ECE 576

POWER SYSTEM DYNAMICS AND STABILITY

Lecture 40
Structure Preserving Energy Function
Angle and Voltage Stability

Professor M.A. Pai

Department of Electrical and
Computer Engineering

© 2000 University of Illinois Board of Trustees, All Rights Reserved

Angle Stability

~
~
Trans.
Network m Machines
n Physical buses
~

Model
With classical model for machines we have
 i  i   s
swing equations (m)
 i  Pmi  Pei
Hi 
f
and 2n network equations
Lecture 40 – Page 1
Trans Network

1 m+1 m+(m+1)
-+
2 m+2 m+(m+2)
-+

Trans.
Network

m m+m (m+n)
-+

Lecture 40 – Page 2
Trans Network (contd)
 Let rotor angles, velocities and bus angles with respect to syn.
ref. frame be
 1   1   m 1 
     ,           (1)
 m   m   m  n 
 
Define   
 
 V1 
  
  Internal voltages
 Vm 
V   (2)
Vm 1 
   Network voltages
 
Vm  n  Lecture 40 – Page 3
 Trans Network (contd)

Augmented YBUS  [ jBij ]( m  n)  (m  n) matrix

includes transient reactances.
Swing eqns. 
i   i   s (1)
m n
M i i  Pmi   BijViV j sin ij (2)


j 1

i  1,2,..., m
Actually the R.H. side is i i+m
Pmi  Bi ,i  mViVi  m sin( i  i  m )
Lecture 40 – Page 4
 Network Equations
Let load be represented as

Pli  Pi (Vi )  Dii i
Qli  Qi (Vi ) Pli  jQli
Network equations
m n
Dii  Pi (Vi )   BijViV j sin ij  0

(1)
j 1
m n
Qi (Vi )   BijViV j cos ij  0 (2) i  m  1,..., m  n
j 1
Swing equations plus (1) and (2) constitute a differential-algebraic
model (DAE) 
x  f ( x, y ) (3)
0  g ( x, y ) ( 4)
AssumeD  0 for all i so that there is no frequency dependent load.
i Lecture 40 – Page 5
 Objective

To construct the first integral of motion for the system ie

d
[V ( x, y )]  0
dt
V ( x, y ) is the first integral or energy function.
Introduction of C.O.I. facilitates constructing V. Define
m
 o  M1 T M 
i 1
i i

~
i  i   o
  
~
i  i   o
 i  

~
i  1,...,m  n
Lecture 40 – Page 6
 Swing Equations

Swing equations become

m n
Mi
M i i  Pmi   BijViV j sin ij 
~ ~
PCOI (1)
j 1 MT
~
i   i
~
i  1,..., m (2)
m m n
Where PCOI   Pmi   P (V ) i i
i 1 i  m 1
Steps to get the first integral
~
1. Multiply (1) by  i  i and sum over m equations
~

m m m m n

 M     P    B V V
~ ~ ~ ~ ~
i i i mi i ij i j sin iji (3)
i 1 i 1 i 1 j 1
Lecture 40 – Page 7
 Swing Equations (contd)
~
2. Multiply real power flow equations (slide 4) by  i
and sum over all n physical buses.
m n m n m n
~ ~ ~
 P (V ) i i i   B VV ij i j sin iji (1)
i  m 1 i  m 1 j 1 i  m  1,..., m  n
3. Divide reactive power equation (slide 4) by Vi
Qi (Vi ) m n
  BijV j cos ij
~
(2) i  m  1,..., m  n
Vi j 1

Multiply (2) by Vi and sum over n physical buses
m n m n m  n 1 m  n
Qi (Vi ) 
 Vi   BiiViVi    Bij (ViV j  ViV j ) cos ij (3)
   ~

i  m 1 Vi i  m 1 i 1 j i 1

Lecture 40 – Page 8
 Swing Equations (contd)

(1), (2) and (3) of previous slide and (3) of slide # 7 give
m n
d 1 m m
Qi (Vi )
 M i i   Pmi  i   
~2 ~
 dVi
dt  2 i 1 i 1 i  m 1 Vi
1 m n

m  n 1 m  n
  BiiVi    BijViV j cosij
2 ~

2 m1 i 1 j i 1
m n
~
  P (V )
i  m 1
i i i 0 Problem term!

Consider simpler case Pi (Vi )  Pi  constant. Then,

d  m n
~ 
.......   Pii   0
dt  i  m 1  ^


V Lecture 40 – Page 9
 Swing Equations (contd)
^
The first integral is V=V+K where K= constant.
K is chosen so that V=0 at s.e.p. Thus,
^ ~s ~ s ~ s
K  V ( ,  ,V )
Thus V  VKE  VPE
mn
m
~ ~s ~ ~s
VPE   Pmi (i  i )   P (  i i i )
i 1 i  m 1
m n
Qi (Vi ) 1 m n
  V dVi   Bii (Vi  Vi )
Vi 2 s2
s
i  m 1 i
Vi 2 m1
m  n 1 m  n ~ ~s
   Bij (ViV j cosij  ViV j cosij )
i 1 j i 1
Lecture 40 – Page 10
 Swing Equations (contd)

i1 i i since
 ~ is  0.
m
VKE  1
2 M ~2

It can be shown that

1 m n m  n 1 m  n
1 mn
  BiiVi    BijViV j cos ij   (QGi  Qli )
2
~

2 i 1 i 1 j i 1 2 i 1
Define a vector  Pm1 
  
 
P  Pmm  int. nodes
  Pm 1 
  physical buses
  
 Pm  n 
= injected power at nodes
Lecture 40 – Page 11
 Swing Equations (contd)

Then m  n Vi
Qi (Vi )
VPE   P (   )   
T ~ ~s
dVi
i  m 1 V Vi i
s

1 m
  [(QGi  QGi )  (Qli  Qli )]
s s

2 i 1
1 m
VKE   M i i
~2

2 i 1
V  VKE  VPE
This is a compact expressionVPE relates to reactive power in network.
Lecture 40 – Page 12
Voltage Stability – Use of Energy Functions

 As the system gets loaded Q reserves in the system

are not sufficient locally or globally.
 Hence there is voltage depression and if not
controlled may lead to voltage instability or
collapse.
Two possibilities
1. System gets progressively loaded till the point of
voltage collapse.
2. System presently is stable but close to the point of
voltage collapse. A small disturbance will then lead
to voltage collapse.
Lecture 40 – Page 13
What is the Role of System and Load Dynamics?
View point 1

System Load
S dyn. dyn. L

View point 1 Buses

Since voltage stability is a slow phenomenon both S and L are
considered static. Hence voltage stability is a static problem.
Techniques
1. Det. J. (J=load flow Jacobian)
2. Min. sing. value of J
3. Condition number of J
4. Continuation method to find saddle node bifurcation
5. Use of sensitivities from OPF
Lecture 40 – Page 14
 View Point 2

 Since voltage profile is controlled by excitation

dynamics, modeling of system dynamics is
important.
1. Finding both saddle node and Hopf bifurcation by
eigenvalue monitoring.
2. Sensitivity of voltage collapse due to injected Q at
GEN, SVC, TAP-changer dynamics, etc.

Lecture 40 – Page 15
View Point 4

 All of the above! There is consensus that some sort of

dynamics does play a part.
 Hence, an energy function approach is desirable
(Demarco, Overbye)
Single machine case ~


V
1
V s 2
V
s
 Vs3  Vu3
 SEP – high voltage solution  Vs
 1 Vu2
V u UEP – low voltage solution  Vu
P
Lecture 40 – Page 16
 View Point 3

 Load dynamics are crucial in determining voltage

collapse.
1. Load modeling in a dynamic sense (D.E.’s for
motors, etc)
2. Fast changing or cyclic loads.

Lecture 40 – Page 17
 Voltage Energy Margin

(energy at UEP)-(energy at SEP)  voltage energy margin (VEM)

For a slowly varying load  i   s

Hence ~ i  0
Hence V  VPE derived from SPM (transient stability).
~
i and Vi assume UEPV values. Hence,
m n Viu
Qi (Vi )
VEM   P (   )  
T ~u ~s
dVi
i  m 1 Vi s Vi
1 m n u
 [(QGi  QGi )  (Qli  Qli )]  VP. E  VP. E
s u s u s

2 i 1 Lecture 40 – Page 18
 Voltage Energy Margin (contd)

As in angle stability we need efficient algorithms to find

UEP solutions.

VEM a
Voltage collapse point

P
If VEM>0, system a
is voltage stable 
V

Voltage collapse point

P Lecture 40 – Page 19
 Conclusion

1. A unified picture is now possible for both angle and

voltage stability using same energy function. Effects
of dynamic modeling on system and load size are
needed to be studied for both angle and voltage
stability.
2. For angle stability with s.p. models, controlling
u.e.p. is not defined easily. However PEBS method
works.
3. Sensitivity analysis of voltage energy margin may
provide clues to preventing voltage collapse.

Lecture 40 – Page 20
Coherency, synchrony, slow coherency
Coherency
1. Podmore, R. ‘Identification of coherent generators for
dynamic equivalents’ IEEE Trans. Power Appar. Syst. Vol
PAS-97 (July/August 1978) pp1344-1354.
2. Pai, M A and Adgaonkar, R P. ‘Identification of coherent
generators using weighted eigenvectors’ Proc. IEEE PES
Winter Meeting New York, USA A79 022-5 (February 1979).
Slow coherency
3. Chow, JH (Ed.). ‘Time scale modeling of dynamic networks
with applications to power systems’ Lecture notes in control
and information sciences Vol 46, SpringerVerlag,USA(1982).
Synchrony
4. G.Ramaswamy, G.C. Verghese, Luis Rouco, C. Vialas, C.L.
Demarco. ‘Synchrony, aggression and multi-area eigenvalues
analysis’ IEEE Trans. Power Systems 1995.
Lecture 40 – Page 21
 Linearizing Swing Equations

d 2 ( i ) d ( i ) n
Mi
dt 2
 Di
dt
 Pmi  
j 1
E E
i j ( Gij sin  0
ij  Bij cos  ij ) ij
0

j 1
i  1,2,..., n t 0 (1)
 Assume faulted period tcl of the order of few cycles.
 AssumePmi as step input=accelerating power at t  0 
 Put (1) in state space form

X  AX  BU 0  t  tcl

X  AX t  tcl
X  [ 1n ,  12n ,...,  n 1,n ,  i ,...,  n ]T
0 I  Di 
A C  Diag  
 Ao C   Mi  Lecture 40 – Page 22
Linearizing Swing Equations (contd)
2 n 1
X (t )  k M e
i 1
i i
i t
Solution of post-fault system

Mi are right eigenvectors of A

ki determined from values of X(t) at t = tcl and left
eigenvectors of A.
n 1
 in  [ pi (ea t cos  t ) qi (ea t sin  t )]  sinea t
  n

 1

There are (n-1) complex pairs of eigenvalues and one

negative real eigenvalue pil and qil represent amplitudes
of complex modes.
Lecture 40 – Page 23
Coherency and Synchrony

Coherency

dij  [( pi  p j ) (qi  q j ) ] ( sin  s jn )

 n 1
2 2 1/ 2

  1
Two generators i and j are classified as coherent if d ij 
where is a small number.
dij is the norm of the row vectors corresponding to δi
and δj in the right eigenvector matrix M.

Synchrony
Uses the angle between the two row vectors as the
criterion.
Lecture 40 – Page 24