OPAL-RT TECHNOLOGIES REAL-TIME POWER SYSTEMS SIMULATOR

Transcription

1 OPAL-RT TECHNOLOGIES REAL-TIME POWER SYSTEMS SIMULATOR Hardware in the loop Simulation of Power Systems IEEE Meeting in Brisbane June 19 th 17:00-18:00 Presented by Benoit Marcoux, Business Development Manager - Asia

2 Presentation Summary What is real-time simulation? Why real-time simulation is essential? A word about Smart Grid The most important issue for power systems engineer Examples of HIL Real time simulation of power system Questions 2

3 Real-time Simulation Concepts What is real-time? Real-Time: 60 seconds of simulation time IS 60 seconds!! Provide the right result At the right time! Connect your model with physical devices under test Off-Line: 60 seconds of simulation time can be 5 minutes, 60 minutes, 100 minutes, etc according to the network size being simulated and the PC power 3

4 What is Real-Time Simulation & Hardware-in-the-Loop (HIL)? Hardware-in-the-Loop (HIL) testing leverages Real-Time Simulation to connect real equipment and systems, through sensors and actuators, and fool them into thinking that they are connected to the real thing. This allows users to perform realistic closed-loop tests without the need for testing on a real system While HIL typically refers to low-power applications, Power Hardware-in-the-Loop (PHIL) can be employed for higher power testing (see later slide) Closed-Loop Interaction Workstation Real-Time Simulator Device Under Test (DUT) 4

5 Helps Engineer in Development Process Desktop Simulation Software-In-The-Loop 2 A 1 Rapid Control Prototyping Simulation of Motor drive control Power electronic control FACTS Protection, PMU 5 Validation Hardware in-the-loop Testing 2 4 Coding 3 MMC, HVDC, FACTS PV, Wind Farm, DER Plugin and hybrid vehicle Power electronic converters SCADA, WAM

6 Presentation Summary What is real-time simulation? Why real-time simulation is essential? A word about Smart Grid The most important issue for power systems engineer Examples of HIL Real time simulation of power system Questions 6

7 What is a SMART Grid? According to IEEE 7

8 What is a SMART Grid? Source: IBM 8

9 Impact of SMART Grid? In the 80s, Denmark had only large power plants In the 2000s, massivelydistributed power generation, wind-based mostly Excerpt from The Smart Grid: An introduction DOE, USA

10 Impact of SMART Grid? Classic grid Fewer larger production plants Little power electronics except for HVDC and some FACTS New requirements Increased flexibility to incorporate new distributed power sources Increased used of power electronics to connect distributed sources to the main grid 10

11 Presentation Summary Many New Wind Turbines in the World which means many new converters In 19 years, increase of 70X!! 11

12 Presentation Summary Many New PV in the World which means many new converters In 13 years, increase of 107X!! 12

13 Impact of SMART Grid? Traditionally Few large power sources (centralized) Power is very reliable Small number of Grid sensors One-Way Communication Failure and Power Outages relatively easy to manage Make sure all sources stay synchronized during faults and you are fine. Protection is basic Control is simple New challenges Renewable energy require to manage many sources (distributed) Renewable Power is less reliable Full Grid sensor layout Two-Way Communication Failure and power outages are complex to manage Communication/synchronization challenges Protection is complex Grid is adaptive Can operate in islanded mode Part of the network may be weak (ex: windfarm far from main power plants) The challenge of control is increased 13

14 What must be studied about the SMART Grid? Very Fast Evolution of Power Systems Power Grids and power Electronic systems are evolving very rapidly From passive components to thyristor to very fast IGBT VSC power electronic systems From central to distributed generation systems From systems designed by utilities as integrated systems to distributed independent systems installed by local energy producers From well known to undocumented black-box systems (IP protection) From a few sensors for load-flow to Wide Area Management and control AND are becoming more complex to design AND to integrate together in the main grid How to test them? 14

15 What must be studied about SMART Grid? Traditional and SMART Transmission Systems : 5 BASIC factors!! G * L * E * S * P > 1500 km Stability Protection 100% Reliabilit Depends on 5 factors!! > 1000 km Québec Generation Transmission Network Load External Factors Modern and SMART transmission systems rely on control and protection systems For performance, security at optimize cost 15

16 What must be studies about SMART Grid? Integrated SMART Transmission and Distribution Power Systems Transmission Québec AC/DC, FACTS, SPS 100% Reliability Depends on 10 factors!! Distribution Power electronics for HVDCs, FACTS, fast protection system Fast power electronic for renewable energy systems (solar, wind, etc) Control co-ordination challenges Security and performance will rely on more complex global wide area control and protection Large-scale real-time simulators will become even more essential than today!

17 What must be studies about SMART Grid? Too Many Topics!!! Secure Communication Flows Electrical Flows 17

18 Model Size NEEDS: HIGH SCALABILITY, MULTI-DOMAIN AND MULTI-RATE Large 100,000 States Small 100 states PHASOR METHOD Power system electromechanical transients Aircraft Dynamic Vehicle Dynamic Robotic SLOW (100 Hz) milliseconds FAST ELECTROMAGNETIC TRANSIENTS Wide Area Control and Protection Systems 4 to 200+ CPUs Power Transmission HVDC, FACTS Distribution & Micro-grids Distributed Generation Train Traction systems Industrial drives 100 us 10us FAST (20 khz) microseconds More electrical aircrafts Electrical Hybrid vehicle Fast power converters (1 or several FPGAs) Precise Power Electronics Simulation VERY FAST (2 MHz) 100 to 500 nanoseconds 18

19 Hardware: Real-time Simulators DNP3 C RS-232 RS-422 RS-485 Host PC Model Edition Simulation management Graphical interface RT Simulator Model Execution Data logging I/O management IRIG -B MMS Modbu s Electric Systems TCP /IP RFM Generic Protocols OPC FieldBus Ethercat Ethernet Link between host PC and simulator Multiple-core CPU Model computation FPGA & I/O boards Interface with real devices Control and Automation CAN FlexRay LIN ARI NC Automotive and Aerospace 19

20 Presentation Summary What is real-time simulation? Why real-time simulation is essential? A word about Smart Grid The most important issue for power systems engineer Examples of HIL Real time simulation of power system Questions 20

21 Model used 21

22 t_crossing (ms) Results All cases Relay Relay OC OC Characterization - OC - Characteristic All Tests I_secondary (A) Overcurrent Characteristic Tripped Overcurrent Characteristic Did not trip 22

23 t_crossing (ms) Results Problematic cases Relay OC Characterization - Tests to Investigate Overcurrent Characteristic Tripped Did not Trip I_secondary (A) 23

24 How many tests for such Grid Applications? Large Wind farm Large Grids, Smart Grids 3 phases fault 1 phase fault

25 Presentation Summary What is real-time simulation? Why real-time simulation is essential? A word about Smart Grid The most important issue for power systems engineer Examples of HIL Real time simulation of power system Questions 25

26 INELFE project: France-Spain Electrical Interconnection A 2000 MW - 65 km underground cable DC link connecting Baixas (near Perpignan, France) and Santa Llogaia (near Figueras, Spain) Baixas Baixas Santa Llogaia Tunnel Santa Llogaia

27 Scope of the Project Rated power: 2*1000 MW DC voltage: ±320 kv for each 1000MW link Reactive Power Control: +/- 300 MVAR for each 1000MW Converter Converter Contractor : Siemens DC cable length: 64 km FRANCE SPAIN SANTA LLOGAIA GAUDIERE HVDC LINK1 BAIXAS HVDC LINK2 RAMIS Cable Contractor: Prysmian 8 km dedicated Tunnel VIC BESCANO Commissioning date: 2015 BAIXAS + RIUDARENES SANTA LLOGAIA Cost of the Project : 700M with 225M financing from EU - + -

28 R&D Center of Malaysia Power Grid (TNBR)

29 WAMPAC or other wide area study Can use the following communications protocols IEC61850 GOOSE DNP3 C MODBUS OPC Server IRIG-B/GPS RS232/RS488

30 NTU University in Singapore

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34 Alborg University in Germany

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37 Schneider Electric in USA

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42 Customer in Europe

43 BERTA on Site: real tests in power plant for tuning AVR, PSS and Speed Regulator parameters BERTA s Layout in the Power Plant Modifiez le style du titre Current transformer Voltage transformer Current clamps

44 BERTA on Site: real tests in power plant for tuning AVR, PSS and Speed Regulator parameters Before After

45 ABB in Switzerland

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49 Hydro-Quebec in Canada

50 HARDWARE-IN-THE-LOOP (HIL) ABB SVC Controller

51 POWER HIL (PHIL) Objective: Closed-loop tests of high-power systems within a Hardware-in-the-Loop configuration Challenge: Virtual Exchange of Power between digital simulation & devices Solution:

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53 KTH in Sweden

54 POWER HIL (PHIL)

55 CEPRI in China

56 MMC Example #1 Being the first five-terminal Modular Multilevel Converter (MMC)-based HVDC project in the world, the control and protection system must be validated under various operation modes as well as contingency at the factory acceptance test. The MMC sub-module model is implemented in FPGA boards with a Ts=500 ns, while the rest of the power system is simulated on CPU with a Ts=30 μs. The State-space Nodal (SSN) interface is used to couple the models simulated on FPGA and on CPU. A communication protocol is designed to connect the actual valve balancing controller with the real-time simulator. Results from the factory acceptance test are presented. Source: Available from our website

57 MMC Example #1 5 7

58 MMC Example #1 Ts=25μs Vcap, SM status Switching Command Ts=250ns

59 MMC Example #1 The C&P system under test consists of four types of controllers: - the AC control center (ACC), - the DC field terminal (DFT), - the pole control and protection (PCP) - the voltage balancing controller (VBC). The ACC and DFT are the high-level control and protection schemes for the AC networks and DC networks respectively. The PCP communicates with the ACC through the MMC substation LAN, and applies the proper control algorithm according to the system operation mode. Vcap, SM status Switching Command The VBC receives reference signals from the PCP via the IEC protocol, and modulates the firing commands for the IGBTs in each sub-module to equalize the sub-modules capacitor voltages within the valve In order to test the task switching between the controller on duty and the redundant controller, two sets of controllers are connected to the RT-LAB HIL test bench selected as the HIL test platform.

60 MMC Example #1 Ts=25μs 6 0

61 RT-LAB real-time simulator uses an advanced solver called State-space nodal (SSN). SSN enables to split the model into several SSN groups for a single MMC terminal. Each SSN group consists of state-spaced models that is discretized using higher order matrix exponential approximants. The SSN can also be derived from nodal analysis and combined with the state-space equivalent circuits. Using ARTEMIS-SSN makes it possible to increase the size of the circuit to about 400 to 600 nodes without adding inaccuracy introduced by artificial delays. MMC Example #1

62 MMC Examples Test results for F11 at Dinghai Station for 100 ms (a) AC grid-side voltages (b) Valve-side voltages (c) Valve-side currents (d) Control status (e) DC currents (f) DC voltages 6 2

63 MMC Examples Test results for F11 at Dinghai Station for 2000 ms (a) AC grid-side voltages (b) Valve-side voltages (c) Valve-side currents (d) Control status (e) DC currents (f) DC voltages 6 3

64 McGill University in Canada

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67 CERN European Organization for Nuclear Research France-Switzerland

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74 INES National Research on Solar Power France

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77 France- Italy

78 Client SSN: 400 to 1000 states in 100us on 4 CPU Network nodes (EMTP equivalen t) SSN nodes # of LC states Lilles L2EP µs Simulation time step Italy client µs They used parallel SSN with 4 cores of 3.3 GHz i7 Intel PC, with absolutely no delay or stubline in the network.

79 Questions?