Dynamics and control of electric transmission and microgrids

661 Pages·2019·18.59 MB·English

by  Kulkarni

Table of Contents
Cover
Preface
Acknowledgements
1 Introduction
1.1 Present Status of Grid Operation
1.2 Overview of System Dynamics and Control
1.3 Monitoring and Enhancing System Security
1.4 Emergency Control and System Protection
1.5 Recent Developments
1.6 Outline of Chapters
References
2 Grid Characteristics and Operation
2.1 Description of Electric Grids
2.2 Detailed Modeling of ThreePhase AC Lines [3]
2.3 Circuit Models of Symmetric Networks
2.4 Network Equations in and Components [4–7]
2.5 Frequency and Power Control [8–11]
2.6 Dynamic Characteristics of AC Grids
2.7 Control of Power Flow in AC Grids [14, 16]
2.8 Analysis of Electromagnetic Transients
2.9 Transmission Expansion Planning [18]
2.10 Reliability in Distribution Systems [19]
2.11 Reliable Power Flows in a Transmission Network
2.12 Reliability Analysis of Transmission Networks
2.A Analysis of a Distributed Parameter SinglePhase Line in Steady State
2.B Computation of Electrical Torque
References
3 Modeling and Simulation of Synchronous Generator Dynamics
3.1 Introduction
3.2 Detailed Model of a Synchronous Machine
3.3 Park's Transformation [7]
3.4 PerUnit Quantities
3.5 Equivalent Circuits of a Synchronous Machine
3.6 Synchronous Machine Models for Stability Analysis
3.7 An Exact Circuit Model of a Synchronous Machine for Electromagnetic
Transient Analysis [14]
3.8 Excitation and Prime Mover Controllers
3.9 Transient Instability due to Loss of Synchronism
3.10 Extended Equal Area Criterion
3.11 Dynamics of a Synchronous Generator
Network Equations
Calculation of Initial Conditions
System Simulation
3.A Derivation of Electrical Torque
References
4 Modeling and Simulation of Wind Power Generators
4.1 Introduction
4.2 Power Extraction by Wind Turbines
4.3 Generator and Power Electronic Configurations
4.4 Modeling of the Rotating System
4.5 Induction Generator Model
4.7 Control of Type III WTG System
4.8 Control of Type IV WTG System
References
5 Modeling and Analysis of FACTS and HVDC Controllers
5.1 Introduction
5.2 FACTS Controllers [3–5]
5.3 Reactive Power Control [5, 8]
Control Characteristics
5.4 ThyristorControlled Series Capacitor
5.5 Static Synchronous Compensator
5.6 HVDC Power Transmission [17–21]
5.A Case Study of a VSCHVDC Link [31]
References
6 Damping of Power Swings
6.1 Introduction
6.2 Origin of Power Swings
6.3 SMIB Model with Field Flux Dynamics and AVR
6.4 Damping and Synchronizing Torque Analysis
6.5 Analysis of MultiMachine Systems
6.6 Principles of Damping Controller Design [16]
6.7 Concluding Remarks
6.A Eigenvalues of the Stiffness matrix of Section 6.5.1
6.B ThreeMachine System Data
References
7 Analysis and Control of Loss of Synchronism
7.1 Introduction
7.2 Effect of LoS
7.3 Understanding the LoS Phenomenon
7.4 Criteria for Assessment of Stability
7.5 Power System Modeling and Simulation for Analysis of LoS
7.6 Loss of Synchronism in MultiMachine Systems
7.7 Measures to Avoid LoS
7.8 Assessment and Control of LoS Using Energy Functions [7, 8]
7.9 Generation Rescheduling Using Energy Margin Sensitivities
7.A Simulation Methods for Transient Stability Studies
7.B TenMachine System Data
References
8 Analysis of Voltage Stability and Control
8.1 Introduction
8.2 Definitions of Voltage Stability
8.3 Comparison of Angle and Voltage Stability
8.4 Mathematical Preliminaries [6, 7]
8.5 Factors Affecting Instability and Collapse
8.6 Dynamics of Load Restoration
8.7 Analysis of Voltage Stability and Collapse
8.8 Integrated Analysis of Voltage and Angle Stability
8.9 Analysis of Small Signal Voltage Instability Decoupled from Angle Instability
Discussion
8.10 Control of Voltage Instability
References
9 WideArea Measurements and Applications
9.1 Introduction
9.2 Technology and Standards
9.3 Modeling of WAMS in Angular Stability Programs
9.4 Online Monitoring of Power Swing Damping
9.5 WAMS Applications in Power Swing Damping Controllers
9.6 WAMS Applications in Emergency Control
9.7 Generator Parameter Estimation
9.8 ElectroMechanical Wave Propagation and Other Observations in Large Grids
References
10 Analysis of Subsynchronous Resonance
10.1 Introduction
10.2 Analysis of Electrical Network Dynamics
10.3 Torsional Dynamics of a GeneratorTurbine System
10.4 GeneratorTurbine and Network Interactions: Subsynchronous Resonance
10.5 TimeInvariant Models of GridConnected Power Electronic Systems
10.A Transfer Function Representation of the Network
References
11 Solar Power Generation and Energy Storage
11.1 Introduction
11.2 Solar Thermal Power Generation
11.3 Solar PV Power Generation
11.4 Energy Storage
References
12 Microgrids: Operation and Control
12.1 Introduction
12.2 Microgrid Concept [1–7]
12.3 Microgrid Architecture [9]
12.4 Distribution Automation and Control [12, 13]
12.5 Operation and Control of Microgrids [4, 5]
12.6 Energy Management System [5]
12.7 Adaptive Network Protection in Microgrids [15]
12.8 Dynamic Modeling of Distributed Energy Resources
12.9 Some Operating Problems in Microgirds
12.10 Integration of DG and DS in a Microgrid [26]
12.11 DC Microgrids [10, 11]
12.12 Future Trends and Conclusions [10]
12.A A ThreePhase Model of an Induction Machine [30]
References
A Equal Area Criterion
An Interesting Network Analogy [2]
References
BGrid Synchronization and Current Regulation
Choice of Reference Frames
References
CFryze–Buchbolz–Depenbrock Method for Load Compensation
C.1 Introduction
C.2 Description of FBD Theory
C.3 Power Theory in Multiconductor Circuits
Virtual Star Point
Collective Quantities
C.4 Examples
C.5 Load Characterization over a Period
C.6 Compensation of NonActive Currents
Discussion
References
D Symmetrical Components and PerUnit Representation
D.1 Symmetrical Component Representation of ThreePhase Systems
D.2 PerUnit Representation
References
Index
End User License Agreement
List of Tables
Chapter 2
Table 2.1 Required control action in twoarea system
Chapter 4
Table 4.1 Initial conditions
Chapter 5
Table 5.1 Constraint equations and control variables for FACTS controllers.
Chapter 6
Table 6.1 Equilibrium values (in pu) for pu and pu,
pu.
Table 6.2 Eigenvalues of the SMIB system.
Table 6.3 Participation factors of states in the various modes ( pu).
Table 6.4 Eigenvalues of the threemachine system.
Table 6.5 Eigenvalues of the system with two identical generator units (without ...
Table 6.6 Computed design indices.
Table 6.7 Transmission line and transformer data.
Table 6.8 Generator data.
Table 6.9 Power flow data.
Chapter 7
Table 7.1 CCT for different operating conditions (with AVR and PSS), where
is t...
Table 7.2 Generation rescheduling ( s and constantimpedance type
loads).
7.B.1 Generator data for the tenmachine system, generator Model (1.1).
7.B.4 Load flow data for the tenmachine system, negative
and indicate loads....
Chapter 8
Table 8.1 Poles of the system.
Table 8.2 Generator data.
Chapter 9
Table 9.1 Poles and the residues corresponding to the frequencydifference signa...
Table 9.2 Poles and the residues corresponding to the frequencydifference signa...
Chapter 10
Table 10.1 Eigenvalues for the system of Figure 10.2.
Table 10.2 Eigenvalues for the system of Figure 10.3 (with pu).
Table 10.3 Eigenvalues for the system of Figure 10.3 (with pu).
Table 10.4 Eigenvalues corresponding to the torsional modes and the common mode.
Table 10.5 Mode shapes of the torsional modes and the common mode.
Table 10.6 Eigenvalues without series compensation.
Table 10.7 Eigenvalues with series compensation (with pu).
Table 10.8 Eigenvalues with series compensation (with pu).
Table 10.9 Eigenvalues obtained from different models ( pu,
pu).
Table 10.10 Sensitivity of eigenvalues corresponding to the torsional modes, and...
Table 10.11 Real parts of the torsional modes ( pu).
Table 10.12 Eigenvalues for the system in Example 10.5 ( pu,
pu).
Table 10.13 Modeshapes of Torsional Modes 1 and 2 ( pu,
pu).
Table 10.14 Eigenvalues with and without PSS (no series compensation present).
Chapter 11
Table 11.1 DCDC converters characteristics, the load current is assumed to be c...
Table 11.2 Technical attributes of energy storage systems (Part A).
Table 11.4 Technical attributes of energy storage systems (Part C).
List of Illustrations
Chapter 1
Figure 1.1 The loadability of an AC line as a function of length.
Figure 1.2 The system operating states.
Chapter 2
Figure 2.1 A threephase overhead line. (a) Typical configuration; (b) Electri...
Figure 2.2 A twoport network.
Figure 2.3 equivalent of a transmission line.
Figure 2.4 Phasor diagram.
Figure 2.5 Steadystate equivalent circuit (positive sequence).
Figure 2.6 Exact equivalent circuit.
Figure 2.7 and sequence network. (a) sequence; (b) sequence
Figure 2.8 A singlebus equivalent of power system.
Figure 2.9 Block diagram of governor.
Figure 2.10 Speed droop characteristic.
Figure 2.11 Sharing of load by two generating units.
Figure 2.12 A twoarea system.
Figure 2.13 sequence stator equivalent circuit.
Figure 2.14 Phasor diagram showing torque components.
Figure 2.15 Simplified representation of the network connected to a reactive co...
Figure 2.16 Phasor diagram showing voltage and current components.
Figure 2.17 Root loci of a static compensator with a voltage regulator. (a) Cas...
Figure 2.18 Power transfer capability of a line.
Figure 2.19 Equivalent circuit. (a) Inductor; (b) Capacitor
Figure 2.20 Equivalent impedance network for a lossless line.
Figure 2.21 Representation of an HVDC valve.
Figure 2.22 A threebus system.
Figure 2.23 A radial network.
2.A.1 Singlephase distributed parameter transmission line.
2.A.2 Voltage profile along the transmission line.
Chapter 3
Figure 3.1 Synchronous machine.
Figure 3.2 Synchronous machine with rotating armature windings.
Figure 3.3 Equivalent circuit for the axis.
Figure 3.4 Equivalent circuit for the axis.
Figure 3.5 Direct axis equivalent circuit.
Figure 3.6 Alternative representation.
Figure 3.7 Stator equivalent circuit for Model (2.2).
Figure 3.8 Stator equivalent circuit for Model (1.1).
Figure 3.9 Circuit model for stator (phase variables).
Figure 3.10 Circuit model for stator ( variables).
Figure 3.11 Circuit model for stator ( variables).
Figure 3.12 Functional block diagram of an excitation control.
Figure 3.13 Transducer and load compensation.
Figure 3.14 IEEE Type 1 excitation system.
Figure 3.15 (a) Excitation system stabilizer and (b) transient gain reduction.
Figure 3.16 Static excitation system (Type STI).
Figure 3.17 Hydraulic turbine model.
Figure 3.18 Response to a unit step.
Figure 3.19 Steam turbine model.
Figure 3.20 A nonlinear model for a hydrogovernor.
Figure 3.21 General model for the speedgovernor system for a steam turbine.
Figure 3.22 A twogenerator system.
Figure 3.23 Application of the equal area criterion.
Figure 3.24 A twoport network connecting a generator to the external bus.
Figure 3.25 Phasor diagram.
Figure 3.26 Variation of rotor angle
in degrees with respect to time.
Chapter 4
Figure 4.1 Variation of with respect to .
Figure 4.2 Powerspeed characteristics of a wind turbine for different wind spe...
Figure 4.3 Weibull probability distribution function.
Figure 4.4 Pitch angle control.
Figure 4.5 Type I WTG: SCIG with fixedspeed wind turbine.
Figure 4.6 Type II WTG: WRIG with variable rotor resistance and variable speed ...
Figure 4.7 Type III WTG: DFIG with partialrating frequency converter and varia...
Figure 4.8 Type IV WTG: PMSG/WRSG/WRIG/SCIG with fullrating frequency