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Stability 4

This document discusses the calculation of critical clearing angle and time for a power system. It defines the equal area criterion for stability and derives an equation for critical clearing angle of a temporary three-phase fault at a generator terminal. For a sample system, this is calculated to be 81.85 degrees. It then shows how to calculate critical clearing time by modeling the acceleration of the generator and derives an equation relating critical clearing time to critical clearing angle, inertia constant, and other system parameters. For the sample system, critical clearing time is calculated to be 0.1723 seconds.

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68 views15 pages

Stability 4

This document discusses the calculation of critical clearing angle and time for a power system. It defines the equal area criterion for stability and derives an equation for critical clearing angle of a temporary three-phase fault at a generator terminal. For a sample system, this is calculated to be 81.85 degrees. It then shows how to calculate critical clearing time by modeling the acceleration of the generator and derives an equation relating critical clearing time to critical clearing angle, inertia constant, and other system parameters. For the sample system, critical clearing time is calculated to be 0.1723 seconds.

Uploaded by

Carib
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 15

Stability 4

1.0 Introduction
In the previous notes (Stability 3), we developed
the equal area criterion, which says that
For stability, A1=A2, which means the
decelerating energy (A2) must equal the
accelerating energy (A1) in order for the
system response to be stable.
Analytically, we have that
clear

max

0
1
442443

clear

0
P
M Pfault d =

0
P

P
fault M d

1442443

A1

A2

Figure 1 below illustrates a stable case.


Pe

2.2
2.0
1.8
1.6
1.4
1.2
1.0
0.8
0.6
0.4
0.2
0

Ppre
(g) Ppost

(f)
(e)


(a)

A2

(d)

A1
Pfault

(c)
(b)

0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 a


0
clear
max

Fig. 1
1

(1)

Figure 2 below illustrates an unstable case.


Pe

2.2
2.0
1.8
1.6
1.4
1.2
1.0
0.8
0.6
0.4
0.2
0

Ppre
Ppost

A2

A1
Pfault

(c)
(b)

0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 a


clear
max
0

Fig. 2
Everything about Figs. 1 and 2 are the same
with one exception, the clearing angle (clear) in
Fig. 2 is greater than the clearing angle in Fig. 1.
In other words, Fig. 2 assumes that the speed of
the protection system is slower than the speed of
the protection system in Fig. 1.
In these notes, we want to develop expressions
for computing critical clearing angle.

2.0 Critical clearing angle


The critical clearing angle will occur when the
equal-area criterion is satisfied and the
maximum angle is max=180-0. Such a case is
illustrated in Fig. 3.
Pe

2.2
2.0
1.8
1.6
1.4
1.2
1.0
0.8
0.6
0.4
0.2
0

Ppre
Ppost

A2

A1

Pfault

0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 a


clear
max
0

Fig. 3
We want to compute the critical clearing time.
We will denote it as clear=cr.

To do this, lets define the following:

Ppre = Ppre max sin

(2)

Pfault = Pfault max sin = r1 Ppre max sin

(3)

Ppost = Ppost max sin = r2 Ppre max sin

(4)

where
Ppremax, Pfaultmax, and Ppostmax are the amplitudes
of the power-angle curves for the pre-fault,
fault-on, and post-fault networks, respectively;
0<r1<1 where r1=0 corresponds to a threephase fault at the machine terminals, and r1=1
corresponds to no-fault at all.
0<r2<1 where r2=0 corresponds to a threephase fault at the machine terminals that is not
cleared, and r2=1 corresponds to a temporary
fault (fault is removed without protective relay
action to also remove a circuit and weaken the
transmission)
Lets first compute A1.

A1 =

clear

0
P
M Pfault d

clear

0
(
P
M Pfault max sin )d

= P + Pfault max cos


0
M

clear
0

(5)

= PM0 ( clear 0 ) + Pfault max (cos clear cos 0 )

Now lets compute A2.


A2 =

max

0
P

P
post M d

clear

max

0
P
sin

P
M d
post max

clear

= Ppost max cos P


0
M

max
clear

(6)

= Ppost max (cos clear cos max ) + PM0 ( clear max )

If the system is stable, then A1=A2. So lets


equate the expressions in eq. (5) and (6), below.

A1 = PM0 ( clear 0 ) + Pfault max (cos clear cos 0 )


= Ppost max (cos clear cos max ) + PM0 ( clear max ) = A2 (7)

Expand:
PM0 clear PM0 0 + Pfault max cos clear Pfault max cos 0

= Ppost max cos clear Ppost max cos max + PM0 clear PM0 max (8)
0
Notice there is a PM cr on both sides, and so:

PM0 0 + Pfault max cos clear Pfault max cos 0


= Ppost max cos clear Ppost max cos max PM0 max

(9)

Lets put all terms with cosclear on the left side


and everything else on the right:
Pfault max cos clear Ppost max cos clear

= Pfault max cos 0 Ppost max cos max PM0 max + PM0 0 (10)

Factor out the cosclear term on the left and the


PM0 term on the right:
cos clear ( Pfault max Ppost max )

= Pfault max cos 0 Ppost max cos max + PM0 ( 0 max ) (11)

Divide by the term in parentheses on the left:


cos clear
=

Pfault max cos 0 Ppost max cos max + PM0 ( 0 max )


( Pfault max Ppost max )
6

(12)

Now eq. (12) is true as long as the system


response is stable (if it is not stable, then the
equal-area criterion is not satisfied and therefore
eq. (7) is invalid).
But if the system response is marginally stable,
then the clearing angle will be the maximum
possible angle for which we can clear and still
retain stability, i.e., it is the critical clearing
angle, and so in this case, clear=cr. In addition,
the maximum angle must be the unstable
equilibrium, which is max=180-0. Making these
substitutions into eq. (12) results in
cos cr
=

Pfault max cos 0 Ppost max cos( 0 ) + PM0 ( 0 + 0 )


( Pfault max Ppost max )

(13)
Recalling that cos(-x)=-cos(x), and noting on
the right-hand-side that we can combine the two
0 terms inside the brackets, we get:

cos cr
=

Pfault max cos 0 + Ppost max cos 0 + PM0 ( 2 0 )


( Pfault max Ppost max )

(14)

Now recall eqs. (3) and (4), which imply that:

Pfault max = r1 Ppre max

(15)

Ppost max = r2 Ppre max

(16)
Substituting eqs. (15) and (16) into (14), we get:
cos cr
=

r1 Ppre max cos 0 + r2 Ppre max cos 0 + PM0 ( 2 0 )


( r1 Ppre max r2 Ppre max )

(17)

Factoring out the Ppremax from the bottom and


dividing it through all terms in the top, and
rearranging, results in
r1 cos 0 + r2 cos 0 +
cos cr =

PM0
Ppre max

( r1 r2 )

Lets consider a few cases:

( 2 0 )

(18)

Case 1, Temporary fault at machine terminals:


The fact that it is a temporary fault means that
the post-disturbance network is the same as the
pre-disturbance network, therefore r2=1.
The fact that it is a three-phase fault at the
machine terminals means that the ability to
transmit power to the infinite bus, during the
fault-on period, is zero. Therefore r1=0.
Applying these values to eq. (18) results in:
cos 0 +
cos cr =
=

PM0
Ppre max

PM0
Ppre max

( 2 0 )

(19)

( 2 0 ) cos 0

But recall that


PM0 = Ppre max sin 0

(20)
Substitution of (20) into (19) results in
cos cr =

Ppre max sin 0


Ppre max

( 2 0 )

(21)

Or,

cos cr = sin 0 ( 2 0 ) cos 0

(22)
The above is a closed form solution for the
critical clearing angle for the condition of a
temporary three phase fault at the machine
terminals.
Recall the example introduced in the notes
called Stability 2 for the below system:
j0.1

Xd=j0.2

j0.4

V= 1.0<0

j0.4
Bus 1

Bus 3

Bus 2

|Vt |= |V1 |=1.0

Fig. 4
In those notes, we determined that the angle
between the generator internal voltage and the
infinite bus is a=28.44. This is 0, and it is for
the same system that is characterized in these
notes by Fig. 3. Using 0=28.44=0.4964 rad in
eq. (22) results in
10

cos cr = sin 0 ( 2 0 ) cos 0


= sin( 0.4964 )( 2(0.4964 )) cos( 0.4964 )
= 0.4763( 0.998) 0.8793
= 1.021 0.8793 = 0.1417

Therefore we have that


cos cr = 0.1417 cr = cos 1 0.1417 = 1.4286 rad
In degrees, this is 81.85. Reference to Fig. 5,
which is a hand-approximation for this case,
suggests this angle is quite reasonable.
Pe

2.2
2.0
1.8
1.6
1.4
1.2
1.0
0.8
0.6
0.4
0.2
0

Ppre
Ppost

A2

A1
Pfault

0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 a


clear
max
0

Fig. 5

11

3.0 Critical clearing time


Lets consider our case of a temporary threephase fault at the machine terminals. To obtain
information on clearing time, we need to look at
the differential equation characterizing this
system, which is:

2 H &&
(t ) = Pa , pu = PM0 Pe

e 0

(23)

The right hand-side is of course 0 before the


fault (no acceleration), but just after the fault, in
this case, Pe goes instantly to 0. We therefore
have that

2 H &&
0
(t ) = PM

e 0

(24)

And so we see that just after the fault, there is


non-zero acceleration, but that acceleration is
constant since the right-hand-side is constant!
Equation (22) may be rewritten as

12

e 0 0
&
&
(t ) =
PM
2H

(25)

Rewrite the left-hand-side of eq. (25) as

d d e 0 0
&
&
=
PM
(t ) = 2 =
dt
dt 2 H
2

(26)

Multiply both sides by dt:

d =

e 0

PM0 dt

(27)
Now integrate on the left from (0)=0 (initial
state is zero velocity) to (t) and on the right
from t=0+ to t:

2H

(t )

d (t ) =

( 0 ) =0

(t ) =

e 0

e 0
2H
PM0 t

PM0 dt
0+

(28)

(29)
Now express the left-hand-side as the derivative
of (t)

2H

13

d e 0 0
=
PM t
dt 2 H

(30)

Multiply both sides by dt:

d =

e 0

PM0 tdt

(31)
Now integrate the left-hand-side from 0 to (t),
and the right-hand-side from t=0+ to t:
(t )

2H
t

e 0

d = 2 H P
0

0
M

tdt

0+

(t ) 0 =

e 0

(32)

0 2
M

P t

(33)
Now recall we have the critical clearing angle
(t)=cr, and we are attempting to find the time
for which we reach this angle. So solve eq. (33)
for time to obtain:

4H

4H
t = ( (t ) 0 ) 0
PM e 0
14

(34)

When the angle is the critical clearing angle, we


obtain:

4H
tcr = ( cr (t ) 0 ) 0
PM e 0

(35)

So, lets compute the critical clearing time for


our machine. The only other thing we need to
know is the inertia constant H. We can assume
that it is H=3.0 sec on the machine base. With
PM0 = 1.0 , e0=377, 0=28.44=0.4964 rad, and
cr = 1.4286 rad , we have
4*3
tcr = (1.4286 0.4964 )
1 * 377
= 0.1723 sec
What if the inertia constant was 5? In this case,
we would obtain:
4*5
tcr = (1.4286 0.4964 )
1 * 377
= 0.2224 sec
The larger the machine, the longer it takes to
accelerate it.
15

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