Numerically efficient modeling of saturable ac machines for power systems electromagnetic transients simulation programs

Extensive computer simulations are necessary to operate power systems in a stable, secure, and optimal manner. This thesis considers electromagnetic transients (EMT) simulators, which are widely used to study modern power systems of which rotating machines are essential components. In EMT simulations, induction and synchronous machines are usually represented by general-purpose lumped-parameter models, which can be formulated using different sets of coordinates and state variables. While algebraically equivalent, these models’ numerical properties can differ greatly, which in turn can significantly affect the numerical accuracy and efficiency of entire EMT simulations. The ultimate goal of this thesis is to increase the numerical efficiency of EMT simulators without degrading their numerical accuracy and stability. This is achieved by proposing several new machine models with improved numerical properties. Models are presented for both families of EMT simulators, namely nodal-analysis-based (EMTP-type) and state-variable-based (SVB) programs. Moreover, we incorporate the effect of saturation to improve modeling fidelity. This thesis makes several important contributions to the state of the art. As a first step, the implicit flux correction (FC) method frequently used in SVB programs is reformulated to achieve explicit qd models with main flux saturation. Next, we propose new highly efficient saturable SVB voltage-behind-reactance (VBR) machine models with constant-parameter interfacing circuits. A new and accurate EMTP-type VBR induction machine model with a saturation-independent interfacing circuit is then proposed, thereby avoiding numerically costly re-factorizations of the network’s conductance matrix. Finally, the numerical efficiency of this VBR model is further improved by using multirate techniques. Numerous case studies demonstrate the superior combination of numerical accuracy and efficiency of the proposed models, and their beneficial impact on the speed of EMT simulations. It is envisioned that the proposed models will eventually be included in commercial EMT programs, extending their reach to thousands of engineers worldwide.Applied Science, Faculty ofElectrical and Computer Engineering, Department ofGraduat