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OPAL-RT TECHNOLOGIES REAL-TIME POWER SYSTEMS SIMULATOR
Hardware in the loop Simulation of Power Systems
IEEE Meeting in Brisbane
June 19th 17:00-18:00
Presented by Benoit Marcoux, Business Development Manager - Asia
• What is real-time simulation? Why real-time simulation is essential?
• A word about Smart Grid
• The most important issue for power systems engineer
• Examples of HIL Real time simulation of power system
• Questions
Presentation Summary
2
What is real-time?
At the right time !
Provide the right result
Connect your model with physical devices under test
Real-time Simulation Concepts
Real-Time: 60 seconds of simulation time IS 60 seconds!!
Off-Line: 60 seconds of simulation time can be 5 minutes, 60 minutes, 100 minutes, etc… according to the network size being simulated and the PC power
3
• Hardware-in-the-Loop (HIL) testing leverages Real-Time Simulation to connect real equipment and systems, through sensors and actuators, and “fool” them into thinking that they are connected to the real thing.
• This allows users to perform realistic closed-loop tests without the need for testing on a real system’
• While HIL typically refers to low-power applications, Power Hardware-in-the-Loop (PHIL) can be employed for higher power testing (see later slide)
What is Real-Time Simulation &
Hardware-in-the-Loop (HIL)?
4
Workstation Real-Time Simulator Device Under Test (DUT)
Closed-Loop Interaction
Helps Engineer in Development Process
Rapid Control Prototyping Hardware in-the-loop Testing
Desktop Simulation
Coding
Validation
Simulation of
• Motor drive control
• Power electronic control
• FACTS
• Protection, PMU
• MMC, HVDC, FACTS
• PV, Wind Farm, DER
• Plugin and hybrid vehicle
• Power electronic converters
• SCADA, WAM
Software-In-The-Loop
1
2
3
4
5
2
A
• What is real-time simulation? Why real-time simulation is essential?
• A word about Smart Grid
• The most important issue for power systems engineer
• Examples of HIL Real time simulation of power system
• Questions
Presentation Summary
6
What is a SMART Grid?
According to IEEE
7
What is a SMART Grid?
Source: IBM
8
Impact of SMART Grid?
• In the 80s, Denmark had only large power plants
• In the 2000s, massively-distributed power generation, wind-based mostly
Excerpt from ‘The Smart
Grid: An introduction’
DOE, USA
Impact of SMART Grid?
Classic grid
Fewer larger production plants
Little power electronics except for HVDC and some FACTS
New requirements
Increased flexibility to incorporate new distributed power sources
Increased used of power electronics to connect distributed sources to the main grid
10
Presentation Summary
Many New Wind Turbines in the World which means many new converters
In 19 years, increase of 70X!!
11
Presentation Summary
• Many New PV in the World which means many new converters
• In 13 years, increase of 107X!!
12
Impact of SMART Grid?
Traditionally Few large power sources (centralized) Power is very reliable Small number of Grid sensors One-Way Communication Failure and Power Outages relatively easy to manage Make sure all sources stay synchronized during faults and you are fine. Protection is basic Control is simple
New challenges
• Renewable energy require to manage many sources (distributed)
• Renewable Power is less reliable • Full Grid sensor layout • Two-Way Communication • Failure and power outages are complex to
manage • Communication/synchronization challenges • Protection is complex • Grid is adaptive • Can operate in islanded mode • Part of the network may be weak (ex: wind-
farm far from main power plants) • The challenge of control is increased
13
What must be studied about the SMART Grid?
Very Fast Evolution of Power Systems
Power Grids and power Electronic systems are evolving very rapidly
From passive components to thyristor to very fast IGBT VSC power electronic systems
From central to distributed generation systems
From systems designed by utilities as integrated systems to distributed independent systems installed by local energy producers
From well known to undocumented black-box systems (IP protection)
From a few sensors for load-flow to Wide Area Management and control
AND are becoming more complex to design
…AND to integrate together in the main grid
How to test them?
14
What must be studied about SMART Grid?
Québec
Modern and SMART transmission systems rely on control and protection systems
For performance, security at optimize cost
> 1000 km
> 1500 km
Transmission Network
Load
Generation
Stability
Protection
100% Reliability
Depends on 5 factors!!
External
Factors
Traditional and SMART Transmission Systems : 5 BASIC factors!!
G * L * E * S * P = R
15
What must be studies about SMART Grid?
Security and performance will rely on more complex global wide area control and protection
Large-scale real-time simulators will become even more essential than today!
AC/DC, FACTS, SPS Québec
Transmission
Distribution
Power electronics for HVDCs, FACTS,
fast protection system
Fast power electronic for renewable
energy systems (solar, wind, etc) Control co-ordination
challenges
Integrated SMART Transmission and Distribution Power Systems
100% Reliability
Depends on
10 factors!!
What must be studies about SMART Grid?
Electrical Flows
Secure Communication Flows
• Too Many Topics!!!
17
NEEDS: HIGH SCALABILITY, MULTI-DOMAIN AND MULTI-RATE
Precise Power Electronics Simulation
Large 100,000 States
Small 100
states
Mo
del
Siz
e
100 to 500 nanoseconds
10 – 15 milliseconds
10 – 50 microseconds
SLOW (100 Hz)
FAST (20 kHz)
VERY FAST (2 MHz)
Aircraft Dynamic
Vehicle Dynamic
Robotic
Power system electro-
mechanical transients
Distribution & Micro-grids
Train Traction systems
Industrial drives 100 us 10us
Power Transmission HVDC, FACTS
More electrical aircrafts
Electrical Hybrid vehicle
Fast power converters
4 to 200+ CPUs
(1 or several FPGAs)
Distributed Generation
Wide Area Control and Protection Systems
FAST ELECTROMAGNETIC TRANSIENTS PHASOR METHOD
18
Hardware: Real-time Simulators
Host PC Model Edition Simulation
management Graphical interface
RT Simulator Model Execution
Data logging I/O management
Ethernet Link between host PC and
simulator Multiple-core CPU
Model computation
FPGA & I/O boards
Interface with real devices
Electric Systems
DNP3 C37.118 61850
MMS IRIG-B
1588
60870 Modbus
Automotive and Aerospace
CAN FlexRay LIN
1553
ARINC 429
Generic Protocols
RS-232 RS-422 RS-485
RFM TCP/IP
Control and Automation
OPC FieldBus Ethercat
19
• What is real-time simulation? Why real-time simulation is essential?
• A word about Smart Grid
• The most important issue for power systems engineer
• Examples of HIL Real time simulation of power system
• Questions
Presentation Summary
20
Model used
21
0
10
20
30
40
50
60
70
80
1.50 1.75 2.00 2.25 2.50 2.75 3.00
t_cro
ssin
g (
ms)
I_secondary (A)
Relay OC Characterization - OC Characteristic
Overcurrent
Characteristic
Results – All cases
22
0
10
20
30
40
50
60
70
80
1.5 2.0 2.5 3.0
t_cro
ssin
g (
ms)
I_secondary (A)
Relay OC Characterization - All Tests
Overcurrent
Characteristic
Tripped
Did not trip
0
10
20
30
40
50
60
1.75 2.00 2.25 2.50 2.75 3.00
t_cro
ssin
g (
ms)
I_secondary (A)
Relay OC Characterization - Tests to Investigate
Overcurrent
Characteristic
Tripped
Did not Trip
Results – Problematic cases
23
Large Grids, Smart Grids Large Wind farm
How many tests for such Grid Applications?
3 phases
fault
1 phase
fault
• What is real-time simulation? Why real-time simulation is essential?
• A word about Smart Grid
• The most important issue for power systems engineer
• Examples of HIL Real time simulation of power system
• Questions
Presentation Summary
25
INELFE project: France-Spain Electrical Interconnection
Santa Llogaia
Baixas
A 2000 MW - 65 km underground cable – DC link connecting Baixas (near Perpignan, France) and Santa Llogaia (near Figueras, Spain)
Santa Llogaia
Baixas
Tunnel
Scope of the Project
Rated power: 2*1000 MW DC voltage: ±320 kV for each 1000MW link Reactive Power Control: +/- 300 MVAR for each 1000MW Converter Converter Contractor : Siemens DC cable length: 64 km Cable Contractor: Prysmian 8 km dedicated Tunnel Commissioning date: 2015
Cost of the Project : 700M€
with 225M€ financing from EU
GAUDIERE
BAIXAS
VIC
RIUDARENES
BESCANO
SANTA LLOGAIA
RAMIS
FRANCESPAIN
HV
DC
LIN
K1
HV
DC
LIN
K2
+
-
+
-
BAIXASSANTA
LLOGAIA
R&D Center of Malaysia Power Grid (TNBR)
WAMPAC or other wide area study Can use the following communications protocols
• IEC61850
• GOOSE
• DNP3
• C37.118
• MODBUS
• OPC Server
• IRIG-B/GPS
• RS232/RS488
NTU University in Singapore
Alborg University in Germany
Schneider Electric in USA
Customer in Europe
Modifiez le style du titre
BERTA’s Layout in the Power Plant
Voltage
transformer
Current
transformer
Current
clamps
BERTA on Site: real tests in power plant for tuning AVR, PSS and Speed Regulator parameters
Before After
BERTA on Site: real tests in power plant for tuning AVR, PSS and Speed Regulator parameters
ABB in Switzerland
Hydro-Quebec in Canada
HARDWARE-IN-THE-LOOP (HIL)
ABB SVC
Controller
POWER HIL (PHIL)
Objective: Closed-loop tests of high-power systems within a Hardware-in-the-Loop configuration
Challenge: Virtual Exchange of Power between digital simulation & devices
Solution:
KTH in Sweden
POWER HIL (PHIL)
CEPRI in China
MMC Example #1
Being the first five-terminal Modular Multilevel Converter (MMC)-based HVDC project in the world, the control and protection system must be validated under various operation modes as well as contingency at the factory acceptance test.
The MMC sub-module model is implemented in FPGA boards with a Ts=500 ns, while the rest of the power system is simulated on CPU with a Ts=30 μs.
The State-space Nodal (SSN) interface is used to couple the models simulated on FPGA and on CPU.
A communication protocol is designed to connect the actual valve balancing controller with the real-time simulator.
Results from the factory acceptance test are presented.
Source:
Available from our website
MMC Example #1
5
7
MMC Example #1
Ts=250ns
Ts=25μs
Vcap, SM status
Switching Command
MMC Example #1
Vcap, SM status
Switching Command
The C&P system under test consists of
four types of controllers:
- the AC control center (ACC),
- the DC field terminal (DFT),
- the pole control and protection (PCP)
- the voltage balancing controller (VBC).
The ACC and DFT are the high-level control and protection
schemes for the AC networks and DC networks respectively.
The PCP communicates with the ACC through the MMC
substation LAN, and applies the proper control algorithm
according to the system operation mode.
The VBC receives reference signals from the PCP via the IEC60044-8 protocol, and modulates the firing commands
for the IGBTs in each sub-module to equalize the sub-modules capacitor voltages within the valve
In order to test the task switching between the controller on duty and the redundant controller, two sets of controllers
are connected to the RT-LAB HIL test bench selected as the HIL test platform.
MMC Example #1
6
0
Ts=25μs
MMC Example #1
RT-LAB real-time simulator uses an
advanced solver called State-space nodal
(SSN).
SSN enables to split the model into several
SSN groups for a single MMC terminal.
Each SSN group consists of state-spaced
models that is discretized using higher
order matrix exponential approximants.
The SSN can also be derived from nodal
analysis and combined with the state-space
equivalent circuits.
Using ARTEMIS-SSN makes it possible to
increase the size of the circuit to about 400
to 600 nodes without adding inaccuracy
introduced by artificial delays.
MMC Examples
6
2
Test results for
F11 at Dinghai
Station for 100 ms
(a) AC grid-side
voltages
(b) Valve-side
voltages
(c) Valve-side
currents
(d) Control status
(e) DC currents
(f) DC voltages
MMC Examples
6
3
Test results for
F11 at Dinghai
Station for 2000
ms
(a) AC grid-side
voltages
(b) Valve-side
voltages
(c) Valve-side
currents
(d) Control status
(e) DC currents
(f) DC voltages
McGill University in Canada
CERN
European Organization for Nuclear Research
France-Switzerland
INES
National Research on Solar Power
France
France- Italy
SSN: 400 to 1000 states in 100us on 4 CPU
Client Network
nodes
(EMTP
equivalen
t)
SSN
nodes
# of LC
states
Simulation
time step
Lilles L2EP 1 650 18 387 95µs
‘Italy client’ 2 740 9 981 70 µs
They used
parallel SSN
with 4 cores of
3.3 GHz i7
Intel PC, with
absolutely no
delay or
stubline in the
network.
Questions…?
