SPARC Course

Hybrid simulation of distribution

systems along with the transmission
network - Part 1
March/April 2021
IIT-D and IIT-DH

Vijay Vittal
Regents’ Professor
Ira A. Fulton Chair Professor
Arizona State University
 Overview
• This first part of the hybrid simulation or co-simulation of
the transmission and distribution system will address the
topic of co-simulation between the a) transmission and
distribution system components and b) between
transmission system components related to electromagnetic
transient simulation and electro-mechanical simulation
• Topic a) will examine hybrid simulation between EMT and
Phasor domain simulation related to single-phase motor
models in the distribution system
• Topic b) will examine hybrid simulation between EMT
models of HVDC components in the transmission system
and the rest of the system modeled in phasor domain

2
 Introduction
 Significant changes in power systems
• Rapid development of
renewable generation
• Shutdown of coal power
plants
• Distributed generation (PV,
Wind)
• More dynamic loads (Air
conditioners, VFD motors)

• HVDC
• FACTS

Source: U.S. DOE 3

 Two main challenges in power system dynamic simulation

1. Modeling and representation of an increasing number of

power electronic devices in dynamic simulation
• Quasi-steady-state model or performance model in TS simulators
• Fast switching and control cannot be adequately represented

Electromagnetic
Simulation Transient stability
transient
Three-phase, Positive-sequence,
Modeling
point-on-wave phasor

Power electronics Electromechanical

Phenomena switching transient stability

10-5 10-3 10-1 101 103

Time (s) 4
 Introduction: Background
 An increasing demand for simulating a portion of a
system in detail with a very small time-step and
capturing point on wave detail while preserving the
effects on the rest of the system
• Power electronic converter based renewable energy integration
• HV AC/DC systems
• Residential air conditioners, variable frequency drive(VFD) and
other power electronics based loads
• Representing other needed detail at the distribution level

PV Farm VSC-HVDC air conditioner

5
Two main challenges in power system dynamic simulation
2. Representation of distribution systems in power system
dynamic simulation
 Various load models: ZIP, motor + ZIP, CMPLDW 1) computational
limitation; 2) availability of distribution system data
 Developments of distributed generation, EV and storage significantly
change the behavior of distribution systems
• Past: the voltage profile gradient along the feeder was small
• Now the locations matter: A/C stalling, local volt/VAr support of DGs
• Load modeling  distribution system modeling

 Integrated transmission and distribution (T&D) systems

• EPRI proposed “the integrated grid” framework—for fully realizing the values of
distributed and central generation resources
• To analyze the increased interactions between T&D and to take advantage of them

6
 Introduction: Hybrid simulation
Involves electromagnetic transient (EMT)- electro-mechanical
transient stability(TS) hybrid simulation
Remainder of the system
Region of interest • Sequence,
• Instantaneous
phasor model
variable model • TS simulator
• EMT simulator Boundary

Boundary bus i Vi0abc Boundary bus i

Composite Iiabc Ii120
Load Zi + -
Detailed Model
Thévenin External
……

System
Current
Zik

modeled in equivalent network

3-phase Vk0abc injections Ik120
PV Zk + -
Converter Vkabc
Boundary bus k
Boundary bus k

Detailed system modeled in an EMT Simulator External system modeled in a TS

Simulator 7
 Introduction: Hybrid simulation
 Key requirements for a successful hybrid simulation platform
• Architecture : embedded/decoupled
• Interaction: communication + protocol
• Equivalent models of both detailed and external system
• Preparation and initialization of both detailed and external
system
 Synopsis of literature review of EMT-TS hybrid simulation
• Lab research or proof-of-concept type
• The architecture design is not flexible and the simulators
are limited to run on one computer
• Targeted mainly for three-phase balanced applications
• No open-source tool for hybrid simulation

8
Two main challenges in power system dynamic simulation

2. Representation of distribution systems in power

system dynamic simulation
Detailed 3-phase
Three-sequence, phasor representation down to
models primary feeder level

Three-sequence EMT or three-phase

transient stability dynamic simulation
9
 Development of Hybrid Simulation

• Three-phase, • Sequence,
POW model phasor model
• EMT simulator • TS simulator
Region of interest Remainder of the system
< 300 buses ~15000 buses
 Detailed system  External system
Boundary bus i Vi0abc Boundary bus i
Composite Ii120
Iiabc Zi + -
Load
Detailed Model External system
Thévenin modeled in three-
……

System
Zik

modeled in equivalent sequence

3-phase Vk0abc Ik120

PV Zk + -
Converter Vkabc Boundary bus k
Boundary bus k
Detailed system modeled in an EMT Simulator External system modeled in a TS Simulator

10
 OpenHybridSim: A new EMT-TS hybrid simulation tool
 A decoupled architecture
 Three-sequence TS simulation developed based on InterPSS
 Network equivalents:
• Three-phase Thévenin equivalent of the external system in EMT simulation
• Three-sequence current source as the equivalent of the detailed system in three-sequence
TS simulation
 TCP/IP socket communication for connecting two simulators
 A generic interface framework for integrating with different EMT
simulators, e.g., PSCAD, ATP-EMTP
Three-sequence TS
𝑎𝑏𝑐
PSCAD/EMTDC
𝑉 𝑇 (𝑡 )
algorithm

ATP-EMTP
TCP/IP Hybrid Simulation Manager
Socket
MATLAB/Simulink
communi- OpenHybridSim
SimPowerSystems Network
... cation
Socket Equivalent Helper
120
EMTP-RV
𝐼 𝐸𝑀𝑇 ( 𝑡 )
Server Sub-Network
Helper

11
 Socket based communication framework
 TCP/IP socket based communication framework
• Enables decoupling of the EMT and TS simulators
• Supports application environment
- Single computer
- Local area network(LAN)
- Internet
• Socket components in PSCAD and Matlab/SimPowerSystems
are developed for interfacing

Socket component in PSCAD

12
Detailed system interfaced with a three-phase
Thévenin equivalent of external system at the
boundary

13
 The procedure of building a three-phase
Thévenin equivalent

A three-sequence, full Calculate three sequence

network model and Form three sequence
Norton equivalent
boundary configuration admittance matrices of the
admittance matrices for the
external system
external system

Perform source
Convert the three-sequence Build a three-sequence
transformation to obtain
Norton equivalent to three- Norton equivalent for the
the objective three-phase
phase Norton equivalent external system
Thévenin equivalent

14
 Equivalent of the external system in EMT simulation:
Three-phase Thévenin equivalent
Three- Three-phase
Three-phase
sequence Source
120-ABC Norton Thévenin
Norton transformation
equivalent equivalent
equivalent
𝜙 𝜙 𝜙
INi120 IEMTi120
𝐼
𝑎𝑏𝑐
𝑁𝑖 =𝑺 𝐼
120
𝑁𝑖
V =𝐼 /𝑦
𝑇𝑖 𝑁𝑖 𝑖
𝜙 𝜙
𝑧 =1 / 𝑦
INj120 IEMTj120
YN120 𝑎𝑏𝑐 120 −1 𝑖 𝑖
𝑦 𝑖 =𝑺 𝑦 𝑖 𝑺
...

...

INk120 IEMTk120
𝑎𝑏𝑐 120 −1
𝑦 𝑖𝑘 =𝑺 𝑦 𝑖𝑘 𝑺

[ ]
𝑰 120
𝑁 =𝒀 120
𝑁 𝑽 120
𝑇𝑆 − 𝑰 120
𝐸𝑀𝑇
1 1 1
𝑺= 𝑎 2 𝑎 1

[ ]
𝑌 (𝑁𝑖𝑘
1) 2
0 0 𝑎 𝑎 1
120
𝑌 𝑁𝑖𝑘= 0 𝑌 (𝑁𝑖𝑘
2)
0 𝑗 2𝜋 /3
0 0 𝑌 (𝑁𝑖𝑘
0) 𝑎=𝒆
15
Equivalent of the detailed system in TS simulation: three-
sequence current source
• Three-sequence current source
• Seamlessly integrated into the network solution step of the
three-sequence TS simulation
• Obtained from boundary current injection waveforms
using FFT and 3-phase to 3-sequence transformation
Boundary bus i
Ii120

External system
modeled in three-
sequence

Ik120

Boundary bus k

The detailed system is represented by three-

FFT component in PSCAD
sequence current sources in TS simulation 16
 Three-sequence TS simulation
Positive-sequence based state
(1) integration and network solution (1)
I VTS ( t T )
EMT ( t ) x (t )  f ( x (t ), y((1)t ) )
x (t  T )  x (t )  x (t ) T
0  g1 ( x (t  T ), y((1)t  T ) , I EMT
(1)
(t ) )

(2) Negative- and zero-

I EMT ( t ) sequence network solver VTS(2)(t T )
0  g 2 ( y((2)
t  T ) , I (2)
EMT ( t ) )
I (0) VTS(0)(t T )
EMT ( t )
0  g 0 ( y((0)
t  T ) , I (0)
EMT ( t ) )

=0
Negative sequence
=0
Zero sequence
17
 Interaction protocol
• Interactions between the two simulators
Socket InterPSS Core Engine
EMT
Simulator Communication
Network
I120 Equivalent Helper
EMT (t )
Socket
V abc Socket HybridSim
Component T (t )
Server Manager
2
TS TS

… Parallel …
Serial 3
5
1
4 … …
.. .. ..
... ...
...
. . . EMT EMT
t t+ΔT t+2ΔT t+3ΔT t t+ΔT t+2ΔT t+3ΔT

Parallel Protocol Serial Protocol Parallel Protocol

TS
… …
Combined
… …
... ... ... ... ... ...
EMT
t t+ΔT t+2ΔT t+3ΔT t+4ΔT t+5ΔT t+6ΔT

Fault on Fault cleared

18
 Implementation of the Two Interaction Protocols
Positive-sequence network Serial protocol
(1) solution and integration step (1)
I VTS ( t T )
x(t ) EMT ( t )
x (t )  f ( x(t ), y((1)t ) )
x(t  T )  x(t )  x (t ) T Calculate 3-phase x(t  T )
V 120
socket TS (t  T ) Thévenin
0  g1 ( x(t  T ), y((1)t  T ) , I EMT
(1)
(t ) )
socket
server server
Negative- and zero-
120
I EMT (t )
equivalent V abc
I (2)
VTS(2)(t T ) voltages T (t  T ) VTS120(t T )
VTS120(t ) EMT ( t ) sequence network solver
0  g2 ( y (2)
( t  T ) ,I (2)
EMT ( t ) )
I (0) VTS(0)(t T ) Step (3)
120
EMT ( t )
0  g0 ( y (0)
,I (0)
)
I EMT ( t )
( t  T ) EMT ( t )
V abc
Step (1) Step (2) Three-sequence TS simulation T (t  T )

Step (4)
120 120
I EMT ( t ) I EMT ( t T )
EMT EMT EMT Step (5) EMT EMT
socket
client step step step …………………………………….. step step
1 2 3 N-1 N
t x(t  T ) t  T
120
x(t ) V TS ( t )
Calculate
Three-
socket three-phase socket
server 120 Thévenin sequence TS
VTS120(t ) I EMT ( t ) equivalent
server
simulation
VTS120(t T )
120 Step (b) Step (c) Step (d) Parallel
I EMT Step (a)
(t )
V abc protocol
T (t )
120
120 Step (e) I EMT ( t T )
I EMT ( t ) EMT EMT EMT EMT
socket
client
step step ... step step
1 2 N-1 N

t t  T 19
 The fault-induced delayed voltage recovery problem
• What is FIDVR problem?

A 230 kV bus voltage profile

during a typical FIDVR event [1]

• Root cause:
Stalling and prolonged tripping of 1-ϕ residential air conditioner (A/C)
compressor motor
• Direct impact of distribution on transmission system
[1] D. N. Kosterev, A. Meklin, J. Undrill, B. Lesieutre, et al., "Load modeling in power system studies: WECC progress
update," in 2008 IEEE Power and Energy Society General Meeting, 2008, pp. 1-8.

20
 Application of EMT-TS hybrid simulation to FIDVR study on
the WECC system
The WECC system Buses with a large percentage of
Transmission 1-Ф A/C load
Buses lines Generators Loads
• Bus 24151
15750 13715 3074 7787
• Bus 24138

24156 26105 24097 24042

NORTH
14005 15061 Summary of the detailed system
Total number
24086 238
15021 15090
of buses
sub

sub
24092
500 kV 7
24236
EAST Number of 230 kV 37
24801
sub
24138 buses of 161 kV 3
28040 different 115 kV 68
15093
sub
24151
sub
voltage levels 92 kV 18
M M M
115 kV

Load Load sub

500 kV <= 66kV 105
Sub-system below 500 kV
sub
Total Load 11.9 GW
Interface
One-line diagram of the study region 8
buses
21
 Set up of the detailed system

50% 1-Ф A/C motor [2] 1 A 3

Z Z
4 feeder 4 feeder
25% 3-Ф induction motor B
C
25% constant impedance
M M
Equivalent feeder model[3] 3-phase Static
Induction Motor load A/C
[2] Y. Liu, V. Vittal, J. Undrill, and J. H. Eto, "Transient Model of Air-Conditioner Compressor Single Phase Induction Motor," IEEE
Transactions on Power Systems, vol. 28, pp. 4528-4536, 2013.
[3] William H. Kersting, Distribution System Modeling and Analysis (Second Edition), CRC Press, 2006, p.52-54

22
 Case A: fault POW at voltage zero crossing
Line to neutral voltages of bus 24151
SLG 1

Voltage (pu)
0.5
phase A
0 phase B
-0.5 phase C
-1

0.68 0.7 0.72 0.74 0.76 0.78 0.8

Time (s)
Line to neutral voltages of bus 24160
1

Voltage (pu)
0.5
phase A
0 phase B
-0.5 phase C
-1

0.68 0.7 0.72 0.74 0.76 0.78 0.8

Time (s)
Line-to-line voltages at bus 24160
1

Voltage (pu)
0.5
Vab
0 Vbc
-0.5 Vca

-1

0.68 0.7 0.72 0.74 0.76 0.78 0.8

Fault point Time (s)

Line to neutral voltages at the sending end of a 12.5kV feeder
1
Voltage (pu)

0.5
phase A
Measurement 0 phase B
phase C
location
-0.5

-1

0.68 0.7 0.72 0.74 0.76 0.78 0.8

Time (s)

23
 Case A: responses of A/C motors
phase A phase B phase C

A/C terminal voltage (pu)

A/C terminal voltage (pu)

A/C terminal voltage (pu)

1 1 1

0.5 0.5 0.5

0 0 0
0.6 0.8 1 1.2 1.4 1.6 0.6 0.8 1 1.2 1.4 1.6 0.6 0.8 1 1.2 1.4 1.6
Time (s) Time (s) Time (s)
A/C Motor Speed (pu)

A/C Motor Speed (pu)

A/C Motor Speed (pu)

1 1 1

0.5 0.5 0.5

0 0 0
0.6 0.8 1 1.2 1.4 1.6 0.6 0.8 1 1.2 1.4 1.6 0.6 0.8 1 1.2 1.4 1.6
Time (s) Time (s) Time (s)
15 15 15
Real and reactive

Real and reactive

Real and reactive

Real power Real power Real power
power (kW/kVar)

power (kW/kVar)

power (kW/kVar)
10 Reactive power 10 Reactive power 10 Reactive power

5 5 5

0 0 0

-5 -5 -5
0.6 0.8 1 1.2 1.4 1.6 0.6 0.8 1 1.2 1.4 1.6 0.6 0.8 1 1.2 1.4 1.6
Time (s) Time (s) Time (s)
Electrical/Mechanical

Electrical/Mechanical

Electrical/Mechanical
Electrical torqure Electrical torqure Electrical torqure
Torqure (N*m)

Torqure (N*m)

Torqure (N*m)
50 50 50
Mechanical torque Mechanical torque Mechanical torque

0 0 0

-50 -50 -50

0.6 0.8 1 1.2 1.4 1.6 0.6 0.8 1 1.2 1.4 1.6 0.6 0.8 1 1.2 1.4 1.6
Time (s) Time (s) Time (s)
24
Case A: phasor voltage magnitudes
Line to neutral voltage magnitudes of 500 kV bus 24151

Voltage (pu)
1

phase A
0.5
phase B
phase C
0
0.6 0.8 1 1.2 1.4 1.6 1.8

Line to neutral voltage magnitudes of 115 kV bus 24160

Voltage (pu)
1 phase A
phase B
0.5 phase C

0
0.6 0.8 1 1.2 1.4 1.6 1.8

Line-to-line voltages at 115 kV bus 24160

Voltage (pu)
1 Vab
Vbc
0.5 Vca

0
0.6 0.8 1 1.2 1.4 1.6 1.8

Line to neutral voltage magnitudes at the sending end of a 12.5 kV feeder

Voltage (pu)

1 phase A
phase B
0.5 phase C

0
0.6 0.8 1 1.2 1.4 1.6 1.8

Teminal voltages of A/C motors at the 1/4 length point

Voltage (pu)

1 phase A
phase B
0.5 phase C

0
0.6 0.8 1 1.2 1.4 1.6 1.8
Time (s) 25
 phase A phase B phase C

A/C terminal voltage (pu)

A/C terminal voltage (pu)

A/C terminal voltage (pu)

1 1 1

0.5 0.5 0.5

0 0 0
0.5 1 1.5 2 0.5 1 1.5 2 0.5 1 1.5 2
Time (s) Time (s) Time (s)
A/C motor speed (pu)

A/C motor speed (pu)

A/C motor speed (pu)

1 1 1

0.5 0.5 0.5

0 0 0
0.5 1 1.5 2 0.5 1 1.5 2 0.5 1 1.5 2
Time (s) Time (s) Time (s)
60 60 60
Real power Real power Real power
power (MW/MVar)

power (MW/MVar)

power (MW/MVar)
Real and reactive

Real and reactive

Real and reactive

40 Reactive power 40 Reactive power 40 Reactive power

20 20 20

0 0 0

-20 -20 -20

0.5 1 1.5 2 0.5 1 1.5 2 0.5 1 1.5 2
Time (s) Time (s) Time (s)

The responses of the A/C motors at the quarter length point of a

feeder
26
 The Point-On-Wave Effects
Case B: POW at the peak of phase A voltage waveform (90 degrees)
Line to neutral voltages of bus 24151
1

0.5

Voltage (pu)
phase A
0 phase B
phase C
-0.5

-1

0.68 0.7 0.72 0.74 0.76 0.78 0.8

Time (s)
Line to neutral voltages of bus 24160

0.5

Voltage (pu)
phase A
0 phase B
phase C
-0.5

-1

0.68 0.7 0.72 0.74 0.76 0.78 0.8

Time (s)
Line-to-line voltages at bus 24160
1

0.5
Voltage (pu)

Vab
0 Vbc
Vca
-0.5

-1

0.68 0.7 0.72 0.74 0.76 0.78 0.8

Time (s)
Line to neutral voltages at the sending end of a 12.5kV feeder
1

0.5
Voltage (pu)

phase A
0 phase B
phase C
-0.5

-1

0.68 0.7 0.72 0.74 0.76 0.78 0.8

Time (s)
27
 Case B: responses of A/C motors

A/C terminal voltage (pu)

A/C terminal voltage (pu)

A/C terminal voltage (pu)

phase A phase B phase C

1 1 1

0.5 0.5 0.5

0 0 0
0.6 0.8 1 1.2 1.4 1.6 0.6 0.8 1 1.2 1.4 1.6 0.6 0.8 1 1.2 1.4 1.6
Time (s) Time (s) Time (s)
A/C Motor Speed (pu)

A/C Motor Speed (pu)

A/C Motor Speed (pu)

1 1 1

0.5 0.5 0.5

0 0 0
0.6 0.8 1 1.2 1.4 1.6 0.6 0.8 1 1.2 1.4 1.6 0.6 0.8 1 1.2 1.4 1.6
Time (s) Time (s) Time (s)
15 15 15
Real and reactive

Real and reactive

Real and reactive

power (kW/kVar)

power (kW/kVar)

power (kW/kVar)
Real power Real power Real power
10 Reactive power 10 Reactive power 10 Reactive power

5 5 5

0 0 0

-5 -5 -5
0.6 0.8 1 1.2 1.4 1.6 0.6 0.8 1 1.2 1.4 1.6 0.6 0.8 1 1.2 1.4 1.6
Time (s) Time (s) Time (s)
Electrical/Mechanical

Electrical/Mechanical

Electrical/Mechanical
Electrical torqure Electrical torqure Electrical torqure
Torqure (N*m)

Torqure (N*m)

Torqure (N*m)
50 Mechanical torque 50 Mechanical torque 50 Mechanical torque

0 0 0

-50 -50 -50

0.6 0.8 1 1.2 1.4 1.6 0.6 0.8 1 1.2 1.4 1.6 0.6 0.8 1 1.2 1.4 1.6
Time (s) Time (s) Time (s)
28
 phase A phase B phase C

A/C terminal voltage (pu)

A/C terminal voltage (pu)

A/C terminal voltage (pu)

1 1 1

0.5 0.5 0.5

0 0 0
0.5 1 1.5 2 0.5 1 1.5 2 0.5 1 1.5 2
Time (s) Time (s) Time (s)
A/C Motor Speed (pu)

A/C Motor Speed (pu)

A/C Motor Speed (pu)

1 1 1

0.5 0.5 0.5

0 0 0
0.5 1 1.5 2 0.5 1 1.5 2 0.5 1 1.5 2
Time (s) Time (s) Time (s)
60 60 60
power (MW/MVar)

power (MW/MVar)

power (MW/MVar)
Real and reactive

Real and reactive

Real and reactive

Real power Real power Real power
40 Reactive power 40 Reactive power 40 Reactive power

20 20 20

0 0 0

-20 -20 -20

0.5 1 1.5 2 0.5 1 1.5 2 0.5 1 1.5 2
Time (s) Time (s) Time (s)

The responses of the A/C motors at the quarter length point of a feeder
with the fault POW as 90 degrees

29
Effect of Load Composition on AC Motor Stalling
Case Load composition (in terms of real power)
#
1 75% 1-Ф A/C compressor motor, 25% constant impedance
2 75% 1-Ф A/C compressor motor, 10% 3-Φ NEMA type B
induction motor, 15% constant impedance
3 70% 1-Ф A/C compressor motor, 15% 3-Ф NEMA type B
induction motor, 15% constant impedance
4 60% 1-Ф A/C compressor motor, 15% 3-Ф NEMA type B
induction motor, 25% constant impedance

5 50% 1-Ф A/C compressor motor, 25% 3-Ф NEMA type B

induction motor, 25% constant impedance

30
 Phase A Phase B Phase C

A/C motor speed (pu) A/C motor speed (pu) A/C motor speed (pu) A/C motor speed (pu)
1.5

1 Case 1

0.5

0
0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2

1.5

1 Case 2
0.5

0
0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2

1.5 The speeds of A/C compressor

1 Case 3 motors at the 1/4 length point of the
0.5
feeder f-1 served by bus 24160 for
0
0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2
all five cases.
1.5

1 Case 4

0.5

0
0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2
A/C motor speed (pu)

1.5

1 Case 5

0.5

0
0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2
Time (s) 31
Comparisons of the bus voltages for two different POW cases: (left)
case 5; (right) case 5A 32
 Application of hybrid simulation to power systems interfaced with
a LCC-HVDC system
 Test case: IEEE 39 Bus system with a LCC HVDC infeed

• HVDC system
 CIGRE HVDC model ~ ~
30 37
 Rated power: 1000 MW 25 26 28 29
 The inverter is connected to bus 39 2 27 38
~
1
• EMT simulation 3 18 17

 The whole system ~ 39 16 21

15
time step : 50 µs CIGRE HVDC Model
~
Detailed system
• Hybrid simulation 4 14 24 36

 The HVDC system is modeled in detail in 5 13 23

9 6
PSCAD 12 19
 EMT time step : 50 µs 7 11 20 22
10
 TS time step: 5 ms 8
31 32 34 33 35
~ ~ ~ ~ ~
• Scenario: A SLG fault is applied at
bus 39 at 3.0 s, cleared after 4 cycles
33
 Application of hybrid simulation to power systems
interfaced with a LCC-HVDC system
1.5
10 EMT-TS EMT-TS
Phase A
Current(kA)

PSCAD 1 PSCAD
5

0 0.5

Vdc (pu)
0.3
2.95 3 3.05 3.1 3.15 3.2 0 0.2
10 0.1
EMT-TS
Phase B -0.5 0
Current(kA)

PSCAD
5
3.07 3.08 3.09
-1
0 2.95 3 3.05 3.1 3.15 3.2
(a)
4
2.95 3 3.05 3.1 3.15 3.2 EMT-TS

10 2 PSCAD
EMT-TS

Idc (pu)
Phase C
Current(kA)

PSCAD
5
0
0
-2
2.95 3 3.05 3.1 3.15 3.2 2.95 3 3.05 3.1 3.15 3.2
Time (s)
(b) Time(s)

Three phase current flowing into bus 39 The DC voltage (Vdc) and current
from the HVDC inverter (Idc) of the HVDC inverter
34
 Application of hybrid simulation to power systems
interfaced with a LCC-HVDC system
EM T-TS PSCAD
5 1.5
Current (kA)

PSCAD
0
EMT-TS
1
-5

Real power (pu)

2.95 3 3.05 3.1 3.15 3.2
5
Current (kA)

0.5 1.2
0
1
-5 0 0.8
2.95 3 3.05 3.1 3.15 3.2
10 0.6
Current (kA)

0
3 3.05 3.1 3.15
-0.5
3 3.2 3.4 3.6 3.8 4 4.2 4.4 4.6 4.8 5
-10
2.95 3 3.05 3.1 3.15 3.2 (a) time (s)
5 2
Current (kA)

0 1 PSCAD
EMT-TS
0.8
-5 Commutation 1.5

Reactive power (pu)

2.95 3 3.05 3.1 3.15 3.2
0.6
5
failure
Current (kA)

1 0.4
0

-5 3.1 3.15 3.2

2.95 3 3.05 3.1 3.15 3.2 0.5
5
Current (kA)

0
0
-5 3 3.2 3.4 3.6 3.8 4 4.2 4.4 4.6 4.8 5
2.95 3 3.05 3.1 3.15 3.2 time (s)
Time (s) (b)

The current flows in the 6-pulse Power of the generator at bus 30

bridge of the inverter 35
 Application of hybrid simulation to power systems interfaced with
an LCC-HVDC system
Simulation differences with reference to full-blown EMT simulation
Average Maximum
Monitored parameters
difference/pu difference/pu
DC Current of the inverter 0.024 0.224
DC Voltage of the inverter 0.029 0.524
Three phase current into the network
at the inverter
0.049 0.351

Three phase voltages of bus 39 0.022 0.155

Computational times of hybrid simulation and EMT simulation

Simulation method Total computation time*

EMT simulation using PSCAD 352 s

EMT-TS hybrid simulation 81 s
* 5-second simulation
36
 Applied to power systems interfaced with HVDC

 IEEE 39 bus + VSC-HVDC

 VSC-HVDC
• Two-level, PWM, decoupled dq
vector control
• Carrier frequency is 1980 Hz
~ ~
 EMT simulation using PSCAD 30 37
25 26 28 29
• The whole system 2 27
38

• Time step : 5 µs 1
3 18 17
~

16
 Hybrid simulation ~ 39

• The part encircled by the dashed line 5

The remainder
of the IEEE 39
4
is modeled in detail in PSCAD 9 bus system
7
• Boundary buses: Buses 26 and 8
• EMT time step : 5 µs
• TS time step: 5 ms 8

37
 Applied to power systems interfaced with HVDC
1.1

Real Power (pu)

 Scenario: a single-line-to- 1
0.9 EMT-TS

ground(SLG) fault is applied on 0.8 PSCAD

0.7
bus 29 (AC bus of the rectifier) 0.95 1 1.05 1.1 1.15 1.2

Reactive Power (pu)

at 1.0 s and cleared after 0.05 s 0.6 EMT-TS
0.4
 Response of VSC-HVDC 0.2
PSCAD

0
rectifier to the fault: 0.95 1 1.05 1.1 1.15 1.2

(a) Real power 1.05

DC Voltage (pu)
(b) Reactive power flowing into 1
EMT-TS

the rectifier 0.95

PSCAD

(c) DC voltage 0.95

2
1 1.05 1.1 1.15 1.2

(d) DC current
DC current (pu)

1
EMT-TS
0 PSCAD

-1
0.95 1 1.05 1.1 1.15 1.2
Time (s)

38
 EMT-TS

Volta
0.8 PSCAD
bus 8
Applied to power systems interfaced with HVDC
0.95 1 1.05 1.1 1.15 1.2
(b)
• Positive sequence

Voltage (pu)
1
EMT-TS
voltage of bus 25
PSCAD
(within the external 0.8
bus 25
system) 0.95 1 1.05 (c) 1.1 1.15 1.2
Time (s)
Computation times for a 2-second simulation
Computation
Simulation method time

EMT using PSCAD 1152 s

Hybrid simulation 164 s

7 times

39
 Examining Impact of Utility Scale PV Plants

• Study conducted for local utility to determine under

what conditions and disturbances does it become
important to model commercial PV plants with
detailed models
• PV plant modeled using both detailed EMT model
and positive sequence model
• The EMT model incorporated in Open Hybridsim
and compared against the positive sequence model
in a conventional transient stability analysis
software

40
 PV plant dynamic modeling
• Plant control and converter electric control [1] implemented in
PSCAD [2] and PSLF are logically the same
• REPC -- plant control
• REEC -- converter electrical control, i.e., power command to current
command
• Converter modeling:
• REGC (performance model in PSLF and PSS/E)
– converter current control, i.e., low voltage real power control and low/high voltage
reactive power control
– A simplified representation of complex and very fast controls of PV converters
• Detailed converter model in PSCAD

41
 PV plant dynamic modeling
Positive sequence, generic PV
plant model
Basic assumptions • Dynamics of the DC side of the
inverter are ignored
• Three phase balanced
• Fast dynamics of converter and
its controls are ignored
Existing models • 1st generation converter model: • Proprietary models
GEWTG
• WECC generic model: REPC_A • An open model developed
+ REEC_B + REGC_A
Simulation PSS/E, PSLF, PowerWorld, …
software
Main limitations • The effects of PLL and PWM
controls are ignored
• Current injection model for
interfacing with the network
solution
Point-on-wave, detailed PV
plant model
Standard PLL and PWM based
converter
developed by vendors
by NREL (REEC_B +
REGC_A + PWM based
Converter)
PSCAD, EMTP-RV,…
• Not suitable for system level
study with a large number of
PV plants, due to the very
detailed modeling approach
42
 A comparison of detailed and generic
PV plant models
• Test system

System
equivalent PCC
Equivalent 34.5 kV/0.69 kV
bus 230 kV/ 34.5 kV 25 MW
feeder PF = 0.99
PV
R = 0.005 pu
Converter
R = 0.002 pu X = 0.06 pu
X = 0.05 pu X = 0.10 pu X = 0.02 pu
100 MVA 50 MVA 50 MVA
1000 MVA 50 MVA

43
 Scenario 1: A 3-phase fault close to PCC

30
PV
Real power (MW)

power 20
detailed (PSCAD)
performance(PSLF)
output 10

0
0.8 0.9 1 1.1 1.2 1.3 1.4 1.5

60
Reactive power (MVar)

detailed (PSCAD)
40 performance(PSLF)

20

-20
0.8 0.9 1 1.1 1.2 1.3 1.4 1.5
Time (s) 44
 Scenario 1: A 3-phase fault close to PCC
• Voltage dips to 0.3 pu at the PCC at 1.0 s, lasting 3 cycles
1.2
detailed (PSCAD)
1.1 performance(PSLF)

0.9
Voltage (pu)

0.8

0.7

0.6

0.5

0.4

0.3
0.8 0.9 1 1.1 1.2 1.3 1.4 1.5
Time (s)

Note: RMS value measured in PSCAD reflects the average value of

the last 0.02 s time window
45
 Scenario 2: A fault relatively far from
PCC
35

Real power (MW)

PV
detailed (PSCAD)
30 performance(PSLF)

power 25

output 20

15
0.8 0.9 1 1.1 1.2 1.3 1.4 1.5

20
Reactive power (MVar)

detailed (PSCAD)
performance(PSLF)
10

-10
0.8 0.9 1 1.1 1.2 1.3 1.4 1.5
Time (s) 46
 Scenario 2: A fault relatively far from PCC
• Voltage dips to 0.763 pu at the PCC at 1.0 s, lasting 3 cycles
• PV converter AC bus voltage magnitude
1.1
detailed (PSCAD)
1.05 performance(PSLF)

1
Voltage (pu)

0.95

0.9

0.85

0.8

0.75
0.8 0.9 1 1.1 1.2 1.3 1.4 1.5
Time (s) 47
Single-Line Diagram of Area Around PV Plants

48
 Case 1 Considered

• Single line to ground fault with normal clearing at

the H1 end of a 500 kV line between H1 and J1.
The fault is applied at 0.1 s and cleared in 3 cycles
• Normal fault with designed clearing

49
The positive sequence voltage and power output of the
PV plant A with a normally-cleared SLG fault
50
The positive sequence voltage of three 500 kV substations, P 1, P2, and H2
in the study region with a normally-cleared SLG fault
51
 Case 2 Considered
• In this test case, a SLG fault at the H1 end of the 500
kV H1-J1 transmission line is considered. Different
from the last case, in this case, the breaker CB5 (shown
in figure on the next slide ) is correctly tripped at 3
cycles after the fault, but the breaker CB2 gets stuck
and the fault cannot be cleared. After a delay interval of
10 cycles (i.e., the final tripping time is 13 cycles after
fault on), the neighboring breakers that back up the
stuck breaker are tripped to clear the fault
• Regarding the pole operation of the breakers, in this
study, it is assumed that the breakers operate with three-
pole operation, which means when one breaker is
switched off/on, all three phases are open/close
simultaneously
52
53
The positive sequence voltage and power output of the
PV plant A for a SLG fault with delayed clearing

54
The positive sequence voltage of three 500 kV substations, P 1, P2, and H2
in the study region for a SLG fault with delayed clearing

55
 References

1. Western Electricity Coordinating Council

Modeling and Validation Work Group, "WECC
solar plant dynamic modeling guides," 2014,
Available from:
https://www.wecc.biz/Reliability/WECC
%20Solar%20Plant%20Dynamic%20Modeling
%20Guidelines.pdf
2. E. Muljadi, M. Singh, and V. Gevorgian, “User
Guide for PV Dynamic Model Simulation Written
on PSCAD Platform,” 2014. Available from:
http://www.nrel.gov/docs/fy15osti/62053.pdf
56
 Presentation Based On
1. Huang, Q., and V. Vittal, “Application of Electromagnetic Transient-
Transient Stability Hybrid Simulation to FIDVR Study,” IEEE
Transactions on Power Systems, Vol. 31, No. 4, pp. 2634-22646, July
2016.
2. Huang, Q., and V. Vittal, “Integrated Transmission and Distribution
System Power Flow and Dynamic Simulation Using Mixed Three-
Sequence/Three-Phase Modeling,” IEEE Transactions on Power
Systems, Vol. 32, No. 5, pp. 3704-3714, September 2017.
3. 14. Huang, Q. and V. Vittal, “Advanced EMT and Phasor-Domain
Hybrid Simulation with Simulation Mode Switching Capability for
Transmission and Distribution Systems,” IEEE Transactions on
Power Systems, Vol. 33, No. 6, pp.6298-6308, November 2018.
4. Huang, Q, D., Ramasubramanian, V. Vittal, B. Keel, J. Silva, “Effect
of Accurate Modeling of Converter Interfaced Generation (CIG) on a
Practical Bulk Power System,” IET Journal on Generation,
Transmission, and Distribution, Vol. 14, No. 15, pp. 3108-3116,
August 2020.
57