EMTP-EMTPWorks

Computation of Electromagnetic Transients

EMTP-RV: An advanced tool for the simulation of power systems
Jean Mahseredjian
Professor
École Polytechnique de Montréal
jeanm@polymtl.ca 1
 Old EMTP software and
technology

New Computation Methods

New EMTP-RV
(Restructured Version)

2
 R&D project
• Research and development organization: Development Coordination
Group (DCG-EMTP)
• EMTP: Electromagnetic Transients Program, developed since the 70s,
major versions in 90 and 96
• Completely new software and technology: EMTP-RV
• Large and complex project: total duration 5 years
• First commercial release version 1 in 2003
• Large scale software with close to 1 million lines of code
• New computational engine and New graphical user interface (GUI)
• Commercialized by CEATI: www.emtp.com
• Jean Mahseredjian: technical leader of the project
• DCG Members: Hydro-Québec, Électricité de France, CRIEPI
(Japan), Entergy, American Electric Power, Western Area Power
Administration, US Bureau of Reclamation, Hydro-One, Canadian
Electrical Association Technologies Inc.

3
 Range of phenomenon

Lightning
6

5
Voltage (p.u.)

Switching
4

2
Temporary

1 -6 -4 -2 0 2 4
10 10 10 10 10 10
10 kHz to 3 MHz t (s)
0.1 to 3 kHz
60 Hz to 20 kHz
4
 Field of applications
• General purpose circuit analysis tool: wideband, from steady-state to time-
domain
• Simulate and analyze power system transients
• Power system design tool
• Detailed simulation and analysis of large scale electrical systems
• Network analysis: network separation, power quality, geomagnetic storm, interaction
between compensation and control components, wind generation
• Synchronous machines: SSR, auto-excitation, control
• Multiterminal HVDC systems
• Power electronics: compensators
• Series compensation: MOV energy absorption, short-circuit conditions, network
interaction
• Transmission line systems: insulation coordination, switching, design, wideband
line and cable models
• Switchgear: TRV, shunt compensation, current chopping, delayed-current zero
conditions
• Protection: power oscillations, saturation problems, surge arrester influences
• Detailed transient stability analysis: more and more

• May save millions in design and operation!

5
New contributions in EMTP-RV
• Eliminates as “much as possible”
numerical limitations
• Improved automation for power system
studies
– Setup time, organization
– Initialization
– Combination of methods
– Very large scale problem solution

6
• Eliminates topological restrictions
• Significant improvements in the solution
methods used for nonlinear devices
– Any nonlinear device can coexist with any
other nonlinear device
– Only “true-nonlinear” solution for all devices
– Fast convergence algorithm
– Machine models are treated as nonlinear
devices
– New machine models 7
• New Multiphase Load-Flow method
• Automatic initialization from steady-state
and load-flow (multiphase)
– Multiphase load-flow
– Harmonic steady-state solution and
initialization
– Initialization of control systems

8
• Dramatically improved control system
solver (replacement of TACS)
– Elimination of delays between blocks using a
nonlinear solver
– General purpose modeling tool

9
 Completely new software:
rewritten from scratch!
• Modern computer aspects
• Fully dynamic and customized memory usage
• Benefits from modern computer memory and speed
• Object-oriented programming
• Graphical User Interface
• Hierarchical designs
• Unlimited subcircuit levels
• Encapsulation: masking, scripting
• Advanced Documentation
• Long term maintainability of code
• Electronic documentation
10
 Graphical user interface (GUI)

Data

Multiphase Load-flow

Steady-state

Initialization

Time-domain

Results

11
EMTP-RV engine design

Data

Core Code
request
Organizer Device models
participation data, methods

Solver

Scopes, external interaction

12
 Main system of equations: Modified-
augmented nodal analysis
⎡ Yn Vc Dc Sc ⎤ ⎡ Vn ⎤ ⎡ In ⎤
Voltage sources ⎢V VVS ⎥⎥ ⎢⎢ IV ⎥⎥ ⎢⎢ Vb ⎥⎥
⎢ r Vd VVD
=
Dependency ⎢Dr DDV Dd DDS ⎥ ⎢ ID ⎥ ⎢Db ⎥
functions ⎢ ⎥⎢ ⎥ ⎢ ⎥
⎣ Sr SSV S SD Sd ⎦ ⎣ IS ⎦ ⎣ Sb ⎦
switches
Steady-state and time-domain solutions

vk − vm = 0
Closed switch equation:
k + m
Open switch equation: iswitch = 0 iswitch

Voltage source equation: v k − v m = v s (t)

k + m

13
 Multiphase Load-flow solution
Connectivity matrices: network to load-flow constraints

Network equations

⎡ Yn Vc Dc Sc AL APQ APV A SL 0 0 0 ⎤ ⎡ ΔV ⎤
⎢V Vd VVD VVS 0 0 0 0 0 0 0 ⎥⎢ n
⎥
⎢ r ⎥ ⎢ ΔIV ⎥
⎢ Dr DDV Dd DDS 0 0 0 0 0 0 0 ⎥ ⎢ ΔI ⎥
⎢ ⎥⎢ D ⎥
⎢ Sr SSV SSD Sd 0 0 0 0 0 0 0 ⎥ ⎢ ΔIS ⎥
⎢C 0 0 0 DL 0 0 0 0 0 0 ⎥⎢ ⎥
Loads ⎢ L ⎥ ⎢ ΔIL ⎥
⎢ YPQ 0 0 0 0 1 0 0 E
YPQ 0 0 ⎥ ⎢ ΔIPQ ⎥ = F = 0
PQ source ⎢ ⎥
⎢ YPV 0 0 0 0 0 1 0 0 E
YPV 0 ⎥ ⎢⎢ ΔIPV ⎥⎥
PV source ⎢ E ⎥ ⎢ ΔI ⎥
⎢ YSL 0 0 0 0 0 0 1 0 0 YSL ⎥ ⎢ SL ⎥
Slack bus
⎢C 0 0 0 0 DPQ 0 0 0 0 0 ⎥ ⎢ ΔEPQ ⎥
⎢ PQ ⎥
⎢CPV 0 0 0 0 0 DPV 0 0 0 0 ⎥ ⎢⎢ ΔEPV ⎥⎥
⎢⎢C
⎣ SL 0 0 0 0 0 0 0 0 0 0 ⎦⎥⎥ ⎢⎣ ΔESL ⎥⎦

14
 Control system equations
N6

L1 L2 L3 L4 L5

N7

⎡ ⎤⎡
⎢1 xN 6 ⎤⎥ ⎡⎢ f ⎤⎥
⎥⎢
⎢
⎢ 1 −k3 1 1 xL5 ⎥⎥ ⎢⎢ 1 ⎥⎥
⎥⎢
⎥⎢
⎢ ⎥⎢ 0
⎢ 1 xN 7 ⎥⎥ ⎢⎢ ⎥⎥
⎥⎢
⎢ ⎥⎢ f
⎢ 1 −k2 xL4 ⎥⎥ ⎢⎢ 2 ⎥⎥
⎥⎢ Iterative solver
⎢ ⎥⎢ ⎥= 0
⎢
1 -1 XL3 ⎥ ⎢⎢0 ⎥⎥
⎥⎢
⎢ ⎥⎢ ⎥
xL2 ⎥ ⎢⎢0 ⎥⎥ Computation of Jacobian by perturbation
⎢
1 −k1 ⎥⎢

Jx = b
⎢ ⎥⎢ ⎥ ⎢ ⎥
⎢ ⎥⎢
⎢
⎢
1 -1 L1 ⎥⎥ ⎢⎢0 ⎥⎥
X
⎥⎢
⎥⎢
⎢
⎢⎣ 1 u ⎥⎦⎥ ⎢⎢⎣ s ⎥⎥⎦
⎥ ⎣⎢
⎥⎦

15
 EMTPWorks design
Design of EMTPWorks

EMTPWorks is more than a GUI, it is an EMTP environment.

‰ Microsoft foundation based code with open architecture
‰ Fully object-oriented programming
‰ C/C++
‰ JavaScript, HTML, DHTML, Java, ActiveX, DLL
‰ Open architecture approach
‰ Designed to work with any application
‰ Uses DHTML (web based) with full access to the GUI methods for dynamic device
drawing and data manipulation:

C/C++
Generic Detachable Interface
Device Scripting
Design Scripting
Data Scripting
Interface
Library Scripting
methods
Menu Scripting
Anything Scripting
HTML
JavaScript
ActiveX
JAVA
16
 Typical Network study
avr_governor_pu

0.00378S
13.8kV
AVR_Gov_2 200MVA
SM4

C1
0.99/_58.9
BUS:
BUS5 BUS2
Out BUS4 +
?m

Load5
SM LF 45MW
YgYg_BUS4 21MVAR

0.0024S
IN 1 2
LF SubofBUS1
AVR&Gov

C4
BUS1 YgYgD_1
(pu) SM_BUS4
P=132MW 13.8/230 SUB_BUS1 2 500/230/50
+
V=13.8kVRMSLL 1
SM:SM4 +
BUS10
TLM_10mi

1.60934E+01 TLM_120mi
13.8kV 3
CP
SM6

AVR_Gov_3 550MVA + CP

+
193.1213 Slack
BUS:
Out YgYgD_2 + ?i
?m BUS6 BUS7
500kVRMSLL /_0
SM 2
DYg_BUS6 Slack:Slack
1 LF
IN 1 2
Slack
AVR&Gov 0.99/_58.4 TLM_90mi BUS12 BUS13
YgD_BUS13 Slack: 500kVRMSLL/_12.96
(pu) LF TLM_15mi

+
13.8/230 + CP 2 1 3
SM_BUS6 144.8410
+ CP AVR_Gov_4
P=520MW
V=13.8kVRMSLL 2.41400E+01 69/230 SM11
BUS1
SM:SM6 13.8/230 BUS11 Out
?m

a
18MVAR

20MVAR

14MVAR
2 1 SM
+

50MW

45MW

30MW
IN
9.65606E+01

LF

LF

LF
LF 13.8kV AVR&Gov
TLM_60mi

125MVA
Load13c Load13b Load13a SM_BUS11 BUS:
(pu)
P=76MW
CP

290
V=14kVRMSLL
SM:SM11
BUS2
13.8kV
CP2

50MVA
avr_governor_pu PVbus:SM_BUS8
BUS9 TLM_180mi
AVR_Gov_1 SM8
+

BUS8
Out ?m
DYg_BUS8
SM
1 2
IN
Load9

LF 240MW
AVR&Gov
13.8/230 60MVAR
(pu) LF
SM_BUS8
P=40MW BUS8
V=13kVRMSLL + VM
SM:SM8 ?v

17
 Governor model with automatic initialization

Pref
#g_vel_open# #g_pos_max#
rc rv a13 a21
+ P_sum 1 Tg g_vel g_pos
a23 (1 + ( a11 − )sTw )
delta_w - a23 Pm
- 1 + sTp !h !h
1 + a11sTw
#g_pos_min#
#g_vel_close#
Pg_sum
Pg_perm
+
+

#sigma#

Pg_tran δ sTr
1 + sTr

18
Importance of initialization
Machine 3-phase powers
1000

Without proper initialization

800

600

400
With load-flow and steady-state initialization
200
y

-200

-400

-600
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 19
time (s)
600

500 SM6

400

300

200 SubofBUS1/SM3

SM4
100 SM11

SM8
0
0 50 100 150 200 250 300 350 400 450 500
t (ms)

20
 Lightning studies
BRKR
Tower +VM
+VM ARRTOP
?v +VM
?v
?v
Tower Z1_350 BR1 Z2_350 Is Ix Z3_350
+ + +A +A
20 + CP -1|1E15|0 + CP ?i ?i + CP
1000 500 20
+

XFORMR

A+
Iarrest
?i

+
surge
0.002uF
?v
?v
1592kV/-82876/-3178600 feet

ZLEAD_350
+
CP
8

560kV
ZnO +
ZnO

?vi
Z_FOOTING_160
+
CP
8

DEV1

BUS1
AC1
+

a
7 3 5 k V /_ 0 + + + + + + + + + + + + + + + + + +
b
c

To we r_ l e ft_ 6
Pa rt=TOWER_ m o d e l 1 5 _ 1
To we r_ l e ft_ 5
Pa rt=TOWER_ m o d e l 1 5 _ 1
To we r_ l e ft_ 4
Pa rt=TOWER_ m o d e l 1 5 _ 1
To we r_ l e ft_ 3
Pa rt=TOWER_ m o d e l 1 5 _ 1
To we r_ l e ft_ 2
Pa rt= TOWER_ m o d e l 1 5 _ 1
To we r_ l e ft_ 1
Pa rt=TOWER_ m o d e l 1 5 _ 1
To we r_ ri g h t_ 1
Pa rt= TOWER_ m o d e l 1 5 _ 1
To we r_ ri g h t_ 2
Pa rt=TOWER_ m o d e l 1 5 _ 1
To we r_ ri g h t_ 3
Pa rt=TOWER_ m o d e l 1 5 _ 1
To we r_ ri g h t_ 4
Pa rt=TOWER_ m o d e l 1 5 _ 1
To we r_ ri g h t_ 5
Pa rt=TOWER_ m o d e l 1 5 _ 1
21 To we r_ ri g h t_ 6
Pa rt=TOWER_ m o d e l 1 5 _ 1
 400 MVA
13.8 kV
BSM1 1.01/_2.6
out ZnO_S1
AVR

AVR_1 SM TRSL1
2 2
in LF 1 1
SM1 1.02/_26.8 1.02/_17.1 1.00/_4.9
LF1 + FD + + FD
D1 1.00/_-0.0
BSM2
out D2 Ser_C_1

+
3 3 BUSSL VSL
AVR

AVR_2 DS1
SM TR12 +
I1 O1 I1 O1 I1 O1
in LF
SM2 DS2
LF2 I2 O2
BSM3 I2 O2 Station_A I2 O2 Station_B Station_C
LF
out TRSL2
TR34 2 LFSL
AVR

AVR_3 2 Vm230
SM 1 Vm_pu
1 + + FD
in LF D3 + +
SM3 FD FD
LF3 1.02/_26.8 1.02/_17.1 1.00/_4.9
Ser_C_2

FF
BSM4 3
out D4

+
3 ZnO_S2
500/230/50

FF
AVR

AVR_4 SM
in
SM4 LF
LF4
350 MW
14 kV

900
800
700
600
500
SM1, SM2, SM3
400
MW

300
200
SM4
100
0
-100
-200
0 0.5 1 1.5 2 2.5 3
t (s) 22
 G1

G1RMS
p

G1PQ 1.02/_5.1
PQ

24.9/0.48
T_G1
12
725.79uS C1

?
848

+
1.04/_2.4

60kW

LF
48kVAR

PI
+
LF 23kW

b
L19

IEEE 34-Bus test feeder with wind generation

11kVAR

PI
+
846

PI
+
LF 25kW
12kVAR

c b
L18

LF 20kW
11kVAR

PI
+
483.86uS C2

+
844

315kVAR
405kW

+
LF

PI
L17
864

a
a

+
LF 9kW
5kVAR

PI
RL
+

2kW 842
LF 1kVAR

+
a a

L11

PI
834
L10 858 L12 L13 860 L14 836 L15
840
RL

30kW
4kW 16kW 15kVAR
+

2kVAR 8kVAR
a a a a a
LF 7kW LF LF LF
3kVAR
+ + + + + + + + + +
PI PI PI PI PI PI PI PI PI PI LF
832RMS 27kW
c b c b c b c b b a 21kVAR
p 6kW LF LF 2kW 13kW LF LF 15kW 110kW LF LF 20kW LF LF LF 22kW LF LF 18kW
832 3kVAR 1kVAR 7kVAR 8kVAR 55kVAR 10kVAR 10kW 11kVAR 9kVAR
60kW 42kW 6kVAR
1.04/_2.4 48kVAR 22kVAR

+
888 890
2

PI
T832_888
1

1 2 SW5 SW4
TAP852_832 +

862
+ + 450kW
PI LF 225kVAR

b
-1|1.1|0 -1|1.1|0
852
24.9/4.16
?

RL
Fault F 0.95/_10.3
0.99/_4.4

+
PI

G2
+

b b
1

L16
T_G2

b
4.16/0.48
LF 28kW
2

14kVAR
?

RL
23

+
G2PQ
PQ

b
0.94/_13.5 838
 G1
+
+

Equivalent
G2
+

144
+

144

BUS1

+
+

B
ZnO+

SEND
+

+
24

193
+
BUS2

P
Load
Q

REC

Detailed
ZnO+

SVC
V

NemiscauCLC

+ + +
Nemiscau_b780

CXC82_ZnO CXC63_ZnO
+ ZnO 330 MX 330 MX + ZnO 330 MX
+
+
+

L7082 L7063
+ +
+ +
CXC82 CXC63

CXC81_ZnO
+ + CXC62_ZnO
Radisson_b720

330 MX 330 MX + ZnO

+ ZnO
+
+

L7081 L7062
+ +
+ +
CXC81 CXC62
+ +
CXC80_ZnO CXC61_ZnO
Increased precision needs

+ ZnO 330 MX 330 MX + ZnO

+
+

L7080 L7061
+ +
+ +
CXC80 CXC61

Eastmainlasarcelle
B19
B18
24
30000 devices
28000 signals
To the extreme
0

2000

4000

6000

8000

10000

12000
0 2000 4000 6000 8000 10000 12000

Time-domain Network (only) Sparse matrix, 50269 non-zeros

25
 Feasible today
• Unique GUI and solver environment for a
large variety of power system simulation
problems (!)
– Data maintenance
– Simulation precision control
• Modeling layers
– Data extraction
– Virtual network copy!
– Connect to measurements?

26
 Conclusions
• New methods for the computation of
electromagnetic transients in large scale
systems
• Extension to detailed transient and small-
signal stability
• Advanced GUI for the representation and
visualization of networks
• Allows to study more complex problems
and alleviates case setup time
27