Small Signal Stability Studies on WR Network

Small signal Stability (SSS) studies are very essential to know the low frequency oscillation modes
present in any electrical grid. It reveals important relationships among state variables of a system
and gives an insight into the electromechanical dynamics of the network. To perform small signal
stability study , Eigen Value analysis method is used as it helps in identifying poorly damped or
unstable modes in power system dynamic models. As, the power systems are highly nonlinear;
however, under normal operating conditions, it can be assumed that these systems behave linearly,
thus linearization around an operating point can be applied. This helps in calculation of the Eigen
vectors and Eigen values for the system. Eigen Value analysis is a well-established approach for
studying the characteristics of inter-area modes. This technique when used on for small-signal
stability provides the eigenvalues, frequency of oscillation, damping ratios and eigenvectors (or
mode shapes). The next section describes the Eigen value analysis in brief.

1. Eigen Value Analysis

The dynamics of the system can be represented as coupled first order differential equations and
algebraic equations together called as differential algebraic equations for simulation of power
system. Power system consists of many dynamics components such as generators, exciters,
governors, power system stabilizer (PSS) etc. Each of these components consists of state variables.
A state variable is one of the set of variables that are used to describe the mathematical "state" of
a dynamical system. Intuitively, the state of a system describes enough about the system to
determine its future behaviour. The differential algebraic equations can be represented in a state
space, which is explained in next few paragraphs. The operating point of the system represented in
state space having n states will be a point in an n dimensional space with the n-states as the axes.
This is however not the unique way of representing an operating point. However, it represents the
whole information of the operating point. An operating point can be defined by a very different set
of state variables. However, standard practice is to use the differential variables as the states. A 2D
representation for better understanding is shown in Figure 1.1.

1 and2 are states and the curve shows the various operating points. For example, at some
instant an operating point has the coordinates as (10 , 20 ). Likewise the power system can also be
represented by combination of operating point of the all its elements and can be shown as a point in
an n dimensional space where n is the number of states in power system. For example, if a power
system consists of n number of states 1 , 2 . , then an operating point can be defined as a
point in an n dimensional space whose co-ordinates are(10 , 20 , . , 0 ).State space
representation of the whole power system is then linearized as the changes for small signal will be
very small and based on this the solution is obtained. The solution gives the various oscillatory
frequency (modes) and the participation by each of the generators in these modes.

Fig 1.1: State Space representation

The power system can be represented as a set of differential and algebraic equations. The variables,
which are differentiable, are considered as states. For example, for a classical model of a generator,
the and the are states. Equations of a generator represented as classical model is presented
below:

= 0 (1)

1
= ( ) (2)
2

sin
=
(3)

Solving a nonlinear set of equations for whole power system is extremely difficult and it will take a
large computing space and time. However if it can be linearized at an operating point and with this
the computational efficiency can be greatly improved. As it is found that oscillations due to ambient
conditions (small changes) are a problem of small signal stability. For small changes or perturbations
in the system, the system can be assumed as linear. Therefore, this forms the basis of utilization of
state space representation of system and solving them using linearization techniques to analyse to
small signal stability [2, 4]. There are well-established and computationally efficient methods
available, which can solve the problem [2]. Now, linearizing equations 1, 2 and 3 according to partial
differentiation definition gives:

(1 ,2 ) (1 ,2 )
(1 , 2 ) = 2 1
+ 1 2
(4)

And representing as and as the following set of equations forms,
 = (5)

1
= 2 ( ) (6)

cos sin
=
2
(7)

For obtaining the system matrix, algebraic equations have to be removed. Therefore, if in
equation 6 is replaced by equation7, we get a set of two differential equations, which are linear in
nature. The state matrix can therefore be formed as

0 1
sin ] [ ]
[ ] = [ cos (8)
2

= (9)

This can be assumed as shifting the origin of the axis in Fig. 1.1 to the operating point. The matrix A
is the system matrix of the classical model of the generator. For a particular operating point, the
values of , , and are the values at that operating point. Similarly, for higher order models of
the generator, exciters, governors, and PSS a system matrix can be formed for the entire system by
linearizing the equations of the system at an operating point and eliminating the algebraic
equations. It will be represented as,

1 1
1
. .1
. .
= (10)
2 2
2 2
. .
[ . ] [ . ]

Where the subscript denotes the number of the generator, exciter, governor or PSS. Once A
Matrix is formed, its Eigenvalues, left and right Eigenvectors can be found out by solving it. The
Eigenvalues of the matrix A gives the inherent modes of the system. Further, it needs to be seen that
which state variables are contributing to the modes. It can be obtained from the participation
factors [2, 4].

Suppose 1 , 2 , , are the Eigenvalues of the system and the left and right Eigen vector
matrices are represented by and respectively, the participation factor is given by element by
element multiplication of left Eigenvector matrix and transpose of right Eigenvector matrix.

= (11)
The one having the highest participation factor contributes the highest to the mode.

11 1 1
=[ ] (12)
1 2

1 . 2 (13)

The columns represent the modes and the rows represent the states. denotes the participation of
state in mode. Suppose the maximum participation of modej corresponds to the speed of the
generator 1 then generator 1 contributes highest to mode j. It is with this method the generator on
which tuning is to be done for mode j is identified. Based on the generators participation in any of
the mode it can be decided for tuning exercise to carry out.

2. Dynamic Model of Western Regional Grid

Therefore, to start with any SSS analysis, load flow and dynamic model of power system have to be
prepared. As the load flow model is already there so POSOCO has taken an initiative in preparation
of dynamic model of Indian power system based on the available data and standard data. In this
process first regional model were developed to

Dynamic models of synchronous generators, exciters and governors for the Western region
system were prepared in PSS/E. The data used were the either the data that was received from the
generators as a part of connectivity agreement or the standard model from CEA Planning criteria. In
addition, the generators having same or nearly same MVA capacity were model based on
standardization of the the available model.

The PSS/E NEVA was used for the small signal analysis of the system. PSS/E NEVA gives full has
three methods for providing the Eigen value analysis of the system:

1. QR Method: This method provides complete solution of the system but has a limitation of
solving system having only 2500 states.
2. Sub-space Inverse iteration Method: This method gives partial Eigen value solution for the
system.
3. Dominant Pole Method: This method gives partial Eigen value solution for the system.

The second and third methods are used for larger system having more than 2500 states as the case
of western region grid.

With the available dynamic model of the Western region system, the sub-space Inverse iteration
method was used for analysis of Western region Grid. The major dominant mode, which comes out
from the analysis, was 0.56 Hz having a damping of 5.8 %. This mode was analysed in detail and the
next section present the detailed overview of this study.

3. 0.56 Hz mode in Western Region

As oscillation has been observed on many occasions in Western Region, so small signal analysis was
carried out for the western region for analysing the intra-area oscillations within the region. The
term inter-area and intra area for Indian context can distinguished by the fact that inter-area
oscillation are oscillations where one regional grid oscillates with other while intra-area means two
system within a regional grid are swinging.

Western Region can be seen as three system:

1. Large generating complex concentrated area in Gujarat system (Large power plant like
CGPL, APL, Wanakbori, Vadinar)
2. Generator concentrated area in Eastern Part of the WR Grid (Chhattisgarh having Sipat,
Korba, JPL; East Madhya Pradesh having generating complex of Vindhyahcal, Sasan, JP
Nigrie; Eastern Maharashtra having APML Tirora)
3. Load concentrated area in Western Maharashtra (Aurangabad, Bableshwar,
Padghe,Pune,Lonikhand,Solapur,Kolhapur)

During fault in the lines interconnecting these regions, swinging is observed among the machines in
these three areas. In addition, swinging is also observed during inter-area oscillations in the grid
among these three groups.

Figure 1.2 : 0.57 Hz Mode observed in grid and its mode shape based on measurement analysis using multi
matrix pencil method.
For example the 0.6 Hz oscllation was observed in Indian grid on 12th August 2014. The analysis of
western region PMU shows the presence of 0.57 Hz in the grid as shown in figure 1.2 . In addition, it
can be observed that basically three coherent groups are being observed during the 0.57 Hz
oscillation which are discussed above. To further establish this oscillatory mode presence in the grid,
dynamic simulation was done for WR model where a three phase fault for 100 ms on 400 kV
Wardha-parli 1 was simulated to find out the oscillatory mode in the grid. The frequency from the
various nodes are plotted in figure 1.3 which was nalaysed with multi prony analysis to find the
mode and mode shape.

Figure 1.2 : 0.55 Hz Mode observed in Simulation during three phase fault for 100 ms on 400 kV Wardha-
Parli 1 circuit and the 0.55 Hz mode shape using multi matrix pencil method.

It can be observed that the major two coherent group observed is similar to the figure 1.2. The
difference is that Boisar and Kalwa are coherent with CGPL, APL Mundra group while Solapur is in
between the two coherent group. The reason for the change in coherent group can be :

1. Use of only Western regional grid model for dynamic

2. Addition of several lines in the system after the incident of 12th August 2014 oscillation in
the system, which includes 765 kV, Pune-Solapur circuit.

To further establish the presence of this 0.55 Hz in the system, Small signal analysis was done on the
model using PSS/E NEVA software. It was found that the system has 0.56 Hz mode. Figure 1.4 shows
the mode shape of bus voltage angle as obtained from the SSS study of Western grid. It can be seen
that the coherent group observed are similar to coherent groups observed in real time oscillation in
the grid shown in figure 1.2 and the transient analysis simulation shown in 1.3. This verifies the
presence of 0.56 Hz mode (observed as 0.57 Hz in real time and 0.55 Hz in transient simulation) in
the WR system. The overall damping of this mode as obtained from small signal stability simulation
was 5.8 %. Further the mode shape were also obtained from various parameters which are rotor
angle of generators, Bus voltage and generator active power. In addition to mode convergence it can
be observed that the participation of CGPL,APL Mundra and Dehgam is very high for this mode
which is also seen in real time oscillation and transient simulation.

Figure 1.4 : 0.56 Hz Mode shape from small signal

stability analysis of WR Grid

To analyse the generator rotor angle, the software has an option to plot the mode shape on the map
provided. This was used to find the coherent group of generator in the WR grid. Figure 1.5 shows the
rotor angle mode shape for WR grid for 0.56 Hz mode.
 Figure 1.5: 0.56 Hz Mode shape of rotor angles of generators in WR Grid and coherent group
It can be seen from the mode shape that WR grid is having four coherent groups. The fourth group
is the subdivision of the third group as discussed initially. Here one part is having Western
Maharashtra while other is having Southern Maharashtra. Figure 1.6 shows the magnitude of the
rotor angle participation in the mode where the magnitudes are spread in positive and negative
direction. The sign is defined from highest magnitude mode (Here CGPL whose angle is taken as
zero) i.e. if any mode shape is having angle between (2700 00 900) then magnitude is positive and
rest is negative.
 Figure 1.6: Mode Shape magnitude for 0.56 Hz from rotor angles of WR generators
It can be seen that where the directionality is change, on positive side southern Maharashtra
Generators are there while on other side generators of Western Maharashtra are present.
Based on angles from the mode shape of participation from all these generators, the generators in
the four coherent groups are as following:
Coherent Angular
Generators
Group Separation
1 APL Mundra, CGPL Vadinar, Sugen, Ukai TPS ,SSP, Kakrapara, -90 To 20
 Gandhar, Wanakbori, Kawas, Utran, GPEC, Gandhinagar, AECO
Indirasagar, Gandhisagar, Uran, Trombay, Bhira, Bhivpuri,
2 -470 To -220
Khopoli, Ghatghar, Nasik, Dahanu, Tarapur
KDPH, Jaigad, Koyna, Koyna-12, Koyna 3, Malwa, Bhira,
3 -1170 To -700
Omkareshwar
Korba East Extension, Korba West, Korba West Extension, Korba
NTPC, Korba East, DCPP, JPL Extension, Bango, Vindhyachal
STPS, Lanco, Sipat, JPL, DB Power, Vandana, ACBIL, Amarkantak,
Tirora 400 Kv, RPL Amrawati, Tirora 765 Kv, Bansagar 1,
4 Bansagar 3, Bansagar 4,Bansagar 2,Amarkantak, Koradi, -1710 To -1410
Birsinghpur, Bargi, Khaparkheda, Mauda, Pench, Paras, JP
Nigrie, Chandrapur, Wardha, BLS TPS, Abhijeet, Sasan, GMR
Raipur, Rajghat, Madhikheda, EMCO, Satpura 220 kV, JP Bina,
Eldari, Satpura, Deepnagar, Parli

It can also be observed that the coherent groups 2 & 3 have generators from located in Western Part
Madhya Pradesh and generators from Western Maharashtra and Southern Maharashtra. These
generators basically shows the axis where the directionality of Group 1 and Group 4 generators are
changing and from the Map shown in 1.5 it can be treated as boundary generators.

Similar mode shapes and coherent group were observed during the analysis of frequency of the
various nodes and active power of the generators. All these parameters are interlinked with each
other. While in Voltage mode shape of 400 kV nodes in the WR grid indicate two distinct group that
is the Gujarat system with rest of WR grid.

Thus, it was confirmed that 0.56 Hz is present in the Western Regional Grid and forms four
separate coherent group. In addition, it confirms that the generators in Gujarat are more susceptible
to these oscillations compared to rest of western regional grid. Further, the axis where these
generators swinging goes in phase opposition is also clearly understood.