Kestrel

Power System Stabilizers

Kestrel
Rotor Equation of Motion

TM

TE + w d
1 w0
- 2Hs s
-

KD

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Kestrel
Three-Phase Synchronous Generator:
Torque Acting on Rotor

Kestrel Salient Pole Rotor

Damper Bars
Shorting Plate

Pole
Face

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Kestrel
PSS Torque Contribution

Other Sources
T E’

-
TM w d
1 w0
+ 2Hs + KD s
-
TPSS VPSS

GP(s) PSS

Kestrel
PSS Torque Contribution

How can we apply torque to the rotor?

Mechanical?

Electrical?

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Kestrel

Overview of
PSS
Connection

Kestrel
Torque Components in Phase Plane

Speed

+ damping + damping
- synchronizing + synchronizing

Angle
- damping - damping
- synchronizing + synchronizing

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Kestrel
Role of Phase Angle in PSS Tuning

Speed
VPSS
TPSS

Angle

Kestrel
Functional Description of Stabilizer

• Measure speed (or related quantity)

• Remove steady-state component

• Compensate for phase lags and gains of exciter

• Inject into AVR input

• Create torque change through excitation change

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Kestrel
Speed-Based Stabilizers
The Good
• direct relationship for damping
• reasonable phase compensation requirements

The Bad

• direct shaft speed measurement using passive magnetic probes

and tach circuit involves moving parts
• noise

The Ugly

• shaft runout (hydro)

• torsionals (thermal)

Kestrel

Speed-Based PSS Functional Block Diagram

Mag Phase

To
V f K AVR
Input

Frequency Frequency

Generator Magnetic Frequency-to- Filtering and Signal Gain

Phase Advance
Shaft Probe Voltage Conditioning Adjustment
Converter

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Kestrel
Single-Input Power System Stabilizer

Transducer Filter High-Pass Filter Torsional Filter Stabilizer Gain & Phase Lead Limits
Vstmax

s T5 1
1 1 + s T1 1 + s T3
Speed 2 Ks1 Output
1 + s T6 1 + s T5 1 + A1 s + A2 s 1 + s T2 1 + s T4

Vstmin

Kestrel

Simulation Exercise - PSS Operation

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Kestrel Frequency-Based Stabilizers
The Good
• frequency derived from generator terminals or compensated
internal frequency
• sensitivity to rotor oscillations increases for weak ac systems
• more sensitive to inter-area modes / not sensitive to inter-
machine modes

The Bad
• system transients cause spurious output signals
• sensitive to other power system noise which is not present in
actual speed

The Ugly
• still requires torsional filtering

Kestrel
Compensated Frequency

Ei
Q-AXIS

jXqIt
It
Et

D-AXIS

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Kestrel
Variation of Magnitude of Lq(s) with Frequency

Kestrel
Power-Based Stabilizers
The Good
• electrical power (inverted) leads speed by 90 degrees
• phase lead requirements met without increasing high-frequency
gain
• torsionals naturally attenuated by 40 dB relative to speed

The Bad
• many not equipped to adjust phase lead and therefore not very
flexible
• sensitive to mechanical power variations

The Ugly
• Extremely sensitive to mechanical power variations

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Kestrel
Phase Relationships in Power-Based PSS

Local
Mode
(1.8 Hz)

1 s T5 1 + s T1 1 + s T3
Power Ks1 Gp(s)
1 + s T6 1 + s T5 1 + s T2 1 + s T4

Vpss Te

Inter-Area
Mode
(0.3 Hz)

Kestrel
Power + Frequency Input PSS

+
Ks1 s T5
- Power Gp(s)
1 + s Tp 1 + s T5
+
Vpss Te
Ks2
Frequency 1 + s Tf

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Kestrel
Accelerating-Power Input PSS

Ks1
- s T5 1 + s T1 1 + s T3
Power Ks1 Gp(s)
1 + s Tp 1 + s T5 1 + s T2 1 + s T4
- Te
Vpss
1 - s Tw
Gate 1 + s Tw/2

Pmech

Kestrel

Tuning Power System Stabilizers

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Kestrel
Damping & Synchronizing Components

Speed

+ve damping +ve damping

-ve synchronizing +ve synchronizing

Angle
-ve damping -ve damping
-ve synchronizing +ve synchronizing

Kestrel
Machine/System Overview Diagram

PSS

KD
Field speed
Voltage +
+ TE Combined
AVR & -
VREF Generator K2 Turbine/
+ Exciter angle
Generator
- + +
Inertia
TM

K6 KS

+
Terminal
Voltage +
Voltage
K5
Transducer

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 Kestrel
Machine/System Block Diagram
GPSS(s)

K4

TM
Efd PSIFD
- TE +
+ w d
K3 1 w0
VREF GEX(s) K2
+ + 1+sT3 - Ms s
- + -
AVR &
Exciter
KD
K6

Voltage
Transducer K1

ET +
1
K5
1+sTR
+

Kestrel
AVR Effect for Negative K5

GP(s)

Efd

K3
VREF GEX(s) K2
+ + 1+sT3
- TE
AVR &
Exciter
K6

Voltage
Transducer +
ET + d
1 K5
1+sTR

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Kestrel PSS Tuning Phase Relationships

GPSS(s)

K4

TM
Efd
- TE +
+ w d
K3 1 w0
VREF GEX(s) K2
+ + 1+sT3 - 2Hs s
- + -
AVR &
Exciter
KD
GP(s) K6

Voltage
Transducer K1

ET +
1
K5
1+sTR
+

Kestrel
Single-Input PSS (IEEE PSS1A)

High-Pass Filter Torsional Filter Stabilizer Gain & Phase Lead Limits
Vstmax

s T5 1
1 1 + s T1 1 + s T3
Speed 2 Ks1 Output
1 + s T6 1 + s T5 1 + A1 s + A2 s 1 + s T2 1 + s T4

Vstmin

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Kestrel

Stabilizer Tuning & Selection of Operating Settings

• Phase Lead Compensation

• Washout (High-Pass Filtering)
• Gain
• Output Limits

Kestrel
Phase Relationships in Speed-Based PSS

Local
Mode
(1.8 Hz)

1 s T5 1 + s T1 1 + s T3
Speed Ks1 Gp(s)
1 + s T6 1 + s T5 1 + s T2 1 + s T4

Vpss Te

Inter-Area
Mode
(0.3 Hz)

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Kestrel
Relationship Between Torque and Terminal
Voltage Transfer Functions

Te K2
'
Vref Td0
(1 sTe )(1 s )
K6Ke
K2 Et
K 6 Vref 0

Kestrel

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 Kestrel

Resonance
at Local
Mode

Kestrel

Appendix D Exercise
Effects of Time Constants on Phase

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Kestrel

Simulation Exercise - PSS Tuning

Selection of Phase Lead

Kestrel
Washout Time Constant Selection

• For speed-based on system with inter-area modes should be >

5s (typical for large systems is 10s to 15s)
• For local modes only can be < 2s, evaluate additional phase
lead at lowest mode
• For power-based PSS without derived accelerating-power may
need to reduce to limit terminal voltage / reactive power
excursions during mech power changes
• For units with low AVR gain or TGR, may need to use low Tw
for low-frequency phase requirements, reducing effectiveness at
inter-area modes

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Kestrel
Stabilizer Gain Selection Criteria

• pu Etref / pu w for speed

• pu Etref / pu P for power-based
• TGR in AVR requires higher PSS gain to achieve comparable
damping levels at inter-area mode
• goal is to improve transfer limits not damping
• use lowest gain that provides reasonable damping at all mode
frequencies
• gain margin and instability gain
• practical limits (noise, terminal voltage variation)

Kestrel
Example Root Locus of Local Mode
(rad/s)

20
Ks = 50
Imaginary Component of Eigenvalue

15

Ks= 0
Ks = 20
10

damping ratio = 20
0
-10 -8 -6 -4 -2 0
-1
Real Component of Eigenvalue (s )

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Kestrel
Example Root Locus with Exciter Mode

(rad/s)
30

Imaginary Component of Eigenvalue

Ks = 12.5
Ks = 0
20

Ks= 0
10
Ks = 12.5

damping ratio = 0.1

0
-10 -8 -6 -4 -2 0
-1
Real Component of Eigenvalue (s )

Kestrel
Stabilizer Control Mode
“Gain Margin”

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Kestrel
Stabilizer Output Limits

• With voltage limiter can use high upper limit (e.g. 10% to 20%)
• Without voltage limiter use more conservative limit (e.g. 5% to
10%)
• Negative limit may be tighter than positive limit to prevent the
PSS from taking the exciter off of positive ceiling during first
downswing following large transient (e.g. -5%)
• Limits that are too tight may prevent a PSS from responding to
some modes during a large disturbance that excites multiple
modes.
• Limits that are too large may allow frequency disturbances to
create a large voltage/reactive swing on unit.
• With low-gain AVRs or TGR having larger output limits more
critical

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