AU Powerlab

USER REFERENCE MANUAL

FOR
MULTIMACHINE TRANSIENT STABILITY
DOCUMENT NO ANTS - URM – 1.0

April 2004
ANNA UNIVERSITY
CHENNAI – 600 025
 Contents

About This Document (i)

Preamble (ii)

CHAPTER 1: GETTING STARTED 1-1

1.0 Introduction 1-1
1.1 Component Models 1-1
1.1.1 Synchronous Machine (SM) 1-1
1.1.2 Excitation System 1-1
1.1.3 Power System Stabiliser (PSS) 1-1
1.1.4 Governor-Turbine Systems 1-2
1.1.5 Static Var Compensators (SVC) 1-2
1.2 Case Descriptions 1-2
1.3 Running The Packaged Examples 1-3
1.4 Editing Examples 1-5
1.5 Saving The Changed Case 1-6
1.6 Adding New Data 1-6
1.7 Summary 1-6
1.8 Suggested Illustrative Exercises 1-7

CHAPTER 2: CREATION OF DATA FOR YOUR PROBLEM 2-1

2.0 Introduction 2-1
2.1 Creation Of Additional Data Groups For Stability 2-1
2.2 Summary 2-6

CHAPTER 3: SAMPLE SYSTEM DESCRIPTION AND DATA 3-1

3.0 Sample System Description 3-1
3.1 Single-line Diagram 3-1
3.2 Modelling Details For Cases 3-1
3.2.1 Additional Case Involving Induction Motor – Case No. AIND 3-1
3.3 Branch Data For Cases A911 – A941 3-2
3.4 Generator Data 3-3
3.5 Excitation System Data [6] 3-3
3.6 Governor-turbine Data [7] 3-3
3.7 Data For Induction Motor [5] 3-3
3.8 Load Flow Results 3-3
3.9 Disturbance Sequence 3-4

Reference

Appendix – Error Messages

 (i)
About this document

This document explains data preparation for Transient Stability module of AU

Powerlab. The focus here is on the groups of data other than network parameters and
initial conditions. The network parameter data includes electrical parameters of lines
and transformers. The initial conditions are the relevant results of a load flow
performed for the network. Familiarly with the Power Flow module and the User
Reference Manual for Power Flow Analysis Module, Document No. ANLF – URM –
1.0 are assumed. In adherence to the conventions, italics are used for menu options,
dialogue box and menu titles and responses from the program.

Accompanying documents

1. LABORATORY MANUAL, Doc. No.ANTS - Th- 1.0

2. USER REFERENCE MANUAL FOR LOAD FLOW, Doc.No. ANLF-URM-1.0
 (ii)
Preamble

Why Transient Stability Analysis?

Transient Stability Analysis is one of the vital functions of power system planning
exercise. Transient Stability simulations are also carried out for purposes of setting
protective relays. In order to ensure integrity of the system and achieve an acceptable
degree of quality of power, the ability of the generators in the system to remain in
synchronism under conceivable disturbance scenario must be assessed. This calls for
accurate modelling of components such as synchronous machines and their control
systems, asynchronous machines and other controllers such as static var compensators
etc. that participate in the dynamics triggered by a disturbance or an operator action.

Methodology Adopted
The Mutimachine Transient Stability program is based on the state-of-the-art
approach in which the algebraic equations associated with the network and the
differential equations associated with the synchronous and asynchronous machines
and their controllers and the controllers associated with the network are solved
simultaneously to obtain time response of chosen variables[1]. This approach
eliminates the amplification of numerical errors that will be introduced when the
algebraic and differential equations are solved separately in an alternating fashion.
The numerical integration technique used is the trapezoidal rule. Optimal ordering,
sparse matrix and sparse vector techniques are employed to speed up the solution and
minimise storage requirements.

Features

• Component modelling
o Synchronous machines: - Simple (classical model; constant voltage behind
transient reactance)
- Detailed (two-axis; variable voltage behind
transient and subtransient reactances)

o Excitation Systems : - IEEE Type rotating amplifier

- IEEE Type brushless
- Static Commercial Type 1
- Static Commercial Type
o Power System
Stabilisers : - IEEE
- Commercial Type 1
- Commercial Type 2

o Governor-Turbine : - Steam (IEEE)

- Hydro (IEEE)
- Commercial
o Static Var
Compensators : As per Cigre`

o Induction Motor : Two-axis model in the network coordinates

 (iii)
• Disturbance Simulation
o Bus short-circuit application/removal
o Load rejection/recovery
o Single and multicircuit branch opening and closing
o Loss of generation
o Loss of excitation
o Induction motor starting and stopping
o Load shedding schemes with underfrequency, underfrequency with df/dt
sensor and undervoltage

The interfacing of excitation system model with the transient stability algorithm is
based on [2]. The interfacing of other controllers and disturbance simulation is based
on [3].
 CHAPTER 1: GETTING STARTED

1.0 Introduction
This chapter will assist the user in exploring the packaged examples. These examples
are arranged in the increasing order of complexity and cover common disturbances to
which a power system will be subjected. The single line diagram and basic data for
the system used in the packaged examples are taken from [4]. They are given in
Chapter 3. The student is urged to spend considerable time with these examples as it
will help in understanding basics of system dynamics and will familiarise him with
the software usage.

1.1 Component Models

The component models for which facilities for data entry/editing are provided are as
follows.

1.1.1 Synchronous Machine (SM)

There are three types of SM models available:
Type 0: Classical model in which the machine is represented by a constant internal
voltage behind transient reactance; saliency ignored.
Type 1: Two-axis model in which the SM is represented by variable internal voltages
behind transient reactances
Type 2: Two-axis model in which the SM is represented by variable voltages behind
subtransient and transient reactances.

1.1.2 Excitation System

Type 1: IEEE Type 1 Excitation System; See Exhibit-1.1
Type 2: Brushless Excitation System; See Exhibit-1.2
Type 3: Commercial Static Excitation System-1; See Exhibit-1.3
Type 4: Commercial Static Excitation System-2; See Exhibit-1.4

1.1.3 Power System Stabiliser (PSS)

Three PSS models are available, namely, one proposed by IEEE, Exhibit-1.5 and two
typical commercial models, Exhibits 1.6 and 1.7. Three stabilising signals are
provided for IEEE model and one or more stabilising signals for the commercial
models. The options for model-signal combinations available are:
Option 1: IEEE model with speed deviation as stabilising signal
Option 2: IEEE model with accelerating power as stabilising signal
Option 3: Commercial model, Exhibit-1.6, with accelerating power as stabilising
signal
Option 4: IEEE model with active power from a reference point as stabilising signal.
as stabilising signal. The reference point is the steady-state active power
generation before disturbance.
Option 5: Commercial model, Exhibit-1.7, with active power and speed stabilising
signals

1-1
1.1.4 Governor-Turbine Systems
Three governor-turbine models are available . They are
(i) Steam governor-turbine, Exhibit-1.8
(ii) Hydro governor-turbine, Exhibit-1.9
(iii) Commercial digital hydro governor-turbine, Exhibit-1.10

1.1.5 Static Var Compensators (SVC)

The block diagram of the SVC model available is shown in Exhibit-1.11

1.2 Case Descriptions

S..No 1 No Controllers ( 0 0 0)
Transient Stability Illustration Example Case No. A911
3 M/C 9 Bus System; PM Anderson, AA Fouad, Power System Control And Stability,
Iowa State University Press, Ames, Iowa, 1981,Pp.38-39
M/C Types 0 0 0 ; No Controllers
Disturbance Sequence As In The Text Book
SC Line Between BUS5 And BUS7

S.No 2 No Controllers – Load Rejection

Transient Stability Illustration Example Case No. A9LR
3 M/C 9 Bus System; PM Anderson, AA Fouad, Power System Control And Stability,
Iowa State University Press, Ames, Iowa, 1981,Pp.38-39
M/C Types 0 0 0 ; No Controllers
Disturbance: Full Load Rejection At BUS8

S.No 3 Above + Governor

Transient Stability Illustration Example Case No. A9LRG
3 M/C 9 Bus System; PM Anderson, AA Fouad, Power System Control And Stability,
Iowa State University Press, Ames, Iowa, 1981,Pp.38-39
M/C Types 0 0 0 ; Ieee Steam Turbine-Governor Assumed For Bus2
Typical Steam Turbine-Governor Parameters From P.Kundur, Power System Stability
And Control, Mcgraw-Hill, 1993, Chapter 9
Disturbance: Full Load Rejection At BUS8

S.No 4 No Controllers ( 0 1 0)
Transient Stability Illustration Example Case No. A912
3 M/C 9 Bus System; PM Anderson, AA Fouad, Power System Control And Stability,
Iowa State University Press, Ames, Iowa, 1981,Pp.38-39
M/C Types 0 1 0 ; No Controllers
Disturbance Sequence As In The Text Book
SC Line Between BUS5 And BUS7

S.No 5 Above + IEEE Exciter

Transient Stability Illustration Example Case No. A921
3 M/C 9 Bus System; PM Anderson, AA Fouad, Power System Control And Stability,
Iowa State University Press, Ames, Iowa, 1981,Pp.38-39
M/C Types 0 1 0; IEEE Type 1 Exciter On M/C 2 (BUS2)

1-2
Exciter Data Given In Anderson & Fouad Text P.354. Type Amplidyne. Saturation
And Efd Max & Min Values Are Taken From Appendix D Unit F5 pp 441.
Disturbance Sequence As In The Text Book

S.No 6 Above + Steam Governor

Transient Stability Illustration Example Case No. A941
3 M/C 9 Bus System; PM Anderson, AA Fouad, Power System Control And Stability,
Iowa State University Press, Ames, Iowa, 1981,Pp.38-39
M/C Types 0 1 0
IEEE Type 1 Exctr + IEEE Steam Governor On Machine 2 (BUS2)
Disturbance Sequence As In The Text Book

S.No 7 Induction Motor

Transient Stability Induction Motor Starting Case No.AIND
Motor Parameters From PC Krause,Analysis Of Electric Machinery, Mc Graw-
Hill,1986, Data From P.190, Data For 2250 Hp Motor; Results To Be Compared With
Those Given In Pp.335-336 Since Stator Transients Are Neglected;
Motor Ratings: 2.3 kV and 1.6785 MVA Assumed
Motor Starting - Free Acceleration

1.3 Running The Packaged Examples

We will illustrate the procedure to run and obtain results from packaged examples
through Case No.A911. The opening screen for the Transient Stability module of AU
Powerlab is as shown in Fig. 1.1. Follow the menu option sequence

Tutorial => Examples => A/F(9 bus) => No Controllers (000)

to select the case. To make sure that you have made the selection correctly follow the
route

Project => Edit Project=> View / Modify / Delete => Case Description

which will display the detailed case description.

Familiarise yourself with the system by viewing various groups of data. To run the
Transient Stability program follow the route

Run => Transient Stability Simulation

from the opening screen or

Run Transient Stability

available in the edit menu. An error free execution of the program is indicated by the
message “Program Completed Successfully!”. Now the results are available for
viewing and plotting. A conventional text format output which contains the system

1-3
data, results of initialisation and the disturbance sequence can be viewed by following
the sequence

View => Output.

To plot the variation of generator variables as a function of time follow the sequence

View => Plot => Generator Variables =>Machine => angle(say).

This will result in the display of column numbers of the angles of machines that are
written in the plot file created by the Transient Stability program. The display is
shown in Fig 1.2. The first machine, in this case BUS1, is always taken as the
reference machine. The second column in the plot file contains absolute angle of this
machine at various time instants from 0.0 to maximum time specified in the “General
Parameters” group of data. The first column in the plot file contains the time
instants. The third and subsequent columns contain relative angles of other machines
with respect to the first machine. Pressing Continue Plotting >> invokes the plotting
program which asks for the x-axis column number and column numbers for y
variables. Specify 1 for x-axis column number and 3 for y1 column number to get the
plot of relative angle machine 2 with respect to machine 1

Following machine variables can be plotted:

(i) Speed: Deviation of individual machine speed from synchronous speed in
radians/second
(ii) P Mechanical: Mechanical power input to the alternator from prime mover
in MW
(iii) Machine Angle: The absolute angle of the first (reference) machine and
relative angles of second and subsequent machines with respect to the first
in radians
(iv) P Generation: Active power output of the generator in MW
(v) Q Generation: Reactive power output of the generator in MVAR
(vi) Terminal Voltage: The terminal voltage magnitude
(vii) Exciter Output: Output of the excitation system

In addition we can plot following network variables:

(i) Magnitude of voltage of the buses other than generator terminal nodes in
pu.
(ii) Branch variables such as magnitude and phase angle of the current leaving
the “from“ bus of the branch, real and reactive power leaving the “from”
bus in physical units and real and imaginary part of the impedance viewed
from the “from” bus in pu.

1-4
1.4 Editing Examples
Let us say that you want to change the H-constant of generator 2. Then follow the
sequence

Project =>Edit Project =>View / Modify / Delete

This will result in the edit menu shown in Fig 1.3. Now press

Generator / Elec./ Mech parameters

to get the generator data entry form for generators. Select BUS2 from the combo box
which will fill up the form with data for generator 2. You can now replace 3.333 by
the new H-constant value. Don’t forget to save the change you made.

The changes made by you will not affect the master copy of the data for each case.
Instead, what the program does is to make a temporary working copy and the changes
made by you are written in to this copy.

The View / Modify / Delete option also allows you to delete a component other than
generators, SVCs and loads. For example, to remove the excitation system model
from the example Above +IEEE Exciter (Case No.A921) follow the sequence

Tutorial =>Examples => A/F (9 bus) => Above + IEEE Exciter

to select the case. Follow the sequence

Project => Edit Project =>View / Modify / Delete =>Generator/Elec/Mech. parameter

to get the generator data entry form. Then from the generator bus name combo box
select BUS2. This selection will display IEEE Exciter in the excitation system combo
box. From this combo box select NO EXCITER option and press save.

Deleting a disturbance from a disturbance sequence can be done as follows. Suppose

you want to delete the disturbance, element opening between BUS5 and BUS7 in the
disturbance sequence of the example No controllers (000) (Case No.A911). First
select the case:

Tutorial => Examples => No controllers (000),

Next, get the list of disturbances by following the sequence:

Project => Edit Project => View / Modify / Delete => Disturbance

This menu option sequence results in the display of all the disturbance in the
disturbance sequence as shown in Fig. 1.4. Select the disturbance you want to remove
and press confirm to get the data entry form shown in Fig. 1.5 for the selected
disturbance. Press Delete and Save.
1-5
You can edit any group of data displayed in the edit menu of Fig 1.3 directly from
Transient Stability module except the network parameters and initial conditions, the
network parameter data includes electrical parameters of lines and transformers. The
initial conditions are the relevant results of a load flow output for the network. To
edit them you must select Add / Edit Load Flow Data. Selection of this option takes
you to the Load Flow opening screen. Editing and addition of load flow data is
explained in the document “USER REFERENCE MANUAL FOR POWER FLOW”,
Doc No ANLF-URM – 1.0

1.5 Saving The Changed Case

Suppose you want to save your copy of the changed case A911 under the name
MY9BUS. Then follow the sequence

Project => Save Project => MY9BUS.

Note that MY9BUS can be placed in any subdirectory of your choice.

1.7 Adding New Data

You can add parameters of induction motor and details of additional disturbances
directly from Transient Stability. If you try to add generator (or SVC) parameters,
then you will get a prompt ” First Add Generator (or SVC) in Load Flow”. You can
add induction motor parameters by following the sequence

Project => Edit Project => Add New Data => Induction Motor

You can however, add models generator controllers from Transient Stability. Suppose
you want to add IEEE Type1 of excitation system model to generator 2 in the
example No controllers (000). Then follow the menu option sequences given below:
Selection of the example:
Tutorial => Examples => A/F (9 bus) => No controllers (000)

Get the generator data entry form:

View/Modify/Delete => Generator Elec/Mech parameter

Then select BUS2 from the combo box. For this generator, you will find NO
EXCITER displayed in the excitation system combo box. From this combo box select
IEEE Type 1 exciter from this combo box and you will be asked “ Do You Want To
Change The Exciter Type of generator ?”. Answering Yes will take you to IEEE Type
1 Excitation System data entry form.

1.7 Summary
In this chapter we have seen in detail how to use the packaged examples and learn
more about the behaviour. Specifically, you have learnt
• How to invoke the example
• How to browse through the data for the example
• How to run the example and view the results and plot results
• How to add and remove data
• How to change data and save a changed data case
1-6
1.8 Suggested Illustrative Exercises

(i) Run the data case A911(S.No.1) and note the maximum and minimum
reached for the swing of machine 2 with respect to machine 1. Double the
H-constant of machine 2 and repeat the exercise. Justify the changes in the
maximum and minimum values. Also comment on the frequency of the
swing before and after the increase of the H-constant.
(ii) Determine the critical clearing time for the case A911 (S.No.1) by
gradually increasing the time at which the fault is cleared at BUS7 and the
time at which the branch element between BUS5 and BUS7 is removed.
The maximum value of fault clearing and element opening times just
before instability was detected is the critical clearing time. Double the H-
constant and determine the critical clearing time. Comment on the results.
(iii) Run the cases A9LR (S.No.2) and A9LRG (S.No.3) and note the trend of
speed deviation of machine 2 from synchronous speed and the maximum
excursions. What is your conclusion?
(iv) Run cases A911 (S.No.1) and A941 (S.No.6) and note the trend of speed
deviation of machine 2 from synchronous speed and the maximum
excursions. What is your conclusion?

1-7
 Fig.1.1 Opening Screen

Fig.1.2 Plot File Column Numbers for Case A911.

Plot Variable: Rotor Angles
 Fig.1.3Generator Data Entry form

Fig.1.4 Disturbance Sequence For The Case A911

 Saturation
SE = f(Efd)

Vref VRmax

+
Vt - + - Efd
1 KA + 1
_______ Σ Σ Σ ______
1 + s TR 1 + s TA KE + s TE
+
-
VRmin

Other Signals
(PSS)
s KF
1 + s TF

Exhibit-1.1 Block Diagram of IEEE Type 1

Excitation System
 Saturation
SE = f(Efd)

Vref VRmax

+
Vt - + - Efd
1 KA + 1
_______ Σ Σ Σ ______
1 + s TR 1 + s TA KE + s TE
+
-
VRmin

Other Signals
(PSS)
s KF
(1 + s TF 1)(1 + s TF2)

Exhibit-1.2 Block Diagram of IEEE Type 2

Excitation System
 Vref
Efdmax
+
Vt 1 VOV +
Σ Σ
- 1+s TRV 1+s TCV Efd
+ -
Efdmin

Other Signals
s TEV VOV
1 + s TCV

Exhibit-1.3 Block Diagram of Commercial Type 1 Static

Excitation System
 Vref
Efdmax
+
Vt 1 (1+ pTA) (1+ pTB)
Σ Vo
1 + s TR - Efd
(1+ pTC) (1+ pTD)
+

Efdmin
Other Signals

Exhibi-1.4 Block Diagram of Commercial Type 2 Static Excitation System

 Output Limits

Ks s Tw




1 + s T2 1+sT4
- _______
1 + s T1 1 + s T3 1 - s Tw
To Excitation
System Input

Exhibit-1.5 Block Diagram of IEEE Power System

Stabiliser Model
 Lmax

1 + To Voltage
pT1 K1 Σ regulator input
1+ pTx 1+ pT1
+

Lmin

K2
1+pT2

Exhibit-1.6 Block Diagram of Commercial Type 1 Power

System Stabiliser
 Uss1max





1 sT2 +
Kss1 Σ
1+sT1 1 + sT2
+

Uss1min


1 sT2
Kss1
1+sT1 1 + sT2

Exhibit-1.7 Block Diagram of Commercial Type 2 Power

System Stabiliser
 + + Pm
Σ Σ
+ +

Rate Limits Position

Pref KHP KIP KLP
Pup Limits
Pmax

+
+ + 1 1 Ps 1 1 1
Σ K(1 + sT2)
_______ Σ


o
(1 + s T1) T3 s 1 + s T4 1 + s T5 1 + s T6
- -


Pdown Pmin

Exhibit-1.8 Block Diagram of Steam Governor-Turbine

 Rate Limits Position Limits
Pup Pmax

Pm
+ + 1 1 1 1 - s Tw
Σ Σ
(1+sTP) TG s 1 + 0.5 s Tw
- -
Pdown


Pmin

Transient droop compensation

δ s TR
Σ
+ (1+sTR)
+


σ
 CHAPTER 2: CREATION OF DATA FOR YOUR PROBLEM

2 0 Introduction
Creation of a new data case defining your problem is straightforward. The data
required for transient stability can be classified into following groups:
• Case description
• General parameters such as step size of numerical integration, maximum time
of simulation, various convergence tolerances etc.
• Bus data which consists of data for following types of buses
o Generator bus
o SVC bus
o Load bus
Every stability study has to be preceded by a load flow solution which
determines the initial conditions for the state variables such as rotor angle.
The above types of buses have to be specified during the load flow. Hence, if
you want to remove a generator for stability study, first it must be done in load
flow.
The data for the above buses are quantities specified for the load flow and the
relevant results of the load flow. For example, for a generator bus, active
power and voltage magnitude are specified and reactive power and voltage
phase angle are the relevant results required from the load flow.
• Branch data which includes the impedance parameters of lines and
transformers. These are identical to what load flow requires as input.
• Generator electrical and mechanical parameters such as positive sequence
resistance and reactances and inertia. This group might possibly include data
for controllers such as excitation systems, power system stabilisers and
governors.
• Induction motor electrical and mechanical parameters if required
• Static var compensator control system parameters if required.
• Disturbance data

Of the above, bus data and branch data will be automatically created after the
successful execution of the LoadFlow. In this chapter we will concern ourselves with
the remaining groups of data. It is important to note that the relevant data for stability
must be created at one stroke, i.e, you cannot enter the data in instalments. Wherever
possible default values have been built in to speed up data preparation. We will
concentrate on new data case creation since data editing has been explained in detail
in the previous chapter. The data has to be created sequentially in the above order.

2.1 Creation Of Additional Data Groups For Stability

Let us assume that we want to create a data for the three machine-nine bus system
with a different generation and load schedules, i.e, different active power and voltage
magnitude specifications for generators and different active and reactive powers
consumed by loads. The data creation for this problem would proceed as follows:

2-1
Project => New => Data Preparation => Yes (to Confirm The Transient Stability
Input Data Preparation)

Entering Case Description

From the menu Input Data Preparation – New Project press Case Description.
Enter, for example , “3 M/C 9 BUS SYSTEM STABILITY DIFFERENT
GENERATION & LOAD SCHEDULES” in the Case Description dialogue box and
press Ok. Note that you will not be allowed to proceed to the next group until you
complete this group.

Entering General Parameters

From the menu Input Data Preparation – New Project press General Parameters.
The data entry form shown in Fig.2.1 appears. Pressing DEFAULT fills up the blank
boxes with default values. If required you can selectively override the default values.
Do not forget to press Save button.
Note:
In the simultaneous-implicit approach implemented in the program, the algorithm
iteratively solves for the algebraic and differential equations mentioned earlier. There
can be a number of sources of iteration depending on the component present and
modelling complexity. They are
i) rotor angle prediction which requires rotor angle convergence tolerance
ii) generator saliency which requires voltage magnitude convergence tolerance
iii) excitation system which requires an internal voltage magnitude convergence
tolerance
iv) governor-turbine which requires speed convergence tolerance
v) induction motor which requires slip convergence tolerance

Preparation Of Initial Conditions

From the menu Input Data Preparation – New Project press Initial Conditions (Load
Flow). This leads you to the opening screen for the LoadFlow. Preparation of data for
LoadFlow is explained in the USER REFERENCE MANUAL FOR POWER FLOW
MODULE, Doc. No. ANLF-URM-1.0. The changed generation schedule is: BUS2 to
deliver 100 MW and BUS3 to deliver 50 MW. The changed loads (MW + j MVAR)
are, at BUS5: 75 + j 25, at BUS6: 50 + j 15 and at BUS8: 75 + j 20. A faster way of
preparing the data would be to select the 9bus example from Tutorial and selectively
change the generator and load data. After successful execution of load flow follow the
sequence
Project => Exit LoadFlow => Yes ( in reply to Do You Want To Exit?)

This menu takes you back to stability and you can continue data creation.

Entering Generator Electrical And Mechanical Parameters

For the 9Bus example with changed generation and load schedule you need not enter
this group of data afresh. However, if you want to change the generator parameters,
from the menu Input Data Preparation – New Project press Generator Elec./Mech.
Parameter which results in the display of generator data entry form similar to the one
showed in Fig.1.3. Note that the name of the bus where the first generator is
2-2
connected is automatically displayed. You can enter the electrical and mechanical
parameters box by box or selectively override default data. Default data will be
displayed if you press DEFAULT. After entering data for the first generator press
Next>> to go to data entry for the second generator. At the end of data entry for all
generators pressing Next>> will result in the message All Generator Bus Details Are
Entered . Now press OK and the Save buttons that appears in the generator data entry
form.
Note:
(i) The resistance and reactance parmeters and the H-constant of the generators must
be on the system Base MVA specified in the General Parameters group.
(ii) The damping coefficient on generator rating Dpu rating is defined as the ratio of
change in power in per unit of rated power to change in speed in pu of synchronous
speed, with a typical value = 1.0. The value to be entered in the data form depends on:
(a) the form of swing equation used in the program – torque form or power form, (b)
per unit system used in the program. The power form of swing equation is used in the
program. The per unit system is used is power in pu on the base of Base MVA entered
in the General Parameters  !#"$&%'(*),+-%.#/+0&%2143!5/617)89:;%/(<)6" = B = 1.0)
and time in seconds (base for time, tB = 1.0). To convert it into system base and units
adopted in the program use the formula
Dpu rating > B
D=
(SB / Srating? @ S
ACB'D&ED6FHG
B IJ'KMLONPLRQ'N#N6ST2U S = synchronous speed, SB = base MVA and Srating = MVA
rating of V<W/XZYX&['X&\]&V_^:\a`&bP^:V_XcV<W/] Ved B fhg B / tB =1.0. Assuming a base of 100 MVA and
Dpu rating = 1.0, the damping coefficients of the three generators using the above
formula turns out to be 0.0066 for the generator connected to BUS1, 0.0051 for the
generator connected to BUS2 and 0.0034 for the generator connected to BUS3. With
the per unit system adopted in the program, the unit of D will be pu
power/(radian/second)

Entering Data For Induction Motor

For the 9Bus example with changed generation and load schedule data this group of
data is not required.
Induction motors are represented as constant active-reactive power loads in load flow.
If a detailed representation of them are needed in stability, then from the menu Input
Data Preparation – New Project press
Induction Motor Data => Yes

in response to the prompt Do You Want To Represent Induction Motor? This results in
the induction motor data entry form shown in Fig.2.2. Select the bus which was
represented as the P-Q load in load flow and enter the data. The resistance and
reactance data requested in Fig.2.2 are the steady-state equivalent circuit parameters.
The rotor quantities should be referred to the stator side. The load on the motor shaft
is represented as an opposing torque given by

Tload = B + C s + D s2 pu on base MVA

2-3
where, B, C and D are constants. For constant load set C = D = 0. As per units
adopted in the program,
Base Torque = Base MVA x 106 Newton-meters

You can make use of the DEFAULT option and selectively override the default
values.
Even if you don’t want to represent induction motor you will have to go through the
above sequence but answer No to the above prompt.
Note:
The slip convergence tolerance is for an iterative scheme based on Newton’s method
which solves for an operating slip that corresponds to active and reactive power
specified for load flow. It is different from the slip convergence tolerance that occurs
in the General Parameters group which is for time step solution.

Entering Data For SVC Control System

For the 9Bus example with changed generation and load schedule data this group of
data is not required.
If SVC was represented in load flow then From the menu Input Data Preparation –
New Project press SVC Control System Data. This will result in the display of SVC
data entry form shown in Fig.2.3. Select the SVC bus name from the combo box. The
controlled bus name will automatically appear if the correct SVC bus name is
selected. You can enter the data box by box or use DEFAULT option. As usual, after
the data entry is complete you must press Save.

Entering Disturbance Data

For the 9Bus example with changed generation and load schedule you need not enter
this group of data afresh. However, if you want to change the disturbance sequence,
from the menu Input Data Preparation – New Project press Disturbance Data. This
will result in the disturbance selection form shown in Fig.2.4. You must first enter the
time at which the disturbance is to be applied. Successive disturbance application
times must be larger than the previous ones. If not you will get an error message

??? Disturbance sequence not in chronological order

Disturbance No. n Application Time = x.xxx

while running the Transient Stability program. This occurs when the time of
application of (n-1)-th disturbance is greater than that of n-th disturbance.

The data entry form for individual disturbances are displayed in Fig. 2.5 to 2.10. They
appear as soon as you select a disturbance and press Ok button of the disturbance
selection form. It is advisable to let the system “run” without any disturbance to
ensure that the it “stays” at the initial steady state. Disturbance Free Integration is the
default option in the disturbance selection form and it is selected by pressing END
DISTURBANCE DATA. The errors encountered during execution such as the one
mentioned above are explained in the Appendix.

While most of the buttons in the data entry form of the individual disturbances are
self-explanatory, it is instructive to note the following:

2-4
(i) Bus short-circuit application or removal: The data entry form for this disturbance is
shown in Fig.2.5.The short-circuit can be a metallic or bolted three-phase fault in
which case real and imaginary part of fault impedances are zero. For approximate
simulation of unbalanced fault the real and imaginary part of fault impedances are as
follows:
Single line-to-ground fault : real and imaginary parts of series combination of Zneg
and Zzero.
Double line-to-ground fault: real and imaginary parts of parllel combination of Zneg
and Zzero.
Line-to-line fault : real and imaginary parts of Zneg.

where, Zneg and Zzero are the negative and zero sequence driving point impedances at
the faulted bus. Znegis usually taken to be equal to positive sequence driving point
impedance at the faulted bus.

If the values of three-phase and single line-to-ground fault levels are known in pu, say
S3 and S1, then
Zneg = 1/S3 ; Zzero = (3/S1) – (2/S3)

(ii) Load rejection/recovery: The data entry form for this disturbance is shown in
Fig.2.6. Ensure that the active and reactive power of the load rejected is less than or
equal to the load present. Other wise, you will get the following error message while
running the Transient Stability program:

BUSX

??? Total P-specified for rejn, ppp.ppp > P-initial

where, ppp.ppp is the active power specified for rejection.

(iii) Element opening/closing: The data entry form for this disturbance is shown in
Fig.2.7. You can also specify a shunt element to be opened or closed. In the case of
transformers with off-nominal taps, tapped winding is assumed to be connected to
“From” bus. A branch element between two buses cannot be opened more than once
unless it is closed after first opening. If you specify to element opening between same
set of buses twice you will get the following error message while running the
Transient Stability program:

??? BRANCH BETWEEN BUSX BUSY OPENED EARLIER & NOT CLOSED

This error will also in the case of multi-circuit branch element between a pair of buses
if you specify more than one element opening.

First disturbance can be element opening. However, first disturbance cannot be

element closing. To achieve this, represent a high impedance between the concerned
buses in load flow and then give the first disturbance as element closing with correct
line parameters. If you specify element closing between same set of buses twice you
will get the following error message while running the Transient Stability program:
2-5
??? BRANCH BETWEEN BUSX BUSY CLOSED EARLIER & NOT OPENED

It is advised that you invoke branch flow plot option for the branch elements that
participate in element opening/closing to ensure that further checks such as larger
values of impedance parameters specified for the branch element to be opened than
those specified in the load flow data are performed.

(iv) Loss of generation: The data entry form for this disturbance is shown in Fig.2.8.
If you specify loss of generation at a bus twice, you will get the following error while
running the Transient Stability program:

??? LOSS OF GENERN SPECIFIED ALREADY: BUS2

(v) Loss of excitation: The data entry form for this disturbance is shown in Fig.2.8. If
you specify loss of generation followed by loss of excitation or if the order is reversed
or if you specify loss of excitation twice you will get following error while running
Transient Stability program:

??? LOSS OF EXCITN SPECIFIED ALREADY: BUS2

(vi) Induction motor start/stop: The data entry form for this disturbance is shown in
Fig.2.9. There are number of checks performed to see that the disturbance specified is
in conformity with the data given for the initial state of the induction motor. The
errors associated with this disturbance are explained in the Appendix.

(vii) Underfrequeny and undervoltage load shedding schemes: The data entry form for
this disturbance is shown in Fig.2.10. The total load to be shed is distributed over a
number of steps limited to five. The load assigned to each step is further distributed
over a number of stages of load shedding after a user specified time delays. Frequency
trend (df/dt) relays can also be modelled in addition

2.2 Summary
In this chapter you have learnt how to create data for a New Project. Even though the
New Project involved the change in generation schedule for the 9Bus system, the
major steps required in creating the data were covered. Two useful points must be
borne in mind:(i) The default values can be used to hasten data preparation and in the
place of unavailable data and (ii) Run the case without giving any disturbance. Ensure
that the system “stays” in the stea dy-state through out the simulation.

2-6
Fig.2.1 Data Entry Form For General Parameters

Fig.2.2 Induction Motor Data Entry Form

Fig.2.3 SVC Control System Data Entry Form

Fig.2.4 Disturbance Selection Form

Fig.2.5 Data Entry Form For Bus Short-circuit Application/Removal

Fig.2.6 Data Entry Form For Load Rejection/Recovery

 Fig.2.7 Data Entry Form For Element Opening/Closing

Fig.2.8 Data Entry Form For Loss Of Generation/Excitation

Fig.2.9 Data Entry Form For Induction Motor Starting/Stopping

Fig.2.10 Data Entry Form For Underfrequency Load Shedding

Relay
 CHAPTER 3: SAMPLE SYSTEM DESCRIPTION AND DATA

3.0 Sample System Description

As mentioned earlier, the sample system and the associated data are taken from [4].
The relevant portion of the data is repeated here for convenience.

3.1 Single Line Diagram

BUS7 BUS8 BUS9

~

BUS2 BUS3

BUS5 BUS6

BUS4

BUS1

3.2 Modelling Details For Cases

Case Nos A911 A9LR A9LRG A912 A921 A941

Generator 000 000 000 010 010 010

Modelling

Excitation nil nil nil nil Type1 Type1

System BUS2 BUS2

Power system nil nil nil nil nil nil

stabiliser
Governor- nil nil Steam nil nil Steam
Turbine BUS2 BUS2

3.2.1 Additional Case Involving Induction Motor – Case No. AIND

This case involves free-acceleration characteristics of an in induction motor during
starting. The data for the motor is taken from [5].

3-1
Single Line Diagram
BUS1 BUS3

IM

BUS2

Impedances between BUS1 and BUS3 and BUS2 and BUS3 are negligible.Generators
are connected to BUS1 and BUS2 and induction motor is connected to BUS3.
Case Descriptions – Legend
1. Generator modelling "lmn" means type of model adopted for generator
connected to BUS1, BUS2 and BUS3 respectively. Here, Type 0 indicates a
classical machine , ie, generator modelled by a constant voltage proportional
to field flux linkage, Eq', behind transient reactance X
d'. Type 1 indicates a
generator modelled by variable voltages (Eq', Ed') behind transient reactances
(Xd', X q').

2. Excitation system model "Type 1 AAAA" means that the generator connected
to bus AAAA has an IEEE Type1 excitation system as described in [6].

3. Turbine – governor model "Steam AAAA" means that the generator connected
to bus AAAA is provided with a steam turbine-governor as described in [7].

3.3 Branch Data For Cases A911 – A941

All Parameters On 100 MVA
From To R X B/2

BUS1 BUS4 0.0 0.0576 0.0

BUS2 BUS7 0.0 0.0625 0.0

BUS3 BUS9 0.0 0.0586 0.0

BUS4 BUS5 0.010 0.085 0.088

BUS4 BUS6 0.017 0.092 0.079

BUS5 BUS7 0.032 0.161 0.153

BUS6 BUS9 0.039 0.170 0.179

BUS7 BUS8 0.0085 0.072 0.0745

BUS8 BUS9 0.0119 0.1008 0.1045

3-2
3.4 Generator data
Reactance values on 100 MVA, time constants in seconds
Generator BUS1 BUS2 BUS3
Rated MVA 247.5 192.0 128.0
KV 16.5 18.0 13.8
Power Factor 1.0 0.85 0.85
Xd 0.1460 0.8958 1.3125
Xd' 0.0608 0.1198 0.1813
Xq 0.0969 0.8645 1.2578
Xq' 0.0969 0.1969 0.25
Tdo' 8.96 6.00 5.89
Tqo' 0.0 0.535 0.600

3.5 Excitation System Data [6]

The data for excitation system parameters are given as per symbols used in the
respective block diagrams.

IEEE Type 1 system

TR = 0.06, TA = 0.2, TE = 0.5, TF = 0.35 (all in seconds).
KA = 25.0 KE = -0.044, KF = 0.0805 (all in p.u).

3.6 Governor-turbine data [7]

Steam governor-turbine
T1 = 0.1, T2 = 0.03, T3 = 0.01, T4 = 0.31, T5 = 0.5,T6 = 0.64 (all in seconds).
KHP = 0.28, KIP = 0.34 KLP = 0.39, K = 20.0 (all in p.u)
Rate limits : -0.1 to 0.1; position limits = 0.8 to 2.5

3.7 Data for induction motor [5]

Rating : 2250 hp, 2300 Volts, 1786 rpm
Moment of inertia: 63.87 Kg-m2
Equivalent circuit parameters: All parameters in Ohms
R1 = 0.029 ; R2 = 0.022 (stator parameters)
X1 = 0.226 ; X2 = 0.226 (rotor parameters referred to stator),
Xmanetising = 13.04 (refereed to stator)

3.8 Load Flow results

Bus name Volt.mag Volt.angle Pgen Qgen Pload Qload
(p.u) (deg) (MW) (MVAR) (MW) (MVAR)
BUS1 1.040 0.0 71.6 27.0 0.0 0.0
BUS2 1.025 9.3 163.0 6.7 0.0 0.0
BUS3 1.025 4.7 85.0 -10.9 0.0 0.0
BUS4 1.026 -2.2 0.0 0.0 0.0 0.0
BUS5 0.996 -4.0 0.0 0.0 125.0 50.0
BUS6 1.013 -3.7 0.0 0.0 90.0 30.0
BUS7 1.026 3.7 0.0 0.0 0.0 0.0
BUS8 1.016 0.7 0.0 0.0 100.0 35.0
BUS9 1.032 2.0 0.0 0.0 0.0 0.0

3-3
3.9 Disturbance sequence
1. At time = 5.000 seconds three-phase fault applied on BUS7.
2. At time = 5.083 seconds three-phase fault on BUS7 cleared.
3. At time = 5.083 seconds line between BUS5 and BUS7 opened.

3-4
 Reference

[1] HW Dommel, N Sato, “Fast Transient Stability Solutions.”, IEEE Trans. Power.
App. Syst., Vol.PAS-91, pp 1643-1650, July/August, 1972.

[2] HW Dommel, Excitation System, Private Communication

[3] R Ramanujam, Multimachine Transient Stability – Theory Book, International

Development and Engineering Associates Pvt. Ltd., Bangalore, 1990

[4] PM Anderson, AA Fouad, Power System Control and stability, Iowa State
University press, Ames, Iowa, 1978, pp37-39.

[5] PC Krause, Analysis of Electrical Machinery, McGraw-Hill,1987, pp.189-194,

data for 2250 HP motor.

[6] IEEE Committee Report, Computer representation of excitation systems, IEEE

Trans. PAS-87, 1968, pp 1460-64.

[7] IEEE Committee Report, Dynamic models for steam and hydro turbines in power
system studies, IEEE Trans.PAS-92, 1973, pp 1904-1915.
 Appendix: Error Messages

Self-explanatory errors

??? EXCITATION SYSTEM FOR CLASSICAL M/C NOT ALLOWED

??? 1ST DISTURBANCE CANNOT BE FAULT REMOVAL

AAAAAAAA
??? TOTAL P-SPECIFIED FOR REJN nnnnnnn.nnn > P-INITIAL

AAAAAAAA
??? TOTAL Q-SPECIFIED FOR REJN nnnnnnn.nnn > Q-INITIAL

??? 1ST DISTURBANCE CANNOT BE FAULT REMOVAL

These errors are easily corrected by the user

Overflow Errors
These errors occur when the number of equipments/characteristics of equipments
exceeds the built-in dimension for them in the Transient Stability program . Care has
been taken to dimension the arrays pertaining to equipment to accommodate practical
requirements. Currently the program can handle 1000 buses and 1500 branches.

??? INSUFFICIENT DIMENSION FOR MAXBUS

This error occurs when total number of buses exceed 1000.
??? INSUFFICIENT DIMENSION FOR MAXGEN
This error occurs when total number of generators exceed 100.
??? MAX NO.OF MOTORS EXCEEDED
Currently, you can specify up to 5 induction motors in the system.

??? MAX UFR LOCATIONS EXCEEDED

UFR is the abbreviation used for underfrequency/voltage relays. Currently, you can
specify up to 5 locations for these relays.

??? NO.OF FSTEPS/UV STEPS OVERFLOW

FSTEPS are the frequency steps at which specified quantum of loads are shed.
UV steps are the undervoltage steps at which specified quantum of loads are shed.
Currently, you can specify up to 5 steps.

??? NSTG OVERFLOW

Loads shed by underfrequency relays are in steps. Each step is further divided into
umber of stages at which loads are shed. NSTG corresponds to number of stages per
step. Currently, you can specify only 1 stage per step.

A-1
 ??? TOO MANY PLOT OPTIONS ,OPFIL-9
This error occurs if too many plot options are invoked. For example if you
request plot of generator variables and branch flow you will get this error. Up
uo a maximum of 7 plot files can be concurrently open. The table below gives
plot file count for various equipments:

Equipment/ No.of plot

Variable files opened Remarks

Generator 7 A plot file is allotted to each generator variable.

Hence, even if plot option is invoked for a single
generator, 7 plot files are opened.
Branch 1 This is a common file for all branches for which plot
Flow option has been invoked. Up to a maximum of ten
branches can have the plot option invoked.

Induction 1 per motor Limited to two motors.

motor

SVC 1 per SVC Limited to one SVC

Bus Voltage 1 This is a common file. Up to ten buses can have the
plot option invoked.

Algorithmic Errors
These errors will occur for an ill-conditioned system data or erroneous data. If the
data is correct and you will still get this error, increase the convergence tolerance that
is displayed in the General Parameters Data Form.

??? No Convergence for Angle

??? No Convergence for Speed in Governor-Turbines

??? No Convergence for Excitation System

??? No convergence for initial IM slip

IM is the abbreviation of induction motor and the error occurs during initialisation
phase.

??? No Convergence for Saliency

??? No Convergence for SVC Nodes

??? No convergence for induction motors

This error occurs during time step solution.

A-2
Errors that should be reported to the Coordinator, AU Powerlab, Anna
University

Read Errors Group Wise

This will have a general format

??? ERROR READING xxxxxxx DATA

General Errors

??? TRANSIENT STABILITY INPUT FILE NOT FOUND

??? INP.FILE OPENING ERROR OR WRONG FILE NAME

??? ERROR IN NFBUS PRECEDENCE NEWFIL

??? ERROR IN NTBUS OF NEWFIL1

??? ERROR IN NTBUS OF NEWFIL2

??? NLRBUS=0

??? NETWORK IS SPLIT

??? ERROR IN MACHINE TYPE AAAAAAAA, NN

??? ERROR IN EXCITER OPTION RANGE SHOULD BE 0 TO 5

??? ERROR IN GOVERNOR-TURBINE OPTION,RANGE 0 TO 5

These errors should not normally occur.

Description Of Other Errors

??? BRANCH FLOW SPECIFICATION OVERFLOW

??? SORRY ONLY 10 BRANCHES FOR PLOT PER RUN

These errors occur when flow computation and plot option has been given for more
than ten branches.

??? ERROR IN PMAX PMIN VALUES FOR THE ABOVE GENERATOR

TYPE N GOVERNOR
This error occurs when the initial active power output of a generator bus specified in
the Load flow is greater than the maximum position limit or less than minimum
position limit of the governor specified for the generator connected to that bus in
Transient Stability.

??? SORRY ONLY TWO MOTORS FOR PLOT PER RUN

This error occurs because of limitation in the number of files that can be concurrently
open. It is imposed by the operating system. If plots for more than two motors are
A-3
required, they can be obtained in additional runs of the Transient Stability program
by appropriate specification of plot options in the induction motor data.

??? SORRY ONLY ONE SVC FOR PLOT PER RUN

Similar to the previous error, but for SVC.

??? DISTURBANCE SEQUENCE NOT IN CHRONOLOGICAL ORDER

Explained in Section 2.1.

??? FAULT ALREADY APPLIED NOT CLEARED

This error occurs when fault application is specified for a faulted bus.

??? FAULT NOT PRESENT TO BE CLEARED

This error occurs when fault removal is specified for an unfaulted bus or fault removal
is specified repeatedly for a faulted bus.

??? LRCHK: .VLD BUS SCAN FAILURE

This error occurs when load rejection/recovery is specified for a bus not found in the
load bus list.

??? AAAAAAAA LOAD REJN: ZERO P&Q LOAD

This error occurs when load rejection is specified for bus (AAAAAAAA) that contains
no active or reactive load.

??? Re{Yremoved} > Re{Ybranch}

??? Im{Yremoved} > Im{Ybranch}
??? HLC OF LINE REMOVED > HLC OF BRANCH
These error occurs when the real and imaginary parts of series admittance or half line-
charging of a line specified for opening is greater than the corresponding actual
values of the branch that exists between the specified pair of buses. This check is
made only for those branches for which flow plot option is invoked.

??? BRANCH BETWEEN ,AAAAAAAA BBBBBBBB,OPENED EARLIER & NOT CLOSED

This error occurs when two element openings between buses AAAAAAAA and
BBBBBBBB are specified without an element closing in between.

??? IBRDIS = 0; BR.DOES NOT FIGURE IN BR.DATA,

INCLUDE BR.IN BR DATA WITH HI Z & SPECIFY CLOSING
Branch element opening and subsequent closing are allowed for only for those anches
specified in the load flow data. In case you want to specify element closing between a
pair of buses which did not have a branch element connected between them initially,
specify a high impedance branch between the buses for load flow and specify element
closing for stability.

??? LOSS OF GENERN SPECIFIED ALREADY: AAAAAAAA

This error occurs when more than one loss of generation is specified at the generator
bus AAAAAAAA

A-4
 ??? ERROR IN BUSNAME OR BUS DOES NOT EXIST IN BUS DATA AAAAAAAA
This error occurs when the bus name given for loss of generation/loss of excitation is
not among names given for bus data in load flow. Typically, you might have misspelt
the bus name.

??? NOT A GENERATOR BUS:AAAAAAAA

This error occurs when the bus name given, AAAAAAAA, for loss of generation/loss of
excitation is not a generator bus.

??? NOT A SVC BUS:AAAAAAAA

Similar to above, but for SVC.

??? NOT A BUS WITH SHUNT

Similar to above, but for shunt element.

??? NOT A IND MOTOR BUS: AAAAAAAA

Similar to above, but for induction motor.

??? LOSS OF EXCITN SPECIFIED ALREADY: AAAAAAAA

This error occurs when more than one loss of excitation is specified at the generator
bus.

??? NO MOTOR PRESENT - NO START/STOP

This error occurs when the disturbance induction motor start/stop is specified and
there are no motors found in the system.

??? TRYING TO START A RUNNING MOTOR: AAAAAAAA

This error occurs when the disturbance induction motor start is specified at the bus
AAAAAAAA when the motor connected to the bus is already running.

??? TRYING TO STOP A STATIONARY MOTOR: AAAAAAAA

This error occurs when the disturbance induction motor stop is specified at the bus
AAAAAAAA when the motor connected to the is not energised.

A-5