Power System Stability

The relation between the mechanical angular velocity, m(t) (in rad/s), and the mechanical rotor angular position, m(t) (in rad), with respect to a stationary axis is given by: d (t ) m (t ) = m rad/s dt The equation governing rotor motion of a synchronous machine is based on the elementary principle in dynamics which states that accelerating torque is the product of the moment of inertia of the rotor times its angular acceleration. In the MKS (meter-kilogram-second) system of units this equation can be written for the synchronous generator in the form d m (t ) d 2 m (t ) =J = Tm Te = Ta N m J m (t ) = J dt dt 2 Where the symbols have the following meaning J: The total moment of inertia of the rotor mass, in (Kg-m2). The mechanical rotor angular acceleration (in rad/s2). m: Tm : The mechanical or shaft torque supplied by the prime mover less retarding torque due to rotational loss, in (N-m). The electrical torque that accounts for the total three-phase electrical power output of the Te: generator, plus electrical losses, in (N-m). The net accelerating torque, in (N-m) Ta : t: Time in seconds (s)
Tm and Te are positive for generator operation. In steady-state, Tm equals Te, the accelerating torque, Ta, is zero as well as the rotor acceleration, m, is zero. When Tm is greater than Te, Ta is positive and m is therefore positive resulting in increasing rotor speed. When Tm is less than Te, Ta is negative and m is therefore negative resulting in decreasing rotor speed. It is convenient to measure the rotor angular position with respect to a synchronously rotating reference axis instead of a stationary reference axis. Accordingly we define: m (t ) = m ,syn + m (t ) d m (t ) d [m , syn + m (t )] d m (t ) = = dt dt dt 2 2 d m (t ) d m (t ) = dt 2 dt 2 m,syn: synchronous angular velocity of the rotor (in rad/s) m: The angular position with respect to a synchronously rotating reference axis, (in rad)

The Swing Equation

m (t ) =

Thus the previous equation becomes d 2 m (t ) J = Tm Te = Ta N m dt 2

It is also convenient to work with power rather than torque, and to work in per-unit rather than in actual units. Accordingly, the previous equation is multiplied by m(t) and divided by Srated, the three-phase voltampere rating of the generator:

J m (t ) d 2 m (t ) m (t )Tm m (t )Te m (t )Ta = = S rated S rated S rated S rated dt 2 Defining per-unit rotor angular velocity, mechanical power, electrical power and accelerating power (t ) (t )Tm (t )Te (t )Ta , Pe , pu = m , Pa , pu = m pu (t ) = m , Pm, pu = m m, syn S rated S rated S rated
J m , syn S rated

pu (t )

d 2 m (t ) = Pm , pu Pe , pu = Pa , pu dt 2

Where, Pm,pu: The mechanical power supplied by the prime mover minus mechanical losses, per-unit Pe,pu: The electrical power output plus electrical losses, per-unit Pa,pu: The accelerating power, per-unit Finally, it is convenient to work with a normalized inertia constant, called the H constant, which is defined as Stored kinetic energy at synchronous speed KE = H= Generator voltampere rating S rated
H=
2 (1 / 2) J m ,syn

S rated

J/VA or per unit second

The H constant has the advantage that is falls within a fairly narrow range, normally between 1 and 10 pu s, whereas J varies widely depending on the generator unit size and type. Using H constant, the previous equation becomes d 2 m (t ) 2H pu (t ) = Pm, pu Pe , pu = Pa , pu m, syn dt 2

For a synchronous generator with P poles, the electrical angular acceleration , electrical radian frequency , power angle , and the synchronous electrical radian frequency syn are P P P P (t ) = m (t ) , (t ) = m (t ) , (t ) = m (t ) and syn (t ) = m, syn (t ) 2 2 2 2 The per-unit electrical frequency is (t ) (t ) pu (t ) = m =

m , syn

syn

Thus, the previous equation becomes 2H d 2 (t ) pu (t ) = Pm, pu Pe, pu = Pa , pu syn dt 2

Frequently the previous equation is modified to also including a term that represents a damping torque anytime the generator deviates from its synchronous speed, with its value proportional to the speed deviation d 2 (t ) D d (t ) 2H pu (t ) = Pm, pu Pe, pu = Pa , pu 2 syn syn dt dt Where D is either zero or a relatively small positive number with typical values between 0 and 2. The units of D are per-unit power divided by per-unit speed deviation.

The previous equation is called the per-unit swing equation, is the fundamental equation that determines rotor dynamics in transient stability studies.

pu(t) = 1.0.

In practice the rotor speed does not vary significantly from synchronous speed during transients i.e.

The previous equation can be written as d (t ) = (t ) syn dt 2H D d (t ) d (t ) pu (t ) = Pm , pu Pe, pu = Pa , pu syn dt syn dt The previous two equations are two first-order differential equations.

When the swing equation is solved, the expression of is as a function of time. Thus, the curve of as function of time (t) is called swing curve.