A Virtual Laboratory for Teaching Power System Dynamics and Control at

U n d e r g r a d u a t e L e v e l i n D e v e l o p i n g N a t i o n s
Luigi Vanfretti
INTRODUCTION

This poster presents:

Development of a virtual laboratory

framework for teaching power system
dynamics and control at the undergraduate
level being used in developing nations.

OBJECTIVES

VIRTUAL
LABORATORY
FRAMEWORK

User experiences and adoption plans

from Universities of:

Guatemala
El Salvador

va
Tensiones
de
vb
fase

va

vc

vc

vq

vb

cos(teta_r)

sin( )[sin_teta_r]

sin(teta_r)

-iq

[vq]

Delta

Transformacion
abc a qd0 vd
rotativo

cos( )[cos_teta_r]
r

[vq]
vq

[vd]
[vd]

Eje q,
Eje d
wr/wb
y
Ecs. MecanicasTem

vd

v0

vq

|Vt|

[Vt]

[iq]

[it]

[vd]

-iq Potencia, Tension |It|

y Corriente
vd
P

[id]

-id

[Q]

Potencia, Tensin y Corriente

cos(teta_r)
wr/wb Osiclador
sin(teta_r)

[wr_wb]

[iq]

-iq

[id]

-id

[cos_teta_r]
[sin_teta_r]
ia
ib

[cos_teta_r]

Transformacion
i0
qd0 rotativo
a abc
cos(teta_r)

[sin_teta_r]

sin(teta_r)

ic

[ia]

[Q]

To Workspace

[ib]

[Delta]
[Tem]

[ia]

Scope

[if]

Scope1

-4

y1

[if]

To Workspace1

[Tem]

-6
0
Inicializacion
y graficacion

[ic]

0.1

0.2

0.3

0.4

0.5
0.6
Time (sec.)

Gen.

Voltage Step Response (p.u.)

HV

jxL1

Vt

One-line diagram of the SMIB system

MATLAB/Simulink Customized model

Simulation menus
1

THERMAL
PLANT

[v1]

bus 1

THEVENIN
EQUIVALENT

net

Step2

Demux

avr

I=YV

omega

omega

Pe

Tm

Slider
Gain

Step1
bus 2

0.01
t
Clock

Transfer Fcn4

Transfer Fcn5

Transfer Fcn

0.745566s+1

0.745566s+1

0.028171s+1

0.028171s+1

s+0.7

Fig. C.2.
110

20

12

G2

-10

y Vt

1q

K p 30
0.04

Response

5
6
Time sec.

10

System: GVt
Gain: 47
Pole: -0.00244 + 9.39i
Damping: 0.00026
Overshoot (%): 99.9
Frequency (rad/sec): 9.39

8
6
4
2

-2
-3

-2.5

-2

-1.5

x' = Ax+Bu
y = Cx+Du

[w]

Modelo del sistema SMIB

Espacios de Estado

[Pe]

Vt (p.u.)

Regulador de Voltaje

numTor(s)

numWO(s)

denPSS(s)

denTor(s)

denWO(s)

PSS

Filtro Torsional

Filtro Pasa Altos

Without PSS

With PSS

0.06

Vt

[w]

[Pe]

-1
Cambio de
Signo

0.02

Pe

0
[Vt]

[w]
-Vt-

[Pe]
-w-

AVR

10

Manual Control

Time (sec.)
4

10

Fig. C.3.

0.03

0.6

Manual Control

0.02
0.015
0.01
0.005

0.4

0.025

0
4

U nder
M a n u a l C o n t r o10l

Time (sec.)

10

Machine Internal Number

Time (sec.)

Plotting and analysis capabilities

CURRENT USERS IN
CENTRAL AMERICA

The USCG case:

U sed during Spring and Sum m er 06 for:

Generation Systems course
Power System Analysis course
Future plans: use of the synchronous machine
Simulink models for the Electric Machines course
and to teach MATLAB/Simulink to in a seminar.

Adoption plans:

0.04
numPSS(s)

USACG
UNAH

Time (sec.)

-Pe-

UCA

Future plans the manual will be used for teaching

synchronous machine modeling and simulation
synchronous machine parameters.
The custom models for machine modeling will be used
to supplement LabVIEW applications already available
at UCA.
At UCR:

At UNAH:

10

The lab will support the

Electric Machines course:
using the different
synchronous machine
Simulink models
the manual to
accompany class lectures
on machine modeling.

Starting Fall06, the lab be used in

two courses: Power Transmission
and Power System Analysis.
The manual in MS Word format was
provided to Prof. Araya. He will use
it to prepare slides for his lectures.
UCR has also been provided with the
ULg Simulink tool and will obtain
PST.

Prospective users:
The lab. is suitable
for any institution
with access to
MATLAB/ Simulink
and Spanish as
instruction
language.

[1] United Nations Development Programme Report 2005. Available online: http://hdr.undp.org/reports/global/
[2] G. Rogers and J.H. Chow; H ands-on teaching power system dynamics, IEEE Com puter Applications in Pow er, vol. 8, no. 1, pp. 12-16, Jan 1995.
[3] C.D. Vournas, E.G. Potamianakis, C. Moors and T. Van Cutsem, An educationalsim ulation toolfor pow er system controland stability, IEEE
Transactions on Power Systems, vol. 19, no. 1, pp. 48-55, Feb. 2004.
[4] J.H. Chow and K.W. Cheung, A Toolbox for pow er system dynam ics and controlengineering education and research, IEEE Transactions on
Power Systems, vol. 7, no. 4, pp. 1559-1564, Nov. 1992.
[5] J.H. Chow, G.E. Boukarim and A. Murdoch, Pow er system stabilizers as undergraduate controldesign projects, IEEE Transactions on Pow er
Systems, vol. 19, no.1, pp. 144-151, Feb. 2004.

references

The author would like to thank Profs. Graham Rogers and Thierry
Van Cutsem for providing their computer tools. The feedback of
Profs. Juan Carlos Morataya (USCG), Eduardo Prez (UCA), Rosa
Mara Daz (UNAH) and Eddie Araya (UCR) is appreciated. The
author would also like to thank Prof. Joe Chow for his help in
preparing this poster.

UCR

0.5

0.1

0.08

denVR(s)

-0.5

Power System Stabilizer Design

[Vt]

numVR(s)

AVR

EDUCATIONAL TECHNOLOGY TRANSFER TO

DEVELOPING NATIONS

0.12

Vc SW
Vc on/off

-1

Real
PartePart
Real

y Cx Du t

MATLAB/Simulink simulation tool:

Machine Speed Deviations

0.8

The UCA case:

Collaboration started
Sum m er 05. The lab is used
in the Power System
Dynamics course particularly
for teaching LFC and AGC.

Model implemented in MATLAB/Simulink

Open Loop

K p 10
0.02

Linearized at the operating equilibrium point

x Ax Bu t

To 0.0747 p.u.

K p 20

10

K p 40

0.06

12

Gen. Active Power Output

Users experience:

Parte Compleja
Imaginary
Part

1d

Sensitivity analysis

14

VR

Voltage at Bus 3

0.2

Fig. C.1.
Sample power system one-line diagram

Root Locus Analysis

'
d

G4

Time (sec.)

V 0

where the states and the outputs are

14

0.08

y g x, u t

120

11 G3

AVR+PSS

AVR

AVR+PSS

1.2

10

0.9

Plotting and analysis capabilities

1.4

G1 1

0.8

Fig. B.2.

MATLAB/Simulink Customized model

13

0.7

10

Fig. B.1.

101

0.5
0.6
Time (sec.)

Manual Control

20

t1

0.4

Pe1

turbine
impedance
LOAD

0.3

Rotor Angle

0.5

Pe

TURBINE

bus 3

0.2

generator1

STEAM

0.1

MACHINE if

Tm

PSS

1.5

SYNCH. P

vf

AVR vf

DOUBLE-CLICK
HERE TO
INITIALIZE

Plotting and analysis capabilities

v
v

0.9

0.5

Fig. A.2.

K p 50

The state space model is given by:

x f x, u t

0.81

0.1

jxL 2

jxT

0.7

1.5

Fig. A.3.

SIMULACION 2: simulacion2code.m
Fallas en Generadores Sncronos

Transformacin
qdo rotativo a abc

PST [4] is a MATLAB tool conceived for research

in power system dynamics and control [2]. It is
used to:
observe the effect of different control systems
on the system of Figure C.1.
analyze damping - Figure C.2. and C.3.

Mathematical model:

acknowledgments

Selector2

t=0.15
t=0.20
t=0.3
t=0.5

-2

AVR+PSS

Design the AVR gain

and a PSS to stabilize
the swing mode of
the SMIB system.

[Vt]

Selector1

2.5

U U(E)

[ic]

U U(E)

Critical Fault Clearing Time

[ia]

[ib]

Fig. A.4.

[P]

Power System Toolbox (PST):

LV

PSS on/off

[id]

[it]

[P]

ULg provided a Simulink model in [3].

It consists of detailed blocks (Figure B.1.)
They represent synchronous machines, turbine,
governor, AVR, PSS, etc.
Figure B.2. shows the response of the system
under a fault on Bus 2 with different types of
control systems.

Activity:

PSS SW

-id

[Vt]

[v1]

Linearized analysis
of the SMIB

[if]

Transformacin
abc a qd rotativo
[vq]

Phase A
Phase B
Phase C
Field Current

[Tem]

if

ULg MATLAB/Simulink Blockset:

0.12

Ganancia de
Normalizacin

Ecs. de la M.S.

Analysis and Design:

Fig. A.1.

[wr_wb]

Sample design
activity:

'
q

Three Phase Fault

[iq]
[Delta]

Angle (p.u.)

A sample model is shown in Figure A.1.

It can be used to simulate faults on
generators.
Provides several user menus (Figure
A.2.).
Figure A.3. shows a three-phase fault.
Provides a simple protective relay where
fault clearing time can be configured.
Figure A.4. shows a generator response
for various fault clearing time.

The manual can be

used for:
laboratory
instruction
independent study
support textbook
Being an inexpensive
option for instruction.

Clock

Costa Rica
Honduras

Customized MATLAB/Simulink Models:

Language is a barrier
for learning in
developing nations
where:
literacy index (LI) is
low, (in GT, LI is
69.1% [1])
knowledge of
English as a second
language is scarce
access instructional
material is
expensive (in GT,
HDI is 0.663 [1])

Vref

Aims to provide undergraduates with

a supplement to their formal lecture
courses
motivation for self learning in advanced
topics
simulation tools
reference manual

Project developed at USCG where the needs

of the undergraduate power program were
to support the Generation Systems course
introduce advanced topics to the curriculum
pedagogic material for teaching new
courses
self learning and research

Simulation Tools:

A Comprehensive
Manual in Spanish

NEED AND AIM FOR A VIRTUAL LABORATORY FRAMEWORK

Speed (p.u.)

Customized and third party

computer simulation tools.
A sample design activity

Current (p.u.)

Facilitate simulation tools,

enhance learning through simulations, and
provide a reference manual in Spanish.

Rensselaer Polytechnic Institute

Troy, New York State

Voltage (p.u.)

Department of Electrical, Computer, and Systems Engineering