Real-Time Electromagnetic Transient Simulation of AC-DC Networks

Venkata Dinavahi, PhD, PEng, FIEEE, is a Professor in the Department of Electrical and Computer Engineering at the University of Alberta in Edmonton, Alberta, Canada. He received the BEng degree from the Visveswaraya National Institute of Technology (VNIT), Nagpur, India, in 1993, the MTech degree from the Indian Institute of Technology (IIT) Kanpur, India, in 1996, and a PhD in Electrical and Computer Engineering from the University of Toronto, Ontario, Canada, in 2000. He was the founding chair of the IEEE Power & Energy Society (PES) Task Force on Interfacing Techniques for Simulation Tools from 2006-2014. He contributed to several IEEE PES Working Groups and Task Forces notably in the Analytical Methods for Power Systems (AMPS) committee. He is a Fellow of IEEE, a member of CIGRÉ and a Professional Engineer in the Province of Alberta. He was the recipient of the 2018 Outstanding Engineer Award from the IEEE PES/IAS Northern Canada Chapter.Ning Lin, PhD, is a Postdoctoral Researcher at the University of Alberta. He received the BSc and MSc degrees in Electrical Engineering from Zhejiang University, China, in 2008 and 2011, respectively, and a PhD in Electrical and Computer Engineering from the University of Alberta, Canada, in 2018. From 2011 to 2014, he worked as an engineer on power system automation, flexible AC transmission system (FACTS), and high-voltage direct current (HVDC). His research interests include electromagnetic transient simulation, transient stability analysis, real-time simulation, AC/DC grids, parallel processing, and high-performance computing of power systems and power electronics.

• About the Authors xixPreface xxiAcknowledgments xxvList of Acronyms xxvii1 Field Programmable Gate Arrays 11.1 Overview 11.2 Multiprocessing System-on-Chip Architecture 61.3 Communication 71.4 HIL Emulation 91.5 Summary 162 Hardware Emulation Building Blocks for Power System Components 172.1 Overview 172.2 Concept of HEBB 182.3 Numerical Integration 182.4 Linear Lumped Passive Elements 202.5 Sources 272.6 Switches 302.7 Transmission Lines 322.8 Network Solver 542.9 Nonlinear Elements: Iterative Real-Time EMT Solver 632.10 Summary 773 Power Transformers 793.1 Overview 793.2 Nonlinear Admittance-Based Real-Time Transformer Model 803.3 Nonlinear Magnetic Equivalent Circuit Based Real-time  Multi-Winding Transformer Model 1003.4 Real-Time Finite-Element Model of Power Transformer 1233.5 Summary 1414 Rotating Machines 1434.1 Overview 1434.2 Lumped Universal Machine (UM) Model 1444.3 General Framework for State-Space Electrical Machine Emulation 1584.4 Nonlinear Magnetic Equivalent Circuit Based Induction Machine Model 1784.5 Summary 1905 Protective Relays 1935.1 Overview 1935.2 Hardware Emulation of Multifunction Protection System 1955.3 Test Setup and Real-Time Results 2095.4 Summary 2146 Adaptive Time-Stepping Based Real-Time EMT Emulation 2176.1 Overview 2176.2 Nonlinear Solution and Adaptive Time-Stepping Schemes 2196.3 Adaptive Time-Stepping Universal Line Model and Universal Machine Model for Real-Time Hardware Emulation 2366.4 Summary 2527 Power Electronic Switches 2537.1 Overview 2537.2 IGBT/Diode Nonlinear Behavioral Model 2557.3 Physics-Based Nonlinear IGBT/Diode Model 2707.4 IGBT/Diode Curve-Fitting Model 2927.5 Summary 3008 AC–DC Converters 3018.1 Overview 3018.2 Detailed Model 3038.3 Equivalenced Device-Level Model 3058.4 Virtual-Line-Partitioned Device-Level Models 3248.5 MMC Partitioned by Coupled Voltage–Current Sources 3448.6 Clamped Double Submodule MMC 3558.7 Summary 3749 DC-DC Converters 3779.1 Overview 3779.2 Buck–Boost Converter 3799.3 Solid-State Transformer Modeling 3819.4 Summary 39410 DC Circuit Breakers 39710.1 Overview 39710.2 HHB in MTDC System 39910.3 Proactive Hybrid HVDC Breaker 40210.4 Ultrafast Mechatronic Circuit Breaker 42610.5 Summary 44411 Large-Scale AC and DC Networks 44711.1 Overview 44711.2 Spatial Decomposition and Parallelism 44911.3 Multi-FPGA Hardware Design for Real-Time EMT Emulation 45311.4 CIGRÉ DC Grid Hybrid Modeling Methodology 46511.5 Real-Time Co-Emulation Framework for Cyber-Physical Systems 47911.6 Faster-Than-Real-Time Hybrid Dynamic-EMT Emulation of AC–DC Grids 49511.7 Summary 510Bibliography 513Appendix A Parameters for Case Studies 531A.1 Chapter 2 531A.1.1 Case in Section 2.7 531A.1.2 Cases in Section 2.8 531A.2 Chapter 3 531A.2.1 Cases in Section 3.2 531A.2.1.1 Cases Study I 531A.2.1.2 Cases Study II 532A.2.2 Cases in Section 3.3 532A.2.2.1 Transformer 532A.2.2.2 System 532A.2.3 Cases in Section 3.4 532A.3 Chapter 4 533A.3.1 UM Case in Section 4.2 533A.3.2 Cases in Section 4.3 534A.3.2.1 State-Space Matrices of Rotating Machines 534A.3.2.2 Parameters of Rotating Machines 538A.3.3 MEC Case in Section 4.4 538A.4 Chapter 5 538A.5 Chapter 6 539A.5.1 Cases in Section 6.2 539A.5.2 Cases in Section 6.3 540A.6 Chapter 7 540A.7 Chapter 8 541A.7.1 Equivalenced Device-Level Model in Section 8.3 541A.7.2 MMC-IM Case in Section 8.4 541A.7.3 MVDC Case in Section 8.5 541A.7.4 MTDC Case in Section 8.6 541A.8 Chapter 9 541A.9 Chapter 10 542A.9.1 HHB Case 542A.9.2 UFMCB Case 542A.10 Chapter 11 543A.10.1 CIGRÉ B4 DC Grid Test System 543Index 545