Time Domain Electromagnetic Ransients Programs
Juan A. Martinez
Universitat P o l i t h i c a de Catalunya
Barcelona, Spain
I. INTRODUCTION
Several tools have been used over the years to ana-
lyze electromagnetic transients in power systems. Presently,
the digital computer is the most popular tool, although TNAs
and the new generation of real-time digital systems are also
used, mainly in applications for which either a very
high-speed or a real-time simulation is required.
Many techniques have been developed to solve
electromagnetic transients using a digital computer. They
can be classified into two main groups : frequencydomain
and timedomain techniques. The subject of this presentation
is the digital simulation of electromagnetic transients in
power systems using a timedomain technique.
11. EM"-TYPE ALGORITHMS
The most widely used solution method is based on
the application of the Dommel's scheme, which combines
the trapezoidal rule and the Bergeron's method, also known
as method of characteristics. An electromagnetic transients
program (emtp) is a circuit-oriented tool based on the Dom-
mel's scheme, users supply parameters of components and
their interconnection, the program itself builds the system
equations. A simulation is carried out with a fixed time-step,
selected by the user.
A. The Basic Algorithm
The trapezoidal rule is used to convert the differen-
tial equations of the network components into algebraic
equations involving voltages, currents and past values. These
algebraic equations are assembled using a nodal approach
([GIM= PI). The resulting conductance matrix is symmet-
rical and remains unchanged as the integration is performed
with a fixed time-step size..
This scheme can only be used to solve linear net-
works, some approaches have been implemented to cope
with nonlinear and time-varying elements. They itre based on
a current source. representation, a piecewise-linear represen-
tation or the compensation method.
Emtp-type tools are widely used for transient simu-
lations due to the simplicity of the integration rule, as well as
to its numerical stability. However, this rule has some draw-
backs : it uses a fixed time-step size and can originate numer-
ical oscillations. In switching operations or transitions
between segments in piecewise-linear inductances, the trape-
0-7803-6420-1/00/$10.00(c) 2000 IEEE
zoidal rule acts as a differentiator,and introduces sustained
numerical oscillations. Several techniques have been pro-
posed to control or reduce these oscillations : additional
damping to force oscillations to decay; the use of snubber
(RC)circuits in parallel with switches; the temporary modi-
fication of the solution method (the solution method is mod-
ified only when numerical oscillations can occur, without
affecting the rest of the simulation).
B. Steady-tate Solution and initialization
Although these programs are mainly intended for
transient simulations, some of them can obtain a steady-state
phasor solution to establish initial conditions for the tran-
sient solution. The steady-state solution of linear networks at
a single frequency is a simple task, and can be obtained
using nodal admittance equations ([GI v] = [I]). However,
this task can be very complex in the presence of variable
topology circuits, which can produce steady- state harmon-
ics. Several procedures have been proposed or are already
implemented to solve these cases, but no solution method
has been yet implemented in any emtp to obtain the initial
state in systems with switching devices and nonlinear com-
ponents. However, some simple approaches can be used.
The simplest one is known as "brute force" approach : the
system is started from standstill and the simulation is carried
out long enough to let the transients settle down to
steady-state conditions. This approach can have a very slow
convergence if the network has components with light
damping. A more efficient method is to perform an approxi-
mate linear ac steady-state solution with nonlinear branches
disconnected or represented by linearized models. Some
emtps have either a "snapshot" or a "start again" feature.
Using a "brute force" initialization, a snapshot is taken and
saved once the system reaches the steady-state, later runs
can be started at this point.
C. Modelling of COntroLF
In many applications the simulation of control sys-
tem dynamics is fundamental. The development of a section
for representation of control systems in transients programs
was initially motivated by studies of HVDC links. However,
it has many other applications, such as the representation of
excitation of synchronous generators, arc dynamics, or pro-
tective relays. Control systems are usually represented by
means of block diagrams with interconnection between ele-
763
 ments. Control elements can be transfer functions, FOR-
TRAN algebraic functions, logical expressions and some
special devices. The solution method is also based on the
trapezoidal rule, and transfer functions are converted into
algebraic equations in the time-domain. However, the elec-
tric network and the control system are solved separately.
The network solution is f m t advanced, network variables are
next passed to the control section, then control equations are
solved. Finally, the network receives control commands. The
whole procedure introduces a time-step delay.
111. THE EVOLUTION OF TOOLS
Since late 1960's, when the development of electro-
magnetic transients programs based on the Dommel' scheme
was started, a significant effort has been dedicated to
improve the original scheme and to implement new models,
i.e. frequency-dependent models. The development of the
first tools was mainly motivated by the calculation of over-
voltages. At present emtp-type tools are sophisticated pack-
ages integrated by modules aimed at performing different
tasks (input file edition, digital simulations,visualization and
analysis of results), which can be used for simulating a broad
spectrum of transient phenomena in power systems (subsyn-
chronous resonance, power quality analysis, AGDC links,
FACTS and Custom Power technologies, electronically-con-
trolled drives).
In many case studies an accurate simulation cannot
be performed without sophisticated models, on the other
hand the selection of the most adequate model is not always
obvious. To help users in the simulation of transients in
power systems many publications have been elaborated dur-
ing the last decade proposing modeling guidelines using an
emtp-type tooL
This presentation will give an overview of the capa-
bilities (solution methods, component models) implemented
in the most widely used emtp-type tools, a list of the most
common applications, and a summary of modeling guide-
lines for transient simulations.
lV.REFERENCES
[I] H.W.Dommel, "Digital computer solution of electro-
magnetic transients in single- and multi-phase net-
works", IEEE nans. on Power Apparatus and Systems,
vol. 88, no. 2, pp. 734-741, April 1969.
0-7803-6420-1/00/$10.00 (c) 2000 IEEE 764
[2] H.W. Dommel, "Nonlinearand time-varying elements in
digital simulationof electromagnetictransients", IEEE
'kans. on Power Apparatus and Systems, vol. 90, no. 6,
pp. 2561-2567, NovembedDecember 1971.
[3] D.A. Woodford, A.M. Gole and R.W. Menzies, "Digital
simulation of dc links and ac machines", IEEE Pans. on
Power Apparatus and @stems, vol. 102, no. 6, pp.
1616-1623, June 1983.
[4] H.W. Dommel and W.Scott Meyer, "Computationof
Electromagnetic Transients", Proc. ofIEEE,vol. 62, no.
7, pp. 983-993, July 1974.
[5] H.W. Dommel, "Techniques for analyzing electromag-
netic transients", IEEE Computer Applications in
Power, vol. 10, no. 3, pp. 18-21, July 1997.
[6] H.W. Dommel, Electromagnetic 'kansientsProgram.
Reference Manual (EMTp Theory Book), Bonneville
Power Administration, Podand, 1986.
[7] J.A. Martinez-Velasco (Ed.), Computer Analysis of Elec-
tric Power System 'kansients,IEEE Press, 1997.
181 A. Phadke (ed.),"Digital Simulation of Electrical Tran-
sient Phenomena", IEEE Tutorial Course, Course Text
81 EHO173-5-PWR.
[9] A. &le, J.A. Martinez-Velasco and A.J.F. Ken, "Model-
ing and Analysis of System Transients Using Digital
Programs," IEEE PES Special Publication, TP-133-0,
January 1999.
[lo] W.Long et al. "EMTP. A powerful tool for analyzing
power system transients," IEEE ComputerApplications
in Power, vol. 3, no. 3, pp. 36-41, July 1990.
[111 0.Nayak, G.Irwin and A. Neufeld, "GUI enhances
electromagnetic transients simulation tools," IEEE Com-
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January 1995.