On the effect of AVR gain on bifurcations of subsynchronous resonance in power systems

This paper presents the effect of the automatic voltage regulator (AVR) gain on the bifurcations of subsynchronous resonance (SSR) in power systems. The first system of the IEEE second benchmark model of SSR is chosen for numerical investigations. The dynamics of both axes damper windings of the generator and that of the power system stabilizer (PSS) are included. The bifurcation parameter is the compensation factor. Hopf bifurcation, where a pair of complex conjugate eigenvalues of the linearized model around the operating point transversally crosses from left- to right-half of the complex plane, is detected in all AVR gains. It is shown that the Hopf bifurcation is of subcritical type. The results also show that the location of the Hopf bifurcation point i.e. the stable operating point regions are affected by the value of the AVR gain. The variation of the location of the Hopf bifurcation point as function of the AVR gain for two operating conditions is obtained. Time domain simulation results based on the nonlinear dynamical mathematical model carried out at different compensation factors and AVR gains agree with that of the bifurcation analysis.