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(2008) ATP - Simulation and Analysis of Power System Transients PDF
(2008) ATP - Simulation and Analysis of Power System Transients PDF
My “whereabouts”:
Dr Marek Michalik
D-20 room 419
tel.: +48 (0)71 320 2153
e-mail: michalik@pwr.wroc.pl
References
Basic reading
[1] Watson N., Arrillaga J., Power systems electromagnetic transients simulation. The
Institution of Electrical Engineers, London 2003.(available in our library)
[3] Kizilcay M., Review of solution methods in ATP-EMTP. EEUG News, Feb-May 2001,
p. 25-36 (available on request)
1. http://www.rose.pwr.wroc.pl/
a lot of useful material and interesting examples – in Polish
3. http://www.pes-psrc.org/Apublications.html
EMTP Tutorial sponsored by the Power System Relaying Committee IEEE
PES .
4. http://www.ipst.org/
5. http://www.mathworks.com/
The list is open - any interesting reader’s finding will immediately be included
2
Simulation and Transient Analysis in Power Systems
Fundamentals
The EMTP (Electromagnetic Transient Program) is probably the most popular computer
software package used for simulation analysis of power systems.
The program is meant for solving of such problems like:
switching transients and overvoltages
short term analysis of disturbances
overcurrent calculations
protection performance analysis
power quality estimation
control of electric drives,
FACTS and many others.
Historical background
EMTP was developed in early 60-ties by a group of programmers directed by Prof.
Herman Dommel at sponsorship of BPA (Bonneville Power Administration, Canada). The
first version was based on Fortran source code and data format. Some of these features are
used up till now. On the basis of EMTP experience many professional programs for similar
applications were developed.
ATP-EMTP version
Alternative Transient Program is the version available in public domain and being
continuously developed by regional groups of users on all continents. The ATP – EMTP is
now used on all up-to-date computers and is provided with handy graphical interface
ATPDraw.The ATP-EMTP program can be run under all nowadays-used operational systems,
in particular:
MS – DOS (version Salford ATP)
MS – Windows (version Watcom ATP)
Linux (version GNU – Mingw32)The ATP-EMTP program capacity:
Number of nodes - 6000
Number of branches - 10000
Number of switches – 1200
Number of sources – 900
Number of non-linear elements – 2250
Number of synchronous machines - 90
3
Simulation and Transient Analysis in Power Systems
input data
*.dat, *.atp
calculations
*.lis, *.dbg
Program ATP-EMTP
results
*.pl4, *.pch
memory plot
The TPBIGx.exe has no embodied graphical interface so the use of external ATPDraw
program is essentially useful. The basic module (Fig.2) also contains some auxiliary
procedures meant for calculation of input file data for some more complex models.
Simulation Block
calculations in time
or frequency domain
Auxiliary procedures
MODEL OF ELECTRIC
NETWORK
∆t ∆t
TACS MODELS
4
Simulation and Transient Analysis in Power Systems
Both units provide facilities for modeling of: elements described by transfer functions,
counters, advanced voltage and time controlled switches, quantizers, non-linear elements,
e.c.t.
MODELS are more versatile since the unique models can be implemented by use of symbolic
programming language. The results of simulation are yielded in form of OUTPUT FILES:
*.pl4 file that contains results as a function of time or frequency in form of text or
binary file (by selection)
*.pch file with auxiliary data
*.lis, *.dbg text files with the record of program execution.
The results of auxiliary procedure (*.pch) can be applied to the network model by use
of $INCLUDE in DATA BASE MODULE
The frequency characteristic of the simulated network for specified variables can be
obtained by use of FREQUENCY SCAN procedure
The time characteristics for the selected variables are stored in the file *.pl4. Format
of the file can be set in STARTUP file.
The *.pl4 files can be plotted directly using PLOTXY or TOP programs. If the
simulation results are to be used
in MATLAB environment, the ATP-EMTP package offers special filters: PL42MAT,
PL4TOMAT.
5
Simulation and Transient Analysis in Power Systems
TEXT EDITOR
ATPDRAW
(PFE)
*.dat, *.atp
Data set up INPUT FILE
*.pch
data module
TPBIGx.EXE
*.lis, *dbg
*.pl4
OUTPUT FILE
PLOTXY
TOP
The headline
BLANK
6
Simulation and Transient Analysis in Power Systems
345.00=0.345E3=.345E3; 0.0234=.0234=.234E-1
XOPT:
1. XOPT=0 – enter inductances L in [mH]
2. XOPT>0 – enter XL in [Ω] and XL= 2π*XOPT*L
TMAX – simulation time [s],
COPT:
1. COPT=0 – enter capacitance C in [µF]
2. COPT>0 – enter C as B [µS]; B= 2π*COPT*C
IOUT – determines frequency of simulation output display on the screen. IOUT=200 means
that each 200th line will be displayed. To save the simulation duration this
parameter should not be too large.
IPLOT – determines the number of the simulation results entries in the output file (.pl4).
IPLOT=1 results in max. size output file ( record in each calculation step T
(DELTAT)
IPLOT=101 means that the output is sampled at sampling period Tout = 101T
ICAT – controls the output file set up:
0 – no output file is made
1 – the output file record is enabled, on screen graphic display is off.
2 – as for 1 and on screen plotting during calculation is on
A two-digit number in the first two columns of the line always indicates the type of model
which the data are input for.
7
Simulation and Transient Analysis in Power Systems
The first 2 columns are empty, the next 24 ones are reserved for the node names on the
branch.
Then the R L C parameters values are input into the next 3, six columns each, entry fields (in
NORMAL PRECISION format). The last (80th) column entry indicates the electric requested
to be stored in the output file according to the code:
1 – current in the branch
2 – voltage across the branch
3 – 1and 2
4 – power and energy dissipated in the branch
The data have the form of matrixes that correspond to the circuit diagram shown in Fig.5:
L1
Z12 Z13 Z11
L2
Z22
Z23
Z33
L3
C33 C11 C22
Fig.5. RLC element in for of a π-cell; Zjk – series connection of Rjk and Ljk
8
Simulation and Transient Analysis in Power Systems
Since the matrixes are symmetrical the data for upper triangular sub matrix are entered only.
In the similar way the multi-phase element data can be input into the data file. Maximum size
of the data matrix is 40X40.
The elements are very frequently used to model overhead transmission lines, in particular, the
transposed ones. In this model the transverse parameters (C) are neglected. The data matrix
for the transposed line contains 2 parameters only, as it is shown below:
R L
L1
L2
L3
coupling
Rys.6. Coupled RL element
Zs Zm Zm Z 0 0 0
Z = Z m Zs Z m ⇔ 0 Z1 0 ,
Z m Zm Z m 0 0 Z 2
For symmetrical components the matrix takes the diagonal form for which:
Z 0 = Z s + 2Z m , Z1 = Z 2 = Z s − Z m ,
Z 0 − Z1 Z + 2Z1
Zs = , Zm = 0 .
3 3
9
Simulation and Transient Analysis in Power Systems
C NODE->i?<-Amplit-><--Freq--><-Phase -><---A1---><---T1---><-Tstart-><-Tstop-->
GENER 1 100. 50. –45.
Where:
NODE– node name
i? – if 0 current source option, 1- voltage source
Amplit – the magnitude of the cosine wave
Freq – fundamental frequency in[Hz]
Phase – initial phase displacement in deg(A1=0) or in [s] (A1>0)
Tstart, Tstop – beginning and the end of the source activation [s]
The network model is derived from differential equations that relate currents and voltages
in network nodes according to Kirchoffs law.
The simulation models are usually based upon equivalent network diagrams derived under
simplified assumptions (which sometimes can be significant) that are applied to the network
elements representation. In this respect models can be divided into two basic groups:
Lumped parameter models
3D properties of elements are neglected and sophisticated electromagnetic relations
that include space geometry of the network are not taken into account.
10
Simulation and Transient Analysis in Power Systems
In classic theory relations between currents and voltages on the network elements are
continuous functions of time. In digital simulations the numerical approach must be applied.
Two ways are applied for this purpose:
Transformation of continuous differential relations into discrete (difference) ones,
State variable representation in continuous domain and its solution by use of
numerical methods.
dy (t )
+ λy (t ) = bw(t ) (1.1)
dt
Where y(t), w(t) denotes electric quantities (current, voltage) and l, b are the network
parameters. In case of a single network component (inductor, capacitor) eqn. (1.1) simplifies
into:
dy (t )
= bw(t ) (1.2)
dt
Laplace transformation of (2) results in:
sY ( s ) = bW ( s ) (1.3)
T - sampling period
Approximate rational relations between z and s can be obtained from expansions of (1.4)
into power series. Let’s consider the following most obvious cases:
1. 2 n
(Ts ) (Ts )
z = eTs = 1 + Ts + + ... + + ......
2! n!
11
Simulation and Transient Analysis in Power Systems
or
z −1
s≅
T (1.5)
2.
1
z = eTs ≈ 1 + Ts + (Ts ) 2 + ... + (Ts ) n + ...... =
1 − Ts
or
1
z≅
1 − Ts
Again, higher power terms have been neglected so:
z −1
s≅ (1.6)
Tz
3.
z = eTs
1 2 z − 1 ( z − 1)3
s= ln z = + + ......
T T z + 1 3( z + 1)3
and
2( z − 1)
s≅ (1.7)
T ( z + 1)
The approximation (1.7) is the well known Bilinear Transformation or Tustin’s operator.
Applying the derived approximations of s to differential equation (1.3) three different discrete
algorithms for calculation of w(k) integral can be obtained.
1a.
z −1
Y ( z ) = bW ( z )
T
In discrete domain:
y (k +1) − y (k )
= bw(k )
T
So the applied approximation is the Euler’s forward approximation of a
continuous derivative. The resulting integration algorithm takes the form:
12
Simulation and Transient Analysis in Power Systems
Y ( z ) = z −1Y ( z ) + z −1bTW ( z )
(1.8)
y ( k ) = y (k − 1) + bTw( k − 1)
The algorithm (1.8) realizes iteration that within a single step T can be written as:
tk
y (t k ) = y (tk −1 ) + bT ∫ w(τ )dτ
tk −1
The algorithm is of explicit type since the current output in k-th instant depends only on
past values of the input and output in (k-1) instant.
2a.
Using the second approximation of z (1.6):
z −1
Y ( z ) = bW ( z )
zT
Y ( z ) = z −1Y ( z ) + bTW ( z )
y ( k ) = y (k − 1) + bTw(k ) (1.9)
This algorithm is of implicit type since the current output in k-th instant
depends on present value of the input in the same instant.
The algorithm (1.9) realizes integration which, within a single step T, can be written as:
t k +1
y( tk ) = y( tk −1 ) + bT ∫ w( τ )dτ
tk
3a.
Using the third approximation of z (1.7):
2( z − 1)
Y ( z ) = bW ( z )
T ( z + 1)
−1
Y ( z) = z Y ( z) +
[
Tb W ( z ) + z −1W ( z ) ]
2
Tb[w(k ) + w(k − 1)]
y (k ) = y (k − 1) + (1.10)
2
This algorithm (1.10) realizes numerical integration based upon trapezoidal approximation of
the input function w(k).
13
Simulation and Transient Analysis in Power Systems
w(y,t)
3 2
w(tk)
w(tk-1)
yE ( k ) + yI ( k )
yTR ( k ) =
2
In general, the numerical integration methods depend on approximations of continuous
derivative (or integral) and can be divided into two groups, namely:
single step integration methods (self-starting)
multi-step methods.
4 y( k − 1 ) − y( k − 2 ) + Tbw( k )
y( k ) = (1.11)
3
The algorithm is not self-starting one and must be started by use of a single step
algorithm; reveals stiff stability properties.
Accuracy of operation
Accuracy of numerical integration for the algorithms considered can be estimated from
homogenous from of the eqn.(1.1), e.i:
dy (t )
− λy (t ) = 0 (1.12)
dt
14
Simulation and Transient Analysis in Power Systems
y (t ) = y (t0 )e − λt
y (k − 1)
y (k ) = Implicit Euler’s method (‘step forward’) (1.14)
1 + λT
2 − λT
y (k ) = y (k − 1)
2 + λT Trapezoidal approximation (1.14)
Thus the local integration error for one interval T=tk- tk-1 can be defined as:
∆ L = yaL (k ) − y (k ) (1.15)
This local error can easily be determined in detail for each algorithm considered. Let’s
take for example the method (1.13):
∆ L = y (k − 1)e − λT − (1 − λT ) y (k − 1) = y (k − 1)(e − λT − 1 + λT )
(λT ) 2 (λT )3
∆ L = y ( k − 1)( − + .....)
2 3!
Putting the constraint λT<1 and using some mathematics the local error can be estimated
by the approximate formula:
(λT ) p +1
∆L = (1.16)
(2) p −1 (2 + λT )
15
Simulation and Transient Analysis in Power Systems
The global error ∆G is defined as the difference between accurate and approximate
integration result in a longer time span e.i. from the the first step (k=1) to the arbitrary step k,
so:
The respective integration results for the algorithms considered are (order of presentation
as in previous case):
k
2 − λT
y (k ) = y0
2 + λT trapezoidal approximation (1.20)
Illustration of the errors discussed is shown in Fig.1.2. The plots presented have been
calculated for: y0=10; l=2; T=0.987.
∆L a) b)
∆G
3 10
3 3
2
5
1 1
1
0
0
-1 -5 2
-2 -4
2 -10
10 10
-3
10-2 10
-1 100 0 4 8 12 16
k
20
T, s
Fig. 1. 2. Local ∆L and global ∆G error values for the algorithms considered:
16
Simulation and Transient Analysis in Power Systems
Resistance
As the resistive elements do not have the energy storing capacity the discrete relation
between current and voltage drop across resistance R can be obtained directly from the
continuous relation and:
1
i( k ) = u( k ) = Gu( k ) (2.1)
R
Inductance
The energy stored in magnetic field produced by current has the impact on voltage across
the element so its continuous model is described by the equation:
di( t ) 1
= u( t )
dt L (2.1a)
Using the transformation (1.6) or eqn.(1.9) the Euler’s implicit discrete model of the
element is obtained:
T T
i( k ) = i( k − 1 ) + u( k ) = i( k − 1 ) + Gu( k ), G=
L L (2.2)
T
i( k ) = i( k − 1 ) + [u( k − 1 ) + u( k )]
2L
or
(2.3)
T
i( k ) = Gu( k ) + i( k − 1 ) + Gu( k − 1 ), G =
2L
i( k ) = Gu( k ) + i( k − 1 ) + Gu( k − 1 )
(2.4)
or
i( k ) = Gu( k ) + j( k − 1 )
where
j( k − 1 ) = i( k − 1 ) + Gu( k − 1 )
Since the calculations in step k employ the values calculated in step k-1 which are constant
and can be considered as the constant current sources j(k-1). Thus the inductance can be
represented by equivalent companion model corresponding to (2.4) which is shown in Fig.2.1.
17
Simulation and Transient Analysis in Power Systems
a) b) i(k)
i(t) L
u(k) G j(k-1)
u(t)
Capacitance
This element also reveals the energy storing capacity in form of electric charge so the
relation between voltage and current in the element is given by the formula:
du (t ) 1
= i (t )
dt C
Using the same transformations as for the inductance the discrete models of capacitance
can be derived:
T (2.5)
u (k ) = u (k − 1) +
i(k )
C
Introducing the conductance notation (2.5) takes the form:
C
i (k ) = Gu (k ) − Gu (k − 1), G=
T
and
i (k ) = Gu (k ) + j (k − 1), j (k − 1) = −Gu (k − 1) (2.6)
Using the trapezoidal integration method the discrete model of capacitance takes the
similar form:
T
u (k ) = u (k − 1) + [i(k − 1) + i(k )] (2.7)
2C
The companion discrete model for capacitance can be derived as:
i (k ) = Gu (k ) + j (k − 1)
in which :
2C
j (k − 1) = −i (k − 1) + Gu (k − 1), G = (2.8)
T
The respective representation is shown in Fig.2.2:
a) i(k) b)
i(t) C
u(k) G j(k-1)
u(t)
18
Simulation and Transient Analysis in Power Systems
In the very similar way the parameters of companion circuits can be derived for any
integration method used. In Table 1.1 the example of those parameters for three selected
methods are shown:
Table 1.1 Companion circuits parameters for selected numerical integration methods.
Series R L C branch
a) b)
i(t) i(k)
uR(t) R uR(k) GR
c)
i(k)
Fig.7. Discrete model of RLC branch; a0 the continuous model; b) discrete models of particular
elements; b) the equivalent companion model of the branch.
To derive the equivalent companion circuit model (Fig.7c) consider the basic equation for
voltage across the branch ( Fig.7b):
19
Simulation and Transient Analysis in Power Systems
u( k ) = u R ( k ) + uL ( k ) + uC ( k ) (2.9)
1
uR( k ) = i( k ),
GR
1
uL( k ) = (i( k ) − jL( k −1)), uC( k ) = 1 (i( k ) − jC ( k −1)). (2.10)
GL GC
After substitution and appropriate rearrangement of (2.9) the equivalent model equation is
obtained:
GR GL GC 2CT
G= =
G R G L + G R GC + GL GC 4 LC + 2 RCT + T 2
G R GC j L (k − 1) + GR GL jC (k − 1) G G
j (k − 1) = = j L (k − 1) + jC (k − 1) ,
GR GL + GR GC + GL GC GL GC
and
1 T 2C
GR = , GL = , GC = .
R 2L T
If capacitance C is not present in a branch then C→∞ must be put into the above
equations. For missing R or L, R = 0 or L = 0 must be used. For example, the R L branch is
the respective relations are:
T 2L 1 − RGL (2.12)
G= j( k −1 ) = jL ( k − 1 ) = i( k −1 ) + Gu( k −1 )
2 L + RT 2L + RT 1 + RGL
Controlled sources
Controlled sources are used very often in electronic and electric network models.
Generally there are four basic types of such sources (Fig.8):
20
Simulation and Transient Analysis in Power Systems
Models of controlled sources are very simple, however, their inclusion into equivalent
model of the network considered may sometimes be cumbersome.
a) ix b)
ux j=kux j=kix
ix c) d)
u=kix ux u=kux
Fig.8. Diagrams of controlled sources; a) voltage controlled current source; b) current controlled
current source; c) current controlled voltage source; d) voltage controlled voltage network.
The frequency properties of discrete models are uniquely determined by the method used
for approximation of derivatives that appear in the continuous model of a given element.
Comparison of the continuous and the discrete models frequency properties provides very
useful information on how to select the calculation period T in order to obtain the accurate
enough transient component waveform of frequency fmax – if such a component is present in
the continuous transient voltages or currents.
As an example let’s consider the discrete model of inductance obtained by use of
trapezoidal approximation. Using the already known relations (2.1a, 1.10, 1.7) we get:
2( z − 1) 1
i( z ) = u ( z ) (2.13)
T ( z + 1) L
T z +1
i( z) = u( z) (2.14)
2L z − 1
T e jωT + 1
i ( jω ) = u ( jω ) (2.15)
2 L e jω T − 1
Applying rudimentary trigonometry knowledge the equation (2.15) can be written in the
simplified form:.
T
i ( jω ) = 2 u ( jω ) (2.16)
ωT
Ltg
2
21
Simulation and Transient Analysis in Power Systems
T Tω Tω
i ( jω ) 2 2
Yd ( jω ) = = = = 2 Yc ( jω ) (2.17)
u ( jω ) ωT ωT ωT
Ltg Lωtg tg
2 2 2
The ratio of the discrete and continuous admittances vary with frequency as it is shown in
Fig. 9.
Yd
Y
0,9
0,8
0,7
0,6
0,5
0,4
0,3
0,2
0,1
0
0 0,1 0,2 0,3 0,4 0,5 ωT
2π
Fig.9. Discrete inductance model frequency response.
ωT
From eqn. (2.17) and from Fig. 9 one can notice that Yd(jω) reaches zero if tg →∞
2
This limit is reached when:
ωT π π π 1
= or T= = =
2 2 ω 2πf 2 f
So if fmax is the frequency of the highest current or voltage harmonic expected then the
following condition must be met:
1
T << (2.18)
2 f max
1
Practically, if requested number of data output within the period Tmax = is N (usually
f max
N > 20) then (2.18) implies:
1
Tmax ≤ (2.19)
2 Nf max
22
Simulation and Transient Analysis in Power Systems
Distinction between lumped and distributed models of electric elements is made on the basis
of mutual relation between three basic parameters of the environment in which the
electromagnetic wave is propagated. These parameters are:
In case of lumped elements it is assumed that only one of the above listed parameters is
dominant and the remaining ones can be neglected. Thus particular elements are deemed as
lumped under following conditions:
µ = ε = 0 – lumped resistance
γ = ε = 0 – lumped inductance
γ = µ = 0 – lumped capacitance
Thus, if the frequency of the propagated wave is f, than the lc can be estimated as:
λ c
l gr = = (3.1)
4 4f
c
where c is the velocity of light and λ = is the wavelength.
f
If l << l gr then the length of the line can be neglected and can be modeled as the lumped
parameter element. Otherwise ( l ≈ l gr ) the line should be considered as the long one.
For example, if the transient harmonics of frequency f = 1000 Hz (the 20th harmonic) may
appear in the line during faults then l gr = c /(4 f ) = 3 ⋅10 5 /(4 ⋅1000) = 75 km. The lightning
stroke may induce much higher harmonics in the line so in such case even a few kilometers
long line should be represented by distributed parameters model.
x x+∆x
Fig.10. Elementary segment of a long line
23
Simulation and Transient Analysis in Power Systems
The basic equations that describe the elementary cell in Fig.10 are:
∂i ( x, t )
u ( x, t ) = R' ∆x ⋅ i ( x, t ) + L' ∆x + u ( x + ∆x, t ),
∂t
(3.2)
∂u ( x + ∆x, t )
i ( x, t ) = G ' ∆x ⋅ u ( x + ∆x, t ) + C ' ∆x + i ( x + ∆x, t ),
∂t
where R ' , L' , G ' , C ' denote ‘unit/ length ’ values of resistance, inductance and capacitance
of the line, respectively.
Dividing both equations by ∆x and taking the limes ( ∆x → 0 ) the following relations are
obtained:
∂u ( x, t ) ∂i ( x, t )
− = R ' i ( x, t ) + L ' ,
∂x ∂t
(3.3)
∂i ( x, t ) ∂u ( x, t )
− = G ' u ( x, t ) + C ' .
∂x ∂t
If the line is homogenous then (3.3) can be separated with respect to current and voltage (for
simplicity: u = u ( x, t ) , i = i ( x, t ) ):
∂u 2 ∂u ∂i 2
− = − R ' G ' u − R ' C ' + L '
∂x 2 ∂t ∂x∂t
and
∂u 2 ∂u ∂u 2
= R ' G ' u + ( R ' C '+ G ' L ' ) + L ' C ' (3.4)
∂x 2 ∂t ∂t 2
Applying the same simplifying procedure to the second equation in (3.3) the respective
relation for current can be obtained:
∂i 2 ∂i ∂i 2
= R ' G ' i + ( R ' C ' + G ' L ' ) + L ' C ' (3.5)
∂x 2 ∂t ∂t 2
Both (3.4) and (3.5) are the second order hyperbolic partial differential equations known as
"telegraph equation".
This case is obtained under assumption that R '= 0 and G '= 0 and the resulting simplification
of (3.4) and (3.5) is:
∂u 2 1 ∂u 2
− = 0,
∂x 2 v 2 ∂t 2
(3.6)
∂i 2 1 ∂i 2
− = 0.
∂x 2 v 2 ∂t 2
24
Simulation and Transient Analysis in Power Systems
in which:
1
v=
L' C '
The general solution of (3.6) has been found by d’Alembert [24], [17]. For the following
boundary conditions:
∂u( x, t )
u ( x, t ) x =0 = ϕ ( t ) , = ψ (t )
∂x x =0
1
(ϕ (t + x / v ) + ϕ (t − x / v )) + v ∫t-x/v ψ (α )dα
t + x/v
u ( x, t ) = (3.7)
2 2
t
t+x/v=const t-x/v=const
tp
x1 xp x2 x
The boundary conditions expressed in terms of voltage u1 (t ) and current i1 (t ) at the beginning
of the line yields (from (3.3)):
∂u (0, t ) ∂i (0, t ) di ( t )
ϕ (t ) = u(0, t ) = u1 (t ) , ψ (t ) = = − L' = − L' 1
∂x ∂t dt
1
(u1 (t + x / v ) + u1 (t − x / v )) − 1 Z f ∫t-x/v dii (t )
t + x/v
u ( x, t ) = (3.8)
2 2
L'
where Z f = is the wave impedance of the line.
C'
25
Simulation and Transient Analysis in Power Systems
1
u2 (t ) = (u1 (t + τ ) + u1 (t − τ ) ) − 1 Z f (i1 (t + τ ) − i1 (t − τ )) (3.9)
2 2
1
i2 (t ) = − (i1 (t + τ ) + i1 (t − τ )) + 1 (u1 (t + τ ) − u1 (t − τ )) (3.10)
2 2Z f
Subtracting (3.9) from (3.10) the model of the long line takes the form:
i2 (t ) = G f u2 (t ) − G f u1 (t − τ ) − i1 (t − τ ) (3.11)
1
where G f = .
Zf
When the boundary conditions are assigned to the beginning and to the end of the line, the
solution concerns these two points only. The propagation characteristics also comprise of 2
points: x1 = 0 and x2 = l . This simple model is call the Bergerons model [12], [17].
The continuous model (3.11) of the lossless line can easily be converted into the discrete one .
Assuming that wave propagation time is mT =τ then :
τ l
m= = (3.12)
T vT
and
i2 (k ) = G f u2 ( k ) − G f u1 ( k − m ) − ii ( k − m ) (3.13)
By analogy the discrete model for the current at the beginning of the line can be derived, so:
i1 (k ) = G f u1 (k ) + j1 (k − m),
(3.14)
i2 (k ) = G f u 2 (k ) + j 2 (k − m),
where
j1 (k − m) = −G f u 2 (k − m) − i2 (k − m),
(3.15)
j 2 (k − m) = −G f u1 (k − m) − i1 (k − m),
The equivalent circuits corresponding to (3.14) and (3.15) are shown in Fig. 12.
26
Simulation and Transient Analysis in Power Systems
1 i1(k) i2(k) 2
j2(k-m)
u1(k) Gf Gf u2(k)
j1(k-m)
The dissipation losses appear when resistance appears in the line model. The inclusion of the
resistance is based upon assumption that its value is relatively small with respect to the line
reactance. This assumption justifies the inclusion of the lumped resistance at both ends of the
line as it is shown in Fig. 13.
a)
1 i1(k) R/2 1' 2' R/2 i2(k) 2
b)
When the resistance is connected as shown in Fig.13a. the equations (3.14), (3.15) take the
form:
R
u '1 (k ) = u1 (k ) − i1 (k ),
2 (3.16)
R
u ' 2 (k ) = u 2 (k ) − i2 (k ),
2
where:
R = lR'
27
Simulation and Transient Analysis in Power Systems
j1 (k − m) = −G f u 2 (k − m) − h f i2 (k − m),
(3.17)
j 2 (k − m) = −G f u1 (k − m) − h f i1 (k − m),
where:
1 2Z f − R
Gf = , hf =
Z f + R/2 2Z f + R
More accurate model can be obtained when the resistance is connected into the line model as
it is shown in Fig.13b. In this case all the line parameters connected to the middle node of the
line can be eliminated and the resulting equations obtained are:
i1 (k ) = G f u1 (k ) + h fa j1 (k − m) + h fb j 2 (k − m),
(3.18)
i2 (k ) = G f u 2 (k ) + h fa j 2 (k − m) + h fb j1 (k − m),
R 1
where: h fa = Z f G f , h fb = G f , and G f = .
4 Z f + R/4
In general the dissipating long line models can be written in the compact matrix form so that:
i1 (k ) G f u1 (k ) h fa h fb j1 (k − m)
i (k ) = +
G f u 2 (k ) h fb h fa j 2 (k − m)
(3.19)
2
The form of the matrixes depends upon the considered representation of the dissipating long
line (as in Fig. 13a or as in Fig. 13.b).
Numerical models used for simulation of transient processes in power networks can be
deemed as satisfactory if the simulation results are adequate processes observed in real
networks. There are two basic sources of errors that can make the simulation results
inadequate, namely,
omission of the elements which are essential for the network operation
application of numerical methods that are inadequate to calculation of analyzed
effects.
The problems concerned may appear in some specific situations only. For example, the ideal
switch that is represented by two limit values of conductance (0 and ∞) can be used as a
circuit breaker if the values of the current to be broken are relatively low. Similar problems
may occur due to application of inadequate numerical methods resulting in numerical
instability.
Numerical instability appears when the errors caused by numerical round up of calculation
results sum up in each calculation step.
28
Simulation and Transient Analysis in Power Systems
Practically, the both considered types of errors are related very closely as the further analysis
shows .
As the typical illustration of the problem let’s consider the following example:
The task: simulate the transient effects that appear in the network shown in Fig.14 when the
switch opens at topen =0.012s. Assume that the models of elements used are companion to
trapezoidal approximation method.
C
E R1 L1 W
i(k)
u(k) R2
The respective waveforms of the current flowing through the switch and the voltage drop
across the inductance L1 are shown in Fig.15.
i(k), A u(k), V
0.10 15
0.05 10
5
0.00
0
-0.05
-5
-0.10 -10
-0.15 -15
-0.20 -20
0 4 8 12 16 20 0 4 8 12 16 20
Fig 15. The results of simulation; a) the current in the switch; b) the voltage across the inductance L1
As one can see the network current drops to zero when the switch opens but the voltage across
inductance oscillates with constant non-decaying amplitude of relatively small value since the
value of the current at the breaking moment is also very small. A closer look at the oscillating
voltage (Fig.16) reveals that it changes its sign in each calculation step.
The oscillations appear since the energy stored in the coil cannot be dissipated (the circuit is
broken). Thus the observed error in simulation result can be credited to inadequate model
applied. Such errors may appear in less obvious situations (some model parameters drastically
change their values within one calculation step).
To analyze the described numerical effect let’s consider the voltage drop across the
inductance which, in case of numerical model derived for trapezoidal approximation, can be
expressed as (derive this equation):
1 + RGL 1 − RG L
u (k ) = i(k ) − i (k − 1) − u (k − 1) (3.20)
GL GL
29
Simulation and Transient Analysis in Power Systems
u(k), V
15
10
5
0
-5
-10
-15
-20
11,0 11,5 12,0 12,5 13,0 13,5 tk, s
When the switch opens at k-1 instant the current attains zero in two consecutive steps
( i (k ) = i (k − 1) = 0 ). Thus u (k ) = −u (k − 1) for all further calculation steps.
There are many methods that can be applied to damp such oscillations; they are known as
critical damping adjustment methods (CDA) [27], [29].
The most obvious way of oscillation suppression is the use of nonlinear model that matches
reality. However, sometimes this approach may be very difficult or even impossible. In such
cases the use of linear resistance can bring the satisfactory effects.
The analysis of the network in Fig. 14. immediately brings to the conclusion that the use of
resistance connected in parallel with the coil should result in suppression of voltage
oscillations. In such case the modified inductance model takes the form (Fig.17):
i(k ) =
T
(u (k ) + u (k − 1) ) + i(k − 1) + 1 (u (k ) − u (k − 1)) (3.21)
2L R
a) i(k) b)
L
i(k)
R u(k) G j(k-1)
u(k)
i (k ) = Gu (k ) + j (k − 1) (3.22)
where:
TR + 2 L TR − 2 L
G= , j ( k − 1) = i ( k − 1) + u ( k − 1) .
2 LR 2 LR
30
Simulation and Transient Analysis in Power Systems
1
u (k ) = (i(k ) − i(k − 1) ) − αu (k − 1) (3.23)
G
where:
2L
R−
α= T
2L
R+
T
a) b)
u(k), V u(k), V
10 4
2
5 0
0 -2
-5 -4
-6
-10 -8
-15 -10
12,0 12,5 13,0 13,5 14,0 14,5 tk, ms 12,0 12,5 13,0 13,5 14,0 14,5 tk, ms
Fig.18. Oscillations on the inductor for different values of α . α=0,818 (a) and α=0,333 (b)
The similar effects can be observed on capacitances in case of rapid decrease of the
capacitance voltage.
a) i(k) b)
C R
i(k)
u(k) G j(k-1)
u(k)
2C
i(k ) = (u(k) − Ri(k)) − i(k −1) − 2C (u(k −1) − Ri(k −1)) (3.24)
T T
i (k ) = G (u (k ) − u (k − 1) ) − αi (k − 1) (3.25)
where:
31
Simulation and Transient Analysis in Power Systems
T
−R
2C
G= , α = 2C
T + 2 RC T
+R
2C
In this case the oscillations of current occur for α = 1 (R=0) at the moment when u(k)=u(k-
1)=0.
It must be noted that the damping resistor changes the frequency response of the model
considered. For example, in case of inductance the eqn.(2.15) is now:
e j ωT + α
i( jω ) = G jωT u( jω ) = Y d U d ( jω ) (3.26)
e −1
The relation between the digital Yd and continuous Yc admittances for different values of α are
shown in Fig.20.
a) b)
Yd Y
Y arg d
Y
1,4
4 π/2
1,2
4
1
3
0,8
π/4
0,6
0,4 3 2
1
0,2 2
0 0
0 0,1 0,2 0,3 0,4 0,5 ωT 0 0,1 0,2 0,3 0,4 0,5 ωT
2π 2π
The analysis carried out above shows that numerical oscillations are related directly to the
method of continuous derivative approximation.
Using the three different approximations, namely:
L
u (k ) = (i(k ) − i(k − 1)) implicit Euler's method
T
2L
u (k ) = (i (k ) − i(k − 1)) − u (k − 1) trapezoidal approximation
T
L
u (k ) = (3i(k ) − 4i(k − 1) + i(k − 2) ) Gear's 2nd order
2T
32
Simulation and Transient Analysis in Power Systems
for the same network model (example) different intensity of numerical oscillations can be
observed. It is shown in Fig.21.
u(k),
V
4
2
2
0
1
-2
-4
-6
The Euler's method reveals the best oscillation damping property since they are suppressed in
one calculation step (critical damping). The Gear's method is slightly worse. On the other
hand the trapezoidal method that is least stable offers simplicity and good accuracy of
calculations in steady state (no rapid changes of the network parameters).
Thus, in practice, the combination of Euler's and trapezoidal methods are applied in the
following way:
- if step there are no rapid changes of the network parameters in the current calculation
the trapezoidal method is used,
- otherwise the Euler's implicit method takes the calculations over for 2 consecutive
steps but of twice shorter duration (T/2) to avoid the model parameter change.
( s − s z1 )( s − s z 2 )...( s − s zM )
H( s ) = (3.27)
( s − s p1 )( s − s p 2 )...( s − s pN )
so that:
33
Simulation and Transient Analysis in Power Systems
The constant D is determined by comparison of steady state response for specified excitation
that should be the same for the continuous and the discrete system.
Since the calculations are carried out in off-line mode the input signal can be represented
(sampled) in many different ways. Some of them are shown in Fig.22.
a) b) c)
u(t) u(t) u(t)
Thus the final discrete transfer function H(z) must be corrected accordingly by use of the
sampling function Hs(z) related to the applied signal sampling operation:
H ( z ) = H d ( z )H s ( z ) (3.30)
and
Hs( z ) = z for Fig 22a
1
Hs( z ) = (z + 1) for Fig.22c
2
Thus the algorithm of the matched Z transform application can be summarized as follows:
Example
Consider the network shown in Fig.23a which has the transfer function block diagram
representation like in Fig.23b. The resulting continuous transfer function of the network is:
34
Simulation and Transient Analysis in Power Systems
1
I( s ) K
U ( s) = (R + sL )I ( s) and H( s ) = = R =
U( s ) L 1 + sτ
1+ s
R
a) b)
i(t) R L U(s) 1 I(s)
K
u(t) + - sτ
The transfer function obtained has no zeros and only one pole s p1 = −1 / τ = − R / L .
Assuming that the input signal (voltage) is sampled as in Fig.22a and using the transformation
(3.28) the resulting discrete transfer function is obtained:
D Dz
H( z ) = z=
(z −e −TR / L
) (
z − e −TR / L )
To determine D let's assume that u(t) is a unit step function u(t) = 1(t) for which U(s)=1/s
and:
K
i( s ) = .
s (1 + sτ )
K
i (t ) t →∞ = lim sI ( s ) = lim =K.
s→0 s → 0 1 + sτ
Dz 2
I ( z) =
(z − e −TR / L
)( z − 1)
and
Dz 2 D
i(k ) k →∞ = lim( z − 1) I ( z ) = lim −TR / L
= .
z →1 z →1 z−e 1 − e −TR / L
(
D = 1 − e −TR.L K . )
35
Simulation and Transient Analysis in Power Systems
So, finally:
I ( z ) (1 − e −TR / L )z
H ( z) = =
U ( z ) R(z − e −TR / L )
.
Now in few steps the numerical algorithm for calculation of i(k) can be written:
i (k ) = Gu (k ) + j (k − 1) ,
where: G =
(1 − e −TR / L
), j (k − 1) = e −TR / L i (k − 1) .
R
The past history of the algorithm depends upon the current only so the voltage oscillations on
inductance due to the rapid change of current will not occur.
In the similar way the numerical algorithms corresponding to the typical first and the higher
order transfer functions and related to them electrical elements can be developed
It must be noted that the method considered can be applied to the transfer functions that have
at least one zero or pole located outside the origin of the s plane. Thus the single R, C
elements must be modeled using the trapezoidal method.
Another example (Fig.24) shows the comparison of oscillation suppression properties for
different numerical methods.
a) i(k) b)
C
R1 L1 17,5
i(k) 1
R2 16,0
W 14,5 3
E 13,0
2
Rz 11,5
10.0
0 4 8 12 16 tk , ms
Fig.24. The current I(k) waveform after closing of W; 1- accurate values; 2- trapezoidal method;
3 - the root matching method.
The obtained current waveforms are evidently in favor of the root-matching algorithm.
This method is based on the mathematical model of a network in which the vector of input
variables f (t ) (sources) is related with the output variable vector y (t ) (selected currents and
voltages) by the fundamental equations:
36
Simulation and Transient Analysis in Power Systems
x& (t ) = Ax(t ) + Bf (t ),
(4.1)
y (t ) = Cx(t ) + Df (t ),
f1 y1
f2 y2
f3 lumped circuit y3
x1, x2, ..., xn
fr ym
In general the matrixes of parameters can change in time (time-variant network) or can be
functions of the state variables (non-linear network). The state variables are related with
energy preserving elements (inductances capacitances) for which:
d
(Li L (t )) = u L (t ) (4.2)
dt
and
d
(Cu C (t )) = iC (t ) (4.3)
dt
so the voltages on inductances and currents flowing through capacitances are always selected
as state variables. Thus any network can be represented as it is shown in Fig.26.
uS
iC iL
uC C static network L uL
iS
37
Simulation and Transient Analysis in Power Systems
The inertial elements (Fig.26) can be described by the following general equations:
i C (t ) = g C (u C , i L , u S , i S , t ),
(4.4)
u L (t ) = g L (u C , i L , u S , i S , t ),
The number of state variable doesn't always be equal to the sum of inductors and coils in the
network. One condenser in an independent circuit closed loop CE or one coil from the
independent node LJ can always be eliminated as it is shown in Fig.27.
a) b)
uS iL3
L3
iS
uC1 C1 C2 uC2
C3 L1 L2
iL1 iL2
uC3
u S (t ) + u C1 (t ) + u C 2 (t ) + u C 3 (t ) = 0 (4.5)
To make the circuit loop equation independent one of the variables should be eliminated.
The same concerns the independent node (Fig.27b) for which:
iS (t ) + i L1 (t ) + i L 2 (t ) + i L 3 (t ) = 0 (4.6)
In case of linear, time invariant lumped networks the number of indispensable state variables
n can be determined as:
n = n LC − (nCE + n LJ ) (4.7)
where:
nLC - the number of all condensers and coils in the network
nCE - the number of independent circuit loops CE in the network
nLJ - the number of independent circuit nodes LJ in the network
38
Simulation and Transient Analysis in Power Systems
a)
iL1 iL3 iL4 iL6 R1 R2
u1 i2 i1 L1 L2
iL2 iL5 C
iL7
b) C1
u1 C4
R1 R1
C1 C2 R2 C3 R3 u1 L1 C2 R2
R4 C3
Example
uR1 uR2
iC1 C1 R2 iR2
i iR1 R1 iC2 L iL
e uC2 C2 j
The circuit contains 3 LC (nLC =3) components but nCE =1 since one loop (e, C1, C2) is
linearly dependent and n LJ =0. Thus the number of independent equations in overall state
equation is 2. The selected state variables are the current i L and the voltage uc2 . As the output
variables the currents i L , ic1 and ic2 are selected.
du R1
j − i L − i R 2 = 0 , C1 + i R1 − i = 0
dt
39
Simulation and Transient Analysis in Power Systems
di L
e − u R1 − u C 2 = 0 , L − R2 i R 2 = 0 , R1i1 − u R1 = 0
dt
Eliminating all variables, except for selected state variables and excitations (sources), we get:
di L R R
= − 2 iL + 2 j
dt L L
duC 2 1 1 1 C1 de
=− uC 2 + j+ e+
dt R1 (C1 + C2 ) C1 + C2 R1 (C1 + C 2 ) C1 + C2 dt
C1 C1 C1 C12 de
iC1 = uC 2 − j− e+
R1 (C1 + C2 ) C1 + C2 R1 (C1 + C2 ) C1 + C2 dt
C2 C2 C2 C C de
iC 2 = − uC 2 + j+ e+ 1 2
R1 (C1 + C 2 ) C1 + C 2 R1 (C1 + C 2 ) C1 + C 2 dt
In matrix notation :
R2 R2
− 0 0 j 0 0
d iL L iL L d j
= + 1 + 0 C
dt uC 2 0
1
1 1
− uC 2 e C1 + C2 dt e
R1 (C1 + C2 ) C1 + C2 R1 (C1 + C2 )
d
= Ax + Bf + B1 f (the state equation)
dt
1 0 0 0 0 0
L
i
i = 0 C1 iL + − C1 −
C1 j
+ 0
C12 d j
C1 R1 (C1 + C2 ) uC 2 C1 + C2 2
R1 (C1 + C2 ) e C1 + C2 dt e
iC 2 C2 C
C2 0 C1C2
0 − 2
d
= Cx + Df + D1 f (the output equation)
dt
Elimination of source variable derivatives from the state equation can be obtained by
substitution:
C1
ue = uC 2 − e
C1 + C 2
40
Simulation and Transient Analysis in Power Systems
i
x= L
u e
R2 R2
− L 0 L 0 j
A= 1 , B = 1 C2 , f =
0 − e
R1 (C1 + C 2 ) C1 + C 2 R1 (C1 + C 2 )
2
and
iL
y = iC1
iC 2
1 0 0 0 0 0
C1 C1 C1C2 C12
C= 0 , D = − − , D1 = 0
R1 (C1 + C2 ) C + C2 R1 (C1 + C2 ) C1 + C2
2
1
C2 2
0 − C2 C2 0 C1C2
R 1 (C 1 + C )
2 C1 + C2
R1 (C1 + C2 )
2
C1 + C2
In general, the derivatives of excitation signals can be eliminated from the state equation by
use of suitable substitutions but not from the output one.
References
[1] Alvarado F.L., Lasseter R.H., Sanchez J.J., Testing of trapezoidal integration with
damping for the solution of power transient problems. IEEE Transactions on Power
Apparatus and Systems. Vol. PAS-102, No.12, December 1983, s. 3783-3790.
[2] Ametani A. Baba Y., Frequency-dependent line and cable modelling. EEUG
Course, 27-th September 2000, Wrocław, Poland.
41
Simulation and Transient Analysis in Power Systems
42
Simulation and Transient Analysis in Power Systems
43
Simulation and Transient Analysis in Power Systems
[43] Tewarson R.P., Sparse matrices. Academic Press, New York 1973.
[44] Ульянов С.А., Электромагнитные переходные процессы в электрических
системах. ЭНЕРГИЯ, Москва 1970.
[45] Watson N., Arrillaga J., Power systems electromagnetic transients simulation. The
Institution of Electrical Engineers, London 2003.
[46] Watson N.R., Irwin G.D,. Electromagnetic transient simulation of power systems
using root-matching techniques. IEE Proc.-Gener. Transm. Distrib. Vol. 145, No.
5, September 1998, s. 481-486.
[47] Watson N.R., Irwin G.D,. Comparison of root-matching techniques for
electromagnetic transient simulation. IEEE Transactions on Power Delivery. Vol.
15, No. 2, April 2000, s. 629-634.
[48] Wedepohl L.M., Application of matrix methods to the solution of travelling wave
phenomena in polyphase systems. Proc. IEE, vol. 110 (12) 1963, s. 2200-2212.
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44