a ANALYSIS OF SUBSYNCHRON OUS RESONANCE IN POWER SYSTEMS GES ET eva Nearest a Narain G, HingoraniDistributors for North, Central and South America: Kluwer Academic Publishers 101 Philip Drive Assinippi Park Norwell, Massachusetts 02061 USA. Telephone (781) 871-6600 Fax (781) 871-6528 E-Mail Distributors for all other countries: Kluwer Academic Publishers Group Distribution Centre Post Office Box 322 3300 AH Dordrecht, THE NETHERLANDS: Telephone 31 78 6392 392 Fax 31 78 6546 474 a EMail ) Electronic Services Library of Congress Cataloging-in-Publication Data ACLLP. Catalogue record for this book is available from the Library of Congress. Copyright © 1999 by Kluwer Academic Publishers. Alll rights reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means, mechanical, photo- copying, recording, or otherwise, without the prior written permission of the publisher, Kluwer Academic Publishers, 101 Philip Drive, Assinippi Park, Norwell, Massachusetts 02061 Printed on acid-free paper. Printed in the United States of AmericaContents Preface 1. INTRODUCTION 1.1 General 1.2 Definitions of SSR 1.3 Interactions with power system controllers 1.4 FACTS Controllers 1.5 Methods of Analysis of SSR 1.6 Chapter outline 2. MODELLING OF TURBINE GENERATOR 2.1 Introduction 2.2 Synchronous machine model 2.3 Park's transformation 24 Per unit quantities 2.5 Operational impedances and equivalent circuits 2.6 Modelling of excitation control system 2.7 Modelling of turbine generator mechanical system 2.8 Modelling of turbine and governor 2.9 Modelling and analysis of the mechanical and prime mover system 2.10 Synchronous generator modelling for transient simulation MODELLING OF THE ELECTRIC NETWORK 3.1 3.2 33 3.4 35 3.6 37 Introduction Transmission lines Transformation using a — 8 variables State equations Interface between the network and generator Impedance functions Simulation of electromagnetic transients 4. ANALYSIS OF SSR WITH FIXED SERIES COMPENSATION oy ree 16 7 17 18 22 30 35 43 55 59 63 63 68 70 4 75 78 83viii 41 4.2 43 44 45 46 47 ANALYSIS OF SUBSYNCHRONOUS RESONANCE IN POWER SYSTEMS Introduction Analysis of induction generator effect: frequency scanning method Analysis of torsional interaction(T1) State equations and eigenvalue analysis An algorithm for computing torsional modes Countermeasures for SSR Torsional oscillations in parallel connected turbine generators 5. INTERACTIONS WITH POWER SYSTEM STABILIZER 5.1 5.2 5.3 5.4 5.5 Introduction Basic concept in the application of PSS Design of PSS Torsional interaction with PSS A case study 6. INTERACTIONS WITH HVDC CONVERTER CONTROL 6.1 6.2 6.3 6.4 6.5 6.6 6.7 Introduction HVDC converters and control Modelling of HVDC system for study of torsional interactions Analysis of torsional interactions - A simplified approach A case study A simplified damping torque analysis Control of torsional interaction 7. INTERACTIONS WITH SHUNT COMPENSATORS 7A 7.2 73 14 75 7.6 Introduction Static Var Compensator Torsional Interactions with SVC Static Condenser(STATCON) Torsional interactions with STATCON A simplified analysis of torsional interaction with voltage controller 8. INTERACTIONS WITH SERIES COMPENSATORS Introduction Thyristor Controlled Series Compensator Modelling of TCSC for SSR studies Mitigation of SSR with TCSC Static Synchronous Series Compensator (SSC) Torsional interactions with SSSC Appendices A- Data on IEEE Benchmark Models A.1_ IEEE First Benchmark Model ( FBM ) A.2 IEEE Second Benchmark Model ( SBM ) B- Calculation of Initial Conditions 83 83 87 108 111 120 121 121 122 126 130 132 137 138 147 153 156 161 167 169 169 171 186 189 196 200 205 205 206 216 223 229 234 239 239 239 241 245Contents ix C- Abbreviations 249 References and Bibliography 251 Indexaa You have either reached a page that is unavailable for viewing or reached your viewing limit for this book.aa You have either reached a page that is unavailable for viewing or reached your viewing limit for this book.aa You have either reached a page that is unavailable for viewing or reached your viewing limit for this book.PREFACE I acknowledge the support of Department of Science and Technology, Govern- ment of India for research on FACTS controllers. | am grateful to Dr. Narain Hingorani for readily agreeing to write the foreword. Prabha, Rajesh and Hiren have helped in the preparation of the manuscript. Mr. Alex Greene of Kluwer Academic Publishers has been helpful in ensuring that | complete the manuscript on time. Tam indebted to my family, in particular my sister Manorama Kamath, for encouragement and support. Finally, | would like to thank my wife Usha, for her patience and support KR Papryaraa You have either reached a page that is unavailable for viewing or reached your viewing limit for this book.aa You have either reached a page that is unavailable for viewing or reached your viewing limit for this book.aa You have either reached a page that is unavailable for viewing or reached your viewing limit for this book.4 ANALYSIS OF SUBSYNCHRONOUS RESONANCE IN POWER SYSTEMS net resistance is positive, the currents (which may appear due to a switching action) take longer to decay because of the negative resistance effect of the synchronous machine. ‘The problem of torsional interactions(‘Tl) is much more severe than that due to induction generator effect (IGE). The problem of TI was not anticipated and was experienced for the first time at Mohave generating station in Western U.S.A. There were two incidents of shaft failures in December 1970 and Octo- ber 1971 which were traced to TI after subsequent analysis [Hall and Hodges (1976)}. These incidents alerted utilities to plan ahead to avoid SSR problems during system operation. The planning must take care to determine not only the permissible ranges of series compensation levels but suitable measures to damp subsynchronous oscillations whenever they arise. When speed input Power System Stabilizers(PSS) were first applied to damp low frequency oscillations ,it was discovered that they can destabilize torsional modes [Watson and Coultes (1973)] . Subsequent analysis and development re- sulted in the application of control signals related to accelerating power {Bayne et al (1977),DeMello et al (1978),Lee et al (1981)]. ‘The possibility of TI with radial HVDC links connected to turbine generator, first came to light when field tests were being carried out at Square Butte HVDC project in 1977 [Bahrman et al(1980)] This led to a detailed analysis of TT with HVDC converter control [Mortensen et al (1981),Piwko and Larsen(1982)]. In recent years, Static Var Compensators (SVC), shunt connected first gen- eration FACTS controllers have been applied to provide voltage support and reactive power control thereby increasing power transfer capability of trans- mission lines. Recent studies shows the possiblity of subsynchronous torsional interactions with the voltage regulator of SVC [Rostamkolai et al (1990)] 1.2. DEFINITIONS OF SSR The following definition of SSR is given in an IEEE Committee Report (1985) Subsynchronous Resonance (SSR) “Subsynchronous resonance is an electric power system condition where the electric network exchanges energy with a turbine generator at one or more of the natural frequencies of the combined system below the synchronous fre- quency of the system.” ‘There are two aspects of the SSR problem. These are 1. Self excitation (also called as steady state SSR) 2. Transient torques (also called as transient SSR) Self excitation Subsynchronous frequency currents entering the generator terminals produce subsynchronous frequency terminal voltage components. These voltage com- ponents may sustain the currents to produce the effect that is termed as self excitation. There are two types of self excitation, one involving only rotor elec- trical dynamics and the other involving both rotor electrical and mechanical dynamics, The first one is termed as induction generator effect while the sec- ond one is called as torsional interactionaa You have either reached a page that is unavailable for viewing or reached your viewing limit for this book.aa You have either reached a page that is unavailable for viewing or reached your viewing limit for this book.aa You have either reached a page that is unavailable for viewing or reached your viewing limit for this book.8 ANALYSIS OF SUBSYNCHRONOUS RESONANCE IN POWER SYSTEMS lize lower torsional modes. Static Var Compensators (SVC) also employ thyristor controllers for fast con- trol of reactive power and bus voltage.Because of the high speed of response of SVCs,they are also used to damp low frequency oscillations by applying auxiliary controls that utilize control signals derived from bus frequency, line current or Thevenin voltage ( at the SVC bus) .The planning studies on SVC have revealed that not only the auxiliary SVC controller, but the basic voltage controller can have adverse torsional interactions. In comparison with fixed series compensation,it can be said that the prob- lem of adverse torsional interactions with PSS ,HVDC and SVC controls is less severe.Also,the problem can be overcome by modifying or augmenting the controllers.For example,Subsynchronous Damping Control (SSDC) can be pro- vided with HVDC converter control.Simple low pass filters can be used with PSS and SVC. With fixed series compensation,countermeasures are required to overcome the problem of SSR.These include passive elements like Static Blocking Filters and active controllers such as NGH damping,Dynamic stabilizer (using a shunt con- nected Thyristor Controlled Reactor (TCR) at the generator bus for active fil- tering ) or Supplementary Excitation Damping Controller (SEDC) similar to PSS. NGH damping [Hingorani (1981)] employs thyristor controlled resistor across the series capacitor. The thyristors conduct only when subsynchronous fre- quency voltage component (across the capacitor) is detected.The successful demonstration of this concept [Hingorani et al (1987)] has led to the applica- tion of Thyristor Controlled Series Capacitor (TCSC) where a TCR is used in parallel with the series capacitor.As TCR losses are minimal,TCR conduction can be used even under normal conditions to vary the compensation level for flexible operation of the ac link.In addition, TCR conduction can ensure miti- gation of SSR. The TCSC is an extension of the application of thyristor controllers for power flow control in ac lines.This concept has been extended to propose FACTS (Flexible AC Transmission System) controllers for the purpose of flexible oper- ation of ac networks by controlling voltage ,phase angle or impedance for power flow control. 1.4 FACTS CONTROLLERS 1.4.1 General The expansion in power transmission networks has taken place not only due to the increase in generation and loads but also due to the extensive interconnec- tion among different power utilities. The major factor responsible for system interconnections is the economy resulting from reduced generation reserves to achieve the same level of reliability of supply. Except for the limited number of HVDC links in a system, the vast majority of transmission lines are ac. The power flows in ac lines are uncontrolled and areaa You have either reached a page that is unavailable for viewing or reached your viewing limit for this book.aa You have either reached a page that is unavailable for viewing or reached your viewing limit for this book.aa You have either reached a page that is unavailable for viewing or reached your viewing limit for this book.12 ANALYSIS OF SUBSYNCHRONOUS RESONANCE IN POWER SYSTEMS Table 1.1 Constraints and control variables associated with FACTS controllers | Controller | Constraint Equations —_| Control Variable | 1. SVC €, =0,ip = JBsvcVy Bsve 2. TOSC ip =0,e2=5Xrescl, | Xresc 3. TCPAR Vpit =eeIl , Vs =Vpe?? | o 4, STATCOM (without energy source) | ¢, =0, Re[Vpif] = 0 ipr (reactive current) 5. STATCOM (with energy source) e=0 ipa (active current),ipr 6. SSSC (without energy source) | i, = 0, Re[e.Jy] =0 €sr(reactive voltage) 7. SSSC (with energy source) ip =O €sr,€1a (active voltage) Note: SSSC is the special case of UPFC when only series element is used. 1.5 METHODS OF ANALYSIS OF SSR The problem of self excitation is a steady state problem involving instabil- ity of the system operating (equilibrium) point. The analysis of stability of the opearating point is conveniently performed using linearized models of the var- ious components that form the system.There are two major methods in the small signal stability analysis - 1.Eigenvalue analysis based on time-domain formulation [Nolan et al (1976) ,Fouad and Khu (1978), Anderson et al (1990)} 2.Frequency domain analysis (a) using the concepts of synchronizing and damping torque [Canay (1982)] (b) using frequency scanning techniques [Agrawal and Farmer (1979)] Eigenvalue analysis is an exact method and can employ detailed system models. However, frequency domain methods are simpler to use and could be compu- tationally attractive, although they tend to be approximate. The concept of damping torque is useful in the analysis of TI while the frequency scanning techniques can be applied for screening type study of induction generator effect (IGE) and TI. In contrast to the analysis of self excitation (or steady state SSR), the analysis of transient SSR (or study of transient shaft torques) cannot be carried out using linearized models. This is in view of the fact that transient SSR prob- lem results from large disturbances such as faults and reinsertion of capacitors . ‘The model is nonlinear and the system simulation is required (involving numer- ical integration of differential equations) . As the network transients have to be modelled in detail, , the simulation is conveniently performed using EMTP (Gross and Hall (1978)] or special purpose simulation programs [Carlsen et al (1975)]aa You have either reached a page that is unavailable for viewing or reached your viewing limit for this book.aa You have either reached a page that is unavailable for viewing or reached your viewing limit for this book.aa You have either reached a page that is unavailable for viewing or reached your viewing limit for this book.16 ANALYSIS OF SUBSYNCHRONOUS RESONANCE IN POWER SYSTEMS 1.6 CHAPTER OUTLINE Chapter two is devoted to the derivation of the turbine-generator model. The synchronous machine model is derived from first principles and the application of Park’s transformation.The final machine equations are derived using flux linkages as state variables and stability constants (transient and subtransient paramaters).The mechanical rotor system equations are also analyzed by ap- plying electrical circuit analogy.This enables direct derivation of modal inertias and other parameters. Chapter three is devoted to the derivation of the ac network model using D-Q variables. The state equations are derived from circuit topology and the element equations. The complexities involved in the choice of state variables are illus- trated. The relations between immitance functions based on D-Q variables and phase variables are derived. Chapter four presents the analysis of SSR with fixed series compensation. Both IGE and TI effects are considered.Both damping torque and eigenvalue analy- sis are explained with illustrative examples.An iterative method for computing eigenvalues for torsional modes is presented. The countermeasures for SSR are described. Chapter five discusses torsional interactions with PSS.The modelling,PSS de- sign and analysis of TI are explained and illustrated by a case study. Chapter six deals with the analysis of Tl in HVDC systems. The HVDC con- verter controls are described in detail leading to the development of the systern model.The study of TI based on damping torque and eigenvalue analyses is explained with examples.A simplified analysis gives an insight into the phe- nomenon of interactions and highlights the important aspects. Chapter seven discusses interactions with shunt FACTS controllers - SVC and STATCON. These FACTS controllers are described to develop their models. The analysis is illustrated with the help of case studies.A simplified analysis focusses on the basic characteristics of the voltage regulator that affects TI. Chapter eight deals with the study of interactions in TCSC and SSSC (series FACTS controllers),The controller models are described along with nature of their response to subsynchronous oscillations.Examples are presented to illus- trate the eigenvalue analysis and their correlation to the results from simulation of the systern (subjected to small disturbances). Appendix A gives data on IEEE Benchmark Model systems. Appendix B presents the calculation of initial conditions of system state variables required for both system simulation and small signa! analysis.