SUBSYNCHRONOUS

OSCILLATIONS

Copyright © P. Kundur
This material should not be used without the author's consent

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 Subsynchronous Oscillations

• In power system stability studies, turbine-generator

rotor is assumed to be made up of a single mass

Accounts for oscillation of entire rotor

Frequency in the range of 0.2 to 2.0 Hz

• In reality, a steam turbine-generator rotor has a very

complex structure consisting of several predominant
masses (rotors of turbine sections, generator, and
exciter) connected by shafts of finite stiffness

When perturbed, torsional oscillations result
between different sections of turbine-generator rotor

• Torsional oscillations in the subsynchronous range

could, under certain conditions, interact with the
electrical system in an adverse manner:

Subsynchronous resonance with series capacitor
compensated lines

Torsional interaction with power system controls
Bisa dari governor

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 Example of Torsional Characteristics

• Figure 15.3 shows the torsional characteristics of a

555 MVA, 3600 RPM fossil-fuel-fired generating unit
with a static exciter

• Since rotor has five masses, there are five modes of

oscillation:

1.67 Hz mode represents oscillation of the entire
rotor against the power system. All five masses
participate equally in this mode. This is the mode
normally considered in rotor angle stability studies.

16.3 Hz mode is the first torsional mode. Has one

polarity reversal in the mode shape, with the rotors
of generator and LPA oscillating against rotors of
LPB, IP and HP sections.

24.1 Hz is the second torsional mode. Its mode

shape has two polarity reversals.

30.3 Hz and 44.0 Hz torsional modes have three and

four polarity reversals, respectively

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Figure 15.3 Rotor natural frequencies and mode shapes of a 555 MVA,
3,600 r/min steam turbine generator
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 Torsional Interaction with power System
Controls

• Torsional oscillations are inherently lightly damped

• Normally, not affected by generating unit or network

controls

• However, there have been several instances of

instability of torsional modes due to interactions with

Generator excitation controls

Prime-mover controls

Controls of nearby HVDC converters

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 Interaction with Generator Excitation
Controls

• Torsional mode destabilization by excitation control was first

observed in 1969 while applying PSS at Lambton GS in Ontario,
Canada

PSS using speed signal at generator end of shaft excited
lowest torsional mode

PSS transfer function designed to provide nearly zero phase
shift at system mode frequency of 1.6 Hz and produce pure
damping torque

At torsional frequency of 16 Hz, PSS results in 135° phase lag
and hence, negative damping

• Problem solved by using torsional filter and sensing speed

between the two LP turbine sections

Close to the "node" of 16 Hz torsional mode

Other torsional modes also have very low amplitude

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Example 15.2: Torsional Interaction with Power System
Stabilizer

• Examine effect of PSS on torsional stability of a 889

MVA, 1,800 RPM generating unit with a tandem
compound turbine and static exciter
• Each double flow LP turbine section is represented by
two masses:

Figure E15.1 Shaft system representation

• Objective is to examine the system performance with

different forms of PSS

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 Case A

• Delta-omega stabilizer with shaft speed (

ω) as input
signal with speed measured at

the generator end

at coupling B

coupling C

both couplings B and C

• Excitation system model

Figure E15.3 Thyristor exciter with delta-omega stabilizer

• Results shown in Table E15.1

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• Speed signal at generator end causes instability or
decreased damping of torsional modes while damping
system mode

• Sensing at B adversely affects 23 Hz torsional mode

• Sensing at C adversely affects 9 Hz torsional mode

• No single speed sensing location suitable for all

torsional modes

• Combination of B and C best for torsional modes

• System mode is insensitive to sensing location;

depends only on gain

• Exciter mode is heavily damped in all cases

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 Table E15.1 Effect of delta-
delta-omega stabilization
without a torsional filter circuit

Speed Torsional Modes System

KSTAB Sensing Exciter Mode
9 Hz 17 Hz 23 Hz 24 Hz Mode
Location
0.0 - -0.05±j56.2 -0.07±j105.7 -0.10±j146.1 -0.17±j151.2 +0.23±j5.7 -

9.5 Generator +0.31±j57.6 +0.20±j106.0 +0.24±j146.4 -0.06±j151.3 -0.73±j5.0 -13.7±j13.1

9.5 Coupl-B -0.25±j55.3 -0.17±j105.6 -0.01±j146.2 -0.19±j151.2 -0.75±j5.0 -16.7±13.9

19.0 Coupl-B -0.47±j54.3 -0.28±j105.5 +0.07±j146.3 -0.20±j151.2 -1.20±j4.2 -14.5±j19.7

9.5 Coupl-C +0.06±j56.6 -0.26±j105.5 -0.21±j146.1 -0.18±j151.2 -0.74±j5.0 -15.5±j13.7

19.0 Coupl-C +0.20±j57.0 -0.46±j105.3 -0.31±j146.1 -0.19 j151.2 -1.20±j4.2 -12.8±j18.5

9.5 Both B and C -0.10±j56.0 -0.22±j105.5 -0.11±j146.1 -0.19±j151.2 -0.74±j5.0 -16.1±j13.8

19.0 Both B and C -0.16±j55.7 -0.37±j105.4 -0.12±j146.1 -0.20±j151.2 -1.20±j4.2 -13.6±j19.1

28.5 Both B and C -0.22±j55.5 -0.52±j105.2 -0.13±j146.1 -0.21±j151.2 -1.36±j3.6 -11.9±j22.9

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 Case B

• Stabilizer as in Case A, but with a torsional filter

having a notch at 9 Hz and substantial attenuation at
the higher torsional natural frequencies.

• Results shown in Table 15.2

• Filter makes torsional modes insensitive to speed

signal stabilization

• Damping of system mode with filter is about the same

as without

• Filter has adverse effect on "exciter mode"

Filter characteristics increase gain in the frequency
range associated with exciter mode

Stabilizer gain has to be limited to low values

limits the effectiveness of PSS in damping system
mode

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 Table E15.2 Effect of delta-
delta-omega stabilization
with a torsional filter

Speed Torsional Modes System Exciter

KSTAB Sensing
9 Hz 17 Hz 23 Hz 24 Hz Mode Mode
Location
0.0 - -0.05±j56.2 -0.07±j105.7 -0.10±j146.1 -0.17±j151.2 +0.23±j5.7 -

9.5 Generator -0.06±j56.2 -0.07±j105.7 -0.11±j146.1 -0.17±j151.2 -0.91±j5.1 -10.4±j15.8

9.5 Coupl-B -0.05±j56.2 -0.07±j105.7 -0.10±j146.1 -0.17±j151.2 -0.94±j5.0 -8.1±14.1

19.0 Coupl-B -0.05±j56.2 -0.06±j105.7 -0.10±j146.1 -0.17±j151.2 -1.42±j4.1 -1.9±j20.5

9.5 Coupl-C -0.06±j56.2 -0.07±j105.7 -0.10±j146.1 -0.17±j151.2 -0.92±j5.0 -10.5±j20.0

19.0 Coupl-C -0.06±j56.2 -0.06±j105.7 -0.10±j146.1 -0.17 j151.2 -1.41±j4.2 -3.2±j20.0

9.5 Both B and C -0.05±j56.2 -0.07±j105.7 -0.10±j146.1 -0.17±j151.2 -0.93±j5.0 -9.4±j21.3

19.0 Both B and C -0.05±j56.2 -0.06±j105.7 -0.10±j146.1 -0.17±j151.2 -1.42±j4.2 -2.5±j20.4

28.5 Both B and C -0.05±j56.2 -0.06±j105.7 -0.10±j146.1 -0.17±j151.2 -1.54±j3.5 +0.5±j20.6

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 Case C

• Stabilizer with electrical power deviation (delta-P) as

stabilizing signal
• Similar to previous one, except that an equivalent
speed (

ωeq) derived from electrical power is used
instead of actual shaft speed

Figure E15.4 Thyristor exciter with delta-P stabilizer

• Results shown in Table E15.3

• PSS does not cause instability of torsional modes
• Exciter well damped
• High stabilizer gain can be used, resulting in a well
damped system.

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 Table E15.3 Effect of delta-
delta-P stabilization

Torsional Modes System Exciter

KSTAB
9 Hz 17 Hz 23 Hz 24 Hz Mode Mode

0.0 -0.05±j56.2 -0.07±j105.7 -0.10±j146.1 -0.17±j151.2 +0.23±j5.7 -

9.5 -0.05±j56.2 -0.07±j105.7 -0.10±j146.1 -0.17±j151.2 -0.75±j5.0 -15.6±j13.7

19.0 -0.05±j56.2 -0.07±j105.7 -0.10±j146.1 -0.17±j151.2 -1.20±j4.2 -13.1±18.6

28.5 -0.05±j56.2 -0.07±j105.7 -0.10±j146.1 -0.17±j151.2 -1.40±j3.6 -11.3±j22.0

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 Interaction with Speed Governor

• Torsional instability due to interaction with speed

governor experienced in 1983 during commissioning
of a unit at Pickering NGS "B"

the governor senses speed at the HP turbine end of
shaft

fast acting electrohydraulic governor

electronic linearizing circuits for compensating
nonlinear steam valve characteristics
• Problem caused by inaccuracies in valve linearizing
circuit; effective governor droop increased by a factor
of about 12 as loading increased beyond 475 MW

Large bandwidth electrohydraulic servo system

allowed significant governor interaction
• Solved by accurate linearization of valve
characteristics. Filter added to eliminate torsional
component from speed signal

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 Interaction with Nearby HVDC Converters

• Problem first came to light on Square Butte HVDC

system in North Dakota

Consists of 250 kV, 500 MW dc link

Rectifier station located adjacent to Milton Young
GS with two units: 234 MW and 410 MW
• Converters employ equidistant firing system

Normal regulator control modes are constant
current control at the rectifier and constant voltage
at the inverter

In addition, a supplementary "frequency sensitive
power controller" (FSPC) is provided for damping
system oscillations
• Field tests showed that

The supplementary damping controller destabilized
the first torsional mode (11.5 Hz) of 410 MW
generating unit

Normal constant current control, without damping
controller, could cause instability of 11.5 Hz
torsional mode
• Problem solved by modifying converter controls

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 Interaction with HVDC Converters (cont'd)

Basic Phenomenon
• Torsional mode oscillations cause phase and
amplitude modulation of generated voltage waveform

modulated voltage has frequency components equal
to fo-ft

• Modulated voltage impressed on the dc system

commutating bus
• With equidistant firing angle control

a shift in voltage phase due to a torsional mode
causes a similar shift in firing angle

results in corresponding changes in direct current,
voltage and power

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• Closed-loop current control responds to correct these
changes

reflected as a change in the generator power

• If the net phase lag between the variation in shaft

speed at the torsional frequency and the resulting
change in electrical torque of the generator exceeds
90°,

torsional oscillations become unstable

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Subsynchronous Resonance

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 Subsynchronous Resonance (SSR)

• Occurs mainly in series capacitor compensated

transmission systems

• First experienced in 1970 resulting in shaft failure of

units at Mohave Plant in Southern California

Not until the second failure in 1971 was the real cause
of failure recognized as SSR

• Consider a simple radial system:

Figure 15.9 Radial series compensated system

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• Natural frequency fn of the circuit inductance and
capacitance:

1 ω0 XC
ωn = = = ω0 rad s
LC (ω L)(ω C)
0 0
XL

or
XC
fn = f0 Hz
XL

• In an uncompensated transmission system, faults and

other disturbances result in dc offset components in
generator stator windings:

result in a component of air-gap torque at slip
frequency equal to fo

necessary to avoid torsional frequencies very near
the fundamental frequency fo
• In a series capacitor compensated system, instead of
the dc component, the offset transient current is an
alternating current of frequency equal to the natural
frequency fn

induce rotor currents and torques of slip frequency
(fo-fn) Hz

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• Table 15.1 shows the natural and slip frequencies as a
function of the degree of compensation (with f0 = 60 Hz)

Table 15.1

Percent Compensation Natural Frequency Slip Frequency

(XC/XL) x 100 (%) fn (Hz) 60-fn (Hz)

10 18 42

25 30 30
30 32.6 27.4
40 38 22

50 42.4 17.6

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• Here we have considered a simple radial system. For a
complex network, the frequency-dependent
characteristic of the effective impedance seen by a
generator may be determined by a frequency scanning
program

• A series compensated network can cause sustained or

negatively damped subsynchronous oscillations by
two distinctive mechanisms:
a) Self-excitation due to induction generator effect
b) Interactions with torsional oscillations (SSR)

• A shunt compensated transmission system normally

has natural frequencies in the supersynchronous
range

Subsynchronous oscillations normally do not pose a
problem

Exceptions are situations involving very long lines
and a high degree of shunt compensation

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Self--Excitation Due to Induction Generator
Self
Effect

• Since fn < f0, slip is negative.

Depending on fn, Reff can be negative
• At high degrees of compensation, the apparent
negative resistance of the generator may exceed the
transmission network resistance,

Effectively results in an RLC circuit with negative
resistance
• Will result in self-excitation causing electrical
oscillations of intolerable levels
• Purely electrical phenomenon; not dependent on shaft
torsionals

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 Interaction with Torsional Oscillations

• If the complement of fn (i.e., f0 - fn) is close to one of the

torsional frequencies, torsional oscillations are excited

Results in a strong "coupling" between electrical and
mechanical systems

Condition referred to as "subsynchronous resonance"

A small voltage induced by rotor oscillations can result
in large subsynchronous currents

Will produce torque whose phase is such that it
enhances rotor oscillations
• Consequences of SSR can be dangerous

If oscillations build up, shaft will break

Even if oscillations not unstable, system disturbances
can cause shaft torques of high magnitude and loss of
shaft fatigue life
• Countermeasures to SSR:

Static filter

Dynamic filter

Dynamic stabilizer

Excitation system damper

Protective relays

NGH scheme

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Example 15.3 Instability of Subsynchronous Oscillations

• Illustrates the two forms of instability of

subsynchronous oscillations associated with series
capacitor compensated systems

SSR and self-excitation

• Test system considered is shown below

consists of a 555 MVA, 24 kV, 3,600 RPM turbine-
generator feeding power through a series capacitor
compensated transmission system to an infinite bus

• Shaft system parameters and the torsional

characteristics of the generating unit are as shown in
Figure 15.3

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• Power flow condition is as follows:

Pt = 519.5 MW Et = 1.08 EB = 1.0

• Degrees of compensation (i.e., XC/XL) is varied and the

reactive power output of the generator varies
accordingly
• Focus is on the interaction between the lowest
torsional (16 Hz) mode and the subsynchronous
natural frequency oscillation of the network for the
following values of load at the HV bus:

a) PL = 166.5 MW, QL = 0
b) PL = 0 QL = 0

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 Analysis

Case (a): With PL = 166.5 MW, QL = 0

• Eigenvalue analysis used to analyze the modal interaction

system model includes the dynamics of the
transmission network and the generator stator circuits.
The complete system equations are expressed in the dq
reference frame
• Table E15.4 gives eigenvalues, frequencies, and damping
ratios of lowest torsional mode and network mode
• Participation factors associated with generator speed
deviation and voltage across the series capacitor are also
given

help identify extent of interaction between the two
modes
• Network is in dq reference frame (rotates at generator
speed)

frequency of network mode is the complement of the
network natural frequency
• With no compensation, torsional mode has frequency of
16.29 Hz and small positive damping
• With 25% compensation, frequency and damping
increase slightly

little interaction between modes

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Table E15.4 Torsional and Network modes as a Function of the
Degree Series Compensation

With PL = 166.5 MW, QL = 0

Torsional Mode Network Mode

Participation
% Comp. Freq. Freq. Participation Factors
ζ Factors ζ
(Hz) (Hz)
∆ω1 ∆vc ∆ω1 ∆vc

0.0 16.29 0.0004 0.90 - - - - -

25.0 16.32 0.0006 0.90 0.002 35.20 0.0130 0.03 1.00

50.0 16.41 0.0010 0.90 0.01 24.75 0.0288 0.02 0.99

60.0 16.50 0.0012 0.90 0.04 21.80 0.0231 0.01 1.00

65.0 16.61 0.0010 0.91 0.09 20.09 0.0230 0.05 1.00

70.0 16.90 -0.0027 0.91 0.31 18.27 0.0273 0.26 1.00

75.0 16.85 -0.0468 0.93 0.77 16.88 0.0721 0.65 0.95

80.0 16.28 -0.0590 0.93 0.75 16.05 0.0858 0.63 0.95

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• As compensation is increased

frequency of the torsional mode varies slightly

damping increases slightly at first, then decreases

• At 70% compensation, torsional mode is just unstable

and noticeable interaction between torsional and
network modes

• Further increase in compensation strengthens

"coupling"

pulls modes together in frequency but apart in

damping

• At 75% to 80% compensation, coupling is strongest

and frequencies are nearly equal

• Effect of "interaction" of torsional and network mode

on characteristics of network mode can be seen in
Table E15.5

provides frequency and damping of network mode

with and without multimass representation

interaction of the two modes increases the damping

of the network mode

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 Table E15.5 Comparison of the Network Mode With and
Without Multimass Representation of the Turbine-
Turbine-Generator
Rotor

with PL = 166.5 MW QL = 0

Network mode with Network mode with single

% Comp. of multimass representation of lumped mass representation
line 2-3 the turbine-generator rotor of the turbine-generator rotor
Freq. (Hz) Damp. Freq. (Hz) Damp.
0.0% 0.95 0.0280 0.95 0.0244
25.0% 35.20 0.0130 35.32 0.0133
50.0% 24.75 0.0288 25.13 0.0185
60.0% 21.80 0.0231 21.82 0.0205
65.0% 20.09 0.0230 20.27 0.0215
66.0% 19.74 0.0230 19.96 0.0217
68.0% 19.04 0.0241 19.37 0.0221
70.0% 18.27 0.0273 18.78 0.0224
71.3% 17.70 0.0376 18.39 0.0227
72.0% 17.49 0.0460 18.20 0.0228
74.0% 17.06 0.0658 17.63 0.0231
75.0% 16.88 0.0721 17.35 0.0233
77.0% 16.51 0.0814 16.74 0.0237
78.0% 16.23 0.0850 16.27 0.0239
80.0% 16.05 0.0858 15.96 0.0241

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Case (b): With PL = QL = 0

• Results are summarized in Table E15.6

• With the load removed, the effective resistance of the
network is reduced significantly. Consequently, the
network mode becomes unstable due to the induction
motor effect

• As the frequency of the network mode approaches the

torsional mode frequency, the coupling between the
two modes increases

The effect of the interaction is to increase the
damping of the torsional mode and to decrease the
damping of the network mode

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 Table E15.6 Torsional and Network Modes as a Function of
the Degree Series Compensation

With PL = QL = 0

Torsional Mode Network Mode

% Comp. Participation
Freq. Freq. Participation Factors
of line 2-3 ζ Factors ζ
(Hz) (Hz)
∆ω1 ∆vc ∆ω1 ∆vc
0.0 16.28 0.0003 0.896 - - - - -

25.0 16.32 0.0004 0.898 0.002 35.20 0.0088 0.03 1.00

70.0 16.94 0.0050 0.909 0.34 18.25 -0.0058 0.33 1.00

75.0 16.79 0.0570 0.940 0.88 16.94 -0.0611 0.78 1.00

80.0 16.14 0.0681 0.930 0.88 16.20 -0.0758 0.78 1.00

85.0 15.53 0.0500 0.871 0.83 15.46 -0.0639 0.71 1.00

93.7 15.80 0.0013 0.870 0.13 12.9 -0.0241 0.07 1.00

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Impact of Network Switching Disturbances
on Steam Turbine-
Turbine-Generators

• A generating unit encounters multitude of switching

duties during its lifetime

can produce high levels of oscillatory shaft torques

the resulting cyclic stress variations on the shaft
may cause loss of "fatigue life"

a cumulative process with each incident using a
portion of the total fatigue life
• In the early 1970s, it was recognized that network-
switching operations could contribute to shaft fatigue
damage
• Problem examined by an IEEE Working Group, and
general recommendations made to industry
concerning:
a) steady-state switching
b) successive network switching

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 Torsional Fatigue Characteristics

• Fatigue is a cumulative process in which additional events add

to previous life expenditure
• Observable defects such as cracks will not be formed until all
the fatigue life is consumed
• Typical fatigue characteristics:

Figure 15.11 A typical fatigue characteristic showing cycle life curve for fully
reversed stress

• High-cycle fatigue limit (HCFL) is the limiting value of cyclic

stress to which shaft can be subjected such that no cumulative
fatigue damage occurs

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 Steady--State Switching
Steady

• Most severe switching operation, with the network

initially under steady state, is the reclosing of lines
across a large breaker angle

Depending on network impedances, the resulting
sudden increase in generator torque of a nearby
generator could be very large

If resulting torques are high, this may result in loss
of shaft fatigue life
• For planned switching operations, such as a simple
line restoration, IEEE Guidelines recommend that
switching be conducted so that it does not contribute
significantly to cumulative shaft fatigue

Magnitude of cycle shaft stress, should be kept
mostly below HCFL

This way, nearly all of fatigue capability will be
preserved to withstand impact of unplanned and
unavoidable disturbances, such as faults

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IEEE Guidelines for Screening Acceptable
Steady--State Line - Switching Duties
Steady

• A detailed investigation, involving assessment of shaft

torques and loss of fatigue life, for all possible line-
switching duties would be impractical
• Reference 32 prepared by an IEEE Working Group
provides general guidelines to permit utilities to
screen switching operations

assume a simple line restoration from steady state

hence, applicable only for delayed (10 seconds or
more) reclosing

based on detailed studies of a number of cases
• Breaker angle is not by itself useful in judging severity
of a switching operation

circuit impedances play a major role
• Therefore, severity is measured in terms of the sudden
change in the generator power (∆P), as computed by a
conventional transient stability program

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• A rule-of-thumb limit for ∆P is:

0.5 pu of generator MVA rating

• A line-switching case resulting in ∆P of less than 0.5

pu considered safe

no contribution to loss of fatigue life

• Switching operations resulting in ∆P greater than the

0.5 pu limit have to be studied in detail to assess the
shaft duty

Reference 32: IEEE WG Report, "IEEE Screening Guide for Planned Steady-
State Switching Operations to Minimize Harmful Effects on Steam Turbine
Generators", IEEE Trans., Vol. PAS-99, No. 4, pp. 1519-1521, July/August
1980.

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 Successive Network-
Network-Switching

• Successive network disturbances, such as automatic

high-speed line reclosing following a fault,

can result in dangerously high torques
• Concern is for the compounding effects of the
different switching operations

torsional oscillations due to successive impacts
may reinforce the initial oscillations

risk of amplifying torsional oscillations to damaging
levels is a function of the type of disturbance and
the timing of subsequent switching operations
• Reference 33 prepared by the IEEE Working Group
gives a summary of the predicted range of fatigue life
expenditure for various types of disturbances:

different type faults, fault clearing, successful
reclosing, unsuccessful reclosing

cont'd

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• Automatic high speed reclosing of multiple faulted
lines near thermal generating plants pose significant
risks of shaft fatigue life expenditure

where contemplated, a study of shaft fatigue duty
recommended
• The following are possible alternative reclosing
strategies with reduced risk of shaft damage:

Delayed reclosing, with a delay of 10 s or more

Sequential reclosing: automatic reclosing from the
remote end, followed by synchro-check reclosing of
the plant end

Selective reclosing: limiting high-speed reclosing to
L-G faults and L-L faults

Reference 33: IEEE Working Interim Report, "Effects of Switching

Network Disturbances on Turbine-Generator Shaft System", IEEE
Trans., Vol. PAS-101, No. 9, pp. 3151-3157, September 1982

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Hydro Generator Torsional Characteristics

• Rotor of a hydraulic generating unit consists of a

turbine runner and a generator rotor

If unit has a shaft-driven exciter, there is an
additional rotor mass

There are at most two torsional modes of oscillation

• Inertia of generator rotor about 10 to 40 times that of

turbine runner (waterwheel)

• No reported cases of adverse dynamic interaction with

electrical network

• Principal reasons for absence of adverse interaction:

a) High generator rotor inertia relative to turbine runner
 effectively shields the rotor mechanical system from
the electrical network

b) Viscous waterwheel damping

 torsional oscillations inherently highly damped

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