About the Editor |
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xv | |
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xvii | |
Preface |
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xix | |
About the Companion Website |
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xxi | |
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1 Introduction to Transients Analysis of Power Systems with ATP |
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1 | (10) |
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1 | (2) |
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3 | (2) |
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5 | (1) |
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6 | (5) |
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8 | (3) |
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2 Modelling of Power Components for Transients Studies |
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11 | (64) |
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11 | (1) |
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12 | (11) |
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12 | (1) |
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2.2.2 Multi-conductor Transmission Line Equations and Models |
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13 | (1) |
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22.2.1 Transmission Line Equations |
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13 | (2) |
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15 | (1) |
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2.2.2.3 Line Constants Routine |
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15 | (1) |
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2.2.3 Transmission Line Towers |
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16 | (1) |
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2.2.4 Transmission Line Grounding |
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17 | (1) |
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17 | (1) |
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2.2.4.2 Low-Frequency Models |
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17 | (1) |
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2.2.4.3 High-Frequency Models |
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18 | (2) |
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2.2.4.4 Treatment of Soil Ionization |
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20 | (1) |
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2.2.5 Transmission Line Insulation |
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21 | (1) |
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2.2.5.1 Voltage-Time Curves |
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21 | (1) |
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2.2.5.2 Integration Methods |
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22 | (1) |
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22 | (1) |
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23 | (5) |
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23 | (1) |
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2.3.2 Insulated Cable Designs |
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24 | (1) |
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25 | (1) |
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2.3.4 Material Properties |
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26 | (1) |
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27 | (1) |
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2.3.6 Cable Constants/Parameters Routines |
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27 | (1) |
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28 | (17) |
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28 | (3) |
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2.4.2 Transformer Low-Frequency Transients |
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31 | (1) |
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2.4.2.1 Introduction to Low-Frequency Models |
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31 | (1) |
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2.4.2.2 Single-Phase Transformer Models |
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32 | (4) |
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2.4.2.3 Three-Phase Transformer Models |
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36 | (1) |
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2.4.3 Transformer Modelling for High-Frequency Models |
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37 | (1) |
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2.4.3.1 Introduction to High-Frequency Models |
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37 | (2) |
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2.4.3.2 Models for Internal Voltage Calculation |
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39 | (2) |
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41 | (4) |
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45 | (13) |
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46 | (1) |
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2.5.2 Rotating Machines Models for Low-Frequency Transients |
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46 | (1) |
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46 | (1) |
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2.5.2.2 Modelling of Induction Machines |
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46 | (5) |
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2.5.2.3 Modelling of Synchronous Machines |
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51 | (4) |
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2.5.3 High-Frequency Models for Rotating Machine Windings |
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55 | (1) |
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55 | (1) |
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56 | (2) |
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58 | (1) |
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58 | (17) |
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58 | (1) |
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2.6.2 Circuit Breaker Models for Opening Operations |
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59 | (1) |
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2.6.2.1 Current Interruption |
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59 | (1) |
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2.6.2.2 Circuit Breaker Models |
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60 | (1) |
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2.6.2.3 Gas-Pitted Circuit Breaker Models |
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61 | (1) |
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2.6.2.4 Vacuum Circuit Breaker Models |
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62 | (2) |
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2.6.3 Circuit Breaker Models for Closing Operations |
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64 | (1) |
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64 | (1) |
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2.6.3.2 Statistical Switches |
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65 | (1) |
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66 | (1) |
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66 | (1) |
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66 | (9) |
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3 Solution Techniques for Electromagnetic Transient Analysis |
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75 | (1) |
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75 | (32) |
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3.2 Modelling of Power System Components for Transient Analysis |
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76 | (2) |
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3.3 Solution Techniques for Electromagnetic Transients Analysis |
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78 | (18) |
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78 | (1) |
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3.3.2 Solution Techniques for Linear Networks |
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78 | (1) |
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3.3.2.1 The Trapezoidal Rule |
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78 | (1) |
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3.3.2.2 Companion Circuits of Basic Circuit Elements |
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79 | (6) |
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3.3.2.3 Computation of Transients in Linear Networks |
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85 | (1) |
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3.3.2.4 Example: Transient Solution of a Linear Network |
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86 | (1) |
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3.3.3 Networks with Nonlinear Elements |
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87 | (1) |
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87 | (1) |
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3.3.3.2 Compensation Methods |
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87 | (2) |
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3.3.3.3 Piecewise Linear Representation |
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89 | (1) |
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3.3.4 Solution Methods for Networks with Switches |
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90 | (1) |
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3.3.5 Numerical Oscillations |
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91 | (5) |
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3.4 Transient Analysis of Control Systems |
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96 | (1) |
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97 | (3) |
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97 | (1) |
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3.5.2 Initialization of the Power Network |
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97 | (1) |
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3.5.2.1 Options for Steady-State Solution Without Harmonics |
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97 | (1) |
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3.5.2.2 Steady-State Solution |
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98 | (1) |
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99 | (1) |
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3.5.4 Initialization of Control Systems |
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100 | (1) |
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100 | (7) |
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3.6.1 Solution Techniques Implemented in ATP |
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101 | (1) |
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3.6.2 Other Solution Techniques |
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101 | (1) |
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3.6.2.1 Transient Solution of Networks |
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101 | (1) |
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3.6.2.2 Transient Analysis of Control Systems |
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102 | (1) |
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3.6.2.3 Steady-State Initialization |
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102 | (1) |
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103 | (1) |
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103 | (3) |
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106 | (1) |
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4 The ATP Package: Capabilities and Applications |
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107 | (1) |
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107 | (1) |
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4.2 Capabilities of the ATP Package |
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108 | (1) |
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108 | (1) |
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4.2.2 The Simulation Module -- TPBIG |
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109 | (1) |
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109 | (1) |
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4.2.2.2 Modelling Capabilities |
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110 | (7) |
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4.2.2.3 Solution Techniques |
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117 | (3) |
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4.2.3 The Graphical User Interface -- ATP Draw |
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120 | (1) |
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120 | (1) |
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4.2.3.2 Main Functionalities |
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120 | (3) |
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4.2.3.3 Supporting Modules for Power System Components |
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123 | (2) |
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4.2.4 The Postprocessor -- TOP |
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125 | (1) |
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125 | (1) |
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126 | (1) |
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127 | (1) |
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127 | (1) |
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127 | (1) |
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128 | (1) |
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4.4 Illustrative Case Studies |
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129 | (7) |
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129 | (1) |
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4.4.2 Case Study 1: Optimum Allocation of Capacitor Banks |
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130 | (2) |
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4.4.3 Case Study 2: Parallel Resonance Between Transmission Lines |
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132 | (1) |
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4.4.4 Case Study 3: Selection of Surge Arresters |
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133 | (3) |
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136 | (3) |
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136 | (2) |
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138 | (1) |
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5 Introduction to the Simulation of Electromagnetic Transients Using ATP |
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139 | (3) |
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139 | (1) |
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5.2 Input Data File Using ATP Formats |
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140 | (2) |
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142 | (61) |
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5.3.1 Before Simulating the Test Case |
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142 | (1) |
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5.3.1.1 Setting Up a System Model |
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142 | (1) |
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5.3.1.2 Topology Requirements |
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142 | (1) |
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5.3.1.3 Selection of the Time-Step Size and the Simulation Time |
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143 | (1) |
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143 | (1) |
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144 | (1) |
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5.3.2 After Simulating the Test Case |
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144 | (1) |
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5.3.2.1 Verifying the Results |
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144 | (1) |
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5.3.2.2 Debugging Suggestions |
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144 | (1) |
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5.4 Introductory Cases. Linear Circuits |
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145 | (10) |
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5.4.1 The Series and Parallel RLC Circuits |
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145 | (1) |
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5.4.2 The Series RLC Circuit: De-energization Transient |
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145 | (1) |
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5.4.2.1 Theoretical Analysis |
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145 | (2) |
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5.4.2.2 ATP Implementation |
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147 | (1) |
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5.4.2.3 Simulation Results |
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148 | (2) |
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5.4.3 The Parallel RLC Circuit: De-energization Transient |
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150 | (1) |
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5.4.3.1 Theoretical Analysis |
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150 | (2) |
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5.4.3.2 ATP Implementation |
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152 | (1) |
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5.4.3.3 Simulation Results |
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153 | (2) |
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5.5 Switching of Capacitive Currents |
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155 | (13) |
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155 | (1) |
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5.5.2 Switching Transients in Simple Capacitive Circuits -- DC Supply |
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155 | (1) |
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5.5.2.1 Energization of a Capacitor Bank |
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155 | (2) |
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5.5.2.2 Energization of a Back-to-Back Capacitor Bank |
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157 | (2) |
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5.5.3 Switching Transients in Simple Capacitive Circuits -- AC Supply |
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159 | (1) |
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5.5.3.1 Energization of a Capacitor Bank |
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159 | (1) |
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5.5.3.2 Energization of a Back-to-Back Capacitor Bank |
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160 | (2) |
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5.5.3.3 Reclosing into Trapped Charge |
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162 | (2) |
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5.5.4 Discharge of a Capacitor Bank |
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164 | (4) |
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5.6 Switching of Inductive Currents |
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168 | (19) |
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168 | (1) |
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5.6.2 Switching of Inductive Currents in Linear Circuits |
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168 | (1) |
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5.6.2.1 Interruption of Inductive Currents |
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168 | (2) |
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5.6.2.2 Voltage Escalation During the Interription of Inductive Currents |
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170 | (2) |
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172 | (3) |
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5.6.2.4 Making of Inductive Currents |
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175 | (1) |
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5.6.3 Switching of Inductive Currents in Nonlinear Circuits |
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176 | (2) |
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5.6.4 Transients in Nonlinear Reactances |
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178 | (2) |
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5.6.4.1 Interruption of an Inductive Current |
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180 | (1) |
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5.6.4.2 Energization of a Nonlinear Reactance |
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181 | (3) |
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184 | (3) |
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5.7 Transient Analysis of Circuits with Distributed-Parameters |
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187 | (16) |
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187 | (1) |
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5.7.2 Transients in Linear Circuits with Distributed-Parameters Components |
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187 | (1) |
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5.7.2.1 Energization of Lines and Cables |
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187 | (4) |
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5.7.2.2 Transient Recovery Voltage During Fault Clearing |
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191 | (4) |
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5.7.3 Transients in Nonlinear Circuits with Distributed-Parameter Components |
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195 | (1) |
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5.7.3.1 Surge Arrester Protection |
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195 | (1) |
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5.7.3.2 Protection Against Lightning Overvoltages Using Surge Arresters |
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196 | (5) |
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201 | (1) |
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202 | (1) |
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202 | (1) |
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6 Calculation of Power System Overvoltages |
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203 | (72) |
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203 | (1) |
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6.2 Power System Overvoltages: Causes and Characterization |
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204 | (2) |
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6.3 Modelling for Simulation of Power System Overvoltages |
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206 | (10) |
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206 | (1) |
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6.3.2 Modelling Guidelines for Temporary Overvoltages |
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207 | (1) |
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6.3.3 Modelling Guidelines for Slow-Front Overvoltages |
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208 | (1) |
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208 | (1) |
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208 | (1) |
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208 | (1) |
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6.3.3.4 Capacitors and Reactors |
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209 | (1) |
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209 | (1) |
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210 | (1) |
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210 | (1) |
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6.3.4 Modelling Guidelines for Fast-Front Overvoltages |
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210 | (1) |
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6.3.4.1 Overhead Transmission Lines |
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210 | (2) |
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212 | (1) |
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213 | (1) |
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214 | (1) |
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6.3.5 Modelling Guidelines for Very Fast-Front Overvoltages in Gas Insulated Substations |
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214 | (2) |
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6.4 ATP Capabilities for Power System Overvoltage Studies |
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216 | (1) |
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216 | (59) |
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216 | (1) |
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6.5.2 Low Frequency Overvoltages |
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216 | (1) |
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6.5.2.1 Case Study 1: Resonance Between Parallel Lines |
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217 | (2) |
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6.5.2.2 Case Study 2: Ferroresonance in a Distribution System |
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219 | (6) |
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6.5.3 Slow-Front Overvoltages |
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225 | (2) |
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6.5.3.1 Case Study 3: Transmission Line Energization |
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227 | (11) |
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6.5.3.2 Case Study 4: Capacitor Bank Switching |
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238 | (5) |
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6.5.4 Fast-Front Overvoltages |
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243 | (1) |
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6.5.4.1 Case Study 5: Lightning Performance of an Overhead Transmission Line |
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244 | (17) |
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6.5.5 Very Fast-Front Overvoltages |
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261 | (1) |
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6.5.5.1 Case Study 6: Origin of Very Fast-Front Transients in GIS |
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262 | (1) |
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6.5.5.2 Case Study 7: Propagation of Very Fast-Front Transients in GIS |
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263 | (4) |
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6.5.5.3 Case Study 8: Very Fast-Front Transients in a 765 kV GIS |
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267 | (3) |
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270 | (4) |
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274 | (1) |
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7 Simulation of Rotating Machine Dynamics |
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275 | (58) |
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275 | (1) |
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7.2 Representation of Rotating Machines in Transients Studies |
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275 | (1) |
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7.3 ATP Rotating Machines Models |
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276 | (2) |
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276 | (1) |
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7.3.2 Built-in Rotating Machine Models |
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276 | (2) |
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7.3.3 Rotating Machine Models for Fast Transients Simulation |
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278 | (1) |
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278 | (6) |
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278 | (1) |
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7.4.2 Three-Phase Synchronous Machine Model |
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278 | (3) |
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7.4.3 Universal Machine Module |
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281 | (3) |
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7.4.4 WindSyn-Based Models |
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284 | (1) |
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7.5 Procedure to Edit Machine Data Input |
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284 | (1) |
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7.6 Capabilities of Rotating Machine Models |
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285 | (2) |
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7.7 Case Studies: Three-Phase Synchronous Machine |
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287 | (22) |
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287 | (1) |
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7.7.2 Case Study 1: Stand-Alone Three-Phase Synchronous Generator |
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288 | (1) |
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7.7.3 Case Study 2: Load Rejection |
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288 | (10) |
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7.7.4 Case Study 3: Transient Stability |
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298 | (4) |
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7.7.5 Case Study 4: Subsynchronous Resonance |
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302 | (7) |
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7.8 Case Studies: Three-Phase Induction Machine |
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309 | (24) |
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309 | (1) |
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7.8.2 Case Study 5: Induction Machine Test |
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310 | (3) |
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7.8.3 Case Study 6: Transient Response of the Induction Machine |
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313 | (1) |
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314 | (1) |
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314 | (4) |
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318 | (5) |
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7.8.4 Case Study 7: SCIM-Based Wind Power Generation |
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323 | (5) |
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328 | (3) |
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331 | (2) |
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8 Power Electronics Applications |
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333 | (72) |
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333 | (1) |
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334 | (1) |
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334 | (1) |
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8.2.2 Dynamic Average Models |
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334 | (1) |
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8.3 Power Semiconductor Models |
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335 | (2) |
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335 | (1) |
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8.3.2 Ideal Device Models |
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335 | (1) |
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8.3.3 More Detailed Device Models |
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335 | (1) |
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336 | (1) |
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8.4 Solution Methods for Power Electronics Studies |
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337 | (1) |
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337 | (1) |
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8.4.2 Time-Domain Transient Solution |
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337 | (1) |
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338 | (1) |
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8.5 ATP Simulation of Power Electronics Systems |
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338 | (7) |
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338 | (1) |
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339 | (1) |
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8.5.2.1 Built-in Semiconductor Models |
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339 | (1) |
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8.5.2.2 Custom-made Semiconductor Models |
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340 | (2) |
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8.5.3 Power Electronics Systems |
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342 | (1) |
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343 | (1) |
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343 | (1) |
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344 | (1) |
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8.5.6.1 Built-in Rotating Machine Models |
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344 | (1) |
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8.5.6.2 Custom-made Rotating Machine Models |
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344 | (1) |
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345 | (1) |
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8.6 Power Electronics Applications in Transmission, Distribution, Generation and Storage Systems |
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345 | (4) |
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345 | (1) |
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8.6.2 Transmission Systems |
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346 | (1) |
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8.6.3 Distribution Systems |
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346 | (1) |
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347 | (2) |
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8.7 Introduction to the Simulation of Power Electronics Systems |
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349 | (1) |
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349 | (18) |
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8.7.2 One-Switch Case Studies |
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350 | (1) |
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8.7.3 Two-Switches Case Studies |
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351 | (4) |
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8.7.4 Application of the GIFU Request |
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355 | (6) |
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8.7.5 Simulation of Power Electronics Converters |
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361 | (1) |
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8.7.5.1 Single-phase Inverter |
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361 | (1) |
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8.7.5.2 Three-phase Line-Commutated Diode Bridge Rectifier |
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362 | (3) |
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365 | (2) |
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367 | (38) |
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367 | (1) |
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8.8.2 Case Study 1: Three-phase Controlled Rectifier |
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367 | (2) |
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8.8.3 Case Study 2: Three-phase Adjustable Speed AC Drive |
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369 | (4) |
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8.8.4 Case Study 3: Digitally-controlled Static VAR Compensator |
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373 | (2) |
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375 | (1) |
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375 | (7) |
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8.8.5 Case Study 4: Unified Power Flow Controller |
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382 | (1) |
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382 | (1) |
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382 | (2) |
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384 | (1) |
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8.8.5.4 ATP Draw Implementation |
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385 | (1) |
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8.8.5.5 Simulation Results |
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385 | (1) |
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8.8.6 Case Study 5: Solid State Transformer |
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386 | (1) |
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386 | (2) |
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8.8.6.2 SST Configuration |
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388 | (1) |
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8.8.6.3 Control Strategies |
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388 | (5) |
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8.8.6.4 Test System and Modelling Guidelines |
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393 | (3) |
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396 | (3) |
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399 | (1) |
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399 | (5) |
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404 | (1) |
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405 | (14) |
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405 | (1) |
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9.2 Creation of Custom-Made Modules |
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406 | (13) |
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406 | (1) |
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9.2.2 Application of DATA BASE MODULE |
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406 | (5) |
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9.2.3 Application of MODELS |
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411 | (6) |
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417 | (2) |
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93 Application of the ATP to Power Quality Studies |
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419 | (52) |
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419 | (1) |
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9.3.2 Power Quality Issues |
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419 | (3) |
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9.3.3 Simulation of Power Quality Problems |
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422 | (1) |
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9.3.4 Power Quality Studies |
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423 | (3) |
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9.4 Custom-Made Modules for Power Quality Studies |
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426 | (1) |
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426 | (45) |
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|
426 | (1) |
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426 | (2) |
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9.5.2.1 Case Study 1: Generation of Harmonic Waveforms |
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428 | (3) |
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9.5.2.2 Case Study 2: Harmonic Resonance |
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431 | (3) |
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9.5.2.3 Case Study 3: Harmonic Frequency Scan |
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|
434 | (7) |
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9.5.2.4 Case Study 4: Compensation of Harmonic Currents |
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|
441 | (6) |
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9.5.3 Voltage Dip Studies in Distribution Systems |
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|
447 | (1) |
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447 | (2) |
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9.5.3.2 Case Study 5: Voltage Dip Measurement |
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449 | (5) |
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9.5.3.3 Case Study 6: Voltage Dip Characterization |
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454 | (8) |
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9.5.3.4 Case Study 7: Voltage Dip Mitigation |
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462 | (4) |
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466 | (4) |
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470 | (1) |
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471 | (68) |
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471 | (1) |
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10.2 Modelling Guidelines for Protection Studies |
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|
472 | (4) |
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10.2.1 Line and Cable Models |
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|
472 | (1) |
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10.2.1.1 Models for Steady-State Studies |
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|
473 | (1) |
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10.2.1.2 Models for Transient Studies |
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|
473 | (1) |
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10.2.2 Transformer Models |
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|
473 | (1) |
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10.2.2.1 Low-frequency Transformer Models |
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474 | (1) |
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10.2.2.2 High-frequency Transformer Models |
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475 | (1) |
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|
475 | (1) |
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10.2.4 Circuit Breaker Models |
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475 | (1) |
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10.3 Models of Instrument Transformers |
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476 | (8) |
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|
476 | (1) |
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10.3.2 Current Transformers |
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|
476 | (2) |
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10.3.3 Coupling Capacitor Voltage Transformers |
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|
478 | (1) |
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10.3.4 Voltage Transformers |
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|
479 | (1) |
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|
480 | (1) |
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10.3.5.1 Case Study 1: Current Transformer Test |
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|
480 | (2) |
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10.3.5.2 Case Study 2: Coupling Capacitor Voltage Transformer Test |
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|
482 | (2) |
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484 | (1) |
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484 | (24) |
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|
484 | (1) |
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10.4.2 Classification of Relay Models |
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485 | (1) |
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10.4.3 Implementation of Relay Models |
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486 | (2) |
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10.4.4 Applications of Relay Models |
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|
488 | (1) |
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10.4.5 Testing and Validation of Relay Models |
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|
488 | (2) |
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10.4.6 Accuracy and Limitations of Relay Models |
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|
490 | (1) |
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|
490 | (1) |
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|
490 | (1) |
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10.4.7.2 Case Study 3: Simulation of an Electromechanical Distance Relay |
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|
491 | (6) |
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10.4.7.3 Case Study 4: Simulation of a Numerical Distance Relay |
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|
497 | (11) |
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10.5 Protection of Distribution Systems |
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|
508 | (29) |
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|
508 | (1) |
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10.5.2 Protection of Distribution Systems with Distributed Generation |
|
|
508 | (1) |
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10.5.2.1 Distribution Feeder Protection |
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|
508 | (1) |
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10.5.2.2 Interconnection Protection |
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|
508 | (1) |
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10.5.3 Modelling of Distribution Feeder Protective Devices |
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|
509 | (1) |
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10.5.3.1 Circuit Breakers -- Overcurrent Relays |
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|
509 | (2) |
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|
511 | (1) |
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|
511 | (1) |
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|
512 | (1) |
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10.5.4 Protection of the Interconnection of Distributed Generators |
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|
513 | (1) |
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|
514 | (1) |
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10.5.5.1 Case Study 5: Testing the Models |
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|
514 | (1) |
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10.5.5.2 Case Study 6: Coordination Between Protective Devices |
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|
524 | (1) |
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10.5.5.3 Case Study 7: Protection of Distributed Generation |
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|
525 | (6) |
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|
531 | (2) |
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533 | (1) |
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533 | (4) |
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|
537 | (2) |
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11 ATP Applications Using a Parallel Computing Environment |
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|
539 | (1) |
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|
539 | (1) |
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11.2 Bifurcation Diagrams for Ferroresonance Characterization |
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|
540 | (1) |
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|
540 | (1) |
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11.2.2 Characterization of Ferroresonance |
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|
540 | (1) |
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11.2.3 Modelling Guidelines for Ferroresonance Analysis |
|
|
541 | (1) |
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11.2.4 Generation of Bifurcation Diagrams |
|
|
541 | (1) |
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11.2.5 Parametric Analysis Using a Multicore Environment |
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|
542 | (2) |
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|
544 | (1) |
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11.2.6.1 Case 1: An Illustrative Example |
|
|
544 | (1) |
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11.2.6.2 Case 2: Ferroresonant Behaviour of a Voltage Transformer |
|
|
545 | (1) |
|
11.2.6.3 Case 3: Ferroresonance in a Five-Legged Core Transformer |
|
|
545 | (5) |
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|
550 | (1) |
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11.3 Lightning Performance Analysis of Transmission Lines |
|
|
550 | (1) |
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|
550 | (1) |
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11.3.2 Lightning Stroke Characterization |
|
|
551 | (1) |
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11.3.3 Modelling for Lightning Overvoltage Calculations |
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|
552 | (2) |
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11.3.4 Implementation of the Monte Carlo Procedure Using Parallel Computing |
|
|
554 | (1) |
|
11.3.5 Illustrative Example |
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|
555 | (1) |
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|
555 | (1) |
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11.3.5.2 Line and Lightning Stroke Parameters |
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|
555 | (4) |
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11.3.5.3 Simulation Results |
|
|
559 | (3) |
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|
562 | (1) |
|
11.4 Optimum Design of a Hybrid HVDC Circuit Breaker |
|
|
563 | (1) |
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|
563 | (1) |
|
11.4.2 Design and Operation of the Hybrid HVDC Circuit Breaker |
|
|
563 | (2) |
|
11.4.3 ATP Implementation of the Hybrid HVDC Circuit Breaker |
|
|
565 | (1) |
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|
566 | (1) |
|
11.4.5 Transient Response of the Hybrid Circuit Breaker |
|
|
567 | (1) |
|
11.4.6 Implementation of a Parallel Genetic Algorithm |
|
|
568 | (2) |
|
11.4.7 Simulation Results |
|
|
570 | (4) |
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|
574 | (1) |
|
|
575 | (1) |
|
|
575 | (4) |
|
A Characteristics of the Multicore Installation |
|
|
579 | (1) |
|
B Test System Parameters for Ferroresonance Studies |
|
|
579 | (2) |
|
|
580 | (1) |
Index |
|
581 | |