Power System

Blockset
For Use with SIMULINK ®

Hydro-Québec
TEQSIM International

Modeling

Simulation

Implementation

User’s Guide
Version 1
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Power System Blockset User’s Guide

 COPYRIGHT 1984 - 1999 by TEQSIM International Inc., a sublicense of Hydro-Québec, and
The MathWorks, Inc.
The software described in this document is furnished under a license agreement. The software may be used
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Other product or brand names are trademarks or registered trademarks of their respective holders.
Printing History: January 1998 First printing
January 1999 Revised for Version 1.1 (Release 11) (Online only)
 Contents

Preface

About the Authors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi

The Power System Blockset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii

Tutorial
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Session 1: Simulating a Simple Circuit . . . . . . . . . . . . . . . . . . 1-3

Session 2: Analyzing a Simple Circuit . . . . . . . . . . . . . . . . . . . 1-9

Frequency Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

Session 3: Simulating Transients . . . . . . . . . . . . . . . . . . . . . . 1-16

Session 4: Introducing Power Electronics . . . . . . . . . . . . . . 1-20

Simulation of the TCR Branch . . . . . . . . . . . . . . . . . . . . . . . . . 1-21
Simulation of the TSC Branch . . . . . . . . . . . . . . . . . . . . . . . . . 1-24

Session5:SimulatingThree-PhaseSystemsandUsingElectricalMachines
1-27
System Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-27
Load Flow Without a Swing Machine . . . . . . . . . . . . . . . . . . . 1-30
Load Flow With a Swing Machine . . . . . . . . . . . . . . . . . . . . . . 1-34
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-36

i
 Case Studies
2 Series Compensated Transmission Network . . . . . . . . . . . . . 2-3
Description of the Transmission Network . . . . . . . . . . . . . . . . . 2-3
Obtaining the Steady-State and State-Space Model . . . . . . . . . 2-7
Frequency Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Transient Performance Under Fault Condition . . . . . . . . . . . . 2-11

Chopper-Fed DC Motor Drive . . . . . . . . . . . . . . . . . . . . . . . . . 2-13

Description of the Drive System . . . . . . . . . . . . . . . . . . . . . . . . 2-13
Modeling the DC Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16
Simulation of the DC Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18
Drive Starting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Steady-State Voltage and Current Waveforms . . . . . . . . . . . . 2-20
Speed Regulation Dynamic Performance . . . . . . . . . . . . . . . . . 2-20
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21

Synchronous Machines and Regulators . . . . . . . . . . . . . . . . 2-22

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
Mathematical Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
Feedback Linearization Design . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-29

Variable-Frequency Induction Motor Drive . . . . . . . . . . . . 2-30

Description of the Induction Motor Drive . . . . . . . . . . . . . . . . . 2-30
A Variable-Speed Induction Motor Drive . . . . . . . . . . . . . . . . . 2-32
Modeling the Induction Motor Drive . . . . . . . . . . . . . . . . . . . . 2-34
Simulating the Induction Motor Drive . . . . . . . . . . . . . . . . . . . 2-38
Drive Starting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-39
Steady-State Voltage and Current Waveforms . . . . . . . . . . . . 2-40
Speed Regulation Dynamic Performance . . . . . . . . . . . . . . . . . 2-40
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41

HVDC Transmission System . . . . . . . . . . . . . . . . . . . . . . . . . . 2-42

Description of the Transmission System . . . . . . . . . . . . . . . . . 2-42
Modeling the Basic HVDC System . . . . . . . . . . . . . . . . . . . . . . 2-44
Steady-State and Model Start-Up . . . . . . . . . . . . . . . . . . . . . . . 2-48
DC Fault and Load Rejection . . . . . . . . . . . . . . . . . . . . . . . . . . 2-51
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-52

ii Contents
 Advanced Topics
3 How the Power System Blockset Works . . . . . . . . . . . . . . . . . 3-2

The Nonlinear Model Library . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

Limitations With the Nonlinear Models . . . . . . . . . . . . . . . . . . . 3-6
Modifying the Nonlinear Models . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

Which Integration Algorithm Must Be Used . . . . . . . . . . . . . 3-7

How to Increase Simulation Speed . . . . . . . . . . . . . . . . . . . . . . 3-8

Changing Your Circuit Parameters . . . . . . . . . . . . . . . . . . . . . 3-9

Customizing Your Own Blocks . . . . . . . . . . . . . . . . . . . . . . . . 3-10

Block Reference
4 What Each Block Reference Page Contains . . . . . . . . . . . . . . 4-2

The Power System Block Libraries . . . . . . . . . . . . . . . . . . . . . 4-3

Index

iii
iv Contents
Preface
Preface

About the Authors

The Power System Blockset was developed by the following people and
organizations:

• Hydro-Québec Research Institute (IREQ) - Varennes, Québec

• Teqsim International Inc. - St. Bruno, Québec
• Ecole de Technologie Superieure - Montreal
• Universite Laval - Québec City

This project was managed by Pierre Mercier. Gilbert Sybille was the technical
coordinator and author of some sections. The technical supervision of the
blockset was done by Kamal Al-Haddad, Hoang Le-Huy, Louis A. Dessaint, and
Momcilo Gavrilovic. Patrice Brunelle, Roger Champagne, Christian Dufour,
and Mohamed Tou programmed the functions and the models.

vi
 The Power System Blockset

The Power System Blockset

Electrical power systems are combinations of electrical circuits and
electro-mechanical devices, like motors and generators. Engineers working in
this discipline are frequently tasked to improve the performance of the
systems. Requirements for drastically increased efficiency have forced power
system designers to use power electronic devices and sophisticated control
system concepts that tax traditional analysis tools and techniques. Further
complicating the analyst’s role is the fact that the system is often so nonlinear
that the only way to understand it is through simulation.
Land-based power generation from hydroelectric, steam, or other devices is not
the only use of power systems. A common attribute of these systems is their use
of power electronics and control systems to achieve their performance
objectives.
The Power System Blockset was designed to provide a modern design tool that
will allow scientists and engineers to rapidly and easily build models that
simulate power systems. The blockset uses the Simulink® environment,
allowing a model to be built using simple click and drag procedures. Not only
can the circuit topology be drawn rapidly, but the analysis of the circuit can
include its interactions with mechanical, thermal, control, and other
disciplines. This is possible because all the electrical parts of the simulation
interact with Simulink’s extensive modeling library. Because Simulink uses
MATLAB® as the computational engine, you can use MATLAB’s toolboxes as
you design your simulation.
You will find that the blockset can be put to work rapidly. The libraries contain
models of typical power equipment, such as transformers, lines, machines, and
power electronics. These models are proven ones coming from textbooks, and
their validity is based on the experience of the Power Systems Testing and
Simulation Laboratory of Hydro-Québec, a large North American utility
located in Canada. The capabilities of the blockset for modeling a typical
electrical grid are illustrated in demonstration files. For users who want to
refresh their knowledge of power system theory, there are also self-learning
case studies.
The blockset fits well with other specialized analytical tools you use in the
power system community.

vii
 1
Tutorial
 Introduction

Introduction
To master the Power Systems Blockset, you must learn how to build and
simulate electrical circuits. The Power System Blockset operates in the
Simulink environment. Before starting this training you should become
familiar with Simulink.
The tutorial is organized in five different sessions. Sessions 1 through 3 are
based on a simple power system. Session 4 illustrates power electronics, and
Session 5 demonstrates three-phase power systems, electrical machinery, and
load flow.

1-2
1 Tutorial

Session 1: Simulating a Simple Circuit

The Power System Blockset allows you to build and simulate electrical circuits
containing linear and nonlinear elements. In Sessions 1 through 3 you will
build, analyze, and simulate the circuit of Figure 1-1.
In this session, you will:

• Explore the powerlib library of the Power System Blockset

• Learn how to build a simple circuit from the powerlib library
• Interconnect Simulink blocks with your circuit

The circuit of Figure 1-1 represents an equivalent power system feeding a

300 km transmission line. The line is compensated by a shunt inductor at its
receiving end. A circuit breaker allows energizing and de-energizing of the line.
To simplify matters, only one of the three phases is represented. The
parameters shown in the figure are typical of a 735 kV power system.

300 km
transmission line
Rs_eq
R= 0.011 Ω/km
2.0 Ω
Z_eq L= 0.8674 mH/km
Q= 110 Mvars
424.4 kV rms R=180.1 Ω C= 13.41nF/km
quality factor:300
0 degrees L= 26.525 mH
60 Hz @ 424.4 kV
C= 117.84 µF 60 Hz

Figure 1-1 Circuit To Be Modeled With the Power System Blockset

The graphical interface makes use of the Simulink functionality to

interconnect various electrical components. The electrical components are
grouped in a special library called powerlib.
Open the Power System library by entering the following command at the
MATLAB prompt:
powerlib

This command displays a Simulink window showing icons of different

subsystem blocks.

1-3
 Session 1: Simulating a Simple Circuit

These subsystems can be opened to produce the windows containing the blocks
to be copied into your circuit. Each component is represented by a special icon
having one or several inputs and outputs corresponding to the different
terminals of the component.

1 From the File menu of the powerlib window, select New − Model, which will
contain your first circuit and save it as circuit1.

2 Open the Electrical Sources library and copy the AC Voltage Source block
into the circuit1 window.

3 Open the AC Voltage Source dialog box by double clicking on the icon and
enter the Amplitude, Phase, and Frequency parameters according to the
values shown in Figure 1-1.

Note that the amplitude to be specified for a sinusoidal source is its peak
value (424.4e3*sqrt(2) volts in this case).

4 Change the name of this block from Voltage Source to Vs.

5 Copy the Parallel RLC Branch block, which can be found in the Elements
library of powerlib, set its parameters as shown in Figure 1-1, and name it
Z_eq.

The resistance block cannot be found directly in the Elements subsystem.

However it can be obtained from the Parallel RLC Branch block.

1-4
1 Tutorial

6 Duplicate the RLC block, which is already in your circuit1 window, set the
R parameter according to Figure 1-1, and set the L and C parameters
respectively to infinite (inf) and zero values.

When the dialog box is closed, you will notice that the L and C components
have disappeared so that the icon now shows a single resistor. The same
result would have been obtained with the Series RLC Branch block by
setting L and C respectively at zero and inf values.

7 Name this resistance Rs_eq.

8 Open the Connectors subsystem of powerlib and copy a Bus Bar.

9 Open the Bus Bar dialog box and set its parameters at 2 inputs and 2
outputs and name it B1. Also copy the Ground block (select the block with an
output connection).
Resize the various components and interconnect blocks by dragging lines from
outputs to inputs of appropriate blocks.

Rs_eq
Z_eq
B1
Vs

You need a voltage measurement to measure the voltage at bus B1. This voltage
measurement can be found in the Measurements subsystem. Copy it and name
it U1.
Connect its positive input to the second output of bus bar B1 and its negative
input to a new ground block.
Thus far you have used only blocks from the electrical library. To observe the
voltage measured by the voltage measurement block, you need a display
system. This could be any device found in the Sinks Subsystem block of
Simulink. Use the standard Simulink scope.

1-5
 Session 1: Simulating a Simple Circuit

Open the Simulink library and copy the scope in your circuit1 window. If the
scope were connected directly at the output of the voltage measurement, it
would display the voltage in volts. However, electrical engineers in power
systems are used to working with normalized quantities (per unit system). You
can normalize the voltage by dividing the value in volts by a base voltage
corresponding to the peak value of the system nominal voltage. In this case, the
scaling factor K is:
1
K = --------------------------------------------
3
424.4 × 10 × 2
Copy a Gain block from the Simulink library and set its gain as above. Connect
the measurement system to the voltage measurement as shown below.

Electrical System
Simulink System

The measurement therefore appears as an interface between the electrical

blocks and the Simulink blocks. For the simple system shown above, you do the
communication in one direction only (from the electrical system to Simulink).
However, for electrical systems requiring control, such as power electronic
devices, you would perform the communication in both directions.
To complete the circuit of Figure 1-1, you need to add a transmission line, and
a shunt reactor. You will add the circuit breaker later in “Session 3: Simulating
Transients”.
The model of a line with uniformly distributed R, L, and C parameters
normally consists of a delay equal to the wave propagation time along the line.
This model cannot be simulated as a linear system because a delay corresponds
to an infinite number of states. However, you can obtain a good approximation
of the line with a finite number of states by cascading several pi circuits, each
representing a small section of the line. A pi section consists of a series R-L

1-6
1 Tutorial

branch and two shunt C branches. The model accuracy depends on the number
of pi sections used for the model.
Copy the PI Section Line block from the Elements library into circuit1. Open
its dialog box. Set its parameters as shown in Figure 1-1, and specify one line
section.
You can model the shunt reactor with a series RL branch. Use a Series RLC
Branch block or a Series RLC Load block for the model. For the Branch block,
set the R and L values corresponding to the active and reactive power specified
in Figure 1-1 (Q=110 Mvar; P=110/300=0.37 MW at V=424.4 kV rms and f= 60
Hz).

You will find it more convenient to use a Series RLC Load block which allows
you to specify the active and reactive powers absorbed by the shunt reactor
directly.
Copy the Series RLC Load block, which can be found in the Elements
subsystem of powerlib. Open the dialog box and set its parameters as follows:
Vn=424.4e3V; fn=60 Hz; P= 110e6/300 W (quality factor=300);
QL=110e6 vars and Qc=0.

Note that, as no reactive capacitive power has been specified, the capacitor
disappears on the block icon when the dialog box is closed.
Add a receiving end bus B2 by duplicating B1. Duplicate the voltage
measurement system (blocks U1, Volts>pu, and Scope U1).
Finally, interconnect all these new blocks as shown in the following figure.

Now you can start the simulation from the Simulation menu. As expected,
voltages are sinusoidal with peak value of 1 pu. While the simulation is
running open the Vs block dialog box and modify the amplitude. Observe the
effect on the two scopes. Remember that you may zoom in on the waveforms in

1-7
 Session 1: Simulating a Simple Circuit

the scope windows by rubberbanding (using the left mouse button) around the
region of interest. You can also modify the frequency and the phase. Use one of
the Simulink stiff solvers (like ode15s) for increased simulation.

1-8
1 Tutorial

Session 2: Analyzing a Simple Circuit

In this session you will:

• Use the Powergui graphical user interface

• Obtain the steady-state outputs of the system
• Analyze your circuit with the power2sys function
• Analyze an electrical circuit in the frequency domain

To facilitate the steady-state analysis of your circuit, a graphical user interface

(GUI) is provided in the powerlib library. Copy the Powergui interface block
into your circuit1 window and double click on the block icon to open it.
Select the Steady state button of Powergui. This opens the Steady state
window where the steady-state phasor corresponding to the Vs electrical
source is displayed in polar form. Each measurement output is identified by a
string corresponding to the measurement block name, preceded by the prefix
U_ for a voltage measurement. The six state variables are also displayed in
phasors corresponding to the steady states values of inductor currents and
capacitor voltages. The variable names contain the name of the block where the
inductor or capacitor is found, preceded by the Il_ or Uc_ prefix.

1-9
 Session 2: Analyzing a Simple Circuit

The sign conventions used for the voltages and currents of sources and state
variables are determined by the orientation of the blocks:

• Inductor currents flowing in the arrow direction are considered positive

• Capacitor voltages are Vblock output-Vblock input

1-10
1 Tutorial

Note: Depending on the exact position of the various blocks in your circuit1
diagram, the state variables may not be ordered the same way as in the figure
above.

Now, select the Set state variables button to display the initial values of the
state variables. These initial values are set in order to start the simulation in
steady-state.

Frequency Analysis
To measure the impedance versus frequency at bus B2, you will need a current
source to provide a second input to the state-space model. Open the Electrical
Sources subsystem and copy the AC Current Source block in your model.
Connect this source at bus B2 as shown in Figure 1-2. Set its source amplitude
to 0, its frequency to 60 Hz, and ground the negative port.

1-11
 Session 2: Analyzing a Simple Circuit

Figure 1-2 AC Current Source at the B2 Bus Bar

Now compute the state-space representation of the model circuit1 with the
power2sys function. Enter the following command at the MATLAB prompt.
[A,B,C,D,x0,states,inputs,outputs]=power2sys(’circuitl’);

The power2sys function returns the state-space model of your circuit in the
four matrices A, B, C and D. x0 is the vector of initial conditions that you have
just displayed with the Powergui.The names of the state variables, inputs,
and outputs are returned in three string matrices.
states
states =
Il_110 Mvars
Uc_PI Section Line->sect:1
Il_PI Section Line->sect:1
Uc_PI Section Line->sect:2
Il_Z_eq
Uc_Z_eq
inputs
inputs =
U_Vs
I_AC Current Source
outputs
outputs =
U_U1
U_U2

1-12
1 Tutorial

Note that you could have obtained the names and ordering of the states, inputs
and outputs directly from the Powergui.
Once the state-space model of the system is known, it can be analyzed in the
frequency domain. For example, the modes of this circuit can be found from the
eigenvalues of matrix A (use the MATLAB eig command).
eig(A)
ans =

1.0e+05 *
-2.4972
-0.0001 + 0.0144i <---229 Hz
-0.0001 - 0.0144i
-0.0002 + 0.0056i <---89 Hz
-0.0002 - 0.0056i
-0.0000

This system has two oscillatory modes at 89 Hz and 229 Hz. The 89 Hz mode
is due to the equivalent source, which is modeled by a single pole equivalent.
The 229 Hz mode is the first mode of the line modeled by a single pi section.
If you have the Control System Toolbox, you can compute the impedance of the
network as a function of frequency by using the bode function. In the Laplace
domain, the impedance Z2 at bus B2 is defined as the transfer function between
the current injected at bus B2 (input 2 of the system) and the voltage measured
at bus B2 (output 2 of the system).
U2 ( s )
Z2 ( s ) = ----------------
I2 ( s )

The impedance at bus B2 for the 0-1500Hz range can be calculated and
visualized as follows.
freq=0:1500;

w=2*pi*freq;
[mag1,phase1]=bode(A,B,C,D,2,w);
semilogy(freq,mag1(:,2));

Repeat the same process to get the frequency response with a 10 line section
model. Open the PI Section Line dialog box and change the number of sections

1-13
 Session 2: Analyzing a Simple Circuit

from 1 to 10. To calculate the new frequency response and superimpose it with
the one obtained with a single line section, enter the following commands.
[A,B,C,D]=power2sys(’circuit1’);
[mag10,phase10]=bode(A,B,C,D,2,w);
hold on
semilogy(freq,mag1(:,2),freq,mag10(:,2));

The result is shown in Figure 1-3.

10 5
229 Hz
10 4
one line section
Impedance magnitude at bus B2 (Ω)

10 line sections
10 3
89 Hz

10 2

10 1

10 0
0 500 1000 1500
Frequency (Hz)
Figure 1-3 Impedance at Bus B2 as Function of Frequency

This graph indicates that the frequency range represented by the single line
section model is limited to approximately 150 Hz. For higher frequencies, the
10 line section model is a better approximation.
For a distributed parameter line model, the propagation speed is:

1
v = ----------------- = 293 208 km/s
L⋅C

The propagation time for 300 km is therefore T=300/293 208=1.023 ms and the
frequency of the first line mode is f1=1/4T=244 Hz. A distributed parameter
line would have an infinite number of modes every 244+n*488 Hz (n=1,2, 3...).

1-14
1 Tutorial

The 10 line section model simulates the first 10 modes. The first three line
modes can be seen on Figure 1-3, (244Hz, 732Hz and 1220 Hz).
Now open the Simulation/Parameters menu of your circuit1 model. In the
Solver section, select the ode15s integration algorithm. Keep the default
parameters except set the stop time to 0.1. Open the scopes and start the
simulation. Look at the waveforms of the sending and receiving end voltages
on Scope U1 and Scope U2. As the state variables have been automatically
initialized, the system starts in steady state and sinusoidal waveforms are
observed.
Finally, open the Powergui interface, select the Set State Variables button,
and reset all the states to 0 by selecting the Reset to zero button and then
Apply button. Restart the simulation and observe the transient when the line
is energized from zero.

1.5
With initial states set to steady-state
1
With initial
0.5
state reset
to zero
Voltage at bus B2 (V)

-0.5

-1

-1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05

Figure 1-4 Receiving End Voltage U2 With 10 pi Section Line

1-15
 Session 3: Simulating Transients

Session 3: Simulating Transients

In this session you will:

• Learn how to create an electrical subsystem

• Simulate transients with a circuit breaker
• Compare time domain simulation results with different line models

One of the main uses of the Power System Blockset is to simulate transients in
electrical circuits. This can be done with either mechanical switches (circuit
breakers) or switches using power electronic devices.
First open your circuit1 system and delete the current source connected at bus
B1. Save this new system as circuit2. Before connecting a circuit breaker, you
will modify the schematic diagram of circuit2. As with Simulink, the Power
System Blockset allows you to group several components into a subsystem.
This feature is useful to simplify complex schematic diagrams.
Use this feature to transform the source impedance into a subsystem by:

1 Select the two blocks identified Rs_eq and Z_eq by surrounding them with a
bounding box (left mouse button) and use the Edit/Create Subsystem
menu. The two blocks now form a new block called Subsystem.

2 Use the Edit/Mask Subsystem menu to change the icon of that subsystem.
In the Icon section of the mask editor, type the following command:
disp(’Equivalent\nCircuit’)

3 Select Apply.

1-16
1 Tutorial

4 Use the Format/Show Drop shadow menu to get the appearance as shown
in the figure. You can now double click on the Subsystem block and look at
its content.

5 Insert a circuit breaker in your circuit to simulate a line energization by

opening the Elements subsystem of the powerlib library. Copy the Breaker
block into your circuit2 window.

The circuit breaker is a nonlinear element consisting of an ideal switch in

series with a series R-L circuit. Because of modeling constraints, the switch
inductance cannot be set to 0. However, this inductance can be set to a very
small value, say 10 µH, that does not affect the performance of the circuit:

1 Open the breaker dialog box and set its parameters as follows: Ron=0 Ω;
Lon=10e-6 H; and Initial state=0 (open).

2 Insert the circuit breaker in series with the sending end of the line, then
rearrange the circuit as shown in the figure in step 1.

3 Copy the Step block from the Simulink Sources library and connect it to the
control input of the circuit breaker.

4 Set the step time to 16.67e-3/4 so that the line will be energized at the
positive peak source voltage.

5 Finally connect a To Workspace block from the Simulink Sinks library, at

the output of the Gain block measuring U2 and set the variable name as U2.

Open the PI section Line dialog box and make sure the number of sections is
set to 1. Open the Simulation/Parameters menu. In the Solver section, select
the ode15s integration algorithm. Keep the default parameters, except set the
stop time to 0.02s. Select the Workspace I/O tab and make sure that the time
is returned in the variable tout. Open the scopes and start the simulation.
Look at the waveforms of the sending and receiving end voltages on Scope U1
and Scope U2.
Once the simulation is complete, copy the variables tout and U2 into t_1 and
U2_1 respectively.
t_1=tout;
U2_1=U2;

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 Session 3: Simulating Transients

These two variables now contain the waveform obtained with a single pi section
line model.
Open the PI section Line dialog box and change the number of sections from
1 to 10. Start the simulation. Once the simulation is complete, copy the
variables tout and U2 into t_10 and U2_10 respectively.
t_10=tout;
U2_10=U2;

Finally, delete the pi section line model and replace it with a single phase
Distributed Parameter Line block from the powerlib/Elements library. Set the
number of phases to 1 and use the same R,L,C, and length parameters as for
the pi section line (see Figure 1-1). Restart the simulation and save the time
and U2 voltage in t_d and U2_d variables.
You can now compare the three waveforms obtained with the three line models
by plotting them on the same graph.
plot(t_1,U2_1,t_10,U2_10,t_d,U2_d);

These waveforms are shown in Figure 1-5. As expected from the frequency
analysis performed during “Session 2: Analyzing a Simple Circuit”, the single
pi section model does not respond to frequencies higher than 229 Hz. The 10 pi
section model gives a better accuracy although high frequency oscillations are
introduced by the discretization of the line. You can clearly see on the figure
the propagation time delay of 1.03 ms associated with the distributed
parameter line.

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1 Tutorial

Figure 1-5 Receiving End Voltage Obtained With Three Different Line Models

1-19
 Session 4: Introducing Power Electronics

Session 4: Introducing Power Electronics

In this session you will:

• Learn how to use power electronic components

• Learn how to use transformers
• Change initial conditions of a circuit

The Power System Blockset has been designed to simulate power electronic
devices. In this session, you will build a simple circuit using thyristors.
Consider the circuit given in Figure 1-6. It represents one phase of a static var
compensator used on a 735kV transmission network. On the secondary of the
735 kV /16 kV transformer, two variable susceptance branches are connected
in parallel: one thyristor controlled reactor (TCR) branch and one thyristor
switched capacitor (TSC) branch.

2.7 Ω 71.65 mH
70.5 mΩ 1.5 mΩ

735kV ⁄ 3 16kV 18.7 mH 1.13 mH

424.4 kV rms
0 degrees
60 Hz

308.4 µF

TCR TSC
branch branch
Transformer parameters
Nominal power 110 MVA
Primary: Rated voltage 424.4 kV rms; leakage reactance=0.15 pu; resistance=0.002 pu
Secondary: Rated voltage 16 kV rms; leakage reactance=0 pu; resistance=0.002 pu
Magnetizing current at 1 pu voltage: Inductive: 0.2% Resistive: 0.2%

Thyristor parameters
Ron = 1mΩ Lon= 1µH; Vf=14*0.8 V (14 thyristors in series)
Snubber: Rs= 500Ω Cs= 0.15µF

Figure 1-6 One Phase of a TCR/TSC Static Var Compensator (SVC)

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1 Tutorial

The TCR and TSC branches are both controlled by a valve consisting of two
thyristor strings connected in antiparallel. An RC snubber circuit is connected
across each valve. The TSC branch is switched on/off, thus providing discrete
step variation of the SVC capacitive current. The TCR branch is phase
controlled in order to obtain a continuous variation of the net SVC reactive
current.
You will now build two circuits illustrating the operation of the TCR and the
TSC branches.

Simulation of the TCR Branch

1 Open a new model and save it as circuit3.

2 Open the Power Electronics library and copy the Thyristor block into your
circuit3 model.

3 Open the Thyristor menu and set the parameters as follows:

(Ron=1e-3; Lon=1e-6; Vf=14*0.8; Rs=500; Cs=0.15e-6).

Notice that the snubber circuit is integral to the Thyristor dialog box.

4 Rename this block Th1 and duplicate it.

5 Connect this new thyristor Th2 in antiparallel with Th1 one as shown in
Figure 1-7.

As the snubber circuit has already been specified with Th1, the snubber of
Th2 must be eliminated.

6 Open the Th2 dialog box and set the snubber parameters to Rs=Inf; Cs=0.

Notice that the snubber disappears on the Th2 icon.

The linear transformer is located in the Elements library. Copy it, rename it to
TrA, and open its dialog box. Set its nominal power, frequency, and winding
parameters (winding 1= primary; winding 2 = secondary), as shown in
Figure 1-6.
Note that the leakage reactance and resistance of each winding have to be
specified directly in per unit quantities. As there is no tertiary winding, type 0

1-21
 Session 4: Introducing Power Electronics

in the field corresponding to winding 3. Notice that winding 3 disappears on the

TrA block.
Finally, set the magnetizing branch parameters Rm and Xm at [500, 500].
These values correspond to 0.2% resistive and inductive currents, as specified
in Figure 1-6.
Add a voltage source, series RL elements, and a ground block. Set the
parameters as shown in Figure 1-6. Add a current measurement to measure
the primary current. By using appropriate connectors, you should be able to
interconnect the circuit as shown in Figure 1-7.
Notice that the thyristor blocks have an output identified by the letter “m.”
This output returns a Simulink vectorized signal containing the thyristor
current Iak and voltage Vak. Connect a Demultiplexer with two outputs at the
m output of Th1. Then connect the two multiplexer outputs to two oscilloscopes
that you name Scope_Ith1 and Scope_Uth1.

Figure 1-7 Simulation of the TCR branch

You will now model the synchronized pulse generators firing thyristors Th1 and
Th2. Copy two Simulink pulse generators into your system, name them Pulse1
and Pulse2, and connect them to the gates of Th1 and Th2.

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1 Tutorial

Now you have to define the timing of the Th1 and Th2 pulses. At every cycle a
pulse has to be sent to each thyristor α degrees after the zero crossing of the
thyristor commutation voltage. Set the pulse1 and pulse2 parameters as
follows:
Period : 1/60 s
Duty cycle: 1% (3.6 degrees pulses)
Amplitude :1
Start time : 1/60+T for Pulse1; 1/60+1/120+T for Pulse2

The pulses sent to Th1 are delayed by 180 degrees with respect to pulses sent
to Th2. The delay T is used to specify the α firing angle. To get a 120 degrees
firing angle, specify T in the workspace by typing
T=1/60/3;

Now open the Simulation/Parameters menu. Select the ode15s integration

algorithm. Keep the default parameters, except set the stop time to 0.1. Open
the three oscilloscopes and adjust the scales as follows: Time range 0.1;
Iprim -100/+100A; Ith1: -500/+2000A; Uth1:-40000/+40000 V.
Start the simulation. The results are as shown in Figure 1-8.

100
Iprim (A)

-100 0
2000
1000
Ith1 (A)

0
0
4
4 x10
2
Uth1 (V)

0
-2
-4
0 0.02 0.04 0.06 0.08 0.1

Figure 1-8 TCR Simulation Results

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 Session 4: Introducing Power Electronics

Simulation of the TSC Branch

You can now modify the TCR branch to create a TSC branch. To do this, save
circuit3 as a new system and name it circuit4.

Connect a capacitor in series with the RL inductor and Th1/Th2 valve as shown
in Figure 1-9. Change the R,L, and C parameters as shown in Figure 1-6.
Connect a voltmeter and oscilloscope to monitor the voltage across the
capacitor.
Contrary to the TCR branch, which was fired by a synchronous pulse
generator, a continuous firing signal will now be applied to the two
thyristors. Delete the two pulse generators. Copy a Step block from the
Simulink/Sources library and connect its output at both gates of Th1 and Th2.
Set its step time at 1/60/4 (energizing at the first positive peak of the source
voltage). Your circuit should now be similar to the one shown in Figure 1-9.

Figure 1-9 Simulation of the TSC Branch

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1 Tutorial

Open the four oscilloscopes and adjust the scales as follows:

Time range 0.1 s; Iprim -500/+500A; Ith1: -1000/+15000/ A; Uth1:
-30000/+30000 V.; Uc: -50000/+50000.

Start the simulation.

As the capacitor is energized from zero, you can observe a low damping
transient at 200Hz, superimposed with the 60 Hz component in the capacitor
voltage and primary current. During ordinary TSC operation the capacitor will
have an initial voltage left because of the last valve opening. To minimize the
closing transient with a charged capacitor, the thyristors of the TSC branch
must be fired with the correct polarity when the source voltage is at maximum
value. The initial capacitor voltage corresponds to the steady-state voltage
obtained when the thyristor switch is closed. The capacitor voltage is 17.67
kVrms when the valve is conducting. At the closing, the capacitor must be
charged at the peak voltage.

Uc = 17670 × 2 = 24989Volts

You can now use the Powergui interface to change the capacitor’s initial
voltage. Open the Powergui interface. In the Set state variables section, a
menu is available. A list of all the state variables with their default initial
values appears. The value of the initial voltage across the capacitor C (variable
Uc_C) should be -0.3141 V. This voltage is not exactly zero because the snubber
allows circulation of a small current when both thyristors are blocked. Now
select the Uc_C state variable and enter 24989 in the set to field. Then select
the Apply button to make this change effective.
Start the simulation. As expected, the transient component of capacitor voltage
and current have disappeared. The voltages obtained with and without initial
voltage are compared in Figure 1-10.

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 Session 4: Introducing Power Electronics

Capacitor precharged (Uc0=24989V)

Initial conditions calculated by power2sys (Uc0=-0.31V)
x 10 4
5

-1

-2

-3

-4

-5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05

Figure 1-10 Transient Capacitor Voltage With and Without Initial Charge

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1 Tutorial

Session 5: Simulating Three-Phase Systems and Using

Electrical Machines
In this session you will:

• Learn how to use electrical machines

• Use the three-phase library
• Initialize machines to start simulation in steady state and use the Machine
Load Flow option of the Powergui.

The Machines library of powerlib contains four of the most commonly used
three-phase machines: simplified and complete synchronous machines,
asynchronous machines and permanent magnet synchronous machines. Each
machine can be used either in generator or motor mode. Combined with linear
and nonlinear elements such as transformers, lines, loads, and breakers. they
can be used to simulate electromechanical transients in an electrical network.
They can also be combined with power electronic devices to simulate drives.

System Description
During this session you will simulate the three-machines system as shown in
the single line diagram of Figure 1-11.

25.0 kV t=0.2s
2.4 kV
ASM
1000MVA
Q=10 25/2.4 kV Asynchronous
B1 Y/D 6 MVA B2 Motor
5 MW 500 kvar 1 MW
2250 HP

Fault t=0.1s
Diesel SM

Synchronous
Generator
3.125MVA

Figure 1-11 Diesel Generator and Asynchronous Motor on Distribution

Network

1-27
 Session 5: Simulating Three-Phase Systems and Using Electrical Machines

This system consists of a plant (bus B2), simulated by a resistive and motor load
(ASM) fed at 2.4 kV from a 25 kV distribution network through a 6 MVA 25/2.4
kV transformer, and from an emergency synchronous generator/diesel engine
unit (SM). A 500 kvar capacitor bank is used for power factor correction at the
2.4 kV bus. The 25 kV network is modeled by a simple R-L equivalent source
(short-circuit level 1000 MVA, quality factor X/R=10) and a 5 MW load. The
asynchronous motor is rated 2250 HP, 2.4 kV, and the synchronous machine is
rated 3.125 MVA, 2.4 kV.
Initially, the motor develops a mechanical power of 2000 HP and the diesel
generator delivers 500 kW of active power. The synchronous machine controls
the 2.4 kV B2 bus voltage at 1.0 pu and generates 500 kW of active power. At
t=0.1s, a three-phase to ground fault occurs on the 25 kV system, causing the
opening of the 25 kV circuit breaker at t=0.2s, and a sudden increase of the
generator loading. During the transient period following the fault and
islanding of the Motor/Generator system, the synchronous machine excitation
system and the diesel speed governor will react to maintain the voltage and
speed at a constant value.
This system has already been built with the Power System Blockset for load
flow application. Open the Demos library of powerlib and double click on
Machines and Load Flow (sim) demo.

Figure 1-12 Power System of Figure 1-11 Built With the PSB

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1 Tutorial

For the synchronous machine (SM), the block using standard parameters has
been used, whereas the asynchronous motor (ASM) parameters are entered in
S.I. units. The other three-phase elements (inductive voltage source,
Y grounded/Delta transformer, and loads) are masked blocks built from the
Three-Phase library provided in Extras. The fault and breaker systems are
built with three single-phase circuit breakers. Special measurement blocks
provided in the Machine library are used to demultiplex the SM and ASM
machine outputs.
The SM voltage and speed outputs are used as feedback inputs to a Simulink
control system that contains the diesel engine and governor block as well as an
excitation block. The excitation system is the standard block provided in the
Machines library. The SM parameters as well as the diesel engine and
governor models are taken from reference [1].

1
wref (pu) 0.2s+1 K 0.25s+1 1 1 Torque
0.0002s2+0.01s+1 0.009s+1 0.0384s+1 s 1
2
w (pu) Gain K TF1 TF2 Integrator Td Pmec (pu)
Product
CONTROL SYSTEM ACTUATOR ENGINE

Note: The engine inertia is combined with the generator inertia

Figure 1-13: Diesel Engine and Governor System

If you simulate this system for the first time, you usually don’t know what the
initial conditions are for the SM and ASM to start in steady-state.
These initial conditions are:
SM: Initial values of speed deviation (usually 0%), rotor angle, magnitudes and
phases of currents in stator windings, and initial field voltage required to
obtain the desired terminal voltage under the specified load flow.
ASM: Initial values of slip, rotor angle, magnitudes, and phases of currents in
stator windings.

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 Session 5: Simulating Three-Phase Systems and Using Electrical Machines

Open the dialog box of the SM and ASM blocks. All initial conditions should be
set at 0, except for the initial SM field voltage -Vf , and ASM slip, which are set
at 1 pu Open the three oscilloscopes monitoring the SM and ASM speeds as well
as the ASM stator currents. Start the simulation and observe the first 100 ms
before fault is applied.
As the simulation starts, you will notice that the three ASM currents start from
0 and contain a slowly decaying DC component. The machine speeds will take
a much longer time to stabilize because of the inertia of the motor/load and
diesel/generator systems. In the example, the ASM even starts to rotate in the
wrong direction because the motor starting torque is lower than the applied
load torque. Stop the simulation.
To start the simulation in steady state with sinusoidal currents and constant
speeds, all the machine states must be initialized properly. This is a difficult
task to perform by hand, even for a simple system. In the next section you will
learn how to use the Machine Load Flow option of the Powergui to perform a
load flow and initialize the machines.
Select the Machine Load Flow button in the Powergui. A new window
appears. Note that for the SM Bus type you have a menu allowing you to choose
either PV Generator or Swing Generator.
For synchronous machines you ordinarily specify the desired terminal voltage
and the active power that you want to generate (positive power for generator
mode) or absorb (negative power for motor mode). This is possible as long as
you have a swing or slack bus that will generate or absorb the excess power
required to balance the active powers throughout the network.
The swing bus can be either a voltage source or any synchronous machine. If
you don’t have any voltage source in your system, you must declare one of the
machines as a swing machine. In the next section you will make a load flow
with the 25 kV voltage source connected to bus B1 used as a swing bus.

Load Flow Without a Swing Machine

In the Load Flow window, your SM bus type should be already initialized as
PV generator indicating that the load flow will be performed with the machine
controlling its active power and terminal voltage. Specify the desired load flow
by entering the following parameters:
SM:UAB (Vrms) = 2400; P(W)=500e3.
ASM:Pmec (W)= 2000*746.

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1 Tutorial

Select the Do Load Flow button. Once the load flow is solved, the phasors of
AB and BC machine voltages as well as currents flowing in phases A and B are
updated as shown below.

The SM active and reactive powers, mechanical power, and field voltage are
displayed.
SM:P=500 kW; Q =315 kvar;
Pmec=500.4 kW (or 500/3125=0.1601 pu)
Field voltage E/Vf=1.182 pu.

The ASM active and reactive powers absorbed by the motor, slip, and torque
are also displayed.
ASM:P=1.515MW; Q =615 kvar; Pmec=1.492 MW (2000 HP)
Slip=0.006119pv; Torque=7964 N.m

This torque value should be already entered in the Constant block connected
at the ASM torque input. If you now open the SM and ASM dialog boxes you

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 Session 5: Simulating Three-Phase Systems and Using Electrical Machines

can see the updated initial conditions. If you select the Steady-State button in
the Powergui, you will also see the updated values of the measurement
outputs and voltages and currents of non-linear blocks. For example you should
find that the magnitude of the Phase A voltage across the fault breaker (named
U_3 phase fault/Breaker1) is 20.40 kV corresponding to a 24.985 kV rms
phase-phase voltage.
To start the simulation in steady state, you should also initialize the states of
the diesel engine /governor and SM excitation systems initialized according to
the values calculated by the load flow. Open the Governor & Diesel Engine
subsystem which is located inside the Diesel Engine Speed and Voltage Control
subsystem. The initial mechanical power has been already set to 0.1601 pu in
the Governor.
Open the Excitation block. The initial terminal voltage and field voltage have
been set, respectively, to 1.0 and 1.182 pu. Note that the load flow
automatically initializes the machine blocks but not the associated control
blocks. Therefore, if you perform a new load flow you should change the initial
values in the control blocks.
Open the four scopes displaying the terminal voltage, field voltage, mechanical
power, and speed of the synchronous machine as well as the scope displaying
the asynchronous motor speed. Start the simulation.
The simulation results are shown in Figure 1-14.

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1 Tutorial

1
Pmec SM
(pu)
0.5

0
2
Vt SM

1
(pu)

0
10
Vf SM
(pu)

0
Speed SM

1.0
(pu)

0.98

1800
Speed ASM
(rpm)

1700

1600
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (s)

Figure 1-14 Simulation Results

Observe that, during the fault, the terminal voltage drops to about 0.2 pu and
the excitation voltage hits the limit of 6 pu. After fault clearing and islanding,
the SM mechanical power quickly increases from its initial value of 0.16 pu to
1 pu and stabilizes at the final value of 0.80 pu required by the resistive and
motor load (1.0 MW resistive load + 1.51 MW motor load = 2.51 MW = 2.51/
3.125= 0.80 pu). After three seconds, the terminal voltage stabilizes close to its
reference value of 1.0 pu. The motor speed temporarily decreases from 1789
rpm down to 1625 rpm, then it recovers close to its normal value after two
seconds.

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 Session 5: Simulating Three-Phase Systems and Using Electrical Machines

If you increase the fault duration to 12 cycles by changing the breaker opening
time to 0.3s, you will notice that the system collapses. The ASM speed slows to
zero after two seconds.

Load Flow With a Swing Machine

In this section you will make a load flow with two machine types: a PV
generator and a Swing generator. In your psbmachines model, delete the
inductive source and replace it with the Simplified Synchronous Machine block
(po units) that you will find in the Machines library. The two input ports and
the last output port (m_pu) can be left unconnected. Rename it SSM 1000MVA
and save this new system in your working directory as psbmachine2. Open the
SSM dialog box and enter the following parameters.
1st line: Pn(VA) Vn(Vrms) fn(Hz): [1000e6 25e3 60]
2nd line: H(sec) Kd() p () [inf 0 2]
The inertia was specified to be infinite, so the speed and therefore the
frequency of the machine will be kept constant.
3rd line: R(pu) X(pu): [0.1 1.0]
(Notice how easily you can specify an inductive short circuit level of 1000MVA
and a quality factor 10 with the per unit system)
4th line: Leave all initial conditions at 0.
Select the Machine Load Flow button in the Powergui. Leave the SM bus
type as PV Generator and change the SSM bus type to Swing Generator.
Specify the load flow by entering the following parameters.
SM:UAB(Vrms) =2400; P(W)=500e3;
ASM:Pmec(W)= 2000*746.

For the SSM swing machine you only have to specify the requested terminal
voltage (magnitude and phase). The active power is unknown. However you
can specify an active power that will be used as an initial guess and help load
flow convergence. Specify the following parameters:
SSM:UAB(Vrms)=24985; (Voltage obtained at bus B1 from the previous load
flow)
UAN Phase(degrees)=0;
Active power guess: P(W)=0;

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1 Tutorial

Select the Do load Flow button. Once the load flow is solved the following
solution is displayed.

SM: Active and reactive electrical powers, mechanical power and field voltage:
P=500 kW; Q=315 kvar;
Pmec=500.4 KW (or 500/3125=0.1601 pu);
Field voltage E/Vf=1.182 pu

ASM: Active and reactive powers absorbed by the motor, slip and torque:
P=1.515MW; Q=615 kvar; Pmec=1.492 MW (2000 HP)
Slip=0.006119; Torque=7964 N.m

SSM: Active and reactive electrical powers, mechanical power and internal
voltage:
P=7.041MW;Q=-129 kvar;
Pmec=7.046MW (or 7.046/1000=0.007046 pu); E/Vf=1.0 pu

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 Session 5: Simulating Three-Phase Systems and Using Electrical Machines

As expected, the solution obtained is exactly the same as the one obtained with
the inductive source. The active power delivered by the swing bus is 7.04 MW
(6.0 MW resistive load + 1.51 MW load - 0.5 MW generated by SM = 7.01 MW,
the difference (0.03 MW) corresponding to losses in the transformer).
Connect at inputs 1 and 2 of the SSM block two Constant blocks specifying
respectively the required mechanical power (0.007046 pu) and internal voltage
(1.0 pu). Restart the simulation. You should get the same waveforms as those
of Figure 1-14.

References
[1] Yeager K.E, J.R. Willis “Modeling of Emergency Diesel Generators in an
800 Megawatt Nuclear Power Plant,” IEEE Transactions on Energy
Conversion, Vol.8, No.3, September 1993.

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1-37
 2
Case Studies
2 Case Studies

The case studies in this section were built to provide examples of uses for the
Power System Blockset. They are:

• Series Compensated Transmission Network

• Chopper Fed DC Motor Drive
• Synchronous Machine and Regulators
• Variable Frequency Induction Motor Drive
• HVDC Transmission System

Cases 1 and 5 are studies of AC and DC transmission on power systems. Cases

2 and 4 illustrate typical applications of the Power System Blockset to motor
drives. Case 3 demonstrates the performance of a nonlinear voltage regulator
on a synchronous alternator.

2-2
 Series Compensated Transmission Network

Series Compensated Transmission Network

The example in this section illustrates phenomena related to subsynchronous
resonance in a series-compensated AC transmission network.

Description of the Transmission Network

735kV 315kV
------------------- -------------------
150 km 150 km 3 3
735 kV 315 kV
Equivalent Equivalent
B1 67.6 µF B2 B3

Vs 735kV ⁄ 3 110 Mvars 110 Mvars

0 degrees Q=300 Q=300
60 Hz

Parameters: 735 kV equivalent network and line parameters (see Figure 1-1 of Tutorial)
315 kV equivalent: See Subsystem2 on next page
Transformer: 250 MVA/phase; Primary/secondary leakage reactances: 0.15pu/0.0 pu
Saturation knee point: 1.20 pu; Xair core: 0.4 pu

Figure 2-1 Series Compensated Network

The system shown in Figure 2-1 consists of a 735 kV, 300 km transmission line
fed by an equivalent system. The line is 40% series compensated at its center
and it is shunt compensated at both ends. At its receiving end the line is
connected to a 315 kV network through a 735/315 kV transformer. Only one
phase of the system is represented. To study the transient behavior of this
circuit when a phase-to-ground fault is applied at bus B2.

2-3
2 Case Studies

Series compensated network (psbcompensated)

Subsystem 1 Subsystem 2

Series Compensation

This network is available in the psbcompensated.mdl demonstration file. Load

the psbcompensated system and save it in your working directory as case1 to
allow further modifications to the original system.
Compare the circuit modeled in the Power System Blockset with the schematic
diagram of Figure 2-1. Note that the fault is simulated with a circuit breaker.

2-4
 Series Compensated Transmission Network

The circuit contains three nonlinear elements in the Series Compensation

subsystem: the metal oxide varistor (MOV) protecting the series capacitor, the
saturable transformer, and the circuit breaker.
Open the Series Compensation subsystem. The transmission line is 40% series
compensated by a 67.6µF capacitor. The capacitor is protected by a metal oxide
varistor (MOV block). If you open the dialog box of the MOV block, you will
notice that it consists of 30 columns and that its protection level (specified at a
reference current of 500 A/column) is set at 277 kV. This voltage corresponds
to 2.5 times the nominal capacitor voltage obtained at a nominal current of
2 kA rms.
Open the Transformer dialog box and notice that the current-flux saturation
characteristic has been set at
[0 0 ; 0.0012 1.2; 1 1.45] in pu

This data is the current and flux values at points 1, 2, and 3 of the piecewise
linear approximation to the flux linkage curve shown in Figure 2-2.

2-5
2 Case Studies

Bus B2 R1 X1 X2 R2 Bus B3

Rm X
m Ideal transformer
X
s

nonlinear inductance (reactive power losses)

linear resistance (active power losses)

slopeXS = X ac – X 1
Ψ
point 3
1.45pu
point 2
1.2pu

slope
Xm=1000pu
flux linkage (pu)

point 1

i
0.0012pu 1pu
current (pu/250 MVA)

Figure 2-2 Saturable Transformer Model

The flux-current characteristic is approximated by two segments (see Figure

2-2). The saturation knee point is 1.2 pu. The first segment corresponds to the
magnetizing characteristic in the linear region (for fluxes below 1.2 pu). At 1
pu voltage, the inductive magnetizing current is 0.0010/1.0= 0.001 pu,
corresponding to 0.1% reactive power losses. The iron core losses (active power
losses) are specified on the last line of the dialog box (resistance=1000 pu,
corresponding to 0.1% losses).
The slope of the saturation characteristic in the saturated region is 0.25 pu.
Therefore, taking into account the primary leakage reactance (X1=0.15 pu), the
air core reactance of the transformer seen from the primary winding is 0.4pu/
250 MVA).

2-6
 Series Compensated Transmission Network

Obtaining the Steady-State and State-Space Model

You can use the Powergui interface to find the steady-state measurements
returned by the five voltage and current measurements.
You can also obtain the voltage and current across the three nonlinear
elements. Notice that the current in the saturable branch of the transformer
and in the MOV is zero because the linear circuit is initialized with these
nonlinear elements disconnected.
If you look at the list of the state variables, you will find that the linear circuit
consists of 18 states. Although the linear circuit comprises a total of 19
inductors and capacitors, it contains only 18 states. This is because the three
capacitor voltages in the loop formed by the last capacitor of line 1, the series
capacitor Cs, and the first capacitor of line 2 are not independent. Therefore
one of the three capacitors UC_Cs is not an independent state variable.
The state-space model, state variable names, input names, and output names
are contained respectively in variables A, B, C, D, state_var, inputs and
outputs and are returned by power2sys.
[A,B,C,D,x0,state_var,inputs,outputs]=power2sys(’psbcompensated’);

In addition to the two voltage source inputs, the list of inputs contains the
currents in the three nonlinear elements (last three lines of input matrix).
inputs =

U_Vs1
V_Subsystem2/vs2
I_Breaker
I_250MVA_core
I_Series Compensation/MOV

2-7
2 Case Studies

In addition to the outputs specified by the five voltage and current

measurements, the list of outputs contains the voltages across the three
nonlinear elements (first three lines of output matrix).
outputs =

U_Breaker
U_250MVA_core
U_Series Compensation/MOV
I_i1
I_i2
U_ub2
I_Series Compensation/I_MOV
U_Series Compensation/v

Frequency Analysis
Once the state-space model of the linear system is available, you can obtain the
frequency response of the system. The I_Breaker input and the U_Breaker
output are used to measure the impedance at bus B2 where the circuit breaker
is connected.
If you have the Control System Toolbox, you can compute the impedance of the
network as function of frequency by using the bode function. In the Laplace
domain, the impedance at bus B2 is defined as the transfer function between
the current injected at bus B2 (input 3 of the system) and the voltage measured
at the same bus (output 1 of the system)

U_breaker ( s )
Z ( s ) = ---------------------------------------
I_Breaker ( s )

You can calculate and visualize the impedance at bus B2 for the 0-500Hz range
as follows:
freq=0:500;
w=2*pi*freq;
[mag,phase]=bode(A,B,C,D,3,w);
plot(freq,mag(:,1));

The impedance as a function of frequency is shown in Figure 2-3.

2-8
 Series Compensated Transmission Network

700
334 Hz Mode
600

500 Subsynchronous
Mode (14.7 Hz)
Impedance at bus B1 (Ω)

400
735 kV equivalent
Mode (89.5 Hz)
300

200

100

0
0 100 200 300 400 500
Frequency (Hz)

Figure 2-3 Impedance vs. Frequency Seen From Bus B2

2-9
2 Case Studies

The frequencies of the oscillatory modes can be found from the imaginary parts
of the eigenvalues of matrix A
imag(eig(A))/2/pi

ans =

1.0e+03 *

0
0
1.2381
-1.2381
1.0531
-1.0531
0.7208
-0.7208
0.3349
-0.3349
0.2358
-0.2358
0.0895
-0.0895
0.0147
-0.0147
0
0

The 14.7, 89.5, and 334.9 Hz modes clearly appear on the impedance seen from
bus B1. The 14.7 Hz mode is mainly due to a parallel resonance of the series
capacitor with the shunt inductors. The 89.5 Hz mode is the first pole of the 735
kV equivalent network. These three modes are likely to be excited at fault
clearing.

2-10
 Series Compensated Transmission Network

Transient Performance Under Fault Condition

Check that the Simulation parameters are set as follows:
Start time=0.0
Stop time=0.4
Solver: Variablestep, ode15s(stiff/NDF);
Max step size= auto
Initial step size= auto
Relative tolerance= 1e-3;
Absolute tolerance:0.01
Maximum order: 5

Open the four oscilloscopes and start the simulation.

The simulation results are plotted in the first four subplots (traces) in Figure
2-4. Observe the increase of transformer current I1 and capacitor voltage Ucs
during the fault. The first peak of the IMOV current becomes symmetrical (+/-
4 kA). As the maximum current flowing in each column of the MOV(8.0/30 =
0.27 kA) is lower than the 500 A reference current used to specify the MOV
protection voltage, the capacitor voltage is limited at a value slightly lower
than the MOV protection level (277 kV).
The 14.7 Hz subsynchronous mode excited at fault clearing is clearly seen on
Ub2 and Ucs. The 14.7 Hz voltage component appearing at bus B2 drives the
transformer into saturation. The transformer magnetizing current Imag
plotted on the last trace of Figure 2-4 is calculated as the difference between
the primary and secondary currents with the appropriate transformation ratio.
It can be obtained by adding the appropriate blocks to the simulation to
implement the equation
Imag= i1(:,2)-i2*315/735;
plot(Imag)

Alternatively, these variables are in the workspace and may be plotted from
the MATLAB command line.

2-11
2 Case Studies

3
x 10
1000
Ub2 (kV)

0
-1000

2
i1 (kA)

-2
500
Ucs (kV)

-500
10
IMOV (kA)

-10
1
Imag transfo (kA)

0
-1
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4

Time (s)

Figure 2-4 Voltage and Current Waveforms for the Series Compensation Case
Study

2-12
 Chopper-Fed DC Motor Drive

Chopper-Fed DC Motor Drive

The example described in this section illustrates the application of the Power
System Blockset to the operation of a DC motor drive in which the armature
voltage is controlled by a GTO thyristor chopper.
The objective of this example is to demonstrate the use of electrical blocks, in
combination with Simulink blocks, in the simulation of an electromechanical
system with a control system. The electrical part of the DC motor drive
including the DC source, the DC motor, and the chopper is built using blocks
from the Elements and Power Electronics libraries. The mechanical part and
the control system are built using Simulink blocks. The interface between the
two is ensured by Measurement and Controlled Source blocks.

Description of the Drive System

A simplified diagram of the drive system is shown in Figure 2-5. The DC motor
is fed by the DC source through a chopper that consists of the GTO thyristor,
Th1, and the free-wheeling diode D1. The DC motor drives a mechanical load
which is characterized by the inertia J, friction coefficient B, and load
torque TL.

Th1 Ia
DC Motor
Mechanical load
+
La Tm

Vdc
+ D1 Va J, B, TL
Ra
-
+
- E
-

Figure 2-5 Chopper-fed DC Motor Drive

In this diagram, the DC motor is represented by its equivalent circuit

consisting of inductor, La and resistor Ra, in series with the counter
electromotive force (emf) E.

2-13
2 Case Studies

The back EMF is proportional to the motor speed:

E = KE.ω
where KE is the motor voltage constant and ω is the motor speed.
With a constant excitation, the torque developed by the DC motor can be
considered to be proportional to the armature current Ia:
T m = K T Ia
where KT is the motor torque constant.
Thyristor Th1 is triggered by a pulse width modulated (PWM) signal to control
the average motor voltage. Theoretical waveforms illustrating the chopper
operation are shown in Figure 2-6.

Th1
αT

Va

Va(avg)
t

Ia
Ia(avg)

Figure 2-6 Waveforms Illustrating the Chopper Operation

The average armature voltage is a direct function of the chopper duty cycle α
Va(avg) = α.Vdc

2-14
 Chopper-Fed DC Motor Drive

Note that this relation is valid only when the current is continuous. In
steady-state, the armature average current is equal to:

V a ( avg ) – E
I a ( avg ) = ---------------------------------
Ra

The peak-to-peak current ripple is

– αr –r – ( 1 – α )r
Vdc ( 1 – e +e –e )
∆i = ----------- -----------------------------------------------------------------------
Ra –r
1–e

where α is the duty cycle and r is the ratio between the chopper period and the
electrical time constant at the variable-speed DC motor drive.

T
r = -----------------------
( La ⁄ Ra )

In this case study, we consider a variable-speed DC motor drive using a cascade

control configuration. A block diagram of this drive is shown in Figure 2-7.

+ + DC
Vdc Chopper
- Motor
-

a Current
Sensor Speed
Current
Controller Sensor

Ia
-
Ia* +
Speed
Controller
w
+ -
w*
Speed Reference

Figure 2-7 Variable-Speed DC Motor Drive

2-15
2 Case Studies

The motor torque is controlled by the armature current Ia, which is regulated
by a current control loop. The motor speed is controlled by an external loop that
provides the current reference I a* for the current control loop.

Modeling the DC Drive

Open the psbdcdrive.mdl file of the powerlib library by typing psbdcdrive in
the MATLAB command window. A circuit diagram titled psbdcdrive will
appear. Before running the example, save this circuit as case2.mdl in your
working directory so that you can make further modifications without altering
the original file.
The drive system diagram is built using electrical blocks contained in the
powerlib library combined with Simulink blocks. Voltage and current
measurement blocks and controlled sources are used as interfaces between the
two block types. The system diagram is shown in Figure 2-8.

Figure 2-8 DC Motor Drive Using Power System Blockset (psbdcdrive.mdl)

2-16
 Chopper-Fed DC Motor Drive

The DC motor is modeled in two separate parts: electrical and mechanical. To

view the motor Simulink model, select the DC motor block, then select
LookUnderMask on the Edit menu.

Electrical

Mechanical

The electrical part is represented by an RL circuit in series with a controlled

voltage source, the value of which is KEω. The mechanical part is represented
by Simulink blocks

dω
T m = J -------- + Bω + T L
dt

The initial motor speed can be set to any desired value by using the ω0 input
of the DC Motor block.
The motor used in this case study is a permanent-magnet DC motor having the
following parameters: Ra = 0.5 Ω, La = 10 mH, KE =1.23 V/rad/s, KT = 1.23
N.m/A. A 10mH inductor (Ls) is connected in series with the DC motor to
smooth the armature current.
The required trigger signal for the GTO thyristor is generated by a hysteresis
current controller, which forces the motor current to follow the reference within
+h/2 and -h/2 limits (h is the hysteresis band).

2-17
2 Case Studies

The current controller is also a masked block that contains the following.

The speed control loop uses a proportional-integral controller, which is

implemented by Simulink blocks.

Simulation of the DC Drive

Set the simulation parameters in the Simulation Parameters menu as
follows:
Simulation time: Start Time:0, Stop time: 1.5

Solver Type: Variable-step ode15s (stiff/NDF)

Max Step Size: auto
Initial Step Size: auto
Relative Tolerance: 1e-3
Absolute Tolerance: 1e-3
Maximum order: 5

Run the simulation by selecting Start from the Simulation menu in Simulink.
The motor voltage, current waveforms, and motor speed are displayed on three
scopes connected to the variables Va, Ia, and ω.
Once the simulation is completed, you can return to the MATLAB window to
examine the results with more details by using the plot function.

2-18
 Chopper-Fed DC Motor Drive

Drive Starting
In this example, you simulate the starting transient of the DC drive. The
inertia of the mechanical load is small in order to bring out the details of the
chopper commutation details. The speed reference is stepped from 0 to
150 rad/s at t = 0.0 s and we observe the drive variables, speed, and current.
The transient responses for the starting of the DC motor drive are shown in
Figure 2-9.
Note that the final system state vector can be saved by checking the Final State
box in the Workspace I/O/ Save to Workspace in the Simulation parameters
window.

DC motor drive − Starting transient

200
Motor speed , rad/s

150

100

50

0
0 0.5 1 1.5
Time , s

35

30
Armature current , A

25

20

15

10

0
0 0.5 1 1.5
Time , s

Figure 2-9 Starting of the DC Motor Drive

2-19
2 Case Studies

Steady-State Voltage and Current Waveforms

When the steady-state is attained, you can stop the simulation and plot the
current and voltage waveforms using the variables Va and Ia sent back to the
MATLAB workspace by the scopes.
The DC motor current and voltage waveforms obtained at the end of the
starting test are shown in Figure 2-10.

Steady−state DC motor current and voltage

10

8
Armature current , A

0
0.05 0.051 0.052 0.053 0.054 0.055 0.056 0.057 0.058 0.059
Time , s

300
Armature voltage , V

200

100

−100
0.05 0.051 0.052 0.053 0.054 0.055 0.056 0.057 0.058 0.059
Time , s

Figure 2-10 Steady-State Motor Current and Voltage Waveforms

Speed Regulation Dynamic Performance

Study the drive dynamic performance (speed regulation performance versus
reference and load torque changes) by applying two successive changing
operating conditions to the DC drive: a step change in speed reference and a
step change in load torque.

2-20
 Chopper-Fed DC Motor Drive

Replace the constant wref and TL blocks in the diagram by two Simulink step
functions with different starting times. The final state vector obtained with the
previous simulation can be used as the initial condition so that the simulation
will start from steady-state. Select Workspace I/O/Load initial in the
Simulation parameters window and restart the simulation. The obtained
response of the DC motor drive to successive changes in speed reference and
load torque is shown in Figure 2-11.

DC Motor Drive − Speed regulator transient response

150
Motor speed , rad/s

100

50

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time , s

35

30
Armature current , A

25

20

15

10

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time , s

Figure 2-11 Dynamic Transient of the DC Motor Drive

References
[1] Leonhard,W. Control of Electrical Drives. Springer-Verlag, Berlin 1985.

2-21
2 Case Studies

Synchronous Machines and Regulators

This case study investigates the application of a multi-input, multi-output
nonlinear controller to a system consisting of a hydraulic turbine and a
synchronous generator connected to an infinite bus. The complete system is
modeled using the Power System Blockset and Simulink blocks.
The objective of this case study is to demonstrate the use of the Synchronous
Machine block connected to a complex control system implemented with
Simulink blocks. The controller is based on a feedback linearization scheme. Its
main goal is to control the rotor angle as well as the terminal voltage, to
improve the stability properties, and to obtain good dynamic response.
Simulation results will show that the nonlinear controller is able to replace the
standard linear controllers and give better performance.

Introduction
Traditionally, stabilization of power systems was ensured by linear regulators
such as the automatic voltage regulator (AVR), the speed governor, or the
power system stabilizer (PSS). These compensators assume a linearized model
of the power system around an operating point.
The demand for improved performance has created the need to operate power
systems closer to the limits and therefore well outside the linear domain.
Nonlinearities begin to have a significant effect then, especially after
important disturbances that lead to a large variation of the operating point.
We propose to design a nonlinear controller that takes into account all the
nonlinearities of the model. The objective of the controller is to regulate both
the terminal voltage and the internal power angle. The control inputs are the
field excitation voltage and the gate opening of the turbine.

2-22
 Synchronous Machines and Regulators

Mathematical Model
The model considered is a single machine infinite bus (SMIB) system, as shown
in Figure 2-12. The machine is a synchronous generator driven by a hydraulic
turbine.

Le Re
Synchr. Infinite
Machine Bus

Line
Fault
Breaker
Turbine

Figure 2-12 Diagram of Case Study

The dynamic equations of the machine that are used to derive the linear
feedback controller are for the three-phase Synchronous Machine Hydraulic
Turbine and Governor blocks (see Chapter 4, “Block Reference”). Because the
synchronous machine is connected to an infinite bus, the dq terminal voltages
vd and vq are constrained by the load equations. In the Park-transformed
coordinates, we can write:

vd id d id i
– ωL e q + V cos ( δ – a )
∞
= Re + Le
vq iq dτ i – id – sin ( δ – a )
q

This equation can be combined with the complete model of the SMIB system in
·
the nonlinear state-space form x = F ( x ) + G ( x )u.

2-23
2 Case Studies

When F(x) and G(x) are given by

A 11 x 1 + A 12 x 3 + A 13 x 2 x 7 + A 14 x 4 + A 15 x 5 x 7 + A 16 cos ( x 6 – a )
A 21 x 1 x 7 + A 22 x 2 + A 23 x 3 x 7 + A 24 x 4 x 7 + A 25 x 5 + A 26 sin ( x 6 – a )
A 31 x 1 + A 32 x 3 + A 33 x 2 x 7 + A 34 x 4 + A 35 x 5 x 7 + A 36 cos ( x 6 – a )
A 41 x 1 + A 42 x 3 + A 43 x 2 x 7 + A 44 x 4 + A 45 x 5 x 7 + A 46 cos ( x 6 – a )
A 51 x 1 x 7 + A 52 x 2 + A 53 x 3 x 7 + A 54 x 4 x 7 + A 55 x 5 + A 56 sin ( x 6 – a )
( x 7 – 1 )ω r
F( x ) =
3
x8
A 71 x 1 x 2 + A 72 x 2 x 3 + A 73 x 2 x 4 + A 74 x 1 x 5 + A 75 x 7 + A 76 -----------2-
x7x9
2
x8
A 81 – A 82 -----2
x9
A 91 x 9

T
g 11 0 g 31 g 41 0 0 0 0 0
G(x) =
0 0 0 0 0 0 0 0 g 92

You can find the explicit expressions of the coefficients A and g in Chapter 4,
“Block Reference” and are omitted here for simplicity. The other terms of the
state-space equation are defined as follows:
T
• x = i d i q i fd i kd i kq δ ω q G is the vector of state variables

T
• u = v u is the vector of control inputs
fd G

The currents id, iq and voltages vd, vq are the projection of the actual line
currents and terminal voltages on the direct and quadrature axes (d-q frame).
ifd and vfd represent the field current and voltage. ikq and ikd , the damper
windings currents, and ω the angular speed of the machine. δ is the electrical

2-24
 Synchronous Machines and Regulators

angle measured from a synchronously rotating frame. G and q are respectively

the opening of the gate and the flow rate of the turbine. Finally, uG is the
voltage applied to the gate servo-motor.

Feedback Linearization Design

The input-output feedback linearization technique consists of the exact
cancellation of the nonlinearities of the system in order to obtain a linear
relationship between inputs and outputs in closed-loop. The nonlinear control
law is deduced by successively differentiating each of the outputs until at least
one input appears. Consider the first output as the terminal voltage Vt:

2 2
y1 = Vt = Vd + V q

The terminal voltage is a complicated function of the state variables in which

the control input Vfd appears explicitly with a multiplying factor of a very small
order of magnitude. Disregard this direct dependence between Vt and Vfd and
we compute the time derivate of output y1:

dy 1
= α 1 ( x ) + β 11 ( x )u1 + β 12 ( x )u2 , where
dt
∂Vt
α (x) = ⋅ F( x)
1 ∂x

1  ∂V d ∂Vq
= ----------  2V d + 2V q  F( x)
2V t  ∂x ∂x 

∂Vt
β 11 ( x ) = ⋅ G1 ( x )
∂x

1  ∂V d ∂Vq
= ----------  2V d + 2V q  G (x)
2V t  ∂x ∂x  1

∂Vt
β 12 ( x ) = ⋅ G2 ( x )
∂x
= 0

2-25
2 Case Studies

The second output, y2, is the angle δ , which has to be differentiated three times
before the inputs appear, which yields:

3
d y2 ∂F 7 ∂F 7 ∂F 7
= ωr ⋅ F ( x ) + ωr G 1 ( x )u 1 + ω r G 2 ( x )u 2
3 ∂x ∂x ∂x
dt
= α 2 ( x ) + β 21 ( x )u 1 + β 22 ( x )u 2

If you can combine the equations of the outputs, you obtain the input-output
nonlinear system:

(1)
y1 α1( x ) β 11 ( x ) 0 u1
= +
(3) α2( x ) β 21 ( x ) β 22 ( x ) u2
y2

and you can easily deduce the nonlinear control law

–1
u1 β 11 ( x ) 0 α1 ( x ) v1
= – +
u2 β 21 ( x ) β22 ( x ) α2 ( x ) v2

that will yield, in closed-loop, the exactly linearized input-output system.

(1)
y1 v1
=
(3) v2
y2

Once the system has been linearized, you can apply any linear control design
to regulate the outputs. Here, we have chosen the pole placement method and
propose the following linear control law:

v 1 = k 11 ( V t – V tref )
· · ·· ··
v 2 = k 21 ( δ – δ ref ) + k 22 ( δ – δ ref ) + k 23 ( δ – δ ref ) + k 24 ( x 9 – x 9ref )

2-26
 Synchronous Machines and Regulators

The last term in the equation of v2 is introduced in order to stabilize the

internal dynamics of the system. These dynamics result because the original
nonlinear system is a ninth order system while the linearized system is a
fourth order system. We call this partial linearization and we must ensure that
the remaining dynamics are asymptotically stable. You can find a complete
treatment of this question in reference [1].

Simulation Results
You can test performance of the nonlinear controller on the nonlinear
turbine-generator system. The controller and turbine are simulated using
Simulink blocks while the generator is represented by the Synchronous
Machine block from the powerlib library. A three-phase short-circuit has been
simulated on the load busbar, and the fault has been cleared after 100 ms. The
performance of the nonlinear controller is analyzed.
The case study is included in the psbregulator.mdl file. The system is
illustrated in Figure 2-13. Before running the simulation, make sure that the
simulation parameters are set as follows:

• Solver: ode15s; Maximum order: 5

• Stop time: 1.0
• Max step size: auto; Initial step size: auto
• Relative tolerance: 1e-3; Absolute tolerance: 1e-6
• Workspace I/O: Load initial states: psbregulinit

Figure 2-13 Simulink Diagram of Case Study (psbregulator)

2-27
2 Case Studies

Because of nonlinearities in this system, computation of initial conditions was

not carried out. Instead, a long simulation (10 s) was executed and the final
states saved in file psbreguldata.mat. These final states are used as the initial
states in this case study. The simulation consequently starts in steady-state.
At t=0.1s, the fault is suddenly applied and removed after 100 ms (6 cycles).
The post-fault transient is then observed.
The nonlinear controller calls a MATLAB initialization functions to compute
the gains before the simulation. Although this process has been automated to
take into account the parameters in the dialog boxes of the various blocks, it is
not recommended that any value in any block be changed.
If you decide to change some values, you must run a long simulation and the
final states must be in a file called psbregulinit.mat. Figure 2-14 shows the
response of the generator’s terminal voltage, load angle, and the control effort
of the regulator. You can observe how the stabilization of Vt is obtained in less
than 0.25 seconds with this controller. The load angle takes longer to stabilize,
because the time constant of the mechanical part of the system is much larger
than the electrical time constants. If you want to compare results with classical
regulators, replace the nonlinear controller with the same excitation system
and Hydraulic Turbine and governor block used in the Synchronous Machine
demo (psbturbine.mdl). You will notice that the system takes longer to
stabilize than in this case study.

2-28
 Synchronous Machines and Regulators

Figure 2-14 Simulation Results Obtained With Case Study

References
[1] Akhrif O., F.A. Okou, L.A. Dessaint, R. Champagne, “Multi-input
Multi-output Feedback Linearization of a Synchronous Generator.” Canadian
Conference on Electrical and Computer Engineering, 1996.

2-29
2 Case Studies

Variable-Frequency Induction Motor Drive

This case study presents a variable-frequency AC motor drive in which a
pulse-width-modulated (PWM) inverter is used as a variable-voltage
variable-frequency source to drive an induction motor in variable-speed
operation.
The drive, including the motor, the power converter, and the speed control
system, is modeled by using the Power System Blockset and Simulink blocks.
The drive operation is studied for these different operating conditions: starting,
steady-state, and transients.
The objective of this example is to demonstrate the use of Electrical Machine
and Power Electronics blocks in combination with Simulink blocks in the
simulation of a complex electromechanical system operating at high frequency.
The electrical part of the AC motor drive, including the PWM inverter, is built
using six Mosfet switches. The induction motor is represented by the
Asynchronous Machine block, which models both electrical and mechanical
dynamics. The control system, including current and speed regulators, is built
using Simulink blocks. The interface between electrical and control systems is
ensured by Measurement blocks.

Description of the Induction Motor Drive

The induction motor requires a variable-frequency three-phase source for
variable-speed operation. This source can be realized by using a power
converter system consisting of a rectifier connected to an inverter through a DC
link.
Figure 2-15 shows a block diagram of the power circuit of a typical
variable-frequency induction motor drive.

2-30
 Variable-Frequency Induction Motor Drive

Rectifier Filter Inverter

L
+
60 Hz
Induction
Power C Vdc Motor
Grid
-
Dc link

V f

Figure 2-15 Variable-Frequency Induction Motor Drive

The power grid AC voltage is converted into a fixed DC voltage by the rectifier.
The harmonics are filtered out by an LC filter to provide a smooth DC voltage
which is then applied to the inverter input.
The inverter consists of six power switches that can be Mosfets, IGBTs, or
GTOs, depending on the drive power capacity. Figure 2-16 shows a simplified
diagram of a Mosfet inverter.

+
A
Vdc B
C
-

Figure 2-16 Mosfet Inverter

The inverter converts the DC link voltage into an adjustable three-phase AC

voltage. Different control schemes can be used to control the inverter output
voltage and frequency. One of the most utilized schemes is PWM in which
three-phase variable sinusoidal voltage waveforms are obtained by modulating
the on and off times of the power switches.

2-31
2 Case Studies

In industrial drive applications, the PWM inverter operates as a three-phase

variable-frequency, variable-voltage source with fundamental frequency
varying from zero to three times the motor nominal frequency.
In some control schemes, where a three-phase, variable-frequency current
source is required, current control loops are added to force the motor currents
to follow an input reference (usually sinusoidal).
The inverter-fed induction motor drive can be controlled by using various
schemes depending on the application, desired performance, and controller
design complexity. The most utilized schemes are:

• Stator V/Hz control

• Stator currents and open loop flux control
• Vector control (field-oriented control)

A Variable-Speed Induction Motor Drive

In this case study, we consider a variable-speed induction motor drive using
impressed sinusoidal stator currents and open loop flux control. The motor
torque is controlled by the rotor frequency (which is also called slip frequency).
A block diagram of this drive is shown in Figure 2-17.

2-32
 Variable-Frequency Induction Motor Drive

ia
+ PWM ib Induction
Vdc Inverter ic Motor
-

Speed
Current Measurement
Controllers

ia* ib* ic*

Three-phase
Controlled Oscillator
Is ωs

Function ω
Generator + +

ωr
Speed
Controller

ω
-
+
Speed
Reference ω∗

Figure 2-17 Variable-Speed Induction Motor Drive

The induction motor is fed by a current-controlled PWM inverter, which

operates as a three-phase sinusoidal current source.
The sinusoidal current references ia*, ib*, and ic* for the current controllers;
are generated by a three-phase oscillator. The oscillator amplitude and
frequency are separately controlled by the signals Is and ωs representing
respectively the stator current amplitude and frequency. The motor torque is
controlled by the rotor frequency ωr (slip frequency). The motor speed ω is
compared to the reference ω* and the error is processed by the speed controller
to produce a torque command, which is the rotor frequency ωr. The oscillator

2-33
2 Case Studies

frequency ωs, which represents the stator current frequency, is simply the sum
of the motor speed ω and the slip frequency ωr.
The air gap flux is controlled in an open loop by a function generator that
relates the current amplitude Is to the rotor frequency ωr according to the
following function

2 2
R r + ( ω r L rr )
I s = I m ----------------------------------------
2 2
R r + ( ω r L lr )

where Im is the nominal magnetizing current, Rr is the rotor resistance, Llr is

the rotor leakage inductance, and Lrr is the rotor total inductance.
The role of the speed controller is to keep the motor speed equal to the speed
reference input in steady-state and to provide a good dynamic during
transients. The controller can be a proportional-integral (PI) type.

Modeling the Induction Motor Drive

Open the psbfrequency.mdl file of the powerlib library by typing
psbfrequency in the MATLAB command window. A circuit diagram titled
psbfrequency will appear. Before running the example, save this circuit as
case4.mdl in your working directory so that you can make further
modifications without altering the original file.
Figure 2-18 shows the psbfrequency diagram in which blocks from the Power
System Blockset and Simulink are used to model the induction drive.

2-34
 Variable-Frequency Induction Motor Drive

Figure 2-18 Variable Speed Induction Motor Drive (psbfrequency.mdl)

The induction motor is modeled by an asynchronous machine block. The motor

used in this case study is a 3HP, 220 V, 4 pole, 60 Hz motor having the following
parameters: Rs = 0.435 Ω, Lls = 2mH, Lm = 69.1 mH, Rr = 0.816 Ω, Llr = 2 mH.
The current-controlled PWM inverter block diagram is shown in Figure 2-19.
The Mosfet inverter is built by using six Mosfet blocks. The DC link input
voltage is represented by a 360 V DC voltage source.

2-35
2 Case Studies

Figure 2-19 Mosfet Inverter

The current control section, (see Figure 2-20), located under the masked
Current controller block, consists of three hysteresis controllers, is built with
Simulink blocks. The motor currents are sensed by Current Measurement
blocks.

Figure 2-20 Current Control Section

2-36
 Variable-Frequency Induction Motor Drive

A block diagram of the three-phase controlled oscillator, named Reference

Generator, is shown in Figure 2-21. This oscillator produces the references ia*,
ib*, and ic* for the current controllers.

Figure 2-21 Three-Phase Controlled Oscillator

The speed controller (see Figure 2-22), located under the Speed controller
block, is a proportional-integral (PI) type and is implemented using Simulink
blocks.

Figure 2-22 The Speed Controller

2-37
2 Case Studies

Simulating the Induction Motor Drive

The simulation parameters in the Simulation Parameters menu should be set
as follows:
Simulation time: Start Time:0, Stop time: 1.5

Solver option: Type: Variable-step ode15s (stiff/NDF)

Max Step Size: auto
Initial Step Size: auto
Relative Tolerance: 1e-3
Absolute Tolerance: 1e-3
Maximum order: 5

Run the simulation by selecting Start from the Simulation menu in Simulink.
The motor voltage and current waveforms as well as the motor speed are
displayed on three Scopes connected to the variables Vab, Is and ω.
Once the simulation is complete, return to the MATLAB window to examine
the results with more details by using the plot command.

2-38
 Variable-Frequency Induction Motor Drive

Drive Starting
You can start the drive by specifying 0 initial conditions for all state variables
in Powergui interface. In this example, the speed reference is stepped from 0
to 100 rad/s at t = 0 and we observe the drive variables, speed, torque, and
current.
The transient responses for the starting of the induction motor drive are shown
in Figure 2-23.
Note that the final system state vector can be saved by selecting Workspace I/
O/Save final state in the Simulation parameters window.

Induction motor drive starting

150
Motor speed , rad/s

100

50

0
0 0.5 1 1.5

40
Motor torque , N.m

20

−20
0 0.5 1 1.5

20
Motor current , A

10
0
−10
−20
0 0.5 1 1.5
Time , s

Figure 2-23 Starting of the Induction Motor Drive

2-39
2 Case Studies

Steady-State Voltage and Current Waveforms

When the steady-state is attained, you can stop the simulation and plot the
voltage and current waveforms using the variables V ab and Ia sent back in the
MATLAB workspace by the scopes.
Figure 2-24 shows the motor current and voltage waveforms obtained at the
end of the starting test.

Steady−state current and voltage waveforms

15

10
Motor current , A

−5

−10

−15
0.1 0.105 0.11 0.115 0.12 0.125 0.13 0.135 0.14 0.145

400

200
Motor voltage , V

−200

−400
0.1 0.105 0.11 0.115 0.12 0.125 0.13 0.135 0.14 0.145
Time , s

Figure 2-24 Steady-State Motor Current and Voltage Waveforms

Speed Regulation Dynamic Performance

We can study the drive dynamic performance (speed regulation performance
versus reference and load torque changes) by applying two changing operating
conditions to the drive: a step change in speed reference, and a step change in
load torque.

2-40
 Variable-Frequency Induction Motor Drive

Replace the constant w and TL blocks in the diagram by two Simulink step
ref
functions with different starting times. The final state vector obtained with the
previous simulation can be used as initial condition so that the simulation will
start from steady-state. Select Workspace I/O/Load initial states in the
Simulation parameters window and restart the simulation.

The obtained response of the induction motor drive to successive changes in

speed reference and load torque is shown in Figure 2-25.

Speed regulator transient response

Motor speed , rad/s

100

50

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6

40
Motor torque , N.m

30
20
10
0
−10
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6

20
Motor current , A

10
0
−10
−20
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
Time , s

Figure 2-25 Dynamic Performance of the Induction Motor Drive

References
[1] Leonhard, W., Control of Electrical Drives. Springer-Verlag, Berlin 1985.
[2] Murphy, J. M. D., and F. G. Turnbull, Power Electronic Control of AC
Motors. Pergamon Press, Oxford 1985.
[3] Bose, B. K., Power Electronics and AC Drives. Prentice-Hall, Englewood
Cliffs 1986.

2-41
2 Case Studies

HVDC Transmission System

The final example in this section develops the concept of modeling a high
voltage direct current (HVDC) transmission link [1]. Perturbations are applied
in order to examine the system performance [2].
The objectives of this example are to demonstrate the use of the Six-Pulse
Thyristor Bridge block and the Synchronized Six-Pulse Generator block in
combination with Simulink blocks in the simulation of a simplified HVDC
system. The electrical part representing the AC network is built using
three-phase blocks. The control system, including a current regulator, is built
using Simulink blocks. The interface between the electrical system and the
control system is ensured by Measurement blocks.

Description of the Transmission System

A basic two-terminal monopolar HVDC system with earth return is shown in
Figure 2-26.

250 kV / 2 kA
5000 MVA 600 MVA Smoothing 200 km Smoothing
Wye-Delta Reactor line Reactor
315 kV
Equivalent

Uac Inverter
242 kV
320 Mvar AC
Filters Pole
Control

Iord - + Id

Figure 2-26 HVDC System

The 500 MW DC system transfers energy in the form of high-voltage direct

current, 2.5 kA and 250 kV, to the inverter AC bus through a 200 km DC
transmission line. The rectifier substation consists of a converter bridge with a
0.5H smoothing reactor, 320 Mvar AC filters, and a pole control system. The
AC system has a short-circuit level of 5000 MVA, which is 10 times larger than
the transmitted DC power, hence it is considered a strong AC system.

2-42
 HVDC Transmission System

For the case study, we make the following simplifications:

• A basic six-pulse thyristor bridge is used at the rectifier.

• DC filters and a DC damping circuit are disregarded.
• The inverter terminal is replaced by a constant back EMF in series with a
smoothing reactor.
• The rectifier controller is a current regulator and a pulse generator that uses
phase control to determine the firing instants of the thyristors.

From the AC point of view, an HVDC converter acts as a source of harmonic

current. From the DC point of view, it is a source of harmonic voltage. The
order n of these characteristic harmonics is related to the pulse number p of the
converter configuration: n = kp ± 1 for the AC current, and n = kp for the direct
voltage, k being any integer. In the example, p = 6, so that injected harmonics
on the AC side are 5, 7, 11, 13,. . . and on the DC side are 6, 12, 18,...
Open the Simulink window psbhvdc.mdl and save it in your directory as case5
to allow further modifications to the original system. Compare the circuit
modeled in the Power System Blockset with the schematic diagram of Figure
2-26.

2-43
2 Case Studies

Modeling the Basic HVDC System

The model shown in Figure 2-27, will be used to illustrate the response of the
system to a step change command in current and to a DC line to ground fault
followed by a load rejection.

Figure 2-27 HVDC System Model

Observe that the six-pulse thyristor bridge as well as the converter

transformer and the equivalent AC system are modeled using the three-phase
models found in the powerlib_extras library.
The little damped 5000 MVA AC network is represented by a simple series RL
circuit. The AC filters are shunt-connected RLC branches that present a low
impedance path to ground for harmonics. They also appear as large capacitors
at fundamental frequency, thus providing reactive power compensation for the
rectifier consumption due to the firing delay α. The converter reactive power
demand is approximately 60 percent of the power transmitted at full load. Look
under the AC filters subsystem mask to see the high Q (100) tuned filters at
the fifth and seventh harmonic and the low Q (2), or damped filter, used to
eliminate the higher order harmonics, e.g. eleventh harmonic and higher.
Extra reactive power is also provided by capacitor banks.

2-44
 HVDC Transmission System

Figure 2-28 (a) demonstrates the magnitude, seen from the busbar where the
filter is connected, of the combined filter and AC network impedance as a
function of frequency. The low principal natural frequency, coinciding with the
parallel resonance at 206 Hz, is a determining factor in the development of
overvoltages and interaction with the DC system. Figure 2-28 (b) illustrates
the magnitude of the impedance as a function of frequency of the DC system,
as seen from the rectifier. It is composed by the DC line, represented by four pi
sections and the two smoothing reactors.
Note the series resonance at 183 Hz, which corresponds to the main mode likely
to be excited, on the DC side, under large disturbances.

104
Principal
Mode (206 Hz)
103
Impedance (Ohm)

(a) AC system
102

101

100
0 100 200 300 400 500 600 700 800 900 1000
Frequency (Hz)

105

104
Impedance (Ohm)

103
(b) DC system
102

101 Principal
Mode (183 Hz)
100
0 100 200 300 400 500 600 700 800 900 1000

Frequency (Hz)

Figure 2-28 Impedance vs. Frequency

2-45
2 Case Studies

The 600 MVA three-phase converter transformer is represented by a linear

model connected in Y/delta. The winding impedance of 0.12 pu is concentrated
on the thyristor side.
The six-pulse thyristor bridge uses six of the simple thyristor models connected
in a three-phase bridge configuration. Snubbers are connected in parallel as
damping circuits for each valve. They limit the rate of rise and peak value of
inverse voltage across the thyristor valves. Look under the mask to see the
details.
To simulate the back EMF of the inverter terminal, use the Controlled Voltage
Source block. In conjunction with a Step Source block, it is possible to vary the
inverter voltage dynamically during the initialization stage of the simulation.
The pole control is composed of a current regulator, the voltage measurement
subsystems, and the Synchronized Pulse Generator block in the
powerlib_extras library. The details of the current regulator are shown in
Figure 2-29.

Figure 2-29 Current Regulator

The direct current measurement is filtered by a low-pass filter to remove the

high frequency components. The current regulator has a proportional and
integral characteristic (PI). It should have a high enough gain for low
frequencies (≤10 Hz) to maintain the current response (Id) equal to the current
order (Io) as long as α is within the minimum and maximum limits
(5° and 160°). Also the current control system should be stable and fast.
Note that the current command is given in pu and corresponds to the rated
current. The current regulator output is the delay angle command ( alpha_ord).
Also, the measured current in kA, is scaled to pu before it is used in the
regulator. The regulator gains, Kp and KI, are adjusted during small
perturbations in the current order (illustrated in Figure 2-30).

2-46
 HVDC Transmission System

For the moment, disregard the initialization period of the simulation to see how
the DC current and the firing angle respond to the current command changes
of 0.2 pu, at t=0.4 s and t = 0.7 s. The regulator integrator gain was 5000°/pu/
s, and the proportional gain was 50°/pu

Current response and current order

3

2.5

2
Id (kA), Io (pu)

1.5

0.5

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (S)

Alpha
35

30

25
alpha (deg)

20

15

10

5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (S)

Figure 2-30 Current Order Step Response

The firing command pulse generator is synchronized to the fundamental

frequency of the AC source. At the zero-crossings of the commutating voltages
(AB, BC, CA), a ramp is reset. The synchronizing voltages are measured at the
AC side of the converter transformer because the waveforms are less distorted.
A firing pulse is generated whenever the ramp value becomes equal to the
desired delay angle provided by the current regulator. Pulse generation is
enabled only after half a cycle. In steady-state, with perfect conditions the
pulses occur at intervals of 60°. To improve the synchronizing waveforms, a low

2-47
2 Case Studies

Q bandpass filter tuned to 60 Hz is used to filter the harmonics introduced by

the thyristor commutation (see the voltage measurement subsystem).
Note that it is important to specify through the Y_before_D input the type of
delta connection used, i.e., leading or lagging. Synchronizing voltages for a Y-Y
transformer connection are available if needed.

Steady-State and Model Start-Up

To obtain the desired steady-state values and to reach them promptly at the
beginning of the simulation, some calculations and artifices are needed.
To derive the steady-state equations, make the following approximations:

• The AC system is perfectly balanced with sinusoidal voltages. The AC

system and the transformer losses are neglected, and the thyristors are
treated as ideal switches.
• The direct current is constant and ripple-free.

The following expression relates the mean direct voltage Vd to the direct
current Id and other parameters

Vd = ( Vdio × cos ( α ) ) – ( Rc × Id )

where Vdio is the ideal no-load direct voltage for a six pulse bridge:

Vdio = ( ( 3 2 ) ⁄ π ) × Vc

Vc is the phase-to-phase rms commutating voltage that is dependent on the AC

system voltage and the transformer ratio.
Rc is the equivalent commutating resistance:

Rc = ( 3 ⁄ π ) × Xc

Xc is the commutating reactance or transformer reactance referred to the valve

side.
The following rectifier parameters were used in the simulation:

2-48
 HVDC Transmission System

Vd = 250 kV; Id = 2 kA; α = 20×.1°; Xc = 8.82 Ω; Vc = 211.1 kV. Note that Vc is

slightly larger than the rated value of 210 kV.
By substituting in the first relation, we verify that the calculated rectifier
means direct voltage.

Vd = ( 285.1 kV × cos ( 20.1° ) ) – ( 8.82 × 2kA ) = 250.1 kV

is practically the simulation value of 250 kV. The inverter direct voltage can be
found from

Einv = Vd – ( Rdc × Id ) = 242 kV

where Rdc is the resistance of the line and smoothing reactances (4 Ω). Finally,
another expression relates the mean direct voltage Vd to the commutation
angle also called the overlap angle µ.

Vdio × ( cos ( α ) + cos ( α + µ ) )

Vd = ----------------------------------------------------------------------------
2
Hence, µ can be expressed as

µ = acos [ ( 2 × Vd ⁄ Vdio ) – cos ( α ) ] – α

and by replacing the simulation values, we obtain

µ = acos [ ( 2 × 250 ⁄ 285.1 ) – cos ( 20.1° ) ] – 20.1° = 15.3°

The rectifier steady-state values are shown in Figure 2-31. Observe the
commutation time interval corresponding to the angle µ of 14°. Notice the
presence of the183 Hz oscillation in the α waveform related to the DC side
mode, which is still not damped after one second of simulation.

2-49
2 Case Studies

DC Voltage
300
280
260
Vd (kV)

240
220 o
m 14
200
180
0.986 0.988 0.99 0.992 0.994 0.996 0.998 1
Time (S)
DC Current
2.06
2.04
2.02
Id (kA)

2
1.98
1.96
1.94
0.986 0.988 0.99 0.992 0.994 0.996 0.998 1
Time (S)
Delay Angle
20.5
20.4
20.3
20.2
alpha (deg)

20.1
20
19.9
19.8
19.7
19.6
0.986 0.988 0.99 0.992 0.994 0.996 0.998 1
Rated value Time (S)

Figure 2-31 Steady-State

Before you can simulate the DC line fault, you must bring the DC system to
steady-state operation. For the case study an artificial but fast initialization
method completely different from the one used for the actual operation of a
HVDC system. At the start, the required DC voltage is imposed by fixing α, but
with no back EMF. This allows a fast increase of the DC current. Full inverter
voltage is not applied until the DC current comes close to its rated value (2 kA).
Figure 2-29 shows how the current regulator output is forced to 20° during the
first 20 ms of simulation.

2-50
 HVDC Transmission System

Check that the simulation parameters are set as follows:

Solver: ode15s; Maximum order: 5

Stop Time= 0.250

Min Step Size= auto
Max Step Size= auto
Relative tolerance= 1e-3; Absolute tolerance:1e-3
Returned time variable: [t]

Then, start the simulation.

Observe in Figure 2-32 that the DC current starts to build up at 8.33 ms. This
is the time at which the gate pulses are enabled in the pulse generator. The
rate of increase of the DC current is a function of the total inductance in the DC
circuit. At 17.5 ms, the back EMF is applied to hold the DC current at about
2 kA. At 20 ms, the current regulator resumes its normal operation and
becomes to steady-state later on. Observe the 183 Hz mode in the DC current
(due to the DC network resonance discussed previously).

DC Fault and Load Rejection

The DC fault to ground, at the beginning of the DC line, is applied by closing a
breaker at 100 ms. The current shoots up to over 3.5 kA. Control action of the
current regulator quickly pushes α further and within about 30 ms, the current
level of 2 kA is reached again. The DC voltage is much smaller due to a larger
firing angle α.
Observe the oscillations in the AC voltage (Va), particularly the 206 Hz mode
discussed earlier, induced by the fault and a big perturbation for the AC
system.
To extinguish the fault the current is brought down to zero by blocking the
converter. This complete DC load rejection imposed at 200 ms by blocking the
firing pulses (Cp) causes an overvoltage on the AC side. Because a relatively
strong AC system has been used, in comparison to the DC power, the
overvoltage is small.

2-51
2 Case Studies

400 DC Voltage

200
Vd (kV)

0
-200
-400
0 0.05 0.1 Time (S) 0.15 0.25

DC current
4
3
Id (kA)

2
1
0
-1
0 0.05 0.1 0.15 0.25
Time (S)

Delay angle
100
80
Alpha (deg)

60
40
20
0
0 0.05 0.1 0.15 0.25
Time (S)

AC Voltage
400
200
Va (Kv)

0
-200
-400
-600
0 0.05 0.1 0.15 0.2 0.25
Time (S)

Figure 2-32 DC Fault and Load Rejection

References
[1] Arrilaga, J., High Voltage Direct Current Transmission, IEE Power
Engineering Series 6, Peter Peregrinus Ltd., 1983.
[2] Electromagnetic Transients Program (EMTP), Workbook IV (TACS),
EL-4651, Volume 4, Electric Power Research Institute, 1989.

2-52
 3
Advanced Topics
3 Advanced Topics

How the Power System Blockset Works

Once you have built your circuit with the electrical blocks of powerlib, you can
start the simulation just as you start any other Simulink model. Each time you
start the simulation, a special initialization mechanism is called. This
initialization process computes the state-space model of your electric circuit
and builds the equivalent system that can be simulated by Simulink.
The power2sys function is part of the process. It gets the state-space model and
builds the Simulink model of your circuit. power2sys can also be called from the
command line to obtain the state-space model of the linear part of the circuit.
When called by the initialization process, power2sys performs the following
three steps:

• Sorts all the blocks contained in the system into two categories: the Simulink
blocks and the Power System blocks. Then it gets the block parameters and
evaluates the network topology. The Power System blocks are separated into
linear and nonlinear blocks, and each electrical node is automatically given
a node number.
• Once the network topology has been obtained, the state-space model of the
linear part of the circuit is computed by the Circ2ss function. All
steady-state calculations and initializations are performed at this stage.
• Builds the Simulink model of your circuit and stores it inside one of the
measurement blocks. This means that you need at least one current or
voltage measurement in your model. The connections between the
equivalent circuit and measurements blocks are performed by invisible links
using the Goto and From blocks.

3-2
 How the Power System Blockset Works

Simulink library
Draw circuit
powerlib library

Start Simulation

Power2sys
-Analyze network topology
-Get circuit parameters

Circ2ss
-Compute state-space model
of linear circuit.
-Compute steady-state and
initial conditions.

powerlib_models library

Power2sys
-Build the Simulink Model.
-Initialize nonlinear models Powergui
-Display steady state info.
-Change initial conditions
Simulink -Initialize machines (Load Flow)
starts simulation

The Simulink model uses a state-space block to model the linear part of the
circuit. Pre-defined Simulink models are used to simulate nonlinear elements.
These models can be found in the powerlib_models library available with the
Power System Blockset. Simulink source blocks connected at the input of the
state-space block are used to simulate the electrical sources blocks.

3-3
3 Advanced Topics

The following figure represents connections among the parts of the Simulink
model. The nonlinear models are connected in feedback between voltage
outputs and current inputs of the linear model.

Linear circuit
Sources Outputs from
(inputs) State-space y measurements
u
matrices blocks

i v
Nonlinear models

Once Power2sys has completed the initialization process, Simulink starts the
simulation and you can observe waveforms on scopes connected at the outputs
of your measurement blocks.
If you stop the simulation and drag a copy of the Powergui block into your
circuit window, you will have access to the steady-state values of inputs,
outputs, and state variables displayed as phasors. You can also use the
Powergui interface to modify the initial conditions. Finally the Powergui
allows you to perform a load flow with circuits involving three phase machinery
and initialize the machine models so that the simulation starts in steady-state.
This feature avoids long transients due to mechanical time constants of
machines.

3-4
 The Nonlinear Model Library

The Nonlinear Model Library

The building blocks used to assemble the Simulink model of the nonlinear
circuit are stored in a library named powerlib_models. You normally don’t need
to work with the powerlib_models library. However, you may have to look
inside the models or modify them for particular applications. You can access
that library by typing powerlib_models in the MATLAB command window.

All the nonlinear blocks are simulated as current sources. They use a voltage
input (output of the state-space model of the linear circuit) and their current
output is fed into the state-space model. For complex models such as electrical
machines requiring several inputs and outputs, vectorized signals are used.
Useful internal signals are also returned by most of the models in a
measurement output vector.
For example, the Asynchronous Machine model is stored in the block named
async_mac. The model uses as inputs a vector of four voltages: two rotor
voltages (VabR and VbcR) and two stator voltages (VabS and VbcS).
It returns a vector of four currents: two rotor currents (IaR and IbR) and two
stator currents (IaS and IbS). The model also returns a measurement output
vector of 20 signals that are accessible from an internal Goto block. When the

3-5
3 Advanced Topics

Asynchronous Machine block is used from powerlib this measurement output

vector is accessible through the m output of the machine icon. You can get
details on the model inputs and outputs from the documentation of the
powerlib and powerlib_models block icons.
All the switch models (circuit breaker and power electronic devices) are
vectorized. It means that a single model is used by Power2sys to simulate all
the devices having the same type. The voltage inputs and current outputs are
connected to the State-Space block through vector lines and selector blocks.

Limitations With the Nonlinear Models

Because nonlinear models are simulated as current sources, they cannot be
connected in series with inductors and their terminals cannot be left open.
If, for example, you feed a machine through an inductive source, Power2sys
will prompt you with an error message. This can be avoided by connecting large
resistances in parallel with the source inductances or across the machine
terminals.
For power electronic switches, a series RC snubber circuit is provided with each
device. You won’t have any problem if you keep these snubber circuits in
service. For circuit breakers you may have to connect an external resistance or
snubber circuit across the breaker terminals.

Modifying the Nonlinear Models

This version of the Power System Blockset does not allow you to add a block
icon in the powerlib library and its corresponding model in the
powerlib_models library. However, you can temporarily modify the nonlinear
models provided with the Power System Blockset. To use your own
powerlib_models library you must first copy the powerlib_models.mdl file in
your working directory or in any other directory. If you are using a directory
different from the current directory, you must specify this new directory in the
MATLAB search path in front of the standard blockset directory.
You can then customize this new powerlib_models library as long as you don’t
change the names of the blocks, the number of inputs and outputs, and the
number of parameters in their dialog box. The next time that you run the
simulation, the modifications will take place in your circuit.

3-6
 Which Integration Algorithm Must Be Used

Which Integration Algorithm Must Be Used

Simulink provides a variety of solvers. Most of the variable step solvers will
work well with linear circuits. However circuits containing nonlinear models,
especially circuits with circuit breakers and power electronics, require stiff
solvers.
Fastest simulation speed is usually achieved with ode23tb used with default
parameters. You can also use ode15s with default parameters. The choice of
the absolute tolerance will also have an impact on the simulation speed.
Selecting too small a tolerance can slow the simulation down considerably. The
choice of the absolute tolerance depends on the maximum expected magnitudes
of the state variables (inductor currents and capacitor voltages). For example,
if you work with high power converters where expected voltage and currents
are thousands of Volts and Amperes, an absolute tolerance of 1e-1 or even 1.0
should be sufficient. If you are working with low power circuits involving
maximum values of 100 V and 10 A you should use a smaller absolute tolerance
like 1e-3 or 1e-2.

3-7
3 Advanced Topics

How to Increase Simulation Speed

Once the proper solver type and parameters have been selected, there are still
some ways of optimizing the simulation speed:

• Very fast modes may be created by switching circuits. Such is the case when
a circuit breaker or an electronic switch is connected across a capacitor. The
switch internal R-L impedance together with the capacitance C of the linear
circuit may produce fast poorly damped frequencies that will slow down the
simulation. You will find in the reference documentation of the circuit
breaker a selection criterion to be used for the switch Ron, Lon parameters,
thus allowing damping of undesired high frequency modes.
• Simulating large systems or complex power electronic converters may be
time consuming. If you have to repeat several simulations from a particular
operating point you can save time by specifying a vector of initial states in
the Simulation/Parameters/Workspace IO menu. You have to save this
vector of initial conditions from a previous simulation run.
• Reducing the number of open scopes and the number of returned points will
also help in reducing the simulation time.
• For circuits containing large control systems, the processing time required
by Power2sys can also be reduced. Because Power2sys systematically
explores all the blocks and their sub-blocks in order to build the network
topology, this processing may become time consuming when your circuit is
associated to a large number of Simulink blocks. You can prevent Power2sys
from exploring these Simulink blocks by preceding their names with a dollar
sign. For example: $control_block. To use this option, you must make sure
that no powerlib blocks are contained in $control_block.

3-8
 Changing Your Circuit Parameters

Changing Your Circuit Parameters

Each time you change a parameter of the powerlib blocks, you have to restart
the simulation in order to reevaluate the state-space model and update the
parameters of the nonlinear models. However, you may change any source
parameter (Magnitude, Frequency or Phase) during the simulation. The
modification will take place as soon as you apply the modification or close the
source block menu.
As for the Simulink blocks, all the powerlib block parameters that you specify
in the dialog box can contain MATLAB expressions using symbolic variable
names. Before running the simulation, you must assign a value to each of these
variables in your MATLAB workspace. This allows you to perform parametric
studies by changing the parameter values in a MATLAB script.

3-9
3 Advanced Topics

Customizing Your Own Blocks

The Power System blockset provides a variety of basic building blocks to build
more complex electric blocks. Using the masking feature of Simulink you can
assemble several elementary blocks of powerlib into a subsystem, build your
own parameter dialog box and create the desired block icon.
The Extra library provided with the blockset gives examples of masked blocks
that have been used to create a three-phase library. Open this library and note
how the masked blocks have been created.
You can even make your block icons change dynamically according to the
parameter values. For example, open the dialog box of the 3-phase RLC
parallel load block provided in the Extra/Three-Phase library and notice how
its icon changes when the active and reactive powers are successively set to 0.

3-10
 4
Block Reference
4 Block Reference

What Each Block Reference Page Contains

Blocks appear in alphabetical order and contain some or all of the following
information:

• The block name and icon

• The purpose of the block
• A description of the block’s use
• The block dialog box and parameters
• Additional information, as it applies to the block:
- Inputs and outputs - A description of the inputs and outputs of the block
- Assumptions and limitations to the block’s use
• An Example using the block
• A See Also of related blocks

4-2
 The Power System Block Libraries

The Power System Block Libraries

The Power System Blockset main library organizes its blocks into libraries
according to their behavior. The powerlib window displays the block library
icons and names:

• The Electrical Sources library contains blocks that generate electric signals
• The Elements library contains linear and nonlinear network elements
• The Power Electronics library contains power electronics devices
• The Machines library contains machinery models
• The Connectors library contains blocks that can be used to interconnect
blocks in various situations
• The Measurements library contains blocks for the current and voltage
measurements
• The powerlib Extras library contains the powerlib Extra block library of
tri-phase blocks and specialized measurements and control blocks. These
blocks are not documented in the block reference section.
• The Demos library contains useful demos and case studies. These demos are
not documented in the block reference section.

Table 4-1 Electrical Sources Library

Block Name Purpose

AC Current Source Implement a sinusoidal current source

AC Voltage Source Implement a sinusoidal voltage source
Controlled Current Source Implement a controlled current source
Controlled Voltage Source Implement a controlled voltage source
DC Voltage Source Implement a DC voltage source

4-3
4 Block Reference

Table 4-2 Elements Library

Block Name Purpose

Breaker Implement a circuit breaker opening at

current zero crossing
Distributed Parameter Line Implement an N-phases distributed
parameter line model with lumped
losses
Linear Transformer Implement a two- or three-windings
linear transformer
Mutual Inductance Implement a magnetic coupling between
two or three windings
Parallel RLC Branch Implement a parallel RLC branch
Parallel RLC Load Implement a linear parallel RLC load
PI Section Line Implement a single phase transmission
line with lumped parameters
Saturable Transformer Implement a two- or three-windings
saturable transformer
Series RLC Branch Implement a series RLC branch
Series RLC Load Implement a linear series RLC load
Surge Arrester Implement a metal-oxide surge arrester

Table 4-3 Power Electronics Library

Block Name Purpose

Diode Implement a diode model

GTO Implement a GTO-thyristor model
Ideal Switch Implement an ideal switch model

4-4
 The Power System Block Libraries

Table 4-3 Power Electronics Library

Block Name Purpose

Mosfet Implement a mosfet model

Thyristor Implement a thyristor model

Table 4-4 Machines Library

Block Name Purpose

Asynchronous Machine Model the dynamics of a three-phase

asynchronous machine
Excitation System Provide an excitation system for the
synchronous machine and regulate its
terminal voltage in generating mode
Hydraulic Turbine and Model a hydraulic turbine and a PID
Governor governor system
Permanent Magnet Model the dynamics of a three-phase
Synchronous Machine permanent magnet synchronous
machine with sinusoidal flux
distribution
Simplified Synchronous Model the dynamics of a simplified
Machine three-phase synchronous machine
Synchronous Machine Model the dynamics of a three-phase
salient-pole synchronous machine

Table 4-5 Connectors Library

Block Name Purpose

Bus Bar Implement a labeled network node

Ground Provide a connection to the ground
Neutral Implement a local common node in the
circuit

4-5
4 Block Reference

Table 4-6 Measurements Library

Block Name Purpose

Current Measurement Measure a current in a circuit

Voltage Measurement Measure a voltage in a circuit

4-6
 AC Current Source

Purpose 4AC Current Source

Implement a sinusoidal current source

Library Electrical Sources Library

Description The AC Current Source block implements an ideal AC current source. The
positive current direction is indicated by the arrow in the block icon. The
generated current is described by the following relationship:
I=Amplitude x sin(2pi x Frequency x t + Phase x pi/180)

Negative values are allowed for amplitude and phase. Negative frequency is
not allowed, otherwise Simulink signals an error, and the block will display a
question mark in the block icon. You can modify the three source parameters
at any time during the simulation.

Dialog Box

4-7
AC Current Source

Example Parallel connection of two Current Source blocks is used to sum two sinusoidal
currents in a resistor.

This circuit is available in the psbaccurrent.mdl file.

See Also Controlled Current Source

4-8
 AC Voltage Source

Purpose 4AC Voltage Source

Implement a sinusoidal voltage source

Library Electrical Sources Library

Description The AC Voltage Source block implements an ideal AC voltage source. The
output and input of the block correspond respectively to the positive and
negative terminals of the source. The generated voltage U is described by the
following relationship:
U=Amplitude x sin(2pi x Frequency x t + Phase x pi/180)

Negative values are allowed for amplitude and phase. Negative frequency is
not allowed, otherwise Simulink signals an error, and the block will display a
question mark in the block icon. You can modify the three source parameters
at any time during the simulation.

Dialog Box

4-9
AC Voltage Source

Example Two Voltage Source blocks at different frequencies are connected in series
across a resistor. The sum of the two voltages is read by a Voltage
Measurement block.

This circuit is available in the psbacvoltage.mdl file.

See Also Controlled Voltage Source, DC Voltage Source

4-10
 Asynchronous Machine

Purpose 4Asynchronous Machine

Model the dynamics of a three-phase asynchronous machine

Library Machines Library

Description The Asynchronous Machine block operates in either generating or motoring

mode. The mode of operation is dictated by the sign of the mechanical torque
(positive for motoring, negative for generating). The electrical part of the
machine is represented by a fourth-order state-space model and the
mechanical part by a second-order system. All electrical variables and
parameters are viewed from the stator. This is indicated by the prime signs (’)
in the machine equations given below. All stator and rotor quantities are in the
rotor reference frame (qd frame). The subscripts used are defined as follows:

• d: d axis quantity
• q: q axis quantity
• r: rotor quantity
• s: stator quantity
• l: leakage inductance
• m: mutual inductance

4-11
Asynchronous Machine

Electrical System

ωeφds ωeφqs
Rs + - Lls L’lr R’r Rs - + Lls L’lr R’r
+ + + +

Vqs iqs Lm i’qr V’qr Vds ids Lm i’dr V’dr

- - - -
q axis d axis

d ϕ qs = L s i qs + L m ′ qr
V qs = R s i qs + ------ ϕ qs + ω e ϕ ds where
dt
ϕ ds = L s i ds + L m i′ dr
d
V ds = R s i ds + ------ ϕ ds – ω e ϕ qs ϕ′ qr = L′ r i′ qr + L m i qs
dt
d ϕ′ dr = L′ r i′ dr + L m i ds
V′ qr = R′ r i′ qr + ------ ϕ′ qr
dt L s = L ls + L m
d
V′ dr = R′ r i′ dr + ------ ϕ′ dr L′ r = L′ lr + L m
dt
T e = 1.5p ( ϕ ds i qs – ϕ qs i ds )

Mechanical System
d 1
ω = -------- ( T e – Fω r – T m )
dt r 2H
dθ
= ωr
dt

The Asynchronous Machine parameters are defined as follows (all quantities

in the rotor reference frame):

• Rs, Lls: stator resistance and leakage inductance

• R’r, L’lr: rotor resistance and leakage inductance
• Lm: mutual inductance
• Ls, L’r: total stator and rotor inductances
• Vqs, iqs: q axis stator voltage and current
• V’qr, i’qr: q axis rotor voltage and current
• Vds, ids: d axis stator voltage and current

4-12
 Asynchronous Machine

• V’dr, i’dr: d axis rotor voltage and current

• ϕ qs, ϕ ds : stator q and d axis fluxes
• ϕ’qr, ϕ’dr : rotor q and d axis fluxes
• ω r : angular velocity of the rotor
• p: number of pole pairs
• ω e : electrical angular velocity (ω r × p )
• Te: electromagnetic torque
• Tm: shaft mechanical torque
• θ : rotor angular position
• J: combined rotor and load inertia (set to infinite to simulate locked rotor)
• H: combined rotor and load inertia constant (set to infinite to simulate locked
rotor)
• F: combined rotor and load viscous friction

Parameters In the powerlib library you can choose between two Asynchronous Machine
and Dialog blocks to specify the electrical and mechanical parameters of the model.
Boxes

4-13
Asynchronous Machine

S.I. Units Dialog Box

If you choose to enter the parameters in S.I. units, you must first enter the
nominal power (VA), line-to-line rms voltage (V) and frequency (Hz). The
second entry is the stator resistance (ohm) and leakage inductance (H). The
third entry is the rotor resistance (ohm) and leakage inductance (H), both
viewed from the stator. The fourth entry is the mutual inductance (H). The fifth
entry is the inertia (kg.m2), the viscous friction coefficient (N.m.s) and the
number of pole pairs. Finally, the sixth entry is where you specify initial slip,
electrical angle (degrees) and stator currents (magnitude in A, phase angle in
degrees).

4-14
 Asynchronous Machine

Per Unit (pu) Dialog Box

If you choose to enter the parameters in per unit, you must enter at the first
line the nominal power (VA), line-to-line rms voltage (V) and frequency (Hz).
You then enter the electrical and mechanical parameters expressed in pu, with
the exception of H, which is expressed in s. Initial conditions are entered the
same way as in the S.I. units case, except that the current magnitudes are in
pu.

4-15
Asynchronous Machine

Note: These two blocks simulate the same asynchronous machine model. The
only difference is that the parameters are expressed in different units.

Inputs and The electrical inputs of the block are the three electrical connections of the
Outputs stator, and the electrical outputs are the three electrical connections of the
rotor. Note that the neutral connections of the stator and rotor windings are
not available; three-wire Y connections are assumed. The rotor’s connections
should ordinarily be short-circuited or connected to an external circuit, for
example external resistors or a power converter.
You must be careful when you connect ideal sources to the machine’s stator. If
you choose to supply the stator via a three-phase Y-connected infinite voltage
source, you must use three sources connected in Y.

However, if you choose to simulate a source delta connection, you must only use
two sources connected in series:

4-16
 Asynchronous Machine

The Simulink input of the block is the mechanical torque at the machine’s
shaft. This input must be positive in the motoring mode and negative in the
generating mode.
The Simulink output of the block is a vector containing 20 variables. They are,
in order (refer to “Description” section, all currents flowing into machine):

• 1-3:rotor currents i’ra, i’rb and i’rc

• 4-9:i’qr, i’dr, ϕ ’qr, ϕ ’dr, v’qr and v’dr
• 10-12:stator currents isa, isb and isc
• 13-18:iqs, ids, ϕ qs, ϕ ds, vqs and vds;
• 19-20: ω r and Te

These variables can be demultiplexed by using the special Asynchronous

Machine Demux block provided in the Machine library.

4-17
Asynchronous Machine

Limitations The Asynchronous Machine block does not include a representation of the
effects of stator and rotor iron saturation.

Example This example illustrates the use of the Asynchronous Machine block in
motoring mode. It consists of an asynchronous machine in an open-loop speed
control system. The machine’s rotor is short-circuited and the stator is fed by a
PWM inverter, which is built with Simulink blocks and interfaced to the
Asynchronous Machine block through the Controlled Voltage Source blocks.
The inverter uses sinusoidal pulse-width modulation, which is described in [1].
The base frequency of the sinusoidal reference wave is set at 60 Hz and the
triangular carrier wave’s frequency is set at 360 Hz. The 3 HP machine is
connected to a constant load of nominal value (11.87 N.m). It is started and
reaches the setpoint speed of 0.5 pu at t=1.0 second, at which time the setpoint
is stepped to 0.75 pu. The parameters of the machine are those found in the SI
dialog box.

4-18
 Asynchronous Machine

Subsyst1 (PWM source)

Open the Simulink diagram by typing psbpwm, or by double clicking on

Asynchronous Machine (sim) in the demos library of powerlib. Set the
simulation parameters as follows:

• Integrator type: Stiff, ode15s

• Stop time: 1.75 s
• Integration options: Use default options, except for Relative and Absolute
tolerance, which must be set to 1e-4 and 1e-8, respectively.

Run the simulation by choosing Start from the Simulation menu. Once the
simulation is completed, observe the machine’s speed and torque.

4-19
Asynchronous Machine

The top graph shows the machine’s speed going from 0 to 810 rpm (0.5 pu) and
then to 1252 rpm (0.75 pu). The bottom graph shows the electromagnetic
torque developed by the machine. Since the stator is fed by a PWM inverter, a
noisy torque is observed.
This noise is not visible in the speed however because it is filtered out by the
machine’s inertia, but it can also be seen in the stator and rotor currents, which
are observed next.

4-20
 Asynchronous Machine

Finally, look at the output of the PWM inverter. Because nothing of interest
can be seen at the simulation time scale, the graph concentrates on the
moments preceding and following the speed step (around 1 second).

4-21
Asynchronous Machine

References [1] Dubey G.K., Power Semiconductor Controlled Drives, section 8.1.4,
Prentice-Hall, Inc., 1989.

4-22
 Breaker

Purpose 4Breaker
Implement a circuit breaker opening at current zero crossing

Library Elements Library

Description The Breaker block implements a circuit breaker that is controlled by a

Simulink signal applied on its second input. The control signal must be either
0 or 1, 0 for open and 1 for closed. The arc extinction process is simulated by
opening the breaker when the current passes through zero (first current
zero-crossing following the transition of the Simulink control input from 1 to 0).
When the breaker is closed, it behaves as a series RL circuit. The R and L
values can be set as small as necessary in order to be negligible compared with
external components (typical values Ron=10mΩ, Lon=10µH). When the
breaker is open, it has an infinite impedance.
If the breaker’s initial state is set to 1 (closed), power2sys automatically
initializes all the states of the linear circuit and breaker initial current so that
the simulation starts in steady-state.

Dialog Box

4-23
Breaker

Limitations The circuit breaker is modeled as a current source driven by the voltage
appearing across its terminals. Therefore, it cannot be connected in series with
an inductor or another current source. You can avoid this by connecting a large
resistor across its terminals. The internal breaker inductance cannot be set
to zero. However, a null resistance is allowed.
It can happen that a breaker is connected across a capacitor. Depending on the
capacitor value, breaker resistance and inductance, a high-frequency poorly
damped oscillatory voltage, and current oscillation can be produced when the
breaker closes. If the breaker parameters (Ron, Lon) are not properly selected,
this will result in a slow simulation speed. This situation can arise, when a
circuit breaker is used to simulate a phase-to-ground fault at one end of the PI
line section.
To damp this high frequency mode, set the inductance of the circuit breaker
sufficiently small. A good practice is to achieve a damping factor z<0.5 for the
RLC circuit formed by the circuit breaker and the capacitor. This condition is
obtained for

L on < R on
2
C

For example, for a capacitor C=1µF and a breaker resistance Ron=0.01Ω, the
breaker inductance Lon should be selected so that:

– 10
L on ≅ 10 H

You must use a stiff integration algorithm to simulate circuits with a circuit
breaker. Ode15s usually gives the best simulation speed.

Example A circuit breaker is connected in series with a series RL circuit on a 60Hz

voltage source. The breaker is initially closed and an opening order is given at
t = 1.5 cycles, when current reaches a maximum. The current stops at the next
zero crossing; then the breaker is reclosed at a zero crossing of voltage at t = 5
cycles.

4-24
 Breaker

This circuit is available in the psbbreaker.mdl file. Simulation produces the

following results.

Current(A)

Time(s)

Control

Time(s)

4-25
Bus Bar

Purpose 4Bus Bar

Implement a labeled network node

Library Connectors Library

Description The Bus Bar block is used to interconnect components. It allows multiple
electrical block outputs and inputs to be connected together.

Dialog Box

Example A three input, one output bus bar is used to connect three elements in parallel.

4-26
 Bus Bar

This circuit is available in the psbbusbar.mdl file.

See Also Ground, Neutral

4-27
Circ2ss

Purpose 4Circ2ss
Compute the state-space model of a linear electrical circuit

Synopsis You must call circ2ss with a minimum of seven input arguments.
[A,B,C,D,states,x0,x0sw,rlsw,u,x,y,freq,Asw,Bsw,Csw,Dsw,Hlin]=
circ2ss(rlc,switches,source,line_dist,yout,y_type,unit)

You can also specify additional arguments. To use options, the number of input
arguments must be 12, 13, 14 or 16.
[A,B,C,D,states,x0,x0sw,rlsw,u,x,y,freq,Asw,Bsw,Csw,Dsw,Hlin]=
circ2ss(rlc,switches,source,line_dist,yout,y_type,unit,net_arg1,
net_arg2,net_arg3,...
netsim_flag,fid_outfile,freq_sys,options,vary_name,vary_val)

Description Computes the state-space model of a linear electrical circuit expressed as

·
x = Ax + Bu
y = Cx + Du

where x is the vector of state-space variables (inductor currents and capacitor

voltages), u is the vector of voltage and current inputs, and y is the vector of
voltage and current outputs.
When you build a circuit from the Power System Block set icons of the powerlib
library, circ2ss is automatically called by power2sys. circ2ss has also been
made available as a stand-alone function for expert users. This allows you to
generate state-space models without using the Power System Blockset
graphical interface and to access options that are not available through
powerlib. For example, you can specify transformers and mutual inductances
with more than three windings.
The linear circuit can contain any combination of voltage and current sources,
RLC branches, multi-winding transformers, mutually coupled inductances,
and switches. The state variables are inductor currents and capacitor voltages.
The State-Space block containing A,B,C,D and x0 matrices computed by
circ2ss can then be used in a Simulink system to perform simulation of the
electrical circuit. Nonlinear elements (such as mechanical or electronic
switches, transformer saturation, machines, and distributed parameter lines)
can be connected to the linear circuit. These Simulink models are interfaced

4-28
 Circ2ss

with the linear circuit through voltage outputs and current inputs of the
state-space model. You can find the models of the nonlinear elements provided
with the Power System Blockset in the powerlib_models library.

Input The number of input arguments must be 7, 12, 13, 14, or 16. Arguments 8 to 16
Arguments are optional. The first seven arguments that must be specified are (see format
following):

• rlc: Branch matrix specifying the network topology as well as the resistance
R, inductance L, and capacitance C values.
• switches: Switch matrix. Specify an empty variable if no switches are used.
• source: Source matrix specifying the parameters of the electrical voltage and
current sources. Specify an empty variable if no sources are used.
• line_dist: Distributed parameter line matrix. Specify an empty variable if
no distributed lines are used.
• yout: String matrix of output expressions.
• y_type: Integer vector indicating output types (zero for voltage output, one
for current output).
• unit: String specifying the units to be used for R L and C values in the rlc
matrix. If unit= ’OHM’, R L C values are specified in ohms at the fundamental
frequency specified by freq_sys (default value is 60Hz). If unit= ’OMU’, R L
C values are specified in ohms, millihenries (mH) and microfarads (µF).

The following arguments are optional. Some of them are used to pass
arguments from the power2sys function. Hereafter, we describe only the
arguments to be specified when circ2ss is used as a stand-alone function.

• net_arg1, net_arg2 net_arg3: Used to pass arguments from power2sys.

Specify empty variables [] for each of these variables.
• netsim_flag: Integer controlling the messages displayed during the
execution of circ2ss. Default value is zero, no output file is produced.
If netsim_flag =0, the version number, number of states, inputs, outputs
and modes are displayed. Output values are displayed in polar form for each
source frequency.
If netsim_flag=1, only version number, number of states, inputs and
outputs are displayed.
If netsim_flag=2, no message is displayed during execution.

4-29
Circ2ss

• fid_outfile: File identifier of the circ2ss output file containing parameter

values, node numbers, steady-state outputs, and special messages. Default
value is zero.
• freq_sys : Fundamental frequency (Hz) considered for specification of XL
and XC reactances if unit is set to ’OHM’. Default value is 60 Hz.
• options: Integer vector specifying five options. Default values are [0 0 0 0 0].
option(1) : Reference node number used for ground of pi transmission lines.
If -1 is specified, the user will be prompted to specify a node number.
option(2): Specify normalization of A B C D matrices in order to use the
per-unit system. This option is not available from power2sys. There is no
normalization if option(2)=0. If option(2)=1 cir2ss will use per-unit
system. The base voltage and base power are specified by option(3) and
option(4). If option(2)=-1 the user will be prompted to specify a base
voltage and a base power.
option(3): Base voltage (kVrms Phase-Phase)
option(4): Base power (MVA 3 phase)
option(5): Enter 0
• vary_name: String matrix containing the symbolic variable names used in
output expressions. These variables must be defined in your MATLAB
workspace.
• vary_val: Vector containing the values of the variable names specified in
vary_name.

Output • A,B,C,D: State-space matrices of the linear circuit with all switches open.
Arguments A (nstates, nstates), B (nstates, ninput), C (noutput, nstates), D
(noutput, ninput) where nstates is the number of state variables, ninput is
the number of inputs, and noutput is the number of outputs.
• states: String matrix containing the names of the state variables. Each
string has the following format:
-Inductor currents: Il_bxx_nzz1_zz2
-Capacitor voltages: Uc_bxx_nzz1_zz2
where:
-xx = branch number
-zz1= 1st node number of the branch
-zz2 = 2nd node number of the branch

4-30
 Circ2ss

The last lines of the states matrix, which are followed by an asterisk, indicate
inductor currents and capacitor voltages which are not considered as state
variables. This situation arises when inductor currents or capacitor voltages
are not independent (inductors in series or capacitors forming a loop). The
currents and voltages followed by an asterisk can be expressed as a linear
combination of the other state variables:

• x0: Column vector of initial values of state variables considering the open or
closed status of switches
• x0sw: Vector of initial values of switch currents
• rlsw: Matrix (nswitch,2) containing the R and L values of series switch
impedances in Ohm and Henry. nswitch is the number of switches in the
circuit.
• u,x,y: Matrices u(ninput, nfreq), x (nstates, nfreq) and y (noutput, nfreq)
containing the steady-state complex values of inputs, states, and outputs.
nfreq is the length of the freq vector. Each column corresponds to a different
source frequency, as specified by the next argument freq.
• freq: Column vector containing the source frequencies ordered by increasing
frequencies
• Asw,Bsw,Csw,Dsw: State-space matrices of the circuit including the closed
switches. Each closed switch adds one extra state to the circuit.
• Hlin: Three dimension array (nfreq, noutput, ninput) of the nfreq complex
transfer impedance matrices of the linear system corresponding to each
frequency of the freq vector

Format of the Two formats are allowed:

RLC Input • Six columns: No branch numbering. Branch numbers correspond to the RLC
Matrix line numbers.
• Seven columns: Branch numbering; Nobr variable is imposed by the user.

Each line of the RLC matrix must be specified according to the following format:
[node1, node2, type, R, L, C, Nobr] for RLC or line branch
[node1, node2, type, R, L, C, Nobr] for transformer magnetizing branch
[node1, node2, type, R, L, U, Nobr] for transformer winding
[node1, node2, type, R, L, U, Nobr] for mutual inductances

4-31
Circ2ss

• node1: First node number of the branch. The node number must be positive
or zero. Decimal node numbers are allowed.
• node2: Second node number of the branch. The node number must be positive
or zero. Decimal node numbers are allowed.
type: Integer indicating the type of connection of RLC elements, or the
transmission line length (negative value).
type=0: Series RLC element,
type=1: Parallel RLC element
type=2: Transformer winding
type=3: Coupled (mutual) winding
If type is negative value: transmission line modeled by a PI section. See
details below.

For a mutual inductor or a transformer having N windings, N+1 consecutive

lines must be specified in rlc matrix:
1 N lines with type=2 or type=3; (one line per winding). Each line specifies
R/L/U or R/Xl/Xc, where [R/L, R/Xl] = winding resistance and leakage
reactance for a transformer or winding resistance and self reactance for
mutually coupled windings. U is the nominal voltage of transformer
winding (specify 0 if type =3).
2 One extra line with type=1 for the magnetizing branch of a transformer
(parallel Rm/Lm or Rm/Xm) or one line with type=0 for a mutual impedance
(series Rm/Lm or Rm/Xm).
For a transformer magnetizing branch or a mutual impedance, the first node
number is an internal node located behind the leakage reactance of the first
winding. The second node number must be same as the second node number of
the first winding.
To model a saturable transformer you must use a nonlinear inductance instead
of the linear inductance simulating the reactive losses. Set the Lm/Xm value to
zero (no linear inductance) and use the transfosat block with proper
flux-current characteristic. This block can be found in the powerlib_models
library. This block must be connected to the State-Space block between a
voltage output (voltage across the magnetizing branch and a current input
(current source injected into the transformer internal node). See the example
given at the end of the Circ2ss documentation.

4-32
 Circ2ss

If type is a negative value: length (km) of a transmission line simulated by a

PI section.
For a transmission line, the R,L,C or R/Xl/Xc values must be specified in ohm/
km or ohm, mH, µF /km.
• R: Branch resistance (ohms or pu)
• Xl: Branch inductive reactance (ohms or pu at freq_sys) or transformer
winding leakage reactance (ohms)
• L: Branch inductance (mH)
• Xc: Branch capacitive reactance (ohms or pu at freq_sys) (The negative sign
of Xc is optional)
• C: Capacitance (µF)
• U: Nominal voltage of transformer winding. Same units Volts or kV must be
used for each winding. For a mutual inductance (type=3), this value must be
set to zero.
Zero values for R, L or Xl, C or Xc in a series or parallel branch indicate that
the corresponding element does not exist.

The following restrictions apply for transformer and mutually coupled winding
R-L values: Null values are not allowed for winding resistances. Specify a very
low value (e.g., 1e-6 pu, based on rated voltage and power) to simulate a quasi
ideal transformer. The leakage reactances can be set to zero. The resistive part
of the magnetizing branch Rm of a transformer must have a finite value.
Specify a very high value (low losses, e.g, Rm=1e4 pu or 0.01% current based
on rating) to simulate a quasi ideal transformer. The inductive part of the
magnetizing branch can be set to infinite (No reactive losses; specify Xm=0). A
null value is not allowed for the mutual inductance of coupled windings. The
resistive part of series mutual branch can be set to zero.

Format of the Three formats are allowed:

SOURCE Input
• Five columns: All sources are generating the same frequency specified by
Matrix
freq_sys
• Six columns: The frequency of each source is specified in column 6
• Seven columns: The 7th column is used to specify the type of nonlinear
element modeled by the current source.

4-33
Circ2ss

Each line of the Source matrix must be specified according to the following
format:
[node1, node2, type, amp, phase, freq, model]

• node1, node2: Node numbers corresponding to the source terminals Polarity

conventions: Voltage source: node1 is the positive terminal. Current source:
Positive current flowing from node1 to node2 inside the source.
• type: Integer indicating the type of source: 0 for voltage source; 1 for current
source
• amp: Amplitude of the AC or DC voltage or current (V, A or pu)
• phase: Phase of the AC voltage or current (degree)
• freq: Frequency (Hz) of the generated voltage or current. Default value is 60
Hz. For a DC voltage or current source specify phase=0 and freq=0. amp can
be set to a negative value. The generated signals are:
amp*sin(2*pi*freq*t+phase) for AC, amp for DC.
• model: Integer specifying the type of nonlinear element modeled by the
current source (saturable inductance, thyristor, switch. . .). Used by
power2sys only.

Format of the Switches are nonlinear elements simulating mechanical or electronic devices
SWITCHES such as circuit breakers diodes or thyristors. As for other nonlinear elements,
Input Matrix they are simulated by current sources driven by the voltage appearing across
their terminals. Therefore, they cannot have a perfectly zero impedance. They
are simulated as ideal switches in series with a series R-L circuit. Various
models of switches (circuit breaker, ideal switch, and power electronic devices)
are available in the powerlib_models library. They must be interconnected to
the State-Space block through appropriate voltage outputs and current inputs.
The switch parameters must be specified in a line of the Switches matrix in
seven different columns according to the following format:
[node1, node2, status, R, L/Xl, no_I, no_U]

• node1, node2: Node numbers corresponding to the switch terminals,

• status: Code indicating the initial status of the switch at t=0
0= open
1= closed
• R: Resistance of the switch when closed (ohms or pu)

4-34
 Circ2ss

• L/Xl: Inductance of the switch when closed (mH) or inductive reactance

(ohms or pu at freq_sys).

Note: For these last two fields, the same units as specified for the rlc matrix
must be used. Null inductance values are not allowed. However, the resistance
can be set to zero.

The next two fields specify the current input number and the voltage output
number to be used for interconnecting the switch model to the state-space
block.
• no_I: Current input number coming from the output of the switch model.
• no_U: Voltage output number driving the input of the switch model.

Format of the The distributed parameter line model contains two parts:
LINE_DIST
1 A linear part containing current sources and resistances that are connected
Matrix
at the line sending and receiving buses together with the linear circuit.
2 A nonlinear part available in the dist_line block of the powerlib_models
library. This block performs the phase to mode transformations of voltage
and currents and simulates the transmission delays for each mode. The
dist_line block must be connected to appropriate voltage outputs and
current inputs of the State-Space block. The line parameters have to be
specified in the line_dist matrix and also in the dist_line block.

Each row of the line_dist matrix is used to specify a distributed parameter

transmission line. The number of columns of line_dist depends on the number
of phases of the transmission line.
For an nphase line, the first (4+3*nphase+nphase^2) columns are used. For
example, for a three-phase line, 22 columns are used.
[nphase, no_I, no_U, long, L/Xl, Zc, Rm, speed, Ti]

4-35
Circ2ss

• nphase: Number of phases of the transmission line.

• no_I: Input number in the source matrix corresponding to the first current
source Is_1 of the line model. Each line model uses 2*nphase current sources
specified in the source matrix as follows:
Is_1 Is_2...Is_nphase for the sending end followed by
Ir_1 Ir_2...Ir_nphase for the receiving end.
• no_U: Output number of the state-space corresponding to the first voltage
output Vs_1 feeding the line model. Each line model uses 2*nphase voltage
outputs in the source matrix as follows:
Vs_1 Vs_2...Vs_nphase for the sending end followed by
Vr_1 Vr_2...Vr_nphase for the receiving end.
• long: Length of the line (km)
• Zc: Vector of the nphase modal characteristic impedances (ohms)
• Rm: Vector of the nphase modal series linear resistances (ohms/km)
• speed: Vector of the nphase modal propagation speeds (km/s)
• Ti: Transformation matrix from mode to phase currents such that
Iphase=Ti.Imod. The nphase*nphase matrix must be given in vector format
[col_1, col_2,... col_nphase].

Format of the The desired outputs are specified by a string matrix yout. Each line of the yout
YOUT Matrix matrix must be an algebraic expression containing a linear combination of
states and state derivatives specified according the following format:

• Uc_bn: Capacitor voltage of branch #n

• Il_bn: Inductor current of branch #n
• dUc_bn,dIl_bn: Derivative of Uc_bn or Il_bn
• Un, In: Source voltage or current specified by line #n of the source matrix
• U_nx1_x2: Voltage between node x1 and node x2
• I_bn: Current in branch #n. For a parallel RLC branch, I_bn corresponds to
the total current IR+IL+IC
• I_bn_nx: Current flowing into node x of a pi transmission line specified by
line #n of the rlc matrix. (This current includes the series inductive branch
current and the capacitive shunt current).

4-36
 Circ2ss

To form a valid MATLAB expression, each output expression is built from

voltage and current variable names defined above, their derivatives, constants,
other variable names, parenthesis and operators (+-*/^). For example:
yout =
str2mat([’R1*I_b1+Uc_b3-L2*dIl_b2’,’U_n10_20’,’I2+3*I_b5’]);

If variable names are used (as R1 and L2 in the above example), their names
and values must be specified by the two input arguments vary_name and
vary_val.

Sign Conventions for Voltages And Currents

I_bn Il_bn, In: Branch current, inductor current of branch #n or current of
source #n is oriented from node1 to node2.
I_bn_nx: Current at one end (node x) of a pi transmission line. If x = node1,
the current is entering the line. If x = node2, the current is going out of the line.
Uc_bn, Un: Voltage across capacitor or source voltage (Unode1 - Unode2)

U_nx1_x2: Voltage between nodes x1 and x2 = Ux1 - Ux2. Voltage of node x1

with respect to node x2.

Example The following circuit consists of two sources (one voltage source and one
current source), two series RLC branches (R1-L1 and C6), two parallel RLC
branches (R5-C5 and L7-C7), one saturable transformer and two switches (Sw1
and Sw2). Sw1 is initially closed whereas Sw2 is initially open. Three
measurement outputs are specified (I1,V2 and V3). This circuit has seven nodes
numbered 0, 1, 2, 2.1, 10, 11 and 12. Node 0 is used for the ground. Node 2.1 is
the internal node of the transformer where the magnetization branch is
connected.

4-37
Circ2ss

I1
R1 L1 Rt1 Lt1 Rt2
1 2 2.1 10 11
Sw1

Sw2 C6
U1 U2
100V 12
0deg. Rm Lsat R5 C5 V2
60Hz 2A
-30deg.
180Hz C7 L7
V3
0
Saturable Transformer

R1=0.1Ω Rt1=0.05Ω; Lt1=1.5mH U1=100V C5=1µF R5=200Ω

L1=1.0mH Rt2=0.20Ω; Lt2=0.0mH U2=200V C6=1nF
Rm=1000Ω C7=2µF L7=0.5H
Sw1: R=0Ω L=10nH; initial state = closed
Sw2: R=0.1Ω; L=1nH; initial state = open

You can use the circ2ss function to find the state-space model of the linear
part of the circuit. The nonlinear elements Sw1,Sw2 and Lsat must be modeled
separately by means of current sources driven by the voltage appearing across
their terminals. Therefore you must foresee three additional currents sources
and three additional voltage outputs for interfacing the nonlinear elements to
the linear circuit.

4-38
 Circ2ss

You will obtain the state-space model of the circuit by entering the following
commands in a .m executable file, available in the psbcirc2ss.m file.
unit=’OMU’ % specifies units : Ohms mH uF
rlc=[
%node1 node2 typeR L C(uF)/U(V)
1 2 0 0.1 1 0%R1 L1
2 0 2 0.05 1.5 100%transfo Wind.#1
10 0 2 0.20 0 200%transfo Wind.#2
2.1 0 1 1000 0 0%transfo mag.branch
11 0 1 200 0 1%R5 C5
11 12 0 0 0 1e-3%C6
12 0 1 0 500 2%L7 C7
];
source=[
%node1 node2 typeU/I phasefreq
1 0 0 100 0 60 % Voltage source
0 10 1 2 -30 180% Current source
2.1 0 1 0 0 0% Saturation
10 11 1 0 0 0% Sw1
11 12 1 0 0 0% Sw2
];
switches=[
%node1 node2 status R(ohm) L(mH)I#U#
10 11 1 0 10e-6 42% Sw1
11 12 0 0.1 1e-6 53% Sw2
];
% outputs
%=========
y_u1=’U_n2.1_0’; %U_sat= Saturable reactor voltage
y_u2=’U_n10_11’; %U_Sw1= Voltage across Sw1
y_u3=’U_n11_12’; %U_Sw2= Voltage across Sw2
y_i4=’I_b1’; %I1 measurement
y_u5=’U_n11_0’; %V2 measurement
y_u6=’U_n12_0’; %V3 measurement
yout=str2mat(y_u1,y_u2,y_u3,y_i4,y_u5,y_u6); %outputs
y_type=[0,0,0,1,0,0]; %output type 0=voltage 1=current
[A,B,C,D,states,x0,x0sw,rlsw,u,x,y,freq,...
Asw,Bsw,Csw,Dsw,Hlin]=...
circ2ss(rlc,switches,source,[],yout,y_type,unit);

4-39
Circ2ss

While circ2ss is executing, the following messages are displayed:

Computing state-space representation of linear electrical
circuit...
(4 states ; 5 inputs ; 6 outputs)
Oscillatory modes and damping factors:
F=159.115Hz zeta=4.80381e-008
Steady state outputs @ F=0 Hz :
y_u1= 0Volts
y_u2= 0Volts
y_u3= 0Volts
y_i4= 0Amperes
y_u5= 0Volts
y_u6= 0Volts

Steady state outputs @ F=60 Hz :

y_u1= 99.81Volts < -1.144 deg.
y_u2= 3.77e-006Volts < 93.17 deg.
y_u3= 199.4Volts < -1.148 deg.
y_i4= 2.099Amperes < 2.963 deg.
y_u5= 199.4Volts < -1.148 deg.
y_u6= 0.01652Volts < 178.9 deg.

Steady state outputs @ F=180 Hz :

y_u1= 11.4Volts < 53.48 deg.
y_u2= 1.324e-006Volts < 155.2 deg.
y_u3= 22.78Volts < 52.47 deg.
y_i4= 4.027Amperes < 146.5 deg.
y_u5= 22.83Volts < 52.47 deg.
y_u6= 0.0522Volts < 52.47 deg.

The names of the state variables are returned in the states string matrix:
states =

Il_b2_n2_2.1
Uc_b5_n11_0
Uc_b6_n11_12
Il_b7_n12_0
Il_b1_n1_2*
Uc_b7_n12_0*

4-40
 Circ2ss

Although this circuit contains six inductors and capacitors, there are only four
state variables. The names of the state variables are given by the first four
lines of the states matrix. The last two lines are followed by an asterisk
indicating that these two variables are a linear combination of the state
variables:
Uc_b7_n12_0 = + Uc_b5_n11_0 - Uc_b6_n11_12
Il_b1_n1_2 = + Il_b2_n2_2.1

The A,B,C,D matrices contain the state-space model of the circuit without
nonlinear elements (sw1 switch open). The x0 vector contains the initial state
values considering the switch sw1 closed. The Asw, Bsw, Csw, Dsw matrices
contain the state-space model of the circuit considering the closed switch sw1.
In our example, the system contains an extra state corresponding to the
current flowing into the Sw1 inductor. The xosw vector contains the initial
current in the closed switch.
A =
-4.0006e+005 0 0 0
-1.8998e-008 -4995 0 -499.25
1.8998e-005 -4992.5 0 4.9925e+005
0 2 -2 0
Asw =

-4.0006e+005 0 0 08e+005
-1.8998e-008 -4995 0 -499.259.99e+005
1.8998e-005 -4992.5 0 4.9925e+0059.985e+005
0 2 -2 0
2e+011 -1e+008 0 -4.0002e+011

The system source frequencies are returned in the freq vector:

freq =

0 60 180

The corresponding steady-state complex outputs are returned in the (6x3) y

matrix where each column corresponds to a different source frequency.

4-41
Circ2ss

For example, you can obtain the magnitude of the six voltage and current
outputs at 60Hz as follows:
abs(y(:,2))

ans =

99.808
3.7696e-006
199.43
2.0994
199.42
0.01652

The initial values of the four state variables are returned in the x0 vector. You
must use this vector in the State-Space block to start the simulation in
steady-state.
x0 =

2.3303
14.113
14.071
3.1393e-005

The initial values of switch currents are returned in x0sw. To start the
simulation in steady-state, you must use these values as initial currents for the
nonlinear model simulating the switches.
x0sw =

0.16155
0

The Simulink model of the circuit is shown in the following figure. If you had
used the powerlib library to build your circuit, the same Simulink system
would have been generated automatically by the power2sys function. The
corresponding version of this circuit built with the Power System Blockset is
available in the psbcirc2ss_slk.mdl file.
The linear part of the circuit is simulated by the State-Space block.
Appropriate inputs and outputs are used to connect the switch and saturable
reactance models to the linear system. You can find the breaker and transfosat

4-42
 Circ2ss

blocks in the powerlib_models library containing all the nonlinear models used
by the Blockset. As the breaker model is vectorized, a single block is used to
simulate the two switches Sw1 and Sw2.

Vs 60Hz
Mux x’ = Ax+Bu
Demux
Is 180Hz y = Cx+Du
State-Space Scope_I1

Mux Demux
transfosat Scope_V2
I_Sat U_Sat
i v
Scope_V3
breaker
[I_Sw1, I_Sw2] [U_Sw1, U_Sw2]
i v

Step_Sw1 Mux

Step_Sw2 Mux1

See Also power2sys

4-43
Controlled Current Source

Purpose 4Controlled Current Source

Implement a controlled current source

Library Electrical Sources Library

Description The Controlled Current Source block provides a current source controlled by a
Simulink signal. The positive current direction is as shown by the arrow in the
block icon. The initial current level is set in the dialog box as a parameter.
If the initial current is set to a nonzero value, this current will be considered as
a DC current, and the states of the linear circuit will be initialized accordingly.
To start the simulation in steady-state, the initial value of the Simulink signal
must correspond to the initial current entered in the dialog box.

Dialog Box

Example Generate a 60Hz current modulated at 5Hz with the Controlled Current
Source.

4-44
 Controlled Current Source

This circuit is available in the psbcontrolcurr.mdl file. Simulation produces

the following waveforms:

imes(A)

Time(s)

See Also Controlled Voltage Source

4-45
Controlled Voltage Source

Purpose 4Controlled Voltage Source

Implement a controlled voltage source

Library Electrical Sources Library

Description The Controlled Voltage Source block provides a voltage source controlled by a
Simulink signal. The first and second outputs of the block are respectively the
positive and the negative terminals of the voltage source. The initial voltage
level is set in the dialog box.
If the initial voltage is set to a nonzero value, this voltage will be considered as
a DC voltage and the states of the linear circuit will be initialized accordingly.
To start the simulation in steady-state, the initial value of the Simulink signal
must correspond to the initial voltage entered in the dialog box.

Dialog Box

Example Generate a 60 Hz sinusoidal voltage containing a third harmonic.

4-46
 Controlled Voltage Source

This circuit is stored in the file psbcontrolvolt.mdl. Simulation produces the

following waveform

See Also Controlled Current Source

4-47
Current Measurement

Purpose 4Current Measurement

Measure a current in a circuit

Library Measurements Library

Description The Current Measurement block is used to measure the instantaneous current
flowing in any electrical block or connection line. The first output provides a
Simulink signal that can be used by other Simulink blocks.

Dialog Box

Example Four Current Measurement blocks are used to read currents in different
branches of a circuit. The two scopes display the same current. This circuit is
available in the psbcurrmeasure.mdl file.

See Also Voltage Measurement

4-48
 DC Voltage Source

Purpose 4DC Voltage Source

Implement a DC voltage source

Library Electrical Sources Library

Description The DC Voltage Source block implements an ideal DC voltage source. The
output and input are respectively the positive and negative source terminals.
The voltage level is set in the dialog box. You can modify the voltage at any time
during the simulation.

Dialog Box

Example Simulation of the transient response of a first order RC circuit. This circuit is
available in the psbdcvoltage.mdl file.

4-49
DC Voltage Source

vc (V)

Time(s)

See Also AC Voltage Source, Controlled Voltage Source

4-50
 Diode

Purpose 4Diode
Implement a diode model

Library Power Electronics Library

Description The Diode is a semiconductor device that is controlled by its own voltage and
current. When the diode is forward biased (Vak>0), it starts to conduct with a
small forward voltage across it. It turns off when the current flow into the
device becomes zero. When the diode is reverse biased (Vak<0), it stays in the
off-state.
The diode is modeled as resistor, inductor, and DC voltage source (Vf),
connected in series with a switch. The switch is controlled by the voltage Vak
and current Iak.

Vak Vak
A A K
K
Iak Iak Ron Lon Vf
Diode
Diode Vak
A: anode; K: cathode;
logic Iak

The Diode block also contains a series Rs-Cs snubber circuit, which is usually
connected in parallel with the diode.The static VI characteristic of this model
is shown in the figure below.

Iak
On-state

Ron
Off-state

Vak
Vf

4-51
Diode

Dialog Box

Because of modeling constraints explained in the Assumptions and Limitations

section, the inductance Lon cannot be set to zero. You can specify a snubber
which is purely resistive (Cs = Inf) or purely capacitive (Rs=0). If you specify
either Rs=Inf or Cs=0, the snubber is eliminated and it disappears on the diode
icon.
The initial current, Ic, flowing in the diode, is usually set to zero so that the
simulation is started with the diode blocked.

4-52
 Diode

You may specify an initial current Ic value corresponding to a particular state

of the circuit. In such a case, all states of the linear circuit must be set
accordingly. Initializing all states of power-electronic converter is a complex
task. Therefore, this option is useful only with simple circuits.

Inputs and The first input and output are the diode terminals connected respectively to the
Outputs anode (a) and the cathode (k). The second output (m) is a Simulink
measurement output vector [Iak, Vak] returning the diode current and voltage.

Assumptions The Diode block implements a macro-model of the diode. It does not take into
and Limitations account either the geometry of the device or the complex physical processes
underlying the state change [1]. The leakage current in the blocking state and
the reverse-recovery (negative) current are not considered. In most circuits, the
reverse current does not affect converter or other device characteristics.
The diode is modeled as a nonlinear element interfaced with the linear circuit,
as shown below.

Linear circuit

inputs State Space outputs

A, B, C, D

Iak Vak

To avoid an algebraic loop in the Simulink representation, the diode inductance

Lon cannot be set to zero. Each diode adds an extra state to the electrical circuit
model. As the diode is modeled as a current source, it cannot be connected in
series with an inductor, a current source, or an open circuit, unless a snubber
circuit is used.
You must use a stiff integrator algorithm to simulate circuits containing
diodes. ode23tb and ode15s usually give best simulation speed.

4-53
Diode

Example Single pulse rectifier consisting of a diode, RL load, and AC source.

4-54
 Diode

This circuit is available in the psbdiode.mdl file. Simulation produces the

following results.
V_Load (V)

4-55
Diode

References [1] Rajagopalan V., Computer-Aided Analysis of Power Electronic Systems,

Marcel Dekker, Inc., New York, 1987.
[2] Mohan N., Power Electronic, Converters, Applications and Design, John
Wiley & Sons, Inc., New York, 1995.

See Also Thyristor, Mosfet, GTO, Ideal Switch

4-56
 Distributed Parameter Line

Purpose 4Distributed Parameter Line

Implement an N-phase distributed parameter transmission line model with
lumped losses

Library Elements Library

Description The Distributed Parameter Line block implements an N-phase distributed

parameter line model with lumped losses. The model is based on the Bergeron’s
traveling wave method used by the Electromagnetic Transient Program
(EMTP)[1]. In this model, the lossless distributed LC line is characterized by
two values (for a single phase line): the surge impedance Z c = L ⁄ C and the
phase velocity v = 1 ⁄ LC .
The model uses the fact that the quantity e+Zi, where e is line voltage and i is
line current, entering one end of the line must arrive unchanged at the other
end after a transport delay of τ = d ⁄ v , where d is the line length. By
lumping R/4 at both ends of the line and R/2 in the middle and using the
current injection method of the Power System Blockset, the following two port
models are derived:

is ir

es Ish er
Z Irh Z

I sh ( t ) =  ------------- ---- e ( t – τ ) + hir ( t – τ ) +  ------------- ---- e s ( t – τ ) + his ( t – τ )

1+h 1 1–h 1
 2  Z r  2  Z

I rh ( t ) =  ------------- ---- e s ( t – τ ) + his ( t – τ ) +  ------------- ---- e r ( t – τ ) + hir ( t – τ )

1+h 1 1–h 1
 2  Z  2  Z
R
Z C – ----
R 4 L
where Z = Z C + ---- h = ------------------ ZC = ---- τ = d LC
4 R C
Z C + ----
4

4-57
Distributed Parameter Line

For multi-phase line models, modal transformation is used to convert line

quantities from phase values (line currents and voltages) into modal values
independent of each other. The previous calculations are made in the modal
domain before being converted back to phase values.
In comparison to the pi sections line model, the distributed line represents
wave propagation phenomena and line end reflections with much less error.
See the comparison between the two models in the example section.

Dialog Box

4-58
 Distributed Parameter Line

The first entry in the dialog box specifies the number of phases of the model.
The block icon dynamically changes according to the number of phases that you
specify. When you apply the parameters or close the dialog box, the number of
inputs and outputs is updated. The icon also displays the individual
conductors. If you specify more than three phases, only one conductor is
displayed.
The second entry specifies the frequency used to compute the line parameters.
This entry is needed for the computation of the modal impedance and
admittance matrices.
The third, fourth, and fifth entries are the R(ohms/km) L(H/km) and C(F/km)
matrices. For unsymmetrical lines, you must specify the complete R L C
matrices of the line.
If you want to model your line as a symmetrical line (continuously transposed),
you can also specify the sequence parameters. This is permitted for the
following types of lines: two-phases, three-phases transposed and six-phases
transposed (double-circuit three-phase line with zero sequence coupling only
between the two circuits). Therefore the two- and three-phase lines require two
dimension vector entries [R1 R0] [L1 L0] [C1 C0] while the six-phase line
requires three-dimension vector entries [R1 R0 R0m] [L1 L0 L0m] [C1 C0
C0m], where the subscripts 1,0, and 0m hold respectively for positive-sequence,
zero-sequence, and mutual-zero-sequence.
Finally, the last entry specifies the line length in Km.

Limitations One limitation of this line model is its failure to represent accurately the
frequency dependence of R L C parameters of real power lines. Indeed, because
of skin effects in the conductors and ground, the R and L matrices exhibit
strong frequency dependence, causing an attenuation of the high frequencies.

4-59
Distributed Parameter Line

Example Obtain the line energization voltages and current in the following circuit.

Line 300 km
Close at 0.005s
RLC

Rg + +
i Line Vin Vout
Vg - -

This circuit is available in the psbdistline.mdl file.

The sending end current and receiving end voltage obtained with the
distributed parameter line are compared with a 10-pi-section line. On both
graphs, the PI line model shows high frequency oscillatory modes
superimposed on the 200Hz characteristic frequency of travelling waves. These
oscillations due to PI sections are not found with the distributed parameter line
with lumped losses model.

4-60
 Distributed Parameter Line

Note: Notice that the high current peak obtained with the PI line model at
the breaker closing (due to the first section capacitor charging) does not exist
with the distributed parameter line model.

Line input current (iLine)

300

200

100
current (A)

−100

−200

−300
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05
time (s)

4-61
Distributed Parameter Line

5 Line output voltage (vout)

x 10
2

1.5

1
voltage (volts)

0.5

−0.5

−1

−1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05
time (s)

References [1] H. Dommel, “Digital Computer Solution of Electromagnetic Transients in

Single and Multiple Networks,” IEEE Transactions on Power Apparatus and
Systems, Vol PAS-88, No. 4, April 1969

See Also PI Section Line

4-62
 Excitation System

Purpose 4Excitation System

Provide an excitation system for the synchronous machine and regulate its
terminal voltage in generating mode

Library Machines Library

Description The Excitation System block is a Simulink system-implementing the DC

exciter described in [1]. The basic elements that form the Excitation System
block are the voltage regulator and the exciter. The voltage regulator consists
of a main regulator with gain Ka and time constant Ta and a lead-lag
compensator with time constants Tb and Tc. A derivate feedback is also
provided with gain Kf and time constant Tf. The limits Efmin and Efmax are
imposed to the output of the voltage regulator. The upper limit can be constant
and equal to Efmax or variable and equal to the rectified stator terminal
voltage Vtf times a proportional gain Kp. If Kp is set to zero, the former will
apply. If Kp is set to a positive value, the latter will apply. The stator terminal
voltage transducer is represented by a first-order low-pass filter with time
constant Tr.

The exciter is represented by the following transfer function between the

exciter voltage Vfd and the regulator’s output ef:

V fd 1
--------- = --------------------------------------------------
ef Ke + sTe + S ( Vfd )

where S(Vfd) is a nonlinear function that represents the magnetic saturation of

the exciter. This saturation function is given by:

4-63
Excitation System

BVfd
S ( Vfd ) = Ae

The last entry of the dialog box is used to specify the initial values of the
terminal voltage and field voltage. The values used to initialize all states of the
model allow you to start the simulation in steady-state.

Dialog Box

4-64
 Excitation System

Inputs and The first input of the block is the desired value of the stator terminal voltage.
Outputs The following two inputs are the vq and vd components of the terminal voltage.
The fourth input can be used to provide additional stabilization of power
system oscillations. All inputs are in pu. The output of the block is the field
voltage Vf for the Synchronous Machine block (p.u).

References [1] IEEE “Recommended Practice for Excitation System Models for Power
System Stability Studies”. IEEE Std. 421.5-1992, August 1992

See Also Hydraulic Turbine and Governor, Synchronous Machine

4-65
Ground

Purpose 4Ground
Provide a connection to the ground

Library Connectors Library

Description The Ground block implements a connection to the ground. For drawing facility,
two types of Ground blocks are provided: one block with an input and one block
with an output.

Dialog Box

Example The following circuit shows an application of both types of Ground blocks. This
circuit is available in the psbground.mdl file.

See Also Neutral, Bus Bar

4-66
 GTO

Purpose 4GTO
Implement a GTO-thyristor model

Library Power Electronics Library

Description The Gate Turn-Off (GTO) thyristor block is a semiconductor device that can be
turned on and off via a gate signal. Like a thyristor, the GTO-thyristor can be
turned on by a positive gate signal (G>0). However, unlike the thyristor, which
can be turned off only at a zero crossing of current, the GTO can be turned off
by applying a gate signal equal to zero.
The model is simulated as a resistor Ro), inductor Lon, and DC voltage source
(Vf) connected in series with a switch. The switch is controlled by a logical
signal depending on the voltage Vak, current Iak, and the gate signal G.

Vak
Vak

K
K A
Iak Iak Ron Lon Vf
A G
GTO-Thyristor Vak
GTO-thyristor
G logic Iak

A: anode; K: cathode; G: gate

4-67
GTO

The GTO-thyristor turns on when the anode-cathode voltage is greater than Vf

and a positive pulse signal is present at the gate input (G>0). When the gate
signal is set to zero, the GTO starts to block, but its current does not stop
instantaneously.

Iak On-state
(Ron)

On-to-Off
if IG =0
Off-to-On
if G > 0

Off-state Off-state

Vak
Vf

Since the current extinction process of a GTO-thyristor contributes

significantly to the turn-off losses, the turn-off characteristic is built into the
model. The current decrease is approximated by two segments. When the gate
signal becomes zero, the current Iak first decreases from the value Imax (value
of Iak when the GTO starts to open) to Imax/10, during the fall time (Tf), and
then from Imax/10 to zero during the tail time (Tt). The GTO-thyristor turns
off when the current Iak becomes zero. The latching and holding currents are
not considered.

Iak
Imax
Itail=0.1 Imax

G Tf Tt

1
0
t

4-68
 GTO

Vf, Ron and Lon are the forward voltage drop while in conduction, the forward
conducting resistance, and the inductance of the device, respectively.
The GTO-thyristor block also contains a series Rs-Cs snubber circuit which is
usually connected in parallel with the device.
Due to modeling constraints, the inductance Lon cannot be set to zero. You can
specify a snubber which is purely resistive (Cs = Inf) or purely capacitive
(Rs=0). If you specify either Rs=Inf or Cs=0, the snubber is eliminated and it
disappears on the GTO-thyristor icon.
The initial current Ic is usually set to zero, so that the simulation is started
with the GTO-thyristor blocked. However, you may specify an Ic value
corresponding to a particular state of the circuit. In such a case, all states of the
linear circuit must be set accordingly. Initializing all states of a
power-electronic converter is a complex task. Therefore, this option is useful
only with simple circuits.

4-69
GTO

Dialog Box

Inputs and The first input and output are the GTO-thyristor terminals connected
Outputs respectively to anode (a) and cathode (k). The second input (g) is a Simulink
signal applied to the gate. The second output (m) is a Simulink measurement
output vector [Iak, Vak] returning the GTO-thyristor current and voltage.

4-70
 GTO

Assumptions The GTO-thyristor block implements a macro-model of a real GTO-thyristor,

and Limitations and it does not take into account either the geometry of the device or the
underlying physical processes of the device [1].
The GTO-thyristor requires a continuous application of the gate signal (G>0)
in order to be in the on-state (with Iak>0). The latching current and the holding
current are not considered. The critical value of the derivative of the re-applied
anode-cathode voltage is not considered.
The GTO-thyristor is modeled as a nonlinear element interfaced with the
linear circuit, as shown below.

Linear Circuit

inputs State Space outputs

A, B, C, D

Iak
Vak

To avoid an algebraic loop, the GTO-thyristor inductance Lon cannot be set to

zero. Each GTO-thyristor adds an extra state to the electrical circuit model.
The GTO-thyristor is modeled as a current source. It cannot be connected in
series with an inductor, a current source, or an open circuit, unless a snubber
circuit is used.
You must use a stiff integrator algorithm to simulate circuits containing
GTO-thyristors. ode23tb and ode15s usually give best simulation speed.

Example The following example illustrates the use of the GTO-thyristor block in a buck
converter topology. The basic polarized snubber circuit is connected across the
GTO. The snubber circuit consists of a capacitor Cs, a resistor Rs, and a diode
Ds. The parasitic inductance Ls of the snubber circuit is also taken into
consideration.
The parameters of the GTO are those found in the Dialog Box section, except
for the internal snubber, which is out of service (Rs=Inf Cs=0). The switching

4-71
GTO

frequency is 1000 Hz and the pulse width is 216 degrees (duty cycle 60%). This
example is available in the psbbuckconv.mdl file.

Rs=100 Ω Cs=2e-6 F Ls=5e-7 H

Ds

GTO R= 1 Ω

L= 0.005 H
D Rds=100 Ω
U=200 V Cds=0.1e-6F
E= 80 V

4-72
 GTO

Run the simulation and observe the GTO voltage and current as well as the
load voltage and current.

4-73
GTO

References [1] Mohan N., Power Electronic, Converters, Applications and Design, John
Wiley & Sons, Inc., New York, 1995

See Also Diode, Thyristor, Mosfet, Ideal Switch

4-74
 Hydraulic Turbine and Governor

Purpose 4Hydraulic Turbine and Governor

Model a hydraulic turbine and a PID governor system

Library Machines Library

Description The Hydraulic Turbine and Governor implements a hydraulic turbine model, a
PID governor system, and a servo-motor. The static gain of the governor is
equal to the inverse of the permanent droop Rp in the feedback loop. The input
to this feedback loop can be selected to be the gate position or the electrical
power deviation by setting the droop reference parameter in the dialog box to
one or zero, respectively.

The hydraulic turbine is modeled by a nonlinear system with a water starting

time Tw.

4-75
Hydraulic Turbine and Governor

The PID regulator has a proportional gain Kp, an integral gain Ki and a
derivative gain Kd. The high frequency gain of the PID is limited by a
first-order low-pass filter with time constant Td.
The gate servo-motor is modeled by a second-order system with gain Ka and
time constant Ta. The gate’s opening is limited between gmin and gmax and its
speed is limited between vgmin and vgmax.
The last entry of the dialog box is used to specify the initial output power. This
value which is used to initialize all the states of the model allows you to start
the simulation in steady-state.

4-76
 Hydraulic Turbine and Governor

Dialog Box

4-77
Hydraulic Turbine and Governor

Inputs and The first two inputs are the desired speed and mechanical power. The third and
Outputs fourth inputs are the machine’s actual speed and electrical power. The fifth
input is the speed deviation. Inputs 2 and 4 can be left unconnected if you want
to use the gate position as input to the feedback loop instead of the power
deviation. All inputs are in pu. The outputs of the block are mechanical power
Pm for the Synchronous Machine block and gate opening (both in pu).

Example See the Synchronous Machine block.

See Also Excitation System, Synchronous Machine

4-78
 Ideal Switch

Purpose 4Ideal Switch

Implement an Ideal Switch model

Library Power Electronics Library

Description The Ideal Switch does not correspond to a particular physical device. When
used with appropriate switching logic, it can be used to model a simplified
semiconductor device such as a GTO or a Mosfet, or even a power circuit
breaker with current chopping. The switch is simulated as a resistor (Ron) and
inductor (Lon) in series with a switch controlled by a logical signal G.

V12 V12

1 2 1 2
I12 Ron Lon
I12

G Ideal Switch
G logic
Ideal Switch

1: input; 2: output; G: gate

The Ideal Switch is fully controlled by the gate signal (G>0 or G=0). It has the
following characteristics:

• Blocks any forward or reverse applied voltage with zero current flow when
G=0
• Conducts any bidirectional current with quasi zero voltage drop when G>0
• Switches instantaneously between on and off state when triggered

The Ideal Switch turns on when a positive signal is present at the gate input
(G>0). It turns off when the gate signal equals zero (G=0).

4-79
Ideal Switch

I12
On-state
On-to-Off
1 if G =0
Ron Off-to-On
if G > 0
Off-state

V12
Off-to-On Off-state
if G >0

On-to-Off
if G =0
On-state

The Ideal Switch block also contains a series Rs-Cs snubber circuit, which is
usually connected in parallel with the Ideal Switch. You can specify a snubber
that is purely resistive (Cs = Inf) or purely capacitive (Rs=0). If you specify
either Rs=Inf or Cs=0, the snubber is eliminated and it disappears on the Ideal
Switch icon.

4-80
 Ideal Switch

Dialog Box

Because of modeling constraints explained in the Assumptions and Limitations

section, the inductance Lon cannot be set to zero. If the switch initial state is
set to 1 (closed), the states of the linear circuit are automatically initialized so
that the simulation starts in steady-state.

Inputs and The first input (1) and output (2) are the Ideal Switch electrical connections.
Outputs The second input (g) is a Simulink signal applied to the gate. The second output
(m) is a Simulink measurement output vector [I12,V12] returning the Ideal
Switch current and voltage.

Assumptions It can happen that the switch is connected across a capacitor. Depending on the
and Limitations values of the capacitor, switch resistance and inductance, high frequency
poorly damped current and voltage oscillations can be produced when the
switch closes if the Ron-Lon parameters are not properly selected. This will

4-81
Ideal Switch

result in a slow simulation speed. A good practice is to achieve a damping factor

of z>0.5 for the Ron-Lon-C circuit. This condition is obtained when
2
Lon ≤ Ron C

For example, with Ron =0.01 Ω and C= 1e-6 F, you should select Lon≅1e-10 H.
The Ideal Switch is modeled as a nonlinear element interfaced with the linear
circuit, as shown below.

Linear circuit
inputs State Space outputs
A, B, C, D

I12 V12

To avoid an algebraic loop, the Ideal Switch inductance Lon cannot be set to
zero. Each Ideal Switch adds an extra state to the electrical circuit model. The
Ideal Switch is modeled as a current source. It cannot be connected in series
with an inductor, a current source or an open circuit, unless a snubber circuit
is used.
You must use a stiff integrator algorithm to simulate circuits containing Ideal
Switches. ode23tb and ode15s usually give best simulation speed.

Example An Ideal Switch is used to switch an RLC circuit on an AC source (60 Hz). The
switch, which is initially closed, is first open at t=36 ms and then closed at
t=100 ms.
As the switch is used to switch a capacitor, its inductance Lon has been set to
2
a very small value to satisfy the Lon ≤ Ron C condition. This example is
available in the psbswitch.mdl file.

4-82
 Ideal Switch

+ L= 0.1H
Vs =120 V rms C= 10e-6 F
- f= 60 Hz

R= 10 Ω

Run the simulation and observe the inductor current, the switch current and
the capacitor voltage. Notice the high frequency overvoltage produced by
inductive current chopping.

4-83
Ideal Switch

References [1] N. Mohan, Power Electronic, Converters, Applications and Design, John
Wiley & Sons, Inc., New York, 1995.

4-84
 Linear Transformer

Purpose 4Linear Transformer

Implement a two- or three-winding linear transformer

Library Elements Library

Description The Linear Transformer block model shown below consists of three coupled
windings wound on the same core.

L2 R2
R1 L1

Lm Rm
L3 R3

The model takes into account the winding resistances (R1 R2 R3), the leakage
inductances (L1 L2 L3), as well as the magnetizing characteristics of the core
which is modeled by a linear (Rm Lm) branch.
To comply with industry practice, you must specify the resistance and
inductances per unit (pu) based on the transformer rated power (Pn in VA) and
nominal voltage of the winding (Vn in Vrms). The base resistance and
inductance are defined as follows:

2
( Vn )
Rbase = 1 pu = ----------------
Pn
Rbase
Lbase = 1 pu = -----------------
2πf n

For example, for the default parameters of winding one specified in the dialog
box section:
720.3
Lbase = --------------- = 1.91H
2π60

4-85
Linear Transformer

3 2
( 424.35 × 10 )
Rbase = ----------------------------------------- = 720.3Ω
6
250 × 10

R 1 = 0.002pu × 720.3Ω = 1.44Ω

L 1 = 0.08pu × 1.91H = 0.1528H

5
R m = 500pu × 720.3Ω = 3.6 × 10 Ω

L m = 500pu × 1.91H = 955H

Dialog Box

Specify in the first entry the nominal power rating and frequency of the
transformer. Then specify in the following three entries the parameters of each

4-86
 Linear Transformer

winding (nominal voltage in volts rms, resistance and leakage inductance in

pu). Specify in the last entry the resistance and inductance simulating the core
active and reactive losses both in pu.

Inputs and Input one, output one, and output three (if it exists) are at the same
Outputs instantaneous polarity. If you set the entry for the third winding to zero, the
block will become a transformer with two windings and a new icon will be
displayed:

Limitations Because of modeling constraints the following restrictions apply: The winding
resistances cannot be set to zero, however leakage inductances can be set to
zero. Use values as small as necessary to simulate quasi-zero resistances.
Similarly, the magnetizing resistance Rm must have a finite value but the
reactive magnetizing losses can be set to zero by specifying Lm=Inf.
Windings can be left floating (i.e, not connected by an impedance to the rest of
the circuit). The floating winding will be connected internally to the main
circuit through a resistor. This invisible connection does not affect voltage and
current measurements.

Example Typical residential distribution transformer network feeding line to neutral

and line to line loads. This circuit is available in the psbtransformer.mdl file.

4-87
Linear Transformer

See Also Saturable Transformer, Mutual Inductance

4-88
 Mosfet

Purpose 4Mosfet
Implement a Mosfet model

Library Power Electronics Library

Description The Metal-Oxide-Semiconductor-Field-Effect-Transistor (Mosfet) block is a

semiconductor device controllable by the gate signal (G > 0) if its current Id is
positive (Id>0). The Mosfet block is connected in parallel with an internal diode
which turns on when the Mosfet block is reverse biased (Vds < 0). The model is
simulated as a series combination of a variable resistor (Rt) and inductor (Lon)
in series with a switch controlled by a logical signal (G>0 or G=0).

Vds
Vds

D S D
S
Id Rt Lon

Vds
G Mosfet
G logic
Mosfet Id
D: drain; S: source; G: gate

The Mosfet block turns on when the drain-source voltage is positive and a
positive signal is applied at the gate input (G >0).

4-89
Mosfet

Id
On-state
(Rt=Ron)
On-to-Off
if G =0
Off-to-On
if G >0
Off-state

Off-state Vds
On-state

Rt=Rd

With a positive current flowing through the device, the Mosfet block turns off
when the gate input becomes zero. If the current Id is negative (Id flowing in
the internal diode) and the gate signal is zero (G = 0), the Mosfet block turns
off when the current Id becomes zero (Id = 0).
Note that the on-state resistance Rt depends on the drain current direction:

• Rt= Ron if Id > 0, where Ron represents the typical value of the forward
conducting resistance of the Mosfet block
• Rt= Rd if Id < 0, where Rd represents the internal diode resistance

The Mosfet block also contains a series Rs-Cs snubber circuit, which is usually
connected in parallel with the Mosfet block. You can specify a snubber that is
purely resistive (Cs = Inf) or purely capacitive (Rs=0). If you specify either
Rs=Inf or Cs=0, the snubber is eliminated and it disappears on the Mosfet icon
The initial current Ic flowing in the Mosfet block is usually set to zero, so that
the simulation is started with Mosfet blocked. However, you may specify an Ic
value corresponding to a particular state of the circuit. In such a case, all states
of the linear circuit must be set accordingly. Initializing all states of a
power-electronic converter is a complex task. Therefore, this option is useful
only with simple circuits.

4-90
 Mosfet

Parameters
and Dialog Box

Inputs and The first input and output are the Mosfet connection to drain (d) and source (s).
Outputs The second input (g) is a logical Simulink signal applied to the gate. The second

4-91
Mosfet

output is a Simulink measurement vector [Id, Vds] returning the Mosfet

current and voltage.

Assumptions The Mosfet block implements a macro-model of the real Mosfet device. It does
and Limitations not take into account either the geometry of the device or the complex physical
processes [1].
In the Simulink representation, the Mosfet is modeled as a nonlinear element
interfaced with the linear circuit as shown below.

Linear circuit

inputs State Space outputs

A, B, C, D

Id Vds

To avoid an algebraic loop, the Mosfet inductance Lon cannot be set to zero.
Each Mosfet adds an extra state to the electrical circuit model. Since the Mosfet
is modeled as a current source, it cannot be connected in series with an
inductor, a current source, or an open circuit, unless a snubber circuit is used.
You must use a stiff integrator algorithm to simulate circuits containing
mosfets. ode23tb and ode15s usually gives best simulation speed.

Example The following example illustrates the use of the Mosfet block in a
Zero-Current-Quasi-Resonant Switch converter. In such a converter, the
current produced by the Lr-Cr resonant circuit flows through the device, thus
causing it to turn on and off at zero current [1]. The switching frequency is 2
MHz and the pulse width is 72 degrees (duty cycle: 20%). This example is
available in the psbmosconv.mdl file

4-92
 Mosfet

Run the simulation and observe the capacitor voltage, the mosfet current, the
gate pulse signal, the diode current, and the state-plane trajectory (inductor
current versus capacitor voltage).

4-93
Mosfet

U_cr

I_MOS gate pulse

4-94
 Mosfet

4-95
Mosfet

References [1] Mohan N., Power Electronic, Converters, Applications and Design, John
Wiley & Sons, Inc., New York, 1995.

See Also Diode, GTO, Ideal Switch, Thyristor

4-96
 Mutual Inductance

Purpose 4Mutual Inductance

Implement a magnetic coupling between two or three windings

Library Elements Library

Description The Mutual Inductance block implements a magnetic coupling between three
separate windings. Specify the self resistance and inductance of each winding
on the first three entries of the dialog box and the mutual resistance and
inductance in the last entry.
The electrical model for this block is given below

L2-Lm R2-Rm
R1-Rm L1-Lm

Lm

Rm
L3-Lm R3-Rm

Ideal
Transformer
1:1:1

If the entry for the third winding is set to zero, the block represents the
magnetic coupling between two inductances and a new icon is displayed

Inputs and The inputs of the Mutual Impedance block are at the same instantaneous
Outputs polarity.

4-97
Mutual Inductance

Dialog Box

Limitations Due to modeling constraints, the following restrictions apply:

Rs > 0, Rs > Rm
Lm ≠ 0, Ls ≠ Lm

The winding resistances (self resistances) must be positive and greater than
the mutual resistance. Negative values are allowed for the self and mutual
inductances as long as the self inductances are different from the mutual
inductance. The mutual inductance must be different from zero but a zero
mutual resistance is allowed.
Windings can be left floating (i.e, not connected by an impedance to the rest of
the circuit). The floating winding will be internally connected to the main
circuit through a resistor. This invisible connection does not affect voltage and
current measurements.

4-98
 Mutual Inductance

Example Three coupled windings are used to inject a third harmonic voltage into a
circuit fed at 60 Hz.

Mutual inductance

R = 3 Ohms
10 V rms
5 V rms 60 Hz
180 Hz 0 deg L = 1.2mH
0 deg

R1=R2=R3=1.1 Ohms Rm=1 Ohm

L1=L2=L3=1.1 mH Lm=1mH

This example is available in the psbmutual.mdl file.

Simulation produces the following load voltage waveform:

4-99
Mutual Inductance

Uload(V)

Time(s)

See Also Linear Transformer, Saturable Transformer

4-100
 Neutral

Purpose 4Neutral
Implement a local common node in the circuit

Library Connectors Library

Description The Neutral block implements a local common node with a specific node
number. If the node number is set to zero, the Neutral block automatically
makes a connection to ground. The node number is displayed on the icon. You
can use this block to create a floating neutral or to interconnect two points
without drawing a connection line.
For the drawing facility, two types of neutral blocks are available in the library:
one block with an input and one block with an output.

Dialog Box

Example The following circuit uses three Neutral blocks. Three resistors are connected
to a floating neutral (node 50). The phase-to-ground voltage is measured with
the u2 block and the phase-to-neutral voltage is measured with the u1 block.
This example is available in the psbneutral.mdl file.

4-101
Neutral

See Also Ground

4-102
 Parallel RLC Branch

Purpose 4Parallel RLC Branch

Implement a parallel RLC branch

Library Elements Library

Description The Parallel RLC Branch block implements a single resistor, inductor and
capacitor or a parallel combination of these. To eliminate either the resistance,
inductance, or capacitance of the branch, the R, L, and C values must be set
respectively to infinity, infinity, and zero. Only existing elements will be
displayed in the block icon.
Negative values are allowed for resistance, inductance, and capacitance.

Dialog Box

4-103
Parallel RLC Branch

Example Obtain the frequency response of an eleventh-harmonic filter tuned at 660 Hz

connected on a 60Hz power system is shown in the following figure. This
example is available in the psbparalbranch.mdl file.

The network impedance in Laplace domain is:

2
V(s) RLCs + Ls + R
Z ( s ) = ------------ = -------------------------------------------
I(s ) LCs + RCs
2

To obtain the frequency response of the impedance you have to get the
state-space model (A B C D matrices) of the system.

4-104
 Parallel RLC Branch

This system is a one input (Is) and one output (Vs) system. If you own the
Control System Toolbox, you can get the transfer function Z(s) from the
state-space matrices.
[A,B,C,D] = power2sys(’psbparalbranch’);
freq = logspace(1,4,500);
w = 2*pi*freq;
[Z,phaseZ] = bode(A,B,C,D,1,w);
subplot(2,1,1)
loglog(freq,Z)
grid
title(’11th harmonic filter’)
xlabel(’Frequency, Hz’)
ylabel(’Impedance Z’)
subplot(2,1,2)
semilogx(freq,phaseZ)
xlabel(’Frequency, Hz’)
ylabel(’phase Z’)
grid

Frequency response of the filter:

4-105
Parallel RLC Branch

See Also Parallel RLC Load, Series RLC Branch, Series RLC Load

4-106
 Parallel RLC Load

Purpose 4Parallel RLC Load

Implement a linear parallel RLC load

Library Elements Library

Description The Parallel RLC Load block implements a linear load as a parallel
combination of RLC elements.

Dialog Box Enter the value of the nominal voltage and nominal frequency in the first two
entries. Enter the desired active power, the inductive reactive power, and the
capacitive reactive power in the last three entries. The inductive and capacitive
reactive powers should be positive values. At the specified frequency, the load
will exhibit a constant impedance and its power will be proportional to the
square of the applied voltage. Only elements associated with nonzero powers
will be displayed in the block icon.

4-107
Parallel RLC Load

Example Find the steady-state values of load voltage and current in the following circuit.
This example is available in the psbparalload.mdl file.

4-108
 Parallel RLC Load

Drag the Powergui block from the powerlib library into your circuit. Double
click on the Powergui icon and output the voltage and current phasors by
clicking on the Steady state button.

4-109
Parallel RLC Load

See Also Parallel RLC Branch, Series RLC Load, Series RLC Branch

4-110
 Permanent Magnet Synchronous Machine

Purpose 4Permanent Magnet Synchronous Machine

Model the dynamics of a three-phase permanent magnet synchronous machine
with sinusoidal flux distribution

Library Machines Library

Description The Permanent Magnet Synchronous Machine (PMSM) block operates in

either motoring or generating mode. The mode of operation is dictated by the
sign of the mechanical torque (positive for motoring, negative for generating).
The electrical and mechanical parts of the machine are each represented by a
second-order state-space model. The model assumes that the flux established
by the permanent magnets in the stator is sinusoidal, which implies that the
electromotive forces are sinusoidal.
The block implements the following equations expressed in the rotor reference
frame (qd frame):
Electrical System

d 1 R Lq
i d = ------- v d – ------- i d + ------- pω r i q
dt Ld Ld Ld

d 1 R Ld λpω r
i q = ------v q – ------i q – ------- pω r i d – -------------
dt Lq Lq Lq Lq
T e = 1.5p [ λi q + ( L d – L q )i d i q ]

where (all quantities in the rotor reference frame):

• Lq, Ld: q and d axis inductances

• R: resistance of the stator windings
• iq, id: q and d axis currents
• vq, vd: q and d axis voltages
• ω r : angular velocity of the rotor
• λ : amplitude of the flux induced by the permanent magnets of the rotor in
the stator phases
• p: number of pole pairs
• Te: electromagnetic torque

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Permanent Magnet Synchronous Machine

Mechanical System
d 1
ω = --- ( T e – Fω r – T m )
dt r J
dθ
= ωr
dt

where:

• J: Combined inertia of rotor and load

• F: Combined viscous friction of rotor and load
• θ : Rotor angular position
• Tm: Shaft mechanical torque

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 Permanent Magnet Synchronous Machine

Dialog Box

Inputs and The first three inputs are the electrical connections of the machine’s stator. The
Outputs fourth input is the mechanical torque at the machine’s shaft (Simulink signal).
This input should ordinarily be positive because the PMSM block is usually
used in a motor mode. Nevertheless, you can apply a negative torque input if
you choose to use the PMSM block in generating mode.
The block outputs a vector containing the following ten variables (all currents
flowing into machine):

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Permanent Magnet Synchronous Machine

• 1-3: Line currents ia, ib and ic, in A;

• 4-5: q and d axis currents iq and id, in A;
• 6-7: q and d axis voltages vq and vd, in V;
• 8: Rotor electrical speed ω e , in rad/sec;
• 9: Rotor electrical angle θ e , in degrees;
• 10: Electromagnetic torque Te, in N.m.

These variables can be demultiplexed by using the special Permanent Magnet

Synchronous Machine Demux block provided in the powerlib/Machine library.

Assumption The block assumes a linear magnetic circuit with no saturation of the stator
and rotor iron. This assumption can be made because of the large air gap
usually found in permanent magnet synchronous machines.

Example This example illustrates the use of the PMSM block in the motoring mode with
a closed-loop control system built entirely in Simulink. The interfacing is done
using Controlled Voltage Source blocks from the powerlib/Electrical Sources
library. The complete system consists of a PWM inverter built with ideal
switches (Simulink Relay blocks). Two control loops are used; the inner loop is
used to regulate the motor line currents and the outer loop regulates the
motor’s speed. The mechanical torque applied at the motor’s shaft is originally
3 N.m (nominal) and steps to 1 N.m at t=0.025 sec. The parameters of the
machine are those found in the Dialog Box section.

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 Permanent Magnet Synchronous Machine

Open the Simulink diagram by typing psbpmmotor or by choosing Permanent

Magnet Sync Mach (sim) from the demos group in the powerlib library. Set the
simulation parameters as follows:

• Integrator type: Stiff, ode15s

• Stop time: 0.06
• Integration options: Use default options, except for Absolute tolerance which
you can set to 1e-3.

Run the simulation. Once the simulation is completed, observe the motor’s
torque and speed.

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Permanent Magnet Synchronous Machine

The torque climbs to nearly 32 N.m when the motor starts but stabilizes
rapidly to its nominal value (3 N.m), until the step is applied, at which point
the torque oscillates slightly before stabilizing to its new value (1 N.m). As for
the speed, you can see that it stabilizes quite fast at start-up and is not affected
by the load step. Now, observe the line currents.

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 Permanent Magnet Synchronous Machine

As for the torque, the currents are high when the machine starts, but stabilize
quickly to their nominal value until the step is applied. Then they oscillate
before stabilizing to a lower value, corresponding to the load torque decrease.

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PI Section Line

Purpose 4PI Section Line

Implement a single phase transmission line with lumped parameters

Library Elements Library

Description The PI Section Line block implements a single phase transmission line with
parameters lumped in pi sections.
For a transmission line, the resistance, inductance and capacitance are
uniformly distributed along the line. An approximate model of the distributed
parameter line is obtained by cascading several identical pi sections as shown
in the figure below.

section1
R L R L R L

C/2 C C C C/2

Unlike the distributed parameter line which has an infinite number of states,
the pi section linear model has a finite number of states that permit a
state-space model to be used to derive its frequency response. The number of
sections to be used depends on the frequency range to be represented.
A good approximation of the maximum frequency range represented by the pi
line model is given by the following equation:

Nv
f max = --------
8l

where:

• N = Number of pi sections
• v = Propagation speed in km/s = 1 ⁄ LC L(H/km) C(F/km)
• l = Line length in km

For example, for a 100 km aerial line having a propagation speed of 300 000
km/s, the maximum frequency range represented with a single pi section is
approximately 375 Hz. For studying interactions between a power system and

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 PI Section Line

a control system, this simple model would be sufficient. However for switching
surge studies involving high frequency transients in the kHz range, much
shorter pi sections should be used. In fact, accurate results would probably only
be obtained by using a distributed parameters line model.

Dialog Box

Enter the resistance, inductance, and capacitance per unit length in the first
three entries. Enter the line length and the desired number of pi sections in the
last two entries.

Example Obtain the line energization voltages and current in the following circuit. This
circuit is available in the psbpiline.mdl file.

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PI Section Line

The results obtained with the line modeled by one pi section of 100km and 10
pi sections of 10km are shown below.

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PI Section Line

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PI Section Line

See Also Distributed Parameter Line

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 Powergui

Purpose 4Powergui
Graphical user interface for the analysis of Power System circuits

Description The Powergui block opens a Graphical user interface that displays
steady-state values of measured current and voltages as well as all state
variables (inductor currents and capacitor voltages). The Powergui interface
allows you to modify the initial states in order to start the simulation from any
initial conditions. It also allows Load Flow computation and initialization of
three phase networks containing machines.
To use the Powergui interface, copy the Powergui block into your model and
double-click on the block to open it.

Example The graphical interface is presented here for the psbtransient.mdl circuit
demo entitled Transient Analysis.

If the Powergui block is not in the model, copy it from the powerlib library.
Start the simulation to establish the state space model (this occurs
automatically through Power2sys). Double-click on the block to open the
following window:

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Powergui

Name of the model

This button opens the State Variables window

This button opens the steady-state window

This button opens the Machine Load Flow window

The Set State Variables window is used to set initial states before the
simulation.

Displays the current values of initial states

Set the initial

states to zero

Set all initial states to

values corresponding
to steady-state.

Return to values
displayed
at the window
opening

Apply modifications to the simulation

Enter the value that you want to set for the selected state variable here

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 Powergui

The Steady-State window displays the phasor values (magnitude and phase) of
sources, measured voltages and currents, state variables as well as voltages
and currents of nonlinear blocks.

Displays the steady-state values of

electrical sources

Displays the steady-state values of

measurement blocks

Displays the steady-state values

of states

Displays the steady-state

values of currents and voltages
of nonlinear blocks

Selection of frequency
corresponding
to the displayed values.

The Machine Load Flow window allows you to perform load flows and
initialize three-phase circuits containing the following three types of machines:
Simplified Synchronous Machine, Synchronous Machine, and Asynchronous
Machine. Once the load flow has been solved, initial conditions are
automatically set in the dialog boxes of the machines and you can start the
simulation in steady-state.

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Powergui

The use of the machine load flow is illustrated in “Session 5: Simulating

Three-Phase Systems and Using Electrical Machines” in Chapter 1. We
reproduce here the window displayed for the three machine case

Selection of bus type:

• PV generator (Active power and voltage control)
Specifies phase angle of A to neutral
Swing generator (Phase angle and voltage control)
terminal voltage of the swing generator

Specifies terminal voltage of

synchronous machines

Specifies active power guess for swing

machine.
Actual value is displayed after load flow has
been solved

Specifies active power of

PV synchronous machines
(>0: generated,
<0: absorbed)

Specifies mechanical power of

asynchronous machines
(>0: motor,
<0: generator)

Selection of frequency used for load flow Execute load flow Return to values displayed at window opening

Selection of initial conditions

to be used for the load flow solution:
• Automatic (default mode), or
• Previous: allows you to start the load flow with initial conditions corresponding to the
previous load flow solution. Try this option if the automatic mode fails to converge.

See Also power2sys

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 Power2sys

Purpose 4Power2sys
Analyze an electric circuit built with the Power System Blockset

Syntax POWER2SYS(’simwin’);
[A,B,C,D,x0,state_var,inputs,outputs,uss,xss,yss,freqyss,Hlin]=
POWER2SYS(’simwin’);
[A,B,C,D,x0,state_var,inputs,outputs,uss,xss,yss,freqyss,Hlin]=
POWER2SYS(’simwin’,’n’);

Description The Power2sys block is used to computes the equivalent state-space model of
an electrical network built with the Power System Blockset. power2sys
extracts the linear part of the simwin system and builds the corresponding
state-space model. State variables are the inductor currents and capacitor
voltages. Nonlinear elements are simulated by current sources (state-space
model inputs) driven by the voltages (state-space model outputs) across the
nonlinear elements.
[A,B,C,D,x0,state_var,inputs,outputs,uss,xss,yss,freqyss,
Hlin]=POWER2SYS(’simwin’)

computes the equivalent state-space model of the Simulink window named

simwin. A,B,C,D are the standard matrices of the state-space system described
by the equations

·
x = Ax + Bu
y = Cx + Du

x0 is a vector containing the initial conditions of the state variables listed in

state_var.

state_var is a string matrix containing names of the state variables (x vector).

Each line of state_var begins with a prefix Uc_ for capacitor voltages or Il_
for inductor currents, followed by the name of the block in which the element
(C or L) is found. Inductor current direction and capacitor voltages polarities
are defined by the input and output of the block. The following conventions are
used:

• Current flowing in the arrow direction is positive.

• voltage = Vinput-Voutput.

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Power2sys

A suffix is added to the line for blocks containing more than two inductances or
capacitors: for example, the three winding Linear Transformer block will
produce three state_var lines, one for each leakage inductance, with the suffix
coil:x where x is the winding number of the transformer.

inputs is a string matrix containing names of the inputs of the system

(vector u). Each line of inputs begins with a prefix U_ for voltage sources or I_
for current sources, followed by the name of the source block.
The following conventions are used for inputs:
• Source current flowing in the arrow direction is positive.
• Positive source voltage is indicated by a + sign on the icon.

A suffix may be added to the input for blocks containing more than one source.
For example, the Simplified Alternator block produces two current inputs with
suffixes AB and BC.
outputs is a string matrix containing names of the outputs of the state-space
system (vector y). Each line of outputs begins with a prefix U_ for voltage
outputs or I_ for current outputs, followed by the name of the block which
produces the output. Sign conventions are indicated by the polarities of the
voltage measurement and current measurement blocks.
uss, xss, and yss are complex matrices containing the steady-state values
(phasors) of inputs, states and outputs. If voltage and current sources all
generate the same frequency, these are column vectors. If sources with
different frequencies are used, each column of the matrices corresponds to a
frequency contained in the freqyss vector.
freqyss is a column vector containing the n_freq input source frequencies
ordered by increasing values.
Hlin is the complex transfer impedance three-dimension array (n_output by
n_input by n_freq) of the linear system corresponding to the frequencies
contained in the freqyss vector. For a particular frequency, Hlin is defined by
yss(:,ifreq) = Hlin(:,:,ifreq) x uss(:,ifreq)

Netlist. When called with a second argument ’n’, powers2sys generates a

netlist stored in a file, simwin.net. This file contains the node numbers

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 Power2sys

automatically generated by power2sys, as well as parameter values of all linear

elements. See formats in the circ2ss reference section.

Example Obtain the state-space matrices and steady-state voltages and currents for the
following circuit.

First open the psbnetsim2.mdl example then execute power2sys:

psbnetsim2
[A,B,C,D,x0,states,inputs,outputs,uss,xss,yss,freqyss,
Hlin]=power2sys(’psbnetsim2’)

A =
1.0e+04 *
0 6.2500
-0.0083 -1.4250

B =
1.0e+04 *
0 -6.2500
0.0083 1.000

C =
1 120
0 0

D =

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Power2sys

0 -120
0 1

Initial values of states:

x0 =
-513.1443
2.9190

states =
Uc_120 Ohms 16 uF
Il_51 Ohms 12 mH

inputs =
U_1000V 60Hz
I_Breaker Ron=0.01 Lon=10e-6

outputs =
U_Breaker Ron=0.01 Lon=10e-6
I_Current Measurement

Steady-state phasor values of input sources, states, and outputs

uss =
1000
0

xss =
1.0e+02 *
4.8392 - 5.1314i
0.0310 + 0.0292i

yss =
1.0e+02 *
8.5535 - 1.6287i
0

The system contains only one source frequency:

freqyss =
60

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 Power2sys

Transfer function matrix:

Hlin =
0.8553 - 0.1629i -44.3596 + 4.4368i
0 1.0000

There are two state variables in this circuit. Note that the breaker block is a
nonlinear element, which is represented by a current source (second input)
driven by the voltage across the breaker (first output).

See Also Circ2ss

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Saturable Transformer

Purpose 4Saturable Transformer

Implement a two- or three-winding saturable transformer

Library Elements Library

Description The Saturable Transformer block model shown below consists of three coupled
windings wound on the same core.

L2 R2
R1 L1

Lsat Rm
L3 R3

The model takes into account the winding resistances (R1 R2 R3), the leakage
inductances (L1 L2 L3) as well as the magnetizing characteristics of the core,
which is modeled by a resistance Rm simulating the core active losses and a
saturable inductance Lsat. The saturation characteristic is specified as a
piece-wise linear characteristic.

4-132
 Saturable Transformer

Dialog Box and

Parameters

Specify in the first entry the nominal power rating and frequency of the
transformer.
Then specify in the following three entries the parameters of each winding
(nominal voltage in volt rms, resistance, and leakage inductance in p.u).
The fifth entry is used to specify the saturation characteristic. Specify a series
of current (pu)/flux (pu) pairs starting with (0,0).
Specify in the last entry the active power dissipated in the core by entering the
equivalent resistance Rm in pu. In the last entry you can also specify the initial
flux phi0(p.u). This initial flux becomes particularly important when the
transformer is energized. If phi0 is not specified, the initial flux will be
automatically adjusted so that the simulation starts in steady-state.

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Saturable Transformer

To comply with industry practice, you must enter the resistance and
inductances in per unit (pu) based on the transformer rated power (Pn in VA)
and nominal voltage of the winding (Vn in Vrms). The base resistance and
inductance are defined as follows:

2
( Vn )
Rbase = 1 pu = ----------------
Pn
Rbase
Lbase = 1 pu = -----------------
2πf n

For example, for the default parameters specified in the dialog box.

3 2
( 424.35 × 10 )
Rbase = ----------------------------------------- = 720.3Ω
6
250 × 10
720.3
Lbase = --------------- = 1.91H
2π60
R 1 = 0.002pu × 720.3Ω = 1.44Ω
L 1 = 0.08pu × 1.91H = 0.1528H
5
R m = 500pu × 720.3Ω = 3.6 × 10 Ω

Inputs and Input one, output one and output three (if it exists) are at the same
Outputs instantaneous polarity.
If you set the entry for the third winding to zero, the blockset will consider a
transformer with two windings and a new icon will be displayed:

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 Saturable Transformer

Restrictions Because of modeling constraints the following restrictions apply: The winding
resistances cannot be set to zero; however, leakage inductances can be set to
zero. Use values as small as possible to simulate quasi-zero resistances.
Similarly, the magnetizing resistance Rm must have a finite value.
Windings can be left floating (i.e, not connected by an impedance to the rest of
the circuit). However, the floating winding will be connected internally to the
main circuit through a resistor. This invisible connection does not affect voltage
and current measurements.
Figure (a) shows the piece-wise linear saturation characteristic. The points 2,
3, and 4 are entered as (i, phi) pair values in the dialog box Saturation
characteristic section.
The saturation model does not include hysteresis. Therefore, if you want to
specify a residual flux phi0, the second point of the saturation characteristic
should correspond to a zero current as shown on the figure (b) below.

phi phi

3 4 4
3
2 residual
flux 2
phi0
1 1
i i

-2

(a) No residual flux can (b) A residual flux can be

be specified. specified between points
2 and -2.

Example Energization of one phase of a three-phase 450 MVA, 500/230 kV transformer

on a 3000 MVA source. The transformer parameters are:

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Saturable Transformer

Nominal power: 150MVA, 60Hz, Winding 1 parameters (primary): 500KVrms/

sqrt(3), R=0.002pu X=0.08pu, winding 2 parameters (secondary): 230KVrms/
sqrt(3), R=0.002pu X=0.08pu, Core loss resistance: 500pu, Saturation
characteristic: [0 0; 0 1.2; 1.0 1.52], residual flux=0.8 pu.

This circuit is available in psbxfosaturable.mdl. It illustrates the transformer

saturation effect on system current and voltage. Plotted waveforms show the
transformer inrush current, the primary voltage and the flux.
As the source is resonant at the 4th harmonic, you can observe a high 4th
harmonic content in the primary voltage. The flux is obtained by integrating
the secondary voltage.

4-136
 Saturable Transformer

See Also Linear Transformer, Mutual Inductance

4-137
Series RLC Branch

Purpose 4Series RLC Branch

Implement a series RLC branch

Library Elements Library

Description The Series RLC Branch block implements a single resistor, inductor, or
capacitor, or a series combination of these. To eliminate either the resistance,
inductance, or capacitance of the branch, the R, L and C values must be set
respectively to zero, zero, and infinity. Only existing elements will be displayed
in the block icon.
Negative values are allowed for resistance inductance and capacitance.

Dialog Box

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 Series RLC Branch

Example Obtain the frequency response of a fifth-harmonic filter (tuned frequency = 300
Hz) connected on a 60Hz power system. This example is available in
psbseriesbranch.mdl.

The network impedance in Laplace domain is:

2
V(s ) LCs + RCs + 1
Z ( s ) = ------------ = ------------------------------------------
I(s) Cs

To obtain the frequency response of the impedance you have to get the
state-space model (A B C D matrices) of the system.

4-139
Series RLC Branch

This system is a one input (Vsource) and one output (Current Measurement)
system. If you own the Control System Toolbox, you can get the transfer
function Z(s) from the state-space matrices as follows:
[A,B,C,D] = power2sys(’psbseriesbranch’);
freq = logspace(1,4,500);
w = 2*pi*freq;
[Y,phaseY] = bode(A,B,C,D,1,w);
% invert Y(s) to get Z(s)
Z = 1./Y;
phaseZ = -phaseY;
subplot(2,1,1)
loglog(freq,Z)
grid
title(’5th harmonic filter’)
xlabel(’Frequency, Hz’)
ylabel(’Impedance Z’)
subplot(2,1,2)
semilogx(freq,phaseZ)
xlabel(’Frequency, Hz’)
ylabel(’phase Z’)
grid

4-140
 Series RLC Branch

See Also Series RLC Load, Parallel RLC Branch, Parallel RLC Load

4-141
Series RLC Load

Purpose 4Series RLC Load

Implement a linear series RLC load

Library Elements Library

Description The Series RLC Load block implements a linear load as a series combination of
RLC elements. Enter the value of the nominal voltage and nominal frequency
in the first two entries. Enter the desired active power, the inductive reactive
power and the capacitive reactive power in the last three entries. Only
elements associated with nonzero powers will be displayed in the block icon.
The inductive and capacitive reactive powers should be entered as positive
values. At the specified frequency, the load will exhibit constant impedance
and its power will be proportional to the square of the applied voltage.

Dialog Box

Example Find the steady-state values of load voltage and current in the following circuit.
This example is available in psbseriesload.mdl.

4-142
 Series RLC Load

Use the Powergui interface to output the voltage and current phasors by
clicking on the Steady state button.

4-143
Series RLC Load

See Also Series RLC Branch, Parallel RLC Branch, Parallel RLC Load

4-144
 Simplified Synchronous Machine

Purpose 4Simplified Synchronous Machine

Model the dynamics of a simplified three-phase synchronous machine

Library Machines Library

Description The Simplified Synchronous Machine block models both the electrical and
mechanical characteristics of a simple synchronous machine.
The electrical system for each phase consists of a voltage source in series with
an RL impedance, which implements the internal impedance of the machine.
The value of R can be zero but the value of L must be positive.
The Simplified Synchronous Machine block implements the mechanical system
described by

t
1
∫
∆ω ( t ) = -------- ( Tm – Te ) dt – K d∆ω ( t )
2H
0
ω ( t ) = ∆ω ( t ) + ω 0

where
∆ω = Speed variation with respect to speed of operation
H = Constant of inertia
Tm = Mechanical torque
Te = Electromagnetic torque
Kd = Damping factor
ω(t) = Mechanical speed of rotor
ω0 = Speed of operation (1pu)

Although the parameters can be entered in either SI units or per unit in the
dialog box, the internal calculations are done in per unit (pu).
The following block diagram illustrates how the mechanical part of the model
is implemented. Notice that the model computes a deviation with respect to the
speed of operation, and not to the absolute speed itself.

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Simplified Synchronous Machine

Tm (pu) + 1 +
∆ω ω (p.u.)
Te (pu) - 1/2H 1/s +

Kd

Parameters In the powerlib library you can choose between two Simplified Synchronous
and Dialog Box Machine blocks to specify the electrical and mechanical parameters of the
model.

4-146
 Simplified Synchronous Machine

Per Unit (pu) Dialog Box

:

4-147
Simplified Synchronous Machine

SI Units Dialog Box

The nominal power, frequency and voltage are used to compute nominal torque
and convert SI units to pu.
The moment of inertia and damping factor are used to model the mechanical
behavior of the machine. The damping factor has been scaled to act like the

4-148
 Simplified Synchronous Machine

damping factor of a second order system. This means that for no overshoot and
minimum settling time, a damping factor of 0.9 would be used.
The internal impedance specifies the value of resistance and reactance for each
phase. The initial speed deviation and angle specify the initial conditions of the
two integrators in the mechanical part of the model. Finally, initial values for
the three line currents can also be specified, which allows the simulation to be
started in steady-state.

Note: These two blocks simulate exactly the same Simplified Synchronous
machine model; the only difference is the way of entering the parameter units.

Inputs and The first input of the Simplified Synchronous Machine block is the mechanical
Outputs power supplied to the machine. This input can be a constant or the output of
the Hydraulic Turbine and Governor block. The frequency of the voltage
sources depends on the mechanical speed of the machine. The amplitude of
these voltages is given by the second input of the block, which can be a constant
or the output of a voltage regulator. If you use SI units, these two inputs should
be in watts and volts phase-to-phase rms. If you use pu both inputs should be
in pu
The first three outputs are the electrical terminals of the stator. The last
output of the block is a vector containing the following 12 variables:

• 1-3: Line currents (flowing out of the machine) ia, ib, ic

• 4-6: Terminal voltages va, vb, vc
• 7-9: Internal voltages ea, eb, ec
• 10: Electrical angle theta
• 11: Rotor speed n
• 12: Electrical power Pe

These variables can be demultiplexed by using the special Simplified

Synchronous Machine Demux block provided in the Machine library.

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Simplified Synchronous Machine

Assumptions The electrical system of the Simplified Synchronous Machine consists solely of
a voltage source behind a synchronous reactance and resistance. All the other
self and mutual inductances of the armature, field and damping windings are
neglected. The three voltage sources and RL impedance branches are
Y-connected (3 wires). The load may or may not be balanced.

Example The following example uses the Simplified Synchronous Machine block. In this
example, the Simplified Synchronous Machine representing a 1000 MVA 315
kV equivalent source is connected to an infinite bus (three AC Voltage Source
blocks) and is used as a synchronous generator. The R term is necessary to
prevent series connection of the two current sources modeling the machine and
the external inductance. The internal resistance of the machine is set to 0.02
pu, or 1.9845 ohms. Its inductance is set in such a way that the total impedance
2
is 1 pu (L=263.15 mH). The inertia of the machine is 56290 kg.m . This
example is included in the psbsimplealt.mdl file.

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 Simplified Synchronous Machine

In this example, the machine has an initial speed deviation of 0.5%. The initial
mechanical angle and the initial currents ia, ib, ic are set to zero. The power
transfer between the machine and the bus is given by the following relation:

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Simplified Synchronous Machine

V1 × V2
P T = -------------------- × sin δ
X
P T = power transfer (500 MW)
V 1 = machine voltage (315 kV)
V 2 = bus voltage (315 kV)
X = total reactance (263.15 mH ) 120 x π
δ = electrical angle difference between machine internal voltage
and terminal voltage

With the above parameters, the steady-state internal voltage is 30 degrees

ahead of the terminal voltage (δ=+30 deg).
The machine is supplied with 505 MW of mechanical power in order to
compensate for the machine resistive losses. The electrical angle δ is displayed
as the phase difference between the internal and terminal voltage of phase A.
With Simulation Parameters set as follows, the following results are obtained.

• Solver type: ode15s(stiff/NPF)

• Stop time: 2.0

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 Simplified Synchronous Machine

The speed vs. time graph clearly shows that the machine is initially running at
a speed of 1.005 pu (1809 rpm) and that speed stabilizes itself at its nominal
value of 1800 rpm. As expected the electrical power supplied by the machine
stabilizes at 500 MW and the electrical angle δ starts from zero and stabilizes
at 30 degrees. The mechanical system is clearly under-damped, the damping
factor being set to 0.3.

See Also Synchronous Machine, Hydraulic Turbine and Governor

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Surge Arrester

Purpose 4Surge Arrester

Implement a Metal-Oxide surge arrester

Library Elements Library

Description The Surge Arrester block implements a highly nonlinear resistor used to
protect power equipment against overvoltages. For applications requiring high
power dissipation, several columns of metal-oxide discs are connected in
parallel inside the same porcelain housing. The nonlinear V-I characteristic of
each column of the surge arrester is modeled by a combination of three
exponential functions of the form:

I 1 ⁄ αi
----------- = K i  ---------
V
V ref  I ref

The protection voltage obtained with a single column is specified at a reference

current (usually 500A or 1kA). Default parameters k and α given in the dialog
box fit the average V-I characteristic provided by the main metal oxide arrester
manufacturers. They do not change with the protection voltage. The required
protection voltage is obtained by adding discs of zinc oxide in series in each
column.
This V-I characteristic is graphically represented as follows (on a linear scale
and on a logarithmic scale).

V
log(V/Vref)

α3 α3
α2
Vprot
nIref
α2
α1 log(I/Iref)

α1
nI I
ref

4-154
 Surge Arrester

Dialog Box

Restrictions The Surge Arrester block is modeled as a current source driven by the voltage
appearing across its terminals. Therefore, it cannot be connected in series with
an inductor or another current source. As the Surge Arrester is highly
nonlinear a stiff integrator algorithm must be used to simulate the circuit.
ode15s and ode23tb solvers with default parameters usually give the best
simulation speed. As this element contains no states, it will produce an
algebraic loop because its current (input to state space model of the circuit)
varies simultaneously with the voltage (output of state-space model). Simulink
will signal an algebraic loop, but it usually solves the circuit without difficulty.

Example The example provided in the psbarrester.mdl demonstration file illustrates

the use of metal oxide varistors (MOV) on a 735 kV series compensated
network. Only one phase of the network is represented. The capacitor

4-155
Surge Arrester

connected in series with the line is protected by a 30 column arrester. At t=0.03

seconds, a fault is applied at the load terminals. The current increases in the
series capacitor and produces an overvoltage which is limited by the MOV.
Then the fault is cleared at t=0.3 seconds.

At fault application, the resulting overvoltage makes the MOV to conduct. The
waveforms displayed by Umov and Imov measurements as well as the V-I
characteristic plotted by the X-Y scope are shown below.

4-156
 Surge Arrester

Imov(A)

Time(s)

Umov(V)

Time(s)

4-157
Surge Arrester

Umov(V)

Imov(A)

4-158
 Synchronous Machine

Purpose 4Synchronous Machine

Model the dynamics of a three-phase salient-pole synchronous machine

Library Machines Library

Description The Synchronous Machine block operates in generating or motoring modes.

The operating mode is dictated by the sign of the mechanical power (positive
for generating, negative for motoring). The electrical part of the machine is
represented by a fifth-order state-space model and the mechanical part is the
same as in the Simplified Alternator block.
The model takes into account the dynamics of the stator, field, and damper
windings. The equivalent circuit of the model is represented in the rotor
reference frame (qd frame). All rotor parameters and electrical quantities are
viewed from the stator. They are identified by primed variables. The subscripts
used are defined as follows:

•d,q: d and q axis quantity

•R,s: Rotor and stator quantity
•l,m: Leakage and mutual inductance
•f,k: Field and damper winding quantity

The electrical model of the machine is:

+
R’kd
ω φ L’lkd
Rs +ωRφ-d Ll
V’kd
L’lkq R’kq Rs - R +q Ll i’kd
+ + + L’ -
lfd
V q iq Lmq i’kq V’kq Vd id Lmd R’
fd
- - +
- i’f
q axis d
V’fd
d axis
-

With the following equations:

4-159
Synchronous Machine

d
V d = R s i d + ------ ϕ d – ω R ϕ q
dt
d ϕ d = L d i d + L md ( i′ fd + i′ kd )
V q = R s i q + ------ ϕ q + ω R ϕ d
dt ϕ q = L q iq + L mq i′ kq
d ϕ′ fd = L′ fd i′ fd + L md ( i d + i′ kd )
V′ fd = R′ fd i′ fd + ------ ϕ′ fd
dt
d ϕ′ kd = L′ kd i′ kd + L md ( i d + i′ fd )
V′ kd = R′ kd i′ kd + ------ ϕ′ kd
dt ϕ′ kq = L′ kq i′ kq + L mq iq
d
V′ kq = R′ kq i′ kq + ------ ϕ′kq
dt

Parameters In the powerlib library, you can choose between three Synchronous Machine
and Dialog blocks to specify the parameters of the model.
Boxes

4-160
 Synchronous Machine

Fundamental Parameters in SI Units

The first line of this dialog box is where you specify the nominal parameters:

• Total three-phase apparent power Pn, in VA

• RMS line-to-line voltage Vn, in Vrms

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Synchronous Machine

• Electrical frequency fn, in Hz

• Field current ifn, in A

The nominal field current is the current that produces nominal terminal
voltage under no-load conditions. This model was developed with all quantities
viewed from the stator. The nominal field current makes it possible to compute
the transformation ratio of the machine, which allows you to apply the field
voltage viewed from the rotor, as in reality. This also allows the field current,
which is a variable in the output vector of the model, to be viewed from the
rotor. If the value of the nominal field current is not known, you must enter
zero. Since the transformation ratio cannot be determined in this case, you will
have to apply the field voltage as viewed from the stator and the field current
in the output vector will also be viewed from the stator.
You specify the following stator parameters on the second line of the dialog box:

• Resistance Rs, in Ω
• Leakage inductance LI, in H
• d axis mutual inductance Lmd, in H
• q axis mutual inductance Lmq, in H

You specify the field parameters next, on the third line:

• Resistance Rf’, in Ω
• Leakage inductance LIfd’, in H

The fourth line consists of the damper parameters:

• d axis resistance Rkd’, in Ω

• d axis leakage inductance LIkd’, in H
• q axis resistance Rkq’, in Ω
• Leakage inductance LIkq’, in H

The fifth line contains the mechanical parameters:

• Inertia J, in kg.m2
• Viscous friction coefficient F, in N.m.s.
• Number of pairs of poles p

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 Synchronous Machine

You enter the initial conditions (9) for the model on the sixth line:

• Speed deviation dw, in percent of nominal speed

• Electrical angle of the rotor th, in degrees
• Peak line currents ia, ib, ic, in A
• Phase angles pha, phb, phc, in degrees
• Initial field voltage Vf, in V

You can specify the initial field voltage in one of two ways. If you know the
nominal field current (first line, last parameter) enter in the dialog box the
initial field voltage in Volts DC viewed from the rotor. Otherwise, enter a zero
as nominal field current, and specify the initial field voltage in Volts AC rms
phase-to-phase viewed from the stator. The nominal field voltage viewed from
the stator can be easily determined by checking the “Display Vfd which
produces a nominal Vt” checkbox at the bottom of the dialog box. You can also
determine the nominal field voltage viewed from the stator with a no-load test
as follows:

• Enter an arbitrary value as the initial field voltage

• Connect a constant block with the same value to the field voltage input of the
Synchronous Machine block
• Run a simulation
• Measure the terminal voltage obtained
• Correct the initial field voltage and start over until a satisfactory result is
obtained.

Finally, you can optionally specify saturation parameters for the Synchronous
Machine to model magnetic saturation of the rotor and stator iron. Saturation
is modeled by a nonlinear function, in this case a polynomial, using points on
the no-load saturation curve. To simulate saturation, you must enter a 2 by n
matrix, where n is the number of points taken from the saturation curve. The
first row of this matrix contains the values of field currents while the second
row contains values of corresponding terminal voltages. The first point (first
column of the matrix) must correspond to the point where the effect of
saturation begins. You must also check the Simulate saturation checkbox to
simulate saturation. This checkbox allows you to enter the matrix of
parameters for simulating the saturation. In simulations where you don’t

4-163
Synchronous Machine

simulate saturation, simply uncheck the box. You can later simulate saturation
by checking the box without having to re-enter the entire matrix.
In this case the relationship between ifd and Vt obtained is linear (no
saturation).
As an example, without saturation, a typical curve might be as shown.
Here ifn is 1087A and Vn is 13800 V line-to-line, which is also 11268 V peak
line-to-neutral.

When saturation is modeled, a polynomial is fitted to the curve corresponding

to the matrix of points you enter. The more points you enter, the better the fit
to the original curve. The next figure illustrates this graphically (the diamonds
are the actual points entered in the dialog box).

4-164
 Synchronous Machine

In this particular case, the following values were used:

• ifn = 1087 A
• ifd = [695.64, 774.7, 917.5, 1001.6, 1082.2, 1175.9, 1293.6, 1430.2, 1583.7] A
• Vt = [9660, 10623, 12243, 13063, 13757, 14437, 15180, 15890, 16567] V

4-165
Synchronous Machine

Fundamental Parameters in pu

The first line of this dialog box is where you specify the nominal parameters:

• Total three-phase apparent power Pn, in VA

• RMS line-to-line voltage Vn, in Vrms
• Electrical frequency fn, in Hz

4-166
 Synchronous Machine

This line is identical to the first line of the fundamental parameters in SI dialog
box, except that you don’t specify a nominal field current. This value is not
required here because we don’t need the transformation ratio. Since rotor
quantities are viewed from the stator, they are converted to pu using the stator
base quantities derived from the three nominal parameters above.
The second, third and fourth line contain exactly the same parameters as in the
previous dialog box (stator, field and dampers), but they are expressed here in
pu instead of SI units.
The fifth line contains the mechanical parameters, but expressed in pu:

• Inertia constant H, in seconds, where H is the ratio of energy stored in the

rotor at nominal speed over the nominal power of the machine
• Viscous friction coefficient F, in pu.
• Number of pairs of poles p

The sixth line contains the initial conditions, as before, but the initial line
currents and field voltage are expressed in pu instead of SI units.
The last line is where you specify the Saturation parameters, as before.
However, the parameters must now be entered in per unit using the nominal
field current, multiplied by the d axis mutual inductance, and nominal rms
line-to-line voltage as base values for the field current, and terminal voltage,
respectively.

4-167
Synchronous Machine

Standard Parameters in pu

The first line of this dialog box is identical to the first line of the fundamental
parameters in pu dialog box and contains nominal parameters.
You specify the machine’s reactances on the second line (all in pu):

4-168
 Synchronous Machine

• d axis synchronous reactance Xd

• d axis transient reactance Xd’
• d axis subtransient reactance Xd’’
• q axis synchronous reactance Xq
• q axis subtransient reactance Xq’’
• Leakage reactance Xl

The third line contains the machine’s time constants (all in s):

• d axis transient short-circuit time constant Td’

• d axis subtransient short-circuit time constant Td’’
• q axis subtransient open-circuit time constant Tqo’’

The fourth line is where you enter the stator resistance Rs, in pu
The last three lines are identical to the previous fundamental parameters in pu
dialog box and consist of mechanical parameters, initial conditions and
saturation parameters.

Note: These three blocks simulate exactly the same Synchronous machine
model, the only difference is the way of entering the parameter units.

Inputs and The units of inputs and outputs will vary according to which dialog box was
Outputs used to enter the block parameters. For the non-electrical connections, there
are two possibilities. If the first dialog box (fundamental parameters in SI
units) is used, the inputs and outputs are in SI units (except for dw in the vector
of internal variables, which is always in pu, and angle θ e , which is always in
degrees). If the second or third dialog boxes are used, the inputs and outputs
are in pu.
The first input is the mechanical power at the machine’s shaft. In the
generating mode, this input can be a positive constant or function or the output
of a prime mover block (see the Hydraulic Turbine and Governor block). In the
motoring mode, this input is usually a negative constant or function.

4-169
Synchronous Machine

The second input of the block is the field voltage which can be supplied by a
voltage regulator (see the Excitation System block) in the generating mode and
is usually a constant in the motoring mode.
The first three outputs are the electrical terminals of the stator. The last
output of the block is a vector containing 16 variables. They are, in order:

• 1-3: Stator currents (flowing out of machine) isa, isb and isc
• 4-5: q and daxis stator currents (flowing out of machine) iq, id
• 6-8: Field and damper winding currents (flowing into machine) ifd, ikq and ikd
• 9-10: q and d axis mutual fluxes ϕ mq ,ϕ md
• 11-12: q and d axis stator voltages vq,vd
• 13: Rotor electrical angle θ e
• 14: Rotor speed ω r
• 15: Electrical power Pe
• 16: Rotor speed deviation dw

These variables can be demultiplexed by using the special Synchronous

Machine Demux block provided in the Machine library.

Example This example, available in the psbsyncmachine.mdl file, illustrates the use of
the Synchronous Machine in motoring mode. The simulated system consists of
an industrial grade synchronous motor (150 HP, 440V) connected to an infinite
bus. After the machine reaches a stable speed, the load (mechanical power) is
changed from 50 kW to 60 kW. The initial conditions are set in such a way that
the simulation starts in steady-state. Open the simulink diagram by typing
psbsyncmachine.

4-170
 Synchronous Machine

Set the Simulation parameters as follows:

• Stop time: 5
• Solver options: Use default settings, except for Max. step size, which you
must set to 0.005

Run the simulation and observe the speed, power and current of the motor.

4-171
Synchronous Machine

Because this is a four pole machine, the nominal speed is 1800 rpm. The initial
speed is 1800 rpm as prescribed (top graph). The load passes from 50 kW to 60
kW at t=0.5 s. The machine then oscillates before stabilizing to 1800 rpm.
Now, look at the electrical power (middle graph). Since we are in motoring
mode, the machine absorbs power and Pe is negative. As expected, the power
starts at -50 kW until the load is changed at t=0.5 seconds, at which point the
power oscillates before settling at -60 kW.
Finally, look at the stator current is. As expected, the current starts with the
value corresponding to a three-phase power of 50 kW (56 A), before oscillating
and settling to the value corresponding to a 60 kW load (68.5 A).

4-172
 Synchronous Machine

References [1] Krause, P.C., Analysis of Electric Machinery, section 12.5, McGraw-Hill,
1986.
[2] Kamwa, I., et al., “Experience with Computer-Aided Graphical Analysis of
Sudden-Short-Circuit Oscillograms of Large Synchronous Machines”, Vol.10,
IEEE Transactions on Energy Conversion, No.3, September 1995.

See Also Simplified Synchronous Machine, Excitation System, Hydraulic Turbine

and Governor

4-173
Thyristor

Purpose 4Thyristor
Implement a thyristor model

Library Power Electronics Library

Description The Thyristor block is a semiconductor device that can be turned on via a gate
signal. The thyristor is modeled as a resistor (Ron), inductor (Lon), and DC
voltage source (Vf), connected in series with a switch. The switch is controlled
by a logical signal depending on the voltage Vak, the current Iak and the gate
signal (G).

Vak Vak
A K
Iak A K

Iak Ron Lon Vf

Thyristor
Thyristor Vak
A: anode; K: cathode; G: gate. G
logic Iak

The Thyristor block also contains a series Rs-Cs snubber circuit, which is
usually connected in parallel with the thyristor.You can specify a snubber
which is purely resistive (Cs = Inf) or purely capacitive (Rs=0). If you specify
either Rs=Inf or Cs=0, the snubber is eliminated and it disappears on the
thyristor icon.
The static VI characteristic of this model is shown in the figure that follows.

Iak
On-state

Off-to-On
if G > 0

Off-state Off-state
Il
Vak
Vf

4-174
 Thyristor

The thyristor turns on when the anode-cathode voltage is greater than Vf and
a positive pulse signal is present at the gate input (G>0). The pulse height must
be greater than zero and last long enough to allow the thyristor anode current
to become larger than the latching current Il.
The thyristor turns off when the current flowing in the device becomes zero
(Iak=0) and a negative voltage appears across the anode and cathode for at
least a period of time equal to the turn-off time Tq. If the voltage across the
device becomes positive within a period of time less than Tq, the device will
turn on automatically even if the gate signal is low (G = 0) and the anode
current is less than the latching current. Furthermore, if during turn on, the
device current amplitude stays below the latching current level specified in the
dialog box, the device turns off after the gate signal level becomes low (G = 0).
The turn-off time Tq represents the carrier recovery time: it is the time interval
between the instant the anode current has decreased to zero and the instant
when the thyristor is capable of withstanding positive voltage Vak without
turning on again.
Simplified Model and Detailed Model
To optimize simulation speed, two models of thyristors are available: the
simplified model and the detailed model. For the simplified thyristor model,
the latching current Il and recovery time Tq are assumed to be zero.
Enter the thyristor parameters Ron, Lon, and Vf and the Rs-Cs snubber
parameters in the dialog box. Due to modeling constraints explained below, the
inductance Lon cannot be set to zero.
The initial current Ic flowing in the thyristor is usually set to zero so that the
simulation is started with the thyristor blocked. However, you may specify an
Ic value corresponding to a particular state of the circuit. In such a case all
states of the linear circuit must be set accordingly. Initializing all-states of a
power-electronic converter is a complex task. Therefore, this option is useful
only with simple circuits.
For applications where the thyristor is used in general purpose rectifier
circuits fed by a voltage source at a frequency of 50 or 60 Hz, the typical
parameters values specified in the dialog box can be used.

4-175
Thyristor

Dialog Boxes Simplified Thyristor Dialog Box

4-176
 Thyristor

Detailed Thyristor Dialog Box

4-177
Thyristor

Inputs and The thyristor icon consists of two inputs and two outputs. The first input and
Outputs output are the thyristor terminals connected respectively to anode (a) and
cathode (k). The second input (g) is a Simulink logical signal applied to the gate
(G). The second output (m) is a Simulink measurement output vector [Iak, Vak]
returning the thyristor current and voltage.

Assumptions The Thyristor block implements a macro-model of the real thyristor. It does not
and Limitations take into account either the geometry of the device or complex physical
processes that model the behavior of the device [1-2]. The forward breakover
voltage and the critical value of the derivative of the reapplied anode-cathode
voltage are not considered by the model.
In the Simulink representation, the thyristor is modeled as a nonlinear
element interfaced with the linear circuit as shown below.

Linear circuit

inputs State Space outputs

A, B, C, D

Iak
Vak

Therefore, in order to avoid an algebraic loop, the thyristor inductance Lon

cannot be set to zero. Each thyristor adds an extra state to the electrical circuit
model. As the thyristor is modeled as a current source, it cannot be connected
in series with an inductor, a current source or an open circuit unless a snubber
circuit is used.
You must use a stiff integrator algorithm to simulate circuits containing
thyristors. ode23tb and ode15s usually give best simulation speed.

4-178
 Thyristor

Example Single pulse thyristor rectifier feeding a RL load. The gate pulses are obtained
from a pulse generator synchronized on the source voltage. The circuit is
available in the psbthyristor.mdl file. The following parameters are used:
R=1Ω; L=10mH; Thyristor block: Ron=0.001 Ω, Lon=1e-5 H, Vf=0.8 V, IC=0 A,
Rs=20 Ω, Cs=4e-6 F. Simulation parameters: ode15s; Relative tolerance: 1e-3;
Absolute tolerance: 1e-3.

The firing angle is varied by the Pulse Generator block synchronized on the
voltage source. Run the simulation and observe the load current and voltage,
and the thyristor current and voltage.
Load current and voltage:

4-179
Thyristor

Thyristor current and voltage

4-180
 Thyristor

References [1] Rajagopalan, V., Computer-Aided analysis of Power Electronic Systems,

Marcel Dekker, Inc., New York,1987.
[2] Mohan, N., Power Electronic, Converters, Applications and Design, John
Wiley & Sons, Inc., New York, 1995.

See Also Diode, Mosfet, GTO, Ideal Switch

4-181
Voltage Measurement

Purpose 4Voltage Measurement

Measure a voltage in a circuit

Library Measurements Library

Description The Voltage Measurement block is used to measure the instantaneous voltage
between two electric nodes. The output is a Simulink signal that can be used
by other Simulink blocks.

Dialog Box

Example The following example uses three Voltage Measurement blocks to read
voltages. This example is available in the psbvoltmeasure.mdl file.

See Also Current Measurement

4-182
 Index

A D
AC Current Source 4-7 DC Voltage Source 4-48
AC Voltage Source 4-9 Demos library 4-3
algebraic loop Diode 4-50
surge arrester model 4-152 display signals 1-6
analyze Distributed Parameter Line 4-56
power2sys function 4-124 distributed parameter line
Powergui graphical interface 4-120 propagation speed 1-14
Asynchronous Machine 3-5, 4-11 drives
per unit system 4-14 DC motor 2-13
variable-frequency induction motor 2-30

B
block diagrams E
creating 1-3 electric blocks
blocks connecting Simulink blocks 1-6
adding 3-10 customizing 3-10
creating 3-10 electrical circuits 1-2
nonlinear 3-5 Electrical Sources library 4-3
powerlib block library 1-4 Elements library 4-3, 4-4
Breaker 4-22 examples
Bus Bar 4-25 buck converter 4-70
circuit breaker 4-23
distributed parameter line 4-59
C line energization 4-117
circuit modulated current source 4-43
building a simple 1-3 permanent magnet synchronous machine
circuit breaker 4-22 4-112
connecting Simulink blocks 1-6 PWM inverter 4-17
Connectors library 4-3, 4-5 single pulse rectifier 4-175
control surge arresters in series compensated network
Speed Control System 4-17 4-152
using the Control System Toolbox 1-13 synchronous machine in motoring mode 4-167
Control System Toolbox 1-13 zero-current-quasi-resonant switch converter
Controlled Current Source 4-43 4-91
Controlled Voltage Source 4-17, 4-45 Excitation System 4-62
Current Measurement 4-47

I-183
 Index

F M
feedback linearization 2-25 Machines library 4-3, 4-5
frequency analysis 1-11, 4-104 Measurements
Current 4-47
measurements
G voltage 4-179
Ground 4-65 Measurements library 4-3, 4-6
GTO 2-13, 4-66 models
limitations with nonlinear 3-5
nonlinear model library 3-5
H Mosfet 4-88
HVDC system 2-42 inverter 2-31
Hydraulic Turbine and Governor 4-74 MOV 2-11
Mutual Inductance 4-96

I
Ideal Switch 4-78
N
interconnections Neutral 4-100
between electric and Simulink blocks 1-3 node 4-25
interface nonlinear models
between Simulink and electric circuit 1-6 adding 3-6
modifying 3-6

L
libraries
P
Connectors 4-3 Parallel RLC Branch 4-102
customizing 3-6 Parallel RLC Load 4-106
Demos 4-3 per unit system 1-6
Electrical Sources 4-3 Permanent Magnet Synchronous Machine 4-109
Elements 4-3 PI Section Line 4-116
Machines 4-3 PI section line
Measurements 4-3 frequency response 1-14
Power Electronics 4-3 power electronics
Powerlib Extras 4-3 introducing 1-20
linear and nonlinear elements 1-3 simulation speed 3-8
Linear Transformer 4-84 Power Electronics library 4-3, 4-4
load flow 1-30, 1-34 power system 1-3

I-184
 Index

Power Systems Blockset 1-2 state variable

Power2sys 4-124 initial values 1-11
Powergui 1-9, 1-25, 2-39, 4-120 names 1-9
powerlib 4-27 state variables 4-121
Powerlib Extras library 4-3 state-space model 2-7
powerlib library 1-3, 4-13, 4-27, 4-41, 4-107, 4-113, obtaining state-space matrices 4-126
4-120, 4-143 Steady state window 1-9
powerlib/Electrical Sources library 4-112 Surge Arrester 4-151
powerlib/Machine library 4-112 surge arrester 2-11
powerlib_models 4-42 switch breaker 4-22
powerlib_models library 4-28, 4-33, 4-34 Synchronous Machine 4-156
psbcompensated.mdl 2-4 synchronous machine 2-22
psbdcdrive.mdl 2-16 and regulators 2-22
psbfrequency.mdl 2-34, 2-35 with hydraulic turbine 2-23
psbhvdc.mdl 2-43
psbregulator.mdl 2-27
psbturbine.mdl 2-28 T
PWM 2-14, 2-30 TCR branch
PWM inverter 4-17 simulating 1-21
three-phase systems
simulating 1-27
S Thyristor 4-171
Saturable Transformer 4-129 transformer
Series RLC Branch 4-135 linear 4-84
Series RLC Load 4-139 transformer magnetizing current 2-11
series-compensated transmission network 2-3 transients
simple circuit simulating 1-16
analyzing 1-9 transmission line 2-3
simulating 1-3 propagation time 1-14
Simplified Synchronous Machine 4-142 transmission network
simulation description 2-3
modifying block parameter 1-7 TSC branch
speed 3-8 simulating 1-24
sinusoidal source 1-4
snubber circuits 4-50
solvers 3-7 V
Voltage Measurement 4-179

I-185
 Index

I-186