8-12 EMTP NEWS wae, EN-§ Volume 1, Number 4, December 1988 Editor : D. Van Dommelen Assistants : G. Empereur L. Laeremane In this issue ... 0, Information for contributors and subscribers, 1, European EMTP User Group information. pel 2. Further improvements of CABLE CONSTANTS pa And An Investigation of Cable Problems. 3. CAD Superstructure of EMTP pals 4, Torsional stresses in turbine generator shafts p22 due to electrical disturbances. Japanese and Chinese languages connected to ATP version of EMTP. 6. Update on INTEL 80386 support of ATP EMTP using UNIX. p.39 7, Parallel Computation of Monte Carlo simulations using pag the ATP version of EMTP with flexibly-networked computers. 8 CAN/AM EMTP News, the Voice of the Canadian/American p.50 EMTP User Group 9. American short courses using Non-Commercial EMTP versions p52PO. INFORMATION FOR CONTRIBUTORS AND SUBSCRIBER” EMTP NEWS shall be a continuation from 1988 on of EMTP NEWSLETTER for the users of the versions of the Bonneville Power Administration EMTP and of the Alternative Transients Program (ATP), as distributed by the Leuven EMTP Center. ENTP NEWS is intended as a quarterly means of communication among these users and is made for and by them. In this ’ context, readers are encouraged to contribute ideas, suggestions, questions, and to share their experience in usage and modelling. Reviews of EMT related published papers or books are greatly appreciated as well as advance notices about forthcoming publications in this field. In order to simplify the editing, contributions must be typewritten, single-spaced and ready to be photocopied. The format shall therefore be plain white paper, size DIN A4 or 8 1/2 by 11 inches, with 20 mm or 1 inch margins on the right and left side. Selection among contributions is done by the editor, but the responsability of the content of a contribution rests with the author. If important editorial changes are judged necessary, consultation with the authors will be seeked prior to publication, No honorarium will be paid to authors. Please mail your contributions, ideas, suggestions, questions or notices to: Prof. Dr. D. Van Dommelen Katholieke Universiteit te Leuven Elektrotechniach Instituut Kardinaal Mercierlaan, 94 B-3030 Leuven (Heverlee) Belgium A subacription may be taken at any time during the year, but will, always run from January to December of the year in which it ia taken.European SMTP User Group information On Monday October 17th, the European EMTP User Group held its annual “closed” fall meeting in Leuven (Belgium), This was the 15th gather- ing of the group. 44 representatives, belonging to 32 different companies or universities attended the meeting. This meeting was felt to be of extreme importance, not only because of its technical contents, but also because of the strengthened contacts with other EMTP User Groups. After the opening of the gathering by Chairman Prof.D.Van Dommelen, two special guests were welcomed: Prof.Dr.A. Ametani and Dr.W.S.Meyer. Next, Prof-Ametani commented on the functioning of the Japanese EMTP Committee. The group now counts for 37 members (9 utilities, 21 manufac- turers and 7 others) and 16 observer- status members (11 universities, 1 technical highschool, 3 public research organisations and 1 foreign organisation). The group gathers 2 or 3 times a year. Up to now, the organisation took care of the distribution of the BPA-EMTP and the Doshi- sha version, exchange of information, publication of manuals and a test case book written in Japanese. As an accredited user group it will now distribute ATP to its members. Next, Dr.W.S.Meyer commented on the functioning of the Canadian-Am- erican (CANAM) EMTP User Group. He announced the existence of a CANAM Newsletter, restricted to the CANAM User Group only. This quarterly publication wants to promote EMTP NEWS, LEC, ATP and the Theory Book. Further, Dr.Meyer commented on the numerous tests (and related EMTP NEWS articles) of 80286 and 80386 machines, performed within the framework of the CANAM User Group. After this presentation of two Non-European EMTP User Groups, the Chairman proposed to change the policy of ATP distribution to Non-Euro- pean User Groups. It was unanimously decided to grant free membership to all accredited EMTP User Groups. This free membership is felt to be Justified since the contribution of setting up and maintaining the function- ing of a user group is felt to be important and valuable. Further, the world-wide distribution and feedback will result in one unified and improved EMTP version all over the world. The conditional terme for this arrangement are as follows: 1, The requesting party should belong to an accredited User Group. LEC together with CANAM will decide to accredit a User Group. The list of User groups currently accredited can be found in the LEC Rule Book. 2. The requesting party should give written evidence of their willingness to distribute ATP and related materials FREE OF CHARGE within their region. 3. The requesting party should sign the non-disclosure agreement and will provide ATP and related materials only to those members who sign like- wise an appropriate non-disclosure agreement.4. The requesting party shall keep records of their memberst \y. ist and will inform LEC of this on a yearly basis. The requesting party shall forward to LEC all proposals for development or enhancement of ATP and/or related materials within the local User Group. This is needed in order to guarantee the support of a unified version all over the world. As a consequence of this approved change of policy, LEC took the necessary measures to contact the User Groups of interest in order to com- municate this change in distribution policy in more detail. It should be stressed that LEC wants to set up a network of local EMTP user groups, rather than direct contact with local companies. Finally it was recalled that currently, BPA is testing ATP performance. Hence it was proposed to strengthen the ties between LEC and BPA. After the budget presentation by LEC, a graphical preprocessor for ATP input data preparation was demonstrated. The development of this preprocessor is performed under a European Community grant (COMBTT 87-C-708) and is co-funded by the European EMTP User Group. More details can be found in the related article, further in this issue. Next, Dr.Meyer commented on the latest political evolutions regarding ATP. He also commented on recent program developments, such as MSDOS-related features (Geograph, SPY, file compression), UNIX testing on SUN workstations, INTEL 80286 and 80386 testing, parallel processing (inter- esting for Monte Carlo studies) and cooperation with European universities (Hannover, Leuven, Catalunya, etc.). For machine code evaluation, interesting contacts were established. Hopefully this will result in improved machine simulations. Further technical contributions included : = frequency-dependent transformer modelling = modelling and simulation of a 5-limb generator setup transformer following faulty synchronism = vacuum circuit breaker modelling at interruption of small inductive cur- rents ~ EMTP calculations with two universal machines on the same shaft - new results on the simulation of a three-phase synchronous motor-gen- erator set using the UM-code ~ steady-state initialization of a three-phase synchronous machine using the UM-code - ATP simulation for power electronics and AC-drives - comparison of some integration procedures related to universal machine equations - the modelling and simulation of multi-machine power systems for the analysis and control of inter-area oscillations - suggestions to improve the steady-state behaviour of Semlyens frequen- cy-dependent transmission line model. Finally, also parts of the new LEC Rule Book were presented: - Line constants- Cable constants - Semiyen setup - Batch mode plotting - XFORMER = BCTRAN ~ Saturable transformer - Benchmark catalogue Tuesday morning, LEC organized a visit to the exhibition “China, Earth and Sky", overviewing five millennia of Chinese inventions. A closing lunch was offered by LEC. European short courses _non-commercial EMTP versions. LEC offers a one-week EMTP short course July 24-28, 1989 (the week following the CANAM-course, see further in this issue). This five-day course will cover the full range of EMTP topics at an introductory/intermediate level : ~ installation, demonstration of SPY - usage of VARDIM ~ steady state and initial conditions - switches and non-linear elements - TACS and initial conditions - rotating machines ~ transformers - lines and cables - art of modelling After lectures, guided evening sessions will be organized in order to allow participants exercises and examples on IBM Mainframe and/or IBM PC. A final price has yet to be set, but is estimated at 40.000BF. For further information, please contact the course administrator Lydia Laeremans, Short Course Administrator K.U.Leuven, Dept. Elektrotechniek Kardinaal Mercierlaan 94 3030 HEVERLEE (LEUVEN) BELGIUM (+) 16-22 09 31 - ext. 1032Further improvements of CABLE CONSTANTS and An Investigation of Cable Problems. Prof. A. Ametani Department of Electrical Sng. Doshisha University Kyoto 602, JAPAN L_INTRODUCTION Already twelve years have passed since the original version of CABLE CON- STANTS was produced by this author at Bonneville Power Administration. Many problems have been made clear and solved by rewriting the code and adding new functions and capabilities. The CABLE CONSTANTS, however, still involve some problems. The worst is, perhaps, the case of a negative resistance or occasionally negative inductance in a calculated result, especially when some conductors of « cable system are grounded. The problem is caused by a rounding off error dependent on the numerical accuracy of the computer used, and is further due to the non-physical assumption that the voltages of the conductors are zero at any point along the conductors. A modification of the code as a countermeasure against the former cause of the negative resistance (or inductance), which is machine (computer) dependent, has been carried out. An explanation to the latter will be given in the text. Further, a new subroutine to deal with a transposed cable has been implemented. Furthermore, an approach of calculating cable parameters for cables hav- ing no circular cross-section will be explained. Also, the problem of the complex permittivity will be described in the text. TL_TRANSPOSED CABLE A single-core coaxial cable (SC-cable, class A in CABLE CONSTANTS) is almost always not transposed. However, in the case of a pipe-type cable (PT- cable, class B), cable transposition often occurs inherently, due to mechanical tension when the cables are installed into a pipe or probably in a tunnel. (The tunnel is regarded as a pipe when the cable parameters are evaluated by CABLE CONSTANTS). The transposition is often called "snaking" because of its appear- ance. ‘A capability of dealing with such a cable by the CABLE CONSTANTS has been asked to the author by the New York Power Authority through Dr. W. Scott Meyer. His first reply was to calculate the cable parameters assuming a sym- metrical arrangement of the inner cables, because the symmetrical arrangement is in fact a consequence of the snaking. But it is not a good assumption when the pipe (enclosure) radius is large in comparison with the sum of the radii of the inner cables. Thus, a new subroutine "PTTRAN" has been produced by this author during his stay at Leuven EMTP Center. To calculate the transposed PT-cable, a user has to define his input data NPP by : NPP = -1. Then, the CABLE CONSTANTS routine calculates the transposed cable para- meters taking into account the grounding of the pipe, armors and sheaths, if any, for the grounding of those is a common practice. As a result, 3x3 transposed impedance, admittance and modal parameters are obtained when the cable system is three-phase.The author was informed that CABLE CONSTANTS output coutains a negative modal resistance (occasionally negative inductance), for cases of /GRND = 0 (ie. the grounding of sheaths, armors an/or a pipe). The cause of the negative resistance is a round-off error of the computer due to its limit of accuracy. 2. Theoretical background When any conductor of a cable is grounded (ise. NGRND + 0), CABLE CON- STANTS carries a reduction of the cable impedance matrix so that the grounded conductors are eliminated, the same way as the ground wire reduction of an overhead line. Assume that the total number of conductors is "m+n", and that there are “m" grounded conductors. Then, the following relation between voltage (V), current vector (I) and impedance matrix (Z’] ie known. (v) = (2"1.() t) (2)) cary=[tZ'eltzea1| where [we -! oo Lg) UzZgeltZag1) (ral i (2) and order of (Vp) and (Ip) = n, order of (Vg) and (Ig) = m (2'p] =n xn, [Zee] = mx m, [Zgp] = [Zpgh = n x m t for transposed matrix. Since m conductors are grounded, (Vg) = (0) (3) From the above equations, the following well known formula for the grounded conductor reduction is obtained. (Vp) = (Zp](Ip) (4) where (Zp] = (Z'p] - (Zpgl{ZggllZpgh (5) The matrix reduction is defined by the above equation, and CABLE CON- STANTS carries its numerical evaluation. It should be noted that the cable impe- dance matrix is stiff while an overhead line impedance matrix is loose. Physically speaking, each element of the cable impedance matrix is very tightly connected with all other elements, as easily realized from its formation. Because of the above explained fact, the numerical evaluation of eq.(5) in the cable case sometimes gives an inaccurate result such as the negative resis- tance due to a round-off error of the computer, while the overhead line case involves, in general, no difficulty of evaluation eq.(5). 3. Example of negative resistance. An Apollo computer, for example, having no capability of double precision complex, often produces an inaccurate result for the matrix reduction (eq.(5)), as shown in the attached Table 1. In this table, a negative resistance is found in off-diagonal elements of the reduced matrix. It is further observed that Z(i,j) > Uiri).From eq.(3) it should be clear that Z(i,j) = Z(ji) in theory. As a consequence, the eigenvalue and eigenvector calculation subroutine “EIGEN (CCEIGEN} -? CABLE CONSTANTS certainly will fail to evaluate *. .orrect eigen- values and eigenvectors. In fact, a warning message is printed, ‘idicating that the given impedance is somehow wrong or physically impossibie. in other words, the given matrix should be symmetrical and its elements should not include any negative resistance. Furthermore, it can be said that the eigenvalue routine is intended to fail provided the given impedance and admittance matrices have no physical meaning. Otherwise, the routine would obtain erroneous modal para~ meters which would result in a wrong answer for any steady state and/or transient solution to the user. Although it may be possible to replace the present eigenvalue routine by a mathematically more sophisticated one, so that it can calculate the eigenvalues and vectors even for physically non-existing impedance and/or admittance matrices, the author doubts whether this is actually acceptable from an engin- eering point of view because it might give an unrealistic solution. ifical n_of CABLE CONSTANT! to the problem. To solve the above mentioned problem, CABLE CONSTANTS has been modi- fied. Subroutines related to the evaluation of eq.(5) have been modified so that all the calculations are carried out within the limits of the computer accuracy. Also, the properties of a coaxial mode, existing at a frequency higher than a critical frequency have been introduced. For example, the propagation constants and modal characteristic impedances for different coaxial modes are almost the same. The attached table 2 shows a calculated result of the modified version for the same case as Table 1. The result shows no negative resistance and also no warning message from the subroutine EIGEN. It is observed that the attenuation constant and propagation velocity, ie. the eigenvalue, are almost the same in Tables 1 and 2. But the other modal parameters are completely different. This is due to the erroneous transformation matrix in the case of Table 1. In other words, the eigenvalue is not so sensitive, but the eigenvector is very sensitive to the erroneous input data of the BIGEN routine. Thus, in Table 1, erroneous modal parameters were evaluated using an inaccurate transformation matrix. Most problematic cases may be solved by the modified version, supposed that a user can control the accuracy of his calculation by the tolerance para~ meter "ZNVREF" (or EPSILON) in the STARTUP-file. An increase of this value usually solves the problem. Tt may be important to point out the fact that a rotation of an eigenvector or transformation matrix can never be the solution for such a problem, because the transformation matrix itself (or the eigenvalues and vectors calculation rou- tine) is not responsible for the error. The reason for the problem is rather related to the erroneous impedance matrix due to the computer round-off errors and hence should not be corrected by an artificial rotation of vectors based on already erroneous data. The d_ numerical = Limit of a model. The previous explanation concerns only a numerical problem of a computer. However, it should be noticed that eq.(5) itself involves a basic problem from physical and mathematical point of view. The equation is well known and has been somehow thought to be correct. But strictly speaking, eq.(5) is only an approximation, and is quite probably inaccurate during a transient, and even in a steady state if a source frequency is high or a line length is large. Eq.(5) is based on the assumption that the voltage of a grounded conductor with respectto the local ground is identically zero along the conductor, eq.(3). This assump- tion is acceptable as a good approximation for ground wires of an overhead line under the following condition /1,2/ T Att or Amie AL an (6) where T= propagation constant, AL= length of tower span, X= dominant wavelength, t ce dominant frequency = power frequency in a steady state, propagation velocity, = propagation time = ¢/c, total length of line. For example, with A! = 300m and c = 300m/u sec, f « 1 MHz. The through analysis of the condition has been carried out by Prof. L.M. Wedepohl in 1965 /3/. Note that. eq.(6) is identical to the condition of the Pl-equivalent applica- tion. In most cable cases, it is quite hard to assume [.2<1 or 2«A/2i, because the distance between two grounding points is, in general, much longer than the tower span of about 300m in the overhead line case. Therefore, the assumption of putting the voltage along a grounded sheath, armor and/or pipe equal to zero results in numerical problems. it has been well known for an electrical power engineer that even the voltage of the grounding point of a cable is not zero during a transient, due to the grounding impedance (i.e. not the installed grounding resistance of a transformer neutral, but the impedance between the grounding terminal of the cable and the zero potential plane within the earth soil). It is a real engineering problem to reduce the grounding impe- dance. 4 typical example is a tower top voltage, ie. the ground wire voltage at the grounded point during a lightning transient. The voltage easily reaches five times the value of the nominal operating voltage on a phase wire. Even in a cable system during a switching transient, the voltage of a sheath, grounded at the both ends, can reach 5 to 10% of the nominal operating voltage of the core. Now, it should have become clear that the theory of matrix reduction for grounded conductors, i.e. eqs. (1) to (5), is only an approximation of which the accuracy (in general) is poor, especially in the cable case during a transient. Even in the overhead line case, the theory is totally wrong if a lightning surge is concerned. Thus, the author expects that a user of the CABLE CONSTANTS should be aware of the fact that the option of "NGRND" (grounded conductor) is an approximation to a physical reality, and certainly causes an erroneous result if the following condition is not satisfied /1,4/. Alm 2 or N>l+nv2-3 i) where Z= total length of cable At= distance between two grounded points = Y(N-1) N = number of grounded points along the cable. The above condition is derived from eq.(6) which is identical to the limit of the PI-equivalent application. A typical example, violating the limiting condition for both grounding (i.e. eq. (7)) and the Pl-equivalent in a cable transient calculation, is shown in the EMTP Newsletter article, Vol.3, no.4, pp.8-16, 1983 /5/. In the article, a crossbonded cable (sheath grounding) is modeled using a homogeneous P-equivalent for a transient analysis. The limiting condition of the homogeneous PI-equivalent for the above specific case isPl-equivalent : ¢> 1900m, grounding : N > 3 while the real condition is : @2 bsua, N= 2 It is clear from the above that the homogeneous Pl-equivaient model should not be adopted in such case. In fact, the article concluded that the Pl-equival- ent model of the crossbonded cable was not accurate, and even recommended not to use this option. Under the given situation, the conclusion is quite reasonable as has been explained in the text. The homogeneous Pl-equivalent model of a crossbonded cable is mainly for a steady-state calculation on a long (at least 3 major sections) crossbonded cable, but not for a transient calculation on such a short cable /6/. For the above specific case, the discrete Pi-circuit model has to be adopted at least. The best model will be explained in the following section, because the author wants to avoid an erroneous usage of various line models prepared in EMTP. 6. Best solution to a grounded cable - Accurate solution If a user likes to obtain an accurate solution in his transient or steady state analysis of a grounded cable system (maybe for a comparison with a field test or insulation design), it is recommended not to use the grounded conductor option NGRND. Instead, the following approach is suggested. (1) Prepare the data corresponding to the actual grounding condition of the cable including the grounding impedance if possible (a measurement may be required). (2) Calculate the cable parameters required for the line model (PI-equivalent, distributed parameter line model or frequency-dependent line model (Semlyen or Marti Setup)), using CABLE CONSTANTS, but without grounding any con- ductors. (3) Produce the data cards of the cable system by connecting the grounded terminals of the cable to the ground (TERRA in EMTP) through the ground ing impedance, if known (one to ten Ohms resistance is a typical value). The above approach is rather tedious but gives the best solution to the problem. It is noteworthy that the above approach is far more significant than worrying about the frequency dependence of the line model for a transient analysis. [t is good enough to apply the distributed line model, of which the parameters including a transformation matrix are evaluated at the dominant fre~ quency f= 1/dt to 1/2t with lumped resistance to simulate the attenuation, in most cages, except a fault surge calculation up to its steady state. From an engineering point of view, it is reasonable not to expect that a calculation is carried out with the time step of 20 micro-seconds for the observation time of 100 milliseconds. To solve this case for such a long time-frame, the engineering practice may be as follows : first run : At = 20 micros-seconds, Tmax = Sms with f = 1/2t second run : At = 200 micro-seconda, Tmax = 100ms with f = power frequency To avoid the tedious data production of the above best solution, step (3), 2 new routine of producing the data set has been developed for the distributed line model case and was implemented into CABLE CONSTANTS of EMTP Doshisha University version by Mr. N. Nagaoka, But because of time shortage, it has not been implemented in the ATP to be released soon from the Leuven EMTP Center. At the next release, it will be implemented, however.|. Further theory of grounded conductor probler it may have been already clear that the conventional theory of a grounded conductor reduction, eqs. (1) to (5), is applicable only to a lumved-parameter circuit, but is not applicable to a distributed-parameter line ftom the strictly theoretica! point of view. In fact, the application of the distribuisd-parameter line theory is based on the Pl-equivalent of the distributed line. Therefore, the application is restricted to the condition T- Ale 1 (or N » 5 for the cable case) given in eqs.(6) and (7), which is the same as for the Pl-equivalent of the distributed-parameter line. In the previous sections, the validity of the conven- tional theory has been discussed from the viewpoint of a distributed parameter line theory, and it has been suggested not to use the grounded conductor option NGRND if the condition of T-\l«lor N > 5 ig not satisfied. The author further likes to point out the following problem of the conven- tional theory of the grounded conductor reduction, especially in the cable case from the entirely theoretical viewpoint. When the Maxwell's equation is applied to the derivation of a distributed parameter line impedance, a zero-potential refer- ence has to be defined. In general, an infinite distance point is taken as the reference, or an earth surface can be adopted as the reference under the assumption the earth is perfectly conducting. The assumption of a sheath volt- age being zero in eq.(3) leads to the fact that the sheath has to be perfectly conducting, too. It should be noted that the discussion in this section is purely theoretical. Otherwise, it is easy to deny the above assumption from the view- point of a physical reality as has been done in the previous section: Assuming the sheath voltage to be zero along the sheaths (this implies a perfectly conduction sheath) the cable impedance, i.e. core impedance in this case, is defined only by media within the sheath inner surface. Physically speaking, the core can not see any media outer than the sheath. Here it appears a significant difference between a cable and an overhead line. In the latter case, the phase wire sees or has a coupling with the other phase wires and the earth, even though the ground wire voltage is assumed zero. In the cable case, it is impossible because the core and the sheath are cylindrical and the core is entirely enclosed within the sheath. Therefore, the overhead line impedance matrix is loose, while the cable impedance matrix is stiff, as referred to in Sec.3.2, Now, the core impedance is easily derived based on Maxwell’s equation with the assumption made above, The core impedance is composed only of the core internal impedance and the insulator impedance within the sheath surface. It is easy to prove that eq.(6) gives analytically an identical result to the above, under the same assumption. But eq.(5) results in an erroneous result if the derivation of the impedance is carried out numerically, as already explained. The above is another theoretical background to the cause of the negative resistance. Thus, from the above viewpoint, it is quite straight forward to cure the negative resistance problem. £q.(5) using complex matrix multiplications and matrix inversion, which are the cause of the negative resistance due to a com- puter rounding error, is no more necessary. The grounded conductor reduction is carried out analytically so as to avoid any numerical inaccuracy of a computer related to eq.(5) or the conventional theory of the grounded conductor reduc tion. However, it should be clear that the assumption of sheath voltage being zero along the sheath is not a physical reality, and that it is a valid approximation only for the condition of T-Al«L The above explained approach of the grounded conductor reduction will be implemented into ATP CABLE CONSTANTS at the next stage of its release.lo. 8. Final remar! The modification of section 3.4. (already included in ATP) ssi is an approximation, If a user really requires accurate results, the 1.~ sd explained in section 3.5. is recommended. But if the user doesn’t want to perform the tedious work of manual grounding, the crossbounded cable option of CABLE CON- STANTS is the answer to his request. Based on the admittance parameter of the two-port theory, the capability of dealing with the accurate grounded conductor reduction has been implemented in the crossbounded cable option /6/. Assume that a cable is not crossbounded, ie. NCROS = 0. Then, follow step (2) of Sec.3.6. Step (3) is not necessary because the grounded conductors are already eliminated. If the PI-equivalent is enough, CABLE CONSTANTS will produce the data sets of Step (3) automatically. The distributed parameter line model data production will be implemented in the next version of ATP. ‘TW._NON-CIRCULAR CABLE PARAMETER The present CABLE CONSTANTS handles only a cable having a circular section, because most power cables have this configuration. However, a istribu- cro non-circular cross-section occasionally can be found in a low voltage di tion system or in a measurement or telecommunication circuit. If a user needs to obtain the parameters for such a cable, at present, only a numerical finite element analysis can be used. This approach requires an enor- mous computation time and memories, even for the calculation at one specific frequency. Thus, it appears to be not practical at all. Because of this fact, the author has proposed the following approximate approach, so that the parameters can be evaluated easily by CABLE CONSTANTS. Let’s assume the length of the contour of an arbitrary shape cable or overhead line is R, and the area of its cross-section is S, Then an equivalent circular conductor is approximately given by outer radius rz = R/20 inner radius ri = Y(R/20)*- S/0l (8) The arbitrary-shape conductor is transformed to the equivalent circular conductor having the inner radius ri and the outer radius r2 given by equatior (8). Then, the parameters of the conductor are easily evaluated by the present version of CABLE CONSTANTS. However, it should be noted that the above approach is only an approximation. If the user is not satisfied by the above approach, he is recommended not to use it, since it is just the author’s kno- whow for the purpose of engineering practice. In the ATP release, a more accu- rate formula of a non-circular conductor impedance developed by the author 72,4/ may be implemented. It is noteworthy that even a non-circular conductor may, quite often, be composed out of a number of circular conductors as illustrated in Fig.l. In such case, the impedance of the non-circular conductor can be calculated as a multi- phase conductor by EMTP (CABLE CONSTANTS or LINE CONSTANTS) assuming those are short-circuited at the both ends. Ya COMPLEX PERMITTIVITY Inclusion of complex permittivity into CABLE CONSTANTS is quite simple in theory. Replace the present real permittivity er by complex permittivity e=¢,-/¢,lie where €; = real part = present permittivity in CABLE CONSTANTS, sored in vector ESI(I) and €; = imaginary part. Tien, new real dimensions for the complex permittivity could be defined by: €= ESRIl) - j ESI(L) for I = 1,2,3, corresponding to the core, sheath and armor outer insulators, Thus, the complex permittivity capability within CABLE CO\S7ANTS is easily achieved by simple replacement of the present BSI by ESR-jESI. But all the real variables (dimensions) which are a function of the permittivity have to be defined as complex variables. This is in fact tedious because of the dimension (array) structure of the EMTP. [t requires only manpower. To @ user, however, it should be noticed that both er and € are frequency-and temperature-dependent. When the frequency is less than some Mhz (which is likely to happen in an EMTP calculation for both steady state and transient phenomena), then the real part er can be assumed to be constant (i.e. frequency- and temperature-independent). The imaginary part €; however, corresponds to the so-called "tan 8 or leakage conductance, and hence is quite frequency-dependent and significantly temperature-dependent, even in the low frequency range. The following table illustrates a typical example. Table 3 : Frequency- and time- dependent permittivity. aaterial vater pager ry fis fis [oa [oa 6 [oe a fs [a a fe fe tio | ae fii | toe fi Pie Pt Pitot [tne fae) | into | ni e [a a a A aa faa fam fast faa | soo a | mo | wm fim fe | ao | oo | soon} 50 400 In general, the frequency- and temperature dependence of the “tan 6' are far more significant than those of the real part er. It is quite hard to obtain the data of the complex permittivity as a function of frequency and temperature. In most cases, these data are not available from a cable manufacturer. This author doubts whether any user can prepare the data of the complex permittivity. Thus the complex permittivity capability is not included at the present stage. If any user really needs to evaluate the cable parameters, including the frequency- and temperature dependent complex permittivity, please inform the author, Dr.W.S.Meyer or your local user group representative. Then in a future release, the complex permittivity will be implemented. By the way, the complex permittivity has been implemented already in the author's independent CABLE CONSTANTS routine at Doshisha University. If any user needs the cable parameters with the complex permittivity, please send the above mentioned data temperature- and frequency- dependence of €r, €i or tan ©) to the author, who then may run the case and produce the result.le. Vi, OTHER REMARKS RELATED TO CABLES 1, Rotation of the transformation matrix related to modal conductance This euthor was informed that the CABLE CONSTANTS routin+ sometimes gives 190 ¥ error. The rotation of the transformation matrix was implemented to avoid such error. The author has following remarks to the above statements. Was a thorough investigation of the numerical accuracy of the computer being used carried out ? If not, how is it guarantied that the phasor impedance given to the EIGEN routine of CABLE CONSTANTS is correct ? If it already includes the numerical inaccuracy due to the computer round-off error, then it is useless (and even wrong) to rotate the eigenvectors, as already explained in section 3.4. Although the result after rotation might look good, the result will be erroneous, because the EIGEN routine was not responsible for the error in the first place. The author talked about the above problem with Prof.H.W.Dommel. The latter said he was not aware of the above and the problem explained in section 3 at all. Further he explained that the rotation was to force the modal conductance to be zero. According to the author, this may be all right, as far as the impedance matrix given to the routine BIGEN is correct, and as far as no numerical inac- curacy due to computer round-off errors is involved within the routine EIGEN. If the modal conductance is due to numerical inaccuracy, the author doubts if the rotation is acceptable at all. If the 100 % error is related to the modal conductance occurrence, and if the latter has an order of magnitude of about 10.E-2 of the modal susceptance, then the value is in an accuracy region that does not make any sense from the engineering point of view. Mode crossing In most cases, so-called modal crossing may not be realistic. It has been found by N.Nagaoka that the largest mode crossing is caused by the discontinu- ity of Carson’s earth return impedance when the low- and high-frequency for- mulas are exchanged. A similar problem occurs for the conductor impedance formula including Bessel functions. In other words, the modal crossing is often due to numerical inaccuracy rather than due to a physical reality. After solving all numerical problems, we might need to investigate the modal crossing from a physical point of view. It has been found by Prof.L.M.Wedepohl that the discrete grounding of a ground wire causes a kind of modal crossing, due to resonance BI. 3. Pl-equivalent As already explained in section 3, a user has to be careful about a limiting condition of the PI-equivalent application. It should be noted that the PI-equi- valent gives a quite erroneous result if there is no source impedance, or if the source impedance is much smaller than the line characteristic impedance. On the contrary, if there is a source impedance greater than the characteristic impe- dance, one can expect rather good results, even by using the simple PI-equival- ent. buted parameter line mode A not well-known advantage of the distributed parameter line model is that the model gives an accurate steady state solution when the condition of T-! <1 (which is the limiting condition to the PI-equivalent) is not satisfied, because it13, is internally converted to the accurate input impedance, different from the Pi-equivalent. The author recommends to adopt the distributed line model to calculae ie steady state solution in the case where [0% 11s wot valid. Another advantage of the model is that it gives a quite stable result in a transient calculation. Further it can deal with an untransposed ‘ine by prepar- ing the corresponding transformation matrix. The Doshisha University version of CABLE CONSTANTS has the capability of producing the data sets of the distributed parameter line including the termination (connection and grounding) condition as explained in section 3.6, The above remarks may be contrary to the comments made in the article of EMTP Review /7/. Overhead line Maybe, the LINE CONSTANTS and the CABLE CONSTANTS routine must be combined in order to have only one routine to calculate the line parameters. This approach has been implemented into CABLE CONSTANTS from its very beginning, because an overhead line can be seen as a simplified cable. For example, a three phase overhead line is identical to a three phase overhead SC {single-core coaxial) cable of which each SC cable is composed only of a core, without a sheath and without an armor. Furthermore, a ground wire can be represented as a grounded SC Cable, having only a core. Thus, CABLE CON- STANTS (or any other computer program for cable parameter calculation) can also handle the overhead line. The impedance calculation of the overhead line involves only two different impedance formulas, ie, Schelkunoff’s conductor internal impedance and Car- son-Pollaczeks’ earth return impedance. On the other hand, the cable impedance involves twelve different impedance components which can be reduced to the same two impedance formulas in the case of an overhead line. Most of these impedance component formulas include an infinite integral and modified Bessel functions with complex arguments. Because of the complication of this cable impedance (admittance too!) formulation, CABLE CONSTANTS occasionally shows numerical problems as explained already. The main cause of such trouble is related to the fact that most of these calculations use complex numbers rather than real numbers. As already explained, some computers don’t allow double precision complex calculations. Transformation of complex to double precision reals might improve the numerical accuracy drastically (see LINE CONSTANTS), though this conversion is quite tedious and troublesome. The main advantage of LINE CONSTANTS is that most calculations are in double precision real and the impedance formulation is simple. Thus, LINE CON- STANTS is numerically more stable, and also it is quite easy to carry a more detailed formulation of the conductor internal impedance (e.g. the position angle of a bundle, stranding effect of a bundle). All these effects are only approxi- mately taken into account in CABLE CONSTANTS. From the above observation, it seems to be quite profitable to combine LINE and CABLE CONSTANTS in one program so as to avoid the disadvantages and duplication of the both routines. 6. Comparison with field measurements The author already has carried out a number of comparisons between field measurements and calculated results by CABLE CONSTANTS. From his experience, the following knowhow may be beneficial to a user of EMTP who is going to carry similar comparison studies. (1) A measured impedance value for an overhead line or cable usually does not correspond to the impedance directly calculated from CABLE or LINE CON- STANTS.(2) If the calculated impedance is significantly different from the measured one, better check the given physical data of the line or cable. Also ask for the actual ‘2st circuit configuration. (3) In most cases, it is not clear whether the measured impedance covers only the conductor internal impedance or it also includes other uffects (e.g. earth effect in the overhead line case; the sheath, armor and/or pipe in the cable case). in most cable cases, a measurement is carried out between the core and the sheath or the core and the pipe but not with respect to the earth. In such cases, the earth return impedance should not be included in a calculation. (4) Often, the permeability of a steel pipe in the pipe-type cable case is not prepared or even forgotten. This affects to the calculated result signifi- cantly. (5) If there is a conducting material nearby the tested line or cable, it affects the measured result significantly due to a mutual coupling. One can expect 50% difference of the impedance due to such coupling. (6) In the case of a long overhead line, be careful with the earth resistivity and the conductor height values, Often, significant variations of earth resistivity and tower structure are found along the line. (7) The best way to calculate the impedance is to carry a steady-state or transient calculation by EMTP, according to the measurement configuration. Next, evaluate the impedance in the same manner as the measurement. In most cases, the measured impedance is obtained by the ratio of the measured voltage and current, rather than from a direct measurement of the impedance. VIL_REFERENCE 1) A. Ametani : Theory of Distributed Parameter Circuit, Doshisha Univ., Kyoto, March 1984. 2) A. Ametani : H, Kaneka & H, Tsujimura : Electric Energy System Engineering, Nikkan Kogyo Pub. Co., Tokyo, Sept. 1988. 3) LM. Wedepohl and R.G. Wasley : "Wave propagation in polyphase transmission systems - Resonance effects due to discretely bonded earth wires ", Proc. IBE, Vol-112(11), pp. 2113-2119, 1965 4) A. Ametani : Power System Transient Analysis by Computer, Doshisha Univ., Kyoto, May 1987 (second edition). 5) M.B, Eteibe & R.H. Brierley :"Transient analysis of crossbonded cable”, EMTP Newsletter, Vol.3(4), pp.8-16, 1983. 6) N. Nagaoka & A. Ametani : "Transient calculations on crossbonded cables”, IBBE, Trans. PAS, Vol. PAS-102, pp.779-786, 1983. 7) Technical advisor : "Line models in the EMTP", EMTP Reviews, Vol.2(4), ped 1988, 8) S.A. Schelkunoff : "The electromagnetic theory of coaxial transmission line and cylindrical shields", Bell. Syst. Tech. J., Vol.13, pp.532-579, 1934. 9) J.R. Carson : Wave propagation in overhead wires with ground return", ibid., Vol.5, pp.539-554, 1926, 10) F. Pollaczek : “Uber das Feld einer unendlich langen wechsel stromdurch- flossenen Einfachleitung”, E.N.T., Band 3 (Heft 9), pp.339-360, 1926.CAD Superstructure of EMTP By G.Bmpereur, F.Hereygers, M.Ulens and D.Van Dommelen K.U.Leuven, Dept.Blectr.£ng., Belgium ABSTRACT ‘A mouse-driven graphical input file generator, using a widely known CAD package, is described for the general purpose electromagnetic transients pro- gram EMTP. The user-friendliness and input efficiency are further enhanced by a new data modularization technique. INTRODUCTION To analyse electrical power systems, quite a number of simulation packages stability analysis, transient analysis, control system simulators, motor drive simulators, fault simulators, etc. [1]. Most of these programs are quite user-friendly, having pop-up menus, interactive data generation, the possibility to generate graphical output in a flexible way, etc. But only a few programs really are interactive in the sense that they allow the user to modify circuit data during the simulation. A drawback of most of these fancy simulation packages is that they usually only are supported on one or a few dedicated computer brands. The reason for such a limitation is that graphical software is very dependent on both computer brand and operating system. Further, most of these packages can only be used to make simple, very specific studies. For example, many programs exist to calculate motor drive behaviour and control system behaviour separately. Only a few packages allow the user to study the interaction among network, motor and control system. On the other hand, EMTP [2] is a general purpose simulation package for transient analysis of electrical power systems. EMTP can run in two different modes: the simulation mode and the supporting mode. In the simulation mode, EMTP can cover a broad spectrum of transient studies, such as switching surge, transient recovery voltage, inrush current calculations, line energization studies, any type of short circuit study (single phase as well as multi-phase). Rotating machines (synchronous, asynchronous, direct current), transformers (even non-linear behaviour can be taken into account), lines and cables (lumped constant parameters, distributed constant or frequency dependent parameters) and control systems can be simulated in interaction with the network to which they belong.le. The supporting mode is just an automatic generator of input cards for the simulation part of the program. The supporting mode only uses geometrical and physical data as well as standard test results, thus being able to gener ate input data for transformers, lines and cables. These generated data are in the correct format and hence can be used for subsequent simulation. Depending on the type of study one wants to perform, simple lumped-element, constant-parameter models or complex frequency-dependent models can be derived. Due to the concept of the UTPF [3] (Universal Transients Program File; a general Fortran-like language) and corresponding dedicated translators taking into account special system requirements (such as memory structure and pre- cission for complex calculation), EMTP became transferable to almost any com- puter brand or operating system. Only a limited number of system-dependent routines are needed to serve special needs (e.g. graphical standards). Due to the possibility of overlay linking, the full program now can even be run on an MS-DOS machine. When using DOS-extenders, one can even go beyond the 640 Kb limit [4]. But despite of all of these advantages, EMTP shows the enormous draw back of being a batch-mode program, with all inherent disadvantages such as strictly-ordered, formatted input, lack of interactivity, etc. All of this results in a lack of user-friendliness; there is no easy visualisation of the circuit under study. Certainly for first-time users, this inevitably results in input errors. Although simple conversational data entry would already result in more user-friendly program access, resolving problems related to formatting and ordering of input data, this would result in less efficient usage of the mainframe computing power. Furthermore, the problem of lack of visualisation of the circuit under study would still remain. Hence, a better alternative for data preparation would be the usage of an interactive, mouse-driven graphical preprocessor on a PC or workstation, based on standard graphical software having an open structure and a programming environment. Although a gra- phics-assisted interface for EMTP was already developed between 1981 and 1983, to the authors’ knowledge, it never became popular [5]. Because of the continuous demand by EMTP User Groups for such product, the authors decided to tackle the problem using a standard graphical package. INTERFACE SPECIFICATIONS The basic specifications of the developed interface between user and EMTP are diecussed in this section [6] (see Fig 1). First of all, the graphical package should allow building a library of “in- telligent symbole” from which the user can select. For each EMTP element, such a symbol should exist. Furthermore, it should be possible to herd some symbols into a symbol group or module. Flexible usage of such a symbol library is only possible if the drawing package has an open structure. The term “intelligent symbol” is used to indicate that for each selected network element, some typical parameters (attributes) can be specified. Further, there is a unique relation between the appearance of a graphical symbol and the existence of corresponding attributes. Via mouse-driven insertion, it shouldbe possible to connect selected symbols sequentially, thus “building” the elec- trical circuit to be simulated. At the same time, interactive data entry should be possible in order to allocate values to the symbol attributes. While inserting symbols, continuous verification of the uniqueness of node names at connection points is mandatory. Two nodes bearing the same name should be connected automatically. For this purpose, the drawing program needs to have a programming environment. During the drawing process, the CAD package should create and continu- ously update a file containing both graphical and non-graphical (i.e, attribute) information. If a network element is deleted in the drawing, the corresponding attribute values should likewise be deleted from this file which accurately describes the picture of the electrical circuit under study. But because EMTP does not need to have the graphical information, a FOR- TRAN filtering routine is used. This filtering routine will read the drawing output file, only retaining the attribute information. All graphical information will be discarded. At the same time, the attribute information will be grouped in the sequence and format needed for the EMTP input file. Even EMTP out- put requests thus can be generated automatically. Only the simulation time step and the maximum time of simulation still need to be specified by the user. A further refinement would be the automatic setting of the time step after critical evaluation of the entered data. Indeed, travel times, time constants, ... are limiting factors with respect to the maximum allowable time-step size. Once created, the EMTP input file then can be sent to a mainframe for fast calculation. It is clear that any modification to the picture representing the circuit under study should result be followed by data re-generation, in order to create a correspondingly modified EMTP input file. APPLICATIONS OF MODULARIZATION The actual choice of symbols and corresponding attributes is the subject of this section. Basically, there are three types of elements to be considered in the EMTP; simple single-phase elements, lumped multi-phase elements and more complicated elements such as transformers. In addition, a data modulari- sation option exists. Let us first consider a simple network element, such as a single-phase lumped resistor with constant parameters. Fig 2. depicts the network symbol used to represent this. The corresponding parameters or attributes are: names for both terminal nodes, the value of the resistance and two output specification flags. Since the symbol is very simple, and the number of attributes limited, flexible manipulation of this symbol is possible. The same remark applies to switches and sources, although the possibility of different symbols representing the different source types and switch types requires some kind of standardization.18. The process becomes more elaborate if one wants to use multiple-phase elements. In this case, the symbol still is simple, although quite a number of attributes need to be specified at insertion time: names for all terminal nodes, impedance values (self-impedances as well as mutual impedances), an output specification flag, etc. Verification of the uniqueness of node names through- out the network under study then becomes rather cumbersome. In order to resolve the naming problem, one might better use a fixed one-character phase specifier within the six-character node names. But the problem of the amount of data to be entered at insertion time still remains unresolved. In the case of more complicated models such as transformers, frequency dependent line or cable models, etc., one needs to specify quite a number of input data. For transformers, node names of all winding terminal ende, the rated power and rated voltages, the short-circuit and excitation data, the nor linear behaviour, the saturation characteristic, etc. need to be specified. For lines and cables, the wave velocity, line length, the frequency response characteristic, etc. need to be specified. In addition, the corresponding sym- bol selection becomes rather cumbersome, although some graphical standards exist. Fortunately, the EMTP supporting routines can be used to generate the necessary data in formats, appropriate for simulation. The EMTP $INCLUDE option allows flexible usage of such pre-created data files (see Fig. 3). The occurrence of the $INCLUDE-string (referring to a file name) during the input data processing will direct EMTP to proceed as though the string were to be replaced by the contents of the file name referred to in the string. Thus, the attributes corresponding to such a symbol no longer refer to specific data or node names as such, but rather refer to file names containing such informa tion, Also in this case, verification of the uniqueness of node names through- out the network might become rather cumbersome, although the use of a fixed one-character phase specifier within the six-character node name might resolve this problem. EMTP’s parametric modularization possibilities form an extension to the possibilities of the EMTP "$INCLUDE" command [7]. Any repetitive connection of certain network elements can be seen as a module. The more a certain grouping of elements is repeated throughout the network, the more efficient the usage of this module will be. Even “nesting” of modules is allowed. Any such module can be described in a so-called "template" (see Fig. 4). A tem- plate is nothing more than the EMTP input representation of the network sec- tion under study. Hence all format rules applicable to the normal EMTP input format are likewise applicable to these templates. Sequence rules are treated differently, although details are beyond the scope of this text. In such a template, certain data (such as node names, some numerical data) have a para- metric nature, whereas other data (never node names) should have fixed values. The data having a parametric nature are called arguments. In this context, formulations in per-unit values are of course more flexible and more universal than fixed-value formulations. Only for nodes internal to the mod- ule, automatic serialization of node names is possible. The empowered EMTP $INCLUDE option allows flexible usage of such pre-created templates, and even allows the allocation of actual values and node names to the arguments used within the template. The occurrence of the SINCLUDE-string (refering to both a file name as well as an argument list) during the input data processing will direct EMTP to proceed as though the string were to be replaced by the contents of the template referred to in the string. At the same time, all arguments will be replaced by their allocated values. Hence the symbolic representation of the module (see Fig. 5) will have the following attributes: an19. argument list and a file name refering to the template describing the module. In order to guarantee the uniqueness of the node name allocation, the auto- matic serialization of internal node names was created. For external node name allocation, the use of a fixed one-character phase specifier within the six-character node name is recommended, however. EURTHER WORK In the future, one could consider using a data base to retrieve for example the template’s file name (and nature of all parameters involved) to be "included" for simulation. It is felt that using this approach, all EMTP network elements can be represented in an easy and flexible way. Further, the user will have more time to devote to the actual simulation, rather than verifying typing errors and data formats during the data input process. Finally, the usage of a custom- ized library containing a standardized set of transformers, machines, awitch- gear,etc, should allow power utilities to speed up the process of network studies, thus saving enormous amounts of money. ACKNOWLEDGEMENT Thanks to the financial support of both the European EMTP User Group and the European Community COMETT grant (87/2/c/708), it became possible to improve EMTP’s user-friendline: The actual creation of this EMTP graphical data generator was done using the AUTOCAD program, release 9.0. Although the 3-D possibilities are not needed as such, AUTOLISP really is mandatory. This provides the program- ming environment one needs to allow the handling of attributes, the verifica- tion of uniqueness of node names, etc. Although AUTOCAD is just a drawing program, it is possible to predefine in a flexible way a user symbol library with corresponding attributes. AUTOCAD runs under MS DOS (IBM PC XT or AT or PS2), ABGIS (Apollo DN 3000 and DN 4000), VMS (VAX station 2000/3000 II/RCGPX), UNIX (Sun-3, Sun-4, Sun 386i). The new release 10 is announced for Apple Macintosh IT too. Further, AUTOCAD supports the IGES CAD-stan- dard. The names AUTOCAD and AUTOLISP, IBM-PC/AT, MS-DOS, APOLLO and UNIX are trade marks of respectively Autodesk Inc., International Business Machines, Microsoft Corporation, Apollo Inc. and ATT.20. EMTP primitives Example: Resistor ‘Symbol Fig.1: CAD superstructure Fig.2: EMIP primitives of EMTP Fig.3: §INCLUDE option AIT Macro's Example : HVOC-substation ‘Symbol Fig.5: empowered §INCLUDE option —Fig.4: empowered §INCLUDE optionEndnotes Power Engineering Journal, July 1988, pp. 203-213, tems using computers" by K. McLeay, nalysing power sys- - BPA, Electro Magnetic Transients Program (EMTP) Rule Book Portland, Oregon & Leuven, Belgium. - IBEE Tutorial Course; “Digital Simulation of Electrical Transient Phenom- ena”, 1980, by A.G. Phadke, W.S. Meyer, H.W. Dommel, D.W. Olive, DH. Baker, K.G. Fehrle and R.H. Lasseter. W.S. Meyer, "Machine translation of an electromagnetic transiente program (EMTP) among different digital computer eyatema", IEEE PBS PICA Confer- ence Record, vol. 10, pp. 272-277, 1977. See also Ref. 8, Vol. VI, 5 January 1977, pagination PICA. EMTP News, Volume 1, number 2, June 1988, pp. 6-16: "ATP for IBM-PC AT-compatible computers (INTEL 80286) breaks the 640-Kbyte barrier of MS- DOS using an inexpensive 'DOS-extender’ named 0S/286", by D.B. Szymanski, R.T. Leskovich, RE. Pierce. EMTP Newsletter, Volume 3, Number 3, Febr. 1983, "Interactive interface for the Bonneville Power Administration Electro Magnetic Transients Program", by P.F. Mc Guire, 14th European EMTP User Group meeting, May 30-31, 1988, Trondheim, Nor- way, document 88-001 (D. Van Dommelen, G. Empereur, F. Hereygers). EMTP Newsletter, Volume 4, Number 2, November 1983, "EMTP Data Modula- rization and sorting by class; a foundation upon which EMTP data bases can be built” by W.S. Meyer.TORSIONAL STRESSES IN TURBINE GENERATOR SHAFTS DUE TO ELECTRICAL DISTURBANCES D.N.Konidaris N.D.Hateiargyriow Public Fower Corporation National Technical University of Greece of Athens, Greece ABSTRACT This report presents an application of the Electromagnetic Tran- sients Program (E.M.T.P.) for the evaluation of torsional torques that arise in turbine generator shafts due to electrical disturban- ces. It is part of the answer of the Greek National Commitee of CIGRE to Questionnaire 84/2 of Working Group 11.01. Some comments are made as for the implementation of the EMTP code for the study of shaft torsionals, which could be interesting for other users too, GENERAL During the last two decades it became evident that turbine-gene- rator rotor could no more be considered as a single inertia in tran- sient stability studies. It was in 1970's that the first shaft failure occured at Mohave Sta~ tion due to the development of excessive alternating torsional tor- ques. Today it is clear that turbine generator shaft is a complicated me~ chanical system with an infinite number of natural torsional frequ- encies. Under the condition that one or more of these coincide with a comple- ment of a natural frequency of the electrical system, a disturbance may excite torsional vibrations which may lead to failure of the shaft. In the aftermath of the above mentioned shaft failure at Mohave the EMTP code was extended to include a new modelling feature for synhro- nous machines with shaft torsionals taken into account. APPLICATION Version M39 of EMTP was used for the evaluation of torsional alter- nating torques that arise at the coupling zones of a turbine generator subjected to symmetric three phase short circuits for different fault clearing times. a Sel G S 7 fig.1 CIGRE Benchmark Model for Computer Simulation of Torsional vibrationsThe turbine generator shaft train consists of four cylinders (one high pressure, one intermediate pressure and two low pressure cy~ linders for the turbine) ,generator and rotating excite:. The action of automatic voltage regulator and speed governor is not considered. In the following part comments will be made on the main applica- tion problems. Tolerance choice When using type-59 synchronous machine source component one must pay attention to the correct choice of the tolerance values. Our first attempt to run the program for the data case of fig.1 led to "marginal convergence" of the iteration and to the printing of a very annoying and paper consuming warning “lack of convergence" for all steps. This was due to the fact that EPDGEL was set equal to its very small default value of E-16. The final values for the set of tolerance parameters that were successfully used wer EPOMEG=0.0001 EPDGEL=0.00009 NIOMAX=33 (default value) with a time step of 0.0001 s. Mechanical damping input EMTP uses a spring mass model (fig.2) for the representation of the mechanical system. Ka Kar Kaa Kas Kee [a Jane Lal Lal Lil Lam € | HPT Oe LES dee Leet dae 1222 Snes LSEN ge TeXe | fo »: | D: D. | Ds L De 4 foo. hs Ul in fig.2 Spring Mass Model of Rotor This model requires the input of mechanical damping in the form of dashpot damping for each mass and material damping for each shaft while only modal values can be measured accurately. A simple method to overcome this dificulty is to solve for the ei- genvalues A, and eigenvectors r, of the matrix: wk where H is the inertia matrix and K is the stiffness matrix. We know that, since these eigenvalues ara distinct, we have: a2 On where o,, are the angular eigenfrequencies of the mechanical system without™hechanical damping. Since mechanical damping ig very low, these are ,with great accuracy the eigenfrequencies of the real system.24. The transformation of the given logarithmic decrement damping values, log-dec, ,to modal damping values,D,,, can be realized by means of the following equations: Hy =diag( Hy, where o is the decrement factor of mode i,H. is the modal inertia for mod#+i and R is the matrix of the eigenveltors. Let us now consider the equation: Where D is the damping matrix: “Dy 2 0 0 0 0 Dj+D, 2tPo3 “Da3 Oo oO 0 ~Pa3 D3*D231P34 “P23 : 2 oO “D354 DygtD34tDys “D354 oO 0 0 “Das DytDystDsg “Dog 0 oO 0 “Deg DetDeg Although matrix H ard K can be diagonized to H. and K, respectively by a canonical transformation with matrix R, tis is Mot true, in general for matrix D im We can have a pseudg-diagonalization of D if we neglect the off dia~ gonal elements of R'DR. With this assumtion the following relations are valid: If we now assume that the dashpot damping terms, D,,are negligible then the mutual damping terms, D,,,can be evaluated and used as the mechanical damping input to EMTP+ Synchronous machine representation A very important feature of the EMTP code is that it allows for a more accurate rotor representation. Conventional models assume that the three per unit mutual inductances on the direct axis are all equal. However this theory gives good results only for the stator circuit quantities (/1/,/2/). For the accurate modelling of the rotor it has been proven that it is necessary to introduce a new parameter in the equations to allow the mutual inductance between field and damper to differ from the other. . two.For the simulation of the system of fig.1 a model with 2+2 wind- ings on the rotor was employed, suitable for the analysis of Subsynch- ronous Resonance problems (/3/).Results In table 1 peak shaft torques at coupling zones 3 and 4 are pre~ sented fur various fault clearing times (FCT). Tolear Thpq-pp2 (max) Thpa-g!max) (cycles) (pew) (p.u.) 3.0 1.191 1.135 2.085 2.105 2,452 2.585 2.437 2.746 2.185 2.007 1.378 12659 2.453 2.735 21262 1.781 41391 1.438 1 cea 1_p.u. torque=2.70563x10°Nm Table 1 Peak torques at coupling zones 3 and 4 From table 1 it is evident that the maximum mechanical torque is Aighiy depentent upon the exact FCT and has a semi-periodic natu- re( : The results are in rather good agreement with the results of other CIGRE members although different programs were used for the evalua- tion. To obtain the above results EMTP version M39 was used on a PRIME 2250 minicomputer with 1 MB of main memory. For a simulation time of 1.5s the execution time was 1139.395 CPU s (for FCT 4cycles with printer plottings of electrical torque and mecha- nical torques at coupling zones 3 and 4. In addition,torsional torques on turbine generator shafts have been studied using ATP version on a IBM PC/AT compatible microcompu- ter under DOS 3.21. In Appendix A the respective Data file is shown and in Appendix B plottings of main quantities are presented. ACKNOWLEDGEMENTS The work presented here was carried out at the Electric Energy Systems Lab of Electric Power Division of the National Technical University of Athens. The authors wish to thank the Director of the Laboratory Frof.B.C.Papadias. REFERENCES 1/I.M.Canay,"Causes of Discrepancies on Calculation of Rotor Quantiti- es and Exact Equivalent Diagrams of the Synchronous Machine", IEEE Trans. on PAS,Vol.PAS-88,no7,July 1969. SuovobouNsuUouEd SeeeeriTg Vs.26. 2/B.Adkins,R.G.Harley,"The General Theory of Electrical Machines: Application to Practical Problems" ,Chapman and Hall,London. 3/IEEF Joint Working Group,"Current Usage and Sugge:"°? Practices in Power System Stability Simulations for Synchronous Machines", IEEE Trans on EC,Vol.EC~1,nr1,March 1986. 4/A.Abolins,D.Lambrecht ,J.S.Joice,L.T.Rosenberg,"Effect of Clearing Short Circuits and Automatic Reclosing on Torsional Stress and Life Expenditure of Turbine Generator Shafts", IEEE Trans.on PAS, Vol.PAS-95,nr1,January 1976.APPENDIX ATA FILE BEGIN NEW DATA CASE POWER FREQUENCY 0.0001 2.0 50. 50. 1000 1 GENTEATRANSA GENTEBTRANSBGENTEATRANSA GENTECTRANSCGENTEATRANSA TRANSAINFINA TRANSBINFINBTRANSAINFINA TRANSCINFINCTRANSAINFINA BLIN2AELIN2ATRANSAINFINA BLIN2BELIN2BTRANSAINF INA BLIN2CELIN2CTRANSAINF INA. BLIN2ABLINBA BLIN2BBLINBB BLIN2CBLINBC 50. +00104.08301 -00439.04388 00001 -00001 00001 BLANK CARD ENDING BRANCH CARDS TRANSABLIN2A~1.0 0.12 TRANSBBLIN2B-1.0 0.12 TRANSCBLIN2C~1.0 0.12 ELIN2AINFINA-1.0 0.12 ELIN2BINFINB~1.0 0.12 ELIN2CINFINC-1.0. 0.12 BLINBA 7 10. BLINBB 10. BLINBC 10. BLANK CARD ENDING SWITCH CARDS A4INFINA 1+17307. 16250. A4INFINB 1+17307.16250, 14INFINC 1+17307.16250. S9GENTEA 17146.4282 GENTEB GENTEC TOLERANCES 0.0001 0605060002 ae 2.608 2.45 2.485 3.420 2.31 2.31 0.231 0.0015 = 0.001 01 0.240 0.020882 02 0.270 0.052205 03 0.245 0.327468 04 0.245 0.327468 os 0.268144 06 0.012339 1 14 2 5 3 5 4 3 4 FINISH 0.0 -120. +120. 50.0409.773843 0.00009 850.0 21. 2.67 2.53 0.012 100,172374 245.243214 888.582613 1043.03196 653.516294 50.88 2.45 2.31 0.0055 BLANK CARD ENDING SOURCE CARDS BLANK CARD ENDING TOTAL EMTP DATA BEGIN NEW DATA CASE BLANK 1900. 2.522 2.41 0.011 118.004090 188.069019 177006136 84.815440 66.377301 100.2B. APPENDIX B T CN] {1-Oot-88 15:06:45 6 | x10° | | 4 4 4 t ° 200 uy 600 360 1000 1200 1900 1600 1980 nem a ran > + [meeo] Shaft Torque at LP1/LPZ coupling T Ne] 11-Oct-88 15:06:45 7 —EE — 0 200 00 600 300 1090 1200 1900 1600 1800 + [msec] Shaft Torque at LPZ/GEN coupling« 11-Oct-88 16:86:45 ead | 160 7 ° 280 900 300 ry 10004200 i900 16d 1400 cy nnen = ane + [meec] Generator Rotor Angle (UELx] 11-Oct-88 15:06:45 a — — —— ° 200 00 600 $00 todo 1200 190 1690 1900 nen os vee +t [meoo] Generator Velocity Deviation30. 11-Oct-88 = 15:06:45 T CNm] x108 ° 200 00 600 #00 1000 1200 1900 1600 1400 +t [meeo] nme re genJAPANESE AND CHINESE Secretary, Japanese EMTP Committee Nato Nagaoka, Lecturer Faculty of Electrical Engineering Doshisho University kyoto 662 JAPAN Telephone Telephone facsimile (FAX) 81 - 75 - 251 - 3766 : + 3737 LANGUAGES CONNECTED TO ATP VERSION OF EMTP Chun-Heng Chiang System Planning Deparinent Tatwan Power Company (Taipower) 242 Roosevelt Road, Section 3 Post Office Box 171 Taipet 187, Republic of CHINA Telephone: 886 - 2 - 396 - 6997 Phone facsimile (FAX) : - 8593 Summary Written oriental languages such as the authors’ Japanese and Chinese pose a challenge for computer input and output because they involve so many more characters than the famous 26 letters of the English alphabet. Whereas one byte of computer storage typically is used to store each occidental character, the 256 different possible combinations of such 8-bit representations fall far short of the requirements for typical oriental languages. Today, common computer representations for Japanese and Chinese use two bytes to represent each oriental character, thereby allowing up to 65K (256 squared) different characters. The authors explain how such complications have been addressed in order to allow the output of oriental language using the ATP version of EMTP [1]. I. General Concepts Required for Using Oriental Languages with Computers The history of multilinguality of EMTP text is to be provided by Dr. w. Scott Meyer in a separate discussion. Hence any reader who is interested in such details is advised to look for a discussion following the present paper. This is by mutual agreement, so no history will be provided here. For the computer storage of oriental text, several different schemes have been used, as the reader already may know [2]. But Limitations imposed on this introductory paper practically constrain the authors to make the explanation as Simple as possible. Hence only the most widely used standards those for MS-DOS (IBM PC XT-compatible) computers of Japan and Taiwan -- will be described For Chinese, this uses the so-called 8IG-5 character representation. In order to distinguish between oriental languages and English, the left- most bit of the first byte of the two-byte code for Chinese or Japanese characters 1s always “on,” which means that the first byte must always have numerical value greater than 16 in binary, which is 8 in hexadecimal (base sixteen). Hereafter, this will be obbreviated as "88 (hex)." This is different from the 7-bit ASCII representation of English, which always hos zero in the left-most bit, ond hence always is less than 88 (hex). Therefore, it is easy to differentiate between oriental and occidental characters once it is known where an oriental character begins (more about this later). For example, the two byte representation of a comma is 8143 (nex) for Japanese and A141 (hex) for chin In 7-bit ASCII English, 2¢ (hex) is the value of the one-byte character code. al.The computer display of oriental characters generally uses 0 fixed width and height for cush uriental character. This is analogous to the most primitive mode of English-lenguage printing. Even printed oriental newspapers uid magazines generally hove fixed row and columa positioning except for in:edded arabic numbers and punctuation marks (which sometimes occupy only half the space of an oriental character) Although software is capable of varying the space between oriental characters, such “proportional spacing" is seldom used. To the oriental eye, there is not the same perception of better quality as there is with English Since blank characters are not used, it therefore is simple to Justify the right margin in professional fashion. Gut how large must the characters be? when printing horizontally (common for computer output that mixes oriental and occidental text), typically one oriental character will occupy the space of two occidental letters or numbers. Whereas an 88-column output line is conmon for English-language monitors, 4B oriental characters typically are used for Japanese or Chinese. Computer users of the Orient have come to accept the use of decimal, arabic numbers that dominate usage in the Occident. Yes, Chinese and Japanese do have ‘their own numbering systems, and these continue to be used for non-computer epplications. But when it comes to computer input/output, the standards established in the occident are universally used in the orient, too. Hence there is no conflict on this point. Keyboard input 1s more complicated for oriental characters than it is for occidental characters because there is not a single key for each character. Instead, the combination of two or more keystrokes is used to request a single oriental character. But which keys, and how does the operator remember these? There are many different schemes, and details are clearly beyond the scope of the present paper. Fortunately, this is not an important detail for EMTP users since it is primarily output rather thon input thot is of interest. Perhaps node or branch names would use three oriental characters rather than six occidental ones, since this certainly would make oriental names more intelligible in the authors’ part of the world. But what about well-known English text such as "BEGIN NEW DATA CASE", "$UNITS", "STATISTICS", or "CALCOMP PLOT"? Although nearly all of such text already is ATP data (and hence is language-independent), no one is in a hurry to translate such English-language controls of input data. The problem is with user documentation, of course, and also the exchange of EMTP data cases between users having different languag This 1s no different than for the various European languages, the authors suspect. Perhaps the Editor, Prof. Van Dommelen, who speaks at least four European languages fluently, would offer an opinion on this point in the form of an Editor's note. The secret to making the EMTP independent of language was the removal of English language from the EMTP source code. Until 1984, language was confined to Hollerith character strings in the thousands of separate FORMAT statements that were scattered throughout the several hundred SUBROUTINE and FUNCTION modul of the FORTRAN-language program. By converting such language from program code to data, the language no longer was fixed. This was first explained to the generel public nine months ago [2]. The text file is named SLOCKDS1.8IN by a typical ATP STARTUP file (see Ref. [1], Section I--2, Card 18, columns 1-32). Production EMTP printout will be in English only if an English version of BLOCKDS1.BIN is used. If an oriental version of SLOCKDS1.SIN is used, output will be in that oriental language provided the computer operating system supports such capability. Also, there is no difficulty creating a hybrid output by mixing Chinese with English or Japanese with English. 32.Another problem peculicr to oriental languages is the splitting of o Sentence so that the right margin never will be exceeded. This oov, ution is easy in English, since usually the blank separator between words, numbers. or parts of imbedded character strings can be used to end each output li-m close to the margin. In exceptional cases (if no blank is found within ten bytes of the margin), recourse will be made to the hyphen of a hyphenated word (no, ATP does not yet offer automatic hyphenation the way some word processors do). Well, such sentence splitting is more complicated for oriental languages because blanks are not generally used as separators, as strange as this may sound to westerners. Blanks are the added baggage that must be carried by languages using just a few characters. There is no need to use blanks with oriental languages since the "words" are unambiguously and easily distinguished without any such extra, artificial separation. This is the way oriental languages have been written for thousands of years, so naturally it is not to be changed just to accomodate a few EMTP users! Hence it was necessary to develop special logic to split output lines properly for oriental languages. Although Japanese and Chinese share the common general need, specific rules of the two languages differ. II. Details Applicable to Chinese and Japanese for MS-DOS Computers — _ Consider first what must be done for Chinese language to split a sentence at the right margin. It is assumed that the output line can not exceed KOL132 bytes (a variable of the STARTUP file). Initially, one does not know whether byte KOL132 1s an English character, or instead half of a Chinese character, so some experiments must be performed. There are two possible situations. Case 1. If the left-most bit of byte KOL152 is "off" (zero), then proceed to check the left-most bit of the preceding byte KOL152-1. If this, too, is off, it indicates that text at the right margin is English, soa flog for English is set, and normal English rules for splitting the line subsequently con be followed. On the other hand, if the left-most bit of byte KOLIS2- 1 is "on" (unity), this indicates that the two bytes together represent a Chinese character. In this case, the line could be ended at byte KOL152. Case 2. If the left-most bit of byte KOL132 is "on" (one), a Chinese character certainly is involved. But which half, left or right? There 1s no easy, direct answer to the question. The entire line must be searched from left to right, beginning with byte number one, which is known to be either an English byte or the left byte of a 2-byte Chinese character. This is the absolute reference that 1s needed. Stepping recursively to the right, keeping track of language discontinuities, one eventually reaches the right margin and knows which half of a Chinese character byte number KOL132 1 If it ts the right naif, this is easy, since bytes one through KOL132 forma full output line that ends with a Chinese character. On the other hand, if byte number KOL132 is the left half of a Chinese character, it cannot be the last byte of the line since this would split a Chinese character, which 1s impossible. So, the output line must be shortened by one byte. But rather than outputting the shortened line, for aesthetic reasons, one English blank is inserted somewhere in the interior, ‘thereby producing a justified right margin. The preceding logic for Chinese is not totally applicable to Japanese because of unfortunate differences in the character codes. Japanese is less easily recognized. For Chinese, the simple check against 88 (hex) sufficed to determine whether a byte was English or not. Unfortunately, no such single check 33.applies to Japanese. The first of two bytes of a Japanese character con lie either in tre first hexadecimal range [81, 9F] or in the second on» [EB, FC]. But this criterion applies only to the first byte of the pair, not to the second. As aresult, Japanese characters always must be treated analogousiy to the more complicated Case 2 above. For Japanese, there never is the simier Case 1 of Chinese, which occurs 58% of the time, on average. For Japanese, a check of every byte of the output lines from left to right is required, for every output line Japanese is more demanding when it comes to punctuation, too. Whereas it is proper to split a Chinese sentence anywhere, including immediately before a punctuation character, this is not true for Japanese, which is more like European languages in this respect. For Japanese, a new line must never begin with a punetion mark such as a period (a stop character) or a comma. If necessary to avoid such a cose, the output line of Jopanese will be shortened by one Japanese character. It is SUBROUTINE ORIENT that processes all oriental language, including differences between Japanese and Chin A total of 149 lines of FORTRAN are involved. This is the extra burden to support Japanese and Chinese === code that is nonexistent or never used if oriental language is prohibited (if variable JORIEN of the STARTUP file has value zero) An “edit descriptor™ is to an ATP language file what symbols such os "E", "Im, "XK", "A", "T™, and "/™ are to FORMAT statements of FORTRAN. Think of 8E15.7, 1018, 20%, ASB, etc. Whereas it is tempting to talk abstractly about the text of some language such as English being placed in a dato file, practical EMTP output requires that constant character strings from such a file be modified dynamically at execution time using program-created numbers and other character strings such as bus names. Also, there must be control over the positioning of characters and numbers. ATP edit descriptors satisfy these needs. Although details have not yet been declassified, it should be permissible to reveal that all such controls are contained within braces "(" and "}* popularly referred to as “curly brackets". At execution time, then, text of SLOCKDS1.BIN must be scanned for such special symbols. In English, this is trivial, of course. It requires usage of nothing more than the INDEX function of ANSI FORTRAN 77. But the location of edit descriptors in an oriental-language text file is more difficult to determine. More than just a single byte must be checked, since "(" or ")" could be the second byte of a pair of bytes that instead represent an oriental character. It 1s installation-dependent FUNCTION FOREIN, never called by users who have no oriental data, that performs this tricky function for oriental users. III. Miscellaneous Concluding Thoughts about Oriental Languages High-resolution dot-matrix printers or laser printers are popular in the orient because of the need for more detail to represent oriental characters. Whereas English is readable using as few as 7 pixels vertically, complex oriental characters require approximately twice this resolution to be distinguishable. If vertical spacing of oriental characters is to be anywhere near the six lines/inch that is common for cheap English line printers, high resolution is mandatory ‘The same 24-pin printers that are popular for near letter-quality English are widely used for oriental language, too. Oriental languages con be represented using either special hardware (more common for business use) or software (more common for school or home use). of 34.course, hardware for oriental language has the advantage of speed of display without an udded burden on the central processor. On the otier hand, the software alternative is cheaper, and it is universal. For example. a Chinese- language version of MS-DOS that is based only on software should operate correctly using ony American computer. But as the integrated circuit revolution continues, ond the non-English market expands, the cost of special hardware for the output of oriental languages continues to decrease. Just as color monitors are displacing monochrome ones, and smart terminals are displacing older, dumb ones as time passes, so hardware to support oriental language is displacing software among serious computer users. Although the techniques for the output of Japanese and Chinese language using MS-DOS have been perfected, it does not follow that all English language ‘text has been translated yet. Completing this work will take more time. Yet it should be remembered that most text is never seen. Error messages account for more than half of the program text. Yet, if execution progresses as expected, they will never been seen. Happily, it does not require the conversion of much English text in order to produce program output that is dominated by foreign language for most data cases Oriental language represents an added memory burden of some SOK or 60K bytes. Since the MS-DOS version of ATP already is short of memory using just English, this is a problem not unlike the complication of GEOGRAF vector-graphic plotting for SPY "PLOT" [3]. Rather than provide a permanent solution for serious users wanting oriental language with EMTP, MS-D0S 1s seen asa convenient, temporary platform for development and testing only. Five to ten years from now, it seems unlikely that much MS-DOS EMTP usage will remain. If any 88286-based computers remain (by then, they will be looking very, very old and weak), presumably they will be controlled by some other, less-restrictive operating system such as a D0S-extender (e.g., 08/286), or OS/2, or UNIX Presumably the techniques and data developed using MS-DOS will be transferable to these more flexible operating systems: Details about orientol languages for Intel 88586-based computers running Unix are not yet known, although attention is expected to be turned to this point soon. The authors agree with their North American colleagues [4] that 52-bit Intel computers should have a dramatic impact on EMTP usage. One of the authors already uses such a computer for the EMTP [5], and the other is expected to have fone soon. In both cases, the computers are manufactured locally (1.e., in Japan and Taiwan, respectively). The authors are following the EMTP adaptation to Unix with great interest, and expect to be users soon. Readers are advised to look for an update from Mr. Szymanski about Unix for Intel 86386-based computers elsewhere in this issue. IV. Acknowledgment of the Assistance of Others ‘The authors gratefully acknowledge the assistance of Ors. W. Scott Meyer and Tsu-huet Liu, Co-Chairmen of the Conadian/American EMTP User Group. Both Taiwan Power Company and Doshisha University were granted free access to ATP materials in exchange for technical cooperation with the Can/Am EMTP User Group, of which the work described by this paper is an example. Also, Drs. Meyer and Liu assisted with the present English-language documentation.