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Supervisor's Foreword; Parts of this thesis have been published in the following journal articles and conference proceedings:J. V. Milanovic and A. Adrees, "Identifying Generators at Risk of SSR in Meshed Compensated AC/DC Power Networks," IEEE Transactions on Power Systems, vol. 28, pp. 4438-4447, 2013.A. Adrees and J. V. Milanovic, "Methodology for Evaluation of Risk of Subsynchronous Resonance in Meshed Compensated Networks," IEEE Transactions on Power Systems, vol. 29, pp. 815-823, 2013.A. Adrees and J. V. Milanov; Acknowledgements; Contents; Symbols; Special Symbols; Subscripts
1 IntroductionAbstract; 1.1 Power System Stability; 1.1.1 Oscillations in Power System; 1.2 Subsynchronous Resonance; 1.2.1 Self Excitation; 1.2.2 Transient Torques Amplification; 1.3 Known Cases of Subsynchronous Resonance; 1.3.1 The Mohave Incidents; 1.3.2 Navajo Project; 1.3.3 HVDC Turbine Generator Interactions at Square Butte; 1.4 HVDC Transmission; 1.5 HVDC Technology; 1.5.1 LCC-HVDC; 1.5.1.1 General Operation Principle; 1.5.1.2 Control of HVDC Systems; 1.5.1.3 Inherent Damping Characteristics of LCC-HVDC; 1.5.2 VSC-HVDC; 1.5.2.1 General Topology and Operation
1.5.2.2 Inherent Damping Characteristics of VSC-HVDC1.6 Past Research on Subsynchronous Resonance (SSR); 1.6.1 Analysis Methods; 1.6.2 Potential Sources of Subsynchronous Oscillations; 1.6.2.1 Series Capacitor Compensation of Networks; 1.6.2.2 Device Dependent Subsynchronous Oscillations; 1.6.3 Mitigation of SSR; 1.6.3.1 Unit Tripping Mitigation Techniques; 1.6.3.2 Non-unit Tripping SSR Mitigation Techniques; 1.6.3.3 Mitigation Techniques for Torsional Interactions Due to HVDC Controllers; 1.6.3.4 Mitigation Techniques for SSR Due to Shunt Compensators; 1.6.3.5 Turbine Generator Model
1.6.3.6 Shaft Fatigue1.6.3.7 VSC-HVDC; 1.6.3.8 Uncertainty in Mechanical Parameters; 1.6.4 Summary of Past Research; 1.7 Research Aims and Objectives; 1.8 Main Contributions of This Research; 1.9 Thesis Overview; References; 2 Power System Modelling and SSR Analysis Methods; Abstract; 2.1 Synchronous Generators; 2.2 Modelling Power System Components; 2.2.1 Modelling Synchronous Generators; 2.2.2 Modelling Turbine Generator Mechanical System; 2.2.3 Generator Excitation Systems; 2.2.3.1 Manual Excitation; 2.2.3.2 Static Excitation (IEEE Type STIA); 2.2.3.3 DC Excitation (IEEE Type DC1A)
2.2.4 Power System Stabilizers2.2.5 Transmission Lines; 2.2.6 Loads; 2.3 HVDC System Modelling; 2.3.1 LCC-HVDC Converters; 2.3.2 Converter Transformer Model; 2.3.3 LCC Converter Controls; 2.3.4 VSC-HVDC Converters; 2.3.5 VSC-HVDC Controls; 2.3.5.1 Outer Control Loops; DC Voltage Control; AC Voltage Control; Active and Reactive Power Control; 2.3.6 VSC Control Structure; 2.4 Thyristor Controlled Series Capacitors (TCSCs); 2.5 SSR Analysis Methods; 2.5.1 Frequency Scanning Method; 2.5.2 Eigenvalue Analysis; 2.5.3 Electromagnetic Transients Simulations; 2.6 Comparison of SSR Analysis Methods
1 IntroductionAbstract; 1.1 Power System Stability; 1.1.1 Oscillations in Power System; 1.2 Subsynchronous Resonance; 1.2.1 Self Excitation; 1.2.2 Transient Torques Amplification; 1.3 Known Cases of Subsynchronous Resonance; 1.3.1 The Mohave Incidents; 1.3.2 Navajo Project; 1.3.3 HVDC Turbine Generator Interactions at Square Butte; 1.4 HVDC Transmission; 1.5 HVDC Technology; 1.5.1 LCC-HVDC; 1.5.1.1 General Operation Principle; 1.5.1.2 Control of HVDC Systems; 1.5.1.3 Inherent Damping Characteristics of LCC-HVDC; 1.5.2 VSC-HVDC; 1.5.2.1 General Topology and Operation
1.5.2.2 Inherent Damping Characteristics of VSC-HVDC1.6 Past Research on Subsynchronous Resonance (SSR); 1.6.1 Analysis Methods; 1.6.2 Potential Sources of Subsynchronous Oscillations; 1.6.2.1 Series Capacitor Compensation of Networks; 1.6.2.2 Device Dependent Subsynchronous Oscillations; 1.6.3 Mitigation of SSR; 1.6.3.1 Unit Tripping Mitigation Techniques; 1.6.3.2 Non-unit Tripping SSR Mitigation Techniques; 1.6.3.3 Mitigation Techniques for Torsional Interactions Due to HVDC Controllers; 1.6.3.4 Mitigation Techniques for SSR Due to Shunt Compensators; 1.6.3.5 Turbine Generator Model
1.6.3.6 Shaft Fatigue1.6.3.7 VSC-HVDC; 1.6.3.8 Uncertainty in Mechanical Parameters; 1.6.4 Summary of Past Research; 1.7 Research Aims and Objectives; 1.8 Main Contributions of This Research; 1.9 Thesis Overview; References; 2 Power System Modelling and SSR Analysis Methods; Abstract; 2.1 Synchronous Generators; 2.2 Modelling Power System Components; 2.2.1 Modelling Synchronous Generators; 2.2.2 Modelling Turbine Generator Mechanical System; 2.2.3 Generator Excitation Systems; 2.2.3.1 Manual Excitation; 2.2.3.2 Static Excitation (IEEE Type STIA); 2.2.3.3 DC Excitation (IEEE Type DC1A)
2.2.4 Power System Stabilizers2.2.5 Transmission Lines; 2.2.6 Loads; 2.3 HVDC System Modelling; 2.3.1 LCC-HVDC Converters; 2.3.2 Converter Transformer Model; 2.3.3 LCC Converter Controls; 2.3.4 VSC-HVDC Converters; 2.3.5 VSC-HVDC Controls; 2.3.5.1 Outer Control Loops; DC Voltage Control; AC Voltage Control; Active and Reactive Power Control; 2.3.6 VSC Control Structure; 2.4 Thyristor Controlled Series Capacitors (TCSCs); 2.5 SSR Analysis Methods; 2.5.1 Frequency Scanning Method; 2.5.2 Eigenvalue Analysis; 2.5.3 Electromagnetic Transients Simulations; 2.6 Comparison of SSR Analysis Methods