Professional Documents
Culture Documents
Version 5.20.00
November 2008
Table of Contents
Page
List of Figures
Page
iii
List of Tables
Page
Adv_Trans _Stability.pdf
Important Notes:
Advanced Transient Stability handles long bus ID names up to 24 alphanumeric characters. It is
recommended, however, that you use 14 characters. If you use more than 18 characters your branch current
will have more than one line.
Power Analytics Corporations software products are tools intended to be used by trained professionals only.
They are not substitutes for your professional judgment or for independent verification and testing of results
as they pertain to your specific application. Use of all Power Analytics Corporation software products is
governed by the terms and conditions of the End-User License Agreement (EULA) you accepted when
purchasing and installing the software. You must comply with these terms and conditions in applying the
instructional material in this manual. If you do not have or are unfamiliar with the contents of your EULA
for this software, you should request, read, and understand a copy of your EULA before proceeding.
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There are several enhancement and additional have been implemented in this release of the DesignBase Advanced
Transient Stability Program. The main added features are:
Combining the standard governor models with the user defined models into one list
Echo of user defined models parameters in the report file
Dynamic models for breakers and fuses are similar to the relay models. The user can select breakers and fuses from
the devices in the database or those used in the Protective Device Coordination program.
A dynamic device library manager (for generator, exciter, and governor) has been added to facilitate selection of
generator, exciter and governor models in a study. The user can also modify default value of the parameters as well
as their upper and lower range.
Details of the above enhancements are discussed in the manual (see the table of contents).
Motor starting and motor sequencing. An example is the assessment of adequacy of a power system in
emergency start up of auxiliaries in nuclear power plants.
b.
Design and evaluation of the protections such as under frequency and under voltage load shedding
schemes. Example of this is allocation of required load shedding for an assumed loss of generation in
electrical utilities or even on a ship.
c.
d.
The Transient Stability Program is time-domain simulation software, and its required data can be divided into two
categories:
System Static Components. The static elements are transformers, cables, overhead lines, reactors, capacitors, etc.
(sometimes referred to as non-rotating equipment). The term static means that these elements are assumed to display
no changes during the time in which the transient disturbance takes place. The time frame for such a disturbance
ranges from cycles up to a few seconds. This static information is the basis for what is called the power flow
solution.
Rotating Equipment. This group encompasses synchronous machines including their associated controls (exciters,
governors, etc), induction machines, static var compensators, etc.
This program, therefore, solves two types of equations simultaneously: one similar to the power flow program and
one for the dynamic equations of controllers and machines. The following power system components are supported
by the DesignBase advanced transient stability program:
Synchronous Machines: generators and/or motors. Thermal (round rotor) and hydraulic (salient pole)
units can be both simulated either by using a simple model or by the most complete two-axis including
damper winding representation.
Induction Machines: motors and/or generators. A complete two-axis model can be used. Also it is
possible to model them by just providing the testing curves (current, power factor, torque as a function of
speed). In the latter case, there will be no electrical dynamics modeled.
Doubly Fed Induction Generator: With the increased use of wind power, particularly in wind-farms, the
voltage and frequency behaviors of the power system networks are likely to be affected significantly.
Doubly Fed Induction Generator (DFIG) is mainly used for wind energy conversion in MW range power
plants. DFIG has a rotor inverter and a front-end converter while the stator is linked directly to the power
system. Design Base has incorporated state of the art models for Doubly Fed Induction Generator in both
Design Bases advanced power flow and transient stability simulation programs. The DFIG transient
stability model is comprehensive with highly flexible control system.
Motor Operated Valve (MOV): A motor operated valve (MOV) is commonly used in the nuclear power
plant auxiliaries operation as well as other industrial installations. The reliable and safe operation of MOV
depends on several important operational parameters including 1) Ascertain availability of sufficient
voltage, 2) Development of required torque, 3) Development of necessary trust. When assessing the
4
The program can be used to simulate multiple simultaneous, or sequenced in time events (disturbances).
Examine the report file. See any warnings, or errors, that may appear in the report. Correct the errors and
re-run the program.
2.
If a motor starting case is being examined, make sure the solution integration step is 0.004 or smaller.
3.
If a control contains high gain and small time constants it may be necessary to use an integration step as
small as 0.004 or smaller.
4.
If a message to the effect that "Load Flow Diverged" appears in the report file, one of the following
solutions may help solve the problem:
4a.
Ensure that the convergence tolerance of the solution is not too small. Normally the tolerance
in the transient program is the same as the tolerance defined in the power flow program. However,
it is not uncommon to specify a bit larger tolerance in the transient program.
4b.
Ensure that an unrealistic situation has not been created. For example, the load exceeds the
spinning reserve, or the governors are undersized, etc.
4c.
Ensure that the dynamic data have been entered correctly. Do not enter a zero value for the
parameters of the control blocks that would make the problem numerically unstable. For example,
for a control block of 1/(KE+sTE) do not set KE to zero. If this is the case then try to see if other
models can be used where the control block is actually 1/sTE or enter a small value for KE (e.g.
0.001).
4d.
Ensure that the integration time step is not too large. Normally, select a value close to 0.017
seconds (1 cycle in 60 Hz system) unless a motor starting scenario is being examined where a
value of 0.004 seconds is more appropriate.
4e.
Ensure that dynamic data, at least for the important generators and utility generator (swing)
have been properly entered.
4.f
Make sure that the important generators; buses, branches and motors are monitored. Do not use a
very large, or, a very small reporting step. Normally, select the reporting step to be a few cycles
(0.033 seconds)
4.g
Data Entry
As previously indicated, make sure that the static data are entered correctly and the power flow program has been
run before performing a transient analysis. Also make sure that the Load Flow solution of the power system seems
reasonable. There is no practical benefit in running a Transient Stability analysis on a system with abnormal power
flow conditions. Below is a summary of how the power flow options and solution can be selected. Open the drawing
file OCRELAY, under the transient sample folder. Select the Power Flow icon, as shown below, to activate the
Power Flow tools:
The Power Flow solution option gives the choice of a solution method, convergence tolerance, etc.
Using the above options, select solution options and parameters and solve the power flow. Examine the power flow
result and if the result is satisfactory, then proceed to the data entry process for the transient program.
10
11
12
13
14
MVA
Inertia Constant
Damping factor
Direct-axis transient reactance
Quadrature-axis transient reactance
Direct-axis reactance
Quadrature-axis reactance
Potier reactance
D-axis transient open-circuit time constant
Q-axis transient open-circuit time constant
Saturation data S2
Saturation data S1
Saturation data E2
Saturation data E1
D-axis sub-transient reactance
D-axis open-circuit sub-transient time
constant
Q-axis open-circuit sub-transient time
constant
Q-axis sub-transient reactance
Eq
Generator Type
Eq, Eq, Ed
Eq, Ed
Eq,Eq,Ed,Ed
The required data for each generator type is marked with symbol in the above table. All of the above generator
impedances should be expressed in percent on the generator MVA base defined earlier. For the convenience of the
users, the inertia constant (expressed in seconds) can be given by alternate data, i.e. the program will compute the
inertia constant from the moment of inertia, WK2 (expressed in lb-ft2), generator speed, RPM (expressed in
revolution per minuets) and generator base power (MVA) as follows:
Finally, the generator saturation coefficients S1 and S2 defined corresponding to the generator terminal voltages E1
and E2, respectively can be computed from the generator open-circuit test as shown in Figure 14:
15
E2
E1
16
17
18
Figure 18: Defining Induction Motor Dynamic Data (Impedances and Load Torque)
These factors are defined as follows:
Kr
Rr (@ speed 0)
1
Rr (@ full speed )
Kx
Xr (@ speed 0)
1
Xr (@ full speed )
These factors also account for a double cage rotor construction. If motor impedances are not available, then, select
Calculate, shown in the middle of above screen and the following menu will appear:
19
20
21
Figure 22: Selecting Data and Event Manager of the Transient Stability
Figure 23 shows data and event options:
22
23
Impedance Relay used to protect a line (by tripping it) when a fault is detected on it;
Under Frequency Load Shedding Relay used to shed load as frequency is declining to different levels
below rated frequency. In this type of relay only static load can be shed;
Under Voltage Load Shedding Relay used to shed load as voltage is declining to different levels below
rated voltage. In this type of relay only static load can be shed;
Under Voltage Motor Relay used to trip a motor if the voltage falls below a specified threshold (like
magnetic contactors operation);
Under Voltage Line Relay used to trip a line if the voltage falls below a specified threshold;
Under Frequency Motor Relay used to trip a motor if the frequency falls below a specified threshold;
Under Frequency Line Relay used to trip a line if the frequency falls below a specified threshold;
Over Current Relay: This relay protects the line against any excess current flow in the inverse-time
characteristics.
For example open the transient UNDERVLOTAGERELAY sample file. To add a relay, first select the Transient
Stability Tools icon as shown in Figure 25. Then, select Data and Event Manager as shown in Figure 26.
Figure 26: Selecting Data and Event Manager of the Transient Stability
Now, select relay by clicking the left mouse button on the Relay until it is highlighted, as shown in Figure 27.
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25
26
Figure 30: Selecting Motor Bus ID for Adding an Under Voltage Motor Relay
The relay operating time and breaker operating time can be given as shown in the above Figure.
Figure 31: Entering the Data for an Under Voltage Motor Relay
27
Important Notes:
1) There are two under voltage relays: one is for the opening line and the other for tripping induction motors. The
under voltage motor relay can be accurately used to represent the magnetic contactors which are used on most
industrial induction motors. Also, there are two under frequency relays: one is for opening the line and the other for
tripping induction motors. The data required for the under voltage relays are:
Voltage threshold below which line/motor will be tripped. The voltage threshold should be given in p.u.
The default value is 0.88 p.u.
Relay Operation time in second. This is required time for the relay to sense the under voltage condition
including any intentional delay. Default is 0.2 seconds;
Breaker opening time in seconds. Default is 0.1 second.
The principle of operation of these under voltage or under frequency relays is the same, and they open line/motor if:
the voltage (frequency) at the motor bus (or line sending terminal) is below the threshold. Then a timer will be
28
29
30
31
The main screen for defining time-current characteristics of a breaker is shown below:
32
There are three ways to define the time-current characteristics of breaker as shown in the above Figure: From PDC: If
a Protective Device Coordination study is performed for the network in question, then, select From PDC button.
From Breaker DB: User can brows through the comprehensive DesignBases breaker database, and select the desired
breaker, or simply enter the breaker data points in the fields of Time and Current. Note that the 10 current data
points should be entered in the ascending order.
33
As seen above, there are three ways to define the time-current characteristics of fuse; From PDC: If a Protective
Device Coordination study is performed for the network in question, then, select From PDC button. From Fuse DB:
User can brows through the comprehensive DesignBases fuse database, and select the desired fuse, or simply enter the
fuse data points in the fields of Time and Current. Note that the 10 current data points should be entered in the
ascending order. Below the steps required to select a fuse from the database is illustrated. From the above select From
Fuse DB and program will prompt the user to select a Manufacturer as shown below:
34
Use the dropdown to browse through list of fuse manufacturers and shown below:
35
After selecting fuse type, fuse rating can be selecting by browsing through available ratings for the selected fuse type and
manufacture as shown below:
Now the time-current characteristic of the selected fuse will be populated in the fuse data dialog as shown below:
36
The Power system has maintained its transient stability. That means all of the synchronous machines have
stayed synchronized. To verify this, one should plot machine rotor angle. The graphical output of
DesignBase 's transient stability program is a powerful tool for visualization of the result. To plot machine
rotor angle, it is recommended to select one of the machine rotor angle as the reference and then select all
other machine rotor angles. This graph should show that the angles are settling down to a steady state
values following disturbances. If the machine angles show a diverging trend without any sign of settling
down, then, the system is not able to maintain stability.
2.
The power system quality is maintained. This means that voltages and frequencies, following the disturbance(s),
have settled down to acceptable values. For example, the voltages should settle down to within 95-105 % of
nominal. The system frequency should be within an acceptable range of the fundamental frequency. E.g., in 60 Hz
systems the frequency should be 60Hz 0.5Hz. However, in the case of a spinning reserve deficit, it may settle
down to lower value, or in cases where loads are suddenly lost the frequency can settle down to values greater
than 60 Hz. To examine this, view the bus voltages and frequencies.
3.
If induction motors are being simulated, one needs to make sure no motor will stall. To verify this, examine
induction machine speed. If the machine speed is much lower than rated speed then the motor has stalled. In
some cases, the motor may even come to a standstill (speed going to zero).
4.
Make sure that the protection relays have operated properly. For example, under frequency load-shedding
relays will trip the load if frequency has fallen below the trip threshold. To verify this, review the frequency
37
Make sure the controls associated with the generators have performed satisfactorily. For example, in the case
of governors, examine (view) the machine speed and mechanical power plots. If machine speed has reduced
then the mechanical power should increase provided that the turbine has not reached its maximum output. For
exciters, verify that the field voltage increases if machine terminal voltage experiences decline and vice versa.
6.
Make sure the lines/cables/transformers are not overloaded following disturbances and after they have come
to steady state values. To verify this, view the plot of branch flows.
The Transient Stability program by default monitors one of the machine, branch, motor, and bus specified in the
simulated system. However, to make changes in the selection of monitored quantities, select the "Edit Transient
Stability Master" icon in the main ECAD screen. In the next screen to appear, select "Select Component(s) to
Display". Then, different quantities can be selected or you may delete them. The transient stability program will
generate tabular output for all of the selected (monitored) variables.
To display any of the selected monitored quantities select the "View Curve" icon in the main ECAD screen. The plot
menu is a notebook type screen with many tabs. Each tab is used to display different quantities. For example, there
are two tabs for the synchronous machine variables. There are also tabs for buses, motors, SVCs and branches.
In the following sections we will show step-by-step how to conduct various types of transient stability analyses
using DesignBase.
DesignBases Transient Stability program can be used to simulate the dynamic behavior of Under Load Tap
Changing (ULTC) transformer. Even though many commercially available software may model ULTC in static
analysis (power flow program), DesignBases Transient Stability program is among a few programs worldwide
capable of the dynamic representation of ULTC. Open the sample transient VFD file and select the transformer
located between bus 7 and 10. The following screen captures the data used in the static model (power flow data):
38
Note that in the above screen the Automatic Tap Adjustment is turned on and the tap specification are:
0.9
1.1
9
And the controlled bus data can be given by selecting the Controlled Bus button shown above. Here, we have
chosen the voltage at bus 10 (controlled bus) should be within 0.98 and 1.03 pu. The above-specified information is
sufficient to carry the power flow studies. Once the power flow is solved we can proceed with providing dynamic
data of the ULTC, as follows:
39
Figure 37: Selecting Data and Event Manager of the Transient Stability
Place the mouse on the ULTC and click the right mouse button to choose Add One ULTC option:
40
41
Start
Full Speed
Unseating
Travel
Stall
To accurately account for the modeling of the aforementioned stages, DesignBases Transient Stability program supports
a user-defined model types for each of the stages. Thats start can be modeled as constant current while full speed
may be modeled by constant power, etc. The same flexibility exists for the five stages of the closing mode.
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43
Figure 42: MOV Application in a Typical Nuclear Power Plant Auxiliaries System
The Network shown in the above Figure is used to demonstrate the application of MOV in the startup simulation of
auxiliaries in a nuclear power plant.
44
45
46
47
48
Figure 48: Assigning MOV Model Types in each of the Five Opening Stages
Figure 49: Transient Data and Event Manager Showing Completed MOV Dialog
49
Other MOV, or dynamic data, can be added to the network as shown in Figure 49.
Figure 50: Dynamic Data of the Simulated MOV in the Sample System
To start the simulation for the sample system, select the Analyze icon of the transient program as shown in below.
50
51
52
Suggested Readings:
IEEE Std 1290-1996, IEEE Guide for Motor Operated Valve (MOV) Motor Application, Protection, Control, and
Testing in Nuclear Power Generating Stations.
EPRI Research Papers on Application Guide for Motor-Operated Valves in Nuclear Power Plants
Please review Model Sizes: SMB-000, SMB-00, SMB-0, SMB-1, SMB-2, SMB-3, SMB-4T & SMB-4, SMB-5T &
SMB-5, SMB-5XT, SB-000, SB-00 & SBD-00, SB-0, & SBD-0, SB-1 & SBD-1, SB-2 & SBD-2, SB-3 & SBD-3, SB-4
& SBD-4. Review the Ration Range, Torque, Operator Rated Thrust, and other related data. Also contact your MOV
vendor and review their catalogue, operating requirements, and data for your MOV type.
6.539
0.9998
6.663
0.9997
6.704
0.9996
6.952
0.9993
6.994
0.9992
7.002
0.9992
FREQPU KW
1.0000 106.2248
0.9999 106.1528
0.9999 106.1467
0.9999 106.1464
0.9999 106.1495
KVAR
65.8322
65.7876
65.7839
65.7837
65.7856
1.0000
1.0000
1.0000
1.0000
1.0000
1.0000
13.2692
13.2656
13.2643
13.2563
13.2548
13.2546
21.4107
21.4049
21.4029
21.3899
21.3876
21.3872
53
The screen capture above, shows how to invoke the tools menu. This menu allows the user to study the waveforms
in more detail.
54
Figure 55: Simple System Setup for Generator Load Rejection Test
In the above system the generator is loaded to 5 MW initially. At 1 second the load will be rejected and simulation
will continue to 30 seconds. To start the transient simulation for this case, select Analysis icon as shown below:
55
Figure 57: Real Time Plots for the Generator Load Rejection Test
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Figure 58: Bus Result for the Generator Load Rejection Test
Now we are ready to import the field measured data. As shown below, once Import from Excel is selected, the
program will prompt the user to select the file where the measured data are stored. For the case at hand the file is
generator-testing-measured as shown below. The format of imported file is Excel compatible, CSV (comma
separated). A sample format for the imported/exported file is shown in Figure 63.
57
Figure 59: Importing Measured Data Into Transient from Excel (.CSV format)
The imported measured bus frequency for the load rejection test along with the simulated bus frequency for the
same tests can be seen in the below figure.
58
Figure 61: Selecting Graphs and Charts before Exporting/Importing Data to Excel
Now that the quantity of interest has been identified, we press the Export to Excel button as shown with the mouse
location in the above screen.
The program will prompt the use to specify a file name where the simulated result can be saved. Figure 62 shows the
file save dialog.
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60
Figure 63: Sample File Format for Imported/Exported to Excel (.CSV file)
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Application Guide
In this document, an attempt is made to highlight and demonstrate the advanced features of the DesignBases Transient
Stability Program. With the help of an example, we will show how to enter data for generators, utility equivalent
generator, AVR and excitation systems, governors and turbines, induction motors under different loading conditions,
induction generators (commonly used for wind power generation), synchronous motors (commonly used in the pulp and
paper industry, steel mills, etc.), motor-generator set (commonly used for electrical isolation of sensitive loads from
polluted power system or frequency conversion purposes), creating events (simulate disturbances of different nature in
the power system). It is import to emphasis that this document is not intended to replace the users guide of the Transient
Stability Program, but it is intended rather to compliment it. Also, it is essential that the readers use this document as an
application guide especially when it comes to applying the same data used in this example to their specific power system.
This document should help the user of the transient program to know the how to aspects.
Figure 64: Sample Network Used to Illustrate Salient Features of the Transient Program
The power system shown in Figure 64 will be described in some details in the following sections. The step-by-step
instruction on how to build each component is not described here except for the important components that are
crucial to the time domain simulations. It is assumed that the reader is already familiar with all data entry for cables,
transformers, etc.
The process of building the above power system will be explained in separate sections.
62
Figure 67: Assigning a Job file Name for the Newly Created Case
63
64
65
Figure 71: Proving the Short Circuit Data for the Utility
In the Load flow Tab shown in the below Figure, specify the desired voltage for the Actual Operating Volt.
Normally, the Voltage Angle shown in the lower left side of the screen, left as zero, unless the user is familiar with the
system and has prior knowledge of this quantity. Note that it may rarely be required from the user change Swing Bus
which is suggested by default to the Generator.
66
Figure 72: Providing Load Flow Related Data for the Utility
So far we have provided the necessary data for performing short circuit and power flow analysis. If transient simulation
is required, it is important that Dynamic Data for the swing (Utility) and other generators be entered. In the screen
shown in Figure 73, press the button marked as Machine Dynamic data to have access to the transient stability related
machine data.
Figure 73: Entry to Dynamic Data Dialog for Utility and Generator
At this time the program will prompt for confirming the undertaking of dynamic data entry as shown below:
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Once the above data are confirmed, then, the generator dynamic data dialog (shown in Figure 75) will be displayed.
The following dialog is the same for the utility and the generator. The Machine Type for a utility should almost
always be specified as Eq Constant unless there is good technical reason for changing it to other machine types.
There are five different machine types, which begin from very simple representation (Eq Constant) to the most
complex type. The selection of the machine type for a real generator is normally dependent on two factors; a) if the
machine is salient pole (hydraulic units) or round rotor (thermal units) and b) the amount of available data. If all of
the data shown in the fields of Figure 75 are available, then, it is recommended to use the most complex type. The
Machine base power (MVA) is always the same as three-phase fault level (defined in Figure 71 as SCKVA). The
inertia constant (expressed in seconds) of a utility is normally much higher than any generator in the system under
study. The default value of 99 should be sufficiently large. For a real generator, it is also possible to enter the
moment of inertia and synchronous speed, and then the program will compute the inertia constant.
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Figure 75: Dynamic Data Dialog for the Utility and Generator
The damping factor is normally used for real generator and not a utility (which is an equivalent fictitious generator).
The direct-axis transient impedance for the utility is equal to one per unit or 100 % since the machine base power
(MVA) above represents the three-phase fault level (in the above the reactance is 98% or 0.98 p.u.). All data fields
that are grayed out in the above Figure are not required when the machine type is Eq Constant
Next, we will add a transformer by selecting the desired symbol as shown in the right side of Figure shown below.
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70
71
72
73
74
Figure 86: Accessing the Dynamic Data Dialog for Induction Motor
Selecting Dynamic Data button as shown in Figure 86, will display the dynamic data dialogs (the check box shown in
this figure Dynamic data not available or motor dynamics to be ignored should be checked if the user does not wish
75
77
The estimation can be based on the Using Locked Rotor Data or Using Testing Curves (as shown in the above
figure), which will be explained later.
78
79
Figure 93: Defining Motor Characteristics (Testing Curves) for Induction Motor
The above provided data can be used in two different ways. First, they can be used to estimate motor impedances.
Second, rather than estimating motor impedances, the above characteristics can directly be used in the power flow and
transient stability simulations.
80
81
82
83
84
85
86
87
88
As seen in Figure 105, we select the synchronous motor and double-clicking the right mouse button, will bring up the
dynamic data dialog.
89
90
Figure 107: Defining Dynamic Data for the Generator of an M-G Set
91
92
93
94
95
97
98
Figure 121 shows the equivalent circuit of the FIU where the load current is below the triggering of FIU. Figure 122
shows the equivalent circuit of the FIU where the load current exceeded triggering of FIU.
99
Fault
Current
Figure 122: Fault Isolation Unit (FIU), High Fault Current, Inductor is Inserted
The FIU will be placed between buses SLOAD and MOT3. It is very important to note that FIU does not have any
model for power flow studies since in normal operation it does not exhibit any appreciable impedance.
To insert a FIU in the above system, select Data and Event Manager as shown in Figure 123.
100
Hold the mouse right button to select Add on FIU as shown in the above figure.
101
To place the FIU at the desired location, use the dropdown as shown in the above figure and select the buses where
the FIU should be used as shown in Figure 126.
102
Trigger threshold above which the resistance (R) and reactance (X) are inserted (in amperes)
Minimum insertion duration of resistance and reactance (in seconds);
The resistance of FIU (in ohms)
The reactance of FIU (in ohms)
Timeout duration for tripping upstream circuit breaker (in Sec)
Reset threshold (in amperes)
A fault at bus SLOAD is applied and sustained for 1 second. The fault current flowing into bus SLOAD is shown in
Figure 127. Since the fault current initially exceeded the FIU setting of 150 Amps, then, the reactor is inserted with the
delay specified. After fault is removed, the FIU also short circuit the reactors and load current return back normal.
103
Fault at bus
SLOAD
is
applied
Figure 127: Sample Result - Application of FIU to Limit Fault Current in the Power System
104
Figure 129 shows the equivalent circuit of the SABT when load is transferred from preferred source to the alternate
source when the preferred source voltage falls below the triggering of SABT.
105
106
To insert a SABT in the above system, select Data and Event Manager as shown in Figure 123. Then, Hold the
mouse right button to select Add on SABT as shown in the following figure:
107
To place the SABT at the desired location, use the dropdown as shown in Figure 132 and select the buses where the
SABT should be used.
108
To examine the operation of SABT, we need to create a situation where the voltage of the preferred source (bus) falls
below the triggering of SABT. To do this, we trip the line between SOURCE1 and MAINA; this causes the voltage at
bus MAINA to collapse, and hence, the operation of SABT. In this case, SABT will transfer load from MAINA to
MAINB by closing the switch between these buses.
109
Figure 133: Sample Result for Application of SABT to Transfer Load to Alternate Source
110
Loss of supply to
MAINA (preferred
source)
SABT transfers load
to alternate supply,
i.e., bus MAINB
111
The Static Frequency Converter (SFC) is a Solid-State Converter utilizing IGBT/PWM technology and is composed
of input breakers, input filter & protection network, rectifier, battery bank, inverter, isolation transformer, output
filter. The basic topology is shown in the diagram above. With utility AC supply, energy from the AC source is
converted to DC power and supplied to the inverter to:
A.
Support the inverter and the output load with exact (crystal oscillator) frequency required.
B.
Charge the optional battery to its full capacity, which would support the output load in case of a utility
failure.
Normal operation (with or without optional batteries) connected provides clean and stable, regulated power to the
load at the chosen crystal oscillator controlled frequency, free from any spikes and surges. Therefore, the SFC can
be regarded as a perfect AC power source, and if equipped with the optional batteries, it can provide limited ride
through in the event of a utility outage.
The main function of a rectifier is to convert the AC input to DC power, and supply it to the inverter. The inverter then
converts the DC power to AC power for the load. The SFC uses the DC power to charge the batteries as well, which is
the most efficient method of charging.
The inverter is composed of IGBT, inductor, capacitor, snubber, control circuitry and protection circuitry. The inverter
converts the DC power from the DC bus to AC power to supply the output load. The CONVERTER uses IGBT
technology that switches at frequencies beyond the audible range, therefore producing no audible noise.
112
113
The SFC is connected between buses 60HZ and 400HZ shown in Figure 138. Since the SFC isolates the two AC
systems (the system with GEN1 has no connection to the system with GENSWG), the power flow representation of
SFC is very simple. The Converter bus will have a load equal to the DC flow and Inverter bus will have a negative
load equal to that of converter. A simple model of SFC is also used in the transient program with the user-defined
model.
To insert a SFC in the above system, select Data and Event Manager as shown in Figure 123. Then, Hold the
mouse right button to select Add on SFC as shown in Figure 139.
114
To place the SFC at the desired location, use the dropdown as shown in Figure 140 and select the buses where the
SFC should be used. In this example, we have placed the SFC at buses 60HZ and 400HZ (converter and inverter
buses).
115
The input data for SFC consists of rated power expressed in MW, rated efficiency and rated power factor. To examine
the operation of SFC under one possible scenario, we will apply a fault in the system where the inverter is (i.e., GEN2
bus). In this case, SFC will still supply (reduced) to the system. Since the two systems are asynchronously connected to
each other (with SFC in between) the fault at GEN2 bus is not seen in the other system. Figure 141 shows the bus
voltages at Converter and Inverter Buses.
Figure 141: Converter and Inverter Bus Voltages with Fault on the Inverter Side
116
117
118
Select Transformer Inrush Simulation option as shown in Figure 145 below, and then click right mouse button to
choose Add One TIS.
The required data to simulate the transformer inrush scenario are shown in the below figure. First the transformer for
which the inrush current should be simulated needs to be identified (transformer kVA rating will be displayed once the
transformer is identified). Then, we should specify if the inrush current to be simulated on primary or secondary side of
the transformer. The time at which the transformer should be energized should also be given. The inrush current decay
curve is modeled by five points. For each points along the inrush decay curve, the magnitude of the inrush current in p.u.
and its duration in seconds should be provided.
119
After the transformer inrush current simulation data is specified, select the Analysis option as shown below:
Figure 147: Select Transient Analysis Option of the Advanced Transient Stability Program
120
Before starting the time domain simulation, we need to specify simulation parameters (integration step, total
simulation time, etc.) and select monitored components (see Select Components to Display in Figure 148). To
start transient stability press Start Simulation button shown below:
Detailed simulation results can be displayed graphically by selecting View Graphic Results shown in the lower
part of the Figure 148.
As shown below, to inspect the branch flows (active and reactive power and current) select Branch tab as shown
below:
121
`
Figure 149: Detailed Graphical Displays of the Transient Stability Simulation Results
122
Model Overview
The wind turbine DFIG is especially emphasized in its fast and dominant control function, and the rotor
aerodynamic mechanical power characteristics associated with the wind and the turbine rotors mechanical
movement. The solution of the DFIG model involves a) rotor rotation (swing) equation, b) pitch angle for
controlling frequency and power, c) reactive power for controlling the WTG bus voltage, and d) protection for
over/under voltage and frequency trip.
Details of the DFIG control models are described in the following sections.
123
Rotor speed
Wind
Mechanical
Power
Wind Velocity
Mechanical
Power Output
WT DFIG Rotor
Movement Equation
Rotor Speed
Maximum Power
Pitch Control
Pitch Angle
Active Power
Output
Active Power
Output
Frequency Trip
Desired Speed
Control Scheme
Frequency/
Active Power
Control
Frequency Trip
Signal
Active Power Output
to the Network
WT DFIG/Network
Interface
Trip Signal
Reactive Power
and Power Factor
Control
Voltage Protective
Control
Voltage Trip
Signal
124
Ar
2
K ap
Prat
Kb
a
m
Vw
1
0.035
3
0.08 1
Pm K ap * Kturb *Vw3C p
Where:
Pm is the mechanical power generated from the wind,
is the air density in kg/m2,
Ar is the area swept by the rotor blades in m2
Vw is the wind speed in m/s,
Cp is the power coefficient as a function of a and .
is the ratio of the rotor blade tip speed and the wind speed
m is the generator rotor angular speed (p.u),
is the blade pitch angle in degrees
Prat is the DFIG active power rating (MW)
125
The coefficient of performance, Cp, as a function of the tip speed ratio is shown in the above figure. The rotor speed
in the variable-speed area is controlled in order to keep the optimal tip speed ratio, i.e., C p is kept at maximum as
long as the power or rotor speed is below its rated values. As mentioned before, the pitch angle is at higher wind
speeds controlled in order to limit the input power to the wind turbine, when the turbine has reached the rated power.
The calculation of Cp requires knowledge of aerodynamics on blade element theory and it is quite complicated.
Therefore, numerical approximations have been adopted. A general mathematical formula of C p has accordingly
been developed [6] and given in above.
The mechanical power output of a wind turbine depends on the wind speed and the pitch angle. As the wind speed
varies stochastically, the pitch angle is the only means by which the power output of a wind unit can be controlled
continuously. The control approach is fairly straightforward. The pitch angle is normally adjusted for maximum
output except under conditions of wind over-speed during which the output power is limited to the rated value by the
pitch angle control.
Maintaining a reserve power for control purpose at any given wind unit operating on an interconnected system
necessitates the adjustment of the pitch angle for an output less than what normally would have been possible. The
balance is the reserve power available for frequency control.
The pitch angle in a stall-controlled turbine is fixed. The rotor is designed in such a way that it stalls at wind overspeed thereby protecting the turbine from mechanical damage.
In Figure 153, when the rotor speed is within the normal operation range (generally, 0.75-1.2 p.u.), it follows an
optimal power output scheme, which allows the rotor speed follow the wind fluctuation in order to obtain the
maximum efficiency from the DFIG. When the rotor speed reaches the rated value opt, it tries to keep the speed
until the output of corresponding active power reaches its maximum power limit P max. When the rotor speed is above
its maximum value max or below its minimum value min, it will send a trip signal to trip out the DFIG from the
network. Once the trip flag is set, it will not be reset, even if the frequency recovers.
126
Active Power
(p.u.)
Maximum power
control tracking
Pmax
Optimal power
control tracking
min
1.0
ref max
127
The above control primarily responds to large voltage deviations resulting from systems events. When the generator
terminal voltage is outside of the normal range, it forces the reactive power to pre-specified levels as the voltage
deviations persist. When the terminal voltage falls below the low voltage trip threshold or above the high voltage
trip threshold, it sends a trip signal (following a given delay to avoid false trips) to disconnect DFIG from the power
system. Once the trip flag is set, it will not reset, even if the voltage recovers.
Reactive Power (p.u.)
QgLV
QgHV
Reactive Power and
Power Factor Control
Qfc
Low Voltage
Trip
VgL-trip
VgL
VgH
High Voltage
Trip
Generator Terminal
Voltage (p.u.)
VgH-trip
In the above, when the terminal voltage is within a normal operation range (V gL and VgH), the reactive power
generation is based on maintaining constant power factor.
128
In the above scheme changing the pitch angle of wind blades controls the output of mechanical power. It is generally
used as an additional control according to the rotor speed deviation. When the output of active power reaches or
exceeds its maximum limit, it tries to keep the maximum active power output.
129
To simulate a DFIG in the power flow and subsequently in the transient stability program, first a generator is placed
at the wind-farm location. In the above example, a generator is placed at bus 10. To examine the power flow data for
the DFIG double left mouse click on the generator symbol and the generator dialog will appear as shown below:
130
Figure 159: Data Dialog of DFIG for Power flow and Short Circuit Analysis
The above data dialog tabs, that are normally used to model synchronous generators, are also applicable to the DFIG
model. It should be noted that to be able to properly model DFIG for the transient stability, the Operation Mode
(shown in Figure 159), should be set to Doubly Fed Induction Generator.
To enter dynamic data and simulate DFIG in the transient stability program, select the transient icon
main DesignBase menu and then select Data and Event Manager as shown below:
131
from the
The dynamic data requirement of the DFIG model is shown in the below figure. First the bus where DFIG should be
simulated needs to be identified. Once the DFIG bus is identified, then, some of the power flow data such as DFIG
base power, maximum and minimum reactive powers will be shown for reference purpose. The following items
should be entered with care:
1)
2)
3)
4)
5)
6)
7)
132
After the DFIG dynamic data is specified, select the Analysis option as shown in the following figure:
133
Figure 163: Selecting Analysis Option of the Advanced Transient Stability Program
Before starting the time domain simulation, we need to specify simulation parameters (integration step, total
simulation time, etc.) and select monitored components. To start transient stability press Start Simulation button
shown below:
134
Detailed simulation results can be displayed graphically by selecting View Graphic Results shown in the lower
part of the above figure.
As shown below, to inspect the generator active and reactive power and current select Machine Chart 1 or
Machine Chart 2 tab as shown on the figure below. The DFIG specific result can be examined in the charts
DFIG.
135
Figure 165: Detailed Graphical Displays of the Transient Stability Simulation Results
References
1.
N.W. Miller, J.J. Sanchez-Gasca et al, Dynamic Modeling of GE 1.5 and 3.6 MW Wind TurbineGenerators for Stability Simulations, 0-7803-7990-X/03, 2003 IEEE.
2.
CIGRE Technical Brochure, Modeling New Forms of Generation and Storage, Task Force 38.01.10, April
2001.
3.
C.S. Demoulias and P. Dokopoulos, Electrical Transients of Wind turbines in a Small Power Grid, 08858969/96, 1996 IEEE.
4.
A. Miller, E. Muljadi et al, A Variable Speed Wind Turbine Power Control, 0885-8969/97, 1996 IEEE.
5.
J.G. Slootweg and W.L. Kling, Modeling of Large Wind Farms in Power System Simulations, 0-78037519-X/02/, 2002 IEEE.
6.
J.G. Slootweg, H. Polinder et al, Dynamic Modeling of a Wind Turbine with Doubly Fed Induction
Generator, 0-7803-7071-7/01/, 2001 IEEE.
136
P. Pourbeik, R.J. Koessler et al, Integration of Large Wind Farm into Utility Grids (Part 2- Performance
Issues), 0-7803-7990-X/03, 2003 IEEE.
8.
R. Datta and V.T. Ranganathan, Variable Speed Wind Power Generation Using Doubly Fed Wound
Induction MachineA Comparison with Alternative Schemes, 0885-8969/02, 2002 IEEE.
9.
J. Usaola, P. Ledesma et al, Dynamic Incidence of Wind Turbine in Networks with High Wind
Penetration, 07803-7031-7/01, 2001 IEEE.
137
Jobfile
ALLFAULTS
AVRFAILURE
BUS-TRANSFER
EMERGENCYSTART
GENRX
FIU
IMPRELAY
LOADRAMP
LOADSHED
LOADTORQUE
MG-SET
MG-SET2
MOTORSEQUENCE
MOTOR_ACCELERATION
MOV
MSPEED
MULTICIRKT
MYAVR-CL
MYGOV-CL
NAVY
OCRELAY
Comment
4 fault types (LLL, LL, LLG, and LG) are simulated using fault application
event. The ground faults are simulated without user intervention since the
equivalent fault impedances are automatically transferred from Short
Circuit Program.
Modeling of LOCA (Loss Of Coolant Accident) and LOOP (Loss Of Offsite
Power) in conjunction with the AVR failure in the Nuclear Power Plant
Auxiliaries is demonstrated.
Fast and Slow bus transfer simulation using branch tripping and branch
addition events.
Simulation of motor sequencing in a Nuclear Power Plant Auxiliaries startup via
Motor Start event is used.
This case shows the impedance seen from a generator terminal. The R-X
graph produced can be used to design Loss of Excitation Relays.
Example of Fault Isolation Unit, Fault Current Limiter
An impedance relay is simulated which can be used to protect the line or
just be used in the monitoring mode.
Simulation of Impact Loading using a sequence of load restoration events.
Load rejection simulation capability using Manual Load Shed event.
A sequence of Mechanical torque change events are used to simulated
reversal of water flow in the pumps on a ship. This can also be used to
simulate wind variations on the wind-farm generation.
Motor generator set is modeled and simulated to show how two electrical
systems with different or equal frequencies can be electrically decoupled
from each other.
Motor generator modeling is simulated to show how two electrical systems
with different frequencies can be electrically decoupled from each other.
Simulation of motor sequencing in a Nuclear Power Plant Auxiliaries
startup. Motor Start event is used in this case.
Fast and Slow bus transfer simulation using branch tripping and branch
addition events.
Motor Operated Valve commonly used in the Nuclear Power Plant
Auxiliaries is simulated.
Multi-Speed induction motor is simulated by representing two induction
motors at different speeds, and switching them on the network at
appropriate times.
Sample network having multiple circuits between the same two buses
User defined excitation system is built and tested in a closed loop control
without the need to represent the electrical system. This clearly shows
how Universal model builder can be used for applications other than power
system (modeling any control system).
User defined governor system is built and tested in a closed loop by
modeling a swing equation as well as a governor control system.
A sequence of Mechanical torque change events are simulated to
demonstrate modeling of reverse flow in the pumps on a ship.
An over current relay is modeled which trip a line to project it against over
current due to simulation of a 3-phase fault.
138
T9BUSM
TESTULTC
TRANSIENT-EXAMPLE
TRSFO-INRUSH
UNDERVOLTAGERELAY
VFD
VOLRELAY
WINDMILL
WINDMILL-DFIG
Comment
A second order function (oscillator) is simulated and tested using the
Universal Model Builder.
Sample network for Static Automatic Bus Transfer Switch
Sample network for Static Frequency Converter
Sample network having Reactor/Capacitor Switching events
This is a benchmark example appearing in the textbook entitled Power
System Control and Stability by P.M. Anderson and A.A. Fouad.
This example demonstrates the application fault, fault removal and line
tripping events.
This is similar the T9busm.axd job file with the addition of induction motor
showing motor starting capability.
This is an important example showing the DesignBases transient stability
capability in dynamic modeling of under load tap changing transformer.
A comprehensive sample network to illustrate many features of the
DesignBases advanced transient stability program
Simulation of transformer energization
Under Voltage Load Shedding Relays are used in a system where
generation loss causes sever voltage drop, thereby requiring load
shedding.
Simulation of Variable Frequency Drive in power flow and Transient
Stability Program
The under voltage automatic load shedding relays are modeled and tested. Load
can be shed in one to five stages.
A sequence of Mechanical torque change events are simulated to
assess the impact of wind variations on the wind-farm generation and
on the system.
Simulation of wind farm using the Doubly-fed Induction Generator model
and controls
139
DesignBases
Transient Stability
Assessment Program
Interface Variables e. g.:
Interface Variables
e. g.:
Generator Voltage
Generator Speed
User-Defined
Models
Figure 166: Interaction between DesignBases Transient Stability and User-defined Models
140
141
Time Switch
Comment
The input can be generator speed, terminal voltage, field voltage,
mechanical power
The output can be generator field voltage, generator mechanical power
This is used to Tap the output signals to other block input
(A+Bs), A cannot be zero
(A+Bs)/(C+Ds), A and C cannot be zero
Same as above but with the output limiter
1/(A+Bs), A cannot be zero
It is important to provide the initial value of this block if other than zero
The output is the differential of input
Use this block for defining constants such as load reference set point
in governors, AVR voltage reference
The output of this block will be the same as the simulation time
The gain cannot be zero
Maximum should be greater than minimum
Use this block to add three inputs signals
Use this block to add two input signals
The output is equal to product of the inputs
If it is expected that the denominator may go to zero add small
constant to the denominator
Also known as high value selector
Also known as low value selector
The input to this block should be in radians
The input to this block should be in radians
Hyperbolic Sinus
Inverse Cosine, i.e., Cos-1
Hyperbolic Cosine
Inverse tangent Tan-1
Exponential of input, i.e., ex
Logarithm Base e
Logarithm Base 10
Logarithm Base 10
The output is equal to the absolute value of the input signal
Use to function to convert a real number signal to integer value
x2 y2
The output will be a sinusoidal function of time with frequency of w
The output will be the same as input with specified delay
Output is the same as input with a specified dead band
The output reach 1 with specified ramp time
The output will be equal to first input if the specified decision signal
is less than equal to zero; otherwise, the output will be equal to second
inputs
The output will be equal to first input if the simulation time is less
than equal to the specified switching time; otherwise, the output will
be equal to second inputs
142
2. Examine the list of control functions supported in the DesignBase Transient Stability Program (sample shown
in Figure 167) and decide which control functions are needed to build the required control system model.
3. Identify the Interface Variables required.
4. Identify which block output requires initialization. Normally, the exciter reference voltage, governor load
reference (initial loading) of the turbine, and initial value of Integrator blocks require initialization.
5. Build the control system model using the DesignBases graphical interface.
6. Add the new model into either AVR or Governor library.
7. Now the models should be ready to test in the desired power system.
143
Identify the boundary conditions; these are normally generator terminal and field voltages, generator
mechanical (electrical) power, etc.
In the control blocks set the Laplace Symbol to zero (if applicable). For example, the LEAD-LAG block
reduces to a block with gain of one (i.e., initial output= initial input).
Work your way from the known boundary conditions inward to initialize other variables
When reaching to
1
(Integrator) block set the input to zero (this is due to the fact that in steady-state the input
s
to an integrator has to be zero in order that the output be steady-state) and try to find the output of the block
from the known boundary conditions. Also, the output of a Differentiator Block should be zero in steadystate.
All interface variables are in p.u. on the generator base. I.e., the terminal voltage in p.u., mechanical power
in p.u, etc. However, the user can still, within the control system, use actual values if necessary. For example, if
AVR control requires that the terminal voltage be in Volts and field voltage is also computed in voltage, then,
simply introduce a gain block right after the terminal voltage with gain equal to conversion factor between p.u.
and Volts.
144
Select the DesignBase tab and then select DesignBase AVR Model Builder as shown in Figure 171.
145
Now we are ready to assemble the AVR control system. We will start building the model from the left side of
control shown in Figure 168. The first block (function) to select is Input block. This is the generator terminal
voltage as shown in the highlight section in the figure below:
Figure 173: Selecting Input Block (Terminal Voltage) for AVR Model
Drag the input block into the drawing area as shown in below:
146
Figure 174: Example of Drawing a User Defined Function into Draw Area
Next, we select Sum 1 block and drag it close to Input Block (VT) as shown in Figure 175:
Now to connect the VT to the first input of the summer block, right-click on the mouse on the VT arrow, and drag it
very close to the summer block; the connection point will change to blue color and it should snap to the summer
block as shown below:
147
The next block we will use is the Constant block. Choose it and drag into draw area close to the upper junction of
the summer as shown in Figure 177:
To rotate the new block, press Ctrl-R to rotate it 90 degrees and repeating Ctrl-R will rotate it another 90 degrees.
The final position is shown below:
Now to assign a value to the Constant block double-click the left mouse button to bring up the data entry dialog
menu for this block as shown below:
148
As shown above, this block has only two entries that need to be provided. First, Output Variable Name, we assign
a name to the output, in this case lets call it VREF. Next, the Initial Output Value entry should be defined. Here
we have entered EFD0/KA+VT0, this can be easily verified. It is important to remember that DesignBases userdefined model builder has a prior knowledge of numerical values of the symbols VT0, EFD0, PM0, FREQ0: these
are initial values of terminal voltage, field voltage, mechanical power, and frequency respectively. In addition to
these symbols, we have used KA which is a parameter that will be defined later. Defining the initial value of
voltage reference (VREF) for an AVR is the most important task when building an excitation control system. The
Initial Output Value for any block can be a constant number or an expression like the one shown in Figure 179.
The rules for defining an expression for the Initial Output Value are as follows:
1) The symbols +,-, *, and / represent addition, subtraction, multiplication and division respectively.
2) ( and ) can be used to group an expression. The number of open ( should match the number of close
) parameterizes
3) Symbols VT0, EFD0, PM0 and FREQ0 are reserved and can be used to define an expression. Any other
symbols used in defining an expression should be defined as parameters in control function blocks
Inspecting Figure 168 shows that the signs of the inputs to the Summer used here are different than those used in
this figure. To correct this, double-click the left mouse button on the summer symbol and the following dialog will
appear:
149
Use the drop-down to select the appropriate signs for each input to the summer as shown above. Next we will assign
a name to the output of the summer, VERR as shown below. Note that the user is free to assign any name to the
output of any function (control) block.
150
Figure 182: Graphical Display when Inputs in a Summer Block Use Different Signs
Next, we will choose the Sum 2 block and assemble the second summer as shown in Figure 183. This summer
represents the summing junction of power system stabilizer (VS), stabilizing feed back (VF) and the voltage error
signals. The control built so far is illustrated below:
The next block in Figure 168 is the amplifier gain and time constant. To assemble this we choose the LEAD-LAG
block. Once the block is dragged into the draw area and connected to the previous output (VT1 shown above), we
double-click the left mouse button on the LEAD-LAG block to define the parameters of this block as shown
below:
151
We will use the output of this block VR as shown above. This block has four parameters (recall that a LEADLAG block is of the form
As B
where the A, B, C, and D are the parameters respectively. In LEAD-LAG
Cs D
block, parameters B and D cannot have a zero value. However, A or C can be assigned a zero value. As shown
above, each parameter has a name, description, minimum value, value (default value), and maximum value. If the
user enters numerical value in the field of Parameter Name, then, this is no longer a parameter and its value
becomes a fixed number. For example, in the above figure we have entered 0 for the 1 st Parameter Name. However,
we have used symbol KA for the 2nd Parameter Name as shown below. Therefore, this is a parameter and the user
has to provide a value for it when this control model is to be used in the power system.
The same approach is used to define TA as the 3rd Parameter of the LEAD-LAG block as shown below:
152
After defining all of the four Parameters of the Lead-Lag Block, the control system built so far will look like the
following Figure:
Next in the control block shown in Figure 168 is the limiter on the AVR amplifier. This is achieved by using the
Limit control function. This is shown below:
Figure 188: Using The Limiter Block in the AVR Control System
Next to define the Parameters of the Limiter function we double-click the left mouse button on the Limiter Block to
get the Limiter Dialog screen as shown in the Figure 189 and Figure 190.
153
We will also rename the output of the Limiter Block to be EFD as shown below. Note that symbols VT, EFD, PM,
and FREQ are names reserved for the generator terminal voltage, field voltage, mechanical power, and generator
speed (or frequency because it is expressed in p.u)
The next block should be the Output Block of AVR , i.e., the Field Voltage as shown below:
154
Figure 191: Connecting the Output Block of an AVR (EFD, Field Voltage)
Now we have to complete the feedback loop. Next, we will choose the Differentiator Block. After dragging its
symbol into the draw area we need to connect it to the field voltage. To connect the EFD to the input of the
Differentiator use the Connector Block. Connectors are only used to tap the output of some control blocks
to the input of other control blocks. This is shown below:
155
The 1st parameter of the Differentiator will be identified as KF as seen above. We do not need to provide the
2nd parameter because its a constant value of 1.
Figure 194: The VAR Control System Showing the 1st Feedback Block
Figure 195: The VAR Control System Showing the 2nd Feedback Block
The next block in the feedback loop of Figure 195 is a LEAD-LAG block. After connecting this block we doubleclick the left mouse button to define its parameters as shown below:
156
Figure 196: Defining the 1st Parameter of the Feedback Loop LEAD-LAG Block
Figure 197: Defining the 2nd Parameter of the Feedback Loop LEAD-LAG Block
157
Figure 198: The AVR Control System upon Insertion of the Feedback Lead-Lag Block
The next block in the control shown in Figure 168 is the feedback loop lag block as shown in Figure 199:
Figure 199: AVR Control When Addition Lag Block in the Feedback Loop
Again, we can define the Parameters of the Lag block in similar way as we did for other control function blocks.
Here we have assigned Parameter TF3 to be the lag time constant of this control function as shown below:
158
Figure 201: AVR System after Connecting the Lag Block in the Feedback Loop
To complete the AVR control, we will connect the output of the Lag function to the input of the 2nd Summer
block as shown in Figure 202:
We have now completed the AVR control system using the elementary function blocks of the DesignBase user
defined model builder. To be able to use this model with a power system we need to perform the following
additional steps:
159
If the model to be added does not have any error, the following screen will appear:
Otherwise, the user will be notified of the errors found in the model. After model validation, the user will be
prompted if the model is to be added to the library, as shown below:
160
If the user answers yes to the above, the model parameters will be summarized in the following model data entry
screen:
It can be seen that all of the parameters defined in the different control blocks used to define the model are
summarized in the above data entry dialog. Verifying that the data dialog is correct is the last step in adding a new
model to the library. We are now ready to use this model power system. Lets see how.
161
We will now use the AVR model built in the previous sections on the generator connected at bus MAIN as shown
above. To do this, double-click the left mouse button on the generator dynamic icon and the following screen should
appear:
162
Check the Voltage Regulator in the top of the above screen and press AVR button shown in the above .
163
Now, select ICON of the AVR Library to get the list of models. Once the list of models is displayed, select the
model desired by pressing the OK button on the highlight model as shown above. This brings on the data entry
screen for the model as shown above.
If necessary, we may here use different values for the parameters of the model. For example, it is possible to have
this model on more than one generator in the network having different parameters.
164
When building a governor block like the one shown above, note the following:
1) The Constant blocks shown PMINIT and FREQREF require to be initialized as shown in the following
two dialogs:
165
2) As previously stated, the program has a prior knowledge of the symbols FREQ0 and PM0: these are initial
generator speed (frequency) and initial generator mechanical power (same as electrical power output in p.u.
on the generator power base)
3) The Input block here is generator speed
4) The Output block is generator mechanical power
e.
f.
g.
Identify the boundary conditions; these are normally generator terminal and field voltages, generator
mechanical power, generator speed (or frequency) etc.
In the control blocks set the Laplace Symbol to zero (if applicable). For example, the LEAD-LAG block
reduces to a block with gain of one (i.e., initial output= initial input).
Work you way from the known boundary conditions inward to initialize other variables.
When reaching to
1
(Integrator) block set the input to zero (this is due to the fact that in steady-state the input
s
to an integrator has to be zero in order that the output be in steady-state) and try to find the output of the block
from the known boundary conditions.
166
All interface variables are in p.u. on the generator base: I.e., the terminal voltage in p.u., mechanical power
in p.u, etc. However, the user can still, within the control system, use actual values if necessary. For example, if
AVR control requires that the terminal voltage be in Volts and field voltage is also computed in voltage, then,
simply introduce a gain block right after the terminal voltage with gain equal to conversion factor between p.u.
and Volts
The symbols +,-, *, and / represent addition, subtraction, multiplication and division
respectively and should not be used in the name of any output variables or parameters.
( and ) can be used to group an expression for defining the initial conditions. The number of open (
should match the number of close ) parameterizes. These symbols should not be used in the name of
any output variables or parameters.
Symbols VT0, EFD0, PM0 and FREQ0 are reserved names and can be used to define an expression (see
Figure 204). Any other symbols used in defining an expression should be defined as parameters in control
function blocks. These symbols represent the initial conditions (value at time zero) of the generator
terminal voltage (p.u), generator field voltage (p.u.), generator mechanical power (p.u.), and generator
speed (p.u.) respectively. These symbols can be used to provide the initial values for other output initial
conditions.
Defining an expression
Figure 204: Screen Capture Showing How Expressions Can Be Used To Provide Initial Output Value
Symbols VT, EFD, PM and FREQ are reserved names and should not be used in the name of any output variables or
parameters. These symbols represent, generator terminal voltage (p.u), generator field voltage (p.u.), generator
mechanical power (p.u.), and generator speed (p.u.) respectively. Parameters of each block can be given a name or a
numerical value can be entered in the field of Parameter Name. In Figure 205, 1st , 2nd, 3rd , and 4th Parameter
Name are 0, KA, 1, and 1 respectively. Note that 1st, 2nd, and 4 th parameters are not actually parameters
anymore since their numerical values are entered. It is recommended not to enter zero for any of the Parameter
Value. Use a small value such as 0.00001.
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AVR and Exciter examples: MYAVR.axd and SEXS.axd. These models are in the Samples\MyAVR
directory
Governor and Turbine examples: MYGOV.axd, DIESELIEEE.axd These models are in the
Samples\MyGov directory
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In the above figure, an example of a closed loop AVR model is shown. Note that the input block (generator terminal
voltage) and output block (generator field voltage) are not used. The voltage is computed by simulating the
generator response through open circuit transient time constant.
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In Figure 208, an example of a closed loop Governor model is shown. Note that the input block (generator
speed/frequency) and output block (generator mechanical power) are not used. The generator speed/frequency is
computed by simulating the generator response through equation of motion (swing equation)
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Load Models
Exciter Models
Governor Models
Thyristor Controlled Switchable Shunts/Series Capacitors And/Or Reactors Systems (TCS),
Build Control Systems Representing Complex PLCs.
In DesignBases Transient Stability Program, UDM model equations are simultaneously solved with the Power System
equations.
The general model builder includes all of the control block functions that were available for building controls for
exciters/AVR and governors. Figure 209 shows the input and output blocks supported by the general UDM. This figure
also highlights the relationship of UDM with the Power System model.
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Figure 209: Input/Output blocks of the General UDM and their Relationship to the Power System
Figure 210 shows the process of building a user-defined model. From left to right, first input(s) blocks are chosen
(these are the variables that are taken from power system), then, the control block diagram of the controller is built
using the transfer function blocks, and finally a specific computed variable is assigned to be the output block.
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To accomplish the objective of this example, we must take Voltage and Frequency at a particular bus in the
system and use the Division function block of UDM to divide voltage by frequency. Then, we will use the
Lookup function block of UDM to define output as a function of Volt/Hertz. Here we are only going to use lookup
table function to raise Volt/Hertz to the 2nd power.
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Figure 213: Assigning the Jobfile Name for the General UDM
Figure 214: Selecting Bus Voltage Input Block from General UDM Catalog
From the Input tab of the General UDM catalog, we select Bus Voltage and drag it into the plot as shown below:
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To have access to the data for any control function, input, or output blocks, double-click the left mouse button it, this
will open the respective data dialog. The Bus Voltage block data dialog is shown in Figure 216. It can be seen that
this block has only one parameter, namely, the identification of the bus where the voltage will be taken from. 1st
Parameter Name is the bus identification. We will change it to BUSNAME as shown in Figure 217. Note that
BUSNAME is just a symbolic representation of the bus identification, and later we will see how the actual bus
identification will be provided.
It is important to note that once this block is used the Initial Output Value will be VTB0 which is a reserved
symbolic keyword. This symbol can be used for initializing other blocks, if necessary.
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VTB0 is a
Reserved
symbol
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Figure 217: Assigning Bus ID and Output Name for Bus Voltage Input Block
Next, we need to get bus frequency. Figure 218 shows how the Bus Frequency input block is selected and dragged
into plot area.
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Figure 218: Selecting Bus Frequency Input Block from General UDM Catalog
Again, bringing up the data dialog for the Bus Frequency is required to specify where the frequency should be
taken from. Figure 219 shows the data dialog for the frequency block.
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FREQB0 is a reserved symbol and, as mentioned before, all of the Initial Output Values are reserved symbols, and
they can be used to initialize other variables. We will see this in later examples.
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Figure 220: Renaming the Name of Output for the Bus Voltage Block
For the sake of clarity, lets rename the output names for both Voltage and Frequency blocks as shown in Figure
220 and Figure 221.
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Figure 221: Renaming the Name of Output for the Bus Frequency Block
Now, we need to divide the voltage by frequency to obtain the value of Volt/Hertz. Select Division function block and
insert it in the plot area as shown below:
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Figure 222: Selecting the Division Block from the General UDM Catalog
Connect the output of voltage and frequency input blocks to the division block as shown in the following figure. Note
that the first input will be numerator.
Figure 223: Connecting the Output of Voltage and Frequency Blocks to the Division Block
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Now, we select the Lookup function block and connect it to the output of Division block and rename the output
of Lookup to be FUNVPHZ as shown above. This model is now complete. Finally, select Model Builder,
from the main menu, to save this new model into the library of general user-defined models as shown in Figure 225.
Figure 225: Saving a General UDM Model into the Library of User-defined Models
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As shown in Figure 227, confirm if the model should be added into the general UDM model library:
Finally, a model description can be given for the new model as shown in Figure 228. We will now show how this
newly built model can be used and tested.
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Figure 228: Inspecting UDM Model Parameters and Assigning Model Descriptions.
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Select the General Model, shown in Figure 230, and click the right mouse button to Add One General Model.
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The VPHZ model can be selected from the list of existing models of UDM library as shown below.
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The model parameters can be specified at this point. First, we have to select bus id where the voltage and frequency
should be taken from the power system at hand. We have selected MAINBUS as shown below:
Also, we provide the data entry for the Lookup function. There are five data points for the X and Y.
To test the above model in the example jobfile (TESTUDM), select Analyze from the main screen of DesignBase
as illustrated in the figure below.
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The transient simulation can be started by pressing the Start Simulation button after all of the simulation control
parameters are chosen. Detailed graphical result can also be examined in addition to the tabular result. The Tabular result
for the Volt/Hertz model is shown in Figure 235:
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Figure 236: Single Line Diagram of Power System used Cyclic Load Modeling
To define the dynamic model of the cyclic load, select Event and Data Manager and under "Events" select Cyclic
Load as shown below:
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After selecting the cyclic load, enter the desired load shape in the following data dialog:
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Note that the initial load at the bus (load define in the editor) is shown in grey in the top portion of the above dialog.
The above cyclic load was simulated by running the transient stability program. The power flows through the
transformer, feeding the cyclic load as shown below:
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As expected, the power flow 100% matches the cyclic load defined in Figure 238.
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