U.S.

-PAKISTAN CENTER
FOR ADVANCED STUDIES
IN ENERGY (USPCAS-E)

Advanced Power System Stability

and Transient Studies (EEE-802)
Module 1
(Background and Concepts)
By
Dr. Syed Ali Abbas Kazmi
 Lecture Overview
1. Basic Concepts & Definitions of power system stability
2. Classification of power system stability
3. Rotor Dynamics and Swing Equation
4. Inertial Constant “H”
5. Swing Curve
6. Two Machine Systems
7. Assumptions in transient stability studies
8. Small signal stability
9. Transient stability
10. Voltage stability
2
 Power System Stability: Historical Perspective
• Recognized as an important problem for secure
system operation since the 1920s
• Major concern since the infamous November 9,
1965 blackout of Northeast U.S.A. and Ontario,
Canada
– Criteria and analytical tools used worldwide until now
largely based on the developments that followed this
blackout

• Presents many new challenges for today's power

systems
 1. Basic Concepts & Definitions of power
system stability (PSS): Contd.
History of power system stability:
Historically: PSS 1950+  Analogue
Problem was computer for simulating
first attempted Initially via Hand Calculations PSS.
in 1920 onwards
1956+  1st Digital
High response excitation computer for simulating
system for tangent stability Tangent Stability
PSS.
results in poor damping

Why need for development of mathematical model of

Power system?
Transmission system is large, interconnected & complex
 Set of non-linear differential equations
 A set of algebraic equations
 No formal solution is available
 If solved with numerical techniques, result in large computational loads and time
4
 1. Basic Concepts & Definitions of power
system stability (PSS): Contd.
Development of mathematical model for power system:
Development of mathematical model of PSS needs?
 Mathematical model of the following:
 Synchronous machine
 Excitation systems
 Voltage regulators
 Governors
 Loads
PSS is always subjected to disturbances (Not in SS cond.)
 Due to load change
 Large perturbation in the form of faults
 Taking off lines
 Changing large loads
 Dropping of generators 5
 2. Classification of power system stability
PSS is designed in such a way that it can withstand certain
contingencies (Abnormal conditions)
 PSS is classified into Angle Stability & Voltage Stability:
 Angular Stability (Ability to maintain synchronism and torque
balance of synchronous machines) is further classified into:
1. Small signal stability
2. Transient stability
3. Mid-term stability
4. Long-term stability
 Voltage Stability is (ability to maintain steady acceptable
voltage and reactive power balance) further classified into:
1. Small disturbance voltage stability
2. Large disturbance voltage stability
6
 3. Rotor Dynamics and Swing Equation
Rotor Angle Stability (Definition):
“The ability of interconnected synchronous machines of a
power system to remain in synchronism.”
 Ability to maintain synchronism (Primary Requirement)
 Torque balance of synchronous machines.
Input Torque is supplied by “Prime-over” (i/p mechanical
torque)
EMF torque developed by synchronous generator (o/p
electrical torque)
 To study PSS:
 First: Understand dynamics of rotor.
 Second: Develop a mathematical equation to describe the
dynamics of the rotor. 7
 3. Rotor Dynamics and Swing Equation.
Contd.
Rotor dynamics and swing equation (Definition):
The equation governing the motion of the rotor of a synchronous machine is
based on the basic principles of system dynamics and states that:
“The acceleration torque is the product of inertia and angular
acceleration.”

Table 1. Rotor Dynamics of Synchronous Machine (Synchronous Generator and Synchronous Motor)

(a) Synchronous Generator (b) Synchronous Motor

Tm (); Te(); Wrotor=𝜔𝑠 () Tm (); Te(); Wrotor=𝜔𝑠 ()
Tm is provided by prime mover Te is driving torque
Te is electromagnetic torque Tm is load/braking torque
Electrical torque is developed due Driving torque is developed by the
to interaction of flow of electrical power from supply
magnetic field and stator current and hence makes the load torque. 8
 3. Rotor Dynamics and Swing Equation.
Contd.

Table 1. Rotor Dynamics of Synchronous Machine (Synchronous Generator and Synchronous Motor)

(a) Synchronous Generator (b) Synchronous Motor

Tm (); Te(); Wrotor=𝜔𝑠 () Tm (); Te(); Wrotor=𝜔𝑠 ()
Rotor rotates in the direction of Tm Rotor rotates in the direction of Te
Under SS; Tm=Te and rotor rotates Under SS; Tm=Te and rotor rotates
@ synchronous speed @ synchronous speed
Under disturbance; Tm≠Te ; and Under disturbance; Tm≠Te ; and
results in accelerating torque. results in accelerating torque.

9
 3. Rotor Dynamics and Swing Equation.
Contd.
According to the def. of rotor dynamics, “The acceleration torque is the product
of inertia and angular acceleration” , Swing equation can-be derived via
differential equation as:
Symbol Meaning
𝐽 Moment of inertia in Kg-m3
𝜃𝑚 Angular displacement of rotor
wrt. a stationary axis in
mechanical radians
(It is cal. Wrt stationary axis)
𝑇𝑚 Mechanical or shaft torque
supplied by prime mover
Note: 𝑇𝑚 and 𝑇𝑒 have positive (minus retarding torque due to
signs for synchronous generator rotational losses) in N-m
operation and negative signs for 𝑇𝑒 Net elect. or Electromagnetic
synchronous motor operation torque in N-m
𝑇𝑎 Net accelerating torque
10
 3. Rotor Dynamics and Swing Equation.
Contd.
It is appropriate to measure the rotor angular position wrt reference axis
which rotates at synchronous speed.

𝜃𝑚 = 𝜔𝑠𝑚 t + 𝛿𝑚  (2)
𝝎𝒔𝒎 : It is synchronous speed of machine in mechanical rad/sec.
𝜹𝒎 : Angular displacement of rotor in mechanical radians from sync rotating ref.
𝜽𝒎 : Changes continuously under SS condition b/c its measured wrt stationary axis.
𝜽𝒎 : Can-be measure wrt a synchronous rotation axis

First derivative of eqn. (2) wrt t:

𝑑 𝑑
𝜃 = 𝜔𝑠𝑚 + 𝛿𝑚  (3)
𝑑𝑡 𝑚 𝑑𝑡
Rotor Speed Sync. Speed Add. Torque

11
 3. Rotor Dynamics and Swing Equation.
Contd.
Second derivative of eqn. (3) wrt t:

𝑑2 𝑑2
𝜃 = 𝛿𝑚  (4)
𝑑𝑡 2 𝑚 𝑑𝑡 2

Substitute eqn. (4) in equation 1, we get eqn. (5):

𝑑 2 𝜃𝑚 𝑑2
𝐽 2 = 𝐽 2 𝛿𝑚 = 𝑇𝑎 = 𝑇𝑚 − 𝑇𝑒  (5)
𝑑𝑡 𝑑𝑡

Since, all terms are torque in N-m and we are comfortable with power terms.
Lets donate 𝜔𝑚 in rad/s in eqn. (6) and multiply with eqn. (5), we get eqn. (7):
𝑑
𝜔𝑚 = 𝜃𝑚  (6)
𝑑𝑡
𝑑2
𝐽𝜔𝑚 2 𝛿𝑚 = 𝜔𝑚 𝑇𝑎 = 𝜔𝑚 𝑇𝑚 − 𝜔𝑚 𝑇𝑒  (7)
𝑑𝑡
Kg-m2 Rad/s Rad/s N-m Rad/s N-m Electrical Power
12
Shaft power i/p to machine less rotational loss Crossing the air gap
 3. Rotor Dynamics and Swing Equation.
Contd.
Eqn. (7) in watts can-be written as eqn. (8):
𝑑2
𝐽𝜔𝑚 2 𝛿𝑚 = 𝑃𝑚 − 𝑃𝑒 = 𝑃𝑎  (8)
𝑑𝑡

Product coefficient 𝑱𝝎𝒎 is angular moment of rotor @ synchronous speed 𝝎𝒔𝒎.

Product coefficient 𝑱𝝎𝒎 is denoted by M & is Inertia constant of machine.

Practically 𝝎𝒎 ≅ 𝝎𝒔𝒎 (Sync. Speed) and has a very small difference. If difference
is large, it is when machine losses synchronism, as swing equation in eqn. (9).
𝑑2
𝑀 2 𝛿𝑚 = 𝑃𝑚 − 𝑃𝑒  (9)
𝑑𝑡
Note/Justification of inertia constant/angular momentum M: M is normally
not constant and with assumption 𝜔𝑚 ≅ 𝜔𝑠𝑚 ; thus M becomes constant.
Further, error is negligible and justify the coefficient of acceleration as constant.
M varies over wide range depending on size and type of machine.
Hydro and Turbo generators have widely different values of M.
13
 4. Inertial Constant “H”
According to the def. of rotor dynamics, “The acceleration torque is the product
of inertia and angular acceleration” , Swing equation can-be written as follows:
𝐾.𝐸 𝑖𝑛 𝐾𝐽/𝑀𝐽 @ 𝑆𝑦𝑛𝑐 𝑆𝑝𝑒𝑒𝑑 Symbol Meaning
𝐻=
𝑀𝑎𝑐𝑕𝑖𝑛𝑒 𝑅𝑎𝑡𝑖𝑛𝑔 𝑖𝑛 𝐾𝑉𝐴/𝑀𝑉𝐴 𝐻 Inertia constant of rotor and turbine
𝜔𝑠 Synchronous speed of machine
2H d  2
 Pm  Pe 𝑃𝑚 Mechanical power applied

s dt 2 𝑃𝑒 Electromagnetic power developed

𝛿 Rotor angle

• Hydro and Turbo generators of same MVA have widely different values of Kinetic
energy and momentum and to express them in common way, we use H.
• Frequency of stator electrical quantities “depends on/is synchronized with” rotor
mechanical speed
• In steady state, rotor field and revolving stator field have the same speed –
synchronous speed 𝜔𝑠
• But there is an angular separation 𝛿 between them depending on mechanical power
input 𝑃𝑚 and electrical power output 𝑃𝑒 of the generator 14
 4. Inertial Constant “H”
Now we will establish a relationship between M and H:

1 1
𝐾.𝐸 𝑖𝑛 𝐾𝐽/𝑀𝐽 @ 𝑆𝑦𝑛𝑐 𝑆𝑝𝑒𝑒𝑑 ∗𝐽𝑤𝑠𝑚 2 2∗𝑀𝑤𝑠𝑚
𝐻= = 2
=  (10)
𝑀𝑎𝑐𝑕𝑖𝑛𝑒 𝑅𝑎𝑡𝑖𝑛𝑔 𝑖𝑛 𝐾𝑉𝐴/𝑀𝑉𝐴 𝑆(𝑀𝑎𝑐𝑕) 𝑆(𝑀𝑎𝑐𝑕)

2𝐻
Substituting M=J𝑤𝑠𝑚 = S(𝑀𝑎𝑐ℎ) in eqn. (9), we get:
𝑤𝑠𝑚

2𝐻 𝑑 2 𝑃𝑚 − 𝑃𝑒
𝑤𝑠𝑚 𝑑𝑡 2
𝛿𝑚 = S(𝑀𝑎𝑐𝑕)
= 𝑃𝑚 (p.u) − 𝑃𝑒 (p.u)  (11)

𝟐𝑯 𝒅𝟐
• Where, 𝒘 is speed in mech rad/s and elect rad/s; 𝒅𝒕𝟐 𝜹𝒎 is change in angle in mech
𝒔𝒎
rad and elect rad; Pm and Pe are mech and electrical powers in per units,
respectively. 𝜹𝒎 and 𝒘𝒔𝒎 is consistent, thus By dropping subscript terms, we get
swing equation of electrical machine, that is second order differential equation.

2𝐻 𝑑 2 𝛿
𝑤𝑠 𝑑𝑡 2
= 𝑃𝑚 − 𝑃𝑒  (12) 15
 4. Inertial Constant “H”
For system with electrical frequency f in Hz, eqn. 12 can be written as (13):

𝐻 𝑑2 𝛿
𝜋𝑓 𝑑𝑡 2
= 𝑃𝑚 − 𝑃𝑒  (13)

Where, 𝜹 is in electrical radians. For electrical degrees, (13) is as follows:

𝐻 𝑑2 𝛿
180∗𝑓 𝑑𝑡 2
= 𝑃𝑚 − 𝑃𝑒  (14)

• Where, eqn. (12-14) are basic swing equations around which stability of power system
depends.
• Electrical power (Pe) is o/p of the synchronous machine and is non-linear function of 𝜹.
Where, we have 𝜹 as function of time.
• Swing equation is second order non-linear differential equation.
• Suppose, we have several machines, we have to write down swing equation of each
machine.
• The solution of swing equation is called swing curve. 16
 5. Swing Curve
• Frequency of stator electrical quantities “depends on/is synchronized
with” rotor mechanical speed
• In steady state, rotor field and revolving stator field have the same
speed – synchronous speed 𝜔𝑠
• But there is an angular separation 𝛿 between them depending on
mechanical power input 𝑃𝑚 and electrical power output 𝑃𝑒 of the
generato
• Read page 19 of Prabha Kunder for further details

Symbol Meaning
𝐻 Inertia constant of rotor and turbine
2H d  2
 Pm  Pe
𝜔𝑠 Synchronous speed of machine

s dt 2 𝑃𝑚 Mechanical power applied

𝑃𝑒 Electromagnetic power developed
𝛿 Rotor angle

17
 5. Swing Curve. Contd.
2H d  2
 Pm  Pe
s dt 2

• The swing equation has pivotal role in stability analysis of power system

• Each synchronous machine in a system has its corresponding swing equation

• It is a second order differential equation

• Here 𝛿 is the unknown, Solution of equation gives 𝛿 values with changing time

• Plot of 𝛿 variation of a synchronous machine with time is called Swing Curve

• Inspection of swing curves of all the machines in a system reveals which

machines will remain stable after a disturbance

18
 5. Swing Curve. Contd.
• We have to maintain equilibrium between the torque supplied by the prime over
and the electromagnetic torque developed by the synchronous generator.
• The Typical swing curves are as follows:

19
 6. Power Vs. Angle relationship.
Two Machine System
• An important characteristic that has a strong bearing on power system
stability is the relationship between interchange power and angular
positions of rotors of the synchronous machines.
• This relationship between two or more synchronous machines is highly
non-linear. (And it will make our swing equation non-linear too!)

EEE 802 Advanced Power System Stability

 6. Two Machine System ….. continues
For this simple system, if we develop an expression for electrical
power output for machine 1, it can-be first drawing phasor
diagram.
• 𝛿𝐺 is the angle by which
generator rotor leads the stator
revolving field
• 𝛿𝐿 is the angle by which the
stator field of the generator leads
the stator field of the motor
• 𝛿𝑀 is the angle by which motor
rotor lags the stator revolving
field
• Phase difference b/w 𝐸𝑀 and
𝐸𝐺 is power angle.
• Power angle 𝛿 = 𝛿𝐺 + 𝛿𝐿 + 𝛿𝑀
EEE 802 Advanced Power System Stability
6. Two Machine System …… continues

• Above power-angle curve is only valid for a system consisting of two

synchronous machines
• Only valid for simplified synchronous machine model of a voltage source
behind a reactance
• In case of accurate models, e.g. considering automatic voltage regulators,
this will vary a bit
• For more than two machines, it will vary considerably more
EEE 802 Advanced Power System Stability
6. Two Machine System …… continues

SS stability
Limit

• Point ‘a’ is stable equilibrium point (SEP), after disturbance returns to

stable condition
• Point ‘b’ is unstable equilibrium point (UEP), in case of disturbance
synchronism is lost
• SEP: System perturb to stability point and force will made it back to a.
• UEP: Perturb to unstability.

EEE 802 Advanced Power System Stability

 6. Power Vs. Angle relationship.
Two Machine System
• Numerical.1. Note: p.u = Per unit.
Two synchronous machines of equal rating have internal voltages of
1.1+j0.5 (p.u) and 0.8-j0.4 (p.u) voltages respectively. The machines are
connected by a line of 50 km length having only reactance and the second
machine receives power of 0.9 p.u. Determine the reactance of the line per
km length. Assume that there is no internal reactance for simplification.

EEE 802 Advanced Power System Stability

 7. Assumptions in transient stability studies
• The five main assumptions are as follows:
1. Mechanical power (Pm) to the generator remains constant during
period of transient (i.e. speed governing system action is neglected).
2. Machine damping or asynchronous power is negligible and AVR action
is neglected.
– Synchronous machine is modelled as constant voltage source behind the
transient reactance.
3. Network transients are neglected.
– Thus static model of network can-be used.

4. Loads are represented as constant impedance/admittance type.

5. Mechanical angle of each machine rotor coincides with the electrical
phase of voltage behind transient reactance.

EEE 802 Advanced Power System Stability

 7. Assumptions in transient stability studies
• The justification of assumptions are as follows:
1. Mechanical power (Pm) to the generator remains constant simplifies
the analysis. Reason-being, in any prime mover (steam or hydro
turbine), Pm is controlled by supplementary control action called set
point control.
2. Asynchronous power results in damping and damping torque will
always act in direction opposite to the driving torque. Thus we ignore
damping to simplify the analysis.
3. It results in simplified model for synchronous machine and for
detailed model, this assumption is not needed.
4. Loads as constant impedance/admittance simplifies analysis.
5. We only compute elect or sync power (Pm) assuming SS. In reality,
rotor of sync machine are oscillating and are not in SS. V and f are
deviating slightly depending upon the type of transient. This results in
easy computation.

EEE 802 Advanced Power System Stability

 8. Small signal stability
Definition: “Small signal stability is the ability of the power
system to maintain synchronism under small disturbances”.
• The small disturbances are small variation in loads and
generations, any power system loads keep on changing
continuously.
• The disturbances are considered to be sufficiently small
for linearization of the system equations to be
permissible for purpose of analysis.
– Since, swing equation is a non-linear differential equation,
and when we consider small perturbations, swing equation
can be linearized around a nominal operating condition.
– More details in future lectures.
EEE 802 Advanced Power System Stability
 8. Small signal stability. Contd.
Small signal stability is classified into two types.
A. Non-oscillatory stability:
A. Due to insufficient synchronizing torque
B. Oscillatory stability:
– Due to insufficient damping torque or unstable control action.
Response of machine under small perturbations come under
two conditions.
• Sync. Machine has constant free voltage. (No voltage regulator)
• Sync. Machine has voltage regulator and excitation control.
To understand the concept, it is important to consider
synchronizing and damping torque coefficients.
EEE 802 Advanced Power System Stability
 8. Small signal stability. Contd.
Synchronizing and damping torque coefficients.
When rotor of synchronous machine are oscillating, it develops
electrical torque. The change in electrical torque of a synchronous
machine following a disturbance can-be resolved into two
components.
Synchronizing torque (Ts): Ts is in phase with angle deviation (∆𝛿) .
Damping torque (Td): Td is produced in phase with speed deviation (∆𝜔).

∆𝑇𝑒 =Ts ∆𝛿 + j Td ∆𝜔
When rotor is oscillating (oscillations are sinusoidal in
nature), we can represent this torque as a phasor in plane
where, ∆𝛿 is in x-axis and ∆𝜔 is in y-axis.
EEE 802 Advanced Power System Stability
 8. Small signal stability. Contd.
A. Non-oscillatory stability: A. Non-oscillatory stability:
Traits: -ve Ts and +ve Td. Traits: +ve Ts and +ve Td.
(With constant field voltage) (With constant field voltage)
(unstable) (stable if both Ts and Td are +ve)

• Response of rotor wrt. small perturbations • Response of rotor starts at 0 and

• Starts from 0 and oscillation increases oscillations are growing
• Case of insufficient synchronizing torque • Case negative damping torque

B. Oscillatory stability:
Traits: +ve Ts and -ve Td.
(With excitation control)
(unstable)
30
 8. Small signal stability. Contd.
Various type of oscillatory stability/instability.
We came across various modes of instability in large interconnected
power system.
1. Local Mode (Frequency of oscillations 0.7 - 2Hz): Mode in which
synchronous machines in power plant oscillates wrt. rest of system.
2. Inter-area Mode (Frequency of oscillations 0.2 - 1Hz): Mode in
which a group of machine oscillates with another group of
machine, connected by a tie-line. (Also, H is considered large)
3. Control Modes: The frequency of different modes depends upon
actual control phenomenon with no particular frequency specified.
4. Torsional Modes: The torsional modes is another phenomena
which occurs in the steam turbine and the different frequencies
which we come across are for typical mass system it comes out be
16.3, 24.1, 30.3 and 44 Hz.
EEE 802 Advanced Power System Stability
 9. Transient stability
Definition:
Transient stability is the ability of power system to maintain
synchronism when subjected to severe transient disturbances. i.e.
1. Transmission system faults.
2. Sudden large load changes.
3. Loss of generating units.
4. Line tripping/switching.

The disturbance occur suddenly and are severe in nature.

1-4 are examples considered for studying the behavior of the system.

EEE 802 Advanced Power System Stability

 9. Transient stability… Contd.
Important features of transient stability:
1. The resulting system response involves large excursions of rotor
angles and is influenced by the non-linear power angle relationship.

Reasoning:
A. Whenever large disturbances occur then the resulting response involves
large excursion of rotor angles, the delta varies over a wide range and
therefore the power output is highly non-linear with respect to delta.
B. Thus, transient stability analysis requires the solution of non-linear swing
equations.

EEE 802 Advanced Power System Stability

 9. Transient stability… Contd.
Important features of transient stability:
2. The stability depends on both initial operating state of the system
and the severity of the disturbance.

Reasoning:
A. For each operating condition the behavior of the system is going to
be different.
B. The severity of the disturbance, depends upon the type of fault,
location of fault and duration of fault.
C. The quantum of load which has come out of the system.
D. The amount of generation that has been taken out of the system.

EEE 802 Advanced Power System Stability

 9. Transient stability… Contd.
Important features of transient stability:
3. Usually when the system is altered, the post disturbance steady
state operation differs from that prior to the disturbance .

Reasoning:
A. The system is initially operating in a bulk steady state operate
condition, the moment disturbance occurs there will be a change in
the topology of the system.
B. If the (post disturbance) system is stable, the new steady state
operating condition will be different from the previous (last) one.

EEE 802 Advanced Power System Stability

 9. Transient stability… Contd.
Important features of transient stability:
4. The disturbances of usually varying degrees of severity and
probability of occurrence can take place in the system.
Reasoning:
A. In practical system, the disturbances which occur have different
degree of severity and different probability of occurrence .
B. The probability of occurrence of line to ground fault is the
maximum and the probability of occurrence of 3 phase fault is
minimum.
C. The system is designed to operate in stable condition for a set of
contingencies (abnormal conditions)
D. The system must withstand these contingencies and must not loose
synchronism when these contingencies occur.

EEE 802 Advanced Power System Stability

 9. Transient stability… Contd.
Transient stability on a transmission line:
For transient studies, usually we assume the faults occurring on the
transmission line, at the buses and on the transformers.
• In any system, when the faults occur the faulty system/element is
disconnected by the operation of protection system and circuit
breakers.
• In some cases, we consider the high speed reclosers also that is
circuit breakers have the capability to reclose after sometime delay.
Reasoning for recloser action:
A. Recloser operation successful  Transient  Open CB  Close CB
Back to normal condition.
B. Recloser operation unsuccessful  Transient  Open CB  Close
CB  Permanent fault  Open CB  Close CB  abnormal
condition.
EEE 802 Advanced Power System Stability
 9. Transient stability… Contd.
Behavior of synchronous machine under stable and unstable
conditions:
For transient studies, usually we assume the faults occurring on the
transmission line, at the buses and on the transformers.
• In any system, when the faults occur the faulty system/element is
disconnected by the operation of protection system and circuit breakers.
• In some cases, we consider the high speed reclosers also that is circuit
breakers have the capability to reclose after sometime delay.
Reasoning for recloser action:
A. Recloser operation successful  Transient  Open CB  Close CB
Back to normal condition.
B. Recloser operation unsuccessful  Transient  Open CB  Close CB 
Permanent fault  Open CB  Close CB  abnormal condition.

EEE 802 Advanced Power System Stability

 9. Transient stability… Contd.
Transient stability on a transmission line:
For transient studies, usually we assume the faults occurring on the
transmission line, at the buses and on the transformers.

The diagram show 3 cases:

Case 1: Shows that following the disturbance, Case 2:
the power angle increases attains maximum Case 3:
value then further decreases and oscillates
with decreasing amplitude, this is a stable
case.

Case 2: The response is shown in curve 2, in

this case the delta increases continuously till Case 1:
system becomes unstable or till machines
loose synchronism.
This type is called “First swing instability” and
occurs due to insufficient synchronizing power.
EEE 802 Advanced Power System Stability
 9. Transient stability… Contd.
Transient stability on a transmission line:
For transient studies, usually we assume the faults occurring on the
transmission line, at the buses and on the transformers.
Case 3: Power angle increases and goes to
maximum value, However, subsequently
(afterwards) oscillations grow in magnitude. Case 2:
Case 3:
This is a stable case from the perspective of
“First swing instability”.
However, the system is unstable due to
damping torque i.e. the new operating
condition is not small signal stable.
Case 1:
Now these curves can-be plotted for any
operating condition, severity and disturbance.
The solution of swing equation is called swing
curve and shows the stability of the system.
EEE 802 Advanced Power System Stability
 10. Voltage stability.
Voltage stability definition:
“Voltage stability is the ability of a power system to maintain steady
state voltages at all buses in the system under normal operating
conditions and after being subjected to a disturbance”.
Important features:
A. When voltage may become very low it will
not be acceptable, result in unstable
system.
B. A system enters a state of voltage
instability when; 1) disturbance, 2)
increase in load demand and 3) change in
system condition causes a progressive and
uncontrollable drop in voltage.
C. Whenever a disturbance occurs, we have
controllers that control the system voltage
else severity of the disturbance results in Voltage instability. (Pre-post)
condition for voltage instability.
 10. Voltage stability.… Contd.
Important factors in voltage stability:
The main factor causing instability is “the ability of the power system
inability of the power system to meet the demand of reactive power”.
Q. What is difference between angle stability and voltage stability?
A. Angle stability: It is a balance between reactive active power that is
mechanical input from the turbine (Pm) must be equal to electrical
output from the generator (Pe), it is a real power balance.
B. Voltage stability: It is the balance between reactive power i.e.
reactive power generated and the reactive power consumed in a
system
– If the system is unable to maintain the reactive power balance, then the
problem of voltage instability occurs.
– The voltage drop that occurs when active power and reactive power flow
through inductive reactance associated with the transmission network.

EEE 802 Advanced Power System Stability

 10. Voltage stability.… Contd.
Q. How can we say that system is voltage stable or instable?
A simple criteria is a criteria for voltage is stability is that a given
operating condition for every bus in the system, the bus voltage
magnitude (|V|) increases as the reactive power (Q) injection at
that at the same bus is increased .

In other words, a system is stable if V-Q sensitivity is positive for

every bus & unstable if V-Q sensitivity is negative.

Voltage stability is essentially a local phenomenon, however its

consequences may have wider impact.

EEE 802 Advanced Power System Stability

10. Voltage stability.… Contd.

EEE 802 Advanced Power System Stability

 10. Voltage stability.… Contd.
Voltage stability problem can-be further divided into 2
categories:
A. Large disturbance voltage stability
B. Small disturbance voltage stability
A. Large disturbance voltage stability: It is concerned with systems ability
to control voltages following large disturbances such as system faults,
loss of generation and circuit contingencies.
– The power system voltage is controlled by controlling the
controllable devices, the controllable devices such as:
 Automatic voltage regulators (AVR) on synchronous machines.
 Online tap-changers (OLTCs) on transformers
 Shunt capacitors and shunt reactors
 Static VAR system
A criterion for large disturbance voltage stability is that following a given
disturbance and following system control actions; voltages at all buses reach
acceptable levels.
 10. Voltage stability.… Contd.
We can infer that voltage stability is determined by:
1) System load characteristics (Heating or induction motor load)
2) Interaction of discrete control (on/off controls) and continuous
control protections ( such as AVR/SVR) .
The system is stable if above mentioned devices control system
voltage after disturbance.

B. Small disturbance voltage stability

“It is concerned with systems ability to control voltages following small
disturbances/perturbations such as incremental changes in system load”.

A criterion for small disturbance voltage stability is that for a given

operating condition:
1) System is stable if V-Q sensitivity is positive for every bus
2) System is unstable if V-Q sensitivity is negative for at-least one
bus.