3/20/091 RT-LAB Solution for Real-Time Applications Hardware-In-Loop introduction Opal-RT Technologies 2012.

Slides:



Advertisements
Similar presentations
Introductory Circuit Analysis Robert L. Boylestad
Advertisements

Modeling Electrical Systems With EMTP-RV
A design technique of ARCP matrix converter using circuit simulator Nagasaki University Yuichiro Nakazawa.
Hybrid Terminal Sliding-Mode Observer Design Method for a Permanent-Magnet Synchronous Motor Control System 教授 : 王明賢 學生 : 胡育嘉 IEEE TRANSACTIONS ON INDUSTRIAL.
Team Dec13_11: Cole Hoven Jared Pixley Derek Reiser Rick Sutton Adviser/Client: Prof. Manimaran Govindarasu Graduate Assistant: Aditya Ashok PowerCyber.
AC modeling of quasi-resonant converters Extension of State-Space Averaging to model non-PWM switches Use averaged switch modeling technique: apply averaged.
HossamTalaat - MATLAB Course - KSU - 19/09/ IEEE Student Branch - College of Engineering - KSU Getting started with Power System Blockset By Prof.
Lecture 8: Clock Distribution, PLL & DLL
Fundamentals of Power Electronics 1 Chapter 20: Quasi-Resonant Converters Chapter 20 Quasi-Resonant Converters Introduction 20.1The zero-current-switching.
Introduction to Op Amps
Digital to Analog Converters
Lecture 6: Measurements of Inductance, Capacitance, Phase, and Frequency 1.
Introduction to Op Amp Circuits ELEC 121. April 2004ELEC 121 Op Amps2 Basic Op-Amp The op-amp is a differential amplifier with a very high open loop gain.
Advanced Phasor Measurement Units for the Real-Time Monitoring
Numerical algorithms for power system protection Prof. dr. sc. Ante Marušić, doc. dr. sc. Juraj Havelka University of Zagreb Faculty of Electrical Engineering.
COMPLEXITY SCIENCE WORKSHOP 18, 19 June 2015 Systems & Control Research Centre School of Mathematics, Computer Science and Engineering CITY UNIVERSITY.
FIRST ORDER TRANSIENT CIRCUITS
Dynamic analysis of switching converters
Synchrophasor: Implementation,Testing & Operational Experience
Overview What is a weak system? Useful metric to identify weak systems: SCR What could possibly go wrong? Is a weak system so bad? What can you do? Risk.
A Shaft Sensorless Control for PMSM Using Direct Neural Network Adaptive Observer Authors: Guo Qingding Luo Ruifu Wang Limei IEEE IECON 22 nd International.
2013 Nov. Research On Periodic Oscillation Test Equipment for Thyristor Valves TBEA Shenyang Transformer Group Co., Ltd. TBEA Energy (India) Pvt Ltd. Reporter:
1 Chapter 8: Procedure of Time-Domain Harmonics Modeling and Simulation Contributors: C. J. Hatziadoniu, W. Xu, and G. W. Chang Organized by Task Force.
Optimal Power Control, Rate Adaptation and Scheduling for UWB-Based Wireless Networked Control Systems Sinem Coleri Ergen (joint with Yalcin Sadi) Wireless.
Sliding Mode Control of Wind Energy Generation Systems Using PMSG and Input-Output Linearization Xiangjun Li, Wei Xu, Xinghuo Yu and Yong Feng RMIT University,
RT-LAB Electrical Applications 1 Opal-RT Technologies Real-time Simulation of 15-bus Electric Grids interconnected with an.
Maximum Network Lifetime in Wireless Sensor Networks with Adjustable Sensing Ranges Cardei, M.; Jie Wu; Mingming Lu; Pervaiz, M.O.; Wireless And Mobile.
Using co-design techniques to increase the reliability of the Electronic control System for a Multilevel Power Converter Javier C. Brook, Francisco J.
The Finite Element Method A Practical Course
On Distinguishing the Multiple Radio Paths in RSS-based Ranging Dian Zhang, Yunhuai Liu, Xiaonan Guo, Min Gao and Lionel M. Ni College of Software, Shenzhen.
ECE 576 – Power System Dynamics and Stability Prof. Tom Overbye Dept. of Electrical and Computer Engineering University of Illinois at Urbana-Champaign.
University of Illinois at Chicago ECE 423, Dr. D. Erricolo, Lecture 19 University of Illinois at Chicago ECE 423, Dr. D. Erricolo, Lecture 19 Frequency.
Fundamentals of Electric Circuits Chapter 16 Copyright © The McGraw-Hill Companies, Inc. Permission required for reproduction or display.
ECE 466/658: Performance Evaluation and Simulation Introduction Instructor: Christos Panayiotou.
Motivation Thus far we have dealt primarily with the input/output characteristics of linear systems. State variable, or state space, representations describe.
1 Chapter 5: Harmonic Analysis in Frequency and Time Domains Contributors: A. Medina, N. R. Watson, P. Ribeiro, and C. Hatziadoniu Organized by Task Force.
Large Timestep Issues Lecture 12 Alessandra Nardi Thanks to Prof. Sangiovanni, Prof. Newton, Prof. White, Deepak Ramaswamy, Michal Rewienski, and Karen.
EEB5213 / EAB4233 Plant Process Control Systems Digital Implementation of PID Controller.
Control systems KON-C2004 Mechatronics Basics Tapio Lantela, Nov 5th, 2015.
ECE 530 – Analysis Techniques for Large-Scale Electrical Systems Prof. Hao Zhu Dept. of Electrical and Computer Engineering University of Illinois at Urbana-Champaign.
Lecture 6: Measurements of Inductance, Capacitance, Phase, and Frequency 1.
Least Squares Estimate Algorithm Bei Zhang
1 Analog versus Digital Information-bearing signals can be either analog or digital. Analog signal takes on a continuous range of amplitude values. Whereas.
Lecture 9: PID Controller.
Managed by UT-Battelle for the Department of Energy Vector Control Algorithm for Efficient Fan-out RF Power Distribution Yoon W. Kang SNS/ORNL Fifth CW.
EKT 441 MICROWAVE COMMUNICATIONS
1 Decentralized Adaptive Voltage Control with Distributed Energy Resources Presenter: Huijuan Li.
CLOSED LOOP SPEED CONTROL OF DC MOTOR WITH PWM TECHNIQUE
J.PRAKASH.  The term power quality means different things to different people.  Power quality is the interaction of electronic equipment within the.
Basics of Bypass Capacitor, Its Functions and Applications.
FUNCTION GENERATOR.
 The common type of wind power generators are squirrel cage induction generator (SCIG),doubly fed induction generator (DFIG)  For more secure and.
Low Scale Grid Emulator Test Bench For In-house Validation Of High Power Converters Oriented To Offshore Speaker: Markel Zubiaga
Digital Control CSE 421.
The Clutch Control Strategy of EMCVT in AC Power Generation System
IG BASED WINDFARMS USING STATCOM
PSCAD models.
B.Sc. Thesis by Çağrı Gürleyük
D. Menniti, N. Sorrentino, A. Pinnarelli, M. Motta, A. Burgio and P
Design of a Multi-Agent System for Distributed Voltage Regulation
Presenter: Sean Cunningham
Fundamentals of Electric Circuits Chapter 16
Chapter 6 Feedback Circuits
Digital Control Systems Waseem Gulsher
NETWORK FILTERS AND TRANSMISSION LINE.
Annex G.7. A Past Year Exam Paper
Hafez Sarkawi (D1) Control System Theory Lab
Chapter 5 Operational Amplifiers
Chris Leonard and Baylor Howard Advisor: Dr. Jing Wang
N-port Network Port reference Line Impedance Port Voltage & Current.
Presentation transcript:

3/20/091 RT-LAB Solution for Real-Time Applications Hardware-In-Loop introduction Opal-RT Technologies 2012

2 Outline - Introduction to Real-Time simulation: HIL vs RCP - Simulation type: - EMT - Phasor - Solver type: - Nodal approach - State-Space approach - Decoupling technique - Switching function - STUBLINE - Distributed Parameter Line - Closing the loop: - Delays issues - Modeling errors - Using PMU for HIL

3 Introduction to Real-time simulation Q: How many reasons are there to use real-time simulation? Q: How many purposes are there to use real-time simulator? A: One and only one, connecting real-hardware to a simulated model A: Meanly three: - Pure simulation - Rapid Controller Prototyping (RCP) - Hardware-In-Loop (HIL)

4 Introduction to Real-time simulation - Pure simulation 1.This is usually the first step toward real-time simulation. 2.Only requires the software. 3.Allows to verify the model to be simulated. 4.Identify time-step for. I.Stability II.Hardware

5 Introduction to Real-time simulation - Pure simulation According to the time step required for stability and the one for hardware you can achieve three different mode: Ts stability < Ts hardware = Simulation slower than real-time Ts stability => Ts hardware = Real-Time simulation Ts stability > >Ts hardware = Simulation faster than real-time

6 Introduction to Real-time simulation - Rapid Controller Prototyping 1.This is used during the preliminary design of the controller. 2.It requires the software, the simulator and real-hardware. 3.Allows to implement various version of a controller. 4.Identify the maximum control delay 5.Verifying the simulated model

7 Introduction to Real-time simulation - Hardware In the Loop 1.This is used once the controller is implemented in an embedded system. 2.It requires the software, the simulator and embedded controller. 3.Allows to test real controller: 4.Identify the maximum delay 5.You need to trust the model since. I.Even if the real hardware does not exist. II.Make test that could be destructive or dangerous. III.Having different controller tested

8 Outline - Introduction to Real-Time simulation: HIL vs RCP - Simulation type: - EMT - Phasor - Solver type: - Nodal approach - State-Space approach - Decoupling technique - Switching function - STUBLINE - Distributed Parameter Line - Closing the loop: - Delays issues - Modeling errors - Using PMU for HIL

9 Simulation type Simulation can be divided in two type: - Electromagnetic Transient simulation - Phasor simulation Q: Which of these simulation is the best? A: Depend of your application and of your hardware.

10 Simulation type -Phasor simulation - Uses a large time step (few millisecond). - Used for very large model. - Only simulate the positive sequence. - General application are: - Integration of distributed energy resources and load models to the simulator - Operator Training Simulator (OTS) - Dynamic Security Assessment (DSA) - Test, tune, and optimize setting of control devices - Test SCADA systems with PMU measurements - Test and adjustment local control systems such as transformer tap- changer, capacitor banks

11 Simulation type -EMT simulation - Uses a small time step (from microsecond up to nanosecond). - More representative harmonic content. - General application are: - Simulation of switching devices (power converter, STATCOM…) - Development of low level controller - Multi-domain simulation

12 Simulation type -Mixed simulation - Uses a different time-step (from millisecond up to nanosecond). - Allows sufficient precision according to the simulated component. e.g.: Simulation of the Brazilian transmission system (in phasor) with distribution and STATCOM (in EMT)

13 Outline - Introduction to Real-Time simulation: HIL vs RCP - Simulation type: - EMT - Phasor - Solver type: - Nodal approach - State-Space approach - Decoupling technique - Switching function - STUBLINE - Distributed Parameter Line - Closing the loop: - Delays issues - Modeling errors - Using PMU for HIL

14 Solver type -Algebraic constraints and adapted solvers The two most critical components of a real-time power system simulators are: The simulation solver is capable of iterating the power system equations with: - Accuracy - Stability The hardware platform is capable of doing these iterations fast enough: - Running a real-time Operating System - With sufficient I/O capability

15 Solver type -Algebraic constraints and adapted solvers Key characteristics of power systems: 1.Contains a wide range of frequency mode - Stiff circuit 2.Time constants are small in electrical systems - Requires small time step to obtain accurate results. 50 µs is a typical value but could be smaller depending on the PWM switching and the circuit resonance frequencies. 3.Contains a lot of PWM-driven power electronics - The simulator must avoid sampling effect when computing IGBT pulse “events” internally or when reading PWM pulses from its I/Os

16 Solver type -Algebraic constraints and adapted solvers Methods to simulate electric systems: - Nodal approach - State-Space approach

17 Solver type -Nodal approach 1.All branches resistance ratio R=v n /i n, are built into a nodal matrix 2.Known term Ih=i n-1 1+(T/2L)v n-1 are built into a vector I 3.For all nodes, a global matrix of admittance is built: YV=I 4.Nodal voltages are found by solving this matrix problem, either by direct inversion or LU decomposition 5.Re-solving of Y required if a switch changes position

18 Solver type -State-Space approach 1.We can also find the exact state-space solution 2.With k, matrix set index for switch permutations 3.This can be discretized with the trapezoidal method like in SimPowerSystems for Simulink, (Trapezoidal method: order 2) 4.It can also be discretized by higher order methods higher order methods (Art5 method: order 5)

19 Solver type -State-Space approach 1.Continuous time state-space: 2.Solution for time step T: 3.Using the Taylor expansion to solve e AT :

Solver type -State-Space approach Now looking at the stability of these 2 nd and 5 th order

Solver type -State-Space approach If we look at the response for a simple RLC circuit to see the difference between the A-Stable and L-Stable solver

Solver type -State-Space approach Further more transient response is much more accurate when using an higher order solver

23 Outline - Introduction to Real-Time simulation: HIL vs RCP - Simulation type: - EMT - Phasor - Solver type: - Nodal approach - State-Space approach - Decoupling technique - Switching function - STUBLINE - Distributed Parameter Line - Closing the loop: - Delays issues - Modeling errors - Using PMU for HIL

Decoupling technique -Switching function Switching function is an implementation that can be added to either the Nodal or the State-Space approach. It consist representing switching device, like power switch, by its average model. Switching function can add unnatural delay which have minimal impact if properly implemented. Controlled voltage and current source are added as input/output of the switching function. This allows to decouple one system in two smaller systems.

Decoupling technique -Switching function Lets take a single arm to demonstrate the concept.

Decoupling technique -STUBLINE

Decoupling technique -Distribute Parameter Line This type of line has all parameter then a standard line. For symmetrical lines, impedance can be specified using sequence parameters or the N-by-N matrix; for asymmetrical lines, it must be specified using the N-by-N matrix. The minimum length of the line is 30000*Ts Km

Decoupling technique What is real-time simulation in the end? Meaning it works using tricks

Decoupling technique The key of real-time digital simulation is to achieve computation of large system. Using a higher order solver, accurate simulation can be achieved with large time step. Using tricks like switching function and distributed parameter line, large system can be decoupled to distribute computation over multiple computing unit

30 Outline - Introduction to Real-Time simulation: HIL vs RCP - Simulation type: - EMT - Phasor - Solver type: - Nodal approach - State-Space approach - Decoupling technique - Switching function - STUBLINE - Distributed Parameter Line - Closing the loop: - Delays issues - Modeling errors - Using PMU for HIL

31 Closing the loop - Rapid Controller Prototyping 1.Most of the time, you would start from an offline simulation model. 2.Afterward you add IO to connect the controller to the plan, this introduce delays that you encounter when using embedded controller. 3.Once the model works with decoupled IO, you can now connect the IO to a real-hardware. e.g.: Simulation of a wind farm using a DFIG and a variable voltage source.

32 Closing the loop - Rapid Controller Prototyping

33 Closing the loop - Hardware In the Loop When simulated model is coupled using power amplifier delay can change the phase of the signal and cause instability. e.g.: A simulated network is coupled with a real smart house using to study the impact of the smart house on the network. The open loop gain must be smaller then 1 to stay stable

34 Closing the loop - Hardware In the Loop Yamane, A.; Wei Li; Belanger, J.; Ise, T.; Iyoda, I.; Aizono, T.; Dufour, C.;, "A Smart Distribution Grid Laboratory," IECON th Annual Conference on IEEE Industrial Electronics Society, vol., no., pp , 7-10 Nov Detailed results were presented at IECON2011 in the paper “A Smart Distribution Grid Laboratory”

35 Closing the loop - Hardware In the Loop Another example of application is the design of a PMU using C protocol