UNIT V

SIMULATION OF HVDC SYSTEMS

Introduction DC LINK Modelling , Converter Modeling and State Space Analysis ,
Philosophy and tools HVDC system simulation, Online and OFFline simulators Dynamic interactions between DC and AC systems.
5.1 Introduction:
For simulations purposes concentrated on dynamic behavior of the whole
system under variable load conditions simulation is focused on generator model and
DC link side
5.2 DC LINK Modelling:
DC link is modeled by relation:

fig 5.1 DC Link Modelling

5.3 Converter Model

The generator is controlled by means of AC/DC converter. Therefore DC link is

related with machine via converter.
The converter is a voltage source converter (VSC) working as a rectifier in
generation mode where power flows to the DC link. Opposite to motoring mode in
generation mode, model of the VSC is necessary because DC side variables and AC
side variables are controlled. Because of fact that system includes mechanical
components which time constants are significantly bigger than converter switching
times, the average VSC model is used without disturbing the final result.
The generator windings are star connected. Generator is connected to VSC.
For the star type connection the generator voltages are calculated using following
equations

fig 5.2 Converter Modelling

5.4 Simulation of HVDC systems

Simulation of the system was used to predict the performance of the system
Simulation was required for
Planning
Design and
Operation of the power system
Simulation was carried out for both
Steady state and
Transient conditions
AC systems studies was done by

AC network analyzer for load flow and stability studies

Digital programmes such as EMTP

Transient network Analyzer for the study of harmonic voltages and
electromagnetic transients.
5.5 Need for HVDC simulation
1. To make detailed studies for the design and implementation of HVDC
transmission project.
2. To understand AC-DC system interactions.
3. To optimize the controller performance.
4. To reduce short circuit ratio.
5.6 HVDC simulation methods
HVDC simulation was done by
1. HVDC simulator-limited representation of AC systems
2. Analog computers
3. Hybrid computers
4. Digital computer programs-large scale AC system simulation
5. Physical model DC simulators
6. DC-TNA
7. Dynamic simulators.
5.7 Advantages of Simulation

1. Large non-linear models can be simulated for analytical purposes.

2. Accurate prediction of system performance under various operating
conditions.
3. Minimum cost and less time required for simulation of the system.
4. Simple enough to fit the type of studies without sacrificing accuracy.
5. Flexible.
6. Easy monitoring and control.
5.8 Different approaches used in simulation
1. Network reduction
2. System model
3. Simplified equipment
4. Equivalent circuit
i. Thevenins equivalent at the convertor bus.
ii. Pu representation.
5.9 Drawbacks of simulation
1. It needs complete knowledge of the system and the software to design the
system and execute the program to get the desired output performance of the
system.
2.It requires knowledge of mathematical models of the various components
of the system.
3. Difficult to understand the complexity in the system.
4. Scaling down could introduce modelling errors.
5. Compensation terms were used to eliminate the modelling errors.
6. Physical feel could be offset if digital simulation could be effected in real
time and could be run in an interactive mode with control over stopping and
restarting of the simulation with or without the modification of the parameters.
7. Chances of run time and real time error in simulation for the design of the
system.
5.10 Requirements of a good simulation tools
were as follows

1. Easy maintenance
2. Accuracy
3. Flexibility
4. Low cost
5. Easy set up
6. Real time simulation
7. Easy monitoring and control
5.11 Philosophy and Tools Used in System Simulation
Tools employed for the simulation of dynamic system
There were a various number of tools used for the simulation of dynamic
system.They were:
1. Physical simulator
2. Analog computer
3. Hybrid computer
4. Parity simulator
5. Digital computer
Physical simulation

It

knowledge

doesnt
of

require

mathematical

model.

It was used to justify the

validity of mathematical model.

More costly

less flexible

Scaling down causes modelling errors.

Widely used

They were invaluable tools for the

control and protection studies

Digital computers

1. Faster

2. Cheaper
3. Attractive tool
4. Requires knowledge of mathematical model
Analog and Hybrid computer
Used in past
Not popular

Requires mathematical knowledge

Identity of individual components was
lost
Change in time scaling
Problem of offset voltage & current
Parity simulation
It was proposed to simulate power
electronic systems.
compact
5.12 SIMULATION OF HVDC SYSTEM
Studies needed for the design of HVDC system
1. DC power transfer under normal and abnormal conditions.
2. Reactive power requirements.
3. Fundamental frequency over voltages.
4. Post fault DC power recovery.
5. Stability improvements.
6. Sub synchronous torsional interactions.
7. Insulation coordination.
8. DC terminal arresters.
9. AC and DC filter design.
10. Controller requirements under normal and abnormal conditions.

Methods of study
1. AC/DC load flow program.
2. AC/DC transient stability program.

Assumptions in transient stability

program
1. AC and DC were assumed to be in steady state.
2. Fundamental frequency phenomenon was considered.
3. Voltage and current magnitude was varying slowly at the frequencies
determined by electromechanical oscillations of the generator rotor.

4. AC system was considered to be in balanced condition.

5. Special purpose programs were used for study of
o Sub synchronous resonance
o Dynamic stability

o Damping of sub synchronous oscillations

o Controller design
Assumptions in DC stability studies
1. Converter was modelled as a controllable Voltage source in series with
commutation resistance.
2. Valve voltage drop was included.
3. Switching or commutation phenomena in the converter was ignored.
4. It was not possible to simulate the effects like commutation failure.
5. Dynamic simulation must consider the switching action of the individual values.

* Complex
* Errors
* Slow
5.13 HVDC simulator
It was similar to Transient Network Analyzer (TNA). It was used to determine
over voltages in AC systems due to
(i) Switching surges
(ii) Load rejection
Similarly between HVDC simulator and TNA depends on
(i) VA ratings
(ii) AC network representations

(iii) Converter representations

5.14 Features of HVDC simulator
A Short note on Harmonics and Filters in HVDC systems
It has scaled models of 6 and 12
pulse converters.
Valve was modelled by a single thyristor.
DC line/cable was represented by
sections.
DC simulator were in the range
of o Voltage: 20 to 100 V
o Current: 0.2 to 1 A
o Frequency: 50 or 60 Hz.
Sophisticated converter controls were used to show the performance under
AC faults and commutation failures.
Models of synchronous machines torsional oscillations were provided.
There was a provision for the scaled model of static compensators such as
Thyristor controlled reactor (TCR) and thyristor switched capacitor (TSC).

Surge arrester and DC breaker models were also included.

Data acquisition and processing system was used.
Events sequencer was used to coordinate breakers for transient studies.
Automated setting up of the simulation was used to speed up the studies.
Flexible.
It was used to survey most severe transient situations.
Requirements of good simulator
1. Accurate representation of transformer model with saturation, hysteresis,
and remnant flux and leakage reactances must be considered.
2. There should be provision for compensating losses.
Limitations of HVDC simulator
1. Stray capacitances and inductances were not modelled.

2. There was no assessment for the control system behaviour and temporary over
voltages of frequencies below 1000Hz.
3. Limited availability of adequate models.
4. Accurate representation of damping effects of losses in filter coils and
transformers were needed.
5. There was no provision to evaluate higher frequency transients, lightning
over voltages, current and energy stresses in surge arrestor.EMTP was used for
this purpose.
Applications of DC simulator
1. It is used for the development of concepts&equipment for control&protection of
HVDC systems:
*Control of power, current and extinction angle.
*Evaluation of the control performance under AC and DC faults.
*Evaluation of over current and over voltage stresses in valves,DC
reactor,DC line/cable.
2. It is used for the analysis of various AC/DC system
interactions. *HVDC operation with weak AC systems.
*Subsynchronous

frequency

tossional

oscillation. *Damping
*Analysis of AC and DC harmonics.
3. It is used for confirming computer models used in stability programs.
4. It is used as operator training and as an educational tool.
5. Insulation coordination.
6. Testing of optimization of controllers.
7. Evaluation of surge arrestor ratings.
8. It is used for the development new concepts and devices such as of DC breakers,
forced commutation.
Parity Simulator
The principle of parity simulation was first formulated by J.G.Kassakian at MIT

in USA.
This principle has been used in electronic models of synchronous machines.
Parity simulator is a synthetic bread board.
It is used to simulate the physical terminal characteristics of each network element.
For the simulation of inductor,a voltage to current converter was employed
together with a local feedback loop to establish input current.It has only one
terminal pair.
Terminal equivalents were used for transformers, thyristors and so on.
Each equivalent is electrically floating with respect to others.

A parity simulator consists of an interconnection of terminal

equivalents to represent the system being studied.

This interconnection has the same topology as the network under study.
Advantages
1. Flexible
2. Simple
3. Compact
4. Reduced cost
5. It uses hybrid structures.
6. Change in time scaling.
7. No change in the topology of the system.
8. Identity of individual components was not changed.
9. No mathematical equations for the entire system.
Drawbacks
1. Problem of offset voltages and currents.
2. Problem of interconnection and EMC.
Applications
1. This simulator has been used for studies in HVDC and static var systems.
2. In 1981, FGH, a research and development institute in the field of electric power
transmission in Mannheim, Federal Republic of Germany commissioned their

DC simulator with the bridge ratings of 25mW,2.5V and 10mA.The frequency

bandwidth of this simulator is around 5kHz

3. Simulation of thyristor controlled nonlinear reactor was reported
by Padigar&varma.
5.15 Digital dynamic simulation
Hingorani and his co-workers were the first to develop the dynamic simulation
of HVDC systems.
Need for digital dynamic simulation
1. For the efficient modelling and simulation of the converter circuit.
2. To incorporate sophisticated control.
3. To develop digital simulation as a tool for variety of studies.
4. As a supplement to the studies performed on a physical simulator.
Advantages
1. Easy transportability and maintenance.
2. Reduced cost of simulation.
3. Easy availability of micro computers for DC simulation.
4. Flexible.
5. Feasible
6. Parameters can be varied over a wide range.
Disadvantages
1. Increased simulation time. Computer time/Real time = 100 to 1000
2. Improvements in hardware, computer architecture and numerical methods
to reduce the simulation time.
3. Requires skill and experience in analyzing and interpreting the results
and preparing data.
4. Use of sophisticated models will increasethe complexity and simulation
time.
5. Non linear components were used.
6. Lack of adequate mathematical model.
7. Needs validation of the results of digital simulation by conducting field test.

8. Numerical problems which may not be predictable.

9. Doubts on final results.
10. Tedious mathematical methods such as
*Integration
*Double precision arithmetic was used.
11. Lack of interactive capability.
12. Need for simplifying the preparation of data and checking the errors.
Applications
It was used for
1. Fault Analysis.
2. Harmonic analysis.
3. Design of controllers.
4. Modification of inverter pole controls at
Nelson River DC link to overcome the
problem of core-saturation instability.
Recent trends in digital simulation
1. Development of modular approach.
2. Use of EMTP to simulate AC transients.
3. Use of sophisticated control models.
4.

Development of interactive capability.

5.16 MODELLING OF HVDC SYSTEMS FOR DIGITAL DYNAMIC

SIMULATION
Components of HVDC system
1. Transformers
2. Reactors
3. Capacitors
4. Surge arrester
5. Transmission lines
Modelling of Converter Bridge and its controller

Converter Bridge and its controller was the major equipment in DC

systems. Valve winding can be modelled as a voltage source in series with
leakage impedance of the transformer.
Converter is decoupled from the AC system.
The effect of the converter on the AC system was to inject current sources at the
converter bus.
Transformer magnetizing impedance is a part of the AC system.
DC current flows through series connected converter bridges, smoothing
reactors and DC line.
This is a modular approach.
AC and DC systems were decoupled using dependent current and voltage
sources.
The variation of the topology of the converter circuit due to turning on and
off of valves complicates the analysis.
Valve was represented as a controllable switch in parallel with the snubber circuit.
The switch was closed when the valve was turned on and it was open when the valve
was turned off.
The dynamics of turn on and turn off process was neglected High
frequency phenomena and snubber circuit were neglected

An easiest way for the modelling of a switch was to replace it by a variable

resistance or impedance
This model was used in EMTP at Bonneville power administration and
EMTDC program at university of manitola
Advantages
(i) Topology of the converter remains invariant
(ii) Parameters were time dependent
Drawbacks
(i) Numerical instability problems
(ii) Requires very small step sizes for integration
Methods of subroutines

 Various sets of equations corresponding to the different combination of

conducting valves were stored and selectively used
Number of possible combinations of conducting valves was large
Simplification is possible by identifying the pattern or similarity in the
different sets of equations, there by the amount of storage required was reduced
Graph-Theoretic Analysis
Better Approach
It was used for the formulation of converter equations
Finding the best way for the formulation of equations was difficult
By specifying DC current an external variable, the converter model can
be simplified
It was possible to represent a converter bridge by a voltage source in series with
an impedance
It was possible to consider the forward voltage drop of a value and the
variations in the transformer leakage impedance
The turn off of a value occurs at the instant when the current through the valve
goes to zero
The loss of forward blocking capacity due to inadequate commutation margin
can also be simulated without difficulty
Controller model
The instant of turn-on of a valve was controlled by the gate pulses applied to
the individual thyristor in a valve
In steady state, the firing signals were generated at a time interval of T/P
seconds. T Period of AC voltage and P- pulse number.
The instant of firing was determined by the firing controller
The input to the firing controller was obtained from the current controller
or excitation angle controller
The current controller has input from the power controller
The output can be controlled by an auxiliary controller and voltage
dependent current limit (VDCL)

A HVDC controller was represented by a block diagram

The various blocks were described by algebraic equations and transfer functions
with limiters
Drawbacks
1. Lack of adequate detailer on the controllers
2. More complex
5.17 Dynamic interactions between DC and AC system
AC/DC System interactions are concerned with
- Voltage stability
- Over voltages
- Resonances
- Recovery from disturbances
AC/DC System Strength
Voltage stability conditions determines the type of voltage control and the type
of reactive power supply.
The level of Temporary Overvoltage influences station design including
thyristor valve and surge arrester ratings.
The larger the ratio of shunt capacitor Mvar to ac system short circuit
MVA, the lower is the resonance frequency.
An AC System Can Be Defined As Weak From
Two Aspects
AC system impedance may be high relative to dc power at the point
of connection.
AC system mechanical inertia may be inadequate relative to the dc
power infeed.
Short Circuit Ratio (SCR)
SCR is an indicator used to characterize the strength of the power
system. SCR = S/Pd

Where S is AC system three phase short circuit level in MVA at the Converter
Terminal AC Bus with 1.0 pu AC Terminal Voltage, and Pd is the rated DC power in
MW.The minimum value of S at which the rated power Pd is transmitted is used
when examining limiting operating conditions. Effective Short Circuit Ratio (ESCR)
Shunt capacitors including ac filters connected at the ac terminal of a DC link can
significantly increase the effective AC system impedance.
ESCR = (S-Qc)/Pd
Where Qc is the value of three phase fundamental Mvar in per unit of Pd at per unit
AC Voltage of Shunt Capacitors connected to the Converter AC Bus Bar.
Inadequate and Zero Mechanical Inertia
Turbine generators in an ac system represent a large rotating mass. Their inertia
ensures that an ac system does not collapse due to system fault.
If all the power is brought into a system by DC and there is no local generator, then
that system will have no mechanical inertia.To avoid frequency reduction by more
than 5% due to a system fault, the effective DC Inertia Constant, Hdc should be
greater than 2s.
Harmonic Transfer
A DC Convertor appears substantially a source of harmonic current. It act as a
constant current source on ac side and constant voltage source on dc side.
The effective impedance in which this harmonic current flows is that
of the complete system.Weak system may cause Core saturation Instability in the
Convertor Transformer and Complementary Resonances.Back-to-back schemes are
probably most at risk than long DC Transmission lines and Cable Systems
Temporary Overvoltages
Larger disturbances result in temporary overvoltages and if resonance conditions in the
ac network are close to one of the lower order harmonics, the overvoltage can be
amplified. This is often the case with weak system. Temporary overvoltages influence

the design of arresters connected to ac and dc side.Shunt capacitors and AC filters in

DC station decrease the SCR on the bus bar and influencing TOV. TOV can be
reduced by using Metal oxide gapless arrester and by switching of capacitors banks
and ac filters.
Effect of AC System strength on Commutation failures
Due to weak ac system connected to inverter , Commutation failure may
occur on inverter side.Recovery after faults is usually easier with a high SCR than a
very Low SCR system.Post fault system swings and voltage instability at the inverter
bus of certain weak system may cause subsequent commutation failures. In these
cases, slow rate of dc recovery is desirable and must be optimized

Speeds up model development and test preparation with a rapid compilation process,
an offline simulation mode, an easy-to-use load flow analyzer and an I/O
management server.

Incredible ease of use with a top one-line diagram editor, convenient data

forms, and results database.

Improves system understanding and fine tuning with quick online parameter

modification while simulation is running in real time.

 Produces professional reports and conducts more refined studies with leading-edge,
real-time signal analysis, data processing and visualization software
Simulation tools are classified as Off-line & Realtime
Off-line simulation tools have easy installation and access to generic computer
systems. They are readily incorporated with the working environment and friendly
with users operating system as well. PSCAD, PSS/E, PSAPAC, EUROSTAG &
EMTDC are some of the examples of Off-line simulators.
Real time simulators are efficient to provide results in synchronism with a real time
clock. They have ability to integrate with physical devices & manage data exchanges
with the real-time clock. There are several commercially available real-time digital
simulators such as RTDS , HYPERSIM , and RT-LAB , NETOMAC. Need of
simulation technology has increased with the rise of complexity of networks. In
present scenario, the simulation tools for electrical systems have achieved a very high
level.
The features of real time simulators with excellent programs are
constantly improving. They are easily accessible in the market .
Benefits of the simulation tools are:
1. Time Saving and inexpensive.
2. Detect error very fast
3. It requires less space.
4. Easy to realize, also model is designed in simulation environment which
reduce real prototype.
5. Better & speedy optimization analysis.
As stated earlier great number of simulation tools are available having both merits
& demerits. At present, generally two types of inputs are provided by simulation
tools . They are:
a. Graphical input: The elements of the circuit of the FACTS controller are fed
into computer graphically by using simulation packages.
b. Mathematical input: This case involves the simulation of mathematical
derivations & descriptions of the device which is fed into a computer. 1.
MATLAB: MATLAB was developed by Mathswork [10].
It is a high level programming language having an interactive environment for
visualization & technical computation. By using MATLAB matrix calculations, plotting
of function & data, creation of models, algorithm & user interfaces can be done.
MATLAB interfaces with programs in other languages like C, C++, FORTRAN and
Java. Other applications of MATLAB are signal processing & communications, control
systems, test & measurements, computational finance & biology, video & image
processing. The modeling, analyzing & designing of FACTS controllers
can be easily done by Matlab software. MATLAB is widely employed in industries,
technical & research institutions. The current version of MATLAB is R 2012 b.

2. SIMULINK:
an interactive tool for modelling, simulating, analyzing and designing
dynamic systems. SIMULINK offers a set of tools that can be used to build systems
from the library of built-in blocks. It is also allows creation of custom blocks that can
incorporate C/C++, FORTAN, JAVA or MATLAB code. It integrated with the rest of
MATLAB environment. MATLAB performance can be expanded with the addition of
Simulink. The features of MATLAB/Simulink for the simulation & modelling of
power systems & power electronics circuits is discussed .
3. MATPOWER:
The E&CE group of Cornell University, Ithaca, New York developed the
Matpower in 1999. Matpower is a package for solving power flow & optimal
power flow problems . It can be easily used, understand and modify by researchers &
educatorsIt is designed for keeping the code simple to understand & modify to give
the best performance possible. Matpower is a free & an open source package of
MATLAB files, runs on MATLAB. Matpower uses all the standard AC & DC
models for optimal power flow analysis. The current stable version of MATPOWER
is 4.1. Stijn Cole and Ronnie Belmans discussed about the easily available open
source Matlab based software called MatDyn for the simulation of power systems.
Another Matlab based software packages employed for the simulation of power
system have been originated by others.
4. PSAT: PSAT is developed by Prof. F Milano, in 2002. The PSAT is used for
analysis & control of electric power system . Its main features include load
Flow analysis, Stability Analysis, FACTS controller models. The current
stable version of the PSAT is 2.16.
5. NETOMAC: Network Torsion Machine Control (NETOMAC) is developed by
Siemens . It is a large integrated power systems software simulation system
used for simulating & analyzing electric power systems . It supports simulation
of electrical network in the time domain as well as frequency domain. It finds
wide application in designing & analyzing the behavior of control system &
power networks. D. Povh et al. discussed the benefit of NETOMAC for large
power system & system interconnection. It provides following features:
(i) Steady state load flow & short circuit calculations.
(ii) Analysis of frequency range & Eigenvalue.
(iii) Optimization & parameter identification.
(iv) Real time testing & simulation.
P. Lehn et al. describes the efficient features as well as limitations of both EMTP &
NETOMAC programs for simulation of HVDC. Comparative study of the features
of NETOMAC & EMTP against transient models is also discussed.
6. ETAP: This program is used for designing & analysis of power system and smart
grid. ETAP has better, strong & proven analysis algorithm which adds flexibility to
complete modeling environment & operator-friendly user interface. ETAP is widely
used in all the stages of power system, i.e. generation, transmission, distribution &
utilization. Its unique features make it the best simulation tool for continuous
monitoring, simulation & optimization of the system. Keith Brown et al. introduces
simulation tool ETAP with its wide applications, techniques & unique features. It is

employed for interactive simulation of power system & also performs numerical
computations with great speed. The latest version of ETAP is 7.0 full & 7.1 demos .
7. EMTP-RV: It is the latest advanced version of EMTP. It is a professional tool
for simulating & analyzing the transients in electrical power networks. It finds
applications in power system design tool, synchronous machine control, power
electronics, switchgear & protection, transient stability analysis, multi-terminal
HVDC system & simulation of FACTS controller . Omar Saad describes about
the important role of simulation tool EMTPRV for the simulation & analysis of
electromagnetic transients (EMT) in power systems. The latest version of
EMTP-RV 2.4.
Following are the features of EMTP-RV:
(i) Provides superior modeling, flexibility & dragand- drop simplicity.
(ii) Fast computation & solution to very large scale problems.
(iii) Give solution to very large scale problems.
(iv) Initialization & steady state solution of control system & harmonics.
(v) Completely remove topological limitations.
8. EMTDC: It is a powerful, robust & very efficient simulation tool for power
system transients . EMTDC is originally inspired by Dr. Hermann Dommel in
the 1970s and developed by the Manitoba HVDC Research Centre. EMTDC is
employed for the operation, design & modeling of power systems and power
electronics. EMTDC represents & solves electric circuit by differential
equations (for both electromechanical & electromagnetic system).
Features of EMTDC are:
(i) Contingency analysis of AC network can be studied.
(ii) Analysis of harmonics & sub-synchronous
resonance. (iii) Relay & circuit breaker co-ordination
(iv) Design & c-ordination of FACTS devices, HVDC & variable speed drives
and many more features.
9. PSCAD: It is a perfect, powerful, fast & easy to use power system simulation tool
used for simulation, design, analysis, optimization & verification of power system &
power electronics. It was first planned in 1988. PSCAD finds applications in
electrical machines, FACTS devices, transmission lines & cables. PSCAD with
EMTDC offers unique tools & models for complete & accurate analysis of electrical
system . GUI PSCAD is used with EMTDC to enhance its features. PSCAD uses
flexible GUI while EMTDC is user defined power system software. EMTDC
(with PSCAD) is greatly employed by engineers, scientists, manufacturer, utilities &
technical/research institutions around the world.Shanshan Yang and Gregory A
Franklin show the comparative study between PSCAD/EMTDC & EMTP-RV
for the simulation & modeling of a switching transient overvoltage study in power
systems. X4 (4.5) is the current version of the PSCAD simulation software .
10. RTDS: The RTDS is a fully digital electromagnetic transient power system
simulator which provides simulation of power system with fast response, reliability
& accuracy. RTDS software supports power system, control system & protection &
automation component model for simulation.
It has following features:

(i) Smart grid applications.

(ii) Distributed generation of wind plants, solar plants & fuel cells.
(iii) Real time response for closed loop testing.
(iv) Simulation of HVDC & FACTS devices.
(v) Powerful processing hardware.
(vi) Advanced user interface.
(vii)Advance & unique power & control system component libraries.
R. Kuffel et al. discusses the details regarding design, excellent features & wide
applications of a real time digital simulator for the study of electromagnetic transient
phenomenon in power systems in real time.
11. MIPOWER: This is a widely used power system & FACTS simulation software
used for analysis, design & simulation of transmission and distribution systems . It
is widely employed for utilities, industries, engineering colleges, technical &
research institutes in India & Abroad.It is followed by following features:
(i) GUI
(ii) Power flow analysis
(iii) Short circuit calculations
(iv) Transient & Dynamic stability study
(v) Load forecasting & Economic dispatch
(vi) Relay co-ordination
(vii)Harmonic Analysis etc.
13. PSIM: It is one of the best tools used especially for power electronics. The
FACTS controller circuit can be designed with fast simulation. It can interface to
MATLAB/SIMULINK to access complete mathematical power of Matlab . Sameer
Khader et al. present the comparative study of PSIM & Matlab/Simulink software
tools for power electronics and electric drives courses. Simulation of power
electronic circuits & machine is done through PSIM while simulation results are
analyzed with the help of Matlab/Simulink software.
14. PSPICE: It is an analog & digital simulation software program for Microsoft
Windows. It is a modified PC version of SPICE. It finds wide application in analog
& digital systems. It has analog & digital libraries which contain components
such as NAND, NOR, gates, Flip-Flops, operational amplifier etc. It is a circuit
analyzer employed for the analysis of non-linear DC & transient, Fourier series,
linear AC & noise analysis. The latest version available is PSPICE v.10. Tao Zhao
et al. throw light on the simulation of power electronic & electric drive systems.
15. CASPOC: CASPOC simulator is used for modeling and simulation of power
system, power electronics, electric drives, multilevel model & FACTS controllers . It
also finds application in Mechatronics. Today, in the market CASPOC is the only
simulator which supports circuit animation & contains a Freeze & Go Back
function. O. Apeldoorn shows the applications of different simulation tools such as
PSPICE 6.2, CASPOC, Simplorer 3.2, Matlab/Simulink, SIMSEN etc. in
different fields of engineering from economical point of view. Use of these
simulation tools for simulation of power electronic devices is also discussed.
16. SIMSEN: It is digital simulation software used for the analysis of power system,
adjustable speed drives & hydraulic system . In 1992 Simsen was developed. The

latest version available is Simsen 2.3. The main features of Simsen are:
(i) Graphical input & output, Independent of network size.
(ii) Calculation of load flow with SI & per unit outputs.
(iii) Calculation of stable initial conditions.
(iv) Analysis of harmonics, transient stability, fault & sub synchronous resonance.
(v) Simulation of power system with modular structure under transient & steady state
conditions.
(vi) It enables to study the dynamic behavior of power electronics converter (such as
VSI, CSI, cycloconverter etc.), electrical machines & components of power systems.
(vii) It finds applications in FACTS & HVDC.
17. SABER: Simulation software SABER is used for modeling, simulating &
analyzing physical systems . It has wide range applications in analog/power
electronics, power system, FACTS & Mechatronics. Main features are:
(i) Easy to use.
(ii) Provides flexibility & reliability.
(iii) Robust design methods.
(iv) Verify the behavior of physical systems (i.e.Electrical, mechanical, hydraulic
etc.)
(v) Offers a graphical IDE (integrated development environment) for
generating virtual prototypes of power system networks