Dire-Dawa University

Institute of Technology

School of Electrical and Computer Engineering

Power Chair
Course Name: Computer Application in Power
Systems
Lecture4: Power System Stability

Prepared by: Chalachew M. (MSc)

1
 1. Introduction

The IEEE/CIGRE Joint Task Force on stability terms

and conditions have proposed the following definition in
2004. “Power System stability is the ability of an electric
power, for a given initial operating condition, to regain a
state of operating equilibrium after being subjected to a
physical disturbance, with most system variables bounded,
so that practically the entire system remains intact”
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 Cont’d
1.1. Classification of Power System Stability
a) Why you need classification power system stability?
 We have classified power system stability for
convenience in identifying causes of instability, applying
suitable analysis tools, and developing corrective
measures.
 In order to develop appropriate design and operating
procedures.
 It is an effective and convenient means to deal with the
complexities of the problem, the overall stability of the
system should always be kept in mind.

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 Cont’d
It is essential to look at all aspects of the stability
phenomenon, and at each aspect from more than one
viewpoint.
 Classification, therefore, is essential for meaningful
practical analysis. and resolution of power system stability
problems.
b) Categories of power system Stability
The classification of power system stability proposed here is
based on the following considerations:
 The size of the disturbance considered, which influences
 The method of calculation and prediction of stability.
 The devices, processes, and the time span that must be
taken into consideration to assess stability.
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 Cont’d
 Fig. 4.1 gives the overall picture of the power system
stability problem, identifying its categories and subcategories.

fig 4.1: Classification of power system stability

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 Cont’d
1) ROTOR ANGLE STABILITY:
 Rotor angle stability refers to the ability of the
synchronous machines of an interconnected power system
to remain in synchronism after being subjected to a
disturbance.
 Instability results in some generators accelerating
(decelerating) and losing synchronism with other
generators.
 Rotor angle stability depends on the ability of each
synchronous machine to maintain equilibrium between
electromagnetic torque and mechanical torque.
 Under steady state, Tm =Te each generator and its speed is
remains a constant.
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 Cont’d
 A fundamental factor in the rotor angle stability is the rotor
angle change.
 But, under a disturbance, this equilibrium is upset and the
generators accelerate/decelerate according to the mechanics of
a rotating body
 The r/n ship B/n power and angle is non-linear. So, beyond
the limit an increase the angular position of the may decrease
the transfer power.
 During instability, the system can’t absorb KE corresponding
to the rotor angle speed.
The losses of synchronism can happen B/n one machine and
the rest of group of machine.

7
 Cont’d
The change of electromagnetic torque (Te) due to perturbation
can be resolved in two ways.
i. Synchronizing torque component in phase with rotor angle
deviation
ii. Damping torque component in phase with the speed
deviation.
As the reality the system stability depends on these torque
components.
Lack of sufficient synchronism torque results in non-periodic
or non-oscillatory in stability, where as lack of damping
torque results in oscillatory instability.

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 2. VOLTAGE STABILITY
Voltage stability refers to the ability of a power system to
maintain steady voltages at all buses in the system after being
subjected to a disturbance from a given initial operating
condition.
 It depends on the ability to maintain/restore equilibrium
between load demand and load supply from the power system.
Instability that may result occurs in the form of a progressive
fall or rise of voltages of some buses.
A possible cause for voltage instability is listed as follows
 losses of load in the system(area). It is known as the driving
force of voltage instability.
 HVDC terminals used for long distance transmission or
back to back applications.
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 Cont’d
Converter transformer tap-changer controls.
 Self-excitation of synchronous machine is also one cause
due to rise of capacity loads.
3. FREQUENCY STABILITY
 Frequency stability refers to the ability of a power system to
maintain steady frequency following a severe system upset
resulting in a significant imbalance between generation and
load.
 Generally, frequency stability problems are associated with
inadequacies in equipment responses, poor coordination of
control and protection equipment, or insufficient generation
reserve.

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 4.2.Swing Equation
 Under normal operating condition, the relative position of
the rotor axis and the resultant magnetic field axis is fixed.
 The angle between the two is known as the rotor angle.
 During any disturbance, rotor will accelerate or decelerate
with respect to synchronously rotating air gap mmf and
relative motion begins.
 The equation describing this relative motion is known as
swing equation.
 After the oscillatory period, the rotor locks back into
synchronous speed and maintains its stability.
 If the disturbance is created by the change in generation,
load the rotor comes to a new operating power angle relative
to synchronously revolving field.
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Cont’d

12
Cont’d

13
Cont’d

14
Cont’d

15
Cont’d

16
Cont’d

17
Cont’d

18
 Cont’d

4.3. Synchronous Machine Models for Stability studies

19
Cont’d

20
Cont’d

21
Cont’d

22
Cont’d

23
Cont’d

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 Cont’d

2) SYNCHRONOUS MACHINE MODEL INCLUDING

SALIENCY:
Because of the salient poles machines, the flux distribution is
non uniform.
Means that, the flux in quadrature axis is higher than that of
direct axis flux.
But both of them produced by an armature mmf .

25
 Cont’d
 The cause of variation of mmf in two axis is the variation
armature current on the two axis.
 The component of armature current producing an mmf
acting in line with direct axis is called the direct component,
Id.
 The component of armature current producing an mmf
acting in line with the quadrature axis is called the quadrature
axis component, Iq.
The phasor diagram is shown in Fig 4.3, and Ra neglected

26
 Cont’d

Where,

27
Cont’d

28
Cont’d

29
 Cont’d

2.1.3 POWER ANGLE RELATIONSHIP IN A SMIB

SYSTEM:
• Without loss of generality, many important conclusions on
stability can be arrived at by considering the simple case of a
Single Machine Infinite Bus (SMIB), where a generator
supplies power to an infinite bus.
• The concept of an infinite bus arises from the fact that if we
connect a generator to a much larger power system, it is
reasonable to assume that the voltage and frequency of the
larger system will not be affected by control of the generator
parameters.

30
 Cont’d
And hence, the external system can be approximated by an
infinite bus, as shown in Fig. 4.7.
• Assume the infinite bus voltage is taken as reference and δ is
the angle between Eg and Eb.
• The generator is assumed to be connected to the infinite
bus through a lossless line of reactance xe.

Fig 4.7 SMIB system

Then the power transferred (using classical model) is given by:
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 Cont’d

Solution: Figure 4.9 is shows the reactance diagram of fig 4.8.

32
 Cont’d
a) The equivalent reactance of the system is:

And the angle b/n Vs(Eg) vs Vt(Er) is:

The current at bus 2(infinite bus) and the voltage Eg is:

33
 Cont’d

Then,
b)
By recalling swing equation and
By using Pim = 1pu

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 STEADY STATE STABILITY SMALL
DISTURBANCE

By substituting the electrical power in to swing equation

results,

35
 Cont’d

Then, substitute 4.26 into 4.25

36
Cont’d

37
 Cont’d

Substituting 4.30 in 4.29 gives as,

38
Cont’d

39
Cont’d

40
Cont’d

41
Example 4.2

42
Cont’d

So/n

43
Cont’d

44
Cont’d

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 Transient stability
Transient stability is the ability of the system to remain
stable under large disturbances like
• Short circuits,
• Line outages,
• Generation or load loss etc.
 The evaluation of the transient stability is required
 Offline for: Planning,
Design etc. and

 Online for load management,

emergency control and
security assessment.

46
 Cont’d
Transient stability analysis deals with actual
solution of the nonlinear differential.
 Since the disturbance is large, linearized analysis of the
swing equation (which describes the rotor dynamics) is not
possible.
 Further, the fault may cause structural changes in the
network, because of which the power angle curve prior to
fault, during the fault and post fault may be different.
 Due to these reasons, a general stability criteria for transient
stability cannot be established, as was done in the case of
steady state stability (namely PS > 0).
 Some common assumptions made during transient
stability studies are as follows:
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 Cont’d
i. Transmission line and synchronous machine resistances
are neglected.
ii. Effect of damper windings is neglected.
iii. Variations in rotor speed are neglected.
iv. Mechanical input to the generator is assumed constant.
v. The governor control loop is neglected.
vi. The generator is modeled as a constant voltage source
behind a transient reactance, neglecting the voltage
regulator action.
vii. Loads are modeled as constant admittances and absorbed
into the bus admittance matrix.
The above listed assumptions, vastly simplify the equations.

48
 Cont’d
2.1.3 EQUAL- AREA CRITERION
 Transient stability assessment of a SMIB system is possible
without resorting to actual solution of the swing equation, by a
method known as equal–area criterion.
 In a SMIB system, if the system is unstable after a fault is
cleared, δ(t) increases indefinitely with time, till the machine
loses synchronism. In contrast, in a stable system, δ(t) reaches
a maximum and then starts reducing as shown in Fig.4.50.

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 Cont’d
Consider the swing equation (4.12).

50
 Cont’d
The integral that presented in 4.46 gives the area under the
Pa – δ curve.
 The condition for stability can be, thus stated as follows:
 A SMIB system is stable if the area under the Pa – δ curve,
becomes zero at some value of δ.
 This means that the accelerating (positive) area under Pa – δ
curve, must equal the decelerating (negative) area under Pa –
δ curve.
Application of equal area criterion for several disturbances is
discussed in the next sub title.
2.1.3 SUDDEN CHANGE IN MECHANICAL INPUT

51
 Cont’d

Fig.4.51 SMIB System

Consider the SMIB system shown in Fig. 4.6 and the
electrical power transferred is given by:

52
 Cont’d
 As we discussed in the previous section under steady state
Pm = Pe.
 Let the machine be initially operating at a steady state angle
δo, at synchronous speed ωs, with a mechanical input Pmo, as
shown in Fig.4.52 ( point a).

Fig 4.52 Equal area criterion–sudden change in mechanical

input
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 Cont’d
 If there is a sudden step increase in input power to Pm1
the accelerating power is positive (since Pm1 > Pmo) and
power angle δ increases.
 With increase in δ, the electrical power Pe
increases, the accelerating power decreases, till at δ = δ1,
 And the electrical power matches the new input Pm1.
The area A1, during acceleration is given by:

54
 Cont’d
At b, even though the accelerating power is zero, the rotor
is running above synchronous speed.
 Hence, δ and Pe increase beyond b, where in Pe > Pm1 and
the rotor is subjected to deceleration.
 The rotor decelerates and speed starts dropping, till at
point d, the machine reaches synchronous speed and δ =
δmax.
 The area A2, during deceleration is given by:

A2=

55
 Cont’d
 By equal area criterion A1 = A2. The rotor would then
oscillate between δ0 and δmax at its natural frequency.
 However, damping forces will reduce subsequent swings
and the machine finally settles down to the new steady state
value δ1 (at point b).
 Stability can be maintained only if area A2 at least equal to
A1, can be located above Pm1.
 The limiting case is shown in Fig.4.53, where A2 is just
equal to A1.

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 Cont’d
 Here δmax is at the intersection of Pe and Pm1.
 If the machine does not reach synchronous speed at d, then
beyond d, Pe decreases with increase in δ, causing δ to
increase indefinitely.
 Applying equal area criterion to Fig.4.53 we get:

From 4.48 and 4.49 we get:

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 Cont’d
Equation (4.50) is a non-linear equation in δmax and can be
solved by trial and error
 or by using any numerical method for solution of non-linear
algebraic equation (like Newton Raphson, bisection etc).
 From solution of δmax, Pm1 can be calculated.
 Pm1 – Pmo will give the maximum possible increase in
mechanical input before the machine looses stability.
2.1.4 CRITICAL CLEARING ANGLE & CRITICAL
CLEARING TIME
 These two terms are play great role in transient stability
analysis to determine the final point of stable system.
 The time taken for the fault to be cleared is called clearing
time.
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 Critical Clearing time and Critical Clearing angle
OR,
 Critical clearing time is the maximum time available for
clearing the fault, before the system loses stability.
 Modern circuit breakers are equipped with auto reclosure
facility, wherein the breaker automatically recloses after two
sequential openings.
 If the fault still persists, the breakers open permanently.
Since most faults are transient, the first reclosure is in general
successful.
 Hence, transient stability has been greatly enhanced by auto
closure breakers.

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 Critical Clearing angle
 If a fault occurs in the system, ծ begins to increase under the
influence of positive accelerating power and the system will
become unstable if ծ becomes very large.
There is a special angle with which the fault must be cleared
if the system is to remain stable and the equal-area criteria is
satisfied. This angle is known as critical clearing angle.

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 Cont’d
From the figure we can under stand that if three phase short
circuit occurs at the outgoing radial line, the terminal voltage
goes to zero and the pe of the generator reduce to zero i.e.
pe=0 and the state point drops from a to b as shown in the
above figure. When the state point is starting move to ‘bc’ the
accelerating area also starts to increase. At time tc
corresponding to ծc, the fault is cleared by line CB. After
clarity the system becomes healthy and pe = pmax sinծ. Then
for stability ծc and tc is must be satisfy A1 = A2.
Mathematically we can find as follows.

61
 Cont’d

As we see from the figure also,

Using 4.52 & 4.53 we get,

62
 Cont’d

Example 4.4:

63
 Cont’d

Solution:
a) where, ծ1 =85deg = 1.48 radian

Then,

64
 Cont’d

b)
Ծcr =

Example 4.5: A 50 Hz synchronous generator having an

internal voltage 1.2 pu, H = 5.2 MJ/MVA and a reactance of
0.4 pu is connected to an infinite bus through a double circuit
line, each line of reactance 0.35 pu
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 Cont’d
The generator is delivering 0.8pu power and the infinite bus
voltage is 1.0 pu. Determine: maximum power transfer, Steady
state operating angle, and Natural frequency of oscillation if
damping is neglected.
Solution: The one line diagram is shown in Fig bellow.

66
 Cont’d
a)
Xeq=

67
Cont’d

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 SUMMARY

Why we study power system stability analysis?

 To increase transmission ᵑ
 To increase the Pmax transfer
 To increase reliability
 To make economical
What causes makes power system unstable?
 Sudden tripping of CB’s are Turning off huge Loads at
load end.
 Sudden breakdown of Generating units or Sudden
increment of Load demands.
 Capacitors banks under no load.
 Short circuit faults.
 Switching surges because of Lightning's Fault
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 Cont’d
What Happened if Power System Losses Stability?
 Black out (un expected outages)
 Power system equipments damages
How to Overcome or Increase Stability?
 By increasing Maximum power Transferring
capability of Transmission Lines.

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THANK YOU FOR YOUR ATTENTION
QUESTION???

What you understand from this figure???

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