Prob14.

14.4
Consider a round-rotor generator delivering a steady-state
power PG=0.5 to an infinite bus through a transmission line
with reactance XL=0.4. Assume that |Ea|=1.8, V=1/_0,
H=5sec, and Xd=Xq=1.0. Neglect resistance.
A.Find the two possible steady-state (equilibrium) values
of power angle =/_Ea -/_V that lie in the interval
[0,2].
B. Which of these two equilibrium values are we likely to
observe in practice? Hint: Linearize around the
equilibrium value and consider the natural frequencies
found from the linear differential equation in .

Part A:
From (14.19) in your text (see notes Stability1), we
have

M(t ) D(t ) PG ( ) PM0

The problem implies that PM0=0.5, therefore we have

M D PG ( ) 0.5

Here:
PG ( )

Ea V
Xd XL

sin( )

1.8 *1.0
sin( ) 1.286 sin( )
1.0 .4

.5
1.286 sin( ) .5 1 sin
22.89
1
.
286

2 180 1 157.11
1

Part B:
What does it mean to linearize around the
equilibrium value?
It means to find a linear approximation to the
function at that value.
If the function is a nonlinear function, then the
behavior will only be valid for small distances
away from the value. The figure below illustrates:

If our function is in terms of , then our linearized

function is in terms of . Wherever there is a linear
terms in of our original function, we may replace it
directly with . But if there is a nonlinear term in
our original function, then we must use a Taylor
series expansion.
Our function is

M(t ) D(t ) PG ( ) PM0

M D 1.286 sin 0.5
2

(1)

Now let the angle change by a small amount about

an equilibrium 0. Then
2
2
d d d d

0
,
2
dt
dt
dt
dt 2

(2)

Recall the Taylor series expansion of a function is:

f ( x ( 0 ) x ( 0 ) ) f ( x ( 0 ) ) f ' ( x ( 0 ) )x ( 0 )

1
f ' ' ( x ( 0 ) )( x ( 0 ) )2 ...
2

and recognizing that for small x, the higher-order

terms are extremely small and may be neglected, we
obtain,
f ( x ( 0 ) x ( 0 ) ) f ( x ( 0 ) ) f ' ( x ( 0 ) )x ( 0 ) And
so the sin function can be expanded to
d sin
(3)
sin sin 0 sin 0
sin 0 (cos 0 )
d

Substituting (3) and (2) into (1), we obtain:

M D 1.286(sin 0 (cos 0 ) ) 0.5

Distributing through the 1.286, we get

M D 1.286 sin 0 1.286 cos 0 0.5

And bringing the 1.286 sin0 to the right-hand-side,

we obtain:
M D 1.286 cos 0 0.5 1.286 sin 0 (4)
Now, consider that 0 is either 22.89 or 157.11.
Either way,

1.286 sin 0 0.5

Therefore,

M D 1.286 cos 0 0
3

This is the result of Linearization of swing

equation given on pg. 536.
The LaPlace Transform of this equation is:

M ( s )s 2 D ( s )s 1.286 cos 0 ( s ) 0
Factoring out the (s), we have

( s ) Ms 2 Ds 1.286 cos 0 0 (5)

Now what if the right-hand-side of (4) is not zero but
rather, what if we perturb this system ever so slightly
so that

1.286 sin 0 0.5 u( t )

In this case,

( s ) Ms 2 Ds 1.286 cos 0 U ( s )
and we have

U( s )
( s )
Ms 2 Ds 1.286 cos 0
We observe that the denominator of the previous
equation is the characteristic polynomial of this
system.
When the system is in equilibrium, we may divide
both sides of (5) by (s) to obtain the characteristic
equation of the system:
4

Ms 2 Ds 1.286 cos( o ) 0
H
5
M

.0265
f o 60
THEN

0.0265 s 2 Ds 1.286 cos( o ) 0

If we plug in o = 22.89 degrees into the above
equation, we obtain:

0.0265 s 2 Ds 1.286 cos( 22.89 ) 0

0.0265 s 2 Ds 0.5 0
This has roots of
D D 2 4( 0.0265 )( 0.5 )
2( 0.0265 )

D D 2 0.053
D

0.053
0.053

D 2 0.053
0.053

Consider D is very small, e.g., D=0.1. Then the above

is

0.1
0.01 0.053

1.8868 j 3.9125
0.053
0.053

In this case, both roots are in the Left-Hand-Plane. It

should be clear that any smaller value of D will not
change this situation at all (since the first term will
still be real and negative and the second term will
still be imaginary).
Now consider that D is large, e.g., D=10. Then the
above is
5

10
100 0.053

188.68 188.63 0.0508 ,377.31

0.053
0.053

In this case, both roots are in the Left-Hand-Plane. It

should be clear that any larger value of D will not
change this situation at all (since the first term will
still be large and negative, and the second term will
never be greater than the first term in absolute value.
A system having all of the roots of the characteristic
equation in the Left-Half-Plane is a stable system.
This corresponds to our understanding of the stable
equilibrium point that we discussed in class.
If on the other hand we make o = 157.11 degrees one
coefficient is negative, meaning that the natural
frequencies are in the right hand plane.
If we plug in o = 22.89 degrees into the above
equation, we obtain:

0.0265 s 2 Ds 1.286 cos( 157.11 ) 0

0.0265 s 2 Ds 1.1847 0
This has roots of
D D 2 4( 0.0265 )( 1.1847 )
2( 0.0265 )

D D 2 0.1256
D

0.053
0.053

D 2 0.1256
0.053

It should be clear that the second term will be real

and it will be larger in magnitude than the first term,
6

independent of what D is. For example, if D=1, then

we have
1
1 0.1256

18.8679 20.0178 38.8857 ,1.1499

0.053
0.053

Thus, there will be one root of the characteristic

equation in the Right-Half-Plane. A system having
one or more roots in the Right-Half-Plane in an
unstable system. This corresponds to our
understanding of the unstable equilibrium point that
we discussed in class.
To answer the question, we will never observe the
unstable equilibrium in practice because small
perturbations are always happening in the power
system and would perturb the system off of this
point, and once perturbed, it would either move to the
stable equilibrium or it would go unstable.
The stable equilibrium is the only one we will ever
observe in practice.