6.3.
Example with Runga Kutta 4th order method
Again, as an example, 3 machine, 9 bus system shown in Fig. 6.4 is again considered. Initially, the
damping of the generators are neglected (i.e. di = 0 for i = 1, 2, 3). The load flow results and the
initial values of the magnitudes and angles (E and ) of the internal voltages of all the generators
are same as those already given in Table 6.2. As before, it is again assumed that at t = 0.5 sec.,
a three phase to ground short circuit fault takes place at bus 7. The faulted generator terminal
voltages and generator output powers are same as those shown in Table 6.3. With these values of
(o)
ei
di (1)
di (1)
and io , the estimates
and
(i = 1, 2, 3) are calculated from equations (6.44)
dt
dt
and (6.45) respectively and are shown in columns 2 and 3 of Table 6.10 respectively. With these first
(1)
(1)
estimates of the derivatives, the values of i and i (i = 1, 2, 3) are calculated from equations
(6.46) - (6.47) and are shown in columns 4 and 5 of Table 6.10 respectively.
Table 6.10: Calculations with RK method for first estimate at t = 0.5 sec. (damping = 0)
Gen. no.
di (1)
dt
1
2
3
0
0
0
di (1)
dt
(1)
(1)
(deg.)
(rad/sec.)
0.2968990107 2.2716458404 376.99126688
47.9965914231 19.7315857693 377.01511672
29.2982026019 13.1664110346 377.00576753
(1)
With the values of i (i = 1, 2, 3) obtained above, the generator terminal voltages and output
powers are updated from equations (6.23) - (6.25) and are shown in Table 6.11. Please note that
(1)
following the notations used earlier, the output powers calculated at this stage are denoted as Pei
(i = 1, 2, 3).
Table 6.11: Caculations with RK method for second estimate at t = 0.5 sec. (damping = 0)
Gen.
no.
1
2
3
(1)
With the values of i
V (p.u)
0.8515307492 - 0.0053320553i
0.3391142785 + 0.1215867116i
0.6169489129 + 0.0743553183i
(1)
Pe(1)
(p.u)
0.6791748939
0.0003691143
0.3821503052
and Pei (i = 1, 2, 3) calculated above, the quantities
di (2)
di (2)
and
dt
dt
(i = 1, 2, 3) are calculated from equations (6.48) - (6.49) and are shown in columns 2 and 3 of Table
(2)
(2)
6.12 respectively. Subsequently, the values of i and i (i = 1, 2, 3) are calculated from equations
(6.50) - (6.51) and are shown in columns 4 and 5 of Table 6.12 respectively.
(2)
Again, with the values of i (i = 1, 2, 3) obtained above, the generator terminal voltages and
output powers are updated from equations (6.23) - (6.25) and are shown in Table 6.13. Please note
272
Table 6.12: Calculations with RK method for second estimate at t = 0.5 sec. (damping = 0)
Gen. no.
1
2
3
di (2)
dt
di (2)
dt
(2)
(2)
(deg.)
(rad/sec.)
0.0001484495 0.2968990107 2.2716500931 376.9912668802
0.0239982957 47.9965914231 19.7322732698 377.0151167264
0.0146491013 29.2982026019 13.1668307004 377.0057675320
that following the notations used earlier, the output powers calculated at this stage are denoted as
Pei(2) (i = 1, 2, 3).
Table 6.13: Caculations with RK method for third estimate at t = 0.5 sec. (damping = 0)
Gen.
no.
1
2
3
Pe(2)
V (p.u)
0.8515307158 - 0.0053317093i
0.3391128195 + 0.1215907798i
0.6169483055 + 0.0743589582i
(2)
Proceeding further, with the values of i
(p.u)
0.6791699590
0.0003691216
0.3821550258
(2)
and Pei (i = 1, 2, 3) calculated above, the quantities
di (3)
di (3)
and
(i = 1, 2, 3) are calculated from equations (6.52) - (6.53) and are shown in
dt
dt
(3)
(3)
columns 2 and 3 of Table 6.14 respectively. Subsequently, the values of i and i (i = 1, 2, 3) are
calculated from equations (6.54) - (6.55) and are shown in columns 4 and 5 of Table 6.14 respectively.
Table 6.14: Calculations with RK method for third estimate at t = 0.5 sec. (damping = 0)
Gen. no.
1
2
3
di (3)
dt
di (3)
dt
(3)
(3)
(deg.)
(rad/sec.)
0.0001484495 0.2969383597 2.2716543459 376.9914153691
0.0239982957 47.9965912089 19.7329607703 377.0391150219
0.0146491013 29.2979069891 13.1672503663 377.0204163377
(3)
Again, with the values of i (i = 1, 2, 3) obtained above, the generator terminal voltages and
output powers are updated from equations (6.23) - (6.25) and are shown in Table 6.15. Please note
that following the notations used earlier, the output powers calculated at this stage are denoted as
Pei(3) (i = 1, 2, 3).
Lastly, with the values of
and
(3)
i
and P
(3)
ei
di (4)
(i = 1, 2, 3) calculated above, the quantities
dt
di (4)
(i = 1, 2, 3) are calculated from equations (6.56) - (6.57) and are shown in columns 2
dt
273
Table 6.15: Calculations with RK method for final estimate at t = 0.5 sec. (damping = 0)
Gen.
no.
1
2
3
V (p.u)
0.8515306823 - 0.0053313633i
0.3391113605 + 0.1215948479i
0.6169476981 + 0.0743625981i
Pe(3)
(p.u)
0.6791650241
0.0003691288
0.3821597463
and 3 of Table 6.16 respectively. Finally, the values of i and i (i = 1, 2, 3) at the end of t = 0.5
sec. are calculated from equations (6.58) - (6.59) and are shown in columns 4 and 5 of Table 6.16
respectively.
Table 6.16: Calculations with RK method for final estimate at t = 0.5 sec. (damping = 0)
di (4)
dt
Gen. no.
1
2
3
di (4)
dt
(deg.)
(rad/sec.)
0.0002969383 0.2969777087 2.2716543463 376.9914153560
0.0479965912 47.9965909948 19.7329607703 377.0391150220
0.0292979069 29.2976113769 13.1672503634 377.0204164363
After the final values of i and i (i = 1, 2, 3) corresponding to t = 0.5 sec. are obtained, we
increment the time by t (= 0.001 sec.) and repeat the calculations for t = 0.501 sec. Towards
this goal, the quantities i and i (i = 1, 2, 3) shown in Table 6.16 are substituted for io and io
(i = 1, 2, 3) in equations (6.44) - (6.59). With these values of io (i = 1, 2, 3), equations (6.23) (6.25) are solved to calculate the initial values of Pei (i = 1, 2, 3) at t = 0.501 sec. The results are
shown in Table 6.17.
Table 6.17: Calculations with RK method for initial estimate at t = 0.501 sec. (damping = 0)
Gen.
no.
1
2
3
V (p.u)
0.8515306823 - 0.0053313633i
0.3391113605 + 0.1215948479i
0.6169476981 + 0.0743625981i
Pe(o)
(p.u)
0.6791650241
0.0003691288
0.3821597462
(o)
With the values of Pei (i = 1, 2, 3) thus obtained, calculations pertaining to the first estimate
are carried out by using equations (6.44) - (6.47) and the results are shown in Table 6.18. Sub(1)
sequently, the values of Pei (i = 1, 2, 3) are calculated and the results are shown in Table 6.19.
(1)
(1)
(1)
With the values of Pei , i and i (i = 1, 2, 3) obtained as above, the calculations pertaining
(2)
(2)
(2)
to second estimate are performed to obtain Pei , i and i (i = 1, 2, 3). The results are shown
274
Table 6.18: Calculations with RK method for first estimate at t = 0.501 sec. (damping = 0)
di (1)
dt
Gen. no.
1
2
3
di (1)
dt
(1)
(1)
(deg.)
(rad/sec.)
0.0002969252 0.2969777084 2.2716628526 376.9915638448
0.0479965912 47.9965909948 19.7343357714 377.0631133175
0.0292980055 29.2976113792 13.1680896895 377.0350652419
Table 6.19: Calculations with RK method for first estimate at t = 0.501 sec. (damping = 0)
Gen.
no.
1
2
3
Pe(1)
V (p.u)
0.8515306154 - 0.0053306712i
0.3391084422 + 0.1216029842i
0.6169464833 + 0.0743698779i
(p.u)
0.6791551544
0.0003691434
0.3821691871
in Tables 6.20 and 6.21.
Table 6.20: Calculations with RK method for second estimate at t = 0.501 sec. (damping = 0)
Gen. no.
1
2
3
di (2)
dt
di (2)
dt
(2)
(2)
(deg.)
(rad/sec.)
0.0004454140 0.2970564057 2.2716671065 376.9915638842
0.0719948867 47.9965905664 19.7350232719 377.0631133173
0.0439468112 29.2970201614 13.1685093468 377.0350649463
Table 6.21: Calculations with RK method for second estimate at t = 0.501 sec. (damping = 0)
Gen.
no.
1
2
3
Pe(2)
V (p.u)
0.8515305819 - 0.0053303251i
0.3391069830 + 0.1216070523i
0.6169458758 + 0.0743735177i
(2)
(2)
(2)
(p.u)
0.6791502196
0.0003691506
0.3821739075
Proceeding further, using the values of Pei , i and i (i = 1, 2, 3), the calculations pertaining
(3)
(3)
(3)
to third estimate are performed to obtain Pei , i and i (i = 1, 2, 3). The results are shown in
Tables 6.22 and 6.23.
(3)
(3)
(3)
Using the values of Pei , i and i (i = 1, 2, 3), the fourth estimates of the derivatives are
computed and subsequently, the final values of i and i (i = 1, 2, 3) corresponding to t = 0.501
sec. are obtained. The calculations are shown in Table 6.24.
275
Table 6.22: Calculations with RK method for third estimate at t = 0.501 sec. (damping = 0)
Gen. no.
1
2
3
di (3)
dt
di (3)
dt
(3)
(3)
(deg.)
(rad/sec.)
0.0004454534 0.2970957537 2.2716798689 376.9917124517
0.0719948865 47.9965903523 19.7370857735 377.0871116124
0.0439465156 29.2967245580 13.1697683133 377.0497131608
Table 6.23: Calculations with RK method for third estimate at t = 0.501 sec. (damping = 0)
Gen.
no.
1
2
3
V (p.u)
0.8515304815 - 0.0053292869i
0.3391026052 + 0.1216192565i
0.6169440533 + 0.0743844372i
Pe(3)
(p.u)
0.6791354153
0.0003691725
0.3821880684
Table 6.24: Calculations with RK method for final estimate at t = 0.501 sec. (damping = 0)
Gen. no.
1
2
3
di (4)
dt
di (4)
dt
(deg.)
(rad/sec.)
0.0005940209 0.2972137971 2.2716798685 376.9917124386
0.0959931816 47.9965897098 19.7370857735 377.0871116124
0.0585947300 29.2958377565 13.1697683161 377.0497132593
For subsequent time instants, the calculations proceed exactly in the same way as described
above. As in the case with Eulers method, in this case also, the fault is assumed to be cleared at t =
0.6 sec. and finally, the simulation study is stopped at t = 5.0 sec. The variations of i (i = 1, 2, 3)
with respect to the center of inertia (COI) are shown in Fig. 6.7 below. Please note that in this
figure, no damping of the generators has been considered.
The simulation studies have also been carried out by considering the damping of the generators.
The variations of i (i = 1, 2, 3) with respect to the center of inertia (COI) for this case are shown
in Fig. 6.8 below. Comaprison of Figs. 6.7 - 6.8 with Figs. 6.5 - 6.6 reveals that the responses
obtained with these two methods are almost identical to each other.
With this example, we are now at the end of discussion of transient stability analysis. From the
next lecture, we will start the discussion of small signal stability analysis.
276
Figure 6.7: Variation of 1COI (with no damping) obtained with Runga-Kutta method
Figure 6.8: Variation of 1COI (with damping) obtained with Runga-Kutta method
277
