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Parameter Determination for Modeling System TransientsPart I: Overhead Lines

IEEE PES Task Force on Data for Modeling System Transients of IEEE PES Working Group on Modeling and Analysis of System Transients Using Digital Simulation (General Systems Subcommittee)

J. A. Martinez, B. Gustavsen, and D. Durbak

AbstractOverhead line parameters are calculated, taking into account the length of the line and the frequency range of the transient to be simulated. Depending on the frequency range and the origin of the transient, several parts of the line (phase conductors, shield wires, towers or poles, footing impedances, insulators) have to be included in the model. In all cases, the most important part is phase conductors. This paper describes an input requirement for obtaining electric overhead line parameters and investigates the sensitivity of these parameters with respect to some input data. The aim is to conclude on the accuracy with which input values must be specied. An illustrative example is included to support the main conclusions. Index TermsModeling, overhead lines, power system transients, simulation.

Fig. 1.

Single-conductor overhead line.

Assuming that the line conductors are parallel to ground, the time-domain equations of a single-conductor line can be expressed as follows: (1) (2) and are the voltage and the current of the where line, respectively, while , , , and are the line parameters expressed in per-unit length. These parameters are frequency dependent, although can be assumed constant, and can usually be neglected. Given the frequency dependence of the series parameters, the approach to the solution of the line equations, even in transient calculations, is performed in the frequency domain. The behavior of a multiconductor overhead line is described in the frequency domain by two matrix equations (3) (4) where and are, respectively, the series impedance and the shunt admittance matrices per-unit length. The series impedance can be decomposed as follows: (5) where is a complex and symmetric matrix, whose elements are frequency dependent. Most EMTP-like tools are capable of calculating and , taking into account the skin effect in conductors and ground. In some programs, this is achieved using Carsons ground impedance [3] or Schelkunoffs surface impedance formulae

I. INTRODUCTION RESENTLY, overhead line parameters are calculated using supporting routines available in most transients programs. The parameters to be calculated depend on the line model to be applied, but they invariably involve the series impedance and the shunt capacitance of the line. Two types of time-domain models have been developed for overhead lines: lumped and distributed parameter models. The appropriate selection of a model depends on the line length and the highest frequency to be simulated. Lumped-parameter models represent transmission systems by lumped elements whose values are calculated at a single frequency. These models are adequate for steady-state calculations, although they can also be used for transient simulations in the neighborhood of the frequency at which parameters were evaluated. The most accurate models for transient calculations are those that take into account the distributed nature of parameters [1], [2]. Two categories can be distinguished for this type of model: constant parameter and frequency-dependent parameter models. Fig. 1 shows the reference frame and the equivalent circuit of a differential section of a single-conductor overhead line.

Manuscript received March 1, 2004; revised August 9, 2004. Paper no. TPWRD-00105-2004. Task Force Members: J. A. Martinez (Chairman), D. Durbak, B. Gustavsen, B. Johnson, J. Mahseredjian, B. Mork, R. Walling. Digital Object Identier 10.1109/TPWRD.2005.848678

0885-8977/$20.00 2005 IEEE

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TABLE I MODELING GUIDELINES FOR OVERHEAD LINES

for cylindrical conductors [4]. Other programs base the calculations on closed-form approximations [5], [6]. Reference [7] gives a detailed description of the procedures. The shunt admittance can be expressed as follows: (6) where elements can be usually neglected, except at very low frequencies. Table I shows a summary of modeling guidelines for overhead lines; it is a revised version of those guidelines proposed by CIGRE [2]. These guidelines are related to phase conductors only. If the aim of a transient simulation is to determine whether the line will ashover or not, then a representation of line insulations must be included. Specic transients are those related to stresses caused by an external source represented as a current source (i.e., a lightning stroke). In such cases, other pieces of the line (shield wires, towers or poles, footing impedances) must be included in the model. The length of an overhead line that must be included in a model depends on the type of transient to be duplicated or, more specically, on the range of frequencies involved in the transient process. As a rule of thumb, the lower the frequencies, the more the length of line is to be represented. For low and mid frequency transients, the whole line length is included in the model. For fast and very fast transients, a few line spans will usually sufce. This paper deals with data input that is required for proper modeling of overhead lines in transient simulations. Users of EMTP-like tools obtain overhead line parameters by means of a dedicated supporting routine that in this document will be denoted Line Constants (LC) [7]. In addition, several routines are presently implemented in transients programs to derive line models considering different approaches [8][10]. The next section describes the most basic input requirements of LC-type routines. It is followed by a section that investigates the sensitivity of line parameters ( , , , ) to variations in the representation of an overhead line and by an example that shows the inuence that some parameters can have on the transient response.

II. DATA INPUT Since transient studies evolved after load ow, short circuit, and stability studies, existing databases of transmission-line parameters may consist of only synchronous frequency (50- or 60-Hz) line impedances. Short-circuit line data are often just the positive, negative, and zero impedances. Load-ow line databases might contain only a per-phase positive-sequence representation. In all cases, line data are stored only as impedances. LC routine users enter the physical parameters of the line, select the desired type of line model, and the model is created. Since all models are developed from physical transmission-line parameters, it is highly recommended that a database of physical line parameters be created. In order to develop line models for transient simulations, the following input data must be available: (x,y) coordinates of each conductor and shield wire; bundle spacing, orientations; sag of phase conductors and shield wires; phase and circuit designation of each conductor; phase rotation at transposition structures; physical dimensions of each conductor; DC resistance of each conductor and shield wire (or resistivity); ground resistivity of the ground return path. Other information, such as segmented grounds, can be important. Note that all of the above information, except conductor resistances and ground resistivity, is from geometric line dimensions; therefore, the availability of these parameters should not be a problem. LC routine users can request the following models: lumped-parameter equivalent or nominal pi-circuits at the specied frequency; constant distributed-parameter model at the specied frequency; frequency-dependent distributed parameter model, tted for a given frequency range.

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Fig. 2. A 345-kV single-circuit overhead line conguration (values between brackets are midspan heights).

In addition, the following information can be usually provided: capacitance or the susceptance matrix; series impedance matrix; resistance, inductance, and capacitance per-unit length for zero and positive sequences, at a given frequency or for the specied frequency range; surge impedance, attenuation, propagation velocity, and wavelength for zero and positive sequences, at a given frequency or for a specied frequency range. Line matrices can be provided for the system of physical conductors, the system of equivalent phase conductors, or symmetrical components of the equivalent phase conductors. III. EXAMPLE A. Test Line An example case is included to illustrate proper input of physical parameters; examination of line constants output; benchmarking impedances , ; benchmarking for frequency response; application considerations. Fig. 2 shows the geometry of the 345-kV transmission line studied in this example. Conductor data for this line are presented in the following table.

Fig. 3. Relationship between overhead line parameters and ground resistivity. (a) Zero-sequence resistance (ohm/mi). (b) Zero-sequence inductance (H/mi). (c) Positive-sequence resistance (ohm/mi). (d) Positive-sequence inductance (H/mi).

B. Sensitivity Analysis of Line Parameters A parametric study of sequence parameters was performed. To obtain the frequency dependence of the resistance and the

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Fig. 4. Skin effect. (a) Zero-sequence resistance (ohm/mi). (b) Zero-sequence inductance (H/mi). (c) Positive-sequence resistance (ohm/mi). (d) Positivesequence inductance (H/mi).

Fig. 5. Relationship between overhead line parameters and conductor heights. (H1 = 21:67 ft; H2 = 31:67 ft; H3 = 41:67 ft). (a) Zero-sequence resistance (ohm/mi). (b) Zero-sequence inductance (H/mi). (c) Positive-sequence resistance (ohm/mi). (d) Positive-sequence inductance (H/mi).

inductance of conductors, users can assume either a solid conductor or a hollow conductor and apply the skin effect correc-

tion. Skin effect entails that the highest current density is at the conductor surface. To include skin effect for hollow conductors

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Fig. 6. Relationship between capacitances and conductor heights.

in a LC routine, users must specify the ratio , being the thickness and the diameter of the conductor. The studies presented below are aimed at determining the sensitivity of line parameters with respect to frequency, ground resistivity, skin effect, and line geometry. Fig. 3 shows the dependency of the line parameters with respect to ground resistivity and frequency. Fig. 4 shows results obtained when assuming a solid conductor and when assuming a hollow conductor with difratios. ferent Fig. 5 shows the dependency of the line parameters with respect to frequency, using the average height of the lowest conductors above ground as the parameter. These results were deduced by assuming a ground resistivity of 100 -m. Fig. 6 shows the dependence of capacitances with respect to the average height of the lower conductor. Since capacitances are not frequency dependent, frequency is not used as a parameter in this case All calculations were performed by assuming full transposition of phase conductors. One can deduce from these plots, the conclusions listed below. The dependence of the resistance with respect to frequency can be signicant, and it is particularly important for the zero-sequence resistance at high frequencies, but differences between values obtained with several ground resistivities are not very signicant in this example below 5 kHz. Inductance values are also frequency dependent, but their dependence is very different for positive- and zero-sequence values. The positive-sequence inductance shows no large variation along the whole range of frequencies. However, for the zero-sequence inductance, the frequency dependence is much larger; on the other hand, there are no signicant differences with different ground resistivity values. When the skin effect is included in the calculation of line parameters, differences obtained by assuming either a solid or a hollow conductor are small, and negligible for frequencies below 5 kHz. When the average height of conductors is varied (between 21.67 and 40.67 ft for the lower conductors), the variation of the inductance values is rather small, less than 2%, in the whole range of frequencies; however, the variation

Fig. 7. Zero-sequence energization of an untransposed overhead line (Constant distributed parameter model Source = 1 V step). (a) Parameters calculated at 50 Hz. (b) Parameters calculated at 5 kHz.

is more important for resistance values; in fact, the positive-sequence resistance can vary more than a 50% at high frequencies. The variation of the capacitance per-unit length along a line span (Fig. 6) is very small. From these results, one can conclude the following. Not much accuracy is required to specify line geometry since a rather small variation in parameters is obtained for large variations in distances between conductors and heights above ground. Since accurate frequency-dependent models are not required when simulating low and midfrequency transients (below 10 kHz), the value of the ground resistivity is not critical. Except for very short lines, the distributed nature of line parameters must be considered, and a rather accurate specication of the ground resistivity can be required when simulating high-frequency transients, as shown below. C. Transient Behavior The test line was used to illustrate the effect that the frequency dependence of parameters and the value of the ground resistivity can have on some simple transients. Results depicted in Figs. 7 and 8 show the propagation of a step voltage on one of the outer phases of the line when this

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Fig. 8. Zero-sequence energization of an untransposed overhead line (Frequency-dependent parameter model). (a) Source = 1 V step. (b) Source = 1 V , 20-s pulse.

Fig. 9. Zero-sequence energization of a 30-mi untransposed overhead line (Source = 1 V step). (a) With ground wires. (b) Without ground wires.

step is applied to the three-phase conductors (zero-sequence energization). Calculations presented in Fig. 7 were performed by assuming a constant distributed parameter line model and calculating line parameters at power frequency and at 5 kHz. It is obvious that the propagation takes place without too much distortion in both cases, but the attenuation is quite signicant when parameters are calculated at 5 kHz. In addition, the propagation velocity is faster with a low ground resistivity. When the frequency dependence of line parameters is included in the transient simulation, as shown in Fig. 8, the propagation is made with noticeable distortion of the wavefront. The velocity of propagation decreases again as the ground resistivity is increased. This effect is due to the increase of the inductance with ground resistivity, as shown in Figs. 3 and 4. Figs. 9 and 10 demonstrate again the effect of the ground resistivity on transient simulations during zero-sequence energizations. These simulations were performed by using a frequency-dependent parameter model of the line. All plots present the voltage on one of the outer phases. Both gures show that increasing the soil resistivity by a factor of 10 leads to a noticeable reduction of the dominant frequency. If simulations are performed without ground wires, one can observe that the impact of the increased ground resistivity becomes much stronger.

It is obvious that signicant attenuation can be obtained in wave propagation, even for short distances, when overhead line parameters are calculated taking into account their frequency dependence, and it is very evident when compared to the propagation that is obtained if this dependency is not included in calculations. However, since the highest frequency transients in overhead lines usually involve the simulation of a few sections (spans) of the line, a very accurate representation of this effect is not usually needed. Accordingly, the IEEE Task Force on Fast Front Transients proposes to obtain line parameters at a constant frequency between 400 and 500 kHz for duplicating lightning overvoltages [11]. The zero-sequence resistance and inductance, respectively, increase and decrease with increasing ground resistivity. This dependence is much smaller for positive-sequence quantities. The inuence of this effect on attenuation and velocity of propagation is not negligible. Therefore, some care is needed to specify the ground resistivity when high values of this parameter are possible. IV. DISCUSSION The above simulations were performed without including the corona effect. This effect can have a strong inuence on the propagation of waves when the phase conductor voltage

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nonuniformities can be very important for surge propagation [15]. Line congurations more complex than that used in this work must be often simulated. In all cases, the input data to be specied for these lines is similar to that required for the test line. And the main conclusions from a transient study would be similar to those derived in this paper. Phase conductor resistances depend on temperature. This effect can add a non-negligible increase to the resistance value. It can be easily included by specifying the correct value of conductor resistances. V. CONCLUSIONS When only phase conductors and shield wires are to be included in the line model, the line parameters can be calculated from the line geometry, as well as from physical properties of phase conductors, shield wires, and ground. A great accuracy is not usually required when specifying input values if the goal is to duplicate low-frequency and slow-front transients, but more care is needed, mainly with the ground resistivity value, if the goal is to simulate fast transients. REFERENCES
[1] Modeling and Analysis of Power System Transients Using Digital Programs, A. Gole, J. A. Martinez, and A. Keri, Eds., IEEE Special Publ. TP-133-0, IEEE Catalog no. 99TP133-0, 1999. [2] CIGRE Working Group 33.02, Guidelines for representation of network elements when calculating transients, CIGRE Brochure 39, 1990. [3] J. R. Carson, Wave propagation in overhead wires with ground return, Bell Syst. Tech. J., vol. 5, pp. 539554, 1926. [4] S. A. Schelkunoff, The electromagnetic theory of coaxial transmission lines and cylindrical shields, Bell Syst. Tech. J., vol. 13, pp. 532579, 1934. [5] L. M. Wedepohl and D. J. Wilcox, Transient analysis of underground power transmission system; system-model and wave propagation characteristics, Proc. Inst. Elect. Eng., vol. 120, no. 2, pp. 252259, Feb. 1973. [6] A. Deri, G. Tevan, A. Semlyen, and A. Castanheira, The complex ground return plane. A simplied model for homogeneous and multi-layer earth return, IEEE Trans. Power App. Syst., vol. PAS-100, no. 8, pp. 36863693, Aug. 1981. [7] H. W. Dommel, Electromagnetic Transients Program Manual (EMTP Theory Book). Portland, OR: Bonneville Power Administration, 1986. [8] J. R. Marti, Accurate modeling of frequency-dependent transmission lines in electromagnetic transient simulations, IEEE Trans. Power App. Syst., vol. PAS-101, no. 1, pp. 147155, Jan. 1982. [9] T. Noda, N. Nagaoka, and A. Ametani, Phase domain modeling of frequency-dependent transmission lines by means of an ARMA model, IEEE Trans. Power Del., vol. 11, no. 1, pp. 401411, Jan. 1996. [10] A. Morched, B. Gustavsen, and M. Tartibi, A universal model for accurate calculation of electromagnetic transients on overhead lines and underground cables, IEEE Trans. Power Del., vol. 14, no. 3, pp. 10321038, Jul. 1999. [11] IEEE Task Force on Fast Front Transients, Modeling guidelines for fast transients, IEEE Trans. Power Del., vol. 11, no. 1, pp. 493506, Jan. 1996. [12] A. R. Hileman, Insulation Coordination for Power Systems. New York: Marcel Dekker, 1999. [13] P. S. Maruvada, D. H. Nguyen, and H. Hamadani-Zadeh, Studies on modeling corona attenuation of dynamic overvoltages, IEEE Trans. Power Del., vol. 4, no. 2, pp. 14411449, Apr. 1989. [14] S. Carneiro and J. R. Mart, Evaluation of corona and line models in electromagnetic transients simulations, IEEE Trans. Power Del., vol. 6, no. 1, pp. 334342, Jan. 1991. [15] A. I. Ramirez, A. Semlyen, and R. Iravani, Modeling nonuniform transmission lines for time domain simulation of electromagnetic transients, IEEE Trans. Power Del., vol. 18, no. 3, pp. 968974, Jul. 2003.

Fig. 10. Zero-sequence energization of a 30-mi untransposed overhead line (Source = 1 V , 50-s pulse). (a) With ground wires. (b) Without ground wires.

exceeds the so-called corona inception voltage, see, for instance, [12]. This inception voltage decreases as the travel distance increases and depends on the propagation wave steepness. Corona increases the conductor capacitance, decreases the surge impedance, increases the coupling factor between conductors, and increases losses. Corona causes additional attenuation and distortion, mainly on the wavefront and above the inception voltage, so a noncorona model will provide conservative results. Some programs allow users to include this effect in transient simulations. Several approaches can be considered. The simplest one includes corona effect from line geometry, although some models also consider the air density factor and even an irregularity factor. In fact, corona is a very complex phenomenon whose accurate representation should be based on a distributed hysteresis behavior. Perhaps the most important study for which corona can have a strong inuence is the determination of incoming surges in substations [12]. When an accurate representation of the corona effect is possible, then additional input parameters are required for a full characterization of the model [13], [14]. The concept of nonuniform line has been introduced to deal with line geometries where the longitudinal variation of line parameters can be signicant. Examples of this type of line are lines crossing rivers or entering substations. In such cases,