Power System Transients Research Articles

Lumped‐element equivalent circuit modelling of district heating pipe in electromagnetic transients program

AbstractElectromagnetic transients program (EMTP) is widely used to analyze transients in power systems. With the increased interest in integrated energy systems (IESs), it would be beneficial to extend the application of EMTP to multi‐physics transients in integrated electrical and heating networks. In this paper, an accurate and efficient lumped‐element circuit model of the heating district pipe is developed in EMTP. The pipe is split into segments using spatial discretization. The application of the numerical discretization to the energy conservation equation gives the discretized pipe equation which is expressed in the form of a companion model of EMTP. In order to reduce the computational effort, the time‐varying terms in the admittance matrix of the companion model of pipe are eliminated. The modification of the admittance matrix is avoided. Furthermore, the internal nodes resulting from spatial discretization are eliminated, resulting in a lumped‐element circuit model with only two external nodes. Case studies are carried out to validate the proposed model in terms of accuracy and efficiency. The 2‐norm error of the proposed model is 0.0153%. With a pipe length of 100 m, the computational speed of the proposed model is increased by a factor of 2.94 compared with the existing distributed‐element circuit model. The implementation of the proposed pipe model in the EMTP‐type simulator enables the analysis of multi‐physics transients in a multi‐carrier energy system.

A Frequency Domain Approach to Predict Power System Transients

The dynamics of power grids are governed by a large number of nonlinear differential and algebraic equations (DAEs). To safely operate the system, operators need to check that the states described by these DAEs stay within prescribed limits after various potential faults. However, current numerical solvers of DAEs are often too slow for real-time system operations. In addition, detailed system parameters are often not exactly known. Machine learning approaches have been proposed to reduce the computational efforts, but existing methods generally suffer from overfitting and failures to predict unstable behaviors. This paper proposes a novel framework to predict power system transients by learning in the frequency domain. The intuition is that although the system behavior is complex in the time domain, there are relatively few dominant modes in the frequency domain. Therefore, we learn to predict by constructing neural networks with Fourier transform and filtering layers. System topology and fault information are encoded by taking a multi-dimensional Fourier transform, allowing us to leverage the fact that the trajectories are sparse both in time and spatial frequencies. We show that the proposed approach does not need detailed system parameters, greatly speeds up prediction computations and is highly accurate for different fault types.

A Low Cost Real-Time Transient Recorder for High Voltage Systems.

Large-scale incorporation of new energy generation units based on renewable sources, such as wind and photovoltaic power, drastically alters the structure of the power system. Because of the intermittent nature of these sources, switching in grids (connection and disconnection) occurs much more frequently than with conventional sources. As a result, the power system will inevitably experience a large number of transients, which raises questions about the stability of the system and the quality of the electrical energy. Therefore, measuring various types of transients in power system is crucial for stability, power quality, fault analysis, protection design, and insulation design. Transient recorders that are currently used are generally expensive and only suitable for particular locations in power systems. The number of installed transient recorders is insufficient for a comprehensive analysis of problems that may occur. Hence, it is important to have inexpensive and efficient transient recorders that can be installed at multiple points in the power system on various types of objects. It is also essential to have a transient record database with open access, which can be used by researchers to develop new analysis techniques based on artificial intelligence. This paper proposes an inexpensive measurement and acquisition system designed to record transient phenomena on different objects within the power system. The system is designed to use autonomous power, a standardized data acquisition module, a low-budget system for transmitting recorded transient events to the server via mobile network, and a sensor system adapted to the object where transients are recorded. The proposed system is designed to be used for all types of objects in the power system where transients may occur, such as power lines, transmission towers, surge arresters, and transformers. All components of the system are described, and the system is tested under laboratory conditions. The modular nature of the system allows customization to the specifics of the location in power system by choosing appropriate components. The calibration method of the custom designed Rogowski coil is described. The cost analysis of the proposed system and power consumption analysis are performed. The results show that the system's performance meets application requirements at a low cost.

Bridging Scales With the Shift Frequency: Frequency-adaptive simulation of multiscale transients in power systems

Bridging Scales With the Shift Frequency: Frequency-adaptive simulation of multiscale transients in power systems

Разработка метода идентификации синхронного сопротивления турбогенератора и критериев выбора состава данных синхронизированных векторных измерений

To enhance power system dependability and efficiency, it is of great importance to obtain correct parameters of the models of key power system components such as a synchronous generator (SG). Technology of synchronized phasor measurements allows us to estimate the SG model parameters through measurements in power system steady states and transients states, without switching the SG off and conducting complex testing procedures. The theory of electric circuits and electric machines, theory of optimization and statistics, and matrix algebra are applied in this study. The developed parameter estimation method has been implemented in the MATLAB software. The method has been verified through real-world measurements captured by a phasor measurement unit installed at a large power plant in the United Power System. This paper presents an algorithm of the turbogenerator synchronous reactance estimation via a set of synchrophasor data taken under steady-state conditions. Also, the paper considers the criteria for an appropriate data array ensuring successful parameter estimation. An algorithm has been developed and implemented in MATLAB software package. To improve the parameter estimation accuracy, an algorithm has been proposed to modify a nominal value for the SG no-load excitation current depending on the heating of the field winding. The algorithm has been successfully tested out based on a set of steady state synchrophasor data captured for one of the turbogenerators in the Russian United Power System. The authors have developed and analyzed quantitative criteria to determine a set of measured parameters of steady-state modes, providing the most accurate results of the turbogenerator synchronous reactance. The developed algorithm allows accurate update of the turbogenerator synchronous parameters through synchrophasor measurements recorded in a steady state modes of electric power systems. Using the criteria for selecting phasor data, it seems possible to automate the process of generating a data array of measurement of various steady-state modes necessary for identification. The proposed procedure that considers the field winding temperature can be employed in math models to estimate SG transient and subtransient parameters based on phasor measurements in transient modes of electric power systems.

Examination of Gas Active Arc Extinguishing and Lightning Protection for Transmission Lines

The study investigated the gas active arc extinguishing and lightning protection for transmission lines. Lightning is one of the most significant sources of over voltages in overhead transmission lines. The lightning over voltages could lead to failure of the devices connected to the transmission line. Fundamental constraint on the reliability of an electrical power transmission system is the effectiveness of its protective system. The role of the protective system is to safeguard transmission system components from the effects of electrical overstress. Shield wire and surge arresters are an important means of lightning protection in transmission and distribution systems. Therefore, it is necessary to analyze the influence of over voltages caused due to lighting. The requirements of system security for lightning protection technology reach the high standard that lightning strike tripping and wire breakage are not allowed. Both the power supply side and the demand side have very high requirements for lightning protection of transmission lines, but the lightning accident rate remains high. This situation poses a great threat to the reliability and safety of power network, it is urgent to solve this problem. The gas active interrupter principle is put forward. From two latitudes of lightning overvoltage and power frequency over current, the effective control of lightning accident rate caused by large probability and multiple lightning strike is realized. This paper is aimed at evaluation of protection level of transmission line by using gas active arc extinguishing, shield wire and line surge arresters against lightning overvoltage. When lightning strikes, the internal short gap of the main body and the air gap break down, and the lightning arc enters the arc-extinguishing body through the breakdown channel. Arc is compressed by force to form internal and external gradients temperature in order to produce jet airflow. Jet airflow acts on the subsequent power frequency follow current arc, a model coupling an arc and a compressed jet airflow in a multi-fracture compression airflow arc-extinguishing structure is established and simulated. The increase in voltage due to lightning are investigated by using the MATLAB software. Direct and induced, types of lightning strokes are considered. The model of a 33kV three-phase overhead power transmission line is developed considering the RL circuit. The simulations are performed based on time domain analysis. Also, numerical analysis is made for 133kV tower structure transmitting power over 220km from 132 KV Sub-transmission Lines in port Harcourt region. Based on the simulation study this research study gas active arc extinguishing and lightning protection for transmission lines, are very important in computer application like Electromagnetic Transient Propagation (EMTP) and Power System Computer Aided Design (PSCAD) which are used in future study. These soft wares provide an alternative way to bring the precise result in study of lightning protection level of high voltage transmission line.

A multi-solver framework for co-simulation of transients in modern power systems

This paper develops a novel multi-rate, multi-solver co-simulation framework combining dynamic phasors, transient stability, base-frequency dynamic phasors for frequency-adaptive simulation of transients, and electromagnetic transient (EMT) models. This framework subdivides a given power network into several types of subsystems based on the connected devices, required accuracy in representing dynamic details, electrical distance from perturbations, and the intended purpose of the study; as such, the paper describes methods and guidelines to simulate each subsystem using the most appropriate solver and time-step size to maximize simulation efficiency and accuracy. It also addresses the tasks of multiple interfacing and solver interactions that are essential in coupling different solvers. The proposed framework is built around an industrial-grade EMT simulator, to which other solvers are interfaced, enabling access to a variety of power system models and distinct features. The accuracy and efficiency of the framework are demonstrated through co-simulations carried out on a modified version of the 118-bus network, which includes an MMC-HVDC system.

Passivity enforcement of wideband model through a new and full perturbation formulation

Passive component models are necessary to ensure numerical stability in the simulation of electromagnetic transients in power systems. However, it is challenging to represent transmission lines and cables with frequency-dependent wideband models that are accurate, efficient, and passive. This paper proposes a new method for the passivity enforcement of wideband line and cable models. The wideband models rely on pole-residue identification of characteristic admittance and propagation function in rational forms. In case the resulting models are not passive, the proposed method simultaneously applies perturbation to the residue matrices of characteristic admittance and propagation function. The set of equations related to passivity enforcement through the residues of propagation function in phase domain is complex and presented for the first time in this paper. The proposed approach minimizes the overall perturbation for maintaining passivity as opposed to the existing simplified approaches that rely on the perturbation of the residues of either characteristic admittance or diagonal elements of propagation function. The performance of the method is validated with application cases, and it is shown that it outperforms the existing methods that seek simplification in problem formulation.

The principles of a new line surge arrester's transient current measurement system

Power systems are exposed to different types of electromagnetic transients, which involve a large spectrum of signals whose duration can range from several nanoseconds to several milliseconds, and whose peak values can also cover a wide range of values. Therefore, measuring electromagnetic transients in power systems is a challenging task. Fast front transients caused by lightning events are especially dangerous, and improved knowledge about them is essential for better protection design. The development of measuring systems for such phenomenon is important. This paper is dedicated to the development of a measuring system for lightning and line surge arrester currents. Modern electronic tools and equipment, as well as cutting-edge communication and information technologies, constitute the foundation of the proposed system. This includes the most recent models of acquisition units and GPS devices that are now available on the market, as well as communication networks including 4 G, 5 G, and WiFi. Software and hardware components of the system are described. The paper presents laboratory tests conceived to prove that the system operates correctly and provides accurate results. The measurements are compared to EMTP and MATLAB simulations. Both are in agreement.

Tribute to Prof. Akihiro Ametani for contributions to research on power system transients

Tribute to Prof. Akihiro Ametani for contributions to research on power system transients

Model predictive control for solid state transformer

The solid-state transformer (SST) is being presented as a technology that enables the construction of new power systems due to its many advantages. These benefits include reduced weight and volume compared to traditional transformers, power factor compensation, accurate output voltage regulation, harmonic mitigation, short-circuit current limitation, and voltage dip immunity, under certain conditions. Unlike other studies that only demonstrated the effectiveness of Model Predictive Control (MPC) in individual parts of the SST, this study shows the control of an entire SST using the MPC strategy. The performance of the SST during power system transients is evaluated to showcase the features of the SST by predictive control.

Modeling and simulation of stochastic transients in power systems based on frequency shifting theory

The increasing uncertainties in power systems have brought non-negligible influences on the dynamic behaviors. An accurate and efficient simulation method considering the effects of stochastic disturbances is of critical importance for the analysis of the dynamic performance of power systems. In this paper, a methodology for the simulation of stochastic transients in power systems is developed based on frequency shifting theory. The stochastic differential equations describing the stochastic process of parameter migration are represented through analytic signals. The frequency shifting operation is introduced. The Fourier spectra of analytic signals are shifted to reduce their maximum frequency contents, thereby permitting a larger time-step in time-domain simulation in accordance with Shannon’s sampling theory. Through the trapezoidal Milstein scheme, the stochastic differential equations with shifted analytic signals are discretized. Branch companion models that process analytic signals for the simulation of stochastic transients are formulated. The numerical properties of branch models are further examined. The analysis of test cases demonstrates that the proposed method can be used to represent stochastic transients caused by parameter migrations accurately and efficiently.

Optimized Non-Integer Load Frequency Control Scheme for Interconnected Microgrids in Remote Areas with High Renewable Energy and Electric Vehicle Penetrations

Renewable energy systems (RESs) have introduced themselves as vital solutions for energy supply in remote regions, wherein main utility supply systems are not available. The construction of microgrid (MG) systems is useful candidate for proper control and management with hybrid RESs. However, RESs-based MGs face reduced power system inertia due to the dependency of RESs on power electronic converter systems. Accordingly, preserving nominal operating frequency and reduced deviations in tie-line power are crucial elements for proper operation of interconnected MGs in remote areas. To overcome this problem, load frequency control (LFC) systems have proven featured solutions. Therefore, this paper proposes a new non-integer LFC method based on the fractional order (FO) control theory for LFC in interconnected MGs in remote areas. The proposed control is based on the three degree of freedom (3DoF) cascaded 1+proportional-integral-derivative-accelerated (PIDA) controller with FOPI controller, namely 3DoF 1+PIDA/FOPI LFC scheme. The proposed 3DoF 1+PIDA/FOPItakes the advantages of the accelerated term of PIDA control to improve power system transients, regarding maximum overshoot/undershoot and settling times. Additionally, it employs outer loop to reduce errors and faster inner loop to mitigate disturbances effects. The contribution of plug-in controlled electric vehicles (EVs) are considered to enhance the frequency regulation functions. An optimized design of the proposed 3DoF 1+PIDA/FOPI LFC scheme is proposed using the newly developed hybrid equilibrium optimizer (EO)-slime mould optimization (SMA) algorithm (namely EOSMA optimizer). The EOSMA combines the features of the EO and SMA powerful optimization algorithms. A two interconnected MGs in remote areas with RESs and EVs inclusions with high penetration levels is selected to verify the proposed 3DoF 1+PIDA/FOPI LFC scheme and the EOSMA optimizer. The results show high ability of the proposed controller and design scheme to minimize MGs’ frequency and tie-line power fluctuations and to preserve frequency stability and security.

Full-Wave 3-D Transient Analysis With Method of Moments and Numerical Laplace Transform Including Resistive Non-Linear Elements

Methods based on both time ( <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">t</i> )-domain and frequency ( <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">f</i> )-domain have been used for electromagnetic transient (EMT) analysis using both circuit-theory and field-theory approaches. Methods based on circuit theory are fast and convenient but may become inapplicable to many engineering problems due to simplifications such as the transverse electromagnetic assumptions. Moreover, <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">t</i> -domain-based techniques rely on approximate methods to account for frequency dependence, which is an essential characteristic of electric conductors, equipment and soil environment. In this paper, <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">f</i> -domain solutions obtained from the method of moments (MoM) discretization of the electric field integral equation (EFIE) are converted to <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">t-</i> domain using the numerical Laplace transform (NLT) by means of post-processing. This circumvents the need to formulate the EFIE and MoM based on the complex frequency which would be required for their application to conventional NLT. Hence, existing MoM implementations can be used to perform a full-wave 3-D EMT analysis for a wide range of power system applications. Examples include energizations of 3-D power system networks with fast and non-vanishing excitations such as step functions, as well as modeling non-linear elements using the piecewise linear approximation. Results from experimental measurements, finite-difference <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">t</i> -domain method, and EMT-type software confirm the validity of the proposed method for power system transients in the range of microseconds down to nanoseconds.

Dynamic Harmonic Estimation Using a Novel Robust Filtering Strategy: Iterated Sliding Innovation Cubature Filter

Active filters (AFs) are effective tools for mitigating the detrimental effects of harmonic components on the power systems. The performance of AFs is significantly dependent on designing an accurate and robust estimator which is responsible for providing reference harmonic values. In this article, a novel technique, called sliding innovation (SI) cubature filter, is proposed to estimate the harmonic parameters, i.e., magnitude and phase, in various operating conditions. The proposed method exploits the concept of sliding mode control in the formulation of the measurement update step in the Bayesian filtering framework to enhance the robustness of the estimator. Furthermore, the iterated version of the proposed algorithm, called iterative SI cubature filter, is presented to enhance the accuracy of the estimator. The proposed method keeps its robustness and accuracy in the noisy conditions under the fault occurrence as well as power system transients. The obtained results from both simulation and experimental setup confirm that the proposed estimator is more accurate and robust with a higher convergence speed compared to the well-known discrete Fourier transform (DFT), cubature Kalman filter (CKF), iterated extended Kalman filter (IEKF), and particle filter (PF).

Transient event classification using pmu data with deep learning techniques and synthetically supported training‐set

AbstractThis paper presents a research work which focuses on generating synthetic data to enrich the training‐set of a deep learning (DL) based classification system to classify power system transient events using PMU frequency measurements. The synthetically improved training‐set is shown to increase the classification performance compared to the case when only the actual‐data training‐set is used. The proposed classification system helps to reveal high‐frequency transient variation information out of PMU measurements collected at a relatively much lower rate, especially when a small set of training‐data exists. Synthetic PMU frequency data is generated based on the DFT analysis statistics on the limited‐size PMU frequency data. Generation of the synthetic data is achieved by re‐synthesis of the PMU frequency data using inverse DFT, which imitates the DFT frequency and phase behaviour for each event type separately. Then the DL structure is trained to classify the power system transients using the synthetically enriched train set. The proposed method of generating synthetically supported training‐set has lower computational complexity compared to the existing methods in the literature and helps to obtain improved classification results. It can be used to increase the classification performances of power quality devices performing transient event analysis, especially for those with access to a limited set of training‐set.

Acoustic Noise-Based Detection of Ferroresonance Events in Isolated Neutral Power Systems with Inductive Voltage Transformers

Power-quality events and operation transients in power systems (PS) with isolated neutral can saturate inductive voltage transformers (IVT), which, when interacting with the overhead and underground cable capacitances, can cause ferroresonance events in the local PS. This abnormal operating mode can partially or totally damage the transformers and switchgears within the affected PS. Distribution system operators (DSO) can minimize these effects by detecting ferroresonance events accurately and fast enough and changing the mode of operation accordingly. Direct detection methods, i.e., based on voltage measurements, are reliable, but the massive deployment of this solution is relatively expensive; i.e., power quality analyzers cost thousands of USD. Alternatively, indirect detection methods are also available, e.g., IVT vibration measurements with accelerometers costing hundreds of USD, but their reliability depends on the installation method used. This manuscript proposes using the acoustic noise caused by magnetostriction forces within the IVT core during ferroresonance events to detect their occurrence. Compared to other indirect methods, electret condenser microphones with preamplifying stage cost less than USD 10 and are less sensitive to the installation procedure. The proposed method is validated experimentally, and its performance compared to IVT vibration measurements one by using the same detection methodology.

Mitigating Subsynchronous Torsional Interaction Using Geometric Feature Extraction Method

This paper proposes a method to mitigate subsynchronous torsional interaction detected during power system operation. This innovative method employs the delay reconstruction of the damping controller of a thyristor-controlled series compensator. This addresses the need to detect and manage stability and electromagnetic transients in power systems caused by the increasing use of fast-response power electronics. Previously, severe oscillation conditions could be avoided via analysis of the subsynchronous torsional interaction scenarios during the planning stage, enabling the suppression of oscillations. However, planning, modeling, and analysis for various scenarios becomes more difficult as the complexity of the power system increases, owing to the use of renewable energy and the incorporation of topology changes. Therefore, interest in measurement data-based real-time oscillation analysis has increased. The first step of the mitigation strategy proposed herein reconstructs nonlinear time-series data to detect subsynchronous torsional interaction in real time and generate alert signals. The second step of the strategy is that the controller mitigates oscillations by controlling the firing angle using the geometric feature extraction method. In this paper, the relaxation of the frequency oscillation in the subsynchronous region of about 22 Hz and about 18 Hz was verified through two simulation cases.

Optimized high-frequency white-box transformer model for implementation in ATP-EMTP.

• High-frequency white-box transformer models can be implemented in EMTP. • ATP can be used to calculate fast transients in power systems. • Transformer models can be formulated as equivalent circuit or in state-space form. • The electromagnetic model can be obtained using FEMM. • Vector fitting and particle swarm optimization are combined to obtain de model parameters. Although several high frequency white-box transformer models have been proposed in the literature, the methodology for their implementation in some programs based on EMTP has not been addressed in detail. This is true in particular for ATP, for which the representation of large transformer models is particularly problematic. This work aims to enable the use of ATP to model detailed transformer equivalent circuits, which would otherwise be seriously questioned. To establish these circuit models, the following must be taken into account: model reduction, magnetic circuit decoupling, avoid numerical instability, limit and optimize the use of resistors, generate ATP versions capable of processing large models. To this end, three generally valid methodologies are presented to reduce the model without compromising the accuracy of the calculation results and, finally, additional specific methodologies are implemented to reduce and adapt the models in the ATP environment. The application of these methodologies results in six possible variants of reduced models, which were successfully validated through a case study used by CIGRE JWG A2/C4.52 to verify the accuracy of transformer models.

Simulation of transients in an autonomous power system considering the generator and transformer magnetic core saturation

The paper considers transients in an autonomous power system consisting of a generator, a transformer, and a general load. The numerical method for simulating transients includes the possibility of the asymmetry of stator windings and magnetic core saturation of a generator and a transformer. The asymmetry is usually observed under synchronous machine faults such as turn-to-turn short circuits in the stator winding. The method is based on the solution of differential equations for the equilibrium of electromotive force and voltage drops in windings in phase coordinates in combination with the rotor rotation equation. In this case, a circuit of each phase stator winding is described by an equation that considers the difference in phase parameters. The mathematical model is developed in MATLAB. The model includes an unequal number of turns in phase windings that allows simulating the turn-to-turn short circuits without considering the occurrence of additional short-circuited circuits. The analysis of simulation results was performed under no-load operating conditions and in the presence of load. The obtained results demonstrated the influence of the saturation of magnetic systems on the parameters of normal and abnormal operating conditions in the power system.