King Fahd University of Petroleum and Minerals

Electrical Engineering Department

2011-12 (111) IDENTIFIER C-24 APPLICATION OF EQUAL AREA CRITERION IN THE TIME-DOMAIN FOR OUT OF STEP PROTECTION

Advisor: Dr. M. A. ABIDO Professor, EE Department

Submitted by: Mohammad Ashraf Ali

Student ID: g201102010

January 31, 2012

Application of Equal Area Criterion in the Time-Domain for Out-of-Step Protection

Mohammad Ashraf Ali, ID: g201102010
Abstract- Power system stability refer to the ability of synchronous machines to move from steady-state operating point following a disturbance to another steady-state operating point, without losing synchronism. An Algorithm to predict the out-of-step protection by mapping the EqualArea-Criterion in the time-domain is proposed in the paper. The criterion is applied to SMIB system on MATLAB/SIMULINK environment and the classification between the stable and out-of-step swings is done using the accelerating and decelerating energies, which represents the area under the power-time curve. This algorithm is based only on the local electrical quantities available at the relay location and does not depend on the network configuration and parameters. Simulations have been carried out extensively to test the effectiveness of the proposed algorithm. Index Terms Power system transient stability, Out-ofStep Protection, Equal area criterion, Power swings.

I. INTRODUCTION

The electric power system is a highly dynamic and non-linear system. The dynamics are due to changes such as the load and generation changes, due to switching phenomena, due to faults such as short circuits and may be due to lightning surges. The tendency of a power system to develop restoring forces equal to or greater than the disturbing forces to maintain the state of equilibrium is known as stability. In other words it is the ability of various machine in the system to remain in synchronism (stay in step), with each other following a disturbance. The stability studies may be classified upon the nature of disturbance as Steady state stability, Dynamic stability, and the Transient stability. The representation of synchronous machine in the stability studies differ from one kind of study to the other. As stated earlier, the electric power being a non-linear and dynamic system is subjected to electromechanical oscillations whenever a disturbance occurs in the system. The transient stability may be defined of as the ability of a synchronous machine to maintain synchronism with respect to other machines following a sudden large disturbance. Transient stability studies are needed to ensure that the system can withstand the transient condition following a sudden major disturbance.

Typically these major disturbances happen when the power systems are heavily loaded and a number of multiple outages occur within a short period of time, causing power oscillations between neighboring utility systems. Also due to the power mismatch between generation and load demands these disturbances occur. These electromechanical oscillations cause variation in phase and amplitude of voltage and current signals throughout the power system and consequently it causes variation in power flow between two areas known as power swing. A power swing can be classified as a stable power swing in which the oscillations are damped and stable operation of the system is achieved. The other case which leads to loss of synchronism between generator groups located in the different areas of a power system is referred to as Pole Slip or Out-Of-Step (OOS) conditions or loss of synchronism conditions. When an Out-of-Step condition occurs in a power system the healthy section must be islanded from the faulty section. It necessitates the use of Out-of-Step relays which sense such conditions and isolate the section where stability is restored from the faulty section. There are several techniques available in literature and in practice to detect Out-of-Step conditions. The conventional method uses a distance relay with blinders in the impedance plane and a timer. The settings of blinder and timer requires the knowledge of the fastest power swing, the normal operating region and the possible swing frequencies and is therefore system specific. These are used in offline stability studies for obtaining the settings and their complexity increases for multi-machines. Another technique proposed out-of-step detection based on a neural network and application of fuzzy logic using an adaptive network-based fuzzy interface (ANFIS). The mechanical input power, generator kinetic energy deviation and average kinetic energy deviation are selected as inputs to the neural network. Another method based on fuzzy logic uses machine angular frequency deviation and impedance angle measured at the machine terminals as inputs. The above two techniques are able to make decisions quickly for a new case, which has close resemblance to a known predefined case for which the algorithm is trained. It requires enormous training effort to train all

possible swing cases. This makes the training process tedious and also the complexity increases as system interconnections increase. The other method based on the Liapunov energy function criterion for loss-of-synchronism detection for a complex power system. During unstable swings, the entire power system oscillates in two groups, and series elements called cutset connect them. It requires measurements all across series elements to find the cutset. It is difficult to implement a protection algorithm by this technique because of wide area information involved in the protection systems. Another method monitors the rate of change of swing center voltage (SCV) and compares it with a threshold value to differentiate between a stable and unstable swing. The SCV is obtained locally from the voltage at the relay location. It is independent of power sysem parameters but this technique requires offline stability studies to set the threshold value making it system specific. Reference [8] proposed an out-of-step detection technique based on classical equal area criterion (EAC) in the power angle () domain. This technique requires pre-and post- disturbance power angle (Pe-) curves of the system to be known to the relay. Many measurement devices are required at various locations to acquire the current system information as the Pedelta curves are dependent on system configuration. In this paper, we modify the concept of equal area criterion EAC to the time-domain to detect the loss of synchronism condition. We have devised an algorithm to detect out-of-step swing using the time-domain concept of EAC. We have obtained the power-time (Pe-t) curves for the system instead of the conventional Pe- curves. This algorithm does not require any power system parameters information and only requires measurements of local quantities available at the relay location. The transient energy areas under the Pe-t curve are calculated and the swing may be identified as stable or out-of-step swing. This algorithm is successfully tested on SMIB (single machine infinite system) using the SIM POWER SYSTEMS toolbox of SIMULINK. In the first part of this paper some introduction about the power system oscillation is presented. In the second part, equal area criterion for out-of-step protection is described and modified to the time-domain. In section IV a brief description about the dynamic model used in the simulation studies is discussed. In section V 2

simulation results for Single Machine Infinite Bus (SMIB) model are presented.
II. POWER SYSTEM OSCILLATION

A simple power system consisting of one generator connected through a transmission grid to an infinite bus is shown in Fig.1. This model can be used to describe the oscillating parts of a power system.

It can be shown that the maximum power, that can be transmitted through the line, depends on the difference of the voltages at the two terminals. This angle may be expressed as . The power flow from the synchronous machine to the infinite bus is given by the equations as follow:

Where,

The amplitudes of E and can be different but the phase difference of voltages is more important. Fig. 2 shows a typical example of current, voltage and active power flow due to variation of angle difference between the two EMFs during loss of synchronism. When the phase voltages are maximum and the currents are at a minimum the two areas are in phase. Conversely, the two areas are out of phase or 180 the voltages are at minimum and the currents are at a maximum.

delta. This angle delta is referred is to as power angle. The steady state output power of the generator is Pe and is equal to the mechanical power input Pm to the generator. This system has two parallel lines with impedances equal to X1 and X2 respectively. A three phase fault at the middle of the line TL-II is applied and this fault is cleared after some delay by opening the two breakers A and B. The transient response following a disturbance in the SMIB configuration is obtained by solving the swing equation.

Fig.2 Typical examples of voltage, current and power flow during loss of synchronism The frequencies of oscillation are inherent to the system and are about few Hz (0.2Hz-3Hz). The sizes of oscillations depend upon the system inertia and impedance between different machines in the system. The Swing Equation corresponding to SMIB system is as follow:

Where Pm = mechanical power input p.u. Pmax= maximum electrical power output p.u. H = inertia constant in MW-s/MVA = rotor angle in elec. Radians t = time in s The curve drawn between Power P and is known as power angle curve and it is shown in fig.3 below.

Fig 3 Pe- a curves illustrating stable case.

Fig 4 Pe-delta curves illustrating unstable case. The swing equation can be solved graphically using the equal area criterion. This method is based on the graphical interpretation of the energy stored in the rotating mass as aid to predict the condition for stability. This method is only applicable to SMIB system or a two-machine system. 3

III. EQUAL AREA CRITERION

Figure 1 shows a SMIB system; we have the sending end voltage ES leading the receiving end voltage ER by

In Pe-t domain we do not need to solve the swing equation and prediction of out-of-step condition is quite easy as the complete data is available through relays. Hence this method is used in the paper. Fig 3, Fig 4 shows the Pe- curves for the stable and unstable swings. The Pe-t curves corresponding to these cases are shown in figures 5&6. We use these curves to describe the proposed algorithm.

For stable condition, ( ( ))

For out of step condition or unstable power swing we have, ( ( ))

Fig 5 Pe-t curve illustrating stable case

This shows that for a stable condition the rotor oscillations and the rotor will attain a new stable operating point and for unstable power swing the rotor speed increases indefinitely and the machine may go out-of-step or it may synchronism with the infinite bus. Thus the areas obtained by the above equations form the basis of the proposed algorithm to detect out-ofstep condition. As per the proposed algorithm the system will be stable if the decelerating area is more than or equal to the accelerating area. And an unstable condition occurs if the accelerating area is more than the decelerating area.

IV. SOFTWARE SIMULATIONS

The proposed algorithm is applied to a SMIB (Single Machine Infinite Bus) system in order to test the effectiveness of the algorithm in detecting the stable and unstable power swing. Figure bellows shows the block diagram of the SMIB system implemented on SIMULINK.

Fig 6 Pe-t curve illustrating unstable case. Consider the figure 5, the areas A1 and A2 represents the accelerating and decelerating areas under the Pe-t curves. The area A1 is positive as for t= t0 to t1. Similarly the areaA2 is obtained by integrating the Pe-t curve from t1. to tmax. The time t0correspond to the fault initiation time. The time t1correspond to the case when . The time tmaxis the time at which

. The areas A1 & A2 are given by the following

equation: ( ( )) [ ]

( ))

] 4

A) PROCEDURE:

A power system shown in Fig 1 is used to test the proposed algorithm. This system is simulated in SIMULINK environment of MATLAB R 2010b. The simulation steps are given below. 1. The mechanical power input is kept at Pm=0.8 p.u keeping simulation time 10 seconds. 2. The initial power angle 0 is determined. 3. The time corresponding to the initial power angle t0 is computed, the time t1, and tmax corresponding 4. 5. to = max. The critical clearing time(200 msec)) and critical angle is calculated. The fault clear time(130msec & 220 msec) is varied over critical clearing time and the Pe-t curve is obtained. The accelerating and decelerating areas A1 & A2 under the Pe-t curve are calculated. The areas A1 & A2 are compared to test for outof-step condition.

correspondence with the physical equipment. While this model structure has the advantage of retaining a direct relationship between the model parameters and physical parameters, such detail is considered too great for general system studies. IEEE Type I DC excitation system is used in the stability studies.

6. 7.

V. ANALYSIS OF RESULTS

Next the following cases are tested. 1. The mechanical power input is raised to Pm =0.9 p.u keeping simulation time 10 seconds. 2. The initial power angle 0 is determined. 3. The time corresponding to the initial power angle t0 is computed; the time t1 and tmax are also calculated. 4. The critical clearing time (170 msec) and critical angle is calculated. 5. The fault clear time(170 msec & 180 msec) is varied over critical clearing time and the Pe-t curve is obtained. 6. The accelerating and decelerating areas A1 & A2 under the Pe-t curve are calculated. 7. The areas A1 & A2 are compared to test for outof-step condition.
B) EXCITATION SYSTEM:

Table below shows some of the simulation results for the SMIB system. In each case, calculated accelerating (A1) and decelerating (A2) areas from the Power-time (Pe-t) curve are presented in the Table. In the case 1, the mechanical power input Pm = 0.8 p.u. is fixed constant. The fault time is kept at 130 msec well above the Critical clearing time (200msec) thereby calculating the areas A1 = 0.0592 & A2 = 0.0973. And by keeping fault operation time at 220 msec, above the critical clearing time and calculated areas A1 = 0.1297 & A2 = 0.1155.

Case Pm(p.u.) Critical time(ms) Fault clear time(ms) Area A1 (pu-s) Area A2 (pu-s) Decision

1 0.8 200 130

2 0.8 200 220

3 0.9 170 140 0.074

4 0.9 170 180 0.1572

0.0592 0.1297 0.0973 0.1155 Stable Out-ofstep

In the transient stability studies, the excitation systems play an important role. AVR (Automatic Voltage Regulator) improves the first swing stability but reduces stability in following swings. Figure below depicts the general structure of a detailed excitation system model having a one-to-one 5

0.3902 0.1100 Stable Outofstep

Pm=0.8 p.u. and t(op) =130msec

VII. COMPARISON WITH THE REFERENCE PAPER

Case Pm(p.u.) Critical time(ms) Fault clear time(ms) Area A1 (pu-s) Area A2 (pu-s) Decision

1 0.8 200 167

2 0.8 200 200

3 0.8 200 233

4 0.8 200 267

0.0993 0.1144 0.4530 0.1406 Stable Stable

0.1270 0.1451 0.0717 0.0367 Outofstep Outofstep

Pm=0.8 p.u. and t(op) =220 msec

Pm=0.8 p.u. and t(op) =167msec

Pm=0.9 p.u. and t(op) =140 msec

Pm=0.8 p.u. and t(op) =200msec Pm=0.9 p.u. and t(op) =180 msec

Pm=0.8 p.u. and t(op) =233msec

Pm=0.8 p.u. and t(op) =267msec

[4] IEEE Guide for Synchronous Generator Modeling Practices and Applications in Power System Stability Analyses, IEEE Std. 1110, 2002. [5] Out of step relaying using phasor measurement unit and equal area criterion, M chehreghani Bozchalui and M Sanaye Pasand. [6] P. Kundur, Power System Stability Control. New York: McGraw-Hill1994. [7] V.Centeno, A.G.Phadke and A.Edris, Adaptive Out-ofstep relaywith phasor measurements, IEEE Conf Pub No.434 1997, pp. 210-213. [8] Out of Step Protection using Equal Area Criterion, Shengli Cheng, Mohindar S. Sachdev. [9] Application of Equal Area Criterion Condition in Time Domain for Out of Step Protection, Sumit Paudyal, Gokaraju Ramakrishna, Mohindar S. Sachdev.

VII. CONCLUSION

An algorithm for out-of-step detection in the time-domain has been proposed by modifying the classical equal area criterion condition. The effectiveness of this technique has been tested for SMIB system. The proposed algorithm perfectly discriminated between stable and out-of-step swings based on the local voltage and current information available at the relay location. This algorithm does not require the line parameter information and also do not require any off-line system studies. The proposed technique also does not need the inertia constant M and is therefore more accurate than the classical equal area criterion.

VIII. REFERENCES

[1] D. Tziouvaras and D. Hou, Out-of-Step Protection Fundamentals and Advancements, Proc.30th Annual Western Protective Relay Conference, Spokane, WA, October 2123, 2003. [2] E. W. Kimbark, Power System Stability, vol. 2, John Wiley and Sons, Inc., New York, 1950. [3] IEEE Recommended Practice for Excitation System Models for Power System Stability Studies, IEEE Std. 421.5, 1992.