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Critical Trajectory Method for Multi-Machine System

Conference Paper · September 2008

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安定度解析 1

Critical Trajectory Method for Multi-machine System

A. Priyadi, N. Yorino, Y. Zoka, M. Kakeru, H. Yasuda and H. Kakui

(2) A minimization problem is formulated for transient

Abstract—This paper proposes a method for transient stability stability problem. (3) The formulation for obtaining dynamic
analysis for multi-machine electric power systems. Different from behavior is not based on an initial value problem but based on
existing methods, a minimization problem with boundary values boundary value problem. (4) A new numerical integration
is formulated for obtaining critical conditions for transient
stability, where a new numerical integration method is developed
(simulation) method is developed for the boundary value
by modifying the trapezoidal formula to solve effectively the problem utilized in the formulation.
boundary value problem. The proposed method is to compute
directly a trajectory on the stability boundary, which is referred
to as critical trajectory in this paper. The critical trajectory to be II. PROBLEM FORMULATION
obtained is the trajectory that starts from a point on a fault-on
trajectory and reaches a critical point such as an Unstable The problem for obtaining the critical trajectory is
Equilibrium Point (UEP), or more exactly, Controlling UEP formulated as follows:
(CUEP). The solution of the minimization problem provides the m k′ k m +1 
∑ µ ⋅ µ + µ ′ W µ  (1)
m +1
critical trajectory and the exact Critical Clearing Time (CCT) min
x ,ε , τ
 k =0 
k

without major approximation.

where, x k ∈ R N ,( k = 0,K , m + 1 ), ε ∈ R , τ ∈ R ,
Index Terms— Multi-machine electric power system, transient x& k +1 + x& k (2)
stability, UEP, critical trajectory, CCT. µ k = x k +1 − x k − ε
x& k +1 + x& k
x& k = f ( x k ) (3)
I. INTRODUCTION with boundary conditions:
x 0 = X F (τ ; x pre ) (4)
T his paper proposes a novel method for transient stability
analysis. A preliminary investigation has been performed
by the authors in [1]-[3]. In order to describe the proposed
µ m +1 = x m +1 − xu with f (xu ) = 0 (5)
In the above equations, µ is ideally zero, implying a
k
method, typical dynamic behaviors of a power system are
numerical error due to the trapezoidal approximation of (2).
given in Figure 1, where a single machine case without
Equation (4) is implying that the initial point is on a fault-on
damping is presented as an example. Three kinds of
trajectory as a function of fault clearing time, τ. We assume
trajectories are given in phase plane starting at different points
that the fault-on trajectory is obtained numerically in advance
on a fault-on trajectory “1”. Trajectory “2” is for a stable case
where the fault is cleared early enough and it oscillates around as a function of τ. Equation (5) is the other boundary
a stable equilibrium point (SEP). Trajectory “4” corresponds condition, where xu is CUEP that satisfies equilibrium
to an unstable case, where the fault clearing is too late. equation f ( xu ) = 0 . It is noted that CUEP, xu , has been
Trajectory “3” corresponds to a critical case for stability and is determined separately in advance by other methods such as the
referred to as critical trajectory in this paper. BCU shadowing method.
The critical trajectory starts from a point on a fault-on The solution of the problem, (1)-(5), is interpreted as
trajectory and reaches CUEP. It is generally difficult to follows:
compute the critical trajectory by means of conventional --First, the set of point, x k , k=0 to m+1, represent the
numerical simulations. In this paper, the problem is newly critical trajectory, where ε is automatically determined when
formulated as a minimization problem for computing the the number of integration steps, m, is specified.
critical trajectory. Some important characteristics may be --Second, CCT is obtained as τ at the solution.
denoted as follows: (1) The proposed method at least in theory Note that m is an important parameter which affects the
can compute directly exact CCT for general power system accuracy and computation time for the proposed method.
models. There have been no such computation methods so far. W is weighting matrix to specify selectively the boundary
conditions of state variable.
A. Priyadi, N. Yorino, Y. Zoka and M. Kakeru are with the Department of
Artificial Complex Systems Engineering, Graduate School of Engineering,
Hiroshima University, 1-4-1 Kagamiyama, Higashihiroshima, Hiroshima,
739-8527 Japan (corresponding author to provide phone: 082-424-7668; III. APPLICATION TO POWER SYSTEM
fax:0 81-82-424-3586; e-mail: [email protected]).
H. Yasuda and H. Kakui is with the Chugoku Electric Power Co., Inc., 4-
In this section, a widely used physical power system model
33 Komachi, Naka-ku, Hiroshima-shi, Hiroshima, 730-8701 Japan. is adopted in the proposed formulation method to directly
安定度解析 2

obtain the exact CCT. consists of double parallel circuits, and that a 3-Line-Ground
fault occurs at a point very close to a bus on one of parallel
lines; after a while the fault is cleared by opening the faulted
A. Power System Model
line. The purpose of these examinations is to check the
We consider the Center of Inertia (COI) swing equation, effectiveness of the proposed method to obtain exact CCT
which have summarized from references [5]-[6], and can be without major approximation.
written as following expressions: The obtained CCTs for the test systems are listed in Tables
M
M iω~& i = Pm i − Pe i (θ ) − i PCOI − Di (ω~ ) (6) 1-2. The tables also show the fault location (fault point and
MT open line), the number of iterations and the selected generator
θ& = ω~
i i (7) required for the proposed method, where Max dxi < 10−3 is used
as a convergence criterion for the Newton’s method. The
B. Numerical Examinations CCTs obtained by the conventional numerical simulation
method is also shown for comparison.
The numerical examinations are carried out using two test
The obtained results in Tables 1-2, prove validity of the
systems which are a 4-machine 9-bus system which is modified
proposed method. It has also been confirmed that all the
from the Fouad and Anderson system and a 6-machine 30-bus
obtained CCTs agree with those by the conventional numerical
system which is representative of the IEEE 30 bus system and
simulation method based on (1)-(6) with errors less than
was studied in [2].
10 −2 (s).
TABLE I In this simulation, it is noted that the setting of m is 20 in the
The CCTs of Modification of Fouad and Anderson 3-machine 9-bus systems proposed method for all the test systems except for third
Simulation system, where m is 15.
Fault Open Proposed Method
Method
Point Line
CCT[s] CCT[s] Iter. Obt. Gen.
IV. CONCLUSION
A 1-4 0.28-0.29 0.2849 32 G1
This paper proposes a new formulation for transient stability
B 2-7 0.18-0.19 0.1843 24 G1
analysis as a minimization problem for electric power systems.
C 3-9 0.25-0.26 0.2547 30 G1 Different from conventional simulation methods, the
D 4-5 0.27-0.28 0.2685 29 G2 formulation is not based on an initial value problem but based
E 4-6 0.27-0.28 0.2759 76 G1 on boundary value problem to directly obtain a critical
F 7-5 0.20-0.21 0.2019 32 G1
condition for stability such as a CCT. The method is based on
the computation of critical trajectory that represents a critical
G 7-8 0.20-0.21 0.2018 28 G1
case for stability.
H 9-6 0.20-0.21 0.1981 37 G2 It is shown that exact CCT without major approximations
I 9-8 0.21-0.22 0.2142 40 G2 obtained by the proposed method for the examined test
systems.

TABLE II REFERENCES
[1] N. Yorino, Y. Kamei, and N. Yamakawa, “A New Method for
The CCTs of Modification of IEEE 6 machine 30 bus systems
Transient Stability Analysis Using the Critical Trajectory,” The
Simulation
Fault Open Proposed Method Papers of Technical Meeting on Power System Technology, IEE
Method Japan, no. PE-04-52, Sep. 2004. (in Japanese)
Point Line [2] N. Yorino, Y. Kamei, Y. Zoka, ‘A New Method for Transient
CCT[s] CCT[s] Itera. Obt. Gen. Stability Assessment Based on Critical Trajectory, ‘Proc. of 15th
A 1-2 0.78-0.79 0.7871 29 G3 Power System Computation Conference (PSCC), Paper ID: 20-3,
2005.
B 1-4 0.79-0.80 0.7963 41 G3 [3] N. Yorino, A. Priyadi, Y. Zoka, ‘ A Method for Transient Stability
C 2-4 0.71-0.72 0.7179 37 G2 Assessment Based on Critical Trajectory,’ Proc. of The International
Symposium on Sustainable Energy (ISSE), Tokyo, 2007
D 2-5 0.71-0.72 0.7187 67 G2 [4] P. M. Anderson and A. A. Fouad, Power System Control and
E 2-6 071-0.72 0.7174 66 G2 Stability, vol. 1, Ames, IA: The Iowa State University Press, 1977.
C.J. Tavora, O.J.M. Smith, ‘Characterization of Equilibrium and
F 5-7 1.17-1.18 1.1732 24 G3 Stability in Power Systems, IEEE Transactions on Power Apparatus
and Systems, Vol. PAS-91, pp. 1127-1130, 1971.
G 8-6 0.83-0.84 0.8346 23 G4
[5] C.J. Tavora, O.J.M. Smith, ‘Characterization of Equilibrium and
H 8-28 0.83-0.84 0.8349 26 G4 Stability in Power Systems, IEEE Transactions on Power Apparatus
and Systems, Vol. PAS-91, pp. 1127-1130, 1971.
I 11-9 0.90-0.91 0.9032 24 G5 [6] T. Athay, R. Podmore, S. Virmani, ‘A Practical Method for the Direct
J 13-12 0.94-0.95 0.9451 23 G6 Analysis of Transient Stability,’ IEEE Transactions on Power
Apparatus and Systems, Vol. PAS-98, No.2, pp. 573-584, 1979.
The tests systems are assumed that every transmission line

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