Comparison of Power System Simulations Studies on Different Platforms - RSCAD, PSCAD/EMTDC, and SIMULINK SimPowerSystems Ganesh K. Venayagamoorthy, Senior Member, IEEE Real-Time Power and Intelligent Systems Laboratory University of Missouri-Rolla, M065409, USA ghumariieve org; www. ce unr: edwRTPIS Abstract ~ This paper compares the modeling of power systems on three different simulation platforms: RSCAD, PSCAD/EMTDC and SIMULINK SimPowerSystems. The Kundur’s two area power system with power system stabilizers is presented as a case study here, Studies under steady state and transients for various operating conditions are carried out on the different simulation platforms and ‘compared with each other. Comparison of the simulation time and the accuracy is given in tis paper with details on the individual simulation models. Keyword: Two-Atea Power System, Power System Stabilizer (PSS), RSCAD, —PSCAD/EMTDC, ‘SIMULINK SimPowerSystems 1. INTRODUCTION This paper shows the comparison of three software simulation platforms for power systems namely: RSCAD, PSCAD/EMTDC and SIMULINK, SimPowerSystems. RSCAD is the software that runs ‘on the Real-Time Digital Simulator (RTDS) for real time simulation. PSCAD/EMTDC and Simulink SimPowerSystems are widely used for simulating power systems, The power system studied in this paper for the comparison of the three simulation platforms is the ‘Kundur's simple two area system consisting of four machines [1]. The test system consists of two fully symmetrical areas linked together by two 230 kV lines ‘of 220 km length. This system is specifically designed te study low frequency electromechanical oscillations [2] in large interconnected power systems. Three clectromechanical modes of oscillation are presented in this system; two intra-area modes, one in each area, land one inter-area low frequency mode. Despite small size, it mimics very closely the behavior of typical systems in actual operation. Each area is equipped with two identical round rotor generators rated 20KV/S00MVA. The synchronous machines have identical parameters. Thermal plants having identical speed regulators are further assumed at all locations, in addition to the fast static exciters. All generators are producing about 700 MW each. The Toads are represented as constant impedances and split 38 ‘between the areas in such a way that there is power transfer of 400 MW from area 1 to area 2, Fig.1. Two-area power system (1) In addition, power system stabilizers (PSSs) are added to the fast exciters. The PSS block diagram is shown in Fig. , All four machines have identical PSS, Details of parameters and the modeling of the power system will be described in detail in the full paper. $°_Ges GH EH HE Fig2. PSS block diagram [1] Il SIMULATION SOFTWARES - RSCAD, PSCAD/EMTDC AND SIMPOWERSYSTEM RSCAD provides the capability to simulate the ‘behavior of power systems and control in real time on the RTDS [4]. RSCAD provides load flow solutions. ‘The RTDS allows hardware-in-loop (HIL) studies. PSCAD (Power Systems CAD) is a powerful and flexible graphical user interface to the world- renowned, EMTDC solution engine [5]. PSCAD unlike RSCAD does not have a load flow solution. It is by trial and error that one gets the required steady state operating conditions. More details on the simulation of the two area system in PSCAD will be given in the final paper. PSCAD allows interface with MATLAB. On the other hand SimPowerSystems [6] has load flow solution but the simulation gets slower asthe system size gets larger. PSCAD and SimPowerSystems do not allow interface with hardware for closed loop studies directly like RTDS. does. noniIM, STEADY STATE AND TRANSIENT ‘SIMULATION STUDIES ‘The steady state operating points of the two area system is taken from [1] and shown in Table 1. It can be seen that the PSCAD and RTDS results are close to the example in [I]. The values for the SimPowerSystems are taken from the existing model in the demo examples of SimPowerSystems toolbox. 'A three phase short circuit of $ cycles duration is applied at bus & in Fig. 1. Speed deviations of the four ‘machines without and with PSS are shown in Figs. 3 and 4 for the RTDS simulation respectively. Likewise, Figs. 5 and 6 show PSCAD simulation results respectively, and Figs. 7 and 8 show the ‘SimPowerSystems simulation results respectively ‘The active power transfer from area | to area 2 for the simulations in RTDS, PSCAD and SimPowerSystems. are shown in Figs. 9, 10 and 11 respectively during the short circuit test fault at bus 8 ‘The 10 seconds simulation ofthe two area system in PSCAD and SimPowerSystems on the same PC takes ‘about 35 and 37 seconds respectively whereas on the RTDS it is 10 seconds. RTDS provides a tremendous advantage when a large power system has t0 be simulated and tested over a long period of time. Thus, providing the platform for rigorous and robust testing ‘of new controller designs. Fig. 3. RTDS ~ Plot of speed in rad/s (y-axis) vs time in seconds (x-axis) without PSS 39 Fig. 4. RTDS — Plot of speed in rad/s (y-axis) vs time in seconds (x-axis) with PSS Fig. PSCAD- Plot of speed in rad/s (y-axis) vs time in. seconds (x-axis) without PSS Fig. 6. PSCAD — Plot of speed in rad’s (y-axis) vs time in seconds (x-axis) with PSSFig. 7. MATLAB ~ Plot of speed in rad/s (y-axis) vs time in seconds (x-axis) without PSS | woe Fig, 8. MATLAB — Plot of speed in rad/s (y-axis) vs time in seconds (x-axis) with PSS Fig.10. PSCAD - Plot of power transfer (P) vs time from area | to area 2 IV, CONCLUSIONS. ‘This paper compares the modeling and simulation of power systems on three different simulation plaforms: RSCAD, PSCAD/EMTDC and SIMULINK SimPowerSystems. The Kundur’s two ‘area power system with and without power system stabilizers have been presented as a case study. The full paper will present more details on the power system components used in each platform. ‘The RTDS is the most flexible and the efficient way to study power systems if the cost of the simulator can be overcome. The RSCAD and PSCAD libraries have more capabilities and flexibilities for power system studies, The capabilities and limitations of each of these software platforms will be presented in the full paper. Fig.9, RTDS- Plot of power transfer (P) vs time from area | to area Fig.1] MATLAB — Plot of power transfer (P) vs time from area lt area 2 ainsi ani ities all a a hiittew 2 a) IV. REFERENCES, P. Kundur, Power system stability and control McGraw-Hill, 1994, ISBN 0-07-0355958-X, p. 813. Klein, Rogers, Moorty and Kundur: “A fundamental study of inter-area oscillations in power systems,” IEEE Trans. on Power Systems, Vol. 6, No 3, August 1991, pp.914-921 Klein, Rogers, Moony and Kundur: "Analytical investigation "of factors influencing PSS performance,” IEEE Trans. on Enorgy Conversion, Vol. 7, No, September 1992, pp 382-390. a 5] 6 RTDS user's manual set, version 2, August 2003. PSCAD wser's guide, Manitoba-HVDC Research Center, version 41, May 2008 MATLAB User's guide, Mathworks In. version 6.5, September. 2000 RTDS. Technologies, Table 1. Load flow comparison ofthe three simulation platforms for the Kundur’s example [1] SimPoweSystens | _PSCAD_[ RSCAD_[ —Kundur's example(i] Pw | 700 700 TOL 700 Qi Var) 33-201 | 208 185 Wil (pu 10 ios] 103} 03 P2 QW) 700, 701 701 —| 700 GiMVar) 7 279 319 235 ve (pu) 10 701} Lor Lor 73 (MW) 7i9 no 720 719] Qs (Mar) 2 195 198 | 176 ‘VE (pu) 10 Los [103 103 Ps MW) 700, 702 701 700. _ [4 (MVary 83 247 254 202 (vw gu) 10 ior Tor Lor 41