Rudolf Wieser, Matthias Baechle, Valerijs Knazkins ATPE

Improving Power System Stability

Through Integrated Power System
Stabilizers
ABB Group
December 3, 2014 | Slide 1

OUTLINE

Controlled Generator on Grid

The main functions of an

Automatic Voltage Regulator (AVR)

The main functions of a

Power System Stabilizer (PSS)

How to test an AVR system

Introduction to Real time Simulator

Grid Code compliance testing

ABB Group
December 3, 2014 | Slide 2

UNITROL built in compliance test functions

The main functions of an AVR

Automatic Voltage Regulator
State-of-the-art excitation systems are equipped with fast
acting voltage regulators:

Advantages:

Fast acting voltage control and reactive power

support

Providing synchronizing torque component

Disadvantage:

Solution to the reduced damping torque problem

ABB Group
December 3, 2014 | Slide 3

Introducing negative damping torque component

Power System Stabilizers

Model of a single Generator connected to Grid

Turbine and Generator Mechanics
Tm

Turbine

Generator

Te

ABB Group
December 3, 2014 | Slide 4

Turbine driving torque

Tm

Generator braking torque

Te

Mechanical rotational speed

Model of a single Generator connected to Grid

Turbine and Generator Connection to Grid
Turbine

ABB Group
December 3, 2014 | Slide 5

Generator

Turbine + Generator

Generator breaker

Step-up transformer

Transmission line

Infinite bus (constant voltage)

Model of a single Generator connected to Grid

Turbine and Generator connected to Grid
Turbine

Generator

K4
1
2H s

Tm
K3
s K3 Tdo + 1

Te

Eq
K2

K1
K2

K2
K6

K2
K5

2pi*fN
s

Vg

ABB Group
December 3, 2014 | Slide 6

A single generator connected to a large grid can be

represented by the Phillips-Heffron model
(assuming constant field voltage and mechanical torque)

Model of a single Generator connected to Grid

Linearized Model at certain Operating Point
K4
1
2H s

Tm
K3
s K3 Tdo + 1

Te

Eq
K2

K1
K2

K2
K6

K2
K5

2pi*fN
s

Vg

ABB Group
December 3, 2014 | Slide 7

A single generator connected to a large grid can be

represented by the Phillips-Heffron model
(assuming constant field voltage and mechanical torque)

Model of a single Generator connected to Grid

Torque Disturbance Impact
K4
0
1
2H s

Tm
Eq
K3
s K3 Tdo + 1

Te
K2

K1
K2

K2
K6

K2
K5

Vg

ABB Group
December 3, 2014 | Slide 8

Harmonic Phasor Representation

Torque equilibrium disturbance

Electric torque produces natural positive damping

2pi*fN
s

Model of a single Generator connected to Grid

Fast Voltage Control Impact
K4
1
2H s

Tm
K3
s K3 Tdo + 1

Vfd

K2

K1
K2

K2
K6

K2
K5
Vg

Ka
s Ka + 1

Harmonic Phasor Representation Generator plus AVR

ABB Group
December 3, 2014 | Slide 9

Te

Eq

Electric torque form AVR function produces

negative damping torque

2pi*fN
s

Model of a single Generator connected to Grid

Power System Stabilizer Function
K4
1
2H s

Tm
K3
s K3 Tdo + 1

Vfd

2pi*fN
s

Te

Eq
K2

K1
K2

K2
K6

K2
K5
Vg

Ka
s Ka + 1

PSS
Vgref

ABB Group
December 3, 2014 | Slide 10

Power System Stabilizer (PSS)

Band limited damping torque contribution

Speed estimator from electrical voltage and current signals

OUTLINE

Controlled Generator on Grid

The main functions of an

Automatic Voltage Regulator (AVR)

The main functions of a

Power System Stabilizer (PSS)

How to test an AVR system

Introduction to Real Time Simulator

Grid Code compliance testing

ABB Group
December 3, 2014 | Slide 11

UNITROL built in compliance test functions

Synchronous Machine Transient Simulator

Turbine, Generator, Transformer, Line to infinite Bus

Governor

Turbine

Generator

AVR
Excitation

ABB Group
December 3, 2014 | Slide 12

Typical turbine - generator arrangement in a power plant

Automatic Voltage Regulator (AVR)

Synchronous Machine Transient Simulator

Turbine, Generator, Transformer, Line to infinite Grid
SMTS-RT
Governor

Turbine

Generator

AVR
Excitation

ABB Group
December 3, 2014 | Slide 13

Real Time Simulation of

Turbine and governor (simplified)

Generator

Breaker and step-up transformer

Grid representation with infinite Bus Voltage

Synchronous Machine Transient Simulator

Turbine, Generator, Transformer, Line to infinite Grid
SMTS-RT
Governor

Turbine

Generator

AVR
Excitation

ABB Group
December 3, 2014 | Slide 14

AVR hardware
in the loop
Real Time
Simulation

Synchronous Machine Transient Simulator

Turbine, Generator, Transformer, Line to infinite Grid
SMTS-RT 6000

UNITROL 6000

ABB Group
December 3, 2014 | Slide 15

Synchronous Machine Transient Simulator

SMTS-RT 6000; User Interface

ABB Group
December 3, 2014 | Slide 16

OUTLINE

Controlled Generator on Grid

The main functions of an

Automatic Voltage Regulator (AVR)

The main functions of a

Power System Stabilizer (PSS)

How to test an AVR system

Introduction to Real Time Simulator

Grid Code compliance testing

ABB Group
December 3, 2014 | Slide 17

UNITROL built in compliance test functions

AVR Grid Code Compliance

Grid Code Example
Excerpt from of a local grid code:
Overall Excitation System Control Characteristic
The frequency domain tuning of the Power System
Stabilizer shall also be demonstrated by injecting a
0.2Hz-2Hz band limited random noise signal into the
Automatic Voltage Regulator reference while the
Generating Unit is operating at a typical load level...
The damping contribution of the Power System
Stabilizer shall improve the system-stability within the
frequency-band of interest (compared to the system
response without a stabilizer):

i.e., 0.2Hz - 2Hz

ABB Group
December 3, 2014 | Slide 18

Grid Code Compliance Testing

Te , Pe

Test scheme for

the measurement
of the
corresponding
transfer function

K4
1
2H s

Tm
K3
s K3 Tdo + 1

Vfd

2pi*fN
s

Te

Eq
K2

K1
K2

K2
K6

K2
K5
Vg

Ka
s Ka + 1

PSS
Vgref

ABB Group
December 3, 2014 | Slide 19

Vgref = Vinjection
White noise

Grid Code Compliance Testing

Time domainresponse of the

system without
the stabilizer,
while injecting
noise signals:

ABB Group
December 3, 2014 | Slide 20

ExpertDays09

Grid Code Compliance Testing

Time domainresponse of the

system with the
stabilizer, while
injecting noise
signals:

ExpertDays09

8%

ABB Group
December 3, 2014 | Slide 21

Grid Code Compliance Testing

Time domainresponse of the

system with the
stabilizer, while
injecting noise
signals:

ABB Group
December 3, 2014 | Slide 22

ExpertDays09

Grid Code Compliance Testing

Frequency domain
response of the
system with
(green line) and
without (blue line)
the stabilizer
connected:

F ( j )
25

Pe ( j )
Vref ( j )

20

Magnitude [dB]

15
10
5
0
-5
-10
-15
-20
0.2

1
Frequency [Hz]

ABB Group
December 3, 2014 | Slide 23

Grid Code Compliance Testing

Time domain
response of the
system with
(using different
gains) and
without (blue line)
the stabilizer
connected:

0.87

Pe [p.u.]

0.86

0.85

w/o PSS
with PSS, KS1=2

0.84

with PSS, KS1=3

with PSS, KS1=4

0.83

with PSS, KS1=10

time [s]
ABB Group
December 3, 2014 | Slide 24

 ABB Group
December 3, 2014 | Slide 25