IEEE Power Engineering Society Summer Meeting

Edmonton, July 18-

18-22, 1999

Tutorial: Power System Overvoltages

Low Frequency Transients

Presented by
Bruce Mork
Work Done by
Slow Transients Task Force
IEEE T&D Working Group on Modeling and Analysis
of Systems Transients Using Digital Programs

Task Force Objectives

• Identification of Various Phenomena

• Define Modeling & Analysis Guidelines

• Gather Benchmarked Models

• Present Results of Sample Studies

• Publish Summary Papers and Guidelines

• Define Direction for Future Development of

Component and System Models

Page 1
 Task Force Efforts & Results
• Met twice per year, starting at WM 1993

• Three PES Summary Papers Published

• Reports were combined into a special publication:

Modeling and Analysis of System Transients

Using Digital Programs,
Programs, IEEE Pub. TP-
TP-133-
133-0

• Tutorials taught: - 1999 WM, New York City

- 1999 SM, Edmonton

• Received 1999 PES Working Group Award for

Technical Report.

Acknowledgements

• T&D Digital Programs Working Group:

– Albert Keri,
Keri, Chair

• Overall Slow Transients Task Force Efforts:

– Reza Iravani,
Iravani, Chair

• Key Contributors, Ferroresonance Section:

– Bruce Mork,
Mork, Michigan Technological
University
– Atef Morched,
Morched, Ontario Hydro
– Reigh Walling,
Walling, General Electric

Page 2
 Low-Frequency (Slow)
Transients “Phenomena”

• Torsional Issues, Rotating Machines (5-

(5-120 Hz) p.3-
p.3-2
• Transient Shaft Torques (5-
(5-50 Hz) p.3-
p.3-2
• Turbine Blade Vibrations (80-
(80-250 Hz) p.3-
p.3-2
• Fast Bus Transfer (up to 1000 Hz) p.3-
p.3-3
• Controller Interactions (1-
(1-35 Hz) p.3-
p.3-8
• Harmonic Resonances (60-
(60-600 Hz) p.3-
p.3-10
• Ferroresonance (up to 1000-
1000-2000 Hz) p.3-
p.3-12

• Refer to Tables 1 (p. 3 - 4) and Table 2 (omitted)

Torsional Oscillations (5-120 Hz)

Starting on p. 3-
3-2 of Report:

• Series Capacitors (SSR)

• HVDC Converters
• Automatic Voltage Regulators (AVR)
• Power System Stabilizers (PSS)
• Static Var Compensators (SVC)

Page 3
Transient Torsional Torques (5-50 Hz)
Starting on p. 3-
3-2 of Report:
• Faults
• Switching

Turbine Blade Vibrations (90-250 Hz)

• Large Signal Disturbances
• Usually Rely on Manufacturer’s FEM Model

Fast Bus Transfer (up to 1000 Hz)

• Typically 10-
10-15 Motors
• Understand Individual Motors
• Model must show aggregate behavior
• Benchmarking is strongly recommended
• Run a statistical study

Page 4
 Controller Interactions (1 - 35 Hz)

• SVCs
• HVDC Converter
• Adjustable Series Capacitors
• AVRs
• PSSs

• Interactions between multiple closed-

closed-loop
controllers in a system.

Harmonic Interactions (60-600 Hz)

• Characteristic harmonics (predictable in

frequency domain).
• Noncharacteristic harmonics (due to system
nonlinearities).
nonlinearities).
• HVDC converters are typical example
– Radio & TV interference
– 2nd and 3rd Harmonic Instability

Page 5
 Today’s Focus: Ferroresonance

• Introduction to Ferroresonance
– Single Phase, Three Phase, Nonlinearities

– Modeling
» The Study Zone
» Transformer Models
» Model Parameters

• Case Studies

• Recommendations

Ferroresonance Basics
• A “Resonance” involving a capacitance in series with a
saturable inductance LM.

• Unpredictable due to nonlinearities.

• More likely when little load or damping, and for

unbalanced 3-3-phase excitation

• Examples of capacitances:
– Series Compensated Lines.
– Shunt Capacitor Banks.
– Underground Cable.
– Systems grounded only via stray capacitance.
– Grading capacitors on Circuit Breakers.
– Generator Surge Capacitors.

Page 6
 Some Available Literature:

• Be careful! Some (much?) misinformation exists.

• Identified and named in 1907.
• Series Distribution Capacitors - 1930s.
• Rudenberg: Analytical Work in 1940s.
• Hopkinson, Smith: 3-
3-phase systems, 1960-
1960-70s.
• Jiles, Frame, Swift: Core Inductances, 70s-
70s-80s
• Smith, Stuehm, Mork: Transformer Models.
• Mork, Walling: System Models, 1987-
1987-90s.
• Mork, Kieny: Nonlinear Dynamics, 1989-
1989-90s.

Single Phase
Transformer:
Normal
Excitation
• 120 Volts RMS is
applied (1.0 pu)
pu)

• Peak exciting
current is less
than one amp.

• Exciting current
distorted due to
eddy currents and
hysteresis.
hysteresis.

Page 7
Single Phase
Transformer:
Ferro-
resonance

• Series Capacitance
• 120 Volts RMS is
applied (1.0 pu)
pu)
• Peak exciting
current is about 34
amps (1.94 pu).
pu).
• Terminal voltage of
transformer is 240
volts peak (1.44 pu).
pu).

• Two Phases of Source

are Open
Subtransmission
• Single-
Single-Phase XFMRs
Capacitor Banks:
• Series L-
L-C resonance
Ferroresonance
• Nonlinear Inductance
• Zero Sequence Path

Page 8
 • One Phase of Source
Subtransmission is Open
Capacitor Banks: • Series L-
L-C resonance
Ferroresonance • Nonlinear Inductance
• Zero Sequence Path

The Study Zone

• Steady-
Steady-State Thevenin Equivalent

• RLC Coupled-
Coupled-Pi for Lines/Cables. (Cascaded
for long lines).

• Shunt and Series Capacitances.

• Stray Capacitances: Interwinding and

Winding-
Winding-Ground.

• Transformer: Must use correct topology, and

include core saturation & losses.

Page 9
Case 1: VT FERRORESONANCE IN
Temporarily Ungrounded
50-kV System

• System
Grounding was lost
for 3 minutes.

• 72 VTs of same
Mfr were destroyed.

•Zero Sequence
Load Provided
some damping, but
not enough.

Case 1: VT FERRORESONANCE IN
Temporarily Ungrounded
50-kV System

• Simplified system
model is sufficient.

• Zero sequence
capacitance

• Line impedance
and source
impedance were
much less than VT
core inductance.

Page 10
 Case 1: VT FERRORESONANCE IN
Temporarily Ungrounded
50-kV System

• What made one

MFR’s VTs different
than the others?
VT #1 Failed.
• Same Steady State
All 72 of them!
Performance...

• Much different
saturation
characteristics !

Case 2: FERRORESONANCE IN
WYE-CONNECTED SYSTEMS
X1
A H1
VC
VA

X2
B H2
VB

X3
C H3

X0

Page 11
 Details of Case #2

• FULL SCALE LABORATORY & FIELD TESTS.

• 5-LEG WOUND CORE, RATED 75- 75-kVA,
kVA,
WINDINGS: 12,470GY/7200 - 480GY/277 (TYPICAL
IN 80% OF U.S. SYSTEMS).
• RATED VOLTAGE APPLIED.
• ONE OR TWO PHASES OPEN-
OPEN-CIRCUITED.
• BACKFEED VOLTAGE IN UNENERGIZED PHASES
• CAPACITANCE(S) CONNECTED TO OPEN
PHASE(S) TO SIMULATE CABLE.
• VOLTAGE WAVEFORMS ON OPEN PHASE(S)
RECORDED AS CAPACITANCE IS VARIED.

BACKFED VOLTAGE DEPENDS ON

CORE CONFIGURATION

TRIPLEX WOUND OR STACKED 3-LEG STACKED CORE

SHELL FORM 5-LEG STACKED CORE

5-LEG WOUND CORE 4-LEG STACKED CORE

Page 12
 Don’t Do This!
• Basic Delta-
Delta-Wye
Transformer Model
as Presented in
EMTP Rule Book.

•Composed of three
single-
single-phase
transformers

• Phase-
Phase-to-
to-phase
coupling is not
included

5-Legged Wound-Core Transformer

Cross Section with Flux Paths/Tubes

Page 13
5-Legged Wound-Core Transformer
Lumped Magnetic Circuit

5-Legged Wound-Core Transformer

Electrical Dual Equivalent Circuit

Page 14
5-LEGGED
WOUND-
WOUND-CORE
MODEL

• Winding
Resistances
added

• Current Sources
are replaced by
ideal coupling
transformers

EMTP Model,
5-Legged
Wound-Core
• RC Integrators
• Core Losses
• Coupling
Capacitors
• Winding
Resistance
• Ideal Coupling
Isolates Core
From Winding
Connections

Page 15
 NONLINEAR DYNAMICAL SYSTEMS:
BASIC CHARACTERISTICS
• MULTIPLE MODES OF RESPONSE POSSIBLE
FOR IDENTICAL SYSTEM PARAMETERS.
• STEADY STATE RESPONSES MAY BE OF
DIFFERENT PERIOD THAN FORCING
FUNCTION, OR NONPERIODIC (CHAOTIC
(CHAOTIC).
).
• STEADY STATE RESPONSE MAY BE
EXTREMELY SENSITIVE TO INITIAL
CONDITIONS OR PERTURBATIONS .
• BEHAVIORS CANNOT PROPERLY BE
PREDICTED BY LINEARIZED OR REDUCED
ORDER MODELS.
• THEORY MATURED IN LATE 70s, EARLY 80s.
• PRACTICAL APPLICATIONS FROM LATE 80s.

VOLTAGE X1-
X1-X0
C = 9 µF

X2, X3 ENERGIZED
X1 OPEN

“ PERIOD ONE ”

PHASE PLANE
DIAGRAM FOR VX1

Page 16
VOLTAGE X1-
X1-X0
C = 9 µF

X2, X3 ENERGIZED
X1 OPEN

“ PERIOD ONE ”

DFT FOR VX1

ONLY ODD
HARMONICS

VOLTAGE X1-
X1-X0
C = 10 µF

X2, X3 ENERGIZED
X1 OPEN

“ PERIOD TWO ”

PHASE PLANE
DIAGRAM FOR VX1

Page 17
VOLTAGE X1-
X1-X0
C = 10 µF

X2, X3 ENERGIZED
X1 OPEN

“ PERIOD TWO ”

DFT FOR VX1

HARMONICS AT
MULTIPLES OF
30 Hz.

VOLTAGE X1-
X1-X0
C = 15 µF

X2, X3 ENERGIZED
X1 OPEN

“ TRANSITIONAL
CHAOS ”

PHASE PLANE
DIAGRAM FOR VX1
TRAJECTORY
DOES NOT
REPEAT.

Page 18
VOLTAGE X1-
X1-X0
C = 15 µF

X2, X3 ENERGIZED
X1 OPEN

“ TRANSITIONAL
CHAOS ”

DFT FOR VX1

NOTE:
DISTRIBUTED
SPECTRUM.

VOLTAGE X1-
X1-X0
C = 17 µF

X2, X3 ENERGIZED
X1 OPEN

“ PERIOD FIVE ”

PHASE PLANE
DIAGRAM FOR VX1

Page 19
VOLTAGE X1-
X1-X0
C = 17 µF

X2, X3 ENERGIZED
X1 OPEN

“ PERIOD FIVE ”

DFT FOR VX1

HARMONICS AT
“ODD ONE-
ONE-FIFTH”
SPACINGS.

i.e. 12, 36, 60, 84...

VOLTAGE X1-
X1-X0
C = 18 µF

X2, X3 ENERGIZED
X1 OPEN

“ TRANSITIONAL
CHAOS ”

PHASE PLANE
DIAGRAM FOR VX1
NOTE:
TRAJECTORY
DOES NOT
REPEAT.

Page 20
VOLTAGE X1-
X1-X0
C = 18 µF

X2, X3 ENERGIZED
X1 OPEN

“ TRANSITIONAL
CHAOS ”

DFT FOR VX1

NOTE:
DISTRIBUTED
SPECTRUM.

VOLTAGE X1-
X1-X0
C = 25 µF

X2, X3 ENERGIZED
X1 OPEN

“ PERIOD THREE ”

PHASE PLANE
DIAGRAM FOR VX1

Page 21
VOLTAGE X1-
X1-X0
C = 25 µF

X2, X3 ENERGIZED
X1 OPEN

“ PERIOD THREE ”

DFT FOR VX1

HARMONICS AT
“ODD ONE-
ONE-THIRD”
SPACINGS.

i.e. 20, 60, 100...

VOLTAGE X1-
X1-X0
C = 40 µF

X2, X3 ENERGIZED
X1 OPEN

“ CHAOS ”

POINCARÉ
POINCARÉ SECTION
FOR VX1
ONE POINT PER
CYCLE SAMPLED
FROM PHASE
PLANE
TRAJECTORY.

Page 22
VOLTAGE X1-
X1-X0
C = 40 µF

X2, X3 ENERGIZED
X1 OPEN

“ CHAOS ”

DFT FOR VX1

NOTE:
DISTRIBUTED
FREQUENCY
SPECTRUM.

GLOBAL PREDICTION OF
FERRORESONANCE
• PREDICTION APPEARS DIFFICULT DUE TO
WIDE RANGE OF POSSIBLE BEHAVIORS.

• A TYPE OF BIFURCATION DIAGRAM,

DIAGRAM, AS
USED TO STUDY NONLINEAR SYSTEMS, IS
INTRODUCED FOR THIS PURPOSE.
• MAGNITUDES OF VOLTAGES FROM
SIMULATED POINCARÉ SECTIONS ARE
PLOTTED AS THE CAPACITANCE IS
SLOWLY VARIED (BOTH UP AND DOWN).
• POINTS ARE SAMPLED ONCE EACH 60-
60-Hz
CYCLE.
• AN “ADEQUATE ” MODEL IS REQUIRED.

Page 23
 CAPACITANCE
VARIED 0 - 30 µF

MODES:
1-2-C-5-C-3-C

BIFURCATION
DIAGRAMS:
ENERGIZE X2, X3.
X1 LEFT OPEN.

CAPACITANCE
VARIED 30 - 0 µF

Bifurcation
Diagrams

• Must Ramp
Capacitance
both Up and
Down !

• Hysteresis in
the control of
a nonlinear
system.

• Roadmap of
System
Behaviors

Page 24
 CONCLUSIONS
• FERRORESONANT BEHAVIOR IS TYPICAL
OF NONLINEAR DYNAMICAL SYSTEMS.
• RESPONSES MAY BE PERIODIC OR
CHAOTIC.
• MULTIPLE MODES OF RESPONSE ARE
POSSIBLE FOR THE SAME PARAMETERS.
• STEADY STATE RESPONSES CAN BE
SENSITIVE TO INITIAL CONDITIONS OR
PERTURBATIONS.
• SPONTANEOUS TRANSITIONS FROM ONE
MODE TO ANOTHER ARE POSSIBLE.
• WHEN SIMULATING, THERE MAY NOT BE
“ONE CORRECT” RESPONSE.

CONCLUSIONS (CONT’D)

• BIFURCATIONS OCCUR AS CAPACITANCE IS

VARIED UPWARD OR DOWNWARD.
• PLOTTING Vpeak vs.
vs. CAPACITANCE OR
OTHER VARIABLES GIVES DISCONTINUOUS
OR MULTI-
MULTI-VALUED FUNCTIONS.
• THEREFORE, SUPPOSITION OF TRENDS
BASED ON LINEARIZING A LIMITED SET OF
DATA IS PARTICULARLY PRONE TO ERROR.
• BIFURCATION DIAGRAMS PROVIDE A ROAD
MAP, AVOIDING NEED TO DO SEPARATE
SIMULATIONS AT DISCRETE VALUES OF
CAPACITANCE AND INITIAL CONDITIONS.

Page 25
 Recommendations
• Beware of lightly-
lightly-loaded transformers
operating in the presence of capacitance.
• Topologically correct transformer models are
the key to simulation of ferroresonance.
• Core saturation/loss representations are still
weak point of transformer models.
• Nonlinearities make ferroresonance hard to
predict or confirm.
• Monitor current literature for new
developments in modeling and simulation
techniques.

COMMENTS?

QUESTIONS?

Page 26