AUPEC 2012 Proceedings

Small-Signal Stability Assessment of Active Distribution Networks with Dynamic Loads

N. K. Roy, Student Member, IEEE, H. R. Pota, Member, IEEE, and T. F. Orchi, Student Member, IEEE
Abstract This paper investigates small-signal stability of a distribution system with distributed generator and induction motor load, as a dynamic element. The analysis is carried out over a distribution test system with different types of induction motor loads. The system is linearised by the perturbation method. Eigenvalues and participation factors are calculated to see the modal interaction of the system. The study indicates that load voltage dynamics signicantly inuence the damping of a newly identied voltage mode. This mode has frequency of oscillation between the electromechanical and subsynchronous oscillation of power systems. To justify the validity of the modal analysis time domain simulation is also carried out. Finally, signicant parameters of the system that affect the damping and frequency of the oscillation are identied. Index Terms Distributed generation, eigenvalue, induction motor, small-signal stability, voltage mode.

I. I NTRODUCTION In centralised generation scheme, electricity is mainly produced by large generation plants, generally located near the primary energy sources (e. g., coal mines, rivers, etc.) and it is supplied through transmission systems to the consumers connected to distribution networks. However, the recent growth of electricity demand, high transmission cost, and environmental concerns have led to explore possibilities to alter the current generation paradigm. In this context, distributed generation (DG) has emerged as a promising option to harmonize the existing generation scheme. The interconnection of small scale generation unit to the distribution network is called distributed generation [1]. In the near future, large scale penetration of distibuted energy sources such as, combined heat and power (CHP), wind, solar, fuel cells, etc., is expected. Traditional distribution networks were not originally designed to connect power generation facilities. DG integration in these passive networks can affect the dynamic behaviour of the system due to the interaction between closely placed loads and generators. The load in distribution networks varies constantly due to the variation of consumer demands. In certain industrial areas, it has been observed that under certain critical loading conditions, the distribution system experiences voltage collapse [2]. Connecting a generator to the distribution system will affect the ow of power and the voltage proles of the system and these proles are different for different types of loads [3]. In addition to the power ow at and around
N. K. Roy, H. R. Pota, and T. F. Orchi are with the School of Engineering and Information Technology (SEIT), The University of New South Wales, Canberra, ACT 2600, Australia. E-mail: (n.roy, h.pota)@adfa.edu.au, t.orchi@student.adfa.edu.au

the nominal power frequency, all electrical and electromechanical power systems involve a wide range of resonant oscillatory modes [4]. In interconnected power systems, the frequency range of electromechanical oscillation is 0.1 2 Hz [5] and subsynchronous (torsional) oscillation is 10 50 Hz [4]. One type of electromechanical oscillations is associated with units at a generating station swinging with respect to the rest of the power system. Such oscillation is referred to as local plant mode oscillation. The frequency of these oscillations are typically in the range of 0.8 to 2.0 Hz [6]. The second type of electromechanical oscillations is associated with the swinging of many machines in one part of the system against machines in other parts. These are referred to as inter-area mode oscillations, and have frequencies in the range of 0.1 to 0.7 Hz [6]. Subsynchronous oscillations result from the mechanical oscillations of the mass-spring system of the turbine generator and the electrical resonance of the transmission system which mutually excited causing serious shaft oscillations [7]. In power systems, rotor angle stability is basically referred as the generator stability whereas, voltage stability is usually related to load dynamics. The problem of voltage instability is likely to increase because of the growing use of low inertia motor loads for air conditioning, heat pumps, refrigeration, etc., and the proximity of the generators with them. Induction machines play a crucial role in voltage dynamics [8], [9]. Motor behaviour has been a major contributing factor in a number of documented voltage instability problems and collapses [10], [11]. Light inertia motors are generally prone to stall as a result of voltage dip [12]. Most of the previous work of interconnected power systems [6], [13], [14], [15] focuses on the angle stability without considering load dynamics. Traditionally, the power system load has been dominated by induction motors and the recent push for renewable energy has introduced many induction generators. Moreover, due to the introduction of distributed generation stability of power system is crucial, as the present trend of power system engineers is to operate the generators in the vicinity of the loads. The induction motor loads account for a large portion of the electric load, especially in the industries and air conditioning. The contribution of induction machine to power system electromechanical oscillation is investigated in [16], [17]. Dynamic load models for voltage stability are proposed in [18]. A power system model is considered in [19], to analyze all possible forms of instability mechanism caused by dynamics of the different devices, comprising a typical power system, such as, loads, generators, automatic voltage regulators,

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power system stabilizers, over excitation limiters, and onload tap changers (OLTCs) with high accuracy using an accurate time-domain technique. Some of the basic issues of the voltage stability problem, specically the modelling requirement and modelling adequacy are focused in [20]. The critical parameters that inuence the power system stability are identied by considering interconnection of transmission lines and load dynamics in [21]. The results show that certain parameters (e. g., time constant, inertia) of motor load affect the electromechanical modes of the system. All of the above research mainly analyse the effects of induction motor considering centralised generation connected to transmission systems. Investigation of dynamic interaction between distributed generator and induction motor loads has attracted much less attention. A distribution network is a low or medium voltage network, and it has a high line resistance to reactance (R/X) ratio compared to the transmission line [22]. In distribution systems, nodal voltages vary widely as most of the buses are not voltage controlled [23]. Therefore, the characteristics of load are more important in distribution system analysis. The dynamics that affect the voltage stability are the dynamics of the load and voltage control devices [20]. Voltage instability in transmission networks is due to the electrical distance between the load and generator. As reactive power consumption by the line is high, voltage support weakens in the load area. But different scenario may be observed in distribution networks with distributed generation. As the loading of power systems increases, smallsignal instability and poor damping may emerge as a limiting factor in distribution systems planning and operation. Due to the proximity of generation to the load, small variations in the system load can excite the oscillations due to reactive power mismatch, which must be damped to maintain secure and stable system operation. So, it is important to analyze the system oscillatory behaviour with the added generation in order to understand system stability limits. If the limits imposed by oscillatory instability are too low, they may be increased by the installation of special stabilising controls. Therefore, this paper analyses the impact of load dynamics in studies of distribution system damping. The inuence of different system parameters on the damping of oscillation is also investigated through eigenvalue analysis. The rest of the paper is organized as follows. In Section II, the mathematical modelling of the system with synchronous generator and induction motor load is presented. Key investigations and inuencing system parameters are described in Section III. Finally, the paper concludes with the main ndings in Section IV. II. M ATHEMATICAL M ODEL The modelling of the dynamic devices used in this analysis are given below. A. CHP-plant model A CHP-plant consists of a synchronous generator driven by gas engines. In this analysis, the dynamics of the gas

engine are neglected and their inertia are incorporated in the inertia of the synchronous machine. With some typical assumptions, the synchronous generator can be modelled by the following set of nonlinear differential equations [8], [24]: Mechanical equations: = s s , ] 1 [ = Pm Eq Iq (Xd Xq )Id Iq D , 2H Generator electrical dynamics: ] 1 [ Eq = Efd Eq (Xd Xd )Id , Tdo (1) (2)

(3)

Automatic Voltage Regulator (AVR) is needed to regulate the terminal voltage of synchronous generators. The input to the AVR is the difference between the set reference voltage and the measured terminal voltage. All modern AVR or exciters are solid-state devices and owing to their fast response they are modelled as a static gain. In this paper, the excitation system is a high gain static system and the terminal voltage is measured using a transducer with rst-order dynamics [9]: Efd = Ka ufd , 1 Vtr = [Vtr +Vt ] , Tr

(4)

where Efd is the equivalent emf in the exciter coil, is the power angle of the generator, is the rotor speed with respect to a synchronous reference, Eq is the quadrature-axis transient voltage, s is the absolute value of the synchronous speed in radians per second, H is the inertia constant of the generator, D is the damping constant of the generator, Tdo is the direct-axis open-circuit transient time constant of the generator, Xd and Xq are the d- and q-axis synchronous reactance, respectively, Xd and Xq are the d- and q-axis transient reactance, respectively, Id and Iq are the d- and q-axis components of stator current, respectively. The mechanical input power Pm to the generator is assumed to be constant, Vtr and Tr are the output and time constant of the voltage transducer, Ka is the gain of the exciter amplier, ufd is the 1 input to the exciter, Vt = [(Eq Xd Id )2 + (Xq Iq )2 ] 2 , is the generator terminal voltage. B. Induction machine A simplied transient model of a single cage induction machine with the stator transients neglected and rotor currents eliminated, is described by the following algebraicdifferential equations written in a synchronously-rotating reference frame [25]: 1 [Te TL ] , s= 2Hm Tdom e = e + (X X )idm Tdom ss e , qm qm dm
Tdom e = e (X X )iqm + Tdom ss e , dm qm dm

(vds + jvqs ) = (Rs + jX )(idm + jiqm ) + j(e je ), qm dm

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where X = Xs + Xm Xr / (Xm + Xr ), is the transient reactance, X = Xs + Xm , is the rotor open-circuit reactance, Tdom = (Lr + Lm ) /Rr , is the transient open-circuit time constant, Te = e iqm + e idm , is the electrical torque, s is the slip, qm dm e is the direct-axis transient voltage, e is the quadratureqm dm axis transient voltage, TL is the load torque, Xs is the stator reactance, Xm is the magnetizing reactance, Rs is the stator resistance, Hm is the inertia constant of the motor, vds is the d-axis stator voltage, vqs is the q-axis stator voltage, idm and iqm are d- and q-axis components of stator current, respectively. Here, this model represents the induction machine in its own direct and quadrature axes, which is different from the d- and q-axes of the synchronous generator. Therefore, axes transformation is used to represent the dynamic elements of both the induction motor and synchronous generator with respect to the same reference frame and to do so we use the following relations: Em = (e )2 + (e )2 qm dm

Substation

CHP plant

132/33 kV

IM

Fig. 1.

Test system.

III. K EY INVESTIGATIONS For the present study, a 30 MW CHP plant is connected at bus 6, as shown in Fig. 1. The load at bus 5 is an induction motor load which is chosen to investigate the interaction between DG and motor load. The rest of the system load is considered as constant power load. Distribution system lines are modeled as R + jX. The induction motor data is given in Table I and the test system data is given in Appendix. A. Eigenvalue and participation factors In order to see the effect of different types of induction motor loads, the eigenvalue analysis is carried out for each induction motor, given in Table I, separately. The test system is linearised using the perturbation method [26]. The (i, j)th element of system matrix A can be obtained numerically as: ai j = fi (x0 + j , u0 ) fi (x0 , u0 ) , j (10)

= tan1 (

e dm ) e qm

(Idm + jIqm ) = (idm + jiqm )e jm Vd + jVq Tm = (vd + jvq )e jm = TL

here the negative sign with idm and iqm indicates that they are opposite to Idm and Iqm when expressed in the same reference frame with synchronous generator. With these relation, a modied third-order induction machine model can be rewritten as:
(Vd + jVq ) = (Rs + jX )(Idm + jIqm ) + jEqm , ] 1 [ Tm Em Iqm , s = 2Hm ] 1 [ Em = Em + (X X )Idm , Tdom X X m = ss s I . qm Tdom Em

where j is a vector the same size as x with all its elements zero except that its jth element is a small number, j . The (i, j)th element of matrix B can be obtained numerically as: bi j = fi (x0 , u0 + j ) fi (x0 , u0 ) . j (11)

(5) (6) (7)

To complete the model, the d- and q-axis components of currents for both the generator and motor are given by the following network interface equations: Idi =

) Eq j (Gi j sin ji + Bi j cos ji ], n [ Iqi = Ed j (Gi j sin ji + Bi j cos ji )

j=1 ) +Eq j (Gi j cos ji Bi j sin ji ]. Ed j

j=1

[ Ed j (Gi j cos ji Bi j sin ji ) (8)

(9)

where ji = (i i ), = 0, parameters Gi j and Bi j are the real and imaginary parts of the equivalent transfer impedances of the reduced network between ith and jth bus of the test system shown in Fig. 1.

where j is a vector the same size as u with all its elements zero except for its jth element. The eigenvalues of the state matrix are calculated and it is found that with each type of induction motor, the system has two pair of oscillatory eigenvalues. The oscillatory modes of the system are given in Table II. The dominant machine for Modes 1,2 is the induction motor and that for Modes 3,4 is the generator. It is seen that Modes 3,4 are electromechanical modes with low frequency oscillation (around 0.8 Hz) and these modes are not critical for the system stability as they are well damped. However, it is observed that modes 1,2 have a very low damping and these are the critical modes of the system. For reliable operation of power systems, the minimum requirement of damping is 5 percent [27]. It is interesting to note that the oscillation frequencies of the critical modes lie between 210 Hz, depending on the inertia of the induction motor. These frequencies are different from the electromechanical and torsional mode oscillation frequency that generally observed in power systems. The participation factors of the dominating modes for Type 3 motor are given in Table III, which show that induction motor state has the highest participation in these modes. As voltage states are responsible for this situation, it can be said that

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TABLE I T YPICAL INDUCTION MOTOR DATA
Rr (pu) Xr (pu) Tdom (s) H(pu) 0.059 0.071 0.124 0.34 0.009 0.12 0.742 0.80 0.018 0.18 0.597 0.70

Type Xs (pu) Xm (pu) Type 1: Aggregated air conditioning motor 0.091 2.23 Type 2: Water pump 0.14 2.40 Type 3: Small industrial motor 0.10 3.20
TABLE II

O SCILLATORY M ODE OF THE S YSTEM

Motor type Mode Type 1 Type 2 Type 3 1,2 3,4 1,2 3,4 1,2 3,4

Eigenvalue 0.2980 j62.01 0.7755 j4.87 0.2358 j48.29 0.9427 j5.44 0.1631 j50.37 0.8095 j4.96

Damping Frequency (Hz) Oscillation type Dominant machine ratio (%) 0.480 9.870 Voltage Motor 15.725 0.775 Electromechanical Generator 0.488 7.685 Voltage Motor 17.074 0.866 Electromechanical Generator 0.323 8.016 Voltage Motor 16.107 0.790 Electromechanical Generator
TABLE III

PARTICIPATION FACTORS FOR THE C RITICAL M ODE 0.16312 j50.37 (T YPE 3 MOTOR )
State Em Eq s Vtr m Participation factor 1.0 0.728 0.511 0.423 0.042 0.003 0.003

oscillation is mainly due to the reactive power mismatch of the system.

B. Inuence of variation of Tdom

E. Inuence of variation of exciter gain (Ka ) The exciter gain of the generator is varied from 50 to 250 and its effect on the critical mode is shown in Table VII. The results demonstrate that the increase of exciter gain reduces the damping of the voltage mode. Therefore, proper tuning of the excitation controller is very important. However, the oscillation frequency has a negligible effect with this variation.
TABLE IV
T HE INFLUENCE OF Tdom

Sensitivity of the critical mode with respect to the variation of Tdom is investigated. From table IV, it is clear that increase of Tdom decreases the damping of the system. Thus it affects the system stability. However, it does not have signicant impact on the oscillation frequency of the system. C. Inuence of variation of Hm The induction motor inertia is varied from 0.5 to 2 pu and the corresponding effects are tabulated in Table V. It can be observed that the inertia constant of induction motor does affect the voltage mode of the system. The damping increases and frequency of oscillation decreases as Hm increases. Voltage modes are affected by the inertia of the motor because voltage induced in the rotor depends on the slip speed. If inertia increases slip speed decreases. The frequency of the voltage induced in the rotor is given by Pn . 120 where P is the number of stator pole and n is the slip speed. fr = D. Inuence of location of induction motor Location of induction motor signicantly affects the stability of the system. The closer the DG and motor load, the poorer the system stability, which is evident from the Table VI. Oscillation frequency is also affected by the variation of motor position.

ON THE CRITICAL MODE

(T YPE 3

MOTOR )

Tdom (s)

0.5 1.0 1.5

Damping Frequency ratio (%) (Hz) 0.18890 j50.370 0.37 8.0166 0.14475 j50.371 0.28 8.0167 0.11095 j50.371 0.22 8.0167

Eigenvalue

TABLE V T HE INFLUENCE OF Hm
ON THE CRITICAL MODE

(T YPE 3

MOTOR )

Hm (pu) 0.5 1.0 1.5 2.0

Eigenvalue 0.1490 0.1980 0.2183 0.2472 j59.20 j37.88 j26.51 j17.14

Damping Frequency ratio (%) (Hz) 0.25 9.42 0.48 6.03 0.82 4.22 1.44 2.73

F. Inuence of variation of R/X ratio of the line A distribution network has higher line resistance to reactance ratio compared to the transmission system. To see the effect of (R/X) ratio on the system oscillation, the system eigenvalues are calculated with a variation of R/X ratio from the nominal value. From Table VIII, it is interesting

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TABLE VI T HE INFLUENCE OF LOCATION OF INDUCTION MOTOR ON THE CRITICAL MODE (T YPE 3 MOTOR )
1.02

1.00

Location o f Eigenvalue Damping Frequency induction motor ratio (%) (Hz) Bus 4 0.983 j52.00 1.89 8.28 Bus 2 1.324 j60.96 2.17 9.70
TABLE VII

Voltage (pu)

0.98

0.96

0.94

T HE INFLUENCE OF Ka

ON THE CRITICAL MODE

(T YPE 3 MOTOR )
0.92 0 1 2 3 4 Time (sec) 5 6 7 8

Ka 50 100 150 200 250

Eigenvalue 0.2362 0.2129 0.1886 0.1631 0.1368 j50.47 j50.44 j50.40 j50.37 j50.33

Damping Frequency ratio (%) (Hz) 0.46 8.0325 0.42 8.0279 0.37 8.0223 0.32 8.0166 0.27 8.0109

Fig. 2. Voltage at PCC (bus 5) for CHP plant with IEEE AC4A exciter (at t = 1s the system is operated with maximum load).

TABLE VIII T HE INFLUENCE OF LINE R/X RATIO ON THE CRITICAL MODE (T YPE 3
Speed deviation (pu)

0.0010

MOTOR )

0.0005

% o f nominal value 5 25 50 75 105

Eigenvalue 0.326 0.305 0.280 0.207 0.160 j47.95 j48.37 j48.56 j50.18 j50.54

Damping Frequency ratio (%) (Hz) 0.68 7.63 0.63 7.70 0.57 7.73 0.41 7.98 0.32 8.04

0.0000

-0.0005

-0.0010

-0.0015

4
Time (sec)

to observe that damping introduced by the induction motor increases with the reduction in line R/X ratio. The frequency of oscillation also reduces with this changes. G. Inuence of increase of distance between generator and load In centralised generation scheme, generators are connected to the transmission networks, which is far from the load center. To distinguish the effect of distributed generation with centralised generation, the generator is removed from the distribution network and it is connected at bus 1. The length of the lines of the test system is increased to double to augment the distance between the load and generator. Under this condition, it is seen that the oscillatory voltage modes observed in case of distributed generation disappear and the system has only one pair of electromechanical oscillatory mode at 1.91 j10.05 with an oscillation frequency of 1.6 Hz. Therefore, it can be concluded that the proximity of generator and motor load gives rise to voltage oscillatory modes. H. Time domain simulation In order to investigate the dynamic performance of the system the test system with Type 3 motor is tested with a sudden change of load demand from nominal to peak load (20% of the nominal load) at 1s. The voltage prole at the point of common coupling (PCC) with IEEE AC4A exciter is shown in Fig. 2. The speed deviation of the

Fig. 3. Generator speed deviation (at t = 1s the system is operated with maximum load).

generator is shown in Fig. 3, which settles down to the initial operating point with damped oscillation within short time for the change in load demand. However, it is seen that the system has large voltage uctuation under load disturbance, which validates the small signal analysis results. As the distribution line has high R/X ratio and radial structure, the nodal voltages are very sensitive to any disturbances. If the disturbance is such that the electrical torque cannot balance the mechanical load, the motor can decelerate, absorbing higher reactive current. This can result in further voltage drop and lead to a voltage collapse. Conventional excitation controllers are not suitable to take care of these changes in active distribution networks due to the direct interaction of generators and loads. Moreover, as the critical modes correspond to voltage states of the motor and generator, these modes cannot be damped by a power system stabiliser (PSS) [6], which is generally used to damp electromechanical oscillations. IV. C ONCLUSION The impact of induction motor dynamics in the active distribution network is investigated in this paper. It is observed that induction machine parameters have signicant impact

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TABLE X L OAD OF THE D ISTRIBUTION S YSTEM

on the oscillatory behaviour of the system. The following conclusions can be made from this investigation: (1) Dynamic interaction between distributed generator and induction motor load causes low damping and voltage oscillation in the system. The critical mode is related to the voltage states of the machines. The range of oscillation frequency of voltage mode lies between the frequency of electromechanical mode and torsional mode. (2) Voltage oscillation occurs due to the electrical closeness of the generator controller and system load. The system damping is sensitive to the variation of Tdom , Hm , location of the motor, exciter gain, and distribution line R/X ratio. The frequency of oscillation depends on the inertia of the motor and R/X ratio of the distribution lines. It also depends on the location of induction motor load in the system. (3) Voltage of distribution network is very sensitive to the change in demand due to high impedance of the lines. Sudden change in load causes a large voltage dip and it involves a denite time lag to restore the voltage. The real dynamic loads are composed of many kinds of induction motors whose parameters vary in a wide range. Therefore, motor parameters should be selected properly during aggregation, especially Tdom and Hm . Moreover, as the proportion of induction motor in the load is increasing day by day, oscillation may lead to total or partial power interruption, if it is not controlled. Therefore, like electromechanical oscillation it is equally important to damp the voltage oscillation to ensure stability and reliability of the system, which is the future aim of this work.
Bus 2 3 4 5

Type Pl (MW) Ql (MVAr) Constant power 58 12 Constant power 6 2 Constant power 24 5 Induction motor 12 6

R EFERENCES
[1] T. Ackermann, G. Andersson, and L. S der, Distributed generation: o a denition, Electric Power Systems Research, vol. 57, pp. 195204, 2001. [2] M. Chakravorty and D. Das, Voltage stability analysis of radial distribution networks, Int. J. of Electric Power and Energy Systems, vol. 23, pp. 129135, 2010. [3] N. K. Roy, M. J. Hossain, and H. R. Pota, Effects of load modeling in power distribution system with distributed wind generation, in Australasian Universities Power Engineering Conference, Brisbane, Australia, September 2011, pp. 16. [4] K. R. Padiyar, Analysis of Subsynchronous Resonance in Power Systems. Norwell: Kluwer, 1999. [5] M. Klein, G. J. Rogers, and P. Kundur, A fundamental study of interarea oscillations in power systems, IEEE Trans. on Power Systems, vol. 6, no. 3, pp. 914921, 1991. [6] P. Kundur, M. Klein, G. J. Rogers, and M. S. Zywno, Application of power system stabilizers for enhancement of overall system stability, IEEE Trans. on Power Systems, vol. 4, no. 2, pp. 614626, 1989. [7] A. F. Abdou, A. Abu-Siada, and H. R. Pota, Damping of subsynchronous oscillations and improve transient stability for wind farms, in ISGT Asia, Perth, Australia, Nov. 2011, pp. 16. [8] T. V. Custem and C. Vournas, Voltage stability of electric power systems. Norwell, MA: Kluwer Academic, 1998. [9] M. J. Hossain, H. R. Pota, V. Ugrinovskii, and R. A. Ramos, Voltage mode stabilisation in power systems with dynamic loads, Electrical Power and Energy Systems, vol. 32, pp. 911920, 2010. [10] B. R. Williams, W. R. Schmus, and D. C. Dawson, Transmission voltage recovery delayed by stalled air conditioners compressors, IEEE Trans. on Power Systems, vol. 7, no. 3, pp. 11731179, 1992. [11] M. N. Omara and T. A. Khusaibi, Voltage instability and voltage collapse, in International Conference on Communication, Computer and Power, Feb 2009, pp. 3843. [12] F. Nozari, M. D. Kankam, and W. W. Price, Aggregation of induction motors for transient stability load modeling, IEEE Trans. on Power Systems, vol. PWRS-2, no. 4, pp. 10961103, 1987. [13] P. Kundur, Power System Stability and Control. New York: McGrawHill, 1994. [14] M. E. Aboul-Ela, A. A. Sallam, J. D. McCalley, and A. A. Fouad, Damping controller design for power system oscillations using global signal, IEEE Trans. on Power Systems, vol. 11, no. 2, pp. 353358, 1996. [15] G. Guo, D. J. Hill, and Y. Wang, Global transient stability and voltage regulation for power systems, IEEE Trans. on Power Systems, vol. 16, no. 4, pp. 678688, 2001. [16] B. M. Nomikos and C. D. Vournas, Investigation of induction machine contribution to power system oscillations, IEEE Trans. on Power Systems, vol. 20, no. 2, pp. 916925, 2005. [17] J. V. Milanovic and I. A. Hiskens, Effects of dynamic load model parameters on damping of oscillations, Electric Power System Research, vol. 33, pp. 5361, 1995. [18] A. Borghetti, R. Caldon, A. Mari, and C. A. Nucci, On dynamic load models for voltage stabilities studies, IEEE Trans. on Power Systems, vol. 12, no. 1, pp. 293303, 1997. [19] M. J. Hossain, H. R. Pota, and V. Ugrinovskii, Short and long-term dynamic voltage instability, in 17th IFAC World Congress ( IFAC08), Seoul, Korea, May 2008, pp. 93929397. [20] M. K. Pal, Voltage stability: analysis needs, modelling requirement, and modelling adequacy, in IEE Proceedings-C, vol. 140, no. 4, July 1993, pp. 279286. [21] M. A. Mahmud, M. J. Hossain, and H. R. Pota, Investigation of critical parameters for power system stability with dynamic loads, in IEEE PES General Meeting, Minneapolis, MN, USA, July 2010, pp. 16.

A PPENDIX The machine parameters and test system data are given below: Synchronous generator parameters: Xd =1.81pu, Xq =1.76pu, Xd =0.3pu, Xq =0.65pu, H=3.5s, Tdo =8s, s =314.16 rad/s, D=2pu Excitation system parameters: min max Ka =200, Efd =-5, Efd =5 Voltage transducer parameter: Tr =0.01s.

TABLE IX L INE DATA OF THE D ISTRIBUTION S YSTEM

Branch Type R (pu) X(pu) 12 Transformer 0.00994 0.2088 12 Transformer 0.00921 0.2170 23 Line 0.04460 0.1917 24 Line 0.21460 0.3429 34 Line 0.22390 0.4163 45 Line 0.09540 0.1662 56 Transformer 0.00994 0.0160

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[22] O. R. Saavedra, A. Garcia, and A. Monticelli, The representation of shunt elements in fast decoupled power ows, IEEE Trans. on Power Systems, vol. 9, no. 3, pp. 14341440, 1994. [23] M. H. Haque, Load ow solution of distribution systems with voltage dependent load models, Int. J. Electric Power System Res., vol. 36, pp. 151156, 1996. [24] M. A. Pai, D. P. S. Gupta, and K. R. Padiyar, Small Signal Analysis of Power Systems. New Delhi: Narosa publishing house, 2007. [25] C. W. Taylor, Power System Voltage Stability. New York: McGrawHill, 1994. [26] H. K. Khalil, Nonlinear Systems. New Jersey: Prentice Hall, 2002. [27] A. E. M. Commission, National electricity amendment (technical standards for wind and other generators connections), www.aemc.gov.au., p. 69, 2007.

H. R. Pota received the B.E. degree from SVRCET, Surat, India, in 1979, the M.E. degree from the IISc, Bangalore, India, in 1981, and the Ph.D. degree from the University of Newcastle, NSW, Australia, in 1985, all in electrical engineering. He is currently an Associate Professor at the University of New South Wales, Canberra, Australia. He has held visiting appointments at the University of Delaware; Iowa State University; Kansas State University; Old Dominion University; the University of California, San Diego; and the Centre for AI and Robotics, Bangalore. He has a continuing interest in the area of power system dynamics and control, exible structures, and UAVs.

B IOGRAPHIES
N. K. Roy received his B.Sc. degree in Electrical & Electronic Engineering (EEE) from Khulna University of Engineering & Technology (KUET), Bangladesh, in 2007. He gained rst place in his undergraduate nals and has been nominated for a University Gold Medal. He is an Assistant Professor in EEE department at KUET, currently on leave for higher studies at the University of New South Wales, Australia. His research interests include distributed generation, renewable energy, smart grids, FACTS devices, electrical machines, articial intelligence, power electronics, and control applications. Mr. Roy is a student member of Institute of Electrical and Electronics Engineers (IEEE). T. F. Orchi was born in Rajshahi, Bangladesh. She received her B.Sc. degree in Electrical & Electronic Engineering from Rajshahi University of Engineering and Technology (RUET), Bangladesh, in 2009. She is working toward the M.Sc. degree at the University of New South Wales, Canberra, Australia. Her research interests are renewable energy integration in power system, distributed generation, smart grids, FACTS devices, power system stability, and control.