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IEEE SYSTEMS JOURNAL 1

Dynamic IEEE Test Systems for Transient Analysis

Panayiotis Demetriou, Student Member, IEEE, Markos Asprou, Student Member, IEEE,
Jairo Quiros-Tortos, Member, IEEE, and Elias Kyriakides, Senior Member, IEEE


Abstract—Transient stability analysis is performed to assess the Td0 d-axis subtransient open circuit time constant in s.
power system’s condition after a severe contingency and is carried 
Tq0 q axis subtransient open circuit time constant in s.
out using simulations. To adequately assess the system’s transient S(1.0) Machine saturation at 1.0 p.u. voltage in p.u.
stability, the correct dynamic models for the machines (i.e., gener-
ators, condensers, and motors) along with their dynamic param- S(1.2) Machine saturation at 1.2 p.u. voltage in p.u.
eters must be defined. The IEEE test systems contain the data Tr Regulator input filter time constant in s.
required for steady-state studies. However, neither the dynamic Ka Regulator gain (continuous acting regulator) in p.u.
model of the machines nor their specific parameters have been Ta Regulator time constant in s.
established for transient studies. As a result, there is a demand VRmax Maximum regulator output, starting at full load
for test bed systems suitable for transient analysis. This paper
defines dynamic machine models along with their parameters for field voltage in p.u.
each IEEE test bed system, thus producing full dynamic models VRmin Minimum regulator output, starting at full load
for all test systems. It is important to mention that the parameters field voltage in p.u.
of the proposed dynamic models are based on typical data. The test Ke Exciter self-excitation at full load field voltage
systems are subjected to large disturbances, and a case study for in p.u.
each test system, which examines the frequency, angle, and voltage
stability, is presented. Furthermore, the proposed dynamic IEEE Te Exciter time constant in s.
test systems, implemented in PowerWorld, are available online. Kf Regulator stabilizing circuit gain in p.u.
Tf Regulator stabilizing circuit time constant in s.
Index Terms—Dynamic machine models, exciters, governors,
IEEE test systems, transient stability analysis. E1 Field voltage value, 1 in p.u.
SE(E1 ) Saturation factor at E1 .
E2 Field voltage value, 2 in p.u.
N OMENCLATURE SE(E2 ) Saturation factor at E2 .
Rated MVA Machine-rated MVA; base MVA for impedances. Pmax Maximum turbine output in p.u.
Rated kV Machine-rated terminal voltage in kV; base kV for R Turbine steady-state regulation setting or droop
impedances. in p.u.
H Inertia constant in s. T1 Control time constant (governor delay) in s.
D Machine load damping coefficient. T2 Hydro reset time constant in s.
ra Armature resistance in p.u. T3 Servo time constant in s.
xd Unsaturated d-axis synchronous reactance in p.u. T4 Steam valve bowl time constant in s.
xq Unsaturated q-axis synchronous reactance in p.u. T5 Steam reheat time constant in s.
xd Unsaturated d-axis transient reactance in p.u. F Shaft output ahead of reheater in p.u.
xq Unsaturated q-axis transient reactance in p.u.
xd Unsaturated d-axis subtransient reactance in p.u. I. I NTRODUCTION
xq Unsaturated q-axis subtransient reactance in p.u.
xl or xp
Td0
Tq0


Leakage or Potier reactance in p.u.
d-axis transient open circuit time constant in s.
q-axis transient open circuit time constant in s.
E LECTRIC power systems are being operated close to their
stability limits in an attempt by the electric utilities to
satisfy the ever-increasing electricity demand and to remain
competitive in the deregulated electricity market. Therefore,
power systems are vulnerable to severe contingencies that can
propagate to a large portion of the power system, leading, in
Manuscript received October 10, 2014; accepted June 8, 2015. This work many cases, to power system instabilities. More specifically, the
was supported by the European Regional Development Fund and the Re- power system becomes transient unstable when it fails to retain
public of Cyprus through the Research Promotion Foundation (Project TΠE/ the synchronism of the electric machines after the occurrence of
OPIZO/0311/20).
P. Demetriou, M. Asprou, and E. Kyriakides are with the KIOS Research a severe disturbance. In such a case, the synchronism between
Center for Intelligent Systems and Networks, University of Cyprus, 1678 a synchronous generator or a group of generators with the rest
Nicosia, Cyprus, and also with the Department of Electrical and Computer of the power system is lost, leading to a partial or complete
Engineering, University of Cyprus, 1678 Nicosia, Cyprus (e-mail: demetriou.k.
[email protected]; [email protected]; [email protected]). blackout unless appropriate protection and/or control measures
J. Quiros-Tortos is with The University of Manchester, M13 9PL Manch- are taken [1].
ester, U.K., and also with the Electrical Power Engineering Research Labora- The stability of the power system can be categorized into the
tory, School of Electrical Engineering, University of Costa Rica, 11501-2060
San Jose, Costa Rica (e-mail: [email protected]). angle and voltage stability [2]. In the case of the angle stability,
Digital Object Identifier 10.1109/JSYST.2015.2444893 the power system should be able to maintain synchronism
1932-8184 © 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
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2 IEEE SYSTEMS JOURNAL

between the generators and the rest of the system after a severe
disturbance, while in the voltage stability, the system voltage
level after the disturbance should be preserved as in the steady
state. In any of the two cases, the loss of stability could lead to
devastating consequences.
In order to prevent such situations, power system operators
assess the stability condition of the power system by examining
several scenarios offline. The transient analysis that is usually
used in the power system control center enhances the situational
awareness of the power system operators by providing a visual-
ization of the generator rotor angles, bus voltages, and system
frequency during a large contingency based on the current
operating condition of the power system. Therefore, operators
Fig. 1. Block diagram of the IEEET1 excitation system model [11].
can plan a set of remedial measures to maintain the stability of
the system.
In general, for running transient stability analysis, both the
type and the parameters of the dynamic model for the power
system components should be available. On one hand, each
electric utility has its own dynamic parameters and models for
its power system. On the other hand, the several IEEE test bed
systems available for steady-state analysis, whose topology and
power flow data can be found in [3], lack dynamic models.
In the literature, a few test bed systems that can be used
in transient analysis were proposed [4]–[6]. However, since
the IEEE test bed systems are widely used by the research
community, there are several cases where researchers are forced Fig. 2. Block diagram of the WSCC Type G governor [11].
to choose dynamic models and their parameters for the IEEE
systems in order to build their own dynamic systems [7], [8].
In this case, there is a lack of consistency and uniformity show that the dynamic behavior of the IEEE dynamic models is
among the different dynamic test systems. Furthermore, there is reasonable and is similar to dynamic responses of real systems.
a common desire among the research community for dynamic The proposed modified IEEE test systems are implemented
test bed systems that can be used for assessing methodologies in the PowerWorld software [10]. Using the transient analysis
based on dynamic simulations. of the software, the transient behavior of each dynamic system
In this paper, the IEEE test bed systems available in the can be obtained. In particular, a single case study for each
literature for steady-state studies (14-, 30-, 39-, 57-, and test system is examined, and the transient analysis results are
118-bus systems) are extended and modified to consider dy- presented in Section III. This paper is concluded in Section IV.
namic data for time-domain simulations. The dynamic pa- It is of course possible to run the test systems in other software
rameters for a sixth-order full machine model (i.e., machine, that support dynamic analysis.
exciter, and governor) are defined for each generator in the
IEEE test systems. Dynamic parameters are also determined for
II. DYNAMIC M ODELS AND PARAMETERS
the condensers and motors. It is to be noted that the dynamic
FOR IEEE S YSTEMS
parameters are based on typical dynamic models provided in
[9]. Particularly in [9], the dynamic parameters for fossil fuel In this section, the dynamic models and parameters for each
generators are according to their rated power. For each genera- generator, condenser, and motor in the IEEE 14-bus system
tor, the dynamic parameters for its exciter and governor are also are provided based on real data [9]. The full dynamic data
available. Therefore, knowing the rated power of each generator for the IEEE 30-, 39-, 57-, and 118-bus systems are available
in the IEEE test systems (available from their steady-state data), online in open access (www.kios.ucy.ac.cy/testsystems). In the
the appropriate dynamic model from [9] is selected (including case of the generators, both the associated exciter and governor
the exciter and the governor). The same procedure is followed parameters are given, while in the case of the condensers and
for choosing the dynamic parameters for the condensers and the motors, only exciter parameters are given. The excitation and
motors in the IEEE test systems. governor system models used for the implementation of the
The aim of Section III of this paper is to test the proposed IEEE dynamic test systems in the PowerWorld software were
dynamic test bed systems under transient conditions. As it is the IEEE Type1 excitation model (exciter IEEET1) and WSCC
aforementioned, there are no default responses of the IEEE Type G governor model (governor BPA_GG), respectively. The
systems for specific contingencies; hence, the validation of the block diagrams of both models are presented in Figs. 1 and 2.
proposed dynamic models and parameters accommodated to It is important to mention that the IEEE Type1 excitation model
the test bed systems cannot be performed. A criterion for the corresponds to the Type DC1A excitation system model of
reliability of the proposed dynamic models and parameters is to the IEEE Standard 421.5 (2005) [12], which is the currently
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DEMETRIOU et al.: DYNAMIC IEEE TEST SYSTEMS FOR TRANSIENT ANALYSIS 3

Fig. 3. Extension and modification of an existing system.

Fig. 5. IEEE 14-bus modified test system.

TABLE I
IEEE 14-B US M ODIFIED T EST S YSTEM M ACHINE DATA

Fig. 4. IEEE 14-bus test system default topology.

accepted IEEE standard for excitation system models for power

system stability studies.
It should be noted that the rated voltage of the machines (gen-
erators, motors, and condensers), as indicated in [9], is much
smaller than the voltage levels of the IEEE test systems. In order
to comply with the voltage levels of the generators as provided
in [9], thus building more realistic dynamic test bed systems,
the machines are connected through an ideal transformer. In
this sense, it is necessary to add an additional bus having
the same voltage level as the machine models given in [9].
Performing this modification (Fig. 3), the IEEE test system
topology is effectively not changed, and at the same time, there
is no change in the operating conditions of the systems since
the power flows are not affected. This can be concluded by
comparing the total power losses of the systems before and after
the modification. The data of the transmission lines, existing
transformers, voltage levels, and other steady-state data are
considered the same as those presented in [3]. Due to this mod-
ification, hereafter the IEEE test bed systems will be called as
“modified IEEE systems.” In order to better illustrate the mod-
ification to the IEEE dynamic test systems, the IEEE 14-bus
test system before and after the modification is shown in
Figs. 4 and 5, respectively.
The IEEE 14-bus modified test system consists of five syn- high-voltage buses (132 or 220 kV) [3]. In the case of the
chronous machines with IEEE type-1 exciters, three of which IEEE 14-bus modified test system (Fig. 5), the generators
are synchronous compensators used only for reactive power and the condensers with their dynamic models are attached
support. There are 19 buses, 17 transmission lines, 8 transform- to the new buses added to the extended system, as explained
ers, and 11 constant impedance loads. The total load demand is earlier. Tables I–III provide the system data for the IEEE
259 MW and 73.5 MVAr. 14-bus modified test system. The numbers shown in the tables
In the default topology of the IEEE 14-bus test system for the bus numbers correspond to the default test system and
(Fig. 4), the generators and the condensers are connected to the modified system (in parenthesis), respectively.
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4 IEEE SYSTEMS JOURNAL

TABLE II generators are equipped with exciter models and without exciter
IEEE 14-B US M ODIFIED T EST S YSTEM E XCITER DATA
models (for both cases, machine and governor dynamic models
are available). Finally, the rotor angle for selected generators
(with full machine models) is obtained to check their dynamic
response during contingencies. It is important to mention that
a comparison between the total power losses of each system
before and after the modification (in steady-state operation) is
also performed to verify that the power flows are not affected.
This is shown in Table IV.

A. IEEE 14-Bus Modified Test System

In order to assess the stability condition of the IEEE 14-bus
modified test system during transient analysis, a single load
event is considered. At time t = 1 s, the values of the loads
at buses 3, 4, and 9 are increased by 20% (total step change
of 34.3 MW). The IEEE 14-bus modified test system response
under this event is given in Figs. 6–11.

B. IEEE 30-Bus Modified Test System

The IEEE 30-bus modified test system has 6 synchronous
machines with IEEE type-1 exciters (4 of which are syn-
chronous compensators), 36 buses, 37 transmission lines,
TABLE III 10 transformers, and 21 constant impedance loads (with a total
IEEE 14-B US M ODIFIED T EST S YSTEM G OVERNOR DATA
consumption of 283.4 MW and 126.2 MVAr).
At time t = 1 s, both ends of the transmission lines connect-
ing buses 14–12 and 14–15 are opened, and thus, bus 14 is
isolated from the rest of the power system. The ability of the
IEEE 30-bus modified test system to return to stable condition
and maintain its synchronism is evaluated in Figs. 12–17.

C. IEEE 39-Bus Modified Test System

The IEEE 39-bus modified test system contains 49 buses,
32 transmission lines, 24 transformers, and 10 generators. It
has 19 constant impedance loads totaling 6097.1 MW and
1408.9 MVAr. All of the generators are equipped with an
IEEE type-1 exciter and a simple turbine governor, except
generator 39 which is an aggregation of a large number of
generators and is considered not to have a governor. The be-
havior of the IEEE 39-bus modified test system during transient
analysis is evaluated by considering a single load event. At time
III. C ASE S TUDIES
t = 1 s, the values of the loads at buses 3, 4, 7, 8, 25, and
In this section, the proposed IEEE 14, 30, 39, 57, and 118 39 are increased by 10% (total step change of 290.58 MW).
modified dynamic test systems are tested in order to evaluate Figs. 18–23 show the response of the corresponding system
their behavior after large disturbances. For each case study, the during the event.
angle, frequency, and voltage stability are examined. Thus, a In addition, the stability condition of the IEEE 39-bus modi-
depiction of the generator rotor angle, bus voltage, and system fied test system during transient analysis is further assessed by
frequency during transient conditions is obtained. More specif- considering a worst case scenario. At time t = 1 s, a balanced
ically, for evaluating the proposed dynamic governor models three-phase fault is applied at bus 39 and is cleared at t = 1.2 s.
and their parameters, the system frequency is obtained for two As shown in Fig. 24, if the system generators are not equipped
cases. In the first case, generators are equipped with governor with governor models, then the system will collapse.
models, while in the second case, no governor models were In particular, when the speed limits of a generator are vi-
considered (for both cases, machine and exciter dynamic mod- olated (in this case, the speed drops below 48 Hz or exceeds
els are available). Moreover, to evaluate the proposed exciter 52 Hz), auxiliary corrective measures are applied (e.g., under-/
models and their parameters, voltage magnitudes and angles overfrequency control), and the corresponding generator is
for selected buses are presented for the case where system tripped. Consequently, since the system generators are not
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DEMETRIOU et al.: DYNAMIC IEEE TEST SYSTEMS FOR TRANSIENT ANALYSIS 5

TABLE IV
R EAL P OWER L OSSES IN IEEE M ODIFIED T EST S YSTEMS

Fig. 6. System frequency in the IEEE 14-bus modified test system with and
without governor models. Fig. 9. Voltage magnitudes for selected buses in the IEEE 14-bus modified
test system without exciter models.

Fig. 7. Generator rotor angle for the machines in the IEEE 14-bus modified
test system.
Fig. 10. Voltage angles for selected buses in the IEEE 14-bus modified test
system with exciter models.

Fig. 8. Voltage magnitudes for selected buses in the IEEE 14-bus modified
Fig. 11. Voltage angles for selected buses in the IEEE 14-bus modified test
test system with exciter models.
system without exciter models.

equipped with any governor models, a sequence of generator through an under-/overfrequency control scheme does not lead
trips ensues, leading to system collapse. However, if the system to more generator trips, since the governors maintain the speed
generators are equipped with governor models, a generator trip of each generator close to the nominal speed. As a result,
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6 IEEE SYSTEMS JOURNAL

Fig. 12. System frequency in the IEEE 30-bus modified test system with and Fig. 15. Voltage magnitudes for selected buses in the IEEE 30-bus modified
without governor models. test system without exciter models.

Fig. 16. Voltage angles for selected buses in the IEEE 30-bus modified test
Fig. 13. Generator rotor angle for selected machines in the IEEE 30-bus system with exciter models.
modified test system.

Fig. 17. Voltage angles for selected buses in the IEEE 30-bus modified test
system without exciter models.
Fig. 14. Voltage magnitudes for selected buses in the IEEE 30-bus modified
test system with exciter models.

the system can withstand the fault, and it can maintain its
synchronism, as shown in Fig. 25.

D. IEEE 57-Bus Modified Test System

The IEEE 57-bus modified test system has 7 synchronous
machines with IEEE type-1 exciters (3 of which are syn-
chronous compensators), 64 buses, 65 transmission lines,
22 transformers, and 42 constant impedance loads (with a total
of 1250.8 MW and 336.4 MVAr). The stability condition of the Fig. 18. System frequency in the IEEE 39-bus modified test system with and
IEEE 57-bus modified test system is assessed through a single without governor models.
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DEMETRIOU et al.: DYNAMIC IEEE TEST SYSTEMS FOR TRANSIENT ANALYSIS 7

Fig. 19. Generator rotor angle for selected machines in the IEEE 39-bus
modified test system.
Fig. 23. Voltage angles for selected buses in the IEEE 39-bus modified test
system without exciter models.

Fig. 20. Voltage magnitudes for selected buses in the IEEE 39-bus modified
test system with exciter models.
Fig. 24. System frequency in the IEEE 39-bus modified test system without
governor models.

Fig. 21. Voltage magnitudes for selected buses in the IEEE 39-bus modified
test system without exciter models.

Fig. 25. System frequency in the IEEE 39-bus modified test system with
governor models.

load event. At time t = 1 s, the values of the loads at buses

1, 2, 12, 16, and 17 are increased by 10% (total step change of
52 MW). The IEEE 57-bus modified test system response under
this event is given in Figs. 26–31.

E. IEEE 118-Bus Modified Test System

The IEEE 118-bus modified test system consists of 54 syn-
chronous machines with IEEE type-1 exciters, 20 of which
Fig. 22. Voltage angles for selected buses in the IEEE 39-bus modified test are synchronous compensators used only for reactive power
system with exciter models. support and 15 of which are motors. There are 172 buses,
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8 IEEE SYSTEMS JOURNAL

Fig. 26. System frequency in the IEEE 57-bus modified test system with and
without governor models. Fig. 30. Voltage angles for selected buses in the IEEE 57-bus modified test
system with exciter models.

Fig. 27. Generator rotor angle for selected machines in the IEEE 57-bus
modified test system.

Fig. 31. Voltage angles for selected buses in the IEEE 57-bus modified test
system without exciter models.

Fig. 28. Voltage magnitudes for selected buses in the IEEE 57-bus modified
test system with exciter models.

Fig. 32. System frequency in the IEEE 118-bus modified test system with and
without governor models.

185 transmission lines, 76 transformers, and 91 constant

impedance loads, which consume in total 3668 MW and
1438 MVAr. To evaluate the behavior of the IEEE 118-bus
modified test system during transient analysis, a switch event
is considered.
At time t = 1 s, both ends of the transmission lines connect-
ing buses 13–11, 13–15, 14–12, and 14–15 are opened (bus 13
and 14 are isolated), creating a transient instability into the
Fig. 29. Voltage magnitudes for selected buses in the IEEE 57-bus modified system. The ability of this system to return to stable condition
test system without exciter models. and maintain its synchronism is evaluated in Figs. 32–37.
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DEMETRIOU et al.: DYNAMIC IEEE TEST SYSTEMS FOR TRANSIENT ANALYSIS 9

Fig. 33. Generator rotor angle for selected machines in the IEEE 118-bus Fig. 37. Voltage angles for selected buses in the IEEE 118-bus modified test
modified test system. system without exciter models.

IV. C ONCLUSION
In this paper, the dynamic models and the dynamic pa-
rameters for sixth-order full machine models (i.e., machine,
exciter, and governor) as well as for the condensers and motors
contained in the IEEE 14-, 30-, 39-, 57-, and 118-bus systems
are defined based on typical data provided in [9]. The topology
of the proposed dynamic IEEE test bed systems was slightly
altered from the default one by adding new buses with a lower
voltage level for the generators, condensers, and motors, in order
to be compliant with the rated voltage level of the dynamic
models provided in [9]. The procedure followed in this paper
Fig. 34. Voltage magnitudes for selected buses in the IEEE 118-bus modified for including dynamic models into a system can be generalized
test system with exciter models.
for several systems, assuming that the rated power of the gen-
erators, motors, and condensers are known. The dynamic test
systems complement the existing steady-state systems. Based
on the simulation results, it can be concluded that the dynamic
models with the proposed typical parameters are reliable since
the dynamic response of the IEEE modified test systems follows
the expected behavior of actual systems under contingencies. It
is shown that the proposed governor models play a crucial role
in the maintenance of the system frequency, even under severe
faults. Moreover, the voltage magnitudes of the buses for all of
the test systems are preserved close to their prefault values in
the presence of the proposed exciter models. In the case of the
rotor angle stability, it is obvious that the generators maintain
synchronism between them after the occurrence of a fault.
Fig. 35. Voltage magnitudes for selected buses in the IEEE 118-bus modified
test system without exciter models.

R EFERENCES
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 This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.

10 IEEE SYSTEMS JOURNAL

Rep., pp. 1–28, Apr. 2011. [Online]. Available: http://www.itee.uq.edu.au/ Jairo Quiros-Tortos (S’08–M’14) received the
pssl/drupal7_with_innTheme/?q=node/374 B.Sc. and Licentiate degrees (with honors) in elec-
[8] Illinois Center Smarter Elect. Grid (ICSEG), “Power cases,” 2013. trical engineering from the University of Costa Rica,
[Online]. Available: http://publish.illinois.edu/smartergrid/power-cases Costa Rica, in 2008 and 2009, respectively, and the
[9] P. M. Anderson and A. A. Fouad, Power System Control and Stability. Ph.D. degree in electrical engineering (emphasis in
New Delhi, India: Wiley, 2002. power systems) from The University of Manchester,
[10] PowerWorld Corporation. [Online]. Available: http://powerworld.com Manchester, U.K., in 2014.
[11] [Online]. Available: http://www.powerworld.com/files/Block-Diagrams- Then, he was a Lecturer with the University of
18.pdf Costa Rica. He is currently a Postdoctoral Research
[12] IEEE Recommended Practice for Excitation System Models for Power Associate with The University of Manchester, work-
System Stability Studies, IEEE Std. 421.5, 2005. ing on network integration of electric vehicles. His
current research interests include network integration of distributed energy
resources and future low-carbon distribution networks.
Panayiotis Demetriou (S’09) received the B.Sc.
degree in electrical engineering from the University
of Cyprus, Nicosia, Cyprus, in 2011 and the M.Sc. Elias Kyriakides (S’00–M’04–SM’09) is from
degree (with distinction) in power systems engineer- Nicosia, Cyprus. He received the B.Sc. degree in
ing from The University of Manchester, Manchester, electrical engineering from Illinois Institute of Tech-
U.K., in 2012. He is currently working toward the nology, Chicago, IL, USA, in 2000 and the M.Sc. and
Ph.D. degree from the University of Cyprus. Ph.D. degrees in electrical engineering from Arizona
He is also a Researcher with the KIOS Research State University, Tempe, AZ, USA, in 2001 and
Center for Intelligent Systems and Networks, work- 2003, respectively.
ing on intelligent controlled islanding for power He is currently an Assistant Professor with the
systems and power system restoration. His main Department of Electrical and Computer Engineer-
research interests include wide-area monitoring, protection and control, power ing, University of Cyprus, Nicosia, and a founding
system operations, operation of renewable energy sources connected to the member of the KIOS Research Center for Intelligent
power grid, and smart grids. Systems and Networks. He served as the Action Chair of the ESF-COST Action
IC0806 “Intelligent Monitoring, Control, and Security of Critical Infrastructure
Markos Asprou (S’09) received the B.Sc. and Ph.D. Systems” (IntelliCIS; 2009–2013). His research interests include synchronized
degrees in electrical engineering from the University measurements in power systems, security and reliability of the power system
of Cyprus, Nicosia, Cyprus, in 2009 and 2015, re- network, optimization of power system operation techniques, and renewable-
spectively. energy sources.
He is currently a Postdoctoral Research Fellow
with the KIOS Research Center for Intelligent
Systems and Networks, University of Cyprus. His
research interests include monitoring and state
estimation of power systems using synchronized
measurements.