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BY CATASTROPHE THEORY
by
A l l MOHAMED MIHIRIG
B . S c , U n i v e r s i t y of A l Fateh, 1978
M.A.Sc, U n i v e r s i t y of B r i t i s h Columbia, 1984
DOCTOR OF PHILOSOPHY
in
We accept t h i s t h e s i s as conforming
to t h e r e q u i r e d standard
December 1987
degree at the University of British Columbia, I agree that the Library shall make it
freely available for reference and study. I further agree that permission for extensive
copying of this thesis for scholarly purposes may be granted by the head of my
publication of this thesis for financial gain shall not be allowed without my written
permission.
Department
DE-6G/81)
ABSTRACT
planning and operation. For large power systems, such analysis i s very
time and system transient parameters. The energy function i s then put i n
- i i -
systems damping can a l l be included i n the transient stability analysis.
systems.
- i i i -
TABLE OF CONTENTS
Page
ABSTRACT i i
TABLE OF CONTENTS iv
LIST OF TABLES v i i
ACKNOWLEDGEMENT xi
CHAPTER 1 INTRODUCTION 1
2.1 Introduction 5
2.4.1 Numerical I n t e g r a t i o n 12
2.5 D i s c u s s i o n of E x i s t i n g Methods 22
STABILITY ANALYSIS 26
- iv -
Page
Analysis 28
Problem 29
System 31
3.3.2 Numerical R e s u l t s 38
3.4.2 Results 48
3.5 Summary 54
POWER SYSTEMS 55
4.1 Introduction 55
4.3.1 T r a n s i e n t S t a b i l i t y Regions U s i n g T a y l o r
Expansion 70
4.5 N u m e r i c a l Examples 74
- -v
Page
4.6 D i s c u s s i o n of R e s u l t s 84
RESPONSE 90
5.2 Damping 91
REFERENCES 112
APPENDIX A 117
APPENDIX B 122
APPENDIX C 126
APPENDIX D 130
APPENDIX E 131
- vi -
LIST OF TABLES
Page
system 80
system 86
- vii -
LIST OF FIGURES
Page
F i g u r e 2.1 P a t t e r n r e c o g n i t i o n c l a s s i f i c a t i o n procedure 19
locations 24
swallowtail catstrophe 47
l o c a t i o n s and l o a d i n g c o n d i t i o n s 49
l i m i t s and c r i t i c a l c l e a r i n g times 50
- viii -
Page
power d u r i n g f a u l t - o n p e r i o d 96
power d u r i n g f a u l t - o n p e r i o d 96
q u a n t i t i e s f o r the t r a n s i e n t s t a t e 98
- ix -
Page
U > 0 120
U < 0 120
catastrophe 120
of c o n t r o l v a r i a b l e s 125
x -
ACKNOWLEDGEMENT
skilled t y p i n g of the m a n u s c r i p t .
- xi-
1
CHAPTER 1
INTRODUCTION
or system s t a b i l i t y limits.
d e s i r e d o b j e c t i v e s of a t r a n s i e n t s t a b i l i t y analysis are:
2
a c t i v e and r e a c t i v e power.
following disadvantages;
of cases need t o be c o n s i d e r e d .
ed t o make o p e r a t i o n a l d e c i s i o n s . These s i t u a t i o n s c o u l d be d i f f e r e n t
the system at r i s k .
day and year, while stability studies are done off-line for certain
3
t h e r e f o r e , may i n c r e a s e o p e r a t i o n a l e x p e n d i t u r e s .
that d e a l s w i t h system o p e r a t i o n s on a r e a l - t i m e b a s i s .
d i s t u r b a n c e s , and s t a b i l i t y controls.
T h i s r e s e a r c h i s m o t i v a t e d by the c h a l l e n g i n g problem of d e v e l o p i n g a
The main o b j e c t i v e s of t h i s t h e s i s a r e :
ability of the new method to include excitation, flux decay and system
achievements of t h i s project.
5
CHAPTER 2
2*1 Introduction
several studies have been conducted and new concepts and directions have
power systems.
suggested to analyze i t .
t r a n s m i s s i o n f a u l t s on s w i t c h i n g o p e r a t i o n s .
or l o a d s , s w i t c h i n g o p e r a t i o n s , or f a u l t s w i t h subsequent c i r c u i t isolation.
in the system. This unbalance takes place at the generator shafts and
disconnected from the system before any s e r i o u s damage occurs, and subse-
In such cases the problem becomes very complicated and may result i n more
generators l o s i n g synchronism.
n-machines i s g i v e n by
where
= 2 ( G E E . cos 6 + B, . E . E . s i n 6 ) (2.2)
ei ij i J ij ij i j ij'
j=l
i n t e r n a l r o t o r angle of machine 2.
M. to 1^ = i n e r t i a constant,
moment of i n e r t i a ,
10 angular speed,
damping coefficient,
mechanical power i n p u t ,
e l e c t r i c a l power output,
ei
a c c e l e r a t i n g power.
ai
G ,B r e a l and imaginary p a r t s of reduced n o d a l admittance matrix.
ij* i j
6 6 - 6 .
ij i j
i n t e r n a l v o l t a g e s of machine i,j.
V E
j
disturbance occurs, P
. becomes d i f f e r e n t from zero and e q u a t i o n (2.1)
ai
describes the behaviour of 6 w i t h time. F o r machine i t o be s t a b l e , 6
8
power system model w i l l depend upon the stability study to be carried out
and the p e r i o d of a n a l y s i s [ 2 ] .
by
|E| / 6 - V fc + r a I t + j x- l t
(2.3)
6: angle of |E| ( v a r i a b l e ) .
V terminal voltage.
t
r armature r e s i s t a n c e .
a
transient reactance.
I terminal current.
t
9
is:
i
dE ,
-1 =J - ( K - . - O (2.4)
dt ' f d 1
A
do
i
E* = E - j ( x - x ' ) l , (2.5)
q q q d d
I t a t d d <}q
E = V + r I + jx I (2.7)
q t a t q t
voltage-regulator i s considered [ 2 ] .
10
generator and directly controls the output voltage of the generator. The
are many types of exciter control systems i n use i n power systems [2]. The
and exciter. The regulator measures the actual regulated voltage and
provide the signal required to control the exciter field current that
changes the exciter output voltage and hence results i n a new excitation
level for the generator. Reference [3] gives the detailed differential
e q u a t i o n s of the e x c i t e r c o n t r o l system.
n
1. = E Y E (2.8)
j-1 J J
P
ei-V iO E (2
- 9)
complex power i s
S = P i + jQ = E li = constant (2.10)
f o r c o n s t a n t impedance i s
E
i
Z. = y~ = c o n s t a n t (2-11)
i
and f o r constant c u r r e n t a t c o n s t a n t power f a c t o r i s
types of l o a d models mentioned above are not adequate models i f the load i s
for dynamic loads especially when high voltage variations are expected
[5,6].
synchronism.
[7].
2.4.1. N u m e r i c a l I n t e g r a t i o n Methods
equations) during and after the transient period. From the response of
13
types:
previous time point to calculate the values at the next time point.
C o n s i d e r a s e t of n o n - l i n e a r differential equations
^ = f(y,t) (2.13)
l i n e defined by the d e r i v a t i v e a t p o i n t 0
yi = yo d r l o
+ h ( 2 a 4 )
These methods have h i g h accuracy when the time interval Is s m a l l , but the
method [8] c a l c u l a t e a p o i n t y as f o l l o w s
14
*n+l * }
k=0
\Vk n + k=-l
b
k f
^
t
n-k ) ( 2
' 1 5 )
where appropriate values for the a and b constants are chosen for the
where the generator angles versus time are obtained using the following
iterative equation
6 + - 6 + i ^ L + i ^ P _ (2.16)
n+2 n w a n+1
i n t e g r a t i o n by the t r a p e z o i d a l rule.
the need for human interpretation of the swing curves f o r assessing the
transient stability and the f a c t t h a t the method cannot be used for on-line
assessments of stability.
15
Analog and hybrid simulation [16] have been suggested. In these schemes,
all the differential and algebric equations are s o l v e d i n analog form and
stability problem.
dX.
^JL = f (X 1 X ,
2 ... X , n t), i = l,...n. (2.17)
f (0,0
i ... 0,t) = 0 , i = l,...n.
1. V(0,t) - 0
2. V(X,t) > 0 X e R, X * 0
3. fffidl <0 X e R
dt
where R i s a r e g i o n around the stable point X=0 and is called the region of
conditions.
P., - P = 0 , i = 1, ... n
i ei
where P^ and P ^
g are the mechanical input power and the electrical
functions may yield different answers in the sense that they comprise
approach among the direct methods. Remarkable progess has been made in
recent years [23,24]. However, the method i s s t i l l not suitable for on-line
time.
3. It is shown that the value of the Lyapunov function and the critical
clearing time are related [26]. Hence, t h i s method can yield stability
i s adequate or n o t .
t h i s a r e the f o l l o w i n g p r a c t i c a l d i f f i c u l t i e s a s s o c i a t e d w i t h t h i s method:
the s o l u t i o n of n - n o n l i n e a r a l g e b r a i c equations.
that:
19
S(X) - {
S(X) is called the decision function and X i s the state variable , where
(X , X X^).
Figure (2.1)
1. Training Set:
t i o n s must be a v a i l a b l e . Each o p e r a t i n g c o n d i t i o n or s t a t e i s s p e c i f i e d
X = (X^ Xj x
n ) * I d e a l l y , every conceivable pattern should be
c l a s s i f i e d whether i t i s s t a b l e or unstable.
20
2. Feature extraction:
where
s e l e c t i o n continues [27].
21
3. T r a i n i n g Procedure:
S(X) = W + W. X, + ... + W X
o 1 1 mm
The w e i g h t i n g c o e f f i c i e n t s (W ,
Q ... W ) are determined such that
ffi
S(X) > 0 i f X i s s t a b l e
algorithm [32].
above.
v a r i a b l e s to be used i n s t a b i l i t y c l a s s i f i c a t i o n [35].
a b l e d e c i s i o n f u n c t i o n i s determined.
22
used.
system configuration.
used.
One may expect better results from the pattern recognition method
where
K.E = - MW2
and
TM = P - P
max c
W = speed
p = maximum power f o r p o s t - f a u l t c o n d i t i o n
max
P = l i n e power a t the i n s t a n t a f a u l t i s cleared
c
shown i n F i g . 2.3.
the form
j.52
j.16
0
j . 16
j.52
H - 3.0 T, Z T,
|E| 1.25 pu
2d j 0.1.6 pu
TM(%)
KE(%) 1 0 0
90 110
80
70 105
60
50 100
70 80 90 100 (%)
Load
TM
KE
S(.X) = W
x
z
+ <t> o
S(X) > 0 : stable
<t> = constant
o
CHAPTER 3
3.1 Introduction
planning and day-to-day operations and there i s a need for fast on-line
s o l u t i o n of t r a n s i e n t s t a b i l i t y to p r e d i c t any p o s s i b l e l o s s of synchronism
methods f o r o n - l i n e a p p l i c a t i o n s .
various dynamic systems [36] and in recent years to the steady state
limits.
system parameters i s obtained; these regions are suitable for fast on-line
applications.
3.2 C a t a s t r o p h e Theory
"catastrophe" is used for such sudden changes that are caused by smooth
alterations.
elementary catastrophes, and in none of these are more than two state
system behaviour, where X are the state variables and C are the control
function be represented as
V(X,C) : M X C * R (3.1)
respectively.
defined by
v x V (X)
C = o < - >
3 2
29
where V ( X ) = V ( X , C ) and V
C x i s partial d e r i v a t i v e with respect t o X.
which
v v (x) = 0
x c
and V x V (X) =
C 0 (3.3)
R r
by e l i m i n a t i n g the s t a t e v a r i a b l e s X u s i n g (3.3) and ( 3 . 2 ) , to o b t a i n the
changes.
elementary c a t a s t r o p h e s Is g i v e n i n Reference [ 4 0 ] .
2
Fold 1 1 1/3 x - a x
3
x -a
3 .
Cusp 2 1 x^-ax-1/2 b x 2
x -a-bx
4 , 2
Swallowtail 3 1 1/5 x - a x - l / 2 b x - l / 3 c x
5 2 3
x -a-bx-cx
5 2 3
Butterfly 4 1 1/6 x - a x - l / 2 b x - l / 3
6 2
cx -dx
3 4
x -a-bx-cx -dx
3x +a+cy
3 3
Hyberbolit 3 2 x +y +ax+by+cxy
3y +b+cx
2
2 2
3x -y +a+2cx
3 2 2 2
Eliptic 3 2 x -xy +ax+by+cx +cy -2xy+b+2cy
2xy+a+2cx
2 4 2 2
Parabolic 4 2 x y+y +ax+by+cx +dy x +4y +b+2dy
2 3
P = P sin6 (3.4)
e m
where P =
m X,
d
If the new operating angle i s higher than the maximum power limit, the
6
2
f Pa d6 * (3.5)
6
o
32
jo.72
g infint
P bus
E = 1.71 V = 1. /o.o
6 = 36.5 jo.72
o
F i g . 3.1
6
0 6
1 6
2
Angle
P = P - P sin 6 (3.6)
a i m
P i s the a c c e l e r a t i n g power.
becomes
P ( 2 )
t 2
P (t) = P
a a
( 0 )
+ P ( 1
a
>t + J-
j
+ ...
2
(3.7)
where
(m) _ a
(3.8)
, m
d t o
Therefore
P ( 0 )
- P - P sin 6
a i m i
d P
(1) _ P cos 6 6=0
m o
d t
(1) (3.9)
d P
(2) P sin 6 6 P cos 6 6
m o m o
d t
= -P cos 6 6
m 0
34
(2)
/Q\ D P
(3) _ a
= P cos 6 6 J
+ p sin 6 (26)6
m o m o
d t
,(4) _ a
- - P cos 6 N
,
6 ' * + 3P sin 6. 6'
a
" dt m 0 m 0
0
where 6 = 0 at t = 0
Since the change i n the power input of the machine i s smooth and
P (t) = P ( 0 )
+ a
+ -5 + (3.10)
a ' v
a 2! 4! 6!
Let 6 = 6 Q + \ Y t ,
2
( 6 - 6 Q ) ^ y t 2
, 6' - \ Y t 2
,(0)
where Y
M
,(6)
P<>6. P ( 4 )
+ 'J- ,3
P (6') - p ( 0 )
: + b l
+ 6 (3.11)
6Y 18 Y
power i . e . a t t = 0 , 6' =0
V = P ( }
6' + .1 + _? + (3.12)
a
2 3! 4!
V v = P > (
+ P ( 1 )
6' + P < >iZ
2
+ !f (3.13)
6' a a a
2! 3!
term must be e l i m i n a t e d .
Let 6' = X - a
P <> 2
and a = a
(3.14)
p (3)
a
p (2) 2
= X 3
+ (P ( 1 )
- X + -J (P^ 0 )
+ K ) - 0
a
p (3) a
2 p (3) p (3)
a a a
36
X 3
+ aX + b = 0 (3.15)
where
p (2) 2
a = _ i _ ( P CD - I f )
p O) 3
2 p (3)
a a
b - _1_ ( p <>
a + K )
p (3) 8
P () 2
P O) a 3
" * 2! 3!
V 2
V = 3 X 2
+ a = 0 (3.16)
A.
be e l i m i n a t e d t o get the b i f u r c a t i o n s e t B,
4 a 3
+ 27 b 2
= 0 (3.17)
following data
H = 3 s , V ro = 1. /0.0 pu
E = 1.71 pu , 6 = 36.5
q pu
X, = 1.05 pu , X_ = 0.36 pu
d t
catastrophe.
effect.
>
>
function that represents the system behaviour during the transient period.
terms of t r a n s i e n t stability.
fault occurs on one of the lines near the machine bus, the rotor will
which the kinetic energy equals the potential energy of the system. All
the transient stability limits of the power system at which any small
continuous and represents the power system behaviour, the 'energy balance
c r i t i c a l points.
is g i v e n by
.2,
M = P. - P - P (3.18)
, i e a
dt z
P^ = a c c e l e r a t i n g power.
6 = rotor angle.
discontinuities, one when the f a u l t occurs and the other when the f a u l t i s
u s i n g the p o s t - f a u l t network c o n d i t i o n s to o b t a i n
1 M 6 = P cos 6 + P, 6
2
- P cos 6 - P 6 (3.19)
2 c m c l e m m i m ?
where
42
6^ = c r i t i c a l clearing angle.
6^ = w = speed a t c r i t i c a l clearing.
6^ = u n s t a b l e e q u i l i b r i u m angle (maximum a n g l e ) .
c r i t i c a l c l e a r i n g time, then
K.E = P.E
N = V. V(6 ) =
o c ' _ c m
1
M 6 - P cos 6 - P, 6
c i c
2
+ P
m
cos 6 + P, 6
m i m
=0
c 2
(3.22)
V 2
V(6 ) = 0 (3.23)
o c
c
U s i n g T a y l o r s e r i e s expansion t o approximate 6 and 6 as a f u n c t i o n of time
c c
6 = W = Yt and 6 =6 +1 yt 1
(3.24)
c c c c < > 2 c
Y = I [P. - P ( t )] (3.25)
M
Let X = I Y t 2
(3.26)
2 C
and K = p 6 + p cos 6
mm m m
(6 + X ) 2
(6 + X ) 4
N = V R V ( 6 ) = MYX - P [l- - + ] - P f 6 + X ) + K = 0
6
c c m a
. 21 4! 1
(3.27)
(6 + X ) 2
(6 + X ) 4
equilibrium s u r f a c e N.
44
N = - J l i x 4
- J ^ 6 x 3
+ [2-) P X + (MY + 6 P - J
2
63
- P J X
24 6 4 o ma 6 o i '
+ (J5i 6 2
- 6 4
- P - P fi + K) = 0
2 0
24 0 1113
P P
Let A = , B = _S. 6
24 6
2-6 2
C = ( _) P , D = (MY + 6 P - 6 J
- P )
v y
m a oma o i
4 t
6
and E = JUi 6 - 2
6 4
- P - P 6 + K)
o 2 24 1113
N = -AX - BX + CX + DX + E = 0
4 3 2
(3.29)
term.
Let X = y - a
N = -A(y-a) 4
- B(y-a) 3
+ C(y-a) 2
+ D(y-a) + E = 0
+ (D - 2ca - 3Ba 2
+ 4Aa )y - A a + Bot + Cot - Dot + E = 0
3 4 3 2
IB
then a=
4 A
Substitute f o r ot and get
45
8 A 2 B 8 .2
A
4 A 16 2 A 256 3 A
d i v i d e by -A
4 rC 3 B 2
i 2 rD 1 CB 1 B^ \
N = y - I- . Jy - I- Jy
A 8 .2 A 2 .2 8.3
2 2 4
_ E + D * _ - _ _ - _1_ 5_ = 0
1 4
A 2 1 6
A 3 2 5 6
A 4
Let
u = - + !-)
A 8 2 A
v= -(E-Ic!--!^) (3.30)
A 2 . 2 8.3
A A
2 4
E . D B C B 3 B
and w = - +
4
A 2 1 6
A 3 2 5 6
A 4
then N becomes
N = y 4
+ uy 4
+ vy + w = 0 (3.31)
1 5 1 3 1 2
V(y) = y + - uy J
+ vy^ + wy (3.32)
5 3 2
at which
V V(y) = M = 0
y
and V y
2
V(y) = 0 (3.33)
V y
2
V(y) = 4y 3
+ 2uy + u = 0 (3.34)
c o n s t a n t and n e g a t i v e .
3B 2
We have u = - ( + )
A 8.2
A
P P
i. 1 1 1 3
T> ma c
where A = , B = o
24 6
2 - 6 2
and C = P (-
ma
thus,
u = - (12 - 66 2
+ 66 ) = - 12
2
o o
met:
1 2
Since X = _ Yt > 0
2 c
and X = y - a
or y > a (3.36)
IB c
we have a = = o
4 A
critical p o i n t of y > 6.
q
3.4.2 Results
T c - /
2 ( y
" C )
(3.38)
Y
locations and time. But by using the catastrophe theory, the stability
get
u = 2L (My + Pj + 8(6 3
- 6 ) (3-39)
p
ma r
w = 24(6
o
2
+ til
p
ma
o p
ma
6
o
+ *L
p
ma
6 - JL + 1)
and the system can be reduced to a two-machine power system. The swing
the form
,2c
M - = P - (P + P s i n (6 - a)) (3.40)
7 I c m
dt Z
calculate the equilibrium surface from the energy balance equation [44].
in this case.
is .35 seconds. The method shows very close agreement w i t h the numerical
tions are changed, the machines may respond to the disturbance in different
3.5 Summary
advantages:
limits.
parameters without r e p e t i t i v e i t e r a t i o n s .
etc.
55
CHAPTER 4
4.1 Introduction
The analysis in this case involves every machine in the power system
network elements [ 5 0 ] .
ii. Although fast exciters respond within the first swing period (.1
effects.
56
system s e c u r i t y f o r s p e c i f i e d c l e a r i n g times.
points for large power systems are time consuming. For unstable
to converge to the r i g h t s o l u t i o n .
disturbance considerd.
using c l a s s i c a l model r e p r e s e n t a t i o n i s g i v e n by
57
- P (4.1)
mi ei
n
where P (4.2)
ei
P
mi =
mechanical power i n p u t
= intertia constant
6 = r o t o r angle
= speed d e v i a t i o n
= internal voltage
b . = transfer susceptance
a specific fault.
n
Let M, (4-3)
0
58
1 n
U
M Q i*k 1 1
Let e k = 6 k - 6 0
- 6, - i _ I ( M l )
K
M Q i*k 1 1
also
k
* M Q i*k 1
9 . - 6 . - 1 - S (M 6 ) (4.5)
k
* M Q i*k 1 1
\~V^-r- J P
mk " e k
\
P
1
M
o
*
i
n
,
(
t
P
k
mi- ei) P
<'>
4 6
V k " mk '
P P
ek " ^ X < mi " e i >
P P
<'> 4 7
M i*k
Q
F i r s t we l e t <= E g ^
and C^-^y^
E q u a t i o n (4.7) becomes
"kV P
mk " kk - X
D
< ij D C O S
kj +
Scj S i n
V
M, n n
- JL Z (P - Z (D. cos 0 + C, , s i n 9 ) j
J-l
m i
M Q i*k l j i j l j l j
Vk - mk P
" kk " ^
D
X ^ mi " jP
k < ijD C O S 0
i j + C
i j S i n G
i j
) )
K n
+ ^ (D cos 9 + C sin 9 )
M Q i*k k i k l k l k
- z^ (D k j cos e k j + sin e k j )
then
W = P
k ~ ^ b S l n
k " 3 C O S
\ ] ( 4
* 9 )
where
KL n n
a = _ S (D cos 9 + C., s i n 9 ) - Z (C sin 9 - D cos 9 )
M n i*k l k 1 k
j*k 1 J J
60
n M, n
b = (D s i n 9 + C cos 0 ) - _J Z (D., s i n 9 - C,. cos 9 )
j*k k 3 2
M Q i*k l f c
i ik i
\ \ - k- k p T s i n
<\ - V ( 4 a o )
where
- 1 a
a = tan _
k
b
. 2 _,_ 2 l / 2 v x
and T, = (a + b )
k
e a s i l y computed by s o l v i n g e q u a t i o n (4.11) f o r 9^
P
k " k
T S i n ( Q
k " V =
(4-1D
9 U
= n - ef (4.12)
k k
stability.
C O
2
k
- e =
\ \l
Q = p
k ( e
k k
e )
- k
T [ c o s ( e
k - 4) - c o s( e
k k ) ]
(4.13)
f f f C
where P^, T^ and oc^ are the system parameters f o r f a u l t - o n network and 0^ i s
the c l e a r i n g a n g l e .
network parameters, we o b t a i n
I M - pP e - T cos (Qp - o) + k U
= 0 .. (4.15)
where k U
= P 9^ + T cos (GJJ - c)
r
a g a i n we r e p r e s e n t 9^ by T a y l o r s e r i e s expansion
and
k
e =
Vc
where Y, =
k w
1 [P,
k
-
ek
P^Ct-.
OH
v ]
" 1 . 2
L e t X =
~ Vc
By r e p l a c i n g c o s ( 9 ^ - ot^) i n e q u a t i o n (4.15) w i t h the c o s i n e s e r i e s
expansion up to the f o u r t h o r d e r , we o b t a i n
Let P - 9 - aP
k
+ i p x 3
+ i ( i - 5l) x
2
+ (MY, - pP) + 2
Tl B- i f3 )x
3
24 6 2 2 k k k
6
+ ( k u
- T P - p P e + ! k
p 2
- ^ p 4
) = 0 (4.16)
2 24
24
M u l t i p l y e q u a t i o n ( 4 . 1 6 ) by - to give:
T P
f
2 T
X 4
- 4BX 3
- 12(1 - *L)X 2
- I 4
(MY, - pP + B- A p )X
3
2 T p k k k
6
k
(4.17)
~ ( k U
" k - k k
T P 9 +
~ P "~ 2
-0
Tp 2 24
A
k
i n the s w a l l o w t a i l c a t a s t r o p h e m a n i f o l d form
Let A 3 = - 4B
A 2 = - 12(1
2
A x = - (MY - P j + TP B -
2
k B ) 3
4
64
A Q - - 1*
T P
(k U
- - 0P +l l
T
2
B 2
T
- B )
4
24
X
k
and x = y - u (4.18)
3
A
u = _ (4.19)
4
We o b t a i n the s w a l l o w t a i l c a t a s t r o p h e manifold
4 2
y +uy + u y + w = 0 (4.20)
3 2
where u = (A - A )
8
. (A, - ^ I t f L )
1
2 8
2
/A A
1 3 A
. 2 3
A A
3 . 4.
w = (A - + - A- )
U
4 16 256
4y 3
+ 2uy + u = 0 ... (4.21)
the c r i t i c a l machine(s).
this method is the same shape regardless of fault location and loading
V i - mi P
< ij
D C O S 6
i j + C
i j S l n 6
ij>
t t t
c f c u
V
i =
f P
a l ( t ) d t +
f P
a i ( t ) d t +
' P
a i ( t ) d t ( 4
' 2 3 )
t i s the c l e a r i n g time.
t
s
/ P J ( t ) dt
n (4.24)
0 a l
balance equation,
c t t
u
V. = / (pf(t) - pj(t))dt + / PJJ(t) d t = 0
1 a Qa t a
8
(4.25)
P (t)= P ( 0 )
+ i -P ( 1 )
t + i - P >t ( 2 2
+ (4.26)
a a u a 2, a
where P ( m )
= 1 (4.27)
a t=0
dt m
n
P - P - E (D . cos 6 + C.. s i n 6 )
ai mi i j i j i j i j
= 0
68
and 6^ = 6 ^ ( I n i t i a l o p e r a t i n g condition)
Therefore P , ( 0 )
= P - P . ( t = 0)
ai mi ei
n
= P (4.28)
mi j = \ < ij D c
s 6
i j + c
i j s i n
(1) _ d
= Z (D.. s i n 5 - C.. cos 6.1)6..
ai
dt 3 1
t -0 J-l i j i j i J i J i j
Since = 0
ij t-0
Therefore P f * = 0 1
(4.29)
ai
* - - 2i
t=0
^ (D j cos 6 + C j sin 6 ^ ) 6 ^
al d t ai
( sin 6 i
ij i j i j
+ D i j C C O S 6 ) 6
Since 6 = 0
n
n c 0 c 0
P ! 2 )
= S (D sin 6 (4.30)
ij i j i j
ai
C C S 6 6
j
J-l
Therefore,
P
al = a<*
d i
P 0 ) + L p
2!
i 2 >
< 2 +
M
4!
4 )
' 4 +
- M-'D
The accelerating power c o e f f i c i e n t s have to be calculated f o r the
C
c D P ( 2 ) f
- P ( 2 ) P
P ( 4 ) f
- P ( 4 ) P
V. - J (<Pl 0 )
- P< 0 )
) + 0 ^ _ ) t 2
t 4
1
0
a
2! 4!
p (6) _ (6)P
f
p
+ (_f 1 ) t )dt + /
6
P ( t ) dt - 0
P
(4.32)
6! t a
the t r a p e z o i d a l r u l e as f o l l o w s
t
v c r - J U
P j ( t ) dt
s
V (1+1) = V (k) +1 (P ( t ) ( k + l ) - P ( t ) ( k ) ) - ( t ( k + l ) - t ( k ) )
A
70
(4.32).
P
( 2
> p >
( 4
.
p (t) = p (o) + t z
+ - i _ t* + ...
a a
2! 4!
which provides good agreement with the time solution for t < .5 second
[52].
* c 1 2
We let x =
i " 0i = - Y
i fc
2
substitute for t i n the accelerating power series
p (2) p (4)
P (x) = P ( 0 )
+ _!_ X + _!_ X 2
+ ... (4.33)
a a
Y 2
Y
i 6y z
angle advances x
x <
c
V = J P (x)dx + V =0
i Q a
71
P ( 3 ) p (4) 3
= P ( 0 )
x + x 2
+ _i_JL + . . . + V = 0 (4.34)
3
2Y 2 C r
18
type as f o l l o w s
X 2
= fold
V 3
X = cusp
4 = swallowtail
X
5 = butterfly
v = a
x + 3 a
x +p 2 ( 0 )
x +V = 0
18Y 2
" i
3 T T P ' 2 1 8 Y 2
P < 0 )
1 8 r2
= x J
+ _ x z
+ a
X + IV = 0 (4.35)
P (4> p (A) P ( 4 ) ^
a a a
= X 3
+ ^X 2
+ A^X + AQ = 0 (4.36)
We l e t X = y - B
A
P=
We g e t
72
3 A
2 2
2 1 2
A A
y J
+ (A - ) y + (A + - -i_) = 0 (4.37)
1
3 27 3
or
y + u y + u = 0 (4.38)
where
degenerate c r i t i c a l p o i n t s .
3y 2
+ u - 0 (4.29)
The b i f u r c a t i o n s e t g i v e n i n Appendix B c o n s i s t s of a l l s t a b l e p o i n t s
disturbance.
clearing time f o r each machine. The machine with the lowest critical
\ " ^ t mi " e i
P P ( t
>
i M
instant of f a u l t occurrence.
ii. The machines which have h i g h and positive initial accelerations are
c r i t i c a l group.
g e n e r a t o r buses.
steps.
then calculated.
This system with nine buses, three machines and three loads, i s
g i v e n i n T a b l e 4.2.
Admittance (pu)
Bus No. G B
Generators
1 1-4 0 - 8.446
2 2-7 0 - 5.485
3 3-9 0 - 4.168
Shunt Admittances
Load A 5-0 1.261 - 0.263
Load B 6-0 0.878 - 0.035
Loda C 8-0 0.969 - 0.160
4-0 0.167
7-0 0.227
9-0 0.283
Gen. No. H P E
d mo
(MW/MVA) (pu) (pu) (pu) (degree)
between the three methods i s given i n Table 4.3 i n terms of the critical
clearing time. Both methods show very good agreement with the time
solution.
to the second order term for the angle during the fault-on period. Fig.
accelerating power and the time solution for different fault locations
during the t r a n s i e n t p e r i o d .
0.0 0.1 0.2 0.3 0.4 0.0 0.1 0.2 0.3 0.4 0.5
time i n seconds
F i g . 4.2 A c c u r a c y of T a y l o r s e r i e s d u r i n g the f a u l t - o n p e r i o d
u s i n g o n l y the second o r d e r term.
time s o l u t i o n
T a y l o r s e r i e s method
C.C.T. c r i t i c a l c l e a r i n g time
0.3
time i n seconds
- Afferent fault locations
F i e . 4.3 The a c c e l e r a t i n g power f o r d i f f e r e n t r a
time s o l u t i o n
Taylor series
Fault at C r i t i c a l C l e a r i n g Time [second)
7 .11-.12 .1 .11
and 13 lines. Buses 1 through 7 are generating buses while loads are
line data are g i v e n i n T a b l e 4.4. The base v a l u e s used are 225 KV and 100
MVA.
solution and the two methods presented in this chapter in terms of the
c r i t i c a l clearing time.
The transient stablity regions are shown i n Figures 4.7 and 4.8.
Both methods show very good agreement with the time solution plus well
4.6 D i s c u s s i o n of R e s u l t s
multi-machine power systems. The accuracy of the methods i s very good when
GENERATORS
Bus p X M E 6
base
p
m
(MVA) (%)( ) (MW s /rad) (MW) (p.u) ()
LOADS
Bus p Q Bus P Q
(MW) (MVar) (MW) (MVar)
LINES
Bus R X uC/2
(ohm) (ohm) (MS)
1 - 3 5 24.5 200
1 - 4 5 24.5 100
2 - 3 22.8 62.6 200
2 - 10 8.3 32.3 300
3 - 4 6 39.5 300
3 - 9 5.8 28 200
4 - 5 2 10 200
4 - 6 3.8 10 1200
4 ~ 9 24.7 97 200
4 - 10 8.3 33 300
6 - 8 9-5 31.8 200
7 - 8 6 39.5 300
8 - 9 24.7 97 200
T a b l e 4.4 Data f o r the CIGRE 7-machine system (taken from Ref. [20])
F a u l t at C r i t i c a l C l e a r i n g Time [second)
higher than .5 second [52]. To obtain good accuracy beyond this limit
proposed methods w i t h o u t l o s s of a c c u r a c y .
CHAPTER 5
presented. The new model proposed includes damping, f i e l d flux decay and
excitation response.
transient stability assessment mainly because they raise doubts about the
may be true only i f the exciter does not respond during the f i r s t swing
valid for such exciters. In fact, during the l a s t decade trends i n the
[54].
5.2 Damping
speed [54].
relatively long time constant. The damper winding component of the damping
disturbances.
s l i p p i n g p o l e s or oscillations.
92
during disturbances.
are usually i n the range of 1-3 pu. This represents mechanical damping,
generator and load damping. Larger values are also reported i n the
literature [2].
by
M. 6 + D 6 = P - P . . ..
i i i mi ei i = l , . . . n (5.1)
P
ai - mi " P P
e i" D
*i ( 5
' 2 )
P ( ) = P
4 t
( 0 )
+ ! - p ( 1 )
t + !-p( >t 2 2
+ ...
p (m) = ai
a
, m t=0
dt
we have
93
We note that at t = 0 , 6^ = 0 .
Therefore
ai
( 0 )
= P_, " E (D*4 cos 6 +c
'ij "ij
. sin
4 6)
'ij'
- D(0) (5.4)
" j=l m i i J
(1) _ d P
ai
ai
dt t=0
11
0
- - E (-D , s i n 6,, + C,, cos 6 6 v
D)6f>
ij
4
ij -ij ij ij
= - D 6|) (5.5)
(0)
(0) _ ai
where 6 (5.6)
M.
(2) _ ^ a i
ai
dt' t=0
n 0. ,? 0,2
- = (
" iJ
D C
S
^J ' iJ
C S n
'i? ( 6
i >
^ (-D j sin 6
+ cos 6 )
6^ - 0*6^
P ( 1 )
where 6 0
= (5.8)
M
i
Derivation of p
a ^ ^ an
& p
a i ^ a r e
8i v e n
i n
Appendix D. We note here
account.
P, = P $ > 0
+ P < > t 1
+ ! ? l ^ t 2
+ ... (5.8)
ai ai ai 2J
V
i =
' Q
( P
a i " ai> P d t +
I P
a? d t + V
cr= 0
<'>
5 9
T h i s becomes
= A t 4
4
+ ^ t 3
+ A^ 2
+ A^t + A Q + k g + V r - 0 (5.10)
whe re A - i - (P f ( n )
- P P ( n )
)
n . a
n
t
c
K = / P dt -
P
constant
s J
Q ai
X 4
+ uX 2
+ vX + w - 0 (5.11)
systems.
the field current. The flux linking the armature circuit will decay
time in seconds
F i g . 5.1
0.8 T I
n
M
i 6
i= P
mi " j = \ < ij
D C 0 S 6
i j + C
i j 6 l n 6
iJ>
and
dE'
T ' jd o i< ^ " E
fA<
fdi~
E
%q i -
d i~
x
^ ) d l1*4
' di (5.12)
where
E
qi : v o
^- t a
8 e a
l 8 the q - a x i s r e l a t e d to E^ by angle
n
4>^.
E
fdi : e x c i t a t
*- o n
voltage a p p l i e d to f i e l d winding.
E . = E cos <t>
qi i i
i fdi d E E
T
doi - r " \ - di - V cx d
i . ( 5 a 3 )
dt cos 4>
T
doi - - - v ( x
di- di>
x
, V i g
J
E
J
c o s 6
i J
+ b
i J
E
J
s i n 6
i J
) ( 5
- 1 4 )
dt cos^ j=l J J
J J J
eliminated.
The e x c i t e r v o l t a g e response i s g i v e n by
-t/T
E... = E + (E - E ) ( 1 - e ) e
(5.15)
rdi o c o
E maximum c e i l i n g voltage
c
time i n seconds
, d E, E - (E -E )e
dt cos <t>.
n
" E
i " ( X
di" di X )
\ i s
il l
E C O S 6
i j + b
i j j
E S l n 6
i j } ( 5
* 1 6 )
around t=0 as f o l l o w s
F(t)
- F (0) + F a> ^ +
2 )
t 2 + _ (5.17)
t=0 2!
where
,(n) _ d F ( t ) u
t=0
dt
iTherefore
E n
F ( 0 ) . _o_ _ i ( 0 ) _ ( x ^_ + b^EjBlnfi^)
cos <t>,
(5.18)
F (D . d F(t)
dt t=0
102
-tli
1 <V o E ) e
d E
i n
T cos 4^ dt M
j=l J J J
+ b i j E j cos 6^)6^
at t = 0
ij dt T 1
doi
Thus
. (E -E ) (0)
F ( 1 )
= l (5.19)
\ C
*1
S T
doi
E. = E(o) + F ( 0 )
t + I + I (5.20)
1
2 6
previous chapter the Taylor series method can give good results up to a
second).
103
system i s g i v e n by
V i = P
mi~ f x
E
i j E
<Sij c o s
6
ij + b
ij s i n
j>
6 ( 5 > 2 1 )
= P
ai
From e q u a t i o n (5.20) l e t the i n t e r n a l v o l t a g e of the c r i t i c a l machine be
(0) F ( 1
>t 2
F ( 2 )
t 3
E = E(o) + F t U ;
t + _ + _ (5.22)
1
2 6
4.3 to o b t a i n
P ( 2 )
t 2
where P ( n )
= *A
dt n t =
P a
0 )
- P m i ~ ^ E (0)E
I j (g j cos 6 t + b j sin 6 )
(5.23)
P > - a
2
- ^ F U> E j ( 8lJ cos 6 ^ + b J sin 6^)
E.
(5.9)
V
i = '0
( P
a i" a? P ) d t +
' Q
P
a? d t + V
cr = 0
< " >
5 26
V. = A . t 4
+ a t 2
+ A . t + A_ + K + V = 0 (5.27)
I 1 0 s cr
0
H I
where
A = (P f ( n )
- P P ( n )
)
n i ai ai
n!
t
c
K = / P dt = constant
P
s J
Q ao
V = critical energy
cr
105
X 4
+ uX 2
+ vX + w = 0 (5.28)
the critical c l e a r i n g time i s also increased. This means that when fast
exciters are used the system can generate more power f o r the same c l e a r i n g
time.
0.8-
0.6-
0.4 c l a s s i c a l model
proposed method
0.2-
0.0 I ' 1
0.00 0.05 0.10 0.15 0.20 0.25
time i n seconds
Fig. 5.5
0.8-
0.6-
c l a s s i c a l model
proposed method
0.4-
0.2
0.0 1 I
0.00 0.05 0.10 0.15 0.20 0.25
time i n seconds
F i g . 5.6
The effect of flux decay and e x c i t a t i o n response on the accelerating
power during the transient period for two test cases.
107
CHAPTER 6
CONCLUSIONS
derived from the equation of motion of the critical machine against the
region is valid for different loading conditions and fault locations. This
this i s adequate f o r most large power systems since typical clearing times
method.
all factors that directly effect transient stability are taken into
system.
approach.
bances should a l s o be c o n s i d e r e d i n f u t u r e r e s e a r c h .
u s i n g the c a t a s t r o p h e theory.
112
REFERENCES
[1] E.W. Kimbark, "Power System Stability", V o l . I , John Wiley & Sons
Inc., New York, 1948.
[2] P.M. Anderson and A.A. Fouad, "Power System C o n t r o l and S t a b i l i t y " ,
V o l . I , Iowa S t a t e U n i v e r s i t y P r e s s , Ames, Iowa, 1977.
[6] F. John Meyer and K.Y. Lee, "Improved Dynamic Load Model f o r Power
System S t a b i l i t y S t u d i e s " , IEEE PES, Winter Meeting 1982, 82 WM
126-1.
APPENDIX A
V(X) = X + uX + vx + wX
space u, u and w.
up the complete s u r f a c e B.
w-axis.
dw (A.3)
dX
118
and = - (30X 2
+ 3u) (A.4)
dX
^ = - 2 (A.5)
du
e q u a l i t y o n l y when X = u = 0, a t which p o i n t w a l s o v a n i s h e s .
dw
that the s i g n a l of i s t h e same as t h a t of u, v a n i s h i n g o n l y at the
du
origin. T h i s enables us to draw F i g . ( A . l ) .
X and u a l s o v a n i s h t o g e t h e r , i t f o l l o w s t h a t i f u i s s m a l l and p o s i t i v e so
r e l a t i v e maximum.
substituting into equation (A.l) we find that both the other roots give
9u 2
l i n e of p o i n t s of s e l f - I n t e r s e c t i o n i s the p a r a b o l a
v - * L2 . u 0
I
20
We can put the curves B u together t o form the s u r f a c e B shown i n F i g .
X 2
= (- 3u / ( 9 u 2
- 20w))
10
Fig.(A.2)
Fig.(A.1)
points.
9u 2
2
0 < w < Because /(9u - 20w) i s r e a l and l e s s than the r e a l and
20
2
positive -
3 u , both solutions for X a r e r e a l and p o s i t i v e and V has
four c r i t i c a l points, two maxima and two minima.
2
maximum.
122
APPENDIX B
The p o t e n t i a l f u n c t i o n i s
V(X) = X 4
+ uX 2
+ uX (B.l)
by
4X 3
+ 2uX + u = 0 (B.2)
the d e r i v a t i v e of (B.2) i s a l s o e q u a l t o z e r o . I t i s g i v e n by
12X 2
+ 2u = 0 (B.3)
and (B.3), we o b t a i n
8U" + 2 7 u
3 2
- 0 (B.4)
equation (B.2) onto the c o n t r o l space (u-u). The cusp manifold and the
b i f u r c a t i o n s e t i s shown i n F i g . ( B . l ) .
r e g i o n , o r when
8u 3
+ 27 u 2
< 0
But when
8u 3
+ 27u 2
> 0
123
Figure (B.2) shows the bifurcation set of u-u plane i n which the
APPENDIX C
given by ( E q u a t i o n 4.22)
m
P , t ) - P<> + 1- P ^ t + 1- P < > t 3 2
+ ... + - p l ( n )
t (C2)
3.x 3 - . 3 3 . 3
1! 2! m!
T
where
,(m) _ a
m
dt t-0
n
therefore (C.3)
P
a 0 )
- V - <1] " s 6
iJ +
1J 6 l n 6
i3>
0 0,
- Z (D sin 6 - c . cos 6 )
3
dt ^ t-0 J-l 3 J J J
Since u. . = 0
t=0
therefore P (1) _
= 0 (C4)
To s i m p l i f y the d e r i v a t i v e e q u a t i o n s we l e t
127
n
0 0
A = Z ( D ^ cos 6 jLj + c j s i n 6^)
(C.5)
and
dt 1 J
dt J
(1) * (2)
f o r convenience let 6^ = 6^ y
, 6^ = 6 ... and so on
therefore
P<> = P , - A
a mi
dt a j
A 6.!^ + B 6. . ( 2)
= B c (2)
"IJ Ij " 6 ^' (C.7)
(3) . i . . (D (D CD
3
P P (2) 2 A 6 6 (2) _ B 6 + A 6 6 (2) + B 6 (3)
a . a i j i j i j i j Ij IJ
dt
(C8)
= 0
128
p CD P (1)
where 6< > 3
- - = 0
M
i M
j
P< > =
a
4
d
1_ P<
t a
> 3
= B 6< >
i j
4
+A6< >6< >
i j i j
1 3
+ 2A 6<> - B 6 J >
2
1
1
6 < > + 2 A S ^
2 1
^ , ^ - 2B 6 ^ ) 6<>
2
" 3
- \ f \ ? - A
\ ^
P >
( 4
- B 6 /*> + 3 A 6 <2) 2
(C9)
a i j i j
a d a i j i j i j i j i j i j i j
P<> =
a d
1- P<
a
> 5
= B 6< >
i j
6
+ 6 A 6//>6//>+ 15 A 6 < > 6 <*>- 15 B
i j i j i j i j i j
2
6/^V/* i j
+ 10 A 6 < > - 60 B *
3
* h - 20 A 6 ^ 6 < > - 15 B 6 < >"
3
4
2
B 6 ^ + 15 A ^ 6 5 > 2)
4
- 15 B 6 < >
2 3
( C l l )
129
APPENDIX D
D e r i v a t i o n of p
a ^ ^ a <* n p
a ^ ^ including damping:
P < ) - _3
<> P
2
ai ai d t
(3)
P } ' (without damping) = 0
a l
Therefore
, - -> CD
Also
p {> - i - P >
al d t ai
From e q u a t i o n (C.4) we o b t a i n
P < > - B 6 <*>
4
+ 3 A 6 C2> - D 6 (5) 2
ai i j i j i j
Since 6 J
1
5 )
= 0
then
P <>
ai
4
- B 6 <*>
i j
+ 3 A a/
i j
)' 2
- ^ ( D ^ - m 6 - c
i j C os * ])*K
3
, 0. < ( 2 ) '
+ c l j S in A
6 ) j 6 J
(D.2)
131
APPENDIX E
response.
P
a i - mi " ^ P
V j <lj C O S 5
ij + b
ij S i n 6
ij> ( E a )
and
E = E(0) + F ( 0 )
t + l i - i t + ... 2
(E.2)
1
2
d E
i E
c ~ ( E
c " V " t / T e
T
d 0 ; - - ^ F
-- e
- r<v- di>
E x
i dt cos 4>
S Ej ( g J cos 6 J + b j sin t 6 )
j (E.3)
the coefficients F ( 0 )
, F ( 1 )
are given i n Section (5.3), F ( 2
\ F ( 3 )
are
F (2) = J__c
(E - E )
0 J (1)
_ + _ s
n
s i n 5 0
0
x 2
e
" S
* i W ' J = 1 j j j
b cs 6, CE.4)
132
,(2)
,(3) _ 1 ( E
c " V (E.5)
z 3 cos
"doi
e
Let A i = E j ( g ^ cos 6 ^ + b j s i n 6 )
(B.6)
B
ij j E (8
U 8 i n 6
ij " ij b C S
\^
d A
then M--B 6
dt
ij ij
d B
0
dt
c o e f f i c i e n t s of P ^ we get
,(D _ d P
ai = - S ( F ^ A . J, " E(0) B 2 61 J
dt t=0 j=l
i F ( 0
> A (E.8)
j=l ij
133
>(2) _ d P
ai n
E (E(0) B 4 4 6^ 2 )
- F ( 1 )
A,,) (B.9)
dt t=0 j=l ij i j ij'
,(3) . ^ a i n
(E.10)
dt" t=0
4
ti\ d p
<
^ I 6f ( 1 > B
ij 6
i f } + 3 E
<> i j A 6
i f > 2
dt t=0
+ E(O) B j 6 <
4 )
- F ( 3 )
A j ] (E.ll)