A Proposed Method for Processing Unbalanced Conditions and DC Offset Currents in Transient Stability Analysis

S. Esmaeili Jafarabadi, S. M. Kouhsari

Abstract: An approach has been proposed in this paper for processing unbalanced operating conditions in transient stability calculations. The suggested method combined positive sequence network usually used for traditionally balanced transient stability program with zero and negative sequence network which are available for traditional unsymmetrical fault routines. The zero and negative bus matrixes are usually available in sparse nature within any commercial software to handle large scale power system analysis. Therefore, they can be easily used in unbalanced transient stability routines, as described in this paper. Besides, a method is presented to evaluate DC offset currents in system branches during the phasor-based transient stability run. The DC offset arise from the stator and network transients during switching (including faults). Conventional phasor-based transient stability programs ignore the occurrence of such a DC offset in their simulation process. Approximating of DC and negative sequence current braking effects in AC machines and modeling negative, ground and overcurrent instantaneous protective equipments behavior in transient stability simulation are the main benefits of the proposed method. Computer test results in comparison with results carried out by detailed threephase time-domain simulations using Power System Blockset (PSB) of MATLAB, show clearly the effectiveness of the method. Index Terms--: transient stability, asymmetrical faults, DC offset, symmetrical component

I. INTRODUCTION

N power systems, three-phase unbalanced conditions may occur due to asymmetrical system parameters and asymmetrical operating conditions. Unbalanced system parameters may exist in system apparatus such as transmission lines without perfect conductor commutation but it has no noticeable influence to the stability results. While unbalanced operating conditions which are mainly caused by asymmetrical shunt (short circuit) or series (open conductor) faults can greatly affects the transient stability simulations [1].

Manuscript received November 30, 2006. This paper is part of software development efforts in power system analysis laboratory of Amirkabir University of Technology, Tehran, Iran S. Esmaeili Jafarabadi is a PhD student of Amirkabir University of Technology, Tehran, Iran ( e-mail: s_esmaeili@aut.ac.ir ) S. M. Kouhsari is associate professor in Amirkabir University of Technology, Tehran, Iran (e-mail: smontom@aut.ac.ir)

The model developed so far for transient stability analysis has assumed balanced three phase operation even during the fault period [2]. Although three-phase fault are in most cases the most onerous, there are occasions when unsymmetrical fault conditions need to be analyzed [3]. And also modeling of unbalanced relays such as negative sequence and ground relays in transient stability simulation, are the main concern of Power system engineers [4]. It is possible to develop three-phase models of all power system equipments and incorporate them in transient analysis. But it greatly sacrifices the efficiency of transient stability simulations and full-scale development will be unattractive. This is due to high computational burden and large amount of data which is required. There are, in general, three methods to analyze unsymmetrical faults in a power system: the symmetrical component method (SCM) [5], the phase coordinate method (PCM) [6] and a combined method of first and second method [7]. Up to now, a more practical approach which has been used in almost all professional power system analysis software is SCM. In this paper, this approach is applied for transient stability software. In this manner, the already available negative and zero sequence component system models can be added to the existing single-phase model and can be easily removed when not required (e.g. when three phase fault is going to be studied). Therefore the three phase currents and voltages can be obtained in each instant of the simulation time. Besides, in traditional power system simulations, it is common to neglect transients of the transmission networks and stator circuits of synchronous machines [2]. This is because of difficulties arises to express the transmission system in terms of differential equations. Therefore, the DC offset currents passing through the synchronous and asynchronous machines and network branches can not be obtained by the traditional transient stability analysis. Operation of protective relay devices such as instantaneous overcurrent relays and current transformer can be affected by DC offset currents during unsymmetrical as well as symmetrical faults [8]. However, it can be analyzed only by detailed time-domain simulation program such as EMTP. The method is presented in this paper can effectively approximate DC current decays during unsymmetrical as well as symmetrical faults, and can therefore evaluate negative and

DC offset braking generator torques. It also helps to consider the fast acting protecting equipment behavior during transient stability studies. II. SYMMETRICAL COMPONENT MODELS The approach presented in this paper is based on traditional symmetrical component method which is widely used for asymmetric faults analysis. In the following, model equations used in the proposed method are presented. A. Synchronous generator model The synchronous machine models are based on the following equations in which the standard notation is used:

(8) Z 0 = r0 + jX 0 Where ZN denotes negative-sequence impedance, which is equivalent to the positive sequence impedance ZP in Eq. (6), and Z0 denotes zero-sequence impedance. B. Power network model Based on nodal matrix method, all network machines components are converted into Norton equivalents of injected current into positive network by following equation. (9) I1 = Ybus1V1 III. PRINCIPLE OF THE PROPOSED METHOD A. Brief description The major effect of unsymmetrical faults is to increase the apparent fault impedance. The equivalent negative and zero sequence admittance of the system at the point of series or shunt fault are calculated. Depending on the type of fault, the fault impedance is modified to include the negative and zero sequence impedances. The fault impedances remain constant until changed by either branch switching or fault removal. So, the positive fault current can be calculated: (10) I f 1 = Y f 1modV f 1 In fig.1 a brief flowchart of proposed method applied in traditional transient stability solution is depicted.
Start Read steady state and switching data Calculate fault currents and 0 and 2 injecting currents (I0inj, I2inj) Calculate 0 and 2 sequence voltages and branch currents V0 =Z0I0inj, V2 =Z2I2inj

V0 = Z 0 I 0

p = 0 ( P Pe D Pb ) 2H m p = 0 pEq = [ E fd ( X d X q ).I d Eq ] / Tdo

(1)

pEd = [( X q X q ).I d Ed ] / Tdo Ed Vd = ra I d X q I q

Eq Vq = ra I q + X d I d pEq = [ Eq ( X d X q).I d Eq] / Tdo pEd = [( X q X q).I d Ed ] / Tqo Ed Vd = ra I d X qI q Eq Vq = ra I q + X dI d

(2)

(3)

(4)

(5)

Where, p = d/dt, Pm, Pe and Pb: mechanical, electrical and braking power of machine, D: damping coficient, ra : stator resistance, Xd, Xq : stator reactances, X d , X d, X q , X q : transient and subtransient reactances, Eq, Eq , Eq and Ed : transient and subtransient internal voltages, Tdo , Tqo , Tdo and Tqo transient and subtransient time constants, Vd, Vq, Id and Iq : stator voltages and currents, Efd: field voltage, and 0 : rotor and network angular speed, H: inertia constant. Transforming the stator equation (3) to the network frame yields: V1 = Z1 I1 + EG1 (6) Z1 = ra + j ( X d + X q) 2 Where, V1 and I1 represent positive-sequence phasors of generator terminal voltage and stator current, respectively. On the other hand, negative-sequence and zero-sequence stator equations of synchronous generators are, in general, expressed as follows: VN = Z N I N Z N = RN + jX N (7) 1 RN ra + rr 2 1 X N = ( X d + X q) 2

Calculate machine initial condition And unfaulted 0, 1 and 2 nodal matrix A

Determine step length and Make switching if necessary (time++)

Calculate phase voltages and currents for monitored branch and machines

Calculate 0 and 2 equivalent sequence impedance at the point of asymmetric faults

Calculate DC currents for monitored branch and machines Calculate DC and negative braking torque for machines

Calculate 0, 1 and 2 equivalent sequence impedance at the machines and monitored branches busbars and those relative DC time constants B B Solve for machine and network Iteratively (iter++)

Evaluate integrable and nonintegrable variables and check errors

No

Is system convergent?

Print-out results Calculate injected currents to network for machines and loads
No

A Calculate bus positive sequence voltages

End of case?

End

Fig. 1. Brief flowchart of the proposed method

For representing zero and negative sequences or phase components in any point of power system, it is necessary to evaluate the negative and zero currents at each iteration. This is done by injecting these currents, determined at the point of fault, into the negative and zero sequence system admittance matrixes as follows, (11) I 2inj = Ybus 2V2

( ( ia ( 0) = [ 2 I a 0 ) cos{0 t + I a 0 ) }]t = 0 ( ( ib ( 0) = [ 2 I b 0 ) cos{0 t + I b 0 ) }]t = 0

ic ( 0) = [ 2 I c( 0 ) cos{0 t + I c( 0 ) }]t = 0 ia ( +0) = [ 2 I

( +0 ) a

(19)

cos{0 t + I

( +0 ) a

}]t = 0

I 0 inj = Ybus 0V0

I 2inj = F1 ( I f , Z 012 )
I 0inj = F2 ( I f , Z 012 )

(12) (13) (14)

( ( ib ( +0) = [ 2 I b +0 ) cos{0 t + I b +0 ) }]t = 0

ic ( +0) = [ 2 I c( +0 ) cos{0 t + I c( +0 ) }]t = 0

( (+ Where I a 0 ) and I a 0 ) etc. denote the phasors immediately

Functions F1 and F2 are depending on type of asymmetric fault [1]. In the next step, sequence and phase current of each branch can be calculated: b b (15) I 012 = V012Y012
b b I abc = TI 012

before and after the time the fault occurred. The stator AC currents at the fundamental frequency can be expressed as follows.

iaAC = 2 I a cos{0 t + I a } ibAC = 2 I b cos{0 t + I b } icAC = 2 I c cos{0 t + I c }

Therefore, total of each branch currents can be expressed as follows. ia = iaAC + iaDC (21) i = i AC + i DC
b b b

(16)

(20)

Where, T is symmetrical components matrix [1]. It is worth to mention that zero and negative admittance matrixes are already available in traditional fault analysis within commercial power system analysis software. Therefore, to obtain these matrixes in transient stability routines, no extra computation is needed. The sparse technology can still be used to improve the study efficiency. B. DC offset expression During the transient stability simulation, the phasor of the AC currents are obtained. Since, it is a phasor, it might be changed instantaneously due to switching, because of neglecting Ldi / dt effect. As a result, one might consider that the instantaneous changes in AC currents must be equal to the initial values of the DC offset currents in the same branches [9]. The latter, how ever, will start decaying by certain time constants which are describes in the following equations:

ic = i + icDC In the method proposed in this paper, the DC stator currents above and negative sequence currents are applied to the generator differential equations (1), (2) and (4). Fig.2. Shows a simple flowchart of the power system simulation based on the proposed method.
AC c

Power system equations Eq. (9)

iaDC = ia exp( t ibDC = ib exp( t icDC = ic exp( t

TaDC TbDC TcDC

)
I2inj

Eq. 13
I0inj

Eq. 14 Eq. 12
V0

) )

(17)
V1

Eq. 11
V2

Where ( TaDC , TbDC , TcDC ) denote the time constants of the DC currents, and ( ia , ib , ic ) denote the instantaneous changes in the AC stator currents of generators. These changes can be expressed by using the stator current phasors, as follows.
I 012

Eq. (15)
Protection Units

ia = ia ( +0) ia ( 0) ib = ib ( +0) ib ( 0) ic = ic ( +0) ic ( 0)

(18)

Eq. (16)
AC I abc

D. E.
Eq. (1), (2), (4)

DC iabc

Eq. (17)(20)

Ed , Eq

Fig.2 Block diagram proposed method.

In practical situations, because of successive switching after the fault, other network transients will arise. The branch currents, will also subject to the new transients because of the

switchings. The approach can also evaluate these new DC offset currents in nearly the same process as it was described for the first fault occurrence except that, the initial current is dependent to the AC and the old DC currents. C. Time constant for the DC offset currents An important problem in obtaining the DC currents is how to determine the DC time constants for DC offset currents. Generally it is difficult to obtain the exact values of the time constants in a large and complicated power system. Because they are dependent to the equivalent resistance and reactance from machines and network which dynamically varies with time. The proposed method in this paper uses an approximate method to find out DC time constants from the available modified positive sequence [Zbus]. A general connection of a monitored branch is shown as Zb in fig.3:

Where, I2g is the negative sequence component of stator current. 2) DC component braking power: for three phase fault at or near the generator terminal the DC component of stator current persists long enough to have an appreciable effect. This effect gives rise to a braking power similar to that caused by negative sequence stator currents. The expression for DC braking power becomes [10], 2 (27) Pb 2 = idc ( R2 ra )
a ,b , c

Where, idc is the instantaneous dc component of stator current. Then the total braking power in Eq. (1) can be calculated: (28) Pb = Pb1 + Pb 2

IV. SIMULATION RESULTS A. Circuit description Simulations for unbalanced faults in the test system shown in Fig.4 were performed in order to confirm the validity of the proposed method. The results obtained from the proposed method were compared with those which are obtained from detailed time-domain simulation using Power System Toolbox (PST) of MATLAB.

Fig.3. General branch connection to a network

The equivalent impedance from branch nodes (i and j) point of view can be calculated using Zbus components. However, it is necessary to modify the Zbus of the system in order to bring out the branch impedance using the following equations [10].
Z1i Z1 j . 1 . ( Z b + Z ii + Z jj 2 Z ij ) . Z ni Z nj

[Z bus ]new = [Z bus ]old

(22)
Fig.4 Test system.

[( Z i1 Z j1 ) . . . ( Z in Z jn )]

Therefore, the equivalent impedance can be calculated using the new matrix components as follows: (23) Z eb = Z ii + Z jj Z ij Z ji So, the equal impedance, which is named here branch equal DC impedance, can be calculated as follows, (24) Z bDC = Z b + Z eb From there, the DC time constant can be obtained from the following Im ag ( Z bDC ) DC (25) Tabc = 0 Re al ( Z bDC ) D. Braking power One of the advantages of the proposed method is the ability for considering the braking power of negative sequence and DC component of stator current in swing equation (1). 1) Negative sequence braking power: for a synchronous machine the retarding effect of negative sequence on the dynamic behavior can be included using following equation [11]:

Two 735 kV parallel lines, 200 km long, transmit 3000 MW of power from a generation plant (12 generators of 350 MVA) to an equivalent network having a short circuit level of 20 GVA. The machine is connected to the transmission network through a 13.8 kV/ 735 kV Wye-Delta transformer. Parameters of the generators, control system of the generators (AVR), and branches (transformers and transmission lines) are shown in Appendix. The initial conditions of the system are shown in Table I.
NET P Q V
-2750 MVAR -420 MVAR 1.0 p.u.

TABLE I INITIAL CONDITIONS. G2 Load A Load B

3000 MW 440 MVAR 1.037 p.u. 0.8 MW 200 MVAR 1.0 p.u. 0.8 MW 200 MVAR 1.023 p.u.

Load C
200 MW 0 1.037 p.u.

Pb1 = I 2 g ( R2 ra )

(26)

C. Fault and line switching A phase-to-ground fault is applied at the end of line 2 at 0.1s and remains until 0.18s. As soon as the fault is detected by the protection relays (not simulated here), an opening command is sent to the two line breakers of the faulted phase at 0.23s. The breakers are kept open during a certain 'dead time, around 0.3s.

Fig.5 shows simulation results, in which the generator (G1) currents in machine base (fig.5 (a)-(c)) and its rotor angle in degrees of each generator (fig.5 (d)) are presented.

(d) Fig.5. Simulation results: Generator phase currents and angle (a)

In addition to the results obtained from the proposed method, results from the detailed time-domain simulation in PST are also presented by dot lines. it is clear that the proposed method simulates well the DC offset currents arising after the fault. The braking effect of DC currents and negative sequence current which is called backswing phenomena can be seen in two simulation results just after fault incidence. It is assumed the result of PST and EMTP would be the same for this case. However, we are trying to do simulation by EMTP too. V. CONCLUSIONS

(b)

This paper presents a method for processing unbalanced operating conditions in transient stability calculations. In addition, this method approximate DC offset currents for the branch circuits of the system in power system simulations for symmetrical and unsymmetrical faults. In conventional power system simulations, the stator and network transients are often neglected, and the stator circuits and the network are represented by phasor equations. The conventional method cannot evaluate the DC offset currents resulting from the stator transients. However, in spite of modeling the stator circuits and network with phasor equations, the proposed method can approximate the DC offset currents and can obtain instantaneous responses of all branches and generators currents. The algorithm is also fundamentally equivalent to that of the conventional method, and a computer program of the method can easily be obtained by slightly modification of the conventional programs. Accordingly, it may be concluded that the proposed method can approximate dynamic effect of negative sequence and DC component on dynamic behavior of synchronous machines and modeling of phase and sequence protection units to analyze large scale multi-machine systems in more realistic approach using phasor equations.

(c)

APPENDIX
Parameters of the generator (G1) and network equivalent (G2) and their control systems are shown in Table I. Parameters of the branches are shown in Table II. The base power of the system is 4200 MVA. The transmission line from node 1 to node 2 is composed of two parallel lines, and the values in the table are those of each one line.
TABLE I PAREMETERS OF GENERATOR AND NETWORK Bus No. 1 2 Bus No. 1 2 MVA kV 735 0.0209 0.209 12*350 13.8 0.07 0.01467 0.22 0.0365 0.028 8
'' Tdo (sec)

[8]

Tamura, J.; Kubo, M.; Nagano, T.; A method of transient stability simulation of unbalanced power system, Electric Power Engineering, 1999. PowerTech Budapest 99. International Conference on, 29 Aug.-2 Sept. 1999, Pages:232 [9] Tamura, J.; Takeda, I.; Kojima, H.; Suzuki, T.; A new method to approximate stator transients of synchronous machines in power system simulation, Energy Conversion, IEEE Transactions on Volume 12, Issue 4, Dec. 1997 Page(s):344 350 [10] A. Chakrabarti, S. Halder, power system analysis, New Delhi, PrenticeHall, 2006 [11] E. W. Kimbark, Power System Stability, Vol. 3, synchronous machine stability. New York, NY: John Wiley & Sons Inc., 1948.

0.03 0.2139 0.079 0.0304 1.0 0.07 3 0.035

x q (pu)
x q (pu)
xq
''

xl (pu)
ra
(pu)

'

(pu)

xd (pu)

T T

' (sec) qo '' (sec) qo

x d (pu)
xd
T
''

'

(pu)

H (sec) R2 (pu)

' (sec) do

Exciters
KA

200 0.001 17.384 -15.7

KE

1 0.0 0.001 0.1

TA

(sec) (pu) (pu)

TE (sec)
KF
TF
(sec)

VR max

VR min

X1(pu) R1(pu) Y1(pu) X2(pu)

TABLE II PARAMETERS OF BRANCHES T L T 0.50575 0.50875 R2(pu) 0.01811 0.01811 0.01811 Y2(pu) 0.13005 X0(pu) 0.16 0.50575 0.50875 R0(pu) 0.004

L 0.01811 0.13005 1.76325 0.41609

REFERENCES
[1] [2] [3] P. Kundur, Power System Stability and Control, Englewood Cliffs, NJ: McGraw-Hill, 1994. J. Arrillaga, N. R. Watson, Computer Modeling of Electrical Power Systems, by John Wiley & Sons, 2001. Zambrano, V.O.; Makram, E.B.; Harley, R.G.; Stability of a synchronous machine due to an unsymmetrical fault in unbalanced power systems System Theory, 1988., Proceedings of the Twentieth Southeastern Symposium on , 20-22 March 1988, Pages:231 235 Harley, R.G.; Makram, E.B.; Duran, E.G.; The effects of unbalanced networks and unbalanced faults on induction motor transient stability, Energy Conversion, IEEE Transactions on , Volume 3, Issue 2, Jun 1988 Pages:398 403 Ronne-Hansen, D.J.; A general model for representing arbitrary unsymmetries in various types of network analysis, Power Systems, IEEE Transactions on , Volume: 12 , Issue: 3 , Aug. 1997, Pages:1323 1330 Makram, E.B.; Zambrano, V.O.; Harley, R.G.; Balda, J.C.; Three-phase modeling for transient stability of large scale unbalanced distribution systems Power Systems, IEEE Transactions on , Volume: 4 , Issue: 2 , May 1989, Pages:487 493 Xuefeng Bai, Tong Jiang, Zhizhong Guo, Zheng Yan, and Yixin Ni, ;A Unified Approach for Processing Unbalanced Conditions in Transient Stability Calculations, IEEE Transactions on Power Systems, VOL. 21, NO. 1, Feb. 2006

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[7]