IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, VOL. PAs-89, NO.
1, JANUARY 1970
As Prof. Stanton and Mr. Talukdar state in their discussion,
-we did use lower order methods for the predictor-corrector (r-
multiple-step) tests reported in this paper than we did for the Rungeo
Kutta tests. This undoubtably is a major reason for the lower
'ccuracy shown by the predictor-corrector methods. We believe
that predictor-corrector methods of fourth order should be able to
give the same order of accuracy as the fourth-order Runge-Kutta
method used, but we do not expect them to be any better. The
reason we did not develop and test a fourth-order method was that
the Runge-Kutta method seemed to have such a distinct time ad-
vantage. This was a result of the iterative procedures needed in
applying the predictor-corrector methods.
We still believe that Runge-Kutta-type methods which are single-
step and therefore self-starting have distinct advantages in transient
Introduction of Frequency-Dependent Line
Parameters into an Electromagnetic
Transients Program
ALAN BUDNER, MEMBER,
Abstract-A new method is given for digitally modeling the
frequency dependence of the line parameters for an overhead
transmission line. Using Fourier transforms, the method models
only the line characteristics, leaving the terminations to be chosen
by the user. The model of the frequency-dependent line is embedded
in a general purpose electromagnetic transients program providing
the user with a wide choice of termination and excitation conditions.
The method promises to be accurate, and provides insight into the
propagation of the aerial and ground modes of transmission. A
comparison of line modeling using the method of characteristics,
7r equivalents, and frequency-dependent line parameters is given.
Although the frequency dependence has been implemented for only
one two-phase line, the method is general in principle.
INTRODUCTION
IN THE simulation of switching and fault transients on a
transmission line, frequency dependence of the line pa-
rameters is of interest because it may contribute to the damping
of surges on the line. Carson [1], among others, established
the frequency dependence of the line parameters in an overhead
transmission line with ground return. For a single conductor
with ground return [2], both the resistance per unit length and
the inductance per unit length are proportional to a power
of the frequency; for the resistance per unit length the power
Paper 69 C2-PWR, recommended and approved by the Power
System Engineering Committee of the IEEE Power Group for
presentation at the IEEE PICA Conference, Denver, Colo., May
18-21, 1969. Manuscript submitted January 10, 1969; made avail-
able for printing August 1, 1969.
The author is with the Bonneville Power Administration, Port-
land, Ore. 97208.
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stability studies. Every time that switching occurs on the power
network, or a control variable reaches a limit or passes through a
deadband, the parameters of the system will change, and the solu-
tion should be restarted. For this reason we were very happy to see
the excellent paper by Stanton and Talukdar [6] which extends their
work to Runge-Kutta methods.
REFERENCES
17] J. E. Van Ness, J. M. Boyle, and F. P. Imad, "Sensitivities of
large, multiple-loop control systems," IEEE Trans. Autonmatic
Control, vol. AC-10, pp. 308-315, July 1965.
[8] J. E. Van Ness, "PALS-a program for analyzing linear sys-
tems," Northwestern University, Evanston, Ill., Rept., March
1969.
IEEE
varies from 0.5 to 1, and for the inductance per unit length the
power varies from 0 to -0.5.
In this paper a method is presented for digitally modeling
frequency-dependent line parameters. The method is distin-
guished by two characteristics. First, Carson's results are used
directly for a range of frequencies sufficiently wide that a high
potential for accuracy exists. Second, the properties of only the
line are modeled. The frequency-dependent line is then intro-
duced into a general purpose transients program [3] to provide
the user with a wide range of termination and excitation condi-
tions.
In a previous general purpose program [4], zero sequence
parameters are presumed sufficiently accurate for transient
studies when evaluated at one frequency [5], and the zero
sequence wavefront is assumed to have a staircase shape.
Another program [6] assumes a particular input waveform and a
quadratic law for the variation of attenuation with frequency.
Procedures have been employed based wholly or partly on
Carson's solution, and using a range of frequencies for deter-
mining line parameters, but usually for special situations and not
in conjunction with a general purpose program [7]-[9]. An
example of the response of a frequency-dependent line has been
obtained using an integral form of Carson's solution in a general
program [10] where inversion is required in transforming to the
time domain from the frequency domain. A four-element re-
sistance-capacitance filter has been proposed for the zero se-
quence path where the values of the filter are determined from
the response of the line based on Carson's results [11].
The method to be presented requires no assumptions on the
shape of the zero sequence wavefront, the input waveform, or the
variation of attenuation with frequency. The general purpose
 BUDNER: FREQUENCY-DEPENDENT LINE PARAMETERS AND ELECTROMAGNETIC TRANSIENTS PROGRAM 89

GROUND WIRE there results

IA
d[V] = [Z][I]
dx
i113
_-_
dx
= [Y][V]. (3)
BUNDLED POWER CONDUCTORS
PHASE
Following the usual techniques of grounding and bundling [121,
BUNDLED POWER CONDUCTORS the equations (3) are reduced to two voltage and two current
1 5 a PHASE 2 equations for the two equivalent phase conductors. We keep the
same symbols for the reduced quantities and note that after
"
1,W .0
reduction [Z] is 2 X 2, symmetric, and its diagonal elements are
L 40' equal. The same is also true for the reduced [Y].
49' A transformation to mode variables is now made as follows:
[I]= [T][I]
[V] = [T][E]
where
Fig. 1. Configuration of two-phase transmission line studied,
indicating spacings between conductors and average heights.
[T] [111
[T]
program employed [3] circumvents the difficulties of inversion
since it calculates completely in the time domain. The method is ] 221 -1]
also more accurate than the suggested filter representation and [I] and [E] are the column matrices of mode currents and
because the spectrum of the line is matched over a wider range voltages, respectively. The transformation [T] can be considered
of frequencies than is possible with the filter. a symmetrical components transformation with mode 1 being
In the following sections the method is developed for a par- the zero sequence (ground mode) -and mode 2 the positive se-
ticular transmission line whose configuration is given in Fig. 1. quence (aerial mode). Substituting in the reduced equations
The assumptions involved in the method and its advantages (3) we have
and disadvantages are discussed. Insight into the propagation of
the ground and aerial modes is obtained. A generalization of the d[E] = [TI-1 [Z][T][I] = [z][I]
method is given. (4a)
dx
d[I]
THEORETICAL BACKGROUND =
[T]-'[Y][T][E] = [y][E] (4b)
dx
We start with the general equations of a transmission line
where [z] = [T]-1[Z][T] and [y] = [T][Y][T]. It is easily
ax[VI = [L] a[i] + [RH[i] verified that [z] and [y], the modal impedance and admittance
matrices, respectively, are diagonal. To solve (4), [1] is eliminated
from (4a) by differentiating and substituting d [I]/dx from (4b);
a-[i] = [C] [] + [G][v] (1) a similar process is performed on (4b). There results
axat
d2[E] 2 = [z][y][E]
where [v] and [i] are column matrices of line voltage and current, dx2
respeetively, x is distance along the line, and [L], [R], [C], and d2 [I]
[G] are square matrices of self- and mutual inductance, resis- dX2
= [y][z][I] (5)
tance, capacitance, and conductance, respectively, per unit
distance. At the outset we assume [G] = 0. Taking the Fourier The matrix products [z][y] and [y][z] are also diagonal and
transform of (1) we have therefore there is no coupling between modes. The solution of
(5) for mode 1 is known [13] to be
=d[V] j27rf[L][I] + [R][I] EA= EB cosh (v/zy 1) IBV/zy sinh (V/zy 1)
-
dx

IA = -IB cosh (s/zy 1) + [EB/V/z/y sinh (V/zy 1) (6)

-_dx
d[I]
]= j2rf[C] [V]
where EA and EB are mode voltages at the terminations A and
B, respectively; IA and 'B are mode currents at these termina-
where f is frequency and [V] and [I] are the transforms of [v] tions; z and y are the first diagonal entries of [z] and [y], and I
and [i], respectively. is the length of the line. These are the equations of a two-port,
Letting illustrated in Fig. 2. A similar pair of equations holds for mode 2.
To facilitate entering the line properties into the transients
[Z] = [R] + j2rf [L] program the equations (6) are rewritten in order to find the
(2) short-circuit admittance parameters of the two-port. The defining
[Y] = j2wrf(C)

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 90 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, JANUARY 1970

CA YAB are obtained. [The total length of the line is 820 miles;
however, to study fault conditions at midpoint, the line
was modeled as two identical sections of 410 miles each,
connected in series. Hence 1 = 410 miles in (9).] This is
9A 9B done for the range of frequencies 0-12.8 kHz at intervals of 12.5
Hz, a total of 1025 points. The highest frequency and the fre-
quency increment are matters of judgment. The effects of these
Fig. 2. Currents and voltages defined for a two port. two choices will be discussed later. The results of the calculations
are given in Figs. 3-6, where YAA and YAB are plotted in terms of
magnitude and phase vs. frequency for the zero and positive se-
equations of these parameters are quences. The cyclic variation with frequency is due to the
resonance condition of the line when its length is a multiple of a
IA = YAAEA + YABEB half wavelength. For the zero sequence, YAA becomes resistive at
IB = YBAEA + YBBEEB (7) about 4 kHz with a value of about 0.22 X 10-2 mho corre-
sponding to an impedance of 450 U. The positive sequence YAA
The quantity YAA is the input admittance seen at A when the becomes resistive at about 80 kHz, not shown in Fig. 5, with a
terminals at B are shorted; analogously for YBB. The quantity value of about 0.35 X 10-2 mhos, corresponding to an imped-
YAB is the transfer admittance between ports A and B with ance of about 290 Q. For further reference these two constants
terminals at A shorted; analogously for YBA. Solving for IA are designated as follows:
and IB in (6) we find Y, = 0. 22 X 10-1 mhos
IA = [vy/z coth (Vzy l)]EA - [IVY/z csch (/Vzy l)]EB Y2 = 0.35 X 10-2 mhos.
IB =- [Vy/z csch (Vzy o)]EA + [Vy/z coth (Vzy 1)]EB. (8) The transfer admittance YAB shows a much greater decrease in
magnitude with frequency for the zero sequence than for the
Therefore
positive sequence. The phase of YAB for both sequences continu-
YAA = YBB = V/y/z coth (V/zy 1) ally decreases with frequency.
To transform YAA for mode 1 to the corresponding time
YAB = YBA = -\/y/z csch (zy 1). (9) domain quantity YAA, YAA is expressed as follows: YAA = Yi +
The transients program [3] into which the line description is YAA is-setyi. Above 12.8 kHz, YAA is assumed equal to yi and
YAB
to be introduced calculates completely in the time domain. domain as an equal to zero. The constant yt transforms to the time
impulse of strength y, at t = 0 [14]. The functions
Therefore, the description of the line contained in (7) must be
YAA - y1i,
expressed in the time domain. This is done by taking the inverse of a fast Fourierand YAB are transformed to the time domain by means
transform [15], [16] program written for
transform of (7) as follows [14]: that purpose. An exactly analogous process is used on YAA and
YAB for mode 2. The results of the transformations are given in
A(t) = co AA(t - r)EA(r)dr + ABO -r)EB(r) dr Figs. 7-10. The step width in the time domain At is fixed by the
OD upper frequency limit as follows: At = 1/(2 X 12 800) _ 39.1 As.
In order to interpret the curves of YAA in Figs. 7 and 9, it is
=B YAB(t - r)EA(T)dT + VAA( - T)EBQT) dr helpful to recall that YAA can be thought of as the response in
current at terminal A to a voltage impulse at A, with terminals
(10) at B shorted. For both positive and zero sequence a voltage
where I, y, and E are the time domain quantities corresponding impulse at t
= 0 produces a current impulse at t = 0. (These
to I, y, and E, respectively. The integrals are known as convolu- are the transformed constants yi and Y2, and are not shown in
tion integrals, and express the currents at the terminals of the Figs. 7 and 9.) After the initial impulse there are recurrent peaks
two-port as a weighted sum of past and present voltages at the which change their shape and spacing as time continues. The
terminals, where the weighting functions are the inverse trans- first peak after t = 0 represents the signal received at A after
forms of the admittance parameters. The evaluation of (10) the initial impulse has traveled the length of the line, been re-
gives equations analogous to [3, eq. (21)], and with appropriate flected
A
at B, and returned. The next peak represents the current
after
substitutions the frequency-dependent line is entered into the at the initial impulse has made two round trips, etc.
transients program. An explanation of how these integrals are Note that the peaks in the zero sequence are of smaller mag-
calculated follows.
nitude and highly smoothed compared to the sharper and higher
peaks in the positive sequence.
CALCULATION OF CONVOLUTION INTEGRALS The quantity YAB represents the response in current at shorted
terminal A to a voltage impulse at B at t = 0. There is no
To evaluate the convolution integrals we must find the time impulse response at t = 0. The first peak represents the response
functions VAA and PAB. To do this we find the frequency domain after the initial impulse has traveled the length of the line,
quantities YAA and YAB and transform them to the time domain. from B to A; the second peak represents the response after the
The Bonneville Power Administration line constants program initial impulse has traveled from B to A, back to B, and then to
calculates [z], the modal impedance matrix, for any frequency, A. Successive peaks are interpreted in the same manner. Again
incorporating Carson's correction for earth return and the cor- it is seen that the impulse is more quickly damped by the zero
rection for skin effect in the conductor. Ground resistivity is sequence network than by the positive sequence one.
taken as 170 Q2 m. The program also finds [y], the modal admit- Further insight into the meaning of the impulse response
tance matrix. With the calculations indicated by (9) YAA and functions YAA and VAB is obtained by examining YAA and YAB

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 BUDNER: FREQUENCY-DEPENDENT LINE PARAMETERS AND ELECTROMAGNETIC TRANSIENTS PROGRAM 91

2
120

cn
1-

(r x 6
C.D m

z
I: C 4
z
UO
ol

80 160 240 320 400 480 560 640 m 0 5 10 5 20 25 30 35 40

FREQUENCY (HZ) (XI01) TIME (MILLISECONDS)
Fig. 3. Magnitude (curve 1) and phase (curve 2) of YAA, Fig. 7. Graph of YAA, zero sequence; impulse at t = 0 not shown.
zero sequence, as function of frequency.

s
M
0
u
LLj
U)
t, 0 4

cn
0
m
2
-3
C>
L)
M -6
m
u-
(D
-91
m 6 12 Is 24 30 36 42
0 80 160 240 320 400 480 560 640 720 TIME (MILLISECONDS)
Li
FREQUENCY (HZ) (X101) -3.'

Fig. 4. Magnitude (curve 1) and phase (curve 2) of YAB, Fig. 8. Graph of YAB, zero sequence.
zero sequence, as function of frequency.

0 80 160 240 320 400 480 560 0.06 0.12 0.18 0.24 0.30 0.36 0.42 0.48
FREQUENCY (HZ) (X 101) TIME (SECS) (X10-1)
Fig. 5. Magnitude (lower curve, vertical scale 1) and phase (upper Fig. 9. Graph of YAA, positive sequence; impulse at t = 0 not
curve, vertical scale 2) of YAA, positive sequence, as function of shown.
frequency.

2
00 .300 uz20.

n- 80. 200

60 IO0-

40
Ci~~~~~~~~~~~~~. -I

O -2000i

c0 80 160 240 320 400 480 560 640 720 3 .00 .04 .06 .12 .16 .20 .24 .28 .32 .36 .40
FREQUENCY (HZ) (XI01O TIME (SECS) (X101 )
Fig. 6. Magnitude (lower curve, vertical scale 1) and phase (upper Fig. 10. Graph of NAB, positive sequence.
curve, vertical scale 2) of YAB, positive sequence, as function of
frequency.

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 92 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, JANUARY 1970

z
0 Returning now to the evaluation of (10), from the previous
work of this section we have for mode 1
0
2
U- Y1i (T) + YAA'(T)
YAA (T) =
0
TRAVEL TIME where r, standing for time, is now explicitly exhibited. The
::I quantity yl'(T) represents an impulse of strength yi at the
TI ME
origin and YAA'(T) is the remaining part of YAA(T). Substituting in
(10) there results

dA(t) = yi1(t - T)EA(T) dr + YAA'(t - T)EA(T) dr

(b) + r)EB (r) dT

YAB (t -

z
0
z
2
dB(t) = f yAB(t - T)EA(T) dr + y,0(t - r)EB(T) d-r

0
+ co
YAA (t T)EB(fr) dr. (11)
3

TIME
TWICE TRAVEL TIME
(a)
Fig. 11. Graphs for lossless line; each function is string of impulses.
(a) For Y-AA; impulse at t = 0 not shown. (b) For gAB.
associated with a lossless line. The analysis in the Appendix
shows that YAA and YAB for a lossless line are strings of impulses
as illustrated in Fig. 11. The resemblance between the positive
sequence network response (Figs. 9 and 10) and the lossless line
response (Fig. 11) is much closer than the resemblance between
the zero sequence response (Figs. 7 and 8) and the lossless line
response.
It was mentioned previously that the choice of upper frequency
(12.8 kHz) and frequency increment (12.5 Hz) affects the results
obtained. These effects will now be discussed. In Figs. 7 and 8
there is a dc offset of about 1.3 mhos/s. Physically, there should
be no signal received before the completion of the appropriate
travel time (with the exception of the impulse at t = 0 in YAA)-
The offset decreases in the time domain as th-euency incre-
ment decreases in the frequency domain; however the shape of
YAA and YAB exclusive of the offset appears to change only
slightly once the frequency increment is sufficiently small.
The sharply peaked nature of YAA and YAB in Figs. 3 and 4 is very
likely the cause of these effects in that low frequencies are
counted too heavily in transforming to the time domain, until
the frequency increment becomes small enough. Before further
use, the osffet was removed from the data in Figs. 7 and 8. The
data of Figs. 9 and 10 were modified by removing the high-
frequency oscillations and small repeating peak. These waves
are probably extraneous since, again, there should be no response
until the travel time is completed. The presence of these signals
is very likely due to assuming that for the positive sequence
above 12.8 kHz, YAA has only a constant response and YAB is
zero. This assumption is better satisfied by the zero sequence
quantities than by the positive sequence ones. All weighting
functions are presumed zero beyond 79 ms.
Some improvement in the accuracy of results can be expected
by decreasing the frequency increment and increasing the
upper frequency and extending the weighting functions beyond
79 ms. At present, calculation of the weighting functions is a
long process, and this is the major disadvantage of the method.
The integrals involving the impulse functions are evaluated
using a known property [14]. For the other integrals we note
that YAA and YAB are zero for T < 0 and for T > 79 ms = T. Hence
dA(t) = YLEA(t) + f YAA(t - T)EA(T) dT
t
+ YAB (t r) EB (r) d T
Bt
dB (t) = - YAB(t -
T)EA (T) dT + ylEB(t)
*t
+ YAA (t - T)EB(T) dT. (12)
z-T
A similar set of equations holds for mode 2. At each time step,
for time t, equations (12) are evaluated. These are the node
equations for A and B of mode 1. The quantities IA(t) and
IB(t) are known current sources and may be zero. The unknowns
are EA(t) and EB(t). The convolution integrals are calculated
using the weighting functions YAA and YAB and past history
tables of mode voltages at A and B. [The values of EA(t) and
EB(t) are not needed in the integrals since YAA(O) and yAB(O) are
zero.] The actual integration is performed using Simpson's
rule. These integrals represent equivalent current sources at
time t, whose value is determined from the past.
RESULTS
Two sections of length 410 miles each, whose properties have
been described in the previous section, were attached in series
to model the 820-mile line. This was done in order to introduce
faults at the midpoint of the line and study resulting voltages
there. The terminals for the complete line are shown in Fig. 12.
As the first example a step of 10 volts was applied at Al with
A2, Cl, and C2 open circuited. Results are given in Fig. 13,
where voltages at Bi and B2 are plotted. The first rise at B1 is
due to the arrival of the positive sequence voltage and the
second to the zero sequence. The positive sequence wave at B2
is of opposite sign to the positive sequence wave at B1, while the
zero sequence wave is of the same sign at both B1 and B2.
The rise time of the positive sequence wave is nonzero and is
about twice the time increment or 78.2 /As. The zero sequence
wave is highly smoothed compared to the positive sequence
wave.

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 BUDNER: FREQUENCY-DEPENDENT LINE PARAMETERS AND ELECTROMAGNETIC TRANSIENTS PROGRAM 93

TO POWER CONDUCTOR
I.15 0.51 H TERMINAL

Al * * CI
0.7$uF 2.5}uF
T
E

410 MILE EQUIVALENT 410 MILE EQUIVALENT 280mH -_ 0.7p F

TWO-PORT TWO- PORT
T- r7mH IOOfl

6.33 :l
A2 * B2 *C2 1 III
GROUND

Fig. 12. Modeling of 820-mile series-connected transmission line. Fig. 15. Terminating network attached at Al, A2, Cl, and C2.
Voltage E = 0 in Fig. 16; E -1 or +1 (see text) for Fig. 17.1
=

VOLTS VOLTS P. U.
15.00

9.00- I -

3.00
0.00 -0- -.
-3.00-
B2
V. v
0.00 1.00 2.00 3.00 4.00
MILLISECOND S MIL-LISECONDS

Fig. 13. Response of frequency-dependent line to voltage step Fig. 16. Response of frequenicy-dependent line to
applied at Al. fault at Bi.

VOLTS P.U.
2.00-
1.80-- --
I.6C .. . .
VOLTS
15.00 1.40 ~B2 ----A

.0
1.00 - 2- B2-
0.80 .T
---.
.0

0.00 0.60.TI -
-3.00
B2 0.00 0.80 1.60 2.40 3.20 4.00 4.80 5.60 6.40 -13 ex
7.2C
MILLISECONDS
0.00 1.00 2.00 3.00 4.00
MILLISECONDS Fig. 17. Response of frequency-independent lines to fault at B1.
Smooth curves calculated using method of characteristics; oscil-
Fig. 14. Response of frequency-independent line (see text) to latory curves given by lumped element, multiple wr-section
voltage step applied at Al. model.

It is instructive to compare these results with those obtained
using the following model for a lossy, distributed, frequency-
independent line: The distributed line is taken as lossless and is
represented by a surge impedance and travel time calculated
for some particular frequency (300 Hz in the examples to follow),
and lumped resistances are chosen to match the total positive and
zero sequence resistances at that frequency. One-fourth of the
total resistance is placed at each termination of a section and
one-half lumped at the middle of each section. The method of
characteristics is used for calculation on the line [3]. Results are
given in Fig. 14 for the same excitation and terminations as on
the frequency-dependent line. The curves of Figs. 13 and 14 are
roughly similar; however, there are two characteristics in
which Fig. 14 differs from Fig. 13. For the frequency-independent
line the rise times of the positive and zero sequence waves are the
same. The wavefronts are arbitrarily steep depending on the
time increment chosen. Also the magnitudes of the horizontal
parts of the curves in Fig. 14 differ from those in Fig. 13.
For the frequency-independent line these magnitudes depend
on the frequency chosen to evaluate the line constants.
For the second example a fault was simulated at the midpoint
of the frequency-dependent line by a step of +1 per unit (pu)
volts at Bi. Initial conditions are zero everywhere. Nodes A 1,
A2, Cl, and C2 were each terminated by the lumped element net-
work shown in Fig. 15. The resulting voltages at B2, Al, and A2
are given in Fig. 16. In Fig. 17 are given two comparison curves.
The smooth curve is from the frequency-independent model,
previously described, with lumped resistance set to zero. The
oscillatory curve is a digital simulation [3] of the lumped element
network used on a transient network analyzer (TNA) to model
the line under study. Eighty-one 7r sections were used. In Fig. 17
the initial conditions were -1 pu volt on phase A1-Bl-C1 and
+1 pu volt on phase A2-B2-C2. The fault was simulated by a
+ 1-pu volt step at B1. The comparable quantities between
Figs. 16 and 17 are the transient voltages, which are plotted
directly in Fig. 16 and found in Fig. 17 by subtracting +1 or -1
from the plotted value.
The major interest is in the height of the peak at B2, which is
about the same for the frequency-dependent and frequency-
independent cases. Since the positive sequence wave travels
faster than the zero sequence one, we see that for this particular
case the resulting positive sequence voltage at midpoint is not
seriously affected by the frequency dependence of the line.
It is difficult to generalize this conclusion for other points on the

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 94 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, JANUARY 1970

line because the fault at midpoint has special properties. The where 'A is the phase current into phase 1 at A, VIA is the phase
peak voltage at B2 is composed of the positive sequence wave- voltage at A and IYAA is the admittance parameter that relates
fronts traveling from A2 and C2 on the unfaulted phase, meeting them, etc. When this is done for an appropriate range of fre-
at B2 and adding, plus a voltage coupled from Bi due to the quencies the admittance parameters will then be defined in the
positive sequence wavefronts from Al and Cl, which arrive at frequency domain. The complete set of equations for the phase
the same time at the fault. These conditions do not hold for currents, which includes (13), is then transformed to the time
other points on the line. The second (negative-going) peak at domain yielding a set of equations analogous to the set that
B2 is due to the zero sequence and this is very greatly distorted includes (11), but in phase variables. In the transients program
in the frequency-dependent case compared to the frequency- all past voltages will be recorded in phase quantities and all
independent model. The TNA simulation gives a curve generally calculations of the convolution integrals will be done in phase
similar to the frequency-independent distributed line model, but quantities.
it is difficult to interpret because of its oscillations.
CONCLUSION
GENERALIZATION OF METHOD A new method has been introduced for digitally modeling the
The above procedures are extended to cover any transposed frequency dependence of the line parameters in an overhead
transmission line in the following way. After grounding and transmission line. Advantages of the method are that it has the
bundling processes the reduced impedance and admittance potential of high accuracy and that it provides insight into the
matrices [Z] and [Y] in (3) will each contain all diagonal elements propagation of the aerial and ground modes. The user is free to
equal among themselves, and all off-diagonal elements equal choose terminations and excitations in accordance with the
among themselves. The following constant transformation general purpose transients program in which the line model is
[17] will diagonalize [Z] and [Y] where m is the number of embedded. The disadvantage of the method is the large amount
phases. of preparatory work necessary. Perhaps this could be automated
in the future.
1 1 1 1
11-rm 1 I
APPENDIX
1 1 1- m ... 1 WEIGHTING FUNCTIONS OF LoSSLEss LINE
[T] = I ...

Consider one of the two-port equations from [3, eq. (7a)]:

_1 I1 IA(t) = z-EA)- z
EB(t- T) -IB(t-T)
I1 1 1 *- 1-
-
where 'A, IB, EA, and EB are the currents and voltages at A and
- I 0 ... O
B, respectively, t is time, T the travel time associated with the
1 O -1 ... O
line, and z the surge impedance, a constant. From [3, eq. (3a) ]

1B - F)
T z
EB(t - T)--z EA(t-2T) -IA(t- 2T).
O O -ii

Substituting this in the above, there results

This transformation has the property that the diagonalized
impedance and admittance matrices each contain only two 1- 2- I
IA (t) = z EA - - EB(t - T) + z- EA(t - 2T) + IA(t - 2T).
distinct elements. Hence the labor involved in finding the z
weighting functions when m > 2 for a transposed line will be
only slightly greater than when m 2. =
If we continue to substitute in this manner for the past current,
Suppose we now consider the general case of an un- we find the general form
transposed line with m phases. We assume that for any 1- 2 o
frequency there exists a transformation that diagonalizes IA() = z- EA(t) + Z- E [EA(t- 2nT) - EB(t - 2nT)].
[Z] and a transformation that diagonalizes [Y]. Although n=1
the existence of such transformations would be difficult to This can be formally expressed as
prove theoretically, in practice diagonalization usually seems
possible. The transformations will, in general, be different rO1 _co l 2
for each frequency. At each frequency there will be a pair of two- IA(t) = 3(t - r)EA(T)dT + E { 3(t - 2nT - r)
port equations such as (8) for each mode. The two-port mode
equations are expressed in phase quantities by combining the
proper mode currents to find each phase current and substituting EA (r)dr -
cozo
-[t- (2n 1) T- r]EB(r)dr}
-

phase voltages for the mode voltages. The result of this process
will yield a set of equations in phase quantities. For phase 1 the Comparing with (11), we see that the weighting functions are
equations are strings of impulses as shown in Fig. 11.
IA = 1YAA V1A + 2YAA V2A + **YAA
Y VmA ACKNOWLEDGMENT
The author expresses his appreciation for the assistance given
+ lYABVlB + 2YABV2B + *MYABVmB by Dr. H. Dommel, Dr. N. Hingorani, Mr. J. Walker, Dr. N.
IB = lYBA VIA + 2YBAV2A + *** mYBAVmA Dravid and Dr. E. Ogbuobiri. Mr. R. Hasibar obtained Fig. 17
in another study. The encouragement of Mr. W. F. Tinney is
+ lYBBVlB + 2YBBV2B + nMYBBVmB (13) also appreciated.

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 BUDNER: FREQUENCY-DEPENDENT LINE PARAMETERS AND ELECTROMAGNETIC TRANSIENTS PROGRAM
REFERENCES
[1] J. R. Carson, "Wave propagation in overhead wires with
ground return," Bell Sys. Tech. J., vol. 5, pp. 539-554,
1926.
[2] D. E. Hedman, "Propagation on overhead transmission lines,
pt. I: theory of modal analysis," IEEE Trans. Power Apparatus
and Systems, vol. PAS-84, pp. 200-205, March 1965; "pt.
II: earth conduction effects and practical results," ibid., pp.
205-211.
[3] H. W. Dommel, "Digital computer solution of electromag-
netic transients in single- and multiphase networks," IEEE
Trans. Power Apparatus and Systems, vol. PAS-88, pp. 388-
399, April 1969.
[4] A. Arismunandar, W. S. Price, and A. J. McElroy, "A digital
computer iterative method for simulating switching surge
responses of power transmission networks," IEEE Trans.
Power Apparatus and Systems, vol. 83, pp. 356-368, April
1964.
[5] A. J. McElroy and H. M. Smith, "Propagation of switching-
surge wavefronts on EHV transmission lines," AIEE Trans.
(Power Apparatus and Systems), vol. 81, pp. 983-998, 1962
(February 1963 sec.).
[6] A. G. Heaton and R. Edwards, "Implementation of a numerical
method for transient analysis of power systems with lumped
and distributed frequency-dependent parameters," presented
at the IEEE Summer Power Meeting, New Orleans, La.,
July 10-15, 1966.
[7] N. Hylten-Cavallius and P. Gjerlov, "Distortion of traveling
waves in high-voltage power lines," ASEA Res., vol. 2, pp.
147-180, 1959.
[8] K. Iwamoto, "Deformation of traveling waves in overhead
transmission line due to earth skin effect," Electrotech. J.
of Japan, pp. 45-49, June 1958.
[9] J. A. Robert and K. Tran-Dinh, "New digital simulation for
ground-mode switching surge response of EHV transmission
systems," IEEE Trans. Power Apparatus and Systems, vol.
PAS-88, pp. 597-603, May 1969.
[10] M. J. Battisson, S. J. Day, N. Mullineux, K. C. Parton, and
J. R. Reed, "Calculation of switching phenomena in power
systems," Proc.IEE (London), vol. 114, pp. 478-486, April
1967; discussion, pp. 1457-1463, October 1967.
[11 A.I. Dolginov, A.I. Stupel', and S. L. Levina, "Algorithm and
program for a digital computer study of electromagnetic
transients occurring in power systems" (in Russian), Elek-
trichestvo, pp. 23-29, August 1966; English transl. in Elec.
Techn. in USSR, vol. 2-3, pp. 376-393, 1966.
[12] H. W. Dommel, "A method for solving transient phenomena in
multiphase systems," Proc. 2nd. Power System Computation
Conf. (Stockholm, Sweden), Rept. 5.8, 1966.
[13] W. D. Stevenson, Jr., Elements of Power System Analysis,
2nd. ed. New York: McGraw-Hill, 1962.
[14] M. Schwartz, Information Transmission, Modulation, and
Noise; A Unified Approach to Communication Systems. New
York: McGraw-Hill, 1959, ch. 2.
[15] E. 0. Brigham and R. E. Morrow, "The fast Fourier trans-
form," IEEE Spectrum, vol. 4, pp. 63-70, December 1967.
[16] J. W. Cooley, P. A. W. Lewis, and P. D. Welch, "Application
of the fast Fourier transform to computation of Fourier inte-
grals, Fourier series, and convolution integrals," IEEE Trans.
Audio and Electroacoustics, vol. AU-15, no. 2, pp. 79-84, June
1967.
[17] H. Karrenbauer, "Ausbreitung von Wanderwellen bei ver-
schiedenen Anordnungen von Freileitungen im Hinblick auf
die Form der Einschwingspannung bei Abstandskurzschluis-
sen," dissertation, Munich Institute of Technology, Munich,
Germany, 1967.
Discussion
Arun G. Phadke and Harold A. Peterson (University of Wisconsin,
Madison, Wis.): Dr. Budner has made a very interesting analysis of
this problem using an approach that is unique in that calculations
are made in the time domain. The results are rigorous for the in-
herently symmetrical case of adc line when the describing equations
are solved based upon Carson's work published in 1926 [1]. This
paper seems to be among the first to present a practical method of
including the effects of frequency upon the ground-mode propagation
in a transient analysis program.
Manuscript received May 28, 1969.
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95
2. 0
1.5
v
1.0
0.5
0
0 10 20 30 440 5q
(m sec) t
Fig. 18. Response of line representation with RLC constant to
zero sequence excitation; line length, 800 miles.
From the standpoint of transient voltage magnitudes, there
appears to be little difference between this rigorous approach and
the frequency-independent (i.e., attenuation without distortion)
approach. Either approach yields results comparable with what one
would expect to obtain using a TNA.
From the standpoint of transient voltage shapes, however, there
appear to be quite significant differences between the two approaches.
These differences are most significant for the zero sequence mode.
With the unusually long lines being analyzed, the overall effect is
quite striking. A comparison of Figs. 13 and 14 clearly shows that a
more accurate representation of the ground-mode propagation
gives rise to a marked distortion and sloping of the wavefront of
this mode. In this connection, we would like to point out that the
TNA representation of the transmission line will not produce a
response as shown in Fig. 14 (even when the oscillations corre-
sponding to a finite-section representation are discarded). Insofar as
comparisons are concerned, it should be emphasized that the TNA
provides a simulation that recognizes both attenuation and distor-
tion while at the same time it is subject to limitations of a finite-
difference approach.
Two recent theses at the University of Wisconsin [18], [19]
have dealt with these effects, and perhaps some of their findings
may be of interest.
Assuming a smooth line with constant,R, L, and C per-unit
length, the mode voltages and currents have a propagation constant
F: E=EoeP-x, wherer= VI(R + sL)sC and ElI = Z =
x/R + sL/sC. A distortion-free approximation to the line is ob-
tained by taking leading terms of the power-series expansion of
the above radicals:
r =V/LC i R/sL)"1'2 = SV/LT1 + R/2sL
+J )
z = -VL/C(l + R/sL)"2 =- LC(1 + R/2sL+* ).
Taking only the first two terms of r will produce the delay and
attenuation (but no distortion), and the results obtained from such a
representation will be similar to Fig. 14.
Taking more terms of the power-series expansion (or better yet,
taking a continued fraction approximation) gives a representation
that is closer to representing a smooth line with RW constant. In
the ground-mode, where RIL is quite large, the results of a better
representation are shown qualitatively in Fig. 18. Notice the distor-
tion in this case, which is quite different from Fig. 14, and a TNA
representation produces results that are in very close agreement
with Fig. 18. As mentioned previously, a representation of this type
does produce steep wavefronts on all modes, and in this respect the
representation of Dr. Budner's paper is a definite improvement.
Incidentally, thedc offset
of YAA and YAB mentioned in the paper
has a counterpart in the method of expansion discussed above.
When a Taylor expansion is truncated at a certain power of s, the
remainder introduces an error in the result which produces adc
offset in the response to a step-function excitation. The remedy
 96
found in this instance is to use a modification of the power-series
expansion that produces no dc offset and sacrifices some of the
accuracy in the early part of the transient.
Certainly in evaluating the effectiveness of terminal surge pro-
tection and filtering equipment, this pronounced "distortion"
merits careful consideration. This same distortion of the zero se-
quence mode voltages makes the feasibility of a fault locator based
upon a simple relation between distance of fault location from the
converter terminal on the one hand and difference in arrival times of
positive and zero sequence mode surges on the other hand somewhat
doubtful. Clearly, additional studies would be needed to throw
conclusive light on this topic. The rigorous approach disclosed
represents a clear step forward in the understanding of transients in
extremely long lines and in disclosing limitations of various less
rigorous simulations.
REFERENCES
[18] D. Van Dommelen, "Hybrid computer studies of traveling
waves on transmission lines," M. S. thesis, University of
Wisconsin, Madison, Wis., 1966.
[19] S. Virmani, "An analysis of transmisson lines on the same
right of way using a digitally simulated hybrid computer,"
Ph.D. dissertation, University of Wisconsin, Madison, Wis., 1967
D. E. Hedman and W. F. B'Rells (General Electric Company,
Schenectady, N. Y., now with Power Technologies, Inc., Schenec-
tady, N. Y.): The authors have given a detailed description
of the method they have developed for simulating wavefront dis-
tortion in a two-pole transmission line. These results are of con-
siderable theoretical importance and show the major problems result-
ing from a numerical calculation of the inverse Fourier transform.
The choice of a two-pole transmission line considerably reduces
the theoretical problem of developing eigenvectors for a multiphase
transmission line [2]. The eigenvectors for a two-pole transmission
line of horizontal construction are easily found as a ground mode
(push-push on the two-phase conductors) and a line mode (push-pull
on the two-phase conductors). For this type of construction, a very
simple transmission line solution-(6)-is easily obtained. Although
it would appear from the paper that the T-transformation should
work for any two-pole line, a detailed theoretical review would
show that a two-pole line of nonhorizontal construction would
result in a slightly modified set of eigenvectors. These eigenvectors
will be a function of the frequency used in calculating the trans-
mission line equations. This problem is even more complex for a
three-phase transmission line where again the eigenvectors are a
function of frequency. The authors may wish to comment on the
problem of developing the inverse Fourier transform when the
eigenvectors are not constant with frequency.
The problems of evaluating the inverse transform numerically
are not particularly simple. The authors have shown a good deal of
imagination in utilizing the recently developed fast Fourier trans-
form (FFT). It would be interesting to know how long it takes for
the computer to utilize the 1025 (shouldn't this be 210 = 1024?)
values for YAA or YAB in the calculation of YAA(t) or YAB(t). Certainly,
the direct method of calculating the inverse Fourier transform
would become prohibitively time consuming when so many points
are considered.
Even though the theoretical steps appear to be perfectly sound,
this does not guarantee the accuracy of the final results. As the
authors point out, numerical inaccuracies in the inverse transform
can result in high-frequency peaks being received at a time less
than the speed-of-light travel time of the transmission line.
The authors stated that they modified the output from their FFT
calculations (Figs. 7-10) by removing these peaks and certain dc
offsets. It was not completely clear whether or not the authors have
performed an analysis using more points in the frequency domain
in order to justify this altering of the time functions YAA and NAB-
One must therefore carefully evaluate the total result to assure that
errors in the numerical work are not degrading the final system
answer.
Manuscript received May 28, 1969.
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IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, JANUARY 1970
K. R. Shah (Virginia Polytechnic Institute, Blacksburg, Va.):
The accuracy of the results in the study of power system transients
depends on how well the transmission line is represented or its be-
havior simulated. It is well known that the constant transmission
line parameters do not explain the attenuation and distortion of
fault and switching surges on a transmission line. These can be
explained by including the frequency dependence of transmission
line parameters to consider the skin effects of the conductor and
earth.
The Fourier transform, in which frequency is a variable parameter,
was therefore a logical choice for the author to have used. However,
in evaluating time functions NAA and NAB, the inverse transform of
YAA and YAB involves complex integrand and hence may be evaluated
using numerical integration techniques. It is therefore necessary
to consider the finite range of integration instead of - , . The
choices of the upper frequency limit and frequency increment are
crucial for obtaining accurate results with a minimum of computer
time.
The sharp peaks of YAA and YAB in Figs. 3 and 4 are attributed to
the choice of frequency increment. This may be because if the poles
of the integrand of the inverse Fourier transform lie close to the
path of integration, then the integrand peaks at intervals along the
path of integration. The use of the small-frequency increment
Af would eliminate this problem but this would increase computa-
tional time. Hence the use of the Laplace transform to move the
path of integration away from the poles by properly selecting
a(s = o- + jw) is preferable. Moreover, when using Fourier transform,
the question of convergence while dealing with step functions
arise [20], [21]. This may not be the case if one uses the Laplace
transform.
In order to simulate fault conditions at B1, it is necessary to
apply a fictitious voltage source of -1 pu volts (instead of + 1 pu),
while the system is at rest and all the sources are removed. In
doing this, it is assumed that we are considering only the dc trans-
mission system, because if the line under consideration had been
ac, then it would have been necessary to apply a sinusoidally varying
fictitious voltage source [22]. However, if one is interested in deter-
mining the response in the first few microseconds after the inception
of fault, then a step voltage equal and opposite to the point in
question should be applied.
It is well known [5], [8], [10], [22], [23], that the results obtained
either by TNA or by assuming constant distributed parameters
(with either a lossy or lossless line) do not fully explain transient
behavior. Hence it would be better to compare the results with
those of existing approaches such as [10] or [24]. Such a comparison
would be very useful to the research workers in this field. It may be
noted that even for short duration surges, by considering skin
effects of conductor and earth, using different approaches [23]-
[25], there appears to be a noticeable difference in attenuation and
distortion of wavefronts. Has the author compared his results with
[7] for short-duration surges?
In conclusion, I would like to add that verification of the results
(which considers frequency dependence of transmission parameters)
with the field test would be extremely useful.
REFERENCES
[20] S. J. Day, N. Mullineux, and J. R. Reed, "Developments in
obtaining transient response using Fourier integrals, pt. I:
Gibbs phenomena and Fourier integrals," Internatl. J. Elec.
Engrg. Educ., vol. 3, pp. 501-506, November 1965.
[21] ',"Developments in obtaining transient response using
Fourier integrals, pt. II: use of the modified Fourier transform,"
Internatl. J. Elec. Engrg. Educ., vol. 4, pp. 31-40, January
1966.
[22] K. R. Shah, "Analysis and detection of fault-transients in
power systems," Ph.D. dissertation, University of Missouri,
Columbia, Mo., 1969.
[23] T. Mine, "Attenuation and distortion of traveling waves on
transmission lines due to skin effect," University of Engineering
and Technology, Himeji, Japan. Res. Rept. 2, 1952.
[24] E. D. Sunde, Earth Conduction Effects in Transmission Sys-
tems. Princeton, N. J.: Van Nostrand, 1949.
[25] R. Rudenberg, Transient Performance in Electric Power Sys-
tems. New York: McGraw-Hill, 1950.
Manuscript received June 5, 1969.
 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, VOL.
Alan Budner: I thank the discussers for presenting their comments.
Prof. Phadke and Prof. Peterson have pointed out significant
similarities and differences between TNA results and results obtained
with the frequency-dependent line. A balanced evaluation of the
relative capabilities of the TNA and digital simulation requires a
collection of these kinds of data. They have also directed attention
toward a practical implication of this work; frequency dependence
may be an important consideration in the design of certain fault
locators.
All discussers have commented on the difficulties of the numerical
inversion. This is not a simple problem. To answer the specific
questions of Mr. Hedman and Mr. B'Rells concerning Figs. 7-10, at
first an increment of 25 Hz was used in the frequency domain and the
dc offset in the time domain was about twice that shown in Figs.
7 and 8. The frequency increment was then decreased to 12.5 Hz
with the resultant de offset as indicated in Figs. 7 and 8 and with
little other change in the shape of the waveform. The number of
data points doubled in this process because the upper frequency limit
(12.8 kHz) was being held constant. Another decrease in frequency
increment would have resulted in overflow in the available data
space in the computer (IBM 7040), and so the process was stopped at
this point. It seems doubtful that the waveforms would have been
significantly affected (except for the offset) by carrying the process
further.
In the case of Figs. 9 and 10, the calculations were not repeated
with a greater upper-frequency limit. Again, this was due to com-
puter limitations. The inclusion of higher frequencies, besides
probably reducing the nonphysical effects, would very likely result
in the positive sequence waveforms of Figs. 9 and 10 looking more
like the lossless line waveforms of Fig. 11, as they do to a considerable
extent already. The connection between truncation in the frequency
domain and the appearance of extraneous signals in the time domain
appeared in some of the author's related work and it seems reason-
able that the same effect is present in Figs. 9 and 10. As a final
Manuscript received June 27, 1969.
Digital Representation of a
System and Its Controls
JAMES F. CLIFFORD, MEMBER, IEEE, AND
Abstract-This paper discusses the mathematical representation
of a dc transmission system and its controls. Presented for com-
parison are digital computer study results of the same studies per-
formed on an intermediate power level model of a parallel ac/dc
transmission system. Also presented are the mathematical repre-
sentations of the several ac components of the model system.
Paper 69 TP 2-PWR, recommended and approved by the Power
System Engineering Committee of the IEEE Power Group for
presentation at the IEEE PICA Conference, Denver, Colo., May
18-21, 1969. Manuscript submitted January 6, 1969; made avail-
able for printing October 1, 1969.
J. F. Clifford is with the Jackson and Moreland Division, United
Engineers and Constructors, Inc., Boston, Mass. 02116, on assign-
ment with the Edison Electric Institute AC/DC System Operation
Research Project.
A. H. Schmidt, Jr., is with the Bureau of Reclamation, U. S.
Department of Interior, Denver, Colo. 80202, on assignment with
the Edison Electric Institute AC/DC System Operation Research
Project.
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PAS-89, NO. 1, JANUARY 1970 97
comment on this matter, the extraneous effects in Figs. 7-10 may
not be completely a numerical problem. Idealized assumptions in
Carson's work, such as an infinite, uniformly resistive earth, could
be a contributing factor.
The FFT algorithm employed in the paper was programmed to
accept 21" or 2048 complex points. However, because of symmetries,
only 1025 independent points are needed. Execution time for the
inversion on the IBM 7040 was 55 seconds; this comprises the run-
ning time for the FFT algorithm and some specialized input-output
routines. The FFT algorithm is well worth the attention of anyone
engaged in discrete Fourier transform work.
In response to Prof. Shah, the reason for the sharp peaks in YAA
and YAB of Figs. 3 and 4 was indicated in the first paragraph under
Calculation of Convolution Integrals; these peaks are not connected
with the increment in the frequency domain. Also, it is not evident
that use of the Laplace transform would improve the numerical
inversion technique because it would be necessary to manipulate a
third parameter a-, the abscissa of convergence, in addition to the
other two (the upper frequency limit and the frequency increment).
There seem to be few examples of numerical evaluation of the La-
place inversion integral in the literature.
Incidentally, the problem of convergence in dealing with step
function response does not arise in the technique used in the paper
because it is the Fourier transform of the impulse, not the step,
which is used. It is dc transmission which is being simulated, as
Prof. Shah points out. The initial conditions for the fault study are
as indicated in the third paragraph under Results.
I agree with Mr. Hedman and Mr. B'Rells that, in general, if the
plane of the two power conductors is not parallel to the earth, then
the eigenvectors will be functions of frequency. It was not meant to
imply that the T-transformation would work for any two-phase
case. My comments on the general problem of frequency-dependent
eigenvectors are contained in the Section Generalization of Method.
Finally, the comparisons with existing methods indicated by
Prof. Shah would be interesting. However from a practical stand-
point, comparison with field data is more pertinent and it is hoped
these data will be available early in 1970.
DC Transmission
ALBERT H. SCHMIDT, JR., MEMBER, IEEE
INTRODUCTION
IN 1963, the Joint Task Force on DC Transmission of the
Edison Electric Institute (EEI) recommended that the AC/
DC System Operation Research Project be initiated. An inter-
mediate power level (700-kW) ac/dc model system was made
operational in the spring of 1967. A detailed description of the
model has been given previously [1].
Among the several objectives of the research project is to
demonstrate that a digital representation of do transmission
lines and their controls is adequate. By supplying the known
parameters of the model system as input data for a computer
program, the results of the stability studies can be compared
with actual model performance.
A small system program has been written to simulate the
model as closely as practical, and in spite of minor differences in
model system parameters as compared with actual power sys-