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13/02/2010
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PSCAD : POWER SYSTEM SIMULATOR
Copyright 2005
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WELCOME TO THE PSCAD INTRODUCTORY TRAINING COURSE
I General Features
II First steps with PSCAD
III Introduction on control systems
IV Breakers & Faults
SUMMARY
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V Switching & Interpolation
VI Transformers in PSCAD
VII Rotating Machines in PSCAD
VIII Transmission Lines & PSCAD
IX User Component
X Organizing the Worksheet
XI Matlab Interface
I General Features
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I General Features
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PSCAD: General Features
Load Flow / Transient Stability Each solution based on phasor calculationsSequential time domain calculations
Electro-Magnetic Transients = PSCADDirect time domain solution of Differential EquationsTrapezoidal integration
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calculations
R LII
V
( ) [ ] ⎟⎠⎞
⎜⎝⎛+×=
dtdILRtItV )(
Selection of Simulation Tools
Stability/Load Flow Tools(Phasor Solutions)Valid only for Steady State and Low Frequency Swings
Transients Tools (PSCAD)(Time Solutions)Valid Over a Wide Frequency Range Detailed Analog and Digital
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Simplified Controls (approximated as S functions)Steady State Equations for HVDCEfficient for Large Systems
Detailed Analog and Digital ControlsDetailed Switching of Thyristors, Diodes, GTO’sHarmonicsTransient Overvoltages, Lightning ImpulsesMachine Dynamics
Transient vs Steady State
Transient solutionHarmonicsNon-linearitiesFrequency dependent effects
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Steady state solutionRMS Value
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Typical studies
Find the over voltages in a power system due to a fault or a breaker operationOver voltages due to lightening strikesFind the harmonics generated by Power electronic devices (SVC,HVDC link, STATCOM, Machine drives)
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Tune and design control systems for maximum performanceInvestigate sub synchronous resonance (SSR)Study the interaction between the SVC,HVDC links and other non linear devices.Variable speed drivesIndustrial systems
Typical studies- Power Quality
• Grounding methods• Over-voltages due to switching• Voltage sags• Iron saturation – inrush• Performance of FACTS devices
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• Ferro resonance• Active and passive filters• Distributed generation • Flicker• Variable speed drives and related harmonics• Industrial systems
PSCAD: Simulation Theory
Based on Dommel’s representation of power system components
Admittance matrix based
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[i] = [Y] [v]
[i] – Node current injection matrix[v] – Node voltage matrix[Y] – System Admittance matrix
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PSCAD: Simulation Theory
Example: How an inductance is modelled ?
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Integration of components to form the system
PSCADCompiles the circuit draft to form the FORTRAN fileDefines the Y matrix (map file)Subroutines are called to compute R and I of models at
a given time step
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EMTDC : ♦ Solves for node voltage based on Y and I values♦ Increments the time step
FILES : ♦ PSCAD shematics: *.psc file♦ directory *.emt : contains data file, map file, line.* files, output files
PSCAD: Specifications
PSCAD needs a Fortran Compiler to run:Compaq Visual Fortran V5 or V6 (Intel Fortran Compiler v9)
Th f GNU F77 il i d li d ith PSCAD
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The free GNU F77 compiler is delivered with PSCAD: Limitations
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PSCAD: Limits
Professional edition GNUFORTRAN
F77
CompaqVisual
FORTRAN( V5 ou V6)
Electrical Nodes 200 UnlimitedElectrical branches 2000 Unlimited
Sub-pages 25 Unlimited
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Sub pages 25 UnlimitedT-Lines/Cables 50 UnlimitedTransformers 70 Unlimited
Educational editionElectrical Nodes 200
Electrical branches 2000Sub-pages 25
II First steps with PSCAD
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II First steps with PSCAD
PSCAD Workspace
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Menu « Edit - Workspace Settings »
Fortran:
Select your FORTRAN compiler
Matlab:
Choose your MATLAB version
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and the corresponding libraries
License:
Licensing info and installation
Preferences:….
PSCAD: Step by step
1) Create or load a project2) Select the components from the library3) Define the components and connect them with wires4) If d d d i t l d i
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4) If needed, prepare dynamic control devices5) Prepare plotting and metering tools6) Parameterize the simulation => time step,
parameters...
Create Projects
To create a new case: [File][New][Case]or :
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To load an existing project: [File] [Load Project]
or :
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Activate Projects
To activate a project: Click on the project name then
[Set as active]: The project name becomes blue
Only one project is active
Only an active project can be run and saved
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Only an active project can be run and saved
Access to the Master Library
All the PSCAD components are saved in the MASTER LIBRARY
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Define components
Component parameters Window (e.g: Synchronous machine)
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On Line Help
[Help][Table of Contents]
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Or directly click on the [Help] button from the dialog box of a component
On Line Help
Detailed information on:
♦ Master Library
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Library Models
♦ Solver structure
♦ Index, etc.
Measurement
In component parameters window, define a name to measure internal variables:
(eg: Output voltage of 3 phase voltage source)
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«Multimeter » component to measure: v,i,P,Q,Vrms,theta…. anywhere in the model
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Plotting Devices
Overlay Graphs
Polygraphs
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Meters
Plotting Curves/Metering
• Step 1 : Measurement
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Plotting Curves/Metering
• Step 2: Select the « Output channel » component and link with the measured value
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Plotting Curves
•Step 3a : [Right Click] on the « Output channel » and :
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Plotting Curves
•Step 3b ( if the graph is already created) :
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Metering
•Steps 1 & 2 are the same: Prepare the output Channel
•Step 3 : Select the « Control Panel » component
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Metering
Step 4: [Input/Output Reference] from the output channel
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Then [Paste] on the control Panel
Plotting Curves/Metering
•The « Output channel » component allows to define characteristics for the display of the measured value : (Title, Scale Factor, Unit,etc...
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Project Settings Menu
Duration of the Simulation
Solver Time Step
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Plotting Time Step
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How to export results ?
1) Copy results from one graph to Excel or text files
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How to export results ?
In the project settings menu « Save Channels to disk »:
2) Save directly all the measured quantities in output files:
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Output files (text files) will be created in the *.emt directoryAssociated *.inf files can be directly opened in Livewire (offline PSCAD post processor)
Dynamic Control Devices
•Possibility to change dynamically (during the simulation) the values of parameters owing to several dynamic control devices:
•Slider:
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•Switch:
•Push Button:
•Dial:
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Dynamic Control Devices
•Step 1 : Select your control devices
Operating Mode: example with a slider
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Dynamic Control Devices
•Step 2 : Open the component and define the variation bracket
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Dynamic Control Devices
•Step 3 : Link it with the « manual » tool , the control pannel
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Dynamic Control Devices
Step 4: [Input/Output Reference] from the output channel
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Then [Paste] on the control Panel
Snapshot
A Snapshot allows to launch a simulation having initial conditions given by a previous simulation
1) Run a first initialization simulation until to reach the steady
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1) Run a first initialization simulation until to reach the steady state and save results in a snapshot file
2) Launch transient simulations starting from snapshot files
Snapshot : Operating mode
1) First simulation: Standard Startup Method2) Define the snapshot time & File and run the initialisation simulation
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3) Transient simulation: From snapshot file Startup Method:
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Multiple run Simulations
To run several times consecutively one case with different values of parameters
To find the best parameter values or the « worst case » (fault study)
Insert the following component directly in your project:
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Parameters of the project which are monitored in the multiple solution
Measured values which will be recorded in the multiple run output file *.out
Multiple run : Operating mode
Specify the parameters variation law of the monitored parameters
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Type of variation: list,sequential or random
Boolean, Real or Integer ?
List of values
Multiple run : Operating mode
Specify the recorded quantities
N b f d d
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Number of recorded quantity
Data allowing to find the optimal run
Recorded quantity:integer, real or boolean ?
Possibility to record Max(x),Min(x) or « x » itself
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III Introduction on control systems
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systems
Variable parameters
Variable parameters in PSCAD:
♦ Control signals for Power electronic devices
♦ Control signals for Breakers and Faults
♦ Electrical quantities externally controlled
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( eg: Voltage Source Magnitude, RLC values,…)
Possibilities to design control systems with:
♦ mathematical function blocks
♦ sequencers
♦ user interactive control tools
Control Blocks
Control system is defined by connecting:
♦ Constants and Time inputs
♦ Sinusoidal functions
♦ Comparators
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♦ Transfer functions
♦ Min, max…
♦ Look up table
♦ Filters
♦ …..
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Control Blocks
Example:
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Sequencers
State graph form:
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IV Breakers & Faults
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Breaker model
Single phase breaker: 1 model - 2 display
Low voltage display High Voltage display
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Three phase breaker: 1 model - 3 display
o o tage d sp ay g o tage d sp ay
Low voltage display High Voltage display (single line)
Breaker: Parameters
Name, Roff, Ron
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Possibility to define pre and post insertion resistances
Single pole operation: possibility to operate each phase separately
Breakers Control
Predefine the initial state and operation time in the « Timed Breaker Logic » component:
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Link the breaker with a user interactive control tool:
Link with a sequencer:
Define its state (1 or 0) with another control block:
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Fault model
Single phase fault:
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Three phase fault:
Three phase view Single line view
= 2 state switching resistors
RON,ROFF
Fault control
Define the fault duration ant the time to apply fault in the « Timed Fault Logic » component:
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Dynamic control tools
Sequencers:
Control blocks ( 0: fault removed ; 1 :fault applied)
Fault control
If the option «external» control is selected,
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the fault type can also be externally monitored:
Fault type table :
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V Switching & Interpolation
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Semi-Conductors Models
Available Semi-conductors models in the PSCAD Master
Library :
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Library :
Semi-Conductors Models
Common representation of semi_conductors: RON/ROFF
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with parallel snubber circuit or not
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Diode characteristic
Parameters:Ron/Roff values
F d V lt D V l
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Forward Voltage Drop Value
Snubber Circuit Resistance & Capacitance
Note: The reverse recovery time of the diode is assumed zero
Thyristor characteristic
Parameters:Ron/Roff values
Forward Voltage Drop Value
The Forward Break-Over Voltage:Device will be forced into conduction if this
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voltage is exceeded (with or without a gate pulse) [kV]
The Reverse Withstand Voltage:
Device will be forced into conduction in the reverse direction
if this voltage is exceeded [kV]
The minimum extinction Time (min of δt between Roff and Ron)
Snubber Circuit Resistance & Capacitance
GTO/IGBT characteristic
Same characteristics as for the thyristor
TURN OFF i l t b it d
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TURN OFF signal to be monitored
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Power Electronic Switching & Time step
PSCAD has a fixed Time Step
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Control system need a small time step to switch at exact instant :
=> « Interpolation method »
Interpolation Method
Current crosses zero
t1y1
y1 y2−
dt
y1
t1:=
y
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t- dt t
y2
Current crossing time t1 can be estimated
Interpolation Method
1
tt1
3
4 56 7
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t
t
2
3
1 – ON2 – ON (wrong)3 – ON (interpolate 1 &2)
4 – OFF (new G matrix)5 – dt ahead from 46 – interpolate 4 & 5
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Interpolation Method
Advantages of this method:
Accuracy: Switching is made at the ‘exact’ instant
F t C b t l ti t d i t i
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Fast: Can be run at a larger time step and maintain accurate results
VI Transformers in PSCAD
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PSCAD & Transformers
Two different models for power Voltage Transformer:
«Classical» models: single and 3phase
«UMEC» models: single and 3 phase
Available in the PSCAD Master Library:
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Current Transformers (JA Model, Lucas Model)
Coupled capacitor voltage transformer
Coactively coupled voltage transformer
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Classical Models
Classical models:
Single phase: 2 or 3 windings
3 phase: 2,3 or 4 windings, autotransformers
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p , g ,
No mutual coupling between the 3 phases
=> equivalent to 3 single phase units
Representing transformers as coupled coilsMutual inductance: Flux linkage
Self inductance: Leakage inductance & Magnetizing inductance
Classical Models
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UMEC models
Unified Magnetic Equivalent Circuit:
Take the geometry of the core
into account (ly,lw,Ay,Aw)
Mutual coupling between the
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Equivalent to classical models but the inductances are dependent of the core dimensions: Lij(ly,lw,Ay,Aw)
Mutual coupling between the
different phases are
considered
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UMEC models
Single Phase Models: 2,3 or 4 windings
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Three Phase models: 2 windings/phase with 3 or 5 limbs
Equivalent Circuit
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L1,L2: Positive Sequence Leakage reactance
L12 : Magnetizing Inductance
R1,R2: Copper Losses
Iron Losses : Shunt resistance with L12
Parameters
Voltages levels at the primary and secondary side
( not only a ratio ! Important for p.u computations)
Apparent Power (MVA)
Wi di t ( Y )
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Winding types ( Y or )
Possibility to modify dynamically the turns ratio during simulation as a « Tap changer »
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Parameters
Positive sequence leakage reactance (pu): L1+L2
(from short-circuit test)
Magnetizing Current (pu): % of rated
current => L12 (from open-circuit test)
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( p )
No load losses (pu): Core losses
Copper losses (pu): resistance of windings : R1+R2
All parameters of the equivalent circuit are defined in per unit
(i.e / Zbase ) :
Zbase=V1*V2 / Sn
« Ideal Model »
User can select an « ideal » model or not for the transformer:
'Ideal' means that the magnetizing branch has been eliminated in the equivalent circuit:
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equivalent circuit:
1) Very small magnetizing current ( << 1%) => numerically more efficient and stable to neglect the
magnetizing inductance in the equivalent circuit
Why choosing Ideal Model ?
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2) To consider non linearities in the core, useful for:Harmonic distorsion studiesTransformer inrush studiesFerroresonance phenomena studies
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Representing saturation
In PSCAD, saturation is represented with a compensating current source injection across the selected winding
The magnetizing branch is replaced by a non linear magnetizing current source
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Flux linkage
Mag. Current
λ
Im1 Im2
User define parameters for the curve V (Is):
Knee voltage (generally 1.15 to 1.25 pu)
Slope: Air core reactance (generally 2*leakage reactance)
Dynamic parameters (Time constants)
Saturation in Classical approach
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y a c pa a ete s ( e co sta ts)
VII Rotating Machines in PSCAD
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g
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Introduction to Electric Machines
• Induction Machine:• 2 models: Squirell Cage and Wound Rotor
• DC Machine: 2 winding models
• Synchronous Machine : 2 models available: Wound rotor or Permanent
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Synchronous Machine : 2 models available: Wound rotor or Permanent Magnet model
• Full model of exciters and power system stabilizers can be associated to synchronous machine
• Turbine and Governors ( Steam, Hydro, Wind) models can be connected to the machine :• To compute precisely the mechanical effects• Multi-mass Model: to model Shaft Torsional effect
Electric Machine Simulation
Represented as a system of coupled coilseg: Salient pole synchronous machine – 6 coils
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Inductance Matrix [L] with rotor position dependent inductances
Electric Machine Simulation
The solution is based on admittance matrix:
[i] = [Y] [v]
=> Requires that [L] be inverted at each time step=> Slow and computational inefficiency
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The inductance matrix is converted from the ‘a-b-c phase reference frame’ to d-q-0 frame: Park Transformation
Mathematical transformationSymmetrical windings and linearity assumedSaturation is represented separately
p y
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Electric Machine Simulation
Machine data for simulation:
Obtained from tests or given by manufacturer
In a form suitable to be used in d-q based models:“Generator data format”: Classical parameters :
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Generator data format : Classical parameters : Reactances and Time constants:
D axis: Xd,X’d,X’’d,T’d0,T’’d0Qaxis: Xq,X’q,X’’q,T’q0,T’’q0
“Equivalent circuit data format”: Reactances and Resistances for d-axis and q-axis equivalent circuit
Shaft Torsional effect modelling
Interaction of the electrical and mechanical systems=> Multimass model connected to Synchronous generator
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T12 Te− J1tw1
dd⋅ D1 w1⋅+ D12 w1 w1−( )⋅+:=
t
T12 k12 θ2 θ1−( )⋅:= k
k12 θ2 θ1−( )⋅ Te− D1 w1⋅− J1tw1
dd⋅:=
t
Synchronous machine initialization process
• To quickly and smoothly reach the steady state at a desired working point, user can :♦ Start the machine in « normal mode » but user has to set the proper
inital conditions: P0,Q0,Ef0,Tm0
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♦ Or use the initialization process implemented in PSCAD:1) Start the machine as a voltage source: Define V0 and �0 corresponding to the desired working point (P = 3*E*V* Sin � /X), the corresponding Ef0 is computed by PSCAD2) Then, enable the machine at locked rotor: Ef0 is now an input forthe machine exciter, the corresponding Tm0 is computed3) Then, enable the machine in « normal » mode, Tm0 is now aninput, the machine mechanical dynamics is enable
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VIII Transmission Lines & PSCAD
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Transmission Lines
Selection of a suitable model:
Available data: Geometric data or Parameters
Speed of simulation: Time step
Li l th F l t t h d d f K
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Line length: From several meters to hundred of Kms
Type of study: Fast transient, Low transient, RMS
Accuracy
Representing Transmission Lines
Equivalent circuit model:
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Travelling wave models:
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Equivalent circuit model
R,L and mutual inductances between wires
R,L
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Lumped parameters model
Travel time became small (compared to time step)
up to several Kms
To use for very short lines
Travelling Waves model
Travelling wave models: Propagation delay between sending end and receiving endFrom several to hundred of Kms
Bergeron Model: Accurate at a single frequency
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=> for Rms or low transient studies (fault analysis)
Frequency dependent models:accounts for the changes in line parameters due to frequency
- Phase model : Most accurate model available- Mode model: Older model (available for PSCAD V2
compatibility)
Travelling wave models
User represents:
The geometry of the corridor
Sag, ground wires
Conductor resistivity
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Co ducto es st ty
Ground resistivity
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Travelling wave models
Before the global simulation of the system, the parameters of the lines are computed : Line Constans Programs
Compute equivalent Shunt admittance Y and Series impedance Z
Reduced to Nth order Transfer functions
Curve Fitting for the frequency spectrum chosen by user
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For Bergeron model,
Manual entry is possible:
Curve Fitting for the frequency spectrum chosen by user
IX User Component
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p
EMTDC: Simplified Solving Process
Master DYNamics Subroutine DSDYN
Network Solution
t0
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OUTput Subroutinet1 =t0+δt
Network Solution
DSOUT
Output plots (meters, graphs)
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DSDYN: Solves control systems which will be used for the electrical network drive at the same time step
Network Solution: Solves electrical systems : [i] = [Y] [v]
EMTDC: Simplified Solving Process
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DSOUT: Same structure as DSDYN but specific use:
Solves control systems which will be used for the electrical network drive at the following time step
Computes quantities to be displayed in Meters & Graphs
Main advantages of EMTDC structure
1) Possibility to solve cases even if there is no electrical circuits (only control blocks): only DSDYN& DSOUT subroutines are used
2) U d di tl i t d i DSDYN DSOUT ti
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2) User code directly inserted in DSDYN or DSOUT sections: possibility to use all the existing EMTDC subroutines in order to design custom components easier
3) With the judicious use of DSDYN or DSOUT, user can decide to calculate control dynamics using pre or post solution quantities and avoid unnecessary time step delays
Create a component: General Steps
1) Create a library
2) Define the interface of the component
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3) Parameterize your component
4) Define the Code
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Create your own Library
First, you can preparate your own library:
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Then save it, open the file and create your components
Create the component
The component wizard is opening:
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Indicate:
The name of the component
The number of connections
Create the component
Indicate:
The connection name
The type of the connection: Electrical or C t l tit (i t
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Control quantity (input or output)
The type of the data: Logical, Real, Integer
The dimension (can be an array of several values)
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Create the component
Confirm...
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... then you obtain something like this:
Parametrize your component
« Edit Definition »
You access to a new window:
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the « component workshop », then select the tab « parameters
Select « New Category »
Parametrize your component
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Choose the name of your parameter
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Define « New control »
Parametrize your component
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Then, choose the type of variable that the user will have
the possibility to enter:
Text
Input Field (one value)
Choice Box
Specify:
The elements to be displayed in the parameter
Parametrize your component
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box (size, title, default value…..)
The data type
Parametrize your component
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If several parameters are created, it is possible to edit or
modify each ones in selecting the corresponding name in
the drop list
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Define the Code
In the component workshop window, select the tab « Script »
The code is organized in different sections called «segment» :
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Each segment has its proper syntax
(based on Fortran & PSCAD script)
Segments
Fortran: Design code or call subroutines defined in external *.f files
Branch: To design electrical branches containing R,L or C
Computations: for precomputations (compiled only at the first time step)
DSDYN: Fortran code forced in the DSDYN sections,
DSDOUT F t d f d i th DSDOUT ti
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DSDOUT: Fortran code forced in the DSDOUT sections
Transformers: Syntax adapted to simply design mutual impedance matrix
Checks:
T-Lines:
etc….
The STORx arrays
The STORx arrays are storage vectors allowing to store
variables at a precise location:
STORI,STORF,STORL,STORC for integer, real, logical or
complex data
111
p
Useful if :
• A variable needs to be available for another time step
• A variable needs to be used in another subroutine
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The STORx arrays
To use STORx arrays need to increment the corresponding NSTORx pointers:
NSTORI, NSTORF, NSTORL, NSTORC
Example:
Retrieve values from STORF: Xa = STORF(NSTORF)
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Retrieve values from STORF: Xa STORF(NSTORF)
Save values in STORF : STORF(NSTORF) = Xb
Increment the pointers: NSTORF = NSTORF + 1
X Organizing the Worksheet
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g g
Create sub_page
When the project becomes enough large, it is interesting to sudivide it into several pages organized in an arborescent structure:
Main Page
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Main Page
Subpage2Subpage 1
Subpage 2_1 Subpage 2_2
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Create sub_page
Operating Mode: Step 1
[Right Click] in the main page, the following menuappears:
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Select « Create New component »
Create sub_page
Step 2: The component wizard is opening:
Indicate:
• the name of the sub-page
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•The number of connections between the sub_page and the main page
•Tick « Page Module
Create sub_page
Step 3: Indicate:
•The connection name
•The type of the connection: Electrical or Control quantity
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q y(input or output)
•The type of the data: Logical, Real, Integer
•The dimension (can be an array of several values)
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Create sub_page
Step 4 :
Confirm and …….that ’s finished !!
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Create sub_page
Links between pages : Electrical Nodes
The electrical connections between a sub_page and the
i li d ith th
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main page are realized with the following component called External Electrical Node :
Note : This electrical node must have the same name as the one declared during the sub_page creation
Create sub_page
Links between pages : Control quantity
Control quantities defined in the main page (declared as input during the connection d fi iti ) h t b i t d
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definition) has to be imported in the sub_page with the «IMPORT» component
Notes:
1) Above, the imported value is an array of 4 reals
2) Similarly, we use the « export » component to export outputs in the main page
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XI MATLAB-Simulink interfacing
121
g
Matlab/Simulink Interfacing:General features
•Cosimulation: Possibility to integrate Matlab files and all the functionnalities of Simulink toolboxes in a PSCAD project•General organization:
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•1) Call Matlab files (*.m) or Simulink files (*.mdl) fromthe PSCAD workshhet
•2) Need to define a user_component to interfacing PSCAD & Matlab/Simulink
•3) Both Matlab 5or 6 and a Digital Fortran 90 compiler should be installed on your PC
Matlab files Interfacing
Need to define a user_component to interface PSCAD & MATLAB :
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Variable defined in the PSCAD circuit
User_component: Send PSCAD data to a *.mdl file
Output of the *.m file, sent to the PSCAD project
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Matlab files Interfacing:Operating Mode
Step 1: Design the title & connections as any other user component with the PSCAD component Wizard
Step2 : Good Advice ! Parameterize the Name of the Matlab file and the corresponding path, then, the user component
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p g p , , _ pwill be more flexible & able to call other files
Matlab files Interfacing:Operating Mode
Step 3: Write the fortran Code
1) Open the « DSDYN » segment
2) Allocate Memory : Exemple with a case with 2 real inputs A&B and 1 integer ouput C:
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3)Transfer the input variable to STORF (real) / STORI (integer) arrays :
STORF(NSTORF) = $A
STORF(NSTORF+1) = $B
inputs A&B and 1 integer ouput C:
#STORAGE REAL:2 INTEGER:1
Matlab files Interfacing:Operating Mode
4) Call the Matlab Subroutine:
CALL MLAB_INT (« $Path », « $Name », « I R(31) », « R »)
5) Transfer Output variable from STORF/STORI arrays into the PSCAD output connection node:
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the PSCAD output connection node:
$C = STORI(NSTORI)
6) Increment the NSTORF & NSTORI index pointers:
NSTORF = NSTORF + 2
NSTORI = NSTORI + 1
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Simulink files Interfacing
Need to define a user _component to interface PSCAD & SIMULINK :
127
Variable defined in the PSCAD circuit
User_component: Send PSCAD data to a *.mdl file
Output of the *.mdl file, sent to the PSCAD project
Simulink files Interfacing:Operating Mode
The same as for Matlab files excepted :
1) Call of the SIMULINK SUBROUTINE :
128
CALL SIMULINK_INT (« $Path », « $Name », « I R(31) », « R »)
2)You do not need to transfer Output variable from STORF/STORI arrays
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