Applied Energy 172 (2016) 337–359

Contents lists available at ScienceDirect

Applied Energy
journal homepage: www.elsevier.com/locate/apenergy

A review of computer tools for modeling electric vehicle energy

requirements and their impact on power distribution networks
Khizir Mahmud, Graham E. Town ⇑
Sustainable Energy Systems Engineering Research Group, Department of Engineering, Macquarie University, NSW 2109, Australia

h i g h l i g h t s

 125 simulation tools for modeling electric vehicles and associated infrastructure are reviewed.
 The tools’ capabilities are summarized and tabulated by source, availability, and application.
 Applications considered include modeling of vehicles, traffic, and power distribution systems.
 The advantages and limitations of particular tools in each application are summarized.

a r t i c l e i n f o a b s t r a c t

Article history: This paper presents a review of the many simulation tools that have been reported for modeling and
Received 2 November 2015 managing the impact of electric vehicles on power distribution networks, and associated applications.
Received in revised form 24 March 2016 One hundred and twenty-five simulation tools have been identified and among them sixty-seven tools
Accepted 25 March 2016
have been summarized to facilitate selection of the most appropriate tools for specific tasks. Typical
applications of the tools include vehicle system analysis and control, renewable energy and vehicle-
to-grid integration and impact analysis, energy market behavior and charge scheduling, vehicle energy
Keywords:
management, and traffic system simulation. No single tool covers all areas of these applications, however
Electric vehicle
EV tools
sufficient information is provided to enable researchers to select the most appropriate combination of
Grid tools tools to meet specific research objectives.
Smart grid Ó 2016 Published by Elsevier Ltd.
V2G tools
Vehicle traffic systems

Contents

1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
2. List of simulation tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
3. Simulation capability analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
4. Brief review of the tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
4.1. ADVANCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
4.2. ADVISOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
4.3. AVL CRUISE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
4.4. CASPOC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
4.5. COMPOSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
4.6. CYME toolkit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
4.7. DSATools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
4.8. DYNA4 Simulation Toolkit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
4.9. EasyPower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
4.10. EDSA Paladin Toolkit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
4.11. EMCAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
4.12. EnergyPLAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349

⇑ Corresponding author.
E-mail address: graham.town@mq.edu.au (G.E. Town).

http://dx.doi.org/10.1016/j.apenergy.2016.03.100
0306-2619/Ó 2016 Published by Elsevier Ltd.
338 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359

4.13. ETAP toolkit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349

4.14. FASTSim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
4.15. GREET. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
4.16. GridLAB-D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
4.17. GridSpice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
4.18. Grid 360 and iEnergy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
4.19. GTMax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
4.20. HOMER. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
4.21. HYPERSIM and ePOWERgrid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
4.22. iGRHYSO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
4.23. IKARUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
4.24. InterPSS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
4.25. IPSA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
4.26. MARKAL/TIMES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
4.27. MesapPlaNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
4.28. MiPower. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
4.29. Modelica Toolkit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
4.30. NEPLAN|Electricity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
4.31. OpenDSS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
4.32. ORCED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
4.33. PLEXOS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
4.34. POM Application Suite . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
4.35. PowerFactory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
4.36. PSAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
4.37. RAPSim. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
4.38. Saber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
4.39. Simpow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
4.40. SOMES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
4.41. SPARD Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
4.42. THYME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
4.43. V2G-Sim. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
4.44. Xendee . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
5. Discussion and conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
Acknowledgments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356

1. Introduction storing energy in times of excess generation, and providing energy

Electric vehicles (EVs) are propelled by one or more electric
motors powered by electric energy which is either stored in
batteries and/or converted from chemical energy [1]. EVs may be
grouped into plug-in (PEV) and plug-in hybrid (PHEV) types,
and into fuel cell (FCV) and other hybrid vehicles, however all
are potentially powered by renewable energy, and hence may
reduce environmental damage caused by carbon dioxide emissions.
The energy density of batteries commonly used in EVs is much lower
than hydrocarbon-based fuels, which presents challenges for perfor-
mance and operational range. As a result, EVs need to utilize their
stored charge carefully; good energy management includes efficient
use of energy within each vehicle, and also management of the
energy flows between the vehicle and the electricity grid.
Research into EVs and PEV/PHEVs must therefore consider the
design, analysis, and control of energy management systems to
enhance energy economy and efficiency, and storage lifetime,
whilst providing availability and reliability for both short and
long-distance journeys in the context of real-time traffic flows
and geography. Interest has also been growing in the potential
impact of PHEV/PEVs on electric power distribution networks,
e.g. in coordinated versus uncoordinated charging scenarios. The
bidirectional characteristics of EVs pose particular challenges and
opportunities; in addition to consuming energy, they have the abil-
ity to provide power to grid for finite periods, i.e. in vehicle-to-grid
(V2G), home (V2H) or other (V2X) systems.
Consequently EVs are likely to play a significant role integrating
renewable energy sources into the electricity distribution grid, e.g.
back to the network during times of peak load. Conversely, inade-
quate or poor management of EVs could result in negative impacts
on power quality and grid reliability. The collective impact of EVs
on the electricity distribution grid will depend on a variety of fac-
tors, including power ratings, charging time (off-peak or on-peak),
charging rate and pattern, the geographic distribution of EVs and
their state of charge, etc. The negative impacts could include volt-
age instability, harmonic distortions, load imbalance and overload
of the electricity distribution grid [1].
Grid impact analysis of many EVs with distributed renewable
energy sources and emerging domestic battery storage options
[2] requires the use of specialized simulation tools. Through the
use of such tools one may attempt to optimize the performance
and economic benefit of EVs in what is becoming an increasingly
flexible and complex electricity supply system and market.
There have been many reports of specific computational tools
for energy market analysis, EV design, traffic modeling, power
network analysis, renewable and/or EV integration in distributed
energy systems, etc. For example, to name a few, the Vehicle-to-
Grid Simulator (V2G-Sim) [3], the power system analysis toolkit
(PSAT) [4], the transport emissions modeling tool GREET [5], the
AVL CRUISE vehicle simulation platform [6], the CarMaker tools
incorporated with the Simulink environment to analyze integrated
car functionality [7], the ANSYS Simplorer for multi-domain
systems modeling [8], the MORPHEE tools for modeling vehicle
integration [9], the Simpow power systems simulation tool [10],
and the CANoe tool for distributed system design [11]. However,
most of the latter tools are designed for a limited range of
 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359
applications. A review of several simulation tools for distributed
renewable energy systems has been published [12], however, it
did not include vehicle modeling tools or traffic simulation tools.
This paper aims to fill the latter gap by providing a review of
computational tools relevant to modeling the impacts of EVs on
electricity distribution due to charging (i.e. grid-to-vehicle, or
G2V) and/or discharging (V2G, V2H, V2X). The tools reviewed also
cover a wide range of other relevant applications such as design
and analysis of EVs, calculation of emissions caused by EVs, traffic
system modeling, renewable energy integration with electricity
distribution networks and its distributed control, and the energy
market and charge scheduling. The objective of this review is to
provide a comprehensive guide to facilitate selection of the most
appropriate tools for integrating EVs into electricity distribution
networks.
2. List of simulation tools
Forty-four computer tools are listed in Table 1. The tools are
described according to their source, availability, and typical
application.
A list of the simulation tools which are not described here in
detail but which are nevertheless potentially useful are listed in
Table 2. These tools deal with related areas such as vehicle design,
vehicle dynamics analysis, power-train design and emission calcu-
lations of hybrid EVs, or with various aspects of power system anal-
ysis such as DC/AC load flow, fault analysis, distribution network
design, energy market development, transmission and distribution
network optimization, monitoring and real-time market analysis.
The energy usage of a vehicle is largely determined by the route
taken, road congestion, traffic conditions, topology, etc. Any well
planned route with optimized traffic systems and signaling will
improve energy efficiency. Additionally V2G capable vehicles can
transfer power to the grid. As a result, traffic system planning is
potentially linked with modern power systems because well
planned traffic systems directly contribute to vehicle fuel econ-
omy. Thus, smart traffic system planning is potentially important
in modern power systems and distributed renewable energy inte-
gration research.
Therefore, this paper also includes a review of traffic system
modeling and simulation tools. Twenty-three simulation tools
have been identified and summarized to identify appropriate traf-
fic systems modeling and analysis tools. All four major types of
traffic-system modeling category have been addressed here,
including microscopic, macroscopic, mesoscopic, and metascopic
traffic system models. Microscopic model simulation tools analyze
individual elements of transportation systems, vehicle dynamics
and traveler behavior. Macroscopic models deal with the aggre-
gated characteristics of transportation elements, and mesoscopic
simulation tools analyze transportation elements in a specific
group. The traffic simulation tools are described below together
with their developer or distributor information, source and avail-
ability, and typical applications.
& Aimsun is a microscopic commercial (free trial available) traffic
simulation tool, developed by TSS-Transport Simulation
Systems (www.aimsun.com) [111]. It provides a real-time
decision-making facility for traffic forecasting and manages traf-
fic systems under critical congestion and emergency conditions
[111]. The typical applications of this tool include bus rapid
transit (BRT) and transit signal priority (TSP) assessment and
optimization, highway infrastructure improvement impact
analysis, feasibility analysis of high occupancy tolls (HOT) and
high occupancy vehicle (HOV) lanes, environmental impact
analysis, road pricing, toll design, travel demand management
339
(TDM) evaluation, traffic signal control plan optimization, traffic
system safety analysis, and variable speed policies analysis. It
can also analyze the interaction of pedestrian and vehicle traffic
systems [111]. Its advanced traffic management framework can
evaluate the impact of route choice, dynamic reserved lanes,
reversible lanes and parking schedules on traffic systems [111].
& CityTrafficSimulator is a free simulation tool (www.cszb.net) to
simulate small- to medium-sized traffic networks [112]. It imple-
ments an intelligent driver model and real-world traffic scenarios
connecting multiple nodes and paths with arbitrary signal and
signal times. It can evaluate the total traffic flow under specific
signal timing and conditions. It can analyze the behavior of the
traffic with four different transport types (bus, truck, car, tram)
for distinct and shared roads. It can forecast and manage the
traffic volume considering signal light timing, number of stops,
number of line changes, and vehicle velocity [112].
& CORSIM is a commercial (free trial available, nominal fee appli-
cable for academics) traffic systems analysis toolbox, developed
and maintained by McTrans Center [113] (http://mctrans.ce.ufl.
edu/mct/). It has three packages; HCS 2010 (used to simulate
highway vehicle capacity under various conditions), TSIS-
CORSIM, and TRANSYT-7F (used for sophisticated traffic signal
timing optimization) [113]. The main applications of this tool
include street signal timing and coordination, freeway and bus
lane design, incident detection and its management, truck
weight station and toll plaza design, traffic flow forecasting
and management, etc. [113].
& Cube/Sugar/Urban Engines is a commercial traffic simulation tool
developed and maintained by CITILABS (www.citilabs.com)
[114]. It can plan traffic systems and simulate transportation
networks with a user-friendly data management facility [114].
Cube provides transportation planning and land-use solutions.
It provides the answers of the ‘‘what-if” questions related to
changes in population, land-use and transportation networks.
Cube has various features such as; Cube Voyager, which ana-
lyzes large-scale personal travel demand; Cube Avenue, which
models dynamic congestion throughout the day; Cube Dynasim,
which models traffic operation and parking; Cube Land, which
predicts the land use in transportation systems modification;
Cube Cargo, which simulates the freight movement in a certain
region to analyze the impact of commodity flow; Cube Analyst,
which estimates trip matrix and other survey data; and Cube
Cloud, which shares models, data and results among users
[114]. Citilab’s Cube software and Urban Engine’s platform pro-
vide a system to predict, monitor and plan traffic systems.
& DRACULA (Dynamic Route Assignment Combining User Learning
and Micro-simulAtion) is a free (for the demonstration version)
traffic simulation tool, developed by the Institute for Transport
Studies, University of Leeds, (www.its.leeds.ac.uk/software/
dracula) [115]. It can be used to develop wide-scale traffic
systems and control strategies. Typical applications include
route choice calibration, road pricing, transportation demand
management (TDM), analysis of environmental impact on
TDM, congestion and time-based road pricing, etc. [115].
& DYNASMART-P (Dynamic Network Assignment-Simulation Model
for Advanced Roadway Telematics – planning version) is a
commercial traffic system simulation tool released by the
Federal Highway Administration through McTrans in 2007,
http://mctrans.ce.ufl.edu/featured/dynasmart/ [116]. Its most
typical applications include traffic network planning, traffic
system design and operation, traffic forecasting, time-varying
traffic flow analysis considering vehicle speed, delays and queue
lengths, and traffic management. It can import traffic network
and demand data from other models. It has the capability to
model large networks.
340 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359

Table 1
List of simulation tools by source, availability and typical application.

Tool Description/source Availability Typical application

ADVANCE [13] TASS International B.V. (www.tassinternational.com) Commercial Modular vehicle modeling tool in Matlab Simulink environment
ADVISOR [14] NREL (www.adv-vehicle-sim.sourceforge.net) Free to use Virtual vehicle analysis
AVL CRUISE [15] AVL (www.avl.com/cruise) Commercial Vehicle simulation platform
CASPOC [16] Integrated Engineering software, (www. Free demo Mechatronics system, power generation, distribution and analysis
integratedsoft.com/products/caspoc) tool
COMPOSE [17] AAU, Denmark (energyinteractive.net) Free to use Techno-economic energy-project analysis tool
CYME Tool kit [18] CYME International, (cyme.com) Free trial Power system simulation tool
DSATools [19] Powertech Labs Inc, (www.dsatools.com) Commercial Power system modeling, planning and analysis toolkit
DYNA4 Simulation TESIS (www.tesis-dynaware.com) Commercial Vehicle with energy simulation tools
Toolkit [20]
EasyPower [21] EasyPower LLC (www.easypower.com) Commercial Power system analysis tool
EDSA Paladin Power System EDSA (www.edsa.com) Commercial Power system design and simulation tool
Toolkit [22]
EMCAS [23] ANL, U.S. (www.anl.gov) Commercial Electricity sector techno-economic model analysis
EnergyPLAN [24] Energy Plan, AAU, Denmark (www.energyplan.eu) Free to use Energy planning including electricity
ETAP toolkit [25] ETAP (www.etap.com) Commercial Electrical power system design, analysis, optimization
FASTSim [26] NREL (www.nrel.gov/transportation/fastsim.html) Free to use Automotive Systems Simulator
GREET 2014 [27] Argonne National Laboratory, U.S. (greet.es.anl.gov) Free to use Energy use, emission and transportation modeling tool
GridLAB-D [28] Open source (www.griedlabd.org) Free to use Distribution system and load simulator
GridSpice [29] Open source, (https://code.google.com/p/gridspice/) Free to use Modeling, analysis and optimization of the smart grid
Grid 360/iEnergy Nexant, (www.nexant.com) Commercial Grid, distributed energy resources analysis tool
[30]
GTMax [31] ANL, (www.anl.gov/energy-systems) Commercial Electricity generation and flow analysis
HOMER [32] National Renewable Energy Laboratory, Homer Energy, U. Free to use Micro power model design tool
S. (www.homerenergy.com)
HYPERSIM/ OPAL-RT Technologies, (www.opal-rt.com) Demo is free to Power system, V2G technology, HVAC, HVDC, FACTS and power
ePOWERgrid use system real-time digital simulator
[33]
iGRHYSO [34] Universidad de Zaragoza (www.unizar.es/rdufo/grhyso. Commercial Grid connected renewable energy optimization, distributed
htm) (Spanish) generation, storage and EV
IKARUS [35] Energy & climate Research centre, Jülich (www.fz-juelich. Commercial Energy system cost optimization tool
de/portal/EN/Research/_node.html) Few are free
InterPSS [36] InterPSS community (www.interpss.org) Free to use Cloud-based power system simulation tool
IPSA [37] IPSA Power (www.ipsa-power.com) Commercial Power system analysis tool
MARKAL/TIMES International Energy Agency (www.etsap.org) Commercial Energy-economy analysis tool
[38]
MesapPlaNet [39] Mesap Planning Network (www.seven2one.de/de/ Commercial Electrical network models simulation tools
technologie/mesap.html)
MiPower [40] PRDC, (www.prdcinfotech.com/business/software- Commercial Power system analysis and simulation
products/mipower/)
Modelica Toolkit Modelica, (www.modelica.org) Free to use Object oriented multi domain complex system design
[41]
NEPLAN|Electricity NEPLAN, (www.neplan.ch/) Commercial Power system, renewable energy and smart grid
[42]
OpenDSS [43] Open source (www.electricdss.sourceforge.net) Free to use Power Distribution Systems simulation tool
ORCED [44] ORNL, U.S. (www.ornl.gov) Free to use Regional electricity-dispatch simulation tool
PLEXOS [45] Energy Exemplar (www.energyexemplar.com) Commercial Integrated Energy Model
POM Applications V&R energy systems, (www.vrenergy.com) Commercial Power system research tool
Suite [46]
PowerFactory [47] DigSILENT GmbH, Germany (www.digsilent.de) Commercial Power system modeling, analysis and simulation tool
PSAT [48] Open source (http://faraday1.ucd.ie/psat.html) Free to use Power System Analysis Toolkit
RAPSim [49] Open source, (https://sourceforge.net/projects/rapsim) Free to use Simulate micro grid model, grid control including all renewable
resources and storage
Saber [50] Synopsys,(www.synopsys.com/Prototyping/Saber/Pages/ Commercial, Modeling/analysis physical systems, electric power
default.aspx) Free demo generation/conversion/distribution and optimization
Simpow [51] Solvina Energy Excellence (www.solvina.se/simpow) Commercial Power System Simulator
(free demo)
SOMES [52] Utrecht University, Netherlands (www.web.co.bw/ Commercial Renewable energy system including PV, wind, generator, grid,
sib/somes_3_2_description.pdf) battery storage, EV
SPARD Power [53] Energy computer system (SPARD) (www.energyco.com) Commercial Power systems’ load flow, short circuit, harmonic analysis,
protection and optimization tool
THYME [54] Open source (http://web.ornl.gov/~1qn/thyme/docs) Free to use Power system Control, Communications and electro-mechanical
dynamics analysis tool
V2G-Sim [55] Lawrence Berkeley National Laboratory (v2gsim.lbl.gov) Restricted Vehicle to grid simulator
Xendee Tool [56] Xendee, (https://www.xendee.com) Commercial Smart grid and microgrid applications simulation tool

& DynusT is a dynamic traffic assignment tool to support planners
and engineers to plan, operate, and design emergent
transportation issues [117]. It can easily provide the answers
of the ‘what-if’ scenarios that differ from the existing scenario.
It analyzes the short and long term impact of incidents, work
zones and traffic system modifications. It can simulate
wide-scale traffic flow resulting from individual vehicle drive
patterns. It is an open-source tool, free to use (http://dynust.
net/) [117].
& Emme/Dynameq are traffic simulation tools mostly used for travel
demand and traffic forecast, traffic planning, and transit planning
based on vehicle fuel economy, environment, and emission [118].
 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359 341

Table 2
List of other relevant simulation tools categorized by source, availability and typical applications.

Tool Description/source Availability Typical application

AGORA [57] EleQuant, (www.elequant.com/products/agora) Commercial Design, monitor and analyze power systems
ANSYS Simplorer [8] ANSYS Inc. (ansys.com/Products/Simulation + Technology/ Commercial Simulate multi-domain systems including
Electronics/Electromechanical/ANSYS + Simplorer) electrical power systems, EV and energy market
ASPEN Toolkit [58] ASPEN (www.aspeninc.com) Commercial Analyze power systems
ATP [59] ATP research group (www.emtp.org) Commercial Analyze power systems
AUTONOMIE [60] Argonne (www.autonomie.net) Free to use Vehicle powertrain and vehicle dynamics
CAPE [61] Electrocon (www.electrocon.com) Commercial Design and analyze power systems
Cymdist [62] Engineering Computation (www. Analyze power distribution systems
engineeringcomputation.com)
DER-CAM [63] LBNL (www.bnl.gov/SET/DER-CAM.php) Limited access To simulate distributed energy resources
economic models
DINIS [64] FUJITSU (www.dinis.com) Commercial Analyze power systems
Dymola [65] 3DS (www.3ds.com/products-services/catia/capabilities/ Model and analyze energy and environment
systems-engineering/modelica-systems-simulation/dymola)
EL-PSoft/ENMS/ELint-TMS NexGEN (nexgenconsultancy.com) Commercial Design, monitor, control electrical power
[66] systems
EMTP-RV [67] POWERSYS (emtp.com) Commercial (free Simulate power systems
demo)
EPOCHS [68] Cornell University (www.cs.cornell.edu/hopkik/ftp.html) Free to use Simulate power systems
ESSE Distribution Systems Embedded Systems Technology, Inc. (www.essetek.com) Commercial Vehicle control systems modeling and
Engineering Workbench verification
[69]
EuroSTag [70] Tractebel Engineering GDF SUEZ and RTE, (www.eurostag.be) Commercial Design and analyze power systems
Fendi [71] Open-source, (www.martinole.org/Fendi) Free to use Analyze DC/AC power distribution, load flow and
geographical load flow
GridPACK [72] Battelle (www.gridpack.org) Free to use Design and analyze power systems and electric
grid
GridSim [73] Open-source, (www.cloudbus.org/gridsim) Free to use Design/manage/schedule large-scale distributed
systems
GT-SUITE [74], Gamma Technologies (www.gtisoft.com) Commercial Analyze hybrid vehicle powertrain and engine
Hybrid2 [75] RERL, University of Massachusetts, U.S. (www.nrel.gov/docs/ Limited Simulate hybrid power systems
legosti/old/21272.pdf)
H2FAST [76] NREL, (www.nrel.gov/hydrogen/h2fast/) Limited Hydrogen financial systems analysis in the
hydrogen fueling station
INFORSE [12] International Sustainable Energy Network (www.inforse.org/ Free to use Analyze energy balancing between energy
europe) (conditional) market, economy, and environment
IPSYS [77] O. Gehrke and his team (sourceforge.net/projects/ipsys) Free to use Control and analyze power systems, power
management and EV
MapleSim [78] Maplesoft (www.maplesoft.com/products/maplesim/index. Commercial Model and analyze aircraft systems, HEV/EV
aspx) design, HEV dynamics and powertrain
MASCEM [79] Z. Vale, T. Pinto, I. Praça, H. Morais (zav@isep.ipp.pt) [79] Limited access Simulate power systems and electricity market
MASGrip [80] P. Oliveira, T. Pinto, H. Morais, Z. Vale [80] Limited access Simulate smart grid management, EV and
distributed power generation
MatDyn [81] KU Leuven (www.esat.kuleuven.be/electa/teaching/matdyn) Open-source, free To analyze power systems
to use
MATPOWER [82] Cornell University (www.pserc.cornell.edu/matpower) Free to use Design and analyze power systems
NEMS [12] U.S. Energy Information Administration (www.eia.doe.gov) Free tool (partial) Develop an energy-economy model
Nexant SCOPE [83] NEXANT (http://server.nexant.com/ess/product_scope.aspx) Commercial Analyze and optimize power systems
ObjectStab [84] Modelica (www.modelica.org/library/ObjectStab) Free to use Simulate power systems
Paladin suite [85] Power Analytics (www.poweranalytics.com) Commercial Model and analyze power systems
Power⁄Tools [86] SKM Systems Analysis (www.skm.com) Commercial To analyze power systems
(some version are
free)
PowerWorld Simulator [87] PowerWorld Comrporation (www.powerworld.com) Commercial Simulate power systems
PQView/PQWeb/PQSoft/ Electrotek Concepts (electrotek.com) Commercial Monitor/analyze power systems
SuperHarm/TOP [88]
PreScan [89] TNO (www.tassinternational.com/prescan) Commercial Vehicle design and analysis
PRIMES [12] NTUA (www.e3mlab.ntua.gr) Analyze energy supply and demand in market
scenarios
PSAF [90] Eengineering Computation (www. Commercial Analyze power systems
engineeringcomputation.com)
PSCAD/EMTDC [91] Manitoba HVDC Research Centre (www.hvdc.ca/pscad) Free to use Design, analyze and control power systems
PSLF [92] GE Energy (www.geenergyconsulting.com) Commercial Analyze power distribution and grid
PSS/E [93] SIEMENS (www.siemens.com) Commercial Simulate power systems
PST/MatNetFlow/MatNetEig K. W. Cheung, J. Chow, G. Rogers, (www.eps.ee.kth.se/ Free to use Design, analyze and control power systems
[94] personal/vanfretti/pst/Power_System_Toolbox_Webpage/PST.
html)
Pylon [95] Richard Lincoln (www.pypi.python.org/pypi/Pylon) Simulate power system, energy markets
RPowerLABS [96] R Language (www.rpowerlabs.org) To design and analyze power systems via web
SEPIA [97] EPRI, U.S. (www.epri.com/abstracts/Pages/ProductAbstract. Free to use Simulate electric power transmission,
aspx?ProductId=TR-112816) communications, load/market management
SE toolkit (GAP/NAP/DAP/ Systems Europe (www.systemseurope.be) Free to use Analyze power systems
LAP/REBAN) [98]
SimSci Toolkit [99] Schneider Electric (www.software.schneider-electric.com) Commercial Analyze power systems

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342 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359
Table 2 (continued)
Tool Description/source
SimulationX [100] ITI Simulation Solution (www.simulationx.com)
SINDA/FLUINT [101] C&R tech (crtech.com)
SRLS [102] NSERC, Canada (https://uwaterloo.ca/power-energy-systems-
group/downloads/smart-residential-load-simulator-srls)
Synergi Electric [103] DNV-GL (www.dnvgl.com)
UniSyD3.0 [12,29,104] UniSyD (www.unitec.ac.nz)
VCCS/CVA/PLSC/PLSC/PVR/ Intellicon (intellicon.biz)
POLC/BCS/PVSA [105]
Visual PSA/Visual DSA/ PSI (www.visualpes.com)
Visual CON/Visual EMF
[106]
VOLTTRON [107] Pnnl (www.gridoptics.pnnl.gov/VOLTTRON)
VPNET [108] RWTH AACHEN University (www.acs.eonerc.rwth-aachen.de)
Windmil [109] MILSOFT Utility Solutions (www.milsoft.com)
WINDis/PowerCAD/DPLAN Fractal (www.fractal.hr)
[110]
Its typical applications include complex intersection design,
lane-based traffic flow analysis, travel time determination, etc.
It can design both small-scale and wide-area traffic networks. It
is a commercial tool, available from INRO Software (http://
www.inrosoftware.com/en/products/emme/).
& MATSim is a multi-agent based large-scale traffic system simu-
lation tool. It provides a platform to simulate demand, traffic
flow, vehicle mobility, etc. [119]. The tool consists of several
modules which can be combined to run in stand-alone mode.
It has an agent-based fast dynamic traffic system simulator
which can simulate whole day traffic flow within minutes. Both
private and public transportation can be simulated in a large
network. It has an additional facility to compare its simulation
data with real world data. It is free to use (www.matsim.org)
[119].
& NeXTA (Network EXplorer for Traffic Analysis) and DTALite
(Light-weight Dynamic Traffic Assignment Engine) are used
for traffic system modeling and analysis [120]. The graphical
user interface (GUI) of NEXTA facilitates user-friendly trans-
portation network analysis and post-processing of transporta-
tion data. The built-in parallel computing facility of DTALite
can simulate 20 iterations of a large-scale traffic network con-
sisting of 1 million vehicles within an hour. It is open-source
software and free to use (https://code.google.com/p/nexta/)
[120].
& OmniTRANS is a commercial tool, available at DAT.Mobility
(www.dat.nl/en/) [121]. It is suitable for modeling the interac-
tion between various transportation systems in an urban con-
text. It uses both aggregated and disaggregated modeling
methods. It can simulate the urban, regional or national traffic
model including both individual and public transportation. It
can simulate integrated traffic scenario management including
all traffic intersections [121]. Other traffic simulation tools also
available at DATMobility (www.dat.nl/en/) include Pedestrian
Dynamics (crowd simulation tool), and Cursim (vehicle
manoeuvre simulation).
& Polaris (Planning and Operations Language for Agent-based
Regional Integrated Simulation) was developed with sponsor-
ship of the Federal Highway Administration, USA Department
of Transportation [122]. It is used to simulate transportation
systems and to manage traffic systems with IT infrastructure
(www.tracc.anl.gov/index.php/polaris) [122].
& PTV Toolkit consists of several traffic simulation tools: PTV Vis-
tro, PTV Visum, PTV Vissim, PTV Balance, and PTV Optima,
which simulate and manage traffic systems, traffic strategy,
Availability Typical application
Free to use Simulate energy-related physical systems
Commercial Design/analyze power generation, alternative
energy and automobile systems
Free to use Simulate smart-grid energy management
systems including renewable energy
Commercial Design and analyze power distribution systems
Free to use Analyze regional energy scenarios
Analyze power systems
Commercial Simulate power systems
Free to use Control power distribution systems
Limited access Simulate interactions between advanced power
systems and digital communication networks
Plan and analyze power distribution systems
Commercial Design, monitor, plan, schedule power systems
pedestrian traffic, traffic signals, and their optimization [123].
It can import–export traffic network data. It can model the
network element positions and lane geometry at any level. It
has additional facility to calculate vehicle emissions in any
traffic condition. It is a commercial tool (free demonstration
available) developed by the PTV Group (http://vision-traffic.
ptvgroup.com/en-uk/home/) [123].
& Quadstone Paramics is a commercial (free demonstration
available) traffic simulation tool by Quadstone Paramics
(www.paramics-online.com/) [124]. It is mostly used in traffic
engineering, e.g. highway and freeway design, traffic manage-
ment, design of complex junctions and roundabout design, toll
plaza design, environmental impact and emission analysis,
pedestrian crossing and shared space design [124]. It can opti-
mize and manage public transport through dynamic traffic
assignment.
& RoadTrafficSimulator is a traffic system simulation and traffic
light adjuster tool [125]. A future version of this tool will
include a traffic light optimization tool to design the best traffic
schedule for minimizing traffic congestion. It is free to use
(http://volkhin.com/RoadTrafficSimulator/) [125].
& SCATS (Sydney Coordinated Adaptive Traffic System) is an adap-
tive urban traffic system modeling, control and optimization
tool [126]. SCATS is a commercial tool, originally developed by
the NSW Department of Main Roads, Australia [126] (http://
www.scats.com.au/support-resources.html). It consists of both
software and hardware to control the traffic system of the
whole city, based on a centralized computer system to transfer
data and control signals from/to all traffic controllers within the
city. It can take data from vehicle detectors at each intersection
and manage traffic according to the detected traffic [126].
& SEMSim (Scalable Electromobility Simulation) is a discrete event
agent-based traffic simulation tool which can integrate various
vehicle components and driver behaviors to analyze traffic sys-
tems [127]. SEMSim was developed by TUMCREATE RP 5 (www.
rp5.info/urban-simulations/) [127]. The main purpose of this
tool is to analyze the impact of vehicle design on infrastructure;
its advanced simulator can detect the inter-system dependency.
For example, it can investigate how design decisions regarding
battery capacity impact upon traffic systems, charging
infrastructure and power systems. The capability to analyze
inter-system dependency assists the design of electro-mobility
systems [127].
& SIAS Paramics is a commercial tool, by SIAS (www.sias.com) and
EPCC [128]. It is used to simulate traffic systems and to plan
 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359 343

transportation networks under various environmental
conditions. The most common applications include road traffic
simulation at any scale, from wide areas to a single junction,
transportation planning scenario comparison, economic assess-
ment of road planning decisions, and individual driver behavior
simulation in traffic [128]. This tool can also calculate vehicle
emissions under specified traffic conditions [128].
& Sidra Intersection/Sidra Trip is a commercial tool, developed by
Sidra (www.sidrasolutions.com) to model and optimize traffic
networks and signals [129]. Sidra Intersection provides lane-
based micro-analytical network analysis incorporating all types
of intersection. It can calculate the vehicle movement and traffic
flow in a particular lane, lane capacity and performance estima-
tion according to traffic signal timing [129]. The traffic delay in
a shared lane, at an intersection, or roundabout can be calcu-
lated. It also deals with vehicle fuel systems, cost and emission
[129].
& SimTraffic is a commercial traffic system simulation tool, devel-
oped by Trafficware (www.trafficware.com) [130]. SimTraffic is
a set of optimization tools for urban traffic network simulation.
The ATMS.now tool simulates traffic systems, and has three
additional modules; Emergency.now, for emergency response;
ATMS.now, the central management system; and Synchrogreen,
a real-time adaptive traffic control system [130]. Emergency.
now facilitates rapid response for emergency vehicles, minimiz-
ing the impact on surrounding traffic. The central management
module monitors and controls the traffic system and intelligent
transport infrastructure. Synchrogreen controls and optimizes
traffic control signals [130].
& SUMO (Simulation of Urban Mobility) is an open-source and free
to use microscopic road-traffic simulation tool (http://sumo.dlr.
de/wiki/Main_Page) [131]. It can simulate traffic systems with
an unlimited number of vehicles in large networks, and control
and optimize traffic signals [131]. It allows intermodal simula-
tions, and has a large set of tools to create any traffic scenario. It
can simulate both private and public transportation and iden-
tify the optimal path for a specified dynamic traffic assignment.
The tool also can simulate pedestrian traffic, bicycle traffic, rail-
ways and waterways, vehicle emissions, vehicle speed in traffic,
intersection dynamics, and unexpected jamming conditions and
solutions [131].
& TransCAD/TransModeler is a powerful transportation and traffic
systems planning and modeling tool [132]. It is a commercial
tool developed by Caliper (www.caliper.com) [132]. This tool
can map, visualize, and analyze transportation applications. It
can forecast travel demand and traffic, design public transporta-
tion systems, site location selection, and deal with territory
management [132]. It also deals with the intersections, junc-
tions, overpass, underpass, transit access, and walkways. The
tool can analyze traffic flow and transit data for holistic man-
agement of traffic systems.
& UAF (Urban Analysis Framework) is a commercial tool (free trial
available), maintained by Crowd Dynamics International (www.
crowddynamics.com) [133]. Typical applications of this tool
include traffic system modeling, pedestrian crossing and urban
traffic space design, public transport terminal modeling, and
traffic safety analysis [133]. It mostly focuses on traffic systems
and traffic management related to pedestrians.
In Table 3 the latter traffic simulation tools have been classified
according to their applications, i.e. traffic forecasting, traffic man-
agement, signal optimization, traffic planning and strategy devel-
opment, pedestrian system design, toll plaza design and road
price modeling, and environmental impact analysis.

Table 3
Further classification of selected traffic system simulation tools based on typical applications.

Tools Traffic signal timing Traffic forecasting, traffic Traffic planning, Pedestrian Toll plaza planning, Environmental
optimization management strategy modeling road pricing impact analysis
Aimsun [111] U U U U U U
CityTrafficSimulator U U U   
[112]
CORSIM [113] U U U U U 
Cube/Sugar [114] U U U   
DRACULA [115] U U U  U U
DYNASMART-P [116] U U U   
DynusT [117] U U U  U 
Emme/Dynameq [118] U U U   U
MATSim [119] U U U   
NeXTA and DTALite U U U   
[120]
OmniTRANS [121] U U U   
Polaris [122] U U U   
PTV Toolkit [123] U U U U  
Quadstone Paramics U U U U U U
[124]
RoadTrafficSimulator  Traffic management U   
[125]
SCATS [126] U U U  U 
SEMSim [127]   U   
SIAS Paramics [128] U U U  U U
Sidra Intersection/Sidra U U U U U 
Trip [129]
SimTraffic [130] U U U   
SUMO [131] U U U U  
TransCAD/ U U U U  
TransModeler [132]
UAF [133]   U U  

Cross () sign indicates ‘no’, Tick (U) sign indicates ‘yes’
344 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359

3. Simulation capability analysis
The fourty-four simulation tools listed in Table 1 have been fur-
ther classified in Tables 4 and 5. The classification is based on their
simulation capabilities, special features, applications, advantages
and certain limitations.
In future, it will be desirable for vehicles to be integrated with
the power distribution grid using V2G protocols at any point of
the power distribution network. In addition, like an EV, renewable
energy sources such as PV, wind power, tidal energy may be con-
nected to the modern smart grid from scattered or remote loca-
tions, which may require sophisticated control system design.
Therefore, tools dealing with EV and renewable energy sources
along with distributed control of electrical power systems are
described in detail in Table 4.
Table 4 classifies tools by subsystem and/or functionality mod-
eled within the EV and/or electricity systems, from EV design and
construction to its participation in bidirectional energy flow to the
grid and in the energy market.
o Vehicle modeling and analysis includes the EVs construction,
design, and analysis.
o EV control and energy management systems (EMS) includes vehi-
cles power consumption control and management.
o Powertrain includes the design and placement of powertrain
components of the vehicle, and analysis with respect to energy
transmission and control.
o Emission includes vehicle emission analysis.
o V2G includes bidirectional power transfer from vehicle to grid
and its impact on the grid. It may include several aspects of
power electronics modeling in V2G systems, bidirectional
energy flow control whilst connected to the grid, its impact
on the grid (e.g. power quality).
o Electricity pricing and scheduling includes modeling of eco-
nomics of supply and demand in energy transfer to/from
EV.
o Power distribution system analysis includes the modeling and
analysis of power distribution systems with large numbers of
EVs connected to grid for investigations of power flow, load

Table 4
Further classification of simulation tools from Table 1 by application and capability.

Tool Vehicle EV Power Emission V2G Electricity Electricity Electricity Renewable Distributed
modeling/analysis control/ train pricing/ planning distribution energy control
EMS scheduling system
analysis
ADVANCE [13] U U U  U     
ADVISOR [14] Analysis U U U      
AVL CRUISE [15] U U U U U     
CASPOC [16] U U U  U U  U U U
COMPOSE [17]    U U U U  U U
CYME Tool kit [18]      U U U  
DSATools [19]      U U U U U
DYNA4 Simulation Toolkit [20] U U U       
EasyPower [21]      U U U  
EDSA Paladin Toolkit [22]      U U  U U
EMCAS [23]  U   U U U U U U
EnergyPLAN [24]     U U U U U U
ETAP toolkit [25]     U U U U U U
FASTSim [26] U U U U U     
GREET 2014 [27] U U  U      
GridLAB-D [28]      U U U U U
GridSpice [29]     U U U U U U
Grid 360/iEnergy [30]     U U U  U U
GTMax [31]     U U U U U U
HOMER [32]     U U U  U U
HYPERSIM/ePOWERgrid [33] U U   U U U U U U
iGRHYSO [34]     U U   U U
IKARUS [35]    U U U U  U U
InterPSS [36]      U  U U U
IPSA [37]       U U U U
MARKAL/TIMES [38]    U U U U U U U
MesapPlaNet [39]    U U U U U U U
MiPower [40]      U U U  
Modelica Toolkit [41] U U U  U     U
NEPLAN|Electricity [42]     U U U U U U
OpenDSS [43]      U U U U U
ORCED [44]    U U U U U U U
PLEXOS [45]      U U U U U
POM Applications Suite [46]      U U U U U
PowerFactory [47]     U U U U U U
PSAT [48]        U U U
RAPSim [49]     U    U U
Saber [50] U U U  U U U U U U
Simpow [51]      U U U U 
SOMES [52]       U  U U
SPARD Power [53]       U U  
THYME [54]      U U U  U
V2G-Sim [55] Design U U  U U U   
Xendee Tool [56]       U U U U

Cross () indicates ‘no’, Tick (U) sign indicates ‘yes’.

 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359 345

allocation and balancing, network reliability, transient stability sources are connected to the grid from distributed
and power quality. locations.
o Renewable energy includes the modeling and analysis of renew-
The main advantages and disadvantages of the selected
able energy integration to the grid. simulation tools are summarized in Table 5. Each tool has been
o Distributed control includes modeling of the control strategy ranked on the basis of its ability to interact with other tools, data
when a large number of EVs and renewable energy visualization capabilities, and user-friendliness.

Table 5
Advantages and disadvantages of the selected simulation tools.

Tool Advantages Disadvantages

ADVANCE [13] – Provides fast and sophisticated vehicle component models, real time – Cannot analyze vehicle impact on grid
capability – No vehicle emission analysis
– Easy to integrate own component models – No vehicle design economy or fuel economy analysis
– Compatible with Matlab/Simulink
ADVISOR [14] – Fuel economy and emission analysis – For vehicle analysis, not design
– Different types of vehicle power train analysis, comparison, EMS – Quasi-static component model, any phenomenon less than tenth of
development second timescale cannot be predicted
– Emission calculation in every cycle – Ignores physical vibration, electric field oscillation, vehicle dynamics
in analysis
– It deals in power, not in voltage or current
– Its drive axle is single axle only
AVL CRUISE [15] – Vehicle power train, fuel economy, emission and sophisticated control – Less efficient comparing to similar vehicle analysis tools
analysis – Cannot provide environment to analyze vehicle impact on grid
– Compatible with Simulink, MSExcel and C based user-defined
functions
– Visualize graphical energy flow
CASPOC [16] – Diversified applications and user-friendly – No vehicle dynamics and emission analysis
– Perfect to simulate EV, PHEV, V2G, power systems and renewable – No Spice model
energy
COMPOSE [17] – User-defined energy economic system design – Aggregates demands within 4 demand categories: electricity, heat,
– Transportation sectors, renewable energy, energy storage, electricity fuel, cooling
supply, demand optimization – No unit conversion except for currency
CYME Tool kit – Analyze power distribution systems, load flow, load balancing, fault – Does not focus on all renewable sources or distributed control
[18] analysis, Volt/VAR control systems
– Battery, energy storage systems and control – No EV and grid integration analysis
DSATools [19] – Leading-edge soulution for small-signal analysis, powerflow, transient – Cannot design and analyze the EV and environmental factors
analysis – Pays less attention to electricity market analysis
– Rich library model renewable, HVDC, load and compatible with
commonly used tools
DYNA4 – Predictive function of battery management, SOC control, EMS of EV, – No V2G, energy economy and emission analysis
Simulation HEV – Focuses on vehicle dynamics rather than electrical systems
Toolkit [20] – Advanced vehicle technology simulation including radar, ultrasonic,
camera based system
– Compatible with Simulink/Matlab
EasyPower [21] – Intelligently design, analyze and monitor electrical power systems – No renewable energy analysis
– Intelligent decision with the fastest processing speed about the market – No vehicle-to-grid integration or its impact analysis
EDSA Paladin – Perfect tool to design smart grid and microgrid – No EV design, analysis
– Offers intelligent smart controller for electricity monitoring and – Power distribution system is not analyzed
Toolkit [22] trading – Cannot simulate all renewable sources
– Microgrid power quality monitoring and capacity utilization
EMCAS [23] – Renewable energy, power distribution, EV, PHEV and its impact on grid – Cannot simulate hydrogen energy
– Agent-based tool to analyze complex power systems – The tool doesn’t impose any size limitation, but the available
hardware may limit the size of the problem
EnergyPLAN [24] – Analyze cost, strategy and investment of energy systems – No individual vehicle design/analysis
– Simulates renewable energy, storage, transportation, V2G – Emission and environment aspects get less concern
ETAP toolkit [25] – Design, analyze and optimize electrical power systems and user – Not free to use
defined dynamic model – No EV, HEV design and analysis
– Distributed control of renewable energy, use GIS map – Emission analysis not a part of this tool
FASTSim [26] – Powertrain, EMS, wireless power transfer analysis facility for EV, HEV, – No vehicle dynamics and grid impact of PHEV analysis
PHEV – No electric power systems analysis
– Analyzes battery life estimation and cost
GREET 2014 [27] – Evaluates vehicle energy consumption, emission and advanced vehicle – This tool closely focuses to the energy and emission of vehicle, pays
technologies less attention to vehicle design, dynamics, power train and V2G
– Can simulate passengers cars, trucks, HEV, EV, PHEV and fuel-cell
vehicle

(continued on next page)

346 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359

Table 5 (continued)

Tool Advantages Disadvantages

GridLAB-D [28] – Integrate and simulate thousands of end-user devices – Doesn’t deal with vehicle design and its integration
– Perfect for distributed control, automation, optimization, load – Not compatible with the widely used tools
management and planning – Not good to simulate power transmission systems
GridSpice [29] – Model the interaction between generation, transmission, distribution, – EV modeling and dynamics are neglected
storage and load – Environmental factors cannot simulate
– Electricity market, customer response, EV infrastructure planning
analysis
Grid 360/iEnergy – Perfect for modeling and analysis of power transmission and – No EV design, dynamics analysis
[30] distribution systems, grid monitoring and optimization – Environmental factors are neglected in simulations
– Integrate distributed generation, analyze its impact on grid – Not free to use
GTMax [31] – Economic aspects of generation and transmission model in hourly time – No hydrogen energy, compressed-air energy-storage, pumped-hydro
steps simulation
– Simulates electrical and thermal generation, EV – Pays less attention to environmental aspects
HOMER [32] – Fuel savings for off-grid power – Can model only one battery bank at a time
– Grid-connected systems and renewable sources and emission – Detailed input data and time are necessary in the simulation process
optimization – Can simulate V2G by using battery, but no vehicles model
HYPERSIM/ – Perfect for smart grid, microgrid, renewable energy, large power – No vehicle dynamics and emission analysis
ePOWERgrid systems, distributed storage, EV, PHEV, V2G analysis – No simulation animation
[33]
iGRHYSO [34] – Grid-connected renewable energy optimization and electricity market – Doesn’t deal with the design process of EV
simulation – It is a commercial tool and available only in Spanish language
– Analyzes the economical aspects of renewable energy-grid integration
IKARUS [35] – Simulates future energy technology for longer periods of up to 40 years – Cannot simulate tidal, compressed-air energy-storage
– Transportation, generation and storage simulation in environmental – Individual vehicle design and analysis is not considered in simulation
and economic aspects
InterPSS [36] – Internet technology based power system simulator; simulation engine – Low computational speed
runs in cloud – No vehicle design or grid integration
– Google spreadsheet-based user interface and analysis report are saved – Simplified model is used in simulation; voltage and reactive power
in Google drive not considered in economic dispatch
IPSA [37] – Compatible with SQL and other commonly used tools – No EV/HEV/PHEV analysis
– Perfect for load flow analysis, fault level analysis, harmonic analysis of – Focuses on power transmission and distribution analysis rather than
power transmission and distribution systems analyzing distributed control of generators and storage
MARKAL/TIMES – Simulates power systems, transportation, renewable energy, storage in – Analysis assumes ‘perfect information’ and ‘foresight’ which may
[38] energy/environment/economical aspects create uncertainty in the analysis (http://www.etsap.org/
– Can simulate hydrogen and fuel-cell vehicles reports/markal-irg.pdf)
– Energy demand growth prediction may not be accurate
MesapPlaNet – Optimization facility between energy usage/type, emission, demand, – Not perfect to analyze distribution networks
[39] supply and cost – Not free to use
– Simulates all transportation technology, renewable, storage and – No vehicle design and dynamics analysis
thermal generation
MiPower [40] – Perfect for power transmission and distribution, HVDC, real-reactive – Doesn’t deal with all renewable energy and distributed control
power, economic dispatch systems
– Long-term load forecast, user-friendly data import and export – No EV/HEV and grid integration
Modelica Toolkit – Complex physical systems, mechanical, electrical, electronic systems – Less attention to analyzing distribution system, renewable energy and
[41] control its integration to grid
– Power systems optimizations including EV, FCV
NEPLAN| – Good for renewable energy, smart grid, AC/DC power systems and – EV/PHEV design, analysis not a part of this simulation tool
Electricity short-circuit analysis – Less focus on power distribution systems analysis
[42]
– Compatible with Matlab/Simulink
OpenDSS [43] – Quasi-static solution for renewable resources, storage, EV and easy – No vehicle design, analysis or dynamics
data-source conversion – No V2G design, integrate EV as a load
– Distributed resources control and analysis – Less priority to electricity market
ORCED [44] – Analyzes electricity market, distribution system, PHEV impact on grid – Focuses more on electricity sector, not vehicle design
– PHEV charging/recharging monitoring – Cannot simulate wave and tidal power
PLEXOS [45] – Renewable energy integration, energy market design, analysis and risk – No EV/PHEV design and analysis
management – Focus to the financial system rather than the power flow, fault
– Efficient transmission system analysis analysis
POM – Load flow, voltage stability and AC power transfer analysis and its – Vehicle design, analysis, dynamics and environmental factors cannot
Applications optimization be simulated
Suite [46] – Ranks future transmission expansion projects – No Emission analysis
PowerFactory – Geographic diagrams and enhanced tools for visualizing power – In some cases considers/neglects reactive power and voltage
[47] distribution network structure dependency
– Techno-economic strategies for grid expansion – Doesn’t deal with individual vehicle design and vehicle dynamics
 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359 347

Table 5 (continued)

Tool Advantages Disadvantages

PSAT [48] – Power systems, power flow, distributed non conventional load, – Toolbox has potential threat to quality and performance
renewable and user-defined model simulation facility – No vehicle design, V2G, electricity market and planning
– Compatible with Matlab and Simulink
RAPSim [49] – Analyze the power flow behavior of smart microgrid, renewable – Doesn’t analyze the distribution systems, EV design, electricity market
energy integration and scheduling
– Users can implement their own model
Saber [50] – Design virtual systems, mechatronics systems – Cannot simulate all renewable sources, focuses on solar applications
– Compatible Cadence, Matlab/Simulink, Synopsys VCS, VHDL, Verilog only
and CAD tools (Pro/E, UGS, Catia V5) – It simulates the HEV, but doesn’t deal with the emission analysis
– Good to simulate in-vehicle network (Lin, CAN), EV/HEV, power – No vehicle dynamics analysis, no animation
conversion and control
Simpow [51] – User-defined modeling of power systems components, drive systems – No vehicle dynamics analysis facility
and machines – Distributed control systems are not allowed
– Renewable energy and HVDC analysis with better numerical accuracy – Doesn’t have all renewable energy sources’ built-in block
of linear analysis
SOMES [52] – Analyze the performance of renewable energy and can integrate it – No distribution system and V2G analysis
– It analyzes several types of converter
SPARD Power – Power transmission and distribution system analysis and optimization – Less priority to renewable energy
[53] – User-friendly and can interface with SCADA – No distributed control or V2G analysis
THYME [54] – Electro-mechanical dynamics simulation, discrete event models – Focuses on the power system and communication networks, vehicle
control via OMNET++, NS/2; compatible with IEEE data format design and grid impact due to vehicle get less attention
– Automatic demand response systems – Not good for renewable energy simulation
V2G-Sim [55] – Excellent for V2G and its charging-discharging control algorithm – Not free to use
– Provides vehicle design, powertrain, grid planning, electricity market – No HEV emission analysis
analysis – Less efficient to analyze power distribution systems and power flow
Xendee [56] – Design and analyze renewable energy, multi-phase balanced and – No EV modeling and simulation
unbalanced power systems – Less focus on distributed control systems
– Its OpenDSS interface gives more flexibility – Always need internet connection
– Uses cloud computing platform

4. Brief review of the tools
In this section, the simulation tools listed in Table 1 are
described in brief. Each description contains the main applications
of the tool, its modeling methodology, and any special features.
More details can be found in the associated references.
4.1. ADVANCE
ADVANCE is a MATLAB/Simulink based vehicle modeling and
analysis tool. It is developed by TASS International B.V. [13]. It is
a commercial tool, not free to use [13]. ADVANCE has user-
friendly vehicle component models and library blocks which facil-
itate sophisticated vehicle modeling and data analysis. It also keeps
MATLAB/Simulink library blocks and functionality available for
better controller design, vehicle dynamics analysis, efficient
powertrain modeling, parameter studies and real-time hardware-
in-loop (HIL) simulation [13]. Due to its intuitive and open
modular structure in MATLAB and Simulink, it can integrate its
own component models with Simulink. Therefore, this tool is
well-suited for modeling electric vehicles (advanced powertrain
analysis) and intelligent vehicle systems [13].
4.2. ADVISOR
Advanced vehicle simulator (ADVISOR) is a virtual vehicle
analysis tool which uses the MATLAB environment and Simulink
components [14]. It is a free tool, developed by NREL [134].
The tool has been developed to evaluate fuel economy and
vehicle performance for all types of vehicles (conventional, hybrid
and electric vehicle) [134]. It can estimate the fuel economy of
vehicles with future technology. It uses a user-defined drivetrain
and can compare the energy usage and loss of conventional,
hybrid, and electric vehicle drivetrains, and can also compare rela-
tive tailpipe emissions [134]. It can evaluate an energy manage-
ment strategy for a certain fuel converter and can suggest how to
optimize fuel usage to maximize performance.
ADVISOR was initially developed in 1994 to manage USA DOE
hybrid vehicle propulsion systems [14]. Since its development
thousands of individuals, and several industries and universities,
have used this tool [14]. However, ADVISOR has a few limitations.
It was developed as a vehicle analysis (not design) tool [14]. It uses
component models which are quasi-static and fail to predict phe-
nomena on less than a 0.1 s timescale [14]. The simulation deals
in power, not voltage or current level, but can work with a voltage
bus when linked to other tools like Simplorer or Saber [134].
It is a very user-friendly tool with good graphical representa-
tion. Only 2–3 days are necessary to learn to do basic simulations
[14]. MATLAB/Simulink must be installed to run this tool.
4.3. AVL CRUISE
AVL CRUISE is a vehicle simulation tool, developed by AVL [15].
It is a commercial tool, not free to use [15].
AVL CRUISE is a powerful and adaptive tool to analyze fuel
efficiency, vehicle emissions, EV/HEV development though all
phases, energy transmission modeling, controller design, and
vehicle electrification [135]. It provides a streamlined workflow
for all kinds of parameter optimization. It facilitates the design of
both conventional and electric vehicles. It has provision to
integrate user-defined models of components into the vehicle to
design sophisticated vehicles incorporating new technologies. In
the case of HEV design, the most important part is the controller
design to determine the optimal operating point for minimizing
energy consumption; AVL CRUISE facilitates this task in a
MATLAB/Simulink environment [15,135].
348 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359
AVL CRUISE is used to simulate two-wheelers, trucks, special-
purpose vehicles, automotive vehicles along with EV and HEV
[15]. It is compatible with MATLAB/Simulink, interfacing with the
DLL of Simulink Coder [15]. The strongest aspect of AVL CRUISE
is the facility to design a vehicle with any topology [15].
4.4. CASPOC
CASPOC is a physical systems modeling and simulation tool. It is
a commercial tool (the demonstration version is free to use), main-
tained by Integrated Engineering software [16]. It simulates elec-
tric power generation, conversion, distribution, power electronics
and mechatronics systems. CASPOC facilitates circuit animations
through a ‘Freeze and Go Back’ function [16]. It can export C code
for control implementation in a microchip or DSP and can easily
interface with data acquisition boards [16]. A real-world elec-
tromechanical system consists of both electrical and magnetic
components. Therefore, CASPOC provides an environment to
design both electrical and magnetic components. By using this tool,
engineers can design, analyze and control multilevel models
related to electrical engineering. CASPOC is a good tool for green-
energy simulation including wind and solar power, electric and
hybrid electric vehicles, vehicle-to-grid integration, batteries and
fuel cells [16]. It also deals with mechanical systems, AC motor
control, motor drives, field oriented control, ‘‘sensorless” control,
and grid converters [136,137].
CASPOC can also help to design and analyze electric vehicles. It
can model the entire drive cycle (mechanical drive train including,
gearbox, brakes, wheel slip, etc.) of an EV, the electric drive control,
and thermal models of electric machines [16]. It can also model
power electronics and its behavior over a complete drive cycle
[137], control systems, and perform battery state-of-charge (SOC)
estimation. It can also help to design and analyze grid connections
from renewable energy sources (e.g. solar and wind) and the distri-
bution grid [136]. The CASPOC model can also address challenges
such as harmonics regulation, grid synchronization, efficiency
enhancement, and electromagnetic interference (EMI) [16]. It also
deals with next-generation storage systems including fuel cells and
batteries and can be used to design battery management systems.
4.5. COMPOSE
COMPOSE (Compare Options for Sustainable Energy) is an
energy-economy systems design and analysis tool. The techno-
economic energy model was developed by Aalborg University,
Denmark in 2008 [17]. The tool is free to use however three days
of training are required to start basic simulations [12].
COMPOSE can simulate all transportation technologies, renew-
able energies, thermal generation plants, energy conversions and
storage and all financial matters related to energy generation, dis-
tribution, and control [17]. However, it cannot simulate a com-
pressed heat pump or electric boiler [138]. COMPOSE provides
the facility for the user to use their own methodology to design
any energy-economic model. It analyzes the energy costs (financial
cost, fiscal cost, and economic cost), operational dispatch, fuel con-
sumption, CO2 emissions, etc. The tool can evaluate the cost of a
distributed energy system under any uncertainties [138] and can
calculate the relocation coefficient of user-defined energy systems.
It also has a special facility to do risk analysis of wind power gen-
eration using a user-defined model with uncertainties. The tool is
compatible with a variety of commonly used simulation tools
and can import and export data from EnergyPLAN, energyPRO
and RetSCREEN [17]. The simulation is carried out in any user-
defined time step ranging from one hour to a year [12]. This tool
provides a platform for decision makers and researchers to model
and design cost-effective energy systems [17].
4.6. CYME toolkit
The CYME Tool kit is a power-engineering simulation tool to
analyze industrial power systems and power transmission and dis-
tribution systems. It is a commercial tool (the trial version is free to
use) developed by CYME International T&D [18]. It provides an
advanced solution to simulate, analyze and design substations,
power generation and transmission and distribution systems
including end users [139].
CYME can be used to design smart grid and distributed energy
management systems. It provides an environment to estimate
the state of distribution systems, to analyze faults, secondary grid
networks, and protective devices [139–141]. The latest version of
this tool facilitates distance protection modeling with smart con-
trol systems, low-voltage cable sizing calculations, optimal reclo-
ser placement, and smart inverter design [18]. CYME calculates
the voltage, current and load power for system optimization.
Power system control and management topologies can be analyzed
by this tool to find out the strong and weak points of any approach
[18]. Distributed energy source control is a significant part of mod-
ern ‘‘smart” grid and micro grid operations, and CYME provides a
platform with user-friendly library components for smart inverter
design, battery design, other types of storage system design, and
the corresponding controller designs [141]. Its smart control sys-
tem includes dynamic reactive-current control, watt-power factor
control, volt-var control, etc. [141]. The package has an integrated
power-factor correction tool which investigates the load flow and
identifies the size of the capacitors required.
4.7. DSATools
DSATools is a power system modeling, planning and analysis
tool that enables the complete assessment of system security and
all forms of power system stability. It is a commercial tool devel-
oped by Powertech Labs Inc. [19,142]. It has a wide range of com-
mercial and academic users [19].
DSATools is a complete toolset for power system planning and
operational research. The key components of DSATools are TSAT,
SSAT and VSAT [19]. It supports on-line dynamic security assess-
ment (DSA), where DSA is directly connected with the power sys-
tem’s energy management system (EMS) to investigate security in
continuous cycles. The on-line DSA system provides information
related to critical contingencies, system security limits and reme-
dial actions to avoid system failures [143]. Its applications are cat-
egorized into online applications and offline applications, including
change assessment, reactive power planning, stability assessment
(transient, oscillatory, frequency), renewable integration studies,
design, coordination, and tuning of controls, etc. [142,143]. DSA-
Tools is capable of analyzing systems with up to 100,000 buses
and 8000 generators [19].
4.8. DYNA4 Simulation Toolkit
The DYNA4 Simulation Toolkit consists of several tools
(veDYNA, DYNA4 advanced powertrain, DYNA4 Car Professional,
DYNA4 Commercial Vehicles, DYNA4 Framework, DYNA4 Engine
Professional, etc.) to analyze and design various types of vehicle.
It is a commercial tool, not free to use [20], developed by TESIS,
DYNAware [20].
DYNA4 is compatible with MATLAB/Simulink and uses its envi-
ronment to analyze and develop vehicle powertrain and control
systems. It allows users to integrate Simulink models with
DYNA4’s real-time model library for increased flexibility [20].
The DYNA4 simulation tool named DYNA4 Elements provides an
environment to load a user’s model for a wide range of applications
including vehicle drivetrain, dynamics, hydraulics, etc. An
 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359
additional toolbox provides an environment for traffic analysis. The
hybrid toolbox of this software deals with distance control, virtual
traffic environment, vehicle dynamics analysis, topology analysis
for battery electric and hybrid electric vehicles, battery manage-
ment, predictive battery SOC management, engine start and stop
function, thermal management, regenerative braking, torque
coordination, optimized operation strategy, fuel economy, and
efficiency enhancement [20]. It can also generate animations of
the simulated vehicles.
4.9. EasyPower
EasyPower is an electrical power system monitoring and analy-
sis tool. It is a commercial tool developed by EasyPower LLC. The
demonstration version is free to use, and is supported by a free
tutoring video and recorded webinars [21]. Several electricity pro-
ducers and distributors use this tool to maintain complex power
systems [144]. The tool is easy to use, takes little computational
time, provides customized options and has scalability to grow with
needs [21].
EasyPower tool provides a Windows-based intelligent platform
to analyze, design, and monitor electrical power systems. Its auto-
mated simulation engine coordinates protective devices to identify
short circuits and take proper action. Its key features include a
comprehensive one-line diagram design, modeling and analysis
of multiple power system scenarios, automatic verification of
equipment settings, investigation of breaker switching conditions
[144], intelligent optimization of current, voltage, and load flow,
and dynamic interaction between machines, networks, and protec-
tive devices. It can identify power system harmonic degradation
and power quality problems [144], solve them smartly, and export
data to many types of CAD programs [21].
4.10. EDSA Paladin Toolkit
The EDSA Paladin Toolkit is a combined power system design,
analysis and simulation tool. It is a commercial tool maintained
by Power Systems EDSA Power analytics [22]. It consists of several
power system tools named DesignBase, DesignBase Xi, Paladin
Real-Time Suite (DesignView, Gateway, Live, Smart Grid, Solar,
WSM for Datacenters) and EnergyNet [22,145,146].
The Paladin DesignBase is a power system design platform and
its models can be re-deployed [147]. It is used to design and ana-
lyze power system reliability, and voltage stability, to optimize
power flow and also to resolve electromagnetic transient prob-
lems, short circuits and arc flashes [147–149]. The Paladin Smart
Grid Power Management System tool is designed to provide an
online platform to manage and control hybrid power systems,
renewable power generation (solar power, wind turbines, battery
storage) and distributed energy source integration [147,148]. This
simulation tool includes a master controller for intelligent smart
grid design, analysis, monitoring and trading [22]. It monitors
real-time microgrid power quality, capacity, and demand to opti-
mize the system. It facilitates power transfer in private–public gen-
eration and monitors all relevant information and technical
services (rate, pricing information) [22,146–149].
4.11. EMCAS
EMCAS (Electricity Market Complex Adaptive System) is an
agent-based simulation tool to analyze complex power systems.
It is a widely used commercial tool, maintained by the U.S. Argonne
National Laboratory [23]. Its various users include researchers, sys-
tem operators, power transmission companies, etc. Approximately
two weeks of training is required to start the simulation process
using this tool [12].
349
EMCAS can simulate all electric vehicle technologies, renewable
energy generation subsystems and their integration, and thermal
power generation. However, it cannot simulate hydrogen energy
systems [138]. It is used to analyze the external technical, opera-
tional and economical impacts on the electricity sector where the
simulation is carried out on an hourly basis over a user-specified
timescale. The market participants are denoted as ‘agents’ consist-
ing of decision-making rules with specified objectives which can
make decisions from the available information to operate real-
world operators and systems [12]. It includes all the agents partic-
ipating in the power market and interacts with them to optimize
the systems.
EMCAS uses six decision levels, from hourly to long-term
planning. In each level, agents make decisions such as electricity
consumption determination through customer agents, bilateral
contracting, and unit dispatch from ISO/RTO agents. Agents apply
their own rules and if any rule fails to meet the specified objectives
then that objective is modified in subsequent time steps [23].
EMCAS is used in various studies and in Europe, Asia, and the U.S.
It is a powerful energy-market analysis tool to combine engineering
techniques with quantitative market analysis for decentralized
decision making, alternative company strategy and risk profile
analysis, and to analyze transient market conditions [12].
4.12. EnergyPLAN
EnergyPLAN is a tool to simulate energy planning strategies
involving both technical and economic aspects. It is a free tool
developed by Aalborg University, Denmark in 1999 [138]. It has a
wide range of users, but requires at least a few days to start basic
simulations, up to months, depending on the complexity [12,24].
EnergyPLAN was developed in Delphi Pascal language [138].
The main goal in developing this tool was to assist energy planning
strategies at local, regional or national level energy systems. It can
simulate whole national and regional energy systems including all-
thermal generation, power transmission and industrial sectors. It
can also simulate all transportation technologies, renewable
energy, storage systems, and energy conversions [12,24]. It is a
deterministic input and output model in which the input is defined
by the users on the basis of technology and cost specifications.
Generally the inputs of the model are renewable energy resources,
power generation capacity, cost, energy demand, various regula-
tion strategies, etc. and the outputs are fuel consumption, energy
balancing according to production, electricity import and export
and electricity exchange cost [12].
EnergyPLAN is based on analytical programming, which makes
calculations easier and faster. The tool developers avoided time-
consuming and complex calculations so, even for complex national
energy systems, the simulation may take only a few seconds.
EnergyPLAN is able to simulate the impact of fluctuating renewable
energy sources on power systems. It can investigate various energy
systems according to technical aspects and regulation strategies to
identify feasible energy investments. EnergyPLAN has also been
used to integrate large-scale wind-power generation, surplus elec-
tricity management, V2G technology, renewable energy integration
and optimization, analysis of the large scale energy market, and
analysis of fuel-cells and other future energy systems [12].
4.13. ETAP toolkit
ETAP is an electrical power system design, analysis, optimiza-
tion and control toolkit. It is a commercial toolkit (demonstration
version is free to use) developed by ETAP [25]. A variety of educa-
tional institutions, companies and government bodies are using
this tool [25]. It provides a comprehensive solution for power
generation, transmission, and distribution, transportation
350 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359
technologies, industrial systems and low-voltage power systems
applications [150]. The most common applications of ETAP include
power transmission and distribution network analysis, real-
time monitoring and simulation of power systems, protective device
design and coordination, automatic relay testing and transient sim-
ulation, ground grid system analysis, user-defined dynamic system
design and analysis, cable thermal analysis and cable pulling analy-
sis, power systems control and data exchange analysis [150]. ETAP
has an integrated AC/DC power system analysis tool to investigate
AC/DC load flow and short circuits [150]. It can identify the most
appropriate battery bank for a wide range of backup plans by inves-
tigating the charge and discharge characteristics of the battery
[150]. Its real-time monitoring system continuously monitors the
distribution networks to maximize efficiency, reduce loss and
increase profit. The ETAP energy-management system tool is used
to monitor, control, and optimize power generation and transmis-
sion systems. It analyzes load frequency control, interchange
transaction scheduling, and economic dispatch [150].
It uses a separate tool named ETAP Data Exchange module
(DataX) to import, export, and exchange data with various external
data sources [25]. DataX can interface ETAP models with AutoCAD
and GIS systems [25]. It uses a GIS map for electrical one-line dia-
grams of power generation, transmission and distribution systems
[150].
4.14. FASTSim
FASTSim (Future Automotive Systems Technology Simulator) is
a vehicle simulation tool to analyze and design conventional
vehicles and EVs. It was developed by the National Renewable
Energy Laboratory (NREL) and is free to use [26].
FASTSim evaluates the impact of technology up-grades on EV
performance, battery lifetime and overall efficiency. Fore example,
it can calculate the most cost-effective battery size for EVs [151]. It
deals with the vehicle powertrain, regenerative braking, energy
management strategy, cost estimation, and battery life [26].
FASTSim has a user-friendly interface to input data from com-
mon file formats. Its simulation process is quick and takes only a
few seconds to estimate vehicle performance, efficiency, fuel cost,
and battery life [26,151].
4.15. GREET
GREET (Greenhouse gases, regulated emissions and energy use
in transportation model) is a simulation tool to analyze vehicle
energy systems, new transportation fuels, their emissions and
impact on vehicular technology. GREET was developed by the U.
S. Argonne National Laboratory in 1996, and is free to use [27].
GREET allows researchers to analyze various vehicle-fuel
combinations according to specified vehicle driving modes and
corresponding fuel cycles. It calculates the total energy
consumption of an EV from various sources (renewable or non-
renewable source, natural gas, petroleum) and the corresponding
greenhouse gas emissions from those sources [152]. GREET can
include more than 100 fuel pathways from various energy sources
[27]. It simulates three vehicle classes, including light-duty
trucks and passenger cars. GREET can model a wide range of vehi-
cles including fuel-cell vehicles, battery-electric vehicles, plug-in
hybrid electric vehicles, hybrid electric vehicles, and conventional
combustion engine vehicles [152].
4.16. GridLAB-D
GridLAB-D is a power system simulation tool to analyze and
design power transmission and distribution systems and utilities.
It is open-source software, developed by the U.S. Department of
Energy (DOE) at Pacific Northwest National Laboratory (PNNL)
and is free to use [28,153].
Its typical applications include three-phase unbalanced load
flow analysis, end users’ device behavior analysis (may be thou-
sands in number), load management strategy development, market
analysis, volt-var control and optimization, distributed generation
and storage control, and distributed automation system design
[28]. GridLAB-D is an agent-based simulation tool that can inte-
grate thousands of objects over time and analyze the behavior of
those objects [153]. It simultaneously coordinates the state of a
million devices connected in power distribution systems. This tool
is well-suited to power distribution systems, and does not require
reduced-order models to describe system aggregate behavior [28].
It depends on the physical model to describe the behavior of the
system.
Currently, GridLAB-D is used by a variety of power grid compa-
nies to analyze power distribution systems and the impact of EVs
and renewable sources on the grid [153].
4.17. GridSpice
GridSpice is a virtual platform to model, analyze and optimize a
smart grid. It is an open-source tool under the BSD License and is
free to use [29]. It can incorporate code from MATPOWER and
the Gridlab-D simulation tool [29].
GridSpice is a cloud-based simulation platform to design and
analyze smart grids [154]. In order to accumulate several open-
source projects in a single platform, GridSpice provides several
additional features for power-transmission-system demand
response [155]. The main goal for GridSpice is to provide an envi-
ronment to model the interactions between all parts of electrical
power transmission and distribution networks including storage,
generation, transmission, distribution and loads [154–156]. The
current version of GridSpice facilitates distributed simulation
along with optimal power flow analysis [156].
Customer response on price sensitivity, wholesale and retail
electricity markets are under development for a version of Grid-
Spice [29]. It is a user-friendly tool and regulators, industry practi-
tioners, and researchers can utilize it to maximize system
efficiency and reliability and reduce the energy cost by introducing
new technologies and cost-effective models [154,156]. The Grid-
Spice project team has a plan to investigate algorithms for electric
vehicle infrastructure planning and its integration to grid, home-
area appliance control and utility-scale storage [155].
4.18. Grid 360 and iEnergy
Nexant iEnergy and Grid 360 are power system design, moni-
toring and analysis tools. They are commercial tools (demonstra-
tion version is free to use on request), developed and maintained
by Nexant [30], with a wide range of users including power compa-
nies, consultants, analysts and educational institutions [30].
Nexant Grid360 is an advanced simulation tool which provides
a platform to plan, operate, design, and optimize electrical power
grids. In the last 30 years, it has been used in over 130 control cen-
ters around the world [30]. Nexant Grid360 consists of two tools:
Distribution Analytics and Transmission Analytics. Distribution
Analytics facilitates fault location and optimal power-flow analy-
sis, power transmission system planning, monitoring and opti-
mization through advanced energy management systems [30].
Transmission Analytics enables power distribution systems plan-
ning, analyzes the impact of distributed energy sources on the grid
and enhances reliability.
Nexant iEnergy facilitates data management, energy efficiency
enhancement, renewable energy integration, and demand
 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359
response analysis. It can be used to reduce cost and make energy
savings in utility, customer and trade interactions [30].
4.19. GTMax
The GTMax (Generation and Transmission Maximization) tool
simulates electricity generation, dispatch and economic trade of
energy. It is a commercial tool developed by the Argonne National
Laboratory in 1995 [31]. The tool is used by various companies,
consultants and researchers. One week’s training is necessary to
start basic simulations using this tool [12]. It can simulate renew-
able energy, storage, electric vehicles, and thermal power genera-
tion systems, but not hydrogen-based energy systems [138].
GTMax helps researchers investigate system operational and
complex marketing issues. By using this tool, utility operators
can make decisions to optimize electricity systems with limited
energy and transmission resources. It maximizes revenue by keep-
ing expenses at a minimum level. GTMax can use various market
agents in support of the analytical needs of generation companies,
independent power producers, power merchants, transmission
companies, power exchanges, independent system operators, gov-
ernment, regulatory, and oversight bodies. GTMax addresses some
limitations like energy constraints, seasonal capabilities of power
plants, power plant ramp rates, and hydropower reservoir con-
straints [31]. It can tune the hourly resource generation, energy
transformation, power wheeling on the transmission system and
market behavior. By using this tool, one can estimate how much
power each generation unit will produce and how much power
can sell at a certain price. It analyzes purchase and sale of energy
according to long term firm contracts and IPP agreements. GTMax
is a good tool to develop a market strategy to buy and sell power in
spot markets and locate the hourly market price at different points
in the network. It determines the best of contractual power flows
and it determines the value of distributed energy resources and
demand side energy management. GTMax has been used in a num-
ber of research studies such as the new transmission interconnec-
tion between Ethiopia and Kenya and electricity market analysis in
South-eastern Europe [12].
4.20. HOMER
HOMER (Hybrid Optimization of Multiple Energy Resources) is
a micropower model development tool, developed by the National
Renewable Energy Laboratory, and now under license to HOMER
Energy [32]. It is a widely used simulation tool having over
100,000 users in 193 countries [12]. It has released 42 versions
which are free to use. A single day of training is enough to run basic
simulations [138].
HOMER is specialized to design and optimize microgrids with
distributed energy resources, integrating renewable energy
sources, storage and other types of generators. It is used to opti-
mize microgrids either remotely, or connected to a larger grid. Its
sensitivity analysis algorithm analyzes the large number of techni-
cal and economical aspects to keep a balance between electric load,
cost, and available resource. The simulation can run from 1 min
time steps up to a 1-year period [32].
HOMER can optimize systems with many different components,
including PV, wind turbine, hydro power, biomass power, fuel cell,
micro turbine, conventional-fuel-based power generators, electric
utility grid, battery bank, hydrogen energy, flywheels, system effi-
ciency measurement, daily load profile with seasonal variation,
thermal or deferrable load (space heating, crop drying, water
pumping, etc.) [32,138]. It does not deal with the transportation,
however in some research batteries are used in place of a vehicle
351
[21,138]. A list of publications is available at the HOMER website
which illustrates its ability to work with various power system
technologies [12].
4.21. HYPERSIM and ePOWERgrid
The HYPERSIM and ePOWERgrid tool is used to simulate electri-
cal power systems. It is a widely used commercial tool (demonstra-
tion verion is free to use) developed by OPAL-RT Technologies [33].
OPAL-RT provides a complete power system real-time simulation
platform. The ePOWERgrid simulation tool covers a wide range of
applications from electromagnetic phenomena to the transient sta-
bility of large power systems [157]. It also provides a facility to
optimize the performance, control, efficiency of renewable
energy-grid integration, large interconnected power grids, and
microgrids. HYPERSIM is necessary for researchers and manufac-
turers to design, analyze and control energy storage, capacitor
banks, microgrids [158], smart grids, STATCOM, FACTS, SVC, HVDC,
PV, wind turbines, generators, and fuel cells [157–159].
The most common applications of ePOWERgrid are smart-grid
and microgrid design and analysis, large-scale power transmission
and distribution system analysis [33,159], SCADA and automation
systems, electric aircraft, vehicle design and analysis, and power
electronics controller development. HYPERSIM is used for similar
applications by companies such as the State Grid Corporation of
China (SGSC) and TSP RTE [33].
4.22. iGRHYSO
iGRHYSO (Improved HYbrid Renewable Grid-connected Sys-
tems Optimization) is a power system and renewable-energy sim-
ulation tool. iGRHYSO is an improved version of the old GRHYSO,
developed by the Universidad de Zaragoza, Spain [34]. It is a com-
mercial toolkit and only available in the Spanish language [34]. The
tool was developed in the C++ language to optimize hybrid
renewable-energy systems, either connected to the main or offgrid
[34].
iGRHYSO simulates and optimizes renewable energy sources
(photovoltaic, wind, small hydro) integrated to the network, con-
sidering energy pricing (hourly price of electricity, overall electric-
ity market) [34]. It can calculate the effects of storing electricity in
peak hours or selling it in peak times, applying various battery
technologies and/or hydrogen vehicles. It can integrate an EV pow-
ered by fuel cell or battery with the power distribution system and
observe the system response according to the economy (market
prices) and other technical factors (peak-hour electricity demand)
[34].
4.23. IKARUS
IKARUS is an energy system cost analysis and cost optimization
tool. It is a commercial tool, developed by the Institute of Energy
Research, Research Centre, Jülich, Germany [12,35]. It has released
almost 20 versions of this tool. Users need a long period of training
to start the simulation process, around three months [138]. The
main focus of this tool is to reduce the total energy system cost,
and emission reduction as well.
IKARUS deals with almost all sectors of energy systems includ-
ing all types of thermal power generation, renewable energy and
storage [138]. However, it doesn’t deal with compressed-air energy
storage systems and renewable energy generated from tides and
waves. This tool also deals with the transportation technologies.
IKARUS also plays a significant role to investigate emission and
minimize it through a carbon capture and storage (CCS) system,
352 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359
and the impact of random energy prices on the long-term energy
scenario. It introduces fuzzy constraints to observe the impact of
political decisions on the long term energy economy scenario
[35]. It simulates the abrupt changes of energy prices and loss
opportunity to interact with the macroeconomic input and output
models to find the long term energy scenario. The tool can simulate
an energy scenario for a long period, up to 40 years with a time
step of five years, and in each time step the energy system can
be optimized by the tool [35]. However, this tool does not consider
future changes in each time step to get a realistic prediction of
energy scenarios.
4.24. InterPSS
InterPSS (Internet technology based Power System Simulator) is
a cloud-based power system simulation tool. The tool is managed
by the InterPSS community and is free to use [36]. It is under the
open-software development project. It was written in the Java pro-
gramming language using a pure object-oriented programming
approach [160]. It can integrate with GAMS to optimize power sys-
tems [161].
InterPSS simulates power systems through cloud computing
which is easily accessible around the globe [36]. Its simulation
engine is deployed and run continuously in the cloud. Its user
interface is based on the Google Spreadsheet and the Google Drive
hosts the spreadsheet template and establishes common shared
libraries [161]. User data and power systems analysis reports are
saved in a user’s Google Drive and it keeps privacy for any partic-
ular user [36]. Users can share that data in public or with any
specific person according to his or her wish.
The most common applications of InterPSS include basic types
of power system models (network object, bus and branch) analysis
[36], getting data objects from networks, bus and branches, power
system load-flow analysis, short-circuit analysis (bus based short
circuit, branch based short circuit) [160], transient stability analy-
sis, dynamic model analysis (machine model, modeling the effect
of saturation, load model, bus frequency measurement), and eco-
nomical power dispatch model design [161].
4.25. IPSA
IPSA is a simulation tool to design, operate and analyze electri-
cal power systems. IPSA is a commercial tool (trial version is free to
use) which originated from a research project of UMIST (now a part
of The University of Manchester) in 1975 [37]. IPSA provides a
comprehensive platform to analyze, design, nd oper all levels of
models from power transmission and distribution systems, some
industrial sectors, ship design, nuclear power stations, and renew-
able power generation [37].
The most common applications of IPSA in power systems
include AC/DC power flow, voltage regulation, reactive power con-
trol, switchgear and protection, fault-level calculations, harmonics
analysis, filter design, transient stability analysis, motor starting
and reacceleration investigation, critical clearing time studies, cus-
tom load flow and transient model, power controller design, and
protection relay modeling [37]. IPSA can simulate large power sys-
tem networks and small networks or offshore small islanded sys-
tems as well. In load-flow analysis, IPSA investigates voltage
regulation, power loss and power flow of AC, DC, meshed, and
radial networks [37].
IPSA has been used to implement a range of projects and indus-
trial systems analysis such as the Flexible Approaches for Low Car-
bon Optimised Networks (FALCON) project (a Western Power
Distribution (WPD) project funded by the UK’s Low Carbon Net-
work), distribution networks of UK, Exxon South Hook, Shell and
LNG refinery [37]. It can easily interface with SQL [37].
4.26. MARKAL/TIMES
MARKAL and TIMES are energy, economic and environmental
factors analysis tools. It is a commercial tool developed by the
International Energy Agency’s Energy Technology Systems Analysis
Programme [38]. It can simulate all transportation technologies,
storage systems, renewable energy, and various energy networks
[138]. MARKAL can identify the least-cost energy systems, cost-
effective responses to reduce emission, long-term energy balancing
under different scenarios, effects of regulations and taxes, and
value of regional cooperation.
The source code of MARKAL/TIMES is written in the GAMS lan-
guage and is distributed free of charge under some terms and con-
ditions [38]. Users need a few months of training to start the
simulation process with MARKAL and TIMES. It designs the
energy-economy model by taking input data for a long period of,
up to 100 years. Its annual load duration curve or other variable
can be segmented on a monthly, weekly or hourly basis. It can con-
sider region-specific (community level, local, national or global)
energy-environmental system [12]. It can analyze the energy flow
from energy generation to the end-user level through multiple
energy conversions.
MARKAL/TIMES is used by 250 institutions in 70 countries. It is
used in various types of energy research including hydrogen
energy, fuel cell, hydrogen vehicle and nuclear power [138]. This
tool has been used by the European Commission to analyze energy
efficiency improvements, climate change investigations and
renewable energy policy developments.
4.27. MesapPlaNet
MEsapPlaNet (Modular Energy System Analysis and Planning
Environment (Mesap), Planning Network (PlaNet)) is an energy-
systems analysis toolbox. It is a commercial toolbox (special dis-
count for research groups), developed by IER, the University of
Stuttgart in 1997 and it is maintained by Seven2one Informations
systeme GmbH, Germany [39]. Its main developing motif was to
analyze faster and smarter energy generation systems and energy
trading. It has released 15 versions and has approximately 20
users. For beginners, it only takes two days to start basic simula-
tions [12,39].
MesapPlaNet was designed to analyze energy supply and
demand, environmental factors and cost according to the regional
or global context. It optimizes energy generation and emission for
any kind of reference energy system (RES). It calculates cost for the
RES annually on the basis of fixed and variable costs. It can simu-
late all renewable energies, storage, and conversion and trans-
portation technologies [39]. Its simulation is carried out in any
user-defined timescale which may range from minutes to several
years. The tool has a high performance in real-time data process-
ing, data management, and integrated forecast calculation. It has
a central and operational database for the faster data calculations
and future data analysis process. It is compatible with MATLAB,
Excel and BI tools with smart output visualization [39].
4.28. MiPower
MiPower is a power system analysis tool. It is a commercial tool,
developed by Power Research & Development Consultant Pvt. Ltd
(PRDC) [40]. It is a Windows-based user-friendly simulation tool.
It has a number of modules to perform a wide range of analysis
of power systems [162].
Typical applications of MiPower include load-flow analysis,
short-circuit analysis, transient stability analysis, voltage instabil-
ity analysis, relay co-ordination, harmonic analysis, dynamic sta-
bility analysis, network reduction, sub-synchronous resonance
 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359
analysis, electromagnetic transient analysis, line and cable param-
eter calculations, long-term load forecast, three-phase load fore-
cast analysis, and available transfer capability computation
[40,163]. It also deals with the economic dispatch of electricity. It
can simulate various types of fault at any user-defined location
and the corresponding load shedding [162]. MiPower provides an
environment to design customized systems and controllers like
an HVDC, FACTS, AVR, STATCOM, SVC etc. and each of their control
blocks is linked with transient stability to test the performance of
the system [40]. MiPower provides a facility to plan power systems
by forecasting the energy demand for a long time [163]. It uses
multivariate regression techniques for forecasting energy demand
and power systems planning, choosing the best model to use.
MiPower can interface with AutoCAD, and a MiPower network
can convert to an AutoCAD diagram [40]. It can import and export
data in a variety of standard data formats (IEEE and others) [40].
4.29. Modelica Toolkit
Modelica is an object-oriented multi-domain complex system
design tool [164]. It is maintained by the Modelica Association
and is free to use [41]. The Modelica Association is a non-profit
organization, its wide range of members is from Canada, U.S.A.,
Asia and Europe, and its experts are working to develop Modelica
standard library functions [41]. A significant number of research
groups and institutions are using this tool [41]. Many automotive
companies like VW, BMW, Toyota, Ford, and Daimler are using this
tool to design energy-efficient vehicles [41]. Some power-plant
provider companies like ABB, Siemens, EDF are also using Modelica
for energy systems research [41]. Its applications are broadly cate-
gorized into several sectors such as electrical, electronics, mechan-
ical, hydraulics, thermal, process-oriented subcomponents, electric
power, and control [164–166].
Modelica facilitates a large number of models and library com-
ponents [166]. It has 1280 model components with 910 functions
[41]. It consists of a large number of simulation environments such
as Wolfram SystemModeler, CATIA Systems, SCICOS, JModelica.org,
Dymola, Vertex, CyModelica, OpenModelica, MapleSim, Simula-
tionX, and LMS AMESim [41,164–167]. The Modelica simulation
tool is compatible with MATLAB/Simulink, and by using Simula-
tionX, MapleSim, Dymola, and Vertex Modelica models are
imported into Simulink [166,168–171]. It can simulate analog elec-
tric and electronic components, digital electric components [41],
electrical machines [166], limped magnetic networks, controlled
electrical machines [166], mechanical translation systems, aircraft
[169], vehicle dynamics, vehicle powertrain [170,171], vehicle-to-
grid integration, power generation, and power systems [168].
4.30. NEPLAN|Electricity
NEPLAN|Electricity is a power-engineering simulation tool to
plan, optimize, and analyze power system networks [172]. It has
a very friendly graphical user interface which provides an efficient
platform for power system simulation. It is a commercial tool,
maintained by NEPLAN [42]. Its application covers almost all areas
of electrical power generation, transmission and distribution, and
industrial networks [173,174]. It is compatible with MATLAB/
Simulink and its common database and unique API make it easier
to integrate with external applications [175,176].
The most common areas of the NEPLAN|Electricity tool are
smart grid and renewable energy systems, and the necessary
simulation methods are integrated with a very high accuracy and
performance [172]. It models wind and solar power plants with
dynamic simulation control and analyzes power quality, optimiza-
tion and steady state calculations by integrating with MATLAB/
Simulink models. The NEPLAN tool is also available as a cloud or
353
intranet solution besides the desktop software [42]. Therefore, this
tool does not need to be installed on a specific PC, but is accessible
anywhere through the internet [42]. NEPLAN|Electricity can import
GIS data and has a strong platform for the visualization of maps
[172].
4.31. OpenDSS
Open Distribution System Simulator (OpenDSS or DSS) is an
electric power distribution systems simulator to simulate
distributed energy resources and grid. It is an open-source tool
and free to use [43].
OpenDSS supports nearly all analyses regarding power
distribution system planning and analysis. Moreover, it provides
an environment to analyze many new technologies to meet future
needs of smart grid, distributed generation, power delivery and
harmonics analysis. Its most common applications include AC
circuit analysis, annual load and generation analysis, distributed
generation and its interconnection, probabilisitic planning,
distributed automation control, storage and protection systems
design [43,177]. It can co-simulate the communication networks
and power distribution networks for smart grid analysis and EV
impact on grid evaluation. OpenDSS has several built-in solution
modes like snapshot power flow on a daily or yearly basis, dynam-
ics, harmonics, and Monte Carlo fault study [43]. OpenDSS is an
open-source tool and can easily be modified to meet any objectives
related to power system, renewable energy or PEV in grid [43,177].
OpenDSS users can design custom solution modes though a
component object model (COM) interface and users drive this tool
through commonly used tools (MATLAB, Python, R, C# etc.) [43].
4.32. ORCED
ORCED (Oak Ridge Competitive Electricity Dispatch) is a simula-
tion tool to analyze electricity generation, demand market analysis
and electricity dispatch. The Oak Ridge National Laboratory
(ORNL), U.S. developed the first version of this tool in 1996
[44,178]. It has released three versions of this tool and all are free
to use [12]. For the beginner it may take a week to start learning
the simulation process [138].
ORCED can simulate the electricity dispatch in a certain region
according to the demand for a long period. It simulates a particular
region of the U.S. for a certain period, evaluating the generation
and demand on an hourly basis. It uses public sources of data from
the National Energy Modeling System (NEMS), and hourly demand
data from the Federal Energy Regulatory Commission (FERC)
[44,138]. It analyzes several key parameters (operating parame-
ters, financial parameters) for generation capacity, emissions of
the generation units and financial factors related to electricity gen-
eration. ORCED is also used to observe the charging and discharg-
ing impact of PHEV or distributed generators or renewable energy
on power distribution systems for a certain demand scale. All
renewable energies (but not tidal or wave) can be simulated by
using this tool [12].
ORCED is also used to analyze the PHEV and its impact on the
grid and electricity generation according to a demand calculation
on power distribution systems. It identifies the economical aspects
of the grid integration of PHEV along with other renewable energy
generation [44,138].
4.33. PLEXOS
PLEXOS (PLEXOS Integrated Energy Model) is an integrated
energy market simulation tool. PLEXOS is a widely used commer-
cial tool, developed by Energy Exemplar [45]. A significant number
of researchers, academics and research institutions, analysts,
354 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359
power-plant manufacturers and power-plant companies use this
tool [45]. It has a range of optimization technology partners such
as MOSEK, Dash Optimization, IBM ILOG CPLEX Optimizer, and
Zuse Institution Berlin [45].
PLEXOS provides an accurate and extensive environment to
model the energy market [179]. It uses mathematical program-
ming with the latest data and a distributed computing method to
provide a robust simulation platform to analyze, investigate, and
optimize integrated electric and gas heat production, energy
demand, and transportation technologies [167,180]. It has a user-
friendly graphical user interface and an integrated data platform
to simulate any energy systems within one minute to maximum
10 years [45]. The main features of this tool include energy gener-
ation and transmission analysis, generation and transmission
capacity expansion investigation, cascading hydro network model-
ing with GIS visualization from Google Earth, ancilliary service pro-
vision co-optimized with generation dispatch, emission limit
analysis, integrated gas-electric model design, and energy financial
model design and analysis [45,180,181]. It analyses detailed mod-
els of renewable and fossil fuel generation within its techno-
economical characteristics [167,181]. It can simulate multiple AC
network simultaneously with certain interface limits. It has a fast
and flexible solver to simulate complex power systems [45,180].
4.34. POM Application Suite
POM Applications Suite is a comprehensive power system tool-
box to analyze, plan, and operate steady-state conditions, small-
signal and transient conditions of power system networks in the
real-time environment. It consists of several toolboxes: Optimum
Mitigation Measures (OPM), Boundary of Operating Region (BOR),
Project Selection (POM-PS), Transient Stability (POM-TS), Fast Fault
Screening (FFS), Predicting Cascading Modes (PCM), Small Signal
Analysis (POM-SA), Real Time Analysis (POM-RT), and Region of
Stability Existence (ROSE) [46]. It is a commercial toolkit developed
by V&R Energy Systems, California [46].
Most common power system applications of the POM toolkit
cover power system steady-state analysis, transient stability anal-
ysis, smart grid applications and network planning. Its fast AC anal-
ysis uses the Newton–Raphson method to solve a nonlinear power
flow model [46]. It applies an (N-0) model in normal conditions,
each having (N-k) contingencies to monitor multiple constraints
simultaneously such as voltage deviation, voltage stability, and
voltage limit variation and thermal overload [46]. Some of the
key applications of this tool include load-flow analysis, voltage sta-
bility analysis, massive AC contingency analysis, cascading outages
prediction and prevention, extreme Events analysis, transmission
system optimization, optimal remedial actions determination,
secure operating region computation, and future transmission
expansion analysis [46]. The smart grid applications of POM toolk-
its include smart solutions of power transmission systems by using
PMU data to predict system instability, power grid efficiency
enhancement by reducing the system losses, power transmission
grid’s reliability improvement to facilitate the integration of
renewable energy and distributed sources [46]. The simulation
process of POM Toolkit is quite fast and in AC contingency analysis
it computes 50,000 contingencies per hour taking 0.1 s per contin-
gency for a 50,000-bus case [46].
4.35. PowerFactory
PowerFactory is a power system modeling, simulation and anal-
ysis tool. The tool has been widely used for more than 25 years to
model generation, transmission, distribution and industrial grids
and to analyze these grid interactions [47]. Currently, version 15
is available which additionally facilitates seamless integration of
functionality and data management for multi-user environments
[47]. It is a commercial tool, developed by DigSILENT GmbH, Ger-
many [47].
PowerFactory is a user-friendly tool and meets all demand to
analyze almost all sectors of power systems [182]. It has powerful
tools to visualize tropical networks and geographic diagrams [183].
It facilitates optimal power supply restoration capability with reli-
ability assessment of balanced and unbalanced networks [173]. It
optimizes the voltage profile of bidirectional power flow [184]. It
has an upgraded simulation scan module and can calculate arc
flash. PowerFactory can evaluate the techno-economical aspects
of grid expansion strategies [184].
The key functions of PowerFactory include power flow analysis
(AC/DC analysis, active-reactive power control, HVDC etc.), fault
analysis (fault level, DC short circuit, various converters, etc.)
[184], network reduction, voltage stability analysis (Q-V analysis),
load flow sensitivity analysis, overhead line and cable parameter
calculations, distribution network function analysis (voltage drop
and cable loading analysis, power factor) [182], and contingency
analysis [47].
4.36. PSAT
The Power System Analysis Toolkit (PSAT) is an electric power
systems simulation and analysis tool [185]. It is an open-source
tool and free to use [48].
The main application of PSAT includes small-signal stability
analysis, power-flow analysis, optimal power-flow (OPF) calcula-
tion, continuous power flow (CPF) calculation, and time domain
simulations [48]. The PSAT program is written in the MATLAB/
Simulink/Simflow environment to secure more flexibility and
modularity [185]. It supports a variety of dynamic and static power
systems model to perform precise power flow analysis. Dynamic
model includes fuel cells, wind turbines, synchronous machines,
FACTS, regulating transformers, and some non-conventional loads.
It has a user-friendly graphical interface and can integrate user-
defined models. It can take data input from several common file
formats and exports data output either in plain text, MS Excel,
LaTex or EPS [48]. It allows import and export data from CYME
and PSS/E. It can also interface with the GAMS and UWPFLOW pro-
grams to solve the OPF and CPF problems of power systems [185].
PSAT is a widely accepted tool which is used by 130 companies and
university researchers [48].
4.37. RAPSim
RAPSim (Renewable Alternative Power Systems Simulation) is a
microgrid and renewable-energy simulation tool. It is an open
source tool and free to use [49].
RAPSim is used to provide a microgrid simulation platform to
analyze the power flow characteristics of renewable sources and
smart microgrids [186]. It can integrate all renewable energy
sources (wind, solar or other sources) and analyze them, either
connected to the main grid or in standalone mode. It investigates
the power generation capacity of each renewable or distributed
generator and then performs grid power-flow analysis [187].
RAPSim is good to find out the optimal placement of distributed
generation units or renewable sources in the micrgrid.
RAPSim was designed with a user-friendly graphical user inter-
face. As it is an open source tool, it is easily extendable to support
the user’s special requirements for any objectives related to renew-
able energy integration and distributed energy source integration
[49,186,187].
 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359
4.38. Saber
Saber is a simulation tool for simulating, modeling, designing
and optimizing physical systems, power electronics, mechatronics
systems and electric power generation and conversion and distri-
bution. It has implemented several projects in industrial power
and energy systems, aerospace [188] and automotive sectors
[50]. It is a commercial tool (demonstration version and student
version free to use) developed by Synopsys [50]. It has a
Windows-based IDE and is easy to use, with good novice accessi-
bility [50].
The main goal with this tool is to visualize mechatronic and
electronic systems and optimize performance and reliability, accel-
erate the electrification process of industrial, aerospace and auto-
motive systems, enhance hardware quality by reducing
prototyping iterations, integrate physical systems with electronics
and software design [189,190].
Saber consists of verious application solutions: Saber Automo-
tive Applications Solutions deals with in-vehicle Networks (LIN,
CAN, FlexRay) [50], Power Networks, HEV Powertrain, EV and
HEV design, analysis and optimization; Saber Aerospace Applica-
tions Solutions deals with avionics networks, power conversion
and power networks, flight-control systems design, analysis, and
optimization [188]; Saber Solar Applications Solutions deals with
power electronics, power distribution networks and PV tracking
& Control Systems design, analysis and control [190]; Synopsys
Automotive Industry Solutions deals with ICs and their manufac-
turing, embedded software, FPGAs, and PCBs.
The Saber model supports the MAST and VHDL-AMS language
standards [50]. It can simulate 1000 s of virtual vehicle prototypes
attached to grid systems [50]. It can integrate its designed systems
with popular 3D CAD tools (Pro/E, Siemens (UGS) and Catia V5) and
is compatible with Cadence, Zuken, MATLAB/Simulink, Synopsys
VCS, and Mentor Graphics [50,189].
4.39. Simpow
Simpow is a power systems design and analysis tool consisting
of a highly accurate and efficient robust numerical techniques with
fixed or variable time step simulation facility [51]. It is a commer-
cial tool, developed by Solvina Energy Excellence. Although it is a
commercial tool, the demonstration version is free to use [51].
It can simulate electromechanical and electromagnetic tran-
sients in instantaneous mode, phase mode or in both modes. Basic
functions of this tool include short-circuit calculation, load-flow
calculation, voltage stability, transient stability, synchronous sta-
bility, load fluctuations, load shedding, machine dynamics, fre-
quency scanning, parameter scanning and modal analysis,
resonance frequency analysis, harmonic analysis, HVDC, and
renewable energy [191]. Its applications are categorized into three
broad areas; power-flow models, dynamic models, and fault anal-
ysis models. Power-flow model analysis includes transformer,
loads, asynchronous machines, HVDC converters, etc. Dynamic
model analysis includes nonlinear transformers, shunt impedance,
voltage regulator, current limiter, etc. Fault analysis includes vari-
ous fault types (three phase, two phase, single phase fault) [51].
This tool can also be used to analyze vehicle-grid integration
(V2G) systems [51].
Simpow has a built-in programming language named dynamic
simulation language which allows it to use user-defined modeling
of any power system components including special machines,
drive systems, and FACTS devices [51]. Moreover, a DSL graphical
code generator is available to generate expected DSL code for
dynamic simulation [51,191].
355
4.40. SOMES
SOMES (Simulation and Optimization Model for renewable
Energy Systems) is used to design, optimize, and integrate renew-
able energy sources and its integration. It is a commercial tool. The
SOMES model has been developed with the support of NOVEM
[52].
SOMES can integrate and observe the performance of renewable
energy sources including PV arrays and wind turbines. It can also
simulate several types of converters, motor generators, battery
storage and grid. Its simulation is performed in a one-hour time-
scale, and simulated results predict the technical and economic
performance of the system, reliability assessment and optimal
electricity supply. In the simulation process, generally the inputs
are load defined by a certain period, PV array output power or solar
irradiation, wind speed, wind-turbine output power and ambient
temperature, and the outputs are the accumulated energy flows,
energy performance evaluation, technical and economic perfor-
mance of each component and the economic performance of the
system [52].
The source code of SOMES is written in TurboPascal [52]. It is
run on IBM-compatible computers under MS-DOS under MS-
Windows. A typical simulation process is very fast [52].
4.41. SPARD Power
SPARD Power is a graphical simulation tool to analyze, opti-
mize, and simulate electric power systems. It is user-friendly tool
and well suited for analyzing electrical power transmission, distri-
bution systems, and various industrial plants. Several analysts,
consultants, power transmission and distribution companies are
using this tool, such as EMSA, DISPAC, CEDENAR, ELEPCO S.A.,
EDET, EERSSA, and SEAL [53]. It is a commercial tool developed
by Energy Computer System (SPARD) [53]. The key contribution
of this tool is to provide a platform to initiate simulation to
improve electricity distribution performance to upgrade it to the
smart grid level through communication networks, SCADA and
other information systems [192].
The main applications of SPARD Power include power systems
analysis and optimization, transient stability analysis, SCADA sys-
tems connection investigation, harmonic analysis, graphical setting
and operations of protection devices, and automatic protection
coordination [53]. In power system analyses it can be used to
investigate control topology and response to load and network
changes, load flow and system faults [192]. It optimizes power flow
with optimal substation and radial network reconfigurations. In
order to achieve real-time control and simulation and substation
automation it uses SCADA systems [53]. It has a user-friendly
graphical interface to visualize the frequency spectrum of THD
and harmonic distortion. For achieving system optimal protection,
its simulation engine provides unique relay parameter settings
using a genetic algorithm [53].
4.42. THYME
THYME (Toolkit for HYbrid Modeling of Electric power systems)
is used to simulate electro-mechanical dynamics, control, commu-
nications and its interaction in power systems. THYME is open-
source software, released under the license of UT-Battelle license
[54] and it is free to use [54].
THYME has a C++ library to integrate its modules with commu-
nication tools (OMNET++, NS/2) to model, control and simulate dis-
crete events and power system dynamics [193]. The main
applications of THYME include power systems controller design
and analysis according to demand response, large-scale power net-
work diagnostics through appropriate communication networks,
356 K. Mahmud, G.E. Town / Applied Energy 172 (2016) 337–359
investigating the impact of communication networks and technol-
ogy on distributed control systems and analyzing the impacts of
intelligent sensors [54,194,195].
THYME consists of three key elements; an electromechanical
dynamics simulation module, predefined models for shifting loads
and generators and transmission lines and an automatic demand-
response module based on sensed frequency modeling. The elec-
tromechanical dynamics simulation module deals with speed and
voltage control of generators, discrete sensors design manage
interaction between distributed control events and communica-
tion networks [194,195]. This tool can use a standard PTI data for-
mat and the IEEE common data format [54].
4.43. V2G-Sim
V2G-Sim (Vehicle-to-Grid Simulator) addresses vehicle-to-grid
integration by incorporating driver-specific sub-modules, charging
systems and vehicle powertrains. V2G-Sim was developed by the
Lawrence Berkeley National Laboratory and is not available for
general users [55].
The major application of V2G-Sim is classified into four broad
categories: automotive (battery, vehicle powertrain, control, PHEV,
etc.), electricity grid (future grid, charging and discharging, renew-
able generation, electricity market etc.), policy and business (regu-
latory, economic, business model), and end users (V2G-Sim mobile
app) [55]. V2G-Sim addresses the potential barriers and uncertain-
ties in vehicle-to-grid integration though a systematic quantitative
method. It predicts the real-world scenario (drive system, trip dis-
tance and time) of an EV and analyzes the impact or opportunity of
these vehicles to the electricity grid. To analyze the grid impact, it
models the charging and discharging control approach and driving
behavior of an individual EV. V2G-Sim designs the vehicle-to-grid
energy exchange system and analyzes it in second-by-second time
steps [55]. It observes the energy demand of an individual vehicle
and can make a decision where to plug-into the power distribution
system by analyzing the effect of electricity consumption on power
distribution systems. It considers the charging pattern for vehicle-
to-grid integration by developing a charging control algorithm, i.e.
some vehicles may charge in an uncontrolled fashion (start charg-
ing as soon as plugged in) and some vehicles may follow demand-
response in charging.
V2G-Sim provides predictive information to address the stake-
holder’s uncertainty, i.e. forecast grid services, battery degradation,
alleviating range anxiety [55].
4.44. Xendee
Xendee is a cloud computing tool by which power engineers can
analyze and design power distribution networks, anywhere and
anytime. It provides cloud computing solutions for smart grid
and micro-grid project management and power system analysis.
Computation and access to the Xendee services can be done via
web browsers in any smart-phone, tablet, and PC [56]. Xendee
has a partnership with the Microsoft and collaboration with the
EPRI (Electrical Power Research Institute) by which it can integrate
the Microsoft technology stack and EPRI analytics, one line dia-
gram authoring, data management, error management, and error
checking. It is a commercial tool [56].
Xendee has been tested to simulate networks having over
10,000 nodes [56]. It has several features to model and simulate
micro grids and smartgrids such as Micro grid power flow analysis,
micro grid short circuit analysis, smartgrid project management,
smart grid power flow analysis, smartgrid short circuit analysis,
power distribution system one line diagram modeling and analysis.
It has the capability to analyze balanced 3-phase systems, unbal-
anced multi-phase systems and utility in the distribution systems
for both micro grids and smart grids [56]. It provides a cutting-
edge project management solution for both smart-grid and
micro-grid through real-time project status monitoring and
reporting.
5. Discussion and conclusion
A wide range of simulation tools is available to design and ana-
lyze systems with various types of vehicle, traffic system, and their
integration with the power distribution grid. Each tool is special-
ized to simulate specific systems. For vehicle modeling and analy-
sis ADVANCE, FASTSim, V2G-Sim, DYNA4 Simulation Toolkit,
Modelica Toolkit, CASPOC, HYPERSIM/ePOWERgrid, and Saber sim-
ulation tools are appropriate. The ADVISOR tool is appropriate for
vehicle analysis, especially for emission analysis.
For V2G modeling and analysis ADVANCE, FASTSim, V2G-Sim,
OpenDSS, GridLAB-D, ORCED, MesapPlaNet, MARKAL/TIMES,
EMCAS, HOMER, Modelica Toolkit, and ETAP Toolkit are ideal.
Some V2G specialized tools have been developed to design V2G
systems only. Other tools may be more suitable to analyze and
manage the impact of EVs on the grid (e.g. through charge schedul-
ing), such as PSAT, IKARUS, GTMax, EnergyPLAN, and EMCAS.
For power system analysis and renewable-energy integration
with distributed control systems, Simpow, OpenDSS, GridLAB-D,
PSAT, ORCED, MesapPlaNet, MARKAL/TIMES, GTMax, EnergyPLAN,
EMCAS, HOMER, PowerFactory, PLEXOS, InterPSS, IPSA, MiPower,
Xendee, CASPOC, HYPERSIM/ePOWERgrid, NEPLAN|Electricity,
and GridSpice are all excellent tools.
A number of cloud-computing-based simulation tools are avail-
able and are easily accessible around the globe, such as InterPSS,
Xendee, NEPLAN|Electricity, and GridSpice.
In most situations no one software tool will be adequate for
analyzing and optimizing all aspects of the system when investi-
gating the integration of EVs with the electricity distribution grid.
However, this review should assist selection of the appropriate
combination of tools to deal with specific problems, and may also
help identify opportunities for the development of new and
improved tools.
Acknowledgments
This work was supported by the Australian Research Council
and Singtel Optus Pty Limited, Australia.
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