Presented at rd IEEE PES ISGT Europe, Berlin, Germany, October 14-17, M. Shoaib Almas and Dr.-Ing. Luigi Vanfretti

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1 Real-Time Hardware-in-the-Loop Validation for WAMPA: Power System Protection and ommunication M. Shoaib Almas and Dr.-Ing. Luigi Vanfretti Docent and Assistant Professor KTH Royal Institute of Technology, Sweden Web: Scientific Advisor to Statnett SF Smart Operation R&D Program R&D Department Statnett SF, Oslo Norway 3 rd IEEE PES Innovative Smart Grid Technologies (ISGT) Real-Time Simulation of Smart Grids Panel Session Berlin, Germany October 14-17, 2012 Outline Motivation for RT-HIL Approach SmarTS Lab: An RT-HIL Lab for WAMPA Apps Dev. Model-To-Data Workflow for SIL and RT-HIL Validation Recent Projects at SmarTS LAB for Power System Protection and ommunication Power System Modeling of Protective Relays Power System ommunication (GOOSE and Sampled Values) Validation using RT-HIL Interfacing RTS for Station Bus and Process Bus Implementation omparison of onventional and RT-HIL approaches for Power Protection Relay Testing A software development toolkit for developing and testing PMU based applications for Wide Area Monitoring, Protection and ontrol

2 Timeline for M. Shoaib Almas Almas joined KTH, The Royal Institute of Technology, in 2009 to pursue his Masters in Electric Power Engineering majoring in Power Systems. Previously he has obtained a Bachelors in Electrical Engineering from National University of Sciences and Technology (NUST), Pakistan. He has two years of experience working as a Design Engineer for designing protection schemes for substations (132kV, 220 kv and 500kV) through microprocessor-based relays. His professional experience includes substation automation and coordination of protective relays to minimize the effect of faults in power transmission networks. He performed his master thesis PMU-Assisted Local Optimization of the oordination between Protective Systems and VS-HVDs at the Electric Power System (EPS) division of KTH. urrently PhD. andidate, Project Title Real-Time Wide-Area ontrol of Hybrid A and D Grids Motivation Each substation has in average 50 IEDs performing protection (differential, busbar, overcurrent, over/under voltage, over/under frequency etc.) and communicating with various protocols/standards (37.118, GOOSE, SV, MODBUS, DNP 3.0) In order to accurately model a power system, these IEDs along with their respective communication techniques need to be modeled precisely with the same settings as the real hardware relay. Power System Modeling With substations adopting IE standards, RT HIL approach proves beneficial to exploit interoperability, the use of Station/Process Bus effectiveness, etc. Power System ommunication Digital Real-Time Simulators are compatible with long-established modeling software like MATLAB/SIMULINK (Opal-RT) and are IE compliant (GOOSE & Sampled Values) RT-HIL approach provides freedom to carry on research related with Smart Transmission Grids: - Wide Area Monitoring Protection and ontrol (WAMPA)

3 How to develop a controlled environment for developing Smart Transmission Grid Technologies? Sync. Timing Phasor Measurement Data Smarter Operator Decision Support Smarter Operator ontrol Actions Transmission System ontrol enter ommunication Networks Data Alignment and oncentration Data Storage and Mining Monitoring Advanced Displays Decision/ontrol Support System Near Real-Time Security Assessment Early Warning System Smart-Automatic ontrol Actions Automatic Determination of ontrol Actions ontrollable and Protective Device Measurement and Status Data Smart Grid require Smart Operation, Smart ontrol and Smart Protection: - The ultimate goal should be to attain an automatic-feedback self-healing control system Measure ommunicate Analyze (System Assessment and real limits) Determine Preventive/orrective Actions ommunicate ontrol and protect To achieve this vision, new applications need to be developed in a controlled environment, allowing testing and considering the IT chain The SmarTS Lab Architecture Opal-RT Real-Time Simulator Low-Level Analog I/Os V and I Amplifiers Amplified analog outputs (current/voltage) PMUs Synchrophasor Data PD(s) Digital I/Os GOOSE GOOSE SEL PMUs /Relays WAMS Applications GOOSE Sampled Values Station Bus Process Bus GOOSE Sampled Values Protective Relays ABB Relays Digital I/Os ommunication Network (WAN /Network Emulator) WAPS Applications External ontrollers WAS Applications V and I Amplifiers Physical Devices Low-Power Prototypes NI- crio 9076 WAMPA Application Host Platform

4 SmarTS Lab Hardware Implementation SmarTS Lab omm. and Synchronization Architecture and Implementation Process Bus (IE ) Station Bus (IE ) IRIG-B GPS - Signal Synchrophasor Bus (IEEE )

5 Model-to-Data Workflow Hardware-in-the- Loop Validation Software-in-the-Loop Validation Recent Projects at SmarTS LAB 1. Model Validation of an Over-urrent Relay Input urrent Pickup Value omparator Trip Signal Instantaneous Definite Time Inverse Definite Minimum Time (IDMT) Block Diagram Part 1 Part 2 Part 3 Three Phase urrent Analog Input of relay (urrent from T) Analog to Digital onverter Digital Filtering urrent Set Point Protection Algorithm (Instantaneous, Definite or IDMT) Trip Signal

6 1. Model Validation of an Over-urrent Relay (contd.) Modeling and Implementation for RT Simulation urrent input from the secondary side of the T.Thisisananalog signal onverts an input signal with continuous sample timetoanoutputsignal with discrete sample time Low pass digital FIR filter Down-sampling to avoid anti-aliasing effects Fourier analysis of the input signal to extract fundamental out of it Dividing fundamental componentent with squarerootof2toget RMS value omparator to check whether the input current level is greater than the pickup value ornot S-function running an algorithm. It monitorstheinputandchecksifthe inputis1ornot.(i.e.inputcurrent greater than pickup). The S-function givesoutthetimeatwchihthisinput current goes above the pickup value. Outputofthisblockis thetimewhichhas elapsed since the input current has exceeded the pickup value This block compares the operation time computed with thetimeelapsedbythetimer. 1 In1 Zero-Order Hold Is to find ratio Lowpass Lowpass Filter Divide2 Scope2 Implementation in SimPowerSystems (MATLAB/Simulink) 2 Downsample Mag Fourier Phase Discrete Fourier sqrt(2) onverting To R.M.S Divide1 ontrol 1 0 urrent Input 2 Is > Is ompare To onstant Thisblockhasaswitch.Theoutputofswitchiszero incasewhenthecurrentinputislesserthanpickup value. The output of the block is the actual simulation time in case the current exceeds the pickup value Fcn u(1)^(alpha) 1 In3 ontrol ontrol Extracting Time of Fault urrent Input ~= 0 Switch Timer Out1 Out1 Operation Time alculating Operation Time TMS 1 Operation Time Add > Relational Operator Scope1 Scope3 This block implements the mathematical equation T = TMS a to compute æi ö ç - 1 èis ø the operation time corresponding to the type of characteristic curve chosen by the user 1. Model Validation of an Over-urrent Relay (contd.) Protection Algorithm Implemented in the Overcurrent Relay Model ompare with the preset value (pickup Value) urrent Input from urrent Transformer Start NO If Input urrent > Pickup Value YES YES Instantaneous NO NO Start Timer If characteristic =IDMT YES IDMT haracteristic urves T = TMS a æ I ö ç -1 èis ø Different Types of Inverse haracteristics Relay haracteristic Type α Standard Inverse Very Inverse Extremely Inverse 2 80 Long Inverse YES Timer >Definite Time set by user NO YES alculate Operation Time haracterisic urve = Standard Inverse YES alculate Operation Time NO haracterisic urve = Very Inverse YES alculate Operation Time NO haracterisic urve = Long Inverse NO alculate Operation Time Operation Time >=Timer TRIP

7 1. Model Validation of an Over-urrent Relay (contd.) Test ase Model Developed in SimPowerSystems (MATLAB/Simulink) onceptual Understanding Digital I/O of relay are hardwired Fault Recorder Event Recorder Oscillography SEL_487E (Set for Overurrent Protection) Thevenin Equivalent (Strong Grid) Bus 1 Transmission Line L 1-2 Fault Bus 2 T ircuit Breaker Digital output of relay connected directly to breaker for Trip ` Load 1. Model Validation of an Over-urrent Relay (contd.) Test ase Model Developed in SimPowerSystems (MATLAB/Simulink) HIL Implementation Dedicated block by Opal-RT which assigns a particular FPGA whose Analog and/or Digital I/Os will be accessed OP5142EX1 trl Board index: 1 Mode:Master Error IDs 3 Multimeter Fault urrent Phase A Fault urrent Phase B Fault urrent Phase Fault_urrents Scaling Factor -K- Analog Outputs of the Simulator which are connected to the urrent Amplifiers from Megger whose output is connected to Analog inputs (T inputs) of SEL-487E Volts Slot 1 Module A Subsection 1 Status Terminator Optrl OP5142EX1 Gain OP5142EX1 AnalogOut 'OP5142EX1 trl' Discrete, Ts = 5e-005 s. powergui Digital Input of Simulator which is connected to the Digital Output of SEL-487E relay Trip_Signal Fault Pickup ARTEMiS Guide Ts=50 us SSN: ON Three-Phase Source A B Three-Phase V-I Measurement Bus 1 A a B b c Slot 3 Module A Subsection 2 OP5142EX1 DigitalIn 'OP5142EX1 trl' Three-Phase PI Section Line A A B B Length of Line = 100km Vals Status A Iabc a B b c Three-Phase V-I Measurement Bus 2 com a A B b c Three-Phase Breaker 400 T urrent Transformer Three-Phase Series RL Load A B Active Power for Load = 1 MW Frequency = 50Hz Phase Voltage = 1kV I_abc Operation_Time Ratio Input/Pickup Overurrent Relay Relay_Monitoring Phase Voltage=1kV Frequency = 50Hz Three Phase to Ground Fault Applied at t = 2sec A B Three-Phase Fault

8 1. Model Validation of an Over-urrent Relay (contd.) Validation Results 2. Power System ommunication (Station & Process Bus Implementation omparison of the Real-Time Results with Stand Alone Testing Using Freja- 300 (Relay Test Set) Stand-Alone Testing Hardwired Stand-Alone Testing GOOSE (IE :Station Bus) Relay Test Set Freja 300 Workstation with software FREJA Win which is a graphical interface for the FREJA 300 Relay Testing System 2 Digital I/O of the relay under test. The Digital Output is configured to change its contact from normal open to normal close when a protection function operates Three phase current 1 injection to the relay under test T Input Digital I/O VT Input Three phase voltage injection to the relay under test The only way to validate the RT-HIL results for protection IEDs is to compare results with existing technology (stand-alone tests)

9 2. Power System ommunication (Station & Process Bus Implementation (contd.) Real-Time HIL (Process Bus IE Implementation) [Opal-RT + ABB-RED 670] ABB RED-670 Process BUS (IE ) ABB RED-670 Induction Motor 4.9 MVA, 6.3 kv Thevenin Equivalent Bus 1 Transmission Line L 1-3 Transmission Line L 1-3 a Bus 3 Step Down Transformer 380 kv / 6.3 kv Bus 4 M Bus 2 Bus 5 Synchronous Generartor 500MVA, 20kV Step Up Transformer 20kV / 380 kv Transmission Line L 3-5 ` Softwares: MATLAB / SimPowerSystems ABB PM 600: Relat Settings RT-LAB: Real-Time Execution WireShark: Network Analyzer ABB IET 600: Substation Automation Architecture OLT ontrolled Load No Hardwires for T and VT connections No need of Amplifiers for RT-HIL execution 3. omparison of Standalone and RT-HIL Testing Approach omparison of Results from Standalone and RT-HIL Testing Fault Applied at t=2 sec, protection tested=instantaneous overcurrent Testing Methodology Feature Tripping Time (sec) Standalone Hardwired GOOSE RT-HIL Hardwired GOOSE Delay (msec)

10 SDK Platform PRL PMU App. SDK A LabView-Based PMU Application SDK ustom Application Remote Access Buffer SnapShooter Live Buffer Selector DLL PD Data - Time Stamp - Voltage Phasors - urrent Phasors - Frequency PMU Recorder Light (PRL) PRL SnapShooter??? DLL

11 a. Model PMU App. SDK Induction Motor 4.9 MVA, 6.3 kv Bus 4 M Transmission Line Thevenin L 1-3 A LabView-Based PMU Application Equivalent Transmission Line SDK L 1-3 a Step Down Bus 1 Bus 3 Transformer 380 kv / 6.3 kv OPAL-RT Synchronous Generartor 500MVA, 20kV Bus 2 Step Up Transformer 20kV / 380 kv Bus 5 OLT ontrolled Load MATLAB/Simulink Design models emegasim (12 ores) OP 5600 I/O Extension hasis OP5949 Active Monitoring Panel EthernetPort b. Implementation PRL Workstation Workstation running PRL Application in Labview SEL Synchrophasor data visulaization tool from SEL ABB RES-521 Real-Time Digital simulation is converted to Analog / Digital Signals through I/O s PMUs connected to real power system SEL-5073 PD c. Results from PMU based monitoring Application The current and voltage from the analog outputs of the simulator are amplified by using Megger SMRT-1 Amplifier and fed into the T/VT inputs of the PMU SEL 487E SEL 421 SEL 421 GPS Antenna The amplified current and voltages are connected to the T and VT inputs of the PMUs. The PMUs acquire these analog quantities, computes the phasors and time tags them, and streams out the synchronized phasor data in format. SEL-5073 is a software PD which takes synchrophasor data from SEL and NI-cRIO PMUs, time allign them and outputs a single concentrated stream Prototype Implementation (PMU App. SDK Beta) onnection with PD onfiguration P Loading Monitor Data hannel Selection

12 Real-Time Data Access Straightforward Development of Monitoring Application omparison with a commercial monitoring tool a. Results from developed synchrophasor based monitoring application (with Statnett) b. Results from vendor specific (SEL-5073 PD monitoring) tool

13 PMU Based Application Example Real-Time Mode Meter Estimates frequency of the electromechanical modes of the power system Three different spectral estimators are used ensuring accurate signal spectrum estimation: Welch s method, Auto-Regresive (AR)method Auto-Regresive Moving Average (ARMA) method onclusions and Further Work Smart Transmission Grids will benefit from RT HIL simulation for developing new technologies. Modeling for real time simulation is necessary: Developing more models for protection functions like Distance protection, differential protection, over/under voltage, over/under frequency protection etc. to have available a library for protection functions. onsideration of actual measurement and automation streams is necessary: Exploiting IEEE (Synchrophasors from PMU) and IE (Substation Automation) can be useful to develop applications which can serve as online oscillation detection, mode estimation, power oscillation damping, etc. PMU-Based applications can enable flexibility: Developing a Real-Time controller which can read data from power system / substation components irrespective of the vendor protocol and can translate it to take either distributed or global control actions. RT HIL simulation can help us to achieve broader goals: Power system which is more reliable and more flexible

14 Thank you!