OPAL-RT Model-In-the-Loop real-time simulation

International Symposium onIndustrial Electronics

ISTANBUL

Authors: Vahid Jalili-Marandi, Jean Belanger, Fabio Jose Ayres

Presenter: Simon Abourida

[email protected]

2

Electric Power System

Real-Time Digital Simulator

ISIE 2014 - Model-In-the-Loop Real-Time Simulation in Phasor Domain

Real-TimePhasor-Domain

Model

Motivation: To model the impact of DC systems (VSC) and their controllers in the phasor-domain simulation

Design, and analysis of power system stability and performance

Test a variety of difficult operating scenarios on the real power grid: faults, load rejection, and islanded operation

Testing components (control, monitoring, protection, etc) hardware in a closed-loop with the simulator

Sample Applications: Closed-Loop testing of devices

Protective relay testing

Phasor Measurement Units and Wide Area Monitoring

Solar and Wind Farm integration Testing

FACTS Control-in-the-loop testing (HIL, Power HIL)

…

3ISIE 2014 - Model-In-the-Loop Real-Time Simulation in Phasor Domain

Hardware-In-the-Loop (HIL): Test and validate new components before installing them in the field

Create realistic set-up to test and prototype the final application of a new component

The design iteration is slow at this point

Model-In-the-Loop (MIL) One level before HIL simulation

Model of new component is developed and connected to the simulation tool

The development iterations are fast


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10 s 1 s 100 ms 10 ms 1ms 100 µs 100 ns1 min 1 s1 day 1 h

Economic Effect

Frequency Fluctuation

Power Fluctuation

Shaft Torsional Resonance

Harmonics

Surge

Main Focus of RT Simulators


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I n s t a n t a n e o u s V a l u e s

R M S V a l u e s

Steady State Electromechanical Oscillation

Transient OvervoltageTemporary Overvoltage

Resonance & Ferroresonnace

Electromagnetic & Electromechanical Phenomena

Load FlowShort CircuitHarmonics

Transient StabilityModal AnalysisVoltage Stability


10 s 1 s 100 ms 10 ms 1 ms 100 µs 100 ns1 min 1 s1 day 1 h

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Wide Area Transient Stability

Ultra-fast Transients

Electromagnetic Transient (EMT)

Grid Size(Number

of 3-PhaseBuses)

PSS/eETAP

DigSilent

PSCADEMTP

SPS SPICESABER

SIMPLORER


ePHASORsimReal-Time TransientStability Simulator

HYPERsimLarge Scale Power SystemBased on Nodal Algorithm with Single Line Diagram

eFPGAsimPower Electronics Simulation on FPGA

10,000

2,000

1,000

500

100

10

0

20,000

1 s(1 Hz)

10 ms(100 Hz)

50 µs(20 KHz)

10 µs(100 KHz)

1µs(1 MHz)

100 ns(10 MHz)

10 ns(100 MHz)

Model Sampling Period (sec.) | Frequency (Hz)

Number of3-Phases

Buses

eMEGAsimPower System & Power Electronics SimulationBased on MATLAB/Simulink and SimPowerSystems

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Wide Area Transient Stability

Ultra-fast Transients

Electromagnetic Transient (EMT)


Detailed EMT models - eMEGAsim: For design and validation of control and protection systems

To analyze interaction of new power electronic systems with conventional protection and control systems

To validate average/phasor type models used in distributed generation

Phasor type models - ePHASORsim: Testing of wide area control and protection schemes

Voltage and VAR control and automated restoration technique require the simulation of large-scale systems

Such simulation is out of reach for the powerful EMT parallel simulators

Real-time Phasor-Type simulators for operator training

Hybrid Simulations Mixed-mode (EMT-Phasor) simulators will be more and more needed

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1. EMT simulation


Real-time transient stability simulator• Large-scale power systems • Transmission, distribution and generation

Phasor domain solution • Nominal frequency• Positive sequence (balanced systems)• 3-phase (unbalanced systems)• Time-step in the range of few milliseconds


In ePHASORsim:• Power system components inject current via an

external source into an individual bus of the power system• The current flow can be positive-sequence-balanced, or three-phase-unbalanced.

This injection is directly added to the vector I(x,V) in (2)

00 )(

),,(0

),,(

xtx

tVxg

tVxfx

Machines, Controllers, Dynamics

Network side algebraic equations

+

Discretization of

differential equations

Solving linear algebraicequations

Explicit Euler

LU Factorization

x : vector of state variablesV and I are the vectors of bus voltages and currentsY is the nodal admittance matrix of the network

Solver built as a MATLAB/Simulink S-function + library of coded models

The network description (components, parameters,…) are defined in Excel

Convenient for large networks (20,000 bus)

Operation Commands can be sent to solver directly or via Distributed Network Protocol (DNP3):

Apply faults on buses, with variable fault location

In-service/Out-of-service commands for loads, C banks, transmission lines, …

Adjust tap position, reference for controllers

Change load profile

Open and reclose breakers

Etc.

Data Import: the tool offers importing from PSS/e load flow cases (*.raw) and dynamic data files (*.dyr) for a list of components open to add import from other third party simulation package


Using the “Current injection” for a VSC


With this formulation, the user can develop DC-side components and their required control scheme, and then the unit can be placed in a closed-loop system where the AC grid is modeled in ePHASORsim.

Static Synchronous Compensator (STATCOM) Shunt-connected device used to regulate the voltage of an AC bus

It consists of three parts: DC source, voltage-source-converter (VSC), and controller

Simple Photovoltaic cell (PV) A simplified model as a voltage and radiation-dependent current

source

The PV is modeled as a current source in parallel with a capacitor

Details of the PV equation related to diode’s voltage-current characteristics are ignored



The steady state and dynamic response of the simulation are compared with the Phasor mode simulation of SimPowerSystems toolbox.

Shunt-connected device used to regulate the voltage of an AC bus It consists of three parts: DC source, voltage-source-converter (VSC), and controller

Voltage at Bus 2


Bus 2 Bus 3Bus 1

At t = 1.4 s a three-phase-to-ground faulthappens at Bus 1 for a duration of 50 ms.

Vref: initially set to 1 p.u., and subsequently lowered at t = 0.5 s to 0.97 p.u., raised at t = 0.7 s to 1.03 p.u., and changed back to 1 p.u. at t = 1 s.

Err < 0.4 %

Err < 2 %


Current flow intransmission line at Bus 1

Bus 2 Bus 3Bus 1


A simplified model as a voltage and radiation-dependent current source The PV is modeled as a current source in parallel with a capacitor Details of the PV equation related to diode’s voltage-current characteristics are ignored


Voltage at Bus 2

Relative error < 1%

Increase of solar radiation with a step function characteristic at t = 0.5 s

No Voltage Regulator included

Application of ePHASORsim to perform MIL simulation

How to integrate power system components with VSC (such as STATCOM and PV) with the rest of the power system Test and tune the controllers

Useful for large-scale system and wide area control

Future Work:

Parallel processing and high-performance programming techniques (100,000 buses)

Add more built-in components to the library

Add more third party network format


A single platform that handles the RT simulation of: Transient stability (time step = 5 - 10 ms) - Phasors

Electromagnetic transients (time step = 20 – 50 us) - Instantaneous

Ultra-Fast transients (time step < 1 us) – Instantaneous (VSC, MMC)

Works with: Single line diagram modeling, or

Simulink / SimPowerSystems modeling

Applications: Closed-Loop testing of Physical devices

Protective relay testing

Phasor Measurement Units and Wide Area Monitoring

Solar and Wind Farm integration Testing

FACTS Control-in-the-loop testing (HIL, Power HIL)

…


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Host PC

RT SimulatorPC-Based Architecture

Physical Device under test

… FPGA

Carrier BoardD/A A/D

CAN, IEC61850

…DO DI

RT Comm. Board

Ethernet

CPUPCI Express

AdapterShared

Memory CPU

Multi-Core

Multi-Core

PCI-Express bus

Model Model


Software-in-the-loop (all digitally simulated)

Hardware-in-the-loop

Projects

Real-Time Simulation of Phasor Measurement Unit

Emulation of an Over-Current Relay Model Developed in SimPowerSystems (MATLAB/Simulink)

Real-Time Simulation on OPAL-RT Simulator

Validated with actual relay (SEL-487E) in HIL setup and comparison with Stand Alone Testing System

Power System Communication (Station & Process Bus Implementation)- Real-Time HIL Setup [Opal-RT + ABB-RED 670]

PMU in HIL setup with development of graphical monitoring interface


Technology

OPAL-RT Model-In-the-Loop real-time simulation