ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

EXP NO: 1 DATE:

SMALL–SIGNAL STABILITY ANALYSIS OF SINGLE-MACHINE-
INFINITE BUS(SMIB) SYSTEM
AIM:
To write a MATLAB program for analyzing the small-signal stability of a single-machine-
infinite bus system, assuming classical model of the generator (constant voltage behind transient
reactance)

THEORY:

Power system stability may be broadly defined as that 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
Power system stability may be broadly classified as (i) rotor angle stability and (ii) voltage
stability. Rotor angle stability is the ability of interconnected synchronous machines of a power
system to remain in synchronism.
Rotor angle stability can be further classified in to Transient stability and small signal
stability depending on the type of disturbance. Transient stability is the rotor angle stability study
of a system following large disturbances.
Small signal (or small disturbance) stability is the ability of the power system to maintain
synchronism under small disturbances. The disturbances are considered sufficiently small for
linearization of system equations to be permissible for purpose of analysis. Instability that may
result can be of two forms.
I. Steady increase in rotor angle due to lack of sufficient synchronizing torque.
II. Rotor oscillations of increasing amplitude due to lack of sufficient damping torque.
There are four modes of oscillations causing small signal instability in a power system. They are:
 Local Modes or Machine System Modes are associated with the swinging of units at a
generating station with respect to the rest of the power system. The frequency range of
oscillation is (0.8 to 2) Hz.

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

 Inter area Modes are associated with the swinging of many machines in one part of the
system against machines in other parts. The frequency range for inter area modes is (0.2 to
0.8) Hz.
 Control Modes are associated with generating units and other controls.
 Torsional Modes are associated with the turbine-generator shaft system rotational
components.
Numerical Example :
The test system considered for small signal stability analysis is the single machine infinite
bus system from kundur (1994).

Fig.1. Single line diagram of SMIB system

Figure shows the system representation applicable to thermal generating station consist of
four 555MVA,24kV, 60Hz units.
The network reactances shown in the figure are in per unit on 2220MVA,24kV base
(referred to the LT side of the step-up transformer).Resistances are assumed to be
negligible.
The post fault system condition in per unit on the 2220MVA,24kV base is as
follows
P=0.9 Q=0.3(over excited) Et=1.0 36° EB=0.995∟0°
The generators are to be modeled as a single euivalenct generator represedted by the
classical model with the following parameters expressed in per unit of 2220 MVA 24kV
base
Xd=0.3 H=3.5MW-s/MVA

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
(a) Write the linerarzed state equation of the system. Determine the eigen values, damped
frequency of oscillation in Hz, damping ratio and un damped natural frequency for each
of the following values of damping coefficient ( in pu torque/pu speed)
(i) KD=0 (ii) KD= -10.0 (iii) KD=10.0
(b) For the case with KD=-10.0 find the lift and right eigen vectors and participation matrix.
Determine the time response if at t=0 Δδ =5° and Δɷ=0

Generator Represented by Classical Model:

With the generator represented by the classical model and all resistances neglected the system
representation is as shown Fig.2.

 

Fig.2. Generator represented by classical model connected to the infinite bus

E ' is the voltage behind X 'd . Let δ be the angle by which E ' leads the infinite bus voltage E B .

With E ' as reference phasor,

% E '  E B  
It  (1)
jX T

% E '  E B  cos   jsin  

It  (2)
jX T

The complex power behind X 'd is given by S'  P  jQ '  E%%

' *
It (3)

E ' E B sin   jE '  E '  E B cos  

 (4)
XT
With stator resistance neglected, the air gap power (Pe) is equal to the terminal power (P). In per
unit, the air gap torque is equal to the air gap power.
Hence
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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

E ' E B sin 
Te  P  (5)
XT

Linearizing about an initial operating condition represented by   0 yields

Te E ' E B sin 

Te    (6)
 XT
The equations of motion (from chapter 3 of Kundur) in per unit are
1
pr   Tm  Te  K D r 
2H
p  0 r (7)

Where r is the per unit speed deviation,  is the rotor angle in electrical radians, 0 is the base

rotor electrical speed in rad/sec, and p is differential operator with time t in seconds.

Linearizing the above equations and substituting for Te  K s  we get,

1
pr   Tm  Te  K D r 
2H
p  0 r (8)

K D K s 
&r  
  
 1 
 r  
 &   2H 2H   2H  Tm (9)
       
 0 0   0 
& Ax  Bu
This is of the form X (10)

The block diagram of the SMIB system for small signal analysis is shown in Fig.3.

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

Fig.3. Block diagram of the SMIB system with classical generator model


The natural frequency of oscillation of the swing modes is given by n  K s rad/s
2H
& the damping ratio of the electro mechanical modes (swing modes) is
 1  KD 1 KD
   
 2  2Hn  2  k s 2H0

K s = synchronizing torque coefficient in p.u torque/ rad and K D damping torque coefficient in
p.u of torque/p.u of speed deviation, H=inertia constant on MW-sec/MVA.

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

FLOW CHART:

START

Read the load flow data

P, Q, H, E B ,freq, E ' , K D , gen dynamic
data

Calculate initial conditions

%
It  conj  P  jQ  / E t
E '  E  jX ' * %
t dI t

K s  abs  E  * abs  E B  * cos 0 / abs(X T )

'

Linearize the system differential equations

Compute the matrix A
A = [  K D / 2H  K S / 2H ; 0 0 ]

Compute the Eigen values, Eigen vectors (left &

right), participation matrix, undamped natural
frequency, damping ratio, plots (delta vs. time &
freq vs. time)

STOP

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
Program:

clc;
p=0.9;
q=0.3;
et=1.0;
anget=0.628;
eb=0.995;
angeb=0;
xd=.3*i;
f=60;
xtr=.15*i;
x1=.5*i;
x2=.93*i;
h=input('enter the value of inertia');
fault=input('enter the line no:');
if fault==1
xt=xd+xtr+x2;
else
xt=xd+xtr+x1;
end
it=conj((p+q*i)/et);
edas=et+(xd*it);
angedas=angle(edas);
delta=anget+angeb+angedas;
ks=(edas*eb*cos(delta))/xt;
kd=input('enter the value of kd');
A=[-kd/(2*h) -abs(ks)/(2*h); (2*pi*f) 0]
lambda=eig(A)
[v d]=eig(A)
l=inv(v)
p=abs(v.*1)
s2=det(A);
wn=sqrt(s2);
f=sqrt(s2)/(2*pi)
s1=-(-kd/(2*h))+0;
zita=s1/(2*wn)
wd=wn*(sqrt(1-(zita*zita)));
wdh=wd/(2*pi)
%for plots using zero input response
th=acos(zita);
t=0:01:3;
dd=anget/sqrt(1-zita^2)*exp(-zita*wn*t).*sin(wd*t+th);
d=(delta+dd)*180/pi;
%relatie to synchronouly revolving feild
dw=-wn*anget/sqrt(1-zita^2)*exp(-zita*wn*t).*sin(wd*t);
ff=f+dw;
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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
subplot(2,1,1),plot(t,d),grid
xlabel('t sec'),ylabel('delta degree')
subplot(2,1,2),plot(t,ff),grid
xlabel('t sec'),ylabel('rotor speed')

Output:
CASE-1: After the clearance of fault on line-1

INERTIA EIGEN DAMPING

CONSTANT,H KD VALUES n (rad/sec) RATIO n (Hertz)

0 0 + 4.3028i 4.3028 0.6848

0
0 - 4.3028i
10 -0.7143 + 4.2431i 4.3028 -0.1660 0.6848
3.5 -0.7143 - 4.2431i

-10 0.7143 + 4.2431i 4.3028 0.1660 0.6848

0.7143 - 4.2431i
0 0 + 3.0425i 0 0.4842
3.0425
0 - 3.0425i
7.0 -0.3571 + 3.0215i
10 3.0425 -0.1174 0.4842
-0.3571 - 3.0215i
-10 0.3571 + 3.0215i 0.1174
3.0425 0.4842
0.3571 - 3.0215i
CASE-2:
After the clearance of fault on line-2

INERTIA EIGEN DAMPING

CONSTANT,H KD VALUES n (rad/sec) RATIO n (Hertz)

0 0 + 6.3866i 6.3866 1.0165

0
0 - 6.3866i

3.5 10 -0.7143 + 6.3465i 6.3866 -0.1118 1.0165

-0.7143 - 6.3465i

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

-10 0.7143 + 6.3465i 6.3866 0.1118 1.0165

0.7143 - 6.3465i

0 0 + 4.5160i 0 0.7187
4.5160
0 - 4.5160i

10 -0.3571 + 4.5019i 4.5160 -0.0791 0.7187

7.0 -0.3571 - 4.5019i

-10 0.3571 + 4.5019i 4.5160 0.0791 0.7187

0.3571 - 4.5019i

(i) KD = 0

(ii) KD = 10

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

(iii) KD = -10

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

INFERENCE:

An increase in damping torque coefficient KD increases the damping ratio, whereas an

increase in inertia constant decreases both ω n and ϛ.

RESULTS:

A MATLAB program was written to analyze the small-signal stability of a single-machine-

infinite bus (SMIB) system.

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

EXP NO: 2 DATE:

SMALL SIGNAL STABILITY ANALYSIS OF MULTI-MACHINE SYSTEM

AIM:
To write a MATLAB program to analyze the small signal stability of a multi-machine
power system.
THEORY:
To analyze the small signal stability of the multi machine power system it is necessary to
reduce the original network to the size of the generators and to derive the equations for multi-
machine system that represent the dynamics of the machine and the controllers, in the state-space
form. The state variables for the machine are,  and possibly  and . The controllers of
the synchronous machine and the network will throw in additional state variables. The synchronous
machines are represented by constant voltage sources in series with their transient reactances.
Analysis methodology:
Step-1: Equations in network coordinates:

Y ˆ 0 ˆ
Y 0 0 ....  Eˆ 1   Î1 
    
1i,1i 1i,1

 0 ˆ
Y 2i,2i 0 Y ˆ
2i,2 0 ....  Eˆ 2   Î 2 
ˆ ˆ ˆ  ˆ   
 Y1,1i 0 Y 11 Y 12 .... ....  V 1 0
 
 0 Yˆ Yˆ Yˆ .... ....  Vˆ   0 (1)
 2,2i 21 22  2  
 0 0 .... .... .... ....  .   . 
  
 .... .... .... .... .... ....  .   . 
 
 .... .... .... .... .... ....  .   . 
In the above equation Ê1 and Ê2 are interval voltage phasors and Î1 and Î2 are the stator currents.
 YGG YG,NG   Eˆ G   ˆIG 
Y Y  ˆ     (2)
 NG,G NG,NG   NG   
V 0
Where
G – Generator, NG – Non-generator.

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

(a) Representation

(a) With generators and loads replaced by their equivalents

(b) All nodes except generator internal nodes eliminated

Fig1. Two machine n-bus system

 Ŷ1i,1i 0 
YGG   ;
ˆ 
 0 Y2i,2i 

 Ŷ1i,1 0 0 0 ....
YG,NG   ;
ˆ
 0 Y2i,2 0 0 ....

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

YNG,G  Y T G,NG ; Dimension: (n-2)×2

 Y11 Y12 Y13 .... ....
Y Y22 Y23 .... ....
 21
YNG,NG   Y31 Y32 Y33 .... .... ; Dimension: (n-2) × (n-2)
 
 .... .... .... .... ....
 .... .... .... .... ....

Step-2: Reduction of network equations:

Eliminate the non-generator nodes.
From Eq. (2), we get
1
VNG  YNG.NG {YNG,G EG } (3)
Substituting Eq. (3) in Eq. (2), we get
YGGred
EG  IG (4)
Where
1
YGGred
 YGG  YG,NG YNG,NG YNG,G (5)
With Eq. (4) step-2 is completed.
Step-3: Transformation of reduced equations:
Let and and and be the internal voltage and stator current phasors in individual
machine q-d coordinates. The corresponding quantities in network coordinates are , and , .
E1  E1r e ; E2  E2r e ;
j1 j2

(6)
I1  I1r e j1 ; I 2  I 2r e j1 ;

1 
2

Relative displacements of q-axis of the machine with respect to the network Q REF
The above relationships between the quantities in network and individual machine rotor
coordinates can be expressed as
EG  TEGr ; I G  TI Gr (7)
Where T is the transformation matrix given by
e j1 0 
T j 2 
(8)
 0 e 
and the subscript r denotes individual machine rotor coordinates.
The inverse transformation is given by
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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

1 e  j1 0 
T   j 2 
(9)
 0 e 
I Gr  M E Gr (10)
1
M  T YGG T red
(11)
 Y e j11
Y12 e  j( 12 12 )
M   11j(   ) j22  (12)
 Y12 e Y22e 
12 12

Step-4: Linearization of reduced network equations in individual machine rotor coordinates:

Let us denote the relative displacements of individual machine q-axis with respect to network
reference as
1  10  1 ;  2   20   2 ; (13)
Let these incremental changes cause incremental changes in other quantities as follows:
I  I 0  I (14)
E  E0  E (15)
M  M 0  M (16)
T  T0  T (17)
I0  I  M 0 E0  M 0 E  ME0  ME (18)
I  M 0 E  ME0 (19)
Equation (19) represents the linearised reduced network equations in individual machine rotor
coordinates.
I  M 0 E  j{M 0  M 0 }E0 (20)
 Y11e j11 Y12 e 12 12,0 
j(   )

M0   j( 12 12 ,0)  (21)

 Y12 e Y22 e j22 
 Y11Eq1  Y12 e  j12,0 Eq 2  Y13e  j13,0 Eq3  jY12 e  j12,0 Eq 20 12  jY13e  j13 ,0 Eq30 13 
 j  j j  j

I =  Y12 e 12,0 Eq1  Y22 Eq 2  Y23e 23,0 Eq3  jY12 e 12,0 Eq10 12  jY23e 23,0 Eq30  23  (22)
 j13,0 j23,0 j13,0 j23,0 
 Y13e Eq1  Y23e Eq 2  Y33 Eq3  jY13e Eq10 13  jY23e Eq 20  23 
We can separate out the real and imaginary parts and obtain the q and d components.
Step-4 is now completed.

Step-5: Linearization of differential equations:

The acceleration equation for the machine given below:
d  i 
2H i  Tmi  Tei  K D  i  ,i  1, 2
dt (23)
The above equation involves . We can easily shown that is a function of , and .
Assuming a 2-pole machine, the electrical power output in p.u. is given by
ˆ ˆ
Pe  Re VI  
In the individual machine q-d coordinates

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

 
Pe  Re  Vq  jVd  Iq  jId   Vd Id  Vq I q  Te (24)

Assuming type 1B machine

Te    X q I q  I d   Xd I d  Eq  I q
(25)
  Xd  X q  I q I d  Eq Iq
Linearising Eq. (25),
Te   Xd  X q   I q0 I d  I d0 I q   Eq0 I q  I q0 Eq (26)
i.e.
Te   Eq0   Xd  X q  Id0  Iq   Xd  X q  Iq0 Id  Iq0 Eq (27)
Equation (26) holds good for machine 1 or machine 2.
Hence,
Te1   Eq10   Xd1  X q1  Id10  Iq1   Xd1  X q1  Iq10 Id1  I q10 Eq1 (27)
and
Te2   Eq 20   Xd 2  X q 2  Id 20  Iq 2   Xd 2  X q 2  Iq 20 Id 2  Iq 20 Eq 2 (28)
Linearization of swing equation is straight forward. Linearization yields,
d  i 
 s i ,i  1, 2 (29)
dt
Linearising the differential equation for the voltage behind the transient reactance of machine-1 is
given by
1
pEq1    E   X d1  Xd1  I d1  E FD1  (30)
  q1
Td01
Similarly, for the second machine we have
1
pEq 2    E   X d 2  Xd 2  Id 2  E FD2  (31)
  q2
Td02
Equations (23) taken together with Eqs. (29), (30) and (31) are the linearised differential equations
required for small signal stability analysis. This completes step-5.

Step-6: Elimination of the incremental changes in algebraic variables from the linearised
differential equations:
Te1  T11Eq1  T12 Eq2  T1312 (32)
Te2  T21Eq1  T22 E q2 T2312 (33)
The only equations that are to be expressed in the standard state variable form are the equations for
the incremental changes in the generator internal voltages.
1
pEq1  E11Eq1  E12 Eq 2  E1312  E FD (34)

Td01
Where
1
E11   1  B11  X d1  Xd1   (35)
 
Td01

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

 X d1  Xd1   B12 cos 12,0  G12 sin 12,0 

1
E12  (36)

Td01

 X d1  Xd1   G12 cos 12,0  B12 sin 12,0  Eq 20

1
E13   (37)

Td01
Similarly for the second generator, we can show that
1
pEq 2  E 21Eq1  E 22 Eq 2  E 2312  E FD2 (38)

Td02
Where
 X d 2  Xd 2   B12 cos 12,0  G12 sin 12,0 
1
E 21  (39)

Td02
1
E 22   1  B22  X d 2  Xd 2   (40)
 
Td01

 X d 2  Xd 2   G12 cos 12,0  B12 sin 12,0  Eq10

1
E 23   (41)

Td02
 Tm1 Tm2 
 K  2H  2H 
 T13 T23   T11 T21   T12 T22  
   12  
2 
 p12    D         1

 p   2H  2H1 2H 3   2H1 2H 2   2H1 2H 2       0 

 12   12   
  0 0 0   1  We
 pEq1   s    E    E
  E   Td01  
q1 FD1
   0 E13 E11 E12
 pEq 2   
  q2    
 0 E 23 E 21 E 22   1 E 
 Td02
 FD2

completed step-6
We can now apply eigenvalue analysis to the computed state space model.

Simplifications for classical machines:

Let us assume machine-1&2 are classical (Type 0). Note the following:
i. & are constant.  will be absent in the equation. Set all the terms

containing  to zero. Equation (27) for the incremental electrical torque becomes

Te1  T12 E q2
'
 T1312
(42)
ii. Set =

iii. The state variables are  , . Hence, only the equations for these variables are
to be considered.

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
Two identical machine feed a common load, the impedance between each machine
terminal 0+j0.8p.u on the total rated MVA, the terminal voltages of each machine is 1p.u
assume classical moadel for machine.
Generator data: Both generators are identical rating of each is 80MVA. Reactance
parameters Xd=3.4p.u Xd=0.49p.u Xq=3.28p.u Tdo=6 sec. Total kinetic energy stored at
synchrouns speed both machine 3979.2 MJ rated frequency=60Hz.
Load data: Both generators are identically loaded active power output of each machine
is 0.5p.u on totoal MVA power factor=0.851.Choose base MVA as 160
(i) Determine the network equations in the individual machine stator dq coordinates of small
signal stability analysis
(ii) Lineraised network equations in the individual machine rotor equation
(iii)Numerical expression for electrical torque
(iv)Eigen value and natural frequency
(i) Eq1´and Eq2´ are constant. ΔEq´ will be absent in the equation, Set all the terms
containing Eq1 ´to zero. The incremental electrical torque becomes
ΔTe1=T12ΔEq2´+T13Δδ12
(ii) Set Xd1´=Xq1 ´
(iii) The state variables are Δɷ 12. ΔE12Hence only the equations for these
variable are to be considered.
To obtain the state matrix equations for this case ignore the third row and the third column
of the state matrix. If both machines are classical, then the state matrix obtained by ignoring the
third and fourth rows and third and fourth columns of the state matrix.

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
PROGRAM:
%program for multimachine
clc;
clear all;
%program for multimachine
Et=1.0;
xd=3.4;
xdp=.49;
xq=3.28;
Td0p=6.0;
f=60;
rating=80;
kenergy=379.2;
xt=0.8;
%generator dataa
ngen=2;
%loading data
p1=0.5;
%0n total rated mva
p2=.5;
pf=.85;
basemva=160;
%initial loading conditions
b=acos(pf);
q1=p1*tan(b);
q2=q1;
s=p1+q1*i;
I1=s'/Et;
%stator current
I2=I1;
%voltage behind transient reactance
Eq1p=Et+(xdp*i)*(I1);
Eq2p=Eq1p;
delt10=angle(Eq1p);
delt20=angle(Eq2p);
%load current
IL=I1+I2;
%load voltage
vL=Et-xt*i*I1;
%load admittance
yL=IL/vL;
zL=1/yL;
a=real(zL);
b=imag(zL);
d=xdp+xt;
linedata=[1 3 0 d 0
320d0
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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
0 3 a b 0];
i=sqrt(-1);
nl=linedata(:,1);
nr=linedata(:,2);
R=linedata(:,3);
X=linedata(:,4);
Bc=j*linedata(:,5);
nbr=length(linedata(:,1));
nbus=max(max(nl),max(nr));
Z=R+j*X;
y=ones(nbr,1)./Z;
%branch admittance
Ybus=zeros(nbus,nbus);
%initialize Ybus to Zero
%formation of the off diagonal elements
for k=1:nbr
if nl(k)>0 & nr(k)>0
Ybus(nl(k),nr(k))=Ybus(nl(k),nr(k))-y(k);
Ybus(nr(k),nl(k))=Ybus(nl(k),nr(k));
end
end
%formation of the diagonal elements
for n=1:nbus
for k=1:nbr
if nl(k)==n | nr(k)==n
Ybus(n,n)=Ybus(n,n)+y(k)+Bc(k);
end
end
end
Ybus
%COMPUTATION OF REDUCED Y BUS
ygg=Ybus(1:ngen,1:ngen);
ygl=Ybus(1:ngen,ngen+1:nbus);
ylg=Ybus(ngen+1:nbus,1:ngen);
yll=Ybus(ngen+1:nbus,ngen+1:nbus);
YBUS=ygg-ygl*inv(yll)*ylg;
%reduced Y bus
%network equations in individual machine qd coordinates
m=[0 1;1 0];
M=m.*YBUS;
Ep=[abs(Eq1p);abs(Eq2p)];
M0=M*Ep;
dI=[-1*i;1*i].*M0;
%numerical exp for elec torque
Eq10p=abs(Eq1p);
Eq20p=abs(Eq2p);
B12=imag(YBUS(1,2));d120=0;
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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
T13=B12*cos(d120)*Eq10p*Eq20p
T23=-T13;
H1=kenergy/(2*80*2);
H2=H1;
a11=0;
a12=-((T13/(2*H1))-(T23/(2*H2)))
a21=2*pi*f;
a22=0;
A=[a11 a12;
a21 a22]
eig(A)
wn=sqrt(det(A))
fn=wn/(2*pi)

EIGEN VALUE ANALYSIS:

For P = 0.9; Q = 0.3; KD =0

FOR CLASSICAL MODEL:

EIGEN VALUES ±9.7333i
DAMPING RATIO 0
FREQUENCY (HZ) 1.5491

INFERENCE:
From the damping ratio (=0) of the swing mode it can be observed that the system is small
signal unstable.

RESULT:
A MATLAB program was written to analyze the small-signal stability of a multi-machine
power system.

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

EXP NO: 3 DATE:

INDUCTION MOTOR STARTING ANALYSIS

AIM:
To analyse the study of motor starting
THEORY:
The purpose of the motor starting is to determine the initial voltage depressions on the
distribution buses serving the motors and to calculate the approximate acceleration times of the
selected motors during starting-up. This information is used in determining if satisfactory motor
starting and acceleration will occur, if the protective devices are properly applied, and if the voltage
dips during starting will result in loss of adjacent loading due to contactor drop out.
A motor starting study should be made if the motor horse power exceeds approximately
30% of supply transformer(s) base KVA rating, if no generators are present. If generation is present
and no other sources are involved, a study should be considered whenever the motor horse power
exceeds 10-15% of the generator KVA rating

System modeling:
A simplified model of the distribution system is adapted. It contains the motor bus, the
associated main (typically 6.6 kV) bus and the main upstream higher voltage bus (typically 33 kV)
as shown in the single line diagram.

Equations:
Assume a base power for the system and that all the impedances shown are converted to the
base power. Let Ssys be the system base power.

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

BUS-1, V1
ZS

BUS-2, V2

Ztr
Rtr

BUS-3, V3
ZM ZL3 ZC3

Equivalent circuit diagram

1
ZS  p.u
 S3 
 
 Ssys  (1)

Where, S3 = 3-phase fault level at bus-2.

Z2 = Ztr – transformer impedance converted to Ssys.
2
V3
Z L3  p.u
PL3  jQ L3
(2)
Where, ZL3 = Impedance of constant impedance loads in p.u
V3 = Voltage of bus-3 in p.u
PL3 = Active power consumed by the load in p.u on Ssys
QL3 = Reactive power consumed by the load in p.u on Ssys (+ve i/p)
ZC3 = Impedance of capacitor, computed from reactive power injected at nominal voltage.
2
V3
ZC3  p.u
 jQC3
(3)
Where, QC3 = Reactive power consumed by the capacitor in p.u on Ssys. (-ve i/p)
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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
ZM = Impedance presented by the motor to the bus. At the instant of starting, it is equal to locked
rotor impedance of motor-ZLR. It is a function of speed (and time) indirectly since motor current,
voltage and power factor are functions of speed (and time) during acceleration.
1
ZLR  e jst
 ILR I FL 
(4)
ZLR = Locked rotor impedance of motor in p.u on motor base.
Where,
ILR = Locked rotor current in amp at rated voltage
IFL = Full load current
st = Starting power factor

Z3  Z M / /Z L3 / /ZC3
(5)
T  I0 (6)
WK 2
I0  lb  ft  s 2
2g (7)
2  02  2 (  0 )rev / s
(8)
1
  0 t  t 2 rev
2 (9)
Tn 2g
 rev / s 2
WK 2 (10)
A simplified approximation for starting time,
WK 2 (rpm1  rpm 2 )2
t(s) 
60gTn (11)
Where, T – Average motor shaft output torque
v – Motor terminal voltage
I0 – Moment of inertia
g – Acceleration due to gravity
 – Angular velocity
α – Angular acceleration
t – Time in seconds to accelerate
Tn – Net average or accelerating torque between rpm-1 and rpm-2
θ – Electrical angle in degrees
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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
WK2 – Inertia
Alternatively, if moment of inertia J is given in kg-m2,

J  Tacc
t

t  J
Tacc (12)
t will be in seconds if  is in rad /sec
Tacc  Tmotor  Tload
Instantaneous torque,
q1V 2 (r2 s)
T
s [(r1  (r2 s)) 2  (x1  x 2 ) 2 ] (13)
Where,
q1 – Number of phases
s – Angular velocity at synchronous speed
v – Motor terminal voltage
r1, x1 – Stator resistance and reactance
r2, x2 – Rotor resistance and reactance
s – Slip

In metric system, following are the consistent set of units for various quantities.
T, Tn – Newton-meter
J – kg-m2 replaces WK2/2g = I0
 – Radians /sec
θ, θ – radians
Algorithm for advancing simulation to cover a speed interval:
Consider k-th interval
1) Read the value of Iinrush /IFL from speed vs. current curve and k from speed vs. power factor
curve. Calculate ZM.
1
ZM  e jk
 Iinrush I FL 

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
2) Compute impedances and current
2
V3
Z L3  p.u
PL3  jQ L3
2 3) Compute voltages
V3
Z C3  p.u V3  IZ3
 jQ C3
V3  I(Z2  Z3 )
Z3  ZM / /ZL3 / /ZC3
Z2  Z tr 4) Compute motor torque
1 q1V32 (r2 s)
ZS  p.u Tmotor 
 S3  s [(r1  (r2 s)) 2  (x1  x 2 ) 2 ]
 
 Ssys 
Z  ZS  Z2  Z3 Where,
V1
I s = (100 – percent speed for which acceleration time was just
Z
computed) /100
2n s
s 
60
120f
ns 
p

5) Compute accelerating torque

Tacc  Tmotor  Tload
6) Compute time for this interval

t  J
Tacc
Repeat above steps till 98.5% speed is reached.
t acc (1)  t1
t acc (k)  Tacc (k  1)  t k

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

PROGRAM:
clc;
clear all;
KW=1678.5;
KV=2.3;
RPM=1800;
J=63.87;
FLA=526.675;
f=60;
Np=4;
q=3;
tstart(1)=.5;
V1=1.026+0.0i;
V2=1.026+0.0i;
V3=1.026+0.0i;
S3p=125;
Ssys=10;
PL3=0.0;
QL3=0.0;
QC3=0.0;
Ztr=0.0001+0.0001i;
r1=0.0029;
r2=0.022;
x1=0.226;
x2=0.226;
n=input('Enter the number of values');
for j=1:n
N(j)=input('Enter the %of speed:');
K(j)=input('Enter the K value:');
PF(j)=input('Enter the power factor%:');
LT(j)=input('Enter the load torque %:');
end
flw=(2*pi*RPM)/60
flt=(KW*1000)/flw
Ns=(120*f)/Np
Ws=(2*pi*Ns)/60
MKVA=1.732*KV*FLA
Zsy=1/(S3p/Ssys);
Zs=0+(i*Zsy)
for j=2:n
PF1(j)=PF(j)/100;
PK(j)=acos(PF1(j));
Zm(j)=(1/K(j))*(cos(PK(j))+(i*sin(PK(j))))*(Ssys/MKVA)*1000
Z3(j)=Zm(j);
Z(j)=Zs+Ztr+Z3(j);
I(j)=V1/Z(j)
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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
V3(j)=I(j)*Z3(j);
V2(j)=I(j)*(Ztr+Z3(j));
S(j)=(100-N(j))/100
num(j)=q*(((real(V3(j))*KV*1000)/sqrt(3))^2)*(r2/S(j));
den(j)=Ws*((r1+(r2/S(j)))^2+(x1+x2)^2);
tmotor(j)=num(j)/den(j) ;
tload(j)=(LT(j)*flt)/100;
tacc(j)=tmotor(j)-tload(j);
delt1(j)=(J*0.1*flw)/tacc(j);
tstart(j)=tstart(j-1)+delt1(j)
Istart(j)=FLA*K(j)
end
figure(1);
plot(tstart,tmotor)
Xlabel('time');Ylabel('motor torque');
figure(2);
plot(tstart,Istart)
Xlabel('time');Ylabel('starting current');
figure(3);
plot(S,tmotor)
Xlabel('slip');Ylabel('motor torque')

OUTPUT:
1) Starting current vs. time:
1.3

1.2

1.1

1
STARTING CURRENT

0.9

0.8

0.7

0.6

0.5

0.4

0 0.5 1 1.5 2 2.5 3

TIME

2) Torque vs. time:

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
4
x 10
3

2.5

TORQUE 2

1.5

0.5

0
0 0.5 1 1.5 2 2.5 3
TIME

3) Torque vs. slip:

4
x 10
3

2.5

2
TORQUE

1.5

0.5

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
SLIP

RESULT:
A MATLAB program was written to analyze the study of motor starting and the response of the
induction motor starting current, torque Vs slip curves were plotted.

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

EXP NO:4 DATE:

LOAD FLOW ANALYSIS OF A GIVEN POWER SYSTEM WITH STATCOM

AIM:
To calculate the compensated voltage and angle in the given system using STATCOM as
the compensator
SOFTWARE REQUIRED:
Power system module of MATLAB
THEORY:
The STATCOM (or SSC) is a shunt-connected reactive-power compensation device that is
capable of generating and /or absorbing reactive power and in which the output can be varied to
control the specific parameters of an electric power system. It is in general a solid-state switching
converter capable of generating or absorbing independently controllable real and reactive power at
its output terminals when it is fed from an energy source or energy-storage device at its input
terminals. Specifically, the STATCOM considered in this chapter is a voltage-source converter
that, from a given input of dc voltage, produces a set of 3-phase ac-output voltages, each in phase
with and coupled to the corresponding ac system voltage through a relatively small reactance
(which is provided by either an interface reactor or the leakage inductance of a coupling
transformer). The dc voltage is provided by an energy-storage capacitor. A STATCOM can
improve power-system performance in such areas as the following:
1. The dynamic voltage control in transmission and distribution systems;
2. The power-oscillation damping in power-transmission systems;
3. The transient stability;
4. The voltage flicker control; and
5. The control of not only reactive power but also (if needed) active power in the connected line,
requiring a dc energy source.
Furthermore, a STATCOM does the following:
1. It occupies a small footprint, for it replaces passive banks of circuit elements by compact
electronic converters;
2. It offers modular, factory-built equipment, thereby reducing site work and commissioning time;
and

34
 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
3. It uses encapsulated electronic converters, thereby minimizing its environmental impact.
A STATCOM is analogous to an ideal synchronous machine, which generates a balanced
set of three sinusoidal voltages at the fundamental frequency with controllable amplitude and phase
angle. This ideal machine has no inertia, is practically instantaneous, does not significantly alter the
existing system impedance, and can internally generate reactive (both capacitive and inductive)
power.
The Tennessee Valley Authority (TVA) installed the first 100-MVA STATCOM in 1995 at its
Sullivan substation. The application of this STATCOM is expected to reduce the TVA’s need for
load tap changers, thereby achieving savings by minimizing the potential for transformer failure.
This STATCOM aids in resolving the off-peak dilemma of over voltages in the Sullivan substation
area while avoiding the more labor- and space-intensive installation of an additional transformer
bank. Also, this STATCOM provides instantaneous control and therefore increased capacity of
transmission voltage, providing the TVA with greater flexibility in bulk-power transactions, and it
also increases the system reliability by damping grids of major oscillations in this grid.

EXERCISE:

Rs=0.01; Xs=0.1;Rp=200;K+=0.9

BUS DATA OF 3 BUS SYSTEM:

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

Bus Bus V angle load gen

no. code p.u.
MW MVAR MW MVAR
1 1 1 0 0 0 0 0
2 0 1 0 256.6 110.2 0 0
3 0 1 0 138.6 45.2 0 0

LINE DATA:

Bus R pu X pu B pu
From To
1 2 0.02 0.04 0.05
1 3 0.01 0.03 0.03
2 3 0.0125 0.025 0.06

PROGRAM:
clc;
clear all;
n=3;
pd=[0 2.562 1.102];
qd=[0 1.386 0.452];
qg=[0 0 0];
pg=[0 0 0];
vs=[1.05 1 1];
theta=[0 0 0];
con=0.1;
yb=[20-50j -10+20j -10+30j;
-10+20j 26-52j -16+32j;
-10+30j -16+32j 26-62j];
zs=0.01+0.1j;
beta=angle(zs);
rp=200;
k=0.9;
m=1;
cont=0.1;
vdc=1;
alpha=0;
b=imag(yb);
g=real(yb);
an=angle(yb);
my=abs(yb);
iter=1;
while(cont>0.01 && iter<4)

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
iter
vc=(k*k)*(m)*(vdc);
pg(3)=((vc*vs(3)*cos(theta(3)-alpha+beta))-(vs(3)*vs(3)*cos(beta)))/abs(zs);
qg(3)=((vc*vs(3)*sin(theta(3)-alpha+beta))-(vs(3)*vs(3)*sin(beta)))/abs(zs);
pac=((vc^2*cos(beta))-(vs(3)*vc*cos(beta+alpha-theta(3))))/abs(zs);
p=pg-pd;
q=qg-qd;
for o=1:n
pp(o)=0;
qq(o)=0;
for l=1:n
pe(o)=vs(o)*vs(1)*my(o,1)*cos(an(o,1)-theta(o)+theta(1))+pp(o);
pp(o)=pe(o);
qe(o)=-vs(o)*vs(1)*my(o,1)*sin(an(o,1)-theta(o)+theta(1))+qq(o);
qq(o)=qe(o);
end
end
pp;
qq;
pchang(1:2)=p(2:3)-pp(2:3);
qchang(1:2)=q(2:3)-qq(2:3);
pdc=(vdc^2)/rp;
pext=pac-pdc;
del=[0 0 0 0 0 ];
del=[pchang qchang pext];
%calculation of jacobian
for k=2:n
for l=1:n
if k~=1
H(k,l)=vs(k)*vs(l)*my(k,l)*sin(an(k,l)+theta(l)-theta(k));
N(k,l)=vs(k)*vs(l)*my(k,l)*cos(an(k,l)+theta(l)-theta(k));
J(k,l)=-vs(k)*vs(l)*my(k,l)*cos(an(k,l)+theta(l)-theta(k));
L(k,l)=-vs(k)*vs(l)*my(k,l)*sin(an(k,l)+theta(l)-theta(k));
else
H(k,l)=-qq(k)-vs(k)*vs(k)*b(k,k);
N(k,l)=pp(k)+vs(k)*vs(k)*g(k,k);
J(k,l)=pp(k)-vs(k)*vs(k)*g(k,k);
L(k,l)=qq(k)-vs(k)*vs(k)*b(k,k);
end
end
end
H11(1:2,1:2)=H(2:3,2:3);
N12(1:2,1:2)=N(2:3,2:3);
J21(1:2,1:2)=J(2:3,2:3);
L22(1:2,1:2)=L(2:3,2:3);
jac=zeros(5,5);
jac=[H11 N12;J21 L22];
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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
jac(1,4)=0;
jac(2,2)=(vs(3)*vc*sin(theta(3)-alpha+beta)/abs(zs))-(qq(k)-vs(k)*vs(k)*b(k,k));
jac(2,4)=-(k*vdc*cos(theta(3)-alpha+beta))/abs(zs);
jac(2,5)=-(k*m*vdc*sin(theta(3)-alpha+beta))/abs(zs);
jac(3,4)=0;
jac(4,2)=-((vs(3)*vc*cos(theta(3)-alpha+beta))/abs(zs))-(pp(k)-vs(k)*vs(k)*g(k,k));
jac(4,4)=(k*vdc*vs(3)*sin(theta(3)-alpha+beta))/abs(zs);
jac(4,5)=-(k*vdc*vs(3)*cos(theta(3)-alpha+beta))/abs(zs);
jac(5,2)=-(k*vdc*m*vs(3)*sin(alpha-theta(3)+beta))/abs(zs);
jac(5,4)=(k*m*vs(3)*vdc*sin(alpha-theta(3)+beta))/abs(zs);
jac(5,5)=-((vdc*k*vs(3)*cos(alpha-theta(3)+beta))-(2*k*k*m*vdc^2*cos(beta)))/abs(zs);
jac;
delta=(jac)\del';
dtheta(2:3)=delta(1:2);
theta=theta+dtheta
dv=[0 0 0];
dv(2:2)=delta(3:3);
vs=vs+dv
con=max(abs(dv));
iter=iter+1;
m=m+delta(4);
alpha=alpha+delta(5);
end

OUTPUT:

iter = 1
theta = 0 -0.0262 0.0033
vs = 1.0500 0.9778 1.0000
iter = 2
theta = 0 -0.1781 -0.2471
vs = 1.0500 0.9770 1.0000
iter = 3
theta = 0 -0.5447 -0.8483
vs = 1.0500 0.9305 1.0000

RESULT:
Thus the compensated voltage and angle in the given system is calculated by using
STATCOM as the compensator

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EXP NO:5 DATE:
TRANSIENT ANALYSIS OF SINGLE MACHINE INFINITE BUS (SMIB) SYSTEM
WITH STATCOM
AIM:
To analyse the transient performance of Single Machine Infinite Bus (SMIB) system with
STATCOM using MATLAB.
THEORY:
A STATCOM is a voltage- sourced converter (VSC) –based shunt FACTS device and is
capable of injecting controllable reactive current into the system. Consider that a STATCOM is
placed at bus m in the SMIB system as shown in Fig.(1).The equivalent circuit of the system is
shown in Fig.(2) where the STATCOM is represented by a shunt reactive current source Is.

Vt Vm V
L1 L2

L3 L4
Infinite
bus
STATCOM
BUS

Fig 1 Schematic diagram of SMIB system with STATCOM

E Vmm V0

jX1 jX2

+
Is

Fig 2 Equivalent Circuit of SMIB system with STATCOM

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
STATCOM can be represented by a shunt reactive current source Is

Is  Is e j(δ m π/2) (1)

Here δm is the angle of voltage at bus m and is given by
 E 'X 2 sin δ 
δ m  tan 1  
 VX1  E 'X 2 cos δ  (2)
E ' X 2 cos(δ  δ m )  VX1 cos δ m XX
Vm   1 2 Is
X1  X 2 X1  X 2 (3)
Where, δ is the angle of the machine, X1 represents the equivalent reactance between the machine
internal bus and the intermediate bus m, X2 represents the equivalent reactance between bus m and
the infinite bus, E’ is the machine internal voltage and V is the infinite bus voltage.
The above equations Eq.(2) and Eq.(3) indicates that the angle δ m is independent of Is but the bus
voltage Vm depends upon Is. The electrical power Pe of the machine can be written as
E ' Vm
Pe  sin(δ  δ m )
X1 (4)
Substituting the value of Vm and δm in Eq.(4)
E '  E 'X 2 cos(δ  δ m )  VX1 cos δ m  E '  X1X 2 
Pe    sin(δ  δ m )    Is sin(δ  δ m )
X1  X1  X 2  X1  1X  X 2
(5)
Applying some basic circuit equations Pe written as
Pe =Pmax sinδ+f1 (δ)Is (6)
Where,
E 'V
Pmax 
X1  X 2 (7)
E ' X2
f1 (δ)  sin(δ  δ m )
X1  X 2 (8)
Note that f1 (δ) is positive when δ oscillates between zero and π Eq.(6) suggests that P e can
be modulated by controlling the STATCOM current Is .it may be mentioned here that Is in eq.(6) is
positive (negative) for capacitive (inductive) operation of the STATCOM.
The speed of the machine ω is an appropriate control signal that can be used to
enhancement of the power system damping. With the above control Is can be expressed as
Is=K1ω , Ismin ≤ Is ≤ Ismax (9)
Here, K1 is a positive gain and it depends upon the maximum current rating (Ismax) of the
STATCOM. From the mathematical model (Eqns.6, 7, 8 & 9).The simulation block diagram of the
SMIB system with STATCOM is shown in the Fig.(3).

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Fig 3 Simulation block diagram of SMIB system with STATCOM Controller

Using Eq.(6) and Eq.(9) -E can be written as
-E (δ, ω) = [D+K1f1(δ)] ω2 (10)
Here –E is considered as the rate of dissipation of transient energy. The first term within the
square bracket of Eq.(10) is the natural damping coefficient D and the second term can be
considered as additional damping coefficient (DSTAT) provided by the STATCOM.
E ' X2
DSTAT  K1f1 (δ)  K 1 sin(δ  δ m )
X1  X 2 (11)
The above equations indicates that the value of DSTAT depends on the reactances (X1,X2)
,and hence the location of STATCOM. When the STATCOM is placed near the infinite bus
(X2→0), DSTAT of Eq.(11) approaches to zero..On the other hand, when X1 tends to zero, δm of
Eq.(2) becomes almost the same as δ, and hence D STAT is also approaches to zero. For a given δ, it
can be shown that the maximum value of DSTAT can be obtained when the reactance ratio
ax=(X1/X2) becomes the same as the voltage ratio av= (E’/V).For such case, δm of Eq.(2) becomes
δ/2, and thus the maximum damping coefficient provided by the STATCOM can be expressed as:
E' δ
max
DSTAT  K1 sin( )
a 1 2 (12)
Here, a=ax=av.
Data for the SMIB system:

Generator: X`=0.3 pu, f=60 Hz, D=0, H=5s (M=H/f).

Transformer: X=0.1 pu.

Transmission lines: X=0.4 pu of each line.

The generator initially delivers a power of 1.0 pu at a terminal voltage of 1.05 pu and the
infinite bus voltage of 1.0 pu. The generator internal voltage E` for the above operating condition is
found as 1.235640.35o pu.
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Simulation Diagram of SMIB with STATCOM

Continuous

powergui Fcn
Product
f(u)

Fcn1
Product1
f(u)

-k
Gain1

1 1/377
-k
s s
Gain Integrator Transfer Fcn Scope
Step

Gain2

-k -k

Gain3

OUTPUT:
ROTOR ANGLE RESPONSE WITHOUT STATCOM:
0.18

0.16

0.14
ROTOR ANGLE (DEGREE)

0.12

0.1

0.08

0.06

0.04

0.02

0
0 1 2 3 4 5 6 7 8 9 10
TIME (SEC)

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ROTOR ANGLE RESPONSE WITH STATCOM:

0.9

0.8

0.7
ROTOR ANGLE (DEGREE)

0.6

0.5

0.4

0.3

0.2

0.1

0
0 1 2 3 4 5 6 7 8 9 10
TIME (SEC)

INFERENCE:
From the output response we can understand that with the inclusion of STATCOM the
SMIB system regains its rotor angle stability whereas without STATCOM the oscillations
continued and rotor angle stability could not be regained.

RESULT:
The transient performance of the Single Machine Infinite Bus (SMIB) system with
STATCOM was analysed using MATLAB.

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EXNO:6 DATE :

AVAILABLE TRANSFER CAPABILITY CALCULATION USING AN EXISTING LOAD

FLOW PROGRAM (FAST DECOUPLED LOAD FLOW METHOD)
AIM:
To calculate the value of Available Transfer Capability using Fast decoupled load flow
method.
SOFTWARE REQUIRED:
Power system module of MATLAB.
THEORY:

All over the world, power systems are being deregulated, restructured and privatized with an
objective to introduce competition and to improve the efficiency and economy of operation. Single
utility is divided into different independent organizations such as Gencos, Transcos and Discos.
Gencos and Discos are given open access to transmission grid. An Independent System
Operator (ISO) regulates and maintain the grid sale of power (MW) between these Gencos and
Discos is encouraged and these transactions are called bilateral transactions.
The market participants, gencos and discos, need to know the “Available Transfer Capacity
(ATC)” between various source nodes (Genco buses) , and sink nodes (Disco buses) of the gird
tomorrow in order to finalize these bilateral transactions. ATC between a source node ‘k’ and a
sink node ‘m’ is defined as the difference between the “Total Transfer Capacity (TTC)” of MW
power between nodes k and m and the base case MW flow (BCMW) between k and m.
ATCkm = TTCkm – BCMWkm
The TTCkm is the maximum MW power that can be transferred in the system between the
source node k and the sink node m without violating the line flow and bus voltage operating limits.
ATCkm can be determined by conducting repeated Load Flow analysis on the system
starting with the base case load and increasing the generation at the kth bus and demand at the mth
bus by certain percentage until any of the line flow or bus voltage constraints is just violated. The
increased generation/load over the base case is the ATCkm.
EXERCISE:

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Using a text editor create an input data file in the sequence given below for load flow solution of
the 6-bus system. Run the program and print the output file. Check the results obtained using the
available software.

(i)Consider the optimal operating state for the base case loading of the 6 bus system.
Determine the ATC between the “source bus” 1 and “sink bus”5 for base case operating
state. Limit on bus voltage magnitude:0.9<V<1.05 p.u.

Bus Data:
Bus BUS Voltage Angle Load generation
ID Code Magnitude degrees MW MVAR MW MVAR Q Q
NO. p.u. min MAX
1 1 1.05 0 0 0 0 0 -50 100
2 2 1.05 0 0 0 50 0 -25 50
3 0 1 0 55 13 0 0 0 0
4 0 1 0 0 0 0 0 0 0
5 0 1 0 30 18 0 0 0 0
6 0 1 0 50 5 0 0 0 0

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Transmission Line Data:

Line Send bus Received Resistance Reactanc Half line Rating
ID No. Bus p.u. e Charging MVA
No. No. p.u. Susceptance p.u.
1 1 6 0.123 0.518 0 65
1 4 0.08 0.37 0 75
2 4 6 0.087 0.407 0 30
3 5 2 0.282 0.64 0 40
4 2 3 0.723 1.05 0 65
5 6 5 0 0.300 0 70
6 4 3 0 0.133 0 30

Transformer Data:
Transformer ID no. Send bus no. Receive bus no. Tap ratio
1 6 5 0.956
2 4 3 0.981

Shunt element data:

Shunt id no. Bus id no. Rated capacity MVAR
1 4 5
2 6 5.5

PROGRAM:
clear all;
clc;
r1=input('enter the reactance b/w 1 & 2');
r2=input('enter the reactance b/w 2 & 3');
r3=input('enter the reactance b/w 1 & 3');
temp=[(r1+r2) r1 r3;r1 (r1+r2) r2;r3 r2 (r3+r2)];
mw1=input('enter max mw limit b/w 1 and 2');
mw2=input('enter max mw limit b/w 2 and 3');
mw3=input('enter max mw limit b/w 1 and 3');
bo=[((1/r1)+(1/r2)) -(1/r2);-(1/r2) (1/r3)+(1/r2)]
xo=inv(bo)
disp('====ptdf cal b/w 1&3====')
ptdf1=xo(1,2)/r1
ptdf2=xo(2,2)/r3
ptdf3=(-xo(1,2)+xo(2,2))/r2
disp('====ptdf cal b/w 1&2====')
ptdf4=(-xo(1,1)+xo(1,2))/r1
ptdf5=(-xo(2,1)+xo(2,2))/r3
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ptdf6=(xo(1,1)-xo(2,1)-xo(1,2)+xo(2,2))/r2
disp('====power flow due to transactions===')
a=[ptdf1 ptdf4;ptdf2 ptdf5;ptdf3 ptdf6]
b=[mw2;mw3]
p=[a]*[b]
disp('power flow due to transactions b/w 1&3 and 2&3:');
disp(p);
p1=p(1,1);
p2=p(2,1);
p3=p(3,1);
disp('===atc cal b/w 1&3===')
pmax12=(mw1-p1)/ptdf1
pmax13=-(mw2-p2)/ptdf2
pmax23=(mw3-p3)/ptdf3
disp('===atc cal b/w 2&3===')
pmax12=(mw1-p1)/ptdf4
pmax13=-(mw2-p2)/ptdf5
pmax23=(mw3-p3)/ptdf6

OUTPUT
enter the reactance b/w 1 & 20.1
enter the reactance b/w 2 & 30.066
enter the reactance b/w 1 & 30.05
enter max mw limit b/w 1 and 2600
enter max mw limit b/w 2 and 3200
enter max mw limit b/w 1 and 3600

bo =25.1515 -15.1515
-15.1515 35.1515

xo = 0.0537 0.0231
0.0231 0.0384
====ptdf cal b/w 1&3====

ptdf1 = 0.2315
ptdf2 =0.7685
ptdf3 =0.2315

====ptdf cal b/w 1&2====

ptdf4 =-0.3056
ptdf5 = 0.3056
ptdf6 =0.6944

====power flow due to transactions===

a =0.2315 -0.3056
0.7685 0.3056
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0.2315 0.6944
b = 200
600
p =-137.0370
337.0370
462.9630
power flow due to transactions b/w 1&3 and 2&3:
-137.0370
337.0370
462.9630

===atc cal b/w 1&3===

pmax12 =3.1840e+003
pmax13 =178.3133
pmax23 = 592.0000

===atc cal b/w 2&3===

pmax12 = -2.4121e+003
pmax13 = 448.4848
pmax23 = 197.3333

OUTPUT FOR INCREMENT OF 10 MW AT SINK BUS:

Increment of steps Voltage magnitude at load buses
(MW) 3 4 5 6
5 0.925 0.929 0.903 0.904
10 0.923 0.925 0.896 0.897
ATC = 10MW
INFERENCE:
Therefore an increment by 10MW with the base case values it has been found that the
voltage profile of buses 5 & 6 reaching below 0.9. Therefore it is a voltage limited case

(ii)Consider the optimal operating state for the base case loading of the 6 bus system.
Determine the ATC between the “source bus” 1 and “sink bus”3 for base case operating
state. Limit on bus voltage magnitude:0.9<V<1.05 p.u
OUTPUT FOR INCREMENT OF 15 MW AT SINK BUS:
Increment of steps Voltage magnitude tn load buses
(MW) 3 4 5 6

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5 0.919 0.905 0.907 0.906

10 0.912 0.918 0.905 0.902
15 0.904 0.910 0.903 0.898
ATC = 15 MW

INFERENCE:
Therefore an increment by 15 MW with the base case values it has been found that the
voltage profile of the bus 6 reaching below 0.9. Therefore it is a voltage limited case.

RESULT:
Thus the value of ATC (Available Transfer Capability) between buses 1 & 5 and buses 1 &
3 are calculated using Fast Decoupled load flow method.

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EXPNO:7 DATE:
STUDY OF DFIG BASED WIND ENERGY CONVERSATION SYSTEM
AIM:
To study of doubly fed induction generator based wind energy conversation system
THEORY:
FUNDAMENTALS OF WIND TURBINES.

The power extracted from the wind can be calculated by the given formula:

Pw = extracted power from the wind,

ρ = air density, (approximately 1.225 kg/m3 at 20₀ C at sea level)

R = blade radius (in m), (it varies between 40-60 m)

Vw = wind velocity (m/s) (velocity can be controlled between 3 to 30 m/s)

Cp = the power coefficient which is a function of both tip speed ratio (λ), and blade pitch angle,

(β) (Degrees)

Power coefficient (Cp) is defined as the ratio of the output power produced to the power available

in the wind.

Betz Limit:

No wind turbine could convert more than 59.3% of the kinetic energy of the wind into

Mechanical energy turning a rotor. This is known as the Betz Limit, and is the theoretical

Maximum coefficient of power for any wind turbine. The maximum value of Cp according to

Betz limit is 59.3%. For good turbines it is in the range of 35-45%.

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Figure 2.6 Power Speed Characteristics of Wind Turbine

Torque speed characteristics

Studying the torque versus rotational speed characteristics of any prime mover is very important

for properly matching the load and ensuring stable operation of the electrical generator. The

typical torque speed characteristics of the two – blade propeller- type wind turbine, the Darrieus

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rotor, and the Savonius rotor are shown in figure. The profiles of the Torque-speed curves shown

in the figure follow from the power curves, since torque and power are related as follows

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Wind Turbine Control Systems

Pitch Angle Control:

The system changes the pitch angle of the blades according to the variation of wind speed. As discussed earlier, with

pitch control, it is possible to achieve a high efficiency by continuously aligning the blade in the direction of the

relative wind.

On a pitch controlled machine, as the wind speed exceeds its rated speed, the blades are gradually turned about the

longitudinal axis and out of the wind to increase the pitch angle. This reduces the aerodynamic efficiency of the

rotor, and the rotor output power decreases. When the wind speed exceeds the safe limit for the system, the pitch

angle is so changed that the power output reduces to zero and the machine shifts to the „stall‟ mode. After the gust

passes, the pitch angle is reset to the normal position and the turbine is restarted. At normal wind speeds, the blade

pitch angle should ideally settle to a value at which the output power equals the rated power. The input variable to

the pitch controller is the error signal arising from the difference between the output electrical power and the

reference power. The pitch controller operates the blade actuator to alter the pitch angle. During operation below the

rated speed, the control system endeavours to the pitch the blade at an angle that maximises the rotor efficiency. The
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generator must be able to absorb the mechanical power output and deliver to the load. Hence, the generator output

power needs to be simultaneously adjusted.

StallControl
Passive stall control:

Generally, stall control to limit the power output at high winds is applied to constant-pitch turbines driving

induction generators connected to the network. The rotor speed is fixed by the network, allowing only 1-4%

variation. As the wind speed increases, the angle of attack also increases for a blade running at a near constant speed.

Beyond a particular angle of attack, the lift force decreases, causing the rotor efficiency to drop. This lift force can

be further reduced to restrict the power output at high winds by properly shaping the rotor blade profile to create

turbulence on the rotor blade side not facing the wind.

Active stall control:

In this method of control, at high wind speeds, the blade is rotated by a few degrees in the direction opposite to that

in a pitch controlled machine. This increases the angle of attack, which can be controlled to keep the output power

at its rated value at all high wind speeds below the furling speed. A passive controlled machine shows a drop in

power at high winds. The action of active stall control is sometimes called deep stall. Owing to economic reasons,

active pitch control is generally used only with high- capacity

machines.

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Figure 3.2 – Power versus wind speed characteristics of variable speed wind turbines

In the intermediate speed-range, the control strategy depends on the type of electrical power generating system used,
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and can be divided into two basic categories:

a) Constant speed generation scheme, and b)

Variable-speed generation scheme.

If the electrical system involves a grid-connected synchronous generator, the constant generation scheme is

necessary. In the case of grid-connected squirrel cage induction generators, the allowable range of speed

variation is very small, requiring an almost constant rotational speed.

But the constant-speed generation systems cannot maximise the power extraction from wind. Power coefficient

reaches a maximum specific value of TSR for every type of wind turbine. Hence for the extraction of maximum

power from wind, the turbine should operate at a constant TSR, which means the rotational speed should be

proportional to the wind speed. So maximum power extraction requires a variable-speed generation system with the

speed control for keeping a constant TSR.

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This scheme has a few disadvantages. First, the wind speed measured in the neighbourhood of a wind turbine

(or a wind farm) is not reliable indicator of V because of the shadowing effects. Also it is difficult to

determine the value of TSR for maximum Cp. This value changes during the lifetime of a wind turbine due to the

changes in the reference setting.

A second control scheme is devised to continuously track the maximum power point (MPP) using the property

that the Cp versus TSR curve has a single smooth maximum point. This means that if operate at the maximum

power point, small fluctuations in the rotational speed do not significantly change the power output. To

implement this scheme, the speed is varied in small steps, the power output is measured and, and ΔP/Δω is

evaluated. If this ratio is positive, more mechanical power can be obtained by increasing the speed.

Hence the electrical power output is decreased temporarily by the power electronic control so that the speed

increases. This increases the mechanical power, and can be obtained by increasing the speed. Hence the

electrical power output is decreased temporarily by power electronic

control so that the speed increases. This increases the mechanical power, and the electrical power, and the

electrical power output is decreased temporarily by the power electronic control so that the speed

increases. This increases the mechanical power, and the electrical power is again raised to a higher value. The

process continues until the optimum speed is reached, when the mechanical power becomes intensive to speed

fluctuations. When the wind speed changes, this mechanism readjusts the speed at the optimum value.

While controlling the rotational speed, it should be remembered that a large difference between

mechanical power and electrical power results in a large torque and, hence, a large stress on the rotor

components. It is necessary to limit the acceleration and deceleration rates to values dictated by the structural

strength of mechanical parts.

DOUBLY FED INDUCTION GENERATOR

1. In a doubly fed induction machine, two windings participate in energy conversion process.

They can work at double the synchronous speed for constant torque, similar to synchronous machine

but in synchronous machine only one winding participate in energy conversion DFIM (doubly fed

induction machine) is to operate in narrow speed ranges.

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.
2. CONSTRUCTION

1. Wound Rotor DFIM.

2. Brushless wound rotor:

a. Brushless DF Induction electric machine.

b. Brushless wound rotor DF electric machine.

Wound rotor DFIM uses the two windings of same power rating. One is winding on stator

and the other on rotor. Stator supply is Normal 3 phase supply. Rotor supply is from power

frequency converter. Slip ring assembly used to transfer Power to rotor winding. In a

brushless DFIM two windings are adjacent to each the other on stator. Windings are excited

separately. Brushless wound rotor DFIM is similar to wound rotor DFIM but slip ring

assembly is not used. It has a large efficiency and less cost but instability is more.

WORKING:

Field can be from rotor or stator or from both. Both active power (for torque) and reactive

power (for flux) have to be fed to rotor. Multi-phase supply with frequency f is given to

stator. Control Frequency converter converts power from supply frequency to slip frequency.

ADVANTAGES:

 Theoretically system cost is half of other machines with same rating.

 Higher efficiency can be achieved due to less loss.

 Rotor core is effectively utilized hence power density is large.

 Active and reactive power to grid can be controlled using electronic converters
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 DFIG can work in variable speed range around synchronous speed

Wound rotor DFIM found commercial success in very large applications with limited speed

range. For a low cost, highly efficient and reliable electronic controlled DFIM is kept

under study

Figure 4.4 – DFIG Connected to the

Grid

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control so that the speed increases. This increases the mechanical power, and the electrical power, and the electrical power

output is decreased temporarily by the power electronic control so that the speed increases. This increases the

mechanical power, and the electrical power is again raised to a higher value. The process continues until the optimum speed

is reached, when the mechanical power becomes intensive to speed fluctuations. When the wind speed changes, this

mechanism readjusts the speed at the optimum value.

While controlling the rotational speed, it should be remembered that a large difference between mechanical power

and electrical power results in a large torque and, hence, a large stress on the rotor components. It is necessary to limit the

acceleration and deceleration rates to values dictated by the structural strength of mechanical parts.

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WIND FARM ‐ DFIG DETAILED MODEL

SIMULATION:

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OUTPUT:

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EXPNO:8 DATE:
STUDY OF VARIABLE SPEED WIND ENERGY CONVERSION SYSTEM-
PMSG
AIM:
To study of variable speed wind energy conversion system using Permenant
magnet synchrouns generator
THEORY:
Sustainability is the main aspect that forces the renewable energy sources to be implemented for
electric energy generation instead of fossil ones. Wind energy is quite attractive among other sources
because of its commercial potential [72 TW] that is five times higher than world energy demand in all
forms. However, the installed capacity in 2009 was only 159GW. Large turbines play a main role on the
market, but there is also demand for small turbines in the power range up to 11 kW as the power source
for micro generators. Micro generator is an electrical energy source that includes all interface units and
operates in parallel with the distribution network.
Current rating of such devices is limited up to 16 A per phase. Some energy sources can be
connected directly to the distribution network, but in the case of DC power sources or variable speed
wind turbine (VSWT) systems it is necessary to use a power converter that interfaces the source and the
grid.VSWT based micro generators consist of a wind turbine, a generator and an inverter. Wind turbines
capture wind energy and convert it to rotational mechanical energy. Variable speed operation of the
wind turbine allows extraction of higher energy from wind than constant speed systems. The generator
converts mechanical energy into electricity. Different types of generators can be used in wind energy
conversion systems (WECS), but permanent magnet synchronous generators (PMSG) play a main role
on the market. The main advantage of PMSG is the possibility of multipole design that offers slow speed
operation and the possibility of gearless WECS construction. Another advantage is maintenance free
operation since there are no brushes. The main drawback of PMSG is the dependence of its output
voltage on the rotation speed. The difference between the minimum and the maximum voltage can reach
four times in VSWT applications.
This drawback can be easily overcome with the help of an appropriate interfacing converter.The
interfacing converter rectifies the input AC with variable voltage and frequency, adjusts voltage levels
and inverts DC voltage into AC with grid voltage and frequency. Additionally, it should have maximum
power point tracking (MPPT) functionality to extract more power from wind.The new topology of the
interfacing converter with the HF isolation transformer for PMSG based VSWT system is presented in
this paper. The topology presented has good voltage regulation capabilities at a relatively simple power
circuit.

DIFFERENT TOPOLOGIES INTERFACING CONVERTER FOR WIND TURBINE.

Basically they can be divided into two groups: topologies without galvanic isolation (Fig. 1a) and
those with isolation. Line frequency (LF) transformers (Fig. 1b) were widely used for galvanic isolation
in last decades.Main drawbacks of LF transformer are high weight and high price. For these reasons
topologies with HF isolation (Fig. 1c) have became popular especially for photovoltaic applications and
wind power applications.

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Fig 1:Block diagram of interfacing converters

CHALLENGES OF PMSG BASED VSWT

This section introduces the concept of wind energy,properties of wind energy, emphasizing
wind energy extraction by means of PMSG based VSWT. Operation modes of VSWT with fixed blades
are analyzed and generator characteristics are given.
ENERGY FROM THE WIND

Wind is simple air in motion. It is caused by the uneven heating of the earth’s surface by the sun.
Since the earth’s surface is made of very different types of land and water, it absorbs the sun’s heat at
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different rates. During the day, the air above the land heats up more quickly than the air over water. The
warm air over the land expands and rises, and the heavier, cooler air rushes in to take its place, creating
winds. At night, the winds are reversed because the air cools more rapidly over land than over water. In
the same way, the large atmospheric winds that circle the earth are created because the land near the
earth's equator is heated more by the sun than the land near the North and South Poles. Today, wind
energy is mainly used to generate electricity. Wind is called a renewable energy source because the wind
will blow as long as the sun shines.

THE HISTORY OF WIND

Since ancient times, people have harnessed the winds energy. Over 5,000 years ago, the ancient
Egyptians used wind to sail ships on the Nile River. Later, people built windmills to grind wheat and
other grains. The earliest known windmills were in Persia (Iran). These early windmills looked like large
paddle wheels. Centuries later, the people of Holland improved the basic design of the windmill. They
gave it propeller-type blades, still made with sails. Holland is famous for its windmills.American
colonists used windmills to grind wheat and corn, to pump water, and to cut wood at sawmills. As late as
the 1920s, Americans used small windmills to generate electricity in rural areas without electric service.
When power lines began to transport electricity to rural areas in the 1930s, local windmills were used
less and less, though they can still be seen on some Western ranches. The oil shortages of the 1970s
changed the energy picture for the country and the world. It created an interest in alternative energy
sources, paving the way for the re-entry of the windmill to generate electricity. In the early 1980s wind
energy really took off in California, partly because of state policies that encouraged renewable energy
sources. Support for wind development has since spread to other states, but California still produces
more than twice as much wind energy as any other state. The first offshore wind park in the United
States is planned for an area off the coast of Cape Cod, Massachusetts.

HOW THE WIND MACHINES WORK

Like old fashioned windmills, today’s wind machines use blades to collect the wind’s kinetic
energy. Windmills work because they slow down the speed of the wind. The wind flows over the airfoil
shaped blades causing lift, like the effect on airplane wings, causing them to turn. The blades are
connected to a drive shaft that turns an electric generator to produce electricity. With the new wind

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machines, there is still the problem of what to do when the wind isn’t blowing. At those times, other
types of power plants must be used to make electricity

TYPES OF WIND MACHINES

There are two types of wind machines (turbines) used today based on the direction of the rotating
shaft (axis): horizontal–axis wind machines and vertical-axis wind machines. The size of wind machines
varies widely. Small turbines used to power a single home or business may have a capacity of less than
100 kilowatts. Some large commercial sized turbines may have a capacity of 5 million watts, or 5
megawatts. Larger turbines are often grouped together into wind farms that provide power to the
electrical grid.

HORIZONTAL AXIS WIND MACHINE

Most wind machines being used today are the horizontal-axis type. Horizontal-axis wind
machines have blades like airplane propellers. A typical horizontal wind machine stands as tall as a 20-
story building and has three blades that span 200 feet across. The largest wind machines in the world
have blades longer than a football field! Wind machines stand tall and wide to capture more wind.

VERTICAL AXIS WIND MACHINE

Vertical–axis wind machines have blades that go from top to bottom and the most common type
(Darrieus wind turbine) looks like a giant two-bladed egg beaters. The type of vertical wind machine
typically stands 100 feet tall and 50 feet wide. Vertical-axis wind machines make up only a very small
percent of the wind machines used today.

The Wind Amplified Rotor Platform (WARP) is a different kind of wind system that is designed
to be more efficient and use less land than wind machines in use today. The WARP does not use large
blades; instead, it looks like a stack of wheel rims. Each module has a pair of small, high capacity
turbines mounted to both of its concave wind amplifier module channel surfaces. The concave surfaces
channel wind toward the turbines, amplifying wind speeds by 50 percent or more. Eneco, the company
that designed WARP, plans to market the technology to power offshore oil platforms and wireless
telecommunications systems.

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WIND POWER PLANTS.

Wind power plants, or wind farms as they are sometimes called, are clusters of wind machines
used to produce electricity. A wind farm usually has dozens of wind machines scattered over a large
area. The world's largest wind farm, the Horse Hollow Wind Energy Center in Texas, has 421 wind
turbines that generate enough electricity to power 220,000 homes per year. Unlike power plants, many
wind plants are not owned by public utility companies. Instead they are owned and operated by business
people who sell the electricity produced on the wind farm to electric utilities. These private companies
are known as Independent Power Producers. Operating a wind power plant is not as simple as just
building a windmill in a windy place. Wind plant owners must carefully plan where to locate their
machines. One important thing to consider is how fast and how much the wind blows. As a rule, wind
speed increases with altitude and over open areas with no windbreaks. Good sites for wind plants are the
tops of smooth, rounded hills, open plains or shorelines, and mountain gaps that produce wind
funneling. Wind speed varies throughout the country. It also varies from season to season. In Tehachapi,
California, the wind blows more from April through October than it does in the winter. This is because
of the extreme heating of the Mojave Desert during the summer months. The hot air over the desert
rises, and the cooler, denser air above the Pacific Ocean rushes through the Tehachapi mountain pass to
take its place. In a state like Montana, on the other hand, the wind blows more during the winter.
Fortunately, these seasonal variations are a good match for the electricity demands of the regions. In
California, people use more electricity during the summer for air conditioners. In Montana, people use
more electricity during the winter months for heating.

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COMPONENTS OF THE WIND TURBINE

Fig 2:Wind turbine components

Anemometer:

Measures the wind speed and transmits wind speed data to the controller.

Blades:
Most turbines have either two or three blades. Wind blowing over the blades causes the blades to
"lift" and rotate.

Brake:
A disc brake, which can be applied mechanically, electrically, or hydraulically to stop the rotor in
emergencies.

Controller:

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The controller starts up the machine at wind speeds of about 8 to 16 miles per hour (mph) and
shuts off the machine at about 55 mph. Turbines do not operate at wind speeds above about 55
mph because they might be damaged by the high winds.
Gear box:
Gears connect the low-speed shaft to the high-speed shaft and increase the rotational speeds from
about 30 to 60 rotations per minute (rpm) to about 1000 to 1800 rpm, the rotational speed
required by most generators to produce electricity. The gear box is a costly (and heavy) part of the
wind turbine and engineers are exploring "direct-drive" generators that operate at lower rotational
speeds and don't need gear boxes.

Generator:
Usually an off-the-shelf induction generator that produces 60-cycle AC electricity.

High-speed shaft:
Drives the generator.

Low-speed shaft:
The rotor turns the low-speed shaft at about 30 to 60 rotations per minute.

Nacelle:
The nacelle sits atop the tower and contains the gear box, low- and high-speed shafts, generator,
controller, and brake. Some nacelles are large enough for a helicopter to land on.

Pitch:
Blades are turned, or pitched, out of the wind to control the rotor speed and keep the rotor from
turning in winds that are too high or too low to produce electricity.

Rotor:
The blades and the hub together are called the rotor.

Tower:
Towers are made from tubular steel (shown here), concrete, or steel lattice. Because wind speed
increases with height, taller towers enable turbines to capture more energy and generate more
electricity.

Wind direction:
This is an "upwind" turbine, so-called because it operates facing into the wind. Other turbines are
designed to run "downwind," facing away from the wind.

Wind vane:
Measures wind direction and communicates with the yaw drive to orient the turbine properly with
respect to the wind.

Yaw drive:

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Upwind turbines face into the wind; the yaw drive is used to keep the rotor facing into the wind as
the wind direction changes. Downwind turbines don't require a yaw drive, the wind blows the
rotor downwind.
Yaw motor:
Powers the yaw drive.

WIND TURBINE CHARACTERACTICS

Equation (1) gives the total power available in the wind,where A is the rotor area, ρ is the air
density and v is the wind velocity.

PWIND = 0.5Aρv3 …………… (1)

Only a part of the total wind energy can be extracted. The available energy part in wind is
described by the power coefficient Cp. The theoretical maximum value of this coefficient is 0.59 and it is
called the Betz limit.
Pturbine =0.5Cp Av3 ………… (2)
The practical values of Cp lie between 0.4 and 0.5 for industrial wind turbines.This power
coefficient is a function of the tip-speed ratio λ. An example of this function is shown in Fig. 2. The tip-
speed ratio shows the relation between the circumferential velocity of the blade tips and the wind
velocity:

………………..(3)
where r is the rotor radius and Ω is the angular rotor speed.

Fig. 3. Power coefficient Cp vs. tip-speed ratio.

Rotors are usually designed so that power coefficient Cp has the maximum values at the-speed
ratio in the range from 4 to 8.Since the coefficient Cp is the function of the tip-speed ratio the power

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extracted by the wind turbine depends on the wind velocity and the rotational speed. Power curves at
different wind velocities for turbines with fixed blade position shown in Fig. 3.
Fig. 4 indicates that the maximal power can be captured from wind turbines only if they are of a
variable speed type. This figure illustrates also another feature of variable speed turbines: generator’s
speed is four times lower at the cut-in wind speed than at the rated velocity. The wind velocity
determines the rotational speed of the wind turbine and the generator.
Since it as direct impact on power converter operation modes, an example of wind velocity
distribution at 10 meter height is shown in Fig. 5, but the corresponding energy yield in Fig. 6. Three
distinct operating modes of the variable speed wind turbine generator can be emphasized: slow speed,
rated speed and high speed. Slow speed occurs when the wind velocity lies in the range from 3m/s till
7m/s, rated speed - 7...8m/s and high speed mode is at higher velocities. This division of modes is made
according to the normalized energy yield (Fig. 6). The rated speed corresponds to wind velocity with
maximum energy distributions are characteristic of Baltic coastal regions and so can be used as reference
for interface converter design. The distribution of wind velocity per wind turbine modes is presented in
Table I. It shows that the wind turbine is silent one quarter of the time and half of the time works at low
speed.

Fig. 4. VSWT power vs. rotation speed of turbine at different wind velocities.

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Fig. 5. An example of wind velocity distribution.

Fig. 6. An example of normalized energy yield.

NEED OF PERMANENT MAGNET SYNCHRONOUS GENERATOR IN WIND TURBINE

GRID SYSTEM
Optimum wind energy extraction is achieved by running the wind turbine generator (WTG) in
variable-speed variable- frequency mode. The rotor speed is allowed to vary in sympathy with the wind
speed by maintaining the tip speed ratio to the value that maximizes aerodynamic efficiency. In order to
achieve this ratio, the permanent-magnet synchronous generator (PMSG) load line should be matched
very closely to the maximum power line of the wind turbine generator. In such a case, a good matching
exists between the generator and the load for the best performance of the system, as well as the maximum
utilization of the wind driven PMSG. However, the recent advancements in power electronics and control
strategies have made it possible to regulate the voltage of the PMSG in many different ways. When the
generator torque line can be controlled, the generator loading of the turbine can be made to follow the
desired locus such as the optimum shaft power locus.

PMSG MODEL
The PMSG dynamic equations are expressed in the “ reference” frame. The model of electrical dynamics
in terms of voltage and current can be given by the following equations

…………………….(4)

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where R and L are the machine resistance and inductance per phase, and are the two-axis machine
voltages, and id and iqare the two-axis machine currents. is the amplitude of the flux linkages
established by the permanent magnet, and
The above equations are derived assuming that the q -axis is aligned with the stator terminal
voltage phasor (i.e.vd=0, ). The expression for the electromagnetic (EM) torque in the rotor is written as

………………………..(5)
Where P is the number of poles of the PMSG, and Te is the electrical torque from the generator.

The relationship between the angular frequency of the stator voltage and the mechanical angular
velocity of the rotor may be expressed as

……………………(6)

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PMSG BASED WIND TURBINE.

PMSG based VSWTs have three distinct operation modes: silent mode, variable speed operation
mode and constant speed mode. A turbine is silent in two cases: wind speed is below a cut-in level or
above the cut-off speed. If the speed is below its cut-in level it produces insufficient torque to move the
turbine. At the same time winds above the cut-off level may damage the turbine that must be stopped at
such conditions. A turbine usually starts to operate at 3 m/s and it should be stopped at the wind speed
above 25 m/s.Turbines operate at variable speed in the wind velocity range from cut-in to rated wind
speed. Rated wind speed differs by turbine types, but often has the value of 12 meters per second.
Constant speed mode takes palace above the rated wind speed. Turbine output power remains constant at
this mode (Fig. 7).PMSGs with 8 pole pairs are considered as a power source in this research. Its line
voltage is 140V at 375 rpm, but it can operate up to 510 rpm. This speed is considered as the maximum
power operational point for the turbine and the generator. Generator power reaches 1250W at this point,
but the output voltage is 183V.

Fig. 7. Output power of VSWT.

Cut-in speed for a turbine is 125 rpm and it can produce 20W, but the generator voltage is only
48V at this point. So this is the lowest input voltage for a converter. Generator speed and voltage
characteristics are shown in Fig. 7.

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Fig. 8. Generator speed and voltage vs. wind speed.

TOPOLOGIES OF INTERFACE CONVERTERS FOR PMSG BASED VSWT

Interface converter for a PMSG based VSWT can have different topologies. Topologies with HF
isolation for VSWT application already known are studied in this section to evaluate their pros and cons
in the context of the described PMSG utilization in such systems and a new interface converter topology
with qZS DC/DC converter based HF isolation is offered.
3.1.1 TRADITIONAL TOPOLOGIES.

There are only few converter topologies with high frequency isolation for small wind applications
studied in the literature. In old technologies proposed a buck type isolated DC/DC converter (Fig. 9a).
Variable generator voltage is rectified with a three-phase diode bridge firstly into proportional DC
voltage. Stabilization of the second DC link voltage is obtained with the buck type isolated DC/DC
converter by means of duty cycle variation. The main drawback of this solution is high currents in the
transformer’s primary winding at rated wind speeds that will reduce converter efficiency at this operating
point. In the second concept of inverter topologies have proposed a one-phase soft-switched dual LCL
DC/AC converter (Fig. 9b). This converter utilizes a controlled rectifier for generator voltage
rectification and DC link voltage stabilization. The soft-switched dual LCL DC/AC converter needs
stable DC link voltage, so generator voltage should be boost up to its maximum voltage amplitude value
in the whole input voltage range that will reduce the efficiency of the controlled rectifier at low generator
speed.

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(a)

(b)
Fig. 9. Interfacing converter topologies: a) with a buck type isolated DC/DC converter, b) one-
phase LCL DC/AC converter

NEW PROPOSED TOPOLOGY

To improve the efficiency of the PMSG based VSWT system a new converter topology is
introduced, presented in Fig. 10. It consists of a three-phase full bridge controlled rectifier (generator side
inverter) with PFC functionality and a quasi-Z-source (qZS) DC/DC converter with an HF transformer
for galvanic isolation. Grid side inverters with Output filters are not discussed here.

Fig 10. proposed interface converter with qZS DC/DC.

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A PFC inverter converts the variable voltage with variable frequency Ugen from the PMSG into a
stabilized DC voltage Udc1. The qZS DC/DC converter offers galvanic isolation and voltage level
adjustment by means of the transformation coefficient. The unique qZS impedance network and
appropriate control offer an additional voltage regulation capability at high efficiency. Stabilized DC link
voltage Uout can be inverted into the grid current by an appropriate inverter.

QZS BASED STEP-UP DC/DC CONVERTER WITH HF ISOLATION

The central idea implemented in the proposed converter is to keep the intermediate DC link
voltage (UDC) constant despite the variation of the generator side DC link voltage UDC1. By keeping the
UDC constant the inverter could be operated with a fixed duty cycle, thus ensuring constant volt-second
and flux swing of the isolation transformer.
The main advantage of the implemented quasi-Z-source (qZS) based step-up DC/DC converter is
that it can boost the input voltage during special shoot-through op erating states of the inverter. During
the shoot-through states the primary winding of the isolation transformer is shorted through all switches
of both phase legs of the inverter (Fig. 11a). The passive qZS-network makes the shoot-through states
possible, effectively protecting the circuit from damage. Moreover, the shoot-through states are used to
boost the magnetic energy stored in the inductors L1 and L2 without short-circuiting capacitors C2 and C3.
This increase in the magnetic energy in turn provides the boost of voltage seen on the inverter output
during the active states of the inverter (Figs. 11b and 11c). Thus, by adjusting the shoot-through duty
cycle DS of the inverter twitches T7…T10 the UDC could be pre regulated to the desired 250 V despite the
variation of UDC1 with different wind speeds from 150 V to 250 V (Fig.12).After the preregulation of UDC
the isolation transformer TR is being supplied from the inverter with a voltage of constant amplitude (250
V) and duty cycle (DA=0.4).

Fig 11. Inverter equivalent scheme during the shoot-through state (a) and during active states: positive
(b) and negative (c) half-cycles.

To reduce the turns ratio of the isolation transformer a voltage doubler rectifier (VDR) was
implemented on the secondary side of the converter. In contrast to the traditional full-bridge rectifier, two
diodes of one leg in the VDR topology were replaced by the capacitors. The operation principle of the
VDR is explained in Figs.12. During the positive half cycle, the capacitor C4 is charged through the diode
D2 to the peak secondary voltage of the isolation transformer (Fig. 12a). During the negative half cycle
the capacitor C5 is charged through diode D3 (Fig. 12b). At every time instant the output voltage (UDC2)
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from this circuit will be the sum of the two capacitor voltages ,or twice the peak voltage (UTR,sec) of the
secondary winding of the isolation transformer.

Fig 12. Operation principle of VDR: positive (a) and negative (b) half cycles.

OPERATING MODES OF NEW INTERFACING CONVERTER

This research attempts to prove the ability of the proposed topology to ensure stable grid side DC
link voltage Uout. For this reason only the operating studied in more detail. The power circuit of the qZS
based DC/DC converter is shown in Fig. 10, but operation modes in Fig. 13.

Fig 13.operating modes of converter

The voltage boost necessary is obtained by two steps. The PFC rectifier stabilizes the first DC link
voltage Udc1 to a 150V level when the generator voltage is below 112V
The controlled rectifier works as a usual rectifier when the generator voltage Ugen is above 112V.
In this mode the DC link voltage is changed proportionally to the generator voltage, at the range from
150V in rated speed conditions up to 250V at the maximal speed.
The qZS based HF isolation converter is stabilizing the HF inverter input voltage U1 to 250V
despite the voltage variations on the first DC link. The stabilized input voltage U1 ensures inverter
operation with the fixed duty cycle, thus ensuring constant volt second balance of the isolation
transformer. The input voltage U1 regulation is obtained by changing the shoot-through duty cycle

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PERMANENT MAGNET SYNCHRONOUS MACHINE

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OUTPUT:

(1) is_abc(A)

(2) we(rad/s)

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(3)Te(Nm)

RESULT:

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EXPNO:9 DATE:
COMPUTATION OF HARMONIC INDICES GENERATED BY A RECTIFIER FEEDING A
R-L LOAD
AIM:
To perform the harmonic analysis of single phase full bridge converter with R-L load
using Matlab (Simulink).
SOFTWARE REQUIRED:
Power system module of MATLAB
THEORY
HARMONICS:
There are certain loads on the system that produce harmonic currents. These currents result in
distorted voltages and currents that can adversely impact the system performance in different ways.
Generally this load is called as non linear load. The current wave shape on a non-linear load is not the
same as the voltage as shown in fig2.

Fig 1:-Voltage and Current waveforms for non-linear loads

Typical examples of non-linear loads include rectifiers (power supplies, UPS units, discharge
lighting), adjustable speed motor drives, ferromagnetic devices, DC motor drives and arcing
equipment. The current drawn by non-linear loads is not sinusoidal but it is periodic, meaning that the
current wave looks the same from cycle to cycle. Periodic waveforms can be described mathematically
as a series of sinusoidal waveforms that have been summed together as shown in fig 3.

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Fig 2:-Waveform with symmetrical harmonic components

The sinusoidal components are integer multiples of the fundamental where the fundamental.
The only way to measure a voltage or current that contains harmonics is to use true-RMS reading
meter. If an averaging meter is used, which is the most common type, the error can be significant.
HARMONIC ANALYSIS:
Harmonic analysis is the branch of mathematics that studies the representation of functions or
signals as the superposition of basic waves. It investigates and generalizes the notions of Fourier series
and Fourier transforms. The basic waves are called "harmonics", hence the name "harmonic analysis".
RECTIFIER:
DEFINITION: Converting AC (from mains or other AC source) to DC power by using power diodes
or by controlling the firing angles of thyristors /controllable switches.
BASIC BLOCK DIAGRAM:

•Input can be single or multi-phase (e.g. 3-phase).

•Output can be made fixed or variable.
EXERCISE:
A single phase AC source of 230V, 50Hz supplying to a RL branch through a full bridge
converter connected using IGBT. The pulse trigger given to the IGBT is of amplitude 2 for a period
0.02 seconds with a period of 50% period. Deign a harmonic filter for 2 cycles and obtain the
necessary wave form.
ALGORITHM:
Step1: Start.
Step2: Obtain various blocks from simulink library and construct the block diagram of the converter.
Step3: Perform FFT analysis for the above.
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Step4: Extract the harmonics.
Step5: Stop.
FLOW CHART:
Start

Form the various

Simulink blocks

Perform FFT analysis for

the above

Extract the
harmonics

Start

Simulation diagram for THD voltage:

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OUTPUT:

FFT Analysis:

RESULT:
Hence the harmonic analysis of a single phase full bridge converter using a RL branch is
simulated and its 3rd and 5th harmonics are extrated.
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EX.NO:10 DATE:

DESIGN OF ACTIVE FILTER FOR MITIGATING HARMONICS

AIM:
To Design the active filter to improve power quality by mitigation harmonics

THEORY:
As the development of modern power electronics technology and the wider application of
various nonlinear devices, the current distortion makes increasingly serious pollution to the grid.
Therefore, harmonic current compensation has been drawn great attention.Active power filter is a new
type of power electronic device using for dynamic suppressing harmonics and compensating reactive
power. It can compensate harmonics with varying amplitude and frequency, and can overcome the
shortage of passive filter effectively. It is a harmonics suppression device with prospect .

In 1980’s, with the self turn-off power semiconductor appeared, PWM control technology and
the instantaneous reactive power theory for three-phase system put into use, study on active power
filter become fast.Because of extensive use for three-phase four-wire in power system, such as
industry, official and business, many people pay more attention to the trouble which is caused by
harmonics and unbalance of three-phase. Therefore, it is important to compensate harmonics and
reactive power in three-phase four-wire system This paper introduces a shunt active power filter for
three-phase four-wire system. It presents the principles and structure. And the design and performance
of a 3KW experimental prototype is proposed.

PRINCIPLE AND STRUCTURE:

The structure of a shunt active power filter used for three-phase four-wire is shown in Fig. 1. In this
system, the load may product harmonics and unbalance current in three-phase, and current is flown in
neutral wire.

Fig. 1: The structure of active power filter for three-phase four-wire system

The shunt active power filter is a voltage source inverter controlled as a current source by means of
pulse width modulation signals. As it can be seen in Fig. 1, the filter is connected in paralleled with
the nonlinear load. Harmonic current compensation is achieved by injecting equal but opposite
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harmonic current components at the point of connection, therefore canceling the original distortion
and improving the power quality . In most cases, the load also needs reactive power, which can also be
generated by the same current source. In three-phase unbalanced and nonlinear loads, it is also
possible to redistribute power and to keep the system balance. The active power filter is composed of
the reference current calculating circuit, current tracking circuit, driving circuit and the main circuit.
While, the generation circuit of compensating current is composed of the last three parts Three-phase
four-wire system is different from three-phase three-wire system because of the neutral wire. Thus,
handling zero-sequence components of three-phase current is the key point. Reference current
calculating circuit should product the reference current correctly and fast in three-phase four-wire
system. That means it should detect the harmonics, fundamental negative-sequence current
components and zero-sequence current components of the compensating . The generation circuit of
compensating current should product compensating current correctly according to the reference
current signals.
Because the sum of three-phase current is not zero in three-phase four-wire system, the detection
method based on instantaneous reactive power theory should be modified. The way is to calculate the
zero-sequence current components, then subtract them from three-phase current. Finally three-phase
current without zero-sequence components can be detected by the method based on instantaneous
reactive power theory. The compensating current signals of the neutral wire can be also calculated by
turning the polarity of the neutral wire current over . The principle of reference current calculating
circuit is shown in Fig. 2. In which, i a , ib , i c are load currents. The zero-sequence component of three-
phase current i n is calculated as:
1
i n  (i a  ib  ic ) (1)
3
Then zero-sequence components can be subtracted from three-phase current:
i a'  i a  i n
ib'  ib  i n (2)
ic'  ic  i n
Eventually the three-phase currents without zero-sequence component i a' , ib' , ic' will comply with:
ia'  ib'  ic'  0 (3)

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Fig. 2: The principle diagram of reference current calculating circuit

Afterward, as shown in Fig. 2, the three-phase currents without zero-sequence components i a' , ib' , ic' are
coordinately transformed and achieve corresponding active power current component ip and reactive
power current component iq, then it can acquire dc component i p , iq through the low pass filters.
Fundamental positive-sequence components iaf' , ibf' , icf' can be calculated by inverse coordinate
transformation. When the positive-sequence components are subtracted from load current ia,ib,ic, there
will be reference current ica*,icb*,icc*. After the compensating currents generated by the reference
signals offset the harmonics, the currents flowing into source which are equal to fundamental positive-
sequence components are sinusoid and balanced

DESIGN OF SHUNT ACTIVE POWER FILTER

Active power filter is an advanced power electronic device, which can be used for integrated
compensating harmonics, reactive currents and negative-sequence currents. Because of the
characteristics of real time and accurate compensation, it is possible to take full advantage of digital
signal processing and many other technologies. If so, the performance of active power filters can be
improved significantly.

Control circuit
The control circuit consists of current control and voltage control. The principle is shown in Fig. 3.
The current controller uses the current error between reference current i c* and compensating
current ic filtered by a proportional-integral regulator as the modulating signal. The current control
circuit uses a tracking PWM current control and timing comparing. The comparator is judged at each
clock-cycle, so the PWM control signals change once at least one clock cycle. The clock-cycle limits
the highest frequency of switching devices in the main circuit, thus damages to the devices due to
over-high switching frequency may be avoided. The shortcoming of this control method is that the
tracking error of compensating current is unfixed .
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For voltage control, it mainly means controlling of DC-link voltage. There are two control techniques:
PI control and fuzzy control. PI control is similar to the current control, but there is some difference.
When the supply voltage is unbalanced or distorted, the input of the voltage controller is not the actual
supply voltage but a unitary sinusoidal waveform in phase with the supply voltage . Therefore, the
active power filter will have good performance even under the condition of unbalanced or distorted
source voltage. In other words, PI control uses the voltage error between DC-link voltage and its
reference filtered by a proportional-integral regulator multiplied by the unitary sinusoidal waveform in
phase with the supply voltage to obtain the reference current.

fig. 3: The principle diagram of control circuit

Fuzzy control can be also applied to DC-link voltage control. The input of the controller is the error
voltage and its incremental variation. And the output is the incremental variation of the amplitude of
the active current injected into active power filter. Compared with PI control, fuzzy control has better
dynamic response and can keep the DC-link voltage stability well. However, fuzzy control makes the
controller complicated. This paper adopts PI control as control method.

Main circuit
In three-phase four-wire system, active power filter not only compensates the harmonics of three-
phase current, but also suppresses the current of neutral wire to get rid of the neutral wire current of
the source. There are many methods to suppress the neutral current. Generally, four-leg converter and
three-leg converter are commonly used . The structures of their main circuit are shown respectively in
Fig. 4 and Fig. 5.For four-leg structure, to compensate the neutral current is provided through the forth
leg which products the compensating current of the neutral wire, which offset the neutral current of the
source side. The compensating principle of this method is easy, but it makes the circuit more
complicated and the cost is high. In this paper, the main circuit uses three-leg converter. Through
reference current calculating circuit, it can acquire reference current signals of compensating three-
phase currents and the neutral current. The compensating current of three-phase currents is equal to the
sum of harmonics, fundamental negative-sequence and zero-sequence components in load current
which offsets the load current. So the supply current flowing into the source which is equal to the
fundamental positive-sequence components becomes sinusoidal and balanced. For three-leg structure,
to keep the DC-link voltage balance is to control the neutral current to be zero . From the point of
active power filter, the sum of harmonics and fundamental negative-sequence components of three-
phase current without zero-sequence components is aero. The sum of zero-sequence components of
three-phase current is equal to the compensating neutral current which is regulated through DC-link
control.
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ea eb ec 0
is

Ls
VTa1 VTb1 VTc1 VTn1
R L ica
icb C
icc Udc

N icn
iL VTa 2 VTb 2 VTc 2 VTn2

Nonlinear load

Fig. 4: The four-leg structure of main circuit

ea eb ec
is

Ls
VTa1 VTb1 VTc1
R L ica
C1
icb
N
icc
C2
iL N VTa 2 VTb 2 VTc 2

in

Fig. 5: The three-leg structure of main circuit

After compensation of active power filter, the three-phase supply current will be sinusoidal and
balanced, the neutral current of the source will be zero.

A 3kW shunt three-phase four-wire active power filter experimental prototype is constructed. Firstly,
the minimum DC-link voltage Uc should be greater than the value three times of AC phase peak
voltage Em. If DC-link voltage is too small, compensation current can not track instruction current as
requests, and the compensation effect will be unsatisfied. On this basis, the greater Uc is, the faster ic
changes, the higher voltage the devices should endure . Secondly, the smaller inductance L is, the
faster ic changes. Thirdly, the longer current controlling cycle tc is, the greater ripple current tracking
error has. The value of tc also determines the highest time of harmonic which the active power filter
can compensate and the frequency demands for switching devices.

The work process of active power filter is also the process of capacitor charging and discharging. The
fluctuation of DC-link voltage can be explained by the changes of the stored charges volume, and the
volume can be obtained from the integral of current to time. According to the parameters design
method for capacitance in and , the capacitor C under ideal condition can be calculated by equation
(4), where C is capacitor value; Q is the electric charges stored on capacitor; u is reference capacitor

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
voltage; Q1 is the maximal charge, u \ u is the maximal voltage fluctuation; ia* is compensating
current of phase a; i is fundamental active current; Id is load current.

 Q
C  u

Q  Q * u
 1
u
 2 / 3
 1
 Q1   ia d  t
*

   /3

i  3 6
id
 2
 *
 i a  i d  2 * i sin(  t   / 6 )


C. Driving circuit
IGBT is used as switching device in this system. The IGBT driving circuit uses the driving block
M57962L produced by MITSUBISHI company in Japan. This drive block is a mix integrated circuit.
Because of gathering the drive and over-current protecting circuit, it can satisfy the needs perfectly.

EXPERIMENT RESULTS

According to the design described above, a 3 KW experimental prototype of shunt active power filter
for three-phase four-wire system is developed. The experiment results are given in Fig. 6 and Fig. 7.
The nonlinear load is composed of the inductance three-phase transistor rectifier bridge. Fig. 6 is the
waveform of the supply current before using the active power filter. It is three-phase unbalanced and
distorted current source. Fig. 7 is the waveform of the supply current after compensation, and it is
three-phase balanced and sinusoidal current. This indicates that the proposed active power filter has a
good performance and the design method is basically correct.

Fig. 6: Three-phase currents before compensation

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Fig. 7: Three-phase currents after compensation

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RESULT: Thus the active filter for mitigation harmonics was designed

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EXP NO: 11 DATE:
TRANSIENT STABILITY ANALYSIS: SINGLE MACHINE
INFINITE BUS SYSTEM USING CLASSICAL MODEL

AIM

To become familiar with various aspects of the transient stability analysis of Single
Machine Infinite Bus (SMIB) system.

OBJECTIVE

To understand modeling and analysis of transient stability of a SMIB power system.

SOFTWARE REQUIRED

TRANSIENT - SMIB module of AU Power lab or equivalent.

THEORY

Stability

Stability problem is concerned with the behavior of power system when it is subjected
to disturbances and is classified into small signal stability problem if the disturbances are small
and transient stability problem when the disturbances are large.

Transient Stability

When a power system is under steady state, the load plus transmission loss equals to the
generation in the system. The generating units run at synchronous speed and system frequency,
voltage, current and power flows are steady. When a large disturbance such as three phase fault,
loss of load, loss of generation etc., occurs the power balance is upset and the generating units
rotors experience either acceleration or deceleration. The system may come back to a steady state
condition maintaining synchronism or it may break into subsystems or one or more machines
may pull out of synchronism. In the former case the system is said to be stable and in the later
case it is said to be unstable.

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SINGLE MACHINE- INFINITE BUS SYSTEM

OUTPUT

Case 1: Opening & Closing of Circuit Breaker at line-2

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Case 2: Three-phase to ground fault at the mid point of line-2

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Case 3: Three-phase to ground fault at the end of line-2

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

RESULT:

Thus the transient stability of a Single-Machine Infinite Bus(SMIB) System was analyzed &
output graphs for different cases were obtained.

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EXP NO: 12 DATE:
SMALL SIGNAL STABILITY ANALYSIS OF A SINGLE MACHINE INFINITE BUS
SYSTEM WITH FIELD CIRCUIT, EXCITER AND POWER SYSTEM STABILIZER
AIM:
To write a MATLAB program for analyzing the small signal stability of a single machine infinite
bus system with field circuit, exciter and power system stabilizer.
SOFTWARE REQUIRED:
Power system module of MATLAB.
THEORY:
Effect of Synchronous Machine Field Circuit Dynamics:
We now consider the system performance including the effect of field flux variations. The
amortisseur effects will be neglected and the field voltage will be assumed constant (manual
excitation control).
Synchronous machine equations:
As in the case of the classical generator model, the acceleration equations are
1 (1)
pΔω r =  Tm - Te - K DΔω r 
2H
pδ = ω 0Δω r
where
Network equations:
The machine terminal and infinite bus voltages in terms of the d and q components are
E% = e + je (2)
t d q

E% = E + jE
B Bd Bq
(3)
The network constraint equation for the system
E%=E % +  R + jX  I%
t B E E t
(4)
 ed + jeq  =  EBd + jEBq  +  R E + jXE   id + jiq  (5)
Resolving into d and q components gives
ed = R E i d - X E i q + E Bd
(6)
eq = R E i q + X E i d + E Bq
(7)
Where,
EBd = EB sinδ (8)
EBq = EB cosδ
(9)
The expressions for id and iq in terms of the state variables ψ fd and δ is given by
  Lads  
XTq  ψ fd   - E Bcosδ  - R TE Bsinδ
  Lads + Lfd  
id =
D (10)

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  Lads  
R T ψ fd   - E Bcosδ  + X TdE Bsinδ
  Lads + Lfd  
iq =
D (11)
RT = Ra + RE (12)
X Tq = X E +  L aqs + L l  = X E + X qs
(13)
XTqd = XE +  Lads + L l  = XE + Xds
(14)
2
D = R + XTq XTd
T
(15)

The reactance’s Lads and Laqs are saturated values. In per unit they are equal to the
corresponding inductances.
These equations are nonlinear and have to be linearized for small signal analysis.
Linearized system equations
Expressing equations (11) and (13) in terms of perturbed values, we may write
Δi d = m1Δδ + m 2Δψ fd
(16)
Δi q = n1Δδ + n 2 Δψ fd
(17)
EB  XTq sinδ 0 - R Tcosδ 0 
m1 =
D (18)
E  R sinδ 0 + X Tdcosδ 0 
n1 = B T
D (19)
X Lads
m 2 = T¶q
D  Lads + Lfd 
(20)
R L ads
n2 = T
D  L ads + L fd 
(21)

By linearizing ψad and ψaq, and substituting them in the above expressions and , we get
 Δψ fd 
Δψ ad = Lads  -Δi d + 
 L fd  (22)
 1 
= - m 2  Lads Δψ fd - m 1Lads Δδ
 L fd 
(23)
Δψ aq = -L aqs Δi q
(24)
= -n 2 L aqsΔψ fd - n 1L aqsΔδ
(25)
Linearizing ifd and substituting for ∆ψ ad from equation (19) gives

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Δψ fd - Δψ ad
Δi fd =
L fd (26)
1  Lads  1
= 1 - + Lads  Δψ fd + m 1L adsΔδ
L fd  L fd  L fd
(27)
The linearized form of air gap torque Te is given by
ΔTe = ψ ad0 Δi q + i q0 Δψ ad - ψ aq0Δi d - i d0Δψ aq
(28)
ΔTe = K 1Δδ + K 2Δψ fd
(29)
K 1 = n1  ψ ad0 + L aqsi d0  - m 1  ψ aq0 + L adsi q0 
(30)
Lads
K 2 = n 2 ψ ad0 + L aqsi d0  - m 2 ψ aq0 + L adsi q0  +
i q0
Lfd (31)
The system equation in the desired final form :
Δω&r   a11 a12 a13  Δωr 
 &  
Δδ  = a 21 0 0  Δδ  (32)
Δψ&fd   0 a 32 a 33  Δψ fd 
 
Where,
K
a11 = - D
2H (33)
K
a12 = - 1
2H (34)
K
a13 = - 2
2H (35)
a 21 = ω 0 = 2πf 0
(36)
ωR
a 32 = 0 fd m1Lads
L fd (37)
ω 0 R fd  Lads 
a 33 = - 1 - + m 2 Lads 
L fd  L fd 
(38)
1
b11 =
2H (39)
ω 0 R fd
b 32 =
Ladu
and ΔTm and ΔEfd depend on prime mover and excitation controls. With constant mechanical
input torque, ΔTm =0; with constant exciter output voltage, ΔEfd =0.

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Summary of procedure for formulating the state matrix
(a)The following steady state operating conditions , machine parameters and network parameters
are given below:
Pt Q t Et R E XE
Ld Lq Ll R a Lfd Asat Bsat Ψ Tl
Alternatively EB may be specified instead of Qt or Et
(b)The first step is to compute the initial steady state values of system variables:
It , power factor angle ,Total saturation factors Ksd and Ksq .
Xds = Lds = K sd Ladu + L l
(40)
Xqs = L qs = K sq L aqu + L l
(41)
 I t Xqscosj - I t R asinj 
δ i = tan -1 
 E + I R cosj + I X sinj 
 t t a t qs  (42)
ed0 = Et sinδ i
(43)
eq0 = E t cosδ i
(44)
i d0 = I t sin δ i + j 
(45)
i q0 = I t cos δ i + j 
(46)
E Bd0 = ed0 - R E i d0 + X E i q0
(47)
ω 0 R fd
a 32 = m1Lads
L fd
(48)
E 
δ 0 = tan -1  Bdo 
E 
 Bq0 
(49)

 
1/2
EB = E 2 + E 2
Bdo Bqo
(50)
e + R a i q0 L ds i d0
i fd0 = q0 ,
L ads
(51)
Efd0 = Ladu i fd0
(52)
ψ ad0 = Lads  -i d0 + i fd0 
(53)
ψ aq0 = -Laqs i q0 (54)
(c)The next step is to compute incremental saturation factors and the
corresponding saturated values of Lads ,Laqs ,L’ads , and then
R T , XTq , XTd , D

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 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
m1 ,m 2 ,n1 ,n 2
K1 , K 2
is calculated from the equations (11) and (14).
(d) Finally, compute the elements of matrix A.

Block diagram representation

Fig.1 shows the block diagram representation of the small signal performance of the system .In
this representation, the dynamic characteristics of the system are expressed in terms of the so
called K constants. The basis for the block diagram and the expressions for the associated
constant are developed .

Fig.1-BLOCK DIAGRAM REPRESENTATION WITH CONSTANT Efd

EFFECTS OF EXCITATION SYSTEM:

We will examine the effect of the excitation system on the small signal stability performance of
the single machine infinite bus system.
The input control signal to the excitation system is normally the generator terminal voltage E t. In
the generator model Et is not a state variable. Therefore, Et has to be expressed in terms of the
state variables Δ ωr, Δδ, and  fd .
~
E May be expressed in complex form:
% = e + je
E (55)
t d q

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Hence,
Et2 = ed2 + eq2 (56)
Applying a small perturbation, we may write
(Et0 + ΔE t ) 2 = (e d0 + Δe d ) 2 + (e q0 + Δe q ) 2 (57)
By neglecting second order terms involving perturbed values , the above equation reduces to
E t0 ΔE t = e d0 Δe d + e q0Δe q (58)
Therefore,
e e
ΔEt = d0 Δed + q0 Δeq (59)
Et0 Et0
In terms of the perturbed values, Equations
Δed = -R a Δi d + L l Δi q - Δψ aq
(60)
Δeq = -R a Δi q + L l Δi d - Δψ ad

Use of Equations to eliminate Δi d , Δi q , Δψ ad and  aq from the above equations in terms of the
state variables and substitution of the resulting expressions for ed and e q in equation yield
ΔEt = K 5Δδ + K 6Δψ fd (61)
Where
e e
K 5 = d0 [-R am1 + L l n1 + Laqsn1 ] + q0 [-R an1 - L l m1 - L'adsm1 ] (62)
Et0 Et0
e e 1
K 6 = d0 [-R am 2 + L l n 2 + Laqsn 2 ] + q0 [-R an 2 - L l m 2 + L'ads ( - m 2 )] (63)
Et0 Et0 Lfd

Fig.2 THYRISTOR EXCITATION SYSTEM WITH AVR

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a 34 = -b 32 K A
a 41 = 0
K5
a 42 = (64)
TR
K6
a 43 =
TR
1
a 44 = -
TR

The complete state space model for the power system , including the excitation system is given
by

 Δω &r   a11 a12 a13 0   Δω r  b1 

 &  
 Δδ  = a 21 0 0 0  Δδ   0 
+ ΔT
 Δψ&fd   0 a 32 a 33 a 34  Δψ fd   0  m
      
 Δν&1   0 a 42 a 43 a 44   Δν1   0 
(65)

Block diagram including the excitation system:

Fig 3- BLOCK DIAGRAM REPRESENTATION WITH EXCITER AND AVR

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POWER SYTEM STABILIZER:
The basic function of a power system stabilizer (PSS) is to add damping to the generator
rotor oscillations by controlling its excitation using auxiliary stabilizing signal(s). To provide
damping, the stabilizer must produce a component of electrical torque in phase with the rotor
speed deviations.
The theoretical basis for a PSS may be illustrated with the aid of the block diagram
shown below.
Since the purpose of a PSS is to introduce a damping torque component, a logical signal
to use for controlling generator excitation is the speed deviation Δ ωr.
If the exciter transfer function Gex(s) and the generator transfer function between ΔE fd and
ΔTe were pure gains, a direct feedback of Δωr would result in a damping torque component.
However, in practice both the generator and the exciter (depending on its type) exhibit frequency
dependent gain and phase characteristics. Therefore, the PSS transfer function, GPSS(s), should
have appropriate phase compensation circuits to compensate for the phase lag between the
exciter input and the electrical torque. In the ideal case, with the phase characteristics of
GPSS(S) being an exact inverse of the exciter and generator phase characteristics to be
compensated, the PSS would result in a pure damping torque at all oscillating frequencies.

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Fig 4- BLOCK DIAGRAM REPRESENTATION WITH AVR AND PSS.

The PSS representation in figure shown below consists of three blocks: a phase
compensation block, a signal washout block, and a gain block.

Fig 5- THYRISTOR EXCITATION SYSTEM WITH AVR AND PSS

System state matrix including PSS

a 51 = K STABa11
a 52 = K STABa12
a 53 = K STABa13
1
a 55 = -
Tw
T1
a 61 = a 51
T2
T1
a 62 = a 52
T2
T1
a 63 = a 53
T2
T1 T
a 65 = a 55 + 1
T2 T2
ω 0 R fd (66)
a 36 = KA
Ladu

The complete state space model, including the PSS, has the following form

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 Δω &r   a11 a12 a13 0 0 0   Δω r 
 &    
 Δδ  a 21 0 0 0 0 0   Δδ 
 Δψ&fd   0 a 32 a 33 a 34 0 a 36   Δψ fd 
 =   (67)
 Δν&1   0 a 42 a 43 a 44 0 0   Δν1 
 Δν&  a a 52 a 53 0 a 55 0   Δν 2 
 2   51  
 Δν&s  a 61 a 62 a 63 0 a 65 a 66   Δν s 

RESULT:
A MATLAB program was written to analyze the small signal stability of single machine infinite
bus system with field circuit, exciter and power system stabilizer.

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PROGRAM FOR SMALL SIGNAL STABILITY ANALYSIS OF SINGLE MACHINE

INFINITE BUS SYSTEM
1. WITH FIELD CIRCUIT
p=0.9;q=0.3;Et=1;h=3.5;xd=1.81;xq=1.76;xdp=0.3;x1=0.16;Ra=0.003;Tdop=8;Ladu=1.65;Laqu
=1.60;L1=0.16;Rfd=0.0006;
Xtr=0.15;x1=0.5;ksd=0.8491;ksq=0.8491;x2=0.93;Re=0;Lfd=0.153;kd=0;fo=60;
Xe=Xtr+x1;
s=p+q*i;
It=s'/Et';
phi=atan(q/p);
Lds=(ksd*Ladu)+L1;
Lqs=(ksq*Laqu)+L1;
Xqs=Lqs;
Xds=Lds;
a=(abs(It)*Xqs*cos(phi)-abs(It)*Ra*sin(phi));
b=(Et+(abs(It)*Ra*cos(phi))+(abs(It)*Xqs*sin(phi)));
deli=atan(a/b);
edo=Et*sin(deli);
eqo=Et*cos(deli);
ido=abs(It)*sin(deli+phi);
iqo=abs(It)*cos(deli+phi);
Ebdo=edo-(Re*ido)+(Xe*iqo);
Ebqo=eqo-(Re*iqo)-(Xe*ido);
delo=atan(Ebdo/Ebqo);
Ep=sqrt(Ebdo^2+Ebqo^2);
Lads=Lds-L1;
Laqs=Lqs-L1;
ifdo=(eqo+(Ra*iqo)+(Lds*ido))/Lads;
Efdo=Ladu*ifdo;
siado=Lads*(-ido+ifdo);
siaqo=-Laqs*iqo;
Rt=Ra+Re;
Xtq=Xe+(Laqs+L1);
Ladsp=1/(inv(Lads)+inv(Lfd));
Xtd=Xe+(Ladsp+L1);
D=(Rt^2)+(Xtq*Xtd);
m1=(Ep*(Xtq*sin(delo))-(Rt*cos(delo)))/D;
n1=(Ep*(Rt*sin(delo))+(Xtd*cos(delo)))/D;
m2=(Xtq*Lads)/(D*(Lads+Lfd));
n2=(Rt*Lads)/(D*(Lads+Lfd));
k1=n1*(siado+(Lads*ido))-m1*(siaqo+(Ladsp*iqo));

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k2=n2*(siado+(Laqs*ido))-m2*(siaqo+(Ladsp*iqo))+((Ladsp/Lfd)*iqo);
a11=-kd/(2*h);
a12=-k1/(2*h);
a13=-k2/(2*h);
wo=2*pi*fo;
a21=wo;a22=0;a23=0;a31=0;
a32=(-wo*Rfd*m1*Ladsp)/Lfd;
a33=((-wo*Rfd)/Lfd)*(1-(Ladsp/Lfd)+(m2*Ladsp));
A=[a11 a12 a13;a21 a22 a23;a31 a32 a33];
lamda=eig(A);
c(1)=real(lamda(1));
d(1)=imag(lamda(1));
zeta=-c(1)/(sqrt(c(1)*c(1)+d(1)*d(1)));
ks=abs(Ep)*abs(Ep)*cos(delo)/(Xe+xdp);
wn=sqrt(-det(A));
wnhz=wn/(2*pi)
wd=wn*sqrt(1-zeta*zeta);
theta=acos(zeta);
Dd0=5*pi/180;
t=0:0.01:30;
Dd=Dd0/sqrt(1-zeta*zeta)*exp(-zeta*wn*t).*sin(wd*t+theta);
d=(delo+Dd)*180/pi;
plot(t,d)
xlabel('t sec'),ylabel('delta degrees')

OUTPUT:
86

84

82
delta degrees

80

78

76

74
0 5 10 15 20 25 30
t sec

120
 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

2.WITH EXCITER
p=0.9;q=0.3;Et=1;h=3.5;xd=1.81;xq=1.76;xdp=0.3;x1=0.16;Ra=0.003;Tdop=8;Ladu=1.65;Laqu
=1.60;L1=0.16;Rfd=0.0006;
Xtr=0.15;x1=0.5;ksd=0.8491;ksq=0.8491;x2=0.93;Re=0;Lfd=0.153;kd=0;fo=60;Tr=.02;ka=0;
Xe=Xtr+x1;
s=p+q*i;
It=s'/Et';
phi=atan(q/p);
Ep=Et+xdp*It*i;
Lds=(ksd*Ladu)+L1;
Lqs=(ksq*Laqu)+L1;
Xqs=Lqs;
Xds=Lds;
a=(abs(It)*Xqs*cos(phi)-abs(It)*Ra*sin(phi));
b=(Et+(abs(It)*Ra*cos(phi))+(abs(It)*Xqs*sin(phi)));
deli=atan(a/b);
edo=Et*sin(deli);
eqo=Et*cos(deli);
ido=abs(It)*sin(deli+phi);
iqo=abs(It)*cos(deli+phi);
Ebdo=edo-(Re*ido)+(Xe*iqo);
Ebqo=eqo-(Re*iqo)-(Xe*ido);
delo=atan(Ebdo/Ebqo);
Ep=sqrt(Ebdo^2+Ebqo^2);
Lads=Lds-L1;
Laqs=Lqs-L1;
ifdo=(eqo+(Ra*iqo)+(Lds*ido))/Lads;
Efdo=Ladu*ifdo;
siado=Lads*(-ido+ifdo);
siaqo=-Laqs*iqo;
Rt=Ra+Re;
Xtq=Xe+(Laqs+L1);
Ladsp=1/(inv(Lads)+inv(Lfd));
Xtd=Xe+(Ladsp+L1);
D=(Rt^2)+(Xtq*Xtd);
m1=(Ep*(Xtq*sin(delo))-(Rt*cos(delo)))/D;
n1=(Ep*(Rt*sin(delo))+(Xtd*cos(delo)))/D;
m2=(Xtq*Lads)/(D*(Lads+Lfd));
n2=(Rt*Lads)/(D*(Lads+Lfd));
Eto=sqrt(edo*edo+eqo*eqo);
k1=n1*(siado+(Lads*ido))-m1*(siaqo+(Ladsp*iqo));

121
 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
k2=n2*(siado+(Laqs*ido))-m2*(siaqo+(Ladsp*iqo))+((Ladsp/Lfd)*iqo);
k5=(-Ra*m1+L1*n1+Laqs*n1)*(edo/Eto)+(eqo/Eto)*(-Ra*n1-L1*m1-Ladsp*m1);
k6=(edo/Eto)*(-Ra*m2+L1*n2+Laqs*n2)+(eqo/Eto)*(-Ra*n2-L1*m2+Ladsp*(inv(Lfd)-m2));
a11=-kd/(2*h);
a12=-k1/(2*h);
a13=-k2/(2*h);
a14=0;
wo=2*pi*fo;
a21=wo;a22=0;a23=0;a31=0;a24=0;
a32=(-wo*Rfd*m1*Ladsp)/Lfd;
a33=((-wo*Rfd)/Lfd)*(1-(Ladsp/Lfd)+(m2*Ladsp));
a34=-wo*Rfd*ka*inv(Ladu);
a41=0;
a42=k5/Tr;
a43=k6/Tr;
a44=-inv(Tr);
A=[a11 a12 a13 a14;a21 a22 a23 a24;a31 a32 a33 a34;a41 a42 a43 a44];
lamda=eig(A);
c=real(lamda(3));
d=imag(lamda(3));
zeta=-c/(sqrt(c*c+d*d));
ks=abs(Ep)*abs(Ep)*cos(delo)/(Xe+xdp);
wn=sqrt(ks*wo/(2*h));
wnhz=wn/(2*pi)
wd=wn*sqrt(1-zeta*zeta);
theta=acos(zeta);
Dd0=5*pi/180;
t=0:0.01:10;
Dd=Dd0/sqrt(1-zeta*zeta)*exp(-zeta*wn*t).*sin(wd*t+theta);
d=(delo+Dd)*180/pi;
plot(t,d)
xlabel('t sec'),ylabel('delta degrees')

122
 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME

OUTPUT:

86

84

82
delta degrees

80

78

76

74
0 1 2 3 4 5 6 7 8 9 10
t sec

3.WITH POWER SYSTEM STABILIZER

p=0.9;q=0.3;Et=1;h=3.5;xd=1.81;xq=1.76;xdp=0.3;x1=0.16;Ra=0.003;Tdop=8;Ladu=1.65;Laqu
=1.60;L1=0.16;Rfd=0.0006;
Xtr=0.15;x1=0.5;ksd=0.8491;ksq=0.8491;x2=0.93;Re=0;Lfd=0.153;kd=0;fo=60;Tr=.02;ka=10;k
stab=48.5;Tw=1.4;T1=0.154;T2=.033;
Xe=Xtr+x1;
s=p+q*i;
It=s'/Et';
phi=atan(q/p);
Ep=Et+xdp*It*i;
Lds=(ksd*Ladu)+L1;
Lqs=(ksq*Laqu)+L1;
Xqs=Lqs;
Xds=Lds;
a=(abs(It)*Xqs*cos(phi)-abs(It)*Ra*sin(phi));
b=(Et+(abs(It)*Ra*cos(phi))+(abs(It)*Xqs*sin(phi)));
deli=atan(a/b);
edo=Et*sin(deli);
eqo=Et*cos(deli);
ido=abs(It)*sin(deli+phi);
iqo=abs(It)*cos(deli+phi);

123
 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
Ebdo=edo-(Re*ido)+(Xe*iqo);
Ebqo=eqo-(Re*iqo)-(Xe*ido);
delo=atan(Ebdo^2+Ebqo^2);
Lads=Lds-L1;
Laqs=Lqs-L1;
ifdo=(eqo+(Ra*iqo)+(Lds*ido))/Lads;
Efdo=Ladu*ifdo;
siado=Lads*(-ido+ifdo);
siaqo=-Laqs*iqo;
Rt=Ra+Re;
Xtq=Xe+(Laqs+L1);
Ladsp=1/(inv(Lads)+inv(Lfd));
Xtd=Xe+(Ladsp+L1);
D=(Rt^2)+(Xtq*Xtd);
m1=(Ep*(Xtq*sin(delo))-(Rt*cos(delo)))/D;
n1=(Ep*(Rt*sin(delo))+(Xtd*cos(delo)))/D;
m2=(Xtq*Lads)/(D*(Lads+Lfd));
n2=(Rt*Lads)/(D*(Lads+Lfd));
Eto=sqrt(edo*edo+eqo*eqo);
k1=n1*(siado+(Lads*ido))-m1*(siaqo+(Ladsp*iqo));
k2=n2*(siado+(Laqs*ido))-m2*(siaqo+(Ladsp*iqo))+((Ladsp/Lfd)*iqo);
k5=(-Ra*m1+L1*n1+Laqs*n1)*(edo/Eto)+(eqo/Eto)*(-Ra*n1-L1*m1-Ladsp*m1);
k6=(edo/Eto)*(-Ra*m2+L1*n2+Laqs*n2)+(eqo/Eto)*(-Ra*n2-L1*m2+Ladsp*(inv(Lfd)-m2));
a11=-kd/(2*h);
a12=-k1/(2*h);
a13=-k2/(2*h);
wo=2*pi*fo;
a21=wo;
a32=(-wo*Rfd*m1*Ladsp)/Lfd;
a33=((-wo*Rfd)/Lfd)*(1-(Ladsp/Lfd)+(m2*Ladsp));
a34=-wo*Rfd*ka*inv(Ladu);
a36=wo*Rfd*ka*inv(Ladu);
a42=k5/Tr;
a43=k6/Tr;
a44=-inv(Tr);
a51=kstab*a11;
a52=kstab*a12;
a53=kstab*a13;
a55=-inv(Tw);
a61=T1*a51*inv(T2);
a62=T1*a52*inv(T2);
a63=T1*a53*inv(T2);
a65=T1*a55*inv(T2)+inv(T2);
a66=-inv(T2);

124
 ADVANCE POWER SYSTEM SIMULATION LABORATORY (II SEM) ME
A=[a11 a12 a13 0 0 0;a21 0 0 0 0 0;0 a32 a33 a34 0 a36;0 a42 a43 a44 0 0;a51 a52 a53 0 a55
0;a61 a62 a63 0 a65 a66];
lamda=eig(A);
c=real(lamda(4));
d=imag(lamda(4));
zeta=-c/(sqrt(c*c+d*d));
ks=abs(Ep)*abs(Ep)*cos(delo)/(Xe+xdp);
wn=sqrt(ks*wo/(2*h));
wnhz=wn/(2*pi)
wd=wn*sqrt(1-zeta*zeta);
theta=acos(zeta);
Dd0=5*pi/180;
t=0:0.01:10;
Dd=Dd0/sqrt(1-zeta*zeta)*exp(-zeta*wn*t).*sin(wd*t+theta);
d=(delo+Dd)*180/pi;
plot(t,d)
xlabel('t sec'),ylabel('delta degrees')

OUTPUT:

50

49

48

47

46
delta degrees

45

44

43

42

41

40
0 1 2 3 4 5 6 7 8 9 10
t sec

125