Transient Analysis of Power Systems

Solution Techniques, Tools and Applications

Inbunden, Engelska, 2015

Av Juan A. Martinez-Velasco, Juan A Martinez-Velasco

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The simulation of electromagnetic transients is a mature field that plays an important role in the design of modern power systems. Since the first steps in this field to date, a significant effort has been dedicated to the development of new techniques and more powerful software tools. Sophisticated models, complex solution techniques and powerful simulation tools have been developed to perform studies that are of supreme importance in the design of modern power systems. The first developments of transients tools were mostly aimed at calculating over-voltages. Presently, these tools are applied to a myriad of studies (e.g. FACTS and Custom Power applications, protective relay performance, simulation of smart grids) for which detailed models and fast solution methods can be of paramount importance.This book provides a basic understanding of the main aspects to be considered when performing electromagnetic transients studies, detailing the main applications of present electromagnetic transients (EMT) tools, and discusses new developments for enhanced simulation capability.Key features: Provides up-to-date information on solution techniques and software capabilities for simulation of electromagnetic transients.Covers key aspects that can expand the capabilities of a transient software tool (e.g. interfacing techniques) or speed up transients simulation (e.g. dynamic model averaging).Applies EMT-type tools to a wide spectrum of studies that range from fast electromagnetic transients to slow electromechanical transients, including power electronic applications, distributed energy resources and protection systems.Illustrates the application of EMT tools to the analysis and simulation of smart grids.

Produktinformation

Utgivningsdatum2015-01-23
Mått178 x 254 x 38 mm
Vikt1 125 g
FormatInbunden
SpråkEngelska
SerieIEEE Press
Antal sidor656
FörlagJohn Wiley & Sons Inc
ISBN9781118352342

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Energiteknik inom Naturvetenskap och teknik

Juan A. Martinez-Velasco received his Ingeniero Industrial and Doctor Ingeniero Industrial degrees from the Universitat Politècnica de Catalunya (UPC), Spain. He is currently with the Departament d'Enginyeria Elèctrica of the UPC where his teaching and research areas cover Power Systems Analysis, Transmission and Distribution, Power Quality and Electromagnetic Transients. He has authored and co-authored more than 200 journal and conference papers. He is also an active member of several IEEE and CIGRE Working Groups.

Preface xvAbout the Editor xviiList of Contributors xix1 Introduction to Electromagnetic Transient Analysis of Power Systems 1Juan A. Martinez-Velasco1.1 Overview 11.2 Scope of the Book 4References 62 Solution Techniques for Electromagnetic Transients in Power Systems 9Jean Mahseredjian, Ilhan Kocar and Ulas Karaagac2.1 Introduction 92.2 Application Field for the Computation of Electromagnetic Transients 102.3 The Main Modules 112.4 Graphical User Interface 112.5 Formulation of Network Equations for Steady-State and Time-Domain Solutions 122.5.1 Nodal Analysis and Modified-Augmented-Nodal-Analysis 132.5.2 State-Space Analysis 202.5.3 Hybrid Analysis 212.5.4 State-Space Groups and MANA 252.5.5 Integration Time-Step 272.6 Control Systems 282.7 Multiphase Load-Flow Solution and Initialization 292.7.1 Load-Flow Constraints 312.7.2 Initialization of Load-Flow Equations 332.7.3 Initialization from Steady-State Solution 332.8 Implementation 342.9 Conclusions 36References 363 Frequency Domain Aspects of Electromagnetic Transient Analysis of Power Systems 39José L. Naredo, Jean Mahseredjian, Ilhan Kocar, JoséA.Gutiérrez–Robles and Juan A. Martinez-Velasco3.1 Introduction 393.2 Frequency Domain Basics 403.2.1 Phasors and FD Representation of Signals 403.2.2 Fourier Series 433.2.3 Fourier Transform 463.3 Discrete-Time Frequency Analysis 483.3.1 Aliasing Effect 503.3.2 Sampling Theorem 513.3.3 Conservation of Information and the DFT 533.3.4 Fast Fourier Transform 543.4 Frequency-Domain Transient Analysis 563.4.1 Fourier Transforms and Transients 563.4.2 Fourier and Laplace Transforms 623.4.3 The Numerical Laplace Transform 633.4.4 Application Examples with the NLT 653.4.5 Brief History of NLT Development 653.5 Multirate Transient Analysis 663.6 Conclusions 69Acknowledgement 70References 704 Real-Time Simulation Technologies in Engineering 72Christian Dufour and Jean Bélanger4.1 Introduction 724.2 Model-Based Design and Real-Time Simulation 734.3 General Considerations about Real-Time Simulation 744.3.1 The Constraint of Real-Time 744.3.2 Stiffness Issues 754.3.3 Simulator Bandwidth Considerations 754.3.4 Simulation Bandwidth vs. Applications 754.3.5 Achieving Very Low Latency for HIL Application 764.3.6 Effective Parallel Processing for Fast EMT Simulation 774.3.7 FPGA-Based Multirate Simulators 794.3.8 Advanced Parallel Solvers without Artificial Delays or Stublines: Application to Active Distribution Networks 794.3.9 The Need for Iterations in Real-Time 804.4 Phasor-Mode Real-Time Simulation 824.5 Modern Real-Time Simulator Requirements 824.5.1 Simulator I/O Requirements 834.6 Rapid Control Prototyping and Hardware-in-the-Loop Testing 854.7 Power Grid Real-Time Simulation Applications 854.7.1 Statistical Protection System Study 854.7.2 Monte Carlo Tests for Power Grid Switching Surge System Studies 874.7.3 Modular Multilevel Converter in HVDC Applications 884.7.4 High-End Super-Large Power Grid Simulations 894.8 Motor Drive and FPGA-Based Real-Time Simulation Applications 904.8.1 Industrial Motor Drive Design and Testing Using CPU Models 904.8.2 FPGA Modelling of SRM and PMSM Motor Drives 914.9 Educational System: RPC-Based Study of DFIM Wind Turbine 944.10 Mechatronic Real-Time Simulation Applications 954.10.1 Aircraft Flight Training Simulator 954.10.2 Aircraft Flight Parameter Identification 954.10.3 International Space Station Robotic Arm Testing 954.11 Conclusion 97References 975 Calculation of Power System Overvoltages 100Juan A. Martinez-Velasco and Francisco González-Molina5.1 Introduction 1005.2 Power System Overvoltages 1015.2.1 Temporary Overvoltages 1015.2.2 Slow-Front Overvoltages 1025.2.3 Fast-Front Overvoltages 1025.2.4 Very-Fast-Front Overvoltages 1035.3 Temporary Overvoltages 1035.3.1 Introduction 1035.3.2 Modelling Guidelines for Temporary Overvoltages 1035.3.3 Faults to Grounds 1045.3.4 Load Rejection 1105.3.5 Harmonic Resonance 1155.3.6 Energization of Unloaded Transformers 1205.3.7 Ferroresonance 1255.3.8 Conclusions 1335.4 Switching Overvoltages 1355.4.1 Introduction 1355.4.2 Modelling Guidelines 1355.4.3 Switching Overvoltages 1395.4.4 Case Studies 1495.4.5 Validation 1545.5 Lightning Overvoltages 1545.5.1 Introduction 1545.5.2 Modelling Guidelines 1555.5.3 Case Studies 1635.5.4 Validation 1725.6 Very Fast Transient Overvoltages in Gas Insulated Substations 1745.6.1 Introduction 1745.6.2 Origin of VFTO in GIS 1745.6.3 Propagation of VFTs in GISs 1765.6.4 Modelling Guidelines 1805.6.5 Case Study 9: VFT in a 765 kV GIS 1825.6.6 Statistical Calculation 1835.6.7 Validation 1855.7 Conclusions 187Acknowledgement 187References 1876 Analysis of FACTS Controllers and their Transient Modelling Techniques 195Kalyan K. Sen6.1 Introduction 1956.2 Theory of Power Flow Control 1996.3 Modelling Guidelines 2066.3.1 Representation of a Power System 2066.3.2 Representation of System Control 2066.3.3 Representation of a Controlled Switch 2096.3.4 Simulation Errors and Control 2106.4 Modelling of FACTS Controllers 2106.4.1 Simulation of an Independent PFC in a Single Line Application 2126.4.2 Simulation of a Voltage Regulating Transformer 2126.4.3 Simulation of a Phase Angle Regulator 2146.4.4 Simulation of a Unified Power Flow Controller 2156.5 Simulation Results of a UPFC 2306.6 Simulation Results of an ST 2386.7 Conclusion 245Acknowledgement 245References 2457 Applications of Power Electronic Devices in Distribution Systems 248Arindam Ghosh and Farhad Shahnia7.1 Introduction 2487.2 Modelling of Converter and Filter Structures for CPDs 2507.2.1 Three-Phase Converter Structures 2507.2.2 Filter Structures 2517.2.3 Dynamic Simulation of CPDs 2527.3 Distribution Static Compensator (DSTATCOM) 2537.3.1 Current Control Using DSTATCOM 2537.3.2 Voltage Control Using DSTATCOM 2567.4 Dynamic Voltage Restorer (DVR) 2587.5 Unified Power Quality Conditioner (UPQC) 2637.6 Voltage Balancing Using DSTATCOM and DVR 2677.7 Excess Power Circulation Using CPDs 2717.7.1 Current-Controlled DSTATCOM Application 2717.7.2 Voltage-Controlled DSTATCOM Application 2727.7.3 UPQC Application 2767.8 Conclusions 278References 2788 Modelling of Electronically Interfaced DER Systems for Transient Analysis 280Amirnaser Yazdani and Omid Alizadeh8.1 Introduction 2808.2 Generic Electronically Interfaced DER System 2818.3 Realization of Different DER Systems 2838.3.1 PV Energy Systems 2838.3.2 Fuel-Cell Systems 2848.3.3 Battery Energy Storage Systems 2848.3.4 Supercapacitor Energy Storage System 2858.3.5 Superconducting Magnetic Energy Storage System 2858.3.6 Wind Energy Systems 2868.3.7 Flywheel Energy Storage Systems 2878.4 Transient Analysis of Electronically Interfaced DER Systems 2878.5 Examples 2888.5.1 Example 1: Single-Stage PV Energy System 2888.5.2 Example 2: Direct-Drive Variable-Speed Wind Energy System 2988.6 Conclusion 315References 3159 Simulation of Transients for VSC-HVDC Transmission Systems Based on Modular Multilevel Converters 317Hani Saad, Sébastien Dennetière, Jean Mahseredjian, Tarek Ould-Bachir and Jean-Pierre David9.1 Introduction 3179.2 mmc Topology 3189.3 mmc Models 3209.3.1 Model 1 – Full Detailed 3209.3.2 Model 2 – Detailed Equivalent 3219.3.3 Model 3 – Switching Function of MMC Arm 3229.3.4 Model 4 – AVM Based on Power Frequency 3259.4 Control System 3279.4.1 Operation Principle 3279.4.2 Upper-Level Control 3289.4.3 Lower-Level Control 3339.4.4 Control Structure Requirement Depending on MMC Model Type 3369.5 Model Comparisons 3369.5.1 Step Change on Active Power Reference 3379.5.2 Three-Phase AC Fault 3379.5.3 Influence of MMC Levels 3389.5.4 Pole-to-Pole DC Fault 3389.5.5 Startup Sequence 3409.5.6 Computational Performance 3409.6 Real-Time Simulation of MMC Using CPU and FPGA 3429.6.1 Relation between Sampling Time and N 3449.6.2 Optimization of Model 2 for Real-Time Simulation 3459.6.3 Real-Time Simulation Setup 3469.6.4 CPU-Based Model 3479.6.5 FPGA-Based Model 3509.7 Conclusions 356References 35710 Dynamic Average Modelling of Rectifier Loads and AC-DC Converters for Power System Applications 360Sina Chiniforoosh, Juri Jatskevich, Hamid Atighechi and Juan A. Martinez-Velasco10.1 Introduction 36010.2 Front-End Diode Rectifier System Configurations 36110.3 Detailed Analysis and Modes of Operation 36510.4 Dynamic Average Modelling 36810.4.1 Selected Dynamic AVMs 37010.4.2 Computer Implementation 37210.5 Verification and Comparison of the AVMs 37210.5.1 Steady-State Characteristics 37210.5.2 Model Dynamic Order and Eigenvalue Analysis 37610.5.3 Dynamic Performance Under Balanced and Unbalanced Conditions 37710.5.4 Input Sequence Impedances under Unbalanced Conditions 38210.5.5 Small-Signal Input/Output Impedances 38310.6 Generalization to High-Pulse-Count Converters 38610.6.1 Detailed Analysis 38710.6.2 Dynamic Average Modelling 38810.7 Generalization to PWM AC-DC Converters 39110.7.1 PWM Voltage-Source Converters 39110.7.2 Dynamic Average-Value Modelling of PWM Voltage-Source Converters 39210.8 Conclusions 394Appendix 394References 39511 Protection Systems 398Juan A. Martinez-Velasco11.1 Introduction 39811.2 Modelling Guidelines for Power System Components 40011.2.1 Line Models 40011.2.2 Insulated Cables 40111.2.3 Source Models 40111.2.4 Transformer Models 40111.2.5 Circuit Breaker Models 40311.3 Models of Instrument Transformers 40311.3.1 Introduction 40311.3.2 Current Transformers 40411.3.3 Rogowski Coils 40811.3.4 Coupling Capacitor Voltage Transformers 41011.3.5 Voltage Transformers 41211.4 Relay Modelling 41211.4.1 Introduction 41211.4.2 Classification of Relay Models 41211.4.3 Relay Models 41311.5 Implementation of Relay Models 41811.5.1 Introduction 41811.5.2 Sources of Information for Building Relay Models 41911.5.3 Software Tools 42011.5.4 Implementation of Relay Models 42111.5.5 Interfacing Relay Models to Recorded Data 42211.5.6 Applications of Relay Models 42311.5.7 Limitations of Relay Models 42411.6 Validation of Relay Models 42411.6.1 Validation Procedures 42411.6.2 Relay Model Testing Procedures 42511.6.3 Accuracy Assessment 42611.6.4 Relay Testing Facilities 42611.7 Case Studies 42711.7.1 Introduction 42711.7.2 Case Study 1: Simulation of an Electromechanical Distance Relay 42811.7.3 Case Study 2: Simulation of a Numerical Distance Relay 43011.8 Protection of Distribution Systems 45011.8.1 Introduction 45011.8.2 Protection of Distribution Systems with Distributed Generation 45111.8.3 Modelling of Distribution Feeder Protective Devices 45111.8.4 Protection of the Interconnection of Distributed Generators 46011.8.5 Case Study 3 46011.8.6 Case Study 4 46511.9 Conclusions 471Acknowledgement 475References 47612 Time-Domain Analysis of the Smart Grid Technologies: Possibilities and Challenges 481Francisco de León, Reynaldo Salcedo, Xuanchang Ran and Juan A. Martinez-Velasco12.1 Introduction 48112.2 Distribution Systems 48212.2.1 Radial Distribution Systems 48312.2.2 Networked Distribution Systems 48412.3 Restoration and Reconfiguration of the Smart Grid 48712.3.1 Introduction 48712.3.2 Heavily Meshed Networked Distribution Systems 48712.4 Integration of Distributed Generation 49812.4.1 Scope 49812.4.2 Radial Distribution Systems 49912.4.3 Heavily Meshed Networked Distribution Systems 50312.5 Overvoltages in Distribution Networks 51512.5.1 Introduction 51512.5.2 Ferroresonant Overvoltages 51612.5.3 Long-Duration Overvoltages due to Backfeeding 51912.6 Development of Data Translators for Interfacing Power-Flow Programs with EMTP-Type Programs 52912.6.1 Introduction 52912.6.2 Power-Flow to EMTP-RV Translator 53012.6.3 Example of the Translation of a Transmission Line 53312.6.4 Challenges of Development 53312.6.5 Model Validation 53512.6.6 Recommendations 542Acknowledgement 546References 54613 Interfacing Methods for Electromagnetic Transient Simulation: New Possibilities for Analysis and Design 552Shaahin Filizadeh13.1 Introduction 55213.2 Need for Interfacing 55313.3 Interfacing Templates 55413.3.1 Static Interfacing 55413.3.2 Dynamic Interfacing and Memory Management 55513.3.3 Wrapper Interfaces 55513.4 Interfacing Implementation Options: External vs Internal Interfaces 55513.4.1 External Interfaces 55613.4.2 Internal Interfaces 55613.5 Multiple Interfacing 55613.5.1 Core-Type Interfacing 55713.5.2 Chain-Type Interfacing 55713.5.3 Loop Interfacing 55813.6 Examples of Interfacing 55813.6.1 Interfacing to Matlab/Simulink 55813.6.2 Wrapper Interfacing: Run-Controllers and Multiple-Runs 56013.7 Design Process Using EMT Simulation Tools 56013.7.1 Parameter Selection Techniques 56113.7.2 Uncertainty Analysis 56313.8 Conclusions 566References 566Annex A: Techniques and Computer Codes for Rational Modelling of Frequency-Dependent Components and Subnetworks 568Bjørn GustavsenA. 1 Introduction 568A. 2 Rational Functions 569A. 3 Time-Domain Simulation 569A. 4 Fitting Techniques 569A.4. 1 Polynomial Fitting 569A.4. 2 Bode’s Asymptotic Fitting 570A.4. 3 Vector Fitting 570A. 5 Passivity 571A. 6 Matrix Fitting Toolbox 572A.6. 1 General 572A.6. 2 Overview 572A. 7 Example A.1: Electrical Circuit 573A. 8 Example 6.2: High-Frequency Transformer Modelling 575A.8. 1 Measurement 575A.8. 2 Rational Approximation 575A.8. 3 Passivity Enforcement 575A.8. 4 Time-Domain Simulation 576A.8. 5 Comparison with Time-Domain Measurement 577References 579Annex B: Dynamic System Equivalents 581Udaya D. AnnakkageB. 1 Introduction 581B. 2 High-Frequency Equivalents 582B.2. 1 Introduction 582B. 2 Frequency-Dependent Network Equivalent (FDNE) 582B.2. 3 Examples of High-Frequency FDNE 583B.2. 4 Two-Layer Network Equivalent (TLNE) 586B.2. 5 Modified Two-Layer Network Equivalent 592B.2. 6 Other Methods 594B.2. 7 Numerical Issues 594B. 3 Low-Frequency Equivalents 595B.3. 1 Introduction 595B.3. 2 Modal Methods 596B. 3 Coherency Methods 596B.3. 4 Measurement or Simulation-Based Methods 597B. 4 Wideband Equivalents 597B. 5 Conclusions 597References 598Index 601