Documentation On Controller Tests in Test Grid Configurations

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European Network of

Transmission System Operators


for Electricity

DOCUMENTATION ON
CONTROLLER TESTS IN TEST
GRID CONFIGURATIONS

26.11.2013

ENTSO-E SG SPD REPORT

ENTSO-E • Boulevard Saint-Michel, 15 • 1040 Brussels • Belgium • Tel +32 2 737 15 80 • Fax +32 2 741 69 49 • [email protected] • www.entsoe.eu
European Network of
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

2 BASIC TEST GRID CONFIGURATION ............................................................................4


2.1 SYNCHRONOUS MACHINE GEN WITH CONTROL ................................................................................. 4
2.2 SWITCHES S-GEN AND S-GRID ..................................................................................................... 8
2.3 UNIT TRANSFORMER T-GEN ........................................................................................................... 8
2.4 EQUIVALENT GRID ........................................................................................................................... 9
2.5 CONSTANT IMPEDANCE LOAD GRIDL ............................................................................................... 9

3 BASIC LOAD FLOW CASE ........................................................................................10

4 DEFINITION OF TEST CASES ....................................................................................11


4.1 TEST CASE 1 ................................................................................................................................ 11
4.2 TEST CASE 2 ................................................................................................................................ 11
4.3 TEST CASE 3 ................................................................................................................................ 12
4.4 SUMMARISED OVERVIEW ............................................................................................................... 12

5 COMPARISON AND ANALYSIS OF RESULTS............................................................... 14


5.1 TEST CASE 1 ................................................................................................................................ 14
5.2 TEST CASE 2 ................................................................................................................................ 15
5.3 TEST CASE 3 ................................................................................................................................ 17

6 CONCLUSION .........................................................................................................21

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ENTSO-E • Boulevard Saint-Michel, 15 • 1040 Brussels • Belgium • Tel +32 2 737 15 80 • Fax +32 2 741 69 49 • [email protected] • www.entsoe.eu
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DOCUMENTATION ON CONTROLLER TESTS Transmission System Operators
IN TEST GRID CONFIGURATIONS for Electricity

1 TESTING OF FUNDAMENTAL MODELS IN DIFFERENT


SIMULATION TOOLS
The entso-e sub-group “System Protection and Dynamics” (SG SPD) is going to release a
dynamic model for the transmission system of Continental Europe (CE) in 2014. This model
will be based on a systematically reduction of machines in the system to a reasonable
amount. The aim is to develop a common dynamic model which delivers similar results in all
simulation tools used by the Continental European transmission system operators (TSOs) for
dynamic simulation.

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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European Network of
DOCUMENTATION ON CONTROLLER TESTS Transmission System Operators
IN TEST GRID CONFIGURATIONS for Electricity

2 BASIC TEST GRID CONFIGURATION


The following network scheme (Fig. 2-1) is used as the basic test grid configuration with the
purpose to compare the stationary and dynamic performance of a standard machine model
equipped with standard controllers and connected to an infinite source within the different
simulation tools.

NGEN NTLV NTHV NGRID

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.

2.1 SYNCHRONOUS MACHINE GEN WITH CONTROL


In every simulation tool the standard model of a 500 MVA synchronous machine is used to
perform the basic load flow case and the controller test cases. The values for its
characteristic parameters are given in Table 1. Saturation of the machine and losses due to
stator resistance are not taken into account.

TABLE 1: PARAMETER SET FOR THE MODEL OF THE SYNCHRONOUS GENERATOR

Parameter Value Base unit Description


S r,G 500 MVA rated apparent power of the machine
U r,G 21 kV rated voltage of the machine
cos ϕ r 0.95 rated power factor of the machine
fr 50 Hz rated frequency of the machine

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nr 3,000 1/min rated synchronous speed of machine


2
xaσ 0.15 U r,G / S r,G armature leakage reactance
2
ra 0 U r,G / S r,G armature resistance
TA 8 sec starting time of complete aggregate referred to S r,G
2
xd 2 U r,G / S r,G synchronous reactance in d-axis
' 2
x d 0.35 U r,G / S r,G transient reactance in d-axis
Td' 0.9 sec transient short circuit time constant in d-axis
xd'' 0.25
2
U r,G / S r,G subtransient reactance in d-axis
Td'' 0.03 sec subtransient short circuit time constant in d-axis
2
xq 1.8 U r,G / S r,G synchronous reactance in q-axis
' 2
x q 0.5 U r,G / S r,G transient reactance in q-axis
Tq' 0.6 sec transient short circuit time constant in q-axis
xq'' 0.3
2
U r,G / S r,G subtransient reactance in q-axis
Tq'' 0.05 sec subtransient short circuit time constant in q-axis

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

Parameter Value Base unit Description


TG inf sec aperiodic time constant
GD 2 162.114 Mp m² momentum of machine
J 40.528 t m² moment of inertia
H 4 MW sec/MVA inertia
Tdo' 5.143 sec transient open circuit time constant in d-axis
Tdo'' 0.042 sec subtransient open circuit time constant in d-axis
Tqo' 2.16 sec transient open circuit time constant in q-axis
Tqo'' 0.083 sec subtransient open circuit time constant in q-axis

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

FIG. 2-2: BLOCK DIAGRAM OF THE GOVERNOR TGOV1

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.

TABLE 3: PARAMETER SET FOR THE GOVERNOR

Parameter Value Base unit Description


R 0.05 controller droop
T1 0.5 sec governor time constant
T2 3 sec turbine derivative time constant
T3 10 sec turbine delay time constant
Dt 0 frictional losses factor
VMIN 0 minimum gate limit
VMAX 1 maximum gate limit

AUTOMATIC VOLTAGE REGULATOR

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.

TABLE 4: PARAMETER SET FOR THE SIMPLIFIED EXCITATION SYSTEM

Parameter Value Base unit Description


K 200 controller gain
TA 3 sec filter derivative time constant
TB 10 sec filter delay time
TE 0.05 sec exciter time constant
EMIN 0 controller minimum output
EMAX 4 controller maximum output

POWER SYSTEM STABILISER

The standard model PSS2A is chosen as the power system stabiliser. The following figure
shows the corresponding block diagram.

VSTMAX

Δω sTW1 sTW2 1 + (1+sT8) N


+ 1+sT1 1+sT3 VOTHSG
Σ Σ KS1
1+sTW1 1+sTW2 1+sT6 (1+sT9)M 1+sT2 1+sT4
+ -
KS3 VSTMIN

PGEN sTW3 sTW4 KS2


1+sTW3 1+sTW4 1+sT7

FIG. 2-4: BLOCK DIAGRAM OF THE POWER SYSTEM STABILIZER PSS2A

In Table 5 a parameter set for the power system stabiliser is defined.

TABLE 5: PARAMETER SET FOR THE POWER SYSTEM STABILIZER

Parameter Value Base unit Description


KS1 10 PSS gain
KS2 0.1564 2nd signal transducer factor
KS3 1 washouts coupling factor
TW1 2 sec 1st washout 1th time constant
TW2 2 sec 1st washout 2th time constant
TW3 2 sec 2nd washout 1th time constant

1
cf. IEEE Std 421.5-2005: IEEE Recommended Practice for Excitation System Models for Power
System Stability Studies

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TW4 0 sec 2nd washout 2th time constant


T1 0.25 sec 1st lead-lag derivative time constant
T2 0.03 sec 1st lead-lag delay time constant
T3 0.15 sec 2nd lead-lag derivative time constant
T4 0.015 sec 2nd lead-lag delay time constant
T6 0 sec 1st signal transducer time constant
T7 2 sec 2nd signal transducer time constant
T8 0.5 sec ramp tracking filter deriv. time constant
T9 0.1 sec ramp tracking filter delay time constant
VST,MIN -0.1 controller minimum output
VST,MAX 0.1 controller maximum output
N 0 ramp tracking filter
M 0 ramp tracking filter
IC1 1 1st input selector
IC2 3 2nd input selector

2.2 SWITCHES S-GEN AND S-GRID


For the electrical switches standard models for ideal breakers are used in the simulation
tools. In case a dedicated breaker model doesn’t exist in a software environment the
switches are implemented as very small resistance in case of closed switch and large
resistance in case of opened switch.

2.3 UNIT TRANSFORMER T-GEN


The following Table 6 comprises the used values for the unit transformer, which is modelled
as an ideal transformer without saturation.

TABLE 6: CHOSEN PARAMETER FOR THE UNIT TRANSFORMER

Parameter Value Base unit Description


S r,T 500 MVA Rated apparent power of unit transformer
U r,THV 419 kV Rated voltage on high-voltage side
U r,TLV 21 kV Rated voltage on low-voltage side
2
ur 0.15 % Re{} of short-circuit impedance, related to U r,THV / S r,T
2
uk 16 % Short-circuit impedance, related to U r,THV / S r,T

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DOCUMENTATION ON CONTROLLER TESTS Transmission System Operators
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2.4 EQUIVALENT GRID


The equivalent grid is implemented as an infinite source with a defined short-circuit capacity
of 2,500 MVA. Its parameters are summarised in Table 7.

TABLE 7: PARAMETERS FOR THE GRID EQUIVALENT

Parameter Value Base unit Description


S k'' 2,500 MVA short-circuit capacity
Ur 380 kV rated voltage of grid
R/ X 0.1 ratio of resistance to reactance of grid
c 1.1 c-factor for calculation of short-circuit capacity

Some of the simulation tools require some alternative parameters. The following table shows
these alternative parameters derived from the given parameters above.

TABLE 8: ALTERNATIVE PARAMETERS FOR THE GRID EQUIVALENT

Parameter Value Base unit Description


R 6.322 Ω resistance of grid
X 63.22 Ω reactance of grid

2.5 CONSTANT IMPEDANCE LOAD GRIDL


The load GRIDL connected to the node NGRID is defined as a constant impedance load.
That means, it has exact active and reactive power consumption in the load flow calculation
and is represented as constant impedance for the time-domain simulation. This includes a
voltage dependent ( P, Q  u 2 ) and frequency independent behaviour. The initial values for
active and reactive power are referred to a terminal voltage of one pu.

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3 BASIC LOAD FLOW CASE


A basic load flow case for the test grid is defined for a stationary comparison and as initial
condition for the time-domain simulation. The initialization of the set-points includes the slack
bus NGRID and the generator bus NGEN.

= =
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.

U 0.992 pu 0.992 pu 1.050 pu 1.050 pu


δ 9.233° 9.233° 0° 0°

NGEN NTLV NTHV NGRID

G
S-GEN S-GRID
GEN T-GEN
GRID

PG = 475MW PGRID = 0.783MW

QG = 156 MVar QGRID = 1.328MVar

GRIDL

PGRIDL = 475MW

QGRIDL = 76 MVar
FIG. 3-1: RESULTS OF THE BASIC LOAD FLOW CASE

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4 DEFINITION OF TEST CASES


Three test cases for time-domain simulation were defined in order to gain representative
results for the dynamic performance of the synchronous machine and its control devices.
Test case 1 aims at the dynamic performance of the synchronous machine and its AVR,
whereas test case 2 compares the behaviour of the synchronous machine and its speed
governor. Finally, test case 3 reveals the overall dynamic characteristic with the entire control
system (AVR, governor, PSS) connected.

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.

4.1 TEST CASE 1


The purpose of the first test case is to compare the dynamic behaviour of the model for the
synchronous machine and its AVR by analysing the terminal voltage U NGEN and the
excitation voltage EFD inside the machine. Therefore a no-load operation is created by
opening the machine side switch S-GEN. For this load flow case without active and reactive
power the terminal voltage U NGEN is set to 1pu and since there is no saturation characteristic
for the synchronous machine implemented, the initial value for the excitation voltage is also
1pu .

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.

4.2 TEST CASE 2


The purpose of the second test case is to compare the dynamic behaviour of the model for
the synchronous generator and its governor by analysing the terminal voltage U NGEN , the
active and mechanical power of the synchronous machine PG and PMECH , the reactive power
of the synchronous machine QG and the speed ωG . The machine side switch S-GEN is still
opened. Additionally another constant impedance is implemented at the node NGEN, whose
initialisation is related to the terminal voltage of 1pu (dependencies as described in chapter
2.5). Due to its undesirable influence the power system stabiliser has to be switched off for
this case.

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.

4.3 TEST CASE 3


The purpose of the third test case is to compare the dynamic behaviour of the model for the
synchronous machine with its whole control in operation during and after a three-phase
short-circuit by analysing the terminal voltage U NGEN , the excitation voltage inside the
generator EFD , the active and reactive power of the synchronous machine PG and QG as well
as speed ωG . The additional constant impedance load used in test case 2 is removed and
the machine side switch is closed. For further analysis the behaviour of the constant
impedance load GRIDL and the PSS output signal VOTHSG are also observed.

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.

4.4 SUMMARISED OVERVIEW


The following table summarises the described test cases.

TABLE 9: SUMMARY OF DESCRIBED TEST CASES

Case 1 Case 2 Case 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

Event-time 100 msec 100 msec 100 msec

load demand step bolted 3-phase short-


voltage reference step circuit at HV side of
Event ∆PL =+0.05pu related
∆U NGEN,setp =
+0.05pu transformer, with fault
to Pr,G
duration Tf = 0.1sec

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U NGEN rel. to U n,NGEN


U NGEN rel. to U n,NGEN
PG rel. to Pr,G
PG rel. to Pr,G
QG rel. to Qr,G
Values to U NGEN rel. to U n,NGEN PMECH rel. to Pr,G
ωG rel. to ωn
analyse EFD rel. to U n,NGEN QG rel. to Qr,G VOTHSG rel to U n,NGEN
ωG rel. to ωn PGRIDL rel. to Pr,G
QGRIDL rel. to Qr,G

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5 COMPARISON AND ANALYSIS OF RESULTS

5.1 TEST CASE 1


The following diagrams show the comparison of the results for the terminal voltage U NGEN
and the excitation voltage EFD of the synchronous machine as response to the voltage
reference step.

FIG. 5-1: RESPONSE OF TERMINAL VOLTAGE OF MACHINE IN TEST CASE 1

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.

FIG. 5-2: RESPONSE OF EXCITATION VOLTAGE OF MACHINE IN TEST CASE 1

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5.2 TEST CASE 2

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.

FIG. 5-3: RESPONSE OF TERMINAL VOLTAGE OF THE MACHINE IN TEST CASE 2

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.

FIG. 5-4: RESPONSE OF ACTIVE POWER OF THE MACHINE IN TEST CASE 2

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FIG. 5-5: RESPONSE OF MECHANICAL POWER OF MACHINE IN TEST CASE 2

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.

FIG. 5-6: RESPONSE OF MACHINE SPEED IN TEST CASE 2

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5.3 TEST CASE 3


The following diagrams show the comparison of the results for the terminal voltage U NGEN ,
excitation voltage EFD , active power PG of the synchronous machine, reactive power of the
synchronous machine QG , machine speed ωG and the PSS output signal VOTHSG .

FIG. 5-7: RESPONSE OF TERMINAL VOLTAGE OF THE MACHINE IN TEST CASE 3

FIG. 5-8: RESPONSE OF EXCITATION VOLTAGE OF MACHINE IN TEST CASE 3

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FIG. 5-9: RESPONSE OF MACHINE ACTIVE POWER IN TEST CASE 3

FIG. 5-10: RESPONSE OF MACHINE REACTIVE POWER IN TEST CASE 3

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FIG. 5-11: RESPONSE OF MACHINE SPEED IN TEST CASE 3

FIG. 5-12: RESPONSE OF PSS OUTPUT SIGNAL IN TEST CASE 3

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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.

FIG. 5-13: RESPONSE OF LOAD ACTIVE POWER IN TEST CASE 3

FIG. 5-14: RESPONSE OF LOAD REACTIVE POWER IN TEST CASE 3

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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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