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Swing Equation For Generator Rotor Angle Stability

1) The document presents swing equations that model the dynamics of a synchronous generator's rotor. 2) The swing equation relates the acceleration of the rotor's electrical angle to the difference between the mechanical input power and the generator's maximum real power output. 3) The rotor's speed and electrical angle change over time based on whether the mechanical input power is greater than or less than the generator's maximum real power output. If there is a difference, the rotor speed will increase or decrease to balance the input and output powers.

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Engr Fahimuddin Qureshi
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108 views4 pages

Swing Equation For Generator Rotor Angle Stability

1) The document presents swing equations that model the dynamics of a synchronous generator's rotor. 2) The swing equation relates the acceleration of the rotor's electrical angle to the difference between the mechanical input power and the generator's maximum real power output. 3) The rotor's speed and electrical angle change over time based on whether the mechanical input power is greater than or less than the generator's maximum real power output. If there is a difference, the rotor speed will increase or decrease to balance the input and output powers.

Uploaded by

Engr Fahimuddin Qureshi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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EV

Pmax  , at   90 (2.2)


X  XT  X L
'
d

Hence, the synchronous generator real power output can be represented as

Pe  Pmax sin  (2.3)

X d'  Pe XT XL

VT T

E  V 0

Fig. 2.1: Single line diagram of the SMIB system

Till now the equivalent electrical representation of the synchronous machine is


discussed. The synchronous machine also has a mechanical system which has to be
modeled. The prime mover gives mechanical energy to the generator rotor and in turn
the generator converts the mechanical energy into electrical energy through magnetic
coupling. The dynamics of a rotational mechanical system can be represented as

d 2 m
J  Tm  Te (2.4)
dt 2

where, J kg.m 2 is the inertia constant of the rotating machine. The mechanical input
torque due to the prime mover is represented as Tm N.m and the electrical torque,

acting against the mechanical input torque, is represented by Te N.m . The angle  m
is the mechanical angle of the rotor field axis with respect to the stator reference or
fixed reference frame. As the rotor is continuously rotating at synchronous speed in

2.3
steady state  m will also be continuously varying with respect to time. To make the

angle  m constant in steady state we can measure this angle with respect to a
synchronously rotating reference instead of a stationary reference. Hence, we can
write

 m   m  ms t (2.5)

Where,  m is the angle between the rotor field axis and the reference axis rotating

synchronously at ms rps . If we differentiate (2.5) with respect to time we get

d m d m
  ms (2.6)
dt dt
d 2 m d 2 m
 (2.7)
dt 2 dt 2

But, the rate of change of the rotor mechanical angle  m with respect to time is
nothing but the speed of the rotor. Hence,

d m
m  rps (2.8)
dt

Substituting, (2.8) in (2.6) we get

d m
 m  ms (2.9)
dt

Similarly, substituting (2.7) in (2.4) we get

d 2 m
J  Tm  Te (2.10)
dt 2

if we multiply with m on both the side of (2.10) and noting that torque multiplied by
speed gives power, we can write (2.10) as

2.4
d 2 m
J m  Pm  Pe (2.11)
dt 2

1
Now multiply with the term ms on both the sides of (2.11) and divide the entire
2
equation with the base MVA ( S B ), in order to express the equation in per unit, lead to

1
J mms 2
d m 1 P P 
2
2
 ms  m  e  (2.12)
SB dt 2  SB SB 

Let us define a new parameter named as machine inertia constant

1 1 H = Kinetic Energy / MVA


J ms 2 J ms 2
2 2 MW.S
H  (2.13)
Base MVA SB MVA

If we assume that on left hand side of (2.12) m  ms as the variation of the speed,
even during transients, from synchronous speed is quite less. This assumption does
not mean that the speed of the rotor has reached the synchronous speed but
1 1
instead J ms
2
 J mms . With this assumption if we substitute (2.13) in (2.12) we
2 2
get

d 2 m 1
H  ms  Pm  Pe  per unit (2.14)
dt 2 2

 m and ms are expressed in mechanical radians and mechanical radians per second,
in order to convert them in to electrical radians and electrical radians per second
respectively we have to take the number of poles ( P ) of the synchronous machine
rotor into consideration. Hence, the electrical angle and electrical speed can be
represented as

2.5
P
  m elec.rad
2 (2.15)
P
s  ms elec.rad/s
2

Substituting (2.3) and (2.15) into (2.14) we get

d 2 s
  Pm  Pmax sin   per unit
dt 2 2 H
or (2.16)
d 2  f s
  Pm  Pmax sin   per unit ( f s  50 or 60 Hz)
dt 2 H

Equation (2.16) is called as swing equation. Equation (2.16), assuming all the
parameters expressed in per units, can also be written as

d
 (  s )
dt
(2.17)
d  f s
  Pm  Pmax sin  
dt H

Where,    P / 2  m . In can be observed from (2.17) that, if Pm  Pmax sin  then there

will be no speed change and there will be no angle change. But, if Pm  Pmax sin  due
to disturbance in the system then either the speed increase or decrease with respect to
time. Let us take the case of Pm  Pmax sin  , there is more input mechanical power
than the electrical power output. In this case, as the energy has to be conserved
difference between the input and output powers will lead to increase in the kinetic
energy of the rotor and speed increases. Similarly, if Pm  Pmax sin  then, the input
power is less than the required electrical power output. Again the balance power, to
meet the load requirement, is drawn from the kinetic energy stored in the rotor due to
which the rotor speed decreases.

2.6

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