TR 108191

Transient Behavior of Systems
Containing FACTS Devices

Modeling of the Thyristor Controlled Series
Capacitor (TCSC)
TR-108191
2149-15
Final Report, July 1997
Prepared by
University of Waterloo
Waterloo, Ontario, Canada
Project Manager
John Reeve
Principal Investigator
Mansour R. Sultan
John Reeve
Prepared for
Electric Power Research Institute
3412 Hillview Avenue
Palo Alto, California 94304
EPRI Project Manager

R. Adapa
Power Delivery Group
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REPORT SUMMARY
Power planners need more sophisticated analytical tools to assess the full potential of
flexible AC transmission system (FACTS) devices and evaluate possible applications.
This report investigates the performance of FACTS devices in power systems using a
comprehensive digital simulator that permits accurate analysis of complex system
interactions.
Background
Although some of EPRIs FACTS controllers have been in use for several years, most of
the research on these controllers has focused on the effects of FACTS on transient and
dynamic stability. To investigate this area, researchers have used single-phase load
flow programs and transient stability programs. However, to effectively plan FACTS
implementations for large, extended ac systems, planners need a more complete
understanding of how these controllers interact with the entire power system. Available
analytical tools such as physical simulation, while accurate, have limited application.
Improvements in modeling tools and techniques to permit three-phase dynamic
analysis could increase accuracy in predicting FACTS performance in large power
systems.
Objective
To develop a comprehensive digital simulator for studying FACTS-power system

interactions and use it to perform detailed modeling of a thyristor controlled series
capacitor (TCSC).
Approach
Researchers used a digital simulator based on EPRIs Electromagnetic Transients

Program (EMTP) to model a FACTS controller along with its control system and
adjacent parts of the power system. To perform a simulation of the remaining external
system, they used in-house transient stability software which was specially modified to
allow interaction of these programs while the simulation was in progress. Researchers
then evaluated one application of this method through detailed modeling of a specific
FACTS device, the TCSC, to complete the study. They also reviewed performance
capabilities of the TCSC and various device control schemes.
iii
Results
The interface of various digital simulations of power systems suggests that a more
complete understanding of power system performance, and particularly transient
response, is available. This report reviews earlier FACTS device modeling efforts,
provides an overview of current techniques for modeling ac/dc and FACTS power
systems, and describes proposed modeling techniques for ac/dc and FACTS transient
studies.
The report provides results for the transient performance of a detailed model of a TCSC
in multi-generator test systems. Included is an overview of TCSC device characteristics
and possible control strategies. Utility planners can use the results of this modeling to
enhance their evaluations of the TCSC and other FACTS devices such as the
subsynchronous resonance (SSR) damper, static var compensator (SVC), thyristor
controlled phase angle regulator (TCPAR), static synchronous compensator
(STATCOM), and unified power flow controller (UPFC).
EPRI Perspective
FACTS technology helps utilities control both steady-state and dynamic power flows
on transmission routes, while permitting secure loading of transmission lines to their
full thermal capacity. The increasing number of FACTS applications is testimony to the
economy and usefulness of this technology. This study supports FACTS technology by
providing credible digital simulation techniques for modeling transient and dynamic
behaviors of FACTS devices in a three-phase representation. EPRI believes that if
digital simulation can surpass the limited system dimensions of physical simulation, it
has the potential for increased authenticity in large ac systems where FACTS devices
will likely be implemented. Other EPRI research in this area includes development of
control strategies for FACTS device operation and performance optimization. Related
EPRI reports on FACTS studies include TR-108127 (available July 1997), TR-107934, TR-
106464, TR-106463, TR-106462, and TR-106461. EPRI continues to sponsor FACTS
assessment studies and device hardware enhancements through tailored collaboration
with member utilities.
TR-108191
Interest Categories
FACTS and substations, communication, protection and control
Transmission access evaluation
Power system operations and control
Key Words
Power transmission planning
Power system planning
Power system control
iv
Power system engineering
Power system analysis
Power system operations
Flexible AC transmission system
v
ABSTRACT
Developing a FACTS implementation for large, extended ac systems represents a

challenge for power system planners. Improved FACTS modeling tools and techniques
could increase accuracy in predicting FACTS performance in these systems. This report
describes proposed modeling techniques for the ac/dc and FACTS systems using
interfaced digital simulations to analyze FACTS performance in transient studies. The
researchers used EPRIs Electromagnetic Transients Program (EMTP) as the basis for
one digital simulation and in-house transient stability software for the other. By
interfacing these two simulations while both were in progress, the most comprehensive
picture of FACTS performance was achieved. After reviewing these techniques, the
authors demonstrated the method by modeling a specific FACTS device, a Thyristor
Controlled Series Capacitor (TCSC).
vii
CONTENTS
1 INTRODUCTION ...................................................................................................................1-1
1.1. General Introduction ......................................................................................................1-1
1.2. Research Objectives .....................................................................................................1-4
1.3. Research Resources.....................................................................................................1-6

1.3.1. University of Waterloo Transient Stability Program...........................................1-6
1.3.2. University of Waterloo Transient ac-dc Digital Simulator Based On
EMTP ..................................................................................................................................1-7
1.3.3. Supplementary Software .......................................................................................1-7
2 REVIEW OF PREVIOUS WORK ........................................................................................2-1
2.1. Introduction .....................................................................................................................2-1
2.2. Current Trends in Three-Phase Detailed Analysis...................................................2-1

2.2.1. Approach at Manitoba-Hydro and the University of Manitoba .........................2-1
2.2.2. Approach at the University of Canterbury, New Zealand[12][13][14]..............2-2
2.2.3. Previous Work at the University of Waterloo[15][16] .........................................2-2
2.2.4. Recent Work at the University of Waterloo[1].....................................................2-3
2.2.5. Recent Work at the University of Toronto[19].....................................................2-3
2.2.6. Recent Work at Hydro-Quebec [20] .....................................................................2-3
2.2.7. Recent Detailed Studies of FACTS.....................................................................2-3
2.3. Scope and Need for New Developments...................................................................2-4
2.4. Summary and Conclusions ..........................................................................................2-5
3 NEW APPROACH FOR DETAILED TRANSIENT STUDIES ......................................3-1
ix
3.1. Introduction .....................................................................................................................3-1
3.2. A New Concept for Detailed AC/DC and Facts Simulation within Extended
AC Systems............................................................................................................................3-2
3.2.1. General concept......................................................................................................3-2
3.2.2. Detailed and External Systems ............................................................................3-2
3.3. Representation of the External System in EMTP......................................................3-4

3.3.1. Derivation of Frequency Dependent Thevenin/Norton Equivalents...............3-5
3.3.2. Updating FDTE/FDNE From TSP .....................................................................3-13
3.4. Representation of the Detailed System in TSP.......................................................3-15
3.5. Summary .......................................................................................................................3-16
4 COORDINATION OF TSP AND EMTP SOLUTIONS.....................................................4-1
4.1. Introduction .....................................................................................................................4-1
4.2. Interaction Methodology (A) [15]..................................................................................4-1
4.3. Interaction Methodology (B) .........................................................................................4-2
4.4. Overall Simulation Concept .........................................................................................4-4
4.5. Preliminary Results .......................................................................................................4-5

4.5.1. Case (1)....................................................................................................................4-6
4.5.2. Case (2)....................................................................................................................4-6
4.5.3. Case (3)....................................................................................................................4-6
4.6. Summary .........................................................................................................................4-7
5 THEORETICAL ASPECTS OF THYRISTOR CONTROLLED SERIES

COMPENSATION.....................................................................................................................5-1
5.1. Introduction .....................................................................................................................5-1
5.2. TCSC Circuit Model and Operating Modes ...............................................................5-2
5.3. TCSC Operating Regions ............................................................................................5-4
5.4. Capability Characteristics and Limiting Conditions..................................................5-6

5.4.1. Voltage Limits..........................................................................................................5-6
x
5.4.2. Current Limits ..........................................................................................................5-7
5.4.3. Reactance Limits ....................................................................................................5-7
5.5. Control Concepts for TCSC Application ....................................................................5-7

5.5.1. TCSC Insertion Control Mode ..............................................................................5-8
5.5.2. TCSC Bypass Control Mode ................................................................................5-8
5.5.3. TCSC Vernier Control Mode.................................................................................5-8
5.5.3.1. Open Loop Impedance Control .....................................................................5-8
5.5.3.2. Closed Loop Current Control.........................................................................5-9
5.6. Supplementary Control Functions...............................................................................5-9

5.6.1. RMS Calculator.....................................................................................................5-10
5.6.2. Firing Angle Linearization ...................................................................................5-10
5.6.3. Gating Pulse Generator .......................................................................................5-11
5.7. Summary .......................................................................................................................5-13
6 SYSTEM STUDIES...............................................................................................................6-1
6.1. Introduction .....................................................................................................................6-1
6.2 Proposed System Studies and Performance Evaluations........................................6-1
6.3. Test Systems ..................................................................................................................6-2
6.4. Simulation Studies.........................................................................................................6-2

6.4.1. Radial ac System with TCSC ...............................................................................6-3
6.4.1.1. Test Cases and Results .................................................................................6-3
6.4.2. IEEE 24 Bus (9-Generator) Test System ..........................................................6-10
6.4.2.1. Test Cases and Results ...............................................................................6-11
6.4.3. IEEE 118 Bus (30-Generator) Test System......................................................6-20
6.4.4. IEEE 2nd-Benchmark Model For Subsynchronous Resonance...................6-51
6.5. Summary .......................................................................................................................6-52
7 REFERENCES ......................................................................................................................7-1
xi
A TEST SYSTEMS DATA .....................................................................................................A-1
G.1. IEEE 24 Bus System ................................................................................................... A-1
G.2. IEEE 118 Bus System ................................................................................................. A-3
xii
LIST OF FIGURES
Figure 1-1 ..................................................................................................................................1-2

Figure 1-2 ..................................................................................................................................1-2
Figure 1-3 ..................................................................................................................................1-3
Figure 1-4 ..................................................................................................................................1-3
Figure 3-1 Variations for dc/FACTS System Transient Analysis......................................3-3
Figure 3-2 Possible Detailed/Extended Simulation Interface Situations.........................3-5
Figure 3-3 Typical Impedance Diagrams For ac System Taken from [7].........................3-6
Figure 3-4 Frequency Dependent Equivalent Model..........................................................3-7
Figure 3-5 Reduced Frequency Dependent Equivalent Model ........................................3-7
Figure 3-6 Synthesized Impedance Diagrams of Test System of Fig. 3.3.....................3-11
Figure 3-7 Hypothetical System...........................................................................................3-12
Figure 3-8 Single-Phase Equivalent of System of Fig. 3.7 ..............................................3-12
Figure 3-9 The EMTP Network with Coupled Norton Equivalents for the External
System ..............................................................................................................................3-14
Figure 3-10 The TSP Network with Decoupled Load Models for the Detailed
System ..............................................................................................................................3-15
Figure 4-1 Coordination of the EMTP and TSP Solutions (Methodology A)...................4-2
Figure 4-2 Coordination of the EMTP and TSP Solutions (Methodology B)...................4-3
Figure 4-3 Overall Simulation Concept.................................................................................4-4
Figure 4-4 Test System: (a) Complete System, (b) 8-Bus System Connected to
the Inverter Bus..................................................................................................................4-5
Figure 4-5 Simulation Waveforms for Test Case (1)...........................................................4-8
Figure 4-6 Test System for Test Cases (2) and (3) .............................................................4-9
Figure 4-7 Simulation Waveforms for Test Case (2).........................................................4-10
Figure 4-8 Impedance-magnitude frequency diagram for: (a) external ac system
(Fig. 4.6) at buses 3 and 8, (b) Equivalent circuit of Fig. 4.9.....................................4-11
Figure 4-9 Simulation Waveforms for Test Case (3).........................................................4-12
Figure 5-1 TCSC Module Power Circuit...............................................................................5-2
Figure 5-2 Blocked and Bypassed Operating Modes.........................................................5-3
xiii
Figure 5-3 Vernier Operating Modes with Thyristor Partial Conduction. .........................5-4
Figure 5-4 TCSC Reactance, Currents, and Voltage with Partial Thyristor
Conduction. ........................................................................................................................5-5
Figure 5-5 Voltage and Thyristor Current waveshapes for various operating
points...................................................................................................................................5-6
Figure 5-6 Typical Series Capacitor Time-Overvoltage Capability..................................5-7
Figure 5-7 Block Diagram of TCSC Control.........................................................................5-9
Figure 5-8 RMS Calculator ...................................................................................................5-10
Figure 5-9 Firing Angle Linearization Function .................................................................5-11
Figure 5-10(a) Phase-Locked Control System. .................................................................5-12
Figure 5-10(b,c) Gating Pulse Generator and Synchronization Scheme ......................5-13
Figure 6-1(a) Test System for Cases 1, 2, and 4. ................................................................6-3
Figure 6-1(b) Test System for Cases 3 and 5. .....................................................................6-3
Figure 6-1(c) EMTP Model of ASC........................................................................................6-3
Figure 6-2(a) Results For Test Case 1..................................................................................6-4
Figure 6-2(b) Control Waveforms For Test Case 1. ............................................................6-5
Figure 6-3 Results for Test Case 2........................................................................................6-6
Figure 6-4 Results for Test case 3.........................................................................................6-7
Figure 6-7 Single-Line Diagram of IEEE 24-bus System.................................................6-10
Figure 6-8(a) TCR Current, Case 1, Section 6.4.2.1.........................................................6-12
Figure 6-8(b) TCSC Capacitor Voltage, Case 1, Section 6.4.2.1 ...................................6-13
Figure 6-8(c) Line Current, Case 1, Section 6.4.2.1..........................................................6-14
Figure 6-8(d) Bus 11 Voltage, Case 1, Section 6.4.2.1 ....................................................6-15
Figure 6-8(e) Bus 20 Voltage, Case 1, Section 6.4.2.1 ....................................................6-16
Figure 6-9(a) Generators 13, rotor angles, Case 1, Section 6.4.2.1.............................6-17
Figure 6-9(b) Generators 46, rotor angles, Case 1, Section 6.4.2.1.............................6-18
Figure 6-9(c) Generators 79, rotor angles, Case 1, Section 6.4.2.1 .............................6-19
Figure 6-10(a) TCR Current, Case 1, Section 6.4.3.1 ......................................................6-21
Figure 6-10(b) TCSC Capacitor Voltage, Case 1, Section 6.4.3.1.................................6-22
Figure 6-10(c) Line Current, Case 1, Section 6.4.3.1 .......................................................6-23
Figure 6-10(d) Bus 12 Voltage, Case 1, Section 6.4.3.1..................................................6-24
Figure 6-11(a) Generators 13, rotor angles, Case 1, Section 6.4.3.1...........................6-26
Figure 6-11(b) Generators 46, rotor angles, Case 1, Section 6.4.3.1...........................6-27
xiv
Figure 6-11(c) Generators 79, rotor angles, Case 1, Section 6.4.3.1...........................6-28
Figure 6-11(d) Generators 10-12, rotor angles, Case 1, Section 6.4.3.1 .......................6-29
Figure 6-11(e) Generators 13-15, rotor angles, Case 1, Section 6.4.3.1 .......................6-30
Figure 6-11(f) Generators 16-18, rotor angles, Case 1, Section 6.4.3.1 ........................6-31
Figure 6-11(g) Generators 19-21, rotor angles, Case 1, Section 6.4.3.1 .......................6-32
Figure 6-11(h) Generators 22-24, rotor angles, Case 1, Section 6.4.3.1 .......................6-33
Figure 6-11(i) Generators 25-27, rotor angles, Case 1, Section 6.4.3.1 ........................6-34
Figure 6-11(j) Generators 28-30, rotor angles, Case 1, Section 6.4.3.1 ........................6-35
Figure 6-12(a) TCR Current, Case 2, Section 6.4.3.1 ......................................................6-36
Figure 6-12(b) TCSC Capacitor Voltage, Case 2, Section 6.4.3.1.................................6-37
Figure 6-12(c) Line Current, Case 2, Section 6.4.3.1 .......................................................6-38
Figure 6-12(d) Bus 12 Voltage, Case 2, Section 6.4.3.1..................................................6-39
Figure 6-13(a) Generators 1-3, rotor angles, Case 2, Section 6.4.3.1............................6-41
Figure 6-13(b) Generators 4-6, rotor angles, Case 2, Section 6.4.3.1............................6-42
Figure 6-13(c) Generators 7-9, rotor angles, Case 2, Section 6.4.3.1............................6-43
Figure 6-13(d) Generators 10-12, rotor angles, Case 2, Section 6.4.3.1 .......................6-44
Figure 6-13(e) Generators 13-15, rotor angles, Case 2, Section 6.4.3.1 .......................6-45
Figure 6-13(f) Generators 16-18, rotor angles, Case 2, Section 6.4.3.1 ........................6-46
Figure 6-13(g) Generators 19-21, rotor angles, Case 2, Section 6.4.3.1 .......................6-47
Figure 6-13(h) Generators 22-24, rotor angles, Case 2, Section 6.4.3.1 .......................6-48
Figure 6-13(i) Generators 25-27, rotor angles, Case 2, Section 6.4.3.1 ........................6-49
Figure 6-13(j) Generators 28-30, rotor angles, Case 2, Section 6.4.3.1 ........................6-50
Figure 6-14 Second Benchmark Model System #1. .........................................................6-52
Figure 6-15 Results for case 1, Section 6.4.4.1.................................................................6-53
xv
LIST OF TABLES
TABLE 3-1 RLC VALUES FOR EQUIVALENT CIRCUIT OF TEST SYSTEM

SHOWN IN FIG. 3.6 ........................................................................................................3-10
TABLE 4-1 FREQUENCY DEPENDENT NETWORK PARAMETERS
OBTAINED FROM FIG. 4.8(A)........................................................................................4-7
xvii
1
INTRODUCTION
1.1. General Introduction
In order to utilize the full potential of transmission systems, the Electric Power
Research Institute (EPRI), has introduced a concept, called Flexible AC Transmission
System (FACTS). It has been discussed in several publications [3][3542].
While some of the relevant technology, e.g., static var compensation, is already widely
used, the FACTS concept extends the potential for high-power solid-state controllers.
The technology offers the utilities the ability to: (a) control power flows, both steady-
state and dynamic, on their transmission routes and (b) allow secure loading of
transmission lines to their full thermal capacity.
FACTS technology, does not necessarily eliminate the need for additional transmission
lines or the upgrading of existing lines where thermal limits have been reached or
when evaluation of losses added to the cost of FACTS technology shows that new lines
or upgrading of existing lines is the most optimum solution [3].
The central technology of FACTS involves high power electronics, a variety of

semiconductor devices for application in future years, supported by advances in
digital protective relays, digital controls, integrated communications and advanced
control centers.
Consider power flow over an ac line, Fig. 1.1. It is a function of phase angle, line end
voltages and line impedance and there is no high speed control over any of these
parameters. By maintaining voltages and phase angles within safe tolerable limits, the
steady state power flow is kept well below the peak stability limits of the power
system, through the use of generation scheduling, the occasional changing of power
transformer taps and the switching of shunt reactors and capacitors. The consequences
of this lack of fast, reliable control are stability problems, power flowing through other
than the intended lines, the inability to fully utilize the transmission resources to their
thermal and/or economic limits, and higher losses.
1-1
Introduction
Figure 1-1
Fig. 1.2 shows ac power flow in two parallel paths. Without any control, power flow is
proportional to the inverse of the various transmission line impedances. The lower
impedance line may become overloaded without concern for transmission line
ownership.
Figure 1-2
Fig. 1.3 shows ac and HVDC lines in parallel. The dc power is directly controlled to
meet the scheduled power flow. The dc line can be used to its full thermal capacity if
adequate converter capacity is provided. Furthermore, the dc line because of its high
speed of control, can also help the parallel ac transmission line to maintain stability.
However, the application of dc to long transmission lines, submarine cables, and
asynchronous ties, precludes it as a general solution to enhancing the performance of
transmission systems.
Fig. 1.4 shows one of the transmission lines incorporating impedance in the form of a
high speed controlled series capacitor. With this arrangement, some of the
supplementary advantages of HVDC can be achieved at a much lower cost. This is
because with high speed control of series impedance, appropriate power flow is
obtainable (within the range of the impedance control) with a dynamic capability for
stability considerations.
1-2
Introduction
Figure 1-3
Figure 1-4
Fig. 1.4 also shows one of the ac lines may incorporate a high-speed phase angle
regulator. Again, with this approach some measure of power control may be achieved.
Whereas the series capacitor controls the impedance to levels below the series
inductive impedance of the line, the phase angle regulator with plus-minus range, can
both decrease or increase the natural power flow.
These are examples of the FACTS concept which involves the use of the following
controllers based on semiconductor switches:
1. Sub-synchronous resonance (SSR) damping.
2. Static var compensator.
3. Controlled series capacitor.
4. Phase angle regulator.
5. Static Synchronous Compensator (STATCOM).
6. Unified power flow controller.
1-3
Introduction
The application of the first two is established. Two prototype field installations for the
third controller (controlled series capacitor) are underway: one developed by General
Electric under EPRI sponsorship, and the other by Siemens for the Western Area Power
Administration. EPRI plans to help develop the remaining controllers over the next few
years [41].
It is appropriate for the emerging FACTS technology to be supported by analytical

tools. Otherwise, the potential and application studies of FACTS controllers will be
impeded. To this end, this report is not principally concerned with the design of FACTS
controllers. Rather, the need will be addressed of providing improved analytical tools
and to investigate innovative performance strategies.
Examples of FACTS studies are:
1. Harmonic interaction of FACTS with adjacent uncompensated ac systems.
2. Proper integration of FACTS into existing ac systems through their control

methodologies.
3. Development of simulation models reflecting both the transient and dynamic

behavior of FACTS.
The majority of research studies of FACTS controllers (e.g. switched series/parallel

compensation, controlled series compensation, SVCs, phase shifters, . . . etc.) have been
confined to the study of their impact on transient and dynamic stability using single
phase load flow and transient stability programs. Only recently have some publications
represented FACTS in more authentic simulations using, transient network analyzers
(TNA) or the Electro-Magnetic Transients Program (EMTP). Typical studies were
concerned with radial compensated ac systems in the form of a machine connected to
an infinite bus through a transmission line.
Since it is expected to use FACTS within large extended ac systems, there is a need for a
more credible simulation techniques whereby the transient and dynamic behaviors of
FACTS devices are accurately studied.
1.2. Research Objectives
As a FACTS system may act well as a power flow control medium within or between ac
systems (e.g. controlled series compensation), the issues of its system interface are of
primary importance particularly in situations where transient and dynamic
performance are a major concern. It is considered necessary to predict the interaction
phenomena of FACTS with the rest of the system, particularly following disturbances,
as a prerequisite to proper system design and performance optimization.
1-4
Introduction
The analytical tools in establishing the accurate transient/dynamic behavior of an

ac/dc or FACTS systems are physical simulation and digital simulation. Physical
simulation of a reduced system has been extensively used because of its closeness to
the real world providing real time control and performance of other power system
components. Nevertheless, its application is limited because it is impractical to acquire
and maintain by each utility and is restricted in terms of the ac system representation.
On the other hand, digital simulation has become increasingly reliable in assessing
both steady-state and dynamic performance of power systems due to the development
of general purpose simulation programs, providing flexibility in the modeling
capability, starting from simple models to more sophisticated models of the power
system components.
In current practice, during a transient stability run, the steady-state equations of a

nonlinear systems such as HVDC and SVC are updated for each time-step of
integration depending upon the interconnected ac system conditions. This type of
system model is known as a quasi-steady-state (QSS) model. Certain aspects of
transient response for the modeling are unpredictable and can only be estimated either
by physical simulator tests or by detailed digital analysis of such systems. Moreover, in
transient stability program, the three-phase power system is represented by a single
phase equivalent and the studies are conducted at fundamental frequency, i.e. power
frequency using integration steps of the order of 10 ms.
A detailed transient/dynamic analysis of a power system can be performed by three-

phase representation with more exact models of various power system components
using smaller integration steps than those that are used in the transient stability study.
But the computational requirement limits the amount of system that can be
represented. This restriction leads to the identification of critical parts of a power
system for detailed representation while representing the remaining network by a
simplified equivalent.
The state-of-the art permits detailed dc and some FACTS models coupled to simplified
ac systems for study of transient interaction and control behavior. Also, ac
transient/dynamic stability with extensive ac modeling, based on step-by-step steady-
state approximation, is achieved with simple dc/FACTS models for which the complex
interaction at other than fundamental frequency is not exposed. The first approach can
make use of the well developed and widely used Electro-Magnetic Transients Program
(EMTP), while the latter is based on ac-dc load flow and transient stability programs. If
digital simulation can surpass the limited system dimensions of physical simulation, it
has the potential for increased authenticity for large systems.
The main research objectives of this report are, firstly, the development of a
comprehensive digital simulator to study FACTS systems interactions. Because of the
computational problems involved in solving the entire integrated ac/dc and FACTS
systems in a detailed dynamic simulation, it has been found beneficial to identify a
detailed system for a disturbance for which a three-phase detailed dynamic analysis
1-5
Introduction
will be performed. At discrete time-steps, the computationally large, but in circuit

analysis terms less detailed, representation of the remaining external system in a
transient stability program will be interfaced with the detailed system in reduced form
as an authentic time-varying Thevenin and/or Norton equivalent.
The digital simulator based on EMTP developed by Reeve and Lane-Smith at the
University of Waterloo [1] has been adopted to perform the analysis of the detailed
system. An inhouse ac transient stability program (TSP) developed at the University of
Waterloo (under this contract), has been chosen to perform the simulation of the
external system. As an initial step toward the implementation of this simulator, both
EMTP and TSP have been modified to be mutually compatible and to interact while the
simulation is in progress. The general purpose nature of these programs has been kept
intact, so that the conventional digital simulations can be performed without any
restriction. The simulator has the capability to represent the ac network, when relevant,
as a frequency dependent network equivalents over a wide frequency range.
The detailed modeling of the Thyristor Controlled Series Capacitor (TCSC), has been
selected for implementation of the simultaneous EMTP/TSP capability.
The second objective is to study the interaction of TCSC networks and associated
control with adjacent ac and possibly other FACTS systems by applying the digital
simulator based on EMTP and TSP. Both simple and complex ac systems will be
presented to validate the concept based on EMTP and TSP interaction in different
interface coupling situations between the programs.
1.3. Research Resources
1.3.1. University of Waterloo Transient Stability Program
This program was developed at the University of Waterloo (under this contract) to
perform the computer simulation of the ac/dc transient stability studies of ac/dc
power systems. It is not a productionE program but is sufficient for the research in
hand without excluding the application of any other TSP in future.
The following elements are represented in the system : generators are represented as
two state or three state models. Two types of exciters are provided to use on the
generators. Loads are represented as a combination of constant impedance and constant
current. Models are provided for transmission lines, power transformers, shunt
capacitors, and series capacitors. The program also support a quasi steady state model
for dc systems and their controls.
This program has been validated by comparison with some published results of test
systems, and other transient stability programs such as CYME STAB of CYME
international.
1-6
Introduction
1.3.2. University of Waterloo Transient ac-dc Digital Simulator Based On EMTP
The digital simulator developed be Reeve and Lane-Smith[1] which uses the M28+
version of the Electro-Magnetic Transients Program (EMTP), has been modified to
interact with the TSP and used during the first 2 years of the contract. Recently, the
EMTP version 2.1 of EPRI has been acquired and modified to include the interactive
facility for the TSP.
1.3.3. Supplementary Software
In addition to the above main programs, a frequency scan program has been -
developed (prior to the receival of the EPRI EMTP which contain this facility program)
to provide the mechanism for deriving the frequency dependent equivalents for ac
power systems. This program was necessary to validate some of the new concepts to be
introduced in Chapter 3.
The computing platform for this work has been provided by a Sun SPARC station 10,
Model 41, running SunOS 4.1.3.
1-7
2
REVIEW OF PREVIOUS WORK
2.1. Introduction
As in HVDC transmission, FACTS operation consists of repeated waveform-dependent

topological changes which, in the transient mode, in general can neither be predicted
with quasi-steady-state models nor can be specified in advance.
Being a new concept in ac power transmission [3][4], most of the studies associated
with FACTS have been performed with single-phase ac power flow and stability
programs. Only quite recently [5][6], some detailed transient analysis for FACTS have
been conducted. AC system representation has been limited to an ideal three-phase
source in series with an impedance.
The following section will describe the current trends in three-phase detailed
simulation relevant to the work of this contract.
2.2. Current Trends in Three-Phase Detailed Analysis
Several approaches including the earlier work at this university, relevant to the
detailed analysis will be reviewed briefly in the following sections.
2.2.1. Approach at Manitoba-Hydro and the University of Manitoba
A separate and more compact electro-magnetic transients program known as EMTDC

was developed at the Manitoba Hydro in cooperation with the University of
Manitoba[9]. The algorithms used for this development are similar to the algorithms
used in the original EMTP. Any user-developed FORTRAN models or control can be
interfaced with the main network. For HVDC system simulations, a model was also
developed which includes the modeling of the converter transformer (linear or
nonlinear). A synchronous machine model was developed with exciters, stabilizers,
governors, and control circuits available.
A study in [10][11] reports the simulation of Manitoba Hydros Nelson River HVDC
system using both EMTP and EMTDC programs. This project was undertaken with the
objective of testing the validity of the electro-magnetic transients simulation of dc links
2-1
Review of Previous Work
using digital computer programs. The results are successfully compared with actual
system tests. Comparisons are also made between EMTDC and EMTP as simulation
tools for studying dc transmission.
Although, the work reported in [10][11] establishes user confidence in digital computer
programs, there is a practical limit to more and more of the ac system being modeled in
EMTDC. This is a major restriction when the detailed system (under study) is
embedded into large ac networks.
2.2.2. Approach at the University of Canterbury, New Zealand[12][13][14]
The problem of simulating large power systems for electro-magnetic transients has
been alleviated to some extent by adopting an approach in which the ac systems are
reduced to time-varying Thevenin equivalents at the converter buses by the use of a
transient stability program. The dc system is modeled in detail (known as Transient
Converter Simulation), with the ac Thevenin equivalents, and is executed interactively
with the transient stability program especially during and immediately after the fault
period. The dc system is represented by a quasi-steady-state (QSS) model in the
transient stability program, and the QSS model is updated using the detailed converter
simulation results during the interaction period. For long-term post-fault dynamic
studies a QSS model for dc is considered as adequate.
The method introduces the innovation of two types of digital programs. In concept, the
models for the various power system components are not entirely new.
The processing of detailed converter simulation results to obtain single-phase

equivalents for TSP needs the TSP time-step to be a submultiple of the power
frequency period.
Noting that the transient stability program is run at fundamental frequency, the validity
of the Thevenin equivalents obtained is questionable because under fault conditions
the voltage and current waveforms at the converter buses are characterized by
distortion and asymmetry. A further discussion about this approach is given in section
2.3.
2.2.3. Previous Work at the University of Waterloo[15][16]
An original method to deal with the problem of simulating large power systems was
introduced in [15][16]. The approach uses interactive execution of EMTP for detailed
transient analysis and TSP for external ac system representation. The problems of wave
distortion and asymmetry were resolved by extending the interface location between
the detailed and external systems further down into the external ac system. There was
no restriction on the choice of TSP time step as the positive sequence fundamental
frequency phasors for the current injections into the external system were obtained by
2-2
curve fitting of EMTP data at the interface location. The digital simulation facility for
this work used the EMTP for the network simulation on a mainframe computer
interacting with an LSI-11 microcomputer for dc control interaction. A further
discussion of this approach is given in section 2.3.
2.2.4. Recent Work at the University of Waterloo[1]
The work of Reeve and Lane-Smith [1] allowed digital controls for HVDC to be
interfaced with detailed 3-phase EMTP digital simulation. The simulation facility was
designed to operate in either simulation mode or with real time constraints imposed on
the control. Adaptive control features [17][18] were also incorporated in the digital
controls. Primitive SVC controls were also incorporated in the simulator. This work
was initially developed on 32-bit COMPAQ 386 computer running XENIX and then
was ported to a SUN SPARC station IPC.
Although the developed simulator has provided authentic simulation results (e.g.
typical HVDC system and control responses, during transient conditions), like EMTDC
it remains impracticle for studies involving large ac systems.
2.2.5. Recent Work at the University of Toronto[19]
An approach that interfaces frequency domain program (for external system

representation) with the detailed modeling of EMTP, was presented in [19]. For validity
of simulation the external ac system must be linear time invariant, and should be
connected to the detailed system through a transmission line. Fourier transforms
provide the conversion from time domain to frequency domain and vice versa. The
major restrictions of this approach are inherent in the assumptions made for validity
and consequently the true external system behavior is highly questionable since the ac
system dynamic aspects (ac machines, controls, . . . etc) are excluded.
2.2.6. Recent Work at Hydro-Quebec [20]
This work represents the FORTRAN dual to the University of Waterloo digital controls
which is implemented in C. However the developed controller does not have real time
constraints capability.
2.2.7. Recent Detailed Studies of FACTS
Several recent publications [5][6][21][22] have dealt with the simulation of thyristor
controlled series compensation (TCSC) in reduced radial ac systems using either
physical simulation with TNA or digital simulation with EMTP. No detailed
simulation studies have yet been presented for TCSC (or other FACTS alternatives,
2-3
such as thyristor controlled phase-shifter, STATCOM, etc.) in cases with large extended
ac systems.
2.3. Scope and Need for New Developments
It can be concluded that the work done at the Manitoba Hydro, the earlier work done at
this university, and the work done at Hydro-Quebec have contributed to providing a
comprehensive and authentic simulation of ac/dc systems in the presence of limited ac
systems.
A method of interfacing the transient stability program with a detailed converter

simulation program at the University of Canterbury has attempted to alleviate the
simulation problems of large ac systems. However, this method has several limitations
which are summarized below:
1. The Thevenin equivalents obtained at the converter bus are not authentic because of
the distortion and asymmetry associated the voltage waveforms at the converter
buses especially for a disturbance close to the converter station.
2. The approach considers only single interface point between the detailed and the
external ac system.
3. The programs used are neither commercially nor publically available, therefore
they can not be readily adopted by potential users.
4. The approach imposes restrictions on the choice of TSP simulation time-step.
5. The dynamic performance of the external system was not exposed.
The earlier work at this university seems to overcome some of the above problems with
the following limitations:
1. The approach assumes the interface buses to be located far enough from the
detailed system to ensure symmetry and balanced interaction. No criteria was used
to determine how far the interface should be.
2. The risk of non-authentic transient simulation due to excitation of harmonic

frequencies by disturbances is highly dependent on the structure and nature of the
external ac system interfaced with the detailed study zone (i.e. whether the system
is radial, mesh type, etc.).
3. The computational efficiency is degraded as more ac system is included in the

three-phase detailed analysis.
2-4
To provide a more flexible power system simulation facility for detailed system
studies, a new concept will be introduced as explained in Chapter 3. This concept is
based on EMTP for three-phase detailed analysis and TSP for simulating the power
system parts that are not vulnerable to a disturbance. As will be seen, the system
location for programs interface is not restricted and the main criteria is to maintain
authentic transient behavior (with full dynamic exposure from TSP external system)
within the EMTP detailed simulation.
2.4. Summary and Conclusions
The state of the art for digital simulation of ac/dc and FACTS power systems has been
presented. Recent trends in various areas related to the objectives of this project have
been reviewed. The merits and limitations of both physical and digital simulation
techniques have been outlined.
In conclusion, it is evident that programs now available to the general user, while
offering flexibility for many studies, do not fully accommodate the cases requiring
detailed dc and FACTS simulation within extended ac system simulation. Thus there is
a need for new developments.
2-5
3
NEW APPROACH FOR DETAILED
TRANSIENT STUDIES
3.1. Introduction
In this chapter, a new approach to transient/dynamic simulation is introduced to

model both ac/dc and FACTS systems in some detail. It is important to have some
modeling capability for such systems to perform certain tasks during planning, design,
and operating stages.
The ac transient stability programs based on fundamental frequency, single-phase,

phasor modeling techniques can not directly represent the faster transients
characterizing the dc and FACTS systems. Nor can they accommodate the implied
waveform distortion, phase imbalance, and discrete action of semiconductor switches
at different time instants. The current approach to dc system modeling in an ac transient
stability program is by a Quasi-steady-state (QSS) model of the dc system which is
developed for a particular disturbance, based upon the physical simulation and/or
detailed dynamic analysis of the dc system. The same argument is equally applicable
to FACTS controllers.
At present, the digital simulation techniques for the dynamic analysis of ac/dc power
systems have reached a mature stage, so that the simulation is credible and can replace
or supplement the physical simulation techniques for many studies. The physical real-
time simulator consisting of detailed dc/FACTS modeling can be used for those
problems for which a greatly reduced ac network representation suffices. Even for the
equivalent digital simulation, the same problem of restriction in ac system
representation is applicable. Although it is theoretically possible to represent these
systems in full detail for transient/dynamic analysis, the economics and less need for
detailed modeling of the entire ac system renders it impracticable.
Consequently there is a need to use the transient stability program for extensive ac
network modeling outside the domain of a disturbance and at the same time to
represent the parts of the network vulnerable for a disturbance in greater detail for
transient/dynamic analysis. It is necessary to have a meaningful interaction between
the two simulations to obtain the overall performance of the system. A new approach
3-1
New Approach for Detailed Transient Studies
for ac/dc and FACTS transient studies based on this concept is explained in the
following sections of this chapter.
3.2. A New Concept for Detailed AC/DC and Facts Simulation within Extended
AC Systems
3.2.1. General concept
The possible variations in performing the dc/FACTS transient analysis are shown in
Fig. 3.1. Fig. 3.1(a) shows a detailed simulation of the dc/FACTS system along with an
over simplified ac system. In other words, the entire ac system is reduced to a simple
equivalent for dynamic analysis.
In Fig. 3.1(b) the detailed simulation is constrained to be within the terminal ac buses of
the detailed system model, while the ac system is modeled with a conventional
transient stability program (e.g. in [12]). In this way, the gross impact of the ac system
on the detailed system is updated at regular time intervals considering the detailed
analysis results of the detailed system in ac transient stability program.
The concept shown in Fig. 3.1(c) was adopted in [15]. The detailed system is extended
outward to take into consideration more ac system for 3-phase representation.
The proposed new approach can use either of the interface variations shown in Fig.
3.1(b) and 3.1(c), with the fundamental change of using a time varying frequency
dependent Thevenin or Norton equivalent (FDTE/FDNE), for representation of the
external ac system into the detailed simulation.
3.2.2. Detailed and External Systems
Because of the computational problems involved in solving the entire power system
network in detail, it is necessary to identify the areas of concern for a particular
disturbance as the detailed system. The remaining parts of the power network are
named the external system. The buses at which these two systems interact are
designated as interface buses.
The identification of a detailed system is completely dependent on the system

configuration and the disturbance under study. For example, to simulate an ac fault
adjacent to the dc system, the dc system has to be modeled in detail, while the amount
of ac system to be included for detailed study depends upon basically two factors:
(i) Waveform distortion at the interface buses.
(ii) Phase imbalance at the interface buses.
3-2
Figure 3-1
Variations for dc/FACTS System Transient Analysis
In the case of an ac/dc system, if the interconnected ac systems are weak relative to the
dc power rating, the harmonic distortion at the converter buses is more prevalent which
rules out the possibility of taking the converter buses as interface buses. It has been
found that the same considerations apply to FACTS controllers.
For unsymmetrical faults at or near to the converter buses, the problem of waveform
distortion is compounded by phase imbalance. EMTP analysis can not therefore be
interfaced with TSP through a fundamental frequency Thevenin/Norton equivalent, as
the authenticity of the simulation becomes highly questionable under such
circumstances.
3-3
On the other hand, TSP simulation can be satisfied by a positive sequence, single phase
equivalent, extracted from EMTP, since ac dynamics are mainly dependent on
variations in power at fundamental frequency.
Problems in achieving the proper interaction of the TSP with EMTP detailed analysis
are:
(a) Modeling of an equivalent for the external system in the detailed analysis.
(b) Modeling of an equivalent for the detailed system in the transient stability
program.
(c) The frequency and the methodology of interaction between TSP and EMTP detailed
analysis.
The methods for resolving problems (a) and (b) are discussed in the following sections
respectively, while problem (c) is considered in Chapter 4.
3.3. Representation of the External System in EMTP
The interaction of the external system with the detailed system is most authentic if the
external system can be reduced to a frequency dependent Thevenin and/or Norton
equivalents (FDTE/FDNE) at the interface buses.
In the case of a two-terminal device (e.g. HVDC, TCSC) between isolated ac systems,
the decoupled Thevenin/Norton equivalents can be obtained provided the interface
buses are the device terminal buses. As more of the ac system is included into the
EMTP solution, with multiple interface buses externally interconnected, coupled
Thevenin equivalents are implied for the external system at the interface buses. The
two situations are shown in Fig. 3.2, for an TCSC included in the detailed system.
The problems to be solved in this approach are:
(i) Derivation of the frequency dependent Thevenin/Norton equivalent impedance.
(ii) Derivation of a time varying Thevenin/Norton equivalent source.
The use of Thevenin/Norton equivalents based on fundamental frequency system

impedances assumes that the interface waveforms are symmetrical and undistorted.
This restriction would be alleviated by the incorporation of some frequency
dependency in the network equivalents.
Section 3.3.1 will describe a method for the derivation of frequency dependent network
equivalents.
3-4
Figure 3-2
Possible Detailed/Extended Simulation Interface Situations
3.3.1. Derivation of Frequency Dependent Thevenin/Norton Equivalents
A simple approach to calculate an approximate equivalent network consisting of

parallel RLC branches and having an impedance-frequency characteristic similar to a
given ac system was presented in [7]. The basic matching philosophy consists of
selecting the values of R, L, and C that give the same maxima and minima locus of the
original ac network impedance-frequency locus. The synthesis process of the
equivalent network will be explained with the aid of a typical ac system impedance-
locus plot shown in Fig. 3.3 [7].
As developed for this contract, the following steps represent a generalized algorithm
for the equivalent derivation method which can be applied to any given ac system.
3-5
Figure 3-3
Typical Impedance Diagrams For ac System Taken from [7]
1. From Fig. 3.3(b) count the number of minima (N) and maxima (M) points on the
impedance-frequency diagram. In this example 7 and 6.
2. Record the minima (f or ) and maxima (F or W) frequencies.
3. Since linear networks composed of parallel RLC branches would have a similar
impedance-frequency response (a typical example of this resemblance is the
impedance frequency response of HVDC ac filters [23]), therefore the equivalent
network model will look as shown in Fig. 3.4.
3-6
Figure 3-4
Frequency Dependent Equivalent Model
4. For several RLC branches in parallel the computation of the model elements
becomes complex if the resistances are included in the calculation. To resolve this
problem the model is reduced to the circuit shown in Fig. 3.5
Figure 3-5
Reduced Frequency Dependent Equivalent Model
where the resistances are omitted initially and then estimated directly from the
impedance response at the minima resonance frequencies.
5. The necessary equations to derive L and C values of Fig. 3.5 are given below in a
concise form. The total model admittance of the N-branch model is:
N
s
Y(s) = (eq. 3-1)
i =1 Li ( s + 1/ Li Ci )
2
3-7
N
s
Y(s) = (eq. 3-2)
i =1 Li (s + 2i )
2
where,
1
2i = , i = 1, 2 ,KK , N
Li Ci
N N
s Ki ( s2 + 2j )
i =1 j i
Y(s) = (eq. 3-3)
N
2
( s + j )
2
k= 1
1
where, Ki =
Li
For convenience here, Eq. (3.3) is written as:
N (s)
Y(s) = (eq. 3-4)
D( s)
From Eq. (3.4), it is clear that Y(s) (i.e. Z(s) 0) when D(s) 0 and Y(s) 0 (i.e.
Z(s) ) when N(s) 0. The latter case:
N N
N ( s) = s Ki ( s2 + j2 ) = 0 (eq. 3-5)
i =1 j i
will be satisfied at the frequencies of maxima points in the impedance magnitude-

frequency diagram (i.e. at F1,F2. . . . .,FM or W1,W2. . . . ., WM, where M = N-1), therefore Eq.
(3.5) can be written as:
N
N ( s) = s (s 2 + Wk2 ) = 0 (eq. 3-6)
k =1
By equating the coefficients of s in Eqs. (3.5) and (3.6) the following linear algebraic
equations result:
3-8
For S(2N2) terms;
N
1
L
i =1
=1 (eq. 3-7)
i
For S(2N4) terms;
N
1 N 2 N 1 2
j =
i =1 Li j i k= 1
Wk (eq. 3-8)
For S(2N6) terms;
N 1 N N N 1 N 1 2 2

i =1
j k =

2 2
Wi Wj (eq. 3-9)
Li j i k = j +i i = 1 j = i + 1
For S0 term;
N N N 1
1
L = W
i =1
2
j k
2
(eq. 3-10)
i j i k =1
Eqs. (3.7)-(3.10) are N linear Eqs. with (L1,L2, . . . , LN) being the unknowns. After solving
for Li, Ci are directly derived from Eq. (3.2).
6. The network of N parallel LC branches derived above has zero impedance at

minima frequencies and infinite impedance at maxima resonance frequencies. The
use of the resistance estimated at resonance frequencies as described in step 4
would still leave significant error in the derived network impedance response as
compared to the original system response at maxima resonance frequency. The
problem is resolved by scaling the derived L and C values in such away as to keep
the resonance points in the same location. The appropriate scaling factor is chosen
by impedance matching at a particular frequency of interest say power frequency
(where generally the ac system impedance will be dominantly reactive with small
resistance) and the scaling factor becomes the ratio of original system reactance to
the derived model reactance. The inductors are divided by the scaling factor while
the capacitors are multiplied by it.
3-9
The above algorithm has been implemented into a digital code and used to derive the
frequency dependent model that will fit the impedance-loci diagrams given by Fig. 3.3.
The numerical results of the derived values of the model elements are shown in table
3.1 and the equivalent model impedance diagrams are shown in Fig. 3.6. The scaling
factor used for this case is 30 and was found by matching the given system reactance
with the model at f = 60 Hz. It can be seen that the derived model provides a good
approximation to the original ac system over the shown frequency range.
Table 3-1
RLC Values for Equivalent Circuit of Test System Shown in Fig. 3.6
Branch No. R L C
() (mH) (F)
1 5.0 117.0
2 60.0 515.2 0.2428
3 30.0 186.3 0.4112
4 250.0 1676.3 0.0292
5 150.0 976.2 0.0330
6 100.0 165.5 0.1456
7 5.0 37.1 0.4044
In situations with multiple interface buses and with waveform distortion, coupling
between buses and phases becomes an issue. An example of such a case is shown in
Fig. 3.7. In this system, dc system 2 will affect the ac system impedance when observed
from bus 1, and vice versa. This interdependence can only be included through mutual
coupling terms between the phases of buses 1 and 2. Therefore each phase will have a
self frequency dependent equivalent and five mutual equivalents. The equivalent
model for the ac system will therefore look as shown in Fig. 3.8 for one phase only.
3-10
Figure 3-6
Synthesized Impedance Diagrams of Test System of Fig. 3.3.
3-11
Figure 3-7
Hypothetical System
Figure 3-8
Single-Phase Equivalent of System of Fig. 3.7
3-12
3.3.2. Updating FDTE/FDNE From TSP
Consider a general case, with several interface buses as shown in Fig. 3.9, where buses i
through n represent the interface buses. After a TSP time-step, the system equation can
be expanded as:
I 1 Y11 L L Y1i L L Y1n V1

I Y L L Y2 i L L Y2 n V
2 21 2
L L L L L L L L L
L L L L
L L L L L
= (eq. 3-11)
I i Yi 1 L L Yii L L Yin Vi

L L L L L L L L L
L L L L L L L L L

I n Yn 1 L L Yni L L Ynn Vn
The bus Voltage vector V can be written as the sum of two vectors V and V as follows:
V = V + V (eq. 3-12)
where
V1 0
V 0
2

Vi 1 0
I = , I = (eq. 3-13)
0 Vi
0 Vi + 1

0 Vn
With this definition, Eq. 3.23 can be rewritten as:
I = YV + YV (eq. 3-14)
3-13
By definition, Norton current sources are obtained by shorting the terminals i, i+1, . . . .,
n, i.e. making Vi, Vi+1, . . . ., Vn equal to zero in Eq. (3.11). Eq. (3.14) can be written as:
I = I0 + YV (eq. 3-15)
Where I0 is obtained from:
I0 = YV (eq. 3-16)
Eq. (3.16) represent the Norton equivalents of the external system at the interface buses.
These equivalents can be represented in EMTP for detailed simulation directly as
shown in Fig. 3.9. Note that the source shunt element in Fig. 3.9 is the FDTE/FDNE
equivalent circuit derived in section 3.3.1. The above Norton source can be converted to
Thevenin source (by multiplying the Norton sources by their corresponding series
fundamental frequency impedances).
Figure 3-9
The EMTP Network with Coupled Norton Equivalents for the External System
3-14
3.4. Representation of the Detailed System in TSP
As the EMTP solution is on a 3-phase basis, any equivalent obtained from the detailed
simulation has to be converted to a single-phase phasor equivalent.
Considering a general case with several interface buses, the TSP network can be shown
as in Fig. 3.10.
Assume that the external system contains n buses including the interface buses. The
buses 1 to (i-1) are the external system buses other than the interface buses, where as the
buses i to n (as shown in Fig. 3.10) are designated as interface buses. The external
system is characterized by the nodal equation of Eq. (3.11).
Figure 3-10
The TSP Network with Decoupled Load Models for the Detailed System
In a transient stability program, loads can be variously modeled starting from simple
constant impedance representation to the more complex representations (e.g. current
source, exponential terms, etc.). In the TSP used for this work, the load (P jQ) is
converted into a current source (I) as follows:
P jQ
I= (eq. 3-17)
V*
where V is the rms voltage at the load bus in TSP.
If the detailed system is represented as decoupled loads at the interface buses in TSP
(Fig. 3.10), the fundamental rms voltage and current have to be extracted from the
EMTP solution to evaluate the real and reactive power at each interface bus. If the load
3-15
is represented as a current source in TSP, the real and reactive powers are converted
back into a current source Eq. (3.17) using the node voltage in TSP, which is less
accurate compared to the fundamental rms voltage obtained in EMTP. Thus it is more
logical to directly use the fundamental rms current, extracted from the EMTP solution,
in the TSP.
The above considerations require the fundamental phasor currents and voltages to be
derived from the detailed solution of the waveforms at the interface buses. A least
squares curve fitting routine of NAG-14 library (routine E04GEF) was used for this
purpose. The fitting function is a cosine function. The approach was validated by
several simulations as seen in section (4.5).
3.5. Summary
In this chapter a new approach for dc/FACTS transient simulation is proposed. As will
be shown in Chapter 4, through the integration of the detailed EMTP model with the
external ac system of the transient stability program, valid simulation results are
achieved without simplifications made to the detailed system model in EMTP.
The approach offers flexibility in the choice of the interface buses between the
programs, as authentic representation of models within the capability of both programs
are suggested. A method has been described to obtain frequency dependent
Thevenin/Norton equivalents to represent the external ac system in the detailed
simulation. Also, an approach to update the TSP using the detailed simulation is
explained.
The next chapter will provide interaction scenarios between TSP and EMTP
simulations with some preliminary results.
3-16
4
COORDINATION OF TSP AND EMTP SOLUTIONS
4.1. Introduction
Having established a philosophy for representing one form of solution as viewed by

the other (i.e. TSP and EMTP solutions) attention will now be paid to their coordination
into an overall time-domain solution. A methodology for updating the TSP, using the
EMTP solution and vice versa under two different interaction scenarios, will be
described in the following sections, followed by some preliminary results.
4.2. Interaction Methodology (A) [15]
In this methodology, the time-steps of both EMTP and TSP can be chosen according to
the requirements of each program for the simulation of particular network. In other
words, the TSP time-step need not be fixed proportions of the fundamental period. For
convenience, an integral multiple of EMTP time-step is assumed, although it is not a
major restriction. For example, time-steps could be 10 ms for the TSP solution and 50 s
for the detailed solution. In this interaction methodology it is assumed that no dynamic
study is required post the first swing transient period and both TSP and EMTP will
terminate simulation at the same time.
Starting from time t = 0, the EMTP and TSP time-steps are shown in Fig. 4.1. The
following procedure is implemented for coordinating the EMTP and TSP solutions.
1. Both EMTP and TSP are executed from t = 0 to t = T1 with steady-state initial starting
point.
2. The Norton equivalents for the external system are obtained at T1 and are
transferred to EMTP.
3. The EMTP is executed for detailed simulation from T1 to T2 using the Norton
equivalents obtained from TSP at T1.
4. For updating the load representation (current source) in TSP at T1, the accumulated
EMTP data points from t = 0 to t = T2 are processed using the curve fitting algorithm
to obtain a fundamental phasor value.
4-1
Coordination of TSP and EMTP Solutions
Figure 4-1
Coordination of the EMTP and TSP Solutions (Methodology A)
5. The TSP is executed one time-step (i.e. until T2) starting at T1 using the updated load
representation at T1.
6. The Norton equivalents are obtained for the external system at T2 and are
transferred to EMTP.
7. The EMTP is executed from T2 to T3 using the Norton equivalents obtained from
TSP at T2.
8. The EMTP data points from T1 to T3 are processed to obtain a phasor value for
updating the load representation in TSP at T2.
9. The above procedure is repeated until the EMTP execution is terminated.
4.3. Interaction Methodology (B)
This simulation scenario pertains to system studies where longer term dynamic
simulation of the system is required. This implies that simulation runs extending to 1
10 s may be required. before proceeding to the description of this scenario the
following terminology is defined:
QSS: Quasi Steady-state
TSP/EMTP: TSP and EMTP simulation
TSP_QSS : TSP simulation alone with QSS model
: error in interface bus voltages between TSP/EMTP and TSP_QSS simulation
P : error in interface bus real power between TSP/EMTP and TSP_QSS simulation
4-2
Q : error in interface bus reactive power between TSP/EMTP and TSP_QSS

simulation
: error in key machine angles between TSP/EMTP and TSP_QSS simulation
The interaction procedure for this methodology is described below with the help of Fig.
4.2.
Figure 4-2
Coordination of the EMTP and TSP Solutions (Methodology B)
1. Setup the TSP/EMTP data case.
2. Setup a TSP_QSS data case with the detailed system represented by QSS model.
This data setup includes the same disturbance specification as the EMTP data case.
3. Starting from t = 0, the TSP_QSS program will execute until point J of its time-step
axis, while TSP/EMTP is halted at t = 0. Time point J is chosen on the basis that it
should be long enough to ensure that the detailed EMTP simulation is adequately
represented by QSS model. A conservative choice will be one TSP_QSS time-step
before time point E (end of EMTP simulation) on TSP/EMTP time. All the variables
of interest (e.g. interface bus voltages, key machine angles, etc.) are saved for on-line
comparison with the same data of TSP/EMTP simulation.
4. Release TSP/EMTP simulation for execution. During TSP/EMTP interaction the

same data chosen in TSP_QSS for comparison purposes are read and stored.
5. Starting from disturbance initiation time, on-line evaluations of P, Q and are

performed. When these errors become less than specified thresholds, it is judged
that TSP/EMTP interaction is no longer needed and the system is at QSS conditions.
This time instant is indicated by time point TS on TSP/EMTP time axis.
4-3
6. Suspend TSP/EMTP simulation, and continue dynamic stability simulation using

TSP_QSS alone.
The major advantages expected from this scenario are: (a) the capability of performing
both transient and long term dynamic studies using one simulation run. This issue is
beneficial for system studies involving validation of QSS models for new power system
components. And (b) the approach is computationally more efficient.
4.4. Overall Simulation Concept
The overall simulation concept of this research is shown in Fig. 4.3. Interaction scenario
(A) is enclosed by the dashed line trace, while scenario (B) is achieved by including the
TSP_QSS facility. Only scenario (A) has been implemented and tested. The
implementation software is beyond the scope of this report to present.
Figure 4-3
Overall Simulation Concept.
4-4
4.5. Preliminary Results
In this section, the concept of multiple coupled extended interface buses for interaction
of TSP and EMTP solutions is evaluated with a two terminal back-to-back dc system
with extended 8-bus ac system at the the inverter side as shown in Fig. 4.4.
Figure 4-4
Test System: (a) Complete System, (b) 8-Bus System Connected to the Inverter Bus
4-5
Although the main research objective is to validate this simulation concept with the
TCSC device in large ac systems (as discussed in Chapter 1), this test system was seen
appropriate for the purpose of preliminary validation of some of the new concepts. The
tests performed are:
4.5.1. Case (1)
In this case the entire system was modeled in EMTP. A 3-cycle three-phase fault is
applied at the inverter ac bus. Selected waveforms of inverter ac bus voltage Vaci, bus 3
voltage Vb3, bus 8 voltage Vb8, bus 3 current Ib3, bus 8 current Ib8, dc voltage Vdi, dc current
Id and dc power Pd are shown in Fig. 4.5. The system recovery from the disturbance is
realistic and represented in detail. This case will be used as a bench mark for the next
cases.
4.5.2. Case (2)
In this case the ac system extending from buses 3 and 8 as shown in Fig. 4.6 (to the right
of the dashed line) is represented in TSP while the rest of the system is represented in
detail within EMTP.
In TSP the ac machines at buses 4 and 6 are represented by classical dynamic

representation (voltage source behind direct axis transient reactance). The loads are
represented by fixed impedances to ground, and the detailed system at interface buses
3 and 8 by time varying current sources (updated from EMTP at each TSP time step). In
EMTP the TSP ac system is modeled by a fundamental frequency time varying Norton
equivalent between interface buses.
The results for this case (with same variables as in Case (1)) are shown in Fig. 4.7. A
noticeable discrepancy in the waveforms (especially dc waveforms) from Case (1)
during the transient period is evident.
4.5.3. Case (3)
This case has the same representation as Case (2), with the exception that the TSP ac
system is modeled by a frequency dependent Norton equivalents (FDNE) at the
interface buses. The FDNE was derived from the frequency response of the external ac
system at the interface buses, when it is disconnected from the detailed model. The
impedance-magnitude diagram as seen from the interface buses is shown in Fig. 4.8(a).
The FDNE is synthesized using the algorithm of section (3.3.1), with a circuit of two
parallel RLC branches. The parameters of the equivalent circuit are given in table 4.1.
The frequency response of this circuit is shown in Fig. 4.8(b).
4-6
The results for this case are shown in Fig. 4.9. The transient behavior of the dc system in
this case seems to be more authentic than that of Case (2), as the waveforms during the
transient period have maintained a close approximation to the original system
modeled in Case (1).
Table 4-1
Frequency Dependent Network Parameters Obtained from Fig. 4.8(a)
R L C
Branch No. () (mH) (F)
1 22.82 128.0 -
2 35.75 8.53 2.969
4.6. Summary
Two methodologies for interaction of TSP and EMTP have been proposed.
Methodology (A), where the integration is intended for short term transient studies, has
been implemented and tested with a two terminal dc system. The simulation results
have validated the new concept of interaction. The results obtained with the external ac
system represented in EMTP by frequency dependent Norton equivalent closely
matched test results obtained by simulating the entire system in EMTP and thus
providing a validation for the TSP/EMTP integration concept.
Interaction methodology (B) is intended for longer term dynamic simulation. Its
implementation extends beyond the scope of this contract.
4-7
Figure 4-5
Simulation Waveforms for Test Case (1)
4-8
Figure 4-6
Test System for Test Cases (2) and (3)
4-9
Figure 4-7
4-10
Figure 4-8
Impedance-magnitude frequency diagram for: (a) external ac system (Fig. 4.6) at
buses 3 and 8, (b) Equivalent circuit of Fig. 4.9
4-11
Figure 4-9
4-12
5
THEORETICAL ASPECTS OF THYRISTOR
CONTROLLED SERIES COMPENSATION
5.1. Introduction
The use of series capacitors in EHV transmission lines for the increase of power transfer
capability and transient stability has become widespread among utilities worldwide.
Recently, a considerable amount of effort has been dedicated to research into the use of
power electronics to provide either discrete fast switching of the series compensation or
continuously controlled compensation, resulting in improved system damping,
stability, and increased power flows. A growing interest among North American
utilities encouraged the Electric Power Research Institute (EPRI) to initiate the Flexible
AC Transmission System (FACTS) project to explore the present technology of power
electronics to determine their feasibility for use in series compensation.
A FACTS scoping study revealed the potential benefits that are obtainable using ideal
FACTS devices on critical transmission lines [27][28]. Several series compensation
schemes have been proposed. The most basic scheme consists of modular blocks of a
series capacitor shunted by anti-parallel thyristors.
Another scheme, first proposed by J. Vithayathil of BPA in 1988, was termed Rapid
Adjustment of Network Impedance (RANI) [29]. All the proposed variations consisted
of a thyristor-controlled reactor (TCR) in parallel with a fixed impedance. One scheme
proposed a fixed impedance consisting of a fixed capacitor, the other consisting of a
fixed reactor.
Siemens Corporation later acquired the rights to the RANI Scheme, and pursued
development of the scheme consisting of the the TCR connected in parallel with a series
capacitor. A prototype has been installed at the Western Area Power Administrations
(WAPA) Kayenta substation. References [6][21][30] described the implementation of the
RANI scheme, now termed the Advanced Series Compensation (ASC) Scheme, but only
a limited amount has been written on control design and the detailed dynamics of the
circuit.
The Electric Power Research Institute, in conjunction with General Electric,

developmed the first multi-module Thyristor Controlled Series Capacitor (TCSC), a
5-1
Theoretical Aspects of Thyristor Controlled Series Compensation
prototype of which has been installed at the Slatt substation [31]. Bonnevile Power
Administration (BPA) is the host utility and will test, operate, and maintain the TCSC in
the future. The TCSC consists of six identical 1.33 ohm capacitor modules, for a total of
8 ohms. Each capacitor module is shunted by a thyristor controlled reactor (TCR)
module. The series capacitance in steady-state by selectively inserting and bypassing
the capacitor modules. The thyristor switches also operate in a phase-controlled
manner (vernier operation) to increase the effective capacitance above the nominal
value. This feature is used primarily to respond to system dynamics and for mitigation
of subsynchronous resonance (SSR).
The published papers describe the overall Slatt project [31], a very general control
structure and some dynamic aspects [5][22][31].
This chapter will describe the action of the TCSC, sufficient for appreciating the test
results of TCSC in a combined TSP/EMTP study.
5.2. TCSC Circuit Model and Operating Modes
The basic circuit of a single phase module TCSC consists of a fixed series capacitor with
a parallel path including anti-parallel thyristor switch controlling a reactor is shown in
Fig. 5.1. Also included is a surge arrester for overvoltage protection and a bypass
circuit breaker, typical of series capacitor schemes. A complete TCSC system may be
comprised of several such modules in series, and may accompany a conventional series
capacitor bank as part of an overall project to aid power system performance.
Figure 5-1
TCSC Module Power Circuit
The capacitor voltage is used as the phase reference for the thyristor firing angle ().
The thyristors are fired when the capacitor voltage and current are opposite in polarity.
This is equivalent to thyristor firing angles of 90 through 180 degrees for the forward
looking thyristor. Firing the thyristors in this way results in a current flow through the
5-2
inductor that is opposite to the capacitor, i.e. a loop flow. This loop current increases
the voltage across the capacitor and overall series compensation This loop current
increases as decreases from 180 degrees.
The TCSC module has three basic modes of operation; thyristors blocked (no gating
and zero thyristor conduction), thyristor bypassed (continuous gating and full thyristor
conduction), and operating in a vernier mode with phase control of gate signals and
consequent partial conduction. Fig. 5.2 illustrates the first two modes; (a) shows the
module thyristors blocked, for which module impedance is just the capacitor reactance;
and (b) shows a module operating in the thyristor-bypassed mode. The thyristors are
fully conducting in this mode, so most of the line current flows through the thyristor
path and the TCSC has a small net inductive impedance.
(b)
(b)
Figure 5-2
Blocked and Bypassed Operating Modes.
It is important to distinguish between two possible bypass modes with the TCSC. A
circuit breaker will typically be included across the TCSC and, when closed, constitutes
a breaker bypassed mode. The thyristor bypass is used for control and some
protective sequences, whereas the breaker bypass is used for protection due to possible
internal TCSC failures or to remove the TCSC from service.
Fig. 5.3 shows the two types of TCSC (capacitive and inductive) vernier operation with
partial thyristor conduction. In (a), the module operates with low levels of thyristor
conduction. A circulating current results in a module capacitive impedance greater
than the nominal capacitor reactance. In (b), the module operates at high levels of
conduction. The circulating current is reversed and the net impedance is inductive.
5-3
(a)
(b)
Figure 5-3
Vernier Operating Modes with Thyristor Partial Conduction.
5.3. TCSC Operating Regions
Since the thyristor control can alter the apparent impedance of the module, it is
appropriate to clarify certain terminology for later use in this chapter:
Xc = Nominal reactance of the capacitor only.
IL = Line current.
Xnet = Net reactance of TCSC, in per unit of Xc, e.g.:
Xnet = +1.0 pu means operating with no thyristor current.
Xnet = +1.5 pu means operating with thyristor firing such that the 60 Hz
component of the capacitor voltage is 1.5XcIL, and lags current by 90 (capacitive).
Xnet = -0.5 pu means operating with thyristor firing such that the 60 Hz
component of the capacitor voltage is 0.5XcIL, and leads current by 90
(inductive).
Note that the impedance convention used here defines positive reactance as capacitive
and negative reactance as inductive, since the controller is expected to be used mainly
in the capacitive region [32].
Fig. 5.4(b) illustrates the capacitive and inductive operating regions in terms of net
TCSC reactance over a range of thyristor conduction levels. The gap (marked
5-4
unavailable) in the control region causes vernier operation to increase the TCSC
reactance in both regions.
Figure 5-4
TCSC Reactance, Currents, and Voltage with Partial Thyristor Conduction.
The impact of the vernier operation on the voltages and currents within the TCSC is
shown in Fig 5.4(a). An increase in the TCSC reactance has a corresponding increase in
current and voltage, which is a significant factor in rating the TCSC and results in
practical limits on the range of control achievable with single module.
The TCSC voltage and thyristor current waveshapes for various operating points in the
above regions are shown in Fig. 5.5.
5-5
Figure 5-5
Voltage and Thyristor Current waveshapes for various operating points.
5.4. Capability Characteristics and Limiting Conditions
The design of an TCSC will be dictated by a number of application requirements. The

limits of operation will be dictated by the equipment characteristics. This section will
review these limits qualitatively.
5.4.1. Voltage Limits
One dominant factor is the voltage withstand level, of the equipment. This imposes a
maximum operating voltage across the series capacitor. An important aspect of this
voltage constraint is the duration, since the application requirements will most likely
include short-time operation above the continuous rating of the system. For the
capacitors a typical guidelines on the relationship between the overvoltage and
duration are shown in Fig. 5.6 (which is obtained from IEEE standard 824-1985). The
solid line represents the typical maximum short-time overvoltage level versus duration
for the capacitor. The dashed line is same characteristics for MOV (Metal Oxide
Varistor).
5-6
Figure 5-6
Typical Series Capacitor Time-Overvoltage Capability.
5.4.2. Current Limits
Currents in the thyristor, controlled reactor, and capacitor may deviate substantially
from line current during normal operation, including significant harmonic content. The
heating effect of such current flow must be considered as a limiting factor on the
operation.
5.4.3. Reactance Limits
The control system for the TCSC will have some limits on the firing angles, both in the
capacitive and inductive operating regions, to prevent operation at or near parallel
resonance. This reactance limit will ensure stable operation of the control in the
respective region.
5.5. Control Concepts for TCSC Application
Application of an TCSC device requires much attention to control design, with the
following objectives:
(i) Provide a beneficial system stabilizing effect which maximizes utilization of the
controller.
(ii) Minimize the potential for adverse side effects. These can be classified as follows:
a. Interaction with high-frequency phenomena on the power system, such as

resonances in the ac system.
b. Local instabilities within the bandwidth of the desired control action.
5-7
(iii) Be highly dependable. This means that the control has the capability of operating as
expected when needed to help the power system.
(iv) Be robust. This means that the control will meet the objectives for a wide range of
operating conditions encountered in a power system application.
In situations demanding closed loop control, locally-measurable signals are much

preferred over dependence upon communicated signals. Also to prevent interaction
with phenomena outside the desired control bandwidth some form of filtering may be
needed.
5.5.1. TCSC Insertion Control Mode
In this mode (also called the Waiting Mode [21]) the thyristors are gated at a firing
angle of 180. Therefore no current will flow through controlled reactor and the TCSC
capacitor will be fully inserted.
5.5.2. TCSC Bypass Control Mode
In this mode (also known as thyristor switched reactor mode (TSR)), the thyristors are
gated at a firing angle of 90, and full conduction through the controlled reactor is
achieved. The TCSC impedance in this mode will normally be a small reactance in
series with the line. This mode is used to reduce the capacitor overvoltages during
fault conditions, and can also be used to modulate the power on the compensated line
by rapidly reducing the series compensation.
5.5.3. TCSC Vernier Control Mode
With vernier control the capacitive impedance of the scheme can be varied (in steps or
continuously) from a lower to upper limits (e.g. from 15 to 60 for the Kayenta
project), by varying the firing angle of the thyristor from 180 to some lower angle
limited by parallel resonance. The control possibilities to be used in this mode will be
described below.
5.5.3.1. Open Loop Impedance Control
The open loop impedance control is the fundamental TCSC control mode for both the
Kayenta and Slatt prototype projects. For this control, a reference impedance (Xref) is set
in the controller. This signal goes into a linearization block which converts the desired
impedance into a firing angle. This firing angle is then used to delay the gating pulses
and applied to the TCR of the TCSC. This control scheme is shown in Fig. 5.7.
5-8
Figure 5-7
Block Diagram of TCSC Control.
5.5.3.2. Closed Loop Current Control
By using the line current feedback in a closed loop control, the impedance of the TCSC
can be automatically varied to maintain the desired line current. For this control the
line current has to be monitored and compared with a desired reference current (Iref).
The difference between Iref and Iline is an error signal that is fed into a proportional-
integral (PI) controller. The output of the PI controller is a signal equal to the
impedance required to maintain a zero error input. This control scheme is shown in
Fig. 5.7. Note that in this control method the output of the controller is fed to the
linearizing block instead of Xref.
5.6. Supplementary Control Functions
Since the TCR represents the only controllable device in the TCSC; the following basic
control functions are needed:
(a) rms value measurements.
(b) Firing Angle Linearization.
(c) Gating pulse generator.
5-9
5.6.1. RMS Calculator
The line current (instantaneous) is passed through a 12-pulse rectification block. Then
the rectified value can be passed through a lag transfer function which represent the
current transducer time constant and also the change to p.u. This process is shown in
Fig. 5.8 as a block diagram. This block has a similar characteristic as a high pass filter.
Figure 5-8
RMS Calculator
5.6.2. Firing Angle Linearization
This feature is to linearize the TCSC response by compensating for its nonlinearity as
shown in Fig. 5.9 which represents piece-wise linearization to the well known non-
linear relationship between TCR susceptance and its firing angle. This relation and the
linearization process is described below:
BTCR (pu) = (2 - 2 + sin2)/ (eq. 5-1)
1
= 1 o sin o (eq. 5-2)

Assuming:
BTCR (pu) = - i (i.e Linear) (eq. 5-3)
Then eliminating BTCR from eq. (5.2), leads to:
1
i = o + sin o (eq. 5-4)

which the piece-wise linear function desired.
5-10
Figure 5-9
Firing Angle Linearization Function
5.6.3. Gating Pulse Generator
The firing angle o is the angle measured from the voltage zero crossing for each valve.
In a 6-pulse operation, there are 6 valves and 6 firing pulses are required per cycle, one
every 60. In the actual system, the voltage, the phase angle, and the frequency may
continually change. To comply with these changes, a voltage controlled oscillator
(VCO) is needed. The VCO output is synchronized with the system through a phase-
locked loop (PLL) as shown in Fig. 5.10.
In Fig. 5.10(a), Vref represents the sign of the voltage across the TCSC as shown in Fig
5.10(b). The VCO functionality is achieved by a controlled integrator. The output of the
VCO is produced by resetting the controlled integrator at the negative going ac voltage
zero crossings. This resetting process is shown in Fig. 5.10(c). The input to the
integrator is a unity gain, producing a sawtooth output waveform. In steady state its
period will be T (=1/f) and its slope is 1.0 at the reset point (should be -T/2). Where T
is the system period as determined by the phase locked loop (PLL). From the VCO two
other signals are used: Vvco1 and Vvco2. Vvco1 monitors the sign of VCO and is compared
with Vref to derive Verr. Verr passes through an LP filter and an integerator (with T limits)
to effect the necessary changes in T. Vvco2 is also a sawtooth waveform with period T but
its slope is 4/T. To achieve this the output Vvco2 is offset by a gain of 3 as indicated in
Fig. 5.10(a). Finally Vvco2 after being offset and compared to o is used to produce the
5-11
gating pulses. Note each pulse is issued when Vvco2 reaches the right level, and
continues for 60.
During transient situations, the system voltage might be highly distorted resulting in
erroneous and false zero crossings that will lead to false phase locking and
consequently false firing. To overcome this problem a detection loop monitors any
negative going zero crossing that occurs in less than T/2 seconds after the latest
resetting upon which the controlled integerator of the VCO, is not reset.
Figure 5-10(a)
Phase-Locked Control System.
5-12
Figure 5-10(b,c)
Gating Pulse Generator and Synchronization Scheme
5.7. Summary
The characteristics of the TCSC have been reviewed. Some of the possible control
strategies used in this study are also presented. Test cases with a single-Module TCSC
are presented in next chapter.
5-13
6
SYSTEM STUDIES
6.1. Introduction
This chapter is dedicated for the evaluation of the EMTP/TSP interactive simulator,
with TCSC test systems. All the test cases to be described here use the simulation
method of section 4.2, and the external systems of TSP are represented by fundamental
frequency Norton equivalents in EMTP.
The frequency dependent equivalent network derivation, as developed in this contract,

is currently limited to 150 nodes (based on modified nodal formulation). EMTP version
2.1 (which now incorporates a form of FDNE) can accommodate 250 network buses, but
is limited to 100 linear branches and 50 shunt branches. The smallest test system used
in this chapter (24 bus) system has 188 linear branches, which is beyond the version 2.1
capability. Beyond the scope of this contract, the separatly developed FDNE is being
extended to provide sufficient capacity at least for the test systems.
In the meantime, it has been found that the simpler Norton equivalent is not seriously
detrimental to the EMTP solution since the currents and voltages at the TSP/EMTP
locations are not grossly distorted by the transient response of the TCSC. This issue is
estimated to be more of a concern for dc systems and other FACTS controllers (such as
SVC) for which the transient waveforms can be expected to be more distorted. The
current TSP/EMTP interaction methodology is still an operational facility even though
the FDNE is not included.
6.2 Proposed System Studies and Performance Evaluations
To validate the developed simulator and evaluate TCSC steady-state and transient
behavior, The following studies are performed:
1. Steady-state operation in all control modes.
2. Response to ramping/stepping ohms order.
6-1
System Studies
3. Response to ac faults (single-phase and three-phase to ground faults) adjacent to the

device.
4. Subsynchronous resonance and torsional damping performance.
6.3. Test Systems
The following test systems are used to conduct the system studies mentioned above,
using the developed simulator.
(a) Simple radial ac system for preliminary testing of both steady state and small signal
behavior of the TCSC.
(b) IEEE 24-bus (9-generator) system, for dynamic and transient responses of TCSC
system.
(c) IEEE 118-bus (30-generator) system, for dynamic and transient responses of TCSC
system.
(d) IEEE second benchmark model for computer simulation of subsynchronous

resonance [48]. This system will be used to verify the performance of TCSC in
damping subsynchronous resonance.
6.4. Simulation Studies
Fig. 6.1 depicts a simple generic test system used to study the steady-state behavior of
the TCSC system. The reactance of both lines is 200 . The TCSC capacitor value is 212
F, and the reactor is 60 mH. The same test system has been used to further validate the
developed simulation facility described in the previous chapters. The standard EMTP
representation would include the entire system and, of course, would be practicable
with a small system model as shown in Fig. 6.1(a). In anticipation of the need to
incorporate a large ac system network which is beyond the scope of EMTP, Fig. 6.1(b)
indicates the test partitioning between the domain of the detailed EMTP solution and
the domain of the TSP for simultaneous solution.
6-2
System Studies
Figure 6-1(a)
Test System for Cases 1, 2, and 4.
Figure 6-1(b)
Test System for Cases 3 and 5.
Figure 6-1(c)
EMTP Model of ASC.
6.4.1. Radial ac System with TCSC
6.4.1.1. Test Cases and Results
Case 1: Steady-State Waveforms
Fig. 6.2(a) shows the steady-state waveforms for the TCSC operating at of 120 with
the phase-locked loop synchronized to the TCSC voltage. The thyristors conduct for
6-3
System Studies
120 in the corresponding part of the cycle. The corresponding steady-state control
waveforms are shown in Fig. 6.2(b).
Figure 6-2(a)
Results For Test Case 1.
6-4
System Studies
Figure 6-2(b)
Control Waveforms For Test Case 1.
Case 2: Step ResponseEMTP Simulation
The firing angle for the TCR of the TCSC is changed in steps at intervals of 100 ms.
Starting at at 180 (conduction angle = 0), it finally operated at = 100. The TCSC
waveforms in Fig. 6.3 indicate an orderly step response as the compensation increases
from 6% to 11%. The response demonstrates the capability of the TCSC to change
compensation levels sufficiently fast for envisaged contingent situations.
6-5
System Studies
Figure 6-3
Results for Test Case 2.
Case 3: Step ResponseEMTP/TSP Simulation
The waveforms in Fig. 6.4 are identical to those in Case 2. In this case the ac sources are
modeled with classical dynamic machines in TSP. As expected the results compared
well to the previous case even though the TSP (external) ac system was modeled with a
fundamental frequency Norton equivalent in EMTP. Note that the system used here is
fairly small and no significant transients are applied. The reduction in the firing angle
6-6
System Studies
and the corresponding increase in compensation caused no significant swing in the

generator angle, as the system reactance have been slightly reduced.
Figure 6-4
Results for Test case 3.
Case 4: Ramp ResponseEMTP Simulation
The thyristor conduction is initialized to zero, i.e. the TCR is effectively blocked and 1.0
pu Xc is fully inserted. is ramped up from 0 to 150 ( is reduced from 180 to 105).
Then was ramped down to 0 with the same frequency. Although the waveforms of
6-7
System Studies
Fig. 6.5 show an orderly stable response, practically this may not be possible with
smaller values of controlled reactor due to internal TCSC harmonic resonance.
Figure 6-5
6-8
System Studies
Case 5: Ramp ResponseEMTP/TSP Simulation
For the same test conditions as Case 4, the waveforms of Fig. 6.6 show the same results
obtained with EMTP/TSP simulation. The additional rotor angle response shows that it
tracks the change in the effective impedance between the generator and the infinite bus.
Figure 6-6
6-9
System Studies
6.4.2. IEEE 24 Bus (9-Generator) Test System
The test system for this case is shown in Fig. 6.7. Several load flow studies have
indicated that both lines 617 and 1120 are heavily loaded. On this basis a TCSC has
been inserted on line 1120 to verify its transient/dynamic behavior in this system
using the developed EMTP/TSP simulator. The dashed line surrounding line 1120
indicates EMTP simulation domain, where as the TSP external system is every thing
outside this line.
Figure 6-7
Single-Line Diagram of IEEE 24-bus System.
6-10
System Studies
The generators of the TSP system are represented by a seventh order model, including
IEEE type 1 excitation system. The loads are represented by constant impedance to the
ground. The rest of the system components (transmission lines, transformers, shunt
capacitors, . . . etc.) are the typical load flow and/or transient stability data, and these
are listed on section A.1 of Appendix A with IEEE load flow old format.
The EMTP data case includes line 1120 represented by a cascade of 2 PI circuits and a
single module TCSC sandwiched in between. The TCSC capacitor was chosen to
provide a 14.5% compensation when the TCR is blocked. The TSP external ac system is
modeled by a 60 Hz Norton equivalent at buses 11 and 20.
Case 1: Three Phase Fault
The case has initiated with TCSC operating in impedance control mode (capacitive
vernier mode), with thyristors conducting at 39. A fault was applied at 150 ms, on the
TCSC terminal adjacent to interface bus 11. The fault was cleared 3 cycles later. Fig
6.8(a) through 6.8(e) show the TCR current, capacitor voltage, line current, and interface
buses (11 and 20) voltages, respectively. Although the the simulation time for this case
is 4 s, only the first 0.5 s (which include the pre-fault, during fault, and post-fault
responses of the TCSC device) of the EMTP waveforms is shown for convenience of
presentation and clarity reasons.
The capacitor voltage waveforms indicate the operation of the protective arrester after
fault application, and re-insertion of the capacitor, in order to limit the capacitor
voltage. The feature of fast valving of the TCSC has been utilized to cancel out the
induced offset in the line current. The asymmetry was removed in 2 cycles following
fault clearance.
Fig 6.9(a) through 6.9(c) depicts the dynamic behavior of the external ac system (for the
full 4 s simulation time of the run) due to this contingency. The system is transiently
stable, however a dynamic instability mode is apparent in machines rotor angle traces.
6-11
System Studies
Figure 6-8(a)
TCR Current, Case 1, Section 6.4.2.1
6-12
System Studies
Figure 6-8(b)
TCSC Capacitor Voltage, Case 1, Section 6.4.2.1
6-13
System Studies
Figure 6-8(c)
Line Current, Case 1, Section 6.4.2.1
6-14
System Studies
Figure 6-8(d)
Bus 11 Voltage, Case 1, Section 6.4.2.1
6-15
System Studies
Figure 6-8(e)
6-16
System Studies
Figure 6-9(a)
Generators 13, rotor angles, Case 1, Section 6.4.2.1
6-17
System Studies
Figure 6-9(b)
6-18
System Studies
Figure 6-9(c)
6-19
System Studies
6.4.3. IEEE 118 Bus (30-Generator) Test System
The test system description for this case is shown in section A.2 of Appendix A, in IEEE
old format listing. The listing provide the base case load flow results as well as the
system parameters.
Based on load flow studies, line 212 (enclosed by box on the data listing of section A.2
of Appendix A), has been chosen for locating the TCSC. Again only this line and the
TCSC are included into the EMTP simulation data case. The rest of the ac system is
modeled in the TSP domain.
The modeling aspects of the system parameters (i.e. machines, lines, . . . etc) for both the
TSP and EMTP simulation domains are similar to previous case of the IEEE 24 bus
system. The main differences are: (a) some of the TSP synchronous machines are motors
as indicated by the generation load flow of section A.2. And (b) the TCSC capacitor for
this case provides 22% series compensation to line 212. The following test cases where
studied with the EMTP/TSP interactive simulator.

Case 1: Three Phase Fault
Fig 6.10(a) through 6.10(e) show the TCR current, capacitor voltage, line current, and
interface buses (11 and 20) voltages, respectively, in response to a 3 phase, 3 cycles,
fault at the TCSC terminal adjacent to interface bus 12. The capacitor voltage waveforms
indicate the operation of the protective arrester after fault application, and re-insertion
of the capacitor, in order to limit the capacitor voltage. Similar to the previous test
system, the feature of fast valving the TCSC has been utilized to cancel out the induced
dc offset in the line current due to the capacitor re-insertion. The offset was removed in
2 cycles following fault clearance. The interface buses waveforms indicate an orderly
sinusoidal behavior without noticeable distortion. This implies that the EMTP
equivalents into TSP which are based on rms measurements for both current injections
and bus voltages at the interface buses, are authentic.
The dynamic behavior of the external ac system due to this fault, is illustrated in Fig
6.11(a) through 6.11(j). The largest angular changes in rotors position are evident in
machines (1 to 15 and 29).
Case 2: Single Phase Fault
The setup of this test case is similar to the previous case. A 3 cycles, single phase fault
was applied at the same location of the previous case. The EMTP and TSP system
responses are shown in Fig 6.12 and 6.13 respectively. The major observations of this
test case are: (a) only the faulted phase (in this case phase a) of the TCSC has been
effected, while the other phases have continued their vernier steady state operation
without disturbance, and (b) the dynamic behavior of the external ac system is
6-20
System Studies
somewhat similar to the preceeding case; however the rotor angle swings are more
damped and experienced smaller changes in comparison to the case with 3 phase fault.
Figure 6-10(a)
6-21
System Studies
Figure 6-10(b)
6-22
System Studies
Figure 6-10(c)
6-23
System Studies
Figure 6-10(d)
6-24
System Studies
Figure 6-10(e)
6-25
System Studies
Figure 6-11(a)
6-26
System Studies
Figure 6-11(b)
6-27
System Studies
Figure 6-11(c)
6-28
System Studies
Figure 6-11(d)
Generators 10-12, rotor angles, Case 1, Section 6.4.3.1
6-29
System Studies
Figure 6-11(e)
6-30
System Studies
Figure 6-11(f)
6-31
System Studies
Figure 6-11(g)
6-32
System Studies
Figure 6-11(h)
6-33
System Studies
Figure 6-11(i)
6-34
System Studies
Figure 6-11(j)
6-35
System Studies
Figure 6-12(a)
6-36
System Studies
Figure 6-12(b)
6-37
System Studies
Figure 6-12(c)
6-38
System Studies
Figure 6-12(d)
6-39
System Studies
Figure 6-12(e)
6-40
System Studies
Figure 6-13(a)
6-41
System Studies
Figure 6-13(b)
6-42
System Studies
Figure 6-13(c)
6-43
System Studies
Figure 6-13(d)
6-44
System Studies
Figure 6-13(e)
6-45
System Studies
Figure 6-13(f)
6-46
System Studies
Figure 6-13(g)
6-47
System Studies
Figure 6-13(h)
6-48
System Studies
Figure 6-13(i)
6-49
System Studies
Figure 6-13(j)
6-50
System Studies
6.4.4. IEEE 2nd-Benchmark Model For Subsynchronous Resonance
This section presents a novel technique to mitigate the Subsynchronous Resonance

(SSR) problem, in a series compensated ac transmission using TCSC.
The technique utilizes the application of TCSC to introduce a deliberate phase

imbalance, during SSR conditions. This implies that SSR oscillations shall derive
unbalanced 3 phase currents. The developed electrical torque will therefore be smaller
than the case where these currents are balanced and symmetrical. As such the coupling
strength between the mechanical and electrical systems will be weaker and the energy
exchange between the two systems at SSR frequencies will be suppressed. Therefore
the build-up of torsional stresses on the generator shaft system will also be suppressed.
The analytical and theoretical issues associated with this technique have not yet been
completed. The performance and effectiveness of the strategy is validated by EMTP
simulations only. Test cases with the developed EMTP/TSP are currently under
investigation.
The test system used for this case study is IEEE 2nd-benchmark model for SSR. This
system is shown in Fig 6.14. The system data are available in [45].
Case 1: Three Phase Fault with Fixed Compensation
A 3-cycle 3-phase to ground fault is applied at bus 1 with 55% fixed series
compensation case. The generator and low pressure mass torque, the net air gap
torque, and the generator torque angle are shown on Fig 6.15. The results indicate the
excitation of a 25 Hz mode (close to the system 1st SSR mode of 24.6 Hz), with a self
excitation situation (i.e. progressively increasing amplitude in torque and angle).
Case 2: Three Phase Fault with TCSC and 38% Compensation
The test case is replicated using a TCSC with 10%60% compensation capability. In
vernier mode with 38% compensation, the torque and angle damping are evident from
Fig. 6.16. The apparent suppression of the torsional modes and the self excitation of
SSR, is achieved by the natural discrete operation of the TCSC.
Case 3: Three Phase Fault with TCSC and 55% Compensation
The previous test is now performed with the compensation level of the TCSC increased
to 55%. While the SSR behavior is still improved there is evidence of a 50 Hz mode
(being the 3rd SSR mode of the system) in the torque trace of Fig. 6.17. Also there is
local electro-mechanical oscillation of 2 Hz, as can be seen in the generator angle.
6-51
System Studies
Case 4: Three Phase Fault with TCSC and Unbalanced Compensation
In this case, a forced temporary imbalance of the 3-phase TCSC action is introduced
after the fault. During the fault, phases a and c in vernier mode provide 12%
compensation with phase B at 38% level. One cycle after the fault clearing, all three
phases resumed operation at 38% compensation. Fig. 6.18 shows the apparent
suppression of the torsional torques and, interestingly, no local machine modes have
been excited.
Figure 6-14
Second Benchmark Model System #1.
6.5. Summary
Three test systems have been devised to provide a basis for the validation of the
developed EMTP/TSP interactive simulator. These systems are, a simple radial ac
system, the IEEE 24 bus and 9 generators system, and the IEEE 118 bus and 30
generator system. The test cases performed have covered the whole spectrum of
operating regions (i.e. the steady state, dynamic, and transient behavior) of the TCSC
FACTS device.
Most of the test cases have indicated the suitability of the impedance control scheme of
5.5.3, for the TCSC. An exception occurred in the IEEE 24 bus system, where the
dynamic stability oscillations have persisted, and some form of control action such as
the TCSC power system damping (PSD) proposed in [22] could be effective.
The Fault studies performed for the large systems have revealed authentic interactive
behavior of both the detailed EMTP and the external TSP systems. The recovery
behavior of the TCSC from faults was very much similar to previous studies for the
Slatt and Kayenta projects [5][6].
Finally a new approach for the use of the TCSC in the mitigation of SSR problem is
presented. The effectiveness of the approach was validated EMTP simulations for the
IEEE 2nd benchmark model for SSR.
6-52
System Studies
Figure 6-15
Results for case 1, Section 6.4.4.1
Figure 6-16
6-53
System Studies
Figure 6-17
Figure 6-18
6-54
7
REFERENCES
1. J. Reeve, S.P. Lane-Smith, Integration of Real-Time Controls and Computer

Programs for Simulation of Direct Current Transmission, IEEE Paper 89 SM 789-9-
PWRD, July 1989.
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3. N. Hingorani, Flexible AC Transmission Systems, Panel Session Paper, IEEE

Winter Power Meeting, Atlanta, GA - Feb. 7, 1990.
4. N. Hingorani, Flexible AC Transmission Systems, IEE International Conference on

AC and DC Power Transmission, No. 345, pp. 1-7, 1991.
5. E. Larsen, (et. al.) Thyristor Controlled Series Compensation - Control Design and
Dynamic Performance, Flexible AC Transmission Systems EPRI Conference,
Boston, Massachusetts, May 1820, 1992.
6. R.A. Hedin, (et. al.) Advanced Series Compensation (ASC) Transient Network
Analyzer Studies Compared with Digital Simulation Studies Flexible AC
Transmission Systems EPRI Conference, Boston, Massachusetts, May 1820, 1992.
7. N. G. Hingorani, (et. al.) Simulation Of AC System Impedance In HVDC system

Studies, IEEE Trans. On PAS, Vol. PAS-89, No. 5/6, May/June 1970. (pp 820-828)
8. A. S. Morched, (et. al.) Transmission Network Equivalents For Electromagnetic

Transients Studies, IEEE Trans. On PAS, Vol. PAS-102, No. 9. Sept. 1983 (pp. 2984
2994).
9. D.A. Woodford, (et. al.) Digital Simulation of DC Links and AC Machines, IEEE
Transactions on Power Apparatus and Systems, Vol. PAS-102, No. 6, pp. 16161623,
June 1983.
10. D.A. Woodford, Validation of Digital Simulation of DC Links, IEEE Transactions

on Power Apparatus and Systems, Vol. PAS-104, No. 9, pp. 25882595, September
1985.
7-1
References
11. T. Ino (et. al.), Validation of Digital Simulation of DC Links-Part II, IEEE
Transactions on Power Apparatus and Systems, Vol. PAS-104, No. 9, pp. 25962601,
September 1985.
12. M. D. Heffernan, (et. al.) Computation Of AC-DC Disturbances, Part I: Interaction

Coordination Of Generator And Converter Transient Modes, IEEE Trans. on PAS.,
VOL. PAS-100, No. 11 Nov. 1981. (pp 43414348)
13. K. S. Turner, (et. al.) Computation Of AC-DC Disturbances, Part II: Derivation of
Power Frequency Variables From Converter Transient Response, IEEE Trans. on
PAS. Vol. PAS-100 No. 11, Nov. 1981 (pp 43494355)
14. K. S. Turner (el. al.) Computation Of AC-DC Disturbances Part III: Transient
Stability Assessment, IEEE Trans. PAS, Vol. PAS 100, No. 11, Nov. 1981 (pp 4356
4363)
15. J. Reeve, R. Adapa, A New Approach to Dynamic Analysis of AC Networks

Incorporating Detailed Modeling of DC Systems. Part I: Principles and
Implementations, IEEE Trans., Vol. PWRD-3, No. 4, pp. 20052011, October 1988.
16. R. Adapa, J. Reeve, A New Approach to Dynamic Analysis of AC Networks

Incorporating Detailed Modeling of DC Systems. Part II: Application to Interaction
of DC and Weak AC Systems, IEEE Trans., Vol. PWRD-3, No. 4, pp. 20122019,
October 1988.
17. J. Reeve, M. Sultan, Gain Scheduling Adaptive Control Strategies for HVDC
Systems to Accommodate Large Disturbances, IEEE WM 1993.
18. J. Reeve, M. Sultan Robust Adaptive Control of HVDC Systems, IEEE SM 1993.
19. A. Semlyen, M.R. Iravani Frequency Domain Modeling of External Systems in an

Electro-Magnetic Transients Program, IEEE Paper 92 WM 304-6 PWRS, 1992.
20. L.X. Bui, (et. al.), EMTP TACS-FORTRAN Interface Development for Digital
Controls Modeling, IEEE Transactions on Power Systems, Vol. 7, No. 1, pp 314
319, February 1992.
21. N. Christl, (et. al.) Advanced Series Compensation with Variable Impedance, EPRI
Proceedings: FACTS Conference I - The Future in High-Voltage Transmission,
March 1992.
22. S. Nyati, (et. al.) Effectiveness of Thyristor Controlled Series Capacitor in

Enhancing Power System Dynamics: An Analog Simulator Study, IEEE Paper 93
SM 432-5 PWRD, 1993.
7-2
References
23. J. P. Bowles AC System And Transformer Representation for HVDC Transmission

Studies, IEEE Trans. On PAS, Vol. PAS-89 No. 7 Sept/Oct. 1970.
24. William H. Press, (et. al.) : Numerical Recipes, Cambridge Univ. Press, Cambridge.
1986.
25. J. Vlach, (et. al.) : Computer Methods For Circuit Analysis And Design, Van
Nostrand Reinhold Electrical/Computer Science And Eng. Series 1983.
26. NETOPT & NETSIM Manual, Program For Analysis And Design Of Linear
Networks, 1987, University of Waterloo.
27. G.D. Breuer Flexible AC Transmission Systems, (FACTS): Phase 1b Scoping Study,
Final Report, RP3022-2, May 4, 1990.
28. E.V. Larsen, (et. al.) Benefits of Thyristor-Controlled Series Compensation, CIGRE
Paper 14/37/38-04, Paris, August 1992.
29. J.J Vithayathil, (et. al.) Case Studies of Conventional and Novel Methods of
Reactive Power Control on an AC Transmission System, CIGRE SC 38-02, Paris,
1988.
30. N. Christl, (et. al.) Power System Studies and Modeling for the Kayenta 230 kV
Substation Advanced Series Compensation, IEE Fifth Intl. Conference on AC and
DC Transmission, pp 3337, Sept. 1720, 1991.
31. J. Urbanek, (et. al.) Thyristor Controlled Series Compensation Prototype

Installation at the Slatt 500 kV Substation, IEEE Transactions on Power Delivery,
Vol. 8, No. 3, pp 14601469, July 1993.
32. E.V. Larsen, (et. al.) Characteristics and Rating Consideration of Thyristor
Controlled Series Compensation, IEEE Paper 93 SM 433-3 PWRD, 1993.
33. E.V. Larsen Thyristor-Controlled Series Compensation - An Overview, CIGRE,

Intl. Colloquium on HVDC and FACTS, Paper 8.3, Sept. 29 - Oct. 1, 1993, New
Zealand.
34. S.G. Helbing, G.G. Karady Investigation of an Advanced Form of Series

Compensation, IEEE Paper 93 SM 431-7 PWRD, 1993.
35. B.M. Pasternack, Flexible AC Transmission System: Transmission Limitations - A

Planners Viewpoint on the Needs, Panel Session Paper, IEEE Winter Power
Meeting, Atlanta, GA - Feb. 7, 1990.
36. R. OKeefe, (et. al.) Application of FACTS Technologies From Stability points of
view, Panel Session Paper, IEEE Winter Power Meeting, Atlanta, GA - Feb. 7, 1990.
7-3
References
37. L. Gyugyi Solid-State Control of AC Power Transmission, Panel Session Paper,

IEEE Winter Power Meeting, Atlanta, GA - Feb. 7, 1990.
38. D.N. Ewart, (et. al.) Investigation of FACTS Options to Utilize the Full Thermal
Capacity of AC Transmission, Panel Session Paper, IEEE Winter Power Meeting,
Atlanta, GA - Feb. 7, 1990.
39. J.F. Hauer Operational Aspects of Large-Scale FACTS Controllers, Panel Session
Paper, IEEE Winter Power Meeting, Atlanta, GA - Feb. 7, 1990.
40. P.R. Nannery Substation Aspects of FACTS, Panel Session Paper, IEEE Winter
Power Meeting, Atlanta, GA - Feb. 7, 1990.
41. N. Hingorani, Flexible AC Transmission Systems, IEE Fifth Intl. Conference on AC

and DC Transmission, pp 17, Sept. 1720, 1991.
42. R.M. Maliszewski, (et. al.) Power Flow Control in a Highly Integrated
Transmission Network, CIGRE Paper 37-303, 1990, Paris.
43. L.P. Singh : Advanced Power System Analysis And Dynamics, A Halsted Press
Book, 1983.
44. IEEE Committee Report Transient Stability Test Systems For Direct Stability
Methods, IEEE Transactions on Power Systems, Vol. 7, No. 1, pp. 3744, Feb. 1992.
45. IEEE Subsynchronous Resonance Working Group Second Benchmark Model for
Computer Simulation of Subsynchronous Resonance, IEEE Transactions on Power
Apparatus and Systems, Vol. PAS-104, No. 5, pp. 10571066, May 1985.
7-4
A
TEST SYSTEMS DATA
G.1. IEEE 24 Bus System
Following is the load flow data case for the IEEE 24 Bus System.
A-1
Test Systems Data
A-2
Test Systems Data
G.2. IEEE 118 Bus System
Following is the load flow data case for the IEEE 118 Bus System.
A-3
Test Systems Data
A-4
Test Systems Data
A-5
Test Systems Data
A-6
Test Systems Data
A-7
Test Systems Data
A-8
Test Systems Data
A-9
Test Systems Data
A-10
Test Systems Data
A-11
Test Systems Data
A-12
Test Systems Data
A-13

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Transient Behavior of Systems

Containing FACTS Devices

Final Report, July 1997

EPRI Project Manager

ORGANIZATION(S) THAT PREPARED THIS REPORT

To develop a comprehensive digital simulator for studying FACTS-power system

Researchers used a digital simulator based on EPRIs Electromagnetic Transients

Developing a FACTS implementation for large, extended ac systems represents a

1.1. General Introduction ......................................................................................................1-1

1.2. Research Objectives .....................................................................................................1-4

1.3. Research Resources.....................................................................................................1-6

2 REVIEW OF PREVIOUS WORK ........................................................................................2-1

2.1. Introduction .....................................................................................................................2-1

2.2. Current Trends in Three-Phase Detailed Analysis...................................................2-1

2.3. Scope and Need for New Developments...................................................................2-4

2.4. Summary and Conclusions ..........................................................................................2-5

3 NEW APPROACH FOR DETAILED TRANSIENT STUDIES ......................................3-1

3.3. Representation of the External System in EMTP......................................................3-4

3.4. Representation of the Detailed System in TSP.......................................................3-15

3.5. Summary .......................................................................................................................3-16

4 COORDINATION OF TSP AND EMTP SOLUTIONS.....................................................4-1

4.1. Introduction .....................................................................................................................4-1

4.2. Interaction Methodology (A) [15]..................................................................................4-1

4.3. Interaction Methodology (B) .........................................................................................4-2

4.4. Overall Simulation Concept .........................................................................................4-4

4.5. Preliminary Results .......................................................................................................4-5

4.6. Summary .........................................................................................................................4-7

5 THEORETICAL ASPECTS OF THYRISTOR CONTROLLED SERIES

5.1. Introduction .....................................................................................................................5-1

5.2. TCSC Circuit Model and Operating Modes ...............................................................5-2

5.3. TCSC Operating Regions ............................................................................................5-4

5.4. Capability Characteristics and Limiting Conditions..................................................5-6

5.5. Control Concepts for TCSC Application ....................................................................5-7

5.6. Supplementary Control Functions...............................................................................5-9

5.7. Summary .......................................................................................................................5-13

6.1. Introduction .....................................................................................................................6-1

6.2 Proposed System Studies and Performance Evaluations........................................6-1

6.3. Test Systems ..................................................................................................................6-2

6.4. Simulation Studies.........................................................................................................6-2

6.5. Summary .......................................................................................................................6-52

G.1. IEEE 24 Bus System ................................................................................................... A-1

G.2. IEEE 118 Bus System ................................................................................................. A-3

Figure 1-1 ..................................................................................................................................1-2

TABLE 3-1 RLC VALUES FOR EQUIVALENT CIRCUIT OF TEST SYSTEM

1.1. General Introduction

The central technology of FACTS involves high power electronics, a variety of

1. Sub-synchronous resonance (SSR) damping.

2. Static var compensator.

3. Controlled series capacitor.

4. Phase angle regulator.

5. Static Synchronous Compensator (STATCOM).

6. Unified power flow controller.

It is appropriate for the emerging FACTS technology to be supported by analytical

Examples of FACTS studies are:

1. Harmonic interaction of FACTS with adjacent uncompensated ac systems.

2. Proper integration of FACTS into existing ac systems through their control

3. Development of simulation models reflecting both the transient and dynamic

The majority of research studies of FACTS controllers (e.g. switched series/parallel

1.2. Research Objectives

The analytical tools in establishing the accurate transient/dynamic behavior of an

In current practice, during a transient stability run, the steady-state equations of a

A detailed transient/dynamic analysis of a power system can be performed by three-

will be performed. At discrete time-steps, the computationally large, but in circuit