Power System Control and Stability

VIJAY VITTAL, PhD, is an Ira A. Fulton Chair Professor at the School of Electrical, Computer and Energy Engineering at Arizona State University. He is a Fellow of IEEE and a member of the U.S. National Academy of Engineering and has more than 35 years experience in teaching and research related to power system dynamics and control. JAMES D. MCCALLEY, PhD, is an Anson Marston Distinguished Professor at Iowa State University. Dr. McCalley, a Fellow of the IEEE, was an industry engineer from 1985-1990 performing dynamic analysis of the Western US Interconnection. He has been on the faculty at Iowa State University since 1992 performing research and instruction in power system planning and dynamic analysis. PAUL M. ANDERSON, PhD, served as a professor of engineering at Iowa State University, Arizona State University, and as a visiting professor at Washington State University. Dr. Anderson passed away in 2011. A. A. FOUAD was Anson Marston Distinguished Professor Emeritus of Engineering at Iowa State University. He had more than 40 years experience in power system dynamics in teaching, research, and in industry. Dr. Fouad passed away in 2017.

• Foreword xiiiPreface xvAbout the Authors xviiPart I IntroductionChapter 1 Power System Stability 31.1 Introduction 31.2 Requirements of a Reliable Electrical Power Service 41.3 Statement of the Problem 51.4 Effect of Impact on System Components 71.5 Methods of Simulation 101.6 Planning and Operating Standards 11Chapter 2 The Elementary Mathematical Model 192.1 Swing Equation 192.2 Units 212.3 Mechanical Torque 222.4 Electrical Torque 262.5 Power-Angle Curve of a Synchronous Machine 272.6 Natural Frequencies of Oscillation of a Synchronous Machine 302.7 System of One Machine Against an Infinite Bus: The Classical Model 312.8 Equal Area Criterion 372.9 Classical Model of a Multimachine System 402.10 Classical Stability Study of a Nine-Bus System 422.11 Shortcomings of the Classical Model 512.12 Block Diagram of One Machine 53Chapter 3 System Response to Small Disturbances 613.1 Introduction 613.2 Types of Problems Studied 623.3 The Unregulated Synchronous Machine 633.4 Modes of Oscillation of an Unregulated Multimachine System 663.5 Regulated Synchronous Machine 733.6 Distribution of Power Impacts 76Part II Electrical and Electromagnetic Dynamic PerformanceChapter 4 The Synchronous Machine 914.1 Introduction 914.2 Park’s Transformation 914.3 Flux Linkage Equations 944.4 Voltage Equations 974.5 Formulation of State-Space Equations 994.6 Current Formulation 1004.7 Per-Unit Conversion 1014.8 Normalizing the Voltage Equations 1084.9 Normalizing the Torque Equations 1134.10 Torque and Power 1154.11 Equivalent Circuit of a Synchronous Machine 1174.12 The Flux Linkage State-Space Model 1194.13 Load Equations 1244.14 Subtransient and Transient Inductances and Time Constants 1314.15 Simplified Models of the Synchronous Machine 1364.16 Parameter Determination for Generator Dynamic Models 155Chapter 5 The Simulation of Synchronous Machines 1655.1 Introduction 1655.2 Steady-State Equations and Phasor Diagrams 1655.3 Machine Connected to an Infinite Bus Through a Transmission Line 1685.4 Machine Connected to an Infinite Bus with Local Load at Machine Terminal 1695.5 Determining Steady-State Conditions 1725.6 Examples 1745.7 Initial Conditions for a Multimachine System 1825.8 Determination of Machine Parameters from Manufacturers’ Data 1835.9 Digital Simulation of Synchronous Machines 188Chapter 6 Load Modeling 1996.1 Introduction 1996.2 Static Load Models 2006.3 Induction Motor Loads 2036.4 Single-Phase Motors 2166.5 Power Electronic Loads 2216.6 Self-Restoring Loads 2246.7 Distributed Energy Resources 2256.8 Composite Load Models 2276.9 Data Development 229Chapter 7 Simulation of Multimachine Systems 2397.1 Introduction 2397.2 Statement of the Problem 2397.3 Matrix Representation of a Passive Network 2407.4 Converting Machine Coordinates to System Reference 2447.5 Relation Between Machine Currents and Voltages 2457.6 System Order 2497.7 Machines Represented by Classical Methods 2497.8 Linearized Model for the Network 2527.9 Hybrid Formulation 2587.10 Network Equations with Flux Linkage Model 2607.11 Total System Equations 2627.12 Alternating Solution Method 2647.13 Simultaneous Solution Method 2757.14 Design of Numerical Solvers 277Chapter 8 Small-Signal Stability Analysis 2818.1 Introduction 2818.2 Fundamentals of Linear System Stability 2828.3 Linearization of the Generator State-Space Current Model 2848.4 Linearization of the Load Equation for the One-Machine Problem 2888.5 Linearization of the Flux Linkage Model 2938.6 State Matrix for Multimachine Systems 2988.7 Simplified Linear Model 3128.8 Block Diagrams 3218.9 State-Space Representation of Simplified Model 322Chapter 9 Excitation Systems 3259.1 Simplified View of Excitation Control 3259.2 Control Configurations 3279.3 Typical Excitation Configurations 3289.4 Excitation Control System Definitions 3379.5 Voltage Regulator 3449.6 Exciter Buildup 3489.7 Limiting and Protection for Excitation Control Systems 3619.8 Excitation System Response 3659.9 State-Space Description of the Excitation System 3799.10 Computer Representation of Excitation Systems 3899.11 Typical System Constants 4009.12 The Effect of Excitation on Generator Performance 400Chapter 10 The Effect of Excitation on Stability 40910.1 Introduction 40910.2 Effect of Excitation on Generator Power Limits 41110.3 Effect of the Excitation System on Transient Stability 41510.4 Effect of Excitation on Small-Signal Stability 42110.5 Root-Locus Analysis of a Regulated Machine Connected to an Infinite Bus 42610.6 Approximate System Representation 43210.7 Supplementary Stabilizing Signals 43910.8 Linear Analysis of the Stabilized Generator 44610.9 PSS Tuning in Multimachine Power Systems 44810.10 Alternate Types of PSS 44910.11 Digital Computer Transient Stability Studies 45010.12 Some General Comments on the Effect of Excitation on Stability 459Chapter 11 Dynamic Modeling and Representation of Renewable Energy Resources 46311.1 Wind Turbine Generators 46311.2 Photovoltaic Solar Plant Modeling 480Chapter 12 Voltage Stability 48712.1 Modeling Requirements for Voltage Instability Analysis 48712.2 Voltage Instability Analysis Using Time Domain Simulation 48912.3 Dynamic VAr Planning and Optimization 493Chapter 13 Dynamic Performance and Modeling of Flexible AC Transmission System(Facts) Components 50313.1 Introduction 50313.2 Static VAr System 50313.3 Thyristor-Controlled Series Compensation 51113.4 Static Synchronous Compensator 51713.5 High Voltage DC Transmission 519Chapter 14 Power System Protection and Monitoring Associated With Power System Stability 52514.1 Introduction 52514.2 Power System Protection Functions Associated with Transient Stability Analysis 52714.3 Special Protection Schemes 53514.4 Synchrophasor-Based Monitoring of Power System Stability 537Part III Mechanical Dynamic PerformanceChapter 15 Speed Governing 54515.1 The Flyball Governor 54615.2 The Isochronous Governor 55115.3 Incremental Equations of the Turbine 55315.4 The Speed Droop Governor 55615.5 The Floating Lever Speed Droop Governor 56115.6 The Compensated Governor 56415.7 Electronic Governors 57015.8 Governor Models for Transient Stability Simulations 571Chapter 16 Steam Turbine Prime Movers 57716.1 Introduction 57716.2 Power Plant Control Modes 57916.3 Thermal Generation 58116.4 A Steam Power Plant Model 58216.5 Steam Turbines 58316.6 Steam Turbine Control Operations 59016.7 Steam Turbine Control Functions 59216.8 Steam Generator Control 60416.9 Fossil-Fueled Boilers 60516.10 Nuclear Steam Supply Systems 620Chapter 17 Hydraulic Turbine Prime Movers 62717.1 Introduction 62717.2 The Impulse Turbine 62717.3 The Reaction Turbine 62917.4 Propeller-Type Turbines 63117.5 The Deriaz Turbine 63217.6 Conduits, Surge Tanks, and Penstocks 63317.7 Hydraulic System Equations 63917.8 Hydraulic System Transfer Function 64417.9 Simplifying Assumptions 64717.10 Block Diagram for a Hydro System 64917.11 Pumped-Storage Hydro Systems 65017.12 Representation of Hydro Turbines and Governors in Stability Studies 651Chapter 18 Combustion Turbine and Combined-Cycle Power Plants 65518.1 Introduction 65518.2 The Combustion Turbine Prime Mover 65518.3 The Combined-Cycle Prime Mover 663Appendix A 673Appendix B 675Appendix C 685Appendix D 695Appendix E 727Appendix F 737Appendix G 759Appendix H 767Appendix I 775Appendix J 783Index 793