MODSEP Module1 L4

Universidade de Brasília – UnB
Departamento de Engenharia Elétrica – ENE

Programa de Pós-Graduação em Engenharia Elétrica – PPGEE
POWER SYSTEMS MODELING

PPGEE3604 – MODELAGEM DE SISTEMAS DE POTÊNCIA
Prof. Amauri Martins, D.Sc.

Brasília,
MODSEP2022
Module 1
Fundamental
concepts review
Lecture 4
MODSEP 2
Previously…
Voltages and currents in

balanced three-phase systems
Three-phase circuits analysis

Connections: Y-Y, Y-Δ, Δ-Y e Δ-Δ
Three-phase loads in parallel

Today’s lecture
• Symmetrical components
 Foundations
 Applications
 Sequence voltages and currents
• Sequence impedances
• Transformations: Karrenbauer, Clarke and Park

MODSEP 4
Symmetrical components
Introduction
• Balanced three-phase systems
 Normal operation  Balanced currents and voltages
 The same happens in three-phase faults
Three-phase short-circuits
Symmetry is preserved!
• Analysis of three-phased balanced circuits

 Obtaining the equivalent single-phase circuit (phase and neutral)

 Computation of quantities for all phases (phasor rotation)
What if the system is unbalanced?

Phase and magnitude relations are not preserved
MODSEP 5
Unbalanced three-phase systems
Load unbalance Generation  Infinite bus
Rotating machines are unaffected
Phase B
+
Neutral Phases A and B Phase A
A three-phase circuit is said to be unbalanced (load unbalance) when the

impedance in one or more phases differs from the other phases
MODSEP 6
Example: Y – Δ connection
Iâ
Z ab
Êa Êb
Zs Zs Iˆb Iâb
N Iˆbc
Z bc Iˆca Z ca
Êc
Zs Iˆc
Line voltages: balanced

Eˆ a  V0 
Phase currents: unbalanced
Sequence Line currents: unbalanced
ABC Eˆ b  V  120
Transformation Y-Δ for the sources
Eˆ c  V120 or Δ-Y for the load
MODSEP 7
Example: Y – Y connection (4 wires) Iâ  Iˆb  Iˆc  0
Iâ

Êa Êb 
Êan
Zs Zs Êbn Iˆb Iˆn  0
 
Zb Za
N  O
Êc
Êcn Zc
Zs Iˆc

Phase voltages: balanced (Zs  0)

Eˆ an  V0 Line voltages: balanced
Line currents: unbalanced
Sequence
ABC Eˆ bn  V  120 Neutral currents: not zero
Eˆ cn  V120 One equivalent single-phase circuit for

MODSEP 8
each phase
Example: Y – Y connection (3 wires) Iâ  Iˆb  Iˆc  0
Iâ
 Vˆbo
Êa Êb  Za
Êan
Zs Zs Êbn Iˆb
 
Zb
N  O
Vâo
Êc
Vˆno  0 Zc Vˆco
Êcn
Zs Iˆ

c
Voltage no: ≠ 0 (neutral shift)

Eˆ an  V0 
Load phase voltages: unbalanced (even with Zs  0)
Sequence Line currents: unbalanced
ABC Eˆ bn  V  120
Transformations Y-Δ for sources and
Eˆ cn  V120 MODSEP loads or neutral shift 9
Example: Y – Y connection (3 wires)
C Vˆno
Vân
Vâo
Vˆco
Vˆbc O Vˆca
Vˆbo Vˆno Vâo Phase voltages
N Vâo  Vân  Vˆno

Currents relation
Vˆbo  Vˆbn  Vˆno
Iâ  Iˆb  Iˆc  0

B A Vˆ  Vˆ  Vˆ
co cn no
Vâb
Balanced phase voltages
Iâ  Iˆb  Iˆc  0 VâoYa  VˆboYb  VˆcoYc  0 ˆ

Vno 

 VânYa  VˆbnYb  VˆcnYc 
MODSEP
Ya  Yb  Yc 10
Introduction
• Analyzes are performed from the perspective of load voltages and

currents, assuming generation as an infinite bus
Generator voltages are known and presumably balanced
In such cases, it is said to occur a load unbalance
What if the generation is How to analyze

unbalanced? asymmetrical faults?
How to include the effects of

rotating machines?
MODSEP 11
• Motivation
 Under normal operation and three-phase short-circuits
 Rotor rotation  Magnetic field components in the same direction
• During asymmetrical short-circuits

 Two magnetic field components
 One with the same direction as the rotor, the other rotates in the opposite
direction
 Complicates the phase-domain analysis using the conventional techniques
Method of the symmetrical components!
MODSEP 12
Foundations
• Works by Charles Fortescue published in 1918

MODSEP 13
Foundations
Fortescue’s theorem
“… any group of n associated unbalanced phasors, of the same type,
can be decomposed into n groups of balanced phasors, called
symmetrical components of the original phasors…”
For three-phase systems

Direct sequence Inverse sequence Homopolar

components components components
(Positive sequence (Negative sequence (Zero sequence
components) components) components)
MODSEP 14
Three-phase systems (ABC sequence)

Vˆc1 Vâ1 Vˆb 2 Vâ 2 Vˆb 0

 
Vâ 0
0 0 
Vˆc 0
Vˆb1 Vˆc 2
MODSEP 15
Three-phase systems (ABC sequence)

Vˆc1 Vâ1 Vˆc 2 Vâ 2 Vˆb 0


Vâ 0
0 0 
 Vˆc 0
Vˆb1 Vˆb 2
MODSEP 16
Three-phase systems (CBA sequence)

Vˆb1 Vâ1 Vˆc 2 Vâ 2 Vˆb 0

 
Vâ 0
0 0 
Vˆc 0
Vˆc1 Vˆb 2
MODSEP 17

Vˆb1 Vâ1 Vˆb 2 Vâ 2 Vˆb 0


Vâ 0
0 0 
 Vˆc 0
Vˆc1 Vˆc 2
MODSEP 18
Example
Unbalanced voltage system
ABC sequence
MODSEP 19
Example Negative
Positive
Zero
How to analytically obtain the

symmetrical
MODSEP
components? 20
Previous lecture…
Rotational operator
a  1120
120o
120o
120o
Vâ  V v
Phase
sequence Vˆb  a 2Vâ  V v  240
ABC
Vˆc  aVâ  V v  120
MODSEP 21
Positive sequence
120o
Vâ1  V1 v1
System
120o ABC Vˆb1  V1 v1  240  a 2Vâ1
120o Vˆc1  V1 v1  120  aVâ1
MODSEP 22
Negative sequence
120o
Vâ 2  V2 v 2
System
ABC Vˆb 2  V2 v 2  120  aVâ 2
Vˆc 2  V2 v 2  240  a 2Vâ 2
120o
120o
MODSEP 23
Zero sequence
Vâ 0  V0 v 0
System
Vˆb 0  V0 v 0  Vâ 0
ABC or CBA
Vˆc 0  V0 v 0  Vâ 0
This is valid for any AC quantities, such as

currents, magnetic flux etc.
MODSEP 24
Analytical expression (ABC sequence)
• Unbalanced system  Three symmetrical balanced systems
Original unbalanced system
=
Positive sequence system
+
Negative sequence system

+
Zero sequence system
MODSEP 25
It can be shown that:
Vâ  Vâ1  Vâ 2  Vâ 0

Vˆb  Vˆb1  Vˆb 2  Vˆb 0
Since we are dealing with

Vˆ  Vˆ  Vˆ  Vˆ symmetrical balanced
c c1 c2 c0
systems, we can calculate
all quantities in function of
phase A
MODSEP 26
Vâ  Vâ 0  Vâ1  Vâ 2 Vâ  Vâ 0  Vâ1  Vâ 2

Vˆb  Vˆb 0  Vˆb1  Vˆb 2 Vˆb  Vâ 0  a 2Vâ1  aVâ 2
Vˆ  Vˆ  Vˆ  Vˆ
c c0 c1 c2 Vˆ  Vˆ  aVˆ  a 2Vˆ
c a0 a1 a2
To simplify the notation, it is usual to consider:

Vâ 0  Vˆ0 , Vâ1  Vˆ1 , Vâ 2  Vˆ2
Therefore:
Vâ  Vˆ0  Vˆ1  Vˆ2
Vˆ  Vˆ  a 2Vˆ  aVˆ
b 0 1 2
Vˆc  Vˆ0  aVˆ1  a 2Vˆ2

MODSEP 27
• The matrix representation of this relation is:

Vâ  Vˆ0  Vˆ1  Vˆ2 Vâ  1 1 1  Vˆ0 
ˆ   
Vˆb  Vˆ0  a 2Vˆ1  aVˆ2 V
    1 a 2
a   Vˆ1 
b 
Vˆc  1 a a  Vˆ2 
2
Vˆ  Vˆ  aVˆ  a 2Vˆ
c 0 1 2  
Vabc Fabc V012
Therefore: Vabc  Fabc  V012 What if CBA sequence?

1 1
Fabc  Vabc  Fabc  Fabc  V012 Vˆ0  1 1 1  Vâ 
 ˆ 1  
1
Fabc  Vabc  V012 V1   3 1 a a 2   Vˆb 

Vˆ2  
1 a 2
a  Vˆc 
1  
V012  Fabc  Vabc
MODSEP 28
Positive sequence Negative sequence Zero sequence
120o 120o
120o 120o 120o

120o
Vâ1  V1 v1 Vâ 2  V2 v 2 Vâ 0  V0 v 0
Vˆb1  aVâ1 Vˆb 2  a 2Vâ 2 Vˆb 0  Vâ 0
Vˆc1  a 2Vâ1 Vˆc 2  aVâ 2 Vˆc 0  Vâ 0

MODSEP 29
Analytical expression (CBA sequence)
Using the compact
Vâ  Vâ 0  Vâ1  Vâ 2 notation Vâ  Vˆ0  Vˆ1  Vˆ2
Vˆb  Vˆb 0  Vˆb1  Vˆb 2 Vˆb  Vˆ0  aVˆ1  a 2Vˆ2
Vˆ  Vˆ  Vˆ  Vˆ
c c0 c1 c2 Vˆ  Vˆ  a 2Vˆ  aVˆ
c 0 1 2
Matrix form:
Vâ  1 1 1  Vˆ0 
ˆ    Therefore:
Vb   1 a a 2   Vˆ1 
 Vˆ0  1  Vâ 
1 1
Vˆc  1 a 2 a  Vˆ2 

   ˆ 1  
V 
 1 3  1 a 2
a   Vˆb 

Vcba Fcba V012 Vˆ2  1 a a  Vˆc 
2
 
1 1
Vcba  Fcba  V012 Fcba  Vcba  Fcba  Fcba  V012
Attention to the phase
1 sequence!
V012  Fcba  Vcba MODSEP 30
Example 1
• Unbalanced 60 Hz system described by the voltages:
Vâ  50 V Vˆb  4  90 V Vˆc  8150 V
Determine the zero, positive and negative sequence components.
Vˆc
Vâ
Sequence ABC
Vˆb
MODSEP 31
Example 1 – Zero sequence
Vˆ0  1 1 1  Vâ 
 ˆ 1  
V1   3 1 a a 2   Vˆb 

Vˆ2  
1 a 2
a  Vˆc 
 
Vˆ0  1 1 1   50 
 ˆ 1  
V1   3 1 a a 2   4  90 

Vˆ2  
1 a 2
a   8150 
 
1
 
Vˆ0  (50 )  (4  90 )  (8150 )  0.64180 V
3
MODSEP 32
Example 1 – Positive sequence
Vˆ0  1 1 1  Vâ 
 ˆ 1  
V1   3 1 a a 2   Vˆb 

Vˆ2  
1 a 2
a  Vˆc 
 
Vˆ0  1 1 1   50 
 ˆ 1  
V1   3 1 a a 2   4  90 

Vˆ2   2
a   8150 
  1 a
1
 
Vˆ1  (50 )  a (4  90 )  a 2 (8150 )  5.5121.3 V
3
MODSEP 33
Example 1 – Negative sequence
Vˆ0  1 1 1  Vâ 
 ˆ 1  
V1   3 1 a a 2   Vˆb 

Vˆ2  
1 a 2
a  Vˆc 
 
Vˆ0  1 1 1   50 
 ˆ 1  
V1   3 1 a a 2   4  90 

Vˆ2   2
a   8150 
  1 a
1
 
Vˆ2  (50 )  a 2 (4  90 )  a (8150 )  2.06  79.2 V
3
MODSEP 34
Example 1
Vˆ0  Vâ 0  Vˆb 0  Vˆc 0  0.64180 V
Vˆ1  Vâ1  5.5121.3 V Vˆ2  Vâ 2  2.06  79.2 V
Vˆb1  a 2Vâ1  5.51  98.7  V Vˆb 2  aVâ 2  2.0644.4 V

Vˆc1  aVâ1  5.51141.3 V Vˆc 2  a 2Vâ 2  2.06  195.6 V
MODSEP 35
Zero sequence components
• Zero sequence  Important in protection studies
Remark 1: If the three-phase system phasors sum is zero, there are no zero
sequence components.
Iâ  Iˆb  Iˆc  3Iˆ0  0
Iˆ0  0
Iâ
Vˆbo
Êa Êb Za
Zs Zs Iˆb
Zb
N O
Vâo
Êc
Zc Vˆco
Zs Iˆc
MODSEP 36
Remark 2: In three-phase systems, regardless of the unbalance in the phase
voltages, there is no zero sequence component in the line voltages. Therefore,
the sum of the line voltages is always zero.
Vâo  Vân  Vˆno , Vˆbo  Vˆbn  Vˆno , Vˆco  Vˆcn  Vˆno


Vâb  Vâo  Vˆbo  Vân  Vˆno  Vˆbn  Vˆno  Vâb  Vân  Vˆno  Vˆbn  Vˆno Vâb  Vân  Vˆbn
Iâ Vˆbo
Êa Êb Za
Zs Zs Iˆb
Zb
N O
Vâo
Êc
Zs Iˆc
MODSEP 37
Remark 3: Even though the line voltages do not have zero sequence
components, this does not imply that the sum of the phase voltages will be
zero, therefore, there might be zero sequence components

    
Vâo  Vˆbo  Vˆco  Vân  Vˆno  Vˆbn  Vˆno  Vˆcn  Vˆno   Vân  Vˆbn  Vˆcn  3Vˆno  3Vˆno
 Iâ Vˆbo
Êa Êb  Za
Êan
Iˆb
Zs Zs Êbn
 
Zb
N  O
Vâo
Êc
Êcn
Zs Iˆc

MODSEP 38
By using the neutral conductor in a 4-wires generation system, the potential of
node O is made equal to node N in generation, eliminating the zero sequence
from phase voltages

     
Vâo  Vˆbo  Vˆco  Vân  Vˆno  Vˆbn  Vˆno  Vˆcn  Vˆno  Vân  Vˆbn  Vˆcn Vâo  Vˆbo  Vˆco  0
 Iâ Vˆbo
Êa Êb  Za
Êan
Zs Zs Êbn Iˆb
 
Zb
N  O
Iˆn  Iâ  Iˆb  Iˆc  0 Vâo
Êc
Êcn Zc Vˆco
Zs Iˆc Vˆno  0

MODSEP 39
Zero sequence components (4-wires)
Remark 4: A common mistake is to consider the zero sequence current equal to

the neutral current in a 4-wires system
Iâ
Applying KCL to node O:
Iˆb Iˆn  Iâ  Iˆb  Iˆc

O
Iˆn  Iâ  Iˆb  Iˆc  0 What if we ground
node O instead of
using the neutral
wire?
Iˆc
MODSEP 40
Zero sequence components (4-wires)
Remark 4: A common mistake is to consider the zero sequence current equal to

the neutral current in a 4-wires system
Iâ
Applying KCL to node O:
Iˆn  Iâ  Iˆb  Iˆc

Iˆb
Similar to the previous case

O with earth return currents
Iˆn  Iâ  Iˆb  Iˆc  0

Iˆc
MODSEP 41
ABC system CBA system
 Iˆ0  1 1 1   Iâ   Iˆ0  1 1 1   Iâ 

ˆ  1   ˆ  1  
 I1   3 1 a a 2    Iˆb  I
  3  1 a 2
a    Iˆb 
 1 
 Iˆ2  
1 a 2
a   Iˆc   Iˆ2  1 a a   Iˆc 
2
   
0
3

Î  1 Iˆ  Iˆ  Iˆ
a b c  1
Iˆ0  Iˆn Iˆn  3Iˆ0
3
Iˆn  Iâ  Iˆb  Iˆc
Conclusion: the zero sequence current Important for modeling

only exists if there is current flow generators in short-circuit
through the neutral conductor analysis
PS 3-wires Y e Δ  I0 = 0 ! MODSEP (neutral impedance) 42
Sequence series impedance
Zs
a A
Iâ Zm
Zs
b B
Iˆb
Vân Vˆ Zs
Zm Zm VÂn Vˆ
c bn Bn C
Iˆc
Vˆcn VˆCn
n N
Vâ  Vân  VÂn  Z s Iâ  Z m Iˆb  Z m Iˆc
Vˆb  Vˆbn  VˆBn  Z s Iˆb  Z m Iâ  Z m Iˆc
Vˆc  Vˆcn  VˆCn  Z s Iˆc  Z m Iâ  Z m Iˆb

MODSEP 43
Zero sequence series impedance
Vâ  Z s Iâ  Z m Iˆb  Z m Iˆc Vˆb  Z s Iˆb  Z m Iâ  Z m Iˆc Vˆc  Z s Iˆc  Z m Iâ  Z m Iˆb
We know that:
1

Vˆ0  Vâ  Vˆb  Vˆc
3

Substituting we have:
1
3
 1
 
Vˆ0  Vâ  Vˆb  Vˆc  Z s Iâ  Z m Iˆb  Z m Iˆc  Z s Iˆb  Z m Iâ  Z m Iˆc  Z s Iˆc  Z m Iâ  Z m Iˆb
3

1
3
 
Vˆ0  Iâ  Iˆb  Iˆc  Z s  2 Z m  Vˆ0  Z s  2Zm Iˆ0
Iˆ0
MODSEP 44
Positive sequence series impedance
We know that, for an ABC system:

1

Vˆ1  Vâ  aVˆb  a 2Vˆc
3

Substituting, we have:
1
 1
  
Vˆ1  Vâ  aVˆb  a 2Vˆc  Z s Iâ  Z m Iˆb  Z m Iˆc  a Z s Iˆb  Z m Iâ  Z m Iˆc
3 3


 a 2 Z s Iˆc  Z m Iâ  Z m Iˆb 
ˆ  1 ˆ
 ˆ 2ˆ
 1 ˆ ˆ
 
V1   Z s I a  aI b  a I c  Z m I b  I c  aIâ  aIˆc  a 2 Iâ  a 2 Iˆb  
 3 3 
   
Vˆ1   Z s Iâ  aIˆb  a 2 Iˆc  Z m Iâ a  a 2   Iˆb 1  a 2   Iˆc 1  a  
 1 1 
 3 3 
MODSEP 45
Positive sequence series impedance
  
Vˆ1   Z s Iâ  aIˆb  a 2 Iˆc  Z m Iâ a  a 2   Iˆb 1  a 2   Iˆc 1  a  
 1 1 

 3 3 
Iˆ1 1 a  a2
 1
 
Vˆ1   Z s Iˆ1  Z m  Iâ  aIˆb  a 2 Iˆc  
 3 
 Iˆ1

Vˆ1  Z s Iˆ1  Z m Iˆ1  Vˆ1  Z s  Z m Iˆ1
MODSEP 46
Negative sequence series impedance
We know that, for an ABC system:

1

Vˆ2  Vâ  a 2Vˆb  aVˆc
3

Substituting, we have:
1
 1
  
Vˆ2  Vâ  a 2Vˆb  aVˆc  Z s Iâ  Z m Iˆb  Z m Iˆc  a 2 Z s Iˆb  Z m Iâ  Z m Iˆc
3 3


 a Z s Iˆc  Z m Iâ  Z m Iˆb 
 1
  1
 
Vˆ2   Z s Iâ  a 2 Iˆb  aIˆc  Z m Iˆb  Iˆc  a 2 Iâ  a 2 Iˆc  aIâ  aIˆb  
 3 3 
  
Vˆ2   Z s Iâ  a 2 Iˆb  aIˆc  Z m Iâ a 2  a   Iˆb 1  a   Iˆc 1  a 2  
 1 1 

 3 3 
MODSEP 47
Negative sequence series impedance
  
Vˆ2   Z s Iâ  a 2 Iˆb  aIˆc  Z m Iâ a 2  a   Iˆb 1  a   Iˆc 1  a 2  
 1 1 

 3 3 
Iˆ2 1  a2 a
 1
 
Vˆ2   Z s Iˆ2  Z m  Iâ  a 2 Iˆb  aIˆc  
 3 
 Iˆ2

Vˆ2  Z s Iˆ2  Z m Iˆ2  Vˆ2  Z s  Z m Iˆ2
MODSEP 48
• We obtained relations for each sequence system a
0 seq. Vˆ0  Z s  2Zm Iˆ0 Z 0  Z s  2 Z m Zero sequence

impedance
Ohm’s law
+ seq. Vˆ1  Z s  Zm Iˆ1 Z1  Z s  Z m

Positive sequence
impedance
Ohm’s law
- seq. Vˆ2  Z s  Zm Iˆ2 Z 2  Z s  Z m Negative sequence

impedance
Ohm’s law
MODSEP 49
Perfectly transposed
• In matrix form: system!
Vˆ0  ( Z s  2 Z m ) 0 0   Iˆ0 
ˆ   ˆ 
V1    0 (Zs  Zm ) 0  I
  1
Vˆ2   0 0 ( Z  Z ) 
  Iˆ2 
   s m
V012 Z012 I 012

V012  Z012  I012
Zs e Zm with same signal: Transmission lines (Z0 > Z1 e Z2)

Zs e Zm with opposite signals: Electrical machines (Z0 < Z1 e Z2)
MODSEP 50
Conclusion: the original phase-domain impedance network can be decomposed in a set

of equivalent single-phase sequence-domain systems
For a perfectly transposed system:
 Zs Zm Zm 
Zabc  Zm Zs Zm 
 
 Z m Zm Z s  It can be mathematically
proved
( Z s  2 Z m ) 0 0 
Z012  0 (Zs  Zm ) 0 
 
 0 0 ( Z s  Z m )
MODSEP 51
Vabc  Zabc  Iabc
F  V012  Zabc  F  I012
F 1  F  V012  F 1  Zabc  F  I012
[1]
V012  F 1  Zabc  F  I012
Z012
Sequence domain
V012  Z012  I012
system
MODSEP 52
Sequence series impedance (ABC system)
1 1 1   Zs Zm Z m  1 1 1
 1 a a 2   Zm Z m   1 a 2 a
1
Z012 Zs
3     
1 a 2 a   Z m Zm Z s  1 a a 
2
( Z s  2 Z m ) 0 0 
Z012  0 (Zs  Zm ) 0 
 
 0 0 ( Z s  Z m )
Are there other ways to diagonalize the

impedance matrix?
Transformations Zabc diagonalization Zabc diagonalization

commonly used in (static reference) (synchronous reference)
PS analysis Clarke, Karrenbauer etc.
MODSEP Park transformation 53
Modal components
Transformations
• Clarke (αβ0) and Karrenbauer (012) transformations

 Phase decoupling in PS
 Equivalent single-phase circuits
 Static reference
 Applied to the instantaneous values of the signals
• Park (dq0) transformation Direct (d) and quadrature(q)

 Phase decoupling and reference frame modification

 Can be applied to decoupled signals (αβ0 ou 012)
 Can be applied directly in the phase-domain
 Commonly used in the study of electrical machines
MODSEP 54
Modal components
Clarke transformation
1
V0  T0  Vabc
 1 1 1 
 3 2 6 
 V0 
1 1 1  c
 
Va 
T0    V  [ T ]1 
 V 
 3 2 6    0  b
 1 2  V  Vc 
 0 
 3 6 
a
 1 1 1  90  Static reference
 3 3 3 
 
1 1  In steady state
T0   0 
1
 conditions
 2 2 
 1 1 2  b
  V0  Z0  I0
 6 6 6 
MODSEP Decoupled system 55
Modal components
Clarke transformation
1
V0  T0  Zabc  T0  I0
Z0
 1 1 1   1 1 1 
 3   Zs  6 
3 3 Zm Zm   3 2
  1 
0   Zm Zm   
1 1 1 1
Z0   Zs  
 2 2     3 2 6 
 1 1 2   Z m Zm Z s   1 2 
  0 
 6  6 
 6 6  3
( Z s  2 Z m ) 0 0 
Z0  0 (Zs  Zm ) 0 
 
 0 0 ( Z s  Z m )
MODSEP 56
Modal components
Karrenbauer transformation
1
V012  T012  Vabc
1 1 1 c V0  Va 
T012  1  2 1  V   T 1  V 
   1 012  b
1 1  2 V2  Vc 
a
1 1 1 60 1 Static reference
T012  1  1 0 
1 1
3  2 In steady state
1 0  1 conditions
b
V012  Z012  I012
Decoupled system
MODSEP 57
Modal components
Karrenbauer transformation
1
V012  T012  Zabc  T012  I 012
Z012
1 1 1   Zs Zm Z m  1 1 1
 1  1 0   Zm
1
Z012 Zs Z m   1  2 1 
3     
1 0  1  Z m Zm Z s  1 1  2
( Z s  2 Z m ) 0 0 
Z012  0 (Zs  Zm ) 0 
 
 0 0 ( Z s  Z m )
MODSEP 58
Modal components
Park transformation
 Ad (t )  cos(t  θ) sen(t  θ)  A (t ) 
 A (t )      A (t )
c  q   - sen(t  θ) cos(t  θ)    
d 1
 Tdq ,
1
A dq  Tdq ,  A
  a
 Static reference
90
q
  A (t )  cos(t   ) - sen (t   )  Ad (t )
 A (t )  sen (t   ) cos(t   )   A (t ) 

       q 
b
Tdq ,
A  Tdq ,  A dq

MODSEP 59
Modal components
Park transformation
c
 d
 a
Static reference
90
q

b
 A0 (t )   32 32 32   Aa (t )
  2    A (t ) 
 A ( t ) 
 3 cos( t   ) cos( t    120  ) cos(t    120  )
d   b 
 Aq (t )  -sen (t   ) -sen (t    120) -sen (t    120)  Ac (t ) 
1
Tdq,abc
To obtain the abc quantities,
1
A dq  Tdq,abc  A abc the zero sequence is needed
MODSEP 60
Modal components
Park transformation
Quadrature axis
Phase C
axis
Decouples the
Direct axis
system and shifts Rotor
the reference! Phase A

axis
Phase B
axis
Reluctance and magnetic flux

Static reference  Oscillating signals
Rotating reference  Constant signals in steady-state
MODSEP 61
Modal components
Park transformation
1
V0dq  T0dq  Zabc  T0dq  I0dq
Z0dq
For a perfectly transposed PS, at a given instant t = 0 ms, with frequency 60 Hz:
 1 1 1   Zs Zm Z m  0,333 1 0 
Z0dq  0,667  0,333  0,333    Z m Zs Z m   0,333  0,5 0,866 
     
 0 0,5774  0,5774  Z m Zm Z s  0,333  0,5  0,866
( Z s  2 Z m ) 0 0 
Z0dq  0 (Zs  Zm ) 0 
 
 0 MODSEP 0 ( Z s  Z m ) 62
Modal components
Park transformation
1
V0dq  T0dq  Zabc  T0dq  I0dq
Z0dq
For a perfectly transposed PS, at a given instant t = 0.5 ms, with frequency 60 Hz:
 1 1 1   Zs Zm Z m  0,333 0,9823  0,1874 

Z0dq   0,6549  0,2192  0,4356   Z m Zs Z m   0,333  0,3289 0,9444 
     
  0,1249 0,6296  0,5047  Z m Zm Z s  0,333  0,6534  0,7570
( Z s  2 Z m ) 0 0 
Z0dq  0 (Zs  Zm ) 0 
 
 0 MODSEP 0 ( Z s  Z m ) 63
Modal components
Park transformation
Decouples the system
Vabc  Zabc  Iabc at the specific
1 frequency to which
V0dq  T0dq  Zabc  T0dq  I0dq T0dq is set
Z0dq
For a perfectly transposed PS, at a given instant t = 0.8 ms, with frequency 60 Hz:
 1 1 1   Zs Zm Z m  0,333 0,9549  0,2970

Z0dq   0,6366  0,1468  0,4898   Z m Zs Z m   0,333  0,2202 0,9755 
     
  0,1980 0,6503  0,4523  Z m Zm Z s  0,333  0,7347  0,6784
( Z s  2 Z m ) 0 0 
Z0dq  0 (Zs  Zm ) 0 
 
 0 MODSEP 0 ( Z s  Z m ) 64
Modal components
Park transformation
• In the presence of harmonic components

 Direct and quadrature axes oscillating signals
 Outputs with frequency (n – 1)f  ABC system
 Outputs with frequency (n + 1)f  CBA system
• Let us consider the following ABC three-phase system

Aa  Aam  sen ωt   v 
Ab  Abm  sen ωt   v  120 

Ac  Acm  sen ωt   v  120 
We will apply now T0dq, adjusting it to a specific frequency  p
MODSEP 65
Modal components
Park transformation
1 
Ad    Aam   Abm  Acm   senωp  ωt     v 
1 
3  2  Affected by
Direct axis
 Abm  Acm   cosωp  ωt     v 
3 unbalance

2
  Aam  Abm  Acm   senωp  ωt     v 
Affected by the
frequency shift
1 
Aq      Aam   Abm  Acm   cosωp  ωt     v 
1 
3  2 
Quadrature Affected by
axis 
3
 Abm  Acm   senωp  ωt     v  unbalance
2
  Aam  Abm  Acm   cosωp  ωt     v 
Affected by the
MODSEP frequency shift 66
Modal components
Example 2
• Apply the Clarke, Karrenbauer and Park transformations to a
balanced system and to the signals of the previous example.
Vâ  50 V va (t )  5 2sen (377t ) V
Balanced Vˆb  5  120 V vb (t )  5 2sen (377t  120 ) V
Vˆc  5120 V vc (t )  5 2sen (377t  120 ) V

Vâ  50 V va (t )  5 2sen (377t ) V
Vˆb  4  90 V vb (t )  4 2sen (377t  90 ) V

Unbalanced
Vˆc  8150 V vc (t )  8 2sen (377t  150 ) V

MODSEP 67
Example 2 – Clarke transformation
Balanced system
10
va
5 vb
Tensão (V)
vc
0
-5
-10
0 10 20 30 40 50 60 70 80
Tempo (ms)
10
v
0
5
Tensão (V)
v
alfa
0 v
beta
-5
-10
0 10 20 30 40 50 60 70 80
MODSEP 68
Tempo (ms)
Example 2 – Clarke transformation
Unbalanced system
20
va
10 vb
Tensão (V)
vc
0
-10
-20
0 10 20 30 40 50 60 70 80
Tempo (ms)
20
v
0
10
Tensão (V)
v
alfa
0 v
beta
-10
-20
0 10 20 30 40 50 60 70 80
MODSEP 69
Tempo (ms)
Example 2 – Karrenbauer transformation
Balanced system
10
va
5 vb
Tensão (V)
vc
0
-5
-10
0 10 20 30 40 50 60 70 80
Tempo (ms)
5
v
0
Tensão (V)
v
1
0 v
2
-5
0 10 20 30 40 50 60 70 80
Tempo
MODSEP(ms) 70
Example 2 – Karrenbauer transformation
Unbalanced system
20
va
10 vb
Tensão (V)
vc
0
-10
-20
0 10 20 30 40 50 60 70 80
Tempo (ms)
10
v
0
5
Tensão (V)
v
1
0 v
2
-5
-10
0 10 20 30 40 50 60 70 80
MODSEP 71
Tempo (ms)
Example 2 – Park transformation
Balanced system
10
va
5 vb
Tensão (V)
vc
0
-5
-10
0 10 20 30 40 50 60 70 80
Tempo (ms)
5
vd
0 vq
Tensão (V)
-5
-10
-15
0 10 20 30 40 50 60 70 80
MODSEP 72
Tempo (ms)
Example 2 – Park transformation
Unbalanced system
20
va
10 vb
Tensão (V)
vc
0
-10
-20
0 10 20 30 40 50 60 70 80
Tempo (ms)
10
vd
vq
Tensão (V)
-10
-20
0 10 20 30 40 50 60 70 80
Tempo
MODSEP (ms) 73
Park transformation
Harmonics balanced system (n = 1)
1
Tensão (V)
va
0 vb
vc
-1
0 10 20 30 40 50 60 70 80
Tempo (ms)
2
Tensão (V)
vd
0 vq
-2
0 10 20 30 40 50 60 70 80
Tempo (ms)
1
Espectro
v
a
0.5
vd
0
0 50 100 150 200 250 300 350 400
Frequência (Hz) 74
Park transformation
Harmonics balanced system (n = 2 – 120 Hz)
1
Tensão (V)
va
0 vb
vc
-1
0 5 10 15 20 25 30 35 40
Tempo (ms)
2
Tensão (V)
vd
0 vq
-2
0 5 10 15 20 25 30 35
f ≠ f0
40
Tempo (ms) Harmonics

1
Espectro
v
a
0.5
vd
0
0 50 100 150 200 250 300 350 400
Frequência (Hz) 75
Park transformation
1
Tensão (V)
va
0 vb
vc
-1
0 5 10 15 20 25
Tempo (ms)
2
Tensão (V)
vd
0 vq
-2
0 5 10 15 20 25
f ≠ f0
Tempo (ms) Harmonics

1
Espectro
v
a
0.5
vd
0
0 50 100 150 200 250 300 350 400
Frequência (Hz) 76
Park transformation
1
Tensão (V)
va
0 vb
vc
-1
0 5 10 15 20
Tempo (ms)
2
Tensão (V)
vd
0 vq
-2
0 5 10 15
f20≠ f0
ABC Tempo (ms) Harmonics

1
f = (n-1)f0
Espectro
v
a
0.5
vd
0
0 50 100 150 200 250 300 350 400
Frequência (Hz) 77
Universidade de Brasília – UnB
Departamento de Engenharia Elétrica – ENE
Programa de Pós-Graduação em Engenharia Elétrica – PPGEE
QUESTIONS?

Brasília,
MODSEP2022

MODSEP Module1 L4

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

MODSEP Module1 L4

Uploaded by

Copyright:

Available Formats

Universidade de Brasília – UnB

Departamento de Engenharia Elétrica – ENE

POWER SYSTEMS MODELING

Prof. Amauri Martins, D.Sc.

Voltages and currents in

Three-phase circuits analysis

Three-phase loads in parallel

• Transformations: Karrenbauer, Clarke and Park

• Analysis of three-phased balanced circuits

 Obtaining the equivalent single-phase circuit (phase and neutral)

What if the system is unbalanced?

A three-phase circuit is said to be unbalanced (load unbalance) when the

Line voltages: balanced

Phase voltages: balanced (Zs  0)

Eˆ cn  V120 One equivalent single-phase circuit for

Voltage no: ≠ 0 (neutral shift)

N Vˆao  Vˆan  Vˆno

Iˆa  Iˆb  Iˆc  0

Iˆa  Iˆb  Iˆc  0 VˆaoYa  VˆboYb  VˆcoYc  0 ˆ

• Analyzes are performed from the perspective of load voltages and

Generator voltages are known and presumably balanced

In such cases, it is said to occur a load unbalance

What if the generation is How to analyze

unbalanced? asymmetrical faults?

How to include the effects of

• During asymmetrical short-circuits

 Complicates the phase-domain analysis using the conventional techniques

Method of the symmetrical components!

• Works by Charles Fortescue published in 1918

For three-phase systems

Direct sequence Inverse sequence Homopolar

Direct sequence Inverse sequence Homopolar

Vˆc1 Vˆa1 Vˆb 2 Vˆa 2 Vˆb 0

Direct sequence Inverse sequence Homopolar

Vˆc1 Vˆa1 Vˆc 2 Vˆa 2 Vˆb 0

Direct sequence Inverse sequence Homopolar

Vˆb1 Vˆa1 Vˆc 2 Vˆa 2 Vˆb 0

Direct sequence Inverse sequence Homopolar

Vˆb1 Vˆa1 Vˆb 2 Vˆa 2 Vˆb 0

How to analytically obtain the

This is valid for any AC quantities, such as

Original unbalanced system

Negative sequence system

Vâ  Vâ1  Vâ 2  Vâ 0

Since we are dealing with

Vâ  Vâ 0  Vâ1  Vâ 2 Vâ  Vâ 0  Vâ1  Vâ 2

To simplify the notation, it is usual to consider:

Vˆc  Vˆ0  aVˆ1  a 2Vˆ2

• The matrix representation of this relation is:

Therefore: Vabc  Fabc  V012 What if CBA sequence?

120o 120o 120o

Vâ1  V1 v1 Vâ 2  V2 v 2 Vâ 0  V0 v 0

Vˆb1  aVâ1 Vˆb 2  a 2Vâ 2 Vˆb 0  Vâ 0

Vˆc1  a 2Vâ1 Vˆc 2  aVâ 2 Vˆc 0  Vâ 0

Vˆc  1 a 2 a  Vˆ2 

Vˆa  50 V Vˆb  4  90 V Vˆc  8150 V

Determine the zero, positive and negative sequence components.

Vˆ0  Vˆa 0  Vˆb 0  Vˆc 0  0.64180 V

Vˆ1  Vˆa1  5.5121.3 V Vˆ2  Vˆa 2  2.06  79.2 V

Vˆb1  a 2Vˆa1  5.51  98.7  V Vˆb 2  aVˆa 2  2.0644.4 V

Vˆc1  aVˆa1  5.51141.3 V Vˆc 2  a 2Vˆa 2  2.06  195.6 V

Vˆao  Vˆan  Vˆno , Vˆbo  Vˆbn  Vˆno , Vˆco  Vˆcn  Vˆno