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Power system stability and control
Kundur, P.(Prabha).
اطلاعات کتابشناختی
Power system stability and control
Author :
Kundur, P.(Prabha).
Publisher :
McGraw-Hill,
Pub. Year :
1994
Subjects :
Electric power system stability. Electric power systems-- Control.
Call Number :
TK 1005 .K86 1994
جستجو در محتوا
ترتيب
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Cover
(1)
Contents
(5)
Foreword
(17)
Preface
(19)
PART I GENERAL BACKGROUND
(23)
1. GENERAL CHARACTERSTCS OF MODERN POWER SYSTEMS 3
(25)
1.1. Evolution of electric power systems
(25)
1.2. Structure of the power system
(27)
1.3. Power system control
(30)
1.4. Design and operating criteria for stability
(35)
References
(38)
2. INTRODUCTION TO THE POWER SYSTEM STABILITY PROBLEM 17
(39)
2.1. Basic concepts and definitions
(39)
2.1.1. Rotor angle stability
(40)
2.1.1. Voltage stability and voltage collapse
(49)
2.1.3. Mid-term and long-term stability
(55)
2.2. Classification of stability
(56)
2.3. Historical review of stability problems
(59)
References
(62)
PART II EQUIPMENT CHARACTERISTICS AND MODELLING
(65)
3 SYNCHRONOUS MACHINE THEORY AND MODELLING 45
(67)
3.1. Physical description
(68)
3.1.1. Armature and field structure
(68)
3.1.2. Machines with multiple pole pairs
(71)
3.1.3. MMF waveforms
(71)
3.1.4. Direct and quadrature axes
(75)
3.2. Mathematical description of a synchronous machine
(76)
3.2.1. Review of magnetic circuit equations
(78)
3.2.2. Basic equations of a synchronous machine
(81)
3.3. The dq0 transformation
(89)
3.4. Per unit representation
(97)
3.4.1. Per unit system for the stator quantities
(97)
3.4.2. Per unit stator voltage equations
(98)
3.4.3. Per unit rotor voltage equations
(99)
3.4.4. Stator flux Linkage equations
(100)
3.4.5. Rotor flux linkage equations
(100)
3.4.6. Per unit system for the rotor
(101)
3.4.7. Per unit power and torque
(105)
3.4.8. Alternative per unIt systems and transformations
(105)
3.4.9. Summary of per unit equations
(106)
3.5. Equivalent circuits for direct and quadrature axes
(110)
3.6. Steady-state analysis
(115)
3.6.1 Voltage, current, and flux linkage relationships
(115)
3.6.2 Phasor representation
(117)
3.6.3 Rotor angle
(120)
3.6.4 Steady-state equivalent circuit
(121)
3.6.5 Procedure for computing steady-state values
(122)
3.7 Electrical transient performance characteristics
(127)
3.7.1 Short-circuit current ia a simple RL circuit
(127)
3.7.2 Three-phase short-circuit at the terminals of a synchronous machine
(129)
3.7.3 Elimination of dc offset in short-circuit current
(130)
3.8 Magnetic saturation
(132)
3.8.1 Open-circuit and short-circuit characteristics
(132)
3.8.2 Representation of saturation in stability studies
(134)
3.8.3 Improved modelling of saturation
(139)
3.9 Equations of motion
(150)
3.9.1 Review of mechanics of motion
(150)
3.9.2 Swing equation
(150)
3.9.3 Mechanical starting time
(154)
3.9.4 Calculation of inertia constant
(154)
3.9.5 Representation in system studies
(157)
References
(158)
4 SYNCHRONOUS MACHINE PARAMETERS 139
(161)
4.1 Operational parameters 139
(161)
4.2 Standard parameters 144
(166)
4.3 Frequency-response characteristics 159
(181)
4.4 Determination of synchronous machine parameters 161
(183)
References 166
(188)
5 SYNCHRONOUS MACHINE REPRESENTATION IN STABILITY STUDIES 169
(191)
5.1 Simplifications essential for large-scale studies 169
(191)
5.1.1 Neglect of stator pψ terms 170
(192)
5.1.2 Neglecting the effect of speed variations on stator voltages 174
(196)
5.2 Simplified model with amortisseurs neglected 179
(201)
5.3 Constant flux linkage model 184
(206)
5.3.1 Classical model 184
(206)
5.3.2 Constant flux linkage model including the effcts of subtransient circuits 188
(210)
5.3.3 Summary of simple models for different time frames 190
(212)
5.4 Reactive capability limits 191
(213)
5.4.1 Reactive capability curves 191
(213)
5.4.2 V curves and compounding curves 196
(218)
References 198
(220)
6 AC TRANSMISSION 199
(221)
6.1 Transmission lines 200
(222)
6.1.1 Electrical characteristics 200
(222)
6.1.2 Performance equations 201
(223)
6.1.3 Natural or surge impedance loading 205
(227)
6.1.4 Equivalent circuit of a transmission line 206
(228)
6.1.5 Typical parameters 209
(231)
6.1.6 Performance requirements of power transmission lines 211
(233)
6.1.7 Voltage and current profile under no-load 211
(233)
6.1.8 Voltage-power characteristics 216
(238)
6.1.9 Power transfer and stability considerations 221
(243)
6.1.10 Effect of line loss on V-P and Q-P characteristics 225
(247)
6.1.11 Thermal limits 226
(248)
6.1.12 Loadability characteristics 228
(250)
6.2 Transformers 231
(253)
6.2.1 Representation of two-winding transformers 232
(254)
6.2.2 Representation of three-winding transformers 240
(262)
6.2.3 Phase-shifting transformers 245
(267)
6.3 Transfer of power between active sources 250
(272)
6.4 Power-flow analysis 255
(277)
6.4.1 Network equations 257
(279)
6.4.2 Gauss-Seidel method 259
(281)
6.4.3 Newton-Raphson (N-R) method 260
(282)
6.4.4 Fast decoupled load-flow (FDLF) methods 264
(286)
6.4.5 Comparison of the power-flow solution methods 267
(289)
6.4.6 Sparsity-oriented trianguLar factorization 268
(290)
6.4.7 Network reduction 268
(290)
References 269
(291)
7 POWER SYSTEM LOADS 271
(293)
7.1 Basic load-modelling concepts 271
(293)
7.1.1 Static load models 272
(294)
7.1.2 Dynamic load models 274
(296)
7.2 Modelling of induction motors 279
(301)
7.2.1 Equations of an induction machine 279
(301)
7.2.2 Steady-state characteristics 287
(309)
7.2.3 Alternative rotor constructions 293
(315)
7.2.4 Representation of saturation 296
(318)
7.2.5 Per unit representation 297
(319)
7.2.6 Representation in stability studies 300
(322)
7.3 Synchronous motor model 306
(328)
7.4 Acquisition of load-model parameters 306
(328)
7.4.1 Measurement-based approach 306
(328)
7.4.2 Component-based approach 308
(330)
7.4.3 Sample load characteristics 310
(332)
References 312
(334)
8 EXCITATION SYSTEMS 315
(337)
8.1 Excitation system requirements 315
(337)
8.2 Elements of an excitation system 317
(339)
8.3 Types of excitation systems 318
(340)
8.3.1 DC excitation systems 319
(341)
8.3.2 AC excitation systems 320
(342)
8.3.3 Static excitation systems 323
(345)
8.3.4 Recent developments and future trends 326
(348)
8.4 Dynamic performance measures 327
(349)
8.4.1 Large-signal performance measures 327
(349)
8.4.2 Small-signal performance measures 330
(352)
8.5 Control and protective functions 333
(355)
8.5.1 AC and DC regulators 333
(355)
8.5.2 Excitation system stabilizing circuits 334
(356)
8.5.3 Power system stabilizer (PSS) 335
(357)
8.5.4 Load compensation 335
(357)
8.5.5 Underexcitation limiter 337
(359)
8.5.6 Overexcitation limiter 337
(359)
8.5.7 Volts-per-hertz limiter and protection 339
(361)
8.5.8 Field-shorting circuits 340
(362)
8.6 Modelling of excitation systems 341
(363)
8.6.1 Per unit system 342
(364)
8.6.2 Modelling of excitation system components 347
(369)
8.6.3 Modelling of complete excitation systems 362
(384)
8.6.4 Field testing for model development and verification 372
(394)
References 373
(395)
9 PRIME MOVERS AND ENERGY SUPPLY SYSTEMS 377
(399)
9.1 Hydraulic turbines and governing systems 377
(399)
9.1.1 Hydraulic turbine transfer function 379
(401)
9.1.2 Nonlinear turbine model assuming inelastic water column 387
(409)
9.1.3 Governors for hydraulic turbines 394
(416)
9.1.4 Detailed hydraulic system model 404
(426)
9.1.5 Guidelines for modelling hydraulic turbines 417
(439)
9.2 Steam turbines and governing systems 418
(440)
9.2.1 Modelling of steam turbines 422
(444)
9.2.2 Steam turbine controls 432
(454)
9.2.3 Steam turbine off-frequency capability 444
(466)
9.3 Thermal energy systems 449
(471)
9.3.1 Fossil-fuelled energy systems 449
(471)
9.3.2 Nuclear-based energy systems 455
(477)
9.3.3 Modelling of thermal energy systems 459
(481)
References 460
(482)
10 HIGH-VOLTAGE DIRECT-CURRENT TRANSMISSION 463
(485)
10.1 HVDC system configurations and components 464
(486)
10.1.1 Classification of HVDC links 464
(486)
10.1.2 Components of HVDC transmission system 467
(489)
10.2 Converter theory and performance equations 468
(490)
10.2.1 Valve characteristics 49
(491)
10.2.2 Converter circuits 470
(492)
10.2.3 Converter transformer rating 492
(514)
10.2.4 Multiple-bridge converters 493
(515)
10.3 Abnormal operation 498
(520)
10.3.1 Arc-back (backfire) 498
(520)
10.3.2 Commutation failure 499
(521)
10.4 Control of HVDC systems 500
(522)
10.4.1 Basic principles of control 500
(522)
10.4.2 Control implementation 514
(536)
10.4.3 Converter firing-control systems 516
(538)
10.4.4 Valve blocking and bypassing 520
(542)
10.4.5 Starting, stopping, and power-flow reversal 521
(543)
10.4.6 Controls for enhancement of ac system performance 523
(545)
10.5 Harmonics and filters 524
(546)
10.5.1 AC side harmonics 524
(546)
10.5.2 DC side harmonics 527
(549)
10.6 Influence of ac system strength on ac/dc system interaction 528
(550)
10.6.1 Short-circuit ratio 528
(550)
10.6.2 Reactive power and ac system strength 529
(551)
10.6.3 Problems with low ESCR systems 530
(552)
10.6.4 Solutions to problems associated with weak systems 531
(553)
10.6.5 Effective inertia constant 532
(554)
10.6.6 Forced commutation 532
(554)
10.7 Responses to dc and ac system faults 533
(555)
10.7.1 DC line faults 534
(556)
10.7.2 Converter faults 535
(557)
10.7.3 AC system faults 535
(557)
10.8 Multiterminal HVDC systems 538
(560)
10.8.1 MTDC network configurations 539
(561)
10.8.2 Control of MTDC systems 540
(562)
10.9 Modelling of HVDC systems 544
(566)
10.9.1 Representation for power-flow solution 544
(566)
10.9.2 Per unit system for dc quantities 564
(586)
10.9.3 Representation for stability studies 566
(588)
References 577
(599)
11 CONTROL OF ACTIVE POWER AND REACTIVE POWER 581
(603)
11.1 Active power and frequency control 581
(603)
11.1.1 Fundamentals of speed governing 582
(604)
11.1.2 Control of generating unit power output 592
(614)
11.1.3 Composite regulating characteristic of power systems 595
(617)
11.1.4 Response rates of turbine-governing systems 598
(620)
11.1.5 Fundamentals of automatic generation control 601
(623)
11.1.6 Implementation of AGC 617
(639)
11.1.7 Underfrequency load shedding 623
(645)
11.2 Reactive power and voltage control 627
(649)
11.2.1 Production and absorption of reactive power 627
(649)
11.2.2 Methods of voltage control 628
(650)
11.2.3 Shunt reactors 629
(651)
11.2.4 Shunt capacitors 631
(653)
11.2.5 Series capacitors 633
(655)
11.2.6 Synchronous condensers 638
(660)
11.2.7 Static var systems 639
(661)
11.2.8 Principles of transmission system compensation 654
(676)
11.2.9 Modelling of reactive compensating devices 672
(694)
11.2.10 Application of tap-changing transformers to transmission systems 678
(700)
11.2.11 Distribution system voltage regulation 679
(701)
11.2.12 Modelling of transformer ULTC control systems 684
(706)
11.3 Power-flow analysis procedures 687
(709)
11.3.1 Prefault power flows 687
(709)
11.3.2 Postfault power flows 688
(710)
References 691
(713)
PART III SYSTEM STABILITY: physical aspects, analysis, and improvement
(719)
12 SMALL-SIGNAL STABILITY 699
(721)
12.1 Fundamental concepts of stability of dynamic systems 700
(722)
12.1.1 State-space representation 700
(722)
12.1.2 Stability of a dynamic system 702
(724)
12.1.3 Linearization 703
(725)
12.1.4 Analysis of stability 706
(728)
12.2 Eigenproperties of the state matrix 707
(729)
12.2.1 Eigenvalues 707
(729)
12.2.2 Eigenvectors 707
(729)
12.2.3 Modal matrices 708
(730)
12.2.4 Free motion of a dynamic system 709
(731)
12.2.5 Mode shape, sensitivity, and participation factor 714
(736)
12.2.6 Controllability and observability 716
(738)
12.2.7 The concept of complex Frequency 717
(739)
12.2.8 Relationship between eigenproperties and transfer functions 719
(741)
12.2.9 Computation of eigenvalues 726
(748)
12.3 Small-signal stability of a single-machine infinite bus system 727
(749)
12.3.1 Generator represented by the classical model 728
(750)
12.3.2 Effects of synchronous machine field circuit dynamics 737
(759)
12.4 Effects of excitation system 758
(780)
12.5 Power system stabilizer 766
(788)
12.6 System state matrix with amortisseurs 782
(804)
12.7 Small-signal stability of multimachine systems 792
(814)
12.8 Special techniques for analysis of very large systems 799
(821)
12.9 Characteristics of small-signal stability problems 817
(839)
References 822
(844)
13 TRANSIENT STABILITY 827
(849)
13.1 An elementary view of transient stability 827
(849)
13.2 Numerical integration methods 836
(858)
13.2.1 Euler method 836
(858)
13.2.2 Modified Euler method 838
(860)
13.2.3 Runge-Kutta (R-K) methods 838
(860)
13.2.4 Numerical stability of explicit integration methods 841
(863)
13.2.5 Implicit integration methods 842
(864)
13.3 Simulation of power system dynamic response 848
(870)
13.3.1 Structure of the power system model 848
(870)
13.3.2 Synchronous machine representation 849
(871)
13.3.3 Excitation system representation 855
(877)
13.3.4 Transmission network and load representation 858
(880)
13.3.5 Overall system equations 859
(881)
13.3.6 Solution of overall system equations 861
(883)
13.4 Analysis of unbalanced faults 872
(894)
13.4.1 Introduction to symmetrical components 872
(894)
13.4.2 Sequence impedances of synchronous machines 877
(899)
13.4.3 Sequence impedances of transmission lines 884
(906)
13.4.4 Sequence impedances of transformers 884
(906)
13.4.5 Simulation of different types of faults 885
(907)
13.4.6 Representation of open-conductor conditions 898
(920)
13.5 Performance of protective relaying 903
(925)
13.5.1 Transmission line protection 903
(925)
13.5.2 Fault-clearing times 911
(933)
13.5.3 Relaying quantities during swings 914
(936)
13.5.4 Evaluation of distance relay performance during swings 919
(941)
13.5.5 Prevention of tripping during transient conditions 920
(942)
13.5.6 Automatic line reclosing 922
(944)
13.5.7 Generator out-of-step protection 923
(945)
13.5.8 Loss-of-excitation protection 927
(949)
13.6 Case study of transient stability of a large system 934
(956)
13.7 Direct method of transient stability analysis 941
(963)
13.7.1 Description of the transient energy function approach 941
(963)
13.7.2 Analysis of practical power systems 945
(967)
13.7.3 Limitations of the direct methods 954
(976)
References 954
(976)
14 VOLTAGE STABILITY 959
(981)
14.1 Basic concepts related to voltage stability 960
(982)
14.1.1 Transmission system characteristics 960
(982)
14.1.2 Generator characteristics 967
(989)
14.1.3 Load characteristics 968
(990)
14.1.4 Characteristics of reactive compensating devices 969
(991)
14.2 Voltage collapse 973
(995)
14.2.1 Typical scenario of voltage collapse 974
(996)
14.2.2 General characterization based on actual incidents 975
(997)
14.2.3 Classification of voltage stability 976
(998)
14.3 Voltage stability analysis 977
(999)
14.3.1 Modelling requirements 978
(1000)
14.3.2 Dynamic analysis 978
(1000)
14.3.3 Static analysis 990
(1012)
14.3.4 Determination of shortest distance to instability 1007
(1029)
14.3.5 The continuation power-flow analysis 1012
(1034)
14.4 Prevention of voltage collapse 1019
(1041)
14.4.1 System design measures 1019
(1041)
14.4.2 System-operating measures 1021
(1043)
References 1022
(1044)
15 SUBSYNCHRONOUS OSCILLATIONS 1025
(1047)
15.1 Turbine-generator torsional characteristics 1026
(1048)
15.1.1 Shaft system model 1026
(1048)
15.1.2 Torsional natural frequencies and mode shapes 1034
(1056)
15.2 Torsional interaction with power system controls 1041
(1063)
15.2.1 Interaction with generator excitation controls 1041
(1063)
15.2.2 Interaction with speed governors 1047
(1069)
15.2.3 Interaction with nearby dc converters 1047
(1069)
15.3 Subsynchronous resonance 1050
(1072)
15.3.1 Characteristics of series capacitor-compensated transmission systems 1050
(1072)
15.3.2 Self-excitation due to induction generator effect 1052
(1074)
15.3.3 Torsional interaction resulting in SSR 1053
(1075)
15.3.4 Analytical methods 1053
(1075)
15.3.5 Countermeasures to SSR problems 1060
(1082)
15.4 Impact of network-switching disturbances 1061
(1083)
15.5 Torsional interaction between closely coupled units 1065
(1087)
15.6 Hydro generator torsional characteristics 1067
(1089)
References 1068
(1090)
16 MID-TERM AND LONG-TERM STABILITY 1073
(1095)
16.1 Nature of system response to severe upsets 1073
(1095)
16.2 Distinction between mid-term and long-term stability 1078
(1100)
16.3 Power plant response during severe upsets 1079
(1101)
16.3.1 Thermal power plants 1079
(1101)
16.3.2 Hydro power plants 1081
(1103)
16.4 Simulation of long-term dynamic response 1085
(1107)
16.4.1 Purpose of long-term dynamic simulations 1085
(1107)
16.4.2 Modelling requirements 1085
(1107)
16.4.3 Numerical integration techniques 1087
(1109)
16.5 Case studies of severe system upsets 1088
(1110)
16.5.1 Case study involving an overgenerated island 1088
(1110)
16.5.2 Case study involving an undergenerated island 1092
(1114)
References 1099
(1121)
17 METHODS OF IMPROVING STABILITY 1103
(1125)
17.1 Transient stability enhancement 1104
(1126)
17.1.1 High-speed fault clearing 1104
(1126)
17.1.2 Reduction of transmission system reactance 1104
(1126)
17.1.3 Regulated shunt compensation 1105
(1127)
17.1.4 Dynamic braking 1106
(1128)
17.1.5 Reactor switching 1106
(1128)
17.1.6 Independent-pole operation of circuit breakers 1107
(1129)
17.1.7 Single-pole switching 1107
(1129)
17.1.8 Steam turbine fast-valving 1110
(1132)
17.1.9 Generator tripping 1118
(1140)
17.1.10 Controlled system separation and load shedding 1120
(1142)
17.1.11 High-speed excitation systems 1121
(1143)
17.1.12 Discontinuous excitation control 1124
(1146)
17.1.13 Control of HVDC transmission links 1125
(1147)
17.2 Small-signal stability enhancement 1127
(1149)
17.2.1 Power system stabilizers 1128
(1150)
17.2.2 Supplementary control of static var compensators 1142
(1164)
17.2.3 Supplementary control of HVDC transmission links 1151
(1173)
References 1161
(1183)
Index
(1189)
