Module 6 Stability
Module 6 Stability
Module 6 Stability
Introduction
Synchronous machine model for
stability study
Developing Swing equation
Steady-state stability small
disturbance
Stability analysis on Swing equation
Transient stability
Equal Area Criterion
INTRODUCTION TO STABILITY
What is stability
Stability issue
POWER ANGLE
Power angle
jXd
E
ZL
Zs
I1
I2
y10
y12
y20
20
12
2 12
Pmax
Pmax
E' V
X 12
Pe
Pm
0
/2
Iq
E
Iq X q
Id
jIX q
Ia
jI d X q
jI d X d
EV
2 Xd Xq
P
sin V
sin 2
Xd
2Xd Xq
voltage equation in per unit
Calculation of voltage E
starting with a given (known) terminal voltage V and
armature current Ia, we need to calculate first by
using phasor diagram and then result in voltage E
X q I a cos
tan
X
I
sin
q
a
E V cos X d I a sin
Eq' V
X
'
d
sin V
X d' X q
'
d
2X Xq
sin 2
d 2m
J
Ta Tm Te
2
dt
2
dt
dt 2
p
m ,
2
p
m where p is pole number
2
P
,
where
M
m ( pu)
e ( pu)
s dt 2
s
p
m ,
2
p
m where p is pole number
2
25
20
15
10
0.5
1.5
t, sec
2.5
STEADY-STATE STABILITY
SMALL DISTURBANCE
Steady-state stability
the ability of power system to remain its
synchronism and returns to its original state
when subjected to small disturbances
STEADY-STATE STABILITY
SMALL DISTURBANCE
Analysis of steady-state stability by swing
equation
starting from swing equation
H d 2
Pm ( pu) Pe ( pu) Pm Pmax sin
2
f 0 dt
STEADY-STATE STABILITY
SMALL DISTURBANCE
Analysis of steady-state stability by swing
equation
swing equation in terms of
H d 2
Pm cos 0 0
2
f 0 dt
PS
dP
d
Pmax cos 0
STEADY-STATE STABILITY
SMALL DISTURBANCE
Characteristic equation: s
2
f 0
H
PS
PS
STEADY-STATE STABILITY
SMALL DISTURBANCE
Damping torque
phenomena: when there is a difference angular
velocity between rotor and air gap field, an induction
torque will be set up on rotor tending to minimize the
difference of velocities
introduce a damping power by damping torque
Pd D
d
dt
D
PS 0
2
f 0 dt
dt
Example 11.3
Example 11.3
STABILITY ANALYSIS
ON SWING EQUATION
Characteristic equation:
d 2
d
2
n
n 0
2
dt
dt
s 2 2n s n2 0
D
2
f 0
HPS
STABILITY ANALYSIS
ON SWING EQUATION
Analysis of characteristic equation
roots of characteristic equation
s1, s2 - n jn 1 2
STABILITY ANALYSIS
ON SWING EQUATION
Solution of the swing equation
d 2
d
2
n
n 0
2
dt
dt
0
1 2
e nt sind t , 0
0
1 2
e nt sind t
n 0 t
e
sind t , 0 n 0 e t sind t
1 2
1 2
n
STABILITY ANALYSIS
ON SWING EQUATION
Solution of the swing equation
2H
f 0 D
settling time: tS 4
relations between settling time and inertia constant H:
increase H will result in longer tS, decrease n and
TRANSIENT STABILITY
Transient stability
Severe disturbance
TRANSIENT STABILITY
TRANSIENT STABILITY
Rotor
Angle
Unstable
Disturbance
Stable
Time
Pa accelerati on power
d
2f o
dt
H
Pe d
d
2f o
dt
H
Pe d
Stability analysis
stability criterion
Pe d 0
Stability analysis
Stability analysis
m1
A
c1 b
A2max
Pm1
max
1
0
0 1
max
t0
Equal Criteria: A1 = A2
A1 < A2max
A1 = A2max
A1 > A2max
Stable
Critically Stable
Unstable
Limit of stability
SOLUTION TO STABILITY ON
SUDDEN INCREASE OF POWER INPUT
Calculation of max
SOLUTION TO STABILITY ON
SUDDEN INCREASE OF POWER INPUT
Calculation of max
(k )
c f max
df
d max ( k )
max
where
(k )
(k )
max
0 cos max
df
d max
(k )
max
SOLUTION TO STABILITY ON
SUDDEN INCREASE OF POWER INPUT
Equal-area criterion applied to the sudden change in power
1.5
0.5
20
40
60
80
100
120
Power angle, degree
140
160
180
SOLUTION TO STABILITY ON
SUDDEN INCREASE OF POWER INPUT
1.5
0.5
20
40
60
80
100
120
Power angle, degree
140
160
180
APPLICATION TO
THREE PHASE FAULT
Three phase bolt fault case
a temporary three phase bolt fault occurs at sending end of line at
bus 1
1
Pe
fault occurs at 0, Pe = 0
power angle curve corresponds
to horizontal axis
machine accelerate,
increase until fault cleared at c
fault cleared at c shifts operation
to original power angle curve at e
net power is decelerating, stored
energy reduced to zero at f
A1(abcd) = A2(defg)
f
e
A
Pm
d2
A1
b
c
0 c max
Pe
forth around 0 at n
with inherent damping, operating
point returns to 0
A
Pm
d2
A1
b
c
0 c max
Pmd
max
Pmax sin Pm d
cos c
Pm
max 0 cos max
Pmax
we obtain c
from swing equation H d 2
f 0 dt 2
Pm
f 0 Pm
1.4
1.2
1
Pm
0.8
0.6
0.4
0.2
0
CB trip
20
40
60
80
100
120
Power angle, degree
140
CB reclose
160
180
Pe
F
A
Pm
A1 c
b
0 c max
max
Pm c 0 P2 max sin d
we obtain c
Pm max 0 P3 max cos max P2 max cos 0
cos c
P3 max P2 max
P = 1.80 sin
1.6
1.4
P = 1.46 sin
1.2
r2 = 0.8
1
Pm
0.8
P = 0.65 sin
0.6
0.4
r1=0.36
0.2
0
20
40
1= 26.390
60
80
100
120
Power angle, degree
c= 98.800
140
160
m= 146.580
180