By analyzing the participation factor,
the DFIG-type G5 did not swing against the other synchronous
generators although the frequency of Mode 5 is within the range
of inter-area oscillation. It can also be concluded that DFIG-type
G5 did not participate in the pre-existing electromechanical oscil-
lations. But DFIG-type G5 indeed reduces the probabilistic stability
of local modes. The probability that local modes (Mode1 and Mode
2) remain in the left half-plane is reduced dramatically. Conversely,
the integration of DFIG can have a positive impact on the probabil-
ity of inter-area mode (Mode 3) as well as the damping perfor-
mance as shown in Table 2.
PSS parameters adjustments for the improvement of the probabilistic
small-signal stability
To improve the probabilistic stability of the test system, PSSs
are installed in four synchronous generators, with structures as
shown in Fig. 3, and with initial parameters as shown in [21],
and Dx as the input signal. The statistics of electromechanical
oscillation modes of the test system with PSSs are shown in Table 3.
By comparing Tables 2 and 3, the probability of all modes (Mode 1
and 2) to remain in the left half-plane is raised slightly in Table 3,
and so is the probability of the damping ratio. The inter-area mode
(Mode 3) has some improvement with its damping ratio increasing
to 0.04 from 0.027, and stability probability increasing to 98.84%
from 90.15%. Because all synchronous generators do not partici-
pate in Mode 4, installation of PSS in all synchronous generators
does not affect this mode. The result shows that PSSs on synchro-
nous generators can improve the stability of small-signal probabil-
ity of the system.
The plot of the Probabilistic Density Function (PDF) of the real
part of Mode 3 under different scenarios is shown in Fig. 7. From
this plot, it is observed that the PDF became scattered with the
connection of wind farm. Therefore the real part of Mode 3 varies

Table 2
Electromechanical modes of the system with wind farm connected.

Mode Eigenvalues r jx Frequency(Hz) Damping n P{r < 0} (%)

1 1.0266 j5.8909 0.94 0.172 67.24
2 1.0557 j5.4197 0.86 0.191 78.68
3 0.0818 j3.0797 0.49 0.027 90.15
4 1.8312 j2.8679 0.46 0.538 100

Table 3
Electromechanical modes of the system with wind farm connected (with PSSs).

Mode Eigenvalues r jx Frequency(Hz) Damping n P{r < 0} (%)

1 1.1013 j5.9181 0.96 0.177 68.08
2 1.1215 j5.4389 0.885 0.197 86.65
3 0.1046 j3.0798 0.5 0.04 98.84
4 1.8312 j2.8679 0.46 0.538 100
Fig. 6. Mode shape of rotor angle modes.
 X.Y. Bian et al. / Electrical Power and Energy Systems 61 (2014) 482488 487

this plot, it is observed that the PDF became scattered with the
connection of wind farm. Therefore the real part of Mode 3 varies
in a larger range than that of the original system without wind
farm. It can also be also observed that the curve moves to the left
of the imaginary axis with wind farm connected and it moves fur-
ther again with PSSs installed. It shows that the integration of wind
farm and the addition of PSS improved the probabilistic stability of
Mode 3. While with wind farm connected, the system eigenvalues
became distributed in a wider range, making PSS tuning more
difcult.
The proposed PSS parameter design method in PSS parameter
adjustment/setting based on the center frequency method is
applied in the next test for improving the probabilistic stability
of electromechanical modes. The participation factors of x which
are state variables of synchronous generators are obtained rst
and shown in Table 4. In this table, xMAX is the rotational speed
Fig. 7. Real part PDF of the Mode 3. at the central frequency which is obtained according to Eq. (23).
The PSS parameters can be calculated by Eq. (20), (21) and with
Eq. (23). After minor adjustments for coordination by try and error
Table 4 method, the nal PSS parameters are obtained as shown in Table 5.
Participation factor of concerned modes before PSS added. The corresponding statistics of electromechanical oscillation
Mode Eigenvalues r jx G1 G2 G3 G4
modes are shown in Table 6.
By comparing Tables 6, 3 and 2 respectively, it can be concluded
1 1.0266 j5.8909 0 0 0.4 0.213
2 1.0557 j5.4197 0.257 0.369 0 0
that, except those of Mode 4 which remain unchanged, the damp-
3 0.0818 j3.0797 0.284 0.19 0.019 0.024 ing ratio and the probability of all the other oscillation modes are
4 1.8312 j2.8679 0 0 0 0 improved greatly. The probabilistic stability of Mode 3 of inter-area
xMAX 4.19 4.62 5.76 5.61 oscillation reaches 100% and its damping ratio is increased to
greater than 0.1 and with the PDF plot of the real part shown in
Fig. 7. Mode 2 a local oscillation one is also close to 100%. Although
Table 5 the probabilistic stability of Mode 1 does not achieve 100%, yet its
Parameters of the PSS in synchronous generators. improvement is obvious when compared to that in Table 3.
G1 G2 G3 G4
T1 0.237 0.282 0.183 0.195
Conclusion
T2 0.176 0.171 0.167 0.166
K 10.5 4 8 8
A probabilistic method to evaluate the small-signal stability of
power system with wind farm integration is proposed in this paper
and it considers multi-operating conditions including variations in
Table 6
Concerned modes of the system with wind farm connected (optimized PSS added).
power output of wind-driven generators and load. The simulation
results based on the test system shows that the stochastic output
Mode Eigenvalues r jx Frequency(Hz) Damping n P{r < 0} (%) of wind farms deteriorates the probabilistic small signal stability
1 2.3048 j6.5328 1.04 0.333 76.42 of power systems. With a wind farm connected, the distribution
2 2.2825 j5.5868 0.89 0.378 99.55 of system eigenvalues cover a wider range, and it makes PSS tuning
3 0.4003 j3.0278 0.48 0.131 100
4 1.8312 j2.8679 0.46 0.538 100
more difcult. Consequently the central frequency and participa-
tion factor method is proposed to solve this problem. The designed
PSS at synchronous generators based on the proposed method
increases the probabilistic stability of all electromechanical modes
in a larger range than that of the original system without wind
except the one mode relative to DFIG.
farm. It can also be also observed that the curve moves to the left
of the imaginary axis with wind farm connected and it moves fur-
ther again with PSSs installed. It shows that the integration of wind Acknowledgements
farm and the addition of PSS improved the probabilistic stability of
Mode 3. While with wind farm connected, the system eigenvalues This work is supported by National Natural Science Foundation
became distributed in a wider range, making PSS tuning more of China (51007054), Innovation Program of Shanghai Municipal
difcult. Education Commission (12ZZ172), Shanghai Green Energy
The plot of the Probabilistic Density Function (PDF) of the real Grid Connected Technology Engineering Research Center
part of Mode 3 under different scenarios is shown in Fig. 7. From (13DZ2251900).

Point of
Interconnection
Bus High Side Bus Terminal Bus

Transmisson Line
Substation Collector Equivalent
transmission line Unit transformer
Transformer
5 4 3 2 1
Fig. A1. Typical layout of integration system for the wind farm.
488 X.Y. Bian et al. / Electrical Power and Energy Systems 61 (2014) 482488

Table A1
Data of integration system.

Bus no. Bus no. Resistance Reactance Susceptance (Half) Off-normal ratio(Trans)
5 4 0.025 0.25 0.0025
4 3 0.1 1.0
3 2 0.015 0.025 0.005
2 1 0.05 1.0

Table A2
Data of DFIG.

Wound-rotor induction generator Rs 0.00706 pu Ls 0.717 pu Lm 2.9 pu

Rr 0.005 pu Lr 0.156 pu Xtg 0.55 pu
Back-to-back converter C 0.001 F VDC 1200 V
Converter controller Kp1 0.6 Ki1 80.4 Kp2 0.27
Ki2 5.1 Kp3 1.48 Ki3 219
Kpdg 0.012 Kidg 0.054 Kpg 0.73
Kig 131
Shaft system Ht 3s Hg 0.5 s Ksh 10
Dsh 3.14
Pitch controller Kp4 10 Tser 0.01 s
Wind turbine aerodynamics q 1.225 kg/m3 vwr 13 m/s vwin 4 m/s
vwout 25 m/s

Appendix
The integrated system with the wind farm is shown as Fig. A1.
The data of the system in per unit on 100 MVA and rated kV
base are given in Table A1.
The data of DFIG and its controllers on 1.5 MW base are given in
Table A2.
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