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The Role of Real Time Digital Simulation into the Power Systems Development
Guillaume PISSINISSales [email protected]
Aalborg UniversityDenmark March 2017
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Summary
1. OPAL-RT Technologies
2. Challenges
3. Real-time simulation: Definition and benefits
4. Applications
5. OPAL-RT Real-Time Simulator solution
2
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• Established in 1997, headquarters in Montreal
• Offices, subsidiaries and distributors worldwide
• Over 150 employees
• More than 600 customers
• More than 20% of turnover reinvested in R&D
• Fully digital simulators for MIL, RCP, HIL, PHIL
• Leader in power electronics, electrical drives
and power systems applications
• Integrated with MATLAB/SIMULINK
• COTS hardware and software based
• Compatible with software industry standards
OPAL-RT TECHNOLOGIES
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Worldwide Presence
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Canada
France
India
Australia
China
Brazil
Colombia
Argentina
MexicoAlgeria
Russia
Middle East
Japan
USA
UK
Spain
Italy
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Partial Customer List
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Partial Customer List
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Summary
1. OPAL-RT Technologies
2. Challenges
3. Real-time simulation: Definition and benefits
4. Applications
5. OPAL-RT Real-Time Simulator solution
7
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Traditional electrical network
Energy flow from the producer to the consumer
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Image : http://www.sdet.fr
Production Consumption
Future Electrical Networks: Challenges
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Future electrical networks: Smart Grids
Multidirectional energy flows
Communicating, intelligent network
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Image : http://www.hitachi.com
Future Electrical Networks: Challenges
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What makes the networks so complex?
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Integration of new technologies into the network
(Photovoltaic panels, wind turbines, new converter
topologies (MMC, etc.), HVDC lines, etc.)
New measuring and protection devices:
sophisticated and communicating
Complex control strategies for the optimal control
of electrical systems (converters, electrical machines,
etc.)
Integration of ICT (Information and Communication
Technologies) into the network
Future Electrical Networks: Challenges
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Challenges
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How can we boost the development of smart grids?
How can we improve the integration of new technologies
in the future electrical networks?
How can we help academical and industrial researchers to
develop innovative electrical systems?
Future Electrical Networks: Challenges
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Benefits of Simulation
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Summary
1. OPAL-RT Technologies
2. Challenges
3. Real-time simulation: Definition and benefits
4. Applications
5. OPAL-RT Real-Time Simulator solution
13
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Real-Time Simulation: Benefits
Tests on the field can be:
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Difficult to organise (logistic, impacts, etc.)
Expensive (time, ressources, etc)
Risky (HV equipments, etc.)
Real-time simulation offers:
Validation during all the "V" cycle of your project
Early detection of possible conception errors
High number of tests
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Benefits of Simulation
Northeast blackout in 2003 Between 2 days and 1 week to restore power
Affected 55 million people
At least 10 fatalities
Estimated cost: $6 billion
Cause Software bug in the alarm system at a
control room
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Source : Wikipedia
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Real-time Simulation Concepts
What is real-time?
Provide with the right result
At the right time!
A real-time system is not necessarily very fast
Just fast enough, depending on the application
Examples of time responses
Microseconds (10-6) for fast transient electrical systems
Milliseconds (10-3) for mechanical dynamics
Seconds for temperature control
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Real-time Simulation
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Benefits of Simulation
Simulate systems with models
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Benefits of Simulation
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Vehicle dynamics
Hydraulics
Mechanical Systems
Robotics
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Benefits of Simulation
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Multi-Level, MV, HV Converter
“All Electrical” Vehicles
AC-DC, DC-AC, DC-DC
Power Converter
Electrical Drive
Permanent
magnet motor
DC-DC converter
10 kHz DC-DC converters
80kW
240 -
380 V
2600uF
5200uF
240- .
400 V
Battery circuit Fuel cell circuit
CPU 1: (Ts= 10 us)
CPU 2: (Ts= 20 us)
N
S
PWM inverter
FPU FPU
FPU Digital OUT
Digital IN
i550mH
vfuel_cell
motor
imotorV
uvwduty cycle
Motor controller
EV/HEV/PHEV/Fuel Cell
Energy Storage Systems
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Large Grids, Smart Grids
Renewable Energy Sources
Embedded Distribution Systems
SVC, HVDC, FACTS, STATCOM, MMC VSC
Benefits of Simulation
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Summary
1. OPAL-RT Technologies
2. Challenges
3. Real-time simulation: Definition and benefits
4. Applications
5. OPAL-RT Real-Time Simulator solution
22
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Model-Based Engineering
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Desktop Simulation Validation
Rapid Control Prototyping HIL Testing
Automatic Coding
Implementation
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Benefits of Simulation
Simulation brings valuable help at different stages of a project Design of systems
Validation of control devices
Commissioning of complex devices
Maintenance of control systems
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Real-time Simulation
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Introduction: Simulation Methods
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Real-Time Simulation
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Host PCModel Edition
Simulation management
Graphical interface
RT SimulatorModel Execution
Data logging
I/O management
EthernetLink between host PC and
simulator Multiple-core CPUModel computation
FPGA & I/O
boardsInterface with real
devices
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Offline Simulation
Purpose: Proof of concept
Functional description
Preliminary studies
Configuration
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Plant
(physical controlled
system)
Controller
(control algorithm)
Simulated Simulated
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Offline Simulation
Application case: Grid stability studies
Large grid
RMS values (phasors)
Electro-mechanical stability (ms)
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Offline Simulation
Application case: Electro-magnetic transients on transmission system
Smaller grid
Harmonic studies
Electromagnetic transients (µs)
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Offline Simulation
What can we expect from offline simulation?
Get results faster
Hours of simulation become minutes
More runs
Faster simulation = more iterations to refine a design
Early fault detection
Capture system-level errors early
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Rapid Control Prototyping
Purpose : To test the algorithms of a controller
To refine the algorithm parameters
To connect the simulated control to a real plant
Configuration
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Rapid Control Prototyping
Application case: Development of new control algorithms on an existing electrical drive
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Inverter MachineControl algorithm
Measurements
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Rapid Control Prototyping with MMC
• Cycle time of 20µs
• 2500 IO channels, all synchronized
• Supports Half-Bridge and Full-Bridge Mode
• Optical interface
Cell & Pole Controls
HVDC
Meshed DC grids
MMC
FACTS
SVCs
High Voltage Power Electronics
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PMU and Relay Prototyping
GPS clock
Real Power System
Real-Time EMT
Simulation
of
Power System
Protection Relay
PMU
SCADA
Energy Management Systems
Power Systems & Smart Grids
• C37.118, IEC61850, IEC60870-5-104
• MODBUS, Ethernet, OPC, DNP3
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Multi-terminal DC grids
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HVDC
Meshed DC grids
MMC
FACTS
SVCs
High Voltage Power Electronics
AC GRID REAL-TIME
SIMULATOR
Po
we
r A
mp
lifie
r
Po
we
r A
mp
lifie
r
Power Amplifier
Pole 1 Pole 2
Pole 3
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Rapid Control Prototyping
What can we expect from RCP?
Decouple HW and SW development of a controller
Final controller hardware is not required
Refine the control algorithm
Control parameters are accessible in run-time!
Early fault detection
Design errors can be captured before final implementation of controller
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Hardware in-the-loop
Purpose: To test the final controller in safer conditions
To prepare the final physical tests
To connect the real control to a simulated plant
Configuration
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Hardware in-the-loop
Application case: Protection relay testing
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• Simulation of DC link + VSC-MMC with 400 SM per arm.
• Surge arrester simulated to limitDC overvoltage during DC faults.
• Test bench for interfacingHYPERSIM simulation withcontroller replicas.
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OP5600 CPU&I/O Chassis
OP5607 I/O Extension
12 Cores Industrial PC
REAR SideFRONT Side
Analog SignalsBinary Signals
Optic Fiber for PCIe
RTE – France / Spain HVDC Link
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• FPGA: bitstream provided with MMC model up to 6000 cells per FPGA board
• CPU: easy MMC simulation with HYPERSIM.Major advantage: simulation of surge arresters or MOVs
• Non-linear devices used on a grid to protect from overvoltages
• Possible to simulate MOVs thanks to HYPERSIM solver able to iterate on non-linearities
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RTE – MMC Simulation
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Hardware in-the-loop
What can we expect from HIL?
Validate integration of HW and SW
Tests performed on the final controller
Safer tests – the plant is modeled!
Difficult or hazardous tests can be easily done
Better efficiency and wider test coverage
Automatic tests can run 24/7. Non-regression tests.
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Power Hardware in-the-loop
Purpose: Test integration between systems handling power
Emulate power devices and their environment
Configuration
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Power Hardware in-the-loop
Application case: Integration of microgrid and power grid
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Grid model + control model Real microgrid
Power amplifier
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SMARTGRID LAB POWER HIL
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Classical ProductionSynchronous MachineRenewable SourcesIndustrial Process
MAS MS MS
Physical Emulators(source – load – storage)
Real Time simulation
Computer Network
AC Experimental Grid
Supervision
Micro turbinePower distribution network, RES,
DG, Loads,…Super
CapacitorPV Power
Plant
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Power Hardware in-the-loop
What can we expect from PHIL?
Emulate power devices
For example the power grid
Validate integration of power devices and their environment
Tests are closer to reality since part of the system is real
Test devices which need to be connected to power devices
Test of PMUs and protection relays
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Complex Hybrid Simulations
Purpose: Test complex setups involving all kinds of controllers and plants
Configuration
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Complex Hybrid Simulations
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Grid model Real microgrid
Power amplifier
Control modelReal control
Control model
Real motor
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Summary
1. OPAL-RT Technologies
2. Challenges
3. Real-time simulation: Definition and benefits
4. Applications
5. OPAL-RT Real-Time Simulator solution
49
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ePHASORsimReal-Time TransientStability Simulator
10 ms time step
HYPERSIMLarge Scale Power System
Simulation for Utilities & Manufacturers25 µs to 100 µs time step
eFPGAsimPower Electronics Simulation on FPGA
1 µs to 100 ns time step
1 s(1 Hz)
10,000
2,000
1,000
500
100
10
0
10 ms(100 Hz)
50 µs(20 KHz)
10 µs(100 KHz)
1µs(1 MHz)
100 ns(10 MHz)
10 ns(100 MHz)
20,000
Period (frequency) of simulated transient phenomena
Number ofsingle phase
nodes
eMEGAsimPower System & Power Electronics Simulation
Based on Matlab/Simulink and SimPowerSystems
10 µs to 100 µs time step
Product Family
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Product Family
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Electromagnetics Transients(EMT)
20 000 Hz(10 to 50 microseconds)
• Voltage Stability• Frequency control
• Protection• HVDC Control
• SVC Control
• FACTS• Microgrid System Controls
• Local control • Power converters
• Fast transients• High frequency harmonics
• Microgrid local control
Power Electronics2 000 000 Hz
( 100 nanoseconds to 1 us)
Electro-Mechanical Transients(Phasor)
1 to 100Hz (10 to 15 milliseconds time step)
• Grid Control Center• Energy Management System
• PMU Data Analysis• Cyber security
• Wide Area Control
• State estimation
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RT-LAB Software
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Simple workflow, from model design usingMATLAB/Simulink® to real-time execution on OPAL-RT real-time simulator:
Model design in Simulink®
Model compilation using RT-LAB
Model loading
Model execution
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OPAL-RT Hardware Solutions
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OP45104 Cores
Kintex 7 FPGA
Up to 300 Single Phases Nodes
at 50us
OP5600 - OP57004 / 8 / 16 / 32 Cores
Spartan 3 / Virtex 7 FPGA
Up to 3100 Single Phases Nodes
at 50us
OP50304 / 8 / 16 / 32 Cores
NO FPGA
Up to 3100 Single Phases Nodes
at 50us
OP4200ARM Processor
Kintex 7 FPGA
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Fast and Versatile Architecture
Workstation Multicore
CPU
FPGA
firmware
External
Equipment
Ethernet PCIExpress
Analog I/O
Digital I/O
Real-Time Computer
Communication Options
CAN, RS232, RS485, LIN, ARINC, MILSTD 1553
Ethernet, IEC 61850, DNP 3.0, C37.118, …
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Flexible I/O Connectivity
FPGA
AnalogADC
Resolver Sinus/Cosinus Input
Resolver excitation input
Voltage Sensor
Current Sensor
Temperature Sensor
DigitalQuadrature encoder (A,B,Z)
Hall Effect
Synchronous Serial interface (SSI)
Serial Peripheral interface (SPI)
Custom protocol
AnalogDAC
Resolver excitation output
DigitalGate Firing Out (PWM, SVM, …)
Synchronous Serial interface (SSI)
Serial Peripheral Interface (SPI)
FPGA FirmwareInput/Ouput management
Generic control functions, such as electric motor drive
Specif ic / user-made signal processing or control logics
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Co-simulation CPU/FPGA
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CPU FPGA
I/O interfaces
FPGA modelCPU model
PCIe
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What Makes OPAL-RT Unique
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Thank you for your attention
Questions?
58
