ECE 504

Law, J.D.

Power System Stability

Spring 2007

Session 33f
Page 1/6

Development of the Swing Equation

A NGLES
m rotor angle in Mechanical degrees
sm System angle in Mechanical degrees
m = m
dm
dt

r =

sm

dm
dt

dm
dt

(1)
dsm
dt

= m

(2)

sm

(3)

where
m =

dm
dt

sm =

dsm
dt

As an aside that will be useful later, solve Eq. 3 for m

m =

dm
+ sm = r + sm
dt

(4)

Returning to the main flow. Take the derivative of Eq. 3

dr
dt

d 2 m
dt 2

dm
dt

dsm
dt

(5)

Assume sm is a constant.
dr
dt

d 2 m
dt 2

dm
dt

(6)

ECE 504
Law, J.D.

Power System Stability

Spring 2007

Session 33f
Page 2/6

M ECHANICAL ROTATIONAL E QUATIONS

From mechanics

dm
0
+ B m = a = m
dt

(7)

where
J is the combined inertia of the turbine, shaft, rotor, and excitor
B is the total damping
a is the accelerating torque
0m is the prime mover torque (Mechanical)
e is the electrical counter torque
Equation 7 can be rewritten using Eq. 6 and Eq. 4

dm
d 2 m
0
+ B(
+ sm ) = m
2
dt
dt

(8)

Using the distributive property of multiplication.

dm
d 2 m
0
+
B
+ B sm = m
dt 2
dt

(9)

Multiply by m

m J

d 2 m
dm
0
+ m B
+ m B sm = m m
2
dt
dt

m e

(10)

m B sm

(11)

Rearrange terms

m J

d 2 m
dm
0
+ m B
+ m e = m m
2
dt
dt

ECE 504
Law, J.D.

Power System Stability

Spring 2007

Session 33f
Page 3/6

Equation 11 can be rewritten in terms of the electrical power, Pe , and mechanical power, Pm .
m J

d 2 m
dm
+ m B
+ Pe = Pm
2
dt
dt

(12)

where
Pe = m e
Pm = m 0m
From Eq. 4 and recognizing that
m =

dm
dt

m Bsm

 sm

dm
+ sm 
= sm
dt

(13)

d 2 m
dm
+ sm B
+ Pe = Pm
sm J
2
dt
dt

(14)

For a round rotor machine

Pe = Pmax cos()

(15)

where
Pmax =

Vs Eg
XT

= m (

NP
)
2

Multiply the first term by 1 in the form

2sm
2sm

2 sm
d 2 m
dm
sm J
+ sm B
+ Pmax cos() = Pm
2 sm
dt 2
dt

(16)

2 2sm d 2 m
dm
J
+ sm B
+ Pmax cos() = Pm
2
sm 2
dt
dt

(17)

ECE 504
Law, J.D.

Power System Stability

Spring 2007

Session 33f
Page 4/6

The initial Kinetic Energy stored in the inertia is:

WKE

2sm
J
2

(18)

2
d 2 m
dm
WKE
+ sm B
+ Pmax cos() = Pm
2
sm
dt
dt
Multiply the first two terms by 1 in the form

(19)

NP =2
NP =2

2
d 2
sm d
WKE 2 +
B + Pmax cos() = Pm
e
dt
NP =2 dt

(20)

where
e =

NP
sm
2

Dividing Eq. 20 by S base yields:

2 WKE d 2
sm
B d
+
+ Pmaxpu cos() = Pmpu
2
e Sbase dt
(NP =2) Sbase dt

(21)

2
d 2
d
H 2 +D
+ Pmaxpu cos() = Pmpu
e
dt
dt

(22)

where

H=

WKE
Sbase

D=

sm
B
(NP =2) Sbase

ECE 504
Law, J.D.

Power System Stability

Spring 2007

Defining M =

2H
e

Session 33f
Page 5/6

finally yields the per unit swing equation.

d
d 2
+
D
+ Pmaxpu cos() = Pmpu
dt 2
dt

(23)

Page 2 of s25c handout.

With the CBs open, Pmax = 0.

d
d 2
+D
dt 2
dt

= Pmpu

Page 1 of s25c handout.

(24)

ECE 504
Law, J.D.

Power System Stability

Spring 2007

Session 33f
Page 6/6

The Equal Area Criteria (s25b handout) ignores damping; i.e., D = 0. With the CBs open
(Pe = 0),

d 2
dt 2

= Pmpu

(25)

d 2
dt 2

e Pmpu
2H

NP =2sm Pmpu
2H

dr
dt

(29)

r = t + r0

(30)

r0 = 0

(31)

r = t

(32)

d
dt

(33)

Z
d =

(26)

(27)

= r = t

Pmpu
M

tdt


= a constant

(28)

(34)

1
0 = t 2
2

(35)

1
= 0 + t 2
2

(36)