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-0.7
-0.8
0.95
-0.9
0.9
-1
0.85
-1.1
0.8
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time [s]
time [s]
Fig. 2: Terminal machine voltage in DigSILENT Fig. 5: Machine rotor angle in DigSILENT
0.3
voltage [pu]
0.2
0.95
0.1
0.9
0
0.85
-0.1
0.8
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 -0.2
time [s] 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time [s]
Fig. 3: Terminal machine voltage in Matlab PST Fig. 6: Machine rotor angle in Matlab PST
0.3
rotor angle [rad]
voltage [pu]
0.2
0.95
0.1
0.9
0
0.85
-0.1
0.8
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 -0.2
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time [s]
time [s]
Fig. 4: Terminal machine voltage in Matlab PSAT Fig. 7: Machine rotor angle in Matlab PSAT
Generator active power DigSILENT automatically calculates the rotor angle
9
Machine 1 differences for all machines with respect to the rotor angle of
8
Machine 2 machine 3.
Machine 3
Machine 4 Figs. 2, 3 and 4 show the responses of the machine voltages
7 for DigSILENT, PST and PSAT, respectively. It can be seen
from Fig. 2 and Fig 3 that the system stabilizes in less than 4
active power [pu]
6
3 seconds.
In PST, machine 2 shows the lowest active power at 2.3
5
p.u. and machine 4 is at 2.5 p.u. during the fault. When the
4
fault is cleared, machine 4 displays the maximum at 8.4 p.u.
and the system settles at approximately 6 seconds.
3 The electric power displays more oscillations in PSAT
when compared to the other packages. The active power at
2 machine 4 dips to 4.3 p.u. and machine 2 reduces to 4.35 p.u.
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time [s] during the fault and once machine 1 reaches a maximum of
Fig. 9: Machine active power in Matlab PST 7.7 p.u. and the system settles after 5 seconds.
VI. CONCLUSIONS
Generator active power
9 Steady state performance and the impact of a three-phase
Machine 1
Machine 2 transient disturbance were investigated in this paper. For the
8 Machine 3 steady-state studies, across all packages the voltage and
Machine 4
active power profiles are similar and there are small
7
differences in the reactive power for the machines and
converter stations. DigSILENT and PST display similar
active power [pu]
6
behaviour for the voltage and electric power for the transient
5 disturbance. The rotor angle is stable in all packages. PSAT
displays lower voltage and electric power outputs when
4 compared to the other packages. More investigations must be
performed to fully understand the softwares packages.
3
LIMITATIONS:
2
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 In all packages, transient stability studies can be
time [s]
performed; however PSAT only allows three-phase faults to
Fig. 10: Machine active power in Matlab PSAT be modelled. PST can model line to ground, line-to-line, line-
to-line to ground and three-phase faults. It can also model
loss of a line with no fault and loss of load on a bus. Neither
converter faults nor DC line faults can be modelled in both
PST and PSAT. DigSILENT and PSAT do not allow the user HVAC line parameters:
to model the components from basic component levels. R = 0.0529 Ω/km, X = 0.529 Ω/km and B = 3.371 μS/km.
Using an Sbase = 100 MVA and a Vbase = 230 kV, the
ACKNOWLEDGEMENTS equivalent parameters in per unit values are
The authors would like to express their thanks to Famutsi R = 0.0001 p.u., X = 0.001 p.u. and B = 0.00175 p.u..
Mulumba, Paul Olulope and Severus Sheetekela from the
Power group at the University of Cape Town for their help HVDC line parameters:
and technical contribution to this paper. R = 0.0281 Ω/km, X = 0.02 Ω/km, B’ = 0.44 μS/km.
Using a Sbase = 230 MVA and a Vbase = 500 kV, the equivalent
parameters in per unit values are
REFERENCES R = 0.000025 p.u., X = 0.000022 p.u. and B = 0.000021 p.u..
[1] P. Kundur, “Power System Stability and Control”, McGraw-Hill, Inc.,
1997
[2] D. A. Woodfrod, “HVDC Transmission”, Manitoba HVDC Research
Time constants TB and TC are frequently small and are
Centre, Canada, 18 March 1998.
neglected.
[3] J. Arrilaga, Y. H. Lin, N. R. Watson, “Flexible power transmission The
HVDC options”, John Wiley & Sons, ISBN 978-0-470-05688
[4] P. Breseli, W. L. Kling, R. L. Hendriks, “HVDC Connection of
Offshore Wind Farms to the Transmission System”, IEEE Transactions
on Energy Conversion, Vol 22, No. 1, March 2007.
[5] B. K. Johnson, “The ABC’s of HVDC Transmission Technologies”,
IEEE power and energy magazine, March/ April 2007. Fig. A1: IEEE AC4A type exciter (DigSILENT and PST) [14]
[6] A V Ubisse, K A Folly, K Awodele, L Azimoh, D T Oyedokun, S P
Sheetekela, “Comparison of Matlab PST, PSAT and DigSILENT for
Power Flow Studies on Parallel HVAC-HVDC Transmission lines”, The shaded block is not included in the IEEE AC4A exciter
Proceedings of the 19th Southern African Universities Power but is given in the software packages as a component of the
engineering Conference, SAUPEC 2010, University of the exciter system.
Witwatersrand, Johannesburg.
[7] DigSILENT Power Factory Version 12.0.194 Basic User’s Manual,
2001.
[8] Joe Chow, Power System Toolbox Version 2.0 Load Flow Tutorial and
Functions Manual, 2003
[9] Federico Milano, Power System Analysis Toolbox Quick Reference
Manual for PSAT version 2.1.2, June 26, 2008
[10] G. Rogers, “Power system Oscillations”, Kluwel Academic Publishers,
2000
[11] M. O. Faruque, Y. Zhang and V. Dinavahi, “Detailed Modelling of the
CIGRE HVDC Benchmark System Using PSCAD/EMTDC and
PSB/SIMULINK”, IEEE Transactions on Power Delivery, Vol. 21, No. Fig. A2: Exciter type II (PSAT)
1, January 2006
[12] Working Group 14.02, “The CIGRE benchmark model – A new
proposal with revised parameters”, December 2003.
[13] K. R. Padiyar, “Power System Dynamics Stability and Control”, John
Wiley & Sons (Asia) Pte Ltd and Interline Publishing Pvt. Ltd, 1996.
[14] “IEEE Recommended Practice for Excitation System models for Power
System Stability Studies”, IEEE Power Engineering Society, 2005
Fig. A311: Power System Stabilizer (DigSILENT and PST)
APPENDIX
Synchronous generator data
Xd = 1.8 X’d = 0.3 X’’d =0.25 Xq = 1.7 X’q = 0.55
X’’q = 0.25 Xl = 0.2 Ra = 0.0025 T’do = 8s T’’do = 0.03s Fig. A4: Power System Stabilizer type II (PSAT)
T’qo = 0.4s T’’qo = 0.05s Asat = 0.015 Bsat = 9.6 ψTI = 0.9
S1.0 = 0.039 S1.2 = 0.223 KD = 0 H = 6.5(For machines 1
and 2) H = 6.175(for machines 3 and 4)
Exciter data
KA = 200 TA = 0.05s TR = 0.01s