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1390
E. Acha
A. Semlyen
University of Toronto
Toronto, Ontario, Canada
COMPUTATIONAL PROCEDURES
General Description of the Nonlinear Problem
The problems t o be examined are described in general by n nonlinear equations of the form
f(Y,k , 2 ,U ) = 0
(1)
INTRODUCTION
The number of power plant components capable of producing considerable harmonic distortion in the network has proliferated very
rapidly. This tendency is on the increase and, accordingly, there
is growing interest worldwide in the development of software which
allows accurate harmonic assessment for the individual plant components and also for the entire network.
Different approaches which deal with the problem more or less
accurately [1],[2], have been published but, as work accumulates, it
is becoming clearer that harmonic domain modeling offers the most
reliable and versatile alternative towards a generalized harmonic solution of the power network.
The basic theory of harmonic domain modeling of nonlinear elements is already well established. The problem is nonlinear and the
harmonic balanced is reached by iteration using the Newton-Raphson
method in the harmonic domain [3]. The procedure is started from an
undistorted sinusoidal state. The approach has proved t o be both fast
and reliable. Laminated iron cores can be examined in a very detailed
manner [4],
and it is also possible t o quantify the harmonic response
of a network containing several magnetic nonlinearities [5]. Many
more applications exists, for example, arc furnaces, arc discharge
lamps, saturated reactors and studies related t o (ferro)resonance phenomena or inrush currents 161. Another important application is the
initialization of the EMTP.
This paper describes a software package for direct harmonic domain computations involving nonlinear system components. The
computational procedure is the following: The nonlinear characteristic is approximated by a polynomial and then the polynomial and its
Nonlinear Characteristics
Figure 1 represents diagrammatically the computational procedures used in harmonic domain calculations. The cy and the p blocks
are alternative routes for computations involving nonlinearities. All
blocks are examined in more detail in the following subsections.
Polynomial Characteristics and Evaluation by Convolutions
Block crI represents the fitting of a nonlinear characteristic by a
polynomial. In the case of magnetization characteristics, it has been
found [4] that a polynomial with only three terms of the form
y =C1I
90
032-8 PWiD
--
(2)
H = 51.80250
+ 0.2181B + 0.1353B
(3)
+ c p x p + cqx9
1391
Block CYZ gives the harmonic domain evaluation of a general polynomial of the form
n
P(X, y, Z, U ) =
(4)
b;xi'ykl&um'
i=O
The basic idea is that for a time domain multiplication, the equivalent procedure in the harmonic domain is a convolution. Time domain exponentiations are performed in the frequency domain by self
and mutual convolutions. The method is based on the repeated use
of the routines SCONV and MCONV which perform self and mutual
convolutions. Both routines are listed in Appendix 1. Also listed in
Appendix 1 is the routine EVPOL for the harmonic domain evaluation of equation (3) and its derivative.
Fig.2 Point by point derivation of magnetizing characteristic
nonlinear characteristic
I
numerical evaluation
of the nonlinear
Algebraization of ODES
r]
calculation of mismatch
71
, v ,
calculation of tint derivative
72
73
+ D ( j w h ) A x + F,Ax + U = 0
(5)
T h e y blocks of figure 1correspond t o a harmonic domain NewtonRaphson procedure. Block 71 represents the calculation of the misI
match function while block y2 represents the calculation of its first
derivative. T h e harmonic elements of the first derivative are used t o
build the Jacobian matrix which has a Toeplitz structure.
A simple procedure for assembling the Toeplitz matrix is presented in Appendix 2. We note that the dynamic part modifies the
Toeplitz structure t o a band-diagonal quasi-Toeplitz form.
Fig.1 General procedure for harmonic domain calculations
The general flow chart of figure 1 shows the case when the Jacobian matrix is updated a t each iterative step. This basic approach,
however, is not a true Newton-Raphson method due t o truncation
Non-Polynomial Characteristics and Evaluation by FFTs
of higher order harmonics and, therefore, exactly quadratic converBlock /3 of figure 1 corresponds t o a point by point representagence is not expected. The more pronounced the nonlinearity the
tion of a nonlinear function. The approach used in this case is a n
further away will be the convergence from quadratic .
alternative t o the analytical procedure of block a.
An alternative approach is t o keep the Jacobian constant after
In the case of application t o a magnetic circuit, the characteristic
the first or some later iterations. We have found that for weak nonlinis obtained as shown in figure 2. The derivative of the function
earities, as in the case of iron cores, this reduces the total execution
i = f(+) is obtained numerically.
time, while for strong nonlinearities, as in the case of laminations,
Once the operating voltage and its associated flux have been obthe execution time will generally be increased.
tained in the time domain, a period of the fundamental frequency
is subdivided in N = 2n time steps, such that the highest harmonic
To conclude, we make the following remarks:
will be sufficiently well sampled. In the case of magnetic nonlinearities, harmonic frequencies beyond the 15th are negligibly small
[2] and values of n equal to 9 or 10 have proved t o be appropriate [ 5 ] . The discretized flux is impressed, point by point, upon the
experimental magnetization characteristic and a corresponding magnetizing current is determined. Piecewise linear interpolation is used
in the process.
Provided that the magnetizing current is sufficiently smooth, its
derivative with respect t o the magnetizing flux can be obtained simply and accurately using a central difference formula.
---
1392
Illustrative Examples
!KV
+ k z r -d T
i = f($)
(7)
D ( j w h ) A $ = AV
(8)
Ai = FA$
(9)
where
GN = FD-'(jwh)
j N = jold
= -ka 3 . 2
dt
dt
g=
T2
k3
the resultant differential equation becomes,
(11)
- GNvO'~
T~
(12)
reactor.
i \i
'\'
f($) = O.OOl$
+ 0.0743q3
(13)
The system voltages contain harmonics but the fluxes inside the
transformer will be very close t o sinusoidal. A I p.u. sinusoidal
flux is therefore substituted into the magnetization characteristic as
a first guess, yielding
-0.055725e32wt
+ 0.11245 - 0.055725e-32wt
wi = 1.045598, 02 = -0.02080,
= 1.164296, V: = -0.07477,
= 0.000352
U:
= 0,000454
1393
The characteristics of figure 4 are similar to the measured characteristics of reference [8] shown in figure 5 for the same frequencies.
The computations show that, according t o expectation, the loop becomes narrower as frequency increases. Discrepancies are due mainly
t o the fact that the measurements include also the effect of external
components.
so that in equation ( 2 2 )
?J=-
iq
with
If n = 2, v
constant
(18)
While, in fact, it is also a function of the arc temperature, this dependence is assumed t o be less significant and is therefore ignored,
in order t o keep the model simple. Thus, only the arc radius T appears as a state variable. If the environment around the arc is hot
the cooling of the arc may not depend on its radius a t all, so that in
this case n = 0. If this is not the case and the arc is long, then the
cooling area is mainly its lateral surface, so that n = 1. If the arc
is short, then the cooling is proportional t o its cross-section a t the
electrodes, so that n = 2.
The term p2 is proportional t o the derivative of the energy inside
the arc which is proportional t o T ~ ,
Finally,
tr - i
i,
= k / i corresponding to a hyperbolic
pl
2)
f ( ~=
) k1Tm+n+2 + k 2 ~ ~{ j+w h~} r. - k3i2 = 0
(26)
= (m+n+2)klr"+"+'
+kzT"f3.{jwh}l+(m+3)k2Tm'z.{jwh}T
(27)
will serve for assembling the Jacobian matrix.
Concerning the above equations, we note that care must be exercised regarding the commutative properties of the convolutions involved. Specifically, in equation ( 2 6 ) the operator { j w h } acts on its
immediate argument only. The Jacobian matrix is obtained by replacing each vector in equation (27) by a Toeplitz matrix and the operator { j w h } by the diagonal matrix with entries j w h . The harmonic
vector 1 contains only a d.c. component and therefore it becomes a
unity matrix.
A routine, similar t o EVPOL, is used to evaluate equations (26)
and (27) in harmonic domain. Appendix 2 gives information on the
software related t o Toeplitz matrices.
Computational Results
Dynamic Characterk t ics
(a)
>
ki
roc -
[91.
The two characteristics compare well with each other: they follow the same basic pattern. The measured arc characteristic has a
deterministic and a stochastic part, with the latter becoming less and
less significant as the process of meltdown progresses. In this paper
only the deterministic part is modeled.
The arc voltage, expressed in time domain, is shown in figure
7. The square form of the arc voltage is typical for wave shapes
associated with electric arcs. The variation of the arc radius for a
full cycle is shown in figure 8.
mo-
>
'Cu1-i.crit ,kA
- 100-200I
-m
-50
50
loo
T i m e . sec
Timc,
Time,sec:
L J04
GOO8
0012
0016
Timc., scc
Fig.8 Variation of the arc radius with time for one period
20
1395
Static Characteristics
Conditions of cooling (parameter n ) impose bigger changes on
the shape of static arc characteristics than the variation of the arc
resistivity with temperature (parameter m ) . Figure 10 shows static
characteristics corresponding to different values of n (0, 1, 2) with m
being kept equal t o 1.
\ \\
[7] H. BO and K. Mazumi, Analysis of Operating Circuits for Discharge Lamps by the Simulation Method, Transactions of the
nluminating Engineering Society, vO1.5, No.2, January 1976, pp.
92-98.
[SI J.H. Campbell, H.E. Schultz, and D.D. Kershaw, Characteristics and Applications of High-Frequency Fluorescent Lighting,
Transactions of the Illuminating Engineering Society, V01.48,
February 1953, pp. 95-103.
m=l
(61 N. Rajakovid and A. Semlyen, Investigation of the Inrush Phenomenon: A Quasi-Stationary Approach in the Harmonic Do.
main, IEEE Paper KO. 89 WM 082-9-PWRD, presented a t the
1989 IEEE/PES Winter Power Meeting.
[ l o ] W.H. Press, B.P. Flannery, S.A. Teukolsky, and W.T. Vetterling, Numerical Recipes, Cambridge University Press, 1986.
[ll] R. Dugan, Simulation of Arc Furnace Power Systems, Proceedings of the IAS 1977 Annual Meeting, pp. 209-214.
Cur I c , n t . kA
CONCLUSIONS
ACKNOWLEDGEMENTS
Financial support from the Natural Sciences and Engineering Research Council of Canada is gratefully acknowledged. The last author
wishes t o express his appreciation t o the Faculty of Electrical Engineering of the University of Belgrade for the support of his study
leave at the University of Toronto.
REFERENCES
A.A. Mahmoud and R.D. Shultz, A Method for Analyzing Harmonic Distribution in AC Power Systems, IEEE Transactions
on Power Apparatus and Systems, Vol. PAS-101, No.6, June
1982, pp. 1815.1823.
H.W. Dommel, A. Yan, and S.Wei, Harmonics from Transformer Saturation, IEEE Transactions on Power Delivery, Vol.
PWRD-1, No.2, April 1986, pp. 209-214.
C
C
C
C
C
C
C
A. Semlyen, E. Acha, and J. Arrillaga, Newton-Type Algorithms for the Harmonic Analysis of Nonlinear Power Circuits
in Periodical Steady State with Special Reference t o Magnetic
Nonlinearities, IEEE Transactions on Power Delivery, Vol.
PWRD-3, No.3, July 1988, pp. 1090-1098.
A. Semlyen and N.RajakoviC, Harmonic Domain Modeling of
Laminated Iron Core, IEEE Transactions on Power Delivery,
Vo1.4, No.1, January 1989, pp. 382-390.
E. Acha, Modelling of Power System Transformers in the Complex Conjugate Harmonic Space, Ph.D. Thesis, University of
Canterbury, Christchurch, New Zealand, 1988.
--
SUBROUTINE E V P O L ( H , N , A , B , C , P , F , X , ~ I , X ~ , X ~ ~ , X ~ ~ , X ~ O , X ~ ~ )
COMPLEX16 X(-N:N),X~(-N:N),X~(.N:N),X~~(-N:N)
COMPLEX*16 Xl7(-N:N),XZO(-N:N),XZl(.N:N)
COMPLEX*16 F(-Z*H:Z*H),P(H)
INTEGER H
A, B, C are polynomial coefficients
F is first derivative evaluated in harmonic domain
P is polynomial evaluated in harmonic domain
H is number of harmonics including the dc component
X, X1, X4, X16, X17, X20, XZ1 are auxiliary arrays
N, LM, L M l are dimensioning parameters
S t a r t convolutions
CALL SCONV(N,Xl,H,X,LM)
CALL SCONV(N,X,LM,X4,LMl)
CALL SCONV(N,X4,LM,X,LMl)
CALL SCONV(N,X,LM,XlS,LMl)
CALL MCONV(N,LM,LM,X4,XIG,LMl
,XZO)
CALL MCONV(N,H,LM,Xl,X16,LMl,X17)
CALL MCONV(N,H,LM,Xl,XZO,LMl,X21)
Evaluate polynomial
DO k 1 , H
P(I)=A*X1(I)+B*X17(I)+C*XZl(I)
END D O
C
13%
C
C
C
C
C
C
C
C
SUBROUTINE SCONV(N,X,IM,XX,LM)
COMPLEX'16 X(-N:N),XX(-NN)
X is the input array
XX is the output m a y
N, IM, LM are dimensioning parameters
LM=B*IM
Clear output array
D O L=O,LM
XX(L)=DCMPLX(O.O,O.O)
END D O
Fill-in nenative Dart
DO I=I,IM
X(-I)=DCONJG(X(I))
END DO
Actual convolution
DO L=O,LM
DO I=-IMJM
KzL-1
IF(K.GT.IM) T H E N
X(K)=DCMPLX(O.O,O.O)
ELSE
XX(L)=XX(L)+X(I)*X(K)
E N D IF
E N D DO
E N D DO
RETURN
END
C
C
END
SUBROUTINE MCONV(N,Il,I2,Xl,XZ,LM,X)
COMPLEX*16 X1(-NN),XZ(-N:N),X(-N:N)
X1 and X2 are input arrays
X is the output array
N, 11, 12, LM are dimensioning parameters
LM=Il+I2
Clear output array
D O L=O,LM
X(L)=DCMPLX(O.O,O.O)
END DO
Fill-in negative
Dart
.
DO I=1,11
XI(-I)=DCONJG(Xl(I))
END DO
D O I=l,IZ
XZ(-I)=DCONJG(XB(I))
E N D DO
Actual convolution
DO L=O,LM
DO I=1,12
K=L-I
IF(K.GT.12) T H E N
Xl(K)=DCMPLX(O.O,O.O)
XZ( K)=DCMPLX(O.O,O.O)
ELSE
X(L)=X(L)+Xl(I)*XZ(K)
END I F
E N D DO
END DO
RETURN
END
SUBROUTINE ASSEMBLE(N,F,T)
COhlPLEX'lG T(Z'N,2*N),F(-B'N:2*X)
F is a n array of harmonic coefficients
T is a Toeplitz matrix
N is a dimensioning parameter
DO J = l , N
K=O
DO I = l , N
IF(1.GE.J) T H E N
T(I,J)=F(K)
K=K+l
ELSE
T(I,J)=DCONJG(T(J,I))
END I F
E N D DO
E N D DO
RETURN
CO
c-1
c-g
c-g
c-4
c-5
C]
CO
c-1
c-2
c-3
c-4
cz
c1
CO
c-1
c-2
c-3
c3
c2
c1
CO
c-1
c-2
c4
c3
c2
c1
CO
c-1
c5
c4
c3
c2
c1
CO
1397
DISCUSSION
(Powertech Labs Inc., B.C. Hydro)
T h e authors are to be congratulated for presenting a n interesting and
comprehensive approach for t h e harmonic analysis of nonlinear
components whose characteristics can b e modeled as polynomial
functions. T h e authors have further extended t h e approach t o t h e
nonlinear components expressed as differential equations, and used
t h e method t o analyze t h e harmonics from electric arcs. An nonlinear component is modeled in the paper as a coupled harmonic
Norton matrix in t h e neighborhood of a base waveform. This is a
very interesting concept and may have other applications.
Wenyuan X u
i =io
+Jv
current
Manuscript r e c e i v e d A p r i l 9 , 1990.
_-