ECE 576 Power System

Dynamics and Stability

Lecture 28: Power System Stabilizer

Prof. Tom Overbye

University of Illinois at Urbana-Champaign
[email protected]

1
 Announcements
Read Chapters 8 and 9
Homework 8 should be completed before final but need
not be turned in
Final is Wednesday May 14 at 7 to 10pm
Key papers for book's approach on stabilizers are
F.P. DeMello and C. Concordia, "Concepts of Synchronous
Machine Stability as Affected by Excitation Control, IEEE
Trans. Power Apparatus and Systems, vol. PAS-88, April
1969, pp. 316-329
W.G. Heffron and R.A. Philips, "Effects of Modern Amplidyne
Voltage Regulator in Underexcited Operation of Large Turbine
Generators," AIEE, PAS-71, August 1952, pp. 692-697
2
 Functions of a PSS
PSS adds a signal to the excitation system proportional
to speed deviation. This adds positive damping
Other inputs, like power, voltage or acceleration, can be used
Signal is generated locally from the shaft.
Both local mode and inter-area mode can be damped.
When oscillation is observed on a system or a planning
study reveals poorly damped oscillations, use of
participation factors helps in identifying the machine(s)
where PSS has to be located.
Tuning of PSS regularly is important.
Modal Analysis technique forms the basis for multi-
machine systems. 3
 Example PSS
An example single input stabilizer is shown below
(IEEEST)
The input is usually the generator shaft speed deviation, but it
could also be the bus frequency deviation, generator electric
power or voltage magnitude

VST is an
input into
the exciter

4
 Example PSS
Below is an example of a dual input PSS (PSS2A)
Combining shaft speed deviation with generator electric
power is common
Both inputs have washout filters to remove low frequency
components of the input signals

IEEE Std 421.5 describes the common stabilizers

5
 PSS Tuning: Basic Approach
The PSS parameters need to be selected to achieve the
desired damping through a process known as tuning
The next several slides present a basic method using a
single machine, infinite bus (SMIB) representation
Start with the linearized differential, algebraic model
with controls u added to the states
x = Ax By Eu
0 = Cx + Dy
If D is invertible then
x = A BD-1C x Eu A sys x Eu
6
 SMIB System (Flux Decay Model)
Process is introduced using an SMIB with a flux decay
machine model and a fast exciter
Vt e j
Re jX e
~
( I d jIq )e j ( / 2) V 0

pus
1
pu [TM ( Eq' I q ( X d X d' ) I d I q D pu )]
2H
1
Eq ' ( Eq' ( X d X d' ) I d E fd )
'

Tdo
7
 Stator Equations
Assume Rs=0, then the stator algebraic equations are:
X q I q Vt sin( ) 0 (1)
Eq' Vt cos( ) X d' I d 0 ( 2)
(Vd jVq )e j ( / 2 ) Vt e j (3)
Vd jVq Vt e j e j ( / 2 ) ( 4)
Expand right hand side of (4)
Vd jVq Vt sin( ) jVt cos( ) (5)
Vd Vt sin( ) and Vq Vt cos( )
(1) and (2) become X q I q Vd 0 ( 6)
Eq' Vq X d' I d 0 (7 )
8
 Network Equations
The network equation is (assuming zero angle at the
infinite bus and no local load)
(Vd jVq )e j ( / 2 ) V 0
( I d jI q )e j ( / 2 )
Re jX e
(Vd jVq ) V e j ( / 2 )
( I d jI q )
Re jX e
Re I d X e I q Vd V sin
Simplifying,
X e I d Re I q Vq V cos
Vt e j
Re Xe
~
V 0
( I d jIq )e j ( / 2) 9
 Complete SMIB Model

1
E ' ( Eq' ( X d X d' ) I d E fd )
'
q
Tdo
pus Machine equations
1
pu [TM ( Eq' I q ( X q X d' ) I d I q D pu )]
2H
X q I q Vd 0 Stator equations
Eq' Vq X d' I d 0
Re I d X e I q Vd V sin Network equations
V 0
j
X e I d Re I q Vq V cos Vt e
Re jX e
~
( I d jIq )e j ( / 2) 10
 Linearization of SMIB Model
Step 1: Linearize the stator equations
Vd 0 X q I d 0
V ' I E '
q X d 0 q q
Step 2: Linearize the network equations
Vd Re X e I d V cos
V I
q X e Re q V sin
Step 3: Equate the righthand sides of the above equations
Re ( X e X q ) I d 0 V cos
( X X ' ) I E '
e d Re q q V sin
Notice this is equivalent to a generator at the infinite
bus with modified resistance and reactance values 11
 Linearization (contd)
Solve for I d , I q

I d 1 ( X e X q ) ReV cos V sin ( X q X e ) E '

I
q
(1)
q Re ReV sin V cos ( X d X e )
'

The determinant is Re2 ( X e X q )( X e X d' )

Final Steps involve
1. Linearizing Machine Equations
.
x f ( x, I d , I q , E fd , TM ) (2)
2. Substitute (1) in the linearized equations of (2).

12
 Linearization of Machine
Equations
Eq' Tdo' 0 0 E '
1

q

0 0 s (1)
pu I qo
Ds
2 H 0 2 H pu
T'1 ( X d X d' ) 0 T'1 0
do I d do E fd
0 0 0 0
1 o ' 'o
I q 1
TM
2 H I q ( X d X q ) 2 H ( X d X q ) I q 2 H Eq
1 ' o 1
0 2H

Symbolically we have
x Ax Bu C I d q (2)
I d q Dx ( 3)
Substitute (3) in (2) to get linearized model.
13
 Linearized SMIB Model

1 K4 1
E
'
q '
Eq ' ' E fd
'

K 3Tdo Tdo Tdo

s pu
K2 K1 Ds 1
pu Eq
'
pu TM
2H 2H 2H 2H
Excitation system is yet to be included.
K1 K4 constants are defined on next slide

14
 K1 K4 Constants

1 ( X d X d' )( X q X e )
1
K3

K4
V ( X d X d' )


( X q X e ) sin Re cos
1 o

K 2 I q I qo ( X d' X q )( X q X e ) Re ( X d' X q ) I do Re Eq'o


1 o
K1 [ I q V ( X d' X q ){( X q X e ) sin Re cos }

V {( X d' X q ) I do Eq'o }{( X d' X e ) cos Re sin }]

K1 K4 only involve machine and not the exciter.

15
 Including Terminal Voltage
The change in the terminal voltage magnitude also needs
to be include since it is an input into the exciter
Vref
Vref

Vt Vt

Vt Vd2 Vq2
Differentiating Vt 2 Vd2 Vq2
2Vt Vt 2Vdo Vd 2Vqo Vq
Vdo Vqo
Vt Vd Vq
Vt Vt
16
 Computing
While linearizing the stator algebraic equations, we had
Vd 0 X q Eq' 0
V E '
q d X '
0 q
Substitute this in expression for Vt to get
Vt K 5 K6 Eq'
1 Vdo
K 5 X q [ ReV sin V cos ( X d' X e )]
Vt
Vqo
[ X ( ReV cos V ( X q X e ) sin )]
'
d
Vt

1 V o
V o

V o

K6 d X q Re q X d' ( X q X e ) q
Vt Vt Vt
17
 HeffronPhillips Model
Add a fast exciter with a single differential equation
TA E fd E fd K A (Vref Vt )

Linearize
TA E fd E fd K A (Vref Vt )
TA E fd E fd K A Vref K A ( K 5 K6 Eq' )

This is then combined with the previous three

differential equations to give
x A sys x Bu
SMIB Model
u [TM Vref ] T

18
 Block Diagram
K1 K6 are affected by system loading and Xe

19
 Numerical Example
Consider an SMIB system with Zeq = j0.5, Vinf = 1.05,
in which in the power flow the generator has
S = 54.34 j2.85 MVA with a Vt of 115
Machine is modeled with a flux decay model with (pu, 100
MVA) H=3.2, T'do=9.6, Xd=2.5, Xq=2.1, X'd=0.39, Rs=0, D=0

Saved as case B2_PSS_Flux (but only available in v18)

20
 Initial Conditions
The initial conditions are
j j ( / 2 ) 115 1.050
I G e ( I d jI q )e 0.544318
j0.5
(0) angle of E where E Vt e j ( Rs jX q ) I G e j .
E 115 ( j2.1)(0.544318)
1.478865.5
I d jI q I G e j e j ( / 2 ) 0.544342.48,
I d 0.4014, and I q 0.3676.
Vd jVq Ve j e j ( / 2 ) 139.48
Hence, Vd 0.7718, Vq 0.6358
21
 Add an EXST1 Exciter Model
Set the parameters to KA = 400, TA=0.2, all others zero
with no limits and no compensation

Hence this simplified exciter is represented by a single

differential equation V is the input
s
TA E fd E fd K A (VREF Vt Vs ) from the stabilizer,
with an initial
value of zero
22
 Initial Conditions (contd)
From the stator algebraic equation,
Eq' Vq X d' I d
0.63581 (0.39)(0.4014) 0.7924
E fd Eq' ( X d X d' ) I d
0.7924 (2.5 0.39)0.4014 1.6394
E fd 1.6394
VREF Vt 1 1.0041
KA 400
s 377, TM Eq' I q ( X q X d' ) I d I q
(0.7924)(0.3676) (2.1 0.39)(0.4014)(0.3676)
0.5436 checks with (VtV sin ) / X e
23
 Computation of K1 K6 Constants
The formulas are used.
Re2 ( X e X q )( X e X d' ) 2.314
1 ( X d X d' )( X q X e )
1 3.3707
K3
K 3 0.296667
V ( X d X d' )
K4 [( X q X e ) sin Re cos ] 2.26555

1
K 2 [ I qo I qo ( X d' X q )( X q X e ) Re ( X d' X q ) I do Re Eq' o ] 1.0739

Similarly K1 , K 5 , and K 6 are calculated as
K1 0.9224 , K 5 0.005 , K 6 0.3572

24
Effect of Field Flux on System Stability
With constant field voltage, i.e. Efd=0, from the block
diagram Te K 2 K3 K 4

1 K3Tdo' s
K2, K3, and K4 are usually positive.
On diagram
v is used to
indicate what
we've been
calling pu

25
Effect of Field Flux on System Stability
For low frequencies and in steady-state, as s=j goes to
zero, then
Te K 2 K 3 K 4
Te K 2 K 3 K 4
1 K 3Tdo s
'

Hence field flux variation due to feedback (armature

reaction) introduces negative synchronizing torque

26
Effect of Field Flux on System Stability
At higher frequencies the denominator is dominated
by the K3T'dos term so

K2 K3 K4 K2 K4
Te j
jTdo K 3
'
Tdo'

This is a phase with (j)

Hence Efd results in a positive damping component.

27
Effect of Field Flux on System Stability
In general, positive damping torque and negative
synchronizing torque due to Efd at typical oscillation
frequencies (1-3 Hz).

Te TD K3 (E fd K 4 )
K 2 E K 2
'


q '
(1 K T
3 do s )
Ts

28
 Effect of Field Flux
There are situations when K4 can become negative.
K4
V ( X d X d' )



( X q X e ) sin Re cos

may become negative
Case1. A hydraulic generator without a damper
winding, light load ( is small) and connected to a line
with high Re/Xe ratio and a large system.
Case 2. Machine is connected to a large local load,
supplied partly by generator and partly by
remote large system.
If K4 < 0 then the damping due to Efd is negative
29
 Effect of Excitation System
Ignore dynamics of
AVR & KA >> 0
Gain through T'do
is -(K4+KAK5)K3
If K5 < 0 then gain
becomes positive.
VREF = 0
Large enough K5 may
make system unstable

Te ( K 4 K A K5 ) K3 K 2

(1 sK 3'Tdo' K A K3 K 6 )
30
 Numerical Example (Effect of K5)

Test system 1 Test System 2

K A 50, K 5 0 K A 50, K 5 0
K1 3.7585 K 2 3.6816 K1 0.9813 K 2 1.093
K 3 0.2162 K 4 2.6582 K 3 0.3864 K 4 1.4746
K 5 0.0544 K 6 0.3616 K 5 0.1103 K 6 0.4477
Tdo' 5 sec H 6 sec Tdo' 5 sec H 6 sec
TA 0.2 sec TA 0.2 sec

Eigen Values
Test System 1 Test System 2
0.353 j10.946 0.015 j 5.38 unstable
2.61 j 3.22 2.77 j 2.88
31
 Addition of PSS Loop
The impact of a PSS can now be considered in which
the shaft speed signal is fed through the PSS transfer
function G(s) to the excitation system.
To analyze effect of PSS signal assume , VREF=0

32
 PSS Contribution to Torque
TPSS pu
K2 G (s ) PSS
K3 KA
vs

1 sK 3Tdo' 1 sTA
Vref 0

K6
TPSS G( s) K 2 K A K 3

v K A K 3 K 6 (1 sK 3Tdo' )(1 sTA )
G( s) K 2 K A
1 G ( s)GEP( s)

K 3 K A K 6 s K 3 Tdo s TdoTA
TA ' 2 '

(for usual range

G ( s) K 2 K A
1 of constants)

K3 K K
A 6 1
s T
do / K A K 6 1 sTA
'
33
 PSS Contribution to Torque
For high gain KA
TPSS K 2 G ( s)

v
K 6 1 s Tdo' / K A K 6 1 sTA
If PSS were to provide pure damping (in phase with
pu), then ideally,

G ( s) K PSS 1 s Tdo' / K A K 6 1 sTA

K PSS Gain of PSS i.e. pure lead function

Practically G(s) is a combination of lead and lag
blocks.
34
 PSS Block Diagram
ymax
pu sTw 1 sT1 1 sT3 v s
K PSS
1 sTw 1 sT2 1 sT4
ymin
(1 sT1 ) (1 sT3 ) sTw
G ( s ) K PSS K PSSG1 ( s )
(1 sT2 ) (1 sT4 ) (1 sTw )
Provide damping over the range of frequencies (0.1-2 Hz)
Signal wash out (Tw) is a high pass filter
TW is in the range of 5 to 20 seconds
Allows oscillation frequencies to pass unchanged.
Without it, steady state changes in speed would modify
terminal voltage.
35
 Criteria for Setting PSS Parameters
KPSS determines damping introduced by PSS.
T1, T2, T3, T4 determine phase compensation for the
phase lag present with no PSS.
A typical technique is to compensate for the phase lag
in the absence of PSS such that the net phase lag is:
Between 0 to 45 from 0.3 to 1 Hz.
Less than 90 up to 3 Hz.
Typical values of the parameters are:
KPSS is in the range of 0.1 to 50
T1 is the lead time constant, 0.2 to 1.5 sec
T2 is the lag time constant, 0.02 to 0.15 sec
T3 is the lead time constant, 0.2 to 1.5 sec
T4 is the lag time constant, 0.02 to 0.15 sec 36
 Design Procedure
The desired stabilizer gain is obtained by finding the
gain at which the system becomes unstable by root
locus study.
The washout time constant TW is set at 10 sec.
KPSS is set at (1/3)K*PSS, where (1/3)K*PSS is the gain
at which the system becomes unstable.
There are many ways of adjusting the values of T1,
T2, T3, T4
Frequency response methods are recommended.

37
 Design Procedure Using the
Frequency-Domain Method
TPSS K 2 K A K3
GEP( s )G ( s) , GEP( s)
v K A K 3 K 6 (1 sTdo' K 3 )(1 sTA )
Step 1: Neglecting the damping due to all other sources, find the
undamped natural frequency n in rad/sec of the
torque - angle loop from:
2H 2
s K1 0, i.e. s1, 2 j n
K1 s
K1 s
Te s 1 where n

2H
2Hs s

D
TM 0
Step 2: Find the phase lag of
GEP(s) at s j n
1
Te
2H
s s 2 Ds K1
38
 PSS Design (contd)
Step 3:
Adjust the phase lead of G(s) such that
G ( s) s j n GEP( s) s j n 0
k
1 sT1
Let G( s) K PSS
1 sT2
Ignoring the washout filter whose net phase
contribution is approximately zero.
k 1 or 2 with T1 T2 . Thus, k 1 :
1 j nT1 1 j nT2 GEP( j n )

39
 PSS Design (contd)
Knowing n and GEP(j n) we can select T1. T2
can be chosen as some value between 0.02 to 0.15 sec.
Step 4: Compute K*PSS, the gain at which the system
becomes unstable, using the root locus. Then have
K PSS 13 K PSS
*
. Alternative Procedure
The char. equation is
X n 1 2 2H
S 2 Ds K1 0 (1)
n cos 1 s
The damping ratio is
X 12 D / MK1
Damping ratio
where M 2 H / s
40
 PSS Design (contd)
The characteristic roots are:
MD 4MK1
D 2

s1,2
M

2
2 2
D K1 D D 4K1
j if
2M M 2M M M
n jn 1 2
Note that n K1
M . Therefore
D D M D

2M n 2M K1 2 K1 M
2
K1 D 2 D
Verify that n .
2 2

M 4K1 M 2M
41
 PSS Design (contd)
Since the phase lead of G(s) cancels phase lag due to GEP(s) at
the oscillatory frequency, the contribution of PSS through GEP(s)
is a pure damping torque with a damping coefficient DPSS
DPSS K PSS GEP( s ) s jn G1 ( s ) s jn

The characteristic equation is

DPSS K1
s
2
s 0
M M
i.e., s 2 2n M 0
DPSS 2n M K PSS GEP ( jn ) G1 ( jn )
We can thus find K PSS , knowing n and the desired .
A reasonable choice for is between 0.1 and 0.3.
42
 PSS Design (contd)
The washout filter should not have any effect on
phase shift or gain at the oscillating frequency.
A large value of TW is chosen so that sTW is much
larger than unity.
Choose Gw ( j n ) 1

Hence, its phase contribution is close to zero. The

PSS will not have any effect on the steady state
behavior of of the system since in steady state
pu=0

43
 Example
Without the PSS, the A matrix is
0.3511 0.2236 0 0.104
0 0 377 0

0.1678 0.144 0 0

714.4 10 0 5
The eigenvalues are l1,2 0.0875 j7.11, l3,4 2.588 j8.495.
The electromechanical mode l1,2 is poorly damped.
Instead of a two-stage lag lead compensator, assume a
single-stage lag-lead PSS. Assume that the damping D in
the torque-angle loop is zero.
The input to the stabilizer is pu. An extra state equation
will be added. The washout stage is omitted.
44
 Example (contd)
Vref

(1 sT1 ) KA
K PSS
pu (1 sT2 ) 1 sTA
Vs E fd
PSS Vt
The added differential equation is then
1 K PSS T1
Vs Vs pu K PSS pu
T2 T2 T2
1 K PSS T1 K 2 K1
Vs pu K PSS Eq
'

T2 T2 T2 2H 2H

45
 Example (contd)

With a choice of K PSS 0.5, T1 0.5, T2 0.1, the new matrix is

0.3511 0.236 0 0.104 0
0 0 377 0 0

0.1678 0.144 0 0 0

714.4 10 0 5 2000
0.42 0.36 5 0 10

The eigenvalues are l1,2 0.8612 j7.7042 l3,4 1.6314 j8.5504,

l5 10.3661.
Note the improvement of the electromechanical mode l1,2

46
 Example (industry)

CONVERT TO SMIB (RETAIN G16) 47

 Example (contd)
Eigenvalue Frequency Hz Damping Ratio
-0.18929 0
-0.91111 0
-0.017097 j3.3105 Poorly damped
E.M . Mode 0.005
0.52688 0.0051643
-10.145 0
-8.0319 j16.785 2.6714 0.43165
-24.531 0 Exciter mode
-29.031 0
well damped
E.M. Mode has f = 0.5688 Hz
The participator for this mode is
State Number Participation Factor
1 0.45177 j0.027549 * Convert these into
2 0.50613 j0.028591 *
3 E'q -0.00011 j0.011599 magnitudes
4 E fd 0.00012 j0.00011
5 E'd -0.004354 j0.01354
6 E'q -0.00034 j7.033e-6
7 E fd -0.00177 j0.00075
8 tg1 0.005614 j0.016166
9 tg 2
10 tg 3
0.040345 j0.023404
0.0025854 j0.0092191
} Turbine Governor States
Largest Participation by angle and speed states. 48
 Root Locus
If G(s) (Transfer function of PSS) is a real gain, it
will add pure damping Root Locus Study (with KPSS
= 10).

49
Phase Compensation

GEP( s) s j

Ideal phase lead.

PSS phase lead.
10s (1 .03s)(1 .04s)
G( s)
1 10s (1 .01s)(1 .01s)
Washout does not add
much phase lead. 50
Root Locus with PSS

51
 Eigenvalues with PSS
Eigenvalue Frequency Hz Damping Ratio
-0.10078 0 1
-0.18895 0 1
-0.90803 0 1
-1.8476 0 1
-0.40649 j3.2883 0.52334 0.12268
-10.151 0 1
-7.668 j16.996 2.705 0.41125
-24.531 0 1
-29.031 0 1
-95.914 0 1
-104.05 0 1

Note Improvement in Damping Ratio of E.M Mode

from 0.05 to 0.123

52