ECE 576 Power System

Dynamics and Stability

Lecture 3: Electromagnetic Transients
Prof. Tom Overbye
Dept. of Electrical and Computer Engineering
University of Illinois at Urbana-Champaign
overbye@illinois.edu
1

Announcements

Be reading Chapters 1 and 2

Homework 1 is assigned today, due Feb 4; it is on the
website
Classic reference paper on EMTP is H.W. Dommel,
"Digital Computer Solution of Electromagnetic
Transients in Single- and Multiphase Networks," IEEE
Trans. Power App. and Syst., vol. PAS-88, pp. 388-399,
April 1969

Lossless Transmission Line Model

These Norton equivalent represent the lossless lines

I k im

d
1
d
t
vm t

v p zc
v p

I m ik

d
1
d
t
vk t

v p zc
v p

Both ends of
the line are
represented
by Norton
equivalents

Including Line Resistance

An approach for adding line resistance, while keeping

the simplicity of the lossless line model, is to just to
place of the resistance at each end of the line

This allows a decoupled Norton equivalent representation

Another, more accurate approach, is to place at each end,
and in the middle

Standalone resistance, such as modeling the resistance

of a switch, is just represented as an algebraic equation
ik ,m

1
vk vm
R
4

Numerical Integration with

Trapezoidal Method

Numerical integration is often done using the

trapezoidal method discussed last time

Here we show how it can be applied to inductors and

capacitors

For a general function the trapezoidal is

x& f (x(t ))
t
x(t t ) x(t ) f (x(t )) f (x(t t ))
2

Trapezoidal integration introduces error on the order of

t3, but it is numerically stable
5

Trapezoidal Applied to Inductor

with Resistance

For a lossless inductor,

di
di v
vL

i 0 i0
dt
dt L
t
i (t t ) i (t )
v(t ) v t t

2L
This can be represented as a Norton equivalent with
current into the equivalent defined as positive
v t t
v(t )
i (t t )
i (t )
2 L t
2 L t
6

Trapezoidal Applied to Inductor

with Resistance

For an inductor in series with a resistance we have

di
v iR L
dt
di
R
1
i v
dt
L
L

i 0 i0

Trapezoidal Applied to Inductor with

Resistance
t R
1
i ti t i ti i ti v ti
2 L
L
R
1

i ti t v ti t
L
L

This also
becomes a
Norton
equivalent. A
similar
expression will
be developed
for capacitors

RL Example

Assume a series RL circuit with an open switch with R=

200 and L = 0.3H, connected to a voltage source with
v 133,000 2 cos 2 60t
Assume the switch is closed at t=0
The exact solution is

i 712.4e 667t 578.8 2 cos 2 60t 29.50

di
v iR L
dt
di
R
1
i v
dt
L
L

i 0 i0

R/L=667, so the
dc offset decays
quickly
9

RL Example Trapezoidal Solution

2L 2 * 0.3

6000
t 0.0001
t .0001 sec
t 0 i 0 0
t .0001
v(0 ) Ri (0 )
i (0 )
31.35A
6000

solution: i .0001

Numeric
Exact solution:
i .0001 712.4e .0677 578.8

187,957 31.35 6000

60.65A
6200
6200

2 cos 2 60 .0001 29.5

180

666.4 727.0
60.6 A

10

RL Example Trapezoidal Solution

t = .0002
Solving for i(.0002)

i(.0002) = 117.3A
Exact solution
i(.0002) = 117.3A

11

Full Solution Over Three Cycles

12

A Favorite Qual Problem: R=0

Case, with v(t) = Sin(2*pi*60)
PWFullMatrixGrid Variables
3,200
3,000
2,800
2,600
2,400
2,200

Values

2,000
1,800
1,600
1,400
1,200
1,000
800
600
400
200
0
0

0.005

0.01

0.015

0.02

0.025
Column 1
Column 1

0.03

0.035

0.04

0.045

0.05

Column 2

13

Lumped Capacitance Model

The trapezoidal approach can also be applied to model

lumped capacitors

dv(t )
i (t ) C
dt

Integrating over a time step gives

1 t t
v(t t ) v(t ) i (t )
C t

Which can be approximated by the trapezoidal as

t
v(t t ) v(t )
i(t t ) i(t )
2C

14

Lumped Capacitance Model

Hence we can derive a circuit model similar to what

was done for the inductor

2C
v(t )
i (t )
t

15

Example 2.1: Line Closing

L 1.5 103 H / mi
C 0.02 106 F / mi

Switch is closed at
time t = 0.001 sec
16

Example 2.1: Line Closing

Initial conditions: i1 = i2 = v1 = v2 =0
for t < .0001 sec

L'
zc
274 v p
C'
d
.00055sec
vp

1
182,574mi / sec
L 'C '
2L
5000
t

Because of finite propagation speed, the receiving

end of the line will not respond to energizing the
sending end for at least 0.00055 seconds
17

Example 2.1: Line Closing

18

Example 2.1: t=0.0001

Need: i1 .00045 , v1 .00045 , i2 .00045 ,
v2 .00045 , i2 0 , v3 0 , vs .0001
i1 .00045 0 i2 0 0
v1 .00045 0 v3 0 0

i2 .00045 0 v2 .00045 0
2
vs .0001 230,000
cos 2 60 .0001 187,661 V
3
19

Example 2.1: t=0.0001

Sending
End

Receiving
End

20

Example 2.1: t=0.0001

i1 .0001 685 A

v1 .0001 187,661V

i2 .0001 0

Instantaneously
changed from zero
at t = .0001 sec.

v2 .0001 0
v3 .0001 0

21

Example 2.1: t=0.0002

Need:
i1 .00035 0

v1 .00035 0
i2 .00035 0

v2 .00035 0

i2 .0001 0

v3 .0001 0

vs .0002 187,261V

Circuit is essentially
the same
i1 .0002 683 A

v1 .0002 187,261V
i2 .0002 0.

v2 .0002 0.
v3 .0002 0.

Wave is traveling
down the line
22

Example 2.1: t=0.0002 to 0.006

d
.00055
vp
ti 0
ti .0001
.0002
.0003
.0004
.0005
.0006

t .0001
t .0001 switch closed
t .0002
.0003
.0004
.0005
.0006 With interpolation
.0007 receiving end
will see23wave

Example 2.1: t=0.0007

Need:

i1 .00015

v1 .00015 , v2 .00015

i1 .0001 685 A

i1 .0002 683 A

i2 .0006 , v3 .0006 , vs .0007

(linear interpolation)

.00015 .0001
.0002 .0001
i1 .0002 i1 .0001

i1 .00015 i1 .0001

24

Example 2.1: t=0.0007

For ti = .0006 (t = .0007 sec) at the sending end

i1 .0007 662 A

v1 .0007 181,293V

This current
source will stay
zero until we get
a response from
the receiving end
25

Example 2.1: t=0.0007

For ti = .0006 (t = .0007 sec) at the receiving end

v2 .0007 356,731V
i2 .0007 66 A

26

Example 2.1: First Three Cycles

PWFullMatrixGrid Variables

300
250
200
150

Values

100
50
0
-50
-100
-150
-200
0

0.005

0.01

0.015

0.02

0.025
Column 1

0.03

Column 2

Column 3

0.035

0.04

0.045

0.05

Red is the
sending
end voltage (in
kv),
while green
is the receiving
end voltage.
Note the near
voltage
doubling at the
receiving end
27

Example 2.1: First Three Cycles

Colum n 2
450

Graph shows
the current (in
amps) into the
RL load over
the first three
cycles.

400
350
300
250
200
150
Column 2

100
50
0
-50
-100
-150
-200
-250
-300
-350
-400
-450
0

0.005

0.01

0.015

0.02

0.025
Column 1

0.03

0.035

0.04

0.045

0.05

To get a ballpark value on the expected current, solve the

simple circuit assuming the transmission line is just an inductor
Column 2

I load ,rms

230, 000 / 3
311 20.6, hence a peak value of 439 amps
400 j94.2 j56.5
28

Three Node, Two Line Example

PWFullMatrixGrid Variables
300
250
200
150

Values

100
50
0
-50
-100
-150
-200
0

0.002

0.004

0.006

0.008

0.01
Column 1

Column 2

0.012

Column 3

0.014

0.016

0.018

0.02

Column 4

Note that there is no longer an initial

overshoot for the receiving (green) end since
wave continues into the second line

Graph shows
the voltages for
0.02 seconds
for the
Example 2.1
case extended
to connect
another 120
mile line to the
receiving end
with an
identical load
29

Example 2.1 with Capacitance

Below graph shows example 2.1 except the RL load is

replaced by a 5 F capacitor (about 100 Mvar)
Graph on left is unrealistic case of resistance in line
Graph on right has R=0.1 /mile

PWFullMatrixGrid Variables

PWFullMatrixGrid Variables
300

400

250

350
300

200

250
200

150

150

100
50

50

Values

Values

100

0
-50

0
-50

-100
-150

-100

-200

-150

-250
-200

-300
-350

-250

-400
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06 0.065 0.07 0.075 0.08 0.085 0.09 0.095 0.1
Column 1
Column 2

Column 3

0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06 0.065 0.07 0.075 0.08 0.085 0.09 0.095 0.1
Column 1
Column 2

Column 3

30

EMTP Network Solution

The EMTP network is represented in a manner quite

similar to what is done in the dc power flow or the
transient stability network power balance equations or
geomagnetic disturbance modeling (GMD)
Solving set of dc equations for the nodal voltage vector
V with
V = G-1I
where G is the bus conductance matrix and I is a vector
of the Norton current injections
31

EMTP Network Solution

Fixed voltage nodes can be handled in a manner

analogous to what is done for the slack bus: just change
the equation for node i to Vi = Vi,fixed

Because of the time delays associated with the

transmission line models G is often quite sparse, and
can often be decoupled
Once all the nodal voltages are determined, the internal
device currents can be set

E.g., in example 2.1 one we

know v2 we can determine v3
32

Three-Phase EMTP

What we just solved was either just for a single phase

system, or for a balanced three-phase system

That is, per phase analysis (positive sequence)

EMTP type studies are often done on either balanced

systems operating under unbalanced conditions (i.e.,
during a fault) or on unbalanced systems operating
under unbalanced conditions

Lightning strike studies

In this introduction to EMTP will just covered the

balanced system case (but with unbalanced conditions)

Solved with symmetrical components

33

Modeling Transmission Lines

Undergraduate power classes usually derive a per phase

model for a uniformly transposed transmission line
0 Dm
Dm
7
L
ln
2 10 ln
H/m
2 Rb
Rb
2
C
D
ln m c
Rb
Dm
R cb

d ab d ac dbc

(rd12 L d 1n )

1
3

Rb (r'd12 L d 1n )

(note r NOT r')

in air o 8.854 10-12 F/m

34

Modeling Transmission Lines

Resistance is just the per unit length times the length

Calculate the per phase inductance and capacitance per
km of a balanced 3, 60 Hz, line with horizontal phase
spacing of 10m using three conductor bundling with a
spacing between conductors in the bundle of 0.3m.
Assume the line is uniformly transposed and the
conductors have a 1.5 cm radius and resistance = 0.06
/km

35

Modeling Transmission Lines

D m 10 10 20

1
3

12.6m

Rb 0.78 0.015 0.3 0.3

L 2 107 ln
Rbc

1
3

0.102m

12.6
=9.63 10-7H/m = 9.63 10 -4H/km
0.102

0.015 0.3 0.3

1
3

0.1105m

2 8.854 10-12
C
1.17 10-11F/m = 1.17 10-8F/km
ln 12.6
0,1105

Resistance is 0.06/3=0.02/km

Divide by three because three conductors per bundle

36

Untransposed Lines with Ground

Conductors

To model untransposed lines, perhaps with grounded

neutral wires, we use the approach of Carson (from
1926) of modeling the earth return with equivalent
conductors located in the ground under the real wires

Earth return conductors have the same

GMR of their above ground conductor
(or bundle) and carry the opposite current

Distance between conductors is

Dkk ' 658.5

where is the earth resistivity in -m

with 100 -m a typical value

37

Untransposed Lines with Ground

Conductors

The resistance of the equivalent conductors is

Rk'=9.869f /m with f the frequency, which is
also added in series to the R of the actual conductors
Conductors are mutually coupled; we'll be assuming
three phase conductors
and N grounded
neutral wires
Total current in
all conductors
sums to zero
38

Untransposed Lines with

Ground Conductors

The relationships between voltages and currents per

I
E

unit length is
Aa

I
Bb

b
ECc

I c

R jL
0

I n1
M

0
InN

Where the diagonal resistance are the conductor

resistance plus Rk' and the off-diagonals are all Rk'
Dkm '
Lkm 2 10 ln

D
km

The inductances are

with Dkk just the
GMR for the conductor (or bundle)
7

Dkk' is large so
Dkm' Dkk'
39

Untransposed Lines with

Ground Conductors

This then gives an equation of the form

Which can be reduced to just the phase values

E p Z A Z B Z D1ZC I p Z p I p

We'll use Zp with symmetrical components

40

Example (from 4.1 in Kersting Book)

Given a 60 Hz overhead distribution line with the tower

configuration (N=1 neutral wire) with the phases using
Linnet conductors and the neutral 4/0 6/1 ACSR,
determine Zp in ohms per mile

Linnet has a GMR = 0.0244ft, and R = 0.306/mile

4/0 6/1 ACSR has GMR=0.00814 ft and R=0.592/mile
Rk'=9.869f /m
is 0.0953 /mile at 60 Hz
Phase R diagonal values
are 0.306 + 0.0953 = 0.401 /mile
Ground is 0.6873 /mile

Figure 4.7 from Kersting

41

Example (from 4.1 in Kersting Book)

Example inductances are worked with = 100-m

Dkk ' 658.5 100

60

m 850.1m 2789 ft

Dkm '
D kk '
7
Lkm 2 10 ln
2 10 ln

Dkm
D km
7

Note at 2789 ft, Dkk' is much, much larger than the

distances between the conductors, justifying the above
assumption

42

Example (from 4.1 in Kersting Book)

Working some of the inductance values

2789
6
Laa 2 10 ln

2
.
329

10
H/m

0.0244
7

Phases a and b are separated by

2.5 feet, while it is 5.66 feet between
phase a and the ground conductor
2789
6
Lab 2 10 ln

1
.
403

10
H/m

2.5
2789
7
6
Lan 2 10 ln

1
.
240

10
H/m

5.66
7

Even though
the distances
are worked
here in feet,
the result is
in H/m because
of the units on
0

43

Example (from 4.1 in Kersting Book)

Continue to create the 4 by 4 symmetric L matrix

Then Z = R + jL
Partition the matrix and solve Z p Z A Z B Z D1ZC
The result in /mile is
0.4576 1.0780 0.1560 j0.5017 0.1535 j0.3849
Z p 0.1560 j0.5017 0.4666 j1.0482 0.1580 j0.4236
0.1535 j0.3849 0.1580 j0.4236 0.4615 j1.0651

44

Modeling Line Capacitance

For capacitance the earth is typically modeled as a

perfectly conducting horizontal plane; then the earth
plane is replaced by mirror image conductors

If conductor is distance H above ground, mirror image

conductor is distance H below ground, hence their distance
apart is 2H

45

Modeling Line Capacitance

The relationship between the voltage to neutral and

charges are then given as
1
Vkn
2

nN

H km nN
qm ln
qm Pkm

Dkm m a
ma

H km
1
Pkm
ln
2 Dkm

P's are called potential coefficients

Where Dkm is the distance
between the conductors, Hkm
is the distance to a mirror image
c
D

R
b
conductor and kk
46

Modeling Line Capacitance

Then we setup the matrix relationship

And solve

Vp PA PB PD1PC Q p
C p PA PB P P

1
D C

47

Continuing the Previous Example

In example 4.1, assume the below conductor radii

For the phase conductor R bc 0.0300 ft

For the neutral conductor R cn 0.0235 ft

Calculating some values

0 8.85 10 12 F/m 1.424 10 2 F/mile
Paa

1
2 29.0
2 29 .0
ln

11
.
177
ln

84.57 mile/F
2 0 0.0300
0.0300

58.05
35.15 mile/F
2.5

Pab 11.177 ln

54.148
25.25 mile/F
5.6569

Pan 11.177 ln

48

Continuing the Previous Example

Solving we get
77.12 26.79 15.84
Pp PA PB PD1PC 26.79 75.17 19.80 mile/F
15.87 19.80 76.29
0.0150 0.0049 0.0018
1

C p Pp
0.0049 0.0158 0.0030 F/mile
0.0018 0.0030 0.0137

49

Frequency Dependence

We might note that the previous derivation for L

assumed a frequency. For steady-state and transient
stability analysis this is just the power grid frequency
As we have seen in EMTP there are a number of
difference frequencies present, particularly during
transients

Coverage is beyond the scope of 576

An early paper is J.K. Snelson, "Propagation of Travelling on
Transmission Lines: Frequency Dependent Parameters," IEEE
Trans. Power App. and Syst., vol. PAS-91, pp. 85-91, 1972

50