NUMERICAL MODELLING OF FREQUENCY-DEPENDENT TRANSMISSION-LINE PARAMETERS

IN AN ELECTROMAGNETIC TRANSIENTS PROGRAM

W. Scott Meyer Hermann W. Dommel
Bonneville Power Administration University of British Columbia
Portland, Oregon 97208 Vancouver 8, B.C. (CANADA)
ABSTRACT
The convolution theorem of Fourier transformation theory But in actuality, neither R nor L are independent
provides an "exact" solution to the representation of of frequency. Line constants calculated using Carson's formula6
frequency-dependent line constants of distributed-parameter show significant variation for the ground-return (zero-sequence)
transmission lines. This paper emphasizes modelling aspects mode, as in Fig. 2. Yet the line equations remain linear, which
crucial to accurate and efficient numerical solution by digital means that superposition still applies. As shown in ref. 3,
computer, as part of a production electromagnetic transients Fourier transformation then provides a rigorous solution to the
program. Sample results simulating a field test are included. problem. Conceptually, the time-varying voltages and currents
are transformed into the frequency domain, displaying their
I. INTRODUCTION frequency spectrum; then for any frequency f the
appropriate line constants are known (Fig. 2), so the associated
Transient phenomena of electric power networks can be incremental response can be found; finally, all such incremental
studied using either transient network analyzers or responses are added up by means of inverse Fourier
general-purpose electromagnetic-transients programs. In either transformation back to the time domain, thereby giving the
case, one finds the time response (voltages and currents as total response. This is the theoretical basis for the method,
functions of time) for any given interconnection of resistors, summarized by the formulas:
inductors, nonlinear elements, switches, sources, and
transmission lines. 1. F(jw) = 6Z { f(t) } Fourier transformation.
References 1 and 2 describe such a program, wherein 2. G(jw) = F(jco). H(jco) Incremental response. (1)
transmission lines (see Fig. 1) are assumed to be either
distortionless, or lossless, with line resistance lumped 3. g(t) = -1 { G(jw) } Total time response.
"externally" (1/4 at each end; 1/2 in the middle). Line
parameters are assumed to be constant. Bergeron's method of But most applications (e.g., switching transients) dictate
characteristics then allows representation of the line at new simulation in the time domain. Convolution theory allows the
time instant t by two decoupled resistances and two preceding steps to be replaced by
current sources depending on past history.1S2 Suchh
single-conductor formulas are extended to multi-phase lines by g(t) =£f(t-u)h(u)du (2)
means of modal transformation, of course. Transmission-line
dynamics are thus represented by coupled, lumped-parameter, where
resistive equivalents which are solved at new time t as part h(t) {H(jw) (3)
of a network solution which includes the equations of all
lumped elements as well. This general procedure was Budner's3 contribution to the
solution.

Snelson4 noted that numerical approximation to (2) could

be greatly simplified by transforming the time-domain variables
Vk, ik, Vm, and im into new variables fk, bk, fm' and bm,
where
A bk =v - Zlik bm Vm Ziim
&k .4 Parameters T+ fk = + Zlik fm = vm + Ziim (4)
f
R= resistance EQ/m)
Vk L = inductance [H/m] Vm Z = lim Zo (jco)
' C a capacitance [F/m] CAI* 00
d* line length [m]

- i i;~~Ert
Fig. 1. Single-phase transmission line connecting 12
nodes k and m. E

-- C O t. _ . <: ......~.... _. u t...

lo2 KP° 102 n I10 108

Paper T 74 080-8, recommended and approved by the IEEE Transmission & * H
Distribution Committee of the IEEE Power Engineering Society for presentation at eq fI Z
the IEEE PES Winter Meeting, New York, N.Y., January 27-February 1, 1974.
Manuscript submitted September 4,1973; made available for printing Novemberl16, Fig. 2. ITypical frequency dependence of zero sequence
1973. R and L, for overhead 500-kV line.
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For the frequency-domain equivalent of (4), the variables bk,
etc. are simply replaced by Bk(j), etc. Applying this t
al(t)+
transformation to the well-known line equations in the t) +
frequency domain,8 _ + a2(t
^ k 2 trs2 Z
Vk(jc) = cosh
rsinh T m- cos
(y cd) Vm(jc) -
Zosinh (yd)
' Im(j")
m'J'-'b ZI
Earth~~~~~a2m
Ik(j -) =
(csinh(yd) Vm(j) - cosh ( d) Im(j _
(5)
R + jcL Fig. 4. Shock-excitation of line yields ai(t), a2(t).
Zo= y = '(R+jcoL)(G`+jcoC)
G + jcoC
the terminal voltages to ground provide a physical measurement
results in of the weighting functions:
Bk(ic) = A2(ic)Fk(jco) + Al(jo)Fm(jO) al(t) = 2vm(t)
Bm(jco) = A1(j)Fk(jco) + A2(Ico)Fm(i) )
(6a)
a2(t) = 2vk(t)
~~~~~~~~~~~~~(for
t >0O) (10)

where With a voltage impulse applied at the sending end

A1(jc3 = 1 k, the receiving-end voltage vm(t) would be expected to
be sort of spike, delayed by about the travel time r
coshQd) + '/i(Z1/Z0 + ZJ/Z1)esinh ('yd) of some
the line. This was corre'ctly recognized in ref. 4, with
Fig. 5a showing a typical example. Although multiple
(6) reflections (i.e., at times 3 'r, etc.) do exist, they are small, and
A2(ico) = ' (Z01Z1 - Z1/Z0) sinh (vd) .A1(c) (6b) for practical numerical purposes are lost in the "noise." This
accounts for the efficiency of SSnelson's formulation.
This relation is then' transformed to the time domain by means
of (2). Ignoring the integral contribution over negative values
(where integrands are zero; see Section II) finally gives
characteristics (see Fig. volg vk(t)5
00
a. As t - 0+, a2(t) - + 00 This is because at
bk(t) = I(fm(t-u)ai(u)
C
+
fk(t-u)a2(u)1 du time zero an infinite voltage was applied, which
decays with time.
00
p00 (7a)
bm(t) = I(fk(t-u)al(u) + fm(t-u)a2(ujldu
m j b. Near time equal to two travel times of the line,
0
Oa2(t) changes sign, producing a strong negative
where pulse, as recognized in ref. 9. This corresponds to a
reflection of the original pulse, which has returned
al(t) = 7 {A1(jw) } a2(t) -= -.~v' -1 {A2j0c) (7b) from end m.
Eqn. (4) implies the equivalent circuit of Fig. 3, with bk and Further reflections than those just mentioned are lost in the
bm computed using (7), which fits naturally into the program noise, unless integration is performed with extreme accuracy.
of ref. 1. This simple transformation of variables produces
enormous computational dividends, as explained in ref. 4. The
coefficients al and a2 in (7) are called weighting functions; III. DC RESPONSE AS ERROR-ESTIMATE TQOL
they are constant functions of the line which can be
precomputed for each specific line before beginning the For a better understanding of the weighting functions
simulation. ai(t) and a2(t),' and also to check on the numerical
accuracy of their calculation, it is instructive to consider the
II. MEANING OF WEIGHTING FUNCTIONS a1(t), a2(t) transmission line response to dc excitation. Replacing the unit
impulse 6(t) in (9) by its integral, the unit step function
Since the frequency-domain equivalent of (7a) is given by u(t), one'is led to the configuration of Fig. 6. But from
(Ga), interpretation of ai(t) and a2(t) can be provided linear system theory7, changing the input from an impulse to a
by setting Fk(jco) = 1 and Fm(jco) = 0. In the time
domain as per (4), 1 ; t -4-HU
Vk+Zlik = (t) vm + Z ii = 0 (9

which correspond to the termination of Fig. 4, where the line g

zero. Then the relations Bk =A2 and Bm= A1 show that 0

1- 1 1 1 1

a z t in microseconds t in microseconds
_ s ~~~~~~~~
Fig. 5. Sample weighting functions ai(t) and (b)
(a)
a2(t), for
Fig. 3. Equivalent circuit representing (4) and (7a). zero-sequence- mode of 10-mile, 500-ky 'line.
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 Close Switch at t = O The small total area under a2 is produced largely by
cancellation of the positive and negative areas (both of which
=3] are about 0.06 in magnitude).

Extension of the preceding results to lines having nonzero

Vk
r_*'
w
J 2(y)d t
I conductance G [mho/m] is easy. Fig. 6 still applies,
though now Fig. 7 has the lumped resistance R-d replaced
0 Vm= 1 2
J
Z1
- O|(y)dy y 1
[a by a distributed-parameter resistive network. Solution can be
o obtained using (5) to represent the line, provided one therein
zi > t l l
1V _- |
sets X = 0. The result is to replace the right-hand sides of
(12) by those of (6b).

Earth IV. REPRESENTATION OF INFINITE LINE

Fig. 6. DC excitation provides integrals of al, a-2. Applications exist where one would like to rigorously
represent a transmission line only from one end, ignoring the
step merely integrates the original output. Hence (10) is effect of the far-end termination. An infinitely-long line
replaced by (Fig. 8) satisfies these needs.
t Analytical representation is simple. As well known 8 the
Jal(Y)dy= 2vm(t) frequency-domain solution is of the form
o (for t>0) (1)
ft a2(y)dy
0
= 2vk(t) - 1 V(x) = C1eYx +
C2elex
(16)
That is, in Fig. 6 the terminal voltages directly yield the l(x) =- Ceyx - C2e1xl
integrals of the weighting functions. ZOLJ
The limiting value is the steady-state dc response, as Since y has positive real part, and voltage and current must
t - oo . Then all transients have died out, and assuming no remain bounded for all x, C1 clearly must be zero. As a
shunt conductance G, the line is simply modeled by total result, V(x) = ZoI(x) for all x, including terminal node
line resistance R-d (see Fig. 7). The solution is obvious by k where x = 0. In terms of variables bk and fk
inspection: of (4),

al(t)dt = a22Zl(t)dt + Rd(12) dZo-10,)

BO(c) = F -
Zi1 Fk(j) = A2(jco)Fk(jw) (17)
(12) LZo(") + Z1J
t ~~Rd
R
Ja2(t)dt
0 = 2Z1 + Rd which is a simplification over (6). In fact, this is the limiting
case of (6) as d -+o0 ; the far-end response al in Fig. 5
-.
Adding these two does yield unity,, a relation previously disappears,
d and the entire unit area appears under a2.
recognized by ref. 4. Eqn. (17) provides a very efficient means of computing
Asa2 per
(t) near
the Fig.t 40, excitation,
where it for
goestimes
to infinity (seetheFig;travel
5b).
=
The preceding formulas show that as lie length d varles less than-
from zero to infinity, the total unit area shifts from ai to time T, sending-end voltage vk is identical for the finite
a2; that is, and the infinite lines; if no signal has reached the finite
o °00 termination, that termination can have no effect. This is shown
d = 0 ~' f al(t)dt = 1 & Ja2(t)dt
d 0 a2(t)dt = 0
= in Fig. 9, corresponding to Fig. 5b except that now line length
o is infinite. But it is computationally much easier to
00 (13) inverse-transform the A2(jw) of (17) than that of (6b). Unlike
d =
Sal(t)dt = 0 & a2(t)dt = 1 the cyclic variations of (6b) which are displayed in Fig. 10,
A2 of (17) decays smoothly with frequency. Accepting linear
interpolation on A2 between any two frequencies wl and
In between, both weighting functions are present and have W2, the integral contribution of inverse transformation over
nonzero areas, though for typical applications one has this range then can be exactly calculated:
R-d < Zl, and the net a2 area is small. For example, the
Fig. 2 line constants apply to Fig. 5, giving .t
=W2
J(r+sw)eiC'tdw = {r + s (w + j/t).eJt J (18)
-

Z =382.42 2 R-d= 0.20 (14)

00 00 ~~~~~~~~~~(14)
Jal(t)dt = .99974 f a2(t)dt = .00026

k-11- ++X
I A ~~~% AA
lv - . R-d +ttk ++ to 0
T vk vm t Z1 Vk
Earth
Fig. 7. Circuit representing (11) as t-o. Fig. 8. Infinitely-long transmission line.
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 ~6000
4000 20
C" 6IK \~ ~ ~ ~ ~ ~ ~ ~ ~ ~a(u)
_T
___ __ __\__ __ _l

0 20 40 60 80 loo . _.U__u
Time t in microseconds U0 uo+t&t uo+2A1
Fig. 9. Impulse-response a2(t) for infinite line Fig. 11. Illustration of problem with fast transient
having parameters of Fig. 2. in a(u).

Rather than using uniformly-spaced points as with (6b), one

can here use geometric spacing, with typically 5 or so points
per decade yielding good results. One can accurately integrate original restriction that At be small enough to accurately
to extremely high frequencies at little extra cost, and thereby track the a(u) variation. As an example, consider the al
accurately reproduce the a2(t) curve in Fig. 5 for times of Fig. 5a, and a At of 20 ,isec. A normalized comparison
t < r. between weighting coefficients reveals substantial differences
around the peak:
V. INTEGRATING FAST TRANSIENTS OF al(u), a2(u)
Time uk = kAt 40,us 60,us 80,us 100,us
When using a program based on trapezoidal-rule (linear
interpolation) integration,1,2 one is tempted to likewise use this wk = a1(uk)At .000 .929 .055 .015
rule for the numerical calculation of (7a):
twk using (20) | 081 | 765 | 130 | 018 |
00 00
ff(t-u)a(u)du
t
At. { ½f(t-Att)a(At) + Z f(t-kAKt)a(kAt) }
k2
(19) Of course the integral calculations in (21) are only performed
once, as an initialization, so they can be computed with great
Yet while f(t-u) may reasonably be assumed to vary linearly care.
over a time step At, such certainly is not necessarily the The computational importance of this development is
case with a(u) (see Fig. 11). Accuracy can be gained by worth emphasizing. Recall that a reduction in At not only
linearly interpolating on f(t-u), while treating the increases the number of history points used for each
a(u) variation exactly. The result is convolution operation, but also increases the number of
problem time-steps. More precisely, convolution effort varies
S uu+At
Jf(t-u)a(u)du = H0f(t-u0) + H1f(t-u0--At) (20)
inversely as the square of At. Hence the above procedure is
clearly preferable to using just (19) with artificially-small
uo time-step size.
It is also readily shown that, should a(u) vary linearly
where Ho (n+1)t - n H1 = - nt
(21)
over (uO, uo+At), then (20) - (21) degenerate to the
trapezoidal rule of (19).
At
(n+1) At 1 (n+l)/t VI. IMPLICIT INTEGRATION FOR f(t-u)a(u)du
u = n At o SnAt a(u)du 71= -*
at nAt
ua(u)du 0
Having accurately determined the weighting functions
al(t) and a2(t), their use in (7a) over the range
One is again led to a point-weighting of past history, just as 0 < u S At requires some care. While theoretically f(t-u)
with (19). But use of these new weights of (20) gives for u> 0 is history, the discretization with time -step
improved accuracy, along with complete freedom from the At means that only at points u= At, 2At, etc. are values
actually known (see Fig. 12). Rather than ignore the
contribution over this first panel, it is better to in one way or
another estimate f(t-u) over this range, and then integrate

8> 0 8t+ -t--t 1- i <

q-16 + |unknown
.i6 ~ ~ ~current
~~~~
06~~~~~~~~~~~
point f (t) 'known
,.02'.0 Frequency
I I,, in Megahertz
--Il * i l-l 1--- nI history
Fig. 10
C r of (5 e A2(jc-)t- betw ( and
.02 04 \

(7,for te line o i.5.Fg 2.Hsoy fo (-)in (7)Meginseatzut| t

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using this estimate. Now instead of extrapolating using just a point is clearly simplest, it is not generally the most accurate
history points, it is believed more accurate and consistent to or economical treatment. An improvement is provided by the
interpolate using the currently-unknown point f(t) together assumption of an exponential tail,
with one or more history points. Such is the procedure for
implicit integration. Using just linear interpolation on a(t) = P-eqt (for t >Tmax) (29)
f(t) and f(t-At),
f(t-u) f(t) +
frt)
f(t- At),)
and

f(tA-At) - f(t) * U (22)

where P and q are determined by imposing two
conditions. One natural constraint is to require the correct
At total area,
Atail =fTmax
a(t)dt = - e(qT30
q
The contribution to (7a) is then of the form
At The second condition is not as obvious. Rather than making
J a(u) f(t- u) du = d .f(t-At) + g.f(t) (23) a(t) continuous, it is believed better to perhaps make the
first moment (center of gravity) correct.
where
d = 41'
AtheAt
=ua(u)du
d At u-a(u)du g =| a(u)
a(u)du
du -- d (24) (7a)
In any case, having selected P and q, use of (29) in
is very efficient. Suppose that at time tn one knows
the desired integral contribution,
The d.f(t-At) term is known history, while g-f(t) involves tail r'
the currently - unknown variables. Combining the latter with the Sn = 4 {f(tn-u) -
Pequ } du (31)
b(t) in (7a) then leads to an equivalent circuit with slightly max
different parameters than Fig. 3.
Then assuming linear interpolation on f, at new time
The most important application is the usual case having tn+l =tn+At one can compute Sn+l by the simple update
At < r-, where the time-step is shorter than the travel time of
the line. Then as per Fig. 5, al(u) is zero over [0, At], tail tail
and it is only the a2 terms which require use of (22)-(24). 5n+1 = Clff(tn+l-Tmax) + C2 f(tn-Tmax) + 03 Sn (32)
One can show that the resistance Zl of Fig. 3 is replaced
by value Zl, where where Cl, C2, C3 are constants depending on P, q,
Tmax and At. The entire tail is thus handled with numerical
Zl ~ Zl * l + 92 (25) effort equivalent to just three history points for the trapezoidal
Il 2-5g2j rule.
A generalization of this procedure can be made, where
For the zero-sequence mode with At = 50-100 ,sec, this e-qt is replaced by tne-qt for n=l, 2, etc. Such tails decay
change represents typically a 15% increase in resistance. less rapidly, of course, though details shall not be given here.
Another case of interest concerns very short lines (or long VIII. COMPUTER IMPLEMENTATION AND SAMPLE RESULTS
time steps), where At> r. Then in addition to the
just-treated contribution of a2, there will also be a The theory previously described has been implemented in
contribution from al. Using symbols Sk and Sm to the BPA electromagnetic transients program, and is now
mean just the integral contributions over [ At, oo), (7a) available on a production basis. At least temporarily, the
becomes: following restrictions have been imposed, though:
bk = Sk + glfm + g2fk + dlfm(t-At) + d2fk(t-At) 1. The transmission line is assumed to be perfectly
(27) transposed.
bm = Sm + glfk + g2fm + dlfk(t-At) + d2fm(t-At) 2. No distributed branches are so short that T<A t
(thereby avoiding coupling between the two sides of
Inserting (4) then yields an equivalent similar to Fig. 3, but Fig. 3).
with a coupling resistance between end k and end m. This 3. Frequency dependence is only allowed in the zero
may affect the handling of nonlinear elements,2 as well as sequence mode.
increase the fill-in upon triangularization of the network matrix. 4. Only the simplest exponential tail, that of (29), is
allowed.
A practical application of the preceding paragraph concerns 5. Only lines with zero shunt conductance (G=0) are
the lossless (externally-lumped R ) transmission line representable, if not distortionless.
representation of ref. 1. Most transposed lines are actually so
represented, at least for the non-ground-return modes. One can The weighting-function calculation is performed outside the
readily show that a2(t) = 0 and al(t) = S(t-T) so that (27) transients program, by a separate supporting routine. For given
degenerates to the very simple result line geometry and length, this is done only once, with great
care and accuracy. Referring to Fig. 5, typically 300 to 500
bk(t) = (1 - T/At) fm(t) + (TI At) fm (t -At) points are used to represent each curve (by linear
(28) interpolation). Points for a2(t) are geometrically (rather than
bm(t) (1- //t) fk(t) + (r/A0 fk(t-,At) uniformly) spaced over 0< t < r, so as to accurately track
Use of such modelling in place of a lumped-parameter nominal the decay which starts from near-infinity (as calculated using
Section is IV). This toaccurate
program for al(t)
representation
Pififor short lines may provide a potential increase in accuracy of and
.,
.
. . ........ inputted .a2(t)
the transients
at low cost. The idea is under further investigation,.which the user wants to solve. For given step-size At and
each case

VII. EPONENIAL TALS FO al(t)a2(t)exponential-tail tolerances, the transients of program then

Sections V
VII. EXONENTIA TAILS OR a1(t, a2(t determines the appropriate weighting functions
As shwn byFig.5, weghtig funtion ai(t and through VII-a relatively simple procedure.
a2(t) have "tails" which decay slowly to zero. At some timeTh oprtnofumiclnvseFrerrafrain
Tm. th pon-y-on strg mus be..terminated,..thereby to calculate ai(t) and a2(t) deserves some general comment:
introdlucing some error. While assuming zero values beyond such
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 Point 1: The Modified Fourier Transformation (MFT), 3
recently used by other authors, was rejected on theoretical X - 3 5 -- -
grounds. With R( ) and L(co) only defined at discrete -
points (typically 4 or 5 per decade) as input, and using linear 0.0 - -------
1
interpolation on these to produce the complete curve, it can - - time t
be shown that the MFT generally produces a result which is --- -- -
not independent of convergence parameter "a". Some authors > - 12.5 -
have further simply replaced R(c) +j&.L(co) by -
R(c) + (a +j&,)L(&j)---clearly erroneous, in that the variation - ----- ------_
of R and L has been overlooked during the variable
substitution. Short of evaluation of Carson's infinite series6 Fig. 14. Experimentally-measured voltage at receiving end
using (a +jco) as a variable rather than ji, the MFT would of line, phase b.
seem to yield only a good approximation .at s best.
rejected for this reason. .
. . It was ~~~~~~~~~~~damping, with the peak overvoltage of 3.3 ddivisions ca
excessive. Using higher-frequency constant parameters (237 Hz
clearly
Point 2: The Fast Fourier Transform (FFT)5 is fast, but for
but (b);
has 1000
other Hz for (c)) does of course improve the damping,
the natura-spacing of points in the time domain sometimes shortcomings. The peak overvoltage remains too
turns out to be too large for the desired application. Other large, (3.15 and 3.20 units, respectively), while the steady-state
not-so-obvious complications could be enumerated as well. amplitude becomes excessive as t - oo*. Fig. 15d shows the
Because al(t) and a2(t) are only calculated once, the corresponding result using frequency dependence, wherein the
peak overvoltage is reduced to 2.77 units, and the general
associated numericalpeffort
FFT was dropped as not being justifiableseignifjustificant
not significant anyway. Thus
associated numerical effort isis not
b under
the
Thus the
the waveshape has been
accurate, having beenimproved.
These solutions (a)4d) are highly
computed using At = 50,sec (typical
for accurate production runs at BPA). Doubling At to
Point 3: Regular inverse Fourier transformation was 100,sec introduces only minor error, as shown in (e) and
selected, with the different frequency contributions for each (f). Curves (d) and (e) have no exponential tails, using the
time point calculated one at a time. This allows the code to point storage of (21) over a time span of 6 T . For (e) this
minimal cor storage,independentorequired
execute in inimal
executen s ag iepen e ofhwsall the
core (6r + (6-1) 90 cellswhich
T ) /At, is small approximately
of memory, compared withequal to
current
frequency increment Acoi may be. Extreme accuracy thus program capacity of. 4000. The exgqnential tails of (f)
costs in execution time only, not in core storage requirements. contained areas A1ail =-051 and A2t =-.045, reducing the
point from 90 to 42 cells. The central-processor
Point 4: Uniform spacing of frequency points for inverse solutionstorage
time for a CDC- 6400 is given in the following
transformation is generally inadequate. The uniform tabulation:
Aco normally picked would be sufficient to track the
variation of integrands Al(jw) and A2(j0o) if R and
L were constant. But near zero frequency, the Case (a) - (c) (d) (e) (f)
L(co) variation is such that drastic changes typically occur
over [0, Aco ].- It was found that the use of
geometrically-increasing step size for maybe 50 steps over the pRu time-mstec,
per time-step
.0056 .0175 .0118 .0087
range [ 0, 5Aco ] resolves the aforementioned difficulty.
Thereafter, uniform spacing Aw is used.
As a simple illustrative application, consider a
single-line-to-ground fault
on an open-ended, 3-phase, 500-kV
f4
overhead line of length 138 miles (see Fig. 13). A field
measurement of this test is shown in Fig. 14----the oscillogram °
for phase -b voltage at the receiving end of the line, vb(t).
The model of Fig. 13 is somewhat oversimplified, but serves to
A;
illustrate the digital simulation. Using a typical value of/
p = 100 Q_-m for ground resistivity, line constants for the c 0
zero and positive sequence at 60 Hz are calculated to be 0
Ro =.3055Q92/mi Lo =5.819 mH/mi CO= .0121,uLF/mi X 0 R E l2L f|/ \

Rl= .0320521mi L1 = 1.556 mH/mi C1 = .0194u

MF/mi --0
Variations of Ro and Lo with frequency are similar to C4 /+ I\ ?ff A-\1 i l L
resistance, and is closed in at time t = 10.15 msec. Plots of e -4- \ A
different digital simulations are shown in Fig. 15. As expected, C
the constant 60-Hz parameters of (a) provide insufficient -Ai iA

303/1200 3 _i

303/240° ~ 39.8 nH b

m
398 H a i2i2QtU,1 1
303/ 0
x '1 __ ohn
~~~J Lower 0
-
10 1 20 30 40 50 60
Day Monumental -Ti me t in msec
Fig. 15. Digital simulations of vb(t) for problem of
Fig. 13. Configuration of test problem. Fig. 13. Details are given in the text.
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 IX. CONCLUSIONS
Convolution theory has been shown to provide a simple,
efficient, and accurate representation for the
frequency-dependent zero-sequence parameters of transposed
transmission lines. The numerical techniques presented generally
impose no time-step restrictions not present in the
constant-parameter problem. As a result, selective use of
frequency-dependence does not add great numerical burden to
typical transient studies. The BPA transients program ' now
has this representation available as a standard feature.
X. REFERENCES
1. H. W. Dommel, "Digital computer solution of
electromagnetic transients in single- and multi-phase
networks.", IEEE Trans. Power Apparatus and Systems,
vol. PAS-88, pp. 388-399, April 1969.
2. H. W. Dommel, "Nonlinear and time-varying elements in
digital simulation of electromagnetic transients." IEEE
Trans. Power Apparatus and Systems, vol. PAS-90,
pp. 2561-2567, Nov./Dec. 1971.
3. A. Budner, "Introduction of frequency-dependent line
parameters 'into an electromagnetic transients program."
IEEE Trans. Power Apparatus and Systems, vol. PAS-89,
pp. 88-97, Jan. 1970.
4. J. K. Snelson, "sPropagation of travelling waves on
transmission lines---frequency dependent parameters." IEEE
Trans. Power Apparatus and Systems, vol. PAS-91,
pp.pp.85-91 Jan./Feb. 1972.
- By expliciting the convolution ( zo * ik)- of Eq. (f) one obtains
5. W. T. Cochran, et al, "What is the fast Fourier
transform?" IEEE Proc., vol. 55, pp. 1664-1674, Oct.
1967.
where Z l is the constant surge impedance of Eq. (4) and vPk is that part
6. J. R. Carson, "Wave In overheadprpagationiof the convolution which contains only past history. Equations (f) and
ground return." Bell System Technical Journal, vol. 5 g obieit
pp. 539-554, 1926.
7. B. C. Kuo, Linear Networks and Systems. New York:
McGraw-Hill, 1967, 411 pages.
8. W. D. Stevenson, "Elements of Power System Analysis."
New York: McGraw-Hill, 1962, '
388
' pages.
9. R. G. Wasley, S. Selvavinayagamoorthy, "Forward and
backward response functions for transmission line transient
analysis," IEEE paper number T 73 435-5 presented at
the 1973 Power Engineeing Society Summer Meeting.
Discussion
A. Semlyen (University of Toronto, Toronto, Canada): I was pleased to
see emphasized by the authors the need for time domain simulations for
switching surge calculations, even though transmission line character-
istics are generally available in the frequency-domain. The transition is
obtained, of course, by convolutions which represent the time domain
equivalent of a multiplication in the frequency domain. Despite its early
historical origin (Duhamel integral) this technique has only rarely found
application to propagation transients on lossy transmission linesA4.
However, the time domain problem formulation is of overwhelming
significance since it allows to separate, due to the time required for
propagation along the transmission line, the present values of variables
in any given node from those of all other remotely located nodes.
The time separation discussed above is valid for individual variables
of a given node, with respect to other nodes, or for combinations of the
former, like the linear combinations of Eq. (4). Such combinations are
justified by their possible computational or conceptual advantages. As
an alternative, I would like to consider Eq. (16) as a starting point, as
these have yielded good algorithms for the solution of the same prob-
IemB. Clearly, the right hand terms in (16) represent backward and for-
ward wave components, respectively (defined with respect to increasing
Manuscript received January 31, 1974.
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x). For anything happening at x = 0 (node k), the former appears as a
cause, the latter as an effect; Cj (X) represents the incident wave and
C2(w) the reflected wave in k:
Ci = -(Vk - ZO Ik) (a)
2
C2 = Vk Cl (b)
From Eq. (16), for x = d (with I(d) = - Im)
yd
2 (Vm + Zo Im) = CI eYd = C2m (c)
where C2m represents the reflected wave from node m. In (c)
'Y = +Ayo (d)
where is the purely imaginary propagation constant of the lossless
line. Equations (a) and (c) can be combined into
o
Vk - Zo 'k = 2 C2m eAYd X e1'Od (e)
In the time domain, elod of Eq. (e) produces a time shift by T, the
travel time at light velocity. Consequently, the inverse Fourier trans-
form of (e) is
vk zo ikht 2 c2m *ht_.= v (f)
where h, the line impulse response, is the inverse Fourier transform of
e-Ayd and the asterisk denotes convolution.
The right hand side of Eq. (f) represents known past effects ob-
tamed from reflected waves C2 from m convolved with the line propa-
gation response function h. Actually, for numerical evaluation, step
rather than impulse responses are used in convolutions.
{~~~~~~~~~~~~~~~~~~ ~ ~ ~~~~zO
(g)*ikVPkZl+ik
vk - Zl ik = vpast
P
(past = vk + vPk)(h
which is the additional relationship between vk and ik required for
calcuain the
~~~~~~~~~~calculating these ariales.
variables.
Actually, it is convenient to use Yo(C,) = Z-1 in the numerical
calculation because, for w e o, Yo -+ o and Z0 - oo. Then a Norton-type
equivalent (as in Fig. 3) will be obtained for the transmission line, in-
stead of the Thevenin-equivalent of Eq. (h). Another advantage of the
described procedure consists in the fact that the step response functions
can be approximated by one to three exponential functions which per-
mit the calculation of convolutions recursively. This means that the new
convolution results directly from the last (or last two) convolutions.
Recursive convolutions reduce drastically both computer time and stor-
age requirements and improve the accuracy of the result.
The authors' remarks concerning the inverse Fourier transforma-
tion are very useful. Our experience confirms the fact that careful appli-
cation of the regular transform is more efficient than using Fast Fourier
Transform programs. It is also important that the authors underline the
significance of data at very low frequencies.
By including frequency dependent propagation into their general
switching transient program, the authors have produced a very strong
competitor to TNA's for the solution of large scale electromagnetic
transient problems, so vital for EHV planning and design.
REFERENCE
[Al A. Semlyen and E. Wagner, "Contribution to Accurate Switching
Surge Calculation on EHV Lines by Bergeron's Method" (in Ger-
man), Elektrotechnische Zeitschrift (ETZ-A) Vol. 90, 1969, No.
18, pp. 436-440.
[B] A.- Semlyen and A. Dabuleanu, "'Fast and Accurate Switching
Transient Calculations on Transmission Lines with Ground Return
Using Recursive Convolutions", presented at the IEEE 1974 Sum-
mer Power Meeting (Paper T 74 4354).
Luke Yu (c/o IECO, San Francisco, Calif.): The authors are to be means that the FFT gives a more accurate solution than that of the CFT
congratulated for their fine work on studying line transients. It has be- by
come important to have frequency dependent parameters included in the Comparison of computation tine
analysis.
By means of modal transformation, the multiphase system is trans- number of samples computation time (sec.)
formed into an n-single conductor system. In fact the eigenvalue matrix
of the modal transformation is obtained from the line impedance and 128 CFT FFT
admittance matrix which are frequency dependent. The authors' com- 256 117 6
ment of this effect on the result of transient study is appreciated. 512 300 11
Regarding the illustrative application as shown in Fig. 13 of the 1024 1200* 24
paper, since the analysis of 3 phase system is based on the modal trans-
formation, then the 2 ohm-resistor simulating the tower footing resist- Computer:
*: theoretica'lICL 1906A
estimation
ance becomes a matrix form with mutual elements through the same
modal transformation in the analysis. I would appreciate the authors' the same computation time. The FFT may give a better solution than
detail description on how to handle it in the study. that of the CFT even with geometrically-increasing step size. The authors
stated that because a 1(r) and a2(T) are only calculated once, the associ-
Manuscript received February 11, 1974. ated numerical effort is not significant anyway. In my program of switch-
ing surge calculation which is one of travelling-wave techniques (4,5),
the total computation time for a 3-phase sequential closing on a similar
system to Fig. 13 with maximum observation time 40 ms and time step
M. Ramamoorty (University of Waterloo, Waterloo, Ontario, Canada): 40 ps was 2.5 sec. when using the CFT for evaluating step responses,
The authors describe a very interesting and novel approach to include the and was reduced to 2.0 sec. by the FFT. (Computer CDC 7600) Thus,
variation of line parameters with frequency, in an electromagnetic tran- the computation tinme of the numerical Fourier inversion for evaluating
sient programme. In reference 1 the discusser has given a modification step responses or for evaluating al(r) and a2(r) is a quite significant
to the Uram and Miller method2 to include the same parameter variation part of the total computation. What is the computation time of a I (r)
with frequency. The following assumptions which are identical to those and a2(T) in comparison with the total computation time of one case
made by the authors are used. shown in Fig. 15?
1. Line ig ideally transposed. Line resistance is lumped and skin The numerical evaluation of convolution is the most time consum-
effect is neglected. ing part in line transient calculations by travelling-wave techniques. This
2. Parameter variation is considered only for the zero sequence computation time can be greatly reduced, if one of two functions to be
mode. convoluted is given by
3. Shunt conductane is neglected.
4. Carson's equations are used for parameter calculation. Al A2 + +. Am
Computations are made in real time so that any switching opera- H( = A + - + Am
tions can be easily incorporated. Non linear elements at the line termi- 0 p + a1 p + a2 p + am
nals can be included if the V-I characteristics are known.
The discusser feels that the method of Ref. I is more simple than
that described by the authors in the paper. In a large system it may be where p is Heaviside operator and h(t) = £-1 H(p).
necessary to accurately represent only one or two lines in which a dis- Then convolution g(t) = f(t) * h(t) is approximated by (6)
turbance like a lightning discharge, a shunt fault or a switching opera-
tion has occured. It may be possible to use Uram and Millers's method m
with the modification suggested by the discusser for the study of wave g(t) = Aof(t) + z Ak - Bk(t): simplified convolution
propagation on these lines and for the rest of the system the method sug- k= 1
gested by Dr. Dommel in Ref. 1 of the paper may be used. The discusser
would like to know the opinion of the authors. where
REFERENCES Bk(t) ~ 2 { f(t) + f(t - A\t) exp (akA\t)f A\t + Bkc(t - A\t) *exp (-akAt)
1. M. Ramamoorty; Approximate method for including ground ef- B(t)
fects in wave propagation on transmission lines. Proc. IEEE Vol. =k0 0
120 1 973, pp. 702-703.
2. Uram R. Miller R. W. Mathematical analysis and solution of trans-.-* -
mission line transients. IEEE Transactions PAS 1964, pp. 1116-1123. For example, if the authors' weighting function a(r) is represented by
Manuscript received February 15, 1974.a()=A 1-ex(ar}+A21ep(arI
Then, Eq. (19) is evaluated by the simplified convolution.
A. Ametani (Doshisha University, Kyoto 602, Japan): Concerniing the Eq. (19)~ Z Ak * Bk(t)
authors' comments on numerical inverse Fourier transformation, k=l
point 1: It is true that a solution given by the modified Fourier trans- Thus, the computation time can be easily reduced to less than one tenth.
form is not independent of constant 'a' to change an integral route. How- The detail is given in reference (6).
ever, it has been found from a long experience of using the MFT that
there is an optimum value of 'a' and this, in most cases, gives a quite RFRNE
good solution (1,2). A minor change of 'a' from the optimum value RFRNE
causes no significant effect on the solution. When dealing with frequency- l11] 5. Day, N. Mullineux and J. Reed, "Developments in obtaining
dependent impedances by the MFT, it should be clear~from the theory transient response using Fourier transforms, Pt. II: Use of modified
of the MFT that R&.o) + jwL(o) is replaced by R(co - ja) + jQX- ja) * Fourier transform", Int. J. Elec. Eng. Educ., vol.4, pp. 3140, 1966.
L(cw - ja). There is no difficulty in the evaluation of the frequency-de- [2] L. M. Wodepohl and S. E. T. Mohamed, "Multiconductor trans-
pendent impsedance using variable (c, -ja). Simply set a complex variable mission lines: Theory of natural modes and Fourier integrals ap-
(w- ja) instead of a real variable X in a computer, and evaluate the plied to transient analysis", Proc. IEE, vol. 116, pp. 1553-1563,
impedance in the same manner as that by w. The MFT gives a better September 1969.
accuracy than that of the conventional Fourier transform (CFT). As an [3] A. Ametani, "The application of the fast Fourier transform to
inherent nature of a numerical frequency-time transformation, the time electrical transient phenomena", Tnt. J. Elec. Eng. Educ., vol. 10,
solution tends to diverge in the later part of the solution,.and therefore pp. 277-287, 1972.
the solution is correct only before the divergence. A solution by the [4] A. Amatani, "Modified travelling-wave technique, to solve electrical
MFT, in general, is effective up to 90% of the total observation time, transients on lumped and distributed constant circuits", Proc. lEE,
while that by the CFT is effective up to 70%o. Thus, the MFT gives more vol. 120, pp. 497-504, April 1973.
effective information than the CFT. The authors' further statement on [5] A. Amatani, "Refraction coefficient method for switching-surge
Point 1 would be appreciated. calculations on untransposed transmission lines", IEEE 1973 PES
On Point 2: The following table shows comparison of computation Summer Meeting, paper C73 444-7.
Dimes by the CFT and the fast Fourier transform (FFT) (3). The table [6] J. Umoto and T. Hara, "A new digital analysis of surge perform-
ances in electric power networks utilizing convolution integral",
Manuscript received February 15, 1974. J. TEE Japan, vol. 91, pp. 907-916, May 1971.
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 W. Scott Meyer and Hermann W. Dommel: Dr. Ametani raises many
interesting points, worthy of more detailed discussion than can be pro-
vided here. Yet concerning Fourier transformation, several observations
might be made:
1) The authors' Point- 1 comment about MFT was meant to apply
only to the case of R and L defined at discrete points. With 4 points per
decade and typically 8 decades, this represents a total of 32 points of
input data. While such data is sufficiently smooth (see Fig. 2 example)
to produce accurate weighting functions by CFT, such has not been
found to be the case with MFT. This in no way contradicts the dis-
cusser's good experience with the MFT, it will be noted.
2) Tabulated figures such as the discusser's, comparing CFT with
FFT, are common in the FFT literature (see Table I, Ref. 5); and for
transformation over a complete cycle of the result, they are valid. But
in (7b) the authors were not typically interested in a complete cycle, so
the CFT was only required to solve a small fraction of the problem in-
herent to FFT (and upon which the usual comparisons are based). Using
a uniform frequency discretization Af = AW/2ir with N points, the FFT
inherently returns a time function with the same number of points
spaced from time zero through time Tmax = 1 /Af. For the line of Fig. 5,
using N = 2000 and Af = 330 Hz to numerically integrate (7b), one
finds that Tmax = 3000 psec and At = 1.5 psec. Here Tmax is almost
15 times larger than necessary, while the uniform spacing of 1.5 ,see is
marginal for aI near the peak (see Point 2) and inadequate for a2 near
time zero (see Point 4). Also to be considered is the numerical effort
required to form the integrand values of (6b) for each frequency - a
complication generally overlooked in CET vs. FFT comparisons. This
represents an equal, added burden for both methods, and is not in-
significant.
3) Sample computation time for aI and a2 using program default
tolerances is 51 sec on a CDC-6400 computer (perhaps 5 sec on CDC-
7600), based on 2000 frequency-domain points with spacing Awc- 160/r.
In theory, this calculation would only be performed once in the life of a
transmission line. Compared with the 65000 seconds (and 13500 pages
of printed output) of current monthly computer usage billed to Transi-
ents Program calculations at BPA, such time is negligible.
Finally, the authors are indebted to Dr. Ametani for pointing out the
Umoto-Hara reference, now apparently the earliest known application
of closed-form convolution to the problem in question. The reader is
referred to Prof. Semlyen's current research using this procedure.
It is difficult to respond to Prof. Ramamoorty, since little quanti-
tative data is available for comparison. Perhaps'a reasonable interpreta-
tion of "simplicity" would involve the effort to program a given algo-
rithm on a digital computer, while "efficiency"' might be measured by
required core storage and numerical effort for y execution. No data con-
lettr.
cerningCncering he points
either of these ssumtion found intedsueritholbe2i
lised
could be the discusser's Proc. IEE
letter. Concerning the assumptions listed by the discusser, it should be
pointed out that his treatment of line resistance (point 1) would not
seem to agree with ours; the skin effect is included in Fig. 2, and the
Manuscript received April 22, 1974.
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distributed nature of line resistance is taken into account in (5) - (7). As
for the significance of "real time" computation for transients problems,
it is wondered whether "time domain" is not meant instead - the use of
time as the principle problem variable; instead of frequency or some
other parameter. The authors agree that this is important when modeling
nonlinear elements (such as transformer hysteresis, surge arresters, ac/dQ
inverters, etc.).
Concerning Dr. Yu's comment about the frequency dependence of
the series line impedance and shunt admittance per unit length, the out-
lined procedure is rigorous provided the line is continuously transposed
(see point 1, paragraph 1, Sect. VIII). If not, the diagonalizing trans-
formation is frequency dependent, and complications arise. While the
theory is clear4, practical, efficient computer solution of the general
case may require considerable experimentation and adaptation. The
numerical solution of Fig. 13 was provided by the BPA Electromagnetic
Transients Program, using the basic procedure of Ref. 1. As phase co-
ordinates are used therein for the network formulation, the 2-ohm
resistor stays as a single uncoupled branch, while the transmission line
yields the interphase coupling resistances shown in Fig. 16. Note that
among all nodes at each end of the line there is complete interconnec-
tion, although no coupling from one end of the line to the other end
exists.
Prof. Semlyen's most recent research using recursive convolution is
very interesting and relevant. The replacement of point-weighting by
recursive updating would indeed make the convolution effort a negligible
part of the overall solution process. While the authors used such a
procedure in Sect. VII for only the tails of their weighting functions,
the discusser has now proposed that the entire convolution be handled
by means of such formulas. The idea is exciting, and potentially very
promising, although accuracy in the exponential fitting procedure
might potentially pose a problem. But even if accuracy were less than
desired, the availability of a superfast procedure for lines other than the
principal one (or ones) could be of great utility. One benefit might be to
increase overall system damping and attenuation with frequency,
probably better approximating the actual system. The authors look
forward to Prof. Semlyen's work on this subject.
JDA MA
_ L '
- -
Fig. 16. Structure of resistive network for Fig. 13 (injected node cur-
rents not shown).