January 2004 Power System Transients

Chapter 2
The Laplace Transform Method
January 2004 Power System Transients
Functional Transforms
Definition
an operation performed on a function to change it into a new
function, typically in a different variable
such transformation has the purpose of simplifying some
solution process
Common engineering transforms
phasor notation
eigenvalues/eigenvectors
Laplace
Fourier
Parks rotating machine
symmetrical components
January 2004 Power System Transients
Laplace Transforms
To obtain the solution proper, one must go through the
reverse process or anti-transform
The Laplace transform
transient analysis problems with electrical circuit often result
in a system of differential or integro-differential equations to
describe the network behavior
such system of equations require simultaneous evaluation
the Laplace transform converts the ODEs into an algebraic
expression
the variable t disappears; a new variable s is introduced
this transform focuses on initial conditions by providing enough new
terms for those conditions to be satisfied
the new equations appear more like those of a steady-state problem
January 2004 Power System Transients
Laplace Transform Procedures
The solution procedure
set down the differential equations describing a problem
equation terms are transformed one by one to obtain an
algebraic equation for each initial differential equation
solve the new equations simultaneously for the variable of
interest (obtain the operational solution)
find the time-domain function corresponding to this
operational solution
from a table of transforms
applying the inverse Laplace transformation (rare occasion)
inverse transform from first principles
January 2004 Power System Transients
Common Laplace Transforms
definition:
distributive
law:
a step:
a ramp:
( ) ( ) ( )
( ) ( ) [ ] ( ) ( )
2
0
0
0
0 0
0
0 0
2 1 2 1
0
1
) (
lim
s
I
s
t
s
e
I
dt
s
e
s
e t
I dt e t I dt e t I t I
s
V
s
e
V dt e V dt Ve t u V
t F t F t F t F
j s
s f dt e t F t F
st
st st
st st
st
st st
a
st
a

=
)
`

= = =
=

= = =
+ = +
+ =
=

L
L
L L L
L

one-sided transform
January 2004 Power System Transients
Common Laplace Transforms
exponential:
sinusoidal:
co-sinusoidal:
derivative:
( )
( )
) 0 ( ) ( ) ( ) (
1 ) 0 (
) (
) ( ) ( ) ( ) (
) ( : ) (
2
cos
2
2
1
1 1
2
1
2
sin
1
0
0
0
0
2 2
2 2 2 2
0
0 0
F t F s t F dt e t F
s s
F
t F
dt t F
s
e
s
e
t F dt e t F t F
e dv t F u du v uv dv u t F
dt
d
s
s e e
t
s s
j
j
j s j s j j
e e
t
s s
e
dt e dt e e e
st
st st
st
st
t j t j
t j t j
t s
t s st t t
= + =

= =
= = =
+
=
(

+
=
+
=
|
.
|

\
|
+
=
|
|
.
|

\
|
+

=
(

= = =

L L L
L
L
L L
L L
L

January 2004 Power System Transients
Common Laplace Transforms
integral:
example:
) (
) 0 ( ) (
) (
) (
1
) (
1
) ( ) (
) (
1
) (
1
) (
) (
1
) ( ) (
) (
) ( ) (
0
0
0
0
0
s q
s
Q
s
s i
t Q
d I
s
t I
s
d I t Q
t F
s
d F
s
d F
dt e t F
s s
e
d F d F
dt e dv d F u
dt e d F d F
t
t
st
st
t t
st
t
st
t t
= + =
+ =
(

=
+ =
(

=
(

= =
(

=
(

L
L L L
L L
L
L





January 2004 Power System Transients
Application of Laplace Transforms
Battery and RC circuit
find the solution to I(t)
( )
RC
t
C
RC
C C
RC
C
C
C C
C Bat
e
R
V V
t I
s R
V V
s i
R
V V
s s i
R
V V
I
RC
s i
I s i s
RC
I
dt
dI
dt
dI
RC I
dt
dI
R
dt
dV
dt
dV
C
dt
dQ
I
IR V V

=
+

= +

= = +
= + = =
= =
+ =
) 0 (
) (
1 ) 0 (
) (
) 0 (
) (
) 0 (
) 0 ( 0
) (
) 0 ( ) (
0
1
1
V
Bat
Sw R
C V
C
I(t)
January 2004 Power System Transients
Application of Laplace Transforms
Battery and RL circuit
find the solution to I(t)
( )
( )
[ ]
( )
[ ]
(

=
= =
+
= = + =
|
.
|

\
|
+
= +
+ =

+ +
L
Rt
t
s s s s s s
L
R
Bat
Bat
e
R
V
t I
e L
s s L
V
s i I I
s L
V
L
R
s s i
s
V
I L s i s L s i R
IR
dt
dI
L V
1 ) (
1
1
) ( 0 ) 0 ( ) 0 ( ) (
) 0 ( ) ( ) (
1 1
1
1 1 1 1


V
Bat
Sw R
L V
C
I(t)
January 2004 Power System Transients
Application of Laplace Transforms
Battery and LC circuit
find the solution to I(t)
( ) ( ) t
L
C
V V t I
s L
C
V V s i
K V I
s
s
I
s L
V V
s i
V C s i V I L s s i L s
V V I L C s i I L I L s s i L s
C
I
dt
I d
L
s
V
C s
Q
C s
s i
I L s i s L
dt I
C dt
dI
L V
dt
dI
L V V
C C
C
LC LC
C
Bat C
C Bat
Bat C
Bat
C Bat

sin ) 0 ( ) ( ) 0 ( ) (
) 0 ( 0 ) 0 ( ) 0 (
1 ) 0 (
) (
) ( ) 0 ( ) 0 ( ) (
) 0 ( ) 0 ( 0 ) ( ) 0 ( ) 0 ( ) (
0
) 0 ( ) (
) 0 ( ) (
1
2 2
1
2
1
2
2
2
2
2
=
+
=
= =
+
+
+

=
= + +
= = +
= + = + +
+ =
+ =

V
Bat
Sw
L
C V
C
I(t)
January 2004 Power System Transients
Building Other Transforms
Commonly used to find inverse transforms of
complicated functions by using other simpler and
known transforms
partial fraction expansion is general in its application and
very useful
power application
note that in power system problems, the order of s in the denominator
is greater than that in the numerator
rules are found in any circuit analysis text
factor the polynomial of the denominator into first and/or second
order terms
identify the coefficients of the numerator
January 2004 Power System Transients
Building Other Transforms
Example
find the inverse of
( )
( ) ( )( ) ( ) ( )
( )( ) ( )( )
( ) ( ) ( )
( ) ( ) ( )
( )
t t
s s
s s s
s
s
s s s
s s s
D B C A D B C A
D B s C A s D B s C A
s D Cs s B As s s s
s
D Cs
s
B As
s s
s s s
s s
s s s
s s
s s s
2 1
2
2
2
1
2 2
2
2
1
4
2
2 1
2
1
2
1
3
1
2
2
2 2
1
2
1
2
2
2
1
2 2
2
2
1
4
2
2 1
2
1
2
1
3
2
2 1
2
1
2
2
2
1
2
1
2
2 1
2
1
2
2
2
1
2
2
2 3
2
1
2 2
2
2 2
2 1
2
1
2
1
3
2
2
2 2
1
2 2
2
2 2
1
2
2
2 1
2
1
2
1
3
2
2
2
1
2 2
2
2
1
4
2
2 1
2
1
2
1
3
2
2
2
1
2 2
2
2
1
4
2
2 1
2
1
2
1
3
cos sin
1

=
+ + +
+ +
+

+
+
=
+ + +
+ +
= + = + = + = +
+ + + + + + + =
+ + + + + = + +
+
+
+
+
+
=
+ +
+ +
=
+ + +
+ +
+ + +
+ +

L
January 2004 Power System Transients
Operational Impedance
Another approach
suppose we wish to calculate a particular transient current
we would ultimately find it by dividing a voltage by an impedance,
I = V / Z, where V and Z may be complicated functions
employing an operational method, a prior step would be to obtain the
operation solution: i(s) = v(s) / z(s), where z(s) is an operation
impedance
we have seen that for an RL circuit z(s) = R + Ls and for an
LC circuit z(s) = Ls + 1 / Cs
from an ac circuit analysis perspective, resistors are unchanged and
for inductors and capacitors the phasor j terms are replaced by s
in fact j is a special case of s for steady state analysis
the Laplace representation (s = + j) includes both the steady state
and transient information
January 2004 Power System Transients
Duhamels Integral
Finds the response of a circuit to an arbitrary stimulus
based on using super-positioning and unit step function
stimulus is approximated by a succession of steps
initial step, S(0) u(t) plus steps of incremental rates of change,
S(t) u(t-)
consequently:
some alternate forms of Duhamels integral

+ =
=

+ =

=
=

t
t
d t r S t r S
s t
s
t r t r S t r S t r
0
1 1
1
1
0
1
0
1
) ( ) ( ) ( ) 0 (
) (
1
) ( ) ( ) ( lim ) ( ) 0 ( ) (

L


= + =
= + =
t t
t t
d t S r
dt
d
t r d t r S t S r t r
d t r S
dt
d
t r d t S r t S r t r
0
1
0
1 1
0
1
0
1 1
) ( ) ( ) ( ) ( ) ( ) ( ) 0 ( ) (
) ( ) ( ) ( ) ( ) ( ) ( ) 0 ( ) (


January 2004 Power System Transients
Duhamels Integral
Example
consider the response of the RL circuit to a decaying
exponential voltage stimulus: V(t) = V e
-t
u(t)
( )
( )
( )
( )
( )
( )
( )
(

=
(

=
(

=
=
(

+ =
+ = =
= =
|
.
|

\
|
=

L
t R
t
L
t R
t
t
L
R
L
t R
t
L
R
L
t R
t
L
R
L
t R
t
L
t R
t
L
t R
L
t R
e e
L R
V
e e
L
R
L
V
e e
L
R
L
V
e e
L
R
L
V
d e e
L
V
d e V e
L
d t r S t S r t r t I
r e
L
t r e
R
t r

1
1
0
) ( ) ( ) ( ) 0 ( ) ( ) (
0 ) 0 (
1
) ( 1
1
) (
0
0 0
0
1 1
1 1 1
January 2004 Power System Transients
Generator Excitation
Example
A generator has a field winding inductance of 0.638 H. In
steady state, the exciter consumes 1.2 MW at 480 V
dc
when
the generator is unloaded. Calculate the required exciter
voltage needed to reduce the field current to zero in 5 sec.
( )
[ ]
( ) ( ) s L R
I
s L R s L
s v
s i
LI
s
s v
sL R s i
s
s v
LI s sLi s Ri
R
t u V
dt
dI
L RI
I
Laplace
+
+
+
=
+ = +
= +
= =
= +
=

=
1
) 0 (
1 ) (
) (
) 0 (
) (
) (
) (
) 0 ( ) ( ) (
192 . 0
2500
480
) (
A 2500
480
10 2 . 1
0
6
January 2004 Power System Transients
Generator Excitation
( )
( )
[ ]
[ ]
617 ) 137 ( 480
137
2500 1
192 . 0
0 ) 5 (
323 . 3 192 . 0 638 . 0
) 0 ( 1 ) (
1
) 0 (
1 1 ) (
) (
1 1 1 1
323 . 3 5 323 . 3 5
= =
=
+ = =
= =
+ + =
+
+
(

+
+ =
(

+
+ =
+


V
V
e e
V
I
R L
e I e
R
V
t I
s L R
I
L R s s R
s v
s i
s s s s
L t R L t R

January 2004 Power System Transients
Generator Excitation
5 sec
January 2004 Power System Transients
Capacitor Bank Inrush
Example
A circuit breaker closes to connect a 500 kVAr capacitor
bank to a 12.47 kV system. The source impedance is
0.076 H. Calculate the voltage across the capacitor and the
current through the circuit breaker.
( ) ( )
Cs L
V
C L
V sV s v
s v s
t u V V
dt
V d
C L
dt
dV
C I
C
t u V V
dt
dI
L
Y
src C C C
C
Laplace
src C
C
C
src C
C
=

+
= +
=
=

=
= +
=

0 0 ) (
) (
) (
F 53 . 8
377
10 3215
) (
10 3215
12470
10 500
2
2
2
6
6
2
3

January 2004 Power System Transients

Capacitor Bank Inrush
[ ] ( ) ( )
( ) ( ) ( )
( ) ( )
( ) ( ) [ ]
( ) ( ) [ ] t t V
V
V t t V
V
s
s
s s
V
s
s v
V
C
V I
L
V sV
s
V
s s v
C L
C
src
src C
src
src
C
C C
C C
src
C

cos 1 7200
7200
3
12470
cos 1
1
) (
0 0
F 53 . 8
0 0 0 0
H 076 . 0
0 0 ) (
1
2 2 2 2
2
2 2 2 2
=
= =
=
(

+
=
+
=
=
=
=

=
=
(

+ = + =
January 2004 Power System Transients
Capacitor Bank Inrush
( ) ( )
Cs L
V
C L
V sV s v
s v s
t u V V
dt
V d
C L
dt
dV
C I t u V V
dt
dI
L
src C C C
C
Laplace
src C
C
C
src C
=

+
= +
= = +
0 0 ) (
) (
) (
) (
2
2
2
January 2004 Power System Transients
The Laplace Transform Method
Homework
Problems 2.7 and 2.8