Académique Documents
Professionnel Documents
Culture Documents
a r t i c l e i n f o a b s t r a c t
Article history: In recent years, with increasing penetration of small distributed generators and fast power electronics
Received 19 February 2017 based devices, the assumption of quasi-static phasors is becoming increasingly inaccurate. In order to
Received in revised form 20 April 2017 describe fast dynamic behavior and rapid amplitude and phase variations, more accurate dynamic mod-
Accepted 16 May 2017
els based on the dq0 transformation are used. To better understand the differences between these two
models, in this work we compare their relative accuracy when applied to large-scale transmission net-
works. In this light, the present work describes the two types of models using similar terminology, which
Keywords:
is based on dq0 quantities. Based on this result, we show that quasi-static models may be obtained from
Quasi-static
Time-varying phasors
dq0 models at low frequencies, and that there exists a frequency range in which quasi-static model
Power flow equations approximates the dq0 model well. The obtained results allow to estimate the frequency after which
DQ0 models the quasi-static model cannot accurately describe the system dynamics, and dq0 models should be used
instead.
Ó 2017 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.ijepes.2017.05.017
0142-0615/Ó 2017 Elsevier Ltd. All rights reserved.
66 J. Belikov, Y. Levron / Electrical Power and Energy Systems 93 (2017) 65–74
power electronics based devices [15–18]. In addition, widespread dq0 signals and time-varying phasors. Assume a unit with balanced
use of this transformation for modeling large-scale power systems three-phase AC voltages given by
is still a pending issue, that is recently being explored. Toward this
v a ðtÞ ¼ AðtÞ cos ðxs t þ wðtÞÞ;
end, one central challenge is to combine various dq0 models that
use local reference frames to form a complete dynamic model v b ðtÞ ¼ AðtÞ cos xs t þ wðtÞ 23p ; ð3Þ
describing a large-scale power system. Another associated chal- v c ðtÞ ¼ AðtÞ cos xs t þ wðtÞ þ 23p :
lenge is to provide a dq0-based model of general transmission net-
Assuming that variations in the magnitude AðtÞ and phase wðtÞ are
works, that will be of low complexity and easy-to-use. Several
slow in comparison to the frequency xs , these voltages may be rep-
recent works exploring these questions are [19], which shows
resented by the time-varying phasor VðtÞ ¼ AðtÞpffiffi ejwðtÞ . In addition,
dq0 models of elementary passive components, work [9], that pre- 2
sents dq0-based models of three-phase networks with RL elements, based on the dq0 transformation (19), equivalent dq0 voltages with
work [20], that shows a nonminimal state-space model of net- respect to the reference frame xs t are
works with standard branches, and [21], that presents a frequency v d ðtÞ ¼ AðtÞ cosðwðtÞÞ;
domain model of transmission networks using dq0 quantities. v q ðtÞ ¼ AðtÞ sinðwðtÞÞ; ð4Þ
Models based on dq0 quantities (as reviewed above) are known
v 0 ðtÞ ¼ 0:
to extend the classic quasi-static model, and are generally consid-
ered to be more accurate. However, while quasi-static models are It immediately follows that a time-varying phasor relates to dq0
well-known and widely used, dq0 models are only now being quantities as
explored in the context of large-scale power systems. To better AðtÞ AðtÞ 1
VðtÞ ¼ pffiffiffi ejwðtÞ ¼ pffiffiffi ðcosðwðtÞÞ þ j sinðwðtÞÞÞ ¼ pffiffiffi v d ðtÞ þ jv q ðtÞ ;
understand the differences between these two models, in this work 2 2 2
we compare their relative accuracy when applied to large-scale ð5Þ
transmission networks. The two types of models are described using
similar terminology, which is based on dq0 quantities. Based on this or alternatively,
pffiffiffi
result, we show that quasi-static models may be obtained from dq0 v d ðtÞ ¼ 2RefVðtÞg;
models at low frequencies, and that there exists a frequency range pffiffiffi ð6Þ
in which quasi-static model approximates the dq0 model well.
v q ðtÞ ¼ 2ImfVðtÞg;
Results are demonstrated on the basis of several test-cases. and the same relations hold for currents. Let us now examine the
The paper is organized as follows. Section 2 presents the basic active and reactive powers. Assuming a voltage phasor VðtÞ and a
definition of dq0 quantities. Section 3 reviews quasi-static models current phasor IðtÞ, the powers are given by
and links them to dq0 quantities. The dq0 models of large-scale
v d ðtÞid ðtÞ þ v q ðtÞiq ðtÞ ;
PðtÞ ¼ RefVðtÞI ðtÞg ¼ 12
networks are presented in Section 4. Section 5 provides a compar- ð7Þ
ison between the two models, followed by simulation results in QðtÞ ¼ ImfVðtÞI ðtÞg ¼ 2 v q ðtÞid ðtÞ v d ðtÞiq ðtÞ :
1
Section 6. Concluding remarks are presented in Section 7. The first equation in (7) shows the dual meaning of the active power
PðtÞ. In the specific case of a static or quasi-static system, in which
2. Preliminaries transients are slow in comparison to xs , the active power PðtÞ of
each phase is the average power over a line cycle. In addition, the
This section recalls the basic definition of the dq0 transforma- instantaneous sum of powers for the three-phases is
tion. Consider a reference frame rotating with an angle of hðtÞ. P3/ ðtÞ ¼ 3PðtÞ. Note that if the system is not quasi-static (for
For instance, in a synchronous machine, hðtÞ is typically selected instance, during a fast transient) the average powers P and Q are
to be the rotor electrical angle. Let ~f represent the quantity to be not well-defined. However, the expression for P3/ ðtÞ still holds.
transformed (current, voltage, or flux), and use the compact nota- Using time-varying phasors, the network is usually described by
tion fabc ¼ ½fa ; fb ; fc T , fdq0 ¼ ½fd ; fq ; f0 T . The dq0 transformation the nodal admittance matrix Y bus . Assume a network with N buses,
with respect to the reference frame rotating with the angle h can and denote the bus voltages by VðtÞ ¼ ½v 1 ðtÞ; . . . ; v N ðtÞT , and the
be defined as [8, Appendix C] T
bus injected currents by IðtÞ ¼ ½i1 ðtÞ; . . . ; iN ðtÞ . All quantities in
~fdq0 ¼ T h fabc ð1Þ these vectors are time-varying phasors. The network is then
described by the relation
with
2 3 IðtÞ ¼ Y bus VðtÞ: ð8Þ
cos ðhÞ
cos h 23p cos h þ 23p
26 7 This is a quasi-static model of the transmission network, since it is
T h ¼ 4 sin ðhÞ sin h 23p sin h þ 23p 5: ð2Þ
3 1 1 1
based on the assumption that phasors change slowly in comparison
2 2 2 to xs . Due to this assumption, the frequency throughout the net-
work is approximately constant, and as a result, the matrix Y bus is
3. Quasi-static models composed of constant admittances, which are computed at the
fixed frequency xs , such that Y bus ¼ Y bus ðjxs Þ. Eq. (8) can also be
The traditional quasi-static model is based on the assumption written in terms of its real and imaginary parts as
that the frequency of voltage and current signals throughout the
RefIðtÞg ¼ RefY bus gRefVðtÞg ImfY bus gImfVðtÞg;
network is approximately constant. As a result, AC signals can be ð9Þ
modeled accurately enough by means of time-varying phasors, ImfIðtÞg ¼ ImfY bus gRefVðtÞg þ RefY bus gImfVðtÞg;
and the transmission network can be represented by a constant or alternatively, using the power flow equations
admittance matrix Y bus . The transmission network is then modeled P
N
using the linear relation I ¼ Y bus V, which is equivalent to the well- Pn ðtÞ ¼ jV n ðtÞj jynk jjV k ðtÞj cos ð\ynk þ dk dn Þ;
k¼1
known power flow equations [3]. ð10Þ
P
N
To present the quasi-static models and dq0 models using simi- Q n ðtÞ ¼ jV n ðtÞj jynk jjV k ðtÞj sin ð\ynk þ dk dn Þ;
lar terminology, we begin by developing the relationship between k¼1
J. Belikov, Y. Levron / Electrical Power and Energy Systems 93 (2017) 65–74 67
where for the nth unit, P n ðtÞ, Q n ðtÞ are the powers injected from the
unit into the network, jV n ðtÞj is the voltage amplitude, and dn is the
voltage phase. In addition, the constants ynk are elements of the
admittance matrix Y bus .
Quasi-static models of generators and loads may be of different
types, depending on the device physics and level of complexity.
The following section explains how to derive a simple and popular
quasi-static model of the synchronous generator.
Fig. 2. The resulting signal-flow diagram of a 3-bus system.
4. dq0 signals based models
with which is the classic swing equation. The term J is the rotor constant
2 3 of inertia, poles is the number of machine poles (must be even), P m is
cos ðxs t Þ cos x st 3
2p
cos x st þ 3
2p
26
2p 7
the mechanical power, and K d is the damping constant. The three-
T xs ¼ 4 sin ðxs t Þ sin x st 3
2p
sin x s t þ 3 5: ð20Þ phase power can be computed as
3 1 1 1
2 2 2 3
P3/ ¼ v d id þ v q iq þ 2v 0 i0 : ð24Þ
A formula that allows to convert signals from h reference frame 2
to the unified frame can be derived following [12] as The combination of (23) and (24) with d ¼ /1 results in a state-
2 3 2 32 3
fd sin ðdÞ cos ðdÞ 0 ~fd space model of the simple synchronous machine given as
6 7 6 76 7
4 fq 5 ¼ 4 cos ðdÞ sin ðdÞ 0 54 ~fq 5; ð21Þ /_ 1 ¼ /2 ;
f0 0 0 1 f0 /_ 2 ¼ poles
2J xs
Pm 32 V e cosð/1 Þid þ sinð/1 Þiq K d /2 ; ð25Þ
where dðtÞ ¼ hðtÞ xs t þ p=2. The variables fd , fq are defined with v d ¼ V e cosð/1 Þ; v q ¼ V e sinð/1 Þ; v 0 ¼ 0:
respect to xs t, and ~fd , ~fq are defined with respect to h. This model has two state variables /1 ; /2 , three inputs id ; iq ; i0 , and
Next, we show two dq0-based models of the synchronous three outputs v d ; v q ; v 0 . Note that the model represents only the
machine. We start by developing the model of a simple syn- machine’s voltage source, and does not include the synchronous
chronous machine connected to an infinite bus. While such a
inductance, which is represented separately in (16) with L ¼ e Ld .
model is popular in many textbooks, we show here how to develop
it based on the unified reference frame xs t, instead of the rotor
Remark 1. The quasi-static model of the simple synchronous
angle h. This is necessary for the model to be compatible with
generator is almost identical to the model in (25), and is obtained
the network model presented in Theorem 1.
by replacing v d with RefVðtÞg and v q with ImfVðtÞg.
Assume a simplified synchronous machine represented as an
For completeness, consider now a more sophisticated (physical)
ideal voltage source behind a synchronous inductance e L d . The model of a synchronous machine, as presented in [8]. This model
machine is connected to an infinite bus, as shown in Fig. 3. Both captures the interaction of the direct- and quadrature-axis mag-
the infinite bus (on the right) and the internal synchronous netic field with the quadrature- and direct-axis mmf, respectively,
machine (on the left) are represented as voltage sources. The syn- as well as the effects of resistances, transformer voltages, field
chronous machine voltage is v ~ d ¼ 0, v~ q ¼ V e , v 0 ¼ 0, with a refer-
winding dynamics, and salient poles. The parameters are explained
ence angle of h. In this example h is the electric angle of the rotor in Table 1.
in respect to the stator. The infinite bus has a constant frequency Using (21) and omitting the algebraic details, the resulting non-
of xs , so its voltage is given by v d ¼ V g , v q ¼ 0, v 0 ¼ 0, with a ref- linear state-space model of the machine with respect to the refer-
erence angle of xs t. ence angle xs t is
Now the goal is to construct a dynamic model of the complete
/_ 1 ¼ La2 ff /1 þ /2 /5 þ La2 af /4 þ sinð/6 Þv d cosð/6 Þv q ;
2R L 2R L
system based on dq0 signals. However, a potential problem is that
b b
the two voltage sources are defined with respect to two different
reference frames (h and xs t). To solve this, we choose xs t as a uni- /_ 2 ¼ RLqa /2 /1 /5 þ cosð/6 Þv d þ sinð/6 Þv q ;
fied reference frame for both the infinite bus and synchronous
/_ 3 ¼ RL0a /3 þ v 0 ;
machine, and construct a model of the synchronous machine using
signals in this reference frame. The synchronous machine voltage /_ 4 ¼ Lf2 af /1 Lf2 d /4 þ v f ;
3R L 2R L
3Laf
€d ¼ poles Pm K d d_ P3/ ; i0 ¼ L10 /3 ; if ¼ /1 þ 2L d
/4 ;
ð23Þ L2b L2
2J xs b
x ¼ /5 ; d ¼ /6 ;
Table 1
Nomenclature: Synchronous machine.
kd , kq , k0 Flux linkages
kf Field winding flux linkage
v~ d , v~ q , v 0 Stator voltages
vf Field winding voltage
~i , ~iq , i Stator currents
d 0
if Field windings current
Ld , Lq , L0 Synchronous inductances
Laf Mutual inductance between the field winding and phase a
Lff Self-inductance of the field winding
Ra , Rf Armature and field winding resistance
J Rotor moment of inertia
Fig. 3. Single-phase diagram of a simple synchronous machine connected to an Te, Tm Electromagnetic and mechanical torque
infinite bus.
J. Belikov, Y. Levron / Electrical Power and Energy Systems 93 (2017) 65–74 69
where L2b ¼ 2Ld Lff 3L2af . In this model, the state variables are The same result as above can be obtained by formal redefinition of
/1 ¼ kd , /2 ¼ kq , /3 ¼ k0 , /4 ¼ kf , /5 ¼ x, d ¼ /6 , the inputs are v d , the mapping in (19) as T xs : ½0; 2pÞ ! R23 , which translates abc
v q , v 0 , v f , T m , and the outputs are id , iq , i0 , if , x. Unlike the simple signals to dq quantities as fabc ! fdq . Let s ¼ 0, then definitions of
model presented above, this model includes the inductance terms elements N 1 ðsÞ; N 2 ðsÞ become
Ld , Lq , L0 . Since this model uses the unified reference frame xs t, it
1 bus
can be connected to an infinite bus directly by substituting N1 ¼ Y þ ðY bus Þ ;
v d ¼ V g , v q ¼ 0, v 0 ¼ 0. 2 ð31Þ
1 bus
N2 ¼ Y ðY bus Þ ;
2
5. Comparison of quasi-static and dq0 models
where Y bus ¼ Y bus ðjxs Þ, ðY bus Þ ¼ Y bus ðjxs Þ, and the last identity
Quasi-static models use time-varying phasors, and are therefore holds due to the Laplace transform conjugation property.
accurate only at frequencies that are much lower than xs . In com- According to (8) and (9), the quasi-static model can be written
parison, dq0 models are accurate over a larger frequency range. In in the dq coordinates as
this section we compare these two models for large-scale trans- " #
Id ðsÞ RefY bus g ImfY bus g V d ðsÞ
mission networks, and show that quasi-static models can be ¼ : ð32Þ
obtained from dq0 based models at low frequencies. We also show Iq ðsÞ ImfY bus g RefY bus g V q ðsÞ
that for any given error there exists a frequency range in which the
Comparison of the respective elements in (30) and (32) provides
quasi-static model approximates the dq0 model well.
We open with the simple example of the balanced three-phase
RefY bus g ¼ 12 Y bus þ ðY bus Þ ;
inductor to highlight the similarities and differences between the
ð33Þ
quasi-static and dq0-based dynamic models. Starting from the ImfY bus g ¼ 2j Y bus ðY bus Þ :
quasi-static model, the admittance matrix describing the inductor
is Y bus ¼ Y bus ðjxs Þ ¼ jx1s L. Using time-varying phasors and (8) and
Now, the left-hand side can be written as RefY bus g þ jImfY bus g ¼
(9), the quasi-static model is given by
Y bus as well as the right-hand side results in
1
I¼ V: ð27Þ
1 bus j
jxs L
Y þ ðY bus Þ þ j Y bus ðY bus Þ ¼ Y bus ; ð34Þ
2 2
By taking the real and imaginary parts of this equation, and using
the relations between dq0 signals and phasors provided in (6),
meaning that the dq0 model reduces to the quasi-static model when
equivalent expressions for the quasi-static model are
s ¼ 0. h
v d ¼ xs Liq ;
v q ¼ xs Lid ; ð28Þ The lemma above can be used to realize quasi-static models in
v 0 ¼ 0: state-space form. Assume a state-space realization of a dq0 model
given by [23]
In addition, recall that the dq0 model of the inductor is given by
n_ ¼ An n þ Bn u
v d ¼ xs Liq þ L didt ; d
ð35Þ
y ¼ C n n þ Dn u;
v q ¼ xs Lid þ L didt ; q
ð29Þ
v 0 ¼ L didt : 0 and the matrices are defined as
Direct comparison of these equations reveals that both models are Adq 0 Bdq 0
An ¼ ; Bn ¼ ;
similar, except for the additional time derivative terms in the dq0 0 A0 0 B0
ð36Þ
model, which describe high-frequency effects. Note that at low- C dq 0 Ddq 0
frequencies, where the time derivatives are negligible, the two Cn ¼ ; Dn ¼ ;
0 C0 0 D0
models are equivalent.
This simple example is extended by the following lemma, which where n is the state vector, the input u ¼ ½V d ; V q ; V 0 T is the dq0
shows that quasi-static models can be obtained from dq0 based transformations of the three-phase voltages, and the output
models at low frequencies. y ¼ ½Id ; Iq ; I0 T is the dq0 transformations of the three-phase injected
currents. According to Lemma 2, the dq0 and quasi-static models
Lemma 2. For s ¼ 0, the dynamic model in (11) reduces to the quasi- are equal at s ¼ 0, and therefore a time-domain description of the
static expressions in (9). quasi-static model becomes
V d
Id Vd
Proof. The quasi-static model relies on the assumption that the ¼ Dqs ¼ Ddq C dq A1
dq Bdq : ð37Þ
Iq Vq Vq
system is balanced, so the zero components V 0 ; I0 are equal to
zero. On the other hand, the dq0 model only assumes that the net- Comparison of this equation to (9) reveals that
work is symmetrically configured, meaning that signals may not be " #
RefY bus g ImfY bus g
balanced. Therefore, to provide a meaningful comparison between Dqs ¼ : ð38Þ
both models, the zero component is ignored. ImfY bus g RefY bus g
Recall from Theorem 1 that dq components of the dq0 model are
Next we provide a theorem showing that the quasi-static model
given by
approximates the dq0 model well over a fixed frequency interval.
Specifically, there always exists a frequency interval within which
Id ðsÞ N 1 ðsÞ jN 2 ðsÞ V d ðsÞ
¼ : ð30Þ the quasi-static model approximates the dq0 model with any given
Iq ðsÞ jN 2 ðsÞ N 1 ðsÞ V q ðsÞ
error.
70 J. Belikov, Y. Levron / Electrical Power and Energy Systems 93 (2017) 65–74
Theorem 3. For any given , there exists a frequency interval ond example considers the IEEE 9-bus power network. The syn-
X ¼ ½0; x with x > 0 such that kEk22;X 6 , where chronous machines are modeled in the dq0 reference frame, and
" # are controlled using a droop-controller, which adjusts the mechan-
N 1 ðjxÞ RefY bus g jN 2 ðjxÞ þ ImfY bus g ical power according to the rotor frequency. The third example is
EðjxÞ ¼ ; ð39Þ devoted to the small-signal stability analysis of the 118-bus net-
jN 2 ðjxÞ ImfY bus g N 1 ðjxÞ RefY bus g
work. The synchronous machines in this example are represented
and the finite frequency H2 norm is in the dq0 reference frame, but there is no droop control, so the
Z x X
2N X
2N
mechanical power is constant. In the 9- and 118-bus examples
1
kEk22;X ¼ jel;m ðjxÞj2 dx: ð40Þ two simulations are run in parallel – in one simulation the network
2p x l¼1 m¼1 is modeled based on dq0 quantities, and in the second simulation
the network is modeled using time-varying phasors (quasi-static
model).
Proof. Similarly to the proof of Lemma 2, we start by assuming
that signals are balanced, and therefore the zero component can
6.1. 14-bus network: open-loop
be ignored.
Let EðjxÞ ¼ ½ek;l ðjxÞ with k; l ¼ 1; . . . ; 2N denote the matrix of Consider the 14-bus network depicted in Fig. 7 below. In this
transfer functions obtained as the difference between respective figure, values of P in MW and Q in MVar represent the operating
relations of dq0 and quasi-static models point, which is obtained by solving the power flow equations.
" # Using software available in [23] both quasi-static and dynamic
N 1 ðjxÞ jN 2 ðjxÞ RefY bus g ImfY bus g models are constructed based on dq0 quantities. The dq0 dynamic
EðjxÞ ¼ : ð41Þ
jN 2 ðjxÞ N 1 ðjxÞ ImfY bus g RefY bus g model is constructed in the minimal state-space form (35) with 78
states and 42 inputs/outputs (see Fig. 4(a)), 26 and 14 of which,
Note that, in general, the H2 norm of EðjxÞ in (41) is infinite, since respectively, correspond to the zero component. In the considered
transmission power networks often contain elements that can be case, the zero signals can be safely discarded from comparison,
modeled only by nonstrictly proper transfer functions. Furthermore, since the input signal is assumed to be balanced. The quasi-static
as discussed in Section 5 the quasi-static model is represented by model is represented by 28 28 feedthrough matrix D as in (38),
the feedthrough matrix Dqs , meaning that Eð1Þ–0. This motivates see Fig. 4(b). Frequency of the unified reference frame is selected
us to use the modified definition of the H2 norm restricted to the to be xs ¼ 2p50 rad/s.
finite frequency interval X ¼ ½0; x with x 2 Rþ as [24] An array of Bode plots representing the dq0 dynamic and
Z xX
2N X
2N quasi-static models is graphically illustrated in Fig. 5. The plots
1
kEk22;X ¼ jel;m ðjmÞj2 dm: ð42Þ depict the magnitude (in dB) and phase (in °) for two input/
2p x l¼1 m¼1 output pairs. The step input of 1 kV is applied to buses 1, 2,
Observe that for stable and strictly proper systems formula (42) and the output is shown for bus 5. Figures reveal that the
frequency responses coincide at low frequencies (x ! 0) and
coincides with the standard definition [25]. The interval X can be
S S diverge at high frequencies. Specifically, the quasi-static model
further divided into subintervals as X ¼ Kk¼1 Xk ¼ Kk¼1 ½xk ; xkþ1
is represented by a constant gain and phase over the whole
with 0 ¼ x1 < x2 < < xK < xKþ1 < 1. According to definition
range of frequencies. In addition, these figures illustrate the
(42), the norm kEk22;Xk is finite and positive in each kth subinterval. main concept presented in Theorem 3 that the quasi-static
Since the intervals can be selected arbitrarily small, from the stan- model can be considered as a good approximation of the dq0
dard definition of the Riemann integral and the above remark it model at low frequencies.
immediately follows that the norm kEk22;X is monotonically increas- Next, the behavior of the system is analyzed under changing
ing over X ¼ ½0; x. We use this fact to show that for any given , operating conditions as presented in Fig. 6. The input signals
there exists X ¼ ½0; x ; x > 0 such that EðjxÞ is bounded with are subsequently changed from their initial values as follows.
respect to the finite frequency H2 norm (42). This can be done as The d components of input voltages v d;1 and v d;2 are stepped
follows. Take M large enough such that XM ¼ ½0; xM ; X XM from 0 to 15 kV at t ¼ 0:02 s and from 0 to 10 kV at
and proceed toward the origin x ! 0. Then, at some moment t ¼ 0:12 s, respectively. Steps are depicted in the bottom plot
x ! x corresponding to kEk22;X 6 over X ¼ ½0; x . This is due of Fig. 6. The output current dq components are measured on
bus 5, since it is common for both bus 1 and 2. Observe that
to the fact that the sequence of subintervals between 0 and xM is
both models coincide in the steady-state as expected. In addi-
now considered in the reversed order and therefore monotonically
tion, the dq0 model is able to more accurately describe the
decreases. Finally, in the special limiting case when ¼ 0, x con-
transient behavior.
verges to 0, corresponding to the degenerate interval X0 ¼ ½0; 0,
which is always possible by Lemma 2. h
6.2. 9-bus network: droop control
Note that idea presented in the proof with small modifica-
tions can be applied to other common H1 and H1 norms. In
Consider now the standard 9-bus network. Bus 1 represents
addition, for an explicit definition of Y bus ðsÞ, the presented an infinite bus, modeled by voltage source. Synchronous
theorem allows to construct an upper bound for the frequency machines described by more complex Eqs. (26) are connected
interval ½0; x .
to buses 2 and 3. The dq0 model of the transmission network
has 18 states and 9 input/outputs. Frequency of the unified
6. Numerical examples reference frame is selected to be xs ¼ 2p50 rad/s. Simple droop
controllers based on the frequency variation are used to adjust
This section shows several test-cases that demonstrate similar- the input mechanical power of synchronous machines
ities and differences between quasi-static and dq0 models. Three according to
networks with 9, 14, and 118 buses are considered, which param-
1
eters are taken from [26]. In the first example, the transient Pm ¼ ðxs xr Þ þ 3Dref ; ð43Þ
response of the open-loop 14-bus network is addressed. The sec- Dr
J. Belikov, Y. Levron / Electrical Power and Energy Systems 93 (2017) 65–74 71
Fig. 4. Sparse system matrices of the 14-bus dq0 and quasi-static models.
Fig. 7. Single-line diagram of the 14-bus system. Values of P and Q denote the operating point (power flow solution).
Table 2
Changes in the largest eigenvalues with respect to the increase in loads.
Fig. 10. Eigenanalysis: root locus of largest eigenvalues when active power
consumption is changed. Diamonds ( ) correspond to quasi-static and crosses
() to dq0 model.
the first four eigenvalues with the largest real parts are shown
for both quasi-static (qs) and dq0 models. Proceeding further, it
can be verified that for both quasi-static and dq0 models the
maximum allowed increase in power consumption is
57:879%, after which systems become unstable if no control
is applied. The numeric information, presented in Table 2, is
visualized in Fig. 10. Observe that in this scenario both
quasi-static and dq0 models yield identical 1st and 2nd
Fig. 9. Comparison of time domain responses. The lines correspond to quasi-static dominant poles. Time domain simulations are shown in
(‘- -’) and dq0 (‘—’) models. Fig. 11 for the nominal case.
J. Belikov, Y. Levron / Electrical Power and Energy Systems 93 (2017) 65–74 73
Fig. 11. Comparison of time domain responses (nominal case). The lines correspond
to quasi-static (‘ ’) and dq0 (‘—’) models.
Fig. 13. Comparison of time domain responses. The lines correspond to quasi-static
(‘ ’) and dq0 (‘—’) models.
Table 3 7. Conclusion
Largest eigenvalues with respect to changes in damping factor.
Fig. 12. Eigenanalysis: root locus and distribution of largest eigenvalues when damping factor is changed. Diamonds ( ) correspond to quasi-static and crosses () to dq0
model.
74 J. Belikov, Y. Levron / Electrical Power and Energy Systems 93 (2017) 65–74
However, there are other cases, as shown in Figs. 9 and 13, in [11] Demiray T, Andersson G, Busarello L. Evaluation study for the simulation of
power system transients using dynamic phasor models. In: Transmission and
which the dq0 and quasi-static models provide different results.
distribution conference and exposition, Bogotá, Colombia. p. 1–6.
Most notably, in both figures the dq0 model predicts that the [12] Krause PC, Wasynczuk O, Sudhoff SD, Pekarek S. Analysis of electric machinery
system is unstable, but the less accurate quasi-static model fails and drive systems. 3rd ed. Wiley-IEEE Press; 2013.
[13] Demiray TH. Simulation of power system dynamics using dynamic phasor
to predict this instability.
models, Ph.D. thesis. TU Wien; 2008.
[14] Yang T, Bozhko SV, Asher GM. Modeling of uncontrolled rectifiers using
dynamic phasors. In: Electical system for aircraft, railway and ship propulsion.
Acknowledgment p. 1–6.
[15] Eid A. Utility integration of PV-wind-fuel cell hybrid distributed generation
The work was partly supported by Grand Technion Energy Pro- systems under variable load demands. Int J Elec Power 2014;62:689–99.
[16] Huang B, Handschin E. Characteristics of the dynamics of distribution
gram (GTEP) and a Technion fellowship. electrical networks. Int J Elec Power 2008;30(9):547–52.
[17] Schonardie MF, Ruseler A, Coelho RF, Martins DC. Three-phase grid-connected
PV system with active and reactive power control using dq0 transformation.
References In: The 9th IEEE/IAS international conference on industry applications, Sao
Paolo, Brazil. p. 1–6.
[1] Miller L, Cibulka L, Brown M, Meier AV. Electric distribution system models for [18] Teodorescu R, Liserre M, Rodriguez P. Grid converters for photovoltaic and
renewable integration: status and research gaps analysis [Tech. rep.]. CA wind power systems. John Wiley & Sons; 2011.
(USA): California Energy Commission; 2013. July. [19] Szcześniak P, Fedyczak Z, Klytta M. Modelling and analysis of a matrix-
[2] Stefanov PC, Stanković AM. Modeling of UPFC operation under unbalanced reactance frequency converter based on buck-boost topology by DQ0
conditions with dynamic phasors. IEEE Trans Power Syst 2002;17(2):395–403. transformation. In: The 13th international power electronics and motion
[3] Grainger JJ, Stevenson WD. Power system analysis. New York: McGraw-Hill; control conference. p. 165–72.
1994. [20] Levron Y, Belikov J. Observable canonical forms of multi-machine power
[4] Anderson PM, Fouad AA. Power system control and stability. John Wiley & systems using dq0 signals. In: IEEE international conference on the science of
Sons; 2008. electrical engineering, Eilat, Israel. p. 1–6.
[5] Liu Y, Sun K, Liu Y. A measurement-based power system model for dynamic [21] Levron Y, Belikov J. Modeling power networks using dynamic phasors in the
response estimation and instability warning. Electr Power Syst Res dq0 reference frame. Electr Power Syst Res 2017;144:233–42.
2015;124:1–9. [22] Levron Y, Belikov J. Open-source software for modeling and analysis of power
[6] Yousefian R, Kamalasadan S. A Lyapunov function based optimal hybrid power networks in the dq0 reference frame. In: The 12th IEEE PES PowerTech
system controller for improved transient stability. Electr Power Syst Res conference, Manchester, UK [in press].
2016;137:6–15. [23] Levron Y, Belikov J. Toolbox for modeling and analysis of power networks in
[7] Ilić M, Zaborszky J. Dynamics and control of large electric power systems. New the dq0 reference frame, MATLAB Central File Exchange, retrieved February 7,
York: Wiley; 2000. 2017; 2016 <www.mathworks.com/matlabcentral/fileexchange/58702>.
[8] Fitzgerald AE, Kingsley C, Umans SD. Electric machinery. 6th ed. New [24] Vuillemin P, Poussot-Vassal C, Alazard D. Spectral expression for the
York: McGraw-Hill; 2003. frequency-limited H2-norm of LTI dynamical systems with high order poles.
[9] Schiffer J, Zonetti D, Ortega R, Stanković AM, Sezi T, Raisch J. A survey on In: European control conference, Strasbourg, France. p. 55–60.
modeling of microgrids—from fundamental physics to phasors and voltage [25] Zhou K, Doyle JC, Glover K. Robust and optimal control. Englewood Cliffs
sources. Automatica 2016;74:135–50. (NJ): Prentice Hall; 1996.
[10] Demiray T, Andersson G. Comparison of the efficiency of dynamic phasor [26] Zimmerman RD, Murillo-Sánchez CE, Thomas RJ. MATPOWER: steady-state
models derived from ABC and DQ0 reference frame in power system dynamic operations, planning, and analysis tools for power systems research and
simulations. In: The 7th IET international conference on advances in power education. IEEE Trans Power Syst 2011;26(1):12–9.
system control, operation and management, Hong Kong, China. p. 1–8.