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Opal-RT Regional User Seminar
Using Opal-RT Real-Time Simulation and HIL System in Power and Energy
Systems Research
Shuhui Li
Department of Electrical & Computer Engineering
The University of Alabama
Presented on
February 15, 2017
Atlanta, GA
Opal-RT Regional User Seminar
Contents
1. Opal-RT system at UA
2. Solar energy conversion, generation and grid integration
3. Charging stations and transportation integration
4. Microgrid control and management
5. IPM motor control: EV and automation
6. NSF I/UCRC Center for efficient vehicles and sustainable
transportation systems (EV-STS)
Opal-RT Regional User Seminar
Renewable Energy Systems Laboratory (RESyL)
RESyL
Science & Engineering Quad
Science and Engineering Quad
Opal-RT Regional User Seminar
Opal-RT HIL and compatible hardware facilities
Target computer #1
Target computer #2
Target computer #3
Target computer #4
Hardware interface #1
HardwareFacilities
Opal-RT Regional User Seminar
PCs connected to Opal-RT system
High-performance PC
Local area network
Opal-RT system
Opal-RT Regional User Seminar
Contents
1. Opal-RT system at UA
2. Solar energy conversion, generation and grid integration
3. Charging stations and transportation integration
4. Microgrid control and management
5. IPM motor control: EV and automation
6. NSF I/UCR Center for efficient vehicles and sustainable
transportation systems (EV-STS)
Opal-RT Regional User Seminar
Solar Photovoltaic Power Generation Systems
Grid connected PV system
Opal-RT Regional User Seminar
Problems- Uneven Solar Irradiation Conditions
Clouds will cause a shading problem
Opal-RT Regional User Seminar
Central dc/ac and dc/dc converters
Overall
0 100 200 300 400 5000
5
10
15
20
Vs (V)
Pow
er
(kW
)
None
50%
100%
0 100 200 300 400 500-300
-200
-100
0
100
Vs (V)
Pow
er
(W)
None
50%
100%
Shaded cell
Opal-RT Regional User Seminar
String converter based PV system
Central dc/ac inverter and string dc/dc converters
String inverter configuration
Opal-RT Regional User Seminar
Micro converter based PV system
dc/dc optimizers per module and a central inverter
Microinverter PV system
Opal-RT Regional User Seminar
PV Module with Bypass Diode
Vs
Is
0 100 200 300 400 5000
5
10
15
20
Vs (V)
Pow
er
(kW
)
full-sun
n=1
n=2
n=3
n=4
n=6
n=9
n=12
n=18
n=36
Opal-RT Regional User Seminar
Computational and Hardware Experiments
0 4 8 12 16 20 2450
60
70
80
90
Tem
pera
ture
(F)
Time (Hour)
0 4 8 12 16 20 240
200
400
600
800
1000
Sol
ar Ir
radi
atio
n(W
/m2)
Temp
Irra
0.5 1 1.5 2 2.50
5
10
15
20
Time(s)
Out
put
Pow
er (
kW)
Max IC SF S-PI
CPU 1
CPU 3 CPU 2CPU 4
Opal-RT Regional User Seminar
Grid-Connected PV and Energy Storage System
Pref
Qref
Opal-RT Regional User Seminar
Artificial Neural Network for Control and Grid Integration of Residential PV Systems
MPPT Control for dc/dc converter
ANN Control for dc/ac inverter
Opal-RT Regional User Seminar
0 0.5 1 1.5 2 2.5200
220
240
260
280
300
320
Time (s)
(a) d
c-lin
k volt
age (
V)
Vdc
0 0.5 1 1.5 2 2.5 3
Time (s)
Vdc
2.66 2.68 2.7 2.72 2.74
-20
0
20
40
Time (s)
(b) g
rid cu
rrent(
A)
Igrid
2.66 2.68 2.7 2.72 2.74
Time (s)
Igrid
0 0.5 1 1.5 2 2.50
1k
2k
3k
Time (s)
(e) P
V po
wer(W
)
Ppv
0 0.5 1 1.5 2 2.5 3
Time (s)
Ppv
0 5 10 150
5
10
Harmonic order
(f) M
ag(%
of F
unda
men
tal)
THD=4.67%
0 5 10 15
Harmonic order
THD=12.98%
Opal-RT Regional User Seminar
Contents
1. Opal-RT system at UA
2. Solar energy conversion, generation and grid integration
3. Charging stations and transportation integration
4. Microgrid control and management
5. IPM motor control: EV and automation
6. NSF I/UCR Center for efficient vehicles and sustainable
transportation systems (EV-STS)
Opal-RT Regional User Seminar
Energy Storage for Grid Power Leveling
Help make energy sources, whose power
output cannot be controlled, smooth and
dispatchable.
Opal-RT Regional User Seminar
Grid Integration: EV characteristics
Three different kinds of vehicles make up the EV fleet:
• Plug-in Hybrid Electric Vehicles (PHEVs)
– Hybrid vehicles that run on an internal combustion engine with batteries that can be recharged by connecting a plug to an external power source.
– Larger batteries than traditional hybrid vehicles (e.g., 5-22 kWh).
– Unlimited driving range because of hybrid engines
• Extended Range Electric Vehicles (EREVs)
– Electric vehicles with relatively large batteries (e.g., 16-27 kWh)
– capable of relatively long all electric ranges (e.g., 40-60 miles).
– An on-board internal combustion engine provides an unlimited driving range by recharging the battery when needed.
• Battery Electric Vehicles (BEVs)
– Pure electric vehicles with no internal combustion engine
– Require recharging at the end of their designed driving range.
– Have the highest all-electric range (e.g., 60-300 miles) and the largest battery capacity (e.g., 25-35 kWh)
Opal-RT Regional User Seminar
Grid Integration: Driving Characteristics
• Transportation data for U.S. driving patterns indicates
– 60% of domestic average daily driving is 30 miles or less
– Approximately 70% of driving is 40 miles or less.
– Upcoming EREVs:
• designed to drive 40 miles in all-electric mode.
• could accommodate 70% of driving in all-electric mode with a single over-night charge.
• daytime charging using public charging or at-work charging obviously extends vehicles’ effective all-electric driving ranges.
– BEVs have a limited driving range before extended charging is required (e.g., a 40-60 mile battery, or even a 100-mile battery), urban and close-in suburban areas are the ideal target market.
Opal-RT Regional User Seminar
Grid Integration: Charging Characteristics
Charge level Utility Service Charge Power (kW)
Time to charge
AC Level 1 120V, 20A 1.44 > 8 hours
AC Level 2 240V, 15-30A 3.3 4 hours
DC Level 3 480V, 167A 50-70 20-50 min
• The total energy required to charge a battery, and the average energy required per day, depend on the miles driven and the vehicle energy consumption per mile.
• Additional power may be required for accessories and air conditioning during summer months.
• EVs will have onboard communications, computing capabilities, and the other functionality in the near term that will enable them to be "smarter" than most end-use loads.
3 levels charging schemes
Opal-RT Regional User Seminar
Charging Stations with Other Renewables
Opal-RT Regional User Seminar
Charging Stations with Built-in Energy Storage
• Lower power loss caused by converters• Lower cost• Efficient energy management
Opal-RT Regional User Seminar
Real time simulation implementation
Real-time model structure of the EDV charging station
Opal-RT Regional User Seminar
Simulation results (1)
4 6 8 10 12 14 16 18 20-50-30-10103050
Time (s)
Iref
/Iba
tt (
A)
Iref
Ibatt
4 6 8 10 12 14 16 18 20200
400
600
Time (s)
Vre
f/V
batt
(V
)
Vref
Vbatt
4 6 8 10 12 14 16 18 20
69.5
70
70.5
Time (s)
Sta
te o
f C
harg
e (
%)
Opal-RT Regional User Seminar
Smart Transportation Grid Integration
• Battery remaining capacity
• Charging station locations
• Price information
• How much energy charging station can provide.
Opal-RT Regional User Seminar
Contents
1. Opal-RT system at UA
2. Solar energy conversion, generation and grid integration
3. Charging stations and transportation integration
4. Microgrid control and management
5. IPM motor control: EV and automation
6. NSF I/UCR Center for efficient vehicles and sustainable
transportation systems (EV-STS)
Opal-RT Regional User Seminar
Microgrid in Power Distribution System
• A typical microgrid:
– a low-voltage distribution network
– distributed generation (DG) units
– distributed storage (DS) units
– controllable loads.
– Grid-tied mode, islanded mode
• Control and management of a renewable-based microgrid:
– a renewable source level
– a microgrid central control (MGCC) level
– a utility distribution management system (DMS) level.
Opal-RT Regional User Seminar
ANN-ADP vector controller at DG Level
ADP: approximate dynamic programming ANN: artificial neural network trained to implement ADP-based
optimal control ANN-ADP: has potential to integrate optimal, predictive, PI, and PR
control advantages together
Opal-RT Regional User Seminar
Types of DER (distributed energy resources) inverters
• Grid-following inverter:
– PQ inverter DER: operates by injecting active and reactive power into the microgrid
– PV inverter DER: operates by injecting active power into the microgridwhile simultaneously maintaining the PCC bus voltage at a desired value
• Grid-forming inverter:
– V-f inverter DER: Operates based on the conventional droop control concept, which is a necessary requirement in the microgrid islanding operating condition.
– Droop control:
0 0 0 0,s s f ac ac ac ac V ac acf f r P P V V r Q Q
Opal-RT Regional User Seminar
A benchmark LV network with microgrid
• Grid connected• Islanding
Opal-RT Regional User Seminar
A benchmark LV network with microgrid
• Grid connected• Islanding
Opal-RT Regional User Seminar
Tracking variable reference commends (Ts=1ms)
4 6 8 10 12 14 16 18 204
6
8
10
12
Win
d S
peed
(m/s
)
Time (s)
0 2 4 6 8 10 12 14 16
-400
-200
0
200
Cur
rent
s (A
)
Time (sec)
Id Iq Id* Iq*
Opal-RT Regional User Seminar
Connecting to the grid without synchronization control
0.95 0.975 1 1.025 1.051.05-300
-200
-100
0
100
200
300
abc
cu
rre
nts
(A
)
Time (sec)
1.95 1.975 2 2.025 2.05-200
-100
0
100
200
abc
cur
rent
s (A
)
Time (sec)
Opal-RT Regional User Seminar
Hardware Experiment System
Opal-RT Regional User Seminar
Hardware Experiment Results
Grid d-axis current waveform dc link voltage
Grid q-axis current waveform Three-phase PCC voltage
0 20 40 60 80 100 120 140 160 180 20030
40
50
60
70
Time (sec)
Voltage (
V)
0 20 40 60 80 100 120 140 160 180 200-0.5
0
0.5
1
1.5
Time (sec)
d-a
xis
curr
ent (A
)
Id Id-ref
0 20 40 60 80 100 120 140 160 180 200-2
-1
0
1
Time (sec)
q-a
xis
curr
ent (A
)
Iq
Iq-ref
100.3 100.32 100.34 100.36 100.38 100.4100.4-20
-10
0
10
20
Time (sec)
Voltage (
V)
Opal-RT Regional User Seminar
Contents
1. Opal-RT system at UA
2. Solar energy conversion, generation and grid integration
3. Charging stations and transportation integration
4. Microgrid control and management
5. IPM motor control: EV and automation
6. NSF I/UCR Center for efficient vehicles and sustainable
transportation systems (EV-STS)
Opal-RT Regional User Seminar
PM motor control with standard three-leg inverter in EVs
Speed or torque commend
Opal-RT Regional User Seminar
P I
e
*sqv
*, ,a b cv
*di
*qi
di
qi
, ,a b ci
P I*sdv
P I
*r
r
00
10
dsd sd sd sdq
s e e PMsq sq sq sqd
q
dLv i i iLdt
Rv i i iLd
Ldt
Issues: Conventional Standard PMSM Control
Motor Controller
Opal-RT Regional User Seminar
+-
Vdc
PWM
PI+
+
+
-
--
e
*1v
*1v
_sq refi
mech
*mech
+
+
+
NN structure
Motor
Encoder
/d dtmech
sai
sbi
sci
eje
eje
2/3
*
1, 1, 1a b cv
savsbvscv
2/3
,i
PI
PImech *
rd
mech *rd
++
rd
PI_sd refi-
+
+
_sd compv
_sq compv
+
-
-
InputHidden
Output
+
+_sd refi
_sq refi
sde
sqe
sds
sqs
*sdv
*sqvsdi
Conventional standard current-loop control
Outer speed-loop control
Outer rotor flux control
P
sqi
sqisdi
tanh
tanh
tanh
tanh
tanh
tanh
tanh
tanh
tanh
tanh
tanh
tanh
tanh
tanh
tanh
tanh
tanh
tanh
1/Gain2
1/Gain
Input Preprocess
Output layer
V*sd
V*sqsde
sqe
sds
sqs
Hidden layer
NN
struct
ure
NN controller
-
*
sqv
*sdv
2/3
How to address the issues: ANN-ADP Solution
o Replace the conventional controller by a Neural Network Motor Controller (NNMC)
o Our NNMC uses Artificial Intelligence techniques that adapt quickly and efficiently in real-time
Opal-RT Regional User Seminar
Simulation for IPM Operating in Linear Over modulation Conditions (d- and q-axis currents)
Opal-RT Regional User Seminar
HIL Dyno System for Motor Control Evaluation
Opal-RT Regional User Seminar
Operation of IPM Motors in Linear and Over Modulation Regions
0 10 20 30 40 50 60 70 80 90 100-10
-5
0
5
10
15
20
Time (A)
Curre
nt (A
)
Ref
ADP
Conv
0 10 20 30 40 50 60 70 80 90 100-10
-5
0
5
10
Time (Sec)
Curre
nt (A
)
Ref ADP Conv
0 10 20 30 40 50 60 70 80 90 1000.5
1
1.5
2
Time (Sec)
Mod
ulatio
n Ind
ex
ADP
Conv
(a)
(b)
(c)
Opal-RT Regional User Seminar
Investigate Applying Real-Time Simulation in Robotics and Automation
From Solidworks to Simulink to Opal-RT
Opal-RT Regional User Seminar
Contents
1. Opal-RT system at UA
2. Solar energy conversion, generation and grid integration
3. Charging stations and transportation integration
4. Microgrid control and management
5. IPM motor control: EV and automation
6. NSF I/UCRC Center for efficient vehicles and sustainable
transportation systems (EV-STS)
Opal-RT Regional User Seminar
Focusing Areas of NSF I/UCRC Center
The Grid
Opal-RT Regional User Seminar