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TRANSMISSION SYSTEMS
2.1 Introduction
The conventional power transmission system is a complex network of passive components, mainly transmission lines and transformers, and its behaviour is commonly assessed using equivalent circuits consisting of inductance, capacitance and resistance. This chapter deals with the derivation of these equivalent circuits and with the formation of the system admittance matrix relating the current and voltage at every node of the transmission system. Among the many alternative ways of describing transmission systems to comply with Kirchhoff s laws, two methods, mesh and nodal analysis, are normally used. The latter has been found to be particularly suitable for digital computer work, and is almost exclusively used for routine network calculations. The nodal approach has the following advantages: The numbering of nodes, performed directly from a system diagram, is very simple.
0
Data preparation is easy. The number of variables and equations is usually less than with the mesh method for power networks.
0 0 0
Network crossover branches present no difficulty, Parallel branches do not increase the number of variables or equations. Node voltages are available directly from the solution, and branch currents are easily calculated. Off-nominal transformer taps can easily be represented.
mation, i.e.
(i) Label the nodes in the original network.
2 TRANSMISSION SYSTEMS
(ii) Number, in any order, the branches and branch admittances. (iii) Form the primitive network admittance matrix by inspection. This matrix relates the nodal injected currents to the node voltages of the primitive network. The primitive network is also drawn by inspection of the actual network. It consists of the unconnected branches of the original network with a current equal to the original branch current injected into the corresponding node of the primitive network. The voltages across the primitive network branches then equal those across the same branch in the actual network. The primitive network for Figure 2.1 is shown in Figure 2.2. The primitive admittance matrix relationship is:
[YPRIM 1
Off-diagonal terms are present where mutual coupling between branches is present. (iv) Form the connection matrix [C].
2.3
This relates the nodal voltages of the actual network to the nodal voltages of the primitive network. By inspection of Figure 2.1,
or in matrix form
(v) The actual network admittance matrix which relates the nodal currents to the voltages by
(2.4)
qrF-T[
Y&
2 TRANSMISSION SYSTEMS
I Is I I
-Ysc
+ YW/2 I
Ysc
I I vs 1
where ysc is the short-circuit or leakage admittance, yW is the open-circuit or magnetizing admittance. The use of a three-terminal network is restricted to the single-phase representation and cannot be used as a building block for modelling three-phase transformer banks. The magnetizing admittances are usually removed from the transformer model and added later as small, shunt-connected admittances at the transformer terminals. In the per unit system, the model of the single-phase transformer can then be reduced to a lumped leakage admittance between the primary and secondary busbars.
- YikVk = Yik v k - Y i k vi
= yikvi
(2.7)
(2.8)
In this case, l i k = -Iki. For an off-nominal tap setting and letting the voltage on the k side of the ideal transformer be V , , we can write
= yik(Vk - V t ) , = --.Iki a
Yik - -vi, a
(2.10) (2.11)
lik
= yikvk
(2.12) (2.13)
A simple equivalent n circuit can be deduced from Equations (2.12) and (2.13), the elements of which can be incorporated into the admittance matrix. This circuit is illustrated in Figure 2.4(b). The equivalent circuit of Figure 2.4(b) has to be used with care in banks containing delta-connected windings. In a star-delta bank of single-phase transformer units, for example, with nominal turns ratio, a value of 1.0 per unit voltage on each leg of the star winding produces under balanced conditions 1.732 per unit voltage on each leg of the delta winding (rated line to neutral voltage as base). The structure of the bank requires in the per unit representation an effective tapping at J?; nominal turns ratio on the delta side, i.e. a = 1.732. For a delta-delta or star-delta transformer with taps on the star winding, the equivalent circuit of Figure 2.4(b) would have to be modified to allow for effective taps to be represented on each side. The equivalent-circuit model of the single-phase unit can be derived by considering a delta-delta transformer as comprising a delta-star transformer connected in series (back-to-back) via a zero-impedance link to a star delta transformer, i.e. star windings in series. Both neutrals are solidly earthed. The leakage impedance of each transformer would be half the impedance of the equivalent delta-delta transformer. An equivalent per unit representation of this coupling is shown in Figure 2.5. Solving this circuit for terminal currents:
I I,=-=
ff
(V - V ) y
ff
(2.14)
I = ?VP Y -I, = -
Y - -vs,
B2
(2.15)
10
2 TRANSMISSION SYSTEMS
or
V p= ( a
+ jb)V = aV,
I I I P = -a - j b - -a*
Thus, the circuit of Figure 2.5 has two different turns ratios, i.e.
aU = a!
+j b
and
ai = ( I I- jb
- -v,, Y
QiS
(2.17)
rp
1:0
I
Figure 2.5 Basic equivalent circuit in p.u. for coupling between primary and secondary coils with both primary and secondary off-nominal tap ratios of ct and /?
11
(2.18)
%B
Y - -vs.
B2
Thus, the general single-phase admittance of a transformer including phase shifting is:
.I;
[Yl
=
(2.19)
-a"B
P2
It should be noted that, although an equivalent lattice network similar to that in Figure 2.5 could be constructed, it is no longer a bilinear network as can be seen from the asymmetry of y in Equation (2.19). The equivalent circuit of a single-phase phaseshifting transformer is thus of limited value and the transformer is best represented analytically by its admittance matrix.
where
(2.21)
and (2.22)
12
2 TRANSMISSION SYSTEMS
l a
Figure 2 . 6 Admittance representation of a three-phase series element (a) series admittance element; (b) admittance matrix representation
By the use of the symmetrical components transformation the three coils of Figure 2.6 can be replaced by three uncoupled coils. This enables each coil to be treated separately with a great simplification of the mathematics involved in the analysis. The transformed quantities (indicated by subscripts 012 for the zero, positive and negative sequences respectively) are related to the phase quantities by
[ V O I Z= I [T~I[ '~ a ~ x I t
[10121
(2.23) (2.24)
= [Tsl-'[labc]
(2.25) = [Tsl- [yabcl [Ts 1 [ VOI21 v where [Ts] is the transformation matrix. The transformed voltages and currents are thus related by the transformed admittance matrix, [ y o 1 2 1 = i ~ s 1 - I[ y a b c l [ ~ s l . (2.26) Assuming that the element is balanced, we have
Yaa Yab Yba
'
(2.27) = Ycb = Yac, and a set of invariant matrices [TI exists. Transformation (2.26) will then yield a diagonal matrix [ y 0 1 2 ] . In this case, the mutually coupled three-phase system has been replaced by three uncoupled symmetrical systems. In addition, if the generation and loading may be
13
assumed balanced, then only one system, the positive sequence system, has any current flow and the other two sequences may be ignored. This is essentially the situation with the single-phase load flow. If the original phase admittance matrix [yabc] is in its natural unbalanced state, then the transformed admittance matrix [yo121 is full. Therefore, current flow of one sequence will give rise to voltages of all sequences, i.e. the equivalent circuits for the sequence networks are mutually coupled. In this case, the problem of analysis is no simpler in sequence components than in the original phase components and symmetrical components should not be used. From the above considerations, it is clear that the asymmetry inherent in all power systems cannot be studied with any simplification by using the symmetrical component frame of reference. Data in the symmetrical component frame should only be used when the network element is balanced, for example synchronous generators. In general, however, such an assumption is not valid. Unsymmetrical interphase coupling exists in transmission lines and to a lesser extent in transformers, and this results in coupling between the sequence networks. Furthermore, the phase shift introduced by transformer connections is difficult to represent in sequence component models. With the use of phase co-ordinates the following advantages become apparent:
(i)
(ii) Features such as asymmetric impedances, mutual couplings between phases and between different system elements, and line transpositions are all readily considered.
(iii) Transformer phase shifts present no problem.
14
2 TRANSMISSION SYSTEMS
The primitive admittance matrix relates the nodal injected currents to the branch voltages as follows:
(2.28)
6x1
Partitioning Equation (2.28) into 3 x 3 matrices and 3 x 1 vectors, the equation becomes:
where
---
(2.29)
(2.30)
Graphically, we represent this partitioning as grouping the six coils into two compound coils (a) and (b), each composed of three individual admittances. This is illustrated in Figure 2.8. On examination of [Y&] and [ Y b a ] , it can be seen that
[Ybal
= EY,bIT*
if, and only if, Yi& = y&i for i = 1 to 3 and k = 4 to 6. That is if, and only if, the couplings between the two groups of admittances are bilateral. In this case, Equation (2.29) may be written
(2.31)
15
[YAl
Figure 2.10
The primitive network for any number of compound admittances is formed in exactly the same manner as for single admittances, except in that all quantities are matrices of the same order as the compound admittances. The actual admittance matrix of any network composed of the compound admittances can be formed by the usual method of linear transformation; the elements of the connection matrix are now n x n identity matrices where n is the dimension of the compound admittances.
16
2 TRANSMISSION SYSTEMS
Figure 2.11 Primitive networks and corresponding admittance matrices. (a) Primitive network using single admittances; (b) Primitive admittance matrix; (c) Primitive network using compound admittances; (d) Primitive admittance matrix
If the connection matrix of any network can be partitioned into identity elements of equal dimensions greater than one, the use of compound admittances is advantageous. As an example, consider the network shown in Figures 2.9 and 2.10, which represents a simple line section. The admittance matrix will be derived using single and compound admittances to show the simple correspondence. The primitive networks and associated admittance matrices are drawn in Figure 2.1 1. The connection matrices for the single and compound networks are illustrated by Equations (2.32) and (2.33),
17
respectively.
(2.32)
(2.33)
This matrix multiplication can be executed using the full matrices or in partitioned form. The result in partitioned form is
18
2 TRANSMISSION SYSTEMS
Va - Vh = la(&
(2.34)
(2.35)
and substituting
=Ia+Ib+Ic+Ig,
(2.36)
Va - V i = la(&
(2.37)
(2.38)
2.5
19
Figure 2.12 (a) Three-phase transmission series impedance equivalent; (b) Three-phase transmission shunt impedance equivalent
and writing similar equations for the other phases, the following matrix equation results:
(2.41)
Since we are interested only in the performance of the phase conductors, it is more convenient to use a three-conductor equivalent for the transmission line. This
20
2 TRANSMISSION SYSTEMS
(2.42)
(2.43) (2.44) From Equations (2.42) and (2.43), and assuming that the ground wire is at zero potential: (2.45) A vabc = Zabclabc
3
(2.46)
(2.47)
= PLbcQabc
(2.48)
where Pbbc is a 3 x 3 matrix which includes the effects of the ground wire. The capacitance matrix of the transmission line of Figure 2.12 is given by
(2.49)
The series impedance and shunt admittance lumped-n model representation of the three-phase line is shown in Figure 2.13(a) and its matrix equivalent is illustrated
2.5
21
Figure 2.13 Lumped-7r model of a short-three phase line series impedance. (a) Full circuit representation; (b) Matrix equivalent; (c) Using three-phase compound admittances
in Figure 2.13(b). These two matrices can be represented by compound admittances, (Figure 2.13(c)), as described earlier. Following the rules developed for the formation of the admittance matrix using the compound concept, the nodal injected currents of Figure 2.13(c) can be related to the nodal voltages by the equation:
I ,
I
(2.50)
1
6x1
6x6
6x1
22
2 TRANSMISSION SYSTEMS
This forms the element admittance matrix representation for the short line between busbars i and k in terms of 3 x 3 matrix quantities. This representation may not be accurate enough for electrically long lines. The physical length at which a line is no longer electrically short depends on the wavelength; therefore, if harmonic frequencies are being considered, this physical length may be quite small. Using transmission line and wave propagation theory, more exact models may be derived [5,6].However, for normal mains frequency analysis, it is considered sufficient to model a long line as a series of two or three nominal-n sections.
2.5.3
Equivalent a model
For long lines a number of nominal n models are connected in series to improve the accuracy of voltages and currents, which are affected by standing wave effects. For example, a three-section IT model provides an accuracy to 1.2% for a quarter wavelength line (a quarter wavelength corresponds with 1500 and 1250 km at 50 and 60 Hz, respectively). As the frequency increases, the number of nominal IT sections to maintain a particular accuracy increases proportionally, e.g. a 300 km line requires 30 nominal IT sections to maintain the 1.2% accuracy for the 50th harmonic. However, near resonance the accuracy departs significantly from an acceptable value. The computational effort can be greatly reduced and the accuracy improved with the use of an equivalent r model derived from the solution of the second order linear differential equations describing wave propagation along transmission lines [ 5 ] . The solution of the wave equations at a distance x from the sending end of the line is:
V(X) = exp(-p)vi
+ exp(yx>vr,
(2.5 1)
(2.52)
where y = = (Y + j/3 is the propagation constant, Z = r + j 2 n f L is the series impedance per unit length, Y = g j 2 n f C is the shunt admittance per unit length, and V i and Vr the forward and reverse travelling voltages, respectively. Depending on the problem in hand, e.g. if the evaluation of terminal quantities only is required, it is more convenient to formulate a solution using two-port matrix equations. This leads to the equivalent n model, shown in Figure 2.14, where
Z = Z, sinh(yf),
Y*=Y2=1 cosh(yf) - 1 1 = - tanh Z , , sinh(yf) Z,
(2.53)
) : (
(2.54)
and
z ,=
(2.55)
is the characteristic impedance of the line. Due to the standing wave effect of voltages and currents on transmission lines, the maximum values of these are likely to occur at points other than at the receiving end or sending end busbars. These local maxima could result in insulation damage, overheating
2.5
23
Figure 2.14
or electromagnetic interference. It is thus important to calculate the maximum values of currents and voltages along a line and the points at which these occur. In the case of multiconductor transmission lines, the nominal n series impedance and shunt admittance matrices per unit distance, [Z'] and [Y']respectively, are square and their size is fixed by the number of mutually coupled conductors. The derivation of the equivalent 77 model for harmonic penetration studies from the nominal n matrices is similar to that of the single phase lines, except that it involves the evaluation of hyperbolic functions of the propagation constant which is now a matrix:
[Yl = ([z~l[yw2.
(2.56)
There is no direct way of calculating sinh or tanh of a matrix, thus a method using eigenvalues and eigenvectors, called modal analysis, is employed [6] that leads to the following expressions for the series and shunt components of the equivalent n circuit [7]: sinh(y l ) (2.57) [ZIEPM = l[Z'I[Ml yl [MI-',
where 1 is the transmission line length, [&pM is the equivalent IT series impedance matrix, [MI is the matrix of normalized eigenvectors, sinh( y11) 0 ... O 1
and y, is the j t h eigenvalue for j / 3 mutually coupled circuits. Similarly (2.59) is the equivalent n shunt admittance matrix. where [ Y ] E P M Computer derivation of the correction factors for conversion from the nominal IT to the equivalent n model, and their incorporation into the series impedance and shunt
25
The coupled series elements represent the electromagnetic coupling while the coupled shunt elements represent the capacitive or electrostatic coupling. These coupling parameters are lumped in a similar way to the standard line parameters. With the admittances labelled as in Figure 2.16, and applying the rules of linear transformation for compound networks, the admittance matrix for the subsystem is defined as follows:
IA
IB
1,
ID
q.
VfJ 12x 1 (2.60)
12 x 1
12 x 12
It is assumed here that the mutual coupling is bilateral. Therefore Y21 = YT12, etc. The subsystem may be redrawn as in Figure 2.17. The pairs of coupled 3 x 3 compound admittances are now represented as a 6 x 6 compound admittance. The matrix representation is also shown. Following this representation and the labelling of
FYs1]
Figure 2.17 A 6 x 6 compound admittance representation of two coupled three-phase lines: (a) 6 x 6 matrix representation; (b) 6 x 6 compound admittance representation
26
2 TRANSMISSION SYSTEMS
the admittance blocks in the figure, the admittance matrix may be written in terms of the 6 x 6 compound coils as
(2.61)
This is clearly identical to Equation (2.60) with the appropriate matrix partitioning. The representation of Figure 2.17 is more concise and the formation of Equation (2.61) from this representation is straightforward, being exactly similar to that which results from the use of 3 x 3 compound admittances for the normal single three-phase line. The data that must be available to enable coupled lines to be treated in a similar manner to single lines are the series impedance and shunt admittance matrices. These matrices are of order 3 x 3 for a single line, 6 x 6 for two coupled lines, 9 x 9 for three and 12 x 12 for four coupled lines. Once the matrices [Z,] and [ Y,] are available, the admittance matrix for the subsystem is formed by application of Equation (2.61) When all the busbars of the coupled lines are distinct, the subsystem may be combined directly into the system admittance matrix. However, if the busbars are not distinct then the admittance matrix as derived from Equation (2.61) must be modified. This is considered in the following section.
2.5.5
The admittance matrix as derived above must be reduced if there are different elements in the subsystem connected to the same busbar. As an example, consider two parallel transmission lines as illustrated in Figure 2.18. The admittance matrix derived previously related the currents and voltages at the four busbars A l , A2, B1 and B2. This relationship is given by
(2.62)
~
vB2
(2.64)
27
&
-+-
/BI
Busbar
A2
= VAI = VA2,
VB
= VBl = vB2,
(2.65)
The required matrix equation relates the nodal injected currents, 1, and IB, to the voltages at these busbars. This is readily derived from Equation (2.62) and the conditions specified above. This is simply a matter of adding appropriate rows and columns, and yields
(2.66)
This matrix [ Y A B ] is the required nodal admittance matrix for the subsystem. It should be noted that the matrix in Equation (2.62) must be retained as it is required in the calculation of the individual line power flows.
2.5.6
Shunt elements
Shunt reactors and capacitors are used in a power system for reactive power control. The data for these elements are usually given in terms of their rated MVA and rated kV; the equivalent phase admittance in p.u. is calculated from these data. Consider, as an example, a three-phase capacitor bank shown in Figure 2.19. A similar triple representation to that for a line section is illustrated. The final two forms are the most compact and will be used exclusively from this point on.
I.
I
28
2 TRANSMISSION SYSTEMS
Figure 2.20 Graphic representation of series capacitor bank between nodes i and k
The admittance matrix for shunt elements is usually diagonal as there is normally no coupling between the components of each phase. This matrix is then incorporated directly into the system admittance matrix, contributing only to the self-admittance of the particular bus.
Transposition of line conductors. Change of type of supporting towers. Variation of soil permitivity. Improvement of line representation (series of two or more equivalent-lr networks). Series capacitors for line compensation. Lumping of series elements not central to a particular study. An example of a line divided into a number of sections is shown in Figure 2.21.
0
0
0
0
29
The network of Figure 2.21 is considered to form a single subsystem. The resultant admittance matrix between bus A and bus B may be derived by finding, for each section, the ABCD or transmission parameters, then combining these by matrix multiplications to give the resultant transmission parameters. These are then converted to the required admittance parameters. This procedure involves an extension of the usual two-port network theory to multitwo-port networks. Currents and voltages are new matrix quantities and are defined in Figure 2.22. The ABCD matrix parameters are also shown.
I
I
f
1
I
-
1
I
7
I
I/
I/
I\
cI.
41
41
Transposition
Figure 2.22 Two-port network transmission parameters. (a) Normal two-port network; (b) Transmission parameters; (c) Multi-two-port network; (d) Matrix transmission parameters
30
2 TRANSMISSION SYSTEMS
220 kV
,Bus B
220166 kV
Bus A
s 220166 kV
(i)6
Bus B
Bus c kV
Bus A 220 kV
i
Section No 1
! Section
No 2
BUS C
Section No 3
(ii)
Figure 2.23 Sample system to illustrate line sectionalization. (a) System single line diagram; (b) system redrawn to illustrate line sectionalization
The dimensions of the parameter matrices correspond to those of the section being considered, i.e. 3, 6, 9, or 12 for 1, 2, 3 or 4 mutually coupled three-phase elements, respectively. All sections must contain the same number of mutually coupled threephase elements, ensuring that all the parameter matrices are of the same order and that the matrix multiplications are executable. To illustrate this feature, consider the example of Figure 2.23.
Features of interest
(a) As a matter of programming convenience, an ideal transformer is created and included in Section 1. (b) The dotted coupling represents coupling which is zero. It is included to ensure correct dimensionality of all matrices. (c) In the p.u. system, the mutual coupling between the 220 kV and 66 kV lines is expressed to a voltage base given by the geometric mean of the base line-neutral voltages of the two parallel circuits. In Table 2.1, [u] is the unit matrix, [O] is a matrix of zeros, and all other matrices have been defined in their respective sections. Once the resultant ABCD parameters have been found, the equivalent nodal admittance matrix for the subsystem can be calculated from the following equation.
[YI =
(2.68)
31
Table 2.1 ABCD parameter matrices for the common section types
Transformer
-[YsPl- [ yss 1
Shunt element
Series element
W I
[ZI = [GI + [&I
Note: All the above matrices have dimensions corresponding to the number of coupled three-phase elements in the section.
+ [&I,
(2.69)
(2.70)
[YI = [YgI,
where [ZC] is the internal impedance of the conductors (Sl.km-'), [Z,] is the impedance due to the physical geometry (shown in Figure 2.24) of the conductor's arrangement (Q.km-'), [&I is the earth return path impedance (R.km-'), and [Y,] is the admittance due to the physical geometry of the conductor (SZ-'.krn-l). In multiconductor transmission all primitive matrices (the admittance matrices of the unconnected branches of the original network components) are symmetric and, therefore, the functions that define the elements need only be evaluated for elements on or above the leading diagonal.
[&I
The impedance due to the earth path varies with frequency in a non-linear fashion. The solution of this problem, under idealized conditions, has been given in the form of either an infinite integral or an infinite series [ 9 ] .
32
2 TRANSMISSION SYSTEMS
i
vi- Y j
0
Ground
Yi+ Y j
i'
Image of conductors
Figure 2.24
As the need arises to calculate ground impedances for a wide spectrum of frequencies, the tendency is to select simple formulations aiming at a reduction in computing time, while maintaining a reasonable level of accuracy. Consequently, what was originally a heuristic approach [ l o ] is becoming the more favoured alternative, particularly at high frequencies. Based on Carson's work, the ground impedance can be concisely expressed as
te = 1000J(r, B)(Q.km-'),
(2.71)
where
ze
[&I,
WVa
~ ( r0) , = -w-,
7r
6)
+ j Q ( r , e)),
eij
ei j
= arctan
xi (-) +
Yi
xj
Yj
for i # j ,
f
Yi
2.6
33
xi
P
- x,
Pa
= horizontal distance between conductors i and j (m), = permeability of free space = 7 n x lO-'(H.m-'), = earth resistivity (S2.m).
Carson's solution to Equation (2.71) is defined by eight different infinite series which converge quickly for problems related to transmission line parameter calculation, but the number of required computations increases with frequency and separation of the conductors. More recent literature has described closed form formulations for the numerical evaluation of line-ground loops, based on the concept of a mirroring surface beneath the earth at a certain depth. The most popular complex penetration model which has had more appeal is that of C. Dubanton [ 111, due to its simplicity and high degree of accuracy for the whole frequency span for which Carson's equations are valid. Dubanton's formulae for the evaluation of the self- and mutual impedances of conductors i and j are (2.72) (2.73) is the complex depth below the earth at which the mirroring where p = 1/4= surface is located. An alternative and very simple formulation has been recently proposed by Acha [ 123, which for the purpose of harmonic penetration yields accurate solutions when compared with those obtained using Carson's equations.
If the conductors and the earth are assumed to be equipotential surfaces, the geometrical impedance can be formulated in terms of potential coefficients theory. The self-potential coefficient +ij for the ith conductor and the mutual potential coefficient +i, between the ith and jth conductors are defined as follows,
+ii
= In (2Yi/ri)7 = ln
(Qj/(xi
(2.74) (2.75)
+ij
- xi)),
where ri is the radius of the ith conductor (m) while the other variables are as defined earlier. For bundle conductors, ri is replaced by the Geometrical Mean Radius (GMRi), given by GMRi = where
R ~ ~
( a ~
,
= ~ radius d l ~ of bundle,
= number of conductors in bundle.
34
2 TRANSMISSION SYSTEMS
The use of GMR ignores proximity effects, hence it is valid only if the subconductor is much smaller than the spacing between phases of the line. Potential coefficients depend entirely on the physical arrangement of the conductors and need only be evaluated once. For practical purposes the air is assumed to have zero conductance and
[z,]
= jwK'[@I Chkm-',
(2.76)
where [3r3 is a matrix of potential coefficients and K' = 2 x The lumped shunt admittance parameters [ Y ] are completely defined by the inverse relation of the potential coefficients matrix, i.e.
where = permittivity of free space = 8.857 x 10-12(F.rn-'). As [Z,] and [Y,] are linear functions of frequency, they need only be evaluated once and scaled for other frequencies.
where
xe
xi
ri
=jdFiGCZ9 =jJFiGE,
= internal radius of the conductor (m), J O = Bessel function of the first kind and zero order, J b = derivative of the Bessel function of the first kind and zero order, N o = Bessel function of the second kind and zero order, Nb = derivative of the Bessel function of the second kind and zero order, a , = conductivity of the conductor material at the average conductor temperature. The Bessel functions and their derivatives are solved, within a specified accuracy, by means of their associated infinite series. Convergence problems are frequently encountered at high frequencies and low ratios of conductor thickness to external radius, i.e. (re - ri)/ret necessitating the use of asymptotic expansions.
35
A new closed form solution has been proposed based on the concept of complex penetration [lo]; unfortunately errors of up to 6.6% occur in the region of low order harmonic frequencies. To overcome the difficulties of slow convergence of the Bessel function approach and the inaccuracy of the complex penetration method at relatively low frequency, an alternative approach based upon curve fitting to the Bessel function formula has been proposed by Acha [12]. Lewis and Tuttle [I31 presented a practical method for calculating the skin effect resistance ratio by approximating ACSR (aluminium conductor steel reinforced) conductors to uniform tubes having the same inside and outside diameters as the aluminium conductors, see Figure 2.25(a). Figure 2.25(b) illustrates the skin effect ratio for different models and various tube ratios for ACSR conductors. Skin effect
Aluminium strands
5.0
tlr;= 1.0
''vO
50
100
150
200
250
300
(b)
f(fIR,,,)
Figure 2.25 ACSR hollow conductor: (a) conductor geometry; (b) skin effect resistance for different models
36
2 TRANSMISSION SYSTEMS
modelling is important for long lines. Although the series resistance of a transmission line is typically a small component of the series impedance, it dominates its value at resonances.
jowo z i ; =-
27r
In -
)i:(
S2.m-', (2.80)
where Rc and l$. are the conductive and external conductor radii,
De
=/"
jmpo '
- dV2/&] =
dV3/h where
2; 1
Z&re-outside
dVl/h
[z:
0
2;2
Z;,
z:~]
z ; 3
z;*
[li]
(2.81)
is the sum of the following three component impedances, is the internal impedance of the core with the return path outside the core,
Z&re.insu,ation is the impedance of the insulation surrounding the core, Z:heath-inside is the internal impedance of the sheath with the return path inside the sheath.
37
LOOP 2
Loop 3
External
Similarly
; ' 2
=
; '3
iheath-outside
-k Z:heath/armour-insulation
+ Zknour-inside + Z:arth-inside'
(2.82)
(2.83)
and
= Zkour-outside
+ ':rmour/earth-insulation
The coupling impedances Z',2 = Z;, and Z;, = Z;, are negative because of opposing current directions (1, in negative direction in loop 1, and I 3 in negative direction in loop 2), i.e.
';2
= -Z:heath-mutua13
9
(2.84) (2.85)
is the mutual impedance (per unit length) of the tubular sheath between inside loop 1 and the outside loop 2.
Z~rmour-mutual is the mutual impedance (per unit length) of the tubular armour; between the inside loop 2 and the outside loop 3.
Finally, Z;, = Z;, = 0 because loop 1 and loop 3 have no common branch. The impedances of the insulation are given by (2.86) where
p
routside rinside
is the permeability of insulation in H.rn-', is the outside radius of insulation, is the inside radius of insulation.
38
2 TRANSMISSION SYSTEMS
The internal impedances and the mutual impedance of a tubular conductor are a function of frequency, and can be derived from Bessel and Kelvin functions.
(2.87~)
mr =
4J.%C
1 -s2
S2
(2.88)
mq =
1-9
with
K =
s=
(2.89)
81r x
9 -, r
f pr
(2.90)
(2.91)
The only remaining term is Z&rth-inside in Equation (2.83) which is the earth return impedance for underground cables, or the sea return impedance for submarine cables. The earth return impedance can be calculated approximately with Equation (2.87a) by letting the outside radius go to infinity. This approach, also used by Bianchi and Luoni [lS] to find the sea return impedance is quite acceptable considering the fact that sea resistivity and other input parameters are not known accurately. Equation (2.81) is not in a form compatible with the solution used for overhead conductors, where the voltages with respect to local ground and the actual currents in the conductors are used as variables. Equation (2.81) can easily be brought into such a form by introducing the appropriate terminal conditions, namely with
VI = vcore - Vsheath,
1 1 = Icore,
and
39
where
][
=
Zkc
Zks
ZLa Zia]
g s zgc z
L Zia Zkc Z
Icore
Isheath]
9
(2.92)
Iarmour
= Z,I
ZLS = z:,
ZLa =
(2.94) where C[ = 2m0sr/ln(r/q). Therefore, when converted to core, sheath and armour quantities, Y; -Y\ 0
- dIsheath/&
d ~ ~ ~ 0 ~ -Y;u ~ Y;+ Y ~; ] where Yi = j d i . If, as before, Vsheafh = Va,o,r = 0, Equation (2.95) reduces to -dIcoreIb = Y ; Vcore (2.96) Therefore, for frequencies of interest, the cable per unit length harmonic impedance, Z, and admittance, Y, are calculated with both the zero and positive sequence values being equal to the Z in Equation (2.93), and the Y in Equation (2.96), respectively. In the absence of rigorous computer models, such as described above, power companies often use approximations to the skin effect by means of correction factors. Typical corrections used by the NGC (UK) and EDF (France) are given in Table 2.2.
-Y\
Y+ Y;
-Y;
40
2 TRANSMISSION SYSTEMS
Company NGC
Voltage (kV)
400, 275 (Based on 2.5 s q h . conductor at 5 in. spacing between centres) 132 400, 225 150, 90
Harmonic order
h 21.5
Resistance
0.74R1(0.267 1 . 0 7 3 A )
EDF
h 2 2.35 h 2 2 h 1 2
More recently, however, methods have been developed [3,4] to enable all three-phase transformer connections to be accurately modelled in phase co-ordinates. In phase coordinates, no assumptions are necessary although physically justifiable assumptions are still used in order to simplify the model. The primitive admittance matrix, used as a basis for the phase co-ordinate transformer model is derived from the primitive or unconnected network for the transformer windings and the method of linear transformation enables the admittance matrix of the actual connected network to be found.
2.8.1
Many three-phase transformers are wound on a common core and all windings are, therefore, coupled to all other windings. Therefore, in general, a basic two-winding three-phase transformer has a primitive or unconnected network consisting of six coupled coils. If a tertiary winding is also present the primitive network consists of nine coupled coils. The basic two-winding transformer shown in Figure 2.27 is now considered, the addition of further windings being a simple but cumbersome extension of the method. The primitive network, Figure 2.28, can be represented by the primitive admittance matrix which has the following general form:
(2.97)
v6
The elements of matrix [Y]can be measured directly, i.e. by energizing coil i and short-circuiting all other coils, column i of [ Y l can be calculated from yki = &pi.
41
Figure 2.28 Primitive network of two-winding transformer. Six coupled coil primitive network. (Note the dotted coupling represents parasitic coupling between phases)
Considering the reciprocal nature of the mutual couplings in Equation (2.97), 21 short circuit measurements would be necessary to complete the admittance matrix. Such a detailed representation is seldom required. By assuming that the flux paths are symmetrically distributed between all windings, Equation (2.97) may be simplified to Equation (2.98).
(2.98)
-Ym
H k
Y;
Y;
I
Y,
I
YE
I
YE
I
Y;
-Ym
Y;
Y;
Ys
Y;
I
I
where y,l,, is the mutual admittance between primary coils; y$ is the mutual admittance between primary and secondary coils on different cores; y ; is the mutual admittance between secondary coils.
42
2 TRANSMISSION SYSTEMS
t
where ypi = y/$ , y Sl. = y/# and Mii = y/ffipi
fori=1,2or3andj=4,5or6
Figure 2.29
Primitive network
For three separate single-phase units, all the primed values are effectively zero. In three-phase units, the primed values, representing parasitic interphase coupling, do have a noticeable effect. This effect can be interpreted through the symmetrical component equivalent circuits. If the values in Equation (2.98) are available, then this representation of the primitive network should be used. If interphase coupling can be ignored, the coupling between a primary and a secondary coil is modelled as for the single-phase unit, giving rise to the primitive network of Figure 2.29. The new admittance matrix equation is
(2.99)
43
l-C
"b
Figure 2.30
(2. loo)
[Y]NODE [YINODE
is given by:
= [Cl" YlPRIM[Cl.
(2.101)
[YIPRIM,
(2.102)
Let us now consider the Wye G-Delta connection, illustrated in Figure 2.31. The following connection can be written by inspection between the primitive branch voltages and the node voltages:
(2.103)
44
2 TRANSMISSION SYSTEMS
y;
v:
or (2.104) we can also write (2.105) and using from Equation (2.98)
[YIPRIM
(2.106) Moreover, if the primitive admittances are expressed in per unit, with both the primary and secondary voltages being one per unit, the Wye-Delta transformer model must include an effective turns ratio of 4.The upper right and lower left quadrants and the lower right quadrant by 3. of matrix (2.106) must be divided by In the particular case of three-single phase transformer units connected in Wye GDelta all the y' and y" terms will disappear. Ignoring off-nominal taps (but keeping in mind the effective f i turns ratio in per unit) the nodal admittance matrix equation
45
~,
v,"
(2.107)
where Y is the transformer leakage admittance in p.u. An equivalent circuit can be drawn, corresponding to this admittance model of the transformer, as illustrated in Figure 2.32. The large shunt admittances to earth from the nodes of the star connection are apparent in the equivalent circuit. These shunts are typically around 10 p.u. (for a 10% leakage reactance transformer). The models for the other common connections can be derived following a similar procedure. In general, any two-winding three-phase transformer may be represented using two coupled compound coils. The network and admittance matrix for this representation is illustrated in Figure 2.33. It should be noted that V s p l = [YpslT* as the coupling between the two compound coils is bilateral. Often, because more detailed information is not required, the parameters of all three phases are assumed balanced. In this case, the common three-phase connections are found to be modelled by three basic submatrices.
....
I
Primary
y//3
J
Secondary
46
2 TRANSMISSION SYSTEMS
Figure 2 . 3 3 Two-winding three-phase transformer as two coupled compound coils Table 2 . 3 Characteristic submatrices used in forming the transformer admittance matrices
Transformer connection Bus P Wye G Wye G Wye G WYe WYe Delta Bus S Wye G WYe Delta WYe Delta Delta
YPP
Selfadmittance
ys,
Mutual admittance
Yps, ysp
YI YI
Yl YII/3
YIIl3
Yll
-YI
-yll/3
Ylll
The submatrices, [ Ypp] [ Y,,] etc., are given in Table 2.3 for the common connections, where
I 2Yt I
Y,=
-Yt
-Yt
I
9
Ylll
Finally, these submatrices must be modified to account for off-nominal tap ratio as follows: Divide the self-admittance of the primary by a*. (ii) Divide the self-admittance of the secondary by /J2. (iii) Divide the mutual admittance matrices by a/J.
(i)
It should be noted that in the p.u. system, a delta winding has an off-nominal tap of A. For transformers with ungrounded Wye connections, or with neutral connected through an impedance, an extra coil is added to the primitive network for each unearthed neutral and the primitive admittance matrix increases in dimension. By noting that the injected current in the neutral is zero, these extra terms can be eliminated from the connected network admittance matrix [ 161. Once the admittance matrix has been formed for a particular connection it represents a simple subsystem composed of the two busbars interconnected by the transformer.
47
where a l , a2 and a3 are the off-nominal taps on windings 1, 2 and 3, respectively. In addition, any windings connected in delta will, because of the per unit system, have an effective tap of The nodal admittance matrix for the transformer windings is:
a.
where [C] is the connection (windings to nodes) matrix. As an example, [Ynode] for a star-delta transformer with earthed neutral is as follows:
[Yncdel
48
2 TRANSMISSION SYSTEMS
2.8.4
In most cases, lack of data will prevent the use of the general model based on the primitive admittance matrix and will justify the conventional approach in terms of symmetrical components. Let us now derive the general sequence components equivalent circuits and the assumptions introduced in order to arrive at the conventional models. With reference to the Wye G-Delta common-core transformer of Figure 2.3 1, represented by Equation (2.106), and partitioning this matrix to separate self and mutual elements, the following transformations apply:
where
=
0
(2.108)
Secondaly side:
The delta connection on the secondary side introduces an effective the sequence components admittance matrix is
(2.109)
49
Mutual terms:
The mutual admittance submatrix of Equation (2.106), modified for effective turns ratio. is transformed as follows:
0
0
-(ym
+ y3L-30"
(2.110)
1; I;
~
(2.1 11) Equation (2.1 11) can be represented by the three sequence networks of Figures 2.34, 2.35 and 2.36, respectively. In general, therefore, the three sequence impedances are different on a common-core transformer. The complexity of these equivalent models is normally eliminated by the following simplifications:
0
1.
v;
V;
Figure 2.34
Zero-sequence node admittance model for a common-core grounded Wye-Delta transformer (3) (01982 IEEE)
50
2 TRANSMISSION SYSTEMS
(Y, + YJ
/30"
1
~Y,-Y,',-~Y,+YJ
Delta
/30"
(Y, - YJ
- (Y,
+ YJ
/30"
Figure 2.35 Positive-sequence node admittance model for a common-core grounded Wye-Delta transformer (3) (01982 IEEE)
Figure 2.36 Negative-sequence node admittance model for a common-core grounde Wye-Delta transformer (3) (01982 IEEE) Table 2.4 Typical symmetrical-component models for the six most common connections of three-phase transformers (3) (0 1982 IEEE)
Bus P
WyeG
Bus Q
WyeG
W y e ~ wye
Wye G
Delta
Wye
Wye
Wye
Delta
Delta
Delta
PosSeq
'SC
P & Q
-p
'SC
P & Q
2.10 REFERENCES
51
The interphase mutuals admittances are assumed equal, i.e. yh = yg = y:. These are all zero with uncoupled single-phase units. The differences (yp - ym) and (ys - ym) are very small and are, therefore, ignored. With these simplifications, Table 2.4 illustrates the sequence impedance models of three-phase transformers in conventional steady-state balanced transmission system studies.
The self-admittance of any busbar is the sum of all the individual self-admittance matrices at that busbar. The mutual admittance between any two busbars is the sum of the individual mutual admittance matrices from all the subsystems containing those two nodes.
2.10 References
1. Clarke, E, (1943). Circuit Analysis of a.c. Power Systems, Vol. 1, John Wiley and Sons,
New York. 2. &on, G, (republished in 1965). Tensor Analysis of Networks, MacDonald, London. 3. Chen, M S and Dillon, W E, ( 1 974). Power-system modelling, Proceedings of the IEEE, 62, (7), pp. 901. 4. Laughton, M A, ( I 968). Analysis of unbalanced polyphase networks by the method of phase co-ordinates, Part I. System representation in phase frame of reference, Proceedings of the IEE, 115, (8), pp. 1163- I 172. 5 . Kimbark, E W, (1950). Electrical Transmission of Power and Signals, John Wiley and Sons, New York. 6. Wedepohl, L M and Wasley, R G, (1966). Wave propagation in multiconductor overhead lines, Proceedings of the IEE, 113, (4), pp. 627-632. 7. Bowman, K J and McNamee, J M, (1964). Development of equivalent pi and T matrix circuits for long untransposed transmission lines, IEEE Transactions on Power Apparatus and Systems, PAS-84, pp. 625-632. 8. Wilkinson, J H and Reinsch, (197 1). Handbook for Automatic Computations, Vol. If, Linear Algebra, Springer-Verlag, Berlin. 9. Carson, J R, (1926). Wave propagation in overhead wires with ground return, Bell Systems Technical Journal, 5 , pp. 539-556. 10. Deri, A, Tevan, G, Semlyen, A and Castanheira, A, (1981). The complex ground return plane, a simplified model for homogeneous and multi-layer earth return, IEEE Transactions on Power Apparatus and Systems, PAS-100, pp. 3686-3693.
52
2 TRANSMISSION SYSTEMS
11. Semlyen, A and Deri, A, (1985). Time domain modelling of frequency dependent threephase transmission line impedance, IEEE Transactions on Power Apparatus and Systems, PAS-104, pp. 1549-1555. 12. Acha, E, (1988). Modelling of power system transformers in the complex conjugate