Volume V Stability Analysis & Simulation of Transients DIgSILENT PowerFactory Version 13.2osO DIGSIUENT PowerFoctory “Tre Domain Simuiations Chapter 22 Time-Domain Simulations With the transient simulation functions of DIgSILENT PowerFactory the dynamic be- havior of small systems up to large power systems can be analyzed in time domain, So it is possible to model complex systems from industrial networks up to large transmission grids in detail taking into account electrical as well as mechanical perameters. ‘Transients as well as stability and control problems in modern power systems constitute important considerations during the planning, design and operation of these complex sys- tems. The effects which are to be examined are for example electro-magnetic transients and different aspects of stability In power systems. These can be analyses with Power- Factory using different methods like verious functions of time-domain simulations for varying time periods as well as dynamic or small-signal stability analysis tools using e.9. the powerful eigenvalue analysis. ‘There Is a very large range of systems which can be analyses. For example it is easily possible to analyze AC or DC systems (e.g. motor start-up, transmission systems with de- tailed models of the power plants, complex HVDC systems) as well as a combination of both, Also new study fields like wind-power or power electronics applications constitute new challenges in the analysis of power systems and new models and techniques are pro- vided to meet these requirements. For modelling different machines and various controller units as well as the electrical and mechanical parts of power plants, etc,, there is the possibility of using a variety of pre~ defined models in the global library of PowverFactory. This model library includes various models of generators, motors, controllers, motor driven machines, dynamic loads and passive network elements, For example the IEEE standard models of controllers of power plants can be found here, Furthermore specific models of controllers and block diagrams of power plants can be modelled with a high degree of freedom. 22.1 Introduction To study and analyses power system stability the behavior of power systems under con- ditions before and after sudden changes in load or generation or during faults or outages of elements have to be examined. The robustness of a system is defined by the ability of the system to maintain stable operation under normal and perturbed conditions. There- fore it is necessary to design and operate a power system so that transient events, e.g. probable contingencies in the system, can be sustained without the loss of load or loss of synchronism in the power system. Transients in electrical power systems can mainly be divided into three time domains: * short-term, or electromagnetical transients, ‘+ mid-term, or electromechanical transients. + long-term transients 22-1DIQSILENT Power Foctany “Tere: Domain Simulations Because of the sophisticated multilevel modelling of power-system elements and the use of advanced algorithms, PowerFactory covers the whole range of transient phenomena in electrical power systems. Consequently, there are three different simulation Functions available: 1 a basic function which uses a symmetrical steady-state (RMS) network model for mid-term and long-term transients under balanced network conditions. 2a three-phase function which uses a steady-state (RMS) network modet for mid- term and long-term transients under balanced and unbalanced network conditions e.g. for analyzing the dynamic behavior after unsymmetrical faults. 3 an electromagnetic transient (EMT) simulation function using a dynamic network model for electromagnatical and electromechanical transients under balanced and unbalanced network conditions especially suited for analyzing short-term transients, In addition to the time-domain calculations, two additional and more specific analysis functions can be performed: + Parameter Identification * Modal Analysis or Eigenvalue Analysis Based on the results of a valid load-flow calculation of the studied system, the Power- Factory time-domain simulation functions determine the initial conditions of all power system elements including all controller units and the mechanical parts of the system as well. These initial conditions represent the equilibrium operation point at the beginning of the simulation, fulfiling the requirements that the derivative ofall state variables of loads, machines, controllers, etc, are zero. Before the start of the simulation process, it is also determined what type of network rep- resentation must be used for further analysis, what step sizes to use, which events to han- die and where to store the results, ‘The simulation uses an iterative pracedure to solve AC and DC network load-flow and dy- namic model state variable integrations simultaneously, Non-linear and highly accurate system models result in exact solutions also during high-amplitude transients. Various nu- ‘merical integration routines for the electromechanical systems (Including voltage requia- tors and power system stabilisers) and the hydro-mechantcal or thermo-mechanical models produce best results within a justifiable period of time. ‘The whole process of performing an transient simulation typically takes the following steps: Calculation of Initial Values, which includes a load-flow calculation. Defining result variables and/or simulation events. Optionally defining result graphs and/or other virtual instruments. Run Simulation. Creating additional result graphs / virtual instruments or editing existing ones. Changing settings, repeating calculations. Printing results, Nawrunn 22.2 Calculation Methods The time-domain simulations can be divided into three different time periods to be anal- yses, so there are three different simulation functions available: 22-2 ydOo DIgSILENT PowerFoctory “Tire-Domatn Simulations * the symmetrical steady-state (RMS) network model for mid-term and long-term transients under balanced network conditions. + the three-phase steady-state (RMS) network model for mid-term and long-term ‘transients under balanced and unbalanced network conditions, * the electromagnetic transient (EMT) simulation function using a dynamic network model for electromagnetical and electromechanical transients under balanced and unbalanced network conditions. in the following sections these three analysis functions in the time domain are described and the usage is explained in detail, 22.2.1 Balanced RMS Simulation The balanced RMS simulation function considers dynamics in electromechanical, control and thermal devices, It uses a symmetrical, steady-state representation of the passive electrical network. Using this representation, only the fundamental components of volt ages and currents are taken into account. Depending on the used models of generators, motors, controllers, power plants and mo- tor driven machines, the following studies may be carried out: * transient stability (e.g. determination of critical fault clearing times) * mid-term stability (e.g. optimization of spinning reserve and load shedding) + oscillatory stability (e.g. optimization of control device to improve system damping) * motor start-up (e.g. determination of start-up times and voltage drops) Various events can be introduced. As an example the following event types are listed: * start-up and/or loss of generators or motors stepwise variation of loads load shedding line and transformer switching/tripping symmetrical short-circuit events insertion of network elements power plant shut down variations of controller setpoint « change of any system parameter Because of the symmetrical network representation, the basic simulation function allows only the insertion of symmetrical faults. 22.2.2 Three-Phase RMS Simulation If asymmetrical faults or unbalanced networks have to be analyses, the three phase RMS simulation function must be used. This simulation function uses a steady-state, three- phase representation of the passive electrical network and can therefore deal with unbal- anced network conditions, either due to unbalanced network elements or due to asym- metrical faults, Dynamics in electromechanical, control and thermal devices areDIGSWENT Aowertocty ‘Tine Domain Simulators represented In the same way as In the basic RMS simulation function. Asymmetrical electromechanical devices can be modelled as well as single phase and two- a phase networks can also be analyses using this analysis function. {3 In addition to the balanced RMS simulation events, unbalanced fault events can be sim- ulated, such as: + single phase and two phase (to ground) short-circuits + phase to phase short-circuits * intercircuit faults between different lines + single and double phase line interruptions All of these events can occur simultaneously or in cascades so that any combination of symmetrical and asymmetrical faults can be calculated. 22.2.3. Three-Phase EMT Simulation Voltages and currents are represented in the EMT simulation by thelr instantaneous val- ues, so that dynamic behavior of passive network elements is also taken into account. This ability is nes for carrying out the following applications: * DCand harmonic components of currents and voltages. Exact behavior of inverter driven machines. «Exact behavior of HVDC transmission systems. Nonlinear behavior of passive network elements such as transformer saturation. Overvoltage phenomena in switching devices. Lightning strikes and travelling waves, ‘+ Analysis of the exact behavior of protection devices during faults. Due to the electrical network being represented in detail including all phases, all described. ‘events, symmetrical and asymmetrical, can be simulated. The EMT function can also be used for the simulation of longer-term transients, but due to the passive network ele- ments being represented dynamically, the integration step size has to be much smaller than in case of a steady-state representation and therefore, calculation time Increases, YY 22.3. Setting up a Simulation Based on the results of a load-flow calculation of the network, all internal variables and the internal operation status of connected machines, controllers and other transient mod- els have to be determined. As a result of this calculation, the synchronous generator ex- citation voltages and {oad angles as well as all state variables of controllers and power plant models, or any other device, which is active and will affect the time-domain simu- lation are calculated. ‘The calculation of initial conditions is started by te + elther pressing the “24! on the main toolbar 2 * or selecting the Calculation > Stability -> Initial Conditions... option from the main menu. 2-4DIgSILENT PonerFactory “Ture-Domain Simulations In the upcoming dialogue of the initial conditions command dialogue alf simulation set- tings are defined. Here the type of simulation (RMS or EMT, balanced or unbalanced) can be chosen and different setting like the time steps are spetified, which are important for executing the simulation, These settings include Basic Options The simulation type Is selected here (RMS vs. EMT, balanced vs, unbalanced), and the load-flow command, the result object and the event list are defined. Step Sizes Maximum and minimum step size are specified for the available step size algorithms, ‘Step Size Adaptation enables the variable step size algorithm. Advanced Options including various error margins, iteration limits, damping factors, etc. © Noise Generation defines parameters of the noise generation for stachastic applications. 22-5DIQSILENT RomerFoctory ‘Time-Domain Simutotions Ce R Gt ee ac oie Ue acc aac Feuion pence IMS Vole Electonecharical Taner) tancous Values (Electromagnets Transients) lonced, Posie Séquence © Unbalneed Pine ADC) Nest il Condions VY: Auitomatic'Step Size Adaptation. Fig. 22.1; The initial conditions dialogue 22.3.1 Basic Options ‘The basic options are used to select the type of simulation and the network representa- tion. References to the result object, the event list and the load-flow command are avail- able for Inspecting or editing these objects. Verify Initial Conditions If the required operation status allows to fulfil the initial conditions, the power system will be in steady-state conditions. When the Verify Initial Conditions's enabled, then the con- dition dx/dt=0 is checked for all state variables, If one or more of the state variable de- tivatives does not equal zero, the power system may start to ‘moving’ from the very beginning, even without the application of an external event. In this case the user should analyses the relevant controller or model and its defined initial conditions carefully, 2-6DEGSILENT FomerFactory “Time-Domain Simulations All warnings or error messages should be checked carefully. Typical problems are devices which are overloaded or operate above or below signal limitation from the beginning of the simulation. ‘The error message displayed in the output window might look as follows: DigSt/exx - Sone models could not be initialized. DigSI/err - Please check the following models: DigsI/err - Digst/err - initial conditions not valid | 22.3.2 Fixed Step Size When using a fixed step size for the simulation (deactivate "Automatic Step Size Adapta- tion" on the basis options page), the integration step size for electromagnetic transients (EMT) respectively for electromechanical transients (RMS) has to be set. It is often not necessary and resulting in reduced simulation time not to plot every single calculated time step. So additionally the step size for the output graphs can be set, so not every point of simulation time will be drawn on the virtual instruments plot, By selecting a higher output step size, the simulation process will speed up without influencing the cal- culation process, Nevertheless faster changes may be lost in the reported results. ‘Also the start time of the simulation can be set. This point of time is typically negative, so the first event to be analyses can take place at t=0s, ‘The parameters which are available for the step size are: dtemt Electromagnetic Transients (typical 0.0001 sec) dtgrd Electromechanical Transients (sym, asm, vco, pss) (typical 0.01 sec) dtout Output (typical equal to dtemtfor EMT respectively card for RMS simulation) Note When setting up time-domain simulations, it 1s very Important to use the correct time steps for the simulations in order to observe the right phenomena in the results. For the RMS simulation the minimum time step should always be smaller then the time con- stants in the system. In controllers you have to consider not only the open-loop up also the closed-loop time constants. For electro- magnetic transients e.g. when analyzing travelling waves, the smallest travelling time would set the upper limit for the minimum time step, In addition to the Newton-Raphson based algorithm for the solution of "weak" nonlinear ities as for example saturation effects in synchronous and asynchronous machines, the EMT simulation function allows interrupts for the simulation of "strong" nonlinearities as for example switches, two-slope transformer saturation or thyristors. These interrupts can also occur in between time steps. In case of such an interrupt, all time dependent variables are interpolated to the instant of interrupt and the simulation restarts at that point, This prevents numerical oscillations and allows much 2 lower integration stepsize in case of power electronics devices. ‘The dynamic model equations of the voltage-controllers (vco) and the power system sta~ bilisers (pss) are solved simultaneously with the electrical generator and passive network 22-7DIQSILENT AowerFactory ‘Time-Domain Simutations equations (stepsize dtgra). 22.3.3 Automatic Step Size Adaptation ‘A good way to speed up the simulation considerably is using the option "Automatic Step ‘Size Adaptation" on the basic page of the ComSim command. This option will enable the step size adaptation algorithm. When “Automatic Step Size Adaptation" is enabled, PowerFactory adjusts the step size to the actual course of each state variable at any moment in time, Based on the local dis~ cretisation ertor, PowerFactory calculates an optimal step size that keeps the numerical errors within the specified limits. A step size controller adjusts the integration step size. ‘As a result, when fast transients have decayed, PowerFactory automatically increases the step size and speeds up the simulation process considerable, In case of events (ex- ‘temal or internal), the step size is always be set back to the "Minimum Step Size”. So the behavior of the system during a transient event is represented in the best way. IF this option is activated, on the page "step size” there will be the two integration step sizes available: dtemt / dtgrd minimum step size for EMT respectively RMS simulations dtemt_max / dtgrd_max maximum step size for the method of simulation Further parameters to adapt this algorithm can be found and the "Step Size Adaptation” page: errmax Maximum Prediction Error (typlcal 0.01) errine Minimum Prediction Error (typical 0.01) nine Delay for Step Size Increase (typical 10 time steps) fine ‘Speed Factor for increasing the time step (default value 1.5) fdec Speed Factor for decreasing the time step (default value 2) ddtemt_max Maximum increase of the time step only for EMT simulations (typical 0,001 sec) Note The simulation time can be very sensitive to sore of the parame- ters. For example when you Increase the maximum time step the duration of calculating transients may not always increase. If this time step Is increased over an "optimal" time step the simulation time may increase as well. So please observe the simulation time and the results critically for different simulation parameters. 22.3.4 Advanced Options ‘The advanced options may be used to taifor-tune the performance of the simulation al- gorithm, Less experienced users are recommended to use the typical values, “The "Resolution Factor" Aresof the event control determines the time span which Is used OQ to synchronize events. Every time an internal or external event occurs, which is usually between two integration time steps, PowerFactoryinterpolates all state variables to the 22-8DIQSILENT PowerFoctory “Time-Domain Siorlations moment of time at which the event has occurred and restarts the simulation from there. In case of heavy disturbances it can happen that a very large number of events occur almost at the same time. Because this would extremely slow down the simulation, PowerFactory executes all events that occur within a time interval of duration kres*dt- min at the same time, ‘The all system variables are then interpolated to the point in time, when the event is tak- Ing place, and the simulation is started from there. A higher resolution factor decreases the minimum time span between events. The typical value of 0.001 is normally sufficient. If an event occurs, there are two different options of treating it: Calculation of v(t) and v(t+h) as usual. PowerFactory uses special numerical methods for allowing this without numerical oscillations. Calculation of v(t) and v(t+), hence to values at the same time, one before the event ‘occurs, one after the event occurred, The second method is applied if the option Re- initialize after eventsis enabled. Further parameters can be changed to control the simulation algorithm. For integration control: errseq Maximum Error of State Equations (typical: 0.1%) itrpx Maximum Number of Successive State Iterations (typical: 10) alpha_rms Damping Factor (RMS) (typical: 1) alpha_emt Damping Factor (EMT) (typical: 0.99) For iteration control: errsm Maximum Iteration Error of Nodal Equations (typical: 10*erri/) The iteration error errsm depends on the nominal power of the machines and voltage levels. As an adequate starting value, errsm should be set to: errsm = 10¥errlf, where errffis the "Max, Allowable Load-Flow Error for each Bus". Checking is done best by plotting same valtages at generator busbars. If there are voltage steps observed, the value of ___ errsmshould be reduced. erreq Maximum Error of Model Equations (typical: 19%) itrlx Maximum Number of Iterations (typical: 25) dfpxspecifies the max. number of Iterations at each integration step which are allowed to reach the max, tolerable bus-error evrsm. During the transient simulation process, the typical number of iterations required is 1 to 5. Under certain conditions ~ le. after switching ‘operations - up to 25 iterations may be observed, itrix Iteration Limit to Recompute Jacobian Matrix (typical: 5) Local/Global Reference System ‘The PowerFactory stability analysis uses the angle of a reference machine and refers all other angles to this reference angle. This is a numerically very efficient approach. After running initial conditions, the reference machine is displayed in the output window. It is 2-9DISSILENT AowerRactory ‘Time-Domain Simulations usually the "Slack"-machine of the load-flow calculation. In case of several isolated islands, PowerFactory offers the option of using one refer- ence machine for the whole system, or to use an Individual reference machine for each island. The first case should be used if the islands are resynchronised again later in the simulation. In all other cases the option "Local Reference System" should be used be- cause it leads to a higher numerical stability and to faster simulation times, Maximum Rotor Angle Deviation PowerFactory can also calculate the maximum deviation between the rotor angles be- tween the synchronous machines in the system. This variable is then called ofrotx and can be chosen and displayed from the variables of all synchronous generators in the sys- tem. This variable can be used as an indicator for the synchronous operation of a large transmission system. Long-Term Stability ‘The PowerFactory simulation algorithm always uses A-stable numerical integration al- gorithms, However, with regard to the solution of dynamic model equations and network equations, the user can chose between two algorithms (the models are always the same); Relaxation Method: Mutual solution of Dynamic model equations and network equations until convergence is reached: This algorithm is fast for small step sizes but fails to converge when the step size is increased. Best choice for classical transient stability applications. Simultaneous Solution of dynamic model equations and network equations. This algorithm is (slightly) slower in case of small step sizes but converges much better in case of large step sizes. Typical applications are longer term simulations, in which the simulation step size is increased considerably after fast transients have decayed. ‘Another typical application are systems with power electronics. Even if power electronics devices are usually equipped with very fast controls, the "long-term" algorithm stil allows reasonable step sizes, at which the relaxation method would fail. Note A requirement for using the “long term” algorithm is that just "true" input and output variables are used for exchanging informa- tion between different models ‘When using a conventional, explicit numerical integration algorithm, such as Runge-Kut- ta, the integration step size must be adjusted to the eigenvalues of a system and the nu- merical solution becomes unstable if too large step sizes are used, even if fast modes have fully decayed and are not apparent in the system. In the PowerFactory'long-term al- gorithm’, the step size can be adjusted to the actual course of all state variables without considering numerical stability. When fast transients have decayed, the step size can be adjusted to the speed of slower transients etc. If some very fast modes are not of interest, a large step size can be selected from the beginning and the algorithm is automatically smoothing fast variations. The term "long- term” comes from the classical application of this type of algorithm, the simulation of long-term phenomena, where it is necessary to increase the simulation step size to the range of minutes, even if fast mades are present in the system. However, if power electronics are involved, characteristic time constants can be extremely 2-10DIGSILENT PowerFactory “Time-Domain Srwlations short (e.g, 1ms), even if a stability model with steady-state equations for the electrical network is used. Hence, using a classical integration algorithm would require to use step sizes much below the smallest time constant of the system, atherwise it would be numer ically instable, With the long-term algorithm, these systems can be analyses with reasonable step sizes. Hence, the long-term algorithm can not described as using simplified models but as dif- ferent type of numerical integration algorithm. 22.3.5 Noise Generation ‘The element "Noise Generator” (ElmNoise) can be used in a transient simulation to pro- duce a noise signal based on random numbers. On the Noise Generation page the type of this generator can be selected for producing these random numbers, The random num ber generator can be automatically chosen with auto, which is the default value and most often used. Also the option renew may be chosen, Then the random seed of the noise generator can be selected manually from "A" to "k". Thus the noise signal will look the same in every simulation, i.e. the results of a former simulation can be reproduced exactly. 22.3.6 | Advanced Simulation Options - Load-Flow ‘There are further options, which can influence the simulation process and its results, In the load-flow command dialogue (ComLdf, see also section 13.1 (Basic Options)) on the page for the advanced simulation options, the influence of protection devices or various controller models can be neglected. Hence the chosen models or protection devices will be ignored during the simulation as well as in load-flow and other calculations.DIGSILENT PoverFactory “Time-Domain Simutations ie driers bee Orbme | ‘command dialogue ‘Advanced Simulation Options in the Com! ‘The protection devices considered can be chosen between: none no protection devices are considered in the calculations all all protection devices are considered main only the protection devices are in operation, which are defined as ‘main' devices backup only the ‘backup’ protection devices are considered. According to the controller models, there is the possibility to ignore all controllers and mechanical elements with the option "Ignore Composite Elements". If there are only some model types one wants to neglect in the simulation, they can be moved from the left window "Consider Elements" to the right windows "Ignored Elements". 22.4 Result Objects During an EMT or RMS simulation a high number of signal variables is changing in time, To reduce the available data and to narrow down the number of variables to those nec- essary for the analysis of every special case, a selection of these signals for later use has to be defined. ‘Therefore one or more result objects, containing the result variables, can be configured, ‘The simulation function needs the reference to a result object to store the results. ‘The command dialogues for calculation functions, that produce signals, have result object references, as depicted in the figure 22.3 for the initial conditions dialogue. 22-12DIQSILENT PowerFoctary “Tine-Domain Sinutations [5 susyCarbtcalaistons [2] sus cass ‘Study Case\Losd Flow Caleta Fig. 22.3: Result object reference Such a result object reference is referring to the currently used result object. The down- ward arrowed button is used to select, or reset the reference or to edit the contents of the referenced result object. ‘The right-arrowed button is used to edit the result object itself. When editing the output variables press this Edit button and then Contents to get access to the list of variables stored inside the result object, This will pop up the corresponding EimRes edit dialogue. An easier way to edit the result object is to press the is icon on the main toolbar, or to select the Data—> Stability—> Result Variables option on the main menu, This will enable the user to edit the contents of the currently selected Result object in the Initial Conditions command dialogue. Result objects (ElmRes) are treated in detail in chapter 27. To add variables of different elements to the result object for RMS and EMT simulations, right-click on the preferred element in the graphic and select Define... and Variable Set (Sim)... a8 shown in the figure 22.4, Then this element is monitored during the simulation. The result object is automatically ‘opened. By double-clicking on the variable set ‘tii! the desired variables can then be se- lected, see also section 27.2.1, 22-13DIQSILENT Powerfectory “Time-Domain Simulations Note Most of the variables for RMS and EMT simulations are identical. Nevertheless there may exist variables that are valid for EMT but not for RMS calculations. It is advisable only to use variables for the calculation you are performing. 22.4.1 Saving Results from previous Simulations ‘The variables to be monitored are stored in the result object AN calculations. Here the results of the variables of the current simulation are stored as well, If the results of two different simulations shall be displayed, e.g. in one virtual instrument, there is the possi- bility to save the result object of a previous simulation simply by copying and renaming the result object All calculations. This can easily be done in the data manager. The result object can be found in the cur- rently active study case, Just copy the result object and paste it into the same study case, Then a second result object will be created with the name All calculations(1). The ob- ject can also be renamed. In the next simulation, the default result object All calculations will be overwritten with the new results, but the copied results will not be modified and can be displayed together with the new simulation results in one plot - see also section 27.1.2, 22.5 Events Besides the reference to a result object the simulation function needs a reference to an event object to determine the simulation events, The default event object in PowerFac- toryis Simulation Events and, like the result object, it is also stored inside the study case. External events are used in steady-state calculations (e.g. short-circuit calculations) as well as for transient calculations (Simulations), PowerFactory offers several kinds of events for time-domain simulations: 1 Control switch events (EvtSwitch) 2 Set parameter events (EvtParam) 3° Short-circult events (EvtShe) 4 Intercircuit fault events (EvtShell) 5 _ Events of synchronous machines (EvtSym) 6 Events of loads (EvtLod) 7 Outage of element (EvtOutage) ‘The different events are stored in the event object. The contents of the currently selected Event Object, which can be found in the diatogue of the initial conditions command Com- Inc, can be edited by using the right-arrowed (Edit) button and then the Contents but- ton to get access to the event list stored inside the event object. Easier the event object can be accessed from the main toolbar by pressing the “*! icon, A list of the currently defined events will be displayed including the set simulation time, when the event will occur, and the related object. The figure 22.5 shows an example for 22-14© DIQSILENT AowerFactory ‘Time-Domain Simulations a set of events, Soh SC eu pens witch’ pens wish Clea: SC tout | eloseSwich i Raa | oseSiwich Fig. 22.5: The event object including a set of events When creating a new event, use the ==: icon in the toolbar of the Simulation Events object, The kind of event can be chosen from the list in the dialogue. The events can also be modified during a simulation by stopping the calculation, editing the events and con- tinuing the simulation. % Another way of defining events is - when the initial conditions (2©') are calculated or the simulation is already running - to double-click on the cubicles to create switching events respectively to right-click on an element and then select a element related event such as Define... -> Control Switch, Define... > Event of Loador Define... -> Short-Circuit Event. During a simulation all previous events, which already occurred, are displayed in a grey font style and can't be changed anymore. When the simulation Is finished or is stopped manually, the events which are still to come in the simulation can be altered and new events can be created as well. Note Atthe end ofa simulation the event list shows all the events, which are now in a grey color. Thus they can't be modified again for this simulation, Because the simulation could be restarted from this point on. To change the events for a new sinwlation you have first to initiaise the calculation agatn (8), so the simulation time is set back to the beginning.DIQSILENT ApwerEoctany ‘Tune-Domain Simutations 22.5.1 Switching Events Switching events are used only in transient simulations. To create a new switching event, the {4 icon on the main menu can be pressed, if this icon is enabled, which will bring a 2 browser with all defined simulation events to the front, Pressing the ‘a * Icon in this browser will show a ComNew dialogue which can be used to create a new switching event. ‘The reference to the switch has to be set by hand. Any switch In the power system may be selected, thus enabling the switching off lines, generators, motors, loads, etc. Here the user Is free to select the switches/breakers of all phases or only of one or two phases. More than one switching event has to be created if, for Instance, a line has to be opened at both ends. These switching events should then have the same execution time. 22.5.2 Set Parameter Events With this event an input parameter of any element or DSL model can be set or changed. First a specified time of the simulation may be inserted, when the event will occur. Then an element has to be to specified/selected using the button a Then choose Select... for the context menu. Afterwards Insert the name and the new value of @ valld element parameter, 22.5.3 Short-Circuit Events ‘This event causes a short-circuit on a busbar, terminal or on a specified point on the line. “The fault type (three phase, two phase or single phase faults) can be specified as well as the fault resistance and reactance and the phases which are affected. There is no possibility to define the duration of the fault, To clear the fault, another short- circuit event has to be defined, which will clear the fault in the same place. An example is shown in the figure 22.5. 22.5.4 — Intercircuit Fault Events This event is similar to the short-circuit event described before. Two different elements and their phase can be chosen between which the fault occurs. Equal to the EvtShe four different elements can be chosen: + a busbar (StaBar) + a terminal (ElmTerm) + a overhead-ine or cable (ElmLne) + a line routes (EImLnerout) Here only single phase faults are allowed. 22-16DIgSILENT Pomertctory Fime-Domain Simulations 22.5.5 Events of Synchronous Machines For synchronous machines there is a special event to easily change the mechanical torque of the machine. A point in time in the simulation and an active synchronous machine Elm~ Sym has to specified. Then one can define the additional mechanical torque supplied to the generator. The torque can be positive or negative and is entered in per unit values. 22.5.6 Events of Loads For a certain load the point in time in the simulation and a load element (ElmLod, Elm- Lodly or ElmLodlvp) has to specified. The value of the load can then be altered using the load event, ‘There are different ways to change the power of the selected load: Incremental Change adds additional power (positive or negative) to the current value in % of the nominal power of the load Absolute Change changes the current value of the power to the given value In % of the nominal power of the load Nominal Change changes current and nominal value of the power to the specified value in % of the nominal power of the load 22.5.7 Outage of Element This event can only be used during a RMS simulation, when an element shall be put out of service at a certain point in time. Then the option "take element out of service” is to be used. It is not possible to bring back the outaged elements into service in the transient simulation. This option is active only in steady-state calculation functions, e.g. short-cir- uit calculation or reliability assessment. In time-domain simulation the following error message will occur in the output window: DigSi/err (t=000;000 ms) - Outage Event in simulation not available, Use Switch-avent. instead! 22.5.8 Save Results This event is only used in the PowerFactory Monitor part of the program. It can't be used during time-domain simulations. 22.6 Runa Simulation When the initial values have been calculated successfully, the ‘4 icon on the main tool- bar will be activated and can be pressed to start the simulation. The simulation is performed for the time interval between the start time defined in the initial conditions command Comine and stop time éstop, which can be specified in the simulation dialogue. After a simulation has finished, it may be continued by pressing the 2-17DDIQSILENT FomenFectory “Time-Domain Simulations “3 EY icon again and entering a new stop time. In the latter case, the stop time may also be entered as relative to the current simulation time, running simulation may be interrupted by pressing the '#1: or the -™' icon on the main toolbar. Additional events can be created, while the simulation pauses and results may be viewed. The simulation is then continued by pressing the |{ icon again. Pausing and continuing the simulation may be done as often as needed. 2-18DIGSILENT Powerfoctory Models for Stablty Analysis Chapter 23 Models for Stability Analysis Stability analysis calculations are typically based on predefined system models. In the ma- jority of cases the well known IEEE definitions for controllers, prime movers and other associated devices and functions are In use. For planning purposes, this approach might be acceptable. The predefined sets of param- eters will allow a favorable and reasonable behavior of the analyzed system. This ap- proach is often also applied for the purpose of operation analysis, and the system will show a good response similar to the real system. ‘Also for systems and configurations for which no IEEE models exist, such as wind gener- ators, HVDC-systems, etc, powerful tools for user defined modelling are required. For such analysis, also individual and very exact models can be created in PowerFactoryto meet all needs of the system to be analyzed, When manufacturers are able to supply exact contraller models including the real param- eters, the system model can be improved by not using the IEEE standard models but building @ new block diagram of the individual controller/mechanical system to represent the device. This will enable to perform a highly accurate system modelling studies, Especially utilities and consultants with an in-depth knowledge and tradition of conducting system operation performance and optimization studies have a clear need for adequate methods and tools for creating accurate transient models for stability analysis. ‘This inclucles complex operation analysis and special component planning problems. All this fed to the development of the highly flexible and accurate DIgSILENT PowerFac- tory time-domain modelling features, which are Introduced in this chapter. 23.1 System Modelling Approach ‘System modelling for stability analysis purposes is one of the most critical issues in the field of power system analysis. Depending on the implemented model accuracy, large-sig- nal validity, available system parameters and applied faults or tests, nearly any result could be produced and arguments could be found for their justification. This is one aspect of the complexity of a transient stability study. The other aspect results from the often large set of time-domain models that are required, each of which may be ‘a combination of other models. All these time-domain models are ultimately wired togeth- er into one single large transient madel from which the basic set of system differential equations can be obtained. Given this complexity of a transient analysis problem, the PowerFactory modelling phi- losophy targeted towards a strictly hierarchical system modelling approach, which com= bines both graphical and script-based modelling methods. ‘The basis for the modelling approach ts formed by the basic hierarchical levels of time- 23-1DIGSILENT PowerFoctory Models for Stbllty Analysts domain modelling: + The DSL block definitions, based on the “DIgSILENT Simulation Language” (B51), form the basic bullding blocks, to represent transfer functions and differential equations for the more complex transient models. + The built-in modelsand common models. The built-in models or elements are the transient PowerFactory models for standard power system equipment, ie. for generators, motors, static Var compensators, etc. The common models are based on the DSL block definitions and are the front-end of the user-defined transient models. * The composite models are based on composite frames and used to combine and interconnect several elements (built-in models) and/or common models. The composite frames enable the reuse of the basic structure of the composite model. ‘The relation between these models and the way that they are used Is best described in the following example. ‘Suppose the frequency deviations due to the sudden loss of a fully loaded 600 MW unit in a particular network is to be analyzed, Depending on the network and the required de- tall in the calculated results, such analysis may ask for a detailed modelling of the voltage controllers, prime movers and primary controllers, or any other important equipment for all large generators in the system. * veo Pawer System ‘Voltage Controller ‘Seber ‘sym Pow ‘Synchyanas Machine co PMU m “2 primary Conler -—=—P rine Hover int > poy Primary Carrol Unit Fig. 23.1: Example of a composite generator or power plant mode! An typical configuration of a synchronous generator with power system stabilizer, voltage controller, primary controller, and prime mover model is shown in the figure 23.1. Primary controller and prime mover can be summarized as the primary controller unit model, To Create such a model, the following actions are required: 1 Transient models for each required controller type or unit type have to be defined (Model/Biock Definition). 2 For each generator, the transient models of the individual controller must be customized by setting the parameters to the correct values (Comunon Mocteh. 3 Adiagram has to be made defining the connections between the inputs and outputs of the various models ( Composite Frame). 4 For each generator, the diagram and the customized transient models are to be Grouped together to define an unique ‘composite’ generator model (Composite Modeh. It may seem unnecessary to include point 2 and 3: it would be possible to create custom- 23-2oN C O DIQSILENT AonerFectony oels for Staity Analysis ized transient mode's for each generator directly, with 'burned-in' parameter settings, and to link these models to a generator without having to define a diagram first, This, how- ever, would mean that one would have to create a new voltage controller, e.g. for each generator in the system. Often the design of many of these voltage controllers will be similar. To omit the need of creating copies of these controllers for each generator and to avoid redundant copies of controllers or also of whole generator models. Here the same relationship between individual controller (Common Model) and controller definition (Model Definition) respectively between the generic power plant diagram (Com- posite Frame) and the individual power plant (Composite Model) is used, as the relation- ship between element and type definition). DIgSILENT PowerFactory uses two key objects in creating composite models, which can be compared to the efement.definition of the different elements: * The Common Model (ElmDs!) combines general time-domain models or model equations (a block definition) with a set of parameter values and creates a integrated time-domain model, + The Composite Model(ElmComp) connects a set of time-domain models inside a diagram (a composite frame) and creates a ‘composite model’. ‘The following diagrams explain the relation between the Composite Model (which is using a Frame as type) and the Common Model (based on a block diagram as type) in detail. + The Composite Model(ElmComp), see figure 23.2, references a a definition of a composite frame. This composite frame Is basically a schematic diagram containing various empty slots, in which controller or elements can be assigned. These slots are then interconnected according to the diagram, see section 24.3.1 (Composite Block Definitions). The slots in the composite frame are pre-configured for specific transient models, The schematic diagram in the figure 23.3 shows a Composite Frame (BIkDef) which has one slot for a synchronous machine, one for a primary controller unit (pou slot), and one for a voltage controller (vco slot). The composite model, which uses this composite frame, shows a list of the available slots and the name of the slot. Now the specific synchronous generator, voltage controller or primary controller unit model can be inserted into these slots. The synchronous machine that is used in the Composite Model are called Built-In Models, see figure 23.4. This means these elements are pre-configured elements which do not need a specific model definition. Into the slots alt kinds of elements can be inserted, which are able to input or output variables, e.g. converters, busbars, etc. ‘The voltage contraller, and primary controller unit, however, are user-defined Common Models, see figure 23.5. The ‘front-end’ of all user-defined transient models is always such a common model (ElmDsl), which combines a model definition with specific parameter settings. There are predefined definitions as well as the user can define model definitions by himself. The common model has a reference to the Mode! Definition (BIkDef), which looks similar to the composite frame (shown in figure 23.6). Here different blocks are defined and connected together according to the diagram. The input and output variables have to fit to the stot definition of the slot the model is defined to. Not all slots of the composite model have to be used. There can also be empty slots. Then the input of this slot is not used and the output will be assumed to be constant over the complete simulation. The usage of composite models with its composite frame as well as 23-3DIGSSLENT AoverFoctory dels for Stablity Analysis the common model with its block definitions are described in the next sections. ‘The design and creation of user defined common madels using the "DIgSILENT simu- lation Language” (SZ) can be found in chapter 24 (User Defined (DSL) Model's). Pe ce Seca ale tae ae = Net Elemenls Ela? Sta" Inet Gl PCUGarereio (VCO. Gerarator Fig, 23.2: Fig. 23.3: Composite frame “Frame_Generator” Fig. 23.4: Generator “G1” (built-in model) 23-4DtQSILENT RowerFactory Models for Stabity Analysts [eee es ars Cees altel Mocel Definition sw | { itsasy\ven Single Te OutetSevice "7 A‘tableiegrationslooihn ee Parana [PTs FieiDaivaive Tine conrtor To _ Fits Daley Tene fl KL Contotet Gah foul ‘Ke _Fielé Gain Constant faa) Te Excine Te Comtent ls] Exit Contes Ninrura OulpakTouul Emax Corloter Mavinurn Guapat [of Fig. 23.5: Example of a common model using the definition “vco_simple” ‘voo_Simple: Simplified Excitation System mpsmaae Fig. 23.6: Example of a model definition “vco_simple” CODIQSILENT PowerFoctory Models for Salty Anais 23.2 The Composite Model A composite model element (ElmComp) can created by using the "New Object" icon in the toolbar of the database manager and selecting Composite Model. The next step is to select the composite frame. The composite frame can either be stored in the global or in the local library and can be compared to the type definition of the electrical elements. The composite model then shows the list of slots in the composite frame as shown in the figure 23.7. Existing controllers or models can be assigned to a slot manually by right-clicking the slot and selecting Select Element/Type, as depicted in the figure 23.7. A data manger window will pop up and the user can then browse the grid for the element to insert into the se- lected siot. Se Basie Das | Descnioa| TF duet Service Slot Defeone Wel Etenens lov Slane Gl [PCU_ Generar [VEO_ Generator Fig. 23.7: Editing the composite element folder If inserting controller models into a slot often the controller element has not yet been cre~ ated. To create a new controller select Nev Element/Type trom the context menu of the slot. PowerFactory will automatically jump to the project library and show a list of avall- able user defined models (EImDs!). Selecting a model definition form the project or the global library will open the element dialogue of the newly created common model in order to define the parameters, similar to e.g. a transformer element. If no suitable model is found, a block definition has to be selected prior to setting the model parameters (see section 23.3 (The Composite Frame) and the figure 23.6). If a element is assigned to a slot, there is the possiblity to edit the assigned element by simply selecting Define... -> Edit Element/Type, The menu command Define... -> Reset Element/Typewill reset the slat, so it is empty again. 23-6DIgSILENT Aonerractory Models for Stbilty Analysts Note ~~ Depending on the settings of the individual slot the menu com- mand Define... -> Reset Element/Type will not only clear the marked siot but also delete the built-in or common model, if it is stored inside the composite model in the data manager. These set- tings are explained in the section 23.3 (The Composite Frame) in more details, ‘A faster method for defining standard composite models is to right-click an object in the single line diagram and selecting Define... from the context menu of the element. When a standard composite model is available for the selected object, a list of the avail- able controllers is shown. Selecting a controller will add it to the composite model, which is automatically created when no composite model exists yet for the selected object. ‘Standard composite models are available for ‘© The synchronous motor and generator, ‘* The asynchronous motor and generator, + The static Var system, 23.2.1 Slot Update ‘The Slot Update button in the composite model will re-read the slot definitions from the composite frame and will cancel all invalid slot assignments, Asilot assignment is invalid when a model has been assigned to a slot which is not suited to receive such a model, i.e. a voltage controller cannot be assigned to a slot defined for a primary controller model. All built-in or common models which have been created for a specific composite model are stored in that composite model itself. The contents of a composite model are shown in the database manager where the composite model is treated as a normal database folder. Basic power system equipment, such as synchronous machines or static VAr com- pensators, are normally not stored in the composite folder, but in the grid itself. The slot update will try to re-assign each model found in its contents to the corresponding slot. Hereby the options defined for each slot are important, These are described in the Paragraph (Classification) in section 23.3 (The Composite Frame). 23.2.2 Step Response ‘The Step Response button In the composite model will activate the Step Response Com- mand ComStepres. The dialogue can be seen in the figure 23.8. Next to the references to the composite model, the template and the target directory, the two step response tests, which will be created, can be specified, /iso the study case to be activated can be chosen. When Execute is activated, PowerFactory will create a new folder in the current project named "Step Response Test’. The figure 23.9 shows this folder in the data manager. 23-7DIGSILENT PonerFoctony Models for Stabiity Anais’: Target Diectay Copy Template | PAR test | alec Vetape ew foe Fig, 23.8: Dialogue of the step response command COO Libra FEY Stop Response Test T°: Comp Pant Mods Gent | Be Teel Gd 1 hited Study Case AVR Step | hte Study Coro PCU Step {GID Types a Changed Settings Fig. 23.9: Step response folder in the Data Manager Inside this folder a second folder with the name of the composite model, witich is to be tested, is created. Here the simple test grid can be found including only the generator, the complete composite model and a load. Additionally there will be two new study cases in which a step response for the AVR and the PCU respectively of the composite model can be tested. The user can change between the two study cases and your old cases by activating and deactivating them. After — SSeS Note There now doesn't exist any connection between the original and the new elements of the composite madel any more. So you can change all settings of the controller without changing your net- work. testing the controller, the folder "Step Response Test" can be deleted completely without loss of information in the original network. 23-8 OQ 9D“ DIgSILENT PowerFoctory ‘Models for Stablity Analysis 23.3 The Composite Frame A composite frame is a block diagram which defines two or more slots, their input and ‘output signals, and the connections between them. A composite frame Is defined graph- ically by drawing it. Drawing a composite model frame is similar to drawing a normal block diagram. The main difference is that in stead of common blocks, only slots may be used. To create a new composite frame select the "Insert New Graphic" icon on the main toolbar and then selecting Slock/Frame Diagram and pressing Execute as shown in the figure 23.10. This new block definition will then be automatically created in the local li- brary. Naive. ENEMA Target Fol © "BlockdFtams Diagram (© Vitual inerumert Panel © Single Lins Graphic 7 Composite Net Element Drawing Size © Potted’ Format [ia ® Landscape Fig, 23.10: Creating a new composite frame ‘An empty diagram of the frame will appear in the graphics window, A slot Is then created by selecting the "=" icon in the graphics toolbox and positioning the slot on the drawing surface by once clicking at the appropriate position, This is similar to placing elements in the single line diagram. An empty slot will be drawn on the page. To define the input and output signals and dif- ferent parameters of the slot, edit the slot by double-clicking it. The slot edit dialogue will pop up as depicted in the figure 23.11.DgSILENT PowerRoctny dels for Seabltty Anzisis SORE iste dy lea ws Geuaclaeases Output Signale nou Sig Fig. 23.11: Slot dialogue Name and Sequences ‘The name of the slot will appear later in the dialogue of the composite model and should be given according to the element that is to be assigned (e.g. 'vco slot’), The "Sequence" parameter defines the order of the slots appearing in the composite model dialogue. Input and Output Signals ‘The input and output signals have to be defined for each slot. The available signal names for the Built-In transient models can be found in corresponding Technical References of the elements. The given input and output signal names in this slot dialogue have to match the input/output signals of the given transient model exactly, or the signals will not be connected properly and an error message will occur. Only after one or more input and output signals have been defined for a slot, it becomes possible to connect the stot with signal lines to other slots. It is therefore recommended to first position and edit all slots and draw the signal connections thereafter. Limiting Signals Also there Is the possibility to enter ‘limiting signals’. These signals are handled by PowerFactory exactly like the normal input signals, The difference is only in the graph- 23-10DIQSILENT Ponerrectory Models for Stblity Analysis ical representation in the block diagram. These signals will be shown as inputs on the top or bottom of the slot, Class/Name Filter Additionally there is the possibility to specify a filter for the class name and/or for the model name to be inserted. This makes sense e.g. when only synchronous machines should be assigned to the slot, Then for the class name £/mSym*has to be entered. PowerFactory then will only allow the element class "synchronous machine" to be in- serted into the slot. A filter for a specific (part of an) element name can also be defined. Classification ‘The classification options does only affect the external behavior of the slot. Linear ‘The slot representation in the frame diagram will be as a linear or non- linear model, Automatic, model will ba created When this option is activated, the function ‘Slot Update’ (see section SlotUpdate) will automatically create a DSL model and ask for a black definition from the library. Local, Model must be stored inside This option is activated by default. This means that when a Slot Update is executed in the composite model, PowerFactary will only search for elements, which are stored inside the ElmComp. A reference to models, which are stored outside, i.e, like the synchronous generator in a plant model, will be removed from the slot, Not all input or output signals of built-in elements or common models have to be used and defined in the slot. Also a slot may only have input or output signal. For example the voltage or frequency of a AC voltage source ElmVac may be controlled by an external function. So the slot for the source will only have two input signal ud and f0. More information about drawing composite frame diagrams can be found in 23.6 (Drawing Composite Block Diagrams and Composite Frames). 23.3.1 Assigning a Block Definition to a Slot There is the possibility to assign a block definition (BIkDef) directly to a slot. This option will simplify the handling of the slot and prevent errors due to not matching signal names of slot and assigned block. To assign the external form of a block definition to the selected slot, edit the slot by dou- ble-clicking itand choose the "select" button | for the "Block Definition” in the dialogue. Now the block definition can be selected, e.g. the type of controller or built-in element, which should be assigned to this slot later on. For example if the new defined slot ought to represent a synchronous machine in the frame diagram, a predefined block definition can be chosen to insert the input and output signals to this slot avallable for the element ElmSym. A controller for example shoutd only assigning to a slot, when only this type of controller is to be inserted into this slot but no other model. 23-11DISSILERT PoworFoctory Mode for Stblity Analisis ‘Some predefined block definitions can be found in the global library in the path Library] Models| Built-in. When the block definition Is selected (in our example the ElmSym.BlkDef), the input and output as well as limiting signals will disappear from the dialogue of the slot. The filter for the class name will automatically be entered. When selecting the Ok button, the slot will then show the right inputs and output of the block definition. Note When block definition is assigned directly to slot, only the input output signals is set automatically, The internal equations/defini- tions of the block definition are not implemented into the slot and the slot itself remains empty. There is always the need to create a common model, which is the inserted into slot of the composite model, When the siot refers to an outside block definition, take care that this reference Is also Inside your project. If the reference to the definition Is invalid or changed, the slot may be changed as well. So use the option of assigning a block very carefully. 23.4 The Common Model “The common model element (ElmDsI, (il) is the front-end object for all user-defined block definitions. This means that user-defined transient models, but also the block dia- grams that are ready shipped with the PowerFactory program, cannot be used other than through a common model. The common model combines a mode! or block definition ‘with specific set of parameter values. The Common Model shown in figure 23.12 uses the block definition “vco_Simple”, ‘Typically the model definition is implemented as a block definition, such as shown figure 23.13. ‘A model definition contains block references which may in turn either point to a primitive block definition (see figure 23.14) or to a another compasite block definition (see figure 23.15). The structure of the block definition is thus recursive and it should be watched ‘that this recursive structure does not contain circular references to composite block defi- nitions. ‘A primitive block definition contains one or mare DSL expressions and forms a basic block for more complex transient models. A description of how to use and create DSL models can be found in chapter 24 (User Defined (DSL) Models). It is also possible to Implement the model definition not as a block definition, but directly as a primitive block definition (figure 23.14), coded using DSL. Each block definition generally has one or more parameters which ean be changed to de- fine the model's behavior. Two kinds of parameters are supported: + Scalar parameters, i.e. amplification factors, offsets, setpoints, etc. * Two and three dimensional array parameters, which are used in the DSL lapprox()/ lapprox2() and sapprox()/sapprox2() functions.DIQSILENT AomerFoctory ode!s for Stablty Anaisis Name" Model Definition». sr [| titrary\vea" Single. JT, Dutot Seite 2 ST Aslabe integrin goth = Prender Pris FterDeivatve Time Constantia] Ty Fiter Delay Tine] Ki _Contoler Gan fu] ‘Ke fied Goin Constant [au] Te_Enetor Tine Constants} Emin Controfer Minna Ould [aa] Enna Conor Marnum Outpt fu] Fig. 23.12: Common model for the VCO vco_Simple: Simplified Excitation System ct 4 oe ¢ OP wom ape ig cpertor pa a sons Fig. 23.13: Block definition of the VCO, using a Sub-Definition 23-13DIQSILENT Powerfscrony Modes for Sabiity Anaiysis feted eae ri Adaional Equations. . eergolest (150, (Keyi a} 7.0.8) orselect (120, Limotate(x, Vain, Yaax),lin(Kayi, Vain, Ynex)) Limits(T)=(0.] Fig. 23.14: Implementation of the limiter block, using a DSL routine Fig. 23.15: Implementation of the controller, defining a sub-block To create a common model, use the "New Object | ) icon in the toolbar of the data manager and select Common Model. The block/model definition has to be selected first. paneer to the composite frame, this definition is either stored in the global or in the local library. ‘The commen model then displays the list of available parameters and arrays from the block diagram, as shown in the figure 23.16. All parameters are listed on the first page of the common model, and their values be specified there. 23-14 1D