Introduction to EMT Simulations - Mathematical Background and Common Applications

General Introduction to Electromagnetic Transient Simulations - Mathematical
Background and Common Applications
Presenter: Dharshana Muthumuni

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Introduction to the Fundamental Concepts of EMT Simulation and

Circuit Solution Methods
• The key differences between EMT and RMS-type simulation solutions

• Electromagnetic transients in power systems
o Characteristics
• Circuit equations and solution methods
o State-space formulation
o Dommel’s method
• Techniques used for fast and accurate solutions
o Sparse matrix
• Network Impedance Characteristics and transient response
• Practical simulation examples that highlight application areas
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Common Applications
• Cable, line, station insulation design
o Switching Over-Voltage studies – Arrester ratings
o Power System lightning performance – BIL
o Temporary Overvoltage studies (TOV)
o Breaker Transient Recovery Voltage (TRV)
• Wind and Solar PV integration studies

o Performance during faults
o Interaction with other devices near the POI
o FACTS technologies to support wind
o Application of HVDC transmission (VSC, LCC)
• System Harmonic and power quality analysis
• Protection modeling and testing
• Sub-Synchronous Resonance
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PSCAD/EMTDC – The Industry Standard EMT Program

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EMT Solution
In an EMT simulation, the instantaneous values

are calculated by solving time domain circuit
equations.
• RMS quantities are derived from the
instantaneous solution.
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EMT and RMS Type Simulation Results

The results (even RMS quantities) are derived from two different methods of
mathematical circuit solution techniques
Wind farm fault ride through Synchronous generator fault ride through
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Electromagnetic Transients in Power Systems - Characteristics

Example: Closing the breakers has initiated an electromagnetic transient
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Example: Closing the breakers has initiated an Transients are initiated due to a change to the
electromagnetic transient.
network topology
• The energy exchange between L-C causes the • Switching Events
oscillatory transient. • Faults and fault clearance
• Resistance in the circuit acts to damp the transient. • Lightning
• Others
Electromagnetic Transients – General characteristics

• High frequency oscillations
• Damped (short duration) loads and losses
Steady state solution

• RMS Value of voltages and currents
o Magnitude and phase
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G1 G2
1e6
12
Double circuit 12.5
60 km
RL RRL A
H
V
C1 C2 C3
TL 01 60KM TL 04 40KM TL 115KV
120
Station A Station B .45 12
E1
TL 05 210KM
Tower: 3L1
Single circuit
32 Conductors: chukar
290 km
E2 Ground_Wires: 1/2_HighStrengthSteel
TL 03 180KM
1e6
Double circuit RL
RL RRL A RRL
V 110 km
H
TL 02 110KM
Transmission Line ‘travel time’ (approx.) - 1 ms
EMT and RMS simulation – Main differences
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Transients and Steady State Solution
• Load Flow / Transient Stability • Electro-Magnetic Transients

• Each solution based on phasor • Direct time domain solution of
calculations Differential Equations
• PSSE, ETAP, PSLF, BPA • PSCAD, RTDS
d
V (ω ) = R ⋅ I (ω ) + j ( Lω ) ⋅ I (ω ) v(t ) = R ⋅ i (t ) + L i (t )
dt
i
• 50 Hz solution on network side
• Good for low frequency electro
mechanical oscillation studies.
• Difficult to represent power electronic
converter response (wind, PV)
• Cannot represent ac system resonances
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Transients and Steady State Solution
RMS
• Assume quasi-steady state
• Network transients neglected
• Fundamental phasor solution
• Positive sequence
• Large network possible
EMT
• Consider differential equations
• Numerical integration substitution
• Upper freq. depends on simulation
time step (0~MHz)
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Time Domain Solution of Circuit Equations
RL
R1 L1
𝑑𝑑𝑑𝑑
𝑉𝑉 = 𝐿𝐿 + 𝑅𝑅. 𝐼𝐼
E1
B1
𝑑𝑑𝑑𝑑
0.1 [mH]
0.1 [mH]
1.0 [uF]
1.0 [uF]
𝑉𝑉 + 𝑉𝑉0 𝐿𝐿 𝑅𝑅
= 𝐼𝐼 − 𝐼𝐼0 + 𝐼𝐼 + 𝐼𝐼0
2 ∆𝑡𝑡 2 ∆𝑡𝑡
Circuit equations solved at time
2𝐿𝐿 intervals - ∆𝑡𝑡
𝑉𝑉 + 𝑉𝑉0 = 𝐼𝐼 − 𝐼𝐼0 + 𝑅𝑅 𝐼𝐼 + 𝐼𝐼0
∆𝑡𝑡
RMS Type Solution
2𝐿𝐿𝐼𝐼0 2𝐿𝐿 𝑉𝑉 = 𝑗𝑗. 𝑋𝑋. 𝐼𝐼 + 𝑅𝑅. 𝐼𝐼

𝑉𝑉 + 𝑉𝑉0 + − 𝑅𝑅 ∗ 𝐼𝐼0 = 𝐼𝐼 𝑅𝑅 +
∆𝑡𝑡 ∆𝑡𝑡 𝑋𝑋 = 2𝜋𝜋𝑓𝑓0
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EMT Vs RMS Response

• Network (electric circuit) dynamics
o Harmonics are represented
o DC offset in currents and voltages are represented
• Fast controls of inverters can be better represented
• Interaction between fast acting power electronic devices can be studied
However, EMT simulations are slow compared to RMS type simulations

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EMT Vs RMS Response – Capacitive Circuits

Capacitor voltage response
R
Ecap C
Series compensation 300

132 / 275
#1 #2 RRL
150 Bus_9
66 / 132
Type-IV
Wind turbine #2 #1
10.0
10.8 P = 5.003 B1 B2
Vw
Q = 0.00185
line 7 12 1
V = 66.42
P+jQ
75 [uF]
line POI 8 1 line POI 8 1
A
V
DBlk
B3 B4
TIME line 7 11 1
DBlk
75 [uF]
line POI 8 1 line POI 8 1
BRK1
_ O
s_8
Timed
Fault
ABC->G Logic
Bus 7
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EMT Vs RMS Response – Inductive Circuits
V di
V =L + R.i
R1 L1 dt
L
τ=
R
300 Ea
132 / 275 200
#1 #2 RRL 150
100
50
Voltage
Bus_9
150
66 / 132
0
Type-IV -50
Wind turbine #2 #1
-100
10.0
10.8 P = 5.003
-150
B1 B2
Vw
Q = 0.00185
line 7 12 1
-200
V = 66.42
P+jQ
line POI 8 1 Ia
A 10.0
DBlk
V 8.0
6.0
B3 B4 4.0
Current
TIME
DBlk line 7 11 1 2.0
line POI 8 1 0.0
BRK1
-2.0
_POI -4.0
s_8 Timed
ABC->G
Fault
Logic
-6.0
0.100 0.150 0.200 0.250 0.300 0.350 0.400 0.450
Bus 7
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EMT Vs RMS response – Synchronous Machine Response

_ G G _ G _G
A PI Section
#2
V
#3 #1 3.7e-4
1e6
A
SM
B55298 EDIN
V
100
11.5/66/11.5
Timed
Fault
Logic ABC->G
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EMT Solution Methods: Circuit Equations – In State-Space form

1 2
R1 L1 I1 I3
I2
R2
E C
𝑑𝑑𝐼𝐼1
𝐸𝐸 = 𝐼𝐼1 . 𝑅𝑅1 + 𝐿𝐿1 + 𝑉𝑉2 𝑑𝑑𝑉𝑉2 −1 1
𝑑𝑑𝑑𝑑 0
𝑑𝑑𝑑𝑑 = 𝑅𝑅2 𝐶𝐶 𝐶𝐶 𝑉𝑉2
𝑉𝑉2 = 𝐼𝐼2 . 𝑅𝑅2 + 𝐸𝐸
𝑑𝑑𝐼𝐼1 −1 −𝑅𝑅1 𝐼𝐼1
𝐿𝐿
𝑑𝑑𝑉𝑉2 𝑑𝑑𝑑𝑑 𝐿𝐿 𝐿𝐿
𝐼𝐼3 = 𝐶𝐶
𝑑𝑑𝑑𝑑
𝐼𝐼1 = 𝐼𝐼2 + 𝐼𝐼3
𝑋𝑋̇ = 𝐴𝐴 𝑋𝑋 + 𝐵𝐵 𝑈𝑈
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EMT Solution Methods: Dommel’s EMT Formulation

Hermann W Dommel : Any circuit element may be represented using
equivalent resistors and current sources
𝑑𝑑𝑑𝑑
i 𝑣𝑣 = 𝐿𝐿
𝑑𝑑𝑑𝑑
1 𝑣𝑣
v L 𝑣𝑣 = � 𝑣𝑣 𝑑𝑑𝑑𝑑
𝐿𝐿 0
1 𝑣𝑣 𝑡𝑡 + 𝑣𝑣 𝑡𝑡 − 𝛥𝛥𝛥𝛥
𝑖𝑖 𝑡𝑡 = 𝑖𝑖 𝑡𝑡 − 𝛥𝛥𝛥𝛥 + [ ]𝛥𝛥𝛥𝛥
𝐿𝐿 2
𝛥𝛥𝛥𝛥 𝛥𝛥𝛥𝛥
𝑖𝑖 𝑡𝑡 = 𝑖𝑖 𝑡𝑡 − 𝛥𝛥𝛥𝛥 + 𝑣𝑣 𝑡𝑡 − 𝛥𝛥𝛥𝛥 + 𝑣𝑣 𝑡𝑡
2𝐿𝐿 2𝐿𝐿
gL
IL,hys 𝑖𝑖 𝑡𝑡 = 𝑖𝑖𝐿𝐿,ℎ𝑦𝑦𝑦𝑦 + 𝑔𝑔𝐿𝐿 . 𝑣𝑣 𝑡𝑡
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Dommel’s EMT Formulation: Any circuit element may be represented using equivalent resistors and current sources
Capacitor Transformer – Magnetically coupled windings

+ v(t) -
1 I1 I2 3
i(t) C
𝑑𝑑𝐼𝐼1 𝑑𝑑𝐼𝐼2
𝑑𝑑𝑑𝑑(𝑡𝑡) 𝑉𝑉1 = 𝐿𝐿1 + 𝑀𝑀
V2 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝑖𝑖 𝑡𝑡 = 𝐶𝐶 V1
𝑑𝑑𝑑𝑑 𝑑𝑑𝐼𝐼2 𝑑𝑑𝐼𝐼1
𝑉𝑉2 = 𝐿𝐿2 + 𝑀𝑀
2 4 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
i(t) G
IC,history(t)
where,
𝟐𝟐𝟐𝟐
𝑮𝑮 =
∆𝒕𝒕
𝑰𝑰𝑪𝑪,𝒉𝒉𝒉𝒉𝒉𝒉𝒉𝒉𝒉𝒉𝒉𝒉𝒉𝒉 𝒕𝒕 = −𝒊𝒊 𝒕𝒕 − ∆𝒕𝒕 − 𝑮𝑮𝑮𝑮 𝒕𝒕 − ∆𝒕𝒕
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A B C A IL1 B Ic1
C
L1 C1 GL1 Gc 1
IL2
R3 Rt L2 G1 G3 Gt GL2
R1 L4 IL4 GL4
E D E D
R2 E/R1
GL3 R2
L3 IL3 E/R2
E1 E2
𝐼𝐼 𝑛𝑛𝑥𝑥1 = [𝑌𝑌]𝑛𝑛𝑛𝑛𝑛𝑛 𝑉𝑉 𝑛𝑛𝑛𝑛𝑛

[V]=[Y]-1[I]
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A IL1 B Ic1
C
GL1 Gc 1
G1 G3 IL4
Gt GL2
IL2 𝐼𝐼 𝑛𝑛𝑥𝑥1 = [𝑌𝑌]𝑛𝑛𝑛𝑛𝑛𝑛 𝑉𝑉 𝑛𝑛𝑛𝑛𝑛
GL4
E D
E/R1
IL3 GL3 R2
E/R2 [V]=[Y]-1[I]
𝐸𝐸1
0 −1 − 𝐼𝐼𝐿𝐿1
𝑉𝑉𝐴𝐴 (𝐺𝐺1 + 𝐺𝐺3 + 𝐺𝐺𝐿𝐿1 � −𝐺𝐺𝐿𝐿1 0 0 𝑅𝑅1
𝑉𝑉𝐵𝐵 (𝐺𝐺 + 𝐺𝐺 + 𝐺𝐺 � −𝐺𝐺 𝐶𝐶1 0 0 𝐼𝐼𝐿𝐿1 − 𝐼𝐼𝐶𝐶1 −𝐼𝐼𝐿𝐿4
−𝐺𝐺𝐿𝐿1 𝐿𝐿1 𝐿𝐿4 𝐶𝐶1
𝑉𝑉𝐶𝐶 = 0 −𝐺𝐺𝐶𝐶1 (𝐺𝐺 𝐶𝐶1 + 𝐺𝐺𝑡𝑡 + 𝐺𝐺𝐿𝐿2 � −𝐺𝐺𝐿𝐿2 −𝐺𝐺 𝑡𝑡 𝐼𝐼𝐶𝐶1 −𝐼𝐼𝐿𝐿2
𝑉𝑉𝐷𝐷 0 0 −𝐺𝐺𝐶𝐶1 𝐺𝐺2 + 𝐺𝐺𝐿𝐿2 0 𝐸𝐸2
𝑉𝑉𝐸𝐸 0 𝐺𝐺𝑡𝑡 + 𝐺𝐺3 𝐼𝐼𝐿𝐿2 −
0 0 −𝐺𝐺 𝑡𝑡 𝑅𝑅2
−𝐼𝐼𝐿𝐿3
System Y Matrix
• Algebraic equation
• Note the large number of zero elements in the Y matrix
• If L,R and C elements are constant, elements of the Y matrix does not change
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EMT Solution Methods: Structure of EMTDC Solution Engine
t=0 DSDYN
• Solves the electrical component
DSDYN models and control systems models
• Compute the history current terms
before the network solution is solved
System Network
[I] = [Y] . [V]
dynamics Solution
DSOUT
DSOUT
• Output quantities after network
solution is solved
o Example: Compute RMS voltage,
t = t + ∆t power……
Some Points to Remember……
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Representing Transmission Lines and Cables

A B
#2 #1
#2 #1
T_Line
A
#2 #1
A B
• Transmission lines have inherent ‘propagation delays’
• The networks at the two ends are eclectically ‘de-coupled’ due to the delay introduced by the line (over the
duration of the calculation time step)
o Ability to solve circuits A and B as independent circuits
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Parametric Analysis – Example: Point on Wave (POW) Impact

A simple example to illustrate the importance of Ea
‘sensitivity’ analysis to find the ‘worst case’.

200
150
100
50
Voltage
0
V
-50
-100
-150
-200
Ia
8.0
6.0
4.0
L1 2.0
Current
0.0
-2.0
-4.0
-6.0
di
0.1750 0.1800 0.1850 0.1900 0.1950 0.2000 0.2050 0.2100 0.2150 0.2200
1
V =L
dt
i=
L ∫ V .dt
200
150
Ea
100
50
Voltage
0
-50
Integral is the area under the (voltage) curve -100

-150
-200
Ia
12.0
10.0
8.0
Area = ∫ V .dt
6.0
Current
4.0
2.0
0.0
-2.0
0.1750 0.1800 0.1850 0.1900 0.1950 0.2000 0.2050 0.2100 0.2150 0.2200
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Network Characteristics: Network Impedance Scans

#1 #2 T #1 #2
RRL TLine1
BRK1 Ea BRK Eb
Opening
0.001 [H]
3
Main : Graphs
Dominant frequencies in the transient 300
Eb
waveform co-relate to network 200
resonance points
100
0
y
-100
-200
-300
0.170 0.190 0.210 0.230 0.250 0.270
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Illustrative Simulation Examples

1. Capacitor Switching
2. Transient Recovery Voltage (TRV)
3. Line Energizing
4. Transformer Energizing
5. Lightning Overvoltage study example
6. Black Start restoration Study example
7. Ferro Resonance
8. Sub Synchronous Torsional Interactions (SSTI)
9. Wind/ PV Dynamic response
10. Synchronous machine response
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Modeling Non-Linear Elements

An iron core inductor example (representing iron saturation) – represented with a linear
inductor in shunt with a current source
λ (Flux)
It
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑1
𝑉𝑉 = 𝑁𝑁 =
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
Vt
𝜆𝜆 = �𝑉𝑉 𝑑𝑑𝑑𝑑
I (Current)
I1 I2
I1 I2 I1 I2
∆𝑖𝑖 = 𝑖𝑖1 − 𝑖𝑖2

Dommel’s form
V Δi L1 V Δi RL1 Ihy s
𝜆𝜆1
𝐿𝐿1 =
𝐼𝐼1
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Time Scales of Power System Phenomena

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Characterization of Transient Phenomena

Thank you
dharshana@mhi.ca

Introduction to EMT Simulations - Mathematical Background and Common Applications

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Introduction to EMT Simulations - Mathematical Background and Common Applications

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General Introduction to Electromagnetic Transient Simulations - Mathematical

Background and Common Applications

Presenter: Dharshana Muthumuni

Introduction to the Fundamental Concepts of EMT Simulation and

• The key differences between EMT and RMS-type simulation solutions

• Wind and Solar PV integration studies

• System Harmonic and power quality analysis

• Protection modeling and testing

PSCAD/EMTDC – The Industry Standard EMT Program

In an EMT simulation, the instantaneous values

EMT and RMS Type Simulation Results

Electromagnetic Transients in Power Systems - Characteristics

Electromagnetic Transients in Power Systems - Characteristics

Electromagnetic Transients – General characteristics

Steady state solution

Electromagnetic Transients in Power Systems - Characteristics

Station A Station B .45 12

Transients and Steady State Solution

• Load Flow / Transient Stability • Electro-Magnetic Transients

Transients and Steady State Solution

Time Domain Solution of Circuit Equations

2𝐿𝐿𝐼𝐼0 2𝐿𝐿 𝑉𝑉 = 𝑗𝑗. 𝑋𝑋. 𝐼𝐼 + 𝑅𝑅. 𝐼𝐼

EMT Vs RMS Response

However, EMT simulations are slow compared to RMS type simulations

EMT Vs RMS Response – Capacitive Circuits

Series compensation 300

EMT Vs RMS Response – Inductive Circuits

EMT Vs RMS response – Synchronous Machine Response

EMT Solution Methods: Circuit Equations – In State-Space form

EMT Solution Methods: Dommel’s EMT Formulation

EMT Solution Methods: Dommel’s EMT Formulation

Capacitor Transformer – Magnetically coupled windings

EMT Solution Methods: Dommel’s EMT Formulation

𝐼𝐼 𝑛𝑛𝑥𝑥1 = [𝑌𝑌]𝑛𝑛𝑛𝑛𝑛𝑛 𝑉𝑉 𝑛𝑛𝑛𝑛𝑛

EMT Solution Methods: Dommel’s EMT Formulation

EMT Solution Methods: Structure of EMTDC Solution Engine

Representing Transmission Lines and Cables

• Transmission lines have inherent ‘propagation delays’

Parametric Analysis – Example: Point on Wave (POW) Impact

‘sensitivity’ analysis to find the ‘worst case’.

Integral is the area under the (voltage) curve -100

Network Characteristics: Network Impedance Scans

waveform co-relate to network 200

Illustrative Simulation Examples

Modeling Non-Linear Elements

∆𝑖𝑖 = 𝑖𝑖1 − 𝑖𝑖2

Time Scales of Power System Phenomena

Characterization of Transient Phenomena

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