Delayed Feedback Controller for

Stabilizing Subsynchronous Oscillations in Power Systems

Yaar Kkefe1 and Adnan Kaypmaz2
1

National Power Enerji, Tekirda , Turkey

[email protected]
2
stanbul Technical University, stanbul, Turkey
[email protected]
Abstract
This paper presents a novel controller based on the delayed
feedback control theory for stabilizing unstable torsional
oscillations caused by Subsynchronous Resonance (SSR) in
power systems. The first system of the IEEE Second
Benchmark Model, which consists of a synchronous
generator connected to an infinite busbar through two
parallel transmission lines, one of which is equipped with a
series capacitor, is used to evaluate the controllers
effectiveness. Dynamics of the generator damper windings
and the Automatic Voltage Regulator (AVR) are included in
the nonlinear model. The controller uses the synchronous
generator rotor angular speed as the only input. The
difference between the input signals value -time in the past
and its current value is multiplied with a gain to obtain the
controller output, which is then combined into the AVR as
the stabilizing signal. The effectiveness of the proposed
controller in damping the torsional oscillations is
demonstrated via time-domain simulations in MATLABSimulink. The controller performance index is also
introduced to evaluate the effectiveness of the controller.

1. Introduction
Series capacitor compensation of AC transmission lines is an
effective way of increasing load carrying capacity and
enhancing transient stability. It is known that subsynchronous
resonance (SSR) can occur in electric power systems consisting
of turbine-generators connected to transmission lines with series
capacitors. Unless adequate measures are implemented, SSR can
lead to turbine-generator shaft failures as occurred at the
Mohave Power Plant in Southern Nevada in the USA in 1970
[1]. IEEE SSR Working Group has constructed three benchmark
models for computer simulation of the SSR [2, 3]. Analytical
tools for studying the SSR involve frequency scanning,
eigenvalue technique, time domain simulation programs [4] and
the complex torque coefficient method [5, 6].
A single-machine-infinite-busbar (SMIB) power system with
series capacitor compensation is inherently nonlinear and can be
modeled by sets of ordinary differential equations. The
nonlinear model including the dynamics of the turbine-generator
shaft system can be analyzed by using the methods of the
nonlinear theory. Zhu et al. [7] demonstrated the existence of
Hopf bifurcation in a SMIB power system susceptible to SSR.
Iravani et al. [8] investigated the Hopf bifurcation phenomenon
of the torsional dynamics. Harb [9] employed the bifurcation
theory to investigate the complex dynamics of the SSR.

Countermeasures against SSR include implementations and

proposals such as the blocking filters [10], excitation controllers
[11], static VAR compensators [12], SSR damping controller
integrated in a static synchronous compensator (STATCOM)
[13], NGH damping scheme [14] and Bifurcation control [15].
Delayed feedback control [16] is a simple and efficient
method to stabilize both unstable periodic orbits (UPO)
embedded in the strange attractors of chaotic systems [17] and
unstable steady states [18]. Also known as Time Delay AutoSynchronization (TDAS), this control scheme makes use of the
current state of a system and its state -time unit in the past to
generate a control signal. In the case with UPOs, the most
efficient performance of TDAS controller can be obtained if
time delay () corresponds to an integer multiple of the minimal
period of the unstable orbit. The method works best if  is set a
value related to intrinsic characteristic time scale given by the
imaginary part of the systems eigenvalue in the case of unstable
steady states [19].
In this paper, we present a novel controller based on the
delayed feedback control theory. The proposed controller uses
the synchronous generator rotor angular speed signal as the only
input, which is an accessible state variable. The output of the
controller is combined into the AVR as the stabilizing signal.
The first system of the IEEE second benchmark model for SSR
studies is used to evaluate the controllers performance. The
controller parameters have been determined by evaluating the
dynamic response for a range of parameters. Time domain
simulations using the nonlinear model are presented to
demonstrate that the proposed controller can effectively stabilize
the unstable torsional oscillations.
This paper is organized as follows. The SMIB power system
under study is described in Section II. Delayed Feedback
Controller (DFC) is presented in Section III. Then in Section IV,
its effectiveness in stabilizing unstable torsional oscillations
cause by the SSR is demonstrated via time domain simulations
in MATLAB-Simulink.

2. System Description and Modeling

The complete nonlinear model representing the dynamics of
the electrical and mechanical systems of the first system of the
IEEE second benchmark model for SSR studies has been
developed in MATLAB, using direct and quadrature d-q axes
and Parks transformation [20].
In the nonlinear model, we have included the dynamics of the
automatic voltage regulator and the generator rotor damper
windings on the d-q axes. On the other hand, the saturation
effects and the governor dynamics have been neglected. The
model parameters are given in the Appendix.

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2.1. Electrical System

2.2. Mechanical System

Fig.1 shows the first system of the IEEE second benchmark

model for SSR studies. It is a SMIB power system, which
consists of a synchronous generator connected to an infinite
busbar through two parallel transmission lines. Adjustable series
capacitor compensation is applied in one of the parallel
transmission lines.

The single shaft turbine generator mechanical system

consists of a high-pressure (HP) turbine, a low-pressure turbine
(LP), a generator and an exciter as shown in Fig.2. K, D and M
parameters represent the spring coefficient, the damping
coefficient and the inertia constant of the corresponding shaft
section, respectively.

RL1 XL1 Xc

K12

V0
RT

XT

Rb

Synch.
Gen.

Xb

HP
M1
D1

RL2 XL2

Defining the state variables as =v g g{ gu guv , g

, and =}v g} , b , the equations in state space

form can be written as:

X A Vg hWggggggggggggggggggggggggggggggggggggggggggggggggg(1)


XA Vg hg Wgggggggggggggggggggggggggggggggggggggggggggggggggg(2)


X h h g
X h h gg
= j
!X

b
2b h L2

V 1 h 2 Wb h VL1 h L2  L1 Wb

M3
D3

M4
D4

M2
D2

Defining =Aj gfj gAb gfb gA g gA gf , , the

equations in state space representation form can be written as
follows:

where

(3)

V Y h Y W
Y

Y
Y

Y
Y

ggggggggggggg

(12)

(13)

Y
Y

V Y h W

gggggggggggggg(9)
(10)

(14)

In (14), represents the electromechanical torque and it is

expressed as follows:
XV  Wgv  h {   u v h uv 

(6)
(7)
(8)

Y
V h W

(4)

(5)


=G +H


V h W V hA  W

A 

hA

W
V

h
W
A


A
V

d V Wh}v

d V W h }

X -{v 

Exc.

high-pressure (HP) turbine, a low-pressure turbine (LP), a generator and

an exciter

where
 


 


 

K34
Generator

Fig. 2. Schematic diagram of the mechanical system consisting of a

Fig. 1. First system of the IEEE second benchmark model

V h W

V h W

X 

K23

LP

(15)

2.3. Excitation System with AVR

The excitation system with AVR of type DC1A described in
[21] is incorporated into the model. Fig.3 shows the block
diagram of the excitation system with AVR. The effect of AVR
limiters is included in the model.
Defining X g g~ g-{v , gg p the state
equations describing the dynamics of the excitation system with
AVR can be written as follows:

(11)

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=P +Qggggggggggggggggggggggggggggggggggggggggggggggggggggggggggg(16)




interacts with all three torsional modes resulting in movement of

the real part of the corresponding eigenvalue towards to the
zero-axis, as shown in Fig. 5.


h  



VRmax
 h

h  



/
h  /

- h  -

-

VRmin

Fig. 3. Block diagram of the excitation system with AVR

Where

X

=

gggggggggggggggggggggggggg(17)g

{ ?

Fig. 4. Oscillatory modes of the model

ggggggggggggggggggggggg (18)

 in (18) is the generator terminal voltage. Neglecting the

transients,  can be expressed as:
 XVV v h  Wb hV   v v h {v {v Wb ggggggggg(19W
2.4. Complete Mathematical Model
We define the state vector X g g g p and
combine (1-2), (12) and (16) as:

Vg hW

X Vg hg W
g h

g h

(20)

Fig. 5. Real parts of the torsional mode eigenvalues

3. Modal Analysis
Oscillatory modes of the model depending on the series
compensation factor ( g = } j ) were computed by
determining the eigenvalues of the Jacobian matrix evaluated at
system equilibrium. The other operating parameters were kept
constant (Tm=0.91 p.u., d =1.0 p.u. and { =1.0953 p.u.).
Fig. 4 shows the oscillatory modes of the model. Supersynchronous and subsynchronous electrical modes have
frequencies dependent on the series compensation factor. There
are three torsional oscillation modes with frequencies of 24.7
Hz, 32.4 Hz and 51.1 Hz. The local swing mode has a frequency
of 1.46 Hz. In the local swing mode, the turbine-generator shaft
sections oscillate as a rigid body. In case the torsional modes are
excited, on the other hand, some of the shaft masses oscillate
against the others causing loss of fatigue life and eventually the
shaft damage [22].
Hopf bifurcation points of the system are found by
monitoring the real parts of the eigenvalues of the Jacobian
matrix. As the series compensation factor is increased, the
subsynchronous electrical mode frequency decreases and

The interaction with the third torsional mode occurs at

X 0.0701, without causing instability. The real part of the
second torsional mode eigenvalue crosses the zero-axis at
g=g0.51968, as a result of interaction with the subsynchronous
electrical mode and the system stability is lost. Though the
second torsional mode regains stability at g=g 0.81524, the
overall system stability is not regained because of the Hopf
bifurcation occurring at g=g0.73448 in the first torsional mode
which interacts strongly with the subsynchronous electrical
mode.

4. Delayed Feedback Controller

The delayed feedback controller (DFC) consists of time
delay, subtraction and gain operators. Fig. 6 shows the block
diagram of the DFC. The synchronous generator rotor speed
(A ) is used as input to the DFC block. The output signal is
obtained by subtracting the  delayed value of A from its
current value and then multiplying the result by a gain (KDFC).
n is then combined into the AVR as the stabilizing signal.

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It is important to emphasize that analysis of nonlinear delay

differential equations are extremely difficult. In order to
investigate the DFC set parameters giving effective results, a
performance index based on the evaluation of time domain
responses is defined as follows:

VSmax

A VW h

A VW
Time Delay

@

KDFC
VSmin

PDFC(, KDFC) = max(A )-min(A )

Fig. 6. Block diagram of the Delayed Feedback Controller

In order to study the dynamic response of the model in time
domain, simulations in MATLAB-Simulink have been
performed. At the system equilibrium with the operating values
Tm=0.91, d =1.0 and { =1.0953, a disturbance of 0.4 p.u.
positive pulse torque was applied on the generator shaft at t=1s
for a duration of 0.5s =0.55).
The generator rotor speed response without DFC is obtained
as shown in Fig. 7. Following the disturbance, the oscillations of
the local mode of the generator are excited but they disappear. It
is observed that the magnitude of torsional oscillations with
frequency 32.4 Hz increases due to SSR. As a result, the system
equilibrium is not reached because of the loss of stability
through the Hopf bifurcation occurring at = 0.52. In such case,
unless the synchronous generator is disconnected from the grid
by means of protective devices (e.g. loss of synchronism, overspeed), catastrophic damage can occur.

(21)

for t1 < t < t2. The time interval values t1 and t2 has been chosen
as 8s and 10s, respectively.
As shown in Figs. 9-10 that there exists a correlation between
the optimization performance index and the DFC parameters.
The evaluated optimum set parameters are valid for the
operating points at which the simulation is performed.

Fig. 9. DFC performance index (= 0.55, KDFC=70)

Fig. 7. Synchronous generator rotor speed response (= 0.55)

It is evident from Fig. 8 that the DFC successfully stabilizes
the torsional oscillations due to SSR.

Fig. 10. DFC performance index (= 0.55, =0.018s)

Fig. 8. Generator rotor speed with DFC (= 0.55, =0.018s)

The DFC output limiters cut in during the initial period

following the disturbance. Since the DFC uses the generator
rotor speed as input, significant deviations mainly due to the
local swing mode in this signal causes the DFC output limiters
to cut in. Only after the oscillations at the local swing mode has
decayed to a certain value, the DFC output limiters cut out. The
generator terminal voltage reaches to a value of 1.19 p.u.
momentarily.

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5. Conclusions
The unstable torsional oscillations observed in the first
system of the IEEE SBM can be stabilized by the delayed
feedback controller which uses the synchronous generator rotor
speed as the only input. The stabilizing output signal is
combined into the AVR. The optimal values of the controller
time delay and gain parameters have been determined by
evaluating the dynamic response of the nonlinear model in time
domain.
The merits of the proposed controller involve that it requires
the measurement of only one observable state variable and the
optimal setting of only two parameters, namely the time delay
and the controller gain.

6. Appendix
Synchronous generator
Xq=1.59
Xd =1.65
Xakq =1.45
Xakd =1.51
Xkkq =1.5238
Xkkd =1.642
Xafd=1.51
Xffd =1.6286
ra =0.0045
rfd =0.00096
rkd =0.016
rkq =0.0116
Network
XT =0.12
XL1 =0.48
XL2 =0.4434
Xb =0.18

Xfkd =1.51

RT =0.0012
R1 =0.0444
R2 =0.0402
Rb =0.0084

Mechanical System
D1 =0.0498
M1 =0.498
M2 =3.1004
D2 =0.031
D3 =0.1758
M3 =1.7581
D4 =0.0014
M4 =0.0138
Excitation System with AVR
KA =250, TA =0.002 s
KE =1,
TE =0.02 s
KF =0.03,
TF =1 s
VRmin= -7.3 p.u., VRmax= 7.3 p.u.

K12 =42.6572
K23 =83.3823
K34 =3.7363

TR =0.020 s

Delayed Feedback Controller

VSmin= -0.15 p.u. , VSmax=0.15 p.u.

7. References
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