1. 2009 ESRDC Team Meeting, 26-27 May, MSU ESRDC FSU – CAPS 2009 ESRDC Team Meeting At Mississippi State University

2. 2009 ESRDC Team Meeting, 26-27 May, MSU 2 ESRDC FSU-CAPS Stats ESRDC FSU-CAPS Team –Co-PIs: Nine –Full Time Scientists : Five –Post Doc:Seven –PhD Students:Eleven –MS Students:Nine –Undergrad Students:Seven – Engineers:Four –Technicians:Five

3. 2009 ESRDC Team Meeting, 26-27 May, MSU A Reconfigurable Power Quality Regulation System with Energy Storage Element Dr. Liming Liu (Scientist), and Dr. Hui Li (PI), CAPS, Florida State University L f1 =2.4mH C f1 =2.5uF L f2 =2.4mH C f2 =2.5uF Zs=1Ohm +j12mH C=450mF 120V(RMS) System Parameter: Fundamental frequency :60Hz Switching frequency:9.6kHz Rated real power:20kW 200V Fundamental control/PWM control due to different operation modes PWM control Z R =1Ohm +j12mH 120V(RMS) Proposed reconfigurable power quality regulation system topology (a) Parallel current source operation in grid-connected mode(b) Parallel voltage source operation in stand-alone mode (c) Series voltage source operation in grid-connected mode (d) Hybrid Series voltage (front) and parallel current source (back) operation in grid-connected mode (f) Hybrid Series voltage (back) and parallel current source (front) operation in grid-connected mode Available operation modes Project Objective Reconfigurable power quality regulation system can operate in five different operation modes to achieve different functions The converter with energy storage provides reactive power and harmonic compensation to improve power quality, as well power flow control between different power grid nodes Real and reactive power distribution between DC source and energy storage element Reduce converter switching loss and increase output voltage boost ratio High power density and high efficiency Funding Source ONR/ESRDC Progress Propose a reconfigurable system topology, Derive five operation modes and Design system parameters Analyze operation principle of each mode and develop corresponding switching modulation schemes for each mode. Achieve the STATCOM function Naval Significance To meet the requirement of pulse load due to the energy storage system (peak power) in electric ship. To stabilize the critical load voltage in electric ship To improve the power quality of electric ship system To achieve the power flow control between different transmission lines in electric ship system

4. 2009 ESRDC Team Meeting, 26-27 May, MSU STATCOM Circuit and Control System Design Main Circuit of STATCOM Logic and Control Circuit of STATCOM Control System of STATCOM

5. 2009 ESRDC Team Meeting, 26-27 May, MSU t=1.5s: switch 225225 290290 223223 250250 2 4040 STATCOM Simulation Results (a) Voltage/Current of Utility/Load during load varies from noload to 0.2Ohm+2.25mH Heavy Load Part real and reactive power feeds to utility (b) The output fundamental voltage between main inverter and auxiliary inverter (c) THD of utility current, load voltage/current No Load 0kW 3kW t=1.5s: switch Very small variation A little variation 14.5kVA R 0kVAR (d) Load real power, reactive power and capacitor voltage with auxiliary inverter 15kW15kW 15k W t=1.5s: switch Almost no change Regulating Process 17kVA R 4kVA R Satisfy the load requirement to guarantee the VPCC constant Starting up (e) Inverter output real power, reactive power and capacitor voltage with auxiliary inverter Conclusion A reconfigurable system topology is presented and five operations are analyzed. System parameters of STATCOM as one function of the reconfigurable system is designed. Control system and simulation model of STATCOM is achieved. The reactive and real power distribution between two cascaded inverters is regulated automatically. DC voltage with auxiliary inverter is controlled to 150V, which varies little with RL load variety.

6. 2009 ESRDC Team Meeting, 26-27 May, MSU 6 S. V. Poroseva (CAPS), N. Lay (grad, SC), M. Y. Hussaini (PCSE) Developed a time–efficient computational graph-based algorithm for evaluating IPS survivability due to its topology under multiple simultaneous unrecoverable faults to compare different IPS topologies and design strategies. For a given number of faults, the algorithm generates combinations of faulty elements either deterministically or using Monte Carlo technique depending on the required accuracy of computations. Then, each combination is analyzed to determine how much power is available to loads after the faults. The algorithm supports parallel execution through OpenMP. Survivability analysis of a topology of 698 nodes with the total number of fault combinations ~2 698 and the required accuracy of computations 0.5E-3 takes about 2 hours. Algorithm development for evaluating IPS survivability due to its topology

7. 2009 ESRDC Team Meeting, 26-27 May, MSU 7 D. Dü ş tegör (CAPS), S. V. Poroseva (CAPS), M. Y. Hussaini (PCSE) Objective To develop a new automated wide-area model-based Fault Detection & Location (FDL) method. Current status Developed a graph-based algorithm Developed structural models for simple topologies Analyzed the FDL possibility in these topologies Add one sensor Structure Matrix Matrix decmp. S + S 0 S - S+ is empty Analysis:  Generate matching  Derive residual structure table Fault signature table Faults Detectable Done Start Yes No Methodology Algorithm development for automated wide- area fault detection and location

8. 2009 ESRDC Team Meeting, 26-27 May, MSU 8 Other Projects & Collaborations Related to ESRDC goals 1.Uncertainty Quantification in Power System Simulations with J. Langston (CAPS, FSU) 2. Application of Network Analysis to Evaluate Grid Vulnerability with A. Williamson (undergrad, Physics, FSU), Prof. P. Rikvold (Physics, FSU) 3. Integration of Communication and Power Systems with R. Ford (undergrad, Electrical & Computer Engineering, FSU) 4. Algorithm Development for Smoothing High-Level Noisy Sparse Data with C. Acosta (grad student, Mathematics, FSU), Prof. M. Y. Hussaini (Program in Computational Science & Engineering, FSU) 5. Combined Reliability & Topological Survivability Grid Analysis with Prof. G. Heydt (ASU)

9. 2009 ESRDC Team Meeting, 26-27 May, MSU 9 ALL-ELECTRIC SHIP NOTIONAL THERMAL LOAD DATA Research Accomplishments: Notional Thermal Data, including ship location, heat dissipation under different operation modes, and for different ambient conditions (10 o F and 90 o F) have been compiled. Revision 5 is now available to the ESRDC team. Missing equipment location and data on power generation is currently being added. The data is currently available in excel. For coordination purposes, revisions are being handled by FSU and Syntek. Updates will be posted at the ESRDC website. A relational database has been created. It allows the user to perform a search: by zone, by equipment, by heat dissipation, by location. Research Objectives: Win the “battle for data”. Realistic, notional thermal data is essential to the ESRDC thermal efforts. Deliverables and Products Notional thermal datasheet (Revision 5) Relational Database with search capabilities (Revision 1) Both available to ESRDC community at ESRDC website. Notional Thermal Data Compiled in collaboration with SYNTEK (Rev. 5) Relational database for Notional Thermal Load data (Rev.1)

10. 2009 ESRDC Team Meeting, 26-27 May, MSU 10 ESRDC Design Tool - Relational Database Load visualization Temperature field calculation Co-simulations Ship cooling system design future ongoing Relational Database (Equipments, Loads, locations, operating conditions, cooling modes Relational Database (Equipments, Loads, locations, operating conditions, cooling modes Source: FSU Source: USC Source: FSU

11. 2009 ESRDC Team Meeting, 26-27 May, MSU 11 ALL-ELECTRIC SHIP HEAT LOAD VISUALIZATION AND TEMPERATURE FIELD COMPUTATION Research Accomplishments: Grid Generation to match notional data locations has been automated. Industry standard visualization tool (VIsit) from LLNL can be integrated with any CAD design tool Volume Element Method Tool to solve for the associated ship environment temperature field has been developed (Revision 3). Research Objectives: Determine temperature and humidity inside ship compartments Establish communication with RTDS, VTB and DMTS for co-simulations Develop a tool to evaluate ship level TM strategies. Improve the convection heat transfer schemes to better resolve water/ship interactions Deliverables and Products Volume Element Method Based Computational Tool for Ship Temperature Field Calculation (Revision 3) Automated 3D visualization of thermal data (pre and post TM implementations) Three Dimensional Visualization of Notional Thermal Data Sample 3D Computation of Temperature Field

12. 2009 ESRDC Team Meeting, 26-27 May, MSU 12 Geographically Distributed Thermo-Electric Co- Simulation of All-Electric Ship Advances / Progress / Discoveries: Modeled thermal and electrical systems Established Internet based data communication link between two geographically apart simulators Investigated the latency of geographically distributed co-simulation Stable co-simulation results observed in open loop and closed loop situations Objectives: Monitoring thermo-electric interactions through HIL simulation Utilizing geographically available simulation resources Perform remotely controlled simulation Naval Significance: Understanding of thermo-electric interactions in electric ships Design of thermal management system without any overcompensation Remote control of simulation and other hardware Architectural concept of geographically distributed co-simulation Co-simulation results

13. 2009 ESRDC Team Meeting, 26-27 May, MSU David Cartes Sanjeev Srivastava Wenxin Liu Karl Schoder Toria El Mezyani, Siyu Leng, Il-Yop Chung, Shailabh Mazari Research Efforts in Controls

14. 2009 ESRDC Team Meeting, 26-27 May, MSU 14 Projects 1.Agent Based Reconfiguration in Heterogeneous Environment Sanjeev Srivastava, Karl Schoder, David Cartes 2.Reconfigurable Active Front-end of Adjustable Speed Drives for Power Quality Improvement Siyu Leng, Wenxin Liu, Il-yop Chung, David Cartes 3.Intelligent Prognostic Tools for Condition Based Maintenance of Electrical Machines Shailabh Mazari, Chris Edrington, Sanjeev Srivastava 4. Controller Design and Optimization for Bi-directional dc/dc Converter Il-yop Chung, Karl Schoder

15. 2009 ESRDC Team Meeting, 26-27 May, MSU 15 Project 1: Agent Based Reconfiguration in Heterogeneous Environment

16. 2009 ESRDC Team Meeting, 26-27 May, MSU 16 Agent Based Reconfiguration in Heterogeneous Environment Advances / Progress / Discoveries: Overall heterogeneous system implemented in MATLAB Implementation and testing of reconfiguration algorithm using agents Objectives: Develop multi-objective agent system for navy ship system Extension of market-based-reasoning approach for reconfiguration in heterogeneous environment Approach: Agents implemented in Java & MATLAB Combination of electrical, chill water, and thermal system modeled as heterogeneous system in MATLAB Agents detect fault in electrical and fluid system Market-based-reasoning approach for reconfiguration Naval Significance: Load-centric approach for reconfiguration Optimal autonomous operation; day-to- day cost savings Reduced response time, improved survivability & recoverability, and reduced manning Heterogeneous SystemFPGA Interface Serial Ports

17. 2009 ESRDC Team Meeting, 26-27 May, MSU 17 Heterogeneous System Description: Fluid –Chilled water cooling system –Pumps, pipes, directional valves, controllable vales, flow meters, tanks Requires electric power to operate Zone 1 PP1 Zone 3 PP3 Zone 2 PP2 Zone 4 PP4

18. 2009 ESRDC Team Meeting, 26-27 May, MSU 18 Heterogeneous System Description: Electric –PS … Power supply, R … Relay, PP … Power Panel –Relays allow power routing –Loads are connected to panels (multiple if important) –Panels correspond to ‘zones’

19. 2009 ESRDC Team Meeting, 26-27 May, MSU 19 Heterogeneous System Description: Thermal –Four ‘non-vital’ (NV) and two ‘vital’ (VL) heat loads (coils) –Require electric power and cooling to operate NV1 NV2 VL2 NV4 VL2 VL1 NV3 VL1 Two alternative panel supply paths Primary Zone Power PanelsSecondary Zone Power Panels

20. 2009 ESRDC Team Meeting, 26-27 May, MSU 20 Problem Formulation & Implementation Functional goal –Activate one or more heat load(s) through appropriate configuration of fluid and electrical system. –Maintain cooling for designated vital loads through appropriate reconfiguration actions in the event of fault, damage, etc. Implementation –System models Matlab functions integrate all three Serial bus communication Simulation progress in steps (simulated time) –Reconfiguration Agent based approach –Java/Jade on pocket PCs Multi agent system –Each system has its agents Serial bus communication Wireless among agents

21. 2009 ESRDC Team Meeting, 26-27 May, MSU 21 Case Study: Limited Resources Load Shedding e-sys Time PS1 fails e-MASf-sysf-MASth-systh-MAS Event/Message PS2 would overload Loss of P1 Implementation Close V19, V20 Start P3 PS1 Supply V19, V20, P3 message signal sensor Shed NV1 at PP1/5 All loads and fluid systems supplied by PS1 Implementation VL1 cooled again

22. 2009 ESRDC Team Meeting, 26-27 May, MSU 22 Project 2: Reconfigurable Active Front-end of Adjustable Speed Drives for Power Quality Improvement

23. 2009 ESRDC Team Meeting, 26-27 May, MSU 23 Reconfigurable Active Front-end of Adjustable Speed Drives for Power Quality Improvement Advances / Progress / Discoveries: Improved the previous adaptive MAFC algorithm and implemented in closed loop Designed and implemented a Real Time Particle Swarm Optimization (RT-PSO) based harmonic identification algorithm Objectives: Design advanced algorithms for current harmonic detection Use the identified harmonic information to generate reference signals for harmonic cancellation Use the active front end to realized multiple functions Approach: Designed a Lyapunov based adaptive algorithm to selectively identify harmonic contents of interest Designed a RT-PSO based algorithm to identify fundamental signals directly from contaminated current signals Naval Significance: Improved power quality and power factor Implemented multiple functions (current harmonics cancellation, reactive power compensation, and regulated DC output voltage) with the one active front end of Motor Drive Advanced Harmonic Cancellation Module Motor Control Module

24. 2009 ESRDC Team Meeting, 26-27 May, MSU 24 Project 3: Intelligent Prognostic Tools for Condition Based Maintenance of Electrical Machines

25. 2009 ESRDC Team Meeting, 26-27 May, MSU 25 Intelligent Prognostic Tools for Condition Based Maintenance of Electrical Machines Progress: A generic model for PMAC machine (control based) in Simulink® is being designed Objective: Design and develop intelligent prognostic tools for fault diagnosis and support for Condition Based Maintenance (CBM) of Shipboard Power Systems (SPS) Approach: Developing hi-fidelity PMAC machine models using Finite Element Analysis (FEA) Implementing the RT-PSO based parameter identification algorithm using d-SPACE® hardware controller Carrying out fault diagnosis tests using the drive system Naval Significance: CBM can monitor the exact condition of individual components Makes maintenance proactive by spotting fault sources well before any failure occurs in the Shipboard Power Systems (SPS) PMAC Experimental Test Bed Drive System d-SPACE Interface Rack

26. 2009 ESRDC Team Meeting, 26-27 May, MSU 26 Project 4: Controller Design and Optimization for Bi-directional dc/dc Converter

27. 2009 ESRDC Team Meeting, 26-27 May, MSU 27 Controller Design and Optimization for Bi-directional dc/dc Converter Advances / Progress / Discoveries: Bi-directional power control for both buck and boost modes Integration of bi-directional converter model with large-scale real-time shipboard power systems Objectives: Develop large-signal model and small-signal model of multiple control units Develop control parameter optimization schemes considering various operating conditions Approach: Using switching average model for large and small signal model development Particle swarm optimization for control parameter tuning Frequency domain analysis such as eigenvalue study and stability margin analysis Naval Significance: Energy efficiency improvement of shipboard power system Coordination of bi-directional converters and other generators Stable steady-state control performance in each mode and between modes

28. 2009 ESRDC Team Meeting, 26-27 May, MSU 28 Bi-directional DC/DC converter Circuit diagram of bi-directional DC-DC Converter

29. 2009 ESRDC Team Meeting, 26-27 May, MSU 29 Notional MVDC System Development on RTDS Model Updates: PCM-1/1A now isolated and bidirectional Load center model expanded to include 450VAC & DC constant power, constant impedance and pump/fan motor loads Model Application: Study of MVDC Bus Stability Demonstrated the viable use of PCM-4 local voltage droop control as a backup to centralized power management system control for maintaining MVDC bus stability Paper presented at ASNE APS 08

30. 2009 ESRDC Team Meeting, 26-27 May, MSU 30 PEBB-based MVDC PHIL Setup Goal: Conduct MVDC system performance studies using low- voltage, PEBB-based PHIL simulation ESRDC collaboration: Hardware test facility – FSU/CAPS PEBB modules from MSU AC/DC converter controls – MSU DC/DC converter controls – USC VTB load center model – RWTH RTDS MVDC E-ship Model – FSU Approach: Configure PEBB modules and MSU-USC controls into AC/DC and DC/DC converters with CAPS’ Variable Voltage Source (VVS) testbed and the RTDS E-ship model to emulate shipboard PCM-1 and PCM-4 converters Create a “software-only” model of the entire PHIL setup on RTDS for “de-risking” test planning Conduct PHIL experiments

31. 2009 ESRDC Team Meeting, 26-27 May, MSU 31 Parametric Analysis Methods for Ship System Design Advances / Progress / Discoveries: Performed assessment of performance/applicability of a number of response surface modeling approaches and adaptive sampling techniques Utilized Gaussian process models and dimension-adaptive collocation in uncertainty analyses for shipboard power system Objectives: Enable efficient parametric characterization of computationally expensive simulation models Uncertainty Propagation Global Sensitivity Analyses Approach: Construct computationally inexpensive, empirical response surface models through systematic exploration of the parameter space Utilize predictive distributions of response surface models in parametric analyses Naval Significance: Support model validation through incorporation of parametric uncertainty in model predictions Facilitate robust design strategies through incorporation of uncertainty in the design process

32. 2009 ESRDC Team Meeting, 26-27 May, MSU 32 Investigating Shipboard Electric Grounding Issues Advances / Progress / Discoveries: Convert a ship section into a mesh Inject currents into the nodes of the mesh and obtain an equivalent circuit for the ship section Grounding options under consideration: high and low impedance grounding Objectives: Explore the various issues surrounding the selection and application of grounding on the ship Identify areas of power system studies, i.e. operation and protection, impacted by grounding selection Approach: Model ship section in Maxwell 3D and identify areas where stray currents are most likely to flow due to ship’s geometry Study and compare the advantages and disadvantages of grounding choices in other ships Naval Significance: Safety and reliability Management of ground fault currents and stray currents Cathodic corrosion prevention

33. 2009 ESRDC Team Meeting, 26-27 May, MSU 33 Feasibility Study of Noise Pattern Analysis based Ground Fault Locating Method for Ungrounded DC Shipboard Power Distribution Systems Advances / Progress / Discoveries: Proposed fault locating technique remains effective under highly limited and attenuated noise signals Addition of input capacitance filters noise but creates loop oscillation in the 10 kHZ – 50 kHz band. Objectives: Utilize high frequency noise to locate high-resistance grounding faults in DC zonal electric distribution systems (DCZEDS) Test feasibility of noise levels when applying Multi-resolution wavelet analysis (MRA) as a frequency domain analysis technique Attenuate noise generated by DC-DC converter via filter at converter input Approach: Use varying degrees of filtering to produce varying noise levels under two fault conditions High fidelity DCZEDS PSCAD/EMTDC transient simulation provides prospective measurements Bench top hardware model with 2 DC Zones validates simulation results Naval Significance: Provides scientific basis for a practical fault location approach based on inherent power electronic switching noise for ungrounded or high impedance grounded systems 15kV Cable 5kV Cable DC-DC Converter Switches to trig the fault US Patent (provisional) SN 60/995,952 filed 28 September 2007 Grant No. N00014-04-1-0664

34. 2009 ESRDC Team Meeting, 26-27 May, MSU 34 Development of a Virtual Machine (VM) for Advanced Motor Drive Evaluations Advances / Progress / Discoveries: Amplifier/transformer voltage phase synchronization High frequency noise removed via sine filter at output of VSD inverter Currently working on PHIL time step synchronization and IM model in RTDS Objectives: Utilize Power-Hardware-in-the-loop (PHIL) to model a real world machine (motor with mechanical load) in real time digital simulator (RTDS) VM’s electrical characteristics from torque/speed behavior represent the target machine Remove the need for need for a real rotating machine Approach: Test concept via developing a 25 kW PHIL test bed Model an induction machine (IM) within DURIP setup 25 kVA voltage amplifier interfaces simulated VM with VSD under test Danfoss AC drive references VM and supplies amplifier current through transformer coupled LC filter Naval Significance: De-risk model validation of prototype machines, new drive system topologies, and/or advanced control system strategies Test Variable speed drives (VSD) with different types of machines CAPS to extend the Virtual Machine concept into MW power range SENSOR AMP VSD simulated

35. 2009 ESRDC Team Meeting, 26-27 May, MSU 35 Advancing MW-scale PHIL Advances / Progress / Discoveries: Operated COTS 2.5/4.16kV drive in PHIL Challenges with limited start-up transient capabilities of PHIL interface Objectives: Utilize Power-Hardware-in-the-loop (PHIL) to exercise MW scale apparatus in a virtual system environment on the real time digital simulator (RTDS) Utilize the method for model validation Approach: First established PHIL at 25kW Characterized 5 MW PHIL interface to minimize risk with 2.5 MW drive Naval Significance: De-risk model validation of prototype devices Extend the PHIL concept into MW power range

36. 2009 ESRDC Team Meeting, 26-27 May, MSU 36 Utilizing Hardware-in-the-Loop Simulation for Power Electronics Controller Upgrades Advances / Progress / Discoveries: Successful implementation and identification of converter model in RTDS Adoption of control software completed Hardware replacement accomplished Objectives: Independent adoption and modification of a Power Electronics Controller Replacement of former control platform with 5MW VVS control hardware Test and troubleshoot 5MW PHIL experiments at down scaled test bed Approach: Development of a RTDS simulation model based on the used converter Modification of the ABB control software according to down scaled 50kW test bed Test and verification of the software changes through Controller Hardware-in-the-Loop simulation Naval Significance: Efficient modification of Power electronics controllers Fast familiarization with off the shelf control equipment Outstanding capability to test and verify control software with existing experimental test bed Controller Hardware-in-the-Loop RTDS Bridge current 123 Bridge voltage 123 Filter capacitor current 123 DC bus voltage RTDS voltage reference Load current 123 Load voltage 123 PWM firing pulses AC800 PEC and peripherals

37. 2009 ESRDC Team Meeting, 26-27 May, MSU 37 Unique high speed machinery testing facility at CAPS Gaer box from DURIP grant Team –FSU (Steurer) –NSWCCD (Kolesar) Applications –Testing medium and high-rpm machinery Uniqueness at CAPS –Dynamic torque from real time models of mechanical prime movers or loads –Dynamic voltage/current from real time models of electrical source or load

38. 2009 ESRDC Team Meeting, 26-27 May, MSU 38 High Speed Gear Box Material cost from ONR DURIP grant N00014-08-1-0805 Order Awarded to LUFKIN Delivery April 2010 Installation and Commissioning May 2010 Engineering drawings June 2009

39. 2009 ESRDC Team Meeting, 26-27 May, MSU 39 High Speed Gear Box Ratings Power rating:5,000 kW Overload:10,000 kW for 1 minute Torque overload:300% around zero speed Speed Stage 1:1800/3600 RPM Speed Stage 2:12,000/24,000 RPM

40. 2009 ESRDC Team Meeting, 26-27 May, MSU 40 High Speed Gear Box

41. 2009 ESRDC Team Meeting, 26-27 May, MSU 41 High Speed Dynamometer