Power system control and stability

Analyzes the dynamic performance of interconnected powersystems.
* Examines the characteristics of the various components of a powersystem during normal operating conditions and duringdisturbances.
* Explores the detailed mathematical models of system componentsand analyzes the system behavior using the necessary computationaltools.

Author Notes

Paul M. Anderson has over forty years of experience in power system engineering and research, power education, technical writing, and research management. His areas of interest are power system analysis, computer applications, and system dynamic performance. Currently a consultant, Dr. Anderson served as a professor of engineering at Iowa State University. Arizona State University, and Washington State University, where he was the Schweitzer Visiting Professor.
A. A. Fouad is Distinguished Professor Emeritus of Engineering at Iowa State University. He has had more than 40 years experience in power system dynamics in teaching, research, and in industry. He is a fellow of IEEE, and is the recipient of the 1993 IEEE Power Engineering Educator Award, and the 1994 IEEE Herman Halperin Transmission and Distribution Award. In 1996 he was elected to membership of the US National Academy of Engineering.

Preface	p. xiii
Part I IntroductionP. M. Anderson and A. A. Fouad
Chapter 1. Power System Stability
1.1 Introduction	p. 3
1.2 Requirements of a Reliable Electrical Power Service	p. 3
1.3 Statement of the Problem	p. 4
1.4 Effect of an Impact upon System Components	p. 8
1.5 Methods of Simulation	p. 10
Problems	p. 11
Chapter 2. The Elementary Mathematical Model
2.1 Swing Equation	p. 13
2.2 Units	p. 15
2.3 Mechanical Torque	p. 16
2.4 Electrical Torque	p. 20
2.5 Power-Angle Curve of a Synchronous Machine	p. 21
2.6 Natural Frequencies of Oscillation of a Synchronous Machine	p. 24
2.7 System of One Machine against an Infinite Bus--The Classical Model	p. 26
2.8 Equal Area Criterion	p. 31
2.9 Classical Model of a Multimachine System	p. 35
2.10 Classical Stability Study of a Nine-Bus System	p. 37
2.11 Shortcomings of the Classical Model	p. 45
2.12 Block Diagram of One Machine	p. 47
Problems	p. 48
References	p. 52
Chapter 3. System Response to Small Disturbances
3.1 Introduction	p. 53
3.2 Types of Problems Studied	p. 54
3.3 The Unregulated Synchronous Machine	p. 55
3.4 Modes of Oscillation of an Unregulated Multimachine System	p. 59
3.5 Regulated Synchronous Machine	p. 66
3.6 Distribution of Power impacts	p. 69
Problems	p. 80
References	p. 80
Part II The Electromagnetic TorqueP. M. Anderson and A. A. Fouad
Chapter 4. The Synchronous Machine
4.1 Introduction	p. 83
4.2 Park's Transformation	p. 83
4.3 Flux Linkage Equations	p. 85
4.4 Voltage Equations	p. 88
4.5 Formulation of State-Space Equations	p. 91
4.6 Current Formulation	p. 91
4.7 Per Unit Conversion	p. 92
4.8 Normalizing the Voltage Equations	p. 99
4.9 Normalizing the Torque Equations	p. 103
4.10 Torque and Power	p. 105
4.11 Equivalent Circuit of a Synchronous Machine	p. 107
4.12 The Flux Linkage State-Space Model	p. 109
4.13 Load Equations	p. 114
4.14 Subtransient and Transient Inductances and Time Constants	p. 122
4.15 Simplified Models of the Synchronous Machine	p. 127
4.16 Turbine Generator Dynamic Models	p. 143
Problems	p. 146
References	p. 148
Chapter 5. The Simulation of Synchronous Machines
5.1 Introduction	p. 150
5.2 Steady-State Equations and Phasor Diagrams	p. 150
5.3 Machine Connected to an Infinite Bus through a Transmission Line	p. 153
5.4 Machine Connected to an Infinite Bus with Local Load at Machine Terminal	p. 154
5.5 Determining Steady-State Conditions	p. 157
5.6 Examples	p. 159
5.7 Initial Conditions for a Multimachine System	p. 165
5.8 Determination of Machine Parameters from Manufacturers' Data	p. 166
5.9 Analog Computer Simulation of the Synchronous Machine	p. 170
5.10 Digital Simulation of Synchronous Machines	p. 184
Problems	p. 206
References	p. 206
Chapter 6. Linear Models of the Synchronous Machine
6.1 Introduction	p. 208
6.2 Linearization of the Generator State-Space Current Model	p. 209
6.3 Linearization of the Load Equation for the One-Machine Problem	p. 213
6.4 Linearization of the Flux Linkage Model	p. 217
6.5 Simplified Linear Model	p. 222
6.6 Block Diagrams	p. 231
6.7 State-Space Representation of Simplified Model	p. 231
Problems	p. 232
References	p. 232
Chapter 7. Excitation Systems
7.1 Simplified View of Excitation Control	p. 233
7.2 Control Configurations	p. 235
7.3 Typical Excitation Configurations	p. 236
7.4 Excitation Control System Definitions	p. 243
7.5 Voltage Regulator	p. 250
7.6 Exciter Buildup	p. 254
7.7 Excitation System Response	p. 268
7.8 State-Space Description of the Excitation System	p. 285
7.9 Computer Representation of Excitation Systems	p. 292
7.10 Typical System Constants	p. 299
7.11 The Effect of Excitation on Generator Performance	p. 304
Problems	p. 304
References	p. 307
Chapter 8. Effect of Excitation on Stability
8.1 Introduction	p. 309
8.2 Effect of Excitation on Generator Power Limits	p. 311
8.3 Effect of the Excitation System on Transient Stability	p. 315
8.4 Effect of Excitation on Dynamic Stability	p. 321
8.5 Root-Locus Analysis of a Regulated Machine Connected to an Infinite Bus	p. 327
8.6 Approximate System Representation	p. 333
8.7 Supplementary Stabilizing Signals	p. 338
8.8 Linear Analysis of the Stabilized Generator	p. 344
8.9 Analog Computer Studies	p. 347
8.10 Digital Computer Transient Stability Studies	p. 353
8.11 Some General Comments on the Effect of Excitation on Stability	p. 363
Problems	p. 365
References	p. 366
Chapter 9. Multimachine Systems with Constant Impedance Loads
9.1 Introduction	p. 368
9.2 Statement of the Problem	p. 368
9.3 Matrix Representation of a Passive Network	p. 369
9.4 Converting Machine Coordinates to System Reference	p. 373
9.5 Relation Between Machine Currents and Voltages	p. 374
9.6 System Order	p. 377
9.7 Machines Represented by Classical Methods	p. 378
9.8 Linearized Model for the Network	p. 381
9.9 Hybrid Formulation	p. 386
9.10 Network Equations with Flux Linkage Model	p. 388
9.11 Total System Equations	p. 390
9.12 Multimachine System Study	p. 392
Problems	p. 396
References	p. 397
Part III The Mechanical Torque Power System Control and StabilityP.M. Anderson
Chapter 10. Speed Governing
10.1 The Flyball Governor	p. 402
10.2 The Isochronous Governor	p. 408
10.3 Incremental Equations of the Turbine	p. 410
10.4 The Speed Droop Governor	p. 413
10.5 The Floating-Lever Speed Droop Governor	p. 419
10.6 The Compensated Governor	p. 421
Problems	p. 428
References	p. 428
Chapter 11. Steam Turbine Prime Movers
11.1 Introduction	p. 430
11.2 Power Plant Control Modes	p. 432
11.3 Thermal Generation	p. 435
11.4 A Steam Power Plant Model	p. 436
11.5 Steam Turbines	p. 437
11.6 Steam Turbine Control Operations	p. 444
11.7 Steam Turbine Control Functions	p. 446
11.8 Steam Generator Control	p. 458
11.9 Fossil-Fuel Boilers	p. 461
11.10 Nuclear Steam Supply Systems	p. 476
Problems	p. 480
References	p. 481
Chapter 12. Hydraulic Turbine Prime Movers
12.1 Introduction	p. 484
12.2 The Impulse Turbine	p. 484
12.3 The Reaction Turbine	p. 486
12.4 Propeller-Type Turbines	p. 489
12.5 The Deriaz Turbine	p. 489
12.6 Conduits, Surge Tanks, and Penstocks	p. 489
12.7 Hydraulic System Equations	p. 498
12.8 Hydraulic System Transfer Function	p. 503
12.9 Simplifying Assumptions	p. 506
12.10 Block Diagram for a Hydro System	p. 509
12.11 Pumped Storage Hydro Systems	p. 510
Problems	p. 511
References	p. 512
Chapter 13. Combustion Turbine and Combined-Cycle Power Plants
13.1 Introduction	p. 513
13.2 The Combustion Turbine Prime Mover	p. 513
13.3 The Combined-Cycle Prime Mover	p. 518
Problems	p. 527
References	p. 527
Appendix A. Trigonometric Identities for Three-Phase Systems	p. 529
Appendix B. Some Computer Methods for Solving Differential Equations	p. 531
Appendix C. Normalization	p. 545
Appendix D. Typical System Data	p. 555
Appendix E. Excitation Control System Definitions	p. 582
Appendix F. Control System Components	p. 590
Appendix G. Pressure Control Systems	p. 614
Appendix H. The Governor Equations	p. 622
Appendix I. Wave Equations for a Hydraulic Conduit	p. 631
Appendix J. Hydraulic Servomotors	p. 640
Index	p. 651

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