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9/19/06 EE532 Lecture 7(Ranade) 1

 EUMP Distance Education Services

EE532
Power System Dynamics and
Transients
Satish J Ranade
Classical Analysis
Numerical Solution & Multi-machine
Systems
Lecture 8
 Topics

Closer look at multi-machine System

Advanced Algorithms

Modeling of synchronous generators

9/19/06 EE532 Lecture 7(Ranade) 3

 Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
0. Event

1 2
G1 G2
3
S3

Initially G1 is set to supply 0.2 pu MW and |V1|=|V2|=1 pu

A three phase fault at Bus 3 is cleared by opening line 1-3 in

10 ~
Is the system first swing stable?
9/19/06 EE532 Lecture 7(Ranade) 4
 Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
0. System

1 2
G1 G2
3
S3
Two generators ( No infinite bus)
Zg1=jXd1’ = j0.3 Zg2=jXd2’ = j0.3
Zt=j0.1 Z12=j0.2 Z13=j0.1 Z23 = j0.2
H1=2 S H2=2 S
Load S3=.4+j0.1 pu
9/19/06 EE532 Lecture 7(Ranade) 5
 Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
1. Find Initial Conditions
1. Power Flow
2. Find internal voltage/angle E` and δ
2. Expand system impedance diagram to explicitly include
Generator Internal voltage source E` as a bus Represent
Loads as constant impedance
3. For each event or network configuration
1. Build Admittance matrix
2. Reduce network to represent Generator Internal voltage
source (E`) buses only
4. Develop power angle curves for each generator and event
5. Simulate
9/19/06 EE532 Lecture 7(Ranade) 6
 Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
1. Initial Conditions-- Gauss Seidel Power Flow Gives
V1/θ1 1 2
G1 V2/θ2 G2
P1+jQ1 3 P2+jQ2
ZG1  0.3j  .1jV3/θ3 -S3 ZG2  0.3j
3
V1  1  8.086i  10 V2  1 V3  0.992  0.032i
S1  0.2  0.074i S2  0.201  0.038i S3  0.4  0.1i

Si
Ii 
Vi

9/19/06 EE532 Lecture 7(Ranade) 7

 Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
1. Initial Conditions– Generator internal Voltage
ZG1  0.3j  .1j Includes Zt

Si
i  1  2  2 Ii  i  1  2  2 E'i  Vi  ZGi Ii
Vi
E'1  1.033  1  arg  E'1  1  3.973 deg
E'2  1.013  2  arg  E'2  2  3.405 deg

1 4 5 2
jXd’1=Zg1 Zt Z12 jXd’2=Zg2
+ + 3 +
E` I Z13 Z23 + S2 I E`
V1 S1
S3 V2
- - -
-
9/19/06 EE532 Lecture 7(Ranade) 8
 Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
2. Expand System to include generator. Model load as
constant impedance

S3
Ys3 
Ys3  0.406  0.101i
 V3  2

1 4 5 2
jXd’1=Zg1 Zt Z12 jXd’2=Zg2
+ + 3 +
E` I Z13 Z23 + S2 I E`
V1 S1
YS3 V2
- - -
-
9/19/06 EE532 Lecture 7(Ranade) 9
 Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
2. Construct reduced matrices for each event
Prefault
1 T
Yr0  Y110  Y120  Y220  Y120

 0.082  1.249i 0.095  1.186i 

Yr0   
 0.095 4 1.186i 0.11  1.259i 
1 5 2
jXd’1=Zg1 Zt Z12 jXd’2=Zg2
+ + 3 +
E` I Z13 Z23 + S2 I E`
V1 S1
YS3 V2
- - -
-
9/19/06 EE532 Lecture 7(Ranade) 10
 Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
2. Construct reduced matrices for each event
Fault

 3.61  10  6  2.1i 4.18  10  6  0.2i 

Yrf   
 4.18  10  6  0.2i 4.84  10  6  2.4i 
 

1 4 5 2
jXd’1=Zg1 Zt Z12 jXd’2=Zg2
+ + 3 +
E` I Z13 Z23 + S2 I E`
V1 S1
V2
- - -
-
9/19/06 EE532 Lecture 7(Ranade) 11
 Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
2. Construct reduced matrices for each event
Post Fault
 2.16  10  4  2.093i 1.008  10  3  0.232i 
Yrp   
 1.008  10  3  0.232i 4.703  10  3  2.249i 
 

1 4 5 2
jXd’1=Zg1 Zt Z12 jXd’2=Zg2
+ + 3 +
E` I Z23 + S2 I E`
V1 S1 YS3 V2
- - -
-
9/19/06 EE532 Lecture 7(Ranade) 12
 Multi-machine Systems Approach 1
Complete Example Glover/Sarma System Fig. 13.4 modified
4. Power angle curves

Notation X is a vector of generator speeds and angles

h step size
n step number ( so nh=time in sec)
d vector of rotor angles used to pass argument
to power angle formulas written as functions
Pei*(d) Power angle equation for generator I ,
during interval *
Pei(d,n) Power from generator i during interval n
as a function of rotor angles d

9/19/06 EE532 Lecture 7(Ranade) 13

 Multi-machine Systems Approach 1
Complete Example Glover/Sarma System Fig. 13.4 modified
4. Power angle curves

Notation X is a vector of generator speeds and angles

X1 = speed of generator 1
X2 = angle of generator 1
X3 = speed of generator 2
X4 = angle of generator 2

F(X,n) Vector of derivatives, I.e., swing equations

9/19/06 EE532 Lecture 7(Ranade) 14

 Multi-machine Systems Approach 1
Complete Example Glover/Sarma System Fig. 13.4 modified
4. Power angle curves
Formulas for mechanical power and electric power angle curve as a
function of angles d, for the prefault(0), fault(f) and post fault(p)
intervals
Pm1( n)  Re  S1 Pm2( n)  Re  S2 pu

Pm1( 1)  0.2 Pm2( 0.2)  0.201

2
Pe10 ( d)   E'1  E'n  Yr01  n  cos  d1  dn  arg  Yr01  n 
n 1

2
Pe20 ( d)   E'2  E'n  Yr02  n  cos  d2  dn  arg  Yr02  n 
n 1
9/19/06 EE532 Lecture 7(Ranade) 15
 Multi-machine Systems Approach 1
Complete Example Glover/Sarma System Fig. 13.4 modified
4. Power angle curves
Formulas for mechanical power and electric power angle curve as a
function of angles d, for the prefault(0), fault(f) and post fault(p)
intervals
Pm1( n)  Re  S1 Pm2( n)  Re  S2 pu
Pm1( 1)  0.2 Pm2( 0.2)  0.201
2
Pe10 ( d)   E'1  E'n  Yr01  n  cos  d1  dn  arg  Yr01  n 
n 1

2
Pe20 ( d)   E'2  E'n  Yr02  n  cos  d2  dn  arg  Yr02  n 
n 1
9/19/06 EE532 Lecture 7(Ranade) 16
 Multi-machine Systems Approach 1
Complete Example Glover/Sarma System Fig. 13.4 modified
4. Power angle curves
Formulas for electric power angle curve as a function of angles d,
and time
pu
Pe1 ( d  n)  Pe10 ( d) if n h  .1
1
Pe1f ( d) if .1  n h  .1 
6
Pe1p ( d) otherwise
Pe2 ( d  n)  Pe20 ( d) if n h  .1
1
Pe2f ( d) if .1  n h  .1 
6
pu
Pe2p ( d) otherwise
H  2
9/19/06 EE532 Lecture 7(Ranade) 17
 Multi-machine Systems Approach 1
Complete Example Glover/Sarma System Fig. 13.4 modified
4. Power angle curves
Derivatives ( Swing Equations) and Initial conditions

  f   X2    
      Pm1( n)  Pe1    n  D  X1  syn  
  H   X4    
 
X1  syn
F ( X  n)   
  f   X2    
      Pm2( n)  Pe2    n  D  X3  syn  
  H   X4    
 X3  syn 
 
Initial conditions ( Subscript 1 corresponds to time t=0-

 1  377  2  377  1  arg  E'1  2  arg  E'2

9/19/06 EE532 Lecture 7(Ranade) 18

 1
Multi-machine
x1  Systems Approach 1
Complete Example  2Glover/Sarma System Fig. 13.4 modified
5. Simulation using Euler Method
Euler  2 
n  2  3  10000

xn  xn1  h F  xn1  n
Separate Variables for Plotting

n  2  3  10000

1n   xn 2n   xn

2 4
1n   xn 2n   xn
1 3
9/19/06 EE532 Lecture 7(Ranade) 19
 Multi-machine Systems Approach 1
Complete Example Glover/Sarma System Fig. 13.4 modified
5. Simulation using Euler Method
386
384.48

384
Speeds Stay
1n 382

2n Together but

F C
380

378
Increase
377 376
0 0.1 0.2 0.3 0.4 0.5
4 n h 0.5
110

3
0.01
9.90410

Relative angle
0.005

1n 2n
Swings back
0

3
 2.89510 0.005
0 0.1 0.2 0.3 0.4 0.5
110
4 nh 0.5
9/19/06 EE532 Lecture 7(Ranade) 20
 Multi-machine Systems Approach 1
Complete Example Glover/Sarma System Fig. 13.4 modified
5. Simulation using Euler Method
384.48
386 In a strict sense
384 system is first swing
1n 382
stable
2n
F
380
C
In the long term speeds
378

377 376
0

110
4
0.1
continue to increase—
0.2
n h
0.3 0.4 0.5
0.5

3
9.90410
0.01
in fact load exceeds
0.005
maximum power transfer
1n 2n capability with line out
0
(steady state unstable)
3
2.89510 0.005
0 0.1 0.2 0.3 0.4 0.5
110
4 n h 0.5
9/19/06 EE532 Lecture 7(Ranade) 21
 Multi-machine Systems Approach 1
Complete Example Glover/Sarma System Fig. 13.4 modified
5. Simulation a closer look
What does the voltage at buses look like?
Remember, |E`1| and |E’2| are assumed constant

Back to the network reduction step – started with

 I1  Y11 Y12   V1
   
I 2
   Y 21 Y 22   V 2

 E'1 / 1   I1 
 E' /   I 
 V1  1   I1  2 
    V3 / 3    0
 V 2  V 4 / 4  I 2  0 
 V5 / 5   0 
9/19/06 EE532 Lecture 7(Ranade) 22
 Multi-machine Systems Approach 1
Complete Example Glover/Sarma System Fig. 13.4 modified
5. Simulation a closer look
What does the voltage at buses look like?
Remember, |E`1| and |E’2| are assumed constant

I2= Y21V1+Y22V2 = 0 => V2= -Y22-1 Y21 V1

I1= Y11V1+Y12V2 => I1= (Y11-Y12Y22 -1 Y21) V1
So once the simulation is done we can calculate the voltage
At the eliminated buses as

V2= -Y22-1 Y21 V1

9/19/06 EE532 Lecture 7(Ranade) 23

 Multi-machine Systems Approach 1
Complete Example Glover/Sarma System Fig. 13.4 modified
5. Simulation a closer look
What does the voltage at buses look like?
  E'1  e 1jd1 
Vs( d  n)  Y220  1  Y120    if n h  .1
T
  1j d2 
 E'
 2  e 
  E'1  e 1jd  
  Y22f  1  Y12f T     if .1  n h  .1  1
  E'  e 1jd2   6
  2  
  E'1  e 1jd1 
Y220  1  Y12pT    otherwise
  1j d2 
 E'
 2  e 

9/19/06 EE532 Lecture 7(Ranade) 24

 Multi-machine Systems Approach 1
Complete Example Glover/Sarma System Fig. 13.4 modified
5. Simulation a closer look
Voltage at bus 3 drops to a low value even after
clearing– load as constant impedance => load power
decreases
1
0.993

V3n 0.5

F C

6
4.19110 0
0 0.1 0.2 0.3 0.4 0.5
110
4 nh 0.5

9/19/06 EE532 Lecture 7(Ranade) 25

 Multi-machine Systems Approach 1
Complete Example Glover/Sarma System Fig. 13.4 modified
5. Simulation a closer look
0.25
0.201
0.2

 1n   0.15
Pe1    n
 2n  
0.1
 1n  
Pe2    n
 n   0.05
2 F C
0
3
 2.06310 0.05
0 0.1 0.2 0.3 0.4 0.5

110
4 nh 0.5

Since load power decreases and Pm is constant speed increases

9/19/06 EE532 Lecture 7(Ranade) 26
 Multi-machine Systems Approach 1
Complete Example Glover/Sarma System Fig. 13.4 modified
5. Simulation a closer look Maximum Power
0.243

0.2

  delta  
Pe1p     0.1
 0 

4
 4.37210 0.1
0 0.5 1 1.5 2 2.5 3 3.5
0 delta 3.14

9/19/06 EE532 Lecture 7(Ranade) 27

 Multi-machine Systems Approach 1
Complete Example Glover/Sarma System Fig. 13.4 modified
5. Simulation a closer look Maximum Power

9/19/06 EE532 Lecture 7(Ranade) 28

 Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
0. Event

1 2
G1 G2
3
S3 S4

Initially G1 is set to supply 1 pu MW and |V1|=|V2|=1 pu

S1=0.4+j 0.1 S2=0.8
A three phase fault at Bus 3 is cleared by opening line 1-3 in
and reclosing at 3-30~
Is the system first swing stable?
9/19/06 EE532 Lecture 7(Ranade) 29
 Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
1 2
G1 G2
3
S3 S4
The load flow implementation does not change but now
Sload4  .8
ZG2  0.3j

V1  0.996  0.088i V2  1
S1  1.001  0.115i S2  S2  Sload4 S2  0.199  0.062i

ZG1  0.3j  .1j Includes Zt


Si
i  1  2  2 Ii  i  1  2  2 E'i  Vi  ZGi Ii
Vi
E'1  1.12  1  arg  E'1  1  26.023 deg
E'2  1.02  2  arg  E'2  2  3.36 deg

9/19/06 EE532 Lecture 7(Ranade) 30

 Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
1 2
G1 G2
3
S3 S4
Power angle curve formulas do not change (values do)
Sequence changes. Pe1 shown below;similar for Pe2
Pe1 ( d  n)  Pe10 ( d) if n h  .1
1
Pe1f ( d) if .1  n h  .1 
20
1 1 pu
Pe1p ( d) if .1   n h  .1 
20 2
Pe10 ( d) otherwise
9/19/06 EE532 Lecture 7(Ranade) 31
 Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
1 2
G1 G2
3
S3 S4
395
390.894

390

1n
385
2n

380 WRONG

377.001 375
0 0.1 0.2 0.3 0.4 0.5
4 nh 0.5
110
9/19/06 EE532 Lecture 7(Ranade) 32
 Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
1 2
G1 G2
3
S3 S4
395
394.649
3~ Reclose
390

1n
385
2n

380 Corrected
376.612 375
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
110
4 nh 1.5

9/19/06 EE532 Lecture 7(Ranade) 33

 Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
1 2
G1 G2
3
S3 S4
2
1.781
3~ Reclose
1

1n 2n

0
Corrected

 0.502 1
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6

110
4 nh 1.5

9/19/06 EE532 Lecture 7(Ranade) 34

 Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
1 2
G1 G2
3
S3 S4
30 Cycle reclose
420
416.837

400
1n

2n
380 Corrected

368.686 360
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
110
4 n h 1.5

9/19/06 EE532 Lecture 7(Ranade) 35

 Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
1 2
G1 G2
3
S3 S4
30 Cycle reclose
40
33.602

30

1n2n 20

Corrected
10

0.396 0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
110
4 nh 1.5
9/19/06 EE532 Lecture 7(Ranade) 36
 Multi-machine Systems Approach 2

• Glover and Sarma (635-636)

– Note text orders load buses first and generators
second.
– So Y11 and Y22 are reversed
Y11 V+Y12 E=0 Loads
Y12T V +Y22 E=I Generators

9/19/06 EE532 Lecture 7(Ranade) 37

 Multi-machine Systems Approach 2
• Method Calculates V at each step
– Run power flow
– Build expanded Y and get Y11, Y12, Y22
– At each time step
• Calcuate Pe = Re (EnIn*) for each generator n
• Find new speed and rotor angle
• Solve Y11 V+Y12 E=0
– If load is included in Y11 this linear
– If load is not included use the Gauss Nolinear Iteration
– E is known
• Solve Y12T V +Y22 E=I for I

9/19/06 EE532 Lecture 7(Ranade) 38

 Multi-machine Systems Approach 2
• Method Calculates V at each step
– Run power flow
– Build expanded Y and get Y11, Y12, Y22
– At each time step
• Calcuate Pe = Re (EnIn*) for each generator n
• Find new speed and rotor angle
• Solve Y11 V+Y12 E=0
– If load is included in Y11 this linear
– If load is not included use the Gauss Nolinear Iteration
– E is known
• Solve Y12T V +Y22 E=I for I

9/19/06 EE532 Lecture 7(Ranade) 39

 Multi-machine Systems Approach 3
• Kundur Differential Algebraic Equation(DAE)

dX/dt = F(X , V) dX/dt = F(X , V)

I(X,V)= YN V 0 = G(X, V)

Network or Power Flow Equation

Swing Equation
+Device Diff. Eq.
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 Multi-machine Systems Approach 3
• Kundur Differential Algebraic Equation(DAE)

dX/dt = F(X , V)

Apply Trapezoidal Rule

Xn+1 = Xn + (h/2) ( F(Xn, Vn)+F(Xn+1, Vn+1)

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 Multi-machine Systems Approach 3
• Kundur Differential Algebraic Equation(DAE)

At each time step n+1 solve simultaneously

0 = Xn+1 - Xn + (h/2) ( F(Xn, Vn)+F(Xn+1, Vn+1)

0 = G(Xn+1, Vn+1)

The Newton Raphson Technique is one solution approach

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 Multi-machine Systems Approach 3
• Kundur Differential Algebraic Equation(DAE)
At each time step n+1 solve simultaneously
Start with a guess Xn+1e, Vn+1g
Define
R1 = Xn+1g - Xn + (h/2) ( F(Xn, Vn)+F(Xn+1g, Vn+1g)
R2 = G(Xn+1g, Vn+1g)
Taylor expansion of equation gives
0  R1  (1  ( h / 2)F / X ) X  (( h / 2)F / V ) V

0  R 2  (( h / 2)G / X )X  (( h / 2)G / V)V

9/19/06 EE532 Lecture 7(Ranade) 43
 Multi-machine Systems Approach 3
• Kundur Differential Algebraic Equation(DAE)
At each time step n+1 solve simultaneously
• Start with a guess Xn+1e, Vn+1g
• Compute correction and new guess
X  (1  ( h / 2)F / X ) ( h / 2)F / V   R1
 V     ( h / 2)G / X ( h / 2 ) G / V   R 2
    

Xn  1new   X   Xn  1g 
 new 
  g

Vn  1     Vn  1 
V
•Iterate to convergence
•Go to next step
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 Summary

• Developed Simulation Techniques for

– First Swing Stability
– Multimachine System

• Looked at interpretation of results

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 Next

• Modeling of synchronous generators

– Advanced stability studies
– Modeling machine in more detail
– Modeling controls
• Exciter/Voltage Regulator
– Results from more detailed modeling

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