Power System Stability

Power system stability is defined as the property of a power system that

enables it to remain in a state of operating equilibrium under normal
operating conditions and to regain an acceptable state of equilibrium after
being subjected to a disturbance.

Disturbances can be small or large.

1 Small Disturbances

Incremental changes in load

Incremental changes in generation
2 Large Disturbances
Loss of a large generator or load
Faults on transmission lines

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Classification of Power System Stability

1 Rotor Angle Stability

Ability to maintain synchronism after being subjected to a disturbance.
Torque balance of synchronous machines.
2 Voltage Stability
Ability to maintain steady acceptable voltage at all buses after being
subjected to a disturbance.
Reactive power balance.

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Rotor Angle Stability

Rotor angle stability is the ability of interconnected synchronous machines

of a power system to remain in synchronism after being subjected to a
disturbance.
1 Small disturbance (small signal) stability
Ability to maintain synchronism under small disturbances.
Since disturbances are small, nonlinear differential equations can be
linearized.
It is easy to solve.
2 Large disturbance (Transient) stability
Ability to maintain synchronism under large disturbances.
Since disturbances are large, nonlinear differential equations can not be
linearized.
It has to be solved numerically. It is difficult..
However, we can use a graphical approach called Equal Area Criterion
for analyzing the stability of a single machine connected to an infinite
bus using the classical model.
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Power-Angle Relationship:
Consider a single machine infinite bus (SMIB) system:

E δ V∞ = 1∠0◦

X
I −φ +
E δ V 0◦
−
Figure: Per phase equivalent circuit

Where X = Xg + XTr + XTL in p.u.

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 E
IX
δ
φ V∞
I
Figure: Phasor diagram

To find the real power output of the machine:

E δ − V 0◦
I =
X
SS = EI ∗
E −δ − V 0◦
 
SS = E δ
−X
E 2 90◦ EV 90◦ + δ
SS = −
X X
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 EV sin δ
PS =
X
E 2 EV cos δ
QS = −
X X
Since the system is lossless, the real power delivered at the infinite bus is
also the same.
EV sin δ
PR = PS = = Pe
X

Pe = Pmax sin δ
EV
where Pmax = .
X

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 P

Pmax

Pm

δ0 δmax δ
Figure: Power angle curve

For a given mechanical power (Pm ), there are two operating angles.
Pm
δ0 = sin−1 ( )
Pmax
δmax = π − δ0

δ0 is a stable equilibrium point.

δmax is an unstable equilibrium point.
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Stability Phenomena
Stability is a condition of equilibrium between opposing forces.
Under steady-state conditions, there is equilibrium between the input
mechanical torque and the output electrical torque and the speed
remains constant.
If there is perturbation, the equilibrium will be upset.

The change in electrical torque of a synchronous machine following a

perturbation can be resolved as follows:

∆Te = TS ∆δ + TD ∆ω

where TS ∆δ is the synchronizing torque component and TS is the

synchronizing torque coefficient.
TD ∆ω is the damping torque component and TD is the damping torque
coefficient.

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1 Small Signal (small-disturbance) Stability
Instability can be due to
1 steady increase in rotor angle due to lack of sufficient synchronizing
torque.
2 rotor oscillations of increasing amplitude due to lack of sufficient
damping torque.
In today’s practical power systems, small-signal stability is problem of
insufficient damping of oscillations.

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 Figure: Nature of small disturbance response - Constant field voltage

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 Figure: Nature of small disturbance response - Excitation control

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The stability of the following types of oscillations is of concern:
Local modes - Swinging of units at a generating system with respect to
the rest of the system.
Inter area modes - Swinging of many machines in one part of the
system against machines in other parts. They are caused by weak tie
lines.
Control modes - They are associated with generating units and
controls. Poorly tuned exciters, speed governors, HVDC converters and
static var compensators are the reasons for theses modes.
Torsional modes - They are associated with the turbine-generator shaft
system rotational components. These modes may be caused by
interaction with excitation controls, speed governors, HVDC controls
and series-capacitor compensated lines.

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2 Transient Stability

Figure: Rotor angle response to a transient disturbance

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1 Case 1 - It is a stable case.
2 Case 2 - It is an unstable case. This form is called as “first-swing”
instability which is caused by insufficient synchronizing torque.
3 Case 3 - It is also unstable case. This form occurs when the post fault
steady state condition is small-signal unstable.
In large power systems, transient stability may not occur as first-swing
instability.
In transient stability studies, the study period is usually limited to 3 to
5 seconds after the disturbance.

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Voltage Stability

Voltage stability is the ability of a power system to maintain steady

acceptable voltages at all buses in the system under normal operating
conditions and after being subjected to a disturbance.

A system is voltage stable if V − Q sensitivity is positive for every bus.

A system is voltage unstable if V − Q sensitivity is negative for at
least one bus.

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 ZL θ VR
I

+
VS ZD φ
−

VS
I =
ZL θ + ZD φ
The magnitude of the current is given by

VS
I =p
(ZL cos θ + ZD cos φ)2 + (ZL sin θ + ZD sin φ)2

The magnitude of VR is
VR = IZD
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 VS
VR = p ZD
(ZL cos θ + ZD cos φ)2 + (ZL sin θ + ZD sin φ)2
The real power supplied to the load is

PR = VR I cos φ

VS I
PR = ZD cos φ
(ZL cos θ + ZD cos φ)2+ (ZL sin θ + ZD sin φ)2

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Let us normalize them.
I
Inorm =
ISC
where
VS
ISC =
ZL
VS ZL
Inorm = p ×
(ZL cos θ + ZD cos φ)2 + (ZL sin θ + ZD sin φ)2 VS
ZL /ZD
Inorm = r
ZL ZL
( cos θ + cos φ)2 + ( sin θ + sin φ)2
ZD ZD
VR
VR,norm =
VS
VS
VR,norm = p ZD
VS (ZL cos θ + ZD cos φ)2 + (ZL sin θ + ZD sin φ)2
VR,norm = r
ZL ZL
( cos θ + cos φ)2 + ( sin θ + sin φ)2
ZD ZD
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 ZL /ZD
PR,norm = cos φ
ZL ZL
( cos θ + cos φ)2 + ( sin θ + sin φ)2
ZD ZD

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 PR , VR , I
I

PR

VR

ZL
ZD

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 VR

PR
Figure: Power-voltage characteristics

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Voltage Stability - Classification
1 Large-disturbance voltage stability
It is concerned with a system’s ability to control voltages following
large disturbances.
It requires a dynamic analysis.
The study period may extend from a few seconds to tens of minutes.
It is a long-term study.

A criterion for large-disturbance voltage stability is that following a given

disturbance and following system control actions, voltages at all buses reach
acceptable steady state levels.
2 Small-disturbance voltage stability
It is concerned with a system’s ability to control voltages following
small perturbations.
It requires a steady state analysis.

A system is voltage stable if V − Q sensitivity is positive for every bus and

unstable if V − Q sensitivity is negative for at least one bus.

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Power System Stability - A Complete Picture

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