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SEP
Unstable Trajectory
0.018
Stable
s (pu)
0.016 Trajectory
0.014
0.012
0.88
0.9 2.5
0.92 2
0.94 1.5
1
Eq (pu) Ef (pu)
OSCILLATORY VOLTAGE
INSTABILITY:
A FUNDAMENTAL STUDY
Luigi Vanfretti
ECSE 6963 Nonlinear Phenomena in Engineering and Biology
Outline
2
Background:
Short-term voltage instability arises when dynamic loads attempt to restore consumed
power in a very short time frame (one - few seconds) [1, 2]. Oscillatory voltage instability
[3] is a type of short-term voltage instability that originates due to the interaction of two
or more load restoration processes acting in the same short-term time scale.
Case Studied V2
Vt
jX M
G 1
2
The system consists of a synchronous generator feeding an isolated three phase induction
motor.
The mechanical load of the motor is considered constant.
The generator has a first-order excitation system with a proportional AVR. AVR limits will
be considered to evaluate their impact on stability.
Assumption: frequency transients have no impact on the response of the system –
neglected.
April 24, 2008
Modeling of the System
4
The system is represented by: Generator Modeling: field flux decay eqn.
Generator: Td' 0Eq' E f Eq' (xd xd' )id Td' 0Eq' E f Eq' (xd xd' )id
AVR: TE f K (Vo Vt ) E f Eq' : emf behind transient reactance
Motor: 2Hs Tm Te (V ,s) Ef : filed voltage
The algebraic variables are Td' 0 : open-circuit transient time constant
function of the network and Active power is constant as the frequency is held
state variables. constant by the generator.
P1 Re (vx 1 jvy 1 )(ix 1 jiy 1 ) vx 1ix 1 vy 1iy 1
Network Modeling – Current
Injection: The d-axis current can be obtained from:
ix 1 BS 12vy 1 B12 (vy 1 vy 2 ) 0 i1 ix 1 jiy 1
iy 1 BS 12vx 1 B12 (vx 1 vx 2 ) 0 i
x 1 sin cos id
ix 2 BS 21vy 2 B21(vy 2 vy 1 ) 0 i cos sin i
y 1 q
iy 2 BS 12vx 2 B21(vx 2 vx 1 ) 0 id ix 1 sin iy 1 cos
ix 1 and iy 1: Components of the current
injected by the generator. Where the generator injected currents are
ix 2 and iy 2 : Components of the current sin 2 1 1 cos2 sin2
(v E ' sin )
ix 1
' (vx 1 Eq cos )
'
injected by the load. xd
y1 q
2 xq xd xq
'
The system was implemented using the Power System Analysis Toolbox [4] via
the PSAT-Simulink Library.
Bus1 Bus2
Voltage, V2 (pu)
monotonically to obtain the bifurcation SS HB SN*
diagram. 0.8
0.6
SN
A Saddle-Node Bifurcation point is
located at point SN. 0.4 BS2=0
The variation of the eigenvalues of the state matrix as the fixed point
moves from point SS to point HB on the torque voltage curve for B = 0 and
B = 0.6 was obtained. The results for B = 0 are shown here.
The eigenvalue locations are plotte for for Tm:{0.4,1.11}, they are difficult
to interpret at the first glance. Therefore the eigenvalue locations are
ploted for different ranges of the variation of Tm.
These results are used to construct a more insightful eigenvalue locus.
Eigenvalue Locations for 0.4 Tm 0.71 Eigenvalue Locations for 0.4 Tm 0.71 Eigenvalue Locations for 0.71 Tm 1.11
4 4
2 2
2
Imaginary
Imaginary
Imaginary
0 0 0
-2 -2
-2
-4 -4
-15 -10 -5 0 5 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 -20 -10 0 10 20
Real 63 Real Real
x 10
April 24, 2008
Eigenvalue Locus
Eigenvalue Locations for 0.4 Tm 1.11
4
2
9
Imaginary
0
0.8972
9.4524
0.8972
0 10 20 30 40 50
s (pu)
1.1936 9.4524
Ef
9.4523
0.8972 1.1936
1.1935 1.1936
0 10 20 30 40 50 0.8972 1.1936
0.9905
0.8972 1.1936 Ef (pu)
Eq (pu)
1-s
0.9905
0.9425
System is stable.
0.9425
0 10 20 30 40 50
Time (sec)
April 24, 2008
Nonlinear Simulation of an Unstable Point
11
Unstable Point Simulation Unstable Point Simulation Unstable Point Simulation
1
1.2 0.8
Eq
0.8
1 0.7
Unstable Fixed
0 2 4 6 8 10 12 0.6 Motor
0.6 Point
Stalling
1-s
V2
0.4 0.5
4
0.2 0.4
Ef
2
0 0.3
0 2 4 6 8 10 12 0 2 4 6 8 10 12 0 2 4 6 8 10 12
Time (sec) Time (sec) Time (sec)
0.1 Unstable voltage oscillations force the motor to stall when the
2 oscillation amplitude grows beyond an unstable fixed point.
0
1.3
3 3D plot shows the trajectory, the red dot indicates the last
1.2
1.1 point of the simulation, not a stable fixed point.
4
1 Ef (pu) This is an example of “Oscillatory Voltage Instability”
Eq (pu)
April 24, 2008
Hopf Bifurcation Analysis
1
Hopf Bifurcation
Eq
0.9
0.8
0 10 20 30 40 50 60
4
Ef
12
0
0 10 20 30 40 50 60
1-s
complex pair of eigenvalues from the 0.95
1.5
0 10 20 30 40 50 60
V2
1
T0
t0 t1 t1 t s (pu)
0.01
By adjusting the duration of the pulse
a critical trajectory can be found. 0
0
The trajectory is trapped in the stable 1 0.9
manifold of the unstable limit cycle. 2 0.95
1
Ef (pu) Eq (pu)
Analysis of Hopf Bifurcation and
Classification
13
0.015 SEP by imposing different
perturbations.
0.014 Observe that the
bifurcation emerges
2
0.013 1.5 from the shrinking of
0.89 0.9 0.91 0.92 0.93 1 the unstable limit cycle
0.94
Ef (pu) that exists before the
Eq (pu)
April 24, 2008 Hopf Bifurcation.
Controller Tuning to Avoid Voltage
Instability
15
Vt
Two cases analyzed:
CASE 1: Oscillatory condition with the transient torque pulse used in the
Hopf bifurcation section (unstable behavior onset).
Case 2: Oscillatory condition from an increased torque pulse.
April 24, 2008
Controller Tuning
16
CASE 1 CASE 2
Torque pulse used in HB illustration Increased torque pulse
Designed Controller: K = 30 (Nominal), T = Designed Controller: K = 175, T = 0.105
0.105 (was 0.5) sec sec
Slow Response – Time constant can Fast Response – at cost of
be made smaller: equipment limits requirement higher rating for the
Increase gain with caution. field current: equipment limits need
to be assessed
CASE 1: Field Voltage CASE 2: Field Voltage
2.5 3.5
3
2 Ef (pu)
Ef (pu)
2.5
1.5
2
1 1.5
0 10 20 30 40 50 0 10 20 30 40 50
Time (sec) Time (sec)
Controller Tuning Continued
17 CASE 1 CASE 2
1
0.95
Eq
Eq
0.95
0.9 0.9
0 10 20 30 40 50 0 10 20 30 40 50
2.5
2 3
Ef
Ef
1.5 2
1
1
0 10 20 30 40 50 0 10 20 30 40 50
0.99 0.99
0.985
1-s
1-s
0.98
0.98
0 10 20 30 40 50 0 10 20 30 40 50
0.9 0.9
0.85
V2
V2
0.85
0.8
0.75 0.8
0 10 20 30 40 50 0 10 20 30 40 50
Time (sec) Time (sec)
Effect of Controller Limits on Stability
18
K
Vo Ef
Ts 1
Vt E f min 0
Four cases discussed:
CASE 1a: conditions from CASE 1 tuning, system is stabilized by the AVR.
CASE 1b: conditions from CASE 1 tuning, AVR is not able to stabilize the system.
CASE 2a: conditions from CASE 2 tuning, system is stabilized by the AVR.
CASE 2b: conditions from CASE 2 tuning, AVR is not able to stabilize the system.
Controller Limits – Cases 1a and 1b
19
CASE 1a CASE 1b
System is stabilized by the AVR. AVR is not able to stabilize the system.
2.5 2.5
2 2
Ef (pu)
1 1
0.5 0.5
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Time (sec) Time (sec)
Eq
1 1
0.5 0.5
0 10 20 30 40 50 0 10 20 30 40 50
4 4
2 2
Ef
Ef
0 0
0 10 20 30 40 50 0 10 20 30 40 50
1 20
1-s
1-s
0
0.95 -20
0 10 20 30 40 50 0 10 20 30 40 50
1
0.9
V2
V2
0.8 0.5
0.7
0
0 10 20 30 40 50 0 10 20 30 40 50
Time (sec) Time (sec)
Controller Limits – Cases 2a and 2b
21
CASE 2a CASE 2b
System is stabilized by the AVR. AVR is not able to stabilize the system.
3 3
2.5 2.5
Ef (pu)
Ef (pu)
2 2
1.5 1.5
1 1
0.5 0.5
0 10 20 30 40 50 0 10 20 30 40 50
Time (sec) Time (sec)
Eq
1 1
0.5 0.5
0 10 20 30 40 50 0 10 20 30 40 50
4 4
2 2
Ef
Ef
0 0
0 10 20 30 40 50 0 10 20 30 40 50
1 20
1-s
1-s
0
0.95 -20
0 10 20 30 40 50 0 10 20 30 40 50
1
0.9
V2
V2
0.8 0.5
0.7
0
0 10 20 30 40 50 0 10 20 30 40 50
Time (sec) Time (sec)
Controller Limits Effect on Trajectories
23
Non-smooth
Trajectories as a result
System Unstable of controller limits
4
s (pu)
2 0
0 2
1.3
1.2
1.1
1
0.9 4 Ef (pu)
0.8
Eq (pu)
Hopf Bifurcation:
Complex pair of eigenvalues cross the jw-axis.
Simulation of post-disturbance point shows that there are no attracting limit cycles after the HB.
A limit cycle is surrounded by unstable trajectories moving away from the limit cycle, and stable trajectories moving towards the SEP
The limit cycle is unstable.
Showing that the limit cycle shrinks as the HB point is approached proves that the bifurcation is a subcritical Hopf bifurcation.
Bifurcation emerges from the shrinking of the unstable limit cycle that exists before the HB.
AVR Tunning:
Faster controller avoids oscillatory voltage instability.
The burden on the field voltage increases as the perturbation grows important design constraint.
Remarks:
The oscillatory behavior of the system emerges from the interaction of two load restoration processes acting in the
same short-term time scale.
The load restoration due to the adjustment of the slip (which is product of the admittance increase) races against
the voltage regulation provided by the AVR (which restores the load indirectly by restoring the voltage).
References
25
1. Thierry Van Cutsem, and Costas Vournas, Voltage Stability of Electric Power
Systems. Boston: Kluwer Academic Publishers, 1998.
2. Carson Taylor, Power System Voltage Stability. New York: McGraw-Hill, 1994.
3. F. P. de Mello, and J. W. Feltes, “Voltage Oscillatory Instability Caused by
Induction Motor Loads,” IEEE Transactions on Power Systems, vol. 11, no. 3, pp.
1279 – 1285.
4. F. Milano, An Open Source Power System Analysis Toolbox, IEEE Transactions
on Power Systems, Vol. 20, No. 3, pp. 1199-1206, August 2005.
5. Steven H. Strogatz, Nonlinear Dynamics and Chaos. Reading, MA: Perseus
Books, 1994.
6. Pal, M.K., "Voltage stability: analysis needs, modelling requirement, and
modelling adequacy," IEE Proceedings-Generation, Transmission and
Distribution, vol.140, no.4, pp.279-286, Jul 1993