EXPERIMENT 6

6. TRANSIENT AND SMALL SIGNAL STABILITY ANALYSIS – SINGLE MACHINE

INFINITE BUS SYSTEM ............................................................................................ 3
6.1 AIM ........................................................................................................... 3
6.2 PROGRAM REQUIRED ............................................................................. 3
6.3 THEORETICAL BACK GROUND ................................................................ 3
6.4 EXERCISES .............................................................................................. 3

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6. TRANSIENT AND SMALL SIGNAL STABILITY ANALYSIS – SINGLE MACHINE

INFINITE BUS SYSTEM
6.1 AIM

To become familiar with various aspects of the transient and small signal stability
analysis of Single-Machine-Infinite Bus (SMIB) system.

6.2 PROGRAM REQUIRED

MiPower Transient Stability Module

6.3 THEORETICAL BACK GROUND

Included in the manual

6.4 EXERCISES

6.4.1 A power system comprising a thermal generating plant with four 555 MVA,
24kV, 60HZ units supplies power to an infinite bus through a transformer
and two transmission lines (refer Fig 6.4.1)

H.T
L.T line 1
Transformer
Infinite
bus
G
Et
P+jQ line 2
EB

Fig. 6.4.1 Single Machine Infinite Bus System

The data for the system in per unit on a base of 2220 MVA, 24 kV is given below:

An equivalent generator representing the four units, characterized by classical model: Xd’
= 0.3 p.u H= 3.5 MW-s/MVA

Transformer : X = 0.15 p.u

Line 1 : X = 0.5 p.u
Line 2 : X = 0.93 p.u

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Plant operating condition:

P = 0.9 p.u ; Power factor: 0.9 lagging; Et = 1.0 p.u

Case 1:
It is proposed to examine the transient stability of the system for a three-phase-to-ground
fault at the end of line 2 near H.T bus occurring at time t= 0 sec. The fault is cleared at
0.07 sec. by simultaneous opening of the two circuit breakers in line 2.

Calculate the initial conditions necessary for the classical model of the machine for the
above pre-fault operating condition determine the critical clearing angle and time for the
fault using “Equal Area Criterion” and hence comment on the stability of the system for
this fault.

P0 (δ max − δ 0 ) + Ppf cos δ max − Pdf cos δ o

Cosδ cr =
( Ppf − Pdf )

P0 – Initial Power = 0.9 pu

Pdf – Power during fault = 0 for fault at HT & Infinite bus
Ed' V
Ppf – Max Post fault power = ,
X pf
Ed' V
Pdf = Max Power during fault =
X df
E’d = Machine internal voltage
Xpf , Xdf = Equivalent series reactance of the system during post fault and during fault
respectively.
δ0 = initial angle obtained from the steady state condition.

From the above formulae δ cr is computed as 52 degrees.

(a) Simulate the above sequence of fault occurrence and clearance using the
software available and plot the swing curve (rotor angle versus time) as
well as the curves showing angular velocity and real power delivered by
the plant versus time.

The curves are plotted in figures 6.4.1a and 6.4.1b

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Figure 6.4.1a: Plot of Terminal Voltages (Three Phase fault: Fault Cleared 0.07s)

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Figure 6.4.1b: Plot of Electrical Power (Three Phase fault: Fault Cleared 0.07s)

(c) Determine the critical clearing angle and time for the above fault through trial
and error method by repeating the simulation in (b) for different fault clearing
times and compare the critical clearing angle and time obtained with that
obtained by equal area criterion in (a).
The results are given in table 6.4.1

Table 6.4.1
Sl No Clearing time Clearing Angle Status
(secs) (degrees)
1 0.07 48 Stable
2 0.072 49 Stable
3 0.075 49.735 Stable
4 0.078 51 Stable
5 0.08 51.5 Stable
6 0.085 52.5 Stable
7 0.086 - Unstable

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6.4.2 For the system given in exercise 6.4.1 and for the same operating
condition, examine the transient stability using the software available for
the following faults.

Case 2:
Three-phase-to-ground fault at the end of line 2 near infinite bus occurs
at t=0 sec and is cleared at t=0.07 sec by the simultaneous opening of two
breakers in line 2.

For the given system, the result is plotted

in figure 6.4.2

Click

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Fig 6.4.2

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Observations: It is seen that for a fault near the infinite bus, Gen-1 is stable and the
maximum angular separation is 94 degrees.
Case 3:
Three-phase-to-ground fault at the mid point of line 2 occurs at t=0 sec and is cleared at
t=0.07 sec by the simultaneous opening of two breakers in line 2.

Comment on the transient stability of the system under case 2 and case 3 cases and
compare the severity of the faults; cases 1,2 and 3 from the point of view of maximum
rotor swing and also by comparing the clearing time margin available.

For the given system to create the fault at the mid point of the line, a dummy bus
is created in the mid point of the line and the fault is applied on the dummy bus.

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Now the 2nd line will be split into 2 lines, one will be connected between bus 2 &
dummy bus and the other one will be connected between dummy bus & bus 3.
Each line reactance will be 0.465 pu which gives a total reactance of 0.93 pu.

Click here

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Figure 6.4.3: Plot of Generator Swing Curves(Three Phase fault: Fault Cleared 0.07s)

0
Observations: The maximum angular separation is = 73 and the critical clearing angle
0
is computed as 70 . Results are plotted in figure 6.4.3.

Note: Prediction of TSM (transient stability margin) is described in chapter-7,

section 7.17.3.

6.4.3 Determine the steady-state stability margin (MW) available for the system under
the given operating condition in exercise 6.4.1. Also determine the transient
stability margin (MW) available for the operating condition given in exercise 6.4.1.
for the three cases of fault, case 1, case 2 and case 3. Can the severity of the
fault be measured using this margin?

Steady state stability margin (SSM)

The SSM of a power system is estimated by the least value of the stability margin
obtained for the principal nodal points (i.e., by the worst point). When the worst point is

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known, the calculation may be limited to the determination of the margin for this single
point.

The SSM of a transmission line connecting the power station to a power system must be
equal to 20% under normal conditions and to 8% under short term fault conditions (until
the operating personnel interacts or automatic control action is performed).

For the single m/c infinite bus system example considered, viz,

Vinf

E’d
X’d Xtr Xtrline

Xe
XTotal = X’d + Xe

Assuming the generator is connected to the system of large capacity (Infinite Bus), the
steady state stability condition criteria is

∂P
= 0
∂δ
P transmitte d = P 0 = P m Sin δ
where ,
E d' V inf
Pm =
X Total

E’d Voltage behind transient reactance of generator.

Vinf Infinite bus voltage.

Taking into account the voltage Regulator action,

SSM is given by,

(Pm − P0 ) 1.16 x0.9
SSM = × 100 % Pm = = 1.347 pu,
P0 0.775

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Steady state margin

Stability margin = ((Pm-P0)/P0) * 100 %

1.347 − 0.9
SSM = × 100% = 49.7%
0 .9
6.5 Small Signal Stability Analysis

With the generator represented by the classical model and all resistances neglected, the
system representation is as shown in Figure 6.5.1.

Here E’ is the voltage behind X’d. Its magnitude is assumed to remain constant at the
pre-disturbance value. Let δ be the angle by which E’ leads the infinite bus voltage EB.
As the rotor oscillates during a disturbance, δ changes.

With E’ as reference phasor,

E '∠00 − EB ∠ − δ E ' − EB (cos δ − j sin δ )

I&t = = (6.1)
jX T jX T

Et
It

E '∠δ X’d X EB∠0

X

Figure: 6.5.1 Classical Model

XT = X + X E
'
d

The complex power behind X’d is given by

S ' = P + jQ '
E ' EB sin δ E ' ( E ' − EB cos δ ) (6.2)
= + j
XT XT

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With stator resistance neglected, the air-gap power (Pe) is equal to the terminal power
(P). In per unit, the air-gap torque is equal to the air-gap power. Hence,

E ' EB
Te = P = sin δ (6.3)
XT

Linearizing about an initial operating condition represented by δ =δD yields

∂Te E ' EB
∆Te = ∆δ = cos δ 0 (∆δ ) (6.4)
∂δ XT

The equations of motion in per unit are

1
p∆ω r = (Tm − Te − K D ∆ω r ) (6.5)
2H
p δ = ω 0 ∆ω r (6.6)

where ∆ω r is the per unit speed deviation, δ is rotor angle in electrical radians, ω 0 is the
base rotor electrical speed in radians per second, and p is the differential operator d/dt
with time t in seconds.

Linearizing Equation 6.5 and substituting for ∆Te given by Equation 6.4, we obtain

1
p ∆ω r = [∆Tm − K s ∆δ − K D ∆ω r ] (6.7)
2H
where Ks is the synchronizing torque coefficient given by

 E ' EB 
K s =   cos δ 0 (6.8)
X
 T 
Linearizing Equation 6.6, we have

p ∆δ = ω 0 ∆ω r (6.9)
writing equations 6.7 and 6.9 in the vector-matrix form, we obtain

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 K K   1 
d ∆ω r  − D − s  ∆ω r  +  2 H  ∆T
 = 2H 2H
 ∆δ  
(6.10)
dt ∆δ    m
 ω 0 0   0 
This is of the form x.=Ax+bu. The elements of the state matrix A are seen to be
dependent on the system parameters KD, H, XT, and the initial operating condition
represented by the values of E ′ and δ D . The block diagram representation shown in
Figure 6.5.2 can be used to describe the small – signal performance.
ω0  1
∆δ =  (− K s ∆δ − K D ∆ω r + ∆Tm )
s  2 Hs 
(6.11)
ω  1  ∆δ 
= 0 − 2 K s ∆δ − K D s + ∆Tm 
s  2 Hs  ω0 


By rearranging, we get

KD K ω
s 2 (∆δ ) + s (∆δ ) + s ω 0 (∆δ ) = 0 ∆Tm
2H 2H 2H
Therefore the characteristic equation is given by
KD K
s2 + s + s ω0 = 0 (6.12)
2H 2H
This is of the general form
s 2 + 2ζω n s + ω n = 0
2

Synchronizing torque component

Ks

-∆Te
+ ∆ωr ∆δ
∆Tm 1/(2Hs) ω0/s
∑
-
Figure 6.5.2: Block diagram of a
Damping torque component single machine infinite bus system
with classical generator model
KD
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Ks = Synchronizing torque coefficient in pu torque/rad

KD = damping torque coeffcient in pu torque/pu speed deviation
H = inertia constant in MWs/MVA
∆ωr = speed deviation in pu= (ωr - ω0)/ ω0
∆δ = rotor angle deviation in elec. Rad
s = Laplace operator
ω0 = rated speed in elec. Rad/s = 2 π f0
= 377 for a 60 Hz system

Therefore, the undamped natural frequency is

ω0
ωn = Ks rad / s (6.13)
2H

and the damping ratio is

1 KD 1 KD
ζ = = (6.14)
2 2 Hω n 2 K s 2 Hω 0

As the synchronizing torque coefficient Ks increases, the natural frequency increases and
the damping ratio decreases. An increase in damping torque coefficient KD increases the
damping ratio, whereas an increase in inertia constant decreases both ω n and ξ .

It is proposed to examine the small-signal stability characteristics of the system given in

exercise 6.4.1. about the steady-state operating condition following the loss of line 2.
Assume the damping coefficient KD = 5 pu torque / pu speed.

(a) Write the linearized swing equation of the system. Obtain the characteristic equation,
its roots, damped frequency of oscillation in Hz, damping ratio and undamped natural
frequency. Obtain also the force-free time response, ∆δ (t ) for an initial condition
perturbation ∆δ (0 ) = 5 0 and ∆ω (0 ) = 0, using the available software.
6.4.4 Repeat the small-signal stability analysis carried out using the software package
in exercise 6.4.3 with the following parameters and comment on the relative
stability of each case:
a) KD = 0 pu and – 5 pu

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b) KD = 5 pu but with P = 1.2, 1.5 and 2.0 pu

Invoke MiPower->Tools->Dynamic, the following dialog appears,

2. Click Here
to Save

4. Click Here to
Machine Data View the Results

Infinite Bus
Data

Enter Kd Values

3. Click Here to execute

Kd =0,5, -5 and P =0.9 pu

Input:

1.0 36.0 0.9 0.3 0.9950 0.150 0.500 0.30 3.50 60.0 3 1 0 -5 5 5

Et = 1.0 pu
Angle = 36 deg
Pgen = 0.9 pu
Qgen = 0.3 pu
Infinite Bus voltage = 0.995 pu

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Transformer X = 0.15 pu
Line1 reactance = 0.5 pu
Machine Xd’ = 0.3 pu
H = 3.5 MW-s/MVA
Frequency = 60 Hz
No of Kd values = 3
No of delta values = 1
Kd = 0,-5 & 5
Delta = 5 deg

Output:

Dynamic stability problem -2 m/c Kundur examples

vt theto pgen qgen vinfb xtrnf

1.0000 36.0000 0.9000 0.3000 0.9950 0.1500

xlin m/c xtrnt inert freq

0.5000 0.3000 3.5000 60.0000
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
No. of M/C KD Values = 3, No. of Deldelta Values = 1
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
0.0000
-5.0000
5.0000
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
5.0000
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
delo is 0.8711
aks is 0.7574
xtl is 0.9500
***********
m/c curnt m/c int volt delo ks wn damp -freq
0.9045+j0.2863 0.7231+j0.8591 0.8711 0.7574 6.3867 1.0165

m/c kd damp ratio eigen value1 eigen value2

0.0000 0.0000 0.0000+j6.3867 0.0000+j-6.3867

ddel values m/c kd values

0.0873 0.0000

c1 c2
0.0436 0.0000 0.0436 0.0000

dw(t)=exp(a1*t)*((b1*cos(wd*t)+c1*sin(wd*t)))

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a1= 0.0000 wd= 6.3867 b1= 0.0000 c1= -0.0015

dd(t)=exp(a2*t)*((b2*cos(wd*t)+c2*sin(wd*t)))
a2= 0.0000 wd= 6.3867 b2= 0.0873 c2= 0.0000

m/c kd damp ratio eigen value1 eigen value2

-5.0000 -0.0559 0.3571+j6.3767 0.3571+j-6.3767

ddel values m/c kd values

0.0873 -5.0000

c1 c2
0.0436 0.0024 0.0436 -0.0024

dw(t)=exp(a1*t)*((b1*cos(wd*t)+c1*sin(wd*t)))
a1= 0.3571 wd= 6.3767 b1= -0.0000 c1= -0.0015

dd(t)=exp(a2*t)*((b2*cos(wd*t)+c2*sin(wd*t)))
a2= 0.3571 wd= 6.3767 b2= 0.0873 c2= -0.0049

m/c kd damp ratio eigen value1 eigen value2

5.0000 0.0559 -0.3571+j6.3767 -0.3571+j-6.3767

ddel values m/c kd values

0.0873 5.0000

c1 c2
0.0436 -0.0024 0.0436 0.0024

dw(t)=exp(a1*t)*((b1*cos(wd*t)+c1*sin(wd*t)))
a1= -0.3571 wd= 6.3767 b1= 0.0000 c1= -0.0015

dd(t)=exp(a2*t)*((b2*cos(wd*t)+c2*sin(wd*t)))
a2= -0.3571 wd= 6.3767 b2= 0.0873 c2= 0.0049

Note: dd(t) and dw(t) can be plotted with respect to time by using the above expressions.
For case b, consider power in pu for different values as given and obtain the initial
conditions from the load flow analysis. With the results obtained, feed the data and
execute the program and comment on the results.

Note: For detailed dynamic stability analysis of multimachine systems, refer MiPower
Technical document.

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