Small Signal Stability

The Synchronizing and Damping Torques

small rotor oscillations are governed by an approximate second order
differential equation given by

Small Signal Stability

The Synchronizing and Damping Torques
Kdamp is the damping of the entire synchronous machine (including field winding,
excitation, and PSS if connected).
It shall not be confused with the mechanical damping constant KD of the swing
equation.
For calculating Ksync and Kdamp for a given eigenvalue of the system, we calculate
the transfer function K(s) between the rotor angle deviation and the electrical
torque deviation

For a given eigenvalue

, K is a complex number

Small Signal Stability

The Synchronizing and Damping Torques
The rotor angle deviation can be written as

Small Signal Stability

The Synchronizing and Damping Torques
The synchronizing and damping components are

Ksync and/or Kdamp 0

Unstable

Ksync 0

Motonic instability.

Kdamp 0

Growing oscillations.

Small Signal Stability

The Synchronizing and Damping Torques
Case 1 : Without AVR

Small Signal Stability

The Synchronizing and Damping Torques
Case 1 : Without AVR

Small Signal Stability

The Synchronizing and Damping Torques
Case 1 : Without AVR

Note:

Small Signal Stability

The Synchronizing and Damping Torques
Case 2 : With Fast Excitation System (TE 0 )

Small Signal Stability

The Synchronizing and Damping Torques
Case 2 : With Fast Excitation System (TE 0 )

Small Signal Stability

The Synchronizing and Damping Torques
Case 2 : With Fast Excitation System (TE 0 )

Small Signal Stability

The Synchronizing and Damping Torques
Example
A synchronous generator is connected to an infinite bus through an
external reactance Xe = 0.4 pu. Compute the Heffron-Phillips constants, K1
to K6 at the operating point.

Small Signal Stability

The Synchronizing and Damping Torques
Solution

Small Signal Stability

The Synchronizing and Damping Torques

Small Signal Stability

The Synchronizing and Damping Torques
Example
For the system considered in the previous example, compute the eigenvalues
for the two operating conditions and (i) without AVR (ii) with AVR of TE = 0.05
sec, KE = 200.

Small Signal Stability

The Synchronizing and Damping Torques
Example

Small Signal Stability

The Synchronizing and Damping Torques
Example

Small Signal Stability

The Synchronizing and Damping Torques
Example

Small Signal Stability

Classification of Power System Oscillations
1) Swing mode (electromechanical) oscillations.
For an n generator system, there are (n-1) swing (oscillatory) modes associated with the
generator rotors. A swing mode oscillation is characterized by a high association of the
generator rotor in that mode.

2) Control mode oscillations.

Control modes are associated with generating units and other controls. Poorly tuned
exciters, speed governors, static var compensators, etc are the usual causes of instability of
these modes.

3) Torsional mode oscillations.

These oscillations involve relative angular motion between the rotating elements
(synchronous machine, turbine, and exciter) of a unit, with frequencies ranging from 4Hz
and above. Dc lines, static converters, series-capacitor-compensated lines can excite
torsional oscillations such as and other devices.

Small Signal Stability

Modal Analysis
Swing mode oscillations can be further grouped into:

Small Signal Stability

Modal Analysis

Small Signal Stability

Modal Analysis

Small Signal Stability

Modal Analysis
(orthogonality; if i j)

Small Signal Stability

Modal Analysis

Small Signal Stability

Modal Analysis
Find eigenvalues eigenvectors
Solution

Small Signal Stability

Modal Analysis
Find V, W,
Solution

v1

W1

v2

W2

v3

W3

Small Signal Stability

Modal Analysis

These products are not yet I and because the eigenvectors need to be
appropriately normalized.
WT=

Small Signal Stability

Modal Analysis

is is called mode of system

Small Signal Stability

Modal Analysis

Small Signal Stability

Modal Analysis

Small Signal Stability

Modal Analysis
State Transition Matrix
,

State Transition Matrix

Small Signal Stability

Modal Analysis

Theorem:
To evaluate , take entry-by-entry inverse transform of

Small Signal Stability

Modal Analysis
Example
Find the state transition matrix of A

Solution

By taking the inverse Laplace transform

Small Signal Stability

Modal Analysis

Small Signal Stability

Modal Analysis

Small Signal Stability

Modal Analysis

Small Signal Stability

Modal Analysis

Small Signal Stability

Modal Analysis

Small Signal Stability

Modal Analysis

Small Signal Stability

Modal Analysis

Small Signal Stability

Modal Analysis

Pjk gives the sensitivity of j to the diagonal element akk of A:

The participation factor (or residue)-based analysis is valid only if the

eigenvalues are distinct.

Small Signal Stability

Time-Domain Solution
Stability can be verified by numerical solution of non-linear
deferential-algebraic system of equations, for small and large
disturbances.
Disadvantages
The choice of disturbance and selection of variables to be observed in
time response are critical. The input, if not chosen properly, may not
provide substantial excitation of the important modes.
For a large power system it is not possible to identify any desired mode
and study their characteristics.

Small Signal Stability

Modal Analysis
Damping ratio and frequency of oscillation

The damping ratio determines the rate of decay of the amplitude of the
oscillation. The time constant of amplitude decay is 1/||. Namely, the
amplitude reduces to 1/e or 37% of the initial amplitude in 1/|| seconds.

Small Signal Stability

Modal Analysis
Possible combinations of eigenvalue pairs

Small Signal Stability

Modal Analysis
Possible combinations of eigenvalue pairs

Small Signal Stability

Modal Analysis
Possible combinations of eigenvalue pairs

Small Signal Stability

Example: Modal Analysis of Spring-Mass System
A multi-spring system with the parameters below is shown. Find the state
matrix equations.

Small Signal Stability

Example: Modal Analysis of Spring-Mass System
Solution
The state equations are:

Small Signal Stability

Example: Modal Analysis of Spring-Mass System
In the matrix format:

Small Signal Stability

Example: Modal Analysis of Spring-Mass System
Or,

Small Signal Stability

Example: Modal Analysis of Spring-Mass System
k23 >> k12 means M2 and M3 coupled rigidly than M2, M3 with M1.
M1 >> M2, M3. Thus, low frequency oscillations are due to M1 and high frequency
oscillation are due to M2, M3.

Small Signal Stability

Example: Modal Analysis of Spring-Mass System

Small Signal Stability

Example: Modal Analysis of Spring-Mass System

Small Signal Stability

Example: Modal Analysis of Spring-Mass System

Small Signal Stability

Example: Modal Analysis of Spring-Mass System
Note:

Small Signal Stability

Example: Modal Analysis of Spring-Mass System

Small Signal Stability

Example: Modal Analysis of Spring-Mass System

Small Signal Stability

Example: Modal Analysis of Spring-Mass System

Small Signal Stability

Example: Modal Analysis of Spring-Mass System

Small Signal Stability

Example: Modal Analysis of Spring-Mass System

Small Signal Stability

Example: Modal Analysis of Spring-Mass System
Note:

Small Signal Stability

Example: Modal Analysis of Spring-Mass System
Observations

Small Signal Stability

Example: Modal Analysis of Spring-Mass System

Small Signal Stability

Example: Modal Analysis of Spring-Mass System

Small Signal Stability

Example: Spring-Mass System with Damping Coefficient
The system is modified to include the effect of damping coefficient, assuming
B1 = 1 N/m/s, B2 = B3 = 0. Write system differential equations.

Small Signal Stability

Example: Spring-Mass System with Damping Coefficient
Solution

( *)

Small Signal Stability

Example: Spring-Mass System with Damping Coefficient

Small Signal Stability

Example: Spring-Mass System with Damping Coefficient

Small Signal Stability

Example: Spring-Mass System with Damping Coefficient

Small Signal Stability

Example: Spring-Mass System with Damping Coefficient

Small Signal Stability

Example: Spring-Mass System with Damping Coefficient
By numerical
solution of (*)

Small Signal Stability

Example: Spring-Mass System with Damping Coefficient

Small Signal Stability

Example: Spring-Mass System with Damping Coefficient

Small Signal Stability

Example: Spring-Mass System with Damping Coefficient

Small Signal Stability

Example: Spring-Mass System with Damping Coefficient

Small Signal Stability

Example: Spring-Mass System with Damping Coefficient

Small Signal Stability

Example: Spring-Mass System with Damping Coefficient

Observations

Small Signal Stability

Example: Spring-Mass System with Damping Coefficient