CONTENTS

Preface

xi

1 Introduction
1.1 1.2 1.3 1.4

General Background The New Computer Environment Transmission System Developments Theoretical Models and Computer Programs

2 Transmission Systems
2.1 Introduction 2.2 Linear Transformation Techniques 2.3 Basic Single-phase Modelling
2.3.1 2.3.2 2.3.3 2.3.4 2.4.1 2.4.2 2.4.3 2.4.4 2.5.1 2.5.2 2.5.3 2.5.4 2.5.5 2.5.6 2.5.7 2.5.8
Transmission lines Transformer on nominal ratio Off-nominal transformer tap representation Phase-shifting representation Discussion of the frame of reference The use of compound admittances Rules for forming the admittance matrix of simple networks Network subdivision Series impedance Shunt admittance Equivalent IT model Mutually coupled three-phase lines Consideration of terminal connections Shunt elements Series elements Line sectionalization

5
5 5 7
1 8 9 10

2.4 Three-phase System Analysis

11
11 13 17 18

2.5 Three-phase Models of Transmission Lines

18
18

20 22 24 26 27 28 28

2.6 Evaluation of Overhead Line Parameters

2.6.1 Earth impedance matrix [Z,] 2.6.2 Geometrical impedance matrix [Z,] and admittance matrix [Yg] 2.6.3 Conductor impedance matrix [Zc] 2.6.4 Series impedance approximation for electromagnetic transients

31
31 33 34 36

vi

CONTENTS

2.7 Underground and Submarine Cables 2.8 Three-phase Models of Transformers

2.8.1 2.8.2 2.8.3 2.8.4 Primitive admittance model of three-phase transformers Models for common transformer connections Three-phase transformer models with independent phase tap control Sequence components modelling of three-phase transformers

36 39
40 42 47 48

2.9 Formation of the System Admittance Matrix 2.10 References

51 51

3 FACTS and HVDC Transmission

3.1 Introduction 3.2 Flexible a.c. Transmission Systems
3.2.1 3.2.2 3.2.3 3.2.4 3.2.5 3.2.6 Thyristor controlled series compensator (TCSC) Static on-load tap changing Static phase shifter Static VAR compensator The static compensator (STATCOM) Unified power flow controller (UPFC) The a.c.-d.c. converter Commutation reactance d.c. link control Three-phase model

53
53 53
54 56 58 59 60 61

3.3

High Voltage Direct Current Transmission

3.3.1 3.3.2 3.3.3 3.3.4

62
62 68 69 74

3.4

References

79

Load Flow
4.1 4.2 4.3 4.4 4.5 4.6 4.7

81
81 82 84 85 86 87
89

Introduction Basic Nodal Method Conditioning of Y Matrix The Case Where One Voltage is Known Analytical Definition of the Problem Newton-Raphson Method of Solving Load Flows
4.6.1 Equations relating to power system load flow

Techniques Which Make the Newton-Raphson Method Competitive in Load Flow

4.7.1 4.7.2 4.7.3 4.7.5 Sparsity programming Triangular factorization Optimal ordering Aids to convergence

94
94 95 95 96

4.8 4.9 4.10 4.11 4.12 4.13

Characteristics of the Newton-Raphson Load Flow Decoupled Newton Load Flow Fast Decoupled Load Flow Convergence Criteria and Tests Numerical Example Load How for Stability Assessment
4.13.1 Post-disturbance power flows

97 98

100
104 105 105
105

CONTENTS 4.13.2 Modelling techniques 4.13.3 Sensitivity analysis Three-phase Load Flow 4.14.1 Notation 4.14.2 Synchronous machine modelling 4.14.3 Specified variables 4.14.4 Derivation of equations 4.14.5 Decoupled three-phase algorithm 4.14.6 Structure of the computer program

vii
110 110

4.14

110
111
111

115 115 1I7 123

4.15

References

127

Load Flow under Power Electronic Control

5.1 Introduction 5.2 Incorporation of FACTS Devices
5.2.1 Static tap changing 5.2.2 Phase-shifting (PS) 5.2.3 Thyristor controlled series capacitance (TCSC) 5.2.4 Unified power flow controller (UPFC) Incorporation of HVDC Transmission 5.3.1 Converter model 5.3.2 Solution techniques 5.3.3 Control of converter ax. terminal voltage 5.3.4 Extension to multiple and/or multiterminal d.c. systems 5.3.5 d.c. convergence tolerance 5.3.6 Test system and results 5.3.7 Numerical example

129
129 129
130 130 131 132

5.3

135
137 142 147 149 151 151 155

5.4 References

158

6 Electromagnetic Transients
6.1 Introduction 6.2 Background and Definitions 6.3 Numerical Integrator Substitution
6.3.1 Resistance 6.3.2 Inductance 6.3.3 Capacitance

161
161 162 162
163 163
164

6.4 Transmission Lines and Cables

6.4.1 Bergeron line model 6.4.2 Multi-conductor transmission lines 6.4.3 Frequency-dependent model Formulation and Solution of the System Nodal Equations 6.5.1 Modification for switching and varying parameters 6.5.2 Non-linear or time varying parameters Use of Subsystems Switching Discontinuities 6.7.1 Voltage and current chatter due to discontinuities Root-matching Technique 6.8.1 Exponential form of difference equation

166
167 170 173

6.5
6.6 6.7

179
180 181

183 186
188

6.8

190
190

viii

CONTENTS 6.8.2 Root-matching implementation 6.8.3 Numerical illustration 191 191

6.9 6.10 6.1 1 6.12

a.c./d.c. Converters Synchronous Machine Model Transformer Model The PSCADIEMTDC Program
6.12.1 Structure of the program 6.12.2 PSCADEMTDC Version 3 6.12.3 PSCADEMTDC test cases

192 195 199 202

202 204 207

6.13 Real Time Digital Simulation 6.14 State Variable Analysis

6.14.1 State variable formulation 6.14.2 Solution procedure 6.14.3 Choice of state variables

219 22 1
22 1 222 224

6.15 References

225

7 System Stability
7.1 Introduction
7.1.1 The form of the equations 7.1.2 Frames of reference

229
229
230 23 1

7.2 Synchronous Machines-Basic Models

7.2.1 Mechanical equations 7.2.2 Electrical equations

23 1
23 1 232

7.3 Synchronous Machine Automatic Controllers

7.3.1 7.3.2 7.3.3 7.3.4 Automatic voltage regulators Speed governors Hydro and thermal turbines Modelling lead-lag circuits Low-voltage problems

237
237 239 24 1 242

7.4 Loads
7.4. I

243
244

7.5 The Transmission Network 7.6 Overall System Representation

7.6.1 7.6.2 7.6.3 7.6.4 7.6.5 Mesh matrix method Nodal matrix method Synchronous machine representation in the network Load representation in the network System faults and switching

245 245
245 246 246 249 249

7.7 Integration
7.7.1 hoblems with the trapezoidal method 7.7.2 hogramming the trapezoidal method 7.7.3 Application of the trapezoidal method

252
255 256 258

7.8 Structure of a Transient Stability Program

7.8.1 Overall structure 7.8.2 Structure of machine and network iterative solution

263
263 264

7.9 Advanced Component Models

7.9.1 Synchronous machine saturation 7.9.2 Detailed turbine model

268
268 279

CONTENTS
7.9.3 Induction machines 7.9.4 Relays

ix
284 289 293

7.9.5 Unbalanced faults

7.10 References

295

8 System Stability under Power Electronic Control

8.1 Introduction 8.2 Description of the Algorithm
8.2.1 Data flow 8.2.2 Modifications required to the component programs

297 291 298

299 300

8.3 TSEMTDC Interface

8.3.1 Equivalent circuit components 8.3.2 Interface variables derivation

300
300 304

8.4 EMTDC to TS Data Transfer 8.5 Data Extraction from Distorted Waveforms
8.5.1

306 310
313

CFA effectiveness

8.6 8.7 8.8 8.9

Interface Method Interface Location Structure of the Hybrid Program Test System and Results
8.9.1 Response of the individual programs 8.9.2 TSE hybrid response

313 315 317 322

322 323

8.10 Quasi Steady-state Converter Simulation

8.10.1 8.10.2 8.10.3 8.10.4
Rectifier loads d.c. link Representation of converters in the network Inclusion of converters in the transient stability program

325
325 330 334 339

8.1 1 Static VAR Compensation Systems

8.1 1.1 Representation of SVS in the overall system

339
342

8.12 References

343

Appendix I Fault Level Derivation

1.1 Short Circuit Analysis
I. 1.1 System equations I. 1.2 Fault calculations

345
345
346 348

Appendix I1 Numerical Integration Methods

11.1 Introduction 11.2 Properties of the Integration Methods
11.2.1 Accuracy 11.2.2 Stability 11.2.3 Stiffness

351
35 1 35 1
35 1 352 353

11.3 Predictor-Corrector Methods 11.4 Runge-Kutta Methods 11.5 References

354 356 357

CONTENTS

Appendix I11 Test System used in the Stability Examples

111.1 Reference

359
362

Index

363