1

AbstractThis paper presents the solution approach and imple-

mentation strategy followed in the development of the OVNI (Ob-
ject Virtual Network Integrator) power system simulator. OVNIs
aim is to represent full-size power system networks for real-time
and online simulation. To cope with the dimensions of the prob-
lem, partitioning techniques are required, both in the system so-
lution and in the hardware implementation. OVNI implements
the MATE concept (Multi-Area Tearing Equivalent) for net-
work partitioning. In addition to the considerable solution speed-
ups that can be achieved, the MATE concept is particularly suited
for software implementation using object-oriented techniques and
for hardware implementation using parallel processing schemes.
Keywords: Real-time power system simulators, network tear-
ing techniques, objected-oriented software design.
I. INTRODUCTION
The Electromagnetic Transients Program EMTP [1] is the
standard tool worldwide for power system transients simula-
tion. Even though the EMTP maintains its position as a pow-
erful and effective tool, the availability of high computational
power at consumer market prices (e.g., Pentium II worksta-
tions) has been raising the ante of what can be achieved in
power system simulation. In particular, real-time performance
of about 50-100 s per solution step for testing of protective
relaying equipment has now been possible for over five years
[2], [3], [4].
The OVNI simulator (Object Virtual Network Integrator)
currently under development at UBC is aimed at permitting
continuous direct interaction between the user and the simu-
lated system (computer) and between the simulated system and
external equipment (e.g., an actual relay or controller). OVNI
performs a continuous-time simulation of the power system
behaviour and allows for events to be applied (by the user or
through feedback from the relay or controller) at any point in
the simulation.
The requirement of continuous simulation imposes very
demanding conditions on the numerical behaviour of the solu-
tion algorithms. To prevent accumulated phase drifts that can
drive longtime simulations unstable, all parts of the network
are solved simultaneously and decoupling through t delays
are not allowed.
OVNI: An Object Approach to Real-Time Power System Simulators
OVNI achieves the proposed design objectives using off-the-
shelf Pentium-based personal workstations. Simultaneous ef-
ficient solution of large networks is achieved using diakoptic
techniques [5] to partition the network along boundaries of
maximum solution efficiency. The partitioning technique de-
veloped for this purpose is called MATE for Multi-Area Tear-
ing Equivalent. MATE extends the concept of subdividing a
network along transmission line links (widely employed in real-
time simulator implementations, e.g., [2], [3], [4]) to the gen-
eral case of an arbitrary partitioning across linear or nonlinear
branches connecting subsystems.
From a software design point of view, partitioning into sub-
systems (object-based modelling) is ideally mapped into ob-
ject-oriented programming, which has a number of advantages
in the software design of large systems. From a hardware point
of view, the solution of weakly coupled subsystems can be eas-
ily parallelized for simultaneous execution in multiple proces-
sors.
The hardware implementation adopted for OVNI is based
on off-the-shelf Pentium II personal workstations with com-
mercially available real-time operating system and I/O boards.
II. REAL-TIME SOLUTIONS
Our real-time simulation experience ([3], [6], [7]) has mo-
tivated the rethinking of a number of solution issues with re-
spect to traditional EMTP techniques [8]. One of these issues
is the considerable solution speed-ups that can be achieved by
precalculating the inverse matrices ([G
-1
]) of possible topo-
logical configurations. This approach works well in the con-
text of simulators for relay testing like RTNS [3] because for
the type of networks involved in these applications (e.g., 30
nodes and 30 branches), there is a reasonably small number of
[G
-1
] matrices that need to be precalculated and prestored to
cover all possible switching operations.
The approach of precalculating [G
-1
] matrices, however,
reaches its limits of practicality in situations like the model-
ling of HVDC converter bridges. In the work presented in [6]
the objective was to model a 4-bridge, 24-valve HVDC con-
verter in real time. In this case, precalculation would have
required the storage of 2
24
(16 million) inverse matrices. Us-
ing network partitioning techniques, however, allowed us to
J. R. Mart, L. R. Linares, J. Calvio, H. W. Dommel, The University of British Columbia,
Vancouver, Canada, and J. Lin, Electric Power Research Institute, Beijing, China
Proceedings of the 1998 International Conference on Power System Technology, Powercon'98, Beijing, China,
August 18-21, 1998
This paper is provided on a personal basis only for the private
non-commercial use of the requester for educational or
research purposes and is subjected to the publisher's
copyright restrictions.
2
achieve real-time performance on a Pentium 200 MHz com-
puter with the precalculation of only 4 x 2
6
(256) matrices.
Some of the benchmarks obtained for this model are presented
later in this paper.
Another area where precalculation of [G
-1
] matrices can
encounter serious drawbacks is in the context of a full-size
power system simulator, like OVNI [7]. In this case, precalcu-
lation of [G
-1
] matrices for all possible operational conditions
in the network is totally impractical.
III. MATE DIAKOPTICS
Grouping components into clusters joined by links (Figs. 1,
3, and 4) is the technique adopted in OVNI for efficient real-
time solutions.
The MATE (Multi-Area Tearing Equivalent) solution frame-
work subdivides the system into kindred (of akin proper-
ties) subnetworks ([A], [B] in Fig. 1) which are independent
of each other except for the links subsystem ([]in Fig. 1)
1
.
The structure of Fig. 1 is a common one in power systems
where power transmission proceeds mostly radially from re-
moved generation plants to large consumption centres. As a
result, the power network topology shows a concentration of
equipment at plants and substations, with only a few links
(transmission lines) connecting the subsystems.
In the context of real-time EMTP-based simulators, great
advantage is taken ([2], [3], [4]) of the fact that the travelling
time in transmission lines can completely decouple the con-
nected subsystems. In this (trivial) case, subsystem [] in Fig. 1
is zero (non existent). In a more general context, as for exam-
ple, in transient stability studies using phasor solutions (or for
short-line sections in EMTP simulations) transmission lines
do not totally decouple the subsystems, but they can still con-
stitute a few links subsystem along which to separate larger
groupings of load and generation. In current research on the
work reported in [9], savings in the order of 2 to 5 times over
conventional techniques have been achieved using the MATE
approach in online security index calculations.
In the algorithmic implementation of MATE discussed later
in this paper, it is more efficient to use a two-level segmenta-
tion scheme (Figs. 3 and 4) to distinguish between transmis-
sion line links (complete decoupling) and MATE links (de-
coupling through the links subsystem).
The main advantage of the MATE diakoptic structure of
Fig. 1 in the context of real-time simulation is that the solu-
tion of the full network can be formulated in terms of inverse
matrices [A
-1
], [B
-1
], and [
-1
]. These matrices represent smaller
subsystems that, in many instances, either remain constant or
have a reasonable number of possible states that can be precal-
culated before the time-step loop.
The MATE formulation is particularly advantageous to rep-
resent switching operations in branches connecting subsystems.
In traditional EMTP modelling, when an ideal switch closes,
the two nodes connected by the switch collapse into a single
node. Similarly, when the switch opens two nodes are created
out of one. These topological changes slow down the solution
process in two fronts: i) There is a change in node subscripts,
and ii) The entire system needs to be retriangularized.
Suppose in MATE that subnetworks [A] and [B] in Fig. 1
remain topologically constant during the time loop simulation
(i.e., only the history sources change from time step to time
step), and that all switching operations occur in the link
branches (subblock []). Then, whether the link branches are
open or closed affects only the links subsystem [
-1
] and sub-
matrices [A
-1
] and [B
-1
] do not need to be retriangularized.
The savings achieved in MATE by avoiding full-system
redimensioning and retriangularization can be considerable,
particularly in the context of real-time simulation, where it is
particularly important to keep equal-length solution times at
each solution step.
Another common situation where MATE can result in con-
siderable savings is, for example, when subnetwork [A] is lin-
ear and subnetwork [B] is nonlinear. In this case since [A
-1
]
does not change, the solution of [A] requires minimum updat-
ing work, and the most computational work is concentrated in
subsystem [B]. Further savings can be achieved if [B] is mod-
elled as a finite nonlinearity (e.g., as piecewise linear), in
which case all possible states of [B] can be precalculated and
prestored.
Other Kindred Subnetworks
In addition to the most obvious cases discussed above re-
garding topologically constant clusters and clusters connected
by a few links, there are a number of other kinship situations
that can be advantageously formulated and efficiently solved
using MATEs diakoptic approach. Some of the kindred sub-
systems that we are currently investigating include:
1. Transmission lines decoupled by travelling time in EMTP
solutions (trivial case where full decoupling exists). 1
Detailed papers by the first two authors on MATE and its OOP realization
are being submitted in May 1998 to IEEE Transactions on Power Systems.
A
B

Fig. 1. MATE diakoptics. [A] and [B] are cluster

subsystems. [] are the links.
3
2. Dense subsystems joined to each other through a few links
(e.g., by transmission lines in transient stability phasor so-
lutions).
3. Subsystems where the [G] matrix remains constant con-
nected to subsystems where the [G] matrix changes from
time step to time step.
4. Subsystems with linear elements connected to subsystems
with nonlinear elements.
5. Subsystems solved using a phasor solution (e.g., a power
network during a transient stability study) linked to subsys-
tems solved with an EMTP solution (e.g., an HVDC con-
verter).
6. Slow subsystems where large solution steps t are adequate,
connected to fast subsystems where much smaller ts are
required. Here the slow subsystem does not need to be solved
at each time step of the fast subsystem solution [10]. In
EMTP studies, for example, a power network modelled with
a t in the hundreds of microseconds may be connected to
an HVDC converter where, for proper firing angle resolu-
tion, the t should be in the tens of microseconds.
IV. OBJECT ORIENTED IMPLEMENTATION
To simulate a network in EMTP solutions, a suitable inte-
gration rule is first applied to each element in it [1]. At the end
of this discretization process, the original network has been
replaced by a DC-resistive network containing equivalent re-
sistances, and current sources that depend on past history val-
ues of currents and voltages. At every time step of the solution
loop, this DC-resistive network needs to be updated. This up-
dating may or may not include topological changes, but it will
always incur a history sources computation. Applying nodal
analysis to this discretized network, a system of equations of
the form of Eq. (1) is obtained,
[ ][ ] [ ] G v h = (1)
where [G] is the matrix of conductances, [h] is the vector of
total nodal currents, and [v] is the vector of unknown nodal
voltages.
Topological changes represent changes in [G], and perhaps
in the way history sources are accumulated into [h].
Computationally speaking, topological changes are very ex-
pensive (step (c) below, and in Fig. 2).
During every integration step, the OVNI (Object Virtual
Network Integrator) goes through the steps outlined in Fig. 2:
a) Updating all history sources in the system;
b) Accumulating all current sources into nodal current vec-
tors;
c) Reassessing the system conductance matrix [G];
d) Solving for the node voltages;
e) Presenting the state of the network for output.
1. Segmentation of the network
The solution of Eq. (1) becomes computationally expensive
as the number of nodes increases. The OVNI solver reduces the
computational burden by subdividing the system into subsys-
tems that can be solved as if they were decoupled from the rest
of the network. The result of this segmentation process con-
verts Eq. (1) into many smaller subsystems of the same form
(Figs. 3 and 4), and given that the solution effort per subsys-
tem is of the order of the square of the number of equations/
unknowns, the gain in speed can be considerable.
The process that the OVNI follows to segment the network
into smaller, more manageable sections is divided into two
stages. First, it uses topological segmentation provided by the
time delay of transmission line links to break the network into
completely decoupled blocks. Then, it uses MATE diakoptics
to fracture these blocks into even smaller subblocks.
The relationship between the networks topological blocks
and MATEs subblocks can be seen in Figs. 3 and 4.
2. OVNI s top level classes
In OVNIs fragmented scenario, object-oriented design
(OOD) is used to render a flexible, reliable, and expandable
solution to the simulation problem. At the top level of the
OVNIs object-oriented programming (OOP) abstraction is the
simulation itself, an object single instantiation, OSI, of the class
sim_t. The simulation object drives, under the synchroniza-
tion of the clock (an OSI of the class clk_t), the network object
(an OSI of the class net_t) to solve itself at every time step.
On its part, the network class, net_t, has a container rela-
tionship with most other objects in the solution domain; namely:
Fig. 2. Steps in simulation cycle per integration step.
Update History Sources
(Element model' s responsibility)
Accumulate Nodal currents
start-thi s-step
Sol v e f or No d e Vo l t a g e s
e n d - t h i s - s t ep
r e a d y f o r o u t p u t / i n p u t
Re c o mp u t a t i o n o f [ G] ma t r i x
4
it contains all the topological blocks, all MATEs subblocks,
all probes (oscilloscopes, voltmeters, sensors, etc.); all network
elements; all MATEs links; and all current and voltage sources.
While doing this, the OVNI maintains each of those objects
very loosely coupled with the rest, which permits easy redefi-
nition and expansion or modification of any of those entities.
3. Element-models encapsulation
The OVNIs computation/simulation can be separated into
two main activities, one that involves the element models ex-
clusively, and another that is the sole responsibility of the inte-
grator proper.
Elements (transformers, inductors, capacitors, HVDC
bridges, transmission lines, etc.) are represented in the OVNI
as instantiations of some particular class in a hierarchy whose
top ancestor is the abstract class elm_t.
This clean segmentation of responsibilities, enforced by the
encapsulation of OOP, allows the OVNI simulator to profit from
models developed by other parties, with the abstract methods
interface defined in elm_t as the only constraint. The methods
in elm_t maintain the compatibility of interface between the
integrator and the model, without burdening the model devel-
oper with the need to get into the intricacies of the integrator
proper.
V. HARDWARE IMPLEMENTATION
A major guideline in OVNIs hardware implementation has
been to stick to off-the-shelf computer equipment, on the low-
price end of the spectrum. In our lab, OVNI runs on Pentium
Pro 200 MHz workstations, but the current technology targets
are Pentium II 330 MHz machines for the core and Pentium II
200 MHz machines for the interface.
Data exchange with the devices under test and the monitor-
ing probes is made through a convenient set up of 16-bit ana-
log outputs and optically isolated digital inputs.
Communication requirements for data exchange among the
different OVNI processors impose transmission rates in the or-
der of 40 Mbytes/sec, with the communication cards plugged
into PCI busses.
Given the speed requirements, the chosen hardware archi-
tecture favours a master/slave structure instead of a network
one. The same higher performance in data transmission needs
made us choose a DMA and a radial architecture versus a tree-
like architecture.
The Pharlap real-time operating system, with full 32-bit
addressing capabilities, is used for the hardware platform.
However, direct control of the hardware, bypassing the OS, is
needed in many critical instances.
The processors synchronization adopted is based on a com-
mon shared interruption input whose controller is the master
Fig. 3. Solution scheme for OVNIs two-level segmentation:
topological and MATE.
Fig. 4. Illustration of OVNIs two-level segmentation:
topological and MATE.
topological block
MATE
sub block
link
matrix
Network's
Conductance
Matrix
topological blocks
MATE
sub bl ock
transmi ssion line link
tra
n
s
m
is
s
io
n
lin
e
lin
k
transmissi on line l ink

topol ogi cal
bl ock
topol ogi cal
bl ock
topol ogi cal
bl ock
topol ogi cal
bl ock
MATE's
Diakopt ic SubBlock
MATE's
Diakoptic SubBlock
MATE's
Links
5
processor. Integration step widths t are generated through
the timers already incorporated within the workstation hard-
ware.
VI. SAMPLE CASE: AN HVDC SYSTEM
A situation where real-time performance becomes particu-
larly difficult is when there are many switching operations in-
volved. This is the case, for example, of HVDC converters
where the state of the thyristor valves changes at almost every
step of the simulation. As indicated earlier, precalculation of
all possible inverse matrices (in the order of 16 million for a
24-valve converter) is not practical in this case.
As an example of the performance benefits obtainable by
OVNIs combination of topological segmentation and MATEs
segmentation in an OOP environment, a test case for a 6-valve,
12-valve, and 24-valve HVDC converter was run both under
OVNI and under Microtran (UBCs version of the EMTP). Both
programs ran on a Pentium-Pro 200 MHz workstation. The
timings obtained are shown in Table I.
VII. CONCLUSIONS
The large computational power available today at low prices
has opened a number of opportunities in what can be achieved
in systems simulation. At the same time, as the goals become
more ambitious (e.g., real-time simulation), new solution ap-
proaches are needed to harness this power. OVNI (for Object
Virtual Network Integrator) is an ambitious project that aims
at attaining real-time solution speeds for large power system
networks using desktop computers. To tackle this challenge, a
new network solution strategy has been devised. MATE (for
Multi-Area Tearing Equivalents) simplifies the network solu-
tion problem by splitting the network into manageable pieces.
Subsystems are defined which are independent of each other
except for a few links. This independence allows the exploita-
tion of the solution properties of each subsystem to full advan-
tage. For example, subsystems that do not change topologi-
cally from time step to time step do not need to be retriangu-
larized (as it is currently done in the EMTP solution) just be-
cause some of the branches connecting the system to another
subsystem change. The MATE solution is a full-system simul-
taneous solution and decoupling between subsystems is not
approximated by t delays but it is exactly resolved. The con-
cept has been implemented in software using OOP design and
in hardware using off-the-shelf personal computers. Real-time
performance has been obtained in test systems of 30 nodes and
30 branches for relay testing and in the simulation of 24-valve
HVDC converters.
VIII. ACKNOWLEDGEMENTS
The OVNI project is a large project and at present a team of
about twenty individuals, including graduate students, visi-
tors, and research assistants are participating in different as-
pects of it. Funding also proceeds from a number of sources,
but particular recognition should be given to the Natural Sci-
ences and Engineering Research Council of Canada (NSERC),
the British Columbia Hydro Authority (BC Hydro), and
Powertech Labs of Surrey, BC, for their continued support.
IX. 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, No. 4, April
1969, pp. 388-399.
[2] P.G. McLaren, R. Kuffel, R. Wierckx, J. Giesbrecht, L. Arendt,
A real time digital simulator for testing relays, IEEE Trans.
on Power Delivery, Vol. 7, No. 1, January 1992, pp. 207-213.
[3] J. R. Mart, L. R. Linares, "Real-Time EMTP-based transients
simulation," IEEE Trans. on Power Systems, Vol. 9, No. 3,
August 1994, pp. 1309-1317.
[4] M. Kezunovic, M. Aganagic, V. Skendzic, J. Domaszewicz,
J. K. Bladow, D. M. Hamai, S. M. McKenna, Transients com-
putation for relay testing in real-time, IEEE Trans. on Power
Delivery, Vol. 9, No. 3, July 1994, pp. 1298-1307.
[5] G. Kron, Tensor Analysis of Networks, New York: Wiley, 1939.
[6] S. Acevedo, L. R. Linares, J. R. Mart, Y. Fujimoto, "Efficient
HVDC converter model for real time transients simulation,"
Accepted for publication in IEEE Trans. on Power Delivery.
[7] J. R. Mart, L. R. Linares, R. Rosales, H. W. Dommel, "OVNI:
a full-size real-time power system simulator," International
Conference on Digital Power System Simulators, ICDS'97,
Montreal, Quebec, Canada, May 28-30, 1997.
[8] H. W. Dommel, EMTP Theory Book, 2nd Ed., Vancouver:
Microtran Power System Analysis Corporation, 1992.
[9] M. P. de Arizn, J. R. Mart, "Real-time power system secu-
rity and control," IEEE Wescanex Conference Proceedings,
Winnipeg, May 22-23, 1997.
[10] Linares, L.R. and Mart, J.R., Sub-area latency in a real-time
power network simulator, Proceedings IPST95, International
Conference on Power System Transients, Lisboa, September
1995, pp. 541-545.
Solution times in s/step
(Pentium-Pro 200 MHz)
Simulator 6-valve 12-valve 24-valve
MicroTran 459 983 3120
OVNI 26 45 81
Ratio: 17.7 21.8 38.5
TABLE I
BENCHMARKS FOR HVDC CONVERTER MODEL