High-Voltage Engineering

Part IV
WS 2017/18
Dirk Uhrlandt
University Rostock /
Leibniz-Institute for Plasma Science and Technology Greifswald

1. Basics of electromagnetics

Agenda

 Electrostatic field

 Quasi-stationary currents

 Electromagnetic waves

D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 2

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 Introduction
Travelling waves:
• important if stationary or quasi-stationary approach fails
• waves result from full solution of Maxwell’s equations
• in most cases: transversal electromagnetic (TEM)
waves confined to lines
• propagation velocity (=group v. = phase v.)
1
𝑣= (300 106 m/s in air / vacuum)
𝜇𝜀
𝜇
and wave resistance 𝑊 = (377 Ω)
𝜀

z
E(x,t) j(x,t)
v
v
x x
H(x,t) 𝝏𝑫
y 𝝏𝒕
D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 3
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Introduction

Condition for travelling waves on long lines:

λ 𝑣
quasi-stationary approach valid for lengths 𝑥 ≪ 4 = 4𝑓
𝑥
or for rise times 𝑇𝑎 ≫𝜏=𝑣

Examples:
• transmission line 𝑓=50 Hz: 𝑥 > 100 km,
• switching surge voltage with 𝑇𝐶𝑟 =250 μs: 𝑥 >5 km,
• lightning surge voltage with 𝑇𝐶𝑟 =1 μs: 𝑥 >22 m
• gas isolated switch gear (GIS) with 𝑇𝐶𝑟 =10 ns: 𝑥 >0.2 m

D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 4

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 Introduction

Example: switching on an open transmission line

with a gas isolated switch gear

bus bar open transmission line

(high voltage) (without voltage)
GIS
(one phase)
current
circuit breaker
passing unit

D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 5

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Introduction

Example: switching on an open transmission line

with a gas isolated switch gear

bus bar open transmission line

(high voltage) (without voltage)
GIS
(one phase)
current
circuit breaker
passing unit
W1 W2

W4 W3

D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 6

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 Homogeneous single line
Infinitesimal piece of line (no losses):
• current 𝐼 = 𝐼 𝑥, 𝑡
voltage 𝑈 = 𝑈(𝑥, 𝑡) 𝐼(𝑥) 𝐼(𝑥 + ∆𝑥)
𝐿∆𝑥
• voltage change in piece of line 𝑈(𝑥) 𝐶∆𝑥 𝑈(𝑥 + ∆𝑥)
𝜕𝑈 𝜕𝐼
by self-induction = −𝐿 𝜕𝑡
𝜕𝑥
current change
𝜕𝐼 𝜕𝑈
by temporal change of voltage = −𝐶 𝜕𝑡
𝜕𝑥
• conflation of both equations (each 𝜕𝑥 and 𝜕𝑡):
𝜕2 𝑈 𝜕2 𝑈 𝜕2 𝐼 𝜕2 𝐼
𝜕𝑥 2
= 𝐶𝐿 𝜕𝑡 2
and
𝜕𝑥 2
= 𝐶𝐿 𝜕𝑡 2
(partial diff. equ. 2.order)
• general solution of wave equation:
1
𝑈 = 𝑓 𝑥 − 𝑣𝑡 + 𝑔 𝑥 + 𝑣𝑡 with 𝑣 = (left- and right running wave)
𝐶𝐿

1 𝐿
• after introducing U in equ.: 𝐼 = 𝑓 𝑥 − 𝑣𝑡 − 𝑔 𝑥 + 𝑣𝑡 with 𝑊 =
𝑊 𝐶

• determination of 𝑓 and 𝑔 from boundary and initial conditions

D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 7
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Homogeneous single line

• general solution: 𝑈 = 𝑓 𝑥 − 𝑣𝑡 + 𝑔 𝑥 + 𝑣𝑡
• determination of 𝑓 and 𝑔 from boundary and initial conditions:

Example: abrupt switching on a line

• voltage 𝑈 ෩ from constant voltage source:
𝑡 = 0: 𝑈 = 𝑈෩ for 𝑥 = 0 𝑥
and 𝑈 = 0, 𝐼 = 0 for 𝑥 > 0 ෩
𝑈
• from 𝑓 + 𝑔 = 0 und 𝑓 − 𝑔 = 0
it follows 𝑓 = 𝑔 = 0 for positive arguments,
with that 𝑔 = 0 also for all 𝑡 > 0 ,
• it follows with that:
𝑈 = 𝑈𝑓 ෩ 𝑥 − 𝑣𝑡 and
෩
𝑈
𝐼 = 𝑓 𝑥 − 𝑣𝑡 𝑈
𝑊
with 𝑓 = 1
for 𝑥 − 𝑣𝑡 ≤ 0 and 0 else
𝑥
D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 8
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 Homogeneous single line

Example: reflexion and refraction in a single line

• lines A and B with wave resistances 𝑊𝐴 and 𝑊𝐵 and current 𝐼𝐴 and 𝐼𝐵 .

A B
෩
𝑈

D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 9

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Homogeneous single line

Example: reflexion and refraction in a single line

• lines A and B with wave resistances 𝑊𝐴 and 𝑊𝐵 and current 𝐼𝐴 and 𝐼𝐵 .
• right running wave at line A: 𝑈𝐴 = 𝑈 ෩ = 𝑊𝐴 𝐼𝐴 arrives at the contact.
• right running refracted wave starts at line B: 𝑈𝐵 = 𝑊𝐵 𝐼𝐵
and left running reflected wave starts at line A: 𝑈𝑅 = −𝑊𝐴 𝐼𝑅 .
• it follows for the contact position:
𝑈𝐴 + 𝑈𝑅 = 𝑈𝐵
1 1
𝐼𝐴 + 𝐼𝑅 = 𝑈 − 𝑈𝑅 = 𝐼𝐵 = 𝑈
𝑊𝐴 𝐴 𝑊𝐵 𝐵
𝐼
• it follows for the reflected wave: 𝐼𝐴 𝑅 𝐼𝐵
𝑊𝐴 − 𝑊𝐵
𝑈𝑅 = −𝑈𝐴
𝑊𝐴 + 𝑊𝐵
A B
• it follows for the refracted wave: ෩
𝑈
2𝑊𝐵
𝑈𝐵 = 𝑈𝐴
𝑊𝐴 + 𝑊𝐵
• case 𝑊𝐵 = 𝑊𝐴 : 𝑈𝐵 = 𝑈𝐴 ,
𝐼𝐵 = 𝐼𝐴 , 𝐼𝑅 = 0
D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 10
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 Homogeneous single line

Example: reflexion and refraction in a single line

• reflected wave:
𝑊𝐴 − 𝑊𝐵
𝑈𝑅 = −𝑈𝐴
𝑊𝐴 + 𝑊𝐵

• refracted wave:
2𝑊𝐵
𝑈𝐵 = 𝑈𝐴
𝑊𝐴 + 𝑊𝐵
• case of short exit 𝐼𝑅
𝐼𝐴
𝑊𝐵 ≪ 𝑊𝐴 :
𝑈𝑅 = −𝑈𝐴 , 𝑈𝐵 = 0,
A
𝐼𝐵 = 2𝐼𝐴 , 𝐼𝑅 = 𝐼𝐴 ෩
𝑈

D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 11

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Homogeneous single line

Example: reflexion and refraction in a single line

• reflected wave:
𝑊𝐴 − 𝑊𝐵
𝑈𝑅 = −𝑈𝐴
𝑊𝐴 + 𝑊𝐵

• refracted wave:
2𝑊𝐵
𝑈𝐵 = 𝑈𝐴
𝑊𝐴 + 𝑊𝐵
• case of isolated exit 𝐼𝑅
𝐼𝐴
𝑊𝐵 ≫ 𝑊𝐴 :
𝑈𝑅 = 𝑈𝐴 , 𝑈𝐵 = 2𝑈𝐴 ,
A
𝐼𝐵 = 0, 𝐼𝑅 = −𝐼𝐴 ෩
𝑈
• importance:
high voltages because of
multiple reflections of
fast transients e.g. in a GIS
D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 12
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 Homogeneous single line

• Example: reflexion at isolated exit – standing wave:

𝑈𝑅 = 𝑈𝐴 , 𝑈𝐵 = 2𝑈𝐴 , 𝐼𝑅 = −𝐼𝐴

D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 13

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Waves on three-phase line

Example: switching on an open transmission line

with a gas isolated switch gear

bus bar open transmission line

(high voltage) (without voltage)
GIS
(one phase)
current
circuit breaker
passing unit

D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 14

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 Waves on three-phase line

• currents 𝐼𝑖 𝑥, 𝑡
voltages 𝑈𝑖 (𝑥, 𝑡) 𝑖 =1,2,3
𝐿11

𝐿12 𝐿13

L1 𝐿22
𝐿33
L2 𝐿23

L3
𝑈2
𝐶12 𝐶23

𝑈1 𝑈3
𝐶13
𝐶11 𝐶33
𝐶22
vattenfall

D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 15

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Capacitance of two transmission lines over earth

1 𝐷 1 2ℎ
𝑄1 𝑑
voltages 𝑈1 = 𝑙𝑛 1 𝑄2 + 𝑙𝑛 1 𝑄1 𝑄2
2𝜋𝜀 𝑑 2𝜋𝜀 𝑅
= 𝑃12 𝑄2 + 𝑃11 𝑄1 ℎ1 ℎ2
1 𝐷 1 2ℎ
𝑈2 = 𝑙𝑛 2 𝑄1 + 𝑙𝑛 2 𝑄2
2𝜋𝜀 𝑑 2𝜋𝜀 𝑅 𝐷2 𝐷
= 𝑃21 𝑄1 + 𝑃22 𝑄2 1
potential −𝑄2
𝑃22 𝑃12
coefficients −𝑄1
charges 𝑄1 = −𝑈 𝑈
∆𝑃 1 ∆𝑃 2
= 𝐾11 𝑈1 + 𝐾12 𝑈2
𝑃 𝑃 capacitance
𝑄2 = 21 𝑈1 − 11 𝑈2 coefficients
∆𝑃 ∆𝑃 𝐶12
= 𝐾21 𝑈1 + 𝐾22 𝑈2 𝑈1
∆𝑃 = 𝑃11 𝑃22 − 𝑃12 𝑃21 𝑈2
𝐶11
𝐶22
with 𝑄1 = 𝐶11 𝑈1 + 𝐶12 𝑈1 − 𝑈2 ,
𝑄2 = 𝐶22 𝑈2 + 𝐶12 𝑈2 − 𝑈1
 𝐾11 = 𝐶11 +𝐶12 , 𝐾22 = 𝐶22 +𝐶12 , 𝐾12 = −𝐶12
D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 16
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 Waves on three-phase line

inductances in a three-line capacities a three-line system over

system: earth:
piece of line:
𝑈2
mutual inductances 𝐶12 𝐶23

𝑈1 𝑈3
𝐿11 𝐶13
𝐶11 𝐶33
𝐶22
𝐿12 𝐿13
𝐿22 capacitance coefficients
𝐿33
𝐿23 𝐾𝑖𝑖 and 𝐾𝑖𝑗
self inductances
𝑅 = 𝑟 for 𝑖 = 𝑗
𝜇 1 mean line radius
𝐿𝑖𝑗 = 𝑙𝑛
2𝜋 𝑅 𝑅 = 𝑑 for 𝑖 ≠ 𝑗
line distance
D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 17

Waves on three-phase line

• currents 𝐼𝑖 𝑥, 𝑡
voltages 𝑈𝑖 (𝑥, 𝑡) 𝑖 =1,2,3 𝐿11
• voltage change in piece of line
𝜕𝑈𝑖 𝜕𝐼 𝐿13
by self-induction = −𝐿𝑖𝑗 𝑗 𝐿12
𝜕𝑥 𝜕𝑡 𝐿22
• current change 𝐿33
𝐿23
𝜕𝐼𝑗 𝜕𝑈
by temporal change of voltage = −𝐾𝑗𝑘 𝜕𝑡𝑘 𝑈2
𝜕𝑥
𝐶12 𝐶23
• conflation of both equations (each 𝜕𝑥 and 𝜕𝑡):
𝜕 2 𝑈𝑖 𝜕 2 𝑈𝑘 𝜕 2 𝐼𝑗 𝜕 2 𝐼𝑘
2 = 𝐿𝑖𝑗 𝐾𝑗𝑘 2 and 2 = 𝐾𝑖𝑗 𝐿𝑗𝑘
𝑈1 𝑈3
𝜕𝑥 𝜕𝑡 𝜕𝑥 𝜕𝑡 2 𝐶13
(coupled partial diff. equ. of 2. order) 𝐶11 𝐶33
𝐶22
𝜕2 𝑓 𝑖
• solution approach: 𝑈𝑖 = 𝑓𝑖 (𝑦) with y = x ± 𝑣𝑡 and 𝑓′′𝑖 =
𝜕𝑦2
• after introducing U in equ. : 𝑓′′𝑖 = 𝑣 2 𝐿𝑖𝑗 𝐾𝑗𝑘 𝑓′′𝑘

• equation has non-trivial solutions if 𝐷𝑒𝑡 𝑣 2 𝐿𝑖𝑗 𝐾𝑗𝑘 − 𝛿𝑖𝑘 =0

D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 18

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 Waves on three-phase line

𝐷𝑒𝑡 𝑣 2 𝐿𝑖𝑗 𝐾𝑗𝑘 − 𝛿𝑖𝑘 =0

is a linear equation system of 6. degree for the velocities
with the solutions ±𝑣1 , ±𝑣2 , ±𝑣3 .

It follows for the general solution of the wave equation (here for the voltage):
𝑈𝑖 = 𝑓𝑖1 𝑥 − 𝑣1 𝑡 + 𝑔𝑖1 𝑥 + 𝑣1 𝑡 + 𝑓𝑖2 𝑥 − 𝑣2 𝑡 + 𝑔𝑖2 𝑥 + 𝑣2 𝑡
+𝑓𝑖3 𝑥 − 𝑣3 𝑡 + 𝑔𝑖3 𝑥 + 𝑣3 𝑡

D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 19

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Waves on three-phase line

More simple case: symmetric three-phase system

matrix of capacity coefficients and inductances (after symmetrisation):
𝐿0 𝐾0 0 0
𝐿𝑖𝑗 𝐾𝑗𝑘 = 0 𝐿′ 𝐾′ 0
0 0 𝐿′′ 𝐾′′
yields each three uncoupled wave equations
for voltage and current (zero component, first and opposite system):
𝜕 2 𝑈0 𝜕 2 𝑈0 𝜕 2 𝑈′ 𝜕 2 𝑈′ 𝜕 2 𝑈′′ 𝜕 2 𝑈′′
= 𝐿0 𝐾0 , = 𝐿′ 𝐾′ , = 𝐿′′ 𝐾′′ analog for 𝐼0 , 𝐼 ′ , 𝐼′′
𝜕𝑥 2 𝜕𝑡 2 𝜕𝑥 2 𝜕𝑡 2 𝜕𝑥 2 𝜕𝑡 2
1 1
 solutions with velocities 𝑣0 = , 𝑣′ = 𝐿′ 𝐾′
,
𝐿0 𝐾0

𝐿0 𝐿′
and wave resistances 𝑊0 = , 𝑊′ =
𝐾0 𝐾′

(assuming symmetry in the first and opposite system:

𝐿′ = 𝐿′′ , 𝐾 ′ = 𝐾 ′′ , 𝑣 ′ = 𝑣 ′′ , 𝑊 ′ = 𝑊′′)

D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 20

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 Waves on three-phase line

specific solutions follow from initial and boundary conditions.

Example: switching on one line in a three-line system

෩ for 𝑥 = 0 and 𝑈1 = 0 for 𝑥 > 0 , 𝑈2 = 𝑈3 =0 for all 𝑥
𝑡 = 0: 𝑈1 = 𝑈

for symmetrical system:

1 𝑈1
𝑡 = 0: 𝑈0 = 𝑈 ′ = 𝑈′′ = 𝑈෩ for 𝑥 = 0 and
3
𝑈0 = 𝑈 ′ = 𝑈′′ = 0 for 𝑥 > 0 ෩
𝑈 𝑈2
𝑈3
zero, first and opposite system can be treated
each as a single line:
1 ෩
෩ 𝑥 − 𝑣0 𝑡 and 𝐼0 = 1
𝑈0 = 𝑈𝑓
𝑈
𝑓 𝑥 − 𝑣0 𝑡
3 3 𝑊0
1 ෩
෩ 𝑥 − 𝑣′𝑡 and I′ = 𝐼′′ = 1
𝑈 ′ = 𝑈′′ = 𝑈𝑓
𝑈
𝑓 𝑥 − 𝑣′𝑡
3 3 𝑊′

D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 21

21

Waves on three-phase line

Example: switching on one line in a three-line system

it follows for the voltages (from back transformation):
1
𝑈1 = 𝑈0 + 2𝑈 ′ = 𝑈 ෩ 𝑓 𝑥 − 𝑣0 𝑡 + 2𝑓 𝑥 − 𝑣′𝑡 1 1
3 𝑣0 = , 𝑣′ = 𝐿′ 𝐾′
𝐿0 𝐾0
1
2 ′ ෩
𝑈2 = 𝑈3 = 𝑈0 + 𝑎 + 𝑎 𝑈 = 𝑈 𝑓 𝑥 − 𝑣0 𝑡 − 𝑓 𝑥 − 𝑣′𝑡
3
𝑈1
2𝜋
1 𝑣0
with 𝑎 = 𝑒 𝑗 3 ෩
𝑈
3
𝑈1 2
෩
𝑈 𝑣′
෩
𝑈 𝑈2 3

𝑈3 𝑈2 𝑥
1 𝑥
− 𝑈෩
3
𝑈3
1 𝑥
− 𝑈෩
3
D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 22
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 Waves on three-phase line

Example: switching on one line in a three-line system

it follows for the currents:
𝑈෩ 1 2
𝐼1 = 𝐼0 + 2𝐼′ = 𝑓 𝑥 − 𝑣0 𝑡 + 𝑓 𝑥 − 𝑣′𝑡 𝐿0 𝐿′
3 𝑊0 𝑊′ 𝑊0 = , 𝑊′ =
𝐾0 𝐾′
෩
𝑈 1 1
𝐼2 = 𝐼 = 𝐼0 + 𝑎 + 𝑎2 𝐼′ = 𝑓 𝑥 − 𝑣0 𝑡 − 𝑓 𝑥 − 𝑣′𝑡
3 𝑊0 𝑊′
𝐼1
෩
𝑈 𝑣0
3𝑊0

𝐼1 ෩
2𝑈 𝑣′
3𝑊′
෩
𝑈 𝐼2
𝐼2
𝐼3 ෩
𝑈
−
3𝑊′
𝐼3
෩
𝑈
−
3𝑊′ Rostock WS 17/18
D. Uhrlandt, Lecture HVE, EM-Waves, 23
23

Summary

Travelling waves:
• importance
• switching on a single line
• refraction and reflection
• switching on a line in a three-line system
bus bar open transmission line
(high voltage) (without voltage)
GIS
(one phase)
current
circuit breaker
passing unit
W1 W2

W4 W3

D. Uhrlandt, Lecture HVE, EM-Waves, Rostock WS 17/18 24

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