This paper summarizes the list of activities carried out in Smart Transmission System Laboratory (SmarTS-Lab) within the domain of Real-Time Power System Monitoring, Operation, Protection and Control using opaOpal-RT’s eMEGAsim Real-Time Simulators. The major projects carried out include real-time hardware-In-the-loop (RT-HIL) execution of Unitrol 1020 Excitation System from ABB. The performance of Excitation Control System is validated for both Automatic Voltage Regulator (Auto) and Field Current Regulator (Manual) modes. In addition the power system stabilization (PSS) capability of Unitrol 1020 is exploited by using it as RT-HIL to provide power oscillation damping in a 2-area 4-machine Kundur’s power system. In another project, Compact Reconfigurable I/O (cRIO) controllers from National Instrument are programmed in Labview as a phasor based power oscillation damping controller. This NI-cRIO takes the voltage and current phasor measurements from PMUs (which are executing as RT-HIL with Opal-RT) and outputs a power oscillation damping signal which is added in the controls of SVC (simulated in real-time) to provide power oscillation damping. Finally an Open Source SCADA is setup in the SmarTS-Lab using PMUs/protection relays from ABB and SEL. The integration of PMU measurements in the SCADA system is evaluated and the limitations are discussed. The presentation will include some results from PMU steady state compliance testing with Stand-Alone relay protection test sets and its limitation which drives a need for PMU compliance testing using real-time simulator (Opal-RT). Also the roadmap for real-time power system simulation in conjunction with communication network simulation using OPNET's System-in-the-Loop (SITL) package will be discussed.
Study on Air-Water & Water-Water Heat Exchange in a Finned Tube Exchanger
Experiences with Real-Time Hardware-in-the-Loop Simulation
1. The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
Experiences with RT-HIL:
Implementation of Excitation Control System, Development of
Wide Area Control Systems, and Open Source SCADA Setup
M. Shoaib Almas1, Eldrich Rebello1, Prof. Luigi Vanfretti1,2
msalmas@kth.se, luigiv@kth.se ,
rebello@kth.se
Electric Power Systems Dept.
KTH
Stockholm, Sweden
Luigi.Vanfretti@statnett.no
Research and Development Division
Statnett SF
Oslo, Norway
2. The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
• The work presented here is a result of the collaboration between KTH SmarTS Lab (Sweden), Statnett SF
(Norway)
• This work has been financed by:
• Statnett SF, the Norwegian transmission system operator, through its Smart Operation R&D program.
• The Nordic Energy Research through the STRONgrid project.
• The following people have contributed to this work:
• KTH SmarTS Lab: Dr. Luigi Vanfretti, M. Shoaib Almas, Maxime Baudette, Viktor K. Appelgren, Eldrich Rebello
• Statnett SF: Stig Løvlund, Jan O. Gjerde, Dr. Luigi Vanfretti.
• ABB Switzerland: Valerijs Knazkins, Ralf-Bachmann Schiavo
3. Outline
• SmarTS Lab, previous experience
• Integration of commercial controls (Unitrol
1020, ABB)
• Development and testing of custom
embedded controller (NI cRIO)
• Future development of combined test with
commercial and custom controls
• SCADA deployment in the lab
• PMU Integration into SCADA
7. Mechanical
Power (Pm)
Pm
Vfield
Generator
Excitation
System
Generator
Terminal Voltage
Metering
Transformer
Rotor
Field Current
Transmission
Line
Load
TURBINE
Step Up
Transformer
Application - Testing/Verification:
RT-HIL Assessment of Excitation Control System
1. Provides direct current to the
synchronous machine field
winding and controls the terminal
voltage.
2. Provides protection functions to
ensure that the capability limit of
synchronous generators is never
exceeded.
3. Important features: Terminal
voltage control, over and under
excitation limiters, field current
limiters and protections, etc.
Interaction between synchronous generator and
excitation control system
8. TURBINE
Mechanical
Power (Pm)
Pm
Vfield
Generator
Dynamic Load
230 kV, 50 Hz
Bus 1 Bus 2
Transmission
Line
Length = 20 Km
Voltage = 230 kV
Bus 3
20kV : 230 kV
Step Up Transformer
100 MVA
50 MW Turbo Generator
2-Pole, 20 kV
Voltage
Transformer
20kV:100
Field Voltage
Generator
Terminal Voltage
VAC
Current
Transformer
IB
1500:1
Generator
Stator Current
UPWR,UAUX
Auxiliary Power Supply (UAUX)
for powering up excitation
unit and Power Electronics
Supply (UPWR) for IGBT circuit
Supplied from same source
PWM scaled from 0 to 100 %
and represents actual field
voltage output of 0.5 to 99%
Ifield
Rotor Field
Current Excitation current of
generator is scaled between 9
to 10 V representing 0 to 150
% of excitation current. This
analog signal is fed to the Ie
External of ABB Excitation
System.
Real-Time Hardware-in-the-Loop (RT-HIL) simulation of an Excitation Control System (ECS) for
both terminal voltage regulation and power oscillation damping
Test Case System includes detailed
model of Synchronous Generator
whose field excitation is provided
by ABB’s Unitrol 1020
Application - Testing/Verification:
RT-HIL Assessment of Excitation Control System
9. Real-Time
Simulator
Ethernet
Switch
0-10 V input to amplifier
gives output of 0-100V
0-10 V input to current
amplifiers give current
output of 0-6 A
V and I
Amplifiers
1
Test Case model being
executed in real-time using
Opal-RTs eMEGAsim Real-
Time Simulator
2
UAC : Generator
Terminal Voltage
IB: Generator
Stator Current
3
Amplified Generator
Voltage (ML1, ML3)
Amplified Generator
current (MC2+, MC2-)
Rotor Field Current sent to analog input
of Unitrol as Ie External (AI1, BI1)
PWM scaled (0-10V) representing actual
field voltage 0.5-99%
Computer with CMT
1000 to tune parameters
of Unitrol 1020
Low level voltages and
currents from RTS are
sent to amplifier
Interfacing Unitrol-1020 Excitation Control System
with Opal-RT Real-Time Simulator
10. Event Instance
(sec)
Disturbance Change in Load
1 t = 0 Simulation starts (no load) 0
2 t = 47.1
ABB Excitation System
takes over
0
3 t = 108.9
Load increase 10 MW and
10 MVAR
+10MW,-10MVAR
4 t = 171.3
Load increase to 20MW &
10 MVAR
+10MW
5 t = 222.0
Load increase to 30 MW &
10 MVAR
+10MW
6 t = 272.4
Load increase to 35 MW &
10 MVAR
+5MW
7 t = 319.5
Load increase to 35 MW &
15 MVAR
+5MVAR
8 t = 407.1
Load increase to 37 MW &
15 MVAR
+2MW
9 t = 482.1 Load cut off -37MW, -15MVAR
0 50 100 150 200 250 300 350 400 450 500
-0.5
0
0.5
1
1.5
2
2.5
3
3.5
Time (sec)
FieldcurrentandFieldVoltage(pu)
Field Voltage From ABB Exciter and Field Current Input to Exciter
Field Voltage Input from Unitrol 1020
Rotor Current Input to Unitrol as External Excitation Current
0 50 100 150 200 250 300 350 400 450 500
0
0.2
0.4
0.6
0.8
1
Time (sec)
ActivePower(pu)
Mechanical Power Input to Generator vs Generator Active Power Output
Mechanical Power Input by Turbine
Active Power Output by Generator
0 50 100 150 200 250 300 350 400 450 500
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
Time (sec)
Reactivepower(pu)
Reactive Power Output by Generator
0 50 100 150 200 250 300 350 400 450 500
0.9
0.95
1
1.05
1.1
1.15
Time (sec)
Voltage(pu)
Generator Terminal Voltage
Generator Terminal Voltage
Vmeasure
Vsetpoint
Error PID
Controller
Field Voltage
(PWM)
To Real-Time
Simulator
RT-HIL Assessment of Excitation Control System
Auto Mode of Unitrol 1020 ECS (Voltage Regulation)
RT-HIL results with Auto Mode
(Voltage Regulation Mode)
Disturbances Incorporated in the
Test Case
11. PID
Controller
Field Voltage
(PWM)
To Real-Time
Simulator
Ifieldsetpoint
Error
Ifieldmeasure
Event Instance
(sec)
Disturbance Change in Load
1 t = 0 Simulation starts (no load) 0
2 t = 44 ABB Excitation System
takes over
0
3 t = 193 Load increase 1 MW +1MW
4 t = 254.4 Load increase to 5MW +4MW
0 50 100 150 200 250 300
0
0.5
1
1.5
2
2.5
Time (sec)
FieldCurrentandFieldVoltage(pu)
Field Voltage from ABB Exciter and Field Current Input to Exciter
0 50 100 150 200 250 300
0
0.05
0.1
0.15
0.2
Time (sec)
ActivePower(pu)
Mechanical Power Input to Generator vs Generator Active Power Output
0 50 100 150 200 250 300
-0.25
-0.2
-0.15
-0.1
-0.05
0
Time (sec)
ReactivePower(pu)
Reactive Power Output by Generator
0 50 100 150 200 250 300
0.8
1
1.2
1.4
1.6
Time (sec)
Voltage(pu)
Generator Terminal Voltage
Field voltage input from Unitrol 1020
Field current input to Unitrol as External
Excitation Current
Mechanical Power Input by Turbine
Active Power Output by Generator
Generator Terminal Voltage
RT-HIL Assessment of Excitation Control System
Manual Mode of Unitrol 1020 ECS (Field Current Regulation)
RT-HIL results with Manual Mode
(Field Current Regulation Mode)
Disturbances Incorporated in the
Test Case
12. RT-HIL Assessment of Excitation Control System
Power System Stabilization Using Unitrol 1020 ECS (PSS)
Low Pass
Filter
K
PSS Gain
Washout
Filter
1+T1s
1+T2s
Phase Compensation
Lead-Lag Filter
Limiter
dw
Vmeasured
Vreference
ΔVPSS
Excitation
Control
System
VField
Model of a conventional Δω PSS
Frequency
Calculation
Power
Calculation
Generator
Terminal Voltage
Generator Stator
Current
UM
IM
Washout
Filter
Lead-Lag
Compensator
PSS Gain
Washout
Filter
Power
System
Stabilizer
(PSS)
f
V2
V1
Pe
ΔVPSS
To ECS
Simplified model of PSS
incorporated in Unitrol 1020 ECS
13. RT-HIL Assessment of Excitation Control System
Power System Stabilization Using Unitrol 1020 ECS (PSS)
G1
G2
Area 1
Local
Loads900 MVA
900 MVA
900 MVA
20 kV / 230 kV
25 Km 10 Km
900 MVA
20 kV / 230 kV
967 MW
100 MVAR (Inductive)
-387 MVAR (Capacitive)
220 Km Parallel
Transmission Lines
Power Transfer
Area 1 to Area 2
10 Km 25 Km
G3
900 MVA
900 MVA
20 kV / 230 kV
G4
900 MVA
20 kV / 230 kV
900 MVALocal
Loads
1767 MW
100 MVAR (Inductive)
-537 MVAR (Capacitive)
Area 2
Bus1 Bus2
Klein-Rogers-Kundur two area, 4-machine test system
for PSS performance evaluation of Unitrol 1020 ECS
14. 0 10 20 30 40 50 60 70
0.9
0.92
0.94
0.96
0.98
1
1.02
1.04
1.06
Time (sec)
RotorSpeed(pu)
Case 1: No PSS
Rotor Speed of All Generators (wm)
Machine 1
Machine 2
Machine 3
Machine 4
0 10 20 30 40 50
-200
-100
0
100
200
300
400
500
600
700
800
Time (sec)
ActivePower(MW)
Case 1: No PSS
Active Power Transfer Between Area 1 and Area 2
Active Power Transfer
from Area 1 and Area 2
0 10 20 30 40 50 60
-10
-5
0
5
10
15
20
Time (sec)
RotorAngle(rad)
Case 1: No PSS
Rotor Angle Deviation of All Generators (d-theta)
Machine 1
Machine 2
Machine 3
Machine 4
Response of Klein-Rogers-Kundur test system without PSS
Response of Klein-Rogers-Kundur test system with Unitrol-1020 ECS’s PSS
15. 0 5 10 15 20 25 30 35 40 45 50
0.996
0.997
0.998
0.999
1
1.001
1.002
1.003
1.004
Time (sec)
RotorSpeed(pu)
Comparison of Generator 1 Rotor Speed for all Cases
No PSS
Multi-Band Pass PSS
Delta Speed PSS
Delta Power PSS
SVC based POD
0 5 10 15 20 25 30 35 40
300
350
400
450
500
550
Time (sec)
ActivePower(MW)
Comparison of Power Transfer from
Area 1 to Area 2
No PSS
Multi-Band Pass PSS
Delta Speed PSS
Delta Power PSS
SVC Based POD
5 % magnitude step is applied
at the reference voltage of
Generator 1 at t=20 sec for all
the cases (left).
Control Application (2):
Development and testing of Custom Controls
• Development of algorithms for Power oscillation damping (Simulink
implementation for pre-study):
• 3 different PSS controllers and 1 POD controller for SVC
• Testing on Klein-Rogers-Kundur test case with RT simulation
• Controller tuned for damping 0.64 Hz inter-area oscillation
16. Control Application (3):
Development and testing of custom embedded controller
• Implementation of a control with PMU-based phasor POD algorithm on NI
cRIO embedded platform:
• PMU measurements received on remote PC with S3DK and forwarded to
the controller through NI shared variables
• Remote PC for tuning parameters of the controller
• Controller Hard wired to the simulator for RT-HIL
17. Control Application (3):
Development and testing of custom embedded controller
OPAL-RT
2
Real-Time Digital simulation is converted
to Analog / Digital Signals through I/O s
1
RealTime simulations are accessed from the
console generated by OPAL-RT Lab software
Ethernet Switch
SEL-421 (PMU)
SEL-5073 (PDC)
Concenterates all the PMU
streams, time-alligns them and
creates a single PDC stream
BabelFish
Unwraps the PDC stream and provides
Raw Data in Labview to develop
visualization and control applications
based on PMU measurements
TCP
UDP
Shared Variables
Analog Outputs of the RTS are wired to
the CT/VT inputs of the PMUs
3
4
The PMU streams are fed to the
Network switch and these
streams are made accessible to
the Phasor Data Concentrator
56
7 NI-cRIO executes control algorithms
based on PMU measurements and
sends the control actions to the RTS
SEL-487E (PMU)
SVC Controller for Power Oscillation
Damping
G1
G2
Area 1
Local
Loads900 MVA
900 MVA
900 MVA
20 kV / 230 kV
25 Km 10 Km
900 MVA
20 kV / 230 kV
967 MW
100 MVAR (Inductive)
-387 MVAR (Capacitive)
220 Km Parallel
Transmission Lines
Power Transfer
Area 1 to Area 2
10 Km 25 Km
G3
900 MVA
900 MVA
20 kV / 230 kV
G4
900 MVA
20 kV / 230 kV
900 MVALocal
Loads
1767 MW
100 MVAR (Inductive)
-537 MVAR (Capacitive)
Area 2
Bus1 Bus2
Model-to-data
workflow for RT-
HIL validation of
custom
embedded POD
Controller
POD Controller
Response to different
Input Signals
Available input signals :
Voltage magnitude, voltage phase angle, current
magnitude, current phase angle, active power,
reactive power
18. Future Control Application:
WAPOD control signal to local PSS
• Future development and testing will be oriented to the combination of
custom and standard/commercial controls
WAPOD
Controller
AVR
PSS
PMU
PMU
PMU
UPOD
UTERM
Feedback to Simulation
Field Voltage
UPWM
19. Implementation of an Open Source SCADA system in a
laboratory
• Using SEL Relays as DNP 3.0 / Modbus Sources
• Evaluating performance using RT-HIL simulation
• Test case: 3-phase to ground fault at Bus 2
SEL-487 E
Slave 1
SEL-421
Slave 2
ABB RED 670
Slave 3
Arbiter Sentinal 1133A
Slave 4
DNP3 Master
Open Source SCADA
Poll(request)
Response
Poll(request)
Response
G1
G2
G3
G4
Bus1 Bus2
Model Simulated in Real-Time using Opal-
RT eMEGAsim Real-Time Simulator
Three phase Voltage and currents
measurements of Bus1 and 2 are
sent from Opal-RT to the
amplifiers to rise low level inputs
to the 100V and 1 Amp range
Amplified voltages and currents
are hardwired to the CT and VT
inputs of SEL-421
DNP3 Outstation 1
(Slave 1)
DNP3 Outstation 2
(Slave 2)
DNP3 Master
Poll(request)
Poll(request)
Response
Response
DNP3 Master is an open source web
browser based SCADA (SCADA BR) which
polls all the outstations to get update of
respective data points
1
2
3
5DNP Master
Master Address: 1
IP Address: xxx.xxx.xxx.210
Polling Rate: Update every 1 sec
DNP Slave 2
Slave Address: 102
DNP Port: 20000
IP Address: 192.168.53.129
DNP Slave 1
Slave Address: 101
DNP Port: 20000
IP Address: 192.168.53.130
Data workflow for the test case simulation
Supervision Application:
Open Source SCADA Implementation
20. SCADA BR GUI: analog quantities and
protection function status
Plots showing the two minute window captured by SCADA BR during the RT-HIL simulation.
• Trend of the three phase real power (MW) and voltage (kV)
• Status of digital signals representing operation of protection functions
i.e. overcurrent protection for all the three phases at 17:47:10
Supervision Application:
Open Source SCADA Implementation
21. Supervision Application:
Open Source SCADA Implementation
• Watch-list showing the alarms that rose for all digital status at 17:47:10:
• Orange flags show that these are critical events.
• The user can either acknowledge these alarms or silence them
22. Supervision Application:
PMU Integration for Power System Monitoring and Control
• Integration of PMU measurements into SCADA BR with S3DK
No standard protocol support from SCADA BR
• Publishing SCADA to remote HMI/SCADA Client and iPhone using Pachube
23. PMU
measurements
PMU measurements retrieved from
SCADA Database
Supervision Application:
PMU Integration for Power System Monitoring and Control Applications
• Integration of PMU measurement in the SCADA system successful
• The data is intact in the database
• Limitations in the update rate and plot resolution in this SCADA system
• Successful activation of overcurrent alarms ! (prior to receiving trip report)
24. Conclusion
• Power System Monitoring Applications
• Integration of commercial controls (Unitrol 1020,
ABB)
• Development and testing of custom embedded
controller (NI-cRIO)
• SCADA deployment in the lab
• PMU Integration into SCADA
26. References
1. M.S. Almas, L. Vanfretti, Stig Løvlund, and J.O. Gjerde, “Open Source SCADA Implementation and PMU
Integration for Power System Monitoring and Control Applications”, IEEE PES GM 2014, Washington DC, USA
2. M.S. Almas, M. Baudette, L. Vanfretti, S. Løvlund and J.O. Gjerde, “Synchrophasor Network, Laboratory and
Software Applications Developed in the STRONg2rid Project”, IEEE PES GM 2014, Washington DC, USA
3. M. Klein , G. Rogers and P. Kundur "A fundamental study of inter-area oscillations in power systems", IEEE
Trans. Power Syst., vol. 6, no. 3, pp.914 -921 1991
4. ABB-Unitrol 1020 Automatic Voltage Regulator, available online: http://tinyurl.com/Unitrol
Editor's Notes
Hello Everyone. My name is Almas and i am a PhD candidate at the Royal Institute of Technology, Sweden. Today i will be presenting some of the results from our recent experiences with Real-Time Hardware in the Loop implementation of a commercial Excitation Control System. In addition there will be some slides on external controllers developed on National Instrument based cRIOs and some results from integration of PMU measurements into open source SCADA.
Before i start i would like to acknowledge the financial support from Nordic Energy Research within the Sustainable Energy systems 2050 initiative and technical support from Statnett (which is Norwegian TSO). Last but not the least i would like to acknowledge the technical support and donation of Excitation Control System by ABB Switzerland.
I follow the following scheme of presentation. I will briefly present the architecture of Smart Transmission System Laboratory at KTH where all these experiments were performed. Then i will highlight some of the applications which were developed last year at KTH and are related to power system monitoring. Then i will present the main topic which is RT-HIL implementation of ABB’s Excitation control system which will be followed by some slides on Open Source Scada and integration of PMU measurements in the Open Source Scada.
The figure shows the architecture of Smart Transmission System Laboratory at KTH. We have two real-time simulators from Opal-RT each equipped with 12 cores 64 Analog Outputs, 32Analog inputs and 128 D I/Os. The voltages and current signals are fed to the PMUs and relays either by using conventional hard-wired technique or by using IEC 61850-9-2 sampled values. In conventional technique, the low level analog signals are fed to the linear amplifiers to step up the voltages and currents to a level acceptable by the PMUs and the protection relays. In case of IEC 61850-9-2, the protection relays receive the sampled values from Opal-RT at 80 samples per cycle.
This is how the lab physically look like.
I will briefly go through some of the applications related to WAMS that we have developed in the recent past. Starting from top rite, this is a software development toolkit which we have named babel fish. It provides effortless connection to any PMU /PDC stream which is IEEE C37.118 compliant. So only things the researcher or the WAMS developer needs to know is the IP address, the port number and the device ID of the synchrophasor stream. The toolkit parses the data i.e. unwraps the PMU/PDC stream and provides real-time access of raw measurements i.e. phasors, digitals and analogs. The middle figure on the top shows a WAM application of Nordic Grid where the LEDs show the location of some of the PMUs deployed in universities in the Nordic region. This monitoring application provides instant overview of the voltages, currents, phase angles, frequency at different locations. On the bottom left is the application for mode estimation where spectral estimation algorithms have been incorporated to estimate the frequency of the dominant electromechanical oscillatory mode. On the bottom middle is the application for sub-synchronous resonance detection which is a major issue in a power system with high penetration of DG based enery. Finally an interface was developed for smart phones and tablets to get a hollistic overview of the power system in the real time. However all these applications are related to power system monitoring. But what about power system controls.
As an initiative for developing real-time power system control applications, the first application which was considered was performance assessment of an excitation control system with real-time hardware in the loop approach. The figure shows a single line diagram of the interaction between a synchronous generator and an excitation control system.
The generator is receiving mechanical power input from a turbine and its field excitation is provided by an excitation control system. Terminal voltage of the generator is fed to the excitation system which compares this value to the set-point (reference voltage) and computes required field current to bring the terminal voltage to the reference value.
It is the same figure as shown in the previous slide but the excitation control system is replaced by the ABB’s Unitrol 1020 Excitation control system. It takes the generator terminal voltage as an input and computes the required field voltage which is needed in order to maintain the terminal voltage of the generator. In addition it also takes generator stator current as an input to make sure that the stator current limits are not exceeded.
This figure shows the coupling of RTS with the Excitation Control System. So the mathematical model of Synchronous Generator, Transmission Lines, loads, transformers is modeled in MATLAB and executed in Real Time using Opal-RT simulator. The generator terminal voltage and stator current are accessed from Analog outputs of the RTS and are fed to the amplifiers to amplify them to a range which is acceptable by the ECS. Real-Time Simulator (RTS) can only provide voltages upto ±10 V and currents upto ±20 mA. These low-level signals (generator terminal voltage and stator current) are amplified using linear amplifiers to scale voltage upto 100 V and currents to 1 Ampere at rated power [6]. The field current measurement is supplied to Unitrol 1020 using low-level ±10 Volts. For this purpose one of the inputs of Unitrol 1020 is configured for receiving an external excitation current. The complete connection diagram is shown in Figure 3.
Unitrol 1020 ECS has 4 control modes. AVR (AUTO), FCR (Manual), Power Factor Control Mode and VAR Control Mode. This slide shows the RT-HIL results of Automatic Voltage Control mode of ECS. In AVR mode, Unitrol 1020 is a PID controller regulating the generator terminal voltage by computing the required field voltage to maintain the reference voltage. In the test system, the load was increased as shown in the table. Top left plot shows the generator terminal voltage vs the field voltage input from the ECS. As the load is increased, the terminal voltage decreases and ECS comes into play which increases its field voltage to keep the terminal voltage equal to 1 pu.
Similarly for verifying the Manual control mode of the ECS, In the test system, the load was increased as shown in the table. Top left plot shows the generator terminal voltage vs the field voltage input from the ECS. As the load is increased, the terminal voltage falls below 1 pu and then manually you need to increase the field voltage output of the ECS to maintain the terminal voltage of the generator. However as you can see, we cannot apply huge load changes in this case, as it will result in loss of synchronism of the generator and the simulation will crash. So the manual control mode or field current regulation mode is much harder to validate.
The PSS is a feedback controller and is part of the control system of a synchronous generator, which acts through the excitation system to provide an additional signal to modulate the field voltage. The main function of PSS is to damp generator rotor oscillations in the range from 0.1 to 2.5 Hz, which are called electromechanical oscillations
The simplest method to provide a damping torque in the synchronous machine is to measure the rotor speed and use it directly as an input signal in the stabilizer structure. The simplest one is known as IEEE PSS1A model [11] and is documented in the IEEE Standard 421.5-2005 [5]. It is illustrated in Figure 12. It consists of a low-pass filter, a general gain, a washout filter which is effectively a high-pass filter, a phase-compensation system in the form of lead-lag compensator, and an output limiter. The general gain “K” is proportional to the amount of damping produced by the stabilizer. The washout high-pass filter allows the PSS to respond only to transient variations in the speed input signal “d𝞈”. The phase-compensation system is represented by lead-lag transfer functions used to compensate the phase lag between the excitation voltage and the electrical torque of the synchronous machine. The output limiter ensures to bound the amount of control action of a PSS during a major system disturbance and thus avoids the PSS to adversely affect the generator’s synchronism.