Marathwada Mitramandal’s

COLLEGE OF ENGINEERING
Karvenagar, Pune

Department of Electrical Engineering

Session Learning Material – Session No. II

Course: Power System Operation and Control

Topic: Dynamics of synchronous machine, Swing Equation

The transient stability for single machine connected to infinite bus system. But before
that will see something more regarding some description of your steady state stability,
dynamic or small signal stability, and some kind of mathematical derivation and
understanding. And power system stability that implies that its ability to maintain, to
return to normal or stable operation after having been subject to some form of
disturbance. That means, you give you give some disturbance and if it come backs to its
after you know some kind of your what you call it will deviate from steady or what you
call from its original steady state point, but after some time if it returns very to the stable
point or very close to that; that means, we call that system is stable right.
So, actually in a power system you will find that there is always a disturbance, because
some loads are switch or switching on some loads are switched off, but systems are
always stable. I mean this kind of disturbance is very small your what you call not say
small disturbances, but this kind of disturbance always is ON in power system. But our
system remains stable, so that is why that power. And your power system stability that’s
why implies that is ability to return to normal or stay or stable operation after having
been subjected to some form of disturbance.
So, what kind of disturbance that will see later; but in power system the disturbance is
always ON, I mean slide because some lights are switched ON, fans are switched off
something like and some loads are switched ON, switched off it is a continuous process.
So, an instability means a condition denoting loss of synchronism of synchronous
machine or falling out of step; that is instability. Actually stability itself is a huge course
or huge thing. So, therefore, the state of equilibrium or stability of a power system
commonly allow to maintaining synchronous operation of the system. That means, you
have to maintain the stability of power system. So, we will focus on this aspect of stability
that whereby a loss of synchronism will mean to render the system unstable. So,
synchronous machine will not never lose synchronism and will or not fall out of step and
system will remain stable.
So, when we define stability of the power system there will be three types of stability actually,
of course generally are of concern, one is steady state one, another one dynamic or calls small
signal stability and last one is that transient stability. So, of course many other stabilities are
there in power system that is beyond the scope for example, voltage stability. So, steady state
stability relates to the response of a synchronous machine of a gradually increasing load that
increase the load gradually, and you can find out that data of determines the upper limit of the
machine before it losing synchronism. That means stability that steady state stability relates to
a response of a synchronous machine to a gradually increasing load it is basically concerned
with the determination of the upper limit of the machine loadings before losing synchronism.
Provided the loading is increased gradually. So, your gradually your loading is getting
increased, but at up to it will sustain up to a maximum limit after that it may fall out of your
step; that is it may lose synchronism.

So, and dynamic or small signal stability actually it involves a response to small disturbances
that occur in the system producing oscillations. That means, because of small disturbance there
is a continuous oscillation. So, the system is said to be dynamically stable if this oscillation do
not occur more than certain amplitude and die out quickly, but if there oscillations continuously
grow in amplitude the system is dynamically unstable. Actually, this small signal stability it
involves huge analysis will not study this one; it huge it involves huge analysis for synchronous
machine and to damp out this your what you call this oscillation if there is a small disturbance
say some step increase in the mechanical torque some pong and there will be continuous
oscillation and to damp out those oscillations but in your in that ω that is in that case commonly
use the thing is that power system stabilizer. So, those things will not study for small signal
stability analysis, but here for this case you need that what you call that detailed analysis of
synchronous machine particular dynamics. And another one is the transient stability: it involves
the response to large disturbances that you know which may cause rather large changes in rotor
speeds, power angles, and power transfer.
But transient stability is a fast phenomenon and usually evident within a few second. So, but
among this transient stability of course is very severe, because it is due to a large disturbance
means suppose there is a fault three-phase fault or line to ground fault, in that case it will be
large change in the rotor speed, power angle, and power transfer.
For example, a double circuit line there is a fault in one line. So, naturally power transfer
capability will change and those kinds of that large disturbances its cause transient that
phenomena is called transient stability. So, in that case it is basically within a few second. So,
that means, with such fault is occurred you have to see the fault is cleared in very quickly
maybe 4 cycles or 6 cycles the fault has to be cleared.
So, these are the three different type of faults, one is I steady state stability then 3- types of
stability, then small signal or dynamic stability, and then transient stability.

Dynamics of synchronous machine

the swing equation that describe the dynamics of the rotor of synchronous machine; so
inertia constant and the swing equation.
So, inertia constant and the angular momentum it is played an important role in
determining the transient stability of a synchronous machine. So, the per unit inertia
constant ‘H’ but later we will see its dimension is MJ /MVA,/ MVA or it is can be given a
unit in ‘second’ also.
It is defined as the kinetic energy stored in the rotating parts of the machine at
synchronous speed per MVA rating of the machine. That is we define the inertia constant
So, now the rotor kinetic energy at synchronous speed is given as that kinetic energy
The Kinetic Energy of the Rotor at Dynamics of a Synchronous Machine is
𝟏
𝑲𝑬 = 𝟐 𝑱𝝎𝟐𝒔𝒎 × 𝟏𝟎−𝟔 𝑴𝑱_________ (1)
It is mechanical speed right synchronous with mechanical coming s square*10−6 M Joule.
So, J is moment of inertia actually in kg-m2 and 𝝎𝒔𝟐 is mechanical speed

J = rotor moment of inertia in Kg-m2

ωsm = synchronous speed in mechanical radian/sec.

But

Speed in electrical radian is ωs = (P/2)

ωs = rotor speed in electrical radian/sec__________________.(2)

where
• P = number of machine poles

From equation (1) and (2) we get

𝟏 𝟐 𝟐
𝑲𝑬 = 𝟐 (𝑱 (𝑷) 𝝎𝒔 × 𝟏𝟎−𝟔 ) 𝝎𝒔 MJ______(3)
𝟏
𝑲𝑬 = 𝑴 𝝎𝒔
𝟐
Where
𝟐 𝟐
𝑴 = (𝑱 (𝑷) 𝝎𝒔 × 𝟏𝟎−𝟔 )___________(4)
M= moment of inertia in MJ-s/elect rad

We shall define the inertia constant H such that

𝟏
𝑮𝑯 = 𝑲𝑬 = 𝟐 𝑴 𝝎𝒔 𝑴𝑱___________(5)
Where

G = three-phase MVA rating (base) of machine

H = inertia constant in MJ/MVA or MW.sec/MVA

From equation (5), we can write,

 𝟐𝑮𝑯 𝟐𝑮𝑯 𝑮𝑯 𝒔𝒆𝒄
𝑴= = = 𝑴𝑱. . 𝒓𝒂𝒅𝒊𝒂𝒏_____________(𝟔)
𝝎𝒔 𝟐𝜫𝑭 𝝅𝒇 𝒆𝒍𝒆𝒄𝒕
𝑮𝑯 𝒔𝒆𝒄
𝑴= 𝑴𝑱. . 𝒅𝒆𝒈𝒓𝒆𝒆_____________________________(𝟕)
𝟏𝟖𝟎𝒇 𝒆𝒍𝒆𝒄𝒕
M is also called the inertia constant.

Assuming G as base, the inertia constant in per unit is

𝑯 𝒔𝒆𝒄𝟐
𝑴(𝒑𝒖) = . 𝒓𝒂𝒅𝒊𝒂𝒏_____________(𝟖)
𝝅𝒇 𝒆𝒍𝒆𝒄𝒕
𝑯 𝒔𝒆𝒄𝟐
𝑴(𝒑𝒖) = . 𝒓𝒂𝒅𝒊𝒂𝒏____________(𝟗)
𝟏𝟖𝟎𝒇 𝒆𝒍𝒆𝒄𝒕

Swing Equation
Figure 12.1 shows the torque, speed, and flow of mechanical and electrical powers in a
synchronous machine. It is assumed that the windage, friction and iron-loss torque is
negligible. The differential equation governing the rotor Dynamics of Synchronous
Machine can then be written as

𝒅𝟐𝜽𝒎
𝑱 𝟐 = 𝑻𝒎 − 𝑻𝒆 𝑵𝒎_______(𝟏𝟎)
𝒅𝒕
where

• θm = angle in rad (mech)

• Tm = turbine torque in Nm; it acquires a negative value for a motoring machine
 • Te = electromagnetic torque developed in Nm; it acquires negative value for a
motoring machine

While the rotor undergoes Dynamics of Synchronous Machine

as per Eq. (10), the rotor speed changes by insignificant magnitude for the time period
of interest (1s). Equation (10) can therefore be converted into its more convenient
power form by assuming the rotor speed to remain constant at the synchronous speed
(ωsm). Multiplying both sides of Eq. (10) by ωsm′ we can write

𝒅𝟐𝜽𝒎
𝑱𝝎𝒔 𝟐 = 𝑷𝒎 − 𝑷𝒆 𝑵𝒎_______(𝟏𝟎)
𝒅𝒕
where

•Pm = mechanical power input in MW

•Pe = electrical power output in MW; stator copper loss is assumed negligible.
Rewriting Eq. (10)

𝟐 𝟐 𝒅 𝟐
𝜽𝒆
(𝑱 ( ) 𝝎𝒔 × 𝟏𝟎−𝟔 ) 𝟐 = 𝑷𝒎 − 𝑷𝒆 𝑴𝑾_________(𝟏𝟏)
𝑷 𝒅𝒕
where

θe = angle in rad (elect)

𝒅𝟐𝜽𝒆
𝑴 𝟐 = 𝑷𝒎 − 𝑷𝒆 𝑴𝑾_________(𝟏𝟐)
𝒅𝒕
It is more convenient to measure the angular position of the rotor with respect to a
synchronously rotating frame of reference. Let

𝜹 = 𝜽𝒆 − 𝝎𝒔 𝒕____________(𝟏𝟑)
Rotor angular displacement from synchronously rotating reference frame Called torque
angle/power angle

From equation 13,

𝒅2 𝜃𝒆 𝒅2𝛿
2
= 2 ____________(𝟏𝟒)
𝒅𝑡 𝒅𝑡
Hence Eq. (12) can be written in terms of δ as

𝒅2𝛿
𝑴 2 = 𝑷𝒎 − 𝑷𝒆 𝑴𝑾 __________(𝟏𝟓)
𝒅𝑡

With M as defined in Eq. (6), we can write

2
𝑮𝑯 𝒅𝛿
= 𝑷𝒎 − 𝑷𝒆 𝑴𝑾 __________(𝟏𝟔)
𝝅𝒇 𝒅𝑡2

Dividing throughout by G, the MVA rating of the machine,

𝒅2𝛿
𝑴(𝒑𝒖) 2 = 𝑷𝒎 − 𝑷𝒆
𝒅𝑡
𝒊𝒏 𝒑𝒖 𝒎𝒂𝒄𝒉𝒊𝒏𝒈 𝒓𝒂𝒕𝒊𝒏𝒈 𝒂𝒔 𝒂 𝒃𝒂𝒔𝒆_____(𝟏𝟕)
Where,

𝑯
𝑴(𝒑𝒖) =
𝝅𝒇
𝑯 𝒅2𝛿
= 𝑷𝒎 − 𝑷𝒆 𝒑𝒖__________(18)
𝝅𝒇 𝒅𝑡 2

This equation (Eq. (17)/Eq. (18)), is called the swing equation and it describes the rotor
dynamics for a synchronous machine (generating/motoring). It is .a second-order
differential equation where the damping term (proportional to dδ/dt) is absent because
of the assumption of a lossless machine and the fact that the torque of damper
winding has been ignored. This assumption leads to pessimistic results in transient
stability analysis—damping helps to stabilize the system. Damping must of course be
considered in a dynamic stability study. Since the electrical power Pe depends upon the
sine of angle δ, the swing equation is a non-linear second-order differential equation.