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II.
-TRANSFORM
Definition
In Fig. 1, the solid line shows a continuous-time waveform
, and it is sampled at equidistant time steps as marked by
the circles. The time scale is normalized by the sampling interval
. We first define a train of impulses (Diracs delta functions)
as
(1)
Using
I. INTRODUCTION
-TRANSFORM has both frequency-domain and time-domain properties. It has a close relationship with the Laplace
transform. In fact, the -transform of a waveform can be obtained by simple replacement of a variable in its Lapace transform expression. Thus, a -transformed function can be considered as a frequency-domain expression. However, at the same
operator implies a one-sample delay in the time
time, the
domain.
The theory of the -transform was originally developed for
the analysis of time-series data defined at equidistant time steps.
A pioneering work in the development of the -transform theory
for sampled-data control systems can be found in [1]. Reference
[2] is a good introductory text book focusing on discrete-time
signal processing. For electromagnetic transient (EMT) analysis
of a power system, Humpage et al. [3][6], Hauer [7], Angelidis
and Semlyen [8], and the first author of this paper [9], [10] applied -transforms for the modeling of transmission lines. Girgis
et al. [11][13] and Wang and Watson [14] used -transforms
for obtaining a reduced-order equivalent of a power network.
First, this paper briefly introduces the basics of the -transform, and then the above mentioned applications to EMT simulations of power systems are reviewed.
Manuscript received May 2, 2006. Paper no. TPWRD-00236-2006.
Task Force Members: Luis Naredo (Chairperson), Abner Ramirez, Akihiro
Ametani, Alberto Gutirrez, Andrea Mansoldo, Ani Gole, Antonio Lima, Atef
Morched, Bjrn Gustavsen, David Wilcox, Felipe Uribe, Fernando Moreira,
Francisco de Len, Juan Martnez, Leonardo Guardado, Marisol Dvila, Michel
Ritual, Naoto Nagaoka, Neville Watson, Pablo Gmez, Pablo Moreno, Reza
Iravani, Sandoval Carneiro, Taku Noda, Venkata Dinavahi, Victor Ortiz, Washington Neves.
Digital Object Identifier 10.1109/TPWRD.2006.886793
can be expressed by
(2)
(3)
If we use the notation
for
and define
(4)
and
Planes
1800
C. Inverse -Transform
Here, three methods to obtain the time-domain waveform
from its -domain expression
are introduced.
with
1) Power Series: If the power series expansion of
is obtained
respect to
all poles inside the unit circle on the plane is stable, since the
corresponding continuous-time system having all poles on the
left-hand side of the plane is stable. The perimeter of the unit
of the plane ( is
circle corresponds to the imaginary axis
the angular frequency).
Another interesting property is the fact that the mapping is not
one by one. Equation (4) indicates that if the angular frequency
is increased along the imaginary axis of the plane, the corresponding locus on the plane turns around on the perimeter
of the unit circle any number of times. The sampling theorem
tells that frequency components higher than the critical angular
cannot be preserved by sampled data.
frequency
of the upper
This is equivalent to that the end point
perimeter of the unit circle corresponds to
;
if the angular frequency is increased beyond this point, the locus
overlaps on the lower perimeter that is the frequency response
for negative frequencies. Aliasing is also closely related to
this topic.
B. Properties of -Transform
(10)
then
.
can be ex2) PFE (Partial Fraction Expansion): If
panded into partial fractions of the form (here, we describe a
contains first-order
method applicable to the case where
fractions only)
(11)
then, using the -transform
by
is given
(12)
3) By Definition: It can be proved that the inverse -transis analytically obtained by
form of
(13)
.
where is a closed loop enclosing the convergent area of
In most cases, the integration above can be evaluated by applying Cauchys residue theorem.
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(19)
B. Norton Equivalent
Fig. 3. Norton and Thevenin equivalent circuits derived by the rational function
of z
in (17).
(14)
where
C. Thevenin Equivalent
If
(16)
is the transfer function of the system and
and
are the input and the output, respectively. If
and
are, respectively, considered to be the voltage and the current of a network component,
is the admittance of the comand
are the current and the voltage,
ponent. If
is the impedance. In most -transform applications to EMT simis replaced (approximated)
ulations, the transfer function
by a rational function of
in the form
where
(17)
Some methods identify the coefficients
,
in the frequency domain by fitting the frequency response
of (17) with given
, and others in the time domain by
matching the time response of (17) with recorded or calculated
data. Let us assume that (17) has been identified by some
identification method. Substituting (17) into (16) gives
(18)
(22)
where
(23)
and can be interpreted into the Thevenin equivalent circuit
shown in Fig. 3(b).
D. Representation of Wave Propagation Function
When the propagation function
of a transmission line
of length with its frequency dependence is modeled in an
into a
EMTP-type program, it is common to decompose
corresponding to the traveling time and
pure time delay
representing the wave deformation
a transfer function
(24)
is replaced by (17), the wave
If the deformation function
deformation in the time domain can efficiently be calculated by
term does not
(19). Since the time delay is associated, the
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(26)
where and
are the current and the voltage at the sending
end, and and
are those at the receiving end. The characteristic admittance is denoted by , and the current sources
and
are calculated by
(27)
Next, we consider the case where the frequency dependence is
taken into account, and thus, the characteristic admittance and
the propagation function are frequency dependent. If the frequency-dependent characteristic admittance is denoted by
in the frequency domain and the propagation function
is
and a wave deformadecomposed into a pure time delay
as described in Section III-D, (26) and (27)
tion function
are formally rewritten using Laplace transforms in the form
(28)
(29)
denotes an inverse Laplace transform. The inverse
where
Laplace transforms in (28) and (29) can also be denoted by
can be denoted by
convolutions. For instance,
, where
is the impulse response of the characteristic admittance. Let us assume that
and
are,
in (17). Then,
respectively, replaced by rational functions of
for the
according to Section III-B, the terms
for the receiving end in (28)
sending end and
can be realized respectively by Norton equivalents shown in
and
Fig. 3(a). Regarding (29), since the terms
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Fig. 7. Linear interpolations are applied both to the input and the output of a z
function to interface with an external network with a different time step.
the traveling time of the fastest mode as in (24). Such a discontinuous response can accurately be fitted by
(35)
where is the number of modal components with distinct traveling times and the modal traveling-time differences are repreterms. The numbers of numerator and desented by the
nominator coefficients are the same, and thus the sum of
for
is equal to
. For instance, a
three-phase overhead line has the three modes; an earth-return
mode and two aerial modes. The earth-return mode is slower
than the aerial modes, and the velocities of the aerial modes are
usually almost the same as shown in Fig. 6. Thus, this can be
(the two aerial modes are represented
fitted by (35) with
by one numerator term).
Another interesting attempt proposed in [10] is to apply interpolations both to the input and the output of the calculation
in (19) as shown in Fig. 7, in order to interface with an external
network with a different time step. This practically overcomes
one of the most disadvantageous points of -transform methods;
an identified model is tied to a specific time step.
C. Reduced-Order Network Equivalents
A reduced-order network equivalent is basically used to represent a large subnetwork to reduce computation requirements,
especially in the following situations.
When a large number of simulation cases have to be
performed with different parameter values, a sub-network
which is not affected by the parameter values, is replaced
by a reduced-order equivalent to reduce computation time.
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When the equivalent circuit of a sub-network (or a network component such as a transformer for high-frequency
studies) is not known but its frequency or time response is
known, and if the sub-network can be replaced by one of
the equivalent circuits shown in Fig. 3, then the simulation
can be carried out.
The model proposed in [11][13] uses the Thevenin equivalent
shown in Fig. 3(b) and the coefficients of the rational function
in (17) are identified by a least-squares procedure in the time
domain. On the other hand, the model in [14] uses the Norton
equivalent shown in Fig. 3(a) and the coefficients of the rational
function are identified by a least-squares procedure formulated
in the frequency domain.
V. APPLICATION EXAMPLE
The network for this example is shown in Fig. 8. The voltage
source corresponds to
with
,
and
and its internal resistance and inductance are
respectively. In this network, there are three 10-km,
15-m height, single-phase transmission lines (TLs) represented
by their frequency domain admittance matrix:
(36)
where
characteristic admittance;
propagation constant, and the length.
The per-unit-length series impedance and shunt admittance
of the TLs are calculated considering the skin effects of both
the conductors and the ground soil. At the receiving end of each
and
line there is an - (in parallel) load with
. The frequency response of the driving-point admittance
seen from Node 1 is calculated, and based on that response a
reduced-order network equivalent in the rational function form
in (17) is identified in the following way.
The basic idea of the identification is to determine the coef,
of the rational function model
ficients
using a least-squares procedure formulated in the frequency domain [9]. However, the model order has also to be identified
at the same time. Thus, is increased from 1 to 10, and for each
order the least-squares identification process mentioned above
is repeated. The model order that gives the smallest rms error
is finally chosen. In those cases yielding unstable poles their
reciprocals were used. In this way, a network equivalent with
has been identified. Since the system shown in Fig. 8 includes distributed-parameter lines that theoretically possess infinite number of poles, the order of the identified model can be
regarded as a greatly reduced one. Fig. 9 compares the frequency
response of the identified model with that of the given system,
where good agreement is observed in the frequency range from
1 Hz to 1 kHz.
is connected
Assuming zero initial conditions, the source
, yielding the current delivered by the
to the network at
source as shown in Fig. 10. The identified -domain model in
the form of (17) can readily be used as a time-domain ARMA
model in (19), and the waveform shown by the solid line was calculated using the ARMA model. For comparison, the same transient was calculated by a frequency domain technique, i.e., the
Numerical Laplace Transform (NLT) [18], and superimposed
was used for the
using a dashed line in Fig. 10. Since
error tolerance in the NLT calculation, the dashed line can be
considered as the rigorous solution. The result by the identified
reduced-order equivalent closely reproduces the rigorous solution.
VI. CONCLUSION
This paper has introduced the basics of the -transform and
applications to EMT simulations have been reviewed. The application of the -transform to EMT analysis is proposed as a
REFERENCES
[1] J. R. Ragazzini and L. A. Zadeh, Analysis of sampled data systems,
Trans. AIEE, vol. 71, pt. II, pp. 225234, 1952.
[2] A. V. Oppenheim, R. W. Schafer, and J. R. Buck, Discrete-Time Signal
Processing, 2nd ed. Englewood Cliffs, NJ: Prentice Hall, 1999.
[3] W. D. Humpage, K. P. Wong, T. T. Nguyen, and D. Sutanto, z-transform electromagnetic transient analysis in power systems, Proc. Inst.
Elect. Eng. C, vol. 127, no. 6, pp. 370378, Nov. 1980.
[4] W. D. Humpage, K. P. Wong, and T. T. Nguyen, Development of
z-transform electromagnetic transient analysis methods for multimode
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Nov. 1980.
[5] , Time convolution and z-transform methods of electromagnetic
transient analysis in power systems, Proc. Inst. Elect. Eng. C, vol. 127,
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[6] , z-transform electromagnetic transient analysis of crossbonded
cable transmission systems, Proc. Inst. Elect. Eng. C, vol. 128, no. 2,
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[7] J. F. Hauer, State-space modeling of transmission line dynamics via
nonlinear optimization, IEEE Trans. Power App. Syst., vol. PAS-100,
no. 12, pp. 49184925, Dec. 1981.
[8] G. Angelidis and A. Semlyen, Direct phase-domain calculation of
transmission line transients using two-sided recursions, IEEE Trans.
Power Del., vol. 10, no. 2, pp. 941949, Apr. 1995.
[9] T. Noda, N. Nagaoka, and A. Ametani, Phase domain modeling of frequency-dependent transmission lines by means of an ARMA model,
IEEE Trans. Power Del., vol. 11, no. 1, pp. 401411, Jan. 1996.
[10] , Further improvements to a phase-domain ARMA line model
in terms of convolution, steady-state initialization, and stability, IEEE
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[11] A. A. Girgis, J. Qiu, and R. B. McManis, A time-domain approach for
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Abner Ramirez (M96) received the B.Sc. degree from the University of Guanajuato, Mexico, in 1996, the M.Sc. degree from the University of Guadalajara,
Guadalajara, Mexico, in 1998, and the Ph.D. degree from the Center for Research and Advanced Studies of Mexico (CINVESTAV) Campus Guadalajara,
in 2001.
He was a Postdoctoral Fellow in the Department of Electrical and Computer
Engineering, University of Toronto, Toronto, ON, Canada, from 2001 to 2005.
Currently, he is a Professor at CINVESTAVGuadalajara. His interests are electromagnetic transient analysis in power systems and numerical analysis of electromagnetic fields.