ECE 576 - Power System Dynamics and Stability: Lecture 6: Transient Stability Intro, Synchronous Machine Modeling
ECE 576 - Power System Dynamics and Stability: Lecture 6: Transient Stability Intro, Synchronous Machine Modeling
1
Announcements
• Read Chapter 3, skip 3.7 for now
• Homework 1 is due today
2
Continuing PowerWorld
Simulator Example
• Class will make extensive use of PowerWorld Simulator.
If you do not have a copy of v19, the free 42 bus student
version is available for download at
http://www.powerworld.com/gloveroverbyesarma
• Start getting familiar with this package, particularly the
power flow basics. Transient stability aspects will be
covered in class
• Open Example_13_4_WithCLSModelReadyToRun
– Cases are on the class website
3
Results: Time Values
Lots of
options
are
available
for
showing
and
filtering
the
results.
By default the results are shown for each time step. Results can be saved
saved every “n” timesteps using an option on the Results Storage Page
4
Results: Minimum and Maximum
Values
Minimum
and
maximum
values are
available
for all
generators
and buses
5
Quickly Plotting Results
• Time value results can be quickly plotted by using the
standard case information display plotting capability.
– Right-click on the desired column
– Select Plot Columns
– Use the Column Plot Dialog to customize the results.
– Right-click on the plot to save, copy or print it.
• More comprehensive plotting capability is provided
using the Transient Stability “Plots” page; this will be
discussed later.
6
Generator 4 Rotor Angle Column Plot
Notice that
the result
is undamped;
damping is
provided by
Change line color here damper
And re-plot by clicking
here windings
80
70
60
has
50
40
decreased
30
20
10
0
-10
-20
-30
-40
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2 2.4 2.6 2.8 3 3.2 3.4 3.6 3.8 4 4.2 4.4 4.6 4.8 5
Time
11
A More Realistic Generator Model
• The classical model is consider in section 5.6 of the
book, as the simplest but also the hardest to justify
– Had been widely used, but is not rapidly falling from use
• PowerWorld Simulator includes a number of much more
realistic models that can be easily used
– Coverage of these models is beyond the scope of this intro
• To replace the classical model with a detailed solid
rotor, subtransient model, go to the generator dialog
Machine Models, click “Delete” to delete the existing
model, select “Insert” to display the Model Type dialog
and select the GENROU model; accept the defaults.
12
GENROU Model
The GENROU model
provides a good
approximation for the
behavior of a synchronous
generator over the dynamics
of interest during a
transient stability study
(up to about 10 Hz).
It is used to represent a
solid rotor machine with
three damper windings.
13
Repeat of Example 13.1 with GENROU
Gen Bus 4 #1 Rotor Angle
110
100
90
80
Gen Bus 4 #1 Rotor Angle
70
60
50
40
30
20
10
-10
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2 2.4 2.6 2.8 3 3.2 3.4 3.6 3.8 4 4.2 4.4 4.6 4.8 5
Time
This plot repeats the previous example with the bus 3 fault.
The generator response is now damped due to the damper
windings included in the GENROU model. Case is saved in
examples as Example_13_4_GENROU.
14
Saving Results Every n Timesteps
• Before moving on it will be useful to save some
additional fields. On the Transient Stability Analysis
form select the “Result Storage” page. Then on the
Generator tab toggle the generator 4 “Field Voltage”
field to Yes. On the Bus tab toggle the bus 4 “V (pu)”
field to Yes.
• At the top of the “Result Storage” page, change the
“Save Results Every n Timesteps” to 6.
– PowerWorld Simulator allows you to store as many fields as desired. On
large cases one way to save on memory is to save the field values only
every n timesteps with 6 a typical value (i.e., with a ½ cycle time step 6
saves 20 values per second)
15
Plotting Bus Voltage
• Change the end time to 10 seconds on the “Simulation”
page, and rerun the previous. Then on “Results” page,
“Time Values from RAM”, “Bus”, plot the bus 4 per
unit voltage. The results are shown below.
1.1
Bus Bus 4 V (pu)
Notice following
1.05
1
the fault the
0.95
voltage does
0.9
not recover to
Bus Bus 4 V (pu)
0.85
0.8
0.75
its pre-fault value.
0.7
0.65
This is because
0.6
0.55
we have not
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5 7 7.5 8 8.5 9 9.5 10
yet modeled an
Time
17
IEEET1 Exciter
• Once you have inserted the IEEET1 exciter you can
view its block diagram by clicking on the “Show
Diagram” button. This opens a PDF file in Adobe
Reader to the page with that block diagram. The block
diagram for this exciter is also shown below.
18
Voltage Response with Exciter
• Re-do the run. The terminal time response of the
terminal voltage is shown below. Notice that now with
the exciter it returns to its pre-fault voltage.
Bus Bus 4 V (pu)
1.1
1.05
0.95
0.9
Bus Bus 4 V (pu)
0.85
0.8
0.75
0.7
0.65
0.6
0.55
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5 7 7.5 8 8.5 9 9.5 10
Time
Customize
Device the plot
Type line.
Field
22
A Two Axes Plot
• The resultant plot is shown below. To copy the plot to
the windows clipboard, or to save the plot, right click
towards the bottom of the plot. You can re-do the plot
without re-running the simulation by clicking on
“Generate Selected Plots” button.
110
1.05
105
100
95
90
85
1
0.6
This case is saved as
30
25
20
15
0.55
0.5
Example_13_4_WithPlot
10
0.45
5
0 0.4
-5
-10 0.35
0 1 2 3 4 5 6 7 8 9 10
b
c
d
e
f
g V (pu)_Bus Bus 1 b
c
d
e
f
g Rotor Angle_Gen Bus 4 #1
23
Setting the Angle Reference
• Infinite buses do not exist, and should not usually be
used except for small, academic cases.
– An infinite bus has a fixed frequency (e.g. 60 Hz), providing a
convenient reference frame for the display of bus angles.
• Without an infinite bus the overall system frequency is
allowed to deviate from the base frequency
– With a varying frequency we need to define a reference frame
– PowerWorld Simulator provides several reference frames with the default
being average of bus frequency.
– Go to the “Options”, “Power System Model” page. Change Infinite Bus
Model to “No Infinite Buses”; Under “Options, Result Options”, set the
Angle Reference to “Average of Generator Angles.”
24
Setting Models for the Bus 2 Gen
• Without an infinite bus we need to set up models for the
generator at bus 2. Use the same procedure as before,
adding a GENROU machine and an IEEET1 exciter.
– Accept all the defaults, except set the H field for the GENROU
model to 30 to simulate a large machine.
– Go to the Plot Designer, click on PlotVertAxisGroup2 and use the
“Add” button to show the rotor angle for Generator 2. Note that the
object may be grayed out but you can still add it to the plot.
– Without an infinite bus the case is no longer stable with a 0.34
second fault; on the main Simulation page change the event time
for the opening on the lines to be 1.10 seconds (you can directly
overwrite the seconds field on the display).
– Case is saved as Example_13_4_NoInfiniteBus
25
No Infinite Bus Case Results
1.1
50
45
40
1.05
1
Plot shows the
35
30
0.95 rotor angles for
0.9
25
20 0.85
the generators
15
10
0.8
0.75
at buses 2 and 4,
5
0 0.7 along with the
-5 0.65
-10
0.6
voltage at bus 1.
-15
-20
-25
0.55
0.5
Notice the two
-30
-35
0.45 generators
-40
-45
0.4
0.35
are swinging
-50
-55
0.3
against each other.
0 1 2 3 4 5 6 7 8 9 10
g
b
c
d
e
f V (pu)_Bus Bus 1 b
c
d
e
f
g Rotor Angle_Gen Bus 4 #1
b
c
d
e
f
g Rotor Angle_Gen Bus 2 #1
26
WSCC Nine Bus, Three Machine Case
• As a next step in complexity we consider the WSCC
(now WECC) nine bus case, three machine case.
– This case is described in several locations including EPRI
Report EL-484 (1977), the Anderson/Fouad book (1977).
Here we use the case as presented as Example 7.1 in the
Sauer/Pai text except the generators are modeled using the
subtransient GENROU model, and data is in per unit on
generator MVA base (see next slide).
– The Sauer/Pai book contains a derivation of the system
models, and a fully worked initial solution for this case.
• Case Name: WSCC_9Bus
27
Generator MVA Base
• Like most transient stability programs, generator
transient stability data in PowerWorld Simulator is
entered in per unit using the generator MVA base.
• The generator MVA base can be modified in the “Edit
Mode” (upper left portion of the ribbon), using the
Generator Information Dialog. You will see the MVA
Base in “Run Mode” but not be able to modify it.
28
WSCC Case One-line
Bus 7 Bus 8 Bus 9 Bus 3
Bus 2
1.016 pu
163 MW 85 MW
1.025 pu 1.026 pu 1.032 pu 1.025 pu
7 Mvar -11 Mvar
125 MW
50 Mvar
Bus 4 1.026 pu 90 MW
30 Mvar
Bus1 1.040 pu
72 MW
slack
27 Mvar
29
Automatic Generator Tripping
Sometimes unseen errors may lurk in a simulation!
Because this case has no governors and no infinite bus, the bus
frequency keeps rising throughout the simulation, even though the
rotor angles are stable. Users may set the generators to automatically
trip in “Options”, “Generic Limit Monitors”.
30
Generator Governors
• Governors are used to control the generator power
outputs, helping the maintain a desired frequency
• Covered in sections 4.4 and 4.5
• As was the case with machine models and exciters,
governors can be entered using the Generator Dialog.
• Add TGOV1 models for all three generators using the
default values.
31
Additional WSCC Case Changes
• Use the “Add Plot” button on the plot designer to insert
new plots to show 1) the generator speeds, and 2) the
generator mechanical input power.
• Change contingency to be the opening of the bus 3
generator at time t=1 second. There is no “fault” to be
cleared in this example, the only event is opening the
generator. Run case for 20 seconds.
• Case Name: WSCC_9Bus_WithGovernors
32
Plot Designer with New Plots
Note that when new plots are added using “Add Plot”, new Folders
appear in the plot list. This will result in separate plots for each group
33
Gen 3 Open Contingency Results
60
190
59.95
180
59.9
170
59.85
160
59.8
150
59.6 110
59.55 100
59.5 90
59.45 80
59.4 70
60
59.35
50
59.3
40
59.25
30
59.2
20
59.15
10
59.1 0
59.05 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Time (Seconds)
Time (Seconds)
g
b
c
d
e
f Mech Input_Gen Bus 2 #1 f
g
b
c
d
e Mech Input_Gen Bus 3 #1
b
c
d
e
f
g Speed_Gen Bus 2 #1 g
b
c
d
e
f Speed_Gen Bus 3 #1 g
b
c
d
e
f Speed_Gen Bus1 #1 b
c
d
e
f
g Mech Input_Gen Bus1 #1
The left figure shows the generator speed, while the right figure
shows the generator mechanical power inputs for the loss of
generator 3. This is a severe contingency since more than 25% of
the system generation is lost, resulting in a frequency dip of almost
one Hz. Notice frequency does not return to 60 Hz.
34
Angle Response Depends on
Reference
• The below graph shows the generator rotor angles,
values that always depend upon an assumed reference
point; value set on the Options, Result Options page
50
0
-50
-100
-150
-200
-250
-300
-350
-400
-450
-500
-550
-600
-650
-700
-750
-800
-850
-900
-950
-1,000
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
g
b
c
d
e
f Rotor Angle_Gen Bus 2 #1 f
g
b
c
d
e Rotor Angle_Gen Bus 3 #1
b
c
d
e
f
g Rotor Angle_Gen Bus1 #1
35
Gen 3 Open Contingency with Hydro Models
60 200
59.9 190
59.8 180
59.7 170
160
59.6
130
59.3
120
59.2
110
59.1 100
59 90
58.9 80
58.8 70
58.7 60
58.6 50
40
58.5
30
58.4
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
Time (Seconds) Time (Seconds)
b
c
d
e
f
g Speed_Gen '2' '1' g
b
c
d
e
f Speed_Gen '3' '1' g
b
c
d
e
f Speed_Gen '1' '1' b
c
d
e
f
g Mech Input_Gen '2' '1' g
b
c
d
e
f Mech Input_Gen '3' '1' g
b
c
d
e
f Mech Input_Gen '1' '1'
37
Gen 3 Open with Hydro Governors
60 200
59.9 190
180
59.8
170
59.7 160
59.3 110
100
59.2
90
59.1 80
59 70
58.9 60
50
58.8
40
58.7 30
58.6 20
10
58.5
0
58.4 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Time (Seconds)
Time (Seconds)
g
b
c
d
e
f Mech Input_Gen Bus 2 #1 f
g
b
c
d
e Mech Input_Gen Bus 3 #1
b
c
d
e
f
g Speed_Gen Bus 2 #1 g
b
c
d
e
f Speed_Gen Bus 3 #1 g
b
c
d
e
f Speed_Gen Bus1 #1 b
c
d
e
f
g Mech Input_Gen Bus1 #1
39
Load Modeling
• More detailed models are added by selecting “Stability
Case Info” from the ribbon, then Case Information,
Load Characteristics Models.
• Models can be specified for the entire case (system), or
individual areas, zones, owners, buses or loads.
• To insert a load model click right click and select insert
to display the Load Characteristic Information dialog.
Right click
here to get
local menu and
select insert.
40
Dynamic Load Models
• Loads can either be static or dynamic, with dynamic
models often used to represent induction motors
• Some load models include a mixture of different types
of loads; one example is the CLOD model represents a
mixture of static and dynamic models
• Loads models/changed in PowerWorld using the Load
Characteristic Information Dialog
• Next slide shows voltage results for static versus
dynamic load models
• Case Name: WSCC_9Bus_Load
41
WSCC Case Without/With
Complex Load Models
• Below graphs compare the voltage response following a
fault with a static impedance load (left) and the CLOD
model, which includes induction motors (right)
1.05 1.1
1
0.95 1
0.9
0.85 0.9
0.8
0.75 0.8
0.7
0.65 0.7
0.6
0.55 0.6
0.5
0.5
0.45
0.4
0.4
0.35
0.3 0.3
0.25
0.2 0.2
0.15
0.1 0.1
0.05
0 0
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
g
b
c
d
e
f V (pu)_Bus Bus 2 f
g
b
c
d
e V (pu)_Bus Bus 3 f
g
b
c
d
e V (pu)_Bus Bus 4 g
b
c
d
e
f V (pu)_Bus Bus 2 f
g
b
c
d
e V (pu)_Bus Bus 3 f
g
b
c
d
e V (pu)_Bus Bus 4
b
c
d
e
f
g V (pu)_Bus Bus 5 g
b
c
d
e
f V (pu)_Bus Bus 6 g
b
c
d
e
f V (pu)_Bus Bus 7 b
c
d
e
f
g V (pu)_Bus Bus 5 g
b
c
d
e
f V (pu)_Bus Bus 6 g
b
c
d
e
f V (pu)_Bus Bus 7
b
c
d
e
f
g V (pu)_Bus Bus 8 g
b
c
d
e
f V (pu)_Bus Bus 9 g
b
c
d
e
f V (pu)_Bus Bus1 b
c
d
e
f
g V (pu)_Bus Bus 8 g
b
c
d
e
f V (pu)_Bus Bus 9 g
b
c
d
e
f V (pu)_Bus Bus1
42
Under-Voltage Motor Tripping
• In the PowerWorld CLOD model, under-voltage motor
tripping may be set by the following parameters
– Vi = voltage at which trip will occur (default = 0.75 pu)
– Ti (cycles) = length of time voltage needs to be below Vi
before trip will occur (default = 60 cycles, or 1 second)
• In this example as you move the clearing time from
0.033 up to 0.040, you will see the motors tripping out
on buses 5, 6, and 8 (the load buses) – this is especially
visible on the bus voltages plot. These trips allow the
clearing time to be a bit longer than would otherwise be
the case.
• Set Vi = 0 in this model to turn off motor tripping.
43
37 Bus System
• Next we consider a slightly larger, 9 generator, 37 bus
system. To view this system open case GSO_37Bus.
The system one-line is shown below.
A
MVA
SLACK345 To see summary
A
75 MW
listings of the
MVA 49 Mvar
slack
1.03 pu RAY345
A
A A SLACK138
MVA
1.03 pu
TIM345 MVA MVA
1.02 pu RAY138 A
A
A
MVA
1.03 pu
transient stability
MVA 1.02 pu
TIM138 MVA
1.01 pu 33 MW 18 MW A
13 Mvar 5 Mvar
A
A
16.0 Mvar 1.02 pu MVA
RAY69
MVA
MVA A 74 MW
17 MW A
1.02 pu TIM69 PAI69 MVA 27 Mvar
1.01 pu 1.01 pu GROSS69 A 3 Mvar MVA
A
23 MW A
MVA
select “Stability
MVA
6 Mvar A
1.00 pu BOB138
PETE69 A
MVA DEMAR69
1.01 pu A A
HANNAH69 MVA
58 MW
45 MW
MVA MVA
40 Mvar
12 Mvar 23 MW A
1.01 pu BOB69
29.1 Mvar 6 Mvar MVA
HOMER69 MVA
27 MW MVA SHIMKO69 A
MVA
7.3 Mvar
3 Mvar 1.01 pu
BLT69 MVA
A 1.01 pu
15 MW
23 MW ROGER69
MVA
1.01 pu WEBER69 3 Mvar
LAUF69
1.02 pu
23 MW
A A 22 MW 10 MW
6 Mvar 28 MW A
Summary” or “TS
4 Mvar JO345
1.01 pu BUCKY138 A
A MVA
150 MW
Case Summary”
A
-2 Mvar
MVA A
1.02 pu 1.03 pu
MVA
44
Transient Stability Case and Model
Summary Displays
45
37 Bus Case Solution
60
59.98
59.96 Graph
59.94
59.92
59.9
shows the
59.88
59.86 generator
59.84
59.82
59.8
frequency
59.78
59.76 response
59.74
59.72
59.7
following
59.68
59.66
the loss
59.64
59.62
59.6
of one
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 generator
g
b
c
d
e
f Speed_Gen WEBER69 #1 f
g
b
c
d
e Speed_Gen JO345 #1
b
c
d
e
f
g Speed_Gen JO345 #2 b
c
d
e
f
g Speed_Gen SLACK345 #1
b
c
d
e
f
g Speed_Gen LAUF69 #1 g
b
c
d
e
f Speed_Gen BOB69 #1
b
c
d
e
f
g Speed_Gen ROGER69 #1 g
b
c
d
e
f Speed_Gen BLT138 #1
b
c
d
e
f
g Speed_Gen BLT69 #1
46
Stepping Through a Solution
• Simulator provides functionality to make it easy to see
what is occurring during a solution. This functionality
is accessed on the States/Manual Control Page
Transfer results
to Power Flow
to view using
standard
PowerWorld
displays and
one-lines