IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS VOL. PAS-85, N O.

12 DECEMBER) 1966

Damping ofPower Swings in a Parallel

AC and DC System
H. A. PETERSON, FELLOW, IEEE, AND P. C. KRAUSE, JR., SENIOR MEMBER, IEEE

Abstract-In an earlier paper, the authors presented a method of PAPt

simulating a transmission system including ac and dc lines in parallel,
and established the validity of the simulation. In this paper the H, APO X
method, which utilizes a direct and quadrature axis representation,
is used to study with the aid of an analog computer the electro-
mechanical oscillations in a system consisting of one machine tied
to an infinite bus through two parallel transmission lines, one of
which is ac and the other dc. Results make it clear that with proper Pdc + APdc
dynamic control of power flow in the dc line, a substantial degree of
damping of transient power swings may be achieved. Fig. 1. Simplified, 1-machine, infinite bus ac-dc system.

INTRODUCTION His analysis is based upon assumptions which are valid

FROM EARLIER STUDIES it became apparent that when small changes in system power are considered.
with appropriate control, a dc link could be made to While an analysis of this type has limitations, it permits
respond more quickly to demands for power flow than one to readily establish equations which are invaluable in
could an ac line. In those studies digital methods as well predicting the performance of an actual system. Although
as an analog computer were used, depending upon the the purpose of this paper is to demonstrate the effects of
particular problem under study. Disturbances such as 3- these proposed methods of control by means of an analog
phase faults, sudden load changes, and sudden changes in computer study, it is advantageous to consider an analysis,
dc reference current setting were investigated. similar to that given in Uhlmann [1 ] before presenting the
An important paper by Dr. Uhlmann [1] presented results of this study.
equations and the basic analysis for a simplified parallel ac A simplified 1-machine, infinite bus ac-dc system is
and dc transmission system. This analysis made it clear shown in Fig. 1. For this analysis it will be assumed that
that with proper feedback control of power in the dc line, the bus voltages, E1 and E2, are constants and the ac line
damping of electromechanical oscillations can be effec- may be represented by a series reactance X. For small
tively achieved. changes in the phase angle of the bus voltages, the change
This paper extends the previous studies reported. A 1- in ac power transmitted may be expressed
machine and infinite bus, ac-dc system is studied in detail.
APac t = E1E2 cos 60
A variety of disturbances are imposed on the system and Aw
x (1)
the dynamic responses of the system are obtained with P
several different feedback control transfer functions. where
Results obtained point up the unique ability of a dc link
to provide damping of electromechanical oscillations under S0-initial angle between bus voltages
certain conditions. Ao-change in speed of the synchronous machine
p-the operator d/dt.
BASIC ANALYTICAL CONSIDERATIONS
Methods of stabilizing an ac system by utilizing a Changes in rotor speed due to a small change in accelerat-
parallel dc link are proposed in a recent publication [1]. ing power may be written
In this interesting and important paper, Dr. Uhlmann
considers an idealized 2-machine system with parallel ac APa = 2HpAw (2)
and dc links to establish and evaluate several methods of where H is inertia constant of the machine.
control which may be used to improve system stability. The dc power may be controlled by either a current or a
power regulator. Incorporated with this control is a
Paper 31 TP 66-100, recommended and approved by the Trans- signal dependent upon the change in speed of the machine.
mission and Distribution Committee of the IEEE Power Group for
presentation at the IEEE Winter Power Meeting, New York, Thus, variation from a constant dc power will be deter-
N. Y., January 30-February 4, 1966. Manuscript submitted No- mined by a function of A/o, that is
vember 1, 1965;made available forprinting November 24, 1965.
The authors are with the Department of Electrical Engineering,
University of Wisconsin, Madison, Wis. APdc = f(ACO). (3)
1231
1232 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS DECEMBER

Assuming a small change in system power AlP the change If, for example, K1 is made large so that
in accelerating power can be expressed
EE2
APa = AP - APac' - APdc. (4) K1X cos 50 << 1
Substituting (1), (2), and (3) into (4) yields APdc - AP
APac t 0.
AlP = 2HpAw + f(Ac) + E1E2 cos 0A_oP
I

X
(5)
Also, with this type of control, the deviation in the phase
The following relationships are readily established from angle between the bus voltages may be limited during a
the previous equations. break in the ac link (EjE2/X = 0) providing the dc
AP& Pf (pAw) system is capable of sustaining the necessary overload.
(6) The phase angle between the bus voltages will return
AlP D(p) to its value prior to a system disturbance with
APac t EX12
APl = D(p)X cos 0o Aco (7) f(Aco) = KoAco + Ki-+ p2
p
where
This characteristic is evident from the steady-state
E1E2 evaluation of (6) and (7) which yields, APdc = AP and
D(p) = 2Hp2Aw + pf(Ao\) + E- cos Aw. (8)
x o
Apact = 0.
Once f(Aw) has been defined, the previous equations may Since these methods of control will be referenced quite
be employed to predict the transient and steady-state frequently in this paper, it is convenient to establish the
performance of this simplified ac-dc system when sub- following notation:
jected to small changes in system power. In this paper, Type A f(Awo) = KoAw,
the results of a computer study will be presented rather
than a hand analysis of these equations, however, several Type B f(Aw) = KoAo + K1-
important characteristics may be readily observed. p
It is apparent from (6)-(8) that system damp-
ing may be achieved by making f(Aw) directly propor- Type C f(Aco) = KoAw+ K-+K K2-
tional to Aco. Moreover, f(Aco) can be selected so as to p p2
determine the steady-state operation after a change in Although other methods of control are possible, these
power has occurred. These features are of importance three basic controls incorporate interesting features
and shall be discussed briefly. If f(Aco) = KoAco, steady- which warrant investigation.
state evaluation of (6) and (7) yields APd, = 0 and APact =
AP. The change in system power is accepted by the ac
system. More important, however, is the fact that with AC-DC POWER SYSTEM STUDIED
f(Acw) = KoAw, system damping may be controlled by In an earlier paper, a method of representing an ac-dc
adjusting Ko. Thus, a change in power might be accepted system in a direct and quadrature axis was presented [2].
by altering the ac transmitted power in a critically The method of simulation as well as results of an analog
damped manner. Since the incorporation of a signal computer study of a 1-machine infinite bus system with
directly proportional to the change in rotor speed pro- parallel ac and dc links are set forth. The ac-dc system used
motes system damping, it seems logical to include this in the investigation reported here is identical to system
signal as a part of any proposed f(Aco). described in the previous paper. Although the method
Steady-state operation is influenced if of simulation will not be repeated, it seems appropriate to
include a brief description of the ac-dc system.
f(Aw) = KoAco + K1-. A 1-line diagram of the parallel ac-dc power system
p which was simulated on the analog computer is shown in
In this case, steady-state evaluation of (6) and (7) yields Fig. 2. In this system, a 4000 Mva equivalent machine is
connected synchronously to an infinite bus by 500 miles of
APdC 1
500 kV-ac transmission line (50 percent compensated) and
Ap E1E2 asynchronously by 500 miles of 500 kV-dc transmission
+ K1X ° line. A capacitor bank which delivers 18.85 Mvar and a
APac_ 1 2000 Mva resistive load (unity power-factor load) are
APl K1X connected to the generator bus. With the generator operat-
+ ing at rated power input (4000 Mva) the system consumes
E1E2 cos 80 50 percent of the generated power in the vicinity of the
It is apparent that the value of K1 determines the steady- generator with approximately 50 percent of the power
state mode of operation after a change in system power. transmitted to the infinite bus.
1966 PETERSON AND KRAUSE: DAMPING OF POWER SWINGS 1233

500 MILES - override (ecR and eci*, respectively) are developed from the
I

18.85 MVAR
500-KV AC LINE difference between a reference current (independent of
w;~~~~~~~~~~~~~~~~~~I;l
~ changes in rotor speed) and the dc line current [2], [3].
'1H3e 50% SERIES
COMPENSATION In this study, the method of developing the control signals
230 KV 230 KV ecR and ecl* differs in that the reference current is the
4000 MVA sum of a set reference and f(Aco). In particular,
2000 MVA
UNITY pf
L-3 &-. ecR = KR (I, - IR)
ecI* = K1(kIr - I)
Fig. 2. A 1-line diagram of system simulated on analog computer. where
KR-gain of rectifier controller
.05 .315 .315 .05 Kr-gain of inverter controller
53.0 .026 .026 JR-rectifier current
'13 1.165 II-inverter current
k-a constant less than unity (0.9 in this study)
1.1 pu l.0 pu
Ir- IrO + f(Aw)
H = 12
INFINITE Iho-constant or set reference current.
.108 .0926 .0926 .108 BUS
0.605 RESULTS OF COMPUTER STUDY
~~~\\ /
sum
~~~7.74
sum
In this section the methods of control proposed in
I
T 4.25 Uhlmann [1 and considered briefly in the opening section
are investigated using an analog computer simulation of a
Fig. 3. System constant on 1000-Mva base 230-kV bus voltage. 1-machine, infinite bus ac-dc system. In order to compare
the action of these controls, relatively small changes in
system power are considered about a common operating
The system parameters, referred to a 1000 Mva power point. With one exception, which will be discussed,
base with 230 kV as the base line-to-line voltage, are given the initial condition of operation was that wherein the
in Fig. 3. The transformer connections and the converters input torque to the generator was set at 4.0 per unit
are arranged so that with 1.0 per unit bus voltage, the no-
(4000 Mva); the reference current of the dc system set so
load rectifier output voltage is 1.65 per unit referred to the that approximately 1.0 per unit, dc power was transmitted
ac system.
from the generator bus, and the resistiv-e load at the
The machine is equipped with a voltage regulator which generator bus adjusted to consume 2.0 per unit power
is adjusted to regulate 1.1 per unit generator bus voltage. (1.1 per unit generator bus voltage). For this condition,
The per-unit parameters of the machine are as follows: the ac power transmitted from the generator bus is
approximately 1.0 per unit. Small changes in system power
Machine System were incurred by programming step changes in the gener-
Base, Base, ator input torque and generator bus loading (step changes
4000 1000
Mva Mva in the resistance of the unity power factor load). In each
ra armature resistance 0.005 0.00124 case the following variables are recorded; Ei-exciter
Xia armature leakage reactance 0.1 0.025 voltage, Vqy-qR-axis bus voltage, VR'-rectifier voltage,
rfd field resistance 0.00055 0.0001375 IR-rectifier current, Pac,-ac power transmitted from
Xlf d field leakage reactance 0. 1 0.025
rkd direct-axis damper winding 0.02 0.005 generator bus, Pd0-rectifier power, Ta-accelerating torque,
resistance and 6-power angle, that is, the angle between the quad-
Xlkd direct-axis damper winding leakage
reactance 0.1 0.025 rature axis of the machine and the quadrature axis of the
rkq quadrature-axis damper winding infinite bus.
resistance 0.04 0.01
Xlkq quadrature-axis damper winding
leakage reactance 0.2 0.05 Performance of an AC-DC System during Changes in
Xad direct-axis magnetizing reactance 1.0 0.25
Xaq quadrature-axis magnetizing 0.7 0.175 System Power-Stabilization Control not Incorporated
reactance
H inertia constant 3 seconds 12 seconds The computer tracings given in Figs. 4 and 5 demon-
strate the performance of the ac-dc system during system
disturbances with f(Aco) = 0. In particular, Fig. 4 shows
The 6-phase rectifier is equipped with a constant current the system response due to input torque disturbance;
control and is connected to the generator bus. A constant Fig. 5 shows the system response due to step changes in the
extinction angle control with a current override is in- power consumed by the resistive load connected to the
corporated in the inverter controller. generator bus. With the initial condition of operation as
In the computer studies presented in previous papers, stated above, the generator input torque (Fig. 4) was
the control signals of the rectifier and the inverter current stepped from 4.0 to 4.25 per unit. The power angle
1234 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS DECEMBER

2.0

1.0 EXCITER VOLTAGE

BUS VOLTAGE (qR-Gaxi)

Vq R

q 0 1.0l SEC.

VR | RECTIFIER VOLTAGE

RECTIFIER CURRENT
.0

2D AC POWER-TRANSMITTED

DC POWER-RECTIFIER

Pdc

ACCELERATING TORQUE

1--INPUT TOGRUE
INCREASES TO 4.25 PU
la-INPUT TORQUE
DECREASED TO 3.75 PU
-INPUT TORGUE
INCREASED TG 4.0 PU

POWER ANGLE

Fig. 4. The ac-dc system response to step changes in generator input

torque; no stabilizing control.

2.0

Ex

BUS VOLTAGE (qR-oxis )

V RR

VIn |

RECTIFIER CURRENT

AC POWER-TRANSMITTED

DC POWER RECTIFIER
1.0t
Pd c

ACCELERATING TORQUE

To5 t\ s
0.5
0

|_-RESISTIVE LOAD
DECREASED TO 1.75 PU
-RESISTIVE LOAD
INCREASED TO 225 PU
a-RESISTIVE LOAD
DECREASED TO 2.0 PU

POWER ANGLE

6 : _

Fig. 5. The ac-dc system response to step changes in generator bus

loading; no stabilizing control.
1966 PETERSON AND KRAUSE:
oscillates about the new operating point illustrating
the small amount of damping present in this ac-dc system.
After establishing steady-state operation at this increased
power angle, the input torque was stepped from 4.25
to 3.75 per unit. When the system had again estab-
lished steady-state operation, the input torque was
stepped from 3.75 per unit to the original value of 4.0 per
unit. This switching sequence was used for all studies
wherein the system response to generator input torque
disturbances was investigated.
The effects of load switching at the generator bus are
illustrated in Fig. 5. From the initial operating condition
the resistance was changed so that the power consumed
by the unity power factor load decreased from 2.0 to
1.75 per unit (1.1 per unit bus voltage). After steady-state
operation was re-established, the resistive load was
switched from 1.75 to 2.25 per unit followed by a step
change in bus loading from 2.25 per unit to the original
2.0 per unit. The input torque was maintained at 4.0
per unit throughout this study. This same sequence of load
switching was used for all studies involving load switching
at the generator bus.
Performance of an A C-DC System during Changes in System
Power-Stabilization Control Incorporated
The computer tracings given in Figs. 6-11, demonstrate
the performance of the ac-dc system with Types A, B, and
C controls incorporated. More specifically, Figs. 6 and 7
illustrate the performance of the ac-dc system during
changes in system power with a Type A control; Figs. 8
and 9-Type B, and Figs. 10 and 11-Type C. In each case,
the initial operating condition was that described previ-
ously. System response to changes in the generator input
torque are shown in Figs. 6, 8, and 10. The system per-
formance during load switching at the generator bus are
given in Figs. 7, 9, and 11.
In order to illustrate the complete characteristics of
these controls it would be necessary to consider variations
in all of the control parameters (Ko, K1, and K2). For
example, the characteristics of a Type C control and the
influence of each control parameter could be obtained
only after an extensive study wherein independent vari-
ations of Ko, K1, and K2 are considered. This type of a
study is important but seems impractical at this time.
In the studies shown in Figs. 6-11, satisfactory system
response during changes in system power was obtained by
adjusting Ko for the Type A control. With Ko maintained
at this value, K1 was adjusted to give acceptable system
response for the Type B control. Similarly, Ko and K1 were
fixed and K2 adjusted to obtain satisfactory system
response with the Type C control.
A comparison of Figs. 6 and 7 with Figs. 4 and 5,
respectively, reveals the system damping which is possible
by incorporating a Type A control. The value of Ko which
yields this near critically damped response of the power
angle was found to be 0.75. Variations about the new
operating point, after a system disturbance, is determined
primarily by the characteristics of the voltage regulator.
DAMPING OF POWER SWINGS 1235
The action of a Type B control is shown in Figs. 8 and 9.
In this case, Ko was held at 0.75, and K1 was adjusted so
as to minimize the change in power angle as well as the
overshoot in the dc power as the dc system accepts the
larger part of change in system power. The value of K1
used in Figs. 8 and 9 was 0.66.
Figures 10 and 11 show the system response with a Type
C control incorporated. Ko, K1, and K2 were set at 0.75,
0.66, and 0.19, respectively. The value of K2 was selected
so that the power angle returned to its original value in a
relatively small time interval with satisfactory control of
the dc power maintained.
The computer recordings shown in Figs. 12 and 13
demonstrate system response with controls which have not
been considered previously. The tracings shown in Fig. 12
illustrate the system response during input torque distur-
bances with a control incorporated wherein KD = K2 = 0
and K1 = 0.66. Since Ko = 0, the system is quite oscilla-
tory. The sustained oscillations after the initial step
change in generator input torque is attributed to the large
value K1 which at this increased dc power level (small de-
lay angle) causes alternate control of the current in the dc
system by the rectifier and the inverter. At the reduced dc
power level, the rectifier is able to maintain control and
system oscillations are damped out after several seconds.
Thus, K1 adds some damping to the system. This feature is
further illustrated in Fig. 13 wherein Ko = 0.75 and K1 =
0. It was found that the system was unstable with K2 set
at the value used in Figs. 10 and 11. In order to obtain the
system response to input torque disturbance shown in
Fig. 13, it was necessary to reduce K2 to 3 X 10-4. With
this low value of K2, it required a longer time interval
for the ac system to return to its original power angle than
in Figs. 10 and 11 where K1 = 0.66 and K2 = 0.19.
Performance of AC-DC System during a Break in the AC
Line-Type C Control
If the dc system is capable of accepting the ac trans-
mitted power without failure, Type B and C controls will
limit the power angle between the mnachine and the infinite
bus when the ac power flow is disrupted. In the case of a
Type B control, a deviation from the original power angle
will occur in the steady-state, however, with a Type C
control the power angle will return to its original value.
The computer recording shown in Fig. 14 illustrates the
system performance and the action of a Type C control
(Ko = 0.75, K1 = 0.66, and K2 = 0.19) during a loss of
transmitted ac power. In this study the input torque was
fixed at 3.5 per unit with an initial transmitted ac power of
approximately 0.5 per unit. The loss of ac transmitted
power was simulated by suddenly de-energizing the ac line.
The action of Type C control causes the power angle to
return to its original value after a transient deviation of
approximately eight degrees. The ac line was re-energized
in approximately nine seconds after' the break. The elec-
trical transients of the ac line decay relatively fast and the
system readily established its initial mode of operation.
1236 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS DECEMBER

2.0r
2.0
1.0. EXCITER vOLTAGE
I1. EXCITER VOLTAGE

BUS VOLTAGE (qR-GtIS)

Vq;-J
BUS VOLTAGE qIR-Gols)

1.0 SEC.
Vq R
L.r I
I -.O SEC.
L
VKIF 1 O

RECTIFIER VOLTAGE

2.0
RECTIFIER CURRENT
'N
2s
RECTIFIER CURRENT IR
1.0 t{
2.0 r
Pt
2 AC POWER-TRANSMITTED PtS AC POWER-TRANSMITTED

'LF L
2.0
20 DC POWER- RECTIFI ER DC POWER-RECTIFIER
Pdc 1.0

0 L

05 0.5 ACCELERATING TORQUE

ACCELERATING TORQUE

-0.! -INPUT TORQUE |-INPUT TORQUE -INPUT TORQUE

I-INPUT TOROUE I-INPUT TORQUE |.-INPUT TORQUE INCREASED T0 4.25 PU DECREASED TO 3.7SPU INCREASED TO 4.0PU
INCREASED TO 4.25 PU DECREASED TO 3.75 PU INCREASED TO 4.0 PU

P0W POWER ANGLEL

4- r
6

Fig. 6. The ac-dc system response to step changes in generator input Fig. 8. The ac-dc system response to step changes in generator input
torque-Type A control; Ko = 0.75. torque-Type B control; Ko = 0.75, K1 = 0.66.

2.0
2.0
E0
E
1.0 EXCITER VOLTAGE I
EUCITER VOLTAGE

BUS VOLTAGE q R-aXISI)

BUS VOLTAGE (qp-oxis)
-I

L
o

F 1.0 SEC.
V R '4
*CL1 -|f 1.0 SEC.

VR. OA RECTIFIER VOLTAGE V O. RECTIFIER VOLTAGE

0:1

2.o[
2.0r IR RECT IF ER CURRENT
RECTIFIER CURRENT
,.0 r- -
oL L.
2.0
2.0
AC POWER-TRANSMITTED AC POWER-TRANSMITTED
pt b
cc
.0E

Pt
2.0
2.01 DC POWER -RECTI F IER DC POWER-RECTIFIER

Pd.,<
Pdc o

ACCELERATING TOROUE 0.5r ACCELERATING TORQUE

T,, 0O
-Q.5
I-RESISTIVE LOAD I|-RESISTIVE LOAD
INCREASED TO 2.25 PU
I-RESISTIVE LOAD2.0 |-RESISTIVE LOAD
DECREASED TO 1.75 PU
|-RESISTIVE LOAD
INCREASED TO 2.25 PU
-RESISTIVE
DECREASED
LOAD
TO 2.0 PU
DECREASED TO 1.7S PU DECREASED TO PU

0
6 I
66 POWE R A N GLE POWER ANGLE

Fig. 7. The ac-dc system response to step changes in generator bus Fig. 9. The ac-dc system response to step changes in generator bus
loading-Type A control; Ko = 0.75. loading-Type B control; Ko = 0.75, K1 = 0.66.
1966 PETERSON AND KRAUSE: DAMPING OF POWER SWINGS 1237

2.0 E 2.0
E,
o.0| EXCI TER VOLTAGEI EX0O ECITER VOLTAGE

BUS VOLTAGE (qR-OxiS) BUS VOLTAGE (qR-axsl)

Vq0
. - 1.0 SEC.
vqR'it
L I 0 -4 1.0 SEC.
' -
i RECTIFIER VOLTAGE v| 0.8 RECTIFIER VOLTAGE
0.8[

2.0 2.0.
RECTIFIER CURRENT RECTIFIER CURRENT
R I
'B
IR
0~ ~~ L_
.OI

2.01 2.0 .
ptQC AC POWER-TRANSMITTED P1
1.0 _
1:0
L
2.0 DC POWER-RECTIFIER 2.0.
DC POWER -RECTIFIER
Pd. 1.0,
Pdc t_
-f

p L
0.5 ACCELERATING TORQUE 0.5 ACCELERATING TORQUE
Ta o T. 0
-0.5,
PUT TORQUE I-INPUT TORQUE -INPUT TOROUE |_N PUT TORQUE
INCREASED TO 4.25 PU
-|INPUT TORQUE IRPUT TORQUE
INCREASED TO 4.0 PU
INCREASED TO 4.25 PU DECREASED TO 3.75 PU INCREASED TO 4,0 PU DECREASED TO 3.75 PU
go*f r.. ...
601ol
-_

40
D POWER ANGLE -40 PO,

o L 9U ~~~~~~~~~~~~~~~~~~~POWER ANGLEL

Fig. 10. The ac-dc system response to step changes in generator in- Fig. 12. The ac-dc system response to step changes in generator in-
put torque-Type C control; Ko 0.75, K1 = 0.66, K2 0.19. = = put torque; Ko K2 0, K1 0.66. = = =

2.0r
EX 1. EXCITER VOLTAGE
1.0 EXCITER VOLTAGE

BUS VOLTAGE (qR-RXIl)

v* '-.0 1.0 SEC.

-~~~~~~U VOLAG _9 L3L16
R. -.O SEC.
VR6} 1.6
RECTIFIER VOLTAGE
VR:0. RECTIFIER VOLTAGE

20.02.0
RECTIFIER CURRENT 0B
1
2.0 RECTIFlIER CURRENT

IRI.
2.0
AC POWER -TRANSMITTED 2
pt

L
P.t ..O.
AC POWER-TRANSIUITTED
WT

2.0 DC POWER-RECTIFIER

.0
0
0.5S ACCELERATING TORQUE 05 ACCELERATING TORQUE
To l To o59
s-RESISTIVE LOUD *-RESISTIVE LOAD - RESISTIVE LOAD
20P-INPTTRU NPTTOQE-INPUT TORQUE
DECREASEOD TO I7T
RESIP5UT I V NECLOAgt A
INCREASED
TO 2025P
TO
25 -RE S
PUDECREASESD TO
S T |VS A2.0 INCREASED TO 4.25 PU DECREASED TO 3.75 PU INCREASED TO 4.0 PU

40 6 p
POWER ANGLE OER ANGLE

Fig. 11. The ac-de system response to step changes in generator bus Fig. 13. The ac-dc system response to step changes in generator
loading-Type control; Ko 0.75, K1 0.66, K2 0.19. = = = input torque; Ko = 0.75, K1 = 0, K2 3 X 10-4. =
1238 1EEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS DECEMBER

E,
2.0
REFERENCES
I.G0 EXCITER VOLTAGE [1] E. Uhlmann, "Stabilisation of an A. C. link by a parallel
D. C. link," Direct Current, pp. 89-94, August 1964.
[21 H. A. Peterson and P. C. Krause, Jr., "A direct- and quadra-
BUS VOLTAGE IqR-xisl) ture-axis representation of a parallel AC and DC power sys-
1.0 tem," IEEE Trans. on Power Apparatus and Systems, vol.
VqR PAS-85, pp. 210-225, March 1966.
F-t0 SEC. [3] H. A. Peterson, P. C. Krause, Jr., J. F. Luini, and C. H.
Thomas, "An analog computer study of a parallel AC and DC
power system," IEEE Trans. on Power Apparatus and Sys-
VA- tems, vol. PAS-85, pp. 191-209, March 1966.
0.8 RECTIFIER YOLTAGE
[4] H. A. Peterson, D. K. Reitan, and A. G. Phadke, "Parallel
oL- operation of AC and DC power transmission," 1964 IEEE
2.0 RECTIFIER CURRENT
Internat'l Cony. Rec., vol. 12, pt. 3, pp. 84-89.
[5] M. Riaz, "Analogue computer representations of synchronous
Is generators in voltage-regulation studies," Trans. AIEE
(Power Apparatus and Systems), vol. 75, pp. 1178-1184, De-
0 cember 1956.
2.0
[6] P. C. Krause, "Simulation techniques for unbalanced electrical
p t AC POWER-TRANSMITTED machinery," Ph.D. dissertation, University of Kansas, Law-
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[7] R. H. Park, "Two-reaction theory of synchronous
0 machines-generalized method of analysis; Part I," Trans. AIEE,
2.0 DC POWER-RECTIFIER vol. 48, pp. 716-727, July 1929.
[8] C. Concordia, Synchronous Machines. New York:Wiley, 1951.
1.0 [9] R. A. Hedin, "The dynamic behavior of a synchronous gen-
erator with a rectifier load," M. S. thesis, University of Wis-
0
consin, Madison, 1964.
ACCELERATING TORQUE [10] C. Adamson and N. G. Hingorani, High Voltage Direct Current
T .
Power Transmission. London: Garraway, Ltd., 1960.
-0.5
[11] C. Concordia and L. K. Kirchmayer, "Tie-line power and
I-ACDEENERGIZED
LINE -AC LINE frequency control of electric power systems," AIEE Trans.
REENERGIZED (Power Apparatus and Systems), vol. 72, pp. 562-572, June
so,-. 1953.
401 [12] ,"Tie-line power and frequency control of electric power
POWER ANGLE systems-Part II," AIEE Trans. (Power Apparatus and Sys-
tems), vol. 73, pp. 133-146, April 1954.
[13] E. Uhlmann, "The representation of an H. V. D. C. link in a
Fig. 14. Performance of ac-dc system during break in ac line-Type network analyser," CIGRE, vol. III, paper 404, 1960.
C control; Ko = 0.75, K1 = 0.66, K2 = 0.19.

SUMMARY AND CONCLUSION

A relatively simple case of a single machine tied to an
infinite bus through parallel ac-dc lines has been studied in
detail and typical results presented in this paper. These
results make it clear that the electromechanical oscillations
following a major disturbance are influenced markedly by
the presence of the dc line. Furthermore, with proper
attention to the transfer function properties of the feed-
back loop in the dc line, substantial beneficial damping of
power swings is achievable.
It is not the intention to draw far-reaching conclusions
relative to the effects of dc lines in composite ac-dc sys-
tems at this time. Such conclusions must await results, and
evaluation thereof, of far more comprehensive studies
than these reported in this paper. It is hoped, however,
that results of studies of simplified systems in rigorous
detail as in this case will continue since it is believed that a
useful purpose is served in setting forth the basic differ-
ences between the ac and dc line dynamic power trans-
mitting properties. A knowledge of these properties, once
grasped, can aid in establishing confidence as analysis is
extended to more complex systems, each of which must,
in the final analysis, be studied as a separate problem.
ACKNOWLEDGMENT
This study was performed on the analog computer at
Allis-Chalmers Manufacturing Co., Milwaukee, Wis. The
authors wish to thank Mr. A. E. Kilgour of Allis-Chalmers
for his help in preparing this paper for publication.
Discussion
Edward W. Kimbark (Bonneville Power Administration, Portland,
Ore.): Oscillations in a power system of the type considered in the
paper can be divided into two types: large and small.
The large oscillations are caused by big disturbances, such as
severe short circuits. The main danger is that the disturbance may be
nonoscillatory, that is, that synchronism may be lost. Clearly, an
analysis based on linearization of the sinusoidal power-angle curve
is not valid for such large disturbances.
The small oscillations can be started by little disturbances. If
they decay, there is no serious problem. The danger is that because
of net negative damping they may grow into large oscillations.
Linear analysis can show whether small oscillations will grow
into big enough ones to be nuisances.
Negative damping can be caused by lags in governors, in
excitation control systems, or by too low a ratio of reactance to
resistance in ac transmission lines. Unless the negative damping is
offset by positive damping, either that inherent in the system or
that added artificially, the oscillations will grow.
There are several possible methods of introducing artificial
positive damping.
One was discussed in the paper, namely, the modulation of the
power on a parallel de line. It seems that this method is very effec-
tive if the de line is available. However, artificial damping may be
needed in power systems having no dc line or in those having one
which is out of service for maintenance or repair.
Another method is to modulate the power input of one or more
prime movers driving ac generators. This is accomplished by period-
ically varying the throttle opening of a steam turbine or the gates of
a waterhweel. The control signal may be derived from power flow on
the ac tieline or from frequency (speed) deviation. This method is in
Manuscript received February 14, 1966.
IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS
use and has proven satisfactory. An entire session of this meeting is
devoted to it [1]-[4].
A third method [5],[6] is to inject an auxiliary signal into the
generator voltage regulators in addition to the usual ac terminal
voltages. The auxiliary signal may be almost any quantity which
varies during the oscillation to be damped. One such signal is the
rate of change of terminal voltage.
A fourth method is to vary periodically the transfer impedance of
the ac transmission link, for example, by switching a series capacitor
bank alternately in and out of the circuit. The transmission system
should be strengthened (by insertion of the capacitors) while the
machines at the two ends are swinging apart and weakened (by
removal of the capacitors) while they are swinging together. The
principal practical obstacle to the application of this method is the
lack of a high-voltage switch suitable for continual operation.
The same general method is effective for defense against large
disturbances such as the complete loss of the dc line in the system
considered in the paper as a result of a permanent 2-pole fault [7].
Damping of large disturbances can be controlled so as to be
"dead-beat" [8].
If artificial positive damping is required, it should be applied
redundantly as to methods or locations, so that if one generator or
line having such provision be out of service the remaining ones will
still provide adequate damping. One bipolar dc line, controlled as
suggested in the paper, would be adequate except in the rare event of
loss of both poles. Two dc lines or one dc line plus one of the other
methods would be better.
REFERENCES
[1] F. R. Schleif, G. E. Martin, and R. R. Angell, "Damping of
system oscillations with a hydrogenerating unit," IEEE Trans.
on Power Apparatus and Systems, to be published.
Damping for the Northwest Southwest
Oscillations-An Analog Study
F. R. SCHLEIF, SENIOR MEMBER, IEEE, AND
Abstract-Oscillations which developed on the initial transmission
tie between the Northwest and Southwest systems brought about
trip-outs and threatened to limit its usefulness. The analog study
described reveals much about the nature of the oscillations and
shows some unusual relief measures to be possible. While sources of
the negative damping were indicated to be such that correcting
them directly might be impracticable, means of offsetting them with
stabilizing effort developed by special control of fast responding
generation are proposed. The required stabilizing effort is indicated
to be within the capability of a large nonreheat steam unit. This
amount is startlingly small for influencing such large systems.
Paper 31 TP 66-13, recommended and approved by the Power
System Engineering Committee of the IEEE Power Group for
presentation at the IEEE Winter Power Meeting, New York, N. Y.,
January 30-February 4, 1966. Manuscript submitted September
22, 1965; made available for printing November 9, 1965.
F. R. Schleif is with the Electric Power Branch, Division of
Research, Office of Chief Engineer, Bureau of Reclamation, Denver,
Colo.
J. H. White is with Sargent and Lundy, Engineers, Chicago, Ill.
1239
VOL. PAS-85, NO. 12 DECEMBEBR, 1966
[2] F. R. Schleif and J. H. White, "Damping for the Northwest-
Southwest tieline oscillations-An analog study," this issue, page
1239.
[3] E. A. Gissel, T. B. Hardy, and E. F. Timme, "Performance of
the Northwest-Southwest intertie," presented at the 1966
IEEE Winter Power Meeting, New York, N. Y., January 30-
February 4.
[4] J. S. Hooper, G. E. Adams, and J. C. Conder, "Damping of
system oscillations with steam electric generating units," pre-
sented at the IEEE Power Meeting.
[51 P. Althammer, "Questions of stability of E.H.V. transmission
systems," Brown Boveri Rev., vol. 51, no. 1/2, pp. 10-20, January
February 1964; esp. p. 15.
[6] H. M. Ellis, A. L. Blythe, J. E. Hardy, and J. W. Skooglund,
"Dynamic stability of the Peace River transmission system,"
IEEE Trans. on Power Apparatus and Systems, pp. 586-600,
June 1965.
[7] E. W. Kimbark, "Improvement of system stability by switched
series capacitors," IEEE Trans. on Power Apparatus and
Systems, vol. PAS-85, pp. 180-188, February 1966.
[8] 0. J. M. Smith, "Optimal transient removal in a power system,"
IEEE Trans. on Power Apparatus and Systems, vol. PAS-84,
pp. 361-74, May 1965.
H. A. Peterson and P. C. Krause, Jr.: The authors appreciate the
comments of Dr. Kimbark, who has effectively summarized the
methods of providing damping of power swings in large systems.
We concur in his concluding remarks that if artificial positive damp-
ing is required, it should be applied redundantly so that at all times
such damping requirements can be satisfied.
Manuscript received March 7, 1966.
- Tieline
J. H. WHITE, MEMBER, IEEE
INTRODUCTION
I NTERCONNECTED power systems of the Northwest,
predominantly hydro, and interconnected power sys-
tems of the Southwest, predominantly steam, were initially
linked together in October 1964 through a transmission tie
of modest relative capacity. Although the initial tie com-
prised of one 230-kV transmission line and soon aug-
mented by another longer 230-kV line is of respectable
capacity considered alone, the total tie capacity was small
compared to the 30 000- to 40 000-MW total for the sys-
tems it interconnected (Fig. 1).
Soon after the first closure of this tie at Glen Canyon
Powerplant, Arizona, a natural frequency of load swing at
about 6 c/min was observed on the tie. This tie operated
satisfactorily for a time, but trip-outs developed due to
rather wide 3-c/min oscillations of the Northwest system
frequency.