ECEN 667

Power System Stability

Lecture 3: Electromagnetic Transients

Prof. Tom Overbye

Dept. of Electrical and Computer Engineering
Texas A&M University
overbye@tamu.edu
 Announcements
• RSVP to Alex at zandra23@ece.tamu.edu for the
TAMU ECE Energy and Power Group (EPG)
picnic. It starts at 5pm on September 27, 2019
• Be reading Chapters 1 and 2
• Homework 1 is assigned today. It is due on
Thursday September 12
• Classic reference paper on EMTP is H.W. Dommel,
"Digital Computer Solution of Electromagnetic
Transients in Single- and Multiphase Networks,"
IEEE Trans. Power App. and Syst., vol. PAS-88,
pp. 388-399, April 1969
2
 Electromagnetic Transients
• The modeling of very fast power system dynamics
(much less than one cycle) is known as electromagnetics
transients program (EMTP) analysis
– Covers issues such as lightning propagation and switching
surges
• Concept originally developed by Prof. Hermann
Dommel for his PhD in the 1960's (now emeritus at
Univ. British Columbia)
– After his PhD work Dr. Dommel worked at BPA where he was
joined by Scott Meyer in the early 1970's
– Alternative Transients Program (ATP) developed in response to
commercialization of the BPA code
3
 Power System Time Frames

Image source: P.W. Sauer, M.A. Pai, Power System Dynamics and Stability, 1997, Fig 1.2, modified
4
 Transmission Line Modeling
• In power flow and transient stability transmission
lines are modeled using a lumped parameter
approach
– Changes in voltages and current in the line are assumed
to occur instantaneously
– Transient stability time steps are usually a few ms (1/4
cycle is common, equal to 4.167ms for 60Hz)
• In EMTP time-frame this is no longer the case;
speed of light is 300,000km/sec or 300km/ms or
300m/ms
– Change in voltage and/or current at one end of a
transmission cannot instantaneously affect the other end
5
 Need for EMTP
• The change isn’t really instantaneous because of
propagation delays, which are near the speed of
light; there also wave reflection issues

Red is the vs end, green

the v2 end

6
 Incremental Transmission
Line Modeling

Define the
i receiving end as
v  Rxi  Lx
t bus m (x=0) and
 the sending end as
i  Gx  v  v   C x  v  v  bus k (x=d)
t
7
 Where We Will End Up
• Goal is to come up with model of transmission line
suitable for numeric studies on this time frame
Both ends of
the line are
represented
by Norton
 d  1  d  equivalents
I k  im  t    vm  t  
 v p  zc  v p 
    Assumption is we
don’t care about
 d  1  d  what occurs along
I m  ik  t    vk  t  
 v p  zc  v p  the line
    8
 Incremental Transmission
Line Modeling
We are looking to determine v(x,t) and i(x,t)
  i 
Substitute v  x  R i  L 
 t 
Into the equation for i and divide both by x
i  i  v
 Gv  G  Rxi  Lx   C 
x  t  t
 i  2i 
C   Rx  Lx 2 
 t t 

9
 Incremental Transmission
Line Modeling
Taking the limit we get
lim v v i
  Ri  L
x  0 x x t

lim i i v
  Gv  C 
x  0 x x t

Some authors have a negative sign with these equations; it

just depends on the direction of increasing x; note values
are function of both x and t
10
 Special Case 1
C' = G' = 0 (neglect shunts)
di
v x, t   v 0, t   Rxi  Lx
dt

This just gives a lumped parameter model, with all

electric field effects neglected
11
11
 Special Case 2: Wave Equation
The lossless line (R'=0, G'=0), which gives
v i i v
 L ,  C
x t x t
This is the wave equation with a general solution of

  
i  x, t    f1 x  v pt  f 2 x  v pt  zc is the
characteristic
  
v  x, t   zc f1 x  v pt  zc f 2 x  v pt  impedance
1 and vp is the
zc  L / C  , vp 
LC  velocity of
propagation
12
 Special Case 2: Wave Equation
• This can be thought of as two waves, one traveling in
the positive x direction with velocity vp, and one in the
opposite direction
• The values of f1 and f2 depend upon the boundary
(terminal) conditions Boundaries
   
i  x, t    f1 x  v pt  f 2 x  v pt are receiving
end with x=0
   
v  x, t   zc f1 x  v pt  zc f 2 x  v pt and the
1 sending end
zc  L / C  , v p  with x=d
LC 
13
 Calculating vp
• To calculate vp for a line in air we go back to the
definition of L' and C'
0  D  2 0
L'  ln   , C ' 
2  r '  ln D
r
1 1 1
vp   c
L 'C ' ln D ln D
0 0 r' r'
ln D ln D
r r
With r'=0.78r this is very close to the speed of light

14
 Important Insight
• The amount of time for the wave to go between the
terminals is d/vp= t seconds
– To an observer traveling along the line with the wave,
x+vpt, will appear constant
• What appears at one end of the line impacts the
other end t seconds later
Both sides of
  
i  x, t    f1 x  v pt  f 2 x  v pt  the bottom
equation are
  
v  x, t   zc f1 x  v pt  zc f 2 x  v pt 
constant
 
v  x , t   z c i  x , t   2 z c f 2 x  v p t when x+vpt is
constant
15
 Determining the Constants
• If just the terminal characteristics are desired, then an
approach known as Bergeron's method can be used.
• Knowing the values at the receiving end m (x=0) we get

  
i  x, t    f1 x  v pt  f 2 x  v pt 
This can be
  
v  x, t   zc f1 x  v pt  zc f 2 x  v pt  used to
im (t )  i  0, t    f1  v p t   f 2  v p t 
eliminate f1

vm (t )  zc f1  v p t   zc f 2  v p t 

16
 Determining the Constants

• Eliminating f1 we get
 
vm (t )  zc f1 v p t  zc f 2 v p t  
vm (t )

f1 v p t  zc

 f2 v p t 
vm
im (t )    2 f 2 v p t
zc
 

17
 Determining the Constants

• To solve for f2 we need to look at what is going on

at the sending end (i.e., k at which x=d) t = d/vp
seconds in the past
 d    d    d 
ik  t     f1  d  v p  t     f 2  d  v p  t   
 vp    vp     vp 
       
 d 
 
ik  t     f1 2d  v pt  f 2 v pt
 vp   
 
 d 
   
vk  t    zc f1 2d  v pt  zc f 2 v pt
 vp 
 
18
 Determining the Constants

• Dividing vk by zc, and then adding it with ik gives

 d  vk  d 
ik  t     t    2 f 2 v pt
 v p  zc  v p   
   

• Then substituting for f2 in im gives

vm  t   d  1  d 
im  t     ik  t    vk  t  
zc  vp
  zc  v p 

19
 Equivalent Circuit Representation
• The receiving end can be represented in circuit form as

vm  t   d  1  d  Im
im  t     ik  t    vk  t  
zc  vp
  zc  v p 

Since t = d/vp, Im just depends

on the voltage and current at
the other end of the line from
 seconds in the past. Since
these are known values, it
looks like a time-varying
current source 20
 Repeating for the Sending End
• The sending end has a similar representation

Both ends of
the line are
represented
 d  1  d  by Norton
I k  im  t    vm  t  
 v p  zc  v p  equivalents
   

 d  1  d 
I m  ik  t    vk  t  
 v p  zc  v p 
   
21
 Lumped Parameter Model
• In the special case of constant frequency, book shows
the derivation of the common lumped parameter model

This is used in
power flow and
transient
stability; in
EMTP the
frequency is not
constant

22
 Including Line Resistance
• An approach for adding line resistance, while keeping
the simplicity of the lossless line model, is to just to
place ½ of the resistance at each end of the line
– Another, more accurate approach, is to place ¼ at each end,
and ½ in the middle
• Standalone resistance, such as modeling the resistance
of a switch, is just represented as an algebraic equation
1
ik ,m   vk  vm 
R

23
 Numerical Integration with
Trapezoidal Method
• Numerical integration is often done using the
trapezoidal method discussed last time
– Here we show how it can be applied to inductors and
capacitors
• For a general function the trapezoidal approach is
x  f (x(t ))
t
x(t  t )  x(t )   f (x(t ))  f (x(t  t )) 
2
• Trapezoidal integration introduces error on the order of
Dt3, but it is numerically stable
24
 Trapezoidal Applied to Inductor
with Resistance
• For a lossless inductor,
di di v
vL   i  0  i0
dt dt L
t
i (t  t )  i (t ) 
2L
 v(t )  v  t  t  

• This can be represented as a Norton equivalent with

current into the equivalent defined as positive (the last
two terms are the current source)
v  t  t  v(t )
i (t  t )   i (t ) 
2 L t 2 L t
25
 Trapezoidal Applied to Inductor
with Resistance
• For an inductor in series with a resistance we have
di
v  iR  L
dt
di R 1
 i v i  0  i0
dt L L

26
 Trapezoidal Applied to Inductor with
Resistance
t  R 1
i  ti  t   i  ti    i  ti   v ti 
2 L L This also
R 1 becomes a
 i ti  t   v ti  t  
Norton
L L  equivalent. A
similar
expression will
be developed
for capacitors

27
 RL Example
• Assume a series RL circuit with an open switch with
R= 200W and L = 0.3H, connected to a voltage source
with v  133,000 2 cos  2 60t 
• Assume the switch is closed at t=0
• The exact solution is

i  712.4e667t  578.8 2 cos  2 60t  29.5 

di
v  iR  L R/L=667, so the
dt
dc offset decays
di R 1
 i v i  0  i0 quickly
dt L L
28
 RL Example Trapezoidal Solution
2L 2 * 0.3
  6000
t 0.0001
t  .0001 sec
t  0 i  0  0
t  .0001
v(0)  Ri (0 )
i (0 )   31.35 A
6000
187,957 31.35  6000
Numeric solution: i  .0001  6200

6200
 60.65A

Exact solution:
  
i  .0001  712.4e .0677  578.8 2 cos  2 60  .0001  29.5 
 180 
 666.4  727.0
 60.6 A 29
 RL Example Trapezoidal Solution
t = .0002

Solving for i(.0002)

i(.0002) = 117.3A
Exact solution
i(.0002) = 117.3A

30
Full Solution Over Three Cycles

31
 A Favorite Problem: R=0 Case, with
v(t) = Sin(2*pi*60)
PWFullMatrixGrid Variables

3,200
3,000
2,800
2,600
2,400
2,200
2,000

1,800
Values

1,600

1,400
1,200
1,000
800

600
400
200
0
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05
Column 1

Column 1 Column 2

32
 Lumped Capacitance Model
• The trapezoidal approach can also be applied to model
lumped capacitors
dv(t )
i (t )  C
dt
• Integrating over a time step gives
1 t t
v(t  t )  v(t )   i (t )
C t
• Which can be approximated by the trapezoidal as
t
v(t  t )  v(t )   i (t  t )  i (t ) 
2C
33
 Lumped Capacitance Model
• Hence we can derive a circuit model similar to
what was done for the inductor

2C
v(t )  i (t )
t

34
 Example 2.1: Line Closing

L  1.5  103 H / mi
Switch is closed at
C   0.02  106 F / mi time t = 0.0001 sec

35
 Example 2.1: Line Closing
Initial conditions: i1 = i2 = v1 = v2 =0
for t < .0001 sec
L' 1
zc   274 v p   182,574mi / sec
C' L 'C '
d
 .00055sec 2L
vp  5000
t
Because of finite propagation speed, the receiving end
of the line will not respond to energizing the sending
end for at least 0.00055 seconds
36
 Example 2.1: Line Closing

Note we have two separate circuits, coupled together

only by past values 37
 Example 2.1: t=0.0001
Need: i1  .00045  , v1  .00045  , i2  .00045  ,
v2  .00045  , i2  0  , v3  0  , vs  .0001

i1  .00045   0 i2  0   0
v1  .00045   0 v3  0   0
i2  .00045   0 v2  .00045   0
2
vs  .0001  230,000 cos  2 60  .0001  187,661 V
3

38
Example 2.1: t=0.0001

Sending
End

Receiving
End

39
 Example 2.1: t=0.0001

i1 .0001  685 A Instantaneously

v1 .0001  187,661V changed from zero
i2  .0001  0 at t = .0001 sec.
v2  .0001  0
v3  .0001  0

40
 Example 2.1: t=0.0002
Need: Circuit is essentially
i1  .00035   0 the same

v1  .00035   0 i1 .0002  683 A

i2  .00035   0 v1 .0002  187,261V
i2  .0002  0.
v2  .00035   0
v2  .0002  0.
i2  .0001  0
v3  .0002  0.
v3  .0001  0
vs  .0002   187,261V Wave is traveling
down the line
41
Example 2.1: t=0.0002 to 0.006

d
 .00055 t  .0001
vp
ti  0 t  .0001  switch closed
ti  .0001 t  .0002
 .0002  .0003
 .0003  .0004
 .0004  .0005
 .0005  .0006  With interpolation
 .0006  .0007  receiving end
will see wave 42
 Example 2.1: t=0.0007
Need: i1  .00015  i1 .0001  685 A
v1  .00015  , v2  .00015  i1 .0002  683 A
i2  .0006  , v3  .0006  , vs  .0007 

(linear interpolation) .00015  .0001

i1 .00015  i1 .0001 
.0002  .0001
  i1 .0002  i1 .0001 

43
 Example 2.1: t=0.0007

For ti = .0006 (t = .0007 sec) at the sending end

This current
source will stay
i1 .0007   662 A zero until we get a
v1 .0007   181,293V response from the
receiving end, at
about 2 seconds
44
 Example 2.1: t=0.0007

For ti = .0006 (t = .0007 sec) at the receiving end

v2  .0007   356,731V
i2  .0007   66 A

45
 Example 2.1: First Three Cycles
PWFullMatrixGrid Variables
Red is the
sending
300

250

200
end voltage (in
kv), while green
150

100
Values

50
is the receiving
end voltage.
0

-50

-100
Note the
approximate
-150

-200

0 0.005 0.01 0.015 0.02 0.025

Column 1

Column 2
0.03

Column 3
0.035 0.04 0.045 0.05
voltage
doubling at the
receiving end

46
 Example 2.1: First Three Cycles
Colum n 2

450
400 Graph shows
350
300
250
the current (in
200
150
100
amps) into the
C olum n 2

RL load over
50
0
-50

the first three

-100
-150
-200

cycles.
-250
-300
-350
-400
-450
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05
Column 1

Column 2

To get a ballpark value on the expected current, solve the

simple circuit assuming the transmission line is just an inductor
230, 000 / 3
I load ,rms   311  20.6, hence a peak value of 439 amps
400  j94.2  j56.5
47
 Three Node, Two Line Example
300
PWFullMatrixGrid Variable s
Graph shows the
250

200
voltages for 0.02
150 seconds for the
100
Example 2.1 case
V alues

50

0
extended to
-50
connect another
120 mile line to
-100

-150

-200
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
the receiving end
Column 1
Column 2 Column 3 Column 4
with an identical
load
Note that there is no longer an initial
overshoot for the receiving (green) end
since wave continues into the second line
48
 Example 2.1 with Capacitance
• Below graph shows example 2.1 except the RL load is
replaced by a 5 mF capacitor (about 100 Mvar)
• Graph on left is unrealistic case of no line resistance
• Graph on right has R=0.1 W/mile
PWFullMatrixGrid Variables PWFullMatrixGr id Variable s
300
400
250
350
300 200
250
150
200
150 100

100
50

V alues
50
V alu es

0 0

-50 -50
-100
-100
-150
-200 -150
-250
-200
-300

-350 -250

-400
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06 0.065 0.07 0.075 0.08 0.085 0.09 0.095 0.1
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06 0.065 0.07 0.075 0.08 0.085 0.09 0.095 0.1
Column 1 Column 1

Column 2 Column 3 Column 2 Column 3

49
 EMTP Network Solution
• The EMTP network is represented in a manner quite
similar to what is done in the dc power flow or the
transient stability network power balance equations or
geomagnetic disturbance modeling (GMD)
• Solving set of dc equations for the nodal voltage vector
V with

V = G-1I

where G is the bus conductance matrix and I is a

vector of the Norton current injections
50