This paper provides a general framework for electromagnetic modeling, computation and measurements regarding the wave propagation characteristics of High-Voltage Direct Current (HVDC) power cables. The modeling is focused on very long (10 km or more) HVDC power cables and the relevant frequency range is therefore in the low-frequency regime of about 0-100 kHz. An exact dispersion relation is formulated together with a discussion on practical aspects regarding the computation of the propagation constant and the related characteristic impedance. Experimental time-domain measurement data from an 80 km long HVDC power cable is used to validate the model. It is concluded that a single-mode transmission line model is not adequate to account for the mismatch between the power cable and the instrumentation. A mismatch calibration procedure is therefore devised to account for the connection between the measurement equipment and the cable. A dispersion model is thus obtained that is accurate for early times of pulse arrival. To highlight the potential of accurate electromagnetic modeling, an example of high-resolution length-estimation is discussed and analyzed using statistical methods based on the Cramer-Rao lower bound. The analysis reveals that the estimation accuracy based on the present model (and its related model error) is in the order of 100 m for an 80 km long power cable, and that the potential accuracy using a perfect model based on the given measurement data is in the order of centimeters.
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