Foreword xiii
Preface xv
About the Authors xvii
Part I Introduction
Chapter 1 Power System Stability 3
1.1 Introduction 3
1.2 Requirements of a Reliable Electrical Power Service 4
1.3 Statement of the Problem 5
1.4 Effect of Impact on System Components 7
1.5 Methods of Simulation 10
1.6 Planning and Operating Standards 11
Chapter 2 The Elementary Mathematical Model 19
2.1 Swing Equation 19
2.2 Units 21
2.3 Mechanical Torque 22
2.4 Electrical Torque 26
2.5 Power-Angle Curve of a Synchronous Machine 27
2.6 Natural Frequencies of Oscillation of a Synchronous Machine 30
2.7 System of One Machine Against an Infinite Bus: The Classical Model 31
2.8 Equal Area Criterion 37
2.9 Classical Model of a Multimachine System 40
2.10 Classical Stability Study of a Nine-Bus System 42
2.11 Shortcomings of the Classical Model 51
2.12 Block Diagram of One Machine 53
Chapter 3 System Response to Small Disturbances 61
3.1 Introduction 61
3.2 Types of Problems Studied 62
3.3 The Unregulated Synchronous Machine 63
3.4 Modes of Oscillation of an Unregulated Multimachine System 66
3.5 Regulated Synchronous Machine 73
3.6 Distribution of Power Impacts 76
Part II Electrical and Electromagnetic Dynamic Performance
Chapter 4 The Synchronous Machine 91
4.1 Introduction 91
4.2 Park's Transformation 91
4.3 Flux Linkage Equations 94
4.4 Voltage Equations 97
4.5 Formulation of State-Space Equations 99
4.6 Current Formulation 100
4.7 Per-Unit Conversion 101
4.8 Normalizing the Voltage Equations 108
4.9 Normalizing the Torque Equations 113
4.10 Torque and Power 115
4.11 Equivalent Circuit of a Synchronous Machine 117
4.12 The Flux Linkage State-Space Model 119
4.13 Load Equations 124
4.14 Subtransient and Transient Inductances and Time Constants 131
4.15 Simplified Models of the Synchronous Machine 136
4.16 Parameter Determination for Generator Dynamic Models 155
Chapter 5 The Simulation of Synchronous Machines 165
5.1 Introduction 165
5.2 Steady-State Equations and Phasor Diagrams 165
5.3 Machine Connected to an Infinite Bus Through a Transmission Line 168
5.4 Machine Connected to an Infinite Bus with Local Load at Machine Terminal 169
5.5 Determining Steady-State Conditions 172
5.6 Examples 174
5.7 Initial Conditions for a Multimachine System 182
5.8 Determination of Machine Parameters from Manufacturers' Data 183
5.9 Digital Simulation of Synchronous Machines 188
Chapter 6 Load Modeling 199
6.1 Introduction 199
6.2 Static Load Models 200
6.3 Induction Motor Loads 203
6.4 Single-Phase Motors 216
6.5 Power Electronic Loads 221
6.6 Self-Restoring Loads 224
6.7 Distributed Energy Resources 225
6.8 Composite Load Models 227
6.9 Data Development 229
Chapter 7 Simulation of Multimachine Systems 239
7.1 Introduction 239
7.2 Statement of the Problem 239
7.3 Matrix Representation of a Passive Network 240
7.4 Converting Machine Coordinates to System Reference 244
7.5 Relation Between Machine Currents and Voltages 245
7.6 System Order 249
7.7 Machines Represented by Classical Methods 249
7.8 Linearized Model for the Network 252
7.9 Hybrid Formulation 258
7.10 Network Equations with Flux Linkage Model 260
7.11 Total System Equations 262
7.12 Alternating Solution Method 264
7.13 Simultaneous Solution Method 275
7.14 Design of Numerical Solvers 277
Chapter 8 Small-Signal Stability Analysis 281
8.1 Introduction 281
8.2 Fundamentals of Linear System Stability 282
8.3 Linearization of the Generator State-Space Current Model 284
8.4 Linearization of the Load Equation for the One-Machine Problem 288
8.5 Linearization of the Flux Linkage Model 293
8.6 State Matrix for Multimachine Systems 298
8.7 Simplified Linear Model 312
8.8 Block Diagrams 321
8.9 State-Space Representation of Simplified Model 322
Chapter 9 Excitation Systems 325
9.1 Simplified View of Excitation Control 325
9.2 Control Configurations 327
9.3 Typical Excitation Configurations 328
9.4 Excitation Control System Definitions 337
9.5 Voltage Regulator 344
9.6 Exciter Buildup 348
9.7 Limiting and Protection for Excitation Control Systems 361
9.8 Excitation System Response 365
9.9 State-Space Description of the Excitation System 379
9.10 Computer Representation of Excitation Systems 389
9.11 Typical System Constants 400
9.12 The Effect of Excitation on Generator Performance 400
Chapter 10 The Effect of Excitation on Stability 409
10.1 Introduction 409
10.2 Effect of Excitation on Generator Power Limits 411
10.3 Effect of the Excitation System on Transient Stability 415
10.4 Effect of Excitation on Small-Signal Stability 421
10.5 Root-Locus Analysis of a Regulated Machine Connected to an Infinite Bus 426
10.6 Approximate System Representation 432
10.7 Supplementary Stabilizing Signals 439
10.8 Linear Analysis of the Stabilized Generator 446
10.9 PSS Tuning in Multimachine Power Systems 448
10.10 Alternate Types of PSS 449
10.11 Digital Computer Transient Stability Studies 450
10.12 Some General Comments on the Effect of Excitation on Stability 459
Chapter 11 Dynamic Modeling and Representation of Renewable Energy Resources 463
11.1 Wind Turbine Generators 463
11.2 Photovoltaic Solar Plant Modeling 480
Chapter 12 Voltage Stability 487
12.1 Modeling Requirements for Voltage Instability Analysis 487
12.2 Voltage Instability Analysis Using Time Domain Simulation 489
12.3 Dynamic VAr Planning and Optimization 493
Chapter 13 Dynamic Performance and Modeling of Flexible AC Transmission System(Facts) Components 503
13.1 Introduction 503
13.2 Static VAr System 503
13.3 Thyristor-Controlled Series Compensation 511
13.4 Static Synchronous Compensator 517
13.5 High Voltage DC Transmission 519
Chapter 14 Power System Protection and Monitoring Associated With Power System Stability 525
14.1 Introduction 525
14.2 Power System Protection Functions Associated with Transient Stability Analysis 527
14.3 Special Protection Schemes 535
14.4 Synchrophasor-Based Monitoring of Power System Stability 537
Part III Mechanical Dynamic Performance
Chapter 15 Speed Governing 545
15.1 The Flyball Governor 546
15.2 The Isochronous Governor 551
15.3 Incremental Equations of the Turbine 553
15.4 The Speed Droop Governor 556
15.5 The Floating Lever Speed Droop Governor 561
15.6 The Compensated Governor 564
15.7 Electronic Governors 570
15.8 Governor Models for Transient Stability Simulations 571
Chapter 16 Steam Turbine Prime Movers 577
16.1 Introduction 577
16.2 Power Plant Control Modes 579
16.3 Thermal Generation 581
16.4 A Steam Power Plant Model 582
16.5 Steam Turbines 583
16.6 Steam Turbine Control Operations 590
16.7 Steam Turbine Control Functions 592
16.8 Steam Generator Control 604
16.9 Fossil-Fueled Boilers 605
16.10 Nuclear Steam Supply Systems 620
Chapter 17 Hydraulic Turbine Prime Movers 627
17.1 Introduction 627
17.2 The Impulse Turbine 627
17.3 The Reaction Turbine 629
17.4 Propeller-Type Turbines 631
17.5 The Deriaz Turbine 632
17.6 Conduits, Surge Tanks, and Penstocks 633
17.7 Hydraulic System Equations 639
17.8 Hydraulic System Transfer Function 644
17.9 Simplifying Assumptions 647
17.10 Block Diagram for a Hydro System 649
17.11 Pumped-Storage Hydro Systems 650
17.12 Representation of Hydro Turbines and Governors in Stability Studies 651
Chapter 18 Combustion Turbine and Combined-Cycle Power Plants 655
18.1 Introduction 655
18.2 The Combustion Turbine Prime Mover 655
18.3 The Combined-Cycle Prime Mover 663
Appendix A 673
Appendix B 675
Appendix C 685
Appendix D 695
Appendix E 727
Appendix F 737
Appendix G 759
Appendix H 767
Appendix I 775
Appendix J 783
Index 793
