Generator Electrical Model

The simplest generator model, known as the

classical model, treats the generator as a voltage
source behind the direct-axis transient reactance;
the voltage magnitude is fixed, but its angle
changes according to the mechanical dynamics
VT Ea
Pe ( )
sin
'
Xd

Generator Mechanical Model

Generator Mechanical Block Diagram

Tm J m TD Te ( )
Tm mechanical input torque (N-m)
J moment of inertia of turbine & rotor
m angular acceleration of turbine & rotor
TD damping torque
Te ( ) equivalent electrical torque

Generator Swing Equation

This equation is known as the generator swing equation
&
Pm Pe ( ) M &
Adding damping we get
& D&
Pm Pe ( ) M &
This equation is analogous to a mass suspended by
a spring
k x gM Mx&
& Dx&

Single Machine Infinite Bus (SMIB)

To understand the transient stability problem well
first consider the case of a single machine
(generator) connected to a power system bus with a
fixed voltage magnitude and angle (known as an
infinite bus) through a transmission line with
impedance jXL

SMIB, contd

Ea
Pe ( )
sin
'
Xd XL
& D& PM
M &

Ea
sin
'
Xd XL

SMIB Equilibrium Points

Equilibrium points are determined by setting the
right-hand side to zero
Ea
&
&
&
M D PM '
sin
Xd XL
Ea
PM '
sin 0
Xd XL
Define X th

'
Xd

XL

PM X th
sin

Transient Stability Analysis

For transient stability analysis we need to consider
1.
2.
3.

three systems
Prefault - before the fault occurs the system is
assumed to be at an equilibrium point
Faulted - the fault changes the system equations,
moving the system away from its equilibrium point
Postfault - after fault is cleared the system hopefully
returns to a new operating point

SMIB Example

Assume a generator is supplying power to an

infinite bus through two parallel transmission lines.
Then a balanced three phase fault occurs at the
terminal of one of the lines. The fault is cleared by
the opening of this lines circuit breakers.

SMIB Example, contd

Simplified prefault system

The prefault system has two

equilibrium points; the left one
is stable, the right one unstable
1

PM X th
sin

SMIB Example, Faulted System

During the fault the system changes

The equivalent system during the fault is then

During this fault no
power can be transferred
from the generator to
the system
10

SMIB Example, Post Fault System

After the fault the system again changes

The equivalent system after the fault is then

11

SMIB Example, Dynamics

During the disturbance the form of Pe ( ) changes,

altering the power system dynamics:
&
&

1
M

EaVth
PM X sin

th

12

Transient Stability Solution Methods

There are two methods for solving the transient

1.

stability problem
Numerical integration

2.

this is by far the most common technique, particularly

for large systems; during the fault and after the fault the
power system differential equations are solved using
numerical methods

Direct or energy methods; for a two bus system

this method is known as the equal area criteria

mostly used to provide an intuitive insight into the

transient stability problem
13

Examples
Example 1: Exponential Decay
A simple example with an analytic solution is
x& x
with x(0) x 0
This has a solution x(t) x 0e t
Example 2: Mass-Spring System
k x gM Mx&
& Dx&
or
x&1 x2
1
x&2
k x1 g M D x2
M
14

Transient Stability Example

A60Hzgeneratorissupplying550MWtoaninfinitebus(with1.0
perunitvoltage)throughtwoparalleltransmissionlines.Determine
initialanglechangeforafaultmidwaydownoneofthelines.
H=20seconds,D=0.1.Uset=0.01second.

Ea

15

Transient Stability Example, cont'd

We first need to determine the pre-fault values.
Since P = 550 MW (5.5 pu) I = 5.5
E a 1.0 j 0.1 5.5 1.14128.8
Next to get Pe ( ) we need to determine the
thevenin equivalent during the fault looking into
the network from the generator
Zth j 0.05 j 0.05 P j 0.1 j 0.08333
Vth

0.33330
16

Transient Stability Example, cont'd

1.141 1.0
Therefore prefault we have

sin
0.1
and Pm 5.5 (0) 28.8 (0) 0.50265 radians
Peprefault ( )

1.141 0.3333
and during the fault

sin
0.08333
Let x1 and x 2 &. The equations to integrate are
Pefaulted ( )

x&
1 x2
1
1.141 0.3333

x&2
sin x1 0.1 x2
5.5
20 / 60
0.08333

x1 (0) 0.50265
x2 (0) 0.0
17

Transient Stability Example, cont'd

x&
1 x2

x&2 9.425 5.5 4.564sin x1 0.1 x2

0.50265
x(0)

With Euler's Method we get

0
0.50265
0.50265

x(0.01)
0.01

0
31.11
0.3111

0.50265
0.3111

0.50576
x(0.02)
0.01

0.3111
30.82
0.
6193

18

Transient Stability Example, cont'd

G e n e r a t o r a n gl e i n de g r e s

240

180

clearing at 0.3 seconds

120

clearing at 0.2 seconds

60

clearing at 0.1 seconds

0
0

0.5

1.5

Simulation time in seconds

2
19

Equal Area Criteria

The goal of the equal area criteria is to try to

determine whether a system is stable or not without
having to completely integrate the system response.
System will
be stable after
the fault if
the Decel
Area is greater
than the
Accel. Area
20

Example 13.4: Undamped

Gen Bus 4 #1 Rotor Angle (Deg)
40
38
36

Gen Bus 4 #1 Rotor Angle (Deg)

34
32
30
28
26
24
22
20
18
16
14
12
10
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2 2.4 2.6 2.8 3 3.2 3.4 3.6 3.8 4 4.2 4.4 4.6 4.8 5
Time
Gen Bus 4 #1 Rotor Angle (Deg)

21

Example 13.4: Damped (d=12)

Gen Bus 4 #1 Rotor Angle (Deg)
38
36

Gen Bus 4 #1 Rotor Angle (Deg)

34
32
30
28
26
24
22
20
18
16
14
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2 2.4 2.6 2.8 3 3.2 3.4 3.6 3.8 4 4.2 4.4 4.6 4.8 5
Time
Gen Bus 4 #1 Rotor Angle (Deg)
22

Example 13.4: Damped, tclear = 0.1

Gen Bus 4 #1 Rotor Angle (Deg)
55
50

Gen Bus 4 #1 Rotor Angle (Deg)

45
40
35
30
25
20
15
10
5
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2 2.4 2.6 2.8 3 3.2 3.4 3.6 3.8 4 4.2 4.4 4.6 4.8 5
Time
Gen Bus 4 #1 Rotor Angle (Deg)
23

Example 13.9 Angles

Transient Stability Time Step Results Variables
30
25
20

Values

15
10
5
0
-5
-10
-15
0

0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9

Gen WEBER69 #1 Rotor Angle (Deg)
Gen JO345 #2 Rotor Angle (Deg)
Gen LAUF69 #1 Rotor Angle (Deg)
Gen ROGER69 #1 Rotor Angle (Deg)
Gen BLT69 #1 Rotor Angle (Deg)

1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9

Time

Gen JO345 #1 Rotor Angle (Deg)

Gen SLACK345 #1 Rotor Angle (Deg)
Gen BOB69 #1 Rotor Angle (Deg)
Gen BLT138 #1 Rotor Angle (Deg)

24

Example 13.9: Frequency

Transient Stability Time Step Results Variables
1
0.8
0.6

Values

0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
0

0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9

Gen WEBER69 #1 Speed Deviation (Hz)
Gen JO345 #2 Speed Deviation (Hz)
Gen LAUF69 #1 Speed Deviation (Hz)
Gen ROGER69 #1 Speed Deviation (Hz)
Gen BLT69 #1 Speed Deviation (Hz)

1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9

Time

Gen JO345 #1 Speed Deviation (Hz)

Gen SLACK345 #1 Speed Deviation (Hz)
Gen BOB69 #1 Speed Deviation (Hz)
Gen BLT138 #1 Speed Deviation (Hz)

25

Eastern Interconnect Actual Freq

26

Power System Harmonics

So far class has talked about fundamental frequency

analysis. Many traditional loads only consume
power at the fundamental frequency. However, some
loads, mostly electronic-based, tend to draw current
in non-linear pulses, which gives rise to harmonics.

If current has half-wave-symmetry (values are equal and

opposite when separated by T/2) then there are no even
harmonics

27

Switched-Mode Power Supply Current

Source: www.utterpower.com/commercial_grid.htm

28

Quick Review of Fourier Analysis

a0

f(t) a1 cos t a2 cos 2t a3 cos3t K

2
b1 sin t b2 sin 2t b3 sin 3t K
.

where 2 f 2 T ,
T

2
a n f (t )cos nt dt , n 0,1,2,K
T0
T

2
bn f (t )sin nt dt , n 1,2,K
T0

29

Harmonic Current Specturm

The below figure shows the harmonic current

components for an 18-W, electronic-ballast compact
fluorescent lamp.

Source: Fig 2.34 of Renewable and Efficient Electric Power Systems by Masters

30

Key Problems with Harmonics

A key problem with the third harmonic is neutral current since

the fundamental 120 degree phase shift becomes 360 degrees for
the third harmonic so the third harmonic values do not cancel
(also true for other triplen harmonics)

Delta-grounded wye transformers prevent triplen harmonic currents

from flowing into the power grid

Harmonics cause transformer overheating since core losses are

proportional to frequency
Harmonic resonance, particularly with shunt capacitors (can be
around 5th or 7th harmonic values)

31