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Multi-Machine Signal Stability Analysis for Power System

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 IJSRD - International Journal for Scientific Research & Development| Vol. 6, Issue 02, 2018 | ISSN (online): 2321-0613

Multi-Machine Signal Stability Analysis for Power System

Pravahini Rajput1 Piyush Agnihotri2 J. K. Dwivedi3
2
Assistant Professor 3Associate Professor
1,2
Department of Electrical & Electronics Engineering 3Department of Electrical Engineering
1,2
Pranveer Singh Institute of Technology Kanpur-208020, Uttar Pradesh, India 3H.B.T.U, Kanpur, India
Abstract— The main objective of this paper is to study the (1)
nature of inter area oscillations. -Small-signal stability is the
ability of a power system to maintain synchronism under (2)
small disturbances Instability may arise in two forms increase
of rotor angle and rotor oscillations of increasing amplitude B. Transmission Line Model (Short Line)
due to lack of damping torque. To study small signal stability A transmission line is modeled as a short line. It consists of a
analysis synchronous machine model, transmission line series impedance comprised of a resistance R and reactance
model and two area system model and the dynamic state X between the terminal nodes.
matrix eigen values and eigen vectors are constructed and the
small signal stability analysis done with the algorithm. Only C. Load Model
small signal stability analyses are used to determine the The loads are modeled as a constant admittance in transient
characteristics of the system. In the power system leads to the stability.
development of many oscillations at low frequency in the
power system. This paper presents the effect of the load D. Introduction of Two-Area System
model it was easier to identify unstable modes of oscillation. The machines are considered to be TYPE -2B Model. The
Key words: Small Signal Stability, Power System system consists several buses. Totally two loads are applied
to the system at bus 7 and 9. Two shunt capacitors
I. INTRODUCTION
With the increasing electric power demand, power systems
can reach stressed conditions, resulting in unde-sirable
voltage and frequency conditions. The eigen value analysis
was done for small signal stability of 11 bus 2 area system.
The drawback of eigenvalue analysis is that the higher order
terms neglected from the liniearised set of equation, Here Fig. 1: IEEE two area 11 Bus System
particularly in a system is described by strongly non-linear Are also connected to bus 7 and 9 as shown in the
equations. figure 1 below. The system has the fundamental frequency 60
Modern electrical power systems have grown to a Hz. The system comprises two similar areas connected by a
large complexity due to, installation of large generating units weak tie3. Linear Analysis and Modal Analysis Time-domain
and high voltages etc. simulation.
It is necessary that, while steady-state stability is a The left half of the system is identified as area 1 and
function only of -operating conditions. Small signal stability the right half is identified as area 2. The saturation of the
is the ability of the system to maintain synchronism under synchronous machines is not identical.
which occur on the system due to variations in loads or other This chapter describes the methodology for
small disturbances on the system. A disturbance is considered incorporation of the model for small-signal analysis of single
to be small if the equations that represent the dynamic machine-infinite bus and multi-machine configurations. This
performance of the system can be linearized for the analysis is followed by relevant results obtained for these
function of both the operating conditions and the disturbance. configurations.
In this paper a method for calculation of the two four
generator system is investigated. Stability studied about the III. SMALL SIGNAL STABILITY
power system planning, operation and control on computer
based power system simulation tools. Simulation tools use Restoring forces acting on the machine helps to maintain
mathematical models. It is crucial that these power system stable conditions. The system must be able to operate under
models be modeled accurately to predict the actual these conditions and successfully supply the maximum load.
performance of the system The “Small Signal” disturbances are considered sufficiently
small for linearization of system equations for the purpose of
II. SYSTEM DESCRIPTION & MODELLING analysis.
The most common form of synchronism,
A standard IEEE 11 bus system1 as shown in Figure 1. monotonically, in the first few seconds following the fault
A. Synchronous Machine Model due to lack of synchronizing torque and damping torque. The
stability of the following types of oscillations is of concern.
The synchronous generators are modelled as classical
machines with δ and ω as state variables. The generator is A. State Equation
represented by the Norton equivalent for network solution. For a classical model of the synchronous machine the states
The admittance of the generator is included in the main are incremental changes in rotor speed and angle.
diagonals of Y matrix.

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 Multi-Machine Signal Stability Analysis for Power System
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In our analysis the super bar notation on the per unit The initial conditions for δ, ω and voltages are obtained from
quantities are dropped out. The state equations for the system load flow and the past history terms for δ and ω are obtained
shown in the Figure 2 are given by from the initial conditions.

+ (3) IV. MULTI-MACHINE SMALL SIGNAL STABILITY ALGORITHM

FOR TYPE-2B MODEL

This is the form of X = Ax +Bu. The elements of the 1) Taken IEEE 11 bus 2 area 4 machine system
state matrix A are seen to be dependent, H, XT and the initial 2) Formulate the admittance matrix
operating condition represented by the values of E 1 and δ0. YV=1 (6)
Where, 3) After that reduced the network eq.
𝑟𝑒𝑑 −1
∆ω is in per unit ∆δ is in radians 𝑌𝐺𝐺 = 𝑌𝐺𝐺 − 𝑌𝐺,𝑁𝐺 ∗ 𝑌𝑁𝐺,𝑁𝐺 ∗ 𝑌𝑁,𝐺 (7)
The synchronizing torque coefficient is given by
4) Initialize the power, current, voltage in transient
condition-& sub-transient condition etc.
= (4) 5) Find out the transformation matrix & inverse transformer
matrix
𝒆𝒋𝜽𝟏 𝟎 𝟎 𝟎 𝒆−𝒋𝜽𝟏 𝟎 𝟎 𝟎
B. Multi Machine Model
The base system is symmetric; it consists of two identical 𝟎 𝒆𝒋𝜽𝟐 𝟎 𝟎 𝟎 𝒆−𝒋𝜽𝟐 𝟎 𝟎
areas connected through a relatively weak tie. Each area
including two generating units with equal outputs. The full 𝑻= 𝒊𝒏𝒗𝑻 = (8)
𝟎 𝟎 𝒆𝒋𝜽𝟑 𝟎 𝟎 𝟎 𝒆−𝒋𝜽𝟑 𝟎
symmetry of the base system clarifies the effect that various
factors have on the inter-area mode. 𝟎 𝟎 𝟎 𝒆𝒋𝜽𝟒 𝟎 𝟎 𝟎 𝒆−𝒋𝜽𝟒
Dynamic data for the generator and excitation [ ] [ ]
systems used in the study are given in Appendix-A. In setting 6) Then the reduced equation into individual machine rotor
up the various power flows used in the studies, capacitors coordinates.
were added as necessary to ensure that the systems voltage M = inv(T) ∗ Y red∗ T (9)
profile was satisfactory. 7) After applying the limitation of network equation in
Our experience with large interconnected -systems individual machine rotor coordinates.
confirms some of the results of our studies using the small I = I 0+ 𝜟I (10)
system, and we are confident that the general conclusions E¢= E0¢+ 𝜟E¢ (11)
drawn from our work, will apply to large systems. The M = M0+ 𝜟M (12)
following equations pertain to the four-machine system. T = T0+ 𝜟T (13)
C. State Space Model 8) Small change in current is.
𝛥𝐼 = [𝑀0 𝛥𝐸 ′ − 𝑗(𝛥𝛿𝑀0 − 𝑀0 𝛥𝛿)𝐸0′ ] (14)
Our aim here is to derive the equations for multi machine
9) The mechanical side differential equation are given by.
system that represent the dynamics of the machine and the 𝑑𝛥𝜔𝑖 𝛥𝑇𝑚𝑖 − 𝛥𝑇𝑒𝑖 − 𝐾𝐷 𝛥𝜔𝑖
controller in the state space form. =
Differential equations for the machine will contain 𝑑𝑡 2𝐻𝑖
algebraic variables such as current, voltage or power and 10) We illustrate how to include the damper windings in the
incremental changes in them should be eliminated to obtain formulation of state variable .
1
the equations in state variables canonical form. Once the ΔEq′ = ′ [ΔEq′ + (Xd − Xd′ )ΔId − ΔEFD ] (16)
Tq0
equations in the state variables canonical form are obtained, 1
we can apply eigen value technique to access stability. ΔEd′ = [ΔEd′ + (Xq − X ′q ) ΔIq ] (17)
T′q0
1
−𝑲𝑫 ΔEq′′ = − [ΔEq′′ + (Xq′ − Xq′′ ) ΔId − ΔEq′ ] (18)
𝜟𝑻𝒆 𝟎 𝟎 𝟎 𝟎 𝜟𝑻 T′′
q0
𝟐𝑯 𝟎 1
𝝎𝒔 𝟎 𝟎 𝟎 𝟎 𝟎 𝟏 ΔEd′′ = − [ΔEd′′ + (Xd′ − Xd′′ )ΔId − ΔEd′ ] (19)
𝜟𝝎 𝟏 𝜟𝝎 𝜟𝑬𝑭𝑫 T′′
d0
𝜟𝜹 𝜟𝜹 𝑻′𝒅𝟎
𝟎 𝑻′𝒅𝟎 11) Finally our state variables are
𝜟𝑬′𝒒 𝜟𝑬𝒒′ 𝟏
𝜟𝑬′𝒅 = 𝟎
𝟏
−
𝟏 𝟎
𝟏
𝟎
𝟎
𝟎
𝟎 𝜟𝑬′𝒅 + 𝑻𝒒𝟎
′ 𝜟𝑬𝑭𝑫 (𝟓) [∆𝜔 𝛥𝛿 𝛥𝐸𝑞′ 𝛥𝐸𝑑′ 𝛥𝐸𝑑′ 𝛥𝐸𝑑′′ ] (20)
𝑻′𝒒𝟎 𝑻′𝒅𝟎 − ′
𝜟𝑬′′
𝒒 𝟎 𝑻𝒒𝟎 𝟏 𝟎 ′′
𝜟𝑬𝒒 𝟏 12) Find out the eigen values from above state variables
𝟎 𝟏 𝟏 𝜟𝑬𝑭𝑫
[𝜟𝑬"𝒅 ] 𝟎 𝟎 𝑻′𝒒𝟎 [𝜟𝑬"𝒅 ] 𝑻′𝒅𝟎
𝑻′𝒅𝟎 𝟎 𝑻′𝒒𝟎 𝟏
𝟎 𝟎 𝟎
𝟏 ′ 𝜟𝑬𝑭𝑫
V. EIGEN ANALYSIS
[𝑻𝒒𝟎 ]
[ 𝑻′𝒅𝟎 ]
With the linearized power system model in matrix form
1) Assumptions shown in equation the system can now be analyzed through
The machines are considered to be classical- (no -controllers) the use of eigenvalues and eigenvectors. To examine the free
Damping ignored Loads are assumed as constant response of the system the inputs are put to zero.
-admittances Δx = [A] x (21)
2) Preparation Where x is a state vector and A is the state matrix of
size n x n;

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 Multi-Machine Signal Stability Analysis for Power System
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satisfies (24) and is called the left eigenvector of [A]

The state equation given by is further analyzed by tak-ing the associated with the eigen value λi.
Laplace transform. The new equation derived in the s domain ψi[A]= λ ψi
is given by ψ1i
det (s[I] – [A]) = 0 (22) ψ2i
The values of s that satisfy (poles of system) are ψi = :
known as eigenvalues of the matrix A the eigenvalues may be :
real or complex. For an n x n matrix they are n eigenvalues. [ψni ]
If A is real eigenvalues occur in complex conjugates The left eigenvectors, together with the initial
λ = σ ± jω (23) conditions of the system state vector x, determine the
magnitudes of the modes.
A. Eigenvalues & Stability
The power system is stable if all of the eigenvalues are on the C. Mode Shape
left-hand side of the imaginary axis of the complex plane; The right eigenvector gives the mode shape. The mode shape
otherwise it is unstable. If any of the eigenvalues comes over is the relative activity of the state variables when a particular
into the right hand side of the imaginary axis, the mode is excited. Thus the degrees of activity of the Kth state
corresponding modes are said to be unstable, and so is the variable xk in the Ith mode is given by the element φki if the
system. The desired aim then is to have all eigenvalues in the right eigenvector φi. The magnitude of the elements if φi
left hand plane. This stability is confirmed by looking at the gives the extent of the activities of the n state variables in the
time dependent characteristic of the oscillatory modes Ith mode, and the angles of the elements give phase
corresponding to each eigenvalue λ given by e λ t. displacement of the state variables with regard to the mode.
A real eigenvalue corresponds to a non-oscillatory Thus we can use the mode shape to analyze the magnitude
mode. A negative real eigenvalue indicates a mode that and phase displacement of the speed and rotor angle state
decays in time (the larger the magnitude of the eigen-value variables in an oscillatory mode.
the quicker the decay)9. A positive real eigen value indicates
a mode that grows with time and is system will experience VI. PARTICIPATION FACTORS
aperiodic instability. The participation factor P is useful in identifying those states
1) If a conjugate of pair of complex eigenvalues has nega- which have the most influence on any mode. The
tive real parts σ this corresponds to an oscillatory mode participation factor is non-dimensional.
that decays with time and the system is said to be globally P1i φ1i ψ1i
stable. P2i φ2i ψ2i
2) If a pair has positive real parts, the corresponding 𝐏𝐢 = [ ] [ ]
: :
oscillatory mode grows exponentially with time and Pni φni ψni
eventually dominates the system behavior. Such a sys- The element pki = ψkiφik is called a participation
tem is said to be unstable. factor-. It is a measure of the relative participation of the kth
3) If any one of the eigenvalues has a real part, the system state variable in the ith mode, and vice versa5. In effect
will have an undamped oscillatory response. participation factors are useful in identifying those state
The real component of an eigen value gives the variables which have the most influence on any mode.
damping, and the imaginary part gives the frequency of The higher the value of participation factor of a state
oscillation. for a corresponding mode, the more active that state is in that
Frequency of oscillation (Hz): mode when compared with the other states.
ω
f= Thus the values of participation factors can reveal
2π which generators are involved in a particular mode. It
Damping ratio:
−σ canreveal which machine or machines could go out of step
ζ= for any known mode or modes that might cause problem in
√σ + ω2
2
the power system in the advent of load variation10.
B. Eigen Vectors The participation factors are used to identify the
Eigen analysis also includes the computation of eigen- areas in the power system where any mode or (oscillation)
vectors. For any eigen value λi, the column vector φi that hasmost of its effect.
satisfies is called the right eigenvector for λi
[A]φi = λφi i = 1,2, … n VII. EIGEN VALUE SENSITIVITY TO LOAD CHANGES
φ1i
The sensitivity of an eigen value λi to an element αkj of the
φ2i
state matrix is equal to the product of the left eigenvector
φi = : element ψki and right eigenvector element φji.In this analysis
: the load power at a bus in the power system was varied and
[φni ] the system state matrix computed. The elements αkjC of the
The right eigenvector show the distribution of the state matrix that showed the greatest changes due to the load
modes of response (eigenvalues) through the power sys-tem change were identified. Thus the sensitivity of the
state variables. Correspondingly, there is a row vector ψi that eigenvalues to these elements of the state matrix A sys can be
computed using equation. In computing the eigen value

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 Multi-Machine Signal Stability Analysis for Power System
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sensitivity the elements that show a large variation with a 20 -35.53 - - -

change in load give an indication of the sensitivity of the 21 -37.89 0.142 0.023 1.0
eigen value to load changes. 22 -37.89 -0.142
A. Simulation 23 -38.01 0.038 0.006 1.0
24 -38.01 -0.038
The test system used in this investigation is the IEEE– 11 bus
test system. Matlab 7.5 was used to analyze this system. The
system is a consists of 4 generators. Software was written to
perform the small signal analysis on the system. This program
follows three main algorithms:
 Loads system data
 Performs load flow of system, calculates initial
condition,- linearize system equation and construct the
matrices and finally the system state matrix A sys.
 Calculate system’s eigenvalues a check for unstable
mode and gets the participation and mode shape for
critical Eigenvalues.
The effect of loading was analyzed by increasing the
(a)
load at a particular bus or buses. At each change in loading
the initial conditions of the state variables were calculated
after running a load flow [9]. Next, linearization of the system
equation was done and the state matrix A sys is formed.
Eigen-analysis of the system can then be performed by
obtaining the eigenvalues of the state matrix. The eigen-
values are then check for stability.
B. Load Model Procedure
1) The type of load at various buses was selected i.e.
changing parameters np and nq
2) The system matrix A sys was computed
3) The eigenvalues are computed and check for stability
analysis. (b)

VIII. SIMULATION RESULTS

A standard 11-bus 4 machine 2 area as shown in system. The
initial relative rotor angle obtained from the load flow
solution or initial condition.
NO EIGEN Frequency Damping
VALUES (HZ) Ratio
Real Imaginary
1 -0.76e-3 0.22c-2 0.0003 0.331
2 - -0.22c-2
3 -0.096 - - -
4 -0.111 3.43 0.545 0.032 (c)
5 -0.111 -3.43 Fig. 2: Mode Shapes of Rotor Angle. (A) Interarea Mode
6 -0.117 - - - f=0.545 Hz,𝛇=0.032. (b)Area 1 Local mode f=1.087
7 -0.265 - - - Hz, 𝛇=0.072. (c)Area 2 Local mode f=1.117 Hz, 𝛇 =0.072.
8 -0.276 - - - From this table 1 all eigen values are coming
9 -0.492 6.82 1.087 0.072 negative. So we see that system is Stable. There are three
10 -0.492 -6.82 rotor angle modes of oscillation. Their mode shapes are
11 -0.506 7.02 1.117 0.072 shown in Fig. 2. (a, b, c)
12 -0.506 -7.02
13 -3.428 - - - IX. CONCLUSION
14 -4.139 - - - In this investigation a dynamic model for the power sys-tem
15 -5.287 - - - was developed to investigate the development of low
16 -5.303 - - - frequency oscillations in a power system. The test system was
17 -31.03 - - - used the IEEE 11 bus test system. A power system model was
18 -32.45 - - - enveloped in MATLAB and testing was done to determine
19 -34.07 - - - the power system stability.

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 Multi-Machine Signal Stability Analysis for Power System
(IJSRD/Vol. 6/Issue 02/2018/546)

Software developed performed the following [6] M Ghandhari, G Andersson. “Damping of inter-area and
function: load flow of power system, calculation of the initial local modes by the use of controllable components”,
values of the power system model and the construction of the IEEE Transaction on Power Delivery, 2007; 10(4).
system state matrix. The software then applied the linear [7] MA Pai. Energy, “Function Analysis for Power System
analysis tools to find Eigenvalues of A sys, Participation Stability”, Kluwer Academic Publishers, 1989.
factors, and mode shape. [8] Maurice H. Kent, Waynerfrancis a. “Dynamic Modeling
The Eigenvalues of A sys, Participation factors, and of Loads in Stability Studies” ieee Transactions on
Mode shape can be used to determine if system could develop Power Apparatus and System, 1996, (5) p.88.
oscillations and where they occur in the power system if [9] Elices A, L Rouco, H Bourles. Physical analyzation of
excited. state feedback controllers to damp power system
The purpose of this research was to investigate the oscillations, IEEE Transactions on Power System, 2004;
Contribution of load to low frequency oscillations in Power 19(1).
System8. As a result the system was analysis by first
examining the effect of loading on the development of system
oscillations. Secondly the effect of load model on low
frequency oscillation was determined.
In the power system leads to the development of
many oscillations at low frequency in the power system.
Finally the effect of the load model was that it was easier to
-identify unstable modes of oscillation.
Bus7 PL =967MW QL =100 MWAR QC =200MWAR
Bus9 PL=1767MW QL =100 MWAR QC =350MWAR

X. APPENDIX
The system consists of two similar areas connected by a weak
tie. Each area consists of two coupled units, each having a
900MVA & 20 KV. The generator parameters in per unit on
the rated MVA and KV base are as follows.
XD=1.8 XQ=1.7 X1=0.2 XD¢ =0.3
Xd¢ =0.25 X¢=0.25 T D¢=8.0s Tq¢=0.4s
Td¢=0.03s Tq¢=0.05s Asat=0.015 Bsat=9.6
Xq¢=0.55 Ra=0.0025 jT1=0.9 K d=0
H= 6.5 (for G1 &G2) H=6.175 (for G3 & G4)
E
j0.15 per unit on 900 MVA and 20/230 KV base, and has an
off-nominal ratio of 1.0
The parameters lines in per unit on 900 MVA &
230kv R =0.0001 pu/km XL=0.001 pu/km Bc =0.00175
pu/km Then the generating units loaded as give below.
G1 P=700 MW Q=185 MW E t= 1.03-20.2
G2 P=700 MW Q=235 MW E t= 1.01-10.5
G3 P=719 MW Q=176 MW E t= 1.03-6.8
G4 P=700 MW Q=202 MW E t= 1.01-17.0

REFERENCES
[1] Kundur P. Klein M. “Analytical Investigation of Factors
Influencing power System Stabilizers Performance”,
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[2] Ramanujam R. “Power System Dynamics”, PHI
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[3] Anderson PM. Fouad A. “Power System Control and
Stability”, the Iowa State University Press, Ames, Iowa.
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[4] Franken B and Anderson. “Analysis of Converters
Connected to weak AC Systems”, IEEE Transaction on
Power systems, 1990; 5(1).
[5] Kundur P. “Power System Stability and Control”,
McGraw-Hill, Inc. 1993.

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