2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004)April 2004 Hong Kong
ANALYSIS OF THE INTER-AREA MODE
OSCILLATIONS USING NORMAL FORM METHOD
Xu Dongjie, He Renmu, Wang Peng, Hu Guoqiang
Abstract-- In the deregulated power industry, the increasing
number of power marketers and independent power
generators increases the variability of power flow patterns in
the transmission system, thereby reducing the ability of
transmission planners and operators to predict the critical
operating conditions and limits. Conventional linear analysis
cannot account for many complex dynamic behaviors. As
recognized by many researchers, the very nature of
inter-area phenomena is not well understood and may
include nonlinear interaction of the system oscillation modes.
This paper presents some advances on the development of
normal form method for the analysis of inter-area
oscillations in complex power systems. Second-order analysis
indicates that more frequencies of oscillation may have
significant influence on the system response. This method is
used to extend linear concept of participation factor to
include 2nd-order modal affects on system dynamic behavior.
The analysis and the procedure developed are tested on some
IEEE test systems.
Keywords-modal interaction, inter-area mode,
Normal forms, small signal stability, nonlinear
analysis.
I. INTRODUCTION
I n the deregulated power industry, the increasing
number of power marketers and independent power
generators increases the variability of power flow patterns
in the transmission system, thereby reducing the ability of
transmission planners and operators to predict the critical
operating conditions and limits. So the operators need
different computation tools for grid stability, these tools
must be more efficient and accurate for stability
assessment.
Today’s heavily loaded and stressed power systems
exhibit complex dynamic behavior when subjected to
small or large disturbances. While a large interconnected
power system has numerous modes of oscillation, only a
few of them are of interest to the researcher because of
their potential impact on the dynamic system behavior. In
the analysis and control of system stability, two distinct
types of system oscillations are usually recognized:
“Local plant mode” and “inter-area mode”.
Analysis of the fundamental modes of oscillation
plays a crucial role in power system stability analysis.
When controls are tuned to mitigate lightly damped modes,
the analysis is usually done using a linearized system
modal. But as recognized by many researchers, the very
This work was supported in part by the Promoting Program for
Young Engineers o f Power Grid, P.R.C, (SPQJKJ-02-09)
Xu Dongjie is with the school o f Electrical Engineering, North China
Elcctric Power University, Beijing, China (e-mail:
xudongjie@ncepubj.edu.cn).
Wang Pcng is with the school o f Electrical Engineering, North China
Elcctric Power University, Beijing, China (e-mail: wphbdI@263,net).
0-7803-8237-4/04/$17.00020041EEE
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nature of inter-area phenomena is not well understood and
may include nonlinear interaction of the system oscillation
modes“ I.
The conventional linear techniques cannot account
for many complex phenomenons that occur when the
system is stressed. For a better understanding of the
underlying causes of oscillatory instability, many
researchers turned to nonlinear tools.
The normal forms method, developed by the French
mathematician Poincare in late 1920’s, is to employ
co-ordinate transformations to systematically construct the
simplest possible form of the original autonomous
differential Equations. In recent years, the normal form
method has received considerable research interest as a
means of dynamic analysis of stressed power networks.
Using this technique is possible to identify and study the
nature of system oscillations using conventional linear
analysis methodology.
This paper presents some advances on the
development of normal form method for the analysis of
inter-area oscillations in complex power systems.
11. POWER SYSTEM DYNAMICS
A. Swing Equation
The classical power system model can be written in
state space form as
1
PA@, =-(Tm - T, - K,A@,)
2H
p6, = W,AU~ (1)
A number of assumptions are made in the
classical-machine-model analysis of this paper:
mechanical power is constant; loads are represented by
constant; and Impedance is reduced to generator terminal.
B. Linear Analysis
Eigenanalysis involves the linearization (about an
operating point: Stable Equilibrium Point or Unstable
Equilibrium Point) of the swing equation describing the
dynamics of a power system. The linearized system’s
response approximates the nonlinear system’s response
within a small operating range.
The linear system is obtained by including the
first-order terms in the Taylor series expansion (about a
.
SEP or UEP) of equation set (1)
x=Ax (2)
Where x is the vector of differential variables (angels
and speed), A is the Jacobian matrix. The eigenvalues of
A characterize the stability of the linear system, and they
2004 IEEE Intemational Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong

are given by A, .The eigenvectors of A make up columns A. Taylor Series Expansion

of the transformation matrix U. The 'variable
transformation x = u y is applied to the system equation The Taylor series expansion of the swing equations
can be expressed as in ( 6 )
.
(2) to obtain the Jardan form
x = A x + X , + X , + ... (6)
Y = JY (3)
As more terms are included, the approximate system's
y is the vector of Jordan-form state variables, and response becomes the same as the original system's
J = V T A U is a diagonal matrix with the eigenvalues response in a wilder range of the state space. So in the
on the diagonal.( V T u= I ) stressed power system, higher-order analysis may be
For the equations give by (3) are decoupled, the necessary even for a small disturbance.
solution for the ithvariable is Without loss of generality, the dynamical equations

y j ( t )= Y j 0 2 J f (4)
have the form
.
x =F(x) (7)
where y j o is the j" initial condition in the
then we expand (7) as a Taylor series about a SEP and
Jardon-form system. The linear solution in the original obtain
machine states is obtained by using transformation 1
x =uy xi = AjX + - X T H ' X + H.O.T. (8)
2
X; ( t ) = c
j=l
uijyjoe;"/' (5)
where
Ai = ifhrow of Jacaobian matrix A which is equal to
thus, the solution to the linear equation has been obtained
in the closed form. It is also evident that the signs of the
real parts of the eigenvalues Aj determine whether the H i= [a'? / ~ x ~= Hessian
~ xmatrix
~ ] ~ ~ ~ ~
system's oscillation will grow, shrink, or remain constant Using the similarity transformation x=Uy, we derive the
with time. The initial condition vector in the Jardon-form, representation of the Taylor series expansion of order two
yo , is obtained using the inverse transformation in the variable y as

Yo = VTXo
Using the above linear analysis, this system's response I YTUrH2UYI
has been shown to be a linear combination of oscillatory 1
modes corresponding to the system eigenvalues. In
Y =AY+--VT (9)
2
general, the stability of the full-order nonlinear system is
closely related to that of the linear system. (within a
neighborhood of the equilibrium). The Hartman-Grobman 1Y ' U TH NUY1
Theorem states that if the eigenvalues of the system at the
and forthe j t h mode
equilibrium are hyperbolic, that is to say, the real part is
not equal to zero, there exists a neighborhood of the
equilibrium in which the linear and nonlinear systems are y j = A j y j + YTC'Y
topologically conjugate (i.e. , have the same stability and N N

solution characteristics).
k=l /=I

111. NORMAL FORMS where

The normal forms method, developed by the French
mathematician Poincare in late 1920's, is a technique for
locally converting nonlinear equations to linear form.
Conversion is accomplished by changing the basis of
representation. For example, a nonlinear equation
appearing as a curve on conventional linear axes can be
made into a straight line if the axes are changed to curve.
To accomplish this, the nonlinear equation is divided into
two part: a linear expression for the straight line and a
higher-order nonlinear residual that describes how the
axes are transformed to obtain the linear expression[3'4'
51
''
L p=l
B. Normal Form analysis
In contrast to Taylor series expansion, normal forms
reduce vector fields to their simplest form by considering
higher order resonance.
The first step in normal form analysis is to examine
(10) for 2"d order resonance, i.e., to check whether there
exist three eigenvalues that satisfy the 2"d order resonance
+
condition A.i Ak = A,,for any combination of j, k, 1.

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2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong

Due to the structure of power system, 2"d order resonances The solution for the kthmachine state variable (when
do not appear generically. In the absence of these
resonances, a nonlinear transformation (1 1) is defined xjo = 0, for all i f k ) can be written as
Y = 2 h2(Z) + (1 1)
N
uki(vik+ v 2,, >e"' +
where, xk( t ) =
i=l
N N
h2J(2)= 7,y,h2i1zkzI
k=l /=I
p=l q=l
h2i1 = G (13)
+a/- A ~ (22)
where,
.
In Z-coordinates, the system (10) takes on the form
u2,
N
= Cuvh2L1
z j = Ajzj (14) j=I
So we obtain explicit second order solutions for the So one can define second order participation factors
system in the different coordinates systems: according to

i=l p=i q=l

where,

xi ( t ) =
N

j=l
+
uvzjoeaJf cN

j=l
7
uv
iV N

k=l I=1
h2il ~ ~ ~ z , , e ( ' ~ + ~ ~ ) '
p2k; 'ki ('ik + v2kk

(17)
where, One can notice that the linear participation factor,
y, = u-'xo (18) pkiis one term in p2,, , which represents the 2"d order
2, = & - h2(Z0) (19) participation of the kIh ith single
machine state in the
eigenvalue mode, but p 2 , has a second order
C. Nonlinear interaction corrections. The p2,, represents the 2"d order

participation of the kfh machine state in the 'mode'

Linear participation factors are a well-known method
to find out mode machine interaction. The participation formed by the combination of the p and q modes.
factor pki represents a measure of the participation of IV. NUMERICAL EXAMPLE
the klhmachine state in the trajectory of the ifhmode. It
is given by The 10-Machine New-England power system used
pki = uki* Vik (20) here is a standard IEEE test case. The single-line diagram
is shown in Fig. 1.
Since linear participation factors are functions of
both the left and right eigenvector, they are independent of
eigenvector scaling. Using normal forms we extend the
concept of participation factor to include 2"d-order
terms['. '1.
The approximate 2"d-order,normal form inverse
transformation for any initial condition is
z j = y j - h2'(y). When the initial condition vector
xo = ek is applied, the Jordan form initial conditions
become
y J.o = v Jk.
the normal form initial conditions, using the 2"d-order
approximation of the inverse transformation are
N N

ZJ.o . - ~ , ~ h 2 / q ~ =pvkj k~
= v Jk +v2/,
q k (21)
p=l q=l Fig.1 New-England power system

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2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong

Fig3 Time domain simulation

N Real part Imaginary part freq
--- Use prony analysis program process the simulation data
1 -0.01591 Oi
after clearing time.
2 -0.0098 3.90261 0.62112
3 -0.0098 -3.9026i 0.621 12

data poant

Fig.3 Time domain simulation and prony analysis

Tab.3 the results of prony analysis

magnitude phase(radian) damping Freq. (Hz)
0.006 -0.507 - 15.040 -3.404
0.006 0.507 -15.040 3.404
0.000 3.190 1.335 I 1.133
0.000 3.093 ~
1.335 I -1.133
0.187 1.609 -0.793 1.163
From the table above, we know that this system 0.187 4.674 -0.793 -1.163
exhibits several oscillation modes. Eigenvalue (2,3) is a 0.276 -1.255 -0.466 1.054
typical inter-area mode (0.621 12Hz). 0.276 1.255 -0.466 - 1.054
At the same time, we can see that due to considering I 1.248- I -0.000
.. I -0.005
... . _ I 0.000. I
the second order modal affects on system dynamic
behavior, some of participation factor have greatly
changed. See it in table 2. The relative participation of the
gth state variable in 2"d mode becomes small, but the
participation of the loth state variable in 2"d mode
becomes large. With the structure and operation
conditions of the power system becomes more and more
complex, the trend of participation changes more
obviously. So more frequencies of oscillation may have
significant influence on the system response.

Tab.2 Linear, nonlinear Participation factor

magnitude phase damping Freq .

0.10426 0.04078
0.008 -0.294 -1.779 -0.806
10 0.06783 1.4651
0.008 0.294 -1.779 0.806
0.008 -0.939 -1.748 -2.478
A contingency scenario was studied here, we
consider a three phase stub fault at BUS9 with clearing
time t=0.15 sec. the simulation curve of active power from
bus2 to bus 1 is shown below.

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2004 IEEE Intemational Conference on Electric Utility Deregulation, Restructuring a n d Power Technologies (DRPT2004) April 2004 Hong Kong
0.004 2.855 1.073 1.491
0.004 3.42 8 1.073 -1.491
0.009 4.62 1 1.173 0.693
1.355 I 0.000 I -0.033 I -0.000
0.976 I -1.102 I -0.029 I 0.594
9.976 I 1.102 I -0.029 I -0.594
V. CONCLUSION
The Chinese electricity industry has undergone rapid
changes since the 1980s. Important reforms were carried
out in the mid 1980s and late 1990s to address evolving
issues of lack of financing, inefficiency and, to some
extent, environmental damages. The central government is
now beginning to implement the reform to de-integrate
utility companies and create competitive wholesale
markets as it continues to face the impediments to
long-term system development. So the planers and
operators need different computation tools for grid
stability, these tools must be more efficient and accurate
for stability assessment.
A new approach to the analysis of power system low
frequency oscillation, named normal forms, was presented
in the paper firstly. The problem is formulated for a
classical power system model. Based on the analysis
presented above, and other cases analyzed but not in this
paper, the following conclusions can be drawn:
A. The normal forms analysis can capture all the
important fundamental modes of the oscillation.
B. The nonlinear interactions may have crucial impact on
the system dynamic behaviors.
C . The following should be pointed out:
1. This information is not provided when h e system
is linearizd about an equilibrium point.
2. If analysis of the “full” nonlinear system is
desired, the main tool available to the analysis is
“time simulation”, which yields no functional
relationship and offer little structural insight in
dynamic system response.
3. This is the Primary motivation for the novel
approach.
VI. REFERENCES
Vittal, V., Bhatia, N., and Fouad, A. A., “Analysis of the intcr-area
modc phenomena in power systems following large disturbances”
IEEE Transactions on Power Systcms, Vol. 6, NO. 4, November
1991.
Thapar, J., V. Vittal, W. Klicmann, and A. A. Fouad. “Application
of the Normal form of vector fields to prcdict interarca separation
in power systcm”, IEEE Transactions on Power Systcms, Vol. 12,
No. 2, 1997.
Jang Gilsoo, Vittal Vijay, “Effect of nonlinear modal interaction on
control performance: Use of normal forms technique in control
design, Part I: General theory and procedure.”, IEEE Transactions
on Power Systcms, Vol. 13,No. 2, 1998.
Jang Gilsoo, Vittal Vijay, “Effect of nonlinear modal interaction on
control performancc: Use of normal forms tcchnique in control
design, Part 11: Case studies.”, IEEE Transactions on Power
Systems, Vol. 13,No. 2, 1998.
Chih-Ming Lin, V. Vittal, W. kliemann, A. A. Fouad,
“Investigation of modal interaction and its effects on control
performance in stressed power systems using normal forms of
vector fields” IEEE Transaction on power systems, Vol. 11, No. 2,
May 1996.
VII. ACKNOWLEDGMENT
The authors gratefully acknowledge Dr. Federico Milano,
I for his excellent simulation software PSAT.
VIII. BIOGRAPHIES
Xu Dongjie was born in China, in 1974 He
graduated from Electncal Engineering
Departmcnt of North China Electric Power
University in 1996. He obtained M.Sc degree
from NCEPU in 2001. Now He is worhng
torwards his Ph. D degree. His research
interests are power system dynamics, small
signal stability analysis and control
He Renmu was born in China, in 1944 She
graduated from power system & Automation
Department of TsingHua University in 1967
She obtained Ph D degree from Lausanne
Institute of Science and Technology (EPFL)
in 1984 Now she is the professor of North
China Elcctnc Power University in Bcijing
Her interests are power system dynamics,
simulation veracity, dynamic load modeling,
deregulation, software engincenng, wide area
measurement etc.
. .-
Wang Peng was born in Henan Province,
P.R.China on November 24, 1973. He received
Master degree and Ph.D degree from North
China Electric Power University (NCEPU) in
1997 and 2002. Now he is assistant chicf of
Power System Control Institute of NCEPU.
His special fields of interest included electric
power system analysis and control, electricity
market, dynamic stability and etc.
Hu Guoqiang was born in China in 1944.
He graduated from power systcm &
Automation Department of China
Agriculture University in 1996. Now he is a
Ph. D. candidatc in North China Electric
Power University in Beijing. His interests
are power system small-signal stabilization,
cascad hydroelectric plant operation
optimization..
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