Week (3), Day (1)
Period (2)
2.5 Rotor Dynamics and Swing Equation
Figure-Flow of mechanical and electrial powers in a synchronous machine
The equation governing the motion of the rotor of a synchronous machine is based on the
elementary principle in dynamics which states that accelerating torque is the product of the
moment of inertia of the rotor times its reqular acceleration. The figure shows the torque, speed
and flow of mechanical and electrical powers in a synchronous machine. It is assumed that the
windage, friction and iron-loss torque is negligible. So, the differential equation governing the
rotor dynamics can be written as
[1]
where
= direction of rotation angle in rad (mech)
Tm = turbine torque in Nm; it acquires a negative value for a motoring machine
Te = electromagnetic torque developed in Nm; it acquires negative value for a
motoring machine
Firstly, the mechanical torque Tm and the electrical torque T e are considered positive for
the synchronous generator.This means that T m is the resultant shaft torque which tends to
accelerate the rotor in the positive θm direction of rotion as shown in figure.
Under steady-state operation of the generator T m and Te are equal and the accelerating
torque Ta is zero.In this case there is no acceleration or deceleration of the rotor masses and the
resultant constant speed is synchronous speed. Rotor masses includes that the rotor of the
generator and the prime mover are said to be in synchronism with other machines operating at
synchronous speed in the power system.
θm is measured with respect to a stationary reference axis on the statot, it is an absolute
measure of rotor angle.It continuously increases with time even at constant synchronous
speed.So,we define .The derivatives of θm with respect to time are
and
While the rotor undergoes dynamics as per Eq. (1), the rotor speed changes by
insignificant magnitude for the time period of interest (1s). Equation (1) can therefore be
converted into its more convenient power form by assuming the rotor speed to remain constant at
the synchronous speed ( ). Multiplying both sides of Eq. (12.3) by we can write
[2]
where
Pm = mechanical power input in MW
Pe = electrical power output in MW; stator copper loss is negligible.
The coefficient is the a ngular momentum of the rotor; at synchronous speed , it
is denoted by M and called the inertia constant of the machine.[Explained them in Previous
Lecture]. Then, rewirting Eq. (2)
where
= angle in rad (elec)
Or [3]
It is more convenient to measure the angular position of the rotor with respect to a
synchronously rotating frame of reference. Let
rotor angular displacement from synchronously rotating reference
frame (called torque angle/power angle) [4]
From Eq. (4)
[5]
Hence Eq. (3) can be written in terms of δ as
[5]
While we have used M in this equation, the coefficient is not a constant in the strictest sense
because does not equal synchronous speed under all conditions of operation. However, in
practise does not differ significantly from synchronous speed when the machine is stable and
since power is more convenient in calculation than torque. Eq. (5) is preferred.
we can write
With M as defined as,
[6]
Dividing through by G, the MVA rating of the machine,
in pu of machine rating as base [7]
or [8]
This equation (Eq. (7)/Eq. (8)), is called the swing equation and it describes the rotor
dynamics for a synchronous machine (generating/motoring). It is a second-order differential
equation where the damping term (proportional to dδ/dt) is absent because of the assumption of a
lossless machine and the fact that the torque of damper winding has been ignored. This
assumption leads to pessimistic results in transient stability analysis.damping helps to stabilize
the system. Damping must of course be considered in a dynamic stability study. Since the
electrical power Pe depends upon the sine of angle δ (Pe = Pmax sin δ), the swing equation is a
non-linear second-order differential equation.When the swing equation is solved we obtain the
expression for δ as a function of time. A graph of the solution is called the swing curve of the
machine and inspection of the swing curves of all machines of the system will show whether the
machines remain in synchronism after a disturbance.
Swing curve, which is the plot of torque angleδ vs time t, can be obtained by solving the
swing equation. Two typical swing curves are shown in Fig.
Swing curves are used to determine the stability of the system. If the rotor angle δreaches
a maximum and then decreases, then it shows that the system has transient stability. On the other
hand if the rotor angle δ increases indefinitely, then it shows that the system is unstable.
2.5.1 Multimachine System
In a stability study of a power system with many synchronous machines, only one MVA
base common to all parts of the system can be chosen.Since the right-hand side of the swing
equation for each machine must be expressed in pu on this common system base.it is cleared that
H constant on the left side of each swing equation must be also consistent with the system base.
This is accomplished by converting the H constant for each machine based on its own individual
rating,to a value determined by the system base, Gsystem (Ssystem).
Let Gmach = machine rating (base)
Gsystem = system base
Equation (8) can then be written as
Or
[1]
Where
[2]
2.5.2 Swing Equation of Two Coherent Machines
Consider the swing equations of the two machines on a common system base.
[3]
[4]
Since the machine rotors swing together (coherently or in unison)
Adding Eqs (3) and (4)
[5]
Where
[6]
The two machines swinging coherently are thus reduced to a single machine as in Eq.
(5 ). The equivalent inertia in Eq. (6) can be written as
[7]
So, the above results are easily extendable by any number of machines swining
coherently.
2.5.3 Swing Equation of Two Non-Coherent Machines
For any two non – coherent machines also (3) and ( 4) are valid. Subtracting (4)from (3) we
get
Multiplying both sides by we get
[8]
Where the relative angle of the two machines
From (8) it is obvious that the swing of a machine is associated with dynamics of other
machines in the system. To be stable, the angular differences between all the machines must
decrease after the disturbance. In many cases, when the system loses stability, the machines split
into two coherent groups, swinging against each other. Each coherent group of machines can be
replaced by a single equivalent machine and the relative swing of the two equivalent machines
solved using an equation similar to (8), from which stability can be assessed.
The acceleration power is given by P a = Pm – Pe. Hence, under the condition that Pm is a
constant; an accelerating machine should have a power characteristic, which would increase Pe
as δ increases.
This would reduce Pa and hence the acceleration and help in maintaining stability. If on
the other hand, Pe decreases when δ increases, Pa would further increase which is detrimental to
stability. Therefore, must be positive for a stable system. Thus the power-angle relationship
plays a crucial role in stability.
Example 1
A 50 Hz, four pole turbogenerator rated 100 MVA, 11 kV has an inertia constant of 8.0
MJ/MVA.
(a) Find the stored energy in the rotor at synchronous speed.
(b) If the mechanical input is suddenly raised to 80 MW for an electrical load of 50 MW,
find rotor acceleration, neglecting mechanical and electrical losses.
(c) If the acceleration calculated in part (b) is maintained for 10 cycles, find the change in
torque angle and rotor speed in revolutions per minute at the end of this period.
Solution
(a) Stored energy = GH = 100×8 = 800 MJ
(b)
So,
Or
(c) 10 cycle = 0.2 s
Rotor speed at the end of 10 cycles
Week (3), Day (2)
Period (2)
Exercise – 2
Theoretical Problems
1. Explain the requirements of planning the operation of a power system.
2. Define steady state operating condition.
3. What is a disturbance and what are the two types of disturbances?
4. What is a small disturbance? Give example.
5. What is a large disturbance? Give some examples.
6. When is a power system said to be steady-state stable?
7. When is a power system said to be transiently stable?
8. What is transient state of the power system?
9. What are the fundamental assumptions for power system stability studies?
10. Sketch the diagram of classification of stability?
11. State and classify the rotor angle stability?
12. How can you understand voltage stability and their sub-categories?
13. Define the frequency stability?
14. How can you unstandard the stable state of a network system, when the machines are in
synchronisms?
15. Derive the formulae to define inertia constant in pu by taking G as base from the kinetic
energy of a rotor at synchronous machine?
16. Why the value of H is higher for steam turbogenerator than for water wheel generator?
Explain about them briefly?
17. What is the synchronous speed at steady-state operation?
18. Give the expression for swing equation. Explain each term along with their units.
19. Define swing curve. What is the use of swing curve?
20. Discuss about the multimachine system?
Calculating Problems
1. How can be found the MVA base for the multimachines from the swing equation?
2. A two pole, 60 Hz synchronous generator has a rating of 250 MVA, 0.8 p.f (lagging).
The kinetic energy of the machine at synchronous speed is 1080 MJ. The machine is
running steadily at synchronous speed and delivering 60 MW to a load at a power angle
of 8 electrical degrees. The load is suddenly removed. Determine the acceleration of the
rotor. If the acceleration computed for the generator is constant, for a period of 12 cycles,
determine the value of the power angle and the rpm at the end of this time.
3. Develop a formula to calculate the H constant from WR 2 and evaluate H for a nuclear
generating unit rated at 1333 MVA, 1800 r/min with WR2 = 5820,000 lb –ft2.
4. A 60 Hz four pole turbogenerator rated 500 MVA, 22KV has and inertia constant of H =
7.5 MJ/MVA. Find (a) the kinetic energy stored in rotor at synchronous speed (b) the
angular acceleration if the electrical power developed is 400 MW when the input less the
rotational loses in 740,000 hp. (c) if the acceleration computed for the generator
described in part (b) is constant for a period of 15 cycles, find the change in δ in electrical
degrees in that period and the speed in rpm at the end of 15 cycles.
5. In Prob (5), the generator is delivering rated MVA at 0.8 power factor lag when a fault
reduces the electric power output by 40%. Determine the accelerating torque in N-m at
the fime the fault occurs. Neglect the lossess and assume constant power input to the
shaft.
6. Show that two synchronous generator sources of inertia constants M1 nd M2 respectively
and interconnected by a transmission system may be regarded for purpose of stability
studies as a single generator of inertia constant M 1M2 / (M1 + M2) connected through the
same transmission system to an infinite busbar.
7. In the system of previous problem, the generator has an inertia constant of 4MJ/MVA,
the swing equation upon occurrence of the fault. What is the initial angular acceleration?
If this acceleration can be assumed to remain constant for ΔT=0.05s, find the rotor angel
at the end this time interval and the new acceleration.
Week (3), Day (3)
Period (1)
Tutorial - I
