ui ece 404/504 getting atp: lecture 5 - university of idaho · minimum to downloadminimum to...

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Lecture 5Getting ATP:

Available in ECE dept labs on campus Available in ECE dept labs on campus Request a license through

http://www.emtp.org» Once you have confirmation they will send

you instructions for downloading from a secure server

Intro to ATP and ATPDraw Spring 20131

secure server» Or, once verified, I can give you access to a

zip file with relevant files

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Lecture 5Installing ATP:

Minimum to Download Minimum to Download» Mingw version of ATP» ATPDraw -- latest version or latest patch

– Presently Atpdraw57.zip

» PlotXY

Option: ATP Easy Installer


Option: ATP Easy Installer » Download from secure sites in Japan

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Lecture 5Installing ATPDraw

Installation is fairly easy

Default installation path “Program Files” avoid this

The space in the file name can create problems running ATP from ATPDraw» Install it somewhere else I normally install in


» Install it somewhere else. I normally install in “C:\tools\prog\ATPDraw”

Install program may create shortcut in the start menu, but not very cleanly

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Lecture 5

Running ATP from ATPDraw

Still need a copy of ATP

Licensed users can get other versions

Follow installation directions for yours

ATPDraw calls ATP from a DOS Batch file (extension *.bat)


» For example, I call it “RUNATP.BAT”

Passes full path to file when calls ATP

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Lecture 5Sample Batch File

The following batch file is for Ming32 ATPSET GNUDIR=C:\tools\prog\atp\SET PATH=C:\tools\prog\atp;"%PATH%”tpbig both %1 s -r

The first line defines variable GNUDIR» Different ATP versions use different name

» Sets program working environment


» Sets program working environment

» The final “\” is important

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Lecture 5Sample Batch File (cont.)

Second line adds executable to your search th ( t d d if t thi t b t ti )path (not needed if set this at boot time)

The next line calls ATP itself» tpbig both %1 s -R

– “both” tells program to write error messages to screen and to file (useful for debugging)


– Could also set “disk” to only do disk file or leave blank for no message

– First “%1” is input data file from ATPDraw

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Lecture 5Sample Batch File (cont.)– The “s” is to create appropriate output file.

– “-R” tells ATP overwrite existing output file if oneR tells ATP overwrite existing output file if one exists

This bat file will let you run ATP, and all of the support program (line constants etc)


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Lecture 5Editing “startup”

ATP reads a file called “startup” ATP reads a file called startup » Resides in same directory as tpbig

» Sets variables for the program

A few suggested changes from default» Change PL4 file format to work with PlotXY


g– NOBLAN set to 0 {ignore blank lines}

– NEWPL4 set to 2 {won’t work with Analyzer}

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Lecture 5Setting Up ATPDraw

Open up ATPDraw

Select: “Tools” pull down menu

Select: “Options...”

Choose “Preferences” tab» You select a text editor, or use Notepad (default)


» “ATP” is where you set path to your batch file

Armafit: which we won’t cover in this course

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Lecture 5ATPDraw “Preferences”


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Lecture 5Further Settings The “Files&Folders” tab settings are ok However you do want changes in the However, you do want changes in the

View/ATP tab

» Select “Edit settings” tab» You may want to change

some of the default


settings. However, you can change any of these for a specific data file

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Lecture 5Simulation Settings

Default time step (deltaT) is very small

Default run time short

Xopt and Copt ok

Select “Power Frequency”


» Reset to 60 Hz from 50Hz

» Can mess up some sources

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Lecture 5Output Settings

Probably don’t need the selected “Printout” options for most cases

Slow down the program somewhat

Plot frequency should be


Plot frequency should be low and odd.

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Lecture 5Other Settings

Switch/UM settings ok for most cases (are for statistical studies only)

Load flow controls controls how the load flow initialization is run

Variables: Use can define parameters here and pass them different components


here and pass them different components» Or control them with Pocket Calculator option

» See help file for more info

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Lecture 5Saving New Settings

The “Save” or “Apply” buttons aren’t The Save or Apply buttons aren t sufficient to permanently save change

Also choose: Tools --> Save Options These are all saved into a file called

ATPDraw.iniT i ll d i ’ tti


» Typically saved in user’s settings» Could put copy in the directory with

ATPDraw.exe

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Lecture 5Other Settings

To set other plotting programs or other post processing options you need to open a file» Either select the “File|Open” sequence of click on

the icon

» Initial default is the Examples directory, after that it is the last directory worked in.


» For now, choose example “Exa_1.adp” (*.adp represents the drawing files).

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Lecture 5Example 1 Try to run

example case pto make sure program installed and set up correctly


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Lecture 5ATP Menu

A new pulldown menu is now available at th t f th i d ll d “ATP”the top of the window, called “ATP”


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Lecture 5ATP Menu

Settings is changes deltaT etc. for a given case

“Make File As” generates ATP data file from drawing

Run ATP calls your bat file

E h “Edit” ll t t dit


Each “Edit” calls text editor

Make Names, makes node names for drawing

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Lecture 5Edit Commands

Allows you to set additional commands

Run other ATP versions» On Current ATP drawing

» On Selected File

R l t


Run plot programs » On Current PL4

Use “Update” to set

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Lecture 5Saving New Settings

The “Update” buttons isn’t sufficient to The Update buttons isn t sufficient to save for next time

All choose: Tools --> Save Options


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Lecture 5Running an ATP File

Now we run the example case opened earlier

Always a multi-step process» 1) Make file to create ATP data file from drawing.

– Must do this every time you change drawing

– Default is to place this in “ATP” subdirectory under ATPDraw home directory (with extension *.ATP)


– Can edit this file with “Edit ATP-File” option (not saved to drawing file)

» 2) Run your case

» 3) Call plotting program

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Lecture 5Running an ATP File

The drawing file saved separately (save often)

Remember to save your changes often

Default is to save this in the “Project” subdirectory under ATPDraw

Note that if want to save elsewhere, need to select a new home for both ADP and ATP files


select a new home for both ADP and ATP files» PL4 and *.lis (or *.out depending on version) are

written to same directory at *.ATP file

» Need to cleanup directories periodically

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Lecture 5Making You Own File

Open a new drawing (from File menu or from icon)

Can get the component menu by right clicking mouse in the drawing screen

Each item lets you select


Each item lets you select components to create

More later….

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Lecture 5Associated Files

Input Datafile (text file)» Extension options: *.atp

» Avoid names with spaces

Plot Datafile (formatted ASCII)» Extension *.PL4

T t O t t Fil ( l i t t)


Text Output File (plain text)» Extension: *.LIS

» Error Messages in this file

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Lecture 5Associated Files (cont)

ATPDraw Schematic File» Extension: *.acp (or *.adp for older versions)

Supplement Include File» Use modular programs

» Examples: Line constants output, subsystems

E t i ti * h * lib


» Extension options: *.pch, *.lib

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Lecture 5Making You Own File

Set deltaT and Tmax!!!

Open a new drawing (from File menu or from icon)

Can get the component menu by right clicking mouse in the drawing screen


drawing screen

Each item lets you select components to create

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Lecture 5Linear Branches

These are the basic circuit elements

Single phase and three phase options

C:U(0) and L:I(0) are capacitor and inductor with voltage/current


and inductor with voltage/current initial conditions

Note ATPDraw uses U for voltage

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Lecture 5Operating on component

Once you select a component you can rotate it by single clicking the right mouse button on it. » Use to structure your drawing more nicely

» This also selects polarity for branch outputs

Double click left button to open a window to


Double-click left button to open a window to edit values

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Lecture 5Resistor Dialog Box

Set value for resistance in Ohmsin Ohms

Node names not set

Can add comment

$Vintage,1 sets high precision numbers

Edit definitions: allows


redefine model-advanced feature

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Lecture 5Resistor Dialog Box

Set branch output:

Comments» For file


» For drawing

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Lecture 5Inductor L is in mH unless you

have set Xopt to ahave set Xopt to a frequency

Label creates a label on the drawing next to the component

Help menus are pretty good


good

Kp numerical oscillation damping constant» Adds parallel resistor

» More on that later

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Lecture 5Capacitor

Capacitance is in microFarads unlessmicroFarads unless Copt set

Note program sets a default value to prevent errors if you randomly connect nodes

Ks numerical oscillation


Ks numerical oscillation damping constant» Adds series resistor

» More on that later

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Lecture 5RLC

RLC lets you set R, L, and C or any combination

Creates same data card as R, L or C alone but


L, or C alone, but lets you do all fields

Series RLC

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Lecture 53 Phase RLC

Can choose a series 3 phase RLC

Options include Y connected

and Delta


and Delta connected

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Lecture 5

Capacitor with Initial Voltage Value

Still set value for Cfor C

Also set positive and negative voltage relative to ground at T=0


Will be useful for homework #1

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Lecture 5

Inductor with Initial Current Value

Still set value for L

Plus the current at T=0


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Lecture 5Switch Pop Up Menu

In most cases you will use a time controlled switch (single or three phase)

Measuring Switches (always closed)

TACS controlled switches



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Lecture 5Time Controlled Switch

Set T_close I

Set T_open» T_open must be

larger than T_close

Imar is absolute value of current it will interrupt


will interrupt

Can select outputs

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Lecture 5Time Controlled Switch

Can also set a ti ftime sequence for repeated open/close operations.

Up to 16


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Lecture 5Three Phase Switch

Individual ti i ftiming for each phase

No reclose characteristic


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Lecture 5Source Pop Up Menu

Allows you to create ordinary ATPDraw 5.6+

sources

Machines and TACS controlled sources on other pop-up menus

Most of these sources are


Most of these sources are referenced to ground

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Lecture 5Version 5.6+ AC source

(1&3 phase)

1 ph voltagesource

3 ph currentsource


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Lecture 5Type 11 Source


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Lecture 5

What is Needed in Transformer Models?

Fault studies require more information» Connection info

– wye

– delta

– zig-zag

– autotransformer


– etc.

» Grounding

» Possible impact of tertiary

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Lecture 5

Low Frequency Transients

Similar modeling info to fault programs» Connection information more important

Magnetizing branch» Saturation

Core loss term


Not using per unit» Need to include turns ratio

» Divide leakage L, winding R between windings

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Lecture 5

Single Phase Equivalent Circuit

Winding resistance

Leakage inductance


Core loss--total losses

Non-linear inductor model for magnetizing branch

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Lecture 5ATP Options

Ideal transformer component

Saturable transformer component

BCTran -- preprocessor that converts description of transformer to coupled RL

Can also create manually using coupled RL


branches

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Lecture 5

Avoid ATP Ideal Transformer

Limited to two winding transformers Limited to two winding transformers

It is very easy to create numerical problems in the simulation with the ideal transformer


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Lecture 5Saturable Transformer

Model has built-in circuit elements» Winding resistance

» Leakage inductance (can’t enter 0)

» Core loss resistance

» Magnetizing branch t t d L i H


– not entered as an L in mH

» Can set all except leakage to 0 to simplify

» Enter winding to winding ratios

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Lecture 5

Single Phase SaturableBase Attributes

Io, Fo are steady-state point on saturation pcharacteristic for initial Lm

RMS = 0 or 1: determines how the saturation characteristic is entered.

Output is information about mangetization branch


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Lecture 5Saturation Characteristic If RMS = 0, this is current

versus flux

If RMS = 1, this is RMS current versus RMS voltage at frequency of first source in the system

The 0,0 point is assumed by the program

Up to 10 points can be


entered» Better to limit to 3-5

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Lecture 5

Viewing The Saturation Characteristic

If RMS = 0, this is current versus flux

If RMS = 1, this is RMS current versus RMS voltage at frequency of first source in the system

The 0,0 point is assumed by the program

Up to 10 points can be


entered» Better to limit to 3-5 for better

numerical behavior

» Does not include hysteresis

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Lecture 5Three Phase Model Icon changes with the connection type. Here

is three winding with all WYE

Here is 2 winding with delta-wye

Note that there is a point to connect to measure magnetizing branch voltage

Three leg core option


Three leg core option

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Lecture 5Three Phase Model Enter data for each

winding

Select Y, D, or Zig-zag

Three leg option here, but better to use specific case from pull-down menu.


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Lecture 5

Three Phase Model-Three Leg Core

Option to model homopolar reluctance» Saturable-Three Leg

Much additional information needed.

See help menu.


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Lecture 5Creating a Circuit

Components are hi hli ht d i d tilhighlighted in red until you edit values

Can connect components together by dragging left mouse button between


mouse button between nodes and then clicking on finishing node

1 Ph or 3 Ph on context

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Lecture 5Selecting Node Names Double click left button to

get node data windowget node data window

Type node name in SWT » 6 characters max

» ALL CAPS or numbers or will have errors


Can ground the node » Name won’t matter

» Ground symbol will appear

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Lecture 5Selecting Node Names

Can choose to Display name on the screen

If you have a connection between nodes, all nodes will get a name you assigned when use “Sub-process > Make Node Names” or “Make ATP File”» ATPDraw assigns names if you don’t (XX0001


» ATPDraw assigns names if you don t (XX0001, etc)

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Lecture 5Building a System

Can also copy yourcopy your components

Remembers output requests and values

Need to


Need to enter new names

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Lecture 5Probes and 3 Phase

Menu for voltage and t tcurrent measurements

“Probe Volt” is line to ground voltage

“Probe Branch Volt “puts in dummy branch

d “ b ”


as does “probe curr”

Select 1 or 3 ph

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Lecture 5Transient Analysis of

Control Systems (TACS)

Introduced in EMTP in 1976 Introduced in EMTP in 1976

Developed to model controls for HVdc converters (Pacific Intertie)

Model interactions between system transients and control systems


y

Each variant of EMTP has it own variant

ATP has two: TACS and Models

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Lecture 5What TACS can do

Model control systems Model control systems» Generator excitation and governor control

» Control loops for power electronic converters

» Firing circuit for power electronics

» Relay algorithms


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Monitor and post process network variables Monitor and post-process network variables» Analog and digital filters

» RMS voltages and currents

» Calculate P and Q

» Compute motor/generator torque or flux


» Reference frame transformations

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Simulate mechanical/electromechanical Simulate mechanical/electromechanical

Non-linear reponses

Create models for devices without built-in models – for example, arc resistances

Create harmonic sources


Create harmonic sources

Variable frequency sources

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Lecture 5TACS Relationship to

Network Solution

Control system models solved separate from network Different equation formats» Different equation formats

» First network then TACS in each time step

» Leads to on step time delay

MeasurementsPower System(Network)


CommandsControlled Sources

TACS

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Lecture 5General Format

TACS design from point of view of reproducing Laplace domain block diagramLaplace domain block diagram » Converted to difference equations

» Arbitrary connections of blocks

Signal and variable names limited to 6 characters

Can implement digital controls


Can implement digital controls

Some limited FORTRAN expressions

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Lecture 5TACS and ATPDraw

ATPDraw Interface for TACSNot as nice as circuit interface but much improved» Not as nice as circuit interface, but much improved

Not essentially to always draw connecting lines» Use the same variable names instead

» Will generate a warning message about duplicate names when first run ATP file

Several of the example cases shipped with


Several of the example cases shipped with ATPDraw have TACS modelling

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Lecture 5

Enter these as input node namesTIMEX simulation time in seconds (from 0 0)

Built-in variables

» TIMEX = simulation time in seconds (from 0.0)

» ISTEP = number of time steps since the start of the simulation

» DELTAT = simulation time step– (TIMEX=ISTEP*DELTAT)

» FREQHZ = system frequency in Hz (defined by first


sinusoidal source in the Network part of the simulation)

» OMEGAR = 2 * * FREQHZ (rad/sec)

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Lecture 5

Pre-Defined TACS Internal Sources

» ZER0 = 0.0

» MINUS1 = 1 0» MINUS1 = -1.0

» UNITY = PLUS1 = 1.0

» PI = FORTRAN Compiler Constant for PI


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Lecture 5User-Defined TACS Sources

Used as inputs for other TACS blocks or to control a TACS source in the networkcontrol a TACS source in the network

User calls from TACS menu

As is the case for network sources, the user defines start and stop time


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Lecture 5User-Defined TACS Sources

Used as inputs for other TACS blocks or to control a TACS source in the networka TACS source in the network

As is the case for network sources, the user defines start and stop time

Options:» Type 11: DC Source (called Level Signal in rule book)

» Type 14: Cosine (AC Source)


» Type 14: Cosine (AC Source)

» Type 23: Pulse (repeats, alternates between 0.0 and set amplitude

» Type 24: Ramp (output rises from 0.0 to amplitude of set period and repeats until stop time for the source or end of simulation

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Lecture 5

TACS Measurements from Network

Used as inputs for other TACS blocks Type 90: Node voltage measurement Type 90: Node voltage measurement

» Node to ground voltage

Type 91: Switch current» Must be connected to a switch

Type 92: Internal variable from special ATP components (dynamic synchronous machine or


p ( y yuniversal machine)

Type 93: Switch position (output = 0.0 for open switch and 1.0 for closed switch)

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Lecture 5Transfer Functions

User can define general transfer functions

L l d i l i l i t d Laplace domain polynomials in numerator and denominator

Can have constant gain block (zero order on numerator and denominator)

General Format:


G s( ) gainN 0 N 1 s N 2 s

2 N 3 s

3 N m s

m

D 0 D 1 s D 2 s2

D 3 s3

D m sm

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Lecture 5Sample Transfer Function

G(s)


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Lecture 5Limiters

User can specify limits for transfer functions outputs1st order or zero order only» 1st order or zero order only

» Can set hard (static) limits (enter numbers)

» Can use outputs from other TACS functions (dynamic limits)

Windup limiter» Zero order transfer function


» Zero order transfer function

» TACS processes block and then looks at output

» Prior to limit application, output can move far beyond limit

» Time needed to back off of the limit

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Lecture 5Limiters (continued)

Non-Windup limiterDoesn’t saturate and backs off limit quickly» Doesn’t saturate and backs off limit quickly

» Implement with first order transfer function– One pole, no zeros in the function

– Additional poles and zeros are ignored

Both windup and non-windup limits occur in practice» Need to understand behavior of the system you’re


y ymodeling

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Lecture 5Built-In Devices

Implement common functions difficult to make upFrequency sensor» Frequency sensor

» Externally controlled switch

» Level switch

» Transport delay

» Pulse Delay

» Digitizer


» Digitizer

» Point-by-point nonlinearity (lookup table)

» Time controlled switch

» Controlled integrator

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Lecture 5Built-In Devices

» Derivative

» Input IF» Input-IF

» Signal selector

» Sample and track

» Min/Max function

» Min/Max tracking

» Counter


Counter

» True RMS

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Lecture 5

Free-Format FORTRAN Expressions

Supplmental variables in rule book

S h t f f t Somewhat free format

ATP recognizes as device types 99, 98 and 88

Options:» Algebraic operators: + , - , * , / , **

» Relational operators


– .EQ. , .NE. , .LT. , .LE. , .GE. , .GT.

– Ouputs are 0.0 or 1.0

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Lecture 5


Allowed functions:SQRT ABS EXP LOG LOG10» SQRT, ABS, EXP, LOG, LOG10

» SIN, COS, TAN, COTAN (argument in radians)

» ASIN, ACOS, ATAN (answer in radians)

» SINH, COSH, TANH

» TRUNC, MINUS, INVRS

» RAD DEG NOT


» RAD, DEG, NOT

» SIGN (-1 for neg. number, +1 for pos. number or zero)

» SEQ6, RAN (random number generator)

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Lecture 5


Limitations:The user is allowed up to 20 levels of nesting» The user is allowed up to 20 levels of nesting.

» Can't do SQRT(A**2+B**2) and similar

» Can combine functions: SQRT(ABS(INVRS(X) ) )

» Does not allow: GOTO, IF, DO, SUBROUTINE, or FUNCTION


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Lecture 5Outputs from TACS

TACS controlled source in the network» Source type 60» Source type 60

» The variable name in TACS and the name of the node the source is connected to must match

» Including phase identifier (single phase source)


Interface to type 59 (or 58) dynamic synchronous machine

Interface to type 19 dynamic (universal machine)


Interface to type 19 dynamic (universal machine)

Plot data file

Variable inductor…..

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Lecture 5Initial Conditions

Can set initial conditions to improve start up behaviorbehavior» Especially if correct outputs at time = 0+ are desired

Network and TACS undergo separate steady-state initialization, with network computed first» TACS output to Network are initially zero unless

specified

E i ll f l f


Especially useful for:» First order or higher transfer functions» FORTRAN statements» Several of the built-in devices

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Lecture 5Accessing TACS Models


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Lecture 5TACS Sources


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Lecture 5TACS Devices


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Lecture 5TACS Measuring Source


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Lecture 5Source Dialog


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Lecture 5Transfer Function


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Lecture 5TACS Device Dialog


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Lecture 5FORTRAN Statement


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Lecture 5Slave Source


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Lecture 5Outputs from TACS

TACS node: Type TACS node: Type» 0=Output.

» 1=Input signal positive sum up.

» 2=Input signal negative sum up.

» 3=Input signal disconnected.


» (only necessary if node name is user specified)

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Lecture 5Node Dialog


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Lecture 5TACS Outputs


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Lecture 5Output Dialog


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Lecture 5

RLC Circuit, Network and TACS

Simple RLC circuit modelled as: Simple RLC circuit modelled as:» Network components

» TACS only model

» Results Compared


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Lecture 5ATPDraw Diagram

UGEN VSRC RL VLC

LDEL


ULDEL

ISER VOUT

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Lecture 5Compare Outputs15

VOUT from TACS and VLC from Network

6

9

12


(file drawrlc.pl4; x-var t) t: VOUT v:VLC 0 2 4 6 8 10

0

3

*10-3

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Lecture 5Example Results 15

Time Step Delay Between TACS and Network

6

9

12


(file drawrlc.pl4; x-var t) v:VLC v:LDEL 0 2 4 6 8 10

0

3

*10-3

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