Modelling and Simulation- a power system example

C=21uF
-4.462  j 594.96
-4.727  j159.12
Generator -1.06  j9.19
-0.131  j99.41
Infinite
bus
-0 .646  j127.07
1.02  j160.16
-0.034  j202.74
-0.182  j 298.18

Modes of oscillations
 Real Power (p.u.) Real Power (p.u.)

1 1

0.5 0.5

0 0
0 5 10 15 0 2 4 6

4 LPB-GEN Torque (p.u.) 4

LPB-GEN Torque (p.u.)

2 2

0 0

-2 -2

-4 -4
0 5 10 15 0 2 4 6
Time (sec) Time (sec)
 Numerical Solution of Differential
Equations

• MATLAB has several routines for numerical

integration ode45, ode23, ode113, ode15s,
ode23s, etc.
• ode23 uses 2nd-order and ode45 uses 4th-
order Runge-Kutta integration.
 Integration by ode23 and ode45:
Matlab Command
[t, x] = ode45(‘xprime’, [t0,tf], x0)
where
xprime is a string variable containing the name of the
m-file for the derivatives.
t0 is the initial time
tf is the final time
x0 is the initial condition vector for the state variables
t a (column) vector of time
x an array of state variables as a function of time
 y (t )  2 y (t )  4 y (t )  u (t ) x  Ax  Bu
y (t )  2 y (t )  4 y (t )  u (t ) y  Cx  Du
t
x(t)  e x(0)   e A(t  τ) Bu ( )d ;
At
0

Solution X(s)  (sI  A)1 x(0)  (sI  A)1 BU(s)

Y( s )
x1  x2 Relation between
between SS and TF U( s )
 C( sI  A) 1 B  D

x 2  4 x1  2 x2  u
y  x1 msep.m
function c= msep(t,x);
A=[0 1; -4 -2];
eig([0 1; -4 -2]) B=[0;1];
c=A*x+B;
-1.0000 + 1.7321i x0=([-.1;.1]);
-1.0000 - 1.7321i ts=[0 10];
[t,x]=ode23(‘msep',ts,x0);
 Plot(t,x)

0 .4

0 .3 5

0 .3

0 .2 5

0 .2

0 .1 5

0 .1

0 .0 5

-0 . 0 5

-0 . 1
0 2 4 6 8 10
 Phase plane or state space
plot(x(:,1),x(:,2))
Phase plane trajectory
x2
0 .4

0 .3 5

0 .3

0 .2 5

0 .2

0 .1 5

0 .1

0 .0 5

-0 . 0 5

-0 . 1
-0 . 1 -0 . 0 5 0 0 .0 5 0 .1 0 .1 5 0 .2 0 .2 5 0 .3 0 .3 5

x1
 x 1  x2
x 2  4 x1  2 x2 x  Ax;
y  x1 Autonomous system

0.15

function c= msepb(t,x);
A=[0 1; -4 -2]; 0.1

c=A*x;
0.05

Plot(t,x) 0

-0.05

-0.1
0 1 2 3 4 5 6 7 8 9 10
 plot(x(:,1),x(:,2))
1

0.5

-0.5

-1

-1.5
-0.2 0 0.2 0.4 0.6 0.8 1 1.2
 State variable 3
x3

t=1 t=0
t=4 State vectors
State t=2 at different
trajectory times
t=3
(0, 0, 0) State variable 1
Origin of (x1)
the state
space
State variable 2
x2
 Equilibrium is a state of a system which does
not change.

Consider a system
                                            

Equilibrium points, or singular points, occur when

          

Slope of the trajectory is                                               

Types of Eqbm. Points (Linear Systems)
Node eig(A)
0 1 -1
x  3x  2 x  0. A 
 2  3 -2

For linear systems there is only one equilibrium point that is the origin of
phase plane
 eig(A)
0 1
x  x  x  0. A 
  1  1 -0.5000 + 0.8660i
-0.5000 - 0.8660i
3

-1

-2

-3

-4
0 20 40 60 80 100 120
3. Centre
 0 1
x  x  0. A  eig(A)
  1 0  0 + 1.0000i
0 - 1.0000i

-1

-2

-3

-4

-5
0 20 40 60 80 100 120
4. Saddle Po int
0 1 
x  x  2 x  0. A 
2  1
Separatrices
Linearization of Nonlinear Systems
One-Dimensional System
dy
• Nonlinear ODE model  f (y )  f ( y )  0
dt
dy Steady-state point or
 f ( y) y (0)  y0 equilibrium point
dt
• First-order Taylor series expansion about steady state
dy  f 
 f ( y )    ( y  y )
dt  y  ( y )

• Linear ODE model

dy  f 
f ( y)  0 y  y  y    y  ay y(0)  y0  y
dt  y  ( y )
 Two-Dimensional System
• Nonlinear ODE model
dy1
 f1 ( y1 , y2 )  f1 ( y1 , y2 )  0 y1 (0)  y10
dt
dy2
 f 2 ( y1 , y2 )  f 2 ( y1 , y2 )  0 y2 (0)  y20
dt
• First-order Taylor series expansion
dy1  f1   f1 

 f1 ( y1 , y2 )   
 ( y1  y1 )    ( y2  y2 )
dt  y1  ( y )  y2  ( y )
dy2  f 2   f 2 

 f 2 ( y1 , y2 )   
 ( y1  y1 )    ( y2  y2 )
dt  y1  ( y )  y2  ( y )
• Linear ODE model

dy1'
 a11 y1  a12 y2 dy 
dt   Ay  J ( y )y ' y (0)  y 0  y
dy2' dt
 a21 y1  a22 y2
dt J is the Jacobian matrix
(a,b) is the equilibrium point
Example

(2,2) is an equilibrium point

X  AX
  4  2
A 
  2  2 
The equilibrium point (2,2) is stable
Simple Pendulum
 Simple Pendulum
Assume mg=1

  sin   0
x1  x2 ;
x 2   sin x1 function c= pend(t,x);

c=[x(2);-sin(x(1))];

ts=[0 20];
x0=[.5;-.5];
[t,x]=ode23('pend', ts,x0);
plot(x)
plot(x(:,1),x(:,2))
 Plot(t,x)

0.8

0.6

0.4

0.2

-0.2

-0.4

-0.6

-0.8
0 2 4 6 8 10 12 14 16 18 20
 plot(x(:,1),x(:,2))

0.8

0.6

0.4

0.2

-0.2

-0.4

-0.6

-0.8
-0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8
Van der Pol Equation
x  ( x  1) x  x  0
2

-2

-4
0 5 10 15
Phase plane portrait of Van der Pol equation
Phase plane portrait of Van der Pol equation