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    6 vizualizări6 pagini

    Transient Stability

    Încărcat de

    jo
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    © All Rights Reserved
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    INDIAN INSTITUTE OF TECHNOLOGY. MADRAS 600036 DEC. 27-30 Transient Stability of Power Systems using Lyapunov Functions Rajesh Joseph Abraham and V.G. Rau Abstract. —‘Translent stability studies of power systems are very important to ensure that the system can withstand the transient conditions following major disturbances. This paper throws light upon the different methods for constructing Lyapunoy functions for transient stability of power systems, Index Terms- Lyapunov Direct Method, Lyapunov Funetion, ‘Transient Stability 1. INTRODUCTION JOWER system stability is that attribute of the system or part of the system which enables it to develop restoring forces between the elements thereof equal to or greater than the disturbing forces so as to restore a state of equilibrium, Depending upon the type of disturbance, there are three types of stability : (1) Steady state/Dynamic stability - the ability of the system to restore its initial conditions after a small disturbance (2) Transient stability - the ability of the system to restore its initial conditions after a large disturbance or to go to.a condition close to the initial one (3) Resultant stability ~ if after a large disturbance, the synchronous operation of the system is violated and restored after an allowable interval of time, the system is said to have a resultant stability. ‘Transient stability studies are helpful in determining such things as the nature of the relaying system needed, critical clearing time of circuit breakers, voltage level of and transfer capability between systems. Traditionally, transient stability analysis has been conducted off-line using step-by-step time- domain simulations of a wide range of possible system conditions. This is one reason why direct numerical integration of the system equations of motion becomes increasingly unattractive for large systems as the required computer time and memory size For such an analysis becomes prohibitively expensive. Each one of these may give completely different transient stability results that transient stability should be investigated for all a priori selected disturbances and all adapted steady state conditions. Manuscript recived May 28, 2008 Rajesh loseph Abraham is Research Scholar with the Department of leteal aginorig, Indian laste of Technology, Kharagpur ~721 302 India ema aye itgpemet i, 'V-G. Rau isa Profesor with the Deparment of Eletical Enginevng Indian Institute of Technology, ‘Kharagpur — 721 302, India (email ‘gree itp.eme in) ‘Transient stability studies are very important and essential to ensure that the system can withstand the transient condition following major disturbances like different faults or changes in system loading, system generation, network connections tc, Mathematical modeling of a power system is essential for transient stability analysis. Mathematical modeling involves the formulation of performance equations in the form of differential and algebraic equations for synchronous ‘machines, excitation systems, speed governing systems, loads and transmission networks. Accurate modeling of the disturbance is of extreme importance for correct transient stability assessment in power systems. State space models derived from the above mathematical equations are used in transient stability analysis, Equal Area Criterion [1], Transient Energy Method [2], Energy Integral Criterion [3], Phase Plane ‘Techniques [4] and the Lyapunov Direet Methods (LDM) are direct methods commonly used for transient stability analysis of power systems, Recent developments in the LDM have led to its being increasingly accepted as a convenient tool for fransient stability analysis. In this paper, different techniques for generating Lyapunov functions for the transient stability studies of power systems is looked into. LDM requires the power system equations in state space form, The LDM, as itis known in contol literature, applied to the power system transient stability problem involves the following essential steps: (1) Development of a mathematical ‘model of the power system characterizing its €ynamis and its state space representation about the post fault equilibrium point (2) Construction of a Lyapunov function for the model developed in step 1 (3) Estimation of the boundary of the stability region (4) Integration ofthe equations of the faulted system until the system trajectory reaches the boundary, thus obiaining the critical clearing time I, CONSTRUCTION OF LYAPUNOV FUNCTION A. Lyapunov Direct Method ‘The central idea of LDM is to detect stability or instability for a given system by using the properties of an auxiliary function of the system state variables, V(X), also known as the Lyapunov function. A dynamical system represented in the state space form as = F(X), F(0)=0 is said 10 be asymptotically stable in the large if the properties are satisfied for a scalar function follow ray [NATIONAL POWER SYSTEMS CONFERENCE, NPSC 2004 (A) VOX) > O forall X40; VO) =0 (2) 7 (X) <0 and F(X) does not vanish identically for ¢ > 0 along any other solution of the system excepting X (3) VOX) > was |x|] +o. It may be noted that the stability conditions of Lyapunov are sufficient and may not be necessary. Consequently, the failure to find the VOO, F(X) pair which satisfies the Lyapunov conditions does not necessarily mean that the system is unstable. The construction of a suitable Lyapunov funetion is an Important factor in the application of the direct method to the westigation of transient stability of power systems. A large number of methods are available for the construction of Lyapunov function in the control literature. Various methods employed for constructing Lyapunov functions for power system transient stability study can be categorized into two ‘groups. (1) methods applicable only for single-machine infinite bus systems, and (2) methods applicable for both single-machine and multi-machine power systems. Among the methods in the first category, only a few can handle the higher ‘order models, taking into account the effects of all control ‘equipments. Also, these methods become tedious when more ‘accurate representation of control equipment is warranted. B. Stability Regions Identification of stability regions occupies a position of central importance in the practical application of the Lyapunov method to power system transient stability analysis. ‘The stability region around the origin of the post-fault ‘equilibrium state X = 0 for any Lyapunov function V(X) is, defined by an inequality V(X) < Vg where Va, is a constant to be computed. The constant Va; is obtained by evaluating the function V(X) = Vg corresponding to the unstable ‘equilibrium point, Le. the lowest saddle point. For a system described by the state equation X= FOX), the determination ‘of unstable equilibrium points requires the solution of non- linear algebraic equations F(X) = 0. IIL, METHODS OF CONSTRUCTING LYAPUNOV. FUNCTIONS A. Trial and Error Method In the Trial and Enror Method [5, 6, 7, 8], a quadratic function with unknown coefficients is assumed as. the Lyapunov function. These coefficients are determined by trial ‘and error. Different V functions have been proposed for mple models of single-machine infinite bus systems and an ‘energy-type function is obtained for multi-machine power systems. This method is time-consuming and requires ‘engineering experience, Hence itis very difficult to use it for a higher-order multi-machine power system model. B. Carnuright’s Method Cartwright’s method involves the generation of a Lyapunov function for the linearised power system model, and its generalisation for the nonlinear model. Routh - Hurwitz stability conditions are to be satisfied for the linear case. Dharma Rao (9] applied this method to generate Lyapunov functions for the basic Second order model of the single- machine infinite-bus system and Lyapunov functions of the following type were generated, () raxd 2p seo 0) Patera +2 fond where f(x) =h, sin db; sin 5°. This method can be extended fo @ multi-machine system represented by a second order model and an energy-type Lyapunov function can be generated. But this generalisation becomes increasingly difficult as the degree of detail in the teptesentation of ‘machines and associated control apparatus increases . Aizerman’s Method Aizerman’s method as applied to power systems is closely related to that of Cartwright, A general quadratic form is chosen to serve as a Lyapunov function, The coefficients in the quadratic form are determined so that it will be a valid Lyapunov function for the linearised system. The V function thus generated is applied to the nonlinear system with the restriction which applies to I to establish limits above the linear approximation, which the nonlinearities may not exceed. Since a V function generated for a linear system is applied to a nonlinear model, the stability region will be very small. Further, the assumption of a quadratic form for a mult ‘machine system is not an easy task. Hence this method is not suitable for power system models which are highly nonlinear D. Zubov's Method Conventionally, Zubov’s method of constructing a Lyapunov function involves solution of the following partial differential equation for a system ¥ = F(X) ye i ex, where V is the desired Lyapunov function and @ is a positive definite or a semidefinite function of the state variables. The closed form solution and a unique Lyapunov funetion can be obtained only if @ suitable choice of this @ function can be made. When the solution is not possible in closed form, solution by series expansion of V is necessary. ‘Yu and Vongsuriya [10] applied this method to a basie second order model of a single-machine infinite-bus system with nonlinear damping coefficient and transient saliency, The transcendental terms in the system equations were represented by a truncated series and a positive definite function @ (8.00) was used, The approximated boundary of the asymptotic stability region of the post-fault system was given by the l=) INDIAN INSTITUTE OF TECHNOLOGY. MADRAS 600 036 DEC.27-30 truneated Lyapunov function series. It has been experienced that the approximate stability region does not ‘approach the true boundary monotonically with the increase of the number of terms N in the truncated Lyapunov function series. Further, the programming effort and computational time requirement are considerable. The application of the ‘method to higher-order systems is difficult and tedious. To ‘overcome these difficulties, the conventional Zubov’s method ‘was further generalized and a stability boundary in closed form was obtained by Prabhakara eral [11]. E. Stegov's Procedure Hewit and Storey [12] used Szego's procedure to generate ‘a Lyapunov function. The method is suitable for the following, system. aan sgh) +265) The nonlinear funetions (x) and g(a) ean be represented either as. polynomials or as. such, and the closed-form Lyapunov function can be obtained, Prusty and Sharma [13] applied this method to single-machine inginite-bus systems, with nonlinear damping and transient saliency. The obtained Lyapunov function was Vent ean [toda jondes f° [aratenda where ay(xy)= of +a 0524 40°) and fils) = by sina, + 3°) ~e, sin 2(x, + 3°)~ Py? However, this method is suitable only for a second-order system, F. Popov's Method ‘The Popov frequency domain criterion forthe stability of a nonlinear system containing the nonlinearity in the frst and third quadrants, is used to construct Lyapunov functions. Using the Popov criterion as the necessary and sufficient condition for the existence of the Lyapunov functions, two ‘methods, (I) based on Kalman’s construction procedure [14] which is meant for single-argument nontinearity and further modified by Desoer and Wu [15] with multi argument nonlinearities and (2) based on the Moore-Anderson theorem [16,17,18,19] have been developed to construct Lyapunov functions for power systems. Pai and Murthy (20) applied this method for a two-machine system, including the effect of ‘ransfer conductances in system models. Henner proved that the generalized Popov criterion cannot be used to construct a Lur'e type Lyapunoy function for a multi-machine power system model if transfer conductances are included. Gudaru [21] attempted to generalize the procedure of Pai and Murthy {20] and generated a V function for the basic second order modelof the multi-machine system — with transfer conductances. Sastry [22], have shown that this generalized V function is not a valid V function and that the Popov method is inapplicable to multi-machine power system ‘models with transfer condutances taken into account. The ‘Moore-Anderson criterion is applicable only to systems with single-argument nonlinearities. When the effect of flux decay is also included in the system model, the system will involve rmulticargument nonlinearities and Moore-Anderson’s, ‘theorem cannot be used directly. Kakimoto era! (23) applied Pai’s correction which is applicable to systems with multi= argument nonlinearities, along with Moore-Anderson’s theorem. G Lagrange’s State Function Method In classical mechanics Lagrange’s state function is used as ‘an energy function for the system represented by simultaneous second-order differential equations [24]. Since the swinging behaviour of a power system can be represented by simultaneous second-order differential equations, Lagrange”s state funetion can be used to construct a Lyapunov function for the power system. The detailed procedure is given in [25, 26]. The model to which this was applied includes salien ‘lux decay effect and the first order feedback-type voltage- regulator, H. Lagrange Charpit Method The Lagrange-Charpit Method, which is a well known technique for solving partial differential equations, is used to construct the Lyapunov Function, The Lagrange-Charpit method of constructing the Lyapunov function for @ nonlinear autonomous system represented by X= /(X), f(0)=0 based on the solution of the following partial differential equation PUV,P)=PT F(X) +e(X)=0 where P=AV/AX and 4) is an arbitrary non-negative function whose opposite sign may be the time derivative of the obtained Lyapunov fiction V. The determination of the scalar function, V, through the Lagrange-Charpit method is done in [27, 28}. 1 Variable Gradient Method The Variable Gradient Method has been applied to both single-machine infinite-bus systems and multi-machine systems [29, 30,31, 32]. Its possible to include the effect of flux decay, proportional plus derivative type automatic voltage regulator and a second order speed governor in the system model for a single-machine infnite-bus system. In the case of multiemachine systems, the method has been applied to generate the Lyapunov function for a basic second order ‘model and for a system which includes the effect of first order governor, Energy type Lyapunov functions have been generated. The Variable Gradient Method is a logical and systematic one for generating a Lyapunov function. But the main disadvantage of the method is that a particular choice of

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