comparison of matlab pst, psat and digsilent

Comparison of Matlab PST, PSAT and DigSILENT for Transient Stability Studies on Parallel HVAC-

HVDC Transmission Lines

A V Ubisse University of Cape Town [email protected]

K A Folly University of Cape Town [email protected]

K O Awodele University of Cape Town

[email protected]

D T Oyedokun University of Cape Town [email protected]

Abstract- In this paper, three software packages that allow

HVDC to be modeled are compared; namely: DigSILENT, Matlab PST (Power System Toolbox) and Matlab PSAT (Power System Analysis Toolbox). Both steady state and transient stability studies are performed using the various software packages. The simulation results are then compared. The similarities and differences between the results are discussed. The paper also looks at the modeling capabilities of the various software packages and their limitations.

Index TermsSteady state, Transient stability, HVAC-HVDC transmission, DigSILENT, Matlab PST, Matlab PSAT

I. INTRODUCTION

With the increase in power demand, HVDC has become a preferred alternative to the conventional AC transmission system to transmit bulk power over long distances. This is due to its economical and technical advantages in long distance power transfer. HVDC links offer suitable solutions for interconnecting HVAC systems with different frequencies and it can deliver more power over longer distances with fewer losses. HVDC systems also offer high controllability on the power transmitted [1- 5].

When interconnected to HVAC systems, HVDC systems can improve their performance in terms of their response to transient stability.

Since HVDC is a relatively new technology when compared to HVAC, not all existing software packages can model this type of system accurately and reliably. For this reason only a limited number of packages that allow HVDC modeling are used in this paper. The hybrid HVACHVDC transmission network is investigated.

The three software packages have been validated in [4] by comparing the HVAC power flow results to the results given in reference [1]. Since there is no reference against which to compare the results of the hybrid HVAC-HVDC network, they are compared between the software packages.

The paper is organized as follows: Section II describes the software packages used to conduct the simulations; section III gives a description of the system model used across all packages. Section IV presents and discusses the power flow results, section V investigates the impact of a transient disturbance and section VI presents the conclusions and limitations for the softwares.

II. SOFTWARE PACKAGES

The software packages used are briefly described below:

A. DigSILENT DigSILENT stands for Digital Simulation and Electrical

Network calculation program and it was developed by DigSILENT Power Factory. It is a computer aided engineering tool that is widely used for industrial, utility, commercial and academic applications.

DigSILENT has the ability to simulate load flow, fault analysis, harmonic analysis and stability analysis for AC, DC and AC-DC systems.

The load flow is performed using Newton Raphson method [5].

DigSILENT does not however allow the user to model the components from basic component levels, but gives a choice of built-in configurations that are already modeled. DigSILENT only allows fifth and sixth order generators to be modeled, where for the sixth order used in this paper , , d, q, d and q are the state variables. Simplified generator models or higher order generator models are not available in DigSILENT. There are 60 different types of exciter models (from which 15 are IEEE based models) in its library and 19 different types of Power System Stabilizer (PSS) models. Loads can be modeled as static loads (constant power, constant current, constant impedance or a combination of the three), or as dynamic loads (induction machines, voltage dependant loads). The transmission lines can be modeled as lumped equivalent or as distributed equivalent. Capacitors and filters can also be modeled for reactive power compensation, filtering harmonics and improving the voltage in the system. In DigSILENT, HVDC systems (converter stations) can be modeled in detail; however no modifications can be done to the system. It allows the converter stations to be modeled using voltage, active power, reactive power, current, Gamma and external control.

B. Matlab PST Power System Toolbox (PST) is Matlab run software that

was developed by Joe Chow. It allows users to model components and performs AC and AC-DC system analysis within Matlab environment. It consists of Matlab m-files, data files and power system application files. It provides dynamic models of machines and controls for performing damping controller designs, transient and small-signal stability simulations [6]. The generators can be modelled from the

UPEC2010 31st Aug - 3rd Sept 2010

simplest model (classical model with two state variables) to the most complex (sixth order model which uses paper , , Ed, Eq, kd and kq are the stave variables for the machines,). There are only four exciter models available; namely, the simplified model which is similar to the IEEE AC4A exciter, however it is represented only by the amplifier characterized by a gain KA and a time constant TA, IEEE type DC1A, IEEE type DC2A and ST3 (which are included amongst the exciters in DigSILENT). There are two types of Power System Stabilizer (PSS). Type 1 uses the generator speed as input and type 2 (using the generators electric power as input). The transmission lines can only be modelled as lumped equivalent model. Capacitors can be modelled for reactive power compensation and voltage boosting, but it does not allow filters to be modelled. Loads can be modelled as static loads (constant power, constant current, constant impedance or a combination of the three), or as dynamic loads (induction machines, voltage dependant loads). PST models HVDC systems and it allows the user to modify the systems, but the user must know the software in detail to benefit from this option. The system converter stations are modelled using voltage, power and inverter controls.

C. Matlab PSAT Power System Analysis Toolbox (PSAT) is a Matlab

toolbox for static and dynamic analysis and control of electric power systems. It was developed by Federico Milano and is an open source software.

PSAT includes power flow, continuation power flow, optimal power flow, small-signal stability analysis and time domain simulation tools that can be used on AC and AC-DC systems. It uses Newton Raphson algorithm to perform power flow analysis. All operations can be assessed by means of graphical user interfaces (GUIs) and a Simulink-based library provides a user friendly tool for network design [7]. Generators of order II, III, IV, V (types I where , , eq, ed, ed, type II where , , eq, eq, ed and type III where , , f, q, d are the state variables), VI (using , , ed, eq, eq, ed as state variables for the machines) and VIII can be modelled in PSAT. Three types of exciters are available in PSAT, namely AVR type I, AVR type II and AVR type III none of which is found in neither PST nor DigSILENT. Power System Stabilizer type I, II, III, IV and V are available from the PSS library. In the load library different types of loads such as voltage dependant, frequency dependant, constant current, constant power and constant impedance loads, exponential and mixed loads can be found. The transmission lines can only be modelled as lumped equivalent model. Capacitors can be modelled for reactive power compensation and voltage boosting, but it does not allow filters to be modelled. HVDC system can be modelled in PSAT; however no modifications can be done to the system. Only power, voltage and current control can be implemented in the converter stations in PSAT.

III. SYSTEM MODEL

The network shown in Fig.1 is the modified two-area, four generator system with a parallel HVDC system, taken from [8].

Generators have been modelled using the 6th order machines. Each machine is rated 900 MVA set to supply 700 MW (see appendix for machine data). Two machines connected to buses 1 and 2 are in area 1 and the other two machines connected to buses 3 and 4 are in area 2. These two areas are connected through a weak tie-line. For the HVAC transmission line, Machine 3 is set to be the slack bus of this system and all other machines are modelled as PV buses. The machines are rated at 20 kV and transmission lines are rated to 230 kV. There are 2 loads in the system, Load 1 = 976 + j100 MVA in area 1 and Load 2 = 1767 + j100 MVA in area 2. To boost the voltage in the system, capacitor banks, Cap 1 = 300 Mvar and Cap 2 = 450 Mvar are connected to buses 7 and 9 receptively. Area 1 and area 2 are connected by a double set of transmission lines that are 220 km long. The lines are modelled as equivalent circuits.

The exciters for this paper are the IEEE AC4A type exciter (Fig. A1 for model used in DigSILENT and PST (shown in the Appendix) and Fig. A2 for PSAT. PSS STAB1 shown in Fig. A3 was used for DigSILENT and PST and Fig. A4 for PSAT. The input used in all PSS is rotor speed. Fig A2 is simplified by canceling TE, TF and KF, i.e., setting them to zero. The difference between the models shown Fig. A3 and the model shown in Fig. A4 is that K in Fig. A3 is equal to K*T in Fig. A4. TE is Fig 14 is not set by the user and its value is internally calculated from the limits of the output signal PSAT does not allow the user to do so.

Fig. 1: Two area multi machine system with a hybrid HVAC-HVDC transmission system

The parameters of the transmission lines are given in the

Appendix. The HVDC system is a monopolar 500 kV, 230 MVA, 0.46 kA link with 12 pulse converters on both rectifier and inverter sides. This HVDC system is modified from the CIGRE benchmark model [9, 10]. The HVDC line is modeled as a equivalent circuit. Each converter has its own converting transformer. The HVDC transmission line is 220 km long and its parameters are given in the Appendix. To control the power transmitted across the HVDC link the rectifier is modelled using current control. The current control on the rectifier station is set to 0.4kA. The power flow results for this system are presented in tables I, II and III.

Approximately 400 MW is transferred from area 1 to area 2 to supply load 2 that is bigger than the total generator capacity of area 2.

IV. POWER FLOW ANALYSIS

The steady state study was performed by analyzing the power flow of the HVAC-HVDC system. The voltage, active and reactive power results of the system are shown in Tables I, II and III, respectively.

It can be seen from table 1 that the voltage magnitudes are 1.03 p.u. for machines 1 and 3 are 1.01 p.u. for machines 2 and 4. The lowest voltage for this system is 0.98 p.u. at bus 7. This value is the same for all the software packages. The voltages on the DC side of the rectifier and inverter are 1.01p.u. and 1.00 p.u., respectively in DigSILENT and Matlab PST. Matlab PSAT does not display the voltage profile for the HVDC converter stations.

The power generated by all machines with the exception of machine 3 in the hybrid system is 700 MW. This is because the buses 1, 2, and 4 have been set PV buses. Machine 3 generated roughly 703 MW because it was set as slack bus. While the total generated real power is approximately 2803 MW for all software packages as can be seen in table 2, the total reactive power generated is slightly different. For example the total reactive power generated in DigSILENT is 585 Mvar, PST is 613 Mvar and PSAT is 592 Mvar. The HVAC lines deliver close to 197 MW and absorb close to 18 Mvar in DigSilent, 26 Mvar on PST and 24 Mvar in PSAT on the receiving end of the transmission lines (bus 9). Close to 2 MW is lost on each of the HVAC lines. The HVDC line transfers from the rectifier side about 199.7 MW and about 198.7 MW is received at the inverter side of the system, and 1 MW (0.5 %) is lost on the HVDC line. The reactive power consumed by the rectifier stations is around 83 Mvar for PST and 87 Mvar for DigSILENT and PSAT. The reactive power consumed at the inverter stations is close to Table I: Voltage Profile

Element Rated Voltage

(kV)

Voltage (p.u.) and angle (deg) DigSILENT PST PSAT

Bus 1 20 1.03 6.56

1.03 6.67

1.03 6.49

Bus 2 20 1.01 -3.14

1.01 -3.04

1.01 -3.2

Bus 3 20 1.03 -6.8

1.03 -6.8

1.03 -6.8

Bus 4 20 1.01 -16.51

1.01 -16.51

1.01 -16.5

Bus 5 230 1.01 0.12

1.01 0.21

1.01 0.05

Bus 6 230 0.99 -9.85

0.99 -9.79

0.99 -9.91

Bus 7 230 0.98 -18.05

0.98 -18.07

0.98 -18.11

Bus 8 230 0.99 -24.76

0.99 -25.79

0.99 -24.76

Bus 9 230 1 -31.24

1 -31.24

1 -31.2

Bus 10 230 1 -23.17

1 -23.19

1 -23.15

Bus 11 230 1.01 -13.24

1.01 -13.25

1.01 -13.24

Rectifier 500 1.01 0

1.01 0

*

Inverter 500 1.01 0

1.01 0

*

*: No display of the results in PSAT

113 Mvar in DigSILENT and 99 Mvar and 97Mvar for PST and PSAT respectively

Each of the HVAC lines transmits about 100 MW and each has a loss of approximately 2 MW (2 %), and transfers close to 12 Mvar. The HVDC line delivers close to 198 MW at the inverter side of the system, and these values are similar across all packages. The reactive power consumed by the rectifier stations is similar across all packages, but differ at the inverter stations with DigSILENT absorbing 113.18 Mvar while PST absorbs 99.71 Mvar and PSAT absorbs 97.14 Mvar. The reactive power supplied by the generators in area 1 in Matlab is slightly higher in PST when compared to DigSILENT and Matlab PSAT.

Table II: Active power profile

Element Active Power (MW) DigSILENT PST PSAT Gen 1 700 700 700 Gen 2 700 700 700 Gen 3 703.07 703.36 703.09 Gen 4 700 700 700

HVAC Line 1 98.41 98.25 98.59 HVAC Line 2 98.41 98.25 98.59 HVDC Line 198.78 198.7 198.25

Rectifier 199.74 199.7 199.35 Inverter 198.78 198.7 198.25 Load 1 976 976 976 Load 2 1767 1767 1767 Cap 1 0 0 0 Cap 2 0 0 0

Table III: Reactive power profile

Element Active Power (Mvar) DigSILENT PST PSAT Gen 1 158.3 168.2 157.39 Gen 2 170.32 193.81 168.08 Gen 3 137.79 136.29 135.29 Gen 4 119.2 115.17 131.11

HVAC Line 1 9.05 12.89 12.08 HVAC Line 2 9.05 12.89 12.08 HVDC Line 0 0 0

Rectifier 87.3 82.87 86.77 Inverter 113.18 99.71 97.74 Load 1 100 100 100 Load 2 100 100 100 Cap 1 300 300 300 Cap 2 450 450 450

V. TRANSIENT STABILITY

Transient stability of a power system refers to the ability of a system to remain stable, i.e., maintain synchronism, when subjected to severe disturbances such as faults and switching of lines [1, 11].

The transient stability of the system is evaluated by applying a three-phase fault at bus on 8 line 8-9 at t=1s. The fault was cleared after 50 ms by removing the line. The impact on all machine terminal voltages, rotor angle and active power are analysed.

The rotor angle output in PST and PSAT are the individual machine rotor angles, and the rotor angle differences are then calculated using the rotor angle of machine 3 as the reference.

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 50.8

0.85

0.9

0.95

1

1.05

1.1

time [s]

vol

tage

[pu]

Generator terminal voltage

Machine 1Machine 2Machine 3Machine 4

Fig. 2: Terminal machine voltage in DigSILENT

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 50.8

0.85

0.9

0.95

1

1.05

1.1

1.15Generator terminal voltage

time [s]

volta

ge [p

u]


Fig. 3: Terminal machine voltage in Matlab PST

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 50.8

0.85

0.9

0.95

1

1.05

1.1

time [s]

vol

tage

[pu]

Generator terminal voltage


Fig. 4: Terminal machine voltage in Matlab PSAT

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

-1.1

-1

-0.9

-0.8

-0.7

-0.6

-0.5

-0.4

time [s]

roto

r an

gle

[rad]

Generator rotor angle


Fig. 5: Machine rotor angle in DigSILENT

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5-0.2

-0.1

0

0.1

0.2

0.3

0.4

0.5

0.6Generator rotor angle

time [s]

roto

r an

gle

[rad]


Fig. 6: Machine rotor angle in Matlab PST

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5-0.2

-0.1

0

0.1

0.2

0.3

0.4

0.5

0.6

time [s]

roto

r an

gle

[rad]

Generator rotor angle


Fig. 7: Machine rotor angle in Matlab PSAT

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 52

3

4

5

6

7

8

9

time [s]

activ

e po

wer

[pu

]Generator active power


Fig. 8: Machine active power in DigSILENT

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 52

3

4

5

6

7

8

9Generators active power

time [s]

act

ive

pow

er [pu

]


Fig. 9: Machine active power in Matlab PST

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 52

3

4

5

6

7

8

9

time [s]

activ

e po

wer

[pu]

Generator active power


Fig. 10: Machine active power in Matlab PSAT

DigSILENT automatically calculates the rotor angle differences for all machines with respect to the rotor angle of machine 3.

Figs. 2, 3 and 4 show the responses of the machine voltages for DigSILENT, PST and PSAT, respectively. It can be seen from Fig. 2 and Fig 3 that the system stabilizes in less than 4 seconds. During the fault, machine 4 reaches the lowest voltage of 0.82 p.u. and machine 1 reaches the highest voltage of 1.08p.u. The voltage curves of PSAT shown in Fig. 4 have more oscillations and take longer to stabilize, approximately 6 seconds. During the fault, machine 4 reaches a minimum voltage of 0.86 p.u. and machine 1 reaches a maximum of 1.08 when the fault is cleared.

Figs. 5, 6 and 7 show the results for the machine rotor angle differences taking machine 3 as the reference rotor angle. The rotor angles in DigSILENT settle in less than 3.5 seconds while PST (Fig. 6) and PSAT (Fig. 7) settled at around 5 seconds. DigSILENT displays the rotor angle with respect to machine 3 while PST and PSAT display individual rotor angles. For this reason the rotor angle of machine 3 is at zero in PST and PSAT. The responses of the machine electric powers are shown in Figs. 8, 9 and 10. In DigSILENT, the electric power at machine 4 reduces to 2.3 p.u. and machine 2 reduces to 2.8 p.u. during the fault and after it is cleared machine 4 reaches a maximum of 8 p.u. before stabilizing at 3 seconds.

In PST, machine 2 shows the lowest active power at 2.3 p.u. and machine 4 is at 2.5 p.u. during the fault. When the fault is cleared, machine 4 displays the maximum at 8.4 p.u. and the system settles at approximately 6 seconds.

The electric power displays more oscillations in PSAT when compared to the other packages. The active power at machine 4 dips to 4.3 p.u. and machine 2 reduces to 4.35 p.u. during the fault and once machine 1 reaches a maximum of 7.7 p.u. and the system settles after 5 seconds.

VI. CONCLUSIONS

Steady state performance and the impact of a three-phase transient disturbance were investigated in this paper. For the steady-state studies, across all packages the voltage and active power profiles are similar and there are small differences in the reactive power for the machines and converter stations. DigSILENT and PST display similar behaviour for the voltage and electric power for the transient disturbance. The rotor angle is stable in all packages. PSAT displays lower voltage and electric power outputs when compared to the other packages. More investigations must be performed to fully understand the softwares packages.

LIMITATIONS:

In all packages, transient stability studies can be performed; however PSAT only allows three-phase faults to 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 to model the components from basic component levels.

ACKNOWLEDGEMENTS

The authors would like to express their thanks to Famutsi Mulumba, Paul Olulope and Severus Sheetekela from the Power group at the University of Cape Town for their help and technical contribution to this paper.

REFERENCES [1] P. Kundur, Power System Stability and Control, McGraw-Hill, Inc.,

1997 [2] D. A. Woodfrod, HVDC Transmission, Manitoba HVDC Research

Centre, Canada, 18 March 1998. [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 ABCs of HVDC Transmission Technologies, IEEE power and energy magazine, March/ April 2007.

[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, Proceedings of the 19th Southern African Universities Power engineering Conference, SAUPEC 2010, University of the Witwatersrand, Johannesburg.

[7] DigSILENT Power Factory Version 12.0.194 Basic Users 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. 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

APPENDIX

Synchronous generator data Xd = 1.8 Xd = 0.3 Xd =0.25 Xq = 1.7 Xq = 0.55 Xq = 0.25 Xl = 0.2 Ra = 0.0025 Tdo = 8s Tdo = 0.03s Tqo = 0.4s Tqo = 0.05s Asat = 0.015 Bsat = 9.6 TI = 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 Power System Stabilizer data K = 20 T = 10s T1 = 0.05s T2 = 0.02s T3 = 3s T4 = 5.4s The PSS washout gain (K) in PST and DigSILENT is multiplied by the washout time constant (T) to be the same as in PSAT.

HVAC line parameters: R = 0.0529 /km, X = 0.529 /km and B = 3.371 S/km. Using an Sbase = 100 MVA and a Vbase = 230 kV, the equivalent parameters in per unit values are R = 0.0001 p.u., X = 0.001 p.u. and B = 0.00175 p.u.. HVDC line parameters: R = 0.0281 /km, X = 0.02 /km, B = 0.44 S/km. Using a Sbase = 230 MVA and a Vbase = 500 kV, the equivalent parameters in per unit values are R = 0.000025 p.u., X = 0.000022 p.u. and B = 0.000021 p.u.. Time constants TB and TC are frequently small and are neglected.

Fig. A1: IEEE AC4A type exciter (DigSILENT and PST) [14] The shaded block is not included in the IEEE AC4A exciter but is given in the software packages as a component of the exciter system.

Fig. A2: Exciter type II (PSAT)

Fig. A311: Power System Stabilizer (DigSILENT and PST)

Fig. A4: Power System Stabilizer type II (PSAT)

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comparison of matlab pst, psat and digsilent

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