Juan A. Martinez-Velasco received his Ingeniero Industrial and Doctor Ingeniero Industrial degrees from the Universitat Politècnica de Catalunya (UPC), Spain. He is currently with the Departament d'Enginyeria Elèctrica of the UPC where his teaching and research areas cover Power Systems Analysis, Transmission and Distribution, Power Quality and Electromagnetic Transients. He has authored and co-authored more than 200 journal and conference papers. He is also an active member of several IEEE and CIGRE Working Groups.

Preface xv About the Editor xvii List of Contributors xix 1 Introduction to Electromagnetic Transient Analysis of Power Systems 1Juan A. Martinez-Velasco 1.1 Overview 1 1.2 Scope of the Book 4 References 6 2 Solution Techniques for Electromagnetic Transients in Power Systems 9Jean Mahseredjian, Ilhan Kocar and Ulas Karaagac 2.1 Introduction 9 2.2 Application Field for the Computation of Electromagnetic Transients 10 2.3 The Main Modules 11 2.4 Graphical User Interface 11 2.5 Formulation of Network Equations for Steady-State and Time-Domain Solutions 12 2.5.1 Nodal Analysis and Modified-Augmented-Nodal-Analysis 13 2.5.2 State-Space Analysis 20 2.5.3 Hybrid Analysis 21 2.5.4 State-Space Groups and MANA 25 2.5.5 Integration Time-Step 27 2.6 Control Systems 28 2.7 Multiphase Load-Flow Solution and Initialization 29 2.7.1 Load-Flow Constraints 31 2.7.2 Initialization of Load-Flow Equations 33 2.7.3 Initialization from Steady-State Solution 33 2.8 Implementation 34 2.9 Conclusions 36 References 36 3 Frequency Domain Aspects of Electromagnetic Transient Analysis of Power Systems 39José L. Naredo, Jean Mahseredjian, Ilhan Kocar, JoséA.Gutiérrez-Robles and Juan A. Martinez-Velasco 3.1 Introduction 39 3.2 Frequency Domain Basics 40 3.2.1 Phasors and FD Representation of Signals 40 3.2.2 Fourier Series 43 3.2.3 Fourier Transform 46 3.3 Discrete-Time Frequency Analysis 48 3.3.1 Aliasing Effect 50 3.3.2 Sampling Theorem 51 3.3.3 Conservation of Information and the DFT 53 3.3.4 Fast Fourier Transform 54 3.4 Frequency-Domain Transient Analysis 56 3.4.1 Fourier Transforms and Transients 56 3.4.2 Fourier and Laplace Transforms 62 3.4.3 The Numerical Laplace Transform 63 3.4.4 Application Examples with the NLT 65 3.4.5 Brief History of NLT Development 65 3.5 Multirate Transient Analysis 66 3.6 Conclusions 69 Acknowledgement 70 References 70 4 Real-Time Simulation Technologies in Engineering 72Christian Dufour and Jean Bélanger 4.1 Introduction 72 4.2 Model-Based Design and Real-Time Simulation 73 4.3 General Considerations about Real-Time Simulation 74 4.3.1 The Constraint of Real-Time 74 4.3.2 Stiffness Issues 75 4.3.3 Simulator Bandwidth Considerations 75 4.3.4 Simulation Bandwidth vs. Applications 75 4.3.5 Achieving Very Low Latency for HIL Application 76 4.3.6 Effective Parallel Processing for Fast EMT Simulation 77 4.3.7 FPGA-Based Multirate Simulators 79 4.3.8 Advanced Parallel Solvers without Artificial Delays or Stublines: Application to Active Distribution Networks 79 4.3.9 The Need for Iterations in Real-Time 80 4.4 Phasor-Mode Real-Time Simulation 82 4.5 Modern Real-Time Simulator Requirements 82 4.5.1 Simulator I/O Requirements 83 4.6 Rapid Control Prototyping and Hardware-in-the-Loop Testing 85 4.7 Power Grid Real-Time Simulation Applications 85 4.7.1 Statistical Protection System Study 85 4.7.2 Monte Carlo Tests for Power Grid Switching Surge System Studies 87 4.7.3 Modular Multilevel Converter in HVDC Applications 88 4.7.4 High-End Super-Large Power Grid Simulations 89 4.8 Motor Drive and FPGA-Based Real-Time Simulation Applications 90 4.8.1 Industrial Motor Drive Design and Testing Using CPU Models 90 4.8.2 FPGA Modelling of SRM and PMSM Motor Drives 91 4.9 Educational System: RPC-Based Study of DFIM Wind Turbine 94 4.10 Mechatronic Real-Time Simulation Applications 95 4.10.1 Aircraft Flight Training Simulator 95 4.10.2 Aircraft Flight Parameter Identification 95 4.10.3 International Space Station Robotic Arm Testing 95 4.11 Conclusion 97 References 97 5 Calculation of Power System Overvoltages 100Juan A. Martinez-Velasco and Francisco González-Molina 5.1 Introduction 100 5.2 Power System Overvoltages 101 5.2.1 Temporary Overvoltages 101 5.2.2 Slow-Front Overvoltages 102 5.2.3 Fast-Front Overvoltages 102 5.2.4 Very-Fast-Front Overvoltages 103 5.3 Temporary Overvoltages 103 5.3.1 Introduction 103 5.3.2 Modelling Guidelines for Temporary Overvoltages 103 5.3.3 Faults to Grounds 104 5.3.4 Load Rejection 110 5.3.5 Harmonic Resonance 115 5.3.6 Energization of Unloaded Transformers 120 5.3.7 Ferroresonance 125 5.3.8 Conclusions 133 5.4 Switching Overvoltages 135 5.4.1 Introduction 135 5.4.2 Modelling Guidelines 135 5.4.3 Switching Overvoltages 139 5.4.4 Case Studies 149 5.4.5 Validation 154 5.5 Lightning Overvoltages 154 5.5.1 Introduction 154 5.5.2 Modelling Guidelines 155 5.5.3 Case Studies 163 5.5.4 Validation 172 5.6 Very Fast Transient Overvoltages in Gas Insulated Substations 174 5.6.1 Introduction 174 5.6.2 Origin of VFTO in GIS 174 5.6.3 Propagation of VFTs in GISs 176 5.6.4 Modelling Guidelines 180 5.6.5 Case Study 9: VFT in a 765 kV GIS 182 5.6.6 Statistical Calculation 183 5.6.7 Validation 185 5.7 Conclusions 187 Acknowledgement 187 References 187 6 Analysis of FACTS Controllers and their Transient Modelling Techniques 195Kalyan K. Sen 6.1 Introduction 195 6.2 Theory of Power Flow Control 199 6.3 Modelling Guidelines 206 6.3.1 Representation of a Power System 206 6.3.2 Representation of System Control 206 6.3.3 Representation of a Controlled Switch 209 6.3.4 Simulation Errors and Control 210 6.4 Modelling of FACTS Controllers 210 6.4.1 Simulation of an Independent PFC in a Single Line Application 212 6.4.2 Simulation of a Voltage Regulating Transformer 212 6.4.3 Simulation of a Phase Angle Regulator 214 6.4.4 Simulation of a Unified Power Flow Controller 215 6.5 Simulation Results of a UPFC 230 6.6 Simulation Results of an ST 238 6.7 Conclusion 245 Acknowledgement 245 References 245 7 Applications of Power Electronic Devices in Distribution Systems 248Arindam Ghosh and Farhad Shahnia 7.1 Introduction 248 7.2 Modelling of Converter and Filter Structures for CPDs 250 7.2.1 Three-Phase Converter Structures 250 7.2.2 Filter Structures 251 7.2.3 Dynamic Simulation of CPDs 252 7.3 Distribution Static Compensator (DSTATCOM) 253 7.3.1 Current Control Using DSTATCOM 253 7.3.2 Voltage Control Using DSTATCOM 256 7.4 Dynamic Voltage Restorer (DVR) 258 7.5 Unified Power Quality Conditioner (UPQC) 263 7.6 Voltage Balancing Using DSTATCOM and DVR 267 7.7 Excess Power Circulation Using CPDs 271 7.7.1 Current-Controlled DSTATCOM Application 271 7.7.2 Voltage-Controlled DSTATCOM Application 272 7.7.3 UPQC Application 276 7.8 Conclusions 278 References 278 8 Modelling of Electronically Interfaced DER Systems for Transient Analysis 280Amirnaser Yazdani and Omid Alizadeh 8.1 Introduction 280 8.2 Generic Electronically Interfaced DER System 281 8.3 Realization of Different DER Systems 283 8.3.1 PV Energy Systems 283 8.3.2 Fuel-Cell Systems 284 8.3.3 Battery Energy Storage Systems 284 8.3.4 Supercapacitor Energy Storage System 285 8.3.5 Superconducting Magnetic Energy Storage System 285 8.3.6 Wind Energy Systems 286 8.3.7 Flywheel Energy Storage Systems 287 8.4 Transient Analysis of Electronically Interfaced DER Systems 287 8.5 Examples 288 8.5.1 Example 1: Single-Stage PV Energy System 288 8.5.2 Example 2: Direct-Drive Variable-Speed Wind Energy System 298 8.6 Conclusion 315 References 315 9 Simulation of Transients for VSC-HVDC Transmission Systems Based on Modular Multilevel Converters 317Hani Saad, Sébastien Dennetière, Jean Mahseredjian, Tarek Ould-Bachir and Jean-Pierre David 9.1 Introduction 317 9.2 mmc Topology 318 9.3 mmc Models 320 9.3.1 Model 1 - Full Detailed 320 9.3.2 Model 2 - Detailed Equivalent 321 9.3.3 Model 3 - Switching Function of MMC Arm 322 9.3.4 Model 4 - AVM Based on Power Frequency 325 9.4 Control System 327 9.4.1 Operation Principle 327 9.4.2 Upper-Level Control 328 9.4.3 Lower-Level Control 333 9.4.4 Control Structure Requirement Depending on MMC Model Type 336 9.5 Model Comparisons 336 9.5.1 Step Change on Active Power Reference 337 9.5.2 Three-Phase AC Fault 337 9.5.3 Influence of MMC Levels 338 9.5.4 Pole-to-Pole DC Fault 338 9.5.5 Startup Sequence 340 9.5.6 Computational Performance 340 9.6 Real-Time Simulation of MMC Using CPU and FPGA 342 9.6.1 Relation between Sampling Time and N 344 9.6.2 Optimization of Model 2 for Real-Time Simulation 345 9.6.3 Real-Time Simulation Setup 346 9.6.4 CPU-Based Model 347 9.6.5 FPGA-Based Model 350 9.7 Conclusions 356 References 357 10 Dynamic Average Modelling of Rectifier Loads and AC-DC Converters for Power System Applications 360Sina Chiniforoosh, Juri Jatskevich, Hamid Atighechi and Juan A. Martinez-Velasco 10.1 Introduction 360 10.2 Front-End Diode Rectifier System Configurations 361 10.3 Detailed Analysis and Modes of Operation 365 10.4 Dynamic Average Modelling 368 10.4.1 Selected Dynamic AVMs 370 10.4.2 Computer Implementation 372 10.5 Verification and Comparison of the AVMs 372 10.5.1 Steady-State Characteristics 372 10.5.2 Model Dynamic Order and Eigenvalue Analysis 376 10.5.3 Dynamic Performance Under Balanced and Unbalanced Conditions 377 10.5.4 Input Sequence Impedances under Unbalanced Conditions 382 10.5.5 Small-Signal Input/Output Impedances 383 10.6 Generalization to High-Pulse-Count Converters 386 10.6.1 Detailed Analysis 387 10.6.2 Dynamic Average Modelling 388 10.7 Generalization to PWM AC-DC Converters 391 10.7.1 PWM Voltage-Source Converters 391 10.7.2 Dynamic Average-Value Modelling of PWM Voltage-Source Converters 392 10.8 Conclusions 394 Appendix 394 References 395 11 Protection Systems 398Juan A. Martinez-Velasco 11.1 Introduction 398 11.2 Modelling Guidelines for Power System Components 400 11.2.1 Line Models 400 11.2.2 Insulated Cables 401 11.2.3 Source Models 401 11.2.4 Transformer Models 401 11.2.5 Circuit Breaker Models 403 11.3 Models of Instrument Transformers 403 11.3.1 Introduction 403 11.3.2 Current Transformers 404 11.3.3 Rogowski Coils 408 11.3.4 Coupling Capacitor Voltage Transformers 410 11.3.5 Voltage Transformers 412 11.4 Relay Modelling 412 11.4.1 Introduction 412 11.4.2 Classification of Relay Models 412 11.4.3 Relay Models 413 11.5 Implementation of Relay Models 418 11.5.1 Introduction 418 11.5.2 Sources of Information for Building Relay Models 419 11.5.3 Software Tools 420 11.5.4 Implementation of Relay Models 421...