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2013 7th Asia Modelling Symposium

Modelling Methodology for Autotransformer Rail Traction Power System


Based on Symmetrical Components
Models of System Components and Fault Study Examples

Umberto Cella
Power Systems, Electrical Program
Aurizon
Brisbane 4000, Australia
Umberto.Cella@aurizon.com.au

Abstract—This paper presents a modelling methodology However, the only publication that we were able to find
intended to enable easier and quicker circuital calculations for where the problem of the modelling of 50 kV traction system
autotransformer rail traction power systems. The 2 x 25 kV in terms of sequence components was discussed is [2].
configuration is considered. The classic formulation of the Unfortunately, [2] is not a full paper, but only a presentation.
symmetrical components for 3-phase systems is referred to, We were not able to locate a paper related to this
and transposed in a 2-phase case. The items of plant that presentation. This paper is aimed at providing a more
compose the power system are modelled as positive- and zero- exhaustive theoretical background than [2], and at
sequence devices, and the system voltages and currents are completing it with calculation examples.
transformed as well. Calculation examples are provided for
Currently, a traction power system which is becoming
fault currents and fault impedance for system protection
more and more diffused, especially for high speed / heavy
purposes. Due to the considerable simplification of the circuital
models, the methodology presented enables the designer to
haulage lines, is the 2 x 25 kV autotransformer system
perform approximate hand calculations as well as computer- [1][2][3]. The system draws power from the Grid and steps
based ones. the voltage down to 50 kV at each Feeder Station (FS) with a
Power Transformer (PT). Each FS feeds sections of track in
Keywords - autotransformer, traction, modelling, fault, a radial arrangement. The areas fed from different feeder
symmetrical components, protection, rail stations are electrically separated by Track Sectioning
Cabins (TSC). The trains always use a voltage of 25 kV, but
I. INTRODUCTION: SYMMETRICAL COMPONENTS AND the overhead line (OHL) can be energised either directly at
25 kV, or at 50 kV through autotransformers, which split the
RAILWAY POWER SYSTEM MODELLING
50 kV in 25 – 0 – 25 kV and introduce a common and earth
The symmetrical components methodology is widely reference point, bonded to the tracks. In this way, the
used for the modelling of three-phase power systems. Plenty autotransformers (AT) provide single 25 kV to the
of literature is available, and its usefulness is known to those locomotives.
who are involved in the design and construction of plant Between the PT at supply point and the first AT at the
dedicated to the generation, transmission, distribution and FS, the AT 2-phase system possesses two equal and opposite
utilization of electrical power. However, most of the phase currents and two equal and opposite phase-earth
literature regards the application of the symmetrical voltages [4]. The phasor representation of the system is
components transformation to 3-phase systems. Fewer shown in Fig. 1. It can be observed that currents are 180°
publications that discuss its application to systems with ( π ) apart, and so are voltages.
different number of phases are available. For example, in [6]
general information regarding the symmetrical components In a symmetrical and balanced 3-phase system, voltages and
transformation of n-phase systems is provided. However, due currents are 120° apart ( 3π / 2 ). If the 2-phase and 3-phase
to generality, equivalent circuits for plant components and systems are compared, it can be observed that they are
connection of sequence networks for fault calculation are not conceptually equivalent if:
provided. In [7] the application of common 3-phase
transformation to 1-phase and 2-phase lines is discussed, but • The phase shift is changed from 2π / 3 to
mainly with a view to modelling non-3-phase devices in a 3- 2π / 2 = π
phase based simulation program. The publication that most
closely addresses the scope of this research is [8], where 4- • The number of voltages and currents is changed
phase transformation and anti-transformation are addressed, from 3 to 2
together with exhaustive presentation of the connection of The equivalence can be extended to n-phase systems by
the sequence networks for fault calculation purposes. assuming a phase shift of nπ / 2 . The voltage and current

978-0-7695-5101-2/13 $26.00 © 2013 IEEE 218


DOI 10.1109/AMS.2013.39
phasors may be arranged graphically within a polygon of n T2 is multiplied by a vector of, for example, voltages, the
vertexes and n sides. result is a vector of symmetrical component voltages, in the
order 0 and 1, or “zero sequence” and “positive sequence”:

ªV0 º 1 ª1 1 º ªVa º
«V » = « »⋅« » (4)
¬ 1¼ 2 ¬1 − 1¼ ¬Vb ¼
The inverse transformation from symmetrical components
Figure 1: Phasor representation of phase voltages and currents at the supply into phase components is obtained by multiplying the vector
−1
point of the 2 x 25 kV rail electrification system. Voltages are 180° apart,
of component voltages by T2 = T2 = T2 . In a 2-phase
t*
and currents are 180° apart as well.
case, the matrix for transformation and anti-transformation is
However, if currents are measured after the first AT, the identical, because the imaginary part of its elements is zero.
presence of a train makes current flow into the track and in
the autotransformers as well as in the CC and FW [4]. This III. MODELS IN SYMMETRICAL COMPONENTS DOMAIN
leads to an unbalance within the CC and FW current and In this section, the models of the items of plant that
voltage systems. This unbalance can be approached by using
constitute the 2-phase autotransformer traction power system
the same methodology used in unbalanced 3-phase systems,
are presented. Each item is analysed in the phase domain and
provided it is adapted to the 2-phase case.
its voltage/current characteristic is calculated and
II. SYMMETRICAL COMPONENTS IN 2-PHASE SYSTEM transformed into the symmetrical components domain.
The transformation into symmetrical components for a 3- A. Line-earth voltages
phase system is done by using the matrix: Line-earth voltages are indicated, in phase domain, as
VCC-e and VFW-e, where VCC-e is the catenary/contact (CC) to
ª1 1 1º earth voltage, and VFW-e is the feeder wire (FW) to earth
1 «
T3 = « 1 α α 2 »» where: α = e j 2π / 3 (1)
voltage. The transformed voltages are:
3
«¬1 α 2 α »¼ VCC − e + VFW − e
V0 =
ªV0 º ªVCC − e º 2
«V » = T2 ⋅ «V
−1
Note that T3 = T3t* , where t indicates transposed, and * » or (5)
¬ 1¼ ¬ FW − e ¼ VCC − e − VFW − e b
conjugated. This is true only if the factor 1 / 3 is used. If T V1 =
2
is multiplied by a vector of, for example, voltages, the result
is a vector of symmetrical component voltages, in the order Note that the same transformation applies to voltages along
0, 1 and 2, or “zero”, “positive”, and “negative sequence”: the phases, such as voltage drops along the overhead
conductors.
ªV0 º ª1 1 1 º ªVa º B. Line currents
«V » = 1 «1 α α 2 » ⋅ «V » (2)
« 1» 3« » « b» Line currents are indicated, in phase domain, as ICC and
«¬V2 »¼ «¬1 α 2 α »¼ «¬Vc »¼ IFW. The transformed currents are:

The inverse transformation from symmetrical components I 0 = (I CC + I FW ) 2 ; I1 = (I CC − I FW ) 2 (6)


into phase components is obtained by multiplying the vector
−1
C. Voltage Source at supply point
of component voltages by T3 = T3t* .
The voltage source at supply point represents the
As mentioned in Section I, the 2-phase system is Thévenin equivalent open circuit voltage. The 50 kV voltage
conceptually equivalent to a 3-phase system if the phase shift present on the secondary of the PT can be generated by two
is changed from 2π / 3 to 2π / 2 = π . Also, the number 25 kV voltage sources connected as shown in Fig 2a.
of voltages and currents must be changed from 3 to 2. The
transformation matrix becomes hence:

1 ª1 1 º 1 ª1 1 º − j 2π / 2
T2 = «1 β » = «1 − 1» ; β = e (3)
2¬ ¼ 2¬ ¼ a) b)
−1
Note that T2 = T = T2 , where t indicates transposed, and
2
t* Figure 2: in a) phase-domain model of the source voltages, in b): sequence-
domain model of the source voltages. The zero sequence voltage is null, and
zero sequence current cannot circulate, because the centre point of the
* conjugated. This is true only if the factor 1 / 2 is used. If sources is not connected to earth.

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+ Z FW + 2Z m
] ≅ 1 ª«Z º
The voltages generated by the equivalent voltage sources
can be transformed and become: [Z 01, line
CC

0 Z CC + Z FW
0
− 2Z m »¼

V + Vb V − Vb
V0 = a = 0; V1 = a = 50 2 (7) (13)
2 2 This allows decoupling of the sequence circuits, which leads
Note that the zero sequence voltage is null, because the to considerable simplification. The decoupled circuits are
voltages of the two sources are equal and opposite. The shown in Fig 4.
connection between the sources is equivalent to a non-
earthed 3-phase Y connection. No zero-sequence current can
circulate, and hence the zero-sequence circuit for the source
voltages is open, in addition to having a null voltage source
(Fig 2b). Figure 4: sequence-domain model of the transmission line: the sequence
circuits are assumed to be decoupled.
D. Impedances along the line
The impedances along the line are defined as the ratio of If Zph is the matrix representing the short circuit impedance
a voltage along the line conductors, and the current in the of the PT, as per Fig 4, the transformed matrix is:
line conductors. They can be part of a transmission line
model, or short-circuit impedances of a PT model [5]. The
more general case of a full impedance matrix representing a
[Z 01, PT ] = 12 ª«Z0 PT 0 º
Z PT »¼
(14)
transmission line is discussed (Fig 3). ¬

Figure 5: sequence-domain model of the PT. Z0 is defined, but the


sequence circuit is open because the zero-sequence current cannot flow due
to the non-earthed centre point, as assumed in Section III-C.
a) b)
Shunt elements are usually modelled through admittance
Figure 3: in a), phase-domain model of a generic transmission line, and in
b), phase-domain model of the secondary impedance of the PT. matrices, which are transformed in an analogous way.

Given that: E. Autotransformer

[V ] = [Z ]⋅ [I ]
ph ph ph (8)
Autotransformers are shunt elements. An admittance
matrix representing the AT is derived. The AT of a 2x25 kV
traction power system can be modelled as a 1:1 ratio, 2
And that: winding transformer where the primary is connected in series
[V01 ] = [T2 ] ⋅ [V ph ] and [I ph ] = [T2 ] ⋅ [I 01 ] (9)
with the secondary. The series is connected between CC and
FW, and the junction of the two windings, the mid point, is
bonded to the track. The AT is represented in Fig 6 with its
By combining (8) and (9) it can be written that: 1:1 transformer equivalent, where the no-load admittance is
[V01 ] = [T2 ]⋅ [Z ph ]⋅ [T2 ]⋅ [I 01 ] (10) neglected.
The equations for the AT are:
Therefore, the transformed impedance matrix is:
­ I CC = I FW
[Z 01 ] = [T2 ]⋅ [Z ph ]⋅ [T2 ] (11) ® (15)
¯VFW −e = −VCC −e + I FW Z sc
If Zph is the matrix representing the transmission line in Fig
3, the transformed matrix is: The (15) are written in the form [I] = [Y][V]:

+ Z FW + 2Z m Z CC − Z FW º ª I CC º 1 ª1 1º ªVCC −e º
[Z 01, line ] = 1 ª«Z CC

Z CC − Z FW Z CC + Z FW − 2Z m »¼
« I » = Z «1 1» ⋅ «V » (16)
2¬ ¬ FW ¼ sc ¬ ¼ ¬ FW −e ¼
(12) The admittance matrix is transformed:
If the values of the self impedances of the two line
ª1 0º
conductors are deemed to be close enough, it can be decided
to approximate the matrix as: [Y01, AT ]= 2
«0 0» thus: Y0, AT =
2
(17)
Z sc ¬ ¼ Z sc

220
The phase-domain matrix is a full matrix, where ICC and IFW To represent a phase-phase fault, the positive sequence
are coupled. The transformed admittance matrix is much circuit is connected to the short circuit (Fig 8b), thus
simpler, and has only one non-null element. This enforcing that V0 = 0. The zero sequence circuit is left open,
considerably simplifies the model. The admittance matrix is thus enforcing I0 = 0. This is conceptually equivalent to what
singular, which means that the impedance matrix is not is done to represent a 3-phase symmetrical fault in a
defined for the AT. The sequence circuit of the AT is shown transformed 3-phase system.
in Fig 7.

a) b)
Figure 9: in a), single phase to earth fault in the phase-domain; in b),
sequence-domain representation

For a single phase to earth fault, in this example the fault is


placed on the CC. The relevant phase-domain circuit is
shown in Fig 9a. The phase-earth fault sequence components
are:
Figure 6: phase-domain model of the AT
ªI 0 º ª I f º I f ª1º
« I » = [T2 ] ⋅ « 0 » = ⋅« » (21)
¬ 1¼ ¬ ¼ 2 ¬1¼

ªV0 º ª 0 º VFW ª1º


Figure 7: sequence-domain model of the AT «V » = [T2 ] ⋅ «V » = ⋅« » (22)
¬ 1¼ ¬ FW ¼ 2 ¬− 1¼
F. Faults
Faults are represented, as in the 3-phase case, by And hence the relationship between sequence currents and
applying the relevant voltage/current relationship to the voltages is:
sequence circuits. For a phase-phase fault, the relevant If VFW
phase-domain circuit is shown in Fig 8a. I 0 = I1 = and: V0 = −V1 = (23)
2 2
To represent a phase-earth fault, as the sequence currents are
identical, the sequence circuits will be connected in series
and then the series is connected to the short circuit, thus
enforcing that V0 = - V1. This is conceptually equivalent to
what is done to represent a phase-earth fault in a transformed
a) b) 3-phase system.
Figure 8: in a), phase to phase fault, in b), sequence circuits G. Train load as current source
The phase-phase fault sequence components are: The locomotive is connected between the CC and the
rail, and it is represented with the current source Is. The rail
ªI 0 º ª If º ª0 º is assumed to be connected to earth, and any potential rise of
« I » = [T2 ] ⋅ «− I » = 2 I f ⋅« » (18) the rail with respect to remote earth is neglected. The
¬ 1¼ ¬ f¼ ¬1¼ relevant equations are:

VFW = VCC = VCFW ªI 0 º ª I S º I S ª1º


« I » = [T2 ] ⋅ « 0 » = ⋅« » (24)
ªV0 º ªVCFW º ª1 º (19) ¬ 1¼ ¬ ¼ 2 ¬1¼
«V » = [T2 ] ⋅ «V » = 2VCFW ⋅« »
¬ 1¼ ¬ CFW ¼ ¬0 ¼ The locomotive is represented in the sequence domain by an
identical current source in each sequence circuit (Fig 10). As
And hence the relationship between sequence currents and the current sources are identical, it is possible to enforce the
voltages is: condition also by connecting the sequence circuits in series
to each other and to a single current source, and then closing
I 0 = 0; I1 = 2 I f and: V0 = 2VCFW ; V1 = 0 (20) the circuit. This is similar to what was done to represent a
phase-earth fault.

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The networks of Fig 12a,c can be used for phase-phase and
phase-earth fault current calculation. For a phase-phase fault,
only the positive sequence network is used, as shown in Fig
8. The network obtained is shown in Fig 13. For a phase-
earth fault, the two networks are connected in series at the
fault point. The network obtained is shown in Fig 14.
Figure 10: locomotive represented by current source; Z0 and Z1 represent
the transformed Thévenin equivalent impedance of the power system as
seen by the locomotive; Vs1 represents the transformed no-load Thévenin
voltage at the power transformer.

IV. MODELLING AND CALCULATION EXAMPLES


In this section, a double track rail is modelled in the
phase domain and then transformed to the sequence domain.
The fault current is calculated for both a phase-phase and a Figure 13: A phase-phase fault is modelled: only the positive sequence
phase-earth fault. The fault impedance seen by a protection circuit is involved, as for a symmetrical 3-phase fault in a 3-phase system.
relay located at the FS, as a function of fault position along
the track, is calculated and plotted. Figure 11 shows the
single-line diagram of the track. A detailed circuital
representation of the track is omitted for simplicity. Figure
12 displays the transformed network.

Figure 11: single line diagram of track; note that the overhead conductors
of the two tracks are not paralleled at the AT site between FS and TSC, as
Figure 14: The two sequence networks from Fig 12 are connected in series
this is the arrangement implemented in Queensland coal network
to model a phase-earth fault (see Section III-F). The fault current flowing
electrification. D is the distance between two AT sites, and L = 2D is the
from the CC conductor and the fault voltage between the FW conductor
distance between FS and TSC. The fault is located between AT4 and AT6.
and the earth can be calculated by anti-transforming the sequence variables.
Fault current flowing from FW and fault voltage between CC and earth are
zero, as per assumption made in Section III-F.

A phase-earth fault is assumed to occur on the CC between


AT4 and AT6 (Fig 11 and 14). The protection relay is
assumed to be an impedance relay (distance protection),
located at the FS, measuring the voltage on the 50 kV bus,
a) and the currents in the faulted track. The voltage and current
inputs to the relay are assumed to be the following:

VR = VCC − FW = VCC −e − VFW −e


(25)
I R = I CC − I FW
Hence the impedance measured by the relay is:
b) VCC −e − VFW −e
ZR = (26)
I CC − I FW
The relay is assumed to be located between the PT and the
c)
first AT on the faulted line. As the impedance of the AT is
Figure 12: transformed network; in a) is the positive sequence, and in b) the usually low compared to line impedance, it can be assumed
zero sequence. Note that the PT possesses a zero sequence impedance, but that all the zero-sequence current is absorbed by the AT, and
the impedance is connected to an open circuit (see Section III-A); in c), the
therefore also that the voltages at the FS bus are well
cell where the fault is located is isolated, based on the hypothesis that the
impedance of the AT is much lower than the line impedance Z0L. balanced [4]. Therefore, it is assumed that the relay measures
positive sequence current and voltage only.

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V1R impedance (excluding arc resistance) was calculated for the
ZR = (27) track shown in Fig 11 by using (33) and is plotted in Fig 15.
I 1R The following input was used: L = 10 km, D = 5 km. The
The contribution of the line to the positive sequence fault values z1L = 0.4 ohm/km; Z0L = 1 ohm/km were calculated
impedance is: using (11) on ZCC = ZFW = 0.7 ohm/km and ZM = 0.3
ohm/km.
x(2 L − x )
Z f 1L = z1L (28) 6

Impedance measured [ohm]


2L 5

where z1L is the per km positive sequence line impedance. 4

The contribution of the line to the zero sequence fault 3


impedance is: 2

x (D − x ) 1
Z f 0L = z0 L , 0 < x < D (29)
0
D 0 1 2 3 4 5 6 7 8 9 10

Z f 0L =
(x − D ) ⋅ (2 D − x ) z , D<x<L (30)
position of fault [km]

0L
D Figure 15: fault impedance measured by the distance protection relay (Fig
11) located at the FS on the faulted line. It can be noticed that, at the AT
where the AT impedance was neglected as it is usually much sites, the fault impedance is exactly equal (apart from the approximations
smaller than the line impedance Z0L. The approximated zero- introduced) to the positive sequence line impedance at that position.
sequence network of Fig 12c was used. The fault current is:
VI. CONCLUSIONS
VS1
I f1 = I f 0 = (31) The modelling methodology presented allows the
Z f 0L + Z f 1L + Z 1S simplification of the circuit model of the 2x25 kV traction
power system. Circuit calculations are simplified, and thus
The portion of fault current seen by the relay located at the the designer can produce approximated calculation results
start of the faulty branch, and the associated bus voltage are: through the use of simple formulas.

2L − x Z f 1L + Z f 0 L ACKNOWLEDGMENT
I1R = I1 f ; V1R = V1S (32) The Author thanks the Power System Design team at
2L Z f 0 L + Z f 1L + Z1S Aurizon for their ongoing support, and the Project Managers
Hence, merging (28) (29) (30) (31) and (32) the impedance for the funding contributed to this research.
seen by the relay is: REFERENCES
2 Lx ⋅ (D − x ) [1] F. Perticaroli, Sistemi Elettrici per i Trasporti [Electrical Systems for
Z R = z1L ⋅ x + z0 L ,0 < x < D (33) Transportation], Casa Editrice Ambrosiana, Milano, 2001, ISBN 88-
D ⋅ (2 L − x ) 408-1035-8.
[2] G. Varju, Comparison of the booster transformer and auto
2 L ⋅ ( x − D ) ⋅ (2 D − x ) transformer railway feeding systems, feeding features and induction
Z R = z1L ⋅ x + z 0 L ,D < x < L to telecom lines, presentation held at EMC York 2004, July 1-2.
D ⋅ (2 L − x ) [3] IEC60850 ed 3.0 (2007), Railway applications – supply voltages of
traction systems.
It can be observed that the (33) are composed by a term that [4] F. Tuting, Hill Michael report to QR, Queensland Rail fault analysis
increases linearly with position, controlled by the positive methodology, rev. 2.1, September 2010.
sequence line impedance, added to a term that depends on [5] A. Dolara, M. Gualdoni, S. Leva, Effect of primary high voltage
the zero sequence impedance of the line. supply lines on the high speed AC railways systems, 14th International
conference on Harmonics and Quality of Power (ICHQP), 2010.
V. RESULTS [6] Grandi, G.; Serra, G.; Tani, A., General Analysis of Multi-Phase
Systems Based on Space Vector Approach, Power Electronics and
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feeding line, AT and locomotives were presented. The [8] Della Torre, F. ; Dolara, A. ; Leva, S. ; Morando, A.P., Faults
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