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IEEE Transaction on Power Apparatus and Systems, Vol. PAS-103, No. 12, December 1984
3579
Russell H. Brierley
Ontario Hydro
Toronto, Ontario, Canada
Adam Semlyen
University of Toronto
Toronto, Ontario, Canada
3
2
1.= AG/R
(a)
T +
YC
INTRODUCTION
ys
(a)
1
2
,v
(b)
-1
AN
_I
X~ji
to
Fig. 1
la) the voltage increases linearly (curve I of Fig. lb) if the line is
YC = yQ (= Yc(0) )
(b)
Tnax
Fig. 2
EMTP compromised by choosing the latter, in some applications. However, by using a constant characteristic admittance the whole simulation
becomes inaccurate.
Since the frequency dependent characteristic admittance produced instability and a constant one gave inaccurate simulation, the problem had
to be clarified. It should be realized that the anomaly became apparent in
relation to line dropping but it is fundamentally related to opening a
switch, i.e. to current interruption, at zero crossing or perhaps any other
instant. Repeated checking has indicated that the phenomenon was not
due to current chopping. Since it appears any time a switch pole interrupts a current, it may produce errors in many switching transient calculations.
In order to remove the above anomaly, the fundamental ideas of
switching transient simulation have been reviewed and formulated in
state equation form. It was found that the simulation of the propagation
process was inherently stable but the modelling of the characteristic
admittance transfer function Yc by a low order rational function introduces an unstable mode, a double pole in the origin, in the natural
behaviour of the disconnected line.
In the EMTP both the propagation transfer function Hp and the
characteristic admittance Yc are fitted by rational polynomials in the frequency domain or exponential functions in the time domain. High order
fitting, as implemented by Marti [4] and by Hauer [5],is very accurate
and, consequently the instability mentioned above did not appear. Lower
order fitting however, as im'plemented in the 'Semlyen Setup' of the
EMTP, which is still accurate for the calculation of transients and has the
advantage of smaller computational time, has produced the described
computational problem, much to the frustration of some EMTP users.
Since the phenomenon was not understood, a thorough investigation was
carried out on the EMTP frequency dependent transmission line module.
It' was suspected that, because of the inherent time delays between input
and output, related to wave propagation, the procedure of recursive convolutions may have produced numerical instability. It tumed out that
this was not the case and a more subtle explanation was found, related to
the modelling of Y(. -Based on the insight gained a remedy could then
3580
be proposed. It consists in using a specific final value Yc,. for the characterisitc admittance. The proposed methodc has been tested and implemented in the EMTP.
The stability analysis of the following sections consists of three steps:
- First, state equations are set up for the time domain simulation of the
two basic transfer functions used' in transmission line modelling with
frequency dependent parameters: Hp the propagation transfer function, and Yc the characteristic admittance transfer function.
- Next, the stability of the propagation link is examined because of a
high likelihood that an integratidn scheme, such as recursive convolutions, with a delay of many time steps related to wave propagation
could conceivably be unstable.
- Finally, and most importantly, the state 'equations related to the
characteristic admittance Yc are examined for stability if the line is
open circuited. The instability found is analytical rather than numerical, and fully explains the linear take-off phenomenon obtained by
computation. Fundamentally, the instability is the result of using a
finite order model for an infinite order (distributed parameter) system. A physical interpretation of the phenomenon is described in the
Appendix.
so that
H(j.)
Yc (oo)=
are:
V= V'+ V"
(1')
I- I' + I"
(1")
Hp V"Iar
(2)
eAhxk
Xk+I =
(7)
/1
f eATbu (t-T)dT
(8)
(9,)
axk + Xtik+I + A Uk
(9,)
with
=
(10')
e-ah
A = b (1
a
I' = Yc V'
l-)
ah
(10")
-a)
(10"')
(3,)
b
I" =-YcV'
(3")
Hp= exp(---Yl1
(4')
oo
In previous work [31 modal state variables have been chosen so that A
was diagonal and u in (8) has been approximated by a straight line over
the integration interval. The general result is of the form (see page 370
of [8]):
and
)/w
Xk+I
YC=
(6)
o,
and
A)-lb + d
For simplicity and clarity, only a single phase (or a single mode) line
will be examined. The fundamental frequency domain relations,
representing the incident and reflected wave components of V and I (see
V'=
cT(jOU
Fig. 3),
(R =R(w),L=L(Z))
Ia
ah
In reference [31 the recursion process (9") was called "recursive convolution" because xk. was perceived as a convolution over an infinite past
time-interval. There is no essential difference between recursive convolutions and the general solution (8) and (9) of the state equations (5'):
both are implicit and are the best possible single step solutions (better
than trapezoidal) of linear state equations.,
(4")
STABILITY OF THE PROPAGATION LINK
A transfer function H(jco) of a finite order time-invariant linear system can be considered as obtained from the state equations
(5')
x = Ax + bu
For simplicity, we consider a single state variableto obtain the propagation unit step response of Fig. 4, corresponding to the propagation
transfer function Hp. Then, in (10) b = a, and
a
(5")
y = CTx + du
I' ,I")I
It~~~~
far >V
VI
far
Ijg.
-V
Fundamental variables.
+X + u
(11)
V';k+I
avk'
+ X V _ta + I + /J.Vi,,
(12')
3581
dv_
hp
T
Fig. 4
or, alternatively, the constants a, X, , and n are considered for a fictitious loop of double line length, so that a single variable x will suffice in
the recursion equation:
Xk + I
ao Xk +
XX--n + I + IXA.-n
(12")
f (z)
Zn+1
W= V'-
azn
Xz
1 = 0
(13)
x= Krz;
x=
K,.z,
(14")
ah
(15")
(17)
XK + YS W
(18')
(18")
n = 50
I= Yc W
(14')
VI?
(16)
aT
2w
h
dt
(O.1
a nT
...
=
bK
YWaJ K=
10)
(18"')
Tmax = const
(15')
Then at each time step h, due to similar effects at both ends of the line,
both v' and v " will increase by -w, and v = v' + v " will increase by
-2w. Therefore
(19)
w = v'- v"
Y-1
XK+YS'i
(20')
(20")
When the switch is open, i.e. i = 0, the system (20) is'driven solely by
the state variables if they have non-zero initial values. The A-matrix of
(20') is
3582
b,-y,aI
A
Ys~'
b,
bK
bK
...
b,
bK
...
-ys
aK
2V' 4-
(21)
...
and has zero determinant. Indeed, the sum of the rows, each divided by
the respective aK, is zero if (18"') is valid. Consequently, one eigenvalue of A is zero:
XI
(22)
\ W
)
\
(a)
2V"
+ +
VI
+
I
V/2 -c W
I
Fig. 6
V"I
I_X_
The equivalent circuit of Fig. 5a with more details. The controlled voltage source duplicates the voltage drop on Yc.
Xi
(25)
-1= const
i
This will be present in all XK (t) calculated from (23). It will be non-zero
if (0) . 0. Then it will exist in w of (20") as well and, according to
(16), will produce the unrealistic voltage take-off of curve 1 of Fig. lb.
The first column (eigenvector el) of Q, corresponding to 61 and XI,
can be obtained by solving the linear equations
Ael
II
(26)
(c)
vifi
tions.
Appendix 2 contains a physical interpretation of state equations (18).
VII
v'
+
w
(d)
YCT
Vt
Fig. 5
ys (o + aK)XK
QE
Kf_ (0)
bK
I Xi
A'X= Ib
= I bK
(28')
(28")
(23)
A'=y(jwU- A)
(24)
Here A is the singular matrix of equation (21). The matrix A' is nonsingular and equations (28) yield the phasors XK with values XK(O) at
the zero crossing of i. In general, the resulting (, will be non-zero at
where f are the new (modal) state variables. For these we can write
(_ (t
(27)
ele,
iYj
(29)
this moment:
(}(0) . 0
(30)
This indicates that w will have a constant term leading to the linear
variation in v, represented by curve 1 of Fig. lb.
STABILIZING PROCEDURE
(31)
Yco)
It is true that for w <<
,c
Yc(
(32)
and this approaches zero if G = 0 and R (o) - Rol) but this fact need
not be modelled since it does not affect the calculation of transients,
except very slow ones. Therefore, Yc( oj) will be approximated by equation (31). For o-0 this also yields Yc - 0 but, fqr practical purposes
a minimal value
Ycc,
(33)
may be assumed, since from this level Yc decreases very slowly. This
leads to a curve similar to no. 2 of Fig. 2a with the final value of Fig. 2a
with the final value
y =-
LWcr
(33')
Results
Figure 7a shows the voltage take-off at the deenergization of an
open-circuited three-phase line, modelled with two exponentials for Yc.
approaching zeros according to the initial 'Semlyen Setup', essentially as
shown in curve I of Fig. 2a. Fig. 7b gives the transient voltages calculated with this model for a line-to-ground fault on the John Day to
Lower Monumental transmission line, used as a test case in EMTP transient calculations
Figure 8 represents the same tests as Figure 7, but obtained in three
different ways. These are using respectively: the 'Marti Setup', the
'Hauer Setup', and the 'Semlyen Setup' with a final value of yc given
by (33'). The computed traces are almost indistinguishably close, so
that a single one is sufficient for describing the results. The first two
procedures perform the fitting very accurately, with many exponentials.
Both the fitting and its time domain use are, in these two cases,
significantly more expensive than with a lower order model. However,
there is no noticeable instability. The transient shown in Figure 8b is
very close to that in Figure 7b. The result with the 'Semlyen Setup', is
3583
identical for all practical purposes to that of the first two methods,
which served as a basis for comparison: clearly, the voltage take-off is
fully removed and the transient is accurately represented. There is no
increase of modelling and simulation cost by using this improved technique.
CONCLUSIONS
For the simulation of transients on overhead transmission lines
several 'setups' are available in the BPA Electro-Magnetic Transients
Program. This paper has shown that an unstable mode is intrinsical to
the finite dimensional modelling of all these procedures if the line conductance G is assumed zero. The phenomenon is clearly visible, and
therefore alarming, in the case of the 'Semlyen Setup' which has a low
order fitting of the characteristic admittance transfer function. While this
is sufficiently accurate for the simulation of transients, the long-time
approximation is not good enough to render the voltage take-off negligible. Setups with higher order fitting, which are significantly more expensive for simulation of transients, do not show a noticeable voltage takeoff. However, the instability (even if not noticeable) is basically common
to all finite dimensional models of the infinite dimensional (distributed
parameter) lines. The incentive to identify the cause of the instability
and to propose a remedy existed because of the low simulation cost with
the low order setup.
The performed analysis has shown that the instability is of analytical
rather than numerical nature. A state equation formulation relative to a
variable w, representing the difference between incident and reflected
wave voltages, has shown that an unstable natural mode exists for any
finite dimensional model. Moreover, this mode is always excited at line
energization.
Based on the recognition that the characteristic admittance transfer
function changes its nature at lower frequencies where resistance
becomes dominant over reactance, it became reasonable to approximate
yc in the time domain with a non-zero final value, even if the conductance G is zero. This has stabilized the simulation while maintaining its
simplicity and accuracy.
The main conclusions of the paper are the following:
a. The propagation loop of the recursive convolution part of the EMTP
frequency dependent line model is numerically stable.
b. The true unit step response of the characteristic admittance transfer
function is approaching zero so slowly that only a large number of
exponentials can fit this sluggish behaviour with sufficient accuracy.
c. An exponential fit is intrinsically unstable if the final value is zero.
The instability consists in the observed ramp voltage take-off. This
instability is the result of exponential fitting rather than a numerical
error accumulation problem.
d. By neglecting G and R in the expression of the characteristic admittance it remains practically unaffected in the range of frequencies
essential for simulation of not too slow transients. At the same time
a limit value YC,, = //TL7 becomes apparent: this is used in low
order fitting to assure stable results.
e. The stabilized procedure gives accurate simulation results at low cost
for fitting and simulation.
ACKNOWLEDGEMENTS
Financial support by the Natural Sciences and Engineering Research
Council of Canada is gratefully acknowledged. Dr. A. Morched of
Ontario Hydro has contributed to this work by stimulating discussions
and consultation.
REFERENCES
[1] H.W. Dommel, "Digital Computer Solution of Electromagnetic
Transients in Single and Multiphase Networks", IEEE Trans. on
Power Apparatus and Systems, Vol. PAS-88, April 1969, pp. 388399.
3584
0 LLI SCONDS
ISECONUS
1k iKJJ
(a)
(a)
(b)
Fig. 7
(b)
-100Ox2 +
-x- x2 + 0.002w
(34')
(34")
x2
(35')
3585
SOOx,
w =
50OX2 + 500i
[-50
50 1
500 - 500
XI
A2
-550
{l(t)
{,(0)
const
R' +
(40')
Z=R'
0:
R/= (1 + I) /7
(40")
X2rI).
e-55002(0)
R '(O)
[-101
(41')
or
x(t)
X2(t)
e,(0)
0(0)
1000(,(0)
(36)
lOe550 2 (0)
C' (o)=
e-550e2(0)
0,
4500e-5502(0)
APPENDIX 2
Physical Interpretation
The state equations (18) can be interpreted as related to parallel RK, CK
branches, as shown in Fig. Sb. The relations are:
1
aK
bK
RK CK
=
RIECK
We have thus obtained a low frequency series R '(o), CU'Go) equivalent for a
semi-infinite line. Both R ' and C' increase indefinitely at low frequencies. The
time constant is
(37)
(41")
T'(o)
and becomes infinite for w
'Go) C'o)
(42)
(0
Expressions (41) have more than just mathematical significance. We can, for
instance, calculate the charge on C'(Go) of (41") and show that it is the same as
the charge on all distributed capacitances of the semi- infinite line (see the next
section). If this is so, it means that, for some wl, the charge on CU'Go,) has physical significance and is equivalent to the state variables of the infinite dimensional system: the new state can then be obtained by considering the same
charge on the new capacitance C'(G02) calculated at a new frequency 0O2.
Calculation of Total Charge
TK
Consider first
V(x)
(38)
(43)
V(0)e-z
We take the real (or imaginary) part of (43) as the actual voltage at
time. The total charge is
q
and
dq
C Re(
V(x))dx
Re(C f
V(x)dx)
given
(44)
XK
qK
TK
(39)
Note that the state variables are proportional to charges on the capacitors. When
the sinusoidal charging current i of the line has its zero crossing, qK will in general be non-zero and thus charges are trapped on the capacitors. After current
interruption, these charges qK will in time redistribute, proportionally to the
respective capacitances CK, so that a common steady state voltage w will result.
This is responsible for the resultant instability.
There is one situation where, after redistribution, the voltage w results zero.
This happens when one capacitance is infinite: this however means that there
exists a purely conductive branch and, therefore, G . 0 (which is contrary to
our assumption). Clearly, with a finite order state variable model instability can
or
(45)
ReQ
where
Q
With Z
JV(x)dx
=C
=C(
(0)J'
e-zhdi
CV(O)
(46)
R and Y
Q=
C/;
V(0)
(47)
3586
Next we calculate the voltage on the equivalent capacitance C' of the series
R ', C' combination, for the terminal voltage V(O):
VI
(48)
V(O)
I+ jcvR'C' V0
Q = C'V
C'
(49)
V(O)
I
+ joR'
The identical expressions (47) and (50), obtained from the distributed circuit
and lumped circuit models of the transmission line, give the effective capacitance
at a given frequency cv:
Ceti/
(51)
j cR
The coefficient -\F2 in (51) results from the fact that Q was related to the input
voltage V(O) while the "effective" voltage along the line, or the voltage across C'
in the equivalent circuit is X2 times smaller (the R ', C' series circuit has a 1/
power factor).
1+
(50)