(cid:2) TransientAnalysisofPowerSystems (cid:2) (cid:2) (cid:2) (cid:2) Transient Analysis of Power Systems APracticalApproach Editedby JuanA.Martinez-Velasco RetiredProfessor PolytechnicUniversityofCatalonia Barcelona Spain (cid:2) (cid:2) (cid:2) (cid:2) Thiseditionfirstpublished2020 ©2020JohnWiley&SonsLtd Allrightsreserved.Nopartofthispublicationmaybereproduced,storedinaretrievalsystem,ortransmitted,inany formorbyanymeans,electronic,mechanical,photocopying,recordingorotherwise,exceptaspermittedbylaw. Adviceonhowtoobtainpermissiontoreusematerialfromthistitleisavailableathttp://www.wiley.com/go/ permissions. TherightofJuanA.Martinez-Velascotobeidentifiedastheauthoroftheeditorialmaterialinthisworkhasbeen assertedinaccordancewithlaw. 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LibraryofCongressCataloging-in-PublicationData Names:Martinez-Velasco,JuanA.,editor. Title:Transientanalysisofpowersystems:apracticalapproach/edited byJuanA.Martinez-Velasco,RetiredProfessor,PolytechnicUniversity ofCatalonia,Barcelona,Spain. Description:Hoboken,NJ:Wiley-IEEEPress,2020.|Includes bibliographicalreferencesandindex. Identifiers:LCCN2019027811(print)|LCCN2019027812(ebook)|ISBN 9781119480532(hardback)|ISBN9781119480303(adobepdf)|ISBN 9781119480495(epub) Subjects:LCSH:Transients(Electricity)–Simulationmethods. Classification:LCCTK3226.T762020(print)|LCCTK3226(ebook)|DDC 621.319/21–dc23 LCrecordavailableathttps://lccn.loc.gov/2019027811 LCebookrecordavailableathttps://lccn.loc.gov/2019027812 CoverDesign:Wiley CoverImage:©kentoh/Shutterstock Setin10/12ptWarnockProbySPiGlobal,Chennai,India 10 9 8 7 6 5 4 3 2 1 (cid:2) (cid:2) v Contents AbouttheEditor xv ListofContributors xvii Preface xix AbouttheCompanionWebsite xxi 1 IntroductiontoTransientsAnalysisofPowerSystemswithATP 1 JuanA.Martinez-Velasco 1.1 Overview 1 1.2 TheATPPackage 3 1.3 ATPDocumentation 5 1.4 ScopeoftheBook 6 (cid:2) References 8 (cid:2) 2 ModellingofPowerComponentsforTransientsStudies 11 JuanA.Martinez-Velasco 2.1 Introduction 11 2.2 OverheadLines 12 2.2.1 Overview 12 2.2.2 Multi-conductorTransmissionLineEquationsandModels 13 2.2.2.1 TransmissionLineEquations 13 2.2.2.2 CoronaEffect 15 2.2.2.3 LineConstantsRoutine 15 2.2.3 TransmissionLineTowers 16 2.2.4 TransmissionLineGrounding 17 2.2.4.1 Introduction 17 2.2.4.2 Low-FrequencyModels 17 2.2.4.3 High-FrequencyModels 18 2.2.4.4 TreatmentofSoilIonization 20 2.2.5 TransmissionLineInsulation 21 2.2.5.1 Voltage-TimeCurves 21 2.2.5.2 IntegrationMethods 22 2.2.5.3 PhysicalModels 22 2.3 InsulatedCables 23 2.3.1 Overview 23 2.3.2 InsulatedCableDesigns 24 2.3.3 BondingTechniques 25 2.3.4 MaterialProperties 26 2.3.5 Discussion 27 (cid:2) (cid:2) vi Contents 2.3.6 CableConstants/ParametersRoutines 27 2.4 Transformers 28 2.4.1 Overview 28 2.4.2 TransformerModelsforLow-FrequencyTransients 31 2.4.2.1 IntroductiontoLow-FrequencyModels 31 2.4.2.2 Single-PhaseTransformerModels 32 2.4.2.3 Three-PhaseTransformerModels 36 2.4.3 TransformerModellingforHigh-FrequencyTransients 37 2.4.3.1 IntroductiontoHigh-FrequencyModels 37 2.4.3.2 ModelsforInternalVoltageCalculation 39 2.4.3.3 TerminalModels 41 2.5 RotatingMachines 45 2.5.1 Overview 45 2.5.2 RotatingMachineModelsforLow-FrequencyTransients 46 2.5.2.1 Introduction 46 2.5.2.2 ModellingofInductionMachines 46 2.5.2.3 ModellingofSynchronousMachines 51 2.5.3 High-FrequencyModelsforRotatingMachineWindings 55 2.5.3.1 Introduction 55 2.5.3.2 InternalModels 56 2.5.3.3 TerminalModels 58 2.6 CircuitBreakers 58 2.6.1 Overview 58 2.6.2 CircuitBreakerModelsforOpeningOperations 59 (cid:2) (cid:2) 2.6.2.1 CurrentInterruption 59 2.6.2.2 CircuitBreakerModels 60 2.6.2.3 Gas-FilledCircuitBreakerModels 61 2.6.2.4 VacuumCircuitBreakerModels 62 2.6.3 CircuitBreakerModelsforClosingOperations 64 2.6.3.1 Introduction 64 2.6.3.2 StatisticalSwitches 65 2.6.3.3 PrestrikeModels 66 Acknowledgement 66 References 66 3 SolutionTechniquesforElectromagneticTransientAnalysis 75 JuanA.Martinez-Velasco 3.1 Introduction 75 3.2 ModellingofPowerSystemComponentsforTransientAnalysis 76 3.3 SolutionTechniquesforElectromagneticTransientsAnalysis 78 3.3.1 Introduction 78 3.3.2 SolutionTechniquesforLinearNetworks 78 3.3.2.1 TheTrapezoidalRule 78 3.3.2.2 CompanionCircuitsofBasicCircuitElements 79 3.3.2.3 ComputationofTransientsinLinearNetworks 85 3.3.2.4 Example:TransientSolutionofaLinearNetwork 86 3.3.3 NetworkswithNonlinearElements 87 3.3.3.1 Introduction 87 3.3.3.2 CompensationMethods 87 (cid:2) (cid:2) Contents vii 3.3.3.3 PiecewiseLinearRepresentation 89 3.3.4 SolutionMethodsforNetworkswithSwitches 90 3.3.5 NumericalOscillations 91 3.4 TransientAnalysisofControlSystems 96 3.5 Initialization 97 3.5.1 Introduction 97 3.5.2 InitializationofthePowerNetwork 97 3.5.2.1 OptionsforSteady-StateSolutionWithoutHarmonics 97 3.5.2.2 Steady-StateSolution 98 3.5.3 LoadFlowSolution 99 3.5.4 InitializationofControlSystems 100 3.6 Discussion 100 3.6.1 SolutionTechniquesImplementedinATP 101 3.6.2 OtherSolutionTechniques 101 3.6.2.1 TransientSolutionofNetworks 101 3.6.2.2 TransientAnalysisofControlSystems 102 3.6.2.3 Steady-StateInitialization 102 Acknowledgement 103 References 103 ToProbeFurther 106 4 TheATPPackage:CapabilitiesandApplications 107 JuanA.Martinez-VelascoandJacintoMartin-Arnedo (cid:2) 4.1 Introduction 107 (cid:2) 4.2 CapabilitiesoftheATPPackage 108 4.2.1 Overview 108 4.2.2 TheSimulationModule–TPBIG 109 4.2.2.1 Overview 109 4.2.2.2 ModellingCapabilities 110 4.2.2.3 SolutionTechniques 117 4.2.3 TheGraphicalUserInterface–ATPDraw 120 4.2.3.1 Overview 120 4.2.3.2 MainFunctionalities 120 4.2.3.3 SupportingModulesforPowerSystemComponents 123 4.2.4 ThePostprocessor–TOP 125 4.2.4.1 DataManagement 125 4.2.4.2 DataDisplay 126 4.2.4.3 DataProcessing 127 4.2.4.4 DataFormatting 127 4.2.4.5 GraphicalOutput 127 4.3 Applications 128 4.4 IllustrativeCaseStudies 129 4.4.1 Introduction 129 4.4.2 CaseStudy1:OptimumAllocationofCapacitorBanks 130 4.4.3 CaseStudy2:ParallelResonanceBetweenTransmissionLines 132 4.4.4 CaseStudy3:SelectionofSurgeArresters 133 4.5 Remarks 136 References 136 ToProbeFurther 138 (cid:2) (cid:2) viii Contents 5 IntroductiontotheSimulationofElectromagneticTransientsUsingATP 139 JuanA.Martinez-VelascoandFranciscoGonzález-Molin 5.1 Introduction 139 5.2 InputDataFileUsingATPFormats 140 5.3 SomeImportantIssues 142 5.3.1 BeforeSimulatingtheTestCase 142 5.3.1.1 SettingUpaSystemModel 142 5.3.1.2 TopologyRequirements 142 5.3.1.3 SelectionoftheTime-StepSizeandtheSimulationTime 143 5.3.1.4 Units 143 5.3.1.5 OutputSelection 144 5.3.2 AfterSimulatingtheTestCase 144 5.3.2.1 VerifyingtheResults 144 5.3.2.2 DebuggingSuggestions 144 5.4 IntroductoryCases.LinearCircuits 145 5.4.1 TheSeriesandParallelRLCCircuits 145 5.4.2 TheSeriesRLCCircuit:EnergizationTransient 145 5.4.2.1 TheoreticalAnalysis 145 5.4.2.2 ATPImplementation 147 5.4.2.3 SimulationResults 148 5.4.3 TheParallelRLCCircuit:De-energizationTransient 150 5.4.3.1 TheoreticalAnalysis 150 5.4.3.2 ATPImplementation 152 5.4.3.3 SimulationResults 153 (cid:2) (cid:2) 5.5 SwitchingofCapacitiveCurrents 155 5.5.1 Introduction 155 5.5.2 SwitchingTransientsinSimpleCapacitiveCircuits–DCSupply 155 5.5.2.1 EnergizationofaCapacitorBank 155 5.5.2.2 EnergizationofaBack-to-BackCapacitorBank 157 5.5.3 SwitchingTransientsinSimpleCapacitiveCircuits–ACSupply 159 5.5.3.1 EnergizationofaCapacitorBank 159 5.5.3.2 EnergizationofaBack-to-BackCapacitorBank 160 5.5.3.3 ReclosingintoTrappedCharge 162 5.5.4 DischargeofaCapacitorBank 164 5.6 SwitchingofInductiveCurrents 168 5.6.1 Introduction 168 5.6.2 SwitchingofInductiveCurrentsinLinearCircuits 168 5.6.2.1 InterruptionofInductiveCurrents 168 5.6.2.2 VoltageEscalationDuringtheInterruptionofInductiveCurrents 170 5.6.2.3 CurrentChopping 172 5.6.2.4 MakingofInductiveCurrents 175 5.6.3 SwitchingofInductiveCurrentsinNonlinearCircuits 176 5.6.4 TransientsinNonlinearReactances 178 5.6.4.1 InterruptionofanInductiveCurrent 180 5.6.4.2 EnergizationofaNonlinearReactance 181 5.6.5 Ferroresonance 184 5.7 TransientAnalysisofCircuitswithDistributedParameters 187 5.7.1 Introduction 187 5.7.2 TransientsinLinearCircuitswithDistributed-ParameterComponents 187 (cid:2) (cid:2) Contents ix 5.7.2.1 EnergizationofLinesandCables 187 5.7.2.2 TransientRecoveryVoltageDuringFaultClearing 191 5.7.3 TransientsinNonlinearCircuitswithDistributed-ParameterComponents 195 5.7.3.1 SurgeArresterProtection 195 5.7.3.2 ProtectionAgainstLightningOvervoltagesUsingSurgeArresters 196 References 201 Acknowledgement 202 ToProbeFurther 202 6 CalculationofPowerSystemOvervoltages 203 JuanA.Martinez-VelascoandFerleyCastro-Aranda 6.1 Introduction 203 6.2 PowerSystemOvervoltages:CausesandCharacterization 204 6.3 ModellingforSimulationofPowerSystemOvervoltages 206 6.3.1 Introduction 206 6.3.2 ModellingGuidelinesforTemporaryOvervoltages 207 6.3.3 ModellingGuidelinesforSlow-FrontOvervoltages 208 6.3.3.1 LinesandCables 208 6.3.3.2 Transformers 208 6.3.3.3 Switchgear 208 6.3.3.4 CapacitorsandReactors 209 6.3.3.5 SurgeArresters 209 6.3.3.6 Loads 210 (cid:2) (cid:2) 6.3.3.7 PowerSupply 210 6.3.4 ModellingGuidelinesforFast-FrontOvervoltages 210 6.3.4.1 OverheadTransmissionLines 210 6.3.4.2 Substations 212 6.3.4.3 SurgeArresters 213 6.3.4.4 Sources 214 6.3.5 ModellingGuidelinesforVeryFast-FrontOvervoltagesinGasInsulated Substations 214 6.4 ATPCapabilitiesforPowerSystemOvervoltageStudies 216 6.5 CaseStudies 216 6.5.1 Introduction 216 6.5.2 Low-FrequencyOvervoltages 216 6.5.2.1 CaseStudy1:ResonanceBetweenParallelLines 217 6.5.2.2 CaseStudy2:FerroresonanceinaDistributionSystem 219 6.5.3 Slow-FrontOvervoltages 225 6.5.3.1 CaseStudy3:TransmissionLineEnergization 227 6.5.3.2 CaseStudy4:CapacitorBankSwitching 238 6.5.4 Fast-FrontOvervoltages 243 6.5.4.1 CaseStudy5:LightningPerformanceofanOverheadTransmissionLine 244 6.5.5 VeryFast-FrontOvervoltages 261 6.5.5.1 CaseStudy6:OriginofVeryFast-FrontTransientsinGIS 262 6.5.5.2 CaseStudy7:PropagationofVeryFast-FrontTransientsinGIS 263 6.5.5.3 CaseStudy8:VeryFast-FrontTransientsina765kVGIS 267 References 270 ToProbeFurther 274 (cid:2) (cid:2) x Contents 7 SimulationofRotatingMachineDynamics 275 JuanA.Martinez-Velasco 7.1 Introduction 275 7.2 RepresentationofRotatingMachinesinTransientsStudies 275 7.3 ATPRotatingMachinesModels 276 7.3.1 Background 276 7.3.2 Built-inRotatingMachineModels 276 7.3.3 RotatingMachineModelsforFastTransientsSimulation 278 7.4 SolutionMethods 278 7.4.1 Introduction 278 7.4.2 Three-PhaseSynchronousMachineModel 278 7.4.3 UniversalMachineModule 281 7.4.4 WindSyn-BasedModels 284 7.5 ProceduretoEditMachineDataInput 284 7.6 CapabilitiesofRotatingMachineModels 285 7.7 CaseStudies:Three-PhaseSynchronousMachine 287 7.7.1 Overview 287 7.7.2 CaseStudy1:Stand-AloneThree-PhaseSynchronousGenerator 288 7.7.3 CaseStudy2:LoadRejection 288 7.7.4 CaseStudy3:TransientStability 298 7.7.5 CaseStudy4:SubsynchronousResonance 302 7.8 CaseStudies:Three-PhaseInductionMachine 309 7.8.1 Overview 309 7.8.2 CaseStudy5:InductionMachineTest 310 (cid:2) (cid:2) 7.8.3 CaseStudy6:TransientResponseoftheInductionMachine 313 7.8.3.1 FirstCase 314 7.8.3.2 SecondCase 314 7.8.3.3 ThirdCase 318 7.8.4 CaseStudy7:SCIM-BasedWindPowerGeneration 323 References 328 ToProbeFurther 331 8 PowerElectronicsApplications 333 JuanA.Martinez-VelascoandJacintoMartin-Arnedo 8.1 Introduction 333 8.2 ConverterModels 334 8.2.1 SwitchingModels 334 8.2.2 DynamicAverageModels 334 8.3 PowerSemiconductorModels 335 8.3.1 Introduction 335 8.3.2 IdealDeviceModels 335 8.3.3 MoreDetailedDeviceModels 335 8.3.4 ApproximateModels 336 8.4 SolutionMethodsforPowerElectronicsStudies 337 8.4.1 Introduction 337 8.4.2 Time-DomainTransientSolution 337 8.4.3 Initialization 338 8.5 ATPSimulationofPowerElectronicsSystems 338 8.5.1 Introduction 338 8.5.2 SwitchingDevices 339 (cid:2) (cid:2) Contents xi 8.5.2.1 Built-inSemiconductorModels 339 8.5.2.2 Custom-madeSemiconductorModels 340 8.5.3 PowerElectronicsSystems 342 8.5.4 PowerSystems 343 8.5.5 ControlSystems 343 8.5.6 RotatingMachines 344 8.5.6.1 Built-inRotatingMachineModels 344 8.5.6.2 Custom-madeRotatingMachineModels 344 8.5.7 SimulationErrors 345 8.6 PowerElectronicsApplicationsinTransmission,Distribution,Generationand StorageSystems 345 8.6.1 Overview 345 8.6.2 TransmissionSystems 346 8.6.3 DistributionSystems 346 8.6.4 DERSystems 347 8.7 IntroductiontotheSimulationofPowerElectronicsSystems 349 8.7.1 Overview 349 8.7.2 One-SwitchCaseStudies 350 8.7.3 Two-SwitchesCaseStudies 351 8.7.4 ApplicationoftheGIFURequest 355 8.7.5 SimulationofPowerElectronicsConverters 361 8.7.5.1 Single-phaseInverter 361 (cid:2) (cid:2) 8.7.5.2 Three-phaseLine-CommutatedDiodeBridgeRectifier 362 8.7.6 Discussion 365 8.8 CaseStudies 367 8.8.1 Introduction 367 8.8.2 CaseStudy1:Three-phaseControlledRectifier 367 8.8.3 CaseStudy2:Three-phaseAdjustableSpeedACDrive 369 8.8.4 CaseStudy3:Digitally-controlledStaticVARCompensator 373 8.8.4.1 TestSystem 375 8.8.4.2 ControlStrategy 375 8.8.5 CaseStudy4:UnifiedPowerFlowController 382 8.8.5.1 Configuration 382 8.8.5.2 Control 382 8.8.5.3 Modelling 384 8.8.5.4 ATPDrawImplementation 385 8.8.5.5 SimulationResults 385 8.8.6 CaseStudy5:SolidStateTransformer 386 8.8.6.1 Introduction 386 8.8.6.2 SSTConfiguration 388 8.8.6.3 ControlStrategies 388 8.8.6.4 TestSystemandModellingGuidelines 393 8.8.6.5 CaseStudies 396 Acknowledgement 399 References 399 ToProbeFurther 404 (cid:2)