Power System Stability: Prof. M Venkateswara Rao

POWER SYSTEM STABILITY
Prof. M VENKATESWARA RAO

Dept. of EEE,
JNTUA College of Engineering, Kalikiri
Chittoor District, A P, India
Prof. M Venkateswara Rao, Dept. of EEE, JNTUA College of Engineering, Kalikiri, Chittoor District, A P, India
Outline of Presentation
Introduction
Power angle curve
Dynamics Of Synchronous Machine
Swing equation
Analysis of steady state stability
Equal Area Criterion
Methods of improving stability
 Previous years GATE Questions
Introduction (contd…)
 A large power system consists of a number of synchronous machines

(or equipments or components) operating in synchronism.
 When the system is subjected to some form of disturbance, there is a

tendency for the system to develop forces to bring it to a normal or
stable condition
 The term stability refers to stable operation of the synchronous

machines connected to a power system when they are subjected to
sudden disturbances.
 Depending on the nature and magnitude of disturbances the stability
studies can be classified in to the following types
1. Steady state stability
2. Transient stability
POWER SYSTEM
STABILITY
Steady state stability

Transient state
stability
Static Dynamic
stability Stability
Steady state stability : It is defined as the ability of a power

system to remain stable (i.e., without losing synchronism) for
small disturbances ( gradual changes in load).
 Static stability refers to inherent stability that prevails without

the aid of automatic control devices
 Dynamic stability refers to artificial stability given to an

inherently unstable system by automatic control devices. It is
concerned with small disturbances lasting for 10 to 30 sec.
The transient stability is defined as the ability of a power

system to remain stable for large disturbances. (such as sudden
change in loads, loss of generations, excitations, transmission
facilities, switching operations and faults).
Power Angle Curve
2
EV EV V 
Pe  jQ e  sin   j  cos   ........( 3)
Xd  X d Xd 

EV
 Pe=Real Power of (S)= sin  .........(4)
Xs
Thus, the real power output depends on and power angle δ.
Power Angle Curve (contd…)
 Plotting (4)
 As δ is increased beyond 900 ,Pe decreases .
 At δ=1800, Pe becomes zero.
 Beyond δ=1800 ,Pe becomes negative which implies that the power
flow direction is reversed and the power is supplied from the infinite
bus to the generator.
 The positive value of δ (E leading V) applies to generator action and
negative value for δ (E lagging V) applies to the motor action.
 The max steady-state power transfer occurs when δ=90;
EV
P max  ..................(5)
X
The value of Pe,max is called the pull-out or steady-state stability limit.
 In actual practice δ is kept round 300
 When the power angle δ increases by a small amount Δδ. The

increase in synchronous power output is given by
P P E V
Pr    cos  ………………….(6)
  Xd
Where Pr synchronizing power coefficient
 In terms of ABCD parameters, power angle equation can be written as

EV AV 2
Pmax   sin(    )...............( 7)
B B
Case (ii): Generator connected to Infinite bus.
EV
The real power output of this system is Pe  sin   Pmax sin  ........(8)
X
The maximum steady state power transfer Pmax occurs when ,δ=900 and
EV
equals to
X EV
 Pmax  .......... (9 )
X
Transfer reactance(x): The total reactance X between two voltage
sources V and E is called the transfer reactance. The maximum power
limit is inversely proportional to the transfer reactance.
Case (iii) :Power transfer through Impedance

 In all electrical machines and transmission lines, the resistance is
negligible as compared to inductive reactance.
 Active power received by infinite bus is given by

V2 V 2R
Pe,max   2 ........(10)
R2  X 2 R X2
For Pe,max to be maximum (i.e. for max. power transfer), the above
equation is to be differentiated w.r.t ‘ X’
 X  3R.......(11)
 The practical application of (11) is limited. It that if X=0, power
transferred is zero. Thus a finite value of reactance is necessary for
power transfer.
Methods of Improving Steady State Stability Limit
 The stability limit is the max. power that can be transferred in

a network between source and load without loss of
synchronism.
• The steady state stability limit is the max. power that can
be transferred without the system becoming unstable,
when the load is increased gradually, under steady state
condition.
• Transient stability limit is the max. power that can be
transferred with out the system becoming unstable when a
sudden or large disturbance occurs.
 The transient stability is lower than the steady-state stability.
Methods of Improving Steady State Stability Limit
EV
 The steady state limit is given by SSSL= P max 
X
where X is Transfer reactance.
 Methods to improve SSSL are
1. Operating the system at higher Voltages
2. Reducing the nett reactance of the system by
• Parallel lines
• Mid point compensation
• Series capacitors
• Double circuit
• Bundle conductors
•Prof. M Venkateswara Rao, Dept. of EEE, JNTUA College of Engineering, Kalikiri, Chittoor District, A P, India
Dynamics of synchronous machine
1
KE  M s .......... .(12)
2
P
 s    sm  rotor speed in rad (elec) / sec
2
2
2
M  J     s  10 6
P
H
M  sec 2 / elec  rad ............(13)
180 f
Swing Equation
 The behavior of a synchronous machine during transients is

described as swing equation.
Let,
J = Total moment of inertia of the rotor mass in kg - m2
θm= Angular displacement of the rotor with respect to a stationary axis
in mechanical radians.
t = Time, in seconds.
Tm= The mechanical (or) shaft torques in N-m.
Te= Net electrical (or) electromagnetic torque in N - m.
Ta= Net accelerating torque in N - m.
 Under steady state conditions,
Te = Tm , N = constant
Swing equation (contd…)
d 2 m
Ta  J .......... (15 )
dt 2
d 2
M ( p .u )  Pm  Pe .......(18)
dt 2
1   2  
 The two machines swing coherently are thus reduced to a single

machine as H 1mach G1mach H 2 mach G 2 mach
H eq   ............(21)
G sys G sys
 The above results are easily extendable to any no. of machines
swinging coherently.
 Swing Curve: The graph between load angle and time is called
Swing Curve.
 If δ increases continuously with time the system is unstable.
if δ starts decreasing after reaching
a maximum value it is said that the
system will remain stable.
Analysis Of Steady State Stability
 It is determined based on SSSL with power
input, Pm remaining same.
 Let us assume that the electrical power
output increases by a small amount ΔP.
 Now the torque angle is changed by a small amount Δδ.

Therefore the new value of torque angle is (δ0+Δδ)
 The electrical power output for this new torque angle (δ0+Δδ) is
given by Pe1  Pe 0  P  Pmax sin( 0   ) .......... (22 )
 Since Δδ is small Pe 0  P  Pmax sin  0  Pmax  cos  0 ........(23)
 ΔP=(Pmax cos δ0 )…………...(24)
Analysis Of Steady State Stability(Contd…)
P  Pe 
 Pmax cos  0    .......... ( 25)
   0
For a torque angle of δ=δ0+Δδ,
d2
M  0     Pm  ( Pe0  P)
dt
Since δ0 is constant and Pm=Pe0,
d 2 
M  P
dt 2
Further solving, we obtain the following differential equation
d2
M    Pmax cos  0   0
dt
d
Let M    x , Pmax cos  0  c
dt
 P 
 e 
 Pmax cos  0    0
 x  .......... ...( 26)
M M
  Pe 
Case (i) : When C is +ve( i.e.    0 or Pmax cosδ0>0)
   0
 Roots are purely imaginary and conjugate.
 The system behavior is oscillatory about δ0.
Case (ii) : When C is –ve (i.e  Pe  or Pmax cosδ0<0)

  0
   0
 The roots are real and equal in magnitude.
 One of the root is +ve and other is –ve.
 Due to the +ve root the torque angle increases without bound.
 When there is a small increment in power and machine will loose

synchronism. Hence the machine becomes unstable for small
changes in power provided.
 Pe 
    0 is known as synchronizing coefficient. This is also called
stiffness of synchronous machine.

Assumptions
• Generators are represented by constant impedances in series
with no load voltages.
• The mechanical power input is constant.
• Damping is negligible.
• Load angle variations are small.
• Speed variations are negligible.
Transient stability
Transient stability limit is the maximum power that can be

transferred without the system becoming unstable when a sudden or
large disturbance occurs.
Assumptions:
• In transmissions line & synchronous machine resistance is neglected.
• Damping term contributed by synchronous machine damper winding
is neglected.
• Rotor speed is assumed to be synchronous.
• Mechanical power input to machine remains constant.
• Voltage behind transient reactance is assumed remains constant.
• Loads are modelled as constant admittances.
Transient stability(Contd….)
The transient stability can be analysed by following methods

i) Equal Area criterion.
ii) Point by point method
iii) Runga-Kutta method
Equal area criterion
The stability of a single machine connected to an
infinite bus can be studied by the use of equal area criterion.
 If Pe1=Pe0+∆P then the accelerating power Pa decreases from ∆P

(when δ =δ0) to zero (when δ =δ1).
 During the time taken by the load angle to increase from δ0 to

δ1, the rotor absorbs KE. This KE equals to the shaded area A1.
Equal Area criterion
 The load angle δ 2 can be obtained from the condition that the KE
gained by rotor during its swing from δ 0 to δ 1 must equal to KE
returned as it swing from δ 1 to δ 2.
 This leads to conclusion that area A1 must be equal to shaded area
A2. This is referred as equal area criterion.
Mathematical way of expressing Equal area Criterion
d 
 Multiplying eq (18) by 2  and integrating, we get.
 dt 

d 2
dt

M  P d ...........(27)
a
0
 For a stable system (i.e. the load angle will have minimum value
d
when 0)
dt 
i.e.  P d  0
a
0
 This refers to zero area, which is possible only where pa has both
accelerating and decelerating power that is for, pm>pe and for the
other part pe>pm
 For the generator action Pm>Pe for positive area A1 and Pe>Pm for
negative area A2 for stable operation.
Sudden change in Mechanical Input
 Let the mechanical input to the generator rotor
be suddenly increased to Pm1.
 Since Pm1>Pe the generator will have
Pa=Pm1-Pe
 In this new steady state Pm1 = Pe1
.ˆ. Pm1 = Pe1 = Pmax sinδ1

 The areas A1 and A2 can be evaluated as
1
A1   ( Pm1  Pe ) d
0 ………….(28)
1
A2   ( Pe  Pm1 )d
2
Sudden change in Mechanical Input (Contd…)
 As pm increases, a limiting condition is finally reached at a
point where the area A1=A2.
 The corresponding δ1 can be δ1max and δ2 be δ2max.
 Here δ2max = π – δ1max
 Pm1,max 
 Since 1 , max  sin 1  
 Pmax 
P 
 2 max    sin 1  m1,max 
 Pmax 
Critical clearing angle & Critical clearing time
 Critical clearing angle (δcc): It is the maximum allowable

change in the power angle δ, before clearing the fault, without
loss of synchronism.
P
 1 Pm 
  0  a t2  cc  cos cos  max  ( max   0 )..............( 29)
2M  Pmax 
 Critical clearing time(tcc): It can be defined as the maximum
time delay that can be allowed to clear the fault without loss of
synchronism. 2 H ( cc   0 )
t cc  .................(30)
 fPm
 If the actual clearing angle is greater than the Critical clearing

angle, the system is unstable, otherwise it is stable.
Sudden Loss of one of the parallel line
 When both of the lines are operating the power transfer
is given by Pe1  EV
sin   Pmax I sin  .........(31)
X1 X 2
X d1 
X1  X 2
 When one of the lines is switched out the transfer reactance

increases and the power transfer is given by
EV
Pe 2  sin   Pmax II sin  .......... ....(32)
X d1  X 1
 Pmax I  Pmax II
 The maximum value which can attain without
loss of system stability is δm and equals to
(π-δ1) radians.
Fault and Subsequent circuit isolation
 When fault develops at any point F on line2 it is subsequently

cleared by cleared by opening the CBS at both the ends of
faulted line.
 3 power angle curves are involved,
• first for the pre fault system,
• second for the system during fault and
• third for the system after the fault line
 If actual clearing δc < δcc system is stable,
 If δc > δcc the system is unstable.
 When δc = δcc the maximum angle up to which rotor swings is

δmax
Fault and Subsequent circuit isolation(Contd….)
An expression for δcc can be derived as
 P (   0 )  Pmax III cos  max  Pmax II cos  cc 

 cc  cos 1  m max .........(33)
 P max III  Pmax II 
Where,
 P   P 
 max    sin 1  m   0  sin 1  m 
 Pmax III   Pmax I 
Fault, Circuit isolation and reclosing
 The transmission lines are provided with automatic quick reclosing

circuit breakers, because most of the faults are transient in nature
 When fault occurs, operation shifts to curve for faulted condition.
 When the load angle is δc, the faulted line is isolated and the
operation shifts to the post fault curve.
 When the load angle is δ0 the circuit breaker reclose and operation
shifts to pre-fault curve.
 For stable operation the accelerating area A1 = decelerating area A2.
 The maximum angle to which rotor swings is δ2 and is less than δm

(i.e the maximum permissible rotor swing if stability is to be
maintained).
Solution of swing equation by point by point method
 Point by point (or step by step) method is the most feasible and
widely used way of solving the swing equations.
 The main assumption for solving the swing equation by point by

point method is "the accelerating power is constant during time
interval" .
 Integrating swing equation twice, w.r.t. time’t’,

d P
 After 1st integration, dt     0  Ma .......( 34)
Pa
 After 2 nd integration,   0   0 t  ........(35)
2M
 Dividing the total time 't' into 'n' equal intervals.
t ( t ) 2
 n   n 1  Pa n 1 .........(36)  n   n 1  t. n 1  Pa n 1 .......... (37 )
M 2M
Solution of swing equation by point by point method(Contd….)
 The increments of speed and angular displacement during the nth interval
t
 n   n   n 1  Pa n 1 .......... .(38)
M
( t ) 2
 n   n 1  ( Pa n 1  Pa n  2 )......... ..(39)
2M
Methods of improving stability
 By increasing inertia constant(M)
 Increasing system voltage
 Reduction of transfer reactance
• Use of double circuit lines

• Use of Bundle conductors
• Series compensation of the lines
 Fast switching
 Turbine fast valving ( or) By-pass valving
 Single –pole switching
 Load shedding
 HVDC links
 Breaking resistors
Methods of improving stability (Contd…..)
 Short circuit current limiters
 Full load rejection technique
Previous years GATE Questions
Q. No.1) Steady state stability of a power system is the ability of

the system to (GATE- 99)
A. Maintain Voltage at the rated level.
B. Maintain frequency exactly at 50Hz.
C. Maintain spinning reverse margin at all times.
D. Maintain Synchronism between machines and on external tie

lines.
Sol) A
Q. No.2) The transient stability of the power system can be

effectively improved by (GATE-93)
A) Excitation control
B) Phase shifting transformer
C) Single pole switching of circuit breakers
D) Increasing the turbine valve opening
Sol. C
Q. No.3) The angle δ in the swing equation of a synchronous

generator is (GATE-13)
A) Angle between stator voltage and current.
B) Angular displacement of stator with respect to rotor.
C) The angular displacement mmf with respect to a

synchronously rotating axis.
D) Angular displacement of an axis field to the rotor with respect

to a synchronously rotating axis.
Sol. D
EV
P max 
X /2
0  5
Pa 2 H
  0  t ; M
2M 180 f
Q. No.9) A lossless single machine infinite bus power system is

shown in the fig. The synchronous generator transfers 1.0pu of
power to infinite bus. The critical clearing time of circuit braker is
0.28 s. If another identical synchronous generator is connected in
parallel to the existing generator and each generator is scheduled to
supply 0.5pu of power, the critical clearing time of the circuit
breaker will be (GATE-09)
Sol. d 2
M ( p .u )  Pa
dt 2
Pe= 0 during fault (Electrical power delivered )
d 2 Pa 2
 Pa / M ;  t  A;
dt 2 2M
= o
Pa
0  (0)  A
2M
2 H ( cc   0 )
tcc 
 fPm
Q. No.10) The figure shows single line diagram of power system

with a double circuit transmission line. The expression for
electrical power is 1.5 sin , where is the rotor angle. The
system is operating at the stable equilibrium point with
mechanical power 1 pu. If one of the transmission line circuits is
removed, the maximum value of , as the rotor swings is 1.221
radian. If the expression for electrical power with one
transmission line circuit removed is Pmaxsin , the value of Pmax in
pu is ___(GATE-17)
Sol) 1.22
Continued in the next page.
1 2
 ( P  P
s e2 ) d   ( Ps  Pe 2 )d  0
0 1
Ptie, 1(S) Ptie, 2(S)

-a12
PC1(S) PG1(S) F1(S) F2(S) PG2(S) PC1(S)
+    +
+
+    +
+  + + +
+
+ + + + +
PD1 (S) PD2 (S)
b1 b2
Block diagram of two-area load frequency control

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POWER SYSTEM STABILITY

Prof. M VENKATESWARA RAO

Power angle curve

Dynamics Of Synchronous Machine

Analysis of steady state stability

Equal Area Criterion

Methods of improving stability

 Previous years GATE Questions

 A large power system consists of a number of synchronous machines

 When the system is subjected to some form of disturbance, there is a

 The term stability refers to stable operation of the synchronous

Steady state stability

Steady state stability : It is defined as the ability of a power

 Static stability refers to inherent stability that prevails without

 Dynamic stability refers to artificial stability given to an

The transient stability is defined as the ability of a power

 As δ is increased beyond 900 ,Pe decreases .

 At δ=1800, Pe becomes zero.

 The max steady-state power transfer occurs when δ=90;

 In actual practice δ is kept round 300

 When the power angle δ increases by a small amount Δδ. The

 In terms of ABCD parameters, power angle equation can be written as

Case (iii) :Power transfer through Impedance

 Active power received by infinite bus is given by

 The stability limit is the max. power that can be transferred in

 Methods to improve SSSL are

1. Operating the system at higher Voltages

2. Reducing the nett reactance of the system by

• Mid point compensation

 The behavior of a synchronous machine during transients is

 Under steady state conditions,

 The two machines swing coherently are thus reduced to a single

 It is determined based on SSSL with power

input, Pm remaining same.

 Let us assume that the electrical power

output increases by a small amount ΔP.

 Now the torque angle is changed by a small amount Δδ.

 Since Δδ is small Pe 0  P  Pmax sin  0  Pmax  cos  0 ........(23)

 ΔP=(Pmax cos δ0 )…………...(24)

 The system behavior is oscillatory about δ0.

Case (ii) : When C is –ve (i.e  Pe  or Pmax cosδ0<0)

 One of the root is +ve and other is –ve.

 When there is a small increment in power and machine will loose

stiffness of synchronous machine.

Transient stability limit is the maximum power that can be

The transient stability can be analysed by following methods

 If Pe1=Pe0+∆P then the accelerating power Pa decreases from ∆P

 During the time taken by the load angle to increase from δ0 to

.ˆ. Pm1 = Pe1 = Pmax sinδ1

 As pm increases, a limiting condition is finally reached at a

point where the area A1=A2.

 The corresponding δ1 can be δ1max and δ2 be δ2max.

 Here δ2max = π – δ1max

 Critical clearing angle (δcc): It is the maximum allowable

 If the actual clearing angle is greater than the Critical clearing

 When both of the lines are operating the power transfer

 When one of the lines is switched out the transfer reactance

 The maximum value which can attain without

loss of system stability is δm and equals to