Documentation On Controller Tests in Test Grid Configurations
Documentation On Controller Tests in Test Grid Configurations
Documentation On Controller Tests in Test Grid Configurations
DOCUMENTATION ON
CONTROLLER TESTS IN TEST
GRID CONFIGURATIONS
26.11.2013
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DOCUMENTATION ON CONTROLLER TESTS Transmission System Operators
IN TEST GRID CONFIGURATIONS for Electricity
TABLE OF CONTENTS
1 TESTING OF FUNDAMENTAL MODELS IN DIFFERENT SIMULATION TOOLS....................... 3
6 CONCLUSION .........................................................................................................21
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DOCUMENTATION ON CONTROLLER TESTS Transmission System Operators
IN TEST GRID CONFIGURATIONS for Electricity
In order to ensure comparable results in the different simulation tools for studies with the
entire dynamic model of the transmission system, it is essential to ensure similar behaviour
of standard models for machines, their controllers and other elements as well as to introduce
consistent standards regarding simulation and element parameters as a first step. For this
purpose a comparison of results obtained from six different simulation tools (anonymously
named a, b, c, d, e and f) for defined elementary tests was carried out by the SG SPD. This
document describes this test procedure.
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G
S-GEN S-GRID
GEN T-GEN
GRID
+ GOV
+ AVR
+ PSS
GRIDL
FIG. 2-1: NETWORK SCHEME FOR THE BASIC TEST GRID CONFIGURATION
The four node (NGEN, NTLV, NTHV and NGRID) test grid consists of a synchronous
machine (GEN) with its appropriate control (governor (GOV), automatic voltage regulator
(AVR), power system stabiliser (PSS)), a machine side switch (S-GEN), a unit transformer
(T-GEN), a grid side switch (S-GRID), an infinite source (GRID) with fixed frequency and an
adjustable short-circuit power level as well as a constant impedance load (GRIDL). The
nominal voltages are 21 kV for the nodes NGEN and NTLV and 380 kV for the nodes NTHV
and NGRID respectively. The nominal frequency is= ωn 2=π f n 2π 50 Hz .
The particular elements, their corresponding models and their parameters will be explained
in the following sections.
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Some of the simulation tools require some alternative parameters. The following table shows
these alternative parameters derived from the above parameters.
TABLE 2: ALTERNATIVE PARAMETERS DERIVED FROM GIVEN PARAMETERS FOR THE MACHINE
The synchronous machine is equipped with a GOV, an AVR and a PSS. For those
controllers simple models were chosen in a first step.
GOVERNOR
As speed governor the simple model for steam turbines TGOV1 (corresponding CIM-
controller: “GOVSTEAM0”) is used. Fig. 2-2 shows the corresponding block diagram.
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VMAX
+ 1 1 1 + sT2 +
Ref(L) Σ Σ PMECH
- R 1 + sT1 1 + sT3
-
VMIN
Δω Dt
Table 3 shows the defined parameters. Those are related to turbine rated power Pr,MECH and
since the armature resistance ra is not taken into account they are also related to rated
active power Pr,G= cos ϕ r ⋅ S r,G= 475MW of the synchronous machine.
The simplified excitation system SEXS (corresponding CIM-controller: “ExcSEXS”, here with
deactivated PI controller) is used as model for the automatic voltage regulator and the
excitation system of the synchronous machine. Fig. 2-3 shows the block diagram of this
model with the excitation voltage EFD as output. The input VS will be set by the PSS output.
Vref
EMAX
+
- 1 + sTA K
VC Σ EFD
1 + sTB 1 + sTE
+
EMIN
VS
FIG. 2-3: BLOCK DIAGRAM OF THE SIMPLIFIED EXCITATION SYSTEM SEXS
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The excitation voltage is based as described in 1 according to the air-gap line. Therefore all
of the parameters are valid for this definition. Table 4 defines the parameter set of the
simplified excitation system SEXS for the test cases.
The standard model PSS2A is chosen as the power system stabiliser. The following figure
shows the corresponding block diagram.
VSTMAX
1
cf. IEEE Std 421.5-2005: IEEE Recommended Practice for Excitation System Models for Power
System Stability Studies
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Some of the simulation tools require some alternative parameters. The following table shows
these alternative parameters derived from the given parameters above.
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= =
PG,setp 475MW U NGRID,setp 1.05pu
[3.1]
= =
QG,setp 156 MVar δ NGRID,setp 0
Additionally the constant impedance load GRIDL is initialized with active and reactive power
consumption, voltage independent for the load flow:
PGRIDL,setp =
−475MW QGRIDL,setp =
−76 MVar [3.2]
Coincident results for the load flow calculation were generated in all simulation tools. Fig. 3-1
shows the obtained values.
G
S-GEN S-GRID
GEN T-GEN
GRID
GRIDL
PGRIDL = 475MW
QGRIDL = 76 MVar
FIG. 3-1: RESULTS OF THE BASIC LOAD FLOW CASE
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The time-domain simulation is applied with a fixed time-step of 1 msec. The event-time is
always at 0.1 sec. The simulation time varies due to the object of investigation. The initial
condition for the speed is always at one pu referred to synchronous frequency.
At the event-time the reference value for the terminal voltage is increased by
∆U NGEN,setp =
+0.05pu . The response of the terminal and excitation voltage to this event in
different simulation tools can be seen in chapter 5.1.
The model is initialised with U NGEN = 1pu again. This time an initial active power demand in
the additional constant impedance of PL = 0.8 ⋅ S r,G ⋅ cos ϕr = 380 MW is considered.
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At the event-time the active power demand of the additional constant impedance is increased
by ∆PL = +0.05pu related to the rated active power of the synchronous machine
P=
r,G S r,G ⋅ cos ϕ r . The response to this event can be seen in chapter 5.2.
For the initialisation of the system the basic load flow case introduced in chapter 3 is used.
At the event-time a bolted three-phase short circuit occurs at the high-voltage side of the unit
transformer (node NTHV). After the fault duration of Tf = 0.1sec the initial system conditions
are restored. The response to this event can be seen in chapter 5.3.
Test case voltage reference step speed reference step 3-phase short-circuit
- isolated operation
- no-load operation - switch S-GEN - basic test grid
Grid
- switch S-GEN opened configuration
configuration - chapter 4
opened - constant impedance
load at NGEN
Simulation
1 msec 1 msec 1 msec
time step
Simulation
2 sec 15 sec 10 sec
time
= =
U NGEN 1pu ωG 1pu = =
U NGEN 1pu ωG 1pu
LF initialisation - see chapter 3
PG = 0 PL =
0.8 ⋅ Pr,G QL =
0
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The response of the terminal voltage U NGEN of the synchronous machine shows a stationary
precision in all simulation tools. The desired voltage reference step will be fulfilled by all of
the tools. The dynamic behaviour shows small deviations. The source of this deviation can
be observed in the response of excitation voltage EFD in Fig. 5-2. From stationary point of
view, all of the simulation tools have identical behaviour.
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The following diagrams show the comparison of the results for the terminal voltage U NGEN ,
active and mechanical power PG and PMECH of the synchronous machine and machine speed
ωG . The behaviour of the reactive power of the machine will not be shown. It remains at zero.
The stationary values of the terminal voltage are nearly identical in all simulation tools. The
dynamic behaviour differs especially in the second oscillation. Nevertheless the response of
the active power in Fig. 5-4 shows almost similar curves.
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The response of the mechanical power PMECH of the synchronous machine in Fig. 5-5 shows
some small dynamic and stationary deviations. This can also be noticed in the response of
the machine speed, Fig. 5-6.
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For further analysis the active and reactive power PGRIDL and QGRIDL of the constant
impedance load GRIDL are shown in Fig. 5-13 and Fig. 5-14.
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6 CONCLUSION
This documentation records results of the initial step in the process of developing a common,
simulation tool independent dynamic model of the Continental European synchronous power
system. A simple test circuit with a synchronous machine with control devices connected to
an infinite source was defined. A stationary load flow case and three test cases for time
domain were performed with each simulation tool in order to receive a comparison of the
performance of the standard models for synchronous machine and control.
The results show a good accordance between the simulation tools with some small
deviations due to different model implementations. Most of the identified deviations are
neglectable for the purpose of dynamic modelling of the Continental European synchronous
power system and the objective of proper frequency response. The level of conformity is
considered to be sufficient to proceed to the next stage of the project.
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