This thesis presents a method to do transient simulation of a large power system using dynamic phasors and electromagnetic transient simulation. A novel hybrid simulation technique using dynamic phasor equivalent is presented to analyse a part of a large power system. Electromagnetic transient simulation is used to model the part of the network that needs detailed simulation. The synchronous reference frame phase locked loop is implemented as the interface between the electromagnetic transient model and the dynamic phasor model. Two types of positive sequence filters i) sinusoidal signal integrator phase locked loop ii) extended phase locked loop are presented to eliminate the voltage unbalance effect in a phase locked loop. A comparison of the performance of the two filters is presented. The validation of the proposed interface is done using EMT simulation on real time digital simulator. Finally the numerical problems involved in this hybrid method are discussed. / February 2016

This thesis presents a new general purpose power system simulation technique based on dynamic phasors and conventional power system simulation methods. The method developed in this work converts time-domain circuits to equivalent dynamic phasor representations. These dynamic phasor equivalents are then simulated using nodal analysis and numerical integrator substitution. Simple linear circuit models are presented first in order to demonstrate that the new method is capable of accurately simulating small systems. The method developed in this work is then expanded to include control systems, power electronic converters, and synchronous machines. Visual comparisons with simulation results obtained using time-domain electromagnetic transient simulators demonstrate that the new dynamic phasor-based technique is capable of accurately simulating power system components.

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The purpose of this research is to develop a method of making system equivalents for the Real Time Digital Simulator (RTDS), which should enhance its capability of simulating large power systems. The proposed equivalent combines a Frequency Dependent Network Equivalent (FDNE) for the high frequency electromagnetic transients and a Transient Stability Analysis (TSA) type simulation block for the electromechanical transients. The frequency dependent characteristic for FDNE is obtained by curve-fitting frequency domain admittance characteristics using the Vector Fitting method. An approach for approximating the frequency dependent characteristic of large power networks from readily available typical power-flow data is also introduced. A new scheme of incorporating TSA solution in RTDS is proposed. This report shows how the TSA algorithm can be adapted to a real time platform. The validity of this method is confirmed with examples, including the study of a multi in-feed HVDC system based network.

The purpose of this research is to develop a method of making system equivalents for the Real Time Digital Simulator (RTDS), which should enhance its capability of simulating large power systems. The proposed equivalent combines a Frequency Dependent Network Equivalent (FDNE) for the high frequency electromagnetic transients and a Transient Stability Analysis (TSA) type simulation block for the electromechanical transients. The frequency dependent characteristic for FDNE is obtained by curve-fitting frequency domain admittance characteristics using the Vector Fitting method. An approach for approximating the frequency dependent characteristic of large power networks from readily available typical power-flow data is also introduced. A new scheme of incorporating TSA solution in RTDS is proposed. This report shows how the TSA algorithm can be adapted to a real time platform. The validity of this method is confirmed with examples, including the study of a multi in-feed HVDC system based network.

This thesis was written in collaboration with the department of electrical engineering at Uppsala University. It evaluates and tests the potentials and limitations of using the OPAL-RT simulator as a tool for designing and developing control strategies used in microgrids with a high penetration of distributed energy resources. As the world gradually transitions to a more decentralized power system with less conventional power production, new strategies to ensure reliable and robust power transmission and distribution must be developed.    The objectives of this thesis were to develop a model of a microgrid that can be used as a base for developing control strategies to limit slow voltage variations in microgrids with high penetration of distributed energy resources. When a template model and strategy for conducting this type of research had been developed the thesis started to focus on the Real-Time simulator. The power system part of the microgrid was converted into a Real-Time compatible model and was allocated to be run on one of the CPU cores of the simulator. In an iterative process, the power system was built and run on the simulator to get results concerning the size of the power system that can be simulated using the CPU cores where the limiting factor is the computational power of the cores. Since the power electronics found in the inverter part of the voltage source converter is operating at a very high switching frequency the inverter must be simulated on the simulator's FPGA. The last objective was to integrate the CPU model and the FPGA model into one model where two different time steps were used.  The results show that one CPU can simulate the 18-bus power system developed during this thesis. It is also assessed that the CPU is capable of simulating a considerably bigger system if no calculations or control strategies are present in the system. The FPGA is functioning and can simulate high-frequency switching power electronics in Real Time.    The conclusions are that Real Time simulators in general as well as the OPAL-RT simulator studied here at Uppsala University will be of great importance for the continuation of research connected to control strategies.

Power systems simulation tools enable to study and evaluate the performance of electrical power systems in different scenarios. This allows the development and implementation of new solutions to the challenges electrical grids face nowadays. In this sense, electromagnetic transient (EMT) simulation provides detailed information on the behaviour of the different components involved in the system. Moreover, among the wide range of existing tools, those based in Modelica language present certain advantages for power system simulation, such as equation- based modeling and the possibility of working in open- source environments. This project presents the development of components and reference grid in EMT formalism in the open- source environment OpenModelica, based on Modelica language. With the purpose of power system simulation, electrical components have been modeled in OpenModelica and gathered in a library for EMT simulation The performance of the different components has been validated by comparing the results of the EMT simulation of a 3buses reference grid in different case studies in OpenModelica and other EMT- based software. Furthermore, the comparison has been also established with phasor simulation in OpenModelica, enabling the evaluation of the differences between phasor and EMT simulation. The results show the main advantages and drawbacks of working with OpenModelica regarding other simulation tools and the lack of information provided by the phasor simulation, particularly in the case of a fault event. Additionally, certain difficulties encountered when working with OpenModelica have also been identified. / Simulering av kraftsystem gör det möjligt att studera och utvärdera prestandan i olika scenarion. Genom detta kan utveckling och implementering av nya lösningar på de utmaningar som elnäten står inför framöver ske. Elektromagnetisk transient (EMT)simulering ger detaljerad information om beteendet hos de olika komponenterna i systemet. Bland de många befintliga verktygen innehåller de som är baserade på Modelica- språket dessutom vissa fördelar för kraftsystemsimulering, såsom ekvationsbaserad modellering och möjligheten att arbeta i miljöer med öppen källkod. Den här uppsatsen presenterar en utveckling av komponenter och testelnät i EMT- formalism i öppen källkodsmiljö OpenModelica, baserat på programmeringsspråket Modelica. Elektriska komponenter har modellerats i OpenModelica och samlats i ett bibliotek för EMT- simulering. Målet är en detaljerad simulering av elkraftsystem. Komponenternas prestanda har validerats genom att jämföra resultatet av EMT- simuleringen av ett 3bussreferensnät i olika fallstudier i OpenModelica och annan EMT- baserad programvara. Sedan har jämförelsen även utförts med simuleringar i fasorformalism i OpenModelica. Den här jämförelsen har också möjliggjort utvärderingen av skillnaderna mellan fasor och EMT- simulering. Resultaten visar de största fördelarna och nackdelarna med att arbeta med OpenModelica njämfört med andra simuleringsverktyg. De visar också bristen på information om fasorsimuleringen, särskilt i fallet med ett elektriskt fel. Dessutom har vissa svårigheter identifierats med att arbeta med OpenModelica.

More and more system operators are interested in calculating transfer capability in real-time using real-time power flow models generated from the Energy Management System (EMS). However, compared to off-line study models, EMS models usually cover only a limited portion of the interconnected system. In most situations, it is not practical to extend the EMS model to capture the impact of the external systems and therefore using an equivalent network becomes necessary. The development of equivalent circuits to represent external areas was a topic discussed over the last 50 years. Almost all of these methods require impedance information about the external area to develop the equivalent circuit. Unfortunately utilities do not have the external impedance information in the real-time. Therefore, normal industry practice is to use off-line studies to develop an equivalent circuit and use that circuit in the real-time operation without any validation. This can result in errors in the security assessment. Therefore, power industry need a method to develop or validate an equivalent circuit based on the available real-time information. This thesis work is focussed on meeting that industry need. The work on this thesis presents two new methods that can be used to generate an equivalent circuit based on the boundary conditions. This method involves calculating equivalent impedance between two areas based on the boundary stations voltages, voltage angles and power leaving the boundary stations into external areas. This thesis uses power system simulation between two areas to change the system condition to obtain different boundary bus voltages, voltage angles and power injections to generate necessary data. Regression analysis and least square method is then used to generate the equivalent circuit using these data. It is expected that system changes will provide necessary information in the real-time to generate the equivalent circuit. The proposed methodology is validated with modified three area 300 bus system as well as using Manitoba Hydro’s system. Contingency analysis, transfer level calcula-tion and PV curves analysis is used to validate the proposed method. Simulation results show that the proposed method produces adequate accuracy in comparison with detailed off-line system models. The main advantage of the proposed method as compared to other existing meth-ods such as Ward and REI is that the proposed method does not require external imped-ance information to generate the equivalent circuit. The ability to generate reasonably good equivalent circuit only using available boundary information will help utilities to generate or validate the equivalent circuit based on the current system conditions, which will intern help improve the accuracy of the security assessment / February 2017

Detta examensarbete har utförts hos Vattenfall Eldistribution på avdelningen Kontroll och Skydd med målsättningen att utforma och utvärdera en nätmodell avsedd för jordslutningssimuleringar i PSCAD. Ombyggnationen från luftledningar till markkablar har medfört att kapacitansen i distributionsnätet ökat, vilket ställer högre krav på jordfelsutrustning och på nätanalyser för att kunna försäkra att en säkerställd frånkoppling kan ske enligt de myndighetskrav som föreligger. Syftet med arbetet har varit att undersöka hur en nätmodell bör utformas för analys av stationära in-svängningsförlopp och utvärdera hur stor noggrannhet som kan förväntas gentemot verkliga jordfelsprov vid felresistanser på främst 3 kΩ och 5 kΩ. Nätmodellen har ut-formats efter ett verkligt impedansjordat mellanspänningsnät med π-länkar i PSCAD och utifrån de nätuppgifter som förekommer i Vattenfalls näthanteringsprogram Netbas. Simuleringsresultaten har jämförts mot resultat från det verkliga nätets jord-felsprover vid olika inställningar på den centrala kompenseringsutrustningen som är placerad mellan den matande transformatorns nollpunkt och jord. Jordslutningssimuleringarna visar, trots antaganden och en viss osäkerhet omkring de verkliga nollföljdskomponenterna, godtyckliga simuleringsresultat vid avstämt och snedavstämt nät motsvarande ± 30 A gentemot ledningarnas kapacitiva strömmar vid en felresistans på 3 kΩ. Jordslutningssimuleringarnas händelseförlopp överensstäm-mer överlag väl mot det verkliga nätet samtidigt som jordslutningar vid 5 kΩ medför en större procentuell avvikelse. Särskilt framträdande avvikelser kunde urskiljas vid analys av fasvinkeln mellan nollföljdsspänning och nollföljdsström. En analys av nätmodellens resultat och troliga orsaker till uppkomna simulerings-avvikelser gentemot det verkliga nätet indikerar på att nätmodellens tillförlitlighet bör kunna optimeras ytterligare om noggrannare hänsyn tas gällande nollföljdsimpedanser, dc-komponenter och de toleranser som förekommer i det verkliga nätets avstäm-ningsutrustning och mätkretsar. / This thesis has been carried out at Vattenfall Eldistribution at the department Control and Protection with the objective to design and evaluate a network model for ground fault simulations in PSCAD. The reconversion from overhead lines to underground cables has led to increased capacitances in the distribution network and this places greater demands on the feeder protection unit and network analyzes in order to assure that faulted feeders are disconnected according to regulatory requirements. The aim of this work has been to determine how a network model could be designed for analysis of stationary signal characteristics and evaluate how great accuracy the power system model have compared to real earth fault test results. Earth fault simulations are performed with fault resistances of 3 kΩ and 5 kΩ. The power system model have been created to emulate a real impedance grounded network according to the π-model in PSCAD based on system information from Vattenfalls network management program Netbas. Results from the simulations have been compared against results obtained from real earth faults from the physical network with different settings on the central compensation equipment placed between the transformers neutral and ground. Simulations show, despite assumptions and some uncertainty about the actual zero sequence components similar results when fault resistance was 3 kΩ, both when compensation coil are fully tuned and out of tune ± 30 A corresponding to the feeder capacitance. The overall signal sequence conform quite well to the real network but at the same time simulations with 5 kΩ obtains greater deviations when results are represented in percentage. Particularly prominent abnormalities could be identified in the phase angle between zero sequence voltage and zero sequence current. An analysis of deviations from the simulations in the digital network model against the real system indicates that the model probably could be further optimized if zero sequence impedances, dc components, and tolerances that occur in the real systems reactive compensation equipment and measuring circuits are taken into account.