47764336 tutorial pscad

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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


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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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• 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


•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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•Step 1 : Select your control devices

Operating Mode: example with a slider

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•Step 2 : Open the component and define the variation bracket

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•Step 3 : Link it with the « manual » tool , the control pannel

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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


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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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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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


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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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


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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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 »


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Choose the name of your parameter

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Define « New control »


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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


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box (size, title, default value…..)

The data type


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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

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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

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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


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


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 :

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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 :

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CALL SIMULINK_INT (« $Path », « $Name », « I R(31) », « R »)

2)You do not need to transfer Output variable from STORF/STORI arrays

47764336 tutorial pscad

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