Power System Dynamics: Stability and Control

An authoritative guide to the most up-to-date information on power system dynamics The revised third edition of Power System Dynamics and Stability contains a comprehensive, state-of-the-art review of information on the topic. The third edition continues the successful approach of the first and second editions by progressing from simplicity to complexity. It places the emphasis first on understanding the underlying physical principles before proceeding to more complex models and algorithms. The book is illustrated by a large number of diagrams and examples. The third edition of Power System Dynamics and Stability explores the influence of wind farms and virtual power plants, power plants inertia and control strategy on power system stability. The authors—noted experts on the topic—cover a range of new and expanded topics including:  Wide-area monitoring and control systems. Improvement of power system stability by optimization of control systems parameters. Impact of renewable energy sources on power system dynamics. The role of power system stability in planning of power system operation and transmission network expansion. Real regulators of synchronous generators and field tests. Selectivity of power system protections at power swings in power system. Criteria for switching operations in transmission networks. Influence of automatic control of a tap changing step-up transformer on the power capability area of the generating unit. Mathematical models of power system components such as HVDC links, wind and photovoltaic power plants.  Data of sample (benchmark) test systems. Power System Dynamics: Stability and Control, Third Edition is an essential resource for students of electrical engineering and for practicing engineers and researchers who need the most current information available on the topic.

Table of Contents:
About the Authors xix List of Symbols & Abbreviations xxi Part I Introduction to Power Systems 1 1 Introduction 3 1.1 Stability and Control of a Dynamic System 3 1.2 Classification of Power System Dynamics 5 1.3 Two Pairs of Important Quantities 7 1.4 Stability of a Power System 8 1.5 Security of a Power System 9 2 Power System Components 13 2.1 Introduction 13 2.2 Structure of the Electric Power System 14 2.3 Generating Units 17 2.4 Substations 33 2.5 Transmission and Distribution Network 34 2.6 Protection 49 2.7 Wide Area Measurement Systems 53 3 The Power System in the Steady State 57 3.1 Transmission Lines 57 3.2 Transformers 64 3.3 Synchronous Generators 68 3.4 Power System Loads 101 3.5 Network Equations 110 3.6 Power Flows in Transmission Networks 114 Part II Introduction to Power System Dynamics 123 4 Electromagnetic Phenomena 125 4.1 Fundamentals 125 4.2 Three-phase Short Circuit on a Synchronous Generator 130 4.3 Phase-to-phase Short Circuit 153 4.4 Switching Operations 164 4.5 Subsynchronous Resonance 191 5 Electromechanical Dynamics – Small Disturbances 195 5.1 Swing Equation 195 5.2 Damping Power 195 5.3 Equilibrium Points 199 5.4 Steady-state Stability of Unregulated System 200 5.5 Steady-state Stability of the Regulated System 219 6 Electromechanical Dynamics – Large Disturbances 229 6.1 Transient Stability 229 6.2 Swings in Multi-machine Systems 243 6.3 Direct Method for Stability Assessment 246 6.4 Synchronization 262 6.5 Asynchronous Operation and Resynchronization 264 6.6 Out-of-step Protection System 269 7 Wind Power 283 7.1 Wind Turbines 283 7.2 Generator Systems 287 7.3 Induction Machine Equivalent Circuit 291 7.4 Induction Generator Coupled to the Grid 294 7.5 Induction Generators with Slightly Increased Speed Range via External Rotor Resistance 297 7.6 Induction Generators with Significantly Increased Speed Range 299 7.7 Fully Rated Converter Systems (Wide Speed Control) 307 7.8 Peak Power Tracking of Variable Speed Wind Turbines 309 7.9 Connections of Wind Farms 309 7.10 Fault Behavior of Induction Generators 310 7.11 Influence of Wind Generators on Power System Stability 312 8 Voltage Stability 315 8.1 Network Feasibility 315 8.2 Stability Criteria 320 8.3 Critical Load Demand and Voltage Collapse 325 8.4 Static Analyses 332 8.5 Dynamic Analysis 342 8.6 Prevention of Voltage Collapse 348 8.7 Self-excitation of a Generator Operating on a Capacitive Load 349 9 Frequency Stability and Control 355 9.1 Automatic Generation Control 355 9.2 Stage I – Rotor Swings in the Generators 368 9.3 Stage II – Frequency Drop 371 9.4 Stage III – Primary Control 373 9.5 Stage IV – Secondary Control 378 9.6 Simplified Simulation Models 387 9.7 Series FACTS Devices in Tie-lines 392 9.8 Static Analysis by Snapshots of Power Flow 404 10 Stability Enhancement 407 10.1 Excitation Control System 408 10.2 Turbine Control System 415 10.3 Braking Resistors 419 10.4 Generator Tripping 421 10.5 Shunt FACTS Devices 423 10.6 Series Compensators 442 10.7 Unified Power Flow Controller 449 10.8 HVDC Links in Transmission Network 455 Part III Advanced Topics in Power System Dynamics 467 11 Advanced Power System Modeling 469 11.1 Synchronous Generator 469 11.2 Excitation Systems 496 11.3 Turbines and Turbine Governors 505 11.4 Wind Turbine Generator Systems and Wind Farms 522 11.5 Photovoltaic Power Plants 544 11.6 HVDC Links 548 11.7 Facts Devices 557 11.8 Dynamic Load Models 559 12 Steady-state Stability of Multi-machine Systems 561 12.1 Mathematical Background 561 12.2 Steady-state Stability of Unregulated System 580 12.3 Steady-state Stability of the Regulated System 589 13 Power System Dynamic Simulation 601 13.1 Numerical Integration Methods 602 13.2 The Partitioned Solution 606 13.3 The Simultaneous Solution Methods 618 13.4 Comparison Between the Methods 619 13.5 Modeling of Unbalanced Faults 620 13.6 Evaluation of Power System Dynamic Response 622 14 Stability Studies in Power System Planning 625 14.1 Purposes and Kinds of Analyses 625 14.2 Planning Criteria 629 14.3 Automation of Analyses and Reporting 641 15 Optimization of Control System Parameters 643 15.1 Grid Code Requirements 643 15.2 Optimization Methods 644 15.3 Linear Regulators 647 15.4 Optimal Regulators LQG, LQR, and LQI 681 15.5 Robust Regulators H2, h∞ 685 15.6 Nonlinear Regulators 693 15.7 Adaptive Regulators 694 15.8 Real Regulators and Field Tests 700 16 Wide-Area Monitoring and Control 709 16.1 Wide Area Measurement Systems 709 16.2 Examples of WAMS Applications 718 17 Impact of Renewable Energy Sources on Power System Dynamics 735 17.1 Renewable Energy Sources 735 17.2 Inertia in the Electric Power System 742 17.3 Virtual Inertia 758 18 Power System Model Reduction – Equivalents 775 18.1 Types of Equivalents 775 18.2 Network Transformation 776 18.3 Aggregation of Generating Units 784 18.4 Equivalent Model of External Subsystem 785 18.5 Coherency Recognition 786 18.6 Properties of Coherency Based Equivalents 790 Appendix 809 A.1 Per-unit System 809 A.1.1 Stator Base Quantities 809 A.1.2 Power Invariance 811 A.1.3 Rotor Base Quantities 811 A.1.4 Power System Base Quantities 814 A.1.5 Transformers 815 A.2 Partial Inversion 816 A.3 Linear Ordinary Differential Equations 817 A.3.1 Fundamental System of Solutions 817 A.3.2 Real and Distinct Roots 819 A.3.3 Repeated Real Roots 820 A.3.4 Complex and Distinct Roots 821 A.3.5 Repeated Complex Roots 825 A.3.6 First-order Complex Differential Eq. 825 A.4 Prony Analysis 826 A.5 Limiters and Symbols in Block Diagrams 832 A.5.1 Addition, Multiplication, and Division 832 A.5.2 Simple Integrator 833 A.5.3 Simple Time Constant 833 A.5.4 Lead–lag Block 834 References 835 Index 847

About the Author :
Jan Machowski is Full Professor at the Warsaw University of Technology, Faculty of Electrical Engineering, Poland. Zbigniew Lubosny is Full Professor at Gdansk University of Technology, Faculty of Electrical and Control Engineering, Poland. Janusz W. Bialek, formerly Professor at Durham University and Edinburgh University, UK. James R. Bumby, formerly Reader at Durham University, UK.