Recap: Our Single Phase Transmission System
As a re-cap, our transmission system circuit diagram and MATLAB Simulink model are introduced below.
The circuit illustrated in the figure below represents an equivalent power system feeding a 300 km transmission line. The line feeds a static load at its receiving end and is also provided with voltage compensation by means of a shunt reactor. A circuit breaker allows us to switch the circuit in or out of service, i.e., to energise or de-energise the line.
Figure: Simplified Transmission System Sketch
Recap: Our Simulink Model
The Simulink model contains a generator (with equivalent circuit parameters), a transmission line PI section, a load and a shunt reactor. Several measurement blocks are also included in the model, which allow us to view the results of our simulation.
The simulation utilises a variable step solver (continuous Powergui block).
The circuit breaker (illustrated in the circuit diagram at node ‘B1’) is omitted from this model.
Figure: Our Simulink Model in Simulink
Introduction
Previously we learned how to build a single phase transmission line circuit and measure voltage, current and power flow through the line. In this class we shall:
- Expand upon our previous model by integrating a circuit breaker block;
- Learn how to change the state of the circuit breaker at a given time and analyse the transient response of our model to the changing circuit conditions;
- Learn how to simulate a phase-to-earth fault on our system and analyse the transient response of our model;
- Learn how to create a mathematical representation of a protection relay device and use this to control our circuit breaker;
- Learn how to use sub-systems in MATLAB Simulink to organise our model;
- Learn how to output our measured results to Excel.
Modelling the Circuit Breaker
- Add a ‘Circuit Breaker’ block to the model as illustrated.
- Simscape / Electrical / Specialised Power Systems / Fundamental Blocks / Elements
- The breaker can be set to either OPEN (value: 0) or CLOSED (value: 1). Set the initial status of the breaker to OPEN.
- Configure the breaker to be switched externally and add a ‘Step’ block to the model to switch the breaker to CLOSED after 1 second.
- Simulink / Sources
- By adding ‘RMS’ blocks to the model adapt our measurement circuits so that we can compare ‘U1_RMS’ to ‘U2_RMS’.
Transient Analysis: Energising the Line
- Within the Current Measurement scope:
- Adjust the timespan to approx. 0.9 s to 4 s.
- Using the ‘Peak Finder’ measurement tool; find the value of peak current imposed upon the line during energisation.
- Using the ‘Cursor Measurement’ tool; find the time taken for the transient current to dissipate to within 10% of its new steady state.
- Within the Voltage Measurement scope:
- Adjust the timespan to approx. 0.95 s to 1.10 s.
- Using the ‘Bilevel Measurements’ tool (‘Transitions’); find the Rise Time and Slew Rate for the rising edge of the transient voltage.
- Using the ‘Bilevel Measurements’ tool (‘Overshoots / Undershoots’); find the Settling Time of the transient voltage.
Analysis of a Phase to Earth Fault
Add a ‘Three-Phase Fault’ block to the model as illustrated.
- Simscape / Electrical / Specialised Power Systems / Fundamental Blocks / Elements
- Configure the block to simulate a fault between ‘Phase A’ and ‘Ground’ and set the Switching Time to 4 s using a ‘Step’ block.
- Run the simulation and find the peak value of the fault current at nodes B1 and B2.
- At the circuit breaker (Node B1), find the value of the fault current 80 ms after the fault is incurred.
These values could be used by an engineer to inform circuit breaker design.
Note: the ‘breaking capacity’ is the maximum fault current that the circuit breaker is able to interrupt without being destroyed or causing a dangerous electrical arc. Specified at the breaker operating time, which is commonly around 80 ms.
Design of a Simple Protection Circuit
This image illustrates the simple protection circuit that we shall be integrating into our model.
- The current transformer (CT) is an instrumentation device that is used for measuring the current flowing through a circuit. In our system the CT will reduce the current by a ratio of 120/5.
- The relay coil operates to energise the trip coil once the secondary side of the CT is above a preselected threshold value. In our system this threshold will be set to when the current is 10x the normal full load current (FLC) of the circuit.
- The FLC of the circuit can be ascertained from our model when in pre-fault conditions. We shall assume here that the FLC is 240A.
- The relay’s threshold setting will therefore be:
IR = FLC x (1/CTRATIO) x 10 = 100 A
We shall also integrate the circuit breaker operating time (assume 80 ms) into our model.
A Note on Systems and Subsystems
As your model increases in size and complexity, you can keep the model visually tidy by grouping blocks into subsystems.
We typically use subsystems to establish a hierarchical model structure, where several functionally related blocks are grouped together into a subsystem. This subsystem exists at a level below the main model. By reducing the number of blocks displayed in our main model we can improve ease of navigation.
We shall add a Subsystem block to the model, around the breaker and expand it’s functionality by including a CT and relay device.
- Highlight the illustrated blocks, right click them and select ‘Create Subsystem from Selection’.
- Double-click the new subsystem block to enter it.
- The subsystem uses ‘Inport’ blocks to retrieve inputs from the parent model and ‘Outport’ blocks to pass signals back to the parent model.
Modelling the Simple Protection Circuit
This image illustrates the our protection circuit which we shall build within our new subsystem.
- A ‘Current Measurement’ block and a ‘Gain’ block have been used to represent the CT with a ratio of 120/5.
- A ‘Relational Operator’ block compares the RMS of the CT output against our relay’s threshold value (represented using a ‘Constant’ block).
- A ‘S-R Flip-Flop’ block is used to pass a OPEN signal (value: 0) to the circuit breaker when the relational operator (testing: input1 > input2) is found to be true. A constant 0 value input to the reset ensures that the Flip-Flop output is permanent.
Finally, an ‘On/Off Delay’ block is used to represent the circuit breaker operating time. This block is set to provide an off delay (i.e. pass the value: 0) to the control of the circuit breaker after a time delay of 80 ms. This 0 value shall switch the CB to OPEN.
Transient Analysis of Fault Location
- Configure the ‘Three Phase Fault’ block to simulate a fault at 1 s.
- Run the simulation and by monitoring the input signal to the circuit breaker demonstrate that our protection circuit adequately detects the fault current at nodes B1 and sends the OPEN signal.
- By monitoring the fault current at both the circuit breaker (Node B1) and at the fault location (Node B2) demonstrate that the circuit breaker adequately acts to isolate the fault.
As should be apparent from (3), the circuit breaker acts to isolate the fault current as designed and thus protects the transmission system equipment to prolonged exposure to damaging fault currents.
Note that the current at B2 does not return to zero as fast as that at B1. This is due to the energy stored in the capacitive elements of our transmission system.
Exporting Results from Simulink
Simulink provides various methods for storing and exporting results for datalogging purposes.
- Students should explore the ‘To File’ and ‘To Workspace’ blocks and familiarise themselves with the various configuration parameters.
Another simple method for data export is provided within the ‘Simulation Data Inspector’.
- The Simulation Data Inspector is a powerful tool that allows users to log various signals from within the model and then to compare the signals generated during all simulation data logged in previous iterations.
- The user can create custom visualizations comparing the data logged across various runs without having to reconfigure scopes and re-run simulations.
- The Simulation Data Inspector also provides an easy method for exporting data from Simulink into the MATLAB workspace or directly into an excel file.
To select signals to be passed into the Data Inspector, highlight the signals to be logged within the Simulink model, right click and select ‘Log Selected Signals’.
Additional information regarding the extended data management and logging functionality of the Simulation Data Inspector is provided by MATHWORKS in the Help Documentation.
Summary
Completing this module students should feel comfortable with:
- Modelling transient events in the MATLAB Simulink software environment such as faults and circuit breaker operations;
- Analysis of transient events using various measurement tools in Simulink;
- Adding control features to Simulink and modelling protection systems; and
- Exporting signal variable data from Simulink using the Simulation Data Inspector toolkit.