Electromagnetic Transient and Phasor Domain Hybrid Simulation and Its Application To Detailed FIDVR Studies
Electromagnetic Transient and Phasor Domain Hybrid Simulation and Its Application To Detailed FIDVR Studies
Electromagnetic Transient and Phasor Domain Hybrid Simulation and Its Application To Detailed FIDVR Studies
PSERC Webinar
October 4, 2016 1
Introduction
Significant changes in power systems
• Rapid development of • Distributed generation (PV,
renewable generation Wind)
• Shutdown of coal power • More dynamic loads (Air
plants conditioners, VFD motors)
• HVDC
• FACTS
3
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
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Two main challenges in power system dynamic 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
Thévenin
equivalent
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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
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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
120
1⁄
Y
N
1 1 1
1
1
0 0
0 0 ⁄
0 0
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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
(1) (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)
I EMT ( t ) 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 ) )
Negative sequence : =0
Zero sequence : =0
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Interaction protocol
• Interactions between the two simulators
I120
EMT (t )
V abc
T (t )
Serial Parallel
Combined
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Implementation of the Two Interaction Protocols
(1)
Serial protocol
(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 x(t T )
V 120
TS (t T )
0 g1 ( x(t T ), y((1)t T ) , I EMT
(1)
(t ) )
120
I EMT (t ) V abc
I (2)
V (2) T (t T ) VTS120(t T )
VTS120(t ) EMT ( t ) TS ( t T )
0 g2 ( y (2)
( t T ) ,I (2)
EMT ( t ) )
I (0) VTS(0)(t T )
120
EMT ( t )
0 g0 ( y (0)
,I (0)
)
I EMT (t )
( t T ) EMT ( t )
V abc
T (t T )
120 120
I EMT (t ) I EMT ( t T )
t x(t T ) t T
120
x(t ) V TS ( t )
120
VTS120(t ) I EMT (t )
VTS120(t T )
120
Parallel
I EMT (t )
V abc protocol
T (t )
120
120 I EMT ( t T )
I EMT ( t )
t t T 12
The fault-induced delayed voltage recovery problem
• What is FIDVR problem?
• 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.
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The FIDVR Problem
• FIDVR has mainly been studied using CMPLDW and positive-sequence TS
simulation programs
• Limitations of the CMPLDW model
Limited representation of distribution systems and DGs
Performance-based 1- ϕ A/C compressor motor model
Point-on-wave (POW) effects cannot be considered
Not suitable for cases involving unbalanced conditions
• The issues above can be overcome by hybrid simulation
Load Bus
Fb Bfdr M Motor C
Bss
(1-Fb) Bfdr M Motor D
UVLS
UFLS Electronic
DG
Static
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Case A: fault POW at voltage zero crossing
SLG
Voltage (pu)
Voltage (pu)
Voltage (pu)
Fault point
Voltage (pu)
Measurement
location
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Case A: responses of A/C motors phase A phase B phase C
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)
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 power
Real and reactive
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 Mechanical torque
50 Mechanical torque
50 Mechanical torque
0 0 0
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The Point-On-Wave Effects
Case B: POW at the peak of phase A voltage waveform (90 degrees)
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Case B: responses of A/C motors
1 1 1
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)
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
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
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PSLF simulation results using CMPLDW
Vstall = 0.6 pu
Tstall = 0.033 s
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Application of hybrid simulation to power systems interfaced
with a LCC-HVDC system
• HVDC system
CIGRE HVDC model
Rated power: 1000 MW
The inverter is connected to bus 39
• EMT simulation
The whole system
time step : 50 µs
• Hybrid simulation
The HVDC system is modeled in detail in
PSCAD
EMT time step : 50 µs
TS time step: 5 ms
• Scenario: A SLG fault is applied at
bus 39 at 3.0 s, cleared after 4 cycles
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Application of hybrid simulation to power systems
interfaced with a LCC-HVDC system
1.5
10 EM T-TS EMT-TS
Phase A
Current(kA)
PSCAD 1 PSCAD
5
0 0.5
V dc (pu)
0.3
2.95 3 3.05 3.1 3.15 3.2 0 0.2
10
0.1
EM T-TS
Phase B -0.5 0
Current(kA)
PSCAD
5
3.07 3.08 3.09
-1
0 2.95 3 (a) 3.05 3.1 3.15 3.2
4
2.95 3 3.05 3.1 3.15 3.2 EMT-TS
10 2 PSCAD
Idc (pu)
EM T-TS
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
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Application of hybrid simulation to power systems
interfaced with a LCC-HVDC system
EM T-TS PSCAD
5 1.5
Current (kA)
PSCAD
0 EM T-TS
1
0.5 1.2
0 1
-5 0.8
2.95 3 3.05 3.1 3.15 3.2 0
10 0.6
Current (kA)
0 1 PSCAD
0.8 EM T-TS
Commutation
1 0.4
0
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)
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Applied to power systems interfaced with HVDC
Scenario: a single-line-to-
ground(SLG) fault is applied on
bus 29 (AC bus of the rectifier)
at 1.0 s and cleared after 0.05 s
Response of VSC-HVDC
rectifier to the fault:
(a) Real power
(b) Reactive power flowing into
the rectifier
(c) DC voltage
(d) DC current
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Applied to power systems interfaced with HVDC
• Positive sequence
voltage of bus 25
(within the external
system)
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Integrated T&D system modeling
• Physically:
• Distribution systems : in general, 3-phase unbalanced
• Transmission system: 3-phase reasonably balanced
• Conditions at boundary between T&D: 1) reasonably balanced under normal operating
conditions; 2) could be significantly unbalanced during and post contingency
• Modeling
Distribution Distribution
(3-phase) (3-phase)
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Integrated T&D power flow (TDPF)
Master-slave splitting method
• Iteratively solve power flow for the transmission and the distribution
systems
Transmission system power flow
• Positive sequence: conventional power flow
• Negative- and zero- sequence: network solution (I=YV)
Distribution system power flow
• 3-phase power flow: backward/forward sweep algorithm
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T&D dynamic simulation based on the Multi-Area Thévenin
Equivalent (MATE) approach
• Partitioned dynamic simulation method: used in PSS/E and PSLF
, Integration step
, Network Solution step
• Main challenges lie in the network solution step
• The MATE [4] approach is employed in the network solution step
Integrated T&D
power flow
Consider unbalanced
fault(s) in transmission
system
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Conclusions
• A normally cleared SLG fault could result in A/C motor stalling
and propagation to the non-faulted phase, depending on the
connection of step-down transformers
• A/C compressor motors could take a much longer time than 2-5
cycles (typical Tstall value) to stall when the equivalent
impedances between the fault point and A/C motors are large.
• The point-on-wave effects deserve more attention as different
POWs could lead to significantly different results in terms of
A/C motor stalling.
• OpenHybridSim, the first open-source tool for EMT and phasor
domain hybrid simulation, has been developed and is available
from: https://github.com/OpenHybridSim
• A modeling framework and power flow and dynamic
simulation algorithms for integrated T&D systems have been
developed
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Publication
Qiuhua Huang, V. Vittal, “Application of
Electromagnetic Transient-Transient Stability Hybrid
Simulation to FIDVR Study,” IEEE Transactions on
Power Systems, Vol. 31, No. 4, pp. 2634-2646, July
2016.
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Questions?
Vijay Vittal
([email protected])
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