Power System Modeling, Computation, and Control

✍ Scribed by Chow, Joe H;Sanchez-Gasca, Juan J

• Publisher: Wiley-IEEE Press
• Year: 2020
• Tongue: English
• Leaves: 610
• Category: Library

✦ Synopsis

Provides students with an understanding of the modeling and practice in power system stability analysis and control design, as well as the computational tools used by commercial vendors

Bringing together wind, FACTS, HVDC, and several other modern elements, this book gives readers everything they need to know about power systems. It makes learning complex power system concepts, models, and dynamics simpler and more efficient while providing modern viewpoints of power system analysis.

Power System Modeling, Computation, and Controlprovides students with a new and detailed analysis of voltage stability; a simple example illustrating the BCU method of transient stability analysis; and one of only a few derivations of the transient synchronous machine model. It offers a discussion on reactive power consumption of induction motors during start-up to illustrate the low-voltage phenomenon observed in urban load centers. Damping controller designs using power system stabilizer, HVDC systems, static var compensator, and thyristor-controlled series compensation are also examined. In addition, there are chapters covering flexible AC transmission Systems (FACTS)--including both thyristor and voltage-sourced converter technology--and wind turbine generation and modeling.

Simplifies the learning of complex power system concepts, models, and dynamics Provides chapters on power flow solution, voltage stability, simulation methods, transient stability, small signal stability, synchronous machine models (steady-state and dynamic models), excitation systems, and power system stabilizer design Includes advanced analysis of voltage stability, voltage recovery during motor starts, FACTS and their operation, damping control design using various control equipment, wind turbine models, and control Contains numerous examples, tables, figures of block diagrams, MATLAB plots, and problems involving real systems Written by experienced educators whose previous books and papers are used extensively by the international scientific communityPower System Modeling, Computation, and Controlis an ideal textbook for graduate students of the subject, as well as for power system engineers and control design professionals.

✦ Table of Contents

Title Page......Page 5
Copyright Page......Page 6
Contents......Page 9
Preface......Page 19
About the Companion Website......Page 23
1.1 Electrification......Page 25
1.2.1 Central Generating Station Model......Page 26
1.2.2 Renewable Generation......Page 28
1.3.2 Measurements and Data......Page 29
1.4 Organization of the Book......Page 31
Part I System Concepts......Page 33
2.1 Introduction......Page 35
2.2.1 Transmission Lines......Page 36
2.2.2 Transformers......Page 37
2.2.4 Building the Network Admittance Matrix......Page 38
2.3 Active and Reactive Power Flow Calculations......Page 40
2.4 Power Flow Formulation......Page 43
2.5.1 General Procedure......Page 45
2.5.2 NR Solution of Power Flow Equations......Page 46
2.6.1 Load Bus Voltage Regulation......Page 51
2.6.2 Multi-area Power Flow......Page 52
2.6.3 Active Line Power Flow Regulation......Page 53
2.6.5 Fast Decoupled Loadflow......Page 54
2.7 Summary and Notes......Page 55
Appendix 2.A Two-winding Transformer Model......Page 56
2.B.1 LU Decomposition......Page 60
2.B.3 Sparse Factorization......Page 61
Appendix 2.C Power Flow and Dynamic Data for the 2-area, 4-machine System......Page 63
Problems......Page 66
3.1 Introduction......Page 71
3.2.2 US Western Power System: July 2, 1996......Page 72
3.3 Reactive Power Consumption on Transmission Lines......Page 73
3.4 Voltage Stability Analysis of a Radial Load System......Page 79
3.4.1 Maximum Power Transfer......Page 83
3.5 Voltage Stability Analysis of Large Power Systems......Page 85
3.6 Continuation Power Flow Method......Page 88
3.6.1 Continuation Power Flow Algorithm......Page 90
3.7 An AQ-Bus Method for Solving Power Flow......Page 91
3.7.1 Analytical Framework for the AQ-bus Method......Page 93
3.7.2 AQ-Bus Formulation for Constant-Power-Factor Loads......Page 94
3.7.3 AQ-Bus Algorithm for Computing Voltage StabilityMargins......Page 95
3.8 Power System Components Affecting Voltage Stability......Page 97
3.8.1 Shunt Reactive Power Supply......Page 98
3.8.2 Under-Load Tap Changer......Page 100
3.9 Hierarchical Voltage Control......Page 103
3.10.1 Voltage Stability Margins......Page 104
3.10.2 Voltage Sensitivities......Page 105
3.11 Summary and Notes......Page 106
Problems......Page 107
4.1 Introduction......Page 111
4.2 Electromechanical Model of Synchronous Machines......Page 112
4.3 Single-Machine Infinite-Bus System......Page 114
4.4.1 Fault-On Analysis......Page 118
4.4.2 Post-Fault Analysis......Page 120
4.5 Simulation Methods......Page 122
4.5.1 Modified Euler Methods......Page 123
4.5.1.1 Euler Full-Step Modification Method......Page 124
4.5.2 Adams-Bashforth Second-Order Method......Page 125
4.5.3 Selecting Integration Stepsize......Page 126
4.5.4 Implicit Integration Methods......Page 128
4.5.4.1 Integration of DAEs......Page 129
4.6 Dynamic Models of Multi-Machine Power Systems......Page 130
4.6.1 Constant-Impedance Loads......Page 131
4.6.3 Network Equation Extended to the Machine Internal Node......Page 132
4.6.5 Method for Dynamic Simulation......Page 133
4.7 Multi-Machine Power System Stability......Page 138
4.7.1 Reference Frames for Machine Angles......Page 139
4.8 Power System Toolbox......Page 141
Problems......Page 143
5.1 Introduction......Page 147
5.2.1 Power-Angle Curve......Page 148
5.2.2 Fault-On and Post-Fault Analysis......Page 150
5.3 Transient Energy Functions......Page 151
5.3.2 Energy Function for Single-Machine Infinite-Bus Electromechanical Model......Page 152
5.4 Energy Function Analysis of a Disturbance Event......Page 155
5.5 Single-Machine Infinite-Bus Model Phase Portrait and Region of Stability......Page 159
5.6 Direct Stability Analysis using Energy Functions......Page 162
5.7 Energy Functions for Multi-Machine Power Systems......Page 163
5.7.1 Direct Stability Analysis for Multi-Machine Systems......Page 166
5.7.2 Computation of Critical Energy......Page 167
5.9 Summary and Notes......Page 170
Problems......Page 171
6.1 Introduction......Page 173
6.2 Electromechanical Modes......Page 174
6.3.1 State-Space Models......Page 175
6.3.3 Modal Analysis and Time-Domain Solutions......Page 176
6.3.4 Time Response of Linear Systems......Page 178
6.3.5 Participation Factors......Page 180
6.4 Linearized Models of Single-Machine Infinite-Bus Systems......Page 181
6.5 Linearized Models of Multi-Machine Systems......Page 184
6.5.2 Modeshapes and Participation Factors......Page 186
6.6 Developing Linearized Models of Large Power Systems......Page 188
6.6.1 Analytical Partial Derivatives......Page 189
6.6.2 Numerical Linearization......Page 193
Problems......Page 195
Part II Synchronous Machine Models and their Control Systems......Page 199
7.2 Physical Description......Page 201
7.3 Synchronous Machine Model......Page 203
7.3.1 Flux Linkage and Voltage Equations......Page 205
7.3.3 Mutual Inductances between Stator and Rotor......Page 207
7.3.4 Rotor Self and Mutual Inductances......Page 208
7.4 Park Transformation......Page 209
7.4.1 Electrical Power in dq0 Variables......Page 212
7.5.1 Stator Base Values......Page 213
7.5.2 Stator Voltage Equations......Page 214
7.5.4 Rotor Voltage Equations......Page 215
7.5.7 Equal Mutual Inductance......Page 216
7.6.1 Flux-Linkage Circuits......Page 220
7.6.2 Voltage Equivalent Circuits......Page 221
7.7.1 Open-Circuit Condition......Page 223
7.7.2 Loaded Condition......Page 225
7.7.3 Drawing Voltage-Current Phasor Diagrams......Page 226
7.8 Saturation Effects......Page 228
7.8.1 Representations of Magnetic Saturation......Page 229
7.9 Generator Capability Curves......Page 231
Problems......Page 233
8.2 Machine Dynamic Response During Fault......Page 237
8.2.1 DC Offset and Stator Transients......Page 239
8.3 Transient and Subtransient Reactances and Time Constants......Page 240
8.4 Subtransient Synchronous Machine Model......Page 245
8.5.1 Flux-Decay Model......Page 251
8.5.2 Classical Model......Page 252
8.6 dq-axes Rotation Between a Generator and the System......Page 253
8.7 Power System Simulation using Detailed Machine Models......Page 254
8.7.1 Power System Simulation Algorithm......Page 255
8.8 Linearized Models......Page 256
8.9 Summary and Notes......Page 258
Problems......Page 259
9.1 Introduction......Page 261
9.2 Excitation System Models......Page 262
9.3.1 Separately Excited DC exciter......Page 263
9.3.2 Self-Excited DC Exciter......Page 267
9.3.3 Voltage Regulator......Page 268
9.3.4 Initialization of DC Type Exciters......Page 269
9.3.5 Transfer Function Analysis......Page 270
9.3.6 Generator and Exciter Closed-Loop System......Page 272
9.3.7 Excitation System Response Ratios......Page 275
9.4 Type AC Exciters......Page 276
9.5 Type ST Excitation Systems......Page 278
9.6 Load Compensation Control......Page 281
9.8 Summary and Notes......Page 283
Appendix 9.A Anti-Windup Limits......Page 284
Problems......Page 285
10.1 Introduction......Page 289
10.2 Single-Machine Infinite-Bus System Model......Page 290
10.3 Synchronizing and Damping Torques......Page 295
10.3.1 ��Te2 Under Constant Field Voltage......Page 296
10.3.2 ��Te2 With Excitation System Control......Page 297
10.4 Power System Stabilizer Design using Rotor Speed Signal......Page 299
10.4.1 PSS Design Requirements......Page 300
10.4.2 PSS Control Blocks......Page 301
10.4.3 PSS Design Methods......Page 303
10.4.4 Torsional Filters......Page 308
10.4.6 Interarea Mode Damping......Page 311
10.5.2 Electrical Power Output ΔPe......Page 312
10.6 Integral-of-Accelerating-Power or Dual-Input PSS......Page 313
Problems......Page 317
11.1 Introduction......Page 319
11.2.1 Exponential Load Model......Page 320
11.2.2 Polynomial Load Model......Page 321
11.3 Incorporating ZIP Load Models in Dynamic Simulation and Linear Analysis......Page 322
11.4 Induction Motors: Steady-State Models......Page 327
11.4.2.1 Modeling Equations......Page 328
11.4.2.2 Reference Frame Transformation......Page 330
11.4.3 Equivalent Circuits......Page 332
11.4.4 Per-Unit Representation......Page 334
11.4.5 Torque-Slip Characteristics......Page 335
11.4.6 Reactive Power Consumption......Page 337
11.4.7 Motor Startup......Page 338
11.5 Induction Motors: Dynamic Models......Page 339
11.5.1 Initialization......Page 342
11.5.2 Reactive Power Requirement during Motor Stalling......Page 344
11.6 Summary and Notes......Page 347
Problems......Page 348
12.1 Introduction......Page 351
12.2.1 Turbine Configurations......Page 352
12.2.2 Steam Turbine-Governors......Page 355
12.3 Hydraulic Turbines......Page 357
12.3.1 Hydraulic Turbine-Governors......Page 361
12.3.2 Load Rejection of Hydraulic Turbines......Page 362
12.4 Gas Turbines and Co-Generation Plants......Page 363
12.5 Primary Frequency Control......Page 366
12.5.1 Isolated Turbine-Generator Serving Local Load......Page 367
12.5.2 Interconnected Units......Page 371
12.5.3 Frequency Response in US Power Grids......Page 373
12.6 Automatic Generation Control......Page 375
12.7.1 Torsional Modes......Page 380
12.7.2 Electrical Network Modes......Page 387
12.7.3 SSR Occurrence and Countermeasures......Page 389
12.8 Summary and Notes......Page 390
Problems......Page 391
Part III Advanced Power System Topics......Page 395
13.1 Introduction......Page 397
13.1.1 HVDC System Installations and Applications......Page 399
13.2 AC/DC and DC/AC Conversion......Page 401
13.2.1 AC-DC Conversion using Ideal Diodes......Page 402
13.2.2 Three-Phase Full-Wave Bridge Converter......Page 403
13.3.1.1 Thyristor Ignition Delay Angle......Page 407
13.3.1.2 Commutation Overlap......Page 409
13.3.2 Inverter Operation......Page 412
13.3.4 Equivalent Circuit......Page 413
13.4 Control Modes......Page 415
13.4.1 Mode 1: Normal Operation......Page 416
13.4.2 Mode 2: Reduced-Voltage Operation......Page 417
13.4.3 Mode 3: Transitional Mode......Page 418
13.4.5 Communication Requirements......Page 420
13.5 Multi-terminal HVDC Systems......Page 421
13.6.1 Harmonic Filters......Page 422
13.6.2 Reactive Power Support......Page 423
13.7 AC-DC Power Flow Computation......Page 425
13.8.1 Converter Control......Page 430
13.8.2 DC Line Dynamics......Page 432
13.8.3 AC-DC Network Solution......Page 433
13.9 Damping Control Design......Page 435
Problems......Page 440
14.1 Introduction......Page 445
14.2.1 Circuit Configuration and Thyristor Switching......Page 446
14.2.2 Steady-State Voltage Regulation and Stability Enhancement......Page 447
14.2.2.1 Voltage Stability Enhancement......Page 448
14.2.2.2 Transient Stability Enhancement......Page 451
14.2.3 Dynamic Voltage Control and Droop Regulation......Page 453
14.2.4 Dynamic Simulation......Page 457
14.2.5 Damping Control Design using SVC......Page 459
14.3 Thyristor-Controlled Series Compensator......Page 465
14.3.2 TCSC Circuit Configuration and Switching......Page 466
14.3.3 Voltage Reversal Control......Page 468
14.3.4 Mitigation of Subsynchronous Oscillations......Page 469
14.3.5 Dynamic Model and Damping Control Design......Page 470
14.4.1 Voltage-Sourced Converters......Page 475
14.4.1.1 Three-Phase Full-Wave VSCs......Page 477
14.4.1.3 Harmonics......Page 479
14.4.2.1 Steady-State Analysis......Page 482
14.4.2.2 Dynamic Model......Page 483
14.4.3.1 Steady-State Operation......Page 487
14.4.3.2 Dynamic Model......Page 490
14.5.1.1 Steady-State Analysis......Page 493
14.5.2.1 Steady-State Analysis......Page 495
14.5.3.1 Steady-State Analysis......Page 499
14.5.4 Dynamic Model......Page 502
14.5.4.1 Series Voltage Insertion......Page 503
14.6 Summary and Notes......Page 504
Problems......Page 505
15.1 Background......Page 511
15.2 Wind Turbine Components......Page 513
15.3 Wind Power......Page 515
15.3.1 Blade Angle Orientation......Page 516
15.3.2 Power Coefficient......Page 518
15.4.1 Type 1......Page 520
15.4.2 Type 2......Page 521
15.4.4 Type 4......Page 522
15.5.1 Type-1 Wind Turbine......Page 523
15.5.2 Type-2 Wind Turbine......Page 525
15.5.3 Type-3 Wind Turbine......Page 526
15.6 Wind Power Plant Representation......Page 529
15.7 Overall Control Criteria for Variable-Speed Wind Turbines......Page 534
15.8.1 Overall Model Structure......Page 537
15.8.2 Generator/Converter Model......Page 538
15.8.3 Electrical Control Model......Page 539
15.8.4 Drive-Train Model......Page 541
15.8.5 Torque Control Model......Page 543
15.8.6 Aerodynamic Model......Page 544
15.8.7 Pitch Controller......Page 546
15.9.1 Simulation Example......Page 550
15.10 Summary and Notes......Page 551
Problems......Page 552
16.1 Introduction......Page 555
16.2 Interarea Oscillations and Slow Coherency......Page 556
16.2.1 Slow Coherency......Page 558
16.2.2 Slow Coherent Areas......Page 560
16.2.3 Finding Coherent Groups of Machines......Page 565
16.3 Generator Aggregation and Network Reduction......Page 568
16.3.1 Generator Aggregation......Page 569
16.3.2 Dynamic Aggregation......Page 572
16.3.3 Load Bus Elimination......Page 575
16.4 Simulation Studies......Page 579
16.4.1 Singular Perturbations Method......Page 580
16.5 Linear Reduced Model Methods......Page 581
16.5.1 Modal Truncation......Page 582
16.6 Dynamic Model Reduction Software......Page 583
Problems......Page 584
References......Page 587
Index......Page 601
EULA......Page 610