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IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 17, NO. 4, NOVEMBER 2002

Transient Stability Preventive Control for Stable Operating Condition With Desired CCT
Yoshinori Kato and Shinichi Iwamoto
AbstractIn recent years, power systems have become larger and more complicated. Deregulation of electric power industries has begun in some countries, and power system operations have become more difficult. However, the stability of the power supply is the most important consideration for customers. Therefore, power system operators should consider not only economic load dispatch but also on-line stability aspects. In this paper, we pay attention to one of the most important transient stability indices [critical clearing time (CCT)] and propose a new transient stability preventive control method using linear relationships between CCTs and generator rotor angles. At first, CCT calculations, as contingency screenings, are carried out to find contingencies that have smaller CCTs than predefined target values. The target values are taken as larger values than the actual circuit breaker operating times in the power system. A preventive control to achieve a more stable power system operating point is carried out by generator output rescheduling and generator terminal voltage control, which are determined using the relationships between CCTs and generator rotor angles. This proposed method is demonstrated using a Japanese standard power system called the IEE of Japan (IEEJ) EAST 10 machine system. Index TermsCritical clearing time, generator rotor angle, power system, preventive control, transient stability.

I. INTRODUCTION IGH power demands have made power systems larger and more complicated. Deregulation of the electric power industry tends to increase the indefinite factors in power systems. Considering the public dependence on electric power, it will be necessary to carry out on-line stability monitoring and preventive control, even for transient stability. For the time being, there are few examples to monitor on-line transient stability and carry out preventive control. However, the development of computers and new methods to monitor and assess transient stability is pushing forward on-line transient stability preventive control. To carry out transient stability preventive control, it is necessary to develop a control method, which can be used for fast, accurate, and real operation. As the transient stability monitoring, some methods based on the single machine equivalent (SIME) [1], the transient energy function [2][4], and the coherency of generators [5] have been proposed. Several methods have been tested using actual power systems and put into actual practice [6]. As the transient stability preventive control, some methods based on (non)linear optimization [7], [8], post contingency information [9], and the transient energy function [10][12] have been proposed.
Manuscript received March 27, 2002; revised June 5, 2002. The authors are with the Department of Electrical, Electronics, and Computer Engineering, Waseda University, Tokyo, Japan. Digital Object Identifier 10.1109/TPWRS.2002.805019

In this paper, a new transient stability preventive control method is proposed, which is needed when some severe contingencies are found. A severe contingency means that the critical clearing time (CCT) is smaller than the actual operating time of circuit breakers in the power system. As the preventive control action, generator output rescheduling and terminal voltage control are used in this paper. The purpose of the preventive control is to make all CCTs longer than the circuit breaker operating times. The method proposed in this paper utilizes a relationship between CCT and the generator rotor angle, which is almost linear. This linear relationship can be found by a one machine to infinite bus (OMIB) system analysis and a simulation study for a multimachine power system. The generator rotor angles in a power system are influenced by all generators and loads, therefore, to use the relationship means that the method can observe the whole power system and all contingencies. Moreover, the method can consider not only transient stability but also the fuel function of generators, bus voltage constrains, line flow constrains, etc. To shorten the calculation time to determine generator output rescheduling and terminal voltage control, the generator rotor angles are estimated by a method using the Jacobian matrix calculated in the power flow computation. The estimation method is introduced in this paper. The validity of the proposed method is shown by a simulation study using a Japanese standard power system model called the IEE of Japan (IEEJ) EAST 10 machine system. It is shown that the proposed method has severe contingencies for CCTs longer than the predefined target values. II. DESIRABLE TRANSIENT STABILITY PREVENTIVE CONTROL For transient stability preventive control, it is desirable to achieve the following five cases. 1) Consider other problems simultaneously: The transient stability problem occurs only after a large fault in a power system. Having severe contingencies and not operating the power system stably are different situations. Transient stability preventive control is necessary when the system operators need the preventive control to keep the system stability. Since the operators concerns are not only transient stability, the preventive control method has to treat other problems such as economic load dispatch, voltage stability, line flow constrains, etc. 2) Consider several contingencies simultaneously: When preventive control is successful, it does not mean that the preventive control stabilizes only one severe contingency, but it can deal with other contingencies as well. The

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contingencies, which are judged as stable by stability monitoring, might be considered severe contingencies. Therefore, when a preventive control is carried out, operators have to consider all contingencies in the power system, including stable contingencies. 3) Carry out preventive control for load condition every 510 min.: As a transient stability preventive control, generator output rescheduling is effective. However, generator outputs cannot be rescheduled instantaneously. Therefore, a load condition every 510 min should be expected when generator output rescheduling is used for preventive control. 4) Know how stable the power system is: It is desirable to know how stable the power system is before and after preventive control. Some indices such as CCTs or energy margins should be used for it. 5) Use data obtained for transient stability monitoring: Transient stability preventive control is carried out after monitoring, and therefore, it is desirable to use the information obtained for the transient stability monitoring. This can be thought of as an effective method, and it can shorten the calculation time to determine the preventive control action.

Fig. 1.

One machine to infinite bus (OMIB) system.

III. POWER SYSTEM MODEL To carry out the transient stability calculation, we must solve differential equations that represent the motions of the generator rotor angles at each time. In this paper, we use a simplified generator model, which is called a classical model and the center of angle (COA) quantities. COAs in the rotor angles and the angular velocities of generators are defined at each time. The new variables correspond to the deflection from the COA reference frame. The swing equations in the COA reference frame are shown below, where the damping coefficient is neglected. (1) (2) where (3)

Fig. 2. Relationship between CCT and generator rotor angle (OMIB system).

IV. RELATIONSHIP BETWEEN CCT ROTOR ANGLE A. One Machine to Infinite Bus System

AND

GENERATOR

(4) and where rotor angle in the COA reference frame; angular velocity in the COA reference frame; inertia constant; mechanical power input; electrical power output; total number of generators.

The proposed transient stability preventive control uses a relationship between CCT and the generator rotor angle at the faulted bus. The relationship is useful because it is almost linear. In this section, the relationship is found using a one machine to infinite bus (OMIB) system with the double circuit lines shown in Fig. 1. The generator model used here is the classical model (see Section III). The resistance of the circuit line ( ) and the control systems (for example, AVR and Governor) are neglected. A three phase to ground fault at the bus near the generator is considered here. The fault occurs and is cleared by tripping one circuit of a double circuit lines. From the equal area criterion, the rotor angle at the fault clearing time is obtained as (5) where rotor angle before fault; rotor angle at an unstable equilibrium point; generator output before fault; maximum generator output after fault clearing.

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Fig. 3. IEEJ EAST 10 machine system.

The swing equation in the OMIB system is (6) where voltage behind the transient reactance; voltage of infinite bus; reactance of transformer; reactance of double circuit lines; transient reactance. The value of CCT can be obtained [13] from the analysis of the swing equation. CCT (7)

web sites: http://www.iee.or.jp/pes and http://www.pwrs.elec. waseda.ac.jp/powsys/. The contingencies are three phase to ground faults occurring at buses having generators, that is, the faults at buses 1120. It is assumed that the fault-cleared system condition is the same as the prefault system. That is, both the loading and stable equilibrium conditions are assumed to be the same. The initial condition of this simulation is a 75% load condition of the original data. The simulations are carried out increasing the loads 5% step by step of the original data. The relationships between CCTs and generator rotor angles are shown in Fig. 4. Here, CCTs are calculated by trial-and-error simulations, and the generator rotor angles are in the COA reference frame. In Fig. 4, the relationships are almost linear. We can see how large the CCT changes are when the generator rotor angles are changed. V. GENERATOR ROTOR ANGLE ESTIMATION

is changed, the Substituting (5) into (7), when the value of values of CCT and are also changed. Therefore, the relationship between CCT and is obtained as in Fig. 2. From Fig. 2, we can observe that the relationship is virtually linear. B. Multimachine System In this section, the relationships between CCTs and the generator rotor angles are shown by a simulation study using a multimachine power system. The sample system is the IEEJ EAST 10 machine system [14], which is shown in Fig. 3. The system data can be downloaded from the following

In this section, a generator rotor angle estimation method is introduced using the Jacobian matrix in the power flow calculation. Because a transient stability preventive control method using the relationships between CCTs and generator rotor angles is proposed, it is important to estimate the generator rotor angle changes when the preventive control is carried out. A generator rotor angle estimation method using the Jacobian matrix is introduced here. The inverse of the Jacobian matrix can approximately estimate voltages of buses connected to generators and generator rotor angles.

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VI. PROPOSED PREVENTIVE CONTROL METHOD

We propose a transient stability preventive control method by generator output rescheduling and generator terminal voltage control using the linear relationships between CCTs and generator rotor angles shown in Section IV. The necessary data are assumed to be obtained from state estimators. Considering that one generator rotor angle is influenced by all generators and loads in the power system, the use of the relationships means that we can observe the influence of the preventive control action on all contingencies in the power system. It also means that the proposed method can treat contingencies (not a contingency) and stabilize them simultaneously. The outline of the proposed method is as follows.
Fig. 4. Relationships between CCTs and generator rotor angles (IEEJ EAST 10 machine system).

The Jacobian matrix used in the power flow calculation is is represented using shown below. Here, the bus voltage the polar coordinates.

(8)

In (8), the subscripts and mean the generator bus and the load bus, respectively. The bus voltage changes by the gener, the generator terminal voltage change ator output change , the real power change of load , and the reactive are estimated approximately as power change of load

. . .

. . .

(9)

From the calculation in (9), the voltage changes of all buses are and reactive power obtained. Next, the values of real power of all buses are calculated from the estimated bus voltages. is calculated as in Therefore, the generator bus current (10) is the conjugate of the th generator bus voltage where The voltage behind the transient reactance can be calculated as in (11) Finally, the estimated generator rotor angle Im Re is obtained as [15] (12)

The rotor angels in the COA reference frame can be calculated by the results of (12).

1) As the online transient stability monitor, the values of CCTs are calculated for the present system (load) condition as well as for the condition 5 or 10 min later. It is assumed that the contingencies are the three phase-to-ground faults occurring at the buses having generators because these faults are the most severe cases for transient rotor angle stability. (The times of 5 or 10 min are thought of as the target time to carry out transient stability monitoring. If the generator output rescheduling is used for preventive control, the time is necessary to reschedule generator outputs. The time for generator output rescheduling depends on the generator characteristics and the magnitudes of the generator output changes.) 2) If all the CCTs are larger than the predefined values that are larger than the actual operating times of circuit breakers in the power system, no preventive control is necessary. If one or more contingencies have smaller CCTs than the predefined values, preventive control is necessary. 3) The relationships between CCTs and generator rotor angles are made from the result of (1) since the relationships are linear. 4) From the expressions of CCTs and generator rotor angles confirmed in (3), the rotor angles are estimated to have larger CCTs than the predefined values. To satisfy the rotor angles, preventive control actions (generator output rescheduling and generator terminal voltage control) are determined. Here, the generator rotor angle estimation method introduced in Section V is used to shorten the calculation time. , the proposed method When the predefined value is is shown graphically to explain an example. The target value of CCT means the marginal value for stable operations for transient stability. If CCT is smaller than the target value, the operating condition is judged as severe for transient stability, and thus, preventive control is needed. The reason why it is necessary to is evaluate preventive control when CCT is larger than . If the to keep all the CCTs for contingencies larger than operator does not watch the contingencies that have larger CCTs , new severe contingencies with smaller CCTs than than might be found after preventive control.

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Here, it is not necessary that the target values of CCTs be the same for all contingencies. A different value can be considered for each contingency in the proposed method. Concretely, considering the actual tripping times of all circuit breakers at substations, the target values can be set as different values. The generator rotor angles that satisfy the above two conditions are regarded to have the ability of preventive control, and thus, the preventive control cannot be uniquely determined. Therefore, preventive control is determined by considering other problems such as economic load dispatch. The proposed method can treat other problems such as economic load dispatch, bus voltage constrains, line flow constrains, etc. All of the information for preventive control is obtained at the transient stability monitoring with CCT calculation.
Fig. 5. CCT
<

0:12[s].

VII. SIMULATION STUDY The validity of the proposed method is shown in this sim. ulation study. The predefined target value of CCT is For the simulation study, the IEEJ 10 machine system (see Fig. 3) is used. All generator outputs and terminal voltages can be changed. The contingencies are the three phase-to-ground faults occurring at the generator buses, which are buses 1120. It is assumed that the fault-cleared system condition is the same as the prefault system. , generator terTables I and II show the generator output , and the generator rotor angle in the COA refminal voltage erence frame and CCT at the present and future conditions, respectively. Table III shows the load conditions at the present and future conditions. Here, it is assumed that the future load condition is increased by about 5% from the present load condition and that CCTs are calculated by trial-and-error simulations. In Tables I and II, the CCTs of the contingencies near the generators G9 and G10 are smaller than the predefined target value ( 0.20 s ). Therefore, the generator outputs and terminal voltages assumed for the future load condition are not good for the stable operation and preventive control should be considered. From Tables I and II, the relationships between CCTs and generator rotor angles can be obtained using the following linear expressions: CCT CCT CCT CCT CCT CCT CCT CCT CCT CCT

Fig. 6.

CCT

>

0:12[s].

In Figs. 5 and 6, CCTs for the contingencies are calculated for present and future (510 min later) conditions. The relationships between CCTs and generator rotor angles are made by connecting two conditions of the operating points: the present is and future conditions. A case of a CCT smaller than is shown shown in Fig. 5, and a case of a CCT larger than in Fig. 6. 1) The CCT of the contingency is smaller than the predefined value (Fig. 5): When CCT of the three phase-toground fault at the bus near the generator is smaller than the predefined value, the generator rotor angle is estimated to make the CCT longer than the predefined value, as in Fig. 5. The generator rotor angle is satisfied with the generator output rescheduling and terminal voltage control. 2) The CCT of the contingency is larger than the predefined value (Fig. 6): When CCT of the three phase-to-ground fault at the bus near the generator is larger than the predefined value, the generator rotor angle is estimated not to shorten the CCT more than the predefined value, as in Fig. 6.

For example, the expression of CCT is obtained as follows: CCT From these expressions, the generator rotor angles that have larger CCTs than the predefined value ( 0.20 s ) can be estimated. Therefore, to satisfy the generator rotor angle with desired CCTs, preventive control action is determined. However, considering the error of the calculations, the target value of CCT , which is a little longer than . The security is set as

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TABLE I PRESENT CONDITION

TABLE IV GENERATOR CONSTRAINTS

TABLE II FUTURE CONDITION

and by considering (time step) for the computer simulations. Then, when the generator rotor angles are as follows, the new CCTs are expected to become larger than the predefined values:

Here,

is calculated as follows:

TABLE III LOADS AT PRESENT AND FUTURE CONDITION

At the future load condition, to satisfy the generator rotor angles in the above equation, the generator outputs and the terminal voltages are estimated. The generator rotor angle estimation method using the Jacobian matrix introduced in Section V is used for this calculation. The Jacobian is used for the future condition, and the preventive control actions are the changes of the generator outputs and the terminal voltages from the assumed future condition. That means the following expression is used for the estimation:

. . .

. . .

(13)

margin of The value of

definitely achieves the target values of CCTs. is determined by the experiential factors

Since the Jacobian is for the future condition, the changes of , and the loads are not in this expression, that is, . When the preventive control action is determined to keep the assumed future condition, the generator output changes are minimized. Moreover, the generator terminal voltage constraints and generator output change constraints is the shown in Table IV are considered. In Table IV, is the lower limit of upper limit of the terminal voltage, is the the terminal voltage (the present voltage), and maximum output change. Therefore, the preventive control is

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TABLE V PREVENTIVE CONTROL RESULTS

determined under the following formulation. Here, the symbols with superscript represent the values assumed for the future condition. Minimize Subject to above generator rotor angle constraints where (14) (15) (16)

time to reschedule generator outputs. In the proposed method, the linear relationships between CCTs and the generator rotor angles and the generator rotor angle estimation method using the Jacobian matrix are utilized. In the simulation study, the proposed method can achieve the desired values of CCTs. The proposed method can control the CCTs of all contingencies in the power system. The target value of the CCT can be changed for each contingency. CCT, one of the most important indices for transient stability, can be controlled by the proposed preventive control by generator output rescheduling and terminal voltage control. Moreover, not only do the severe contingencies become stable, but in addition, the stable contingencies do not become unstable but keep some stability standard. Therefore, this can be thought of as a reliable method. Power system operators can keep balance of transient stability of the whole power system. The linear relationships may not always be true. However, we can see the relationship in our simulations for the Japanese standard system and the El-Abiad 4 machine system [15]. If the power system conditions and the system configuration do not change to large extents, the coefficients for the linear approximation do not need to be updated as frequently. It may not be realistic to use the detailed model for online transient stability monitoring while the detailed model is reliable. Therefore, when online monitoring is carried out, for the time being, the classical model should be used with some tuning. At present, it might be difficult to calculate CCTs at online transient stability monitoring. However, with the development of computers and methods to calculate CCTs, it will be possible to operate power systems with transient stability preventive control by observing some important transient stability index such as CCT. ACKNOWLEDGMENT The authors deeply appreciate the support and advice from Tohoku Electric Power Company. REFERENCES
[1] D. Ernst, D. Ruiz-Vega, M. Pavella, P. M. Hirsch, and D. Sobajic, A unified approach to transient stability contingency filtering, ranking and assessment, IEEE Trans. Power Syst., vol. 16, no. 3, Aug. 2001. [2] E. Vaahedi, Y. Mansour, and E. K. Tse, A general purpose method for on-line dynamic security assessment,, PE-577-PWRS-0-05-1997. [3] C. Fu and A. Bose, Contingency ranking based on severity indices in dynamic security analysis,, PE-245-PWRS-0-03-1998. [4] T. B. Nguyen, M. A. Pai, and I. A. Hiskens, Direct computaion of critical clearing time using trajectory sensitivities, in Proc. IEEE PES Summer Meeting, vol. 1, pp. 604608. [5] W. Li and A. Bose, A coherency based rescheduling method for dynamic security, IEEE Trans. Power Syst., vol. 13, pp. 810815, Aug. 1998. [6] Techniques for power system stability limit search, IEEE PES, TP-138-0. [7] M. La Scala, M. Trovato, and C. Antonelli, On-line dynamic preventive control: An algorithm for transient security dispatch, IEEE Trans. Power Syst., vol. 13, pp. 601610, May 1998. [8] D. Gan, R. J. Thomas, and R. D. Zimmerman, Stability-constrained optimal power flow, IEEE Trans. Power Syst., vol. 15, pp. 535540, May 2000. [9] D.-H. Kuo and A. Bose, A generation rescheduling method to increase the dynamic security of power systems, IEEE Trans. Power Syst., vol. 10, pp. 6876, Feb. 1995. [10] A. A. Fouad and T. Jianzhong, Stability constrained optimal rescheduling of generation, IEEE Trans. Power Syst., vol. 8, pp. 105112, Feb. 1993.

and

are calculated from (13)

The reasons why (14) is used to decide the quantities of generator output changes are as follows. 1) The minimum generator output change can be carried out faster. 2) The minimization of (14) can obtain the solution faster than the cost functions. Table V shows the preventive control results for the future is the generator output change (the change load condition. is the genfrom the assumed future generator output), and erator terminal voltage change (the change from the assumed future generator terminal voltage). The CCTs in Table V are longer than the predefined value .) When the preventive ( 0.20 s ). (They do not achieve control is not used for the assumed future load condition, the operation becomes severe; however, when the preventive control is applied, the operation becomes stable with desired CCTs. The validity of the proposed method has been shown by the previous example. VIII. CONCLUSIONS In this paper, a new method has been proposed to produce an online transient stability preventive control. The proposed method assumes the near-future system condition, considering the frequency of stability monitoring and the

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[11] H. Kita, K. Nishiya, and J. Hasegawa, On-line preventive control for power system transient stability based on the energy function method, Trans. IEE Japan, vol. 110, no. 9, 1990. [12] Y. Katoh, H. Takada, and S. Iwamoto, Transient stability preventive control using kinetic energy and critical clearing time, in Proc. PowerCon, vol. I, Dec. 2000, pp. 151156. [13] Y. Sumida and S. Iwamoto, Fast stability/transmission limit assessment using critical clearing time, in Proc. 30th North Amer. Power Symp., Oct. 1998, pp. 6975. [14] Power system standard models, (in Japanese), IEEJ Study Committee, IEEJ Tech. Rep. 754, 1999. [15] Stagg and El-Abiad, Computer Methods in Power System Analysis. Tokyo, Japan: McGraw-Hill, 1968.

Shinichi Iwamoto was born in 1948. He received the B.E., M.E., and Ph.D. degrees from Waseda University, Tokyo, Japan, in 1971, 1975, and 1978, respectively. From 1972 to 1974, he was with Clarkson University, Potsdam, NY, from which he received the M.S. degree. Presently, he is a Full Professor at Waseda University. From 1992 to 1993, he was with the University of Washington, Seattle, as a Visiting Professor. His research interests are load flow, stability, and GPS applications to power systems.

Yoshinori Kato was born in 1977. He received the B.E. and M.E. degrees from Waseda University, Tokyo, Japan, in 2000 and 2002, respectively. He has been with Tokyo Electric Power Company since April 2002. His research interests are transient stability calculation, contingency analysis, and preventive control for transient stability.