Power System Stability and Control 3rd Edition by Leonard Grigsby 1351832656 9781351832656

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ISBN 10: 1351832656 

ISBN 13: 9781351832656

Author: Leonard L. Grigsby 

With contributions from worldwide leaders in the field, Power System Stability and Control, Third Edition (part of the five-volume set, The Electric Power Engineering Handbook) updates coverage of recent developments and rapid technological growth in essential aspects of power systems. Edited by L.L. Grigsby, a respected and accomplished authority in power engineering, and section editors Miroslav Begovic, Prabha Kundur, and Bruce Wollenberg, this reference presents substantially new and revised content. Topics covered include: Power System Protection Power System Dynamics and Stability Power System Operation and Control This book provides a simplified overview of advances in international standards, practices, and technologies, such as small signal stability and power system oscillations, power system stability controls, and dynamic modeling of power systems. This resource will help readers achieve safe, economical, high-quality power delivery in a dynamic and demanding environment. With five new and 10 fully revised chapters, the book supplies a high level of detail and, more importantly, a tutorial style of writing and use of photographs and graphics to help the reader understand the material. 

Power System Stability and Control 3rd Table of contents: 

Part I Power System Protection
1 Transformer Protection
1.1 Types of Transformer Faults
1.2 Types of Transformer Protection
1.2.1 Electrical
1.2.1.1 Fuse
1.2.1.2 Overcurrent Protection
1.2.1.3 Differential
1.2.1.4 Overexcitation
1.2.2 Mechanical
1.2.2.1 Accumulated Gases
1.2.2.2 Pressure Relays
1.2.3 Thermal
1.2.3.1 Hot-Spot Temperature
1.2.3.2 Heating due to Overexcitation
1.2.3.3 Heating due to Current Harmonic Content (ANSI/IEEE, 1993)
1.2.3.4 Heating due to Solar-Induced Currents
1.2.3.5 Load Tap-Changer Overheating
1.3 Special Considerations
1.3.1 Current Transformers
1.3.1.1 CT Current Mismatch
1.3.1.2 CT Saturation
1.3.2 Magnetizing Inrush (Initial, Recovery, and Sympathetic)
1.3.2.1 Initial
1.3.2.2 Recovery Inrush
1.3.2.3 Sympathetic Inrush
1.3.3 Primary–Secondary Phase Shift
1.3.4 Turn-to-Turn Faults
1.3.5 Through Faults
1.3.6 Backup Protection
1.4 Special Applications
1.4.1 Shunt Reactors
1.4.2 Zigzag Transformers
1.4.3 Phase Angle Regulators and Voltage Regulators
1.4.4 Unit Systems
1.4.5 Single-Phase Transformers
1.4.6 Sustained Voltage Unbalance
1.5 Restoration
1.5.1 History
1.5.2 Oscillographs, Event Recorders, and Gas Monitors
1.5.3 Date of Manufacture
1.5.4 Magnetizing Inrush
1.5.5 Relay Operations
References
2 The Protection of Synchronous Generators
2.1 Review of Functions
2.2 Differential Protection for Stator Faults (87G)
2.3 Protection against Stator Winding Ground Fault
2.4 Field Ground Protection
2.5 Loss-of-Excitation Protection (40)
2.6 Current Imbalance (46)
2.7 Anti-Motoring Protection (32)
2.8 Overexcitation Protection (24)
2.9 Overvoltage (59)
2.10 Voltage Imbalance Protection (60)
2.11 System Backup Protection (51V and 21)
2.12 Out-of-Step Protection
2.13 Abnormal Frequency Operation of Turbine-Generator
2.14 Protection against Accidental Energization
2.15 Generator Breaker Failure
2.16 Generator Tripping Principles
2.17 Impact of Generator Digital Multifunction Relays
2.17.1 Improvements in Signal Processing
2.17.2 Improvements in Protective Functions
References
3 Transmission Line Protection
3.1 Nature of Relaying
3.1.1 Reliability
3.1.2 Zones of Protection
3.1.3 Relay Speed
3.1.4 Primary and Backup Protection
3.1.5 Reclosing
3.1.6 System Configuration
3.2 Current Actuated Relays
3.2.1 Fuses
3.2.2 Inverse Time-Delay Overcurrent Relays
3.2.3 Instantaneous Overcurrent Relays
3.2.4 Directional Overcurrent Relays
3.3 Distance Relays
3.3.1 Impedance Relay
3.3.2 Admittance Relay
3.3.3 Reactance Relay
3.4 Pilot Protection
3.4.1 Directional Comparison
3.4.2 Transfer Tripping
3.4.3 Phase Comparison
3.4.4 Pilot Wire
3.4.5 Current Differential
3.5 Relay Designs
3.5.1 Electromechanical Relays
3.5.2 Solid-State Relays
3.5.3 Computer Relays
Reference
4 System Protection
4.1 Introduction
4.2 Disturbances: Causes and Remedial Measures [7]4.3 Transient Stability and Out-of-Step Protection
4.4 Overload and Underfrequency Load Shedding
4.5 Voltage Stability and Undervoltage Load Shedding
4.6 Special Protection Schemes
4.7 Modern Perspective: Technology Infrastructure
4.7.1 Phasor Measurement Technology [7]4.7.2 Communication Technology [7]4.8 Future Improvements in Control and Protection
Acknowledgments
References
5 Digital Relaying
5.1 Sampling
5.2 Antialiasing Filters
5.3 Sigma-Delta A/D Converters
5.4 Phasors from Samples
5.5 Symmetrical Components
5.6 Algorithms
5.6.1 Parameter Estimation
5.6.2 Least Squares Fitting
5.6.3 DFT
5.6.4 Differential Equations
5.6.4.1 Line Protection Algorithms
5.6.4.2 Transformer Protection Algorithms
5.6.5 Kalman Filters
5.6.6 Wavelet Transforms
5.6.7 Neural Networks
References
6 Use of Oscillograph Records to Analyze System Performance
7 Systems Aspects of Large Blackouts
References
Part II Power System Dynamics and Stability
8 Power System Stability
8.1 Basic Concepts
8.2 Classification of Power System Stability
8.2.1 Need for Classification
8.2.2 Rotor Angle Stability
8.2.3 Voltage Stability
8.2.4 Frequency Stability
8.2.5 Comments on Classification
8.3 Historical Review of Stability Problems
8.4 Consideration of Stability in Power System Design and Operation
Acknowledgments
References
9 Transient Stability
9.1 Introduction
9.2 Basic Theory of Transient Stability
9.2.1 Swing Equation
9.2.2 Power–Angle Relationship
9.2.3 Equal Area Criterion
9.3 Methods of Analysis of Transient Stability
9.3.1 Modeling
9.3.2 Analytical Methods
9.3.3 Simulation Studies
9.3.3.1 Input Data
9.3.3.2 Output Data
9.4 Factors Influencing Transient Stability
9.5 Transient Stability Considerations in System Design
9.6 Transient Stability Considerations in System Operation
References
10 Small-Signal Stability and Power System Oscillations
10.1 Nature of Power System Oscillations
10.1.1 Historical Perspective
10.1.2 Power System Oscillations Classified by Interaction Characteristics
10.1.3 Summary on the Nature of Power System Oscillations
10.2 Criteria for Damping
10.3 Study Procedure
10.3.1 Study Objectives
10.3.2 Performance Requirements
10.3.3 Modeling Requirements
10.3.4 System Condition Setup
10.3.5 Analysis and Verification
10.4 Mitigation of Power System Oscillations
10.4.1 Siting
10.4.2 Control Objectives
10.4.3 Closed-Loop Control Design
10.4.4 Input-Signal Selection
10.4.5 Input-Signal Filtering
10.4.6 Control Algorithm
10.4.7 Gain Selection
10.4.8 Control Output Limits
10.4.9 Performance Evaluation
10.4.10 Adverse Side Effects
10.4.11 Power System Stabilizer Tuning Example
10.5 Higher-Order Terms for Small-Signal Analysis
10.6 Modal Identification
10.7 Summary
References
11 Voltage Stability
11.1 Basic Concepts
11.1.1 Generator-Load Example
11.1.2 Load Modeling
11.1.3 Effect of Load Dynamics on Voltage Stability
11.1.3.1 Large-Disturbance Voltage Stability
11.1.3.2 Small-Signal Voltage Stability
11.2 Analytical Framework
11.2.1 Power Flow Analysis
11.2.2 Continuation Methods
11.2.3 Optimization or Direct Methods
11.2.4 Timescale Decomposition
11.3 Mitigation of Voltage Stability Problems
References
12 Direct Stability Methods
12.1 Review of Literature on Direct Methods
12.2 The Power System Model
12.2.1 Review of Stability Theory
12.3 The Transient Energy Function
12.4 Transient Stability Assessment
12.5 Determination of the Controlling UEP
12.6 The Boundary Controlling UEP Method
12.7 Applications of the TEF Method and Modeling Enhancements
References
13 Power System Stability Controls
13.1 Review of Power System Synchronous Stability Basics
13.2 Concepts of Power System Stability Controls
13.2.1 Feedback Controls
13.2.2 Feedforward Controls
13.2.3 Synchronizing and Damping Torques
13.2.4 Effectiveness and Robustness
13.2.5 Actuators
13.2.6 Reliability Criteria
13.3 Types of Power System Stability Controls and Possibilities for Advanced Control
13.3.1 Excitation Control
13.3.2 Prime Mover Control Including Fast Valving
13.3.3 Generator Tripping
13.3.4 Fast Fault Clearing, High-Speed Reclosing, and Single-Pole Switching
13.3.5 Dynamic Braking
13.3.6 Load Tripping and Modulation
13.3.7 Reactive Power Compensation Switching or Modulation
13.3.8 Current Injection by Voltage Sourced Inverters
13.3.9 Fast Voltage Phase Angle Control
13.3.10 HVDC Link Supplementary Controls
13.3.11 Adjustable Speed (Doubly Fed) Synchronous Machines
13.3.12 Controlled Separation and Underfrequency Load Shedding
13.4 Dynamic Security Assessment
13.5 “Intelligent” Controls
13.6 Wide-Area Stability Controls
13.7 Effect of Industry Restructuring on Stability Controls
13.8 Experience from Recent Power Failures
13.9 Summary
References
14 Power System Dynamic Modeling
14.1 Modeling Requirements
14.2 Generator Modeling
14.2.1 Rotor Mechanical Model
14.2.2 Generator Electrical Model
14.2.3 Saturation Modeling
14.3 Excitation System Modeling
14.4 Prime Mover Modeling
14.4.1 Wind-Turbine-Generator Systems
14.5 Load Modeling
14.6 Transmission Device Models
14.6.1 Static VAr Systems
14.7 Dynamic Equivalents
References
15 Wide-Area Monitoring and Situational Awareness
15.1 Introduction
15.1.1 Drivers for Wide-Area Monitoring and Situational Awareness
15.1.2 What Is Situation Awareness?
15.1.2.1 Perception
15.1.2.2 Comprehension
15.1.2.3 Projection
15.1.2.4 Decision Making
15.1.2.5 Action
15.1.3 Situation Awareness for Power Grid Operations
15.1.4 Grid Operator Visualization Advancements
15.2 WAMS Infrastructure
15.2.1 Phasor Measurement Unit
15.2.1.1 Phasors and Synchrophasors
15.2.1.2 Generic Phasor Measurement Unit
15.2.1.3 Positive Sequence Measurements
15.2.1.4 Transients and Off-Nominal Frequency Signals
15.2.1.5 IEEE Standards
15.2.2 Phasor Data Concentrator
15.2.3 Phasor Gateway and NASPInet
15.2.4 Emerging Protocols and Standards
15.3 WAMS Monitoring Applications
15.3.1 Angle Monitoring and Alarming
15.3.1.1 Simple Case of a Double Circuit Line
15.3.1.2 Angles between Pair of Buses
15.3.1.3 Angles across Areas
15.3.1.4 Internal and External Area Stress
15.3.2 Small-Signal Stability Monitoring
15.3.2.1 Actual System Examples from the Western North American Power System
15.3.2.1.1 Unstable Oscillation in the U.S. Western Interconnection on August 10, 1996
15.3.2.1.2 “Close Call” in the U.S. Western Interconnection on August 4, 2000
15.3.2.1.3 Forced Inter-Area Power Oscillation on November 29, 2005
15.3.2.1.4 Boundary Power Plant Oscillation on September 29, 2004
15.3.2.1.5 Pacific HVDC Intertie Oscillation on January 26, 2008
15.3.2.2 Response Types
15.3.2.3 Signal-Processing Methods for Estimating Modes
15.3.2.4 Mode Estimation Example
15.3.2.5 Estimating Mode Shape
15.3.3 Voltage Stability Monitoring
15.3.3.1 Description of Voltage Stability
15.3.3.2 Voltage Stability Monitoring and Instability Detection
15.3.4 Transient Stability Monitoring
15.3.4.1 Transient Stability Monitoring via Energy Functions
15.3.4.2 Applications to U.S. Western North American Power System
15.3.5 Improved State Estimation
15.4 WAMS in North America
15.4.1 North American SynchroPhasor Initiative
15.5 WAMS Worldwide
15.5.1 WAMS Applications in Europe
15.5.1.1 Research and Development Projects
15.5.1.2 TSO Applications
15.5.2 WAMS Applications in Brazil
15.6 WAMS Deployment Roadmap
References
16 Assessment of Power System Stability and Dynamic Security Performance
16.1 Definitions and Historical Perspective
16.2 Phenomena of Interest
16.3 Security Criteria
16.4 Modeling
16.4.1 Power System Network
16.4.2 Generators
16.4.3 Loads
16.4.4 Advanced Transmission Technologies
16.4.5 Protective Devices
16.4.6 Model Validation
16.5 Analysis Methods
16.5.1 Power Flow Analysis
16.5.2 P–V Analysis and Continuation Power Flow Methods
16.5.3 Time-Domain Simulations
16.5.4 Eigenvalue Analysis
16.5.5 Direct Methods
16.5.6 Other Methods
16.6 Control and Enhancements
16.7 Off-Line DSA
16.8 Online DSA
16.8.1 Monitor System Security
16.8.2 Determine Stability Limits
16.8.3 Recommend Preventative and Corrective Control Actions
16.8.4 Handling Distributed and Variable Generation
16.8.5 Verify Special Protection Systems
16.8.6 Settle Transactions in Power Market
16.8.7 Determine Active and Reactive Power Reserves
16.8.8 Help in Scheduling Equipment Maintenance
16.8.9 Calibrate and Validate Power System Models
16.8.10 Prepare Models for System Studies
16.8.11 Perform System Restoration
16.8.12 Perform Postmortem Analysis of Incidents
16.9 Status and Summary
References
17 Power System Dynamic Interaction with Turbine Generators
17.1 Introduction
17.2 Subsynchronous Resonance
17.2.1 Known SSR Events
17.2.2 SSR Terms and Definitions
17.2.3 SSR Physical Principles
17.2.3.1 Induction Generator Effect
17.2.3.2 Torsional Interaction
17.2.3.3 Torque Amplification
17.2.4 SSR Mitigation
17.2.4.1 Screening Studies
17.2.4.2 Accurate Studies
17.2.4.3 SSR Interim Protection
17.2.4.4 SSR Tests
17.2.4.5 Countermeasure Requirements
17.2.5 SSR Analysis
17.2.5.1 Frequency Scanning
17.2.5.1.1 Induction Generator Effect
17.2.5.1.2 Torsional Interaction
17.2.5.1.3 Torque Amplification
17.2.5.2 Eigenvalue Analysis
17.2.5.3 Transient Analysis
17.2.5.3.1 EMTP Power System Model
17.2.5.3.2 EMTP Generator Model
17.2.5.3.3 EMTP Turbine-Generator Mechanical Model
17.2.5.3.4 Critical Factors for Torque Amplification
17.2.5.3.5 Computing Fatigue Life Expenditure
17.2.5.4 Data for SSR Analysis
17.2.5.4.1 System Data
17.2.5.4.2 Turbine-Generator Data
17.2.6 SSR Countermeasures
17.2.6.1 Unit-Tripping SSR Countermeasures
17.2.6.2 Nonunit-Tripping SSR Countermeasures
17.2.6.3 Thyristor-Controlled Series Capacitor
17.2.7 Fatigue Damage and Monitoring
17.2.8 SSR Testing
17.2.8.1 Torsional Mode Frequency Tests
17.2.8.2 Modal Damping Tests
17.2.8.3 Countermeasure Tests
17.2.9 Summary
17.3 Device-Dependent Subsynchronous Oscillations
17.3.1 HVDC Converter Controls
17.3.2 Variable Speed Motor Controllers
17.3.3 Power System Stabilizers
17.3.4 Renewable Energy Projects and Other Interactions
17.4 Supersynchronous Resonance
17.4.1 Known SPSR Events
17.4.2 SPSR Physical Principles
17.4.3 SPSR Countermeasures
17.5 Device-Dependent Supersynchronous Oscillations
17.5.1 Known DDSPSO Events
17.5.2 DDSPSO Physical Principles
17.5.3 DDSPSO Countermeasure
17.6 Transient Shaft Torque Oscillations
References
18 Wind Power Integration in Power Systems
18.1 Introduction
18.2 Background
18.3 Structure of Wind Turbine Generator Units
18.3.1 Fixed-Speed WTG
18.3.2 Variable-Speed WTG
18.3.2.1 Type 2: Limited Variable-Speed WTG
18.3.2.2 Type 3: Variable-Speed WTG Unit (Partially Rated Converter System)
18.3.2.3 Type 4: Variable-Speed WTG Unit (Fully Rated Converter System)
18.3.3 Control of Type-3 and Type-4 WTG Units
18.3.3.1 Control of Type-3 WTG System
18.3.3.2 Control of Type-4 WTG System
18.4 Wind Power Plant Systems
18.4.1 Onshore WPPs
18.4.2 Offshore WPPs
18.4.2.1 AC Collector System with HVAC Transmission
18.4.2.2 AC Collector System with LCC-HVDC Transmission
18.4.2.3 AC Collector System with VSC-HVDC Transmission
18.4.2.4 DC Collector System and DC Transmission
18.5 Models and Control for WPPs
18.5.1 WPP Models
18.5.2 WPP Control
18.5.2.1 WPP-Level Real-Power Control
18.5.2.2 WPP-Level Reactive-Power Control
18.5.2.3 WPP Frequency Control
References
19 Flexible AC Transmission Systems (FACTS)
19.1 Introduction
19.2 Concepts of FACTS
19.3 Reactive Power Compensation in Transmission Lines
19.4 Static var Compensator
19.4.1 Operating Principle
19.4.2 Voltage Control by SVC
19.4.3 SVC Applications
19.4.3.1 Increasing Power Transmission Capacity in a Line
19.4.3.2 Improvement of System Transient Stability Limit
19.4.3.3 Enhancement of System Damping
19.4.3.3.1 Choice of Auxiliary Signals for Damping Control
19.4.3.3.2 Case Study
19.4.3.4 Mitigation of Subsynchronous Resonance
19.4.3.5 Alleviation of Voltage Instability
19.4.3.6 Improvement of HVDC Converter Terminal Performance
19.4.3.7 Grid Integration of Wind Power Generation Systems
19.5 Thyristor-Controlled Series Compensation
19.5.1 Operating Principle
19.5.2 TCSC Applications
19.5.2.1 Improvement of System Power Transfer Capacity
19.5.2.2 Enhancement of System Damping
19.5.2.3 Mitigation of Subsynchronous Resonance
19.5.2.4 Prevention of Voltage Instability
19.6 Static Synchronous Compensator
19.6.1 Operating Principle
19.6.2 STATCOM Applications
19.7 Static Series Synchronous Compensator
19.7.1 Operating Principle
19.7.2 SSSC Applications
19.7.2.1 Power Flow Control
19.7.2.2 Damping of Power Oscillations
19.7.2.3 Mitigation of SSR
19.7.2.4 Alleviation of Voltage Instability
19.8 Unified Power Flow Controller
19.8.1 Operating Principle
19.8.2 UPFC Applications
19.9 FACTS Controllers with Energy Storage
19.9.1 Superconducting Magnetic Energy Storage
19.9.2 Battery Energy Storage System
19.10 Coordinated Control of FACTS Controllers
19.10.1 Coordination between Multiple FACTS Controllers
19.10.2 Coordination with Conventional Equipment for Long-Term Voltage-var Management
19.10.2.1 Coordination Concepts
19.10.2.2 Example Installation
19.10.2.2.1 Description of a STATCOM System
19.10.2.2.2 Fast Voltage Control
19.10.2.2.3 Reserve Capacity Control
19.10.2.2.4 Capacitor Bank Selection
19.10.2.3 Other Installations
19.11 FACTS Installations to Improve Power System Dynamic Performance
19.12 Conclusions
References
III Power System Operation and Control
20 Energy Management
20.1 Power System Data Acquisition and Control
20.2 Automatic Generation Control
20.2.1 Load Frequency Control
20.2.2 Economic Dispatch
20.2.3 Reserve Monitoring
20.2.4 Interchange Transaction Scheduling
20.3 Load Management
20.4 Energy Management
20.5 Security Control
20.6 Operator Training Simulator
20.6.1 Energy Control System
20.6.2 Power System Dynamic Simulation
20.6.3 Instructional System
20.7 Trends in Energy Management
References
Further Information
21 Generation Control: Economic Dispatch and Unit Commitment
21.1 Economic Dispatch
21.1.1 Economic Dispatch Defined
21.1.2 Factors to Consider in the EDC
21.1.2.1 The Cost of Generation
21.1.2.2 The Price
21.1.2.3 The Quantity Supplied
21.1.3 EDC and System Limitations
21.1.4 The Objective of EDC
21.1.5 The Traditional EDC Mathematical Formulation
21.1.6 EDC Solution Techniques
21.1.7 An Example of Cost-Minimizing EDC
21.1.8 EDC and Auctions
21.2 The Unit Commitment Problem
21.2.1 Unit Commitment Defined
21.2.2 Factors to Consider in Solving the UC Problem
21.2.2.1 The Objective of Unit Commitment
21.2.2.2 The Quantity to Supply
21.2.2.3 Compensating the Electricity Supplier
21.2.2.4 The Source of Electric Energy
21.2.3 Mathematical Formulation for UC
21.2.4 The Importance of EDC to the UC Solution
21.2.5 Solution Methods
21.2.6 A Genetic-Based UC Algorithm
21.2.6.1 The Basics of Genetic Algorithms
21.2.6.2 GA for Price-Based UC
21.2.6.3 Price-Based UC-GA Results
21.2.7 Unit Commitment and Auctions
21.3 Summary of Economical Generation Operation
References
22 State Estimation
22.1 State Estimation Problem
22.1.1 Underlying Assumptions
22.1.2 Measurement Representations
22.1.3 Solution Methods
22.1.3.1 Weighted Least Squares
22.1.3.2 Linear Programming
22.2 State Estimation Operation
22.2.1 Network Topology Assessment
22.2.2 Error Identification
22.2.2.1 Telemetered Data
22.2.2.2 Parameter Data
22.2.2.3 Topology Data
22.2.3 Unobservability
22.3 Example State Estimation Problem
22.3.1 System Description
22.3.2 WLS State Estimation Process
22.4 Defining Terms
References
23 Optimal Power Flow
23.1 Conventional Optimal Economic Scheduling
23.2 Conventional OPF Formulation
23.2.1 Application of Optimization Methods to OPF
23.2.1.1 Generalized Reduced Gradient Method
23.2.1.2 Reduced Gradient Method
23.2.1.3 Conjugate Gradient Method
23.2.1.4 Hessian-Based Methods
23.2.1.5 Newton OPF
23.2.1.6 Linear Programming-Based Methods
23.2.1.7 Quadratic Programming Methods
23.2.1.8 Interior Point Methods
23.3 OPF Incorporating Load Models
23.3.1 Load Modeling
23.3.2 Static Load Models
23.3.3 Conventional OPF Studies Including Load Models
23.3.4 Security Constrained OPF Including Load Models
23.3.5 Inaccuracies of Standard OPF Solutions
23.4 SCOPF Including Load Modeling
23.4.1 Influence of Fixed Tap Transformer Fed Loads
23.5 Operational Requirements for Online Implementation
23.5.1 Speed Requirements
23.5.2 Robustness of OPF Solutions with Respect to Initial Guess Point
23.5.3 Discrete Modeling
23.5.4 Detecting and Handling Infeasibility
23.5.5 Consistency of OPF Solutions with Other Online Functions
23.5.6 Ineffective “Optimal” Rescheduling
23.5.7 OPF-Based Transmission Service Pricing
23.6 Conclusions
References
24 Security Analysis
24.1 Definition
24.2 Time Frames for Security-Related Decision
24.3 Models
24.4 Determinist vs. Probabilistic
24.4.1 Security under Deregulation

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