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Introduction and First Lecture
ECE 633 MODELING AND SIMULATION OF POWER SYSTEM COMPONENTS
August 23, 2005
Oleg Wasynczuk
Contact Information
Oleg Wasynczuk1285 Electrical Engineering
Purdue University
West Lafayette, IN 47907-1285 Office/Lab: 765 494-3475 Lab EE58 [email protected]
Include ECE633 in subject line http://shay.ecn.purdue.edu/~wasynczu
Computer Requirements
Ready access to computer with Simulink Version 6 (R14)* – preferred Simulink Version 5 (R13) - acceptable
Ability to email compressed folders containing reports and Simulink models (.doc, .pdf, and .mdl files)
* We will not use any of the many optional toolboxes
Questionnaire – email before Session 2
Name, major, degree objective, expected date of graduation
Degree of familiarity with (a) Matlab, (b) Simulink 1 - no clue, 2- ketbd, 3-basics, 4-adept, 5-expert
Other simulation languages you use and degree of familiarity
Thesis topic (if known), current research and/or job related projects, description of technical interests,…
Course expectations
Grading
70% Approximately 10 Simulink-based projects Late work will be penalized at 20% per day unless
prior arrangements are made 15% Midterm 15% Final
Cheating Policy
You may discuss projects, including results, with fellow students; however, Sharing of models is not permitted
No two people should have the same models Report must be your own thoughts and
words First occurrence results in stern warning Second occurrence results in non-passing
grade for course
Office/Lab Hours (EE58)
Tuesday/Thursday 1:30-3:30 pm (tentative)
Pre- or Co-requisites by Subject
Pre-requisite Junior or senior course in electric machinery
and/or power systems such as ECE 321, 425, or 432
Co-requisite Graduate course in energy conversion such
as ECE 610 Please let me know if you have
questions/concerns
Course Outline
Will follow spirit of published course outline (see web site)
Major topics to be covered include: Distributed- and lumped-parameter models
of transmission lines Single- and three-phase transformers
Magnetic saturation Induction machines (and drives) Synchronous machines (and drives)
Required Text
Chee-Mun Ong, Dynamic Simulation of Electric Machinery Using Matlab Simulink, Prentice Hall, 1998, ISBN 0-13-723785-5.
First Reading Assignment
Read Chapters 1 and 2 before Session 2
Modeling Philosophy for Dynamic Simulation of Power System Components
Modeling Versus Simulation
Modeling Expression of relevant physical principles in
mathematical form (PDE’s, ODE’s, AE’s, circuit/block diagrams) along with pertinent initial/boundary conditions
Simulation Application of suitable numerical algorithms to
generate numerical solution to set of models Always an approximation (round-off, truncation
errors)
Synchronous Machine Models
Distributed Parameter Coupled Circuit Steady State
)( uxfx
,dtd
IZEeV j ~~
jEe
jXRZ
I~
V~
Power Electronic ModelsAverage ValueDetailed
)( uxfx
,dtd
)()(
)()( );(
iiiif
if
iiiiii
sgst
ttsdtd
,,
,
1
110
x
Txxxfx
Simulation Approaches
Finite-Element-Based Approaches (Ansys, Maxwell, …)
Circuit-Based Approaches (Spice, EMTP, Saber, PSIM, Simplorer)
System-Based Approaches (Simulink, ACSL, Dymola) Block-diagram and/or differential equation oriented Extensive set of tool boxes including
ASMG (Simulink, ACSL) Power System Blockset (Simulink) …
Finite-Element Based Approaches
4000-10000 Nodes
uSaa
M dtd
FEA
Simulation Approaches
Finite-Element-Based Approaches (Ansys, Maxwell, …)
Circuit-Based Approaches (Spice, EMTP, Saber, PSIM, Simplorer)
System-Based Approaches (Simulink, ACSL, Dymola) Block-diagram and/or differential equation oriented Extensive set of tool boxes including
ASMG (Simulink, ACSL) Power System Blockset (Simulink) …
Circuit-Based Approaches
Circuit-Based Approaches
Example Subsystem (Motor Controller)
Circuit-Based Approaches
Circuit-Based Approaches
Resistor-Companion Circuit
15
2
1
654
321321
9
8
7
k
SS
S
S
v
v
v
ggg
gggggggg
i
i
i
i
i
Update Formula
O(n3) computational complexity where n = number of non-datum nodes
Circuit-Based Approaches
Simulation Approaches
Finite-Element-Based Approaches (Ansys, Maxwell, …)
Circuit-Based Approaches (Spice, Saber, PSIM, Simplorer)
System-Based Approaches (Simulink, ACSL, Dymola) Block-diagram and/or differential equation oriented Extensive set of tool boxes including
ASMG (Simlink, ACSL) Power System Blockset (Simulink) PLEX (Simulink) …
System-Based Approaches
Hierarchical system definition
System-Based Approaches
Common Simulink Component Models
System-Based Approaches
System-Based Approaches
1
1
1
0
1p
i
ikiki
p
i
iki
k th ,xfxx
When user starts model, Simulink applies selected integration algorithm to approximate solution at discrete but not necessarily uniform instants of time
General Multi-step Update Formula:
Implicit algorithms require solution of nonlinear equation (dimension = number of states) at each time step. Newton-Raphson iteration generally used.
Explicit if 01
System-Based Approaches
Choice of coefficients determines name of algorithm
Many different algorithms out there See Appendix A for brief introduction
System-Based Approaches
Stiff System: A system with both fast and slow dynamics
Stiffly Stable Integration Algorithm: the ability to increase the time step after fast transients subside
Stiffly Stable Algorithms are implicit!
System-Based Approaches
Computational Complexity
System-Based Approaches
Simulink Fixed-Step Algorithms
Shampine and Reichelt, The MATLAB ODE Suite, SIAM J. Sci. Comput.,Vol. 18, No. 1, pp. 1-22, January 1997.
System-Based Approaches
Simulink Variable-Step Algorithms
Shampine and Reichelt, The MATLAB ODE Suite, SIAM J. Sci. Comput.,Vol. 18, No. 1, pp. 1-22, January 1997.
System-Based Approaches
Simulation Approaches (Conclusion)
Co-simulation Finite Element/Circuit Circuit/System
Distributed Heterogeneous Simulation Any combination of the above mentioned
approaches