Application of Real-time Phasor Domain Simulation for Wide Area Protection in Large-Scale Power Systems

Transcription

1 AORC-CIGRE TECHNICAL MEETING 16 th to 21 st August 2015 The Magellan Sutera Resort, Kota Kinabalu, Sabah, MALAYSIA Application of Real-time Phasor Domain Simulation for Wide Area Protection in Large-Scale Power Systems Nik Sofizan Nik Yusuf Transmission Division Tenaga Nasional Berhad Malaysia

2 Time Range of WAMPAC Control Actions Power System Phenomena Introduction: Application Time Frame Electromagnetic Transient Transient Stability (Angle & Voltage) Thermal Stability Small Signal Stability Long Term Voltage Stability Protection System Automatic Control Action Manual Action Generator Rejection Underfreq Load Shed AGC / Generation Change HVDC Power Change Undervoltage Load Shed Stability Control Overload Protection Time (sec)

3 Highlights Real Time Power System Simulator Features and Capability Example Hardware in Loop Testing

4 Why Real-Time Simulation? Rapid Control Prototyping Motor Control Power Electronics Control Virtual controller Real devices Hardware-In-the-Loop Testing Power Electronics Controllers (MMC, Drives, PV, Plugin Hybrid, Etc.) WAMPAC system Real controller Virtual Devices Real-Time Simulation of Power Systems & Power Electronics

5 Real-Time Simulation Model Time Step Application Typical Frequency Typical Time Step Transient Stability Simulation (PHASOR) 100 Hz 1-10 ms Robotics / Aircraft simulation Hz 1 ms Electromagnetic Transients ephasorsim Hz Simulation (EMT) 50 us Low frequency Hz 10 us Power Electronics Simulation FEM PMSM Motor with Inverter ,4 us Hz High Frequency Power Electronics Simulation Hz 0.2 us Simulation Technology Intel CPU. Ghz FPGA

6 What is ephasorsim? Real-time transient stability simulator Large-scale power systems Transmission, distribution and generation Phasor domain solution Nominal frequency Positive sequence (balanced systems) OR -phase (unbalanced systems) Time-step in the range of few milliseconds Machines, Controllers, Dynamics + x f ( x, V, t) 0 g( x, V, t) x( t0) x0 Discretization of differential equations Solving linear algebraic equations Network side algebraic equations Explicit Euler LU Factorization

7 ephasorsim Offline Phasor Tools time-step: millisecond Real-time Simulators time-step: microsecond EUROSTAG emegasim CYME PSS/e ETAP ephasorsim Hypersim RTDS ephasorsim is a TS-type simulation tool that not only runs offline but also runs in real-time on RT-LAB enabled simulators

8 Features of ephasorsim High performance computation: systems in size of 20k buses on single core CPU Built-in positive sequence and -phase library: Machine, Sources, Transformers Simulation of Transmission and Distribution Systems Flexible data input format: Excel and PSS/e Interactive, On-the-fly changes of parameters: Loads, Generators, Create Faults, Transformer Taps etc Parallel processing Automatic decomposition of network Ethernet protocols and I/Os DNP, C7.118, Modbus, IEC 61850, IEC and 104 Analogue and Digital Input Output Support User Define Model, FMI: Functional Mock-up Interface

9 Functional Mock-up Interface FMI for Modelica based FMUs FMU generation for both Windows and Linux OS FMI is compatible with OpenModelica: an open source Modelica tool A library of models are developed based on PSS/e components

10 ephasorsim FMU Creator FMUs are loadable directly from Excel Template PSS/e *.dyr file

11 Preparing the Real Time Simulator Offline tool Network & Dynamic models Interface pins

12 Out Of Step Protection System Test Setup ephasorsim RTAP PDC + OOSP (Angular Acceleration Method) Interactive, on the fly parameter changes 21ZRelay + + OOSP (Impedance Method) + PMU I/O Boards Low level Analogue signals CTs + VTs Amplifier CTs + VTs Dedicated OOSP (SCV Method)

13 Phasor Domain to Time Domain Simulation OpComm ephasorsim Ts = Ts_f OpComm 10 ms [abs_va] [ang_va] [abs_va_101] [abs_va_204] [ang_va_101] Scope Clock1 2*pi*60 [abs_va_101] sqrt(2) [re_a] ZOH CurrInj_re_a Va_abs 1/z [abs_va] [ang_va_204] Display Display5 [ang_va_101] pi/180 Subtract sin Divide Scope4 Va_ang 1/z [ang_va] [abs_vb] [abs_vb_204] Scope2 2 eph_b101.mat 10 ms 180 [im_a] ZOH CurrInj_im_a Vb_abs Vb_ang 1/z 1/z [abs_vb] [ang_vb] [ang_vb] [ang_vb_204] 7407 Display Display4 [abs_ia] Scope7 To File [re_b] ZOH CurrInj_re_b Vc_abs 1/z [abs_vc] [abs_vc] [abs_vc_204] Scope sqrt(2) 180 [im_b] ZOH Vc_ang CurrInj_im_b Ia_abs_101_102 1/z 1/z [ang_vc] [abs_ia] [ang_vc] [ang_vc_204] 7412 Display [ang_ia] pi/180 Subtract2 sin Divide1 Scope6 Display6 [re_c] ZOH CurrInj_re_c Ia_ang_101_102 1/z [ang_ia] [abs_va_204] Va_rms Ia_re [re_a] Scope8 +ve Sequence 180 [im_c] ZOH CurrInj_im_c Ib_abs Ib_ang Ic_abs Copy Copy Copy [abs_ib] [ang_ib] [abs_ic] [ang_va_204] [abs_vb_204] [ang_vb_204] [abs_vc_204] Va_ang Vb_rms Vb_ang Vc_rms Ia_im Ib_re Ib_im Ic_re [im_a] [re_b] [im_b] [re_c] 50 μs [ang_vc_204] Vc_ang Ic_im [im_c] Step ZOH Active_Flt_102 Ic_ang Copy [ang_ic] Subsystem Subtract1 Step1 Solver Scope5 Rate transition enable sinusoidal waveform calculation for output for actual IED testing OOS Relay 1 CTs + VTs OOS Relay 2 50 μs Low level signals Amplifier CTs + VTs

14 C7.118 Testing a Synchrophasor-Based System ephasorsim GPS Clock Phasor Data Concentrator Virtual PMU Synchrophasor: - C7.118 Low level signals CTs + VTs Practically unlimited number of PMU data available New WAMPAC concept and methodology can be prototyped and thoroughly tested before actual deployment Testing of actual PMU specification compliance and phasor calculation latency

15 Time (s) C7.118 Out Of Step Protection System HiL Test ephasorsim PDC + OOSP (Angular Acceleration Method) OOS Condition Generator Shedding OOS Resolve Generator Rotor Angle After Out-Of-Step Control 100 Angle (Deg.) Time (s) 1.5 x ZRelay + OOSP + PMU GOOSE 0.5 Voltage (V) Time (s) 1 x 104 CTs + VTs Dedicated OOSP (SCV Method) Current (A) Low level signals Amplifier CTs + VTs

16 Sample Test Results No Control Action With Generator Shedding Action 6000 Rotor Angle Without Out-of-Step Control Measure Rotor Angle With Out-of-Step Control measure Angle (rad) Time (s) Bus Voltages Without Out-of-Step Control Measure Angle (rad) Time (s) Bus Voltages With Out-of-Step Control Measure Voltage (p.u.) Time (s) Voltage (p.u) Time (s)

17 Summary Enable comprehensive functional and performance testing of WAMPAC under controlled environment be actual deployment Entire grid model can be included Various grid conditions, loads and generation patterns Testing scenarios not possible in actual system test Operator training on newly develop WAMPAC applications Rapid prototyping of new concepts or ideas Increase collaboration between utility and universities

18 Summary Continuous improvement and tuning of the models shall be carried out to ensure the simulation results are as close as possible to actual grid Every time when grid disturbance occurs Using data from PMU-Based dynamic recorder Perform model and model parameters validation

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