CIGRE Symposium "Working Plants and Systems Harder", London, 7-9 June 1999, paper 200-06
POWER SYSTEM TRANSIENT STABILITY ENHANCEMENT BY CO-ORDINATED FAST VALVING AND
EXCITATION CONTROL OF SYNCHRONOUS GENERATORS
J. Machowski, A. Smolarczyk
Warsaw University of Technology
Instytyt Elektroenergetyki
ul. Koszykowa 75
00-662 Warszawa, Poland
Summary: Severe faults like short-circuits occurring
near power stations may result in system instability. In
order to prevent asynchronous operation of the system
an automatic generator tripping is often used but this
method of transient stability enhancement disturbs the
power balance in the system and starts a long-term
dynamic regulatiuon process. This paper proposes a
new control algorithm which may be used instead of the
automatic generator tripping. The algorithm identifies
the transition to the asynchronous operation and acts on
the turbine governing and the excitation systems in
order to stabilise the generator. Simulation results show
that stabilisation can be achieved after one-two
asynchronous rotations.
Keywords: Transient stability - Stabilising control
1. INTRODUCTION
Power system is a non-linear object and its stability
depends on the type, location and duration of a
disturbance [1,2]. For a given fault, the longest fault
duration time which does not result in instability is
referred to the critical clearing time. When the actual
clearing time, which depends on the speed of operation
of circuit-breakers and protection systems, is longer
than the critical clearing time the generator loses
synchronism with rest of the system and begins the
asynchronous (out-of-step) operation.
The asynchronous operation of the generator is not
permissible due to the thermal effect of large currents,
large power and voltage swings in the network and the
adverse effect on stability of other generators. To
prevent this, the generators which lost synchronism are
disconnected after a few asynchronous rotations by the
pole-slip protection [3,4].
J. W. Bialek
University of Durham
School of Engineering
Science Site, South Road
Durham, DH1 3LE, England
For some power stations the stability margin is small
and any severe, but credible, fault will be very likely to
cause the loss of synchronism of all the generators in the
station. In such situations the automatic generator
tripping is used which trips off some of the generators
in the station in order to prevent the synchronism of the
remaining ones. Automatic generator tripping is usually
executed either as a simple circuit based on a pre-
determined logic or as a sophisticated computerised
system [5].
It is difficult to predict how many generators should be
tripped in order to save the synchronism of the
remaining generators in the station. Therefore the
simple circuits with pre-determined logic have to be
conservative, i.e. they usually trip more generators than
it is necessary. This is obviously a serious disadvantage.
Computerised systems are less conservative but involve
more equipment and higher cost.
Whichever the technical solution adopted, the main
disadvantage of automatic generator tripping is the fact
that a generator has to be tripped. When the main
circuit breaker opens following a tripping command,
the generating unit must reject the load and switch to
covering only its own auxiliary demand for power.
After clearing the fault, the generator is re-
synchronised with the system which usually takes at
least several minutes (often much longer). During this
time there is a deficit of generation in the system which
starts a long-term process of frequency and load
control. If the control system of the turbine and the
boiler is not prepared for load rejection without turbine
tripping, the turbine must be tripped as well leading to
cooling of the boiler. With a cold boiler, re-
synchronisation of the unit takes much longer.
This paper suggests that maintaining the synchronism
following severe faults can be done without
disconnecting the generator from the network. Instead
of automatic generator tripping, a co-ordinated control
of turbine valves and excitation voltage can be used.
2. ASYNCHRONOUS OPERATION
Detailed description of what happens when a generator
loses synchronism and starts to operate asynchronously
can be found in [1]. In short, when a generator loses
synchronism the rotor speed is higher than the
synchronous speed. This causes the turbine governing
system to close the turbine valves in order to reduce the
mechanical power. Reduced mechanical power
improves the conditions for stabilising the unit. The
possibility of stabilisation is increased if the amplitude
of synchronising power is large, i.e. the excitation level
is high. With appropriately low mechanical power and
large amplitude of synchronising power the generator
may be stabilised.
Unfortunately the time necessary to stabilise the unit,
using standard unit controllers, is long in the range of
several seconds. During that time the rotor would make
many asynchronous revolutions which, as explained
earlier, would be unacceptable for both the generating
unit and the system.
Next section presents a new control algorithm which
stabilises the generating unit after one-two
asynchronous revolutions even for most severe faults.
3. PRINCIPLES OF PROPOSED CONTROL
In order to stabilise the generator-turbine unit quickly
and effectively, it is necessary to act on all its
regulators, i.e. on the turbine valves and on the
excitation system. The proposed control has been
derived after analysing the phenomena accompanying
the loss of synchronism and out-of-step operation. This
is illustrated in Figure 1.
3.1. The loss of synchronism
The loss of synchronism is illustrated on the left hand
side of Figure 1. Curve Pe (δ ) corresponds to the
power-angle characteristic of the generator while the
horizontal line Pm corresponds to the mechanical
(turbine) power. Initially it will be assumed that Pm and
the amplitude of Pe (δ ) characteristic are constant. The
system operates at point 1 corresponding to the
intersection of both characteristics. A short-circuit
lowers the electrical power to point 2. The acceleration
power proportional to segment 1-2 accelerates the rotor
so that it follows the lower fault characteristic reaching
point 3 when the fault is cleared. At this moment the
rotor has excess kinetic energy proportional to the area
1-2-3-4. This acceleration area is greater than the
maximum deceleration area 4-5-6 which means that the
rotor will pass point 6 starting the asynchronous
operation.
P
11``
Pe (δ ) 11`
5 14
1 4 6 12
10
Pm
3
2 δ
7 9 15 13
π 2π
8``
8`
Figure 1. Loss of synchronism and stabilisation.
When the rotor passes point 6 its mechanical power is
greater than the electrical power and the rotor is further
accelerated. As the excess of mechanical power over the
electrical power is large on the way to the equilibrium
point 10, the rotor gains large kinetic energy
proportional to the area 6-7-8’-9-10. After passing point
10, the electrical power is greater than the electrical
power and the rotor is decelerated. The sum of
deceleration areas 4-5-6 and 10-11’-12 is less than the
sum of acceleration areas 1-2-3 and 6-7-8’-9-10 which
means that it is not possible for the rotor to return to the
synchronous speed. The rotor passes point 12 further
accelerating and the asynchronous operation continues.
The above description shows that with the constant
mechanical power and constant amplitude of power-
angle characteristic (i.e. constant excitation) it is not
possible to stabilise the generator. The stabilisation can
only be made possible by intensive action of regulators.
3.2. Fast reduction of mechanical power
Figure 1 shows that the excess of the acceleration areas
over the deceleration areas is caused by keeping high
value of mechanical power. Reduction in mechanical
power Pm will reduce the acceleration areas and enlarge
the deceleration areas.
The middle part of Figure 1 corresponds to an
assumption that, when the out-of-step operation has
been detected (i.e. the rotor passed the equilibrium point
6), the mechanical power Pm is quickly reduced to zero.
This causes a reduction of the acceleration area and
enlargement of the deceleration area. However the sum
of acceleration areas 1-2-3-4 and 6-8’-9 is still greater
than the sum of the deceleration areas 4-5-6 and 9-11’-
13 so that the stabilisation is not possible after the first
asynchronous rotation.
During the subsequent asynchronous rotations the
acceleration areas are equal to the deceleration areas as
Pm = 0. However the rotor has earlier acquired kinetic
energy so that the stabilisation is still not possible. It can
be only made possible by an appropriate change of the
amplitude of the power-angle characteristic.
3.3. Bang-bang excitation control
The amplitude of the power-angle characteristic
depends on the equivalent reactance of the system and
the generator transient emf. Thus the stabilisation can be
achieved by changing the transient emf which, in turn,
can be changed by changing the field current. Obviously
the field current cannot be changed instantaneously as
the excitation circuit has a large time constant. However
a fast bang-bang control of the excitation voltage, i.e.
fast alternation between the maximum (positive) and
minimum (negative) values of the excitation voltage,
can enforce fast changes in the field current.
Middle part of Figure 1 illustrates the situation when the
generator enters the motoring region of operation, point
7, and the excitation voltage is switched to the negative
limiting value thus quickly reducing the transient emf.
This causes a reduction in the acceleration area 6-7-8’’-
9 when compared to the area 6-7-8’-9 when the
excitation voltage was not changed. When the generator
now enters the generating region (point 9) the
excitation voltage is changed to its positive ceiling value
so that the transient emf, and the amplitude of power-
angle characteristic, is quickly increased. This causes an
increase in the deceleration area 9-11``-13 when
compared with area 9-11`-13, i.e. when the excitation
voltage was not changed.
In the situation shown in Figure 1, the sum of
deceleration areas 4-5-6 and 9-11``-13 is greater than
the sum of the acceleration areas 1-2-3-4 and 6-7-8’’-9.
The rotor swings until it reaches point 14 (when the sum
of acceleration areas balances the sum of the
deceleration areas) and swings back towards the
equilibrium point 9. This means that the generator is
prevented from doing the second asynchronous rotation
and may be stabilised.
3.4. Backward motion
The turbine and excitation control described in the
previous section was correct in preventing the rotor
from making the second asynchronous rotation.
However once this is achieved and the rotor swings
back from point 14, the control strategy has to be
different as illustrated in Figure 2.
When mechanical power is equal to zero, the
instantaneous equilibrium point is point 9. During the
backswing from point 14 the generator does the
deceleration work proportional to the area 15-14-11’’-9.
Due to the rotor inertia, the rotor passes the equilibrium
point 9 and reaches point 16 at which the acceleration
area 9-8’’-16-17 balances the area 15-14-11’’-9. The
amplitude of rotor backswing is high because area 15-
14-11’’-9 is large due to high amplitude of the power-
angle characteristic with the mechanical power equal to
zero. This shows that, during the backswing, it is not
advantageous to keep the high ceiling value of
excitation voltage and the mechanical power equal to
zero.
P 11``
14
Pm 0
23
21
17 Pm = 0 δ
7 9 15 13
16
8``
22
8```
Figure 2 Influence of the proposed control on the
amplitude of rotor backswing.
Figure 2 shows that reducing the transient emf (solid
curve 14-21) and, at the same time, increasing the
mechanical power during backswing (curve 15-21)
reduces the deceleration area to area 15-14-21. Further
increasing the mechanical power (curve 21-23) and
increasing the transient emf (curve 9-8'''-7) reduces the
amplitude of the backswing (point 22).
Thus the conclusion for the stabilising control during
the backswing is that the mechanical power should be
increased while the excitation voltage reduced in the
generating area of operation.
3.5. Modification of PSS for deep swings
In the proposed algorithm the described above bang-
bang excitation control is executed only during
asynchronous (out-of-step) operation and terminates
when, during the backswing, the generator moves from
the generating to the motoring part of power-angle
characteristic (point 9 in Figure 2). From this moment
on the standard Automatic Voltage Regulator (AVR)
equipped with the Power System Stabiliser (PSS) takes
over the excitation control.
The generator is re-stabilised with the system when its
mechanical power is small. For such a case the
backswing of the rotor is deep reaching the motoring
region of operation (negative real power). In this region
the typical PSS, which uses the speed deviation as its
feedback signal, does not operate correctly. This is
illustrated in Figure 3.
When the speed deviation is positive (i.e. rotor angle
increases) the PSS causes an increase in the transient
emf so that the amplitude of the power-angle
characteristic increases. Figure 3 shows that the rotor
motion is then along the upper power-angle
 Vref
+
1 -
KA
1+ sTR
+
ω sTW 1 + sT3 1 + sT1
Π (i) When the real power changes sign, the sign of the
1+ sTW 1 + sT4 1 + sT2
Bessel filter
P KP a
s2 + bs + a
Figure 4. Block diagram of the modified AVR+PSS
characteristic 9-24-25. However, during the backswing,
when the speed deviation is negative, the PSS reduces
the transient emf and the amplitude of the power-angle
characteristic. The trajectory of the rotor motion is then
along the lower power-angle characteristic 25-26-9. The
area between the upper and lower characteristic
corresponds to the positive damping of the oscillations.
P 24
26
25
9 δ
π
π
2 4. TECHNICAL FEASIBILITY
27
29
28
Figure 3. Influence of the PSS.
During a deep backswing, the rotor exceeds point 9 and
the PSS continues to lower the amplitude of the power-
angle characteristic. The rotor motion is then along
curve 9-27-28-29-9. It can be easily shown, using the
equal area criterion [1], that this direction of the
trajectory results in negative damping. In order to
achieve positive damping the PSS should enforce the
system trajectory to be directed 9-29-28-27-9. This can
be easily achieved by changing the sign of PSS signal in
the motoring region of power-angle characteristic . Such
a change can be done automatically by multiplying the
PSS signal by the sign of the generator real power, or
even better by the value of the generator real power in
p.u.
A corresponding block diagram has been shown in Fig.
4. The upper part of the diagram corresponds to a well-
known [2] system consisting of a static exciter with
proportional AVR and PSS using speed ω as the
feedback signal. The lower part of the diagram shown
by the dashed line corresponds to the proposed
modification. The real power signal is passed through a
low-pass filter eliminating high frequency changes. The
smoothed value of this signal is then multiplied by the
output signal from the PSS. Gain KP is added in order to
Ef
compensate the amplitude reduction introduced by the
filter. The proposed multiplication of signal of PSS has
two positive effects:
output signal is automatically reversed which is
necessary in the motoring region of operation.
(ii) The multiplication results in the output signal of the
PSS (i.e. its gain) being dependent on the rotor
angle. When the rotor angle is small and the
stabilising control is ineffective, the modified PSS
gives a small signal so that the AVR has a priority.
This helps the voltage control in the transient state.
When the rotor angle is large and the stabilising
control is effective, the modified PSS gives a strong
signal.
Therefore the modified PSS acts like an adaptive
control system in which the gain and the sign of the
control signal depend on the properties of the controlled
object.
Computer simulations, described in Section 6, have
shown that the damping due to the proposed
modification is better when a large disturbance causes
asynchronous or deep synchronous power swings. Also
the voltage recovery is much improved.
Fast control of the mechanical power produced by a
steam turbine can be obtained by acting directly on the
turbine valves omitting the speed turbine control. Fast
changes in mechanical power can be obtained by acting
on both main governor and intercept control valves.
Acting only on the main control valves does not bring a
quick change in the mechanical power as the high-
pressure stage produces only about 30% of power. The
reheater stores a large volume of steam and, even with
the main governor valve closed, the turbine still supplies
about 70% of power through its intermediate and low-
pressure stages.
The total time of closing the valves is relatively short
for modern turbines with electrohydraulic governing
systems (about 0.1 to 0.4 s). This allows a fast reduction
of mechanical power when the generator loses
synchronism. A fast increase in the mechanical power
during the backswing is not possible because of the
limits on the speed of opening the valves. This speed is
limited due to the strength of turbine blades and the
speed of operation of servomotors. The strength of
turbine blades limits the speed of opening the valves to
about 1 to 2 s. In some types of turbines after a fast
closing of the valves their re-opening requires re-
pumping the oil which may take a few seconds. Thus the
time of re-opening the valves, after their closing down,
may take between 2 and 10 s, depending on the type of
the servomotor.
Technical feasibility of implementation of such fast
valving has been consulted with the engineers working
in a modern Polish power plant Elektrownia "Opole"
[6]. Such control is obviously only possible if the
control system of the turbine and the boiler is prepared
for load rejection without turbine tripping.
Bang-bang excitation control consists of alternating the
excitation voltage between its upper and lower limits.
The effectiveness of such two-state control depends on
the type of exciter used. When a static thyristor-
controlled exciter is used, the reverse of the sign of the
excitation voltage can be achieved relatively easily.
Such a sign reverse ensures a fast change of the field
current and a corresponding fast change in the transient
emf, the magnitude of which determines the amplitude
of power-angle characteristic.
5. CONTROL ALGORITHM
The first signal about the initiation of the turbine closing
should come when it is certain that the generator is
entering out-of-step operation. Figure 1 shows that a
reliable criterion for this is a conjunction of the
following three events: (i) the speed deviation is
positive, ∆ω > 0 ; (ii) electrical power Pe is slightly
larger but close to mechanical power,
(1+ ε ) Pm > Pe (t ) > Pm , where ε > 0 is small; and (iii)
electrical power is decreasing, dPe / dt < 0 .
When the turbine valves are being closed, the bang-
bang excitation control is initiated. Obviously the pre-
requisite for the initiation of the bang-bang excitation
control is that the signal has been already given for
closing down the turbine valves, i.e. that the generator is
losing synchronism. This criterion eliminates the
possibility of bang-bang excitation control during
synchronous power swings.
The sign of the excitation voltage during bang-bang
control depends on the direction of rotor swing (forward
or backswing) and on whether the generator is (or tends
towards) the generating or motoring region of operation.
During the forward swing when the generator tends
towards the motoring region (criterion: ∆ω > 0 and
Pe (t ) > ε Pm and dPe / dt < 0 ) the algorithm chooses
the negative limiting value of the excitation voltage.
When the generator tends to the generating region
(criterion: ∆ω > 0 and Pe (t ) > −ε Pm and dPe / dt > 0 )
the excitation voltage is switched to its positive ceiling
value.
In order to prevent the rising of the generator voltage to
an unacceptably high value, the algorithm removes the
ceiling value of the excitation voltage when the terminal
voltage exceeds a prescribed value (e.g. 1.15 p.u.)
When the speed deviation changes its sign and the
generator is within its generating range (criterion:
∆ω < 0 and Pe (t ) > ε Pm ) the bang-bang control is
interrupted and the excitation voltage is controlled by
AVR+PSS with described modification.
During the backswing, the control algorithm gives
signal to opening up the turbine valves with taking into
account the limits on the speed of opening.
6. SIMULATION RESULTS
For the simulation tests the generator has been modelled
by the Park's 8th-order differential equations with the
static thyristor controlled excitation system. The turbine
has been modelled taking into account high-,
intermediate- and low-pressure stages and the reheater.
Both main and intercept turbine valves have been
modelled.
A number of simulation tests assuming a variety of
possible operating conditions and disturbances have
been executed in order to check the effectiveness of the
proposed control algorithm. Typical simulation results
are shown in Figure 5. In this case the generator was
loaded by an inductive real load and the fault consisted
of a three-phase short-circuit at the end of the
transmission line.
Figure 5a shows that the fault caused a sudden drop of
the generator power with characteristic 50 Hz
oscillations. The speed deviation (Figure 5b) and the
rotor angle (Figure 5c) increase rapidly. After the fault
is cleared the generator loses synchronism and makes
one asynchronous rotation (vertical line in Figure 5c).
Approximately half-way through the asynchronous
rotation, a signal is given to close the turbine valves
(Figure 5d) and the mechanical power is reduced.
Stabilisation occurs after only one asynchronous
rotation. The turbine main and intercept control valves
are completely closed for about 1s and then slowly
opened. This causes the mechanical power to be
reduced first to almost zero and then to be slowly
restored. During opening of the turbine valves the
electrical power follows, with small oscillations, the
mechanical power. The generator voltage was kept
within the limits (Vg<1.15Vn) due to a proper operation
of the bang-bang excitation control.
8. CONCLUSIONS
In this paper a co-ordinated excitation and turbine
control has been described which prevents generator
tripping following severe faults. The algorithm is simple
and easy for practical implementation. Simulation tests
have confirmed the effectiveness of the proposed
algorithm. The proposed controller can be used when a
power station is in danger of losing transient stability
and can replace the automatic generator tripping. The
algorithm acts only when the fault would indeed cause
the loss of synchronism and it does not lead to a
conservative action. In all simulated cases the generator
returned to the synchronous operation after one, or a
maximum of two, asynchronous rotations.
 Pe 3. A.Stalewski, J.L.H.Goody, J.A.Downes: “Pole
2.0 slipping protection”, IEE Conf. Publ. 185, 1980, pp.
1.5 38-44.
1.0 4. J.A.Imhof, J.Berdy, W.A.Elmore, L.E.Goff,
W.C.New, G.C.Parr, A.H.Summers, C.L. Wagner:
0.5
t “Out of step relaying for generators - working grup
0 report”, IEEE Trans. on PAS, Vol. PAS.-96, No. 5,
1 2 3 4 5 6 7 8 s
-0.5 September/October 1977.
-1.0
5. K.Matsuzawa, K.Yanagihasi, J.Tsukita, M.Sato,
T.Nakamura, A.Takeuchi: "Stabilizing control
system preventing loss of synchronism from
0.04
extension and its actual operating experience". IEEE
Transaction on Power Systems, Vol. 10, No.3,
August 1995.
0.02
6. A. Smolarczyk, J. Machowski, H. Majchrzak:
t "Automatyka przeciwkolysaniowo-odciazajaca",
0
1 2 3 4 5 6 7 8 s Seminarium '98 - Elektroenergetyczna automatyka
w elektrowniach cieplnych, Opole 17-19 June 1998.
-0.02
11. RESUME
Les coûts et les problèmes liés à la construction de
200 lignes de transmission pousse les spécialistes en la
matière à surcharger des lignes existantes, provoquant
100 ainsi les réseaux de transmission de l'énergie électrique
t à travailler dans des conditions limites de stabilité. Un
0 court-circuit qui apparaissant non loin d'une station
1 2 3 4 5 6 7 8 s énergétique peut perturber le régime synchrone de tout
-100 le système. Un des moyens d'éviter le régime
asynchrone des alternateurs est leur coupure
-200 automatique. Comme la coupure d'un alternateur
possède un inconvéniant grave, une nouvelle stratégie
d'évitation de futiles coupures d'alternateurs est
1.0 proposée dans cet article. Ce système de contrôle
0.8 identifie d'avance la possibilité de passage de
l'alternateur au régime asynchrone et réagit sur les
0.6
signaux émis par les systèmes de réglage de l'alternateur
0.4 et de la turbine. Ceci a pour but de stabiliser
0.2 l'alternateur après un ou deux rotations asynchrones. Ce
t système de contrôle nécessite uniquement des mesures
0 de signaux locaux. Les résultats des tests de simulation
1 2 3 4 5 6 7 8 s
et le principe de fonctionnement de ce nouveau système
Figure 5. Results of a typical simulation test: (a) de réglage est décrit dans cet article.
generator electrical power; (b) speed deviation; (c) rotor
angle; (d) valve position (α) and mechanical power
(Pm).
9. ACKNOWLEDGEMENT
The Polish authors would like to acknowledge the
financial help of Komitet Badan Naukowych (KBN).
10. REFERENCES
1. J.Machowski, J.W.Bialek, J.R.Bumby: Power
System Dynamics and Stability, John Wiley & Sons,
Chichester, New York 1997.
2. P.Kundur: Power System Stability and Control
McGraw-Hill, Inc. 1994.