The Role of Real Time Digital Simulation into the Power Systems Development Guillaume PISSINIS Sales Manager guillaume.pissinis@opal-rt.com Click to add author Aalborg University Denmark March 2017
Summary 1. OPAL-RT Technologies 2. Challenges 3. Real-time simulation: Definition and benefits 4. Applications 5. OPAL-RT Real-Time Simulator solution 2
OPAL-RT TECHNOLOGIES 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 3
Worldwide Presence USA Canada UK Spain France Italy Middle East Russia China Mexico Colombia Algeria India Japan Argentina Brazil Australia 4
Partial Customer List 5
Partial Customer List 6
Summary 1. OPAL-RT Technologies 2. Challenges 3. Real-time simulation: Definition and benefits 4. Applications 5. OPAL-RT Real-Time Simulator solution 7
Future Electrical Networks: Challenges Traditional electrical network Energy flow from the producer to the consumer Production Image : http://www.sdet.fr Consumption 8
Future Electrical Networks: Challenges Future electrical networks: Smart Grids Multidirectional energy flows Communicating, intelligent network Image : http://www.hitachi.com 9
Future Electrical Networks: Challenges What makes the networks so complex? Integration of new technologies into the network (Photovoltaic panels, wind turbines, new converter topologies (MMC, etc.), HVDC lines, etc.) Complex control strategies for the optimal control of electrical systems (converters, electrical machines, etc.) New measuring and protection devices: sophisticated and communicating Integration of ICT (Information and Communication Technologies) into the network 10
Future Electrical Networks: Challenges Challenges How can we boost the development of smart grids? How can we help academical and industrial researchers to develop innovative electrical systems? How can we improve the integration of new technologies in the future electrical networks? 11
Benefits of Simulation 12
Summary 1. OPAL-RT Technologies 2. Challenges 3. Real-time simulation: Definition and benefits 4. Applications 5. OPAL-RT Real-Time Simulator solution 13
Real-Time Simulation: Benefits Tests on the field can be: 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 14
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 Source : Wikipedia 15
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 16
Real-time Simulation 17
Benefits of Simulation Simulate systems with models 18
Benefits of Simulation Mechanical Systems Vehicle dynamics Hydraulics Robotics 19
Benefits of Simulation Electrical Drive Multi-Level, MV, HV Converter All Electrical Vehicles AC-DC, DC-AC, DC-DC Power Converter EV/HEV/PHEV/Fuel Cell Energy Storage Systems Battery circuit 10 khz DC-DC converters Fuel cell circuit PWM inverter Permanent magnet motor 5200uF N 240-380 V 2600uF S 240-. 400 V 80kW FPU FPU Digital IN CPU 1: (Ts= 10 us) FPU Digital OUT CPU 2: (Ts= 20 us) i 550mH v fuel_cell duty cycle V uvw motor i motor DC-DC converter Motor controller 20
Benefits of Simulation Embedded Distribution Systems Large Grids, Smart Grids SVC, HVDC, FACTS, STATCOM, MMC VSC Renewable Energy Sources 21
Summary 1. OPAL-RT Technologies 2. Challenges 3. Real-time simulation: Definition and benefits 4. Applications 5. OPAL-RT Real-Time Simulator solution 22
Model-Based Engineering Desktop Simulation Validation Rapid Control Prototyping HIL Testing Automatic Coding Implementation 23
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 24
Real-time Simulation 25
Introduction: Simulation Methods 26
Real-Time Simulation Host PC Model Edition Simulation management Graphical interface RT Simulator Model Execution Data logging I/O management Ethernet Link between host PC and simulator Multiple-core CPU Model computation FPGA & I/O boards Interface with real devices 27
Offline Simulation Purpose: Proof of concept Functional description Preliminary studies Configuration Plant (physical controlled system) Simulated Controller (control algorithm) Simulated 28
Offline Simulation Application case: Grid stability studies Large grid RMS values (phasors) Electro-mechanical stability (ms) 29
Offline Simulation Application case: Electro-magnetic transients on transmission system Smaller grid Harmonic studies Electromagnetic transients (µs) 30
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 31
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 32
Rapid Control Prototyping Application case: Development of new control algorithms on an existing electrical drive Control algorithm Inverter Machine Measurements 33
Rapid Control Prototyping with MMC High Voltage Power Electronics HVDC Meshed DC grids MMC FACTS SVCs Cell & Pole Controls Cycle time of 20µs 2500 IO channels, all synchronized Supports Half-Bridge and Full-Bridge Mode Optical interface 34
PMU and Relay Prototyping Power Systems & Smart Grids Protection Relay PMU SCADA Energy Management Systems Real Power System GPS clock C37.118, IEC61850, IEC60870-5-104 MODBUS, Ethernet, OPC, DNP3 Real-Time EMT Simulation of Power System 35
Power Amplifier Power Amplifier Multi-terminal DC grids High Voltage Power Electronics HVDC Meshed DC grids MMC FACTS SVCs Pole 1 Pole 2 Pole 3 Power Amplifier AC GRID REAL-TIME SIMULATOR 36
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 37
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 38
Hardware in-the-loop Application case: Protection relay testing 39
RTE France / Spain HVDC Link FRONT Side OP5600 CPU&I/O Chassis REAR Side Simulation of DC link + VSC- MMC with 400 SM per arm. OP5607 I/O Extension Binary Signals Analog Signals Surge arrester simulated to limit DC overvoltage during DC faults. 12 Cores Industrial PC Optic Fiber for PCIe Test bench for interfacing HYPERSIM simulation with controller replicas. 40
RTE MMC Simulation 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 41
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. 42
Power Hardware in-the-loop Purpose: Test integration between systems handling power Emulate power devices and their environment Configuration 43
Power Hardware in-the-loop Application case: Integration of microgrid and power grid Grid model + control model Real microgrid Power amplifier 44
SMARTGRID LAB POWER HIL Industrial Process Physical Emulators (source load storage) Renewable Sources Classical Production Synchronous Machine AC Experimental Grid MAS MS MS Computer Network Supervision Real Time simulation Power distribution network, RES, DG, Loads, PV Power Plant Super Capacitor Micro turbine 45
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 46
Complex Hybrid Simulations Purpose: Test complex setups involving all kinds of controllers and plants Configuration 47
Complex Hybrid Simulations Grid model Real microgrid Control model Power amplifier Real control Control model Real motor 48
Summary 1. OPAL-RT Technologies 2. Challenges 3. Real-time simulation: Definition and benefits 4. Applications 5. OPAL-RT Real-Time Simulator solution 49
Product Family Number of single phase nodes 20,000 10,000 2,000 1,000 500 100 10 0 ephasorsim Real-Time Transient Stability Simulator 10 ms time step HYPERSIM Large Scale Power System Simulation for Utilities & Manufacturers 25 µs to 100 µs time step emegasim Power System & Power Electronics Simulation Based on Matlab/Simulink and SimPowerSystems 10 µs to 100 µs time step 1 s (1 Hz) 10 ms (100 Hz) 50 µs (20 KHz) 10 µs (100 KHz) efpgasim Power Electronics Simulation on FPGA 1 µs to 100 ns time step 1µs (1 MHz) Period (frequency) of simulated transient phenomena 100 ns (10 MHz) 10 ns (100 MHz) 50
Product Family Electro-Mechanical Transients (Phasor) 1 to 100Hz (10 to 15 milliseconds time step) Electromagnetics Transients (EMT) 20 000 Hz (10 to 50 microseconds) Power Electronics 2 000 000 Hz ( 100 nanoseconds to 1 us) Grid Control Center Energy Management System PMU Data Analysis Cyber security Wide Area Control State estimation 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 51
RT-LAB Software Simple workflow, from model design using MATLAB/Simulink to real-time execution on OPAL-RT real-time simulator: Model design in Simulink Model compilation using RT-LAB Model loading Model execution 52
OPAL-RT Hardware Solutions OP4510 4 Cores Kintex 7 FPGA OP5600 - OP5700 4 / 8 / 16 / 32 Cores Spartan 3 / Virtex 7 FPGA OP5030 4 / 8 / 16 / 32 Cores NO FPGA OP4200 ARM Processor Kintex 7 FPGA Up to 300 Single Phases Nodes at 50us Up to 3100 Single Phases Nodes at 50us Up to 3100 Single Phases Nodes at 50us 53
Fast and Versatile Architecture Real-Time Computer Ethernet PCIExpress Analog I/O Digital I/O Workstation Multicore CPU FPGA firmware External Equipment Communication Options CAN, RS232, RS485, LIN, ARINC, MILSTD 1553 Ethernet, IEC 61850, DNP 3.0, C37.118, 54
Flexible I/O Connectivity Analog ADC Resolver Sinus/Cosinus Input Resolver excitation input Voltage Sensor Current Sensor Temperature Sensor Digital Quadrature encoder (A,B,Z) Hall Effect Synchronous Serial interface (SSI) Serial Peripheral interface (SPI) Custom protocol FPGA Analog DAC Resolver excitation output Digital Gate Firing Out (PWM, SVM, ) Synchronous Serial interface (SSI) Serial Peripheral Interface (SPI) FPGA Firmware Input/Ouput management Generic control functions, such as electric motor drive Specific / user-made signal processing or control logics 55
Co-simulation CPU/FPGA CPU PCIe FPGA I/O interfaces CPU model FPGA model 56
What Makes OPAL-RT Unique 57
Thank you for your attention Questions? 58