Modeling and Simulation of Complex Power Systems

Cover
Contents
About the authors
Additional contributors
1 Introduction
	1.1 The structure of the book
	1.2 How to use the book
	Supplementary material
2 Digital simulation
	2.1 Euler forward method
	2.2 Backward Euler method
	2.3 Trapezoidal rule method
	2.4 Predictor and corrector method
	2.5 Runge–Kutta methods
	2.6 Adams–Bashforth and Adams–Moulton methods
	2.7 Accuracy comparison
	Exercises
	References
3 Nodal methods
	3.1 Nodal analysis
	3.2 Matrix stamp
		3.2.1 Resistor
		3.2.2 Ideal current source
		3.2.3 Real current source
		3.2.4 Real voltage source
	3.3 Modified nodal analysis
	3.4 Resistive companion
		3.4.1 Resistive companion solution flow
		3.4.2 Inductor and capacitor in resistive companion
	3.5 Numerical methods for the solution of linear systems
		3.5.1 Gaussian elimination
	3.6 Controlled sources
		3.6.1 VCCS
		3.6.2 VCVS
		3.6.3 CCCS
		3.6.4 CCVS
	Exercises
	References
4 State-space methods
	4.1 State-space modeling
	4.2 Circuit modeling
	4.3 Discretization
	4.4 Automated state-space modeling
	4.5 Simulation of state-space model
	4.6 Signal flow solver
	4.7 From state-space to transfer function representation
	Exercises
	References
5 Parallelization methods
	5.1 Introduction
	5.2 Case study 1: parallelize the simulation of a ship power system
	5.3 Case study 2: parallelize the simulation of the IEEE 34 and IEEE 123 distribution network
	5.4 Diakoptics
	5.5 State-space nodal method (SSN)
	5.6 Transmission line modeling and the waveform relaxation-based method
	5.7 Latency insertion method
		5.7.1 Latency insertion method for power electronics simulation
		5.7.2 Latency insertion method combined with state space and nodal methods
	5.8 LB-LMC method
	5.9 Exercises
	References
6 Simulation under uncertainty
	6.1 Introduction
	6.2 Case studies
		6.2.1 Case study 1: ship system analysis under uncertainty
		6.2.2 Uncertainty sources in the simulation of distribution networks
	6.3 Uncertainty and statistics
	6.4 Monte Carlo
		6.4.1 Theory
		6.4.2 Computation of Monte Carlo simulations
		6.4.3 QMC
	6.5 Polynomial chaos
		6.5.1 Theory
		6.5.2 Statistical moments
		6.5.3 Inner product calculation
		6.5.4 Basic algebra using polynomial chaos
	6.6 Non-intrusive polynomial chaos
		6.6.1 Definition of collocation points
		6.6.2 Evaluation
		6.6.3 Expansion coefficients of the target variable
	6.7 Exercises
	References
7 Simulation language specification—Modelica
	7.1 Example 1: Simulation of electrical and thermal
components considering the impact of a building
heating system on the voltage level in a distribution grid
	7.2 Example 2: Static voltage assessment of a distribution grid with high penetration of photovoltaics
	7.3 Example 3: Transient characteristics of synchronous generator models
	7.4 Example 4: Simulation of electrical and mechanical
components considering the start of an asynchronous
induction machine
	7.5 Introduction to Modelica
	7.6 Fundamentals of the Modelica language
	7.7 Hello World using Modelica
	7.8 Electrical component modeling by equations
	7.9 Object-oriented modeling by inheritance
	7.10 System modeling by composition
	7.11 Hybrid modeling
	7.12 Further modeling formalisms
	7.13 Implementation and execution of Modelica
	7.14 Exercises
		7.14.1 Task 1
		7.14.2 Task 2
	7.15 Exercises—solutions
		7.15.1 Task 1—solution
		7.15.2 Task 2—solution
	References
8 Dynamic phasors
	8.1 Simulation examples
		8.1.1 Synchronous generator three-phase fault
		8.1.2 Grid simulation using diakoptics
	8.2 Introduction
	8.3 Comparison to electromechanical simulation
	8.4 Bandpass signals and baseband representation
	8.5 Extracting dynamic phasors from real signals
	8.6 Modeling dynamic systems using dynamic phasors
	8.7 Dynamic phasor power system component models
		8.7.1 Inductance model
		8.7.2 Capacitance model
	8.8 Dynamic phasors and resistive companion models
		8.8.1 Inductance model
		8.8.2 Capacitance model
	8.9 Resistive companion simulation example
	8.10 Accuracy
	8.11 DP and EMT accuracy simulation example
	8.12 Summary
	References
9 Modeling of converters as switching circuits
	9.1 Simulation of power electronics systems
	9.2 Role of power electronics in power systems
	9.3 Modelling and simulation of power electronics in power systems
	9.4 Converter models
	9.5 Averaged models
	9.6 Averaged circuits
	9.7 Averaged switching elements
		9.7.1 Linearization
		9.7.2 Considerations on the averaged models
	9.8 State-space models
		9.8.1 Continuous time models
		9.8.2 Discrete time models
		9.8.3 Generalized state-space models
		9.8.4 Linearization of state-space models
	9.9 Implementing a switch
		9.9.1 Ideal switch
		9.9.2 Switching of parameter value
		9.9.3 Switching of companion source
	9.10 Resistive companion model of converters
	Problems
	References
10 Real-time and hardware-in-the-loop simulation
	10.1 Introduction
	10.2 Model-based design and real-time simulation
	10.3 General considerations about real-time simulation
		10.3.1 The constraint of real-time
		10.3.2 Stiffness issues
		10.3.3 Simulator bandwidth considerations
		10.3.4 Achieving very low latency for HIL application
		10.3.5 Effective parallel processing for fast EMT simulation
		10.3.6 FPGA-based multi-rate simulators
		10.3.7 Advanced parallel solvers without artificial delays or stublines: application to active distribution networks
		10.3.8 The need for iterations in real-time
	10.4 Phasor-mode real-time simulation
	10.5 Modern RTS requirements
		10.5.1 Simulator I/O requirements
	10.6 Rapid control prototyping and HIL testing
	10.7 Power grids real-time simulation applications
		10.7.1 Statistical protection system study
		10.7.2 Monte Carlo tests for power grid switching surge system studies
		10.7.3 Multi-level modular converter in HVDC applications
		10.7.4 High-end super-large power grid simulations
	10.8 Motor drive and FPGA-based real-time simulation applications
		10.8.1 Industrial motor drive design and testing using CPU models
		10.8.2 FPGA modeling of SRM and PMSM motor drives
	10.9 Conclusion
	References
11 Octsim/a solver for dynamic system simulation
	11.1 Introduction
	11.2 Solver description
	11.3 Solver structure
	11.4 Solver functionalities
	11.5 Solver implementation and validation
		11.5.1 Implementation details
		11.5.2 Comparison with Simulink
		11.5.3 Octsim code examples
		11.5.4 Control system simulation
		11.5.5 Electric circuit simulation
	11.6 Example for hybrid system (buck converter with voltage control)
	11.7 Conclusion
	11.8 User manual
	References
Index
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