Professional Documents
Culture Documents
4, OCTOBER 2008
S. Filizadeh, Member, IEEE, M. Heidari, Student Member, IEEE, A. Mehrizi-Sani, Student Member, IEEE,
J. Jatskevich, Senior Member, IEEE, and Juan A. Martinez, Member, IEEE
AbstractThis paper describes methods and issues related to in- ments of the studies to be carried out. While simplified models
terfacing electromagnetic transient simulation programs with gen- suffice in studies such as load flow, detailed, frequency-depen-
eral mathematical algorithms, which are either custom-developed dent models of individual elements, including nonlinear and
by the user or are available through other mathematical analysis
platforms. Various interfacing types and techniques are described
switching components, need to be used when short-term, high-
along with potential areas of application. Implementation methods frequency events are concerned [1].
are detailed for each type of interface as well. This paper presents As the complexity of power systems grows, the need for
several interfacing examples from a wide variety of applications, more sophisticated simulation tools escalates. Modern sim-
including advanced switching schemes for power converters and ulation programs have been adapted to this increasing need
controller implementation. by such measures as: 1) incorporation of improved user in-
Index TermsElectromagnetic transient simulation, inter- terfaces [2]; 2) enhanced analysis tools [3]; and 3) pre and
facing, mathematical algorithms. postprocessing mechanisms [4], [5]. There has, however, been
a strong tendency to interface existing simulation tools to obtain
further-enhanced simulation capabilities. This approach can
I. INTRODUCTION ideally allow for a synergetic combination of simulation tools.
NTERCONNECTED electric power networks are large dy- Interfacing allows the constituent components (i.e., the sim-
I namical systems with complex interactions. The analysis
and design of these systems often requires use of an array of
ulation tool and the external algorithms/tools) to communicate
in a specified manner in order to carry out the overall simula-
simulation tools that represent the system behavior in a manner tion cooperatively and efficiently. The level of cooperation be-
suitable for the intended studies. Simulation tools enable the tween the interfaced tools can range from mere postprocessing
user (e.g., system operator or designer) to assess various aspects and visualization of simulation results [4] to relegating an in-
of the operation of the network with ease and without recourse tegral part of the simulation to an external tool where specific
to repetitive prototyping, or costly and potentially harmful tests analyses can be done more effectively than in the original sim-
on the real system. ulation tool [6][8].
The level of detail used in the modeling of individual ele- This paper addresses aspects related to interfacing elec-
ments and the choice of the solution method used in a simula- tromagnetic transient simulation tools [Electromagnetic
tion tool depend on the nature of the phenomena and require- Transients Program (EMTP)-type programs] with other mathe-
matical tools, including both external programs and stand-alone
Manuscript received December 28, 2007. First published May 7, 2008; cur-
algorithms. Interfacing EMTP-type tools with external pro-
rent version published September 24, 2008. Paper no. TPWRD-00811-2007 grams/algorithms extends their applicability in areas where
S. Filizadeh and M. Heidari are with the Department of Electrical and Com- more streamlined techniques (e.g., for sophisticated control
puter Engineering, University of Manitoba, Winnipeg, MB R3T 5V6, Canada system design, are available through the external agent). Shorter
(e-mail: sfilizad@ee.umanitoba.ca; mheidari@ee.umanitoba.ca).
A. Mehrizi-Sani is with the Department of Electrical and Computer Engi- development time and increased credibility of results are other
neering, University of Toronto, Toronto, ON M5S 3G4, Canada (e-mail: ali. examples of the benefits of interfacing an EMTP-type tool with
mehrizi.sani@utoronto.ca). a tested and verified external algorithm.
J. Jatskevich is with the Department of Electrical and Computer Engineering,
University of British Columbia, Vancouver, BC V6T 1Z4, Canada (e-mail: Various kinds of interfaces and methods for their implemen-
juri@ece.ubc.ca). tation are presented in the paper. For illustration purposes, the
J. A. Martinez is with the Department dEnginyeria El`ctrica of the Universitat PSCAD/EMTDC electromagnetic transient simulation program
Politcnica de Catalunya, Catalunya 080208, Spain (e-mail: martinez@ee.upc.
edu).
is used; however, the methods are treated in a generic manner to
Task Force on Interfacing Techniques for Simulation Tools is with the ensure they remain applicable to arbitrary EMTP-type tools.
Working Group on Modeling and Analysis of System Transients Using Digital
Programs, IEEE Power Engineering Society T&D Committee.
Task Force members: U. Annakkage, V. Dinavahi, S. Filizadeh, A. M. Gole, II. ELECTROMAGNETIC TRANSIENT SIMULATION TOOLS
R. Iravani, J. Jatskevich, A. J. Keri, P. Lehn, J. A. Martinez, B. A. Mork, A.
Monti, L. Naredo, T. Noda, A. Ramirez, M. Rioual, M. Steurer, K. Strunz. Electromagnetic transient simulation tools are used to study
Digital Object Identifier 10.1109/TPWRD.2008.923533 short-term behavior of complex electrical systems. Due to the
0885-8977/$25.00 2008 IEEE
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FILIZADEH et al.: TECHNIQUES FOR INTERFACING ELECTROMAGNETIC TRANSIENT SIMULATION PROGRAMS 2611
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2612 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 23, NO. 4, OCTOBER 2008
3 Output = PeakValue
Fig. 2. Static interface to an external algorithm.
4 Else
5 if x(t) > PeakValue
one may note that plotting every point on the simulated trace 6 PeakValue = x(t)
is not necessary and plotting the waveform sampled at regular 7 End
intervals (other than every time step) still produces graphs of 8 Output = PeakValue
acceptable accuracy. Therefore, it is possible to lower the com-
munication burden by calling the plotting algorithm at regular 9 End
intervals with a width of samples. The time line shown in
C. Wrapper Interfaces
Fig. 2 depicts the procedure graphically for intermittent com-
munication with an external algorithm. Static interfacing may A wrapper interface is one that does not communicate with
be used for such purposes as plotting or computation of com- the transient simulator on a regular basis throughout the simula-
plex functions. tion as static and dynamic interfaces do. Instead, it has limited
When the simulation case is assembled, the code sections per- communication at specific points in time, normally at the be-
taining to the components used are gathered along with their ginning and end of a simulation. This kind of interface is made
control law. Thus, at every time step, the code for each compo- when external code controls the simulations in a certain way.
nent is run only if its control law so allows. An example of this interface is given in Section VII, where op-
Static interfaces have been further categorized as online or timization and run-control algorithms are discussed.
offline [4]. In an online interface, the transient simulation tool Note that a wrapper interface is different from an off-line one
communicates with the external algorithm throughout the sim- in that the wrapper interface is often a supervisory algorithm that
ulation (e.g., in the visualization example later in this paper). In controls the simulation program and normally performs mul-
an offline interface, an external tool is called following the com- tiple simulations, whereas an offline interface is usually meant
pletion of the simulation, which does further processing on the to perform postprocessing of simulation results.
simulated data.
V. WHERE TO IMPLEMENT: EXTERNAL
B. Dynamic Interfacing and Memory Management VERSUS INTERNAL INTERFACES
Dynamic interfaces are more involved than static ones, as Once an algorithm is developed or selected for interfacing
memory management becomes an integral part of the interface. with a simulation tool, one needs to decide where to implement
Processes that simulate dynamic elements, such as controllers the algorithm. Options for implementation will be discussed.
or filters, fall in this category. Unlike static interfaces, in which
only data from the current time step are communicated between A. External Interfaces
the transient simulator and the interfaced algorithm, dynamic For algorithms that are available externally through stand-
interfaces exchange current as well as past data. alone software, external interfacing is normally the most logical
As an example of a dynamic interface, consider a peak-de- option. Depending on the input/output configuration of the al-
tection component. The component is supposed to track a given gorithm, external interfacing can potentially eliminate the need
signal and find its peak value and update its output when- for rewriting the external code in the indigenous language of
ever a higher peak is detected. The peak-detector algorithm will the simulation tool. Physical establishment of the interface re-
be shown. quires access to the memory management routines of the tran-
The algorithm uses a storage variable to store sient simulator. An example of an external interface is inter-
the last peak detected. Although the algorithm is quite simple, facing an EMTP-type program to MATLAB [24], which al-
its implementation requires access to memory location(s) that lows the user to store required variables in predefined locations,
are kept intact from one time step to the next. These memory called MATLAB, to execute a standard or user-developed code,
segments are used for storing variables by components that need and retrieve data back to the simulation program for further pro-
such storage, and transient simulation tools often provide access cessing. The interface may allow execution of the external al-
to this kind of storage. gorithm in each time step or intermittently; therefore, both dy-
An important issue when dealing with memory segments is namic and static interfaces described earlier can be implemented
to note that the pointers to memory locations should be updated externally.
and maintained in a unified manner. Since in each time step, An important observation about external interfacing is the
the simulation executes the code of individual elements in the speed implications involved. Transient simulation tools often
order they are placed within the code, it is important to ensure use optimized methods for enhancing simulation speed. Ex-
that the stored variables can be retrieved properly. By properly ternal programs, however, are not necessarily designed with
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FILIZADEH et al.: TECHNIQUES FOR INTERFACING ELECTROMAGNETIC TRANSIENT SIMULATION PROGRAMS 2613
A method to alleviate drawbacks associated with external In core-type interfacing of simulation programs, one program
interfaces is to use internal interfacing, where a user-supplied serves as the core and all of the other (auxiliary) programs are
algorithm (unavailable in the transient simulation tool) is im- connected to the core. Fig. 3 shows a block diagram of such a
plemented within the transient simulator. Internal interfacing is structure. The auxiliary programs in this structure can be im-
possible when the user has access to the code of the algorithm plemented externally or internally (refer to Section V), and may
and is knowledgeable about its inner workings. manifest static, dynamic, or wrapper properties as discussed ear-
Internal interfaces have been used for interfacing nonlinear lier.
optimization algorithms with transient simulators (described The core-type interfacing structure usually occurs when a
later). Dynamical models of electric vehicles [38], advanced major portion of the system under study can be modeled in a
switching schemes for power converters [39], and specialized single simulation program (the core), and the auxiliary programs
motor drives and mechanical models for vehicular power are assigned minor tasks, such as data visualization or other cal-
systems [38], [40] have also been interfaced using internal culations. The firing pulse generation and visualization example
interfacing mechanisms. shown later in this paper is a core-type interface, in which gen-
Note that internal interfaces are faster than external ones due eration of firing pulses and visualization tasks are assigned to
to the elimination of the communication overhead. However, auxiliary algorithms that communicate with the core simulator
their implementation is normally more involved than external in which the main power circuit is simulated.
ones.
B. Chain-Type Interfacing
Unlike a core-type interface where the core program is used
VI. MULTIPLE INTERFACING
as a common node for all other programs, in chain-type inter-
In addition to the main high-power electric circuitry, modern facing, the simulation programs are connected to each other in
power equipment often contains advanced control blocks, dig- a row. There are two common templates for chain-type inter-
ital processors, nonlinear elements, etc. Proper simulation of facing, as shown in Fig. 4.
these systems should allow uncompromised analysis, and as In the first scheme [see Fig. 4(a)], chain-type interfacing is
such, it is sometimes necessary to interface more than two sim- used for preprocessing and postprocessing of the data. As an
ulation programs, each with special features for detailed mod- example, consider simulation of a network with transmission
eling of certain aspects of a complex circuit. In this section, lines. Prior to simulating the network, an algorithm is often used
some of the schemes for multiple interfacing of a transient sim- to calculate the line constants to be used in the actual simu-
ulation programs with other simulation programs or mathemat- lator (preprocessing); visualization of the simulated data using
ical tools are explained. Variations of these schemes are obvi- a graphing program constitutes postprocessing and the entire
ously possible, but are not discussed here. scheme takes on the form of a chain-type interface.
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2614 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 23, NO. 4, OCTOBER 2008
C. Loop Interfacing
If in a chain of simulation programs or external hardware, the
last program is also connected to the first one, the result will be
a loop interfacing scheme, as shown in Fig. 5. Such combina-
tions occur frequently when real-time simulators are connected
to several interacting external pieces of equipment (e.g., relays,
controllers, amplifiers, and digital signal processors [41]). Since
interfacing of real-time simulators is not the focus of this paper,
loop interfacing is not discussed in any further detail.
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FILIZADEH et al.: TECHNIQUES FOR INTERFACING ELECTROMAGNETIC TRANSIENT SIMULATION PROGRAMS 2615
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2616 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 23, NO. 4, OCTOBER 2008
TABLE I
STATCOM AND AC SYSTEM SPECIFICATIONS
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FILIZADEH et al.: TECHNIQUES FOR INTERFACING ELECTROMAGNETIC TRANSIENT SIMULATION PROGRAMS 2617
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2618 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 23, NO. 4, OCTOBER 2008
Fig. 13. Simulated waveforms for various network modeling approaches. (a)
Capacitor voltage waveform. (b) Load terminal voltage waveform.
This section considers a gradient-based technique known as
the FletcherReeves method [49], and uses it for optimization
TABLE II
of the control system parameters of the STATCOM in Fig. 9(b).
COMPARISON OF SIMULATION TIME FOR THE STATCOM CASE The block diagram shown in Fig. 14 summarizes the
steps involved in the simulation-based optimization using the
FletcherReeves method. As shown, the optimization algorithm
interacts with the simulator in two stages. The first stage is
devoted to the calculation of partial derivatives, during which
incremental changes are made successively to the parameter
values, and the corresponding objective function values are
counterparts. An audit of the simulation time often reveals im- calculated by running the simulation program. For an -vari-
portant information about the intensity of interfacing. Table II able optimization problem, this stage requires simulations.
shows computer times used for the simulation of the STATCOM During the second stage, the simulation program is run a few
system in the EMTDC, EMTDC interfaced with MATLAB and times until a suitable step length (one which results in a re-
EMTDC interfaced with SIMULINK. The simulation time in- duction in the value of the objective function) is obtained. The
terval is 0.8 s and is traversed using a 5 s time step and 100 algorithm has been implemented in FORTRAN, and is used
s plot step on a Pentium 4, 3.0 GHz machine with 1.0 GB of as a wrapper interface (internally developed) to the transient
RAM. simulation program.
The interfaced models in MATLAB and MATLAB/ The optimization tool is used to obtain optimal values for
SIMULINK are slower than the original transient simula- the parameters of the control system shown in Fig. 9(b). The
tion model, as evidenced by their respective computer times goal of the optimization is to obtain smooth transitions in the
of 1258.3 s and 3531.5 s as opposed to 32.3 s in the EMTDC. network voltage and the dc capacitor voltage when the network
This shows simulation times in excess of 1.5 and 2.0 orders is subjected to a load rejection/reconnection disturbance. The
of magnitude slower than the original model, respectively. It objective function used is as follows:
is therefore advisable that interfacing be used only when such
prolonged simulations times are offset by the benefits of the (1)
tool to which the interface is established.
The objective function in (1) approaches zero as the network
D. Optimization and Sensitivity Analysis voltage and the dc capacitor voltage stay tightly close to their
reference values during transients and in steady state. Fig. 15
1) Wrapper Interfacing for Gradient-Based Optimization: shows the variations of the dc-capacitor voltage before and after
An optimization algorithm adopts an iterative approach to find optimization. The disturbances applied are a load rejection at 1.0
the optimum point of a function. By defining a suitable objec- s followed by its reconnection at 1.5 s. AC voltage variations are
tive function and use of an optimization algorithm to control the shown in Fig. 16. Both figures show significant improvement in
simulation runs, it is possible to adjust the design parameters of the performance of the system as a result of optimization.
a circuit so that a given set of design objectives is met as closely The aforementioned optimization process takes about 300
as possible. simulation runs to converge to an optimum point in about 5 h on
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FILIZADEH et al.: TECHNIQUES FOR INTERFACING ELECTROMAGNETIC TRANSIENT SIMULATION PROGRAMS 2619
TABLE III
SENSITIVITY INDICES OF THE NETWORK USING SIMULATION
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2620 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 23, NO. 4, OCTOBER 2008
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FILIZADEH et al.: TECHNIQUES FOR INTERFACING ELECTROMAGNETIC TRANSIENT SIMULATION PROGRAMS 2621
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