JUAN A. MARTINEZ-VELASCO, PHD, is retired from his position with the Department of Electrical Engineering, Polytechnic University of Catalonia, Barcelona, Spain. He has been involved in several EMTP courses and worked as a consultant for a number of Spanish companies. His teaching and research areas cover Power Systems Analysis, Transmission and Distribution, Power Quality, and Electromagnetic Transients.

About the Editor xv List of Contributors xvii Preface xix About the Companion Website xxi 1 Introduction to Transients Analysis of Power Systems with ATP 1Juan A. Martinez-Velasco 1.1 Overview 1 1.2 The ATP Package 3 1.3 ATP Documentation 5 1.4 Scope of the Book 6 References 8 2 Modelling of Power Components for Transients Studies 11Juan A. Martinez-Velasco 2.1 Introduction 11 2.2 Overhead Lines 12 2.2.1 Overview 12 2.2.2 Multi-conductor Transmission Line Equations and Models 13 2.2.2.1 Transmission Line Equations 13 2.2.2.2 Corona Effect 15 2.2.2.3 Line Constants Routine 15 2.2.3 Transmission Line Towers 16 2.2.4 Transmission Line Grounding 17 2.2.4.1 Introduction 17 2.2.4.2 Low-Frequency Models 17 2.2.4.3 High-Frequency Models 18 2.2.4.4 Treatment of Soil Ionization 20 2.2.5 Transmission Line Insulation 21 2.2.5.1 Voltage-Time Curves 21 2.2.5.2 Integration Methods 22 2.2.5.3 Physical Models 22 2.3 Insulated Cables 23 2.3.1 Overview 23 2.3.2 Insulated Cable Designs 24 2.3.3 Bonding Techniques 25 2.3.4 Material Properties 26 2.3.5 Discussion 27 2.3.6 Cable Constants/Parameters Routines 27 2.4 Transformers 28 2.4.1 Overview 28 2.4.2 Transformer Models for Low-Frequency Transients 31 2.4.2.1 Introduction to Low-Frequency Models 31 2.4.2.2 Single-Phase Transformer Models 32 2.4.2.3 Three-Phase Transformer Models 36 2.4.3 Transformer Modelling for High-Frequency Transients 37 2.4.3.1 Introduction to High-Frequency Models 37 2.4.3.2 Models for Internal Voltage Calculation 39 2.4.3.3 Terminal Models 41 2.5 Rotating Machines 45 2.5.1 Overview 45 2.5.2 Rotating Machine Models for Low-Frequency Transients 46 2.5.2.1 Introduction 46 2.5.2.2 Modelling of Induction Machines 46 2.5.2.3 Modelling of Synchronous Machines 51 2.5.3 High-Frequency Models for Rotating Machine Windings 55 2.5.3.1 Introduction 55 2.5.3.2 Internal Models 56 2.5.3.3 Terminal Models 58 2.6 Circuit Breakers 58 2.6.1 Overview 58 2.6.2 Circuit Breaker Models for Opening Operations 59 2.6.2.1 Current Interruption 59 2.6.2.2 Circuit Breaker Models 60 2.6.2.3 Gas-Filled Circuit Breaker Models 61 2.6.2.4 Vacuum Circuit Breaker Models 62 2.6.3 Circuit Breaker Models for Closing Operations 64 2.6.3.1 Introduction 64 2.6.3.2 Statistical Switches 65 2.6.3.3 Prestrike Models 66 Acknowledgement 66 References 66 3 Solution Techniques for Electromagnetic Transient Analysis 75Juan A. Martinez-Velasco 3.1 Introduction 75 3.2 Modelling of Power System Components for Transient Analysis 76 3.3 Solution Techniques for Electromagnetic Transients Analysis 78 3.3.1 Introduction 78 3.3.2 Solution Techniques for Linear Networks 78 3.3.2.1 The Trapezoidal Rule 78 3.3.2.2 Companion Circuits of Basic Circuit Elements 79 3.3.2.3 Computation of Transients in Linear Networks 85 3.3.2.4 Example: Transient Solution of a Linear Network 86 3.3.3 Networks with Nonlinear Elements 87 3.3.3.1 Introduction 87 3.3.3.2 Compensation Methods 87 3.3.3.3 Piecewise Linear Representation 89 3.3.4 Solution Methods for Networks with Switches 90 3.3.5 Numerical Oscillations 91 3.4 Transient Analysis of Control Systems 96 3.5 Initialization 97 3.5.1 Introduction 97 3.5.2 Initialization of the Power Network 97 3.5.2.1 Options for Steady-State Solution Without Harmonics 97 3.5.2.2 Steady-State Solution 98 3.5.3 Load Flow Solution 99 3.5.4 Initialization of Control Systems 100 3.6 Discussion 100 3.6.1 Solution Techniques Implemented in ATP 101 3.6.2 Other Solution Techniques 101 3.6.2.1 Transient Solution of Networks 101 3.6.2.2 Transient Analysis of Control Systems 102 3.6.2.3 Steady-State Initialization 102 Acknowledgement 103 References 103 To Probe Further 106 4 The ATP Package: Capabilities and Applications 107Juan A. Martinez-Velasco and Jacinto Martin-Arnedo 4.1 Introduction 107 4.2 Capabilities of the ATP Package 108 4.2.1 Overview 108 4.2.2 The Simulation Module - TPBIG 109 4.2.2.1 Overview 109 4.2.2.2 Modelling Capabilities 110 4.2.2.3 Solution Techniques 117 4.2.3 The Graphical User Interface - ATPDraw 120 4.2.3.1 Overview 120 4.2.3.2 Main Functionalities 120 4.2.3.3 Supporting Modules for Power System Components 123 4.2.4 The Postprocessor - TOP 125 4.2.4.1 Data Management 125 4.2.4.2 Data Display 126 4.2.4.3 Data Processing 127 4.2.4.4 Data Formatting 127 4.2.4.5 Graphical Output 127 4.3 Applications 128 4.4 Illustrative Case Studies 129 4.4.1 Introduction 129 4.4.2 Case Study 1: Optimum Allocation of Capacitor Banks 130 4.4.3 Case Study 2: Parallel Resonance Between Transmission Lines 132 4.4.4 Case Study 3: Selection of Surge Arresters 133 4.5 Remarks 136 References 136 To Probe Further 138 5 Introduction to the Simulation of Electromagnetic Transients Using ATP 139
Juan A. Martinez-Velasco and Francisco González-Molin 5.1 Introduction 139 5.2 Input Data File Using ATP Formats 140 5.3 Some Important Issues 142 5.3.1 Before Simulating the Test Case 142 5.3.1.1 Setting Up a System Model 142 5.3.1.2 Topology Requirements 142 5.3.1.3 Selection of the Time-Step Size and the Simulation Time 143 5.3.1.4 Units 143 5.3.1.5 Output Selection 144 5.3.2 After Simulating the Test Case 144 5.3.2.1 Verifying the Results 144 5.3.2.2 Debugging Suggestions 144 5.4 Introductory Cases. Linear Circuits 145 5.4.1 The Series and Parallel RLC Circuits 145 5.4.2 The Series RLC Circuit: Energization Transient 145 5.4.2.1 Theoretical Analysis 145 5.4.2.2 ATP Implementation 147 5.4.2.3 Simulation Results 148 5.4.3 The Parallel RLC Circuit: De-energization Transient 150 5.4.3.1 Theoretical Analysis 150 5.4.3.2 ATP Implementation 152 5.4.3.3 Simulation Results 153 5.5 Switching of Capacitive Currents 155 5.5.1 Introduction 155 5.5.2 Switching Transients in Simple Capacitive Circuits - DC Supply 155 5.5.2.1 Energization of a Capacitor Bank 155 5.5.2.2 Energization of a Back-to-Back Capacitor Bank 157 5.5.3 Switching Transients in Simple Capacitive Circuits - AC Supply 159 5.5.3.1 Energization of a Capacitor Bank 159 5.5.3.2 Energization of a Back-to-Back Capacitor Bank 160 5.5.3.3 Reclosing into Trapped Charge 162 5.5.4 Discharge of a Capacitor Bank 164 5.6 Switching of Inductive Currents 168 5.6.1 Introduction 168 5.6.2 Switching of Inductive Currents in Linear Circuits 168 5.6.2.1 Interruption of Inductive Currents 168 5.6.2.2 Voltage Escalation During the Interruption of Inductive Currents 170 5.6.2.3 Current Chopping 172 5.6.2.4 Making of Inductive Currents 175 5.6.3 Switching of Inductive Currents in Nonlinear Circuits 176 5.6.4 Transients in Nonlinear Reactances 178 5.6.4.1 Interruption of an Inductive Current 180 5.6.4.2 Energization of a Nonlinear Reactance 181 5.6.5 Ferroresonance 184 5.7 Transient Analysis of Circuits with Distributed Parameters 187 5.7.1 Introduction 187 5.7.2 Transients in Linear Circuits with Distributed-Parameter Components 187 5.7.2.1 Energization of Lines and Cables 187 5.7.2.2 Transient Recovery Voltage During Fault Clearing 191 5.7.3 Transients in Nonlinear Circuits with Distributed-Parameter Components 195 5.7.3.1 Surge Arrester Protection 195 5.7.3.2 Protection Against Lightning Overvoltages Using Surge Arresters 196 References 201 Acknowledgement 202 To Probe Further 202 6 Calculation of Power System Overvoltages 203Juan A. Martinez-Velasco and Ferley Castro-Aranda 6.1 Introduction 203 6.2 Power System Overvoltages: Causes and Characterization 204 6.3 Modelling for Simulation of Power System Overvoltages 206 6.3.1 Introduction 206 6.3.2 Modelling Guidelines for Temporary Overvoltages 207 6.3.3 Modelling Guidelines for Slow-Front Overvoltages 208 6.3.3.1 Lines and Cables 208 6.3.3.2 Transformers 208 6.3.3.3 Switchgear 208 6.3.3.4 Capacitors and Reactors 209 6.3.3.5 Surge Arresters 209 6.3.3.6 Loads 210 6.3.3.7 Power Supply 210 6.3.4 Modelling Guidelines for Fast-Front Overvoltages 210 6.3.4.1 Overhead Transmission Lines 210 6.3.4.2 Substations 212 6.3.4.3 Surge Arresters 213 6.3.4.4 Sources 214 6.3.5 Modelling Guidelines for Very Fast-Front Overvoltages in Gas Insulated Substations 214 6.4 ATP Capabilities for Power System Overvoltage Studies 216 6.5 Case Studies 216 6.5.1 Introduction 216 6.5.2 Low-Frequency Overvoltages 216 6.5.2.1 Case Study 1: Resonance Between Parallel Lines 217 6.5.2.2 Case Study 2: Ferroresonance in a Distribution System 219 6.5.3 Slow-Front Overvoltages 225 6.5.3.1 Case Study 3: Transmission Line Energization 227 6.5.3.2 Case Study 4: Capacitor Bank Switching 238 6.5.4 Fast-Front Overvoltages 243 6.5.4.1 Case Study 5: Lightning Performance of an Overhead Transmission Line 244 6.5.5 Very Fast-Front Overvoltages 261 6.5.5.1 Case Study 6: Origin of Very Fast-Front Transients in GIS 262 6.5.5.2 Case Study 7: Propagation of Very Fast-Front Transients in GIS 263 6.5.5.3 Case Study 8: Very Fast-Front Transients in a 765 kV GIS 267 References 270 To Probe Further 274 7 Simulation of Rotating Machine Dynamics 275Juan A. Martinez-Velasco 7.1 Introduction 275 7.2 Representation of Rotating Machines in Transients Studies 275 7.3 ATP Rotating Machines Models 276 7.3.1 Background 276 7.3.2 Built-in Rotating Machine Models 276 7.3.3 Rotating Machine Models for Fast Transients Simulation 278 7.4 Solution Methods 278 7.4.1 Introduction 278 7.4.2 Three-Phase Synchronous Machine Model 278 7.4.3 Universal Machine Module 281 7.4.4 WindSyn-Based Models 284 7.5 Procedure to Edit Machine Data Input 284 7.6 Capabilities of Rotating Machine Models 285 7.7 Case Studies: Three-Phase Synchronous Machine 287 7.7.1 Overview 287 7.7.2 Case Study 1: Stand-Alone Three-Phase Synchronous Generator 288 7.7.3 Case Study 2: Load Rejection 288 7.7.4 Case Study 3: Transient Stability 298 7.7.5 Case Study 4: Subsynchronous Resonance 302 7.8 Case Studies: Three-Phase Induction Machine 309 7.8.1 Overview 309 7.8.2 Case Study 5: Induction Machine Test 310 7.8.3 Case Study 6: Transient Response of the Induction Machine 313 7.8.3.1 First Case 314 7.8.3.2 Second Case 314 7.8.3.3 Third Case 318 7.8.4 Case Study 7: SCIM-Based Wind Power Generation 323 References 328 To Probe Further 331 8 Power...