Power Systems Hardware-in-the-Loop Laboratory Testbed and Open Platform (HILLTOP)

Transcription

1 Power Systems Hardware-in-the-Loop Laboratory Testbed and Open Platform (HILLTOP) Erik Limpaecher February 16, 2017 MIT Lincoln Laboratory This work is sponsored by the Department of Energy, Office of Electricity Delivery and Energy Reliability, under Air Force Contract #FA C Opinions, interpretations, conclusions and recommendations are those of the author and are not necessarily endorsed by the United States Government. DISTRIBUTION STATEMENT A. Approved for public release; distribution is unlimited.

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4 Voltage Current Integration Test Example Short circuit Breaker opens Load shedding Generator control response Fault Data capture: Scott Manson, SEL DOE HILLTOP - 4

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6 Microgrid Test Feeders DOE HILLTOP - 6 This Emergent isn t behavior rocket science; is behavior it s way of a more system complicated. that does not depend on its individual parts, but on Ed their Corbett relationships to one another. Thus emergent behavior cannot be predicted by examination of a system's individual parts. It can only and be predicted, more important. managed, or controlled Erik by Limpaecher understanding the parts and their relationships.

7 High NRE for each project One vendor s microgrid controller quote: $1M starting price Vaporware How To Accelerate Advanced Distribution System Deployment? No standard list of functions or performance criteria Difficult to validate marketing claims Risk of damage to expensive equipment One utility-deployed microgrid: 1 year of controls testing, damaged a 750 kw transformer, required significant engineering staff support Interconnection behavior unknowable to utility engineers Controls are implemented in proprietary software Microgrids are a system of systems: Exhibit emergent behavior No standards verification IEEE P and P standards are on the horizon Need to reduce integration time, cost, & risk DOE HILLTOP - 7

8 Types of Power System Testbeds Simulation Controller HIL Power HIL Power Testbed Full System Inv G Inv G Inv G Inv G Inv G C C C C DMS C C C C C C DMS mc mc mc Matlab SimPowerSystems simulation (not real-time) MIT-LL HILLTOP System Florida State CAPS facility ORNL DECC Microgrid Lab Legend G generator Inv battery or solar inverter C device controller mc microgrid controller DMS distribution management system controller power grid high-bandwidth AC-AC converter simulation or emulation boundary Princeton University cogeneration plant and microgrid hardware virtual (simulated or emulated) DOE HILLTOP - 8

9 Power Distribution Integration Platforms and Testbeds Test Coverage Simulation Controller HIL Power HIL Power Testbed Full System Inv G Inv G Inv G Inv G Inv G C C C C DMS C C C C C C DMS mc mc mc High Simulation Controller HIL Legend G generator Inv battery or solar inverter C device controller mc microgrid controller DMS distribution management system controller power grid high-bandwidth AC-AC converter simulation or emulation boundary Power HIL hardware virtual (simulated or emulated) low cost moderate cost high cost Low Power Testbed Full System Low Test Fidelity High DOE HILLTOP - 9

10 Full Test Coverage Microgrid controller HIL simulates in real-time at sub-cycle timescales Typhoon HIL simulation step 500 ns (2 MHz) Power converter data sampling rate (7-10 khz) OPAL-RT simulation step 100 ms (10 khz) Power converter switching frequencies (3.5, 5 khz) Power system fault transients ms (1-3 khz) Power converter controller response ms (1-2 khz) Genset protection functions s ( Hz) One AC cycle 16.7 ms (60 Hz) User display update rate 66.7 ms (15 Hz) Secondary control s (1-10 Hz) Load profile & irradiance data 1 s (1 Hz) 10-6 Useful for: Steady-state Dynamic analysis Transient analyses ms Time (seconds) s DOE HILLTOP - 10

11 RD&D Cycle for Modern Distribution System Projects 1 Engagement Platform 2 Development Platform 3 Deployment Platform 4 Standards Test Platform Research & Development Standards Compliance Testing Partner / Vendor Selection Proposal, Business Development Feasibility Study, Conceptual Design Preliminary & Final Design, Development Factory Acceptance Testing Commissioning / Field Testing Root Cause Investigation DOE HILLTOP - 11

12 1 Engagement Platform 2 Development Platform Vision for Power Systems HILLTOP Provide a tangible proof-of-concept to new project stakeholders Accelerate the sales cycle by showing an operating system Use for rapid iteration of feasibility studies Demonstrations at Microgrid and DER Controller Symposium Cost-effective systems integration and testing Decrease risk on brownfield sites operating legacy equipment Enable performance evaluation of commercial products 3 Deployment Platform Pre-commission testing of advanced power system projects Test edge conditions and exercise the actual device controllers Technical risk reduction for electric power utilities 4 Standards Test Platform Industry-standard test platform for new power systems Certify to IEEE P2030.8, P1547, and utility interconnection rules 5 Electric Power HIL Controls Collaborative (EPHCC) Shared Repository DOE HILLTOP - 12

13 Improvements Since Previous Symposium Category Real-time test platforms & microgrid controllers Improvement Since 1 st Symposium 2x Ported simulation environments Physical device controllers Test feeders Test cases 5x 4x 3x 4x Total 1000x In other words +60 db DOE HILLTOP - 13

14 Outline Motivation Testbed Buildup Integration Process Demonstration Orientation DOE HILLTOP - 14

15 Test Feeders 4.5 MW 6 MW 4 MW Representative of a community microgrid Peak demand 14 MW Supports thorough controller evaluation Multiple reconfigurations possible Multiple interconnections to the utility Insufficient generation when islanded Available generation 10 MW Software components 100+ DERs 5 Relays ~50 DOE HILLTOP - 15

16 Test System Segmentation for Real-time Simulation 4.5 MW 6 MW 4 MW 3 cores: One per feeder + machine models 3 cores: Relay models for each feeder + UDP communications 1 core: Storage & PV power electronics models 1 core: Utility substation + high-speed data collection DOE HILLTOP - 16

17 HILLTOP Rack #1 Using OPAL-RT Simulator Real-time target with Xeon Intel Processor Using 8 of 12 cores 2.7 to 3.2 GHz FPGA-based I/O management with Xilinx Spartan-3 DOE HILLTOP - 17

18 HILLTOP Testbed #2 Using Typhoon HIL Simulator 4 HIL603 units High speed serial link interconnection 8 lane - 5GHz 2µs & 4µs time steps Multirate electrical simulation HIL603 real-time simulator SEL HILConnect 23 cores used 20ns digital sampling 42 simulated relays with Modbus comms 1.2 ms execution rate Woodward HILConnect EPC HILConnect (PV and ESS) DOE HILLTOP - 18

19 Add Machine and Power Electronics Models Hardware-in-the-Loop Simulator R1 R2 R3 Solar Inverter Power Electronics Model PV 3.5 MW R7 R8 R4 R5 Gen 4 MVA Bidirectional Power Converter Power Electronics Model Bat 4 MVA R6 Simulated Microgrid Feeder and Devices Genset Machine Model Create detailed models of the DER devices DOE HILLTOP - 19

20 Assign Load Priorities, Add Test Stimuli Hardware-in-the-Loop Simulator R1 R2 R3 PV 3.5 MW R7 R8 R4 R5 Gen 4 MVA Bat 4 MVA Load B01 Interruptible Load B02 Critical M Load B03 Priority R6 250 hp 460 V Simulated Microgrid Feeder and Devices Loads Test Stimuli Motors Irradiance DOE HILLTOP - 20 Grid Status

21 Add Commercial Controllers as Hardware-in-the-Loop Physical Device Controllers SEL 751 Relays C Relay Hardware-in-the-Loop Simulator R1 R2 R3 SEL 2440 Fast Load Shed PV 3.5 MW R7 R8 EPC PV Inverter Controller R4 R5 Gen 4 MVA Woodward Genset / CHP Controllers EPC Power Converter Controller Loads Bat 4 MVA Load B01 Load B02 Interruptible Critical Test Stimuli M Simulated Microgrid Feeder and Devices Load B03 Priority R6 250 hp 460 V Motors Irradiance DOE HILLTOP - 21 Grid Status

22 Integrate Microgrid Controllers Microgrid Controller Physical Device Controllers Hardware-in-the-Loop Simulator R1 SEL 751 Relays C Relay R2 R3 SEL 2440 Fast Load Shed PV 3.5 MW R7 R8 EPC PV Inverter Controller R4 R5 Gen 4 MVA Woodward Genset / CHP Controllers EPC Power Converter Controller Loads Bat 4 MVA Load B01 Load B02 Interruptible Critical Test Stimuli M Simulated Microgrid Feeder and Devices Load B03 Priority R6 250 hp 460 V Motors Irradiance DOE HILLTOP - 22 Grid Status

23 Integrate Microgrid Controllers Distribution System Operator / Dispatcher Physical Device Controllers Hardware-in-the-Loop Simulator R1 SEL 751 Relays C Relay R2 R3 SEL 2440 Fast Load Shed PV 3.5 MW R7 R8 EPC PV Inverter Controller R4 R5 Gen 4 MVA Microgrid Controller Woodward Genset / CHP Controllers EPC Power Converter Controller Loads Bat 4 MVA Load B01 Load B02 Interruptible Critical Test Stimuli M Simulated Microgrid Feeder and Devices Load B03 Priority R6 250 hp 460 V Motors Irradiance DOE HILLTOP - 23 Grid Status

24 Simulated Diesel Genset Block 1 MW Genset 4 MW Genset Manufacturer / Model CAT C32 CAT C Rating (kva) 1,000 4,000 Power Factor TBD TBD Voltage (V) ,800 Frequency (Hz) Speed (RPM) Minimum Output Power 25kW 100kW Startup Time <10 sec <15 sec Genset ratings and characteristics Synchronous Machine, Governor, and AVR Models DOE HILLTOP - 24

25 HILLTOP Integration: Model Validation 1 MVA 480Vac 3 phase Generator statistics High speed instrumentation 8kHz sampling Voltage and current Bias signals Start-up of Generator and Model Shutdown of Generator and Model DOE HILLTOP - 25

26 Thermal Electrical Natural Gas Combined Heat and Power Valve body Intake manifold Engine GE/Jenbacher J620 NG Engine (1800 RPM) 3.5 MW Natural Gas Engine Model (Physics Based) Physics-based, scalable 3.5 MW NG genset with gas valve, intake manifold, combustion Fuel usage GHG emissions Heat recovery Woodward easygen 3500 compatible Aggregate CHP system model CHP Steam Modbus commanded heating or cooling mode, temperature set-point Independent heat load input Set point Temperature control Heat load Parametrically settable losses, cooling coefficient of performance, thermal inertia CHP Aggregate Thermal Model DOE HILLTOP - 26

27 EPC Power Electronics Models: Solar PV and Energy Storage System 4-quadrant control module Control capabilities for microgrid operation Real (P) and Reactive (Q) power dispatch Voltage islanding mode UPS parallel backup mode Manufacturer validated inverter model Modbus over RS485 Communication DOE HILLTOP - 27

28 Generic Software Relay Used for telemetry Protection Functions Various time current characteristic curves (TCC) Active protection features: Overcurrent (50, 51) Over/under voltage (27, 59) Synchronism check (25) Reclosing (79) Modbus TCP interface Preliminary Calculations Registers Mapping Data Logging Multiple protection group settings accessible by the microgrid controller Grid-tied protection Islanded protection Degree of inverseness approximating SEL-751 DOE HILLTOP - 28

29 Device Controller Integration: Woodward easygen 3500 Woodward easygen 3000 Woodward easygen Controller 3500 Genset Controller F_ref: 60 Hz V_ref: 480 V LL Governor AVR Throttle Field M Genset Simulation in HIL GCB G Tachometer Vabc Iabc 16 Vac 16 Vac Load MCB Vabc Ia Feeder 16 Vac 16 Vac ±5V square wave 120 Vac 0-1 A 120 VAC 0-1 A Interface Box M G GCB MCB Legend Motor Generator Generator Circuit Breaker Mains Circuit Breaker Signal voltage transformer Voltage-controlled current source DOE HILLTOP - 29

30 Models Ported to Numerous Platforms NREL Microgrid Challenge MIT-LL Test Feeders and Models EPHCC Shared Repository SEL RTDS Testbed Factory Acceptance Test MIT Smart Grid in a Room Simulator for ARPA-E Eaton Protection Coordination Study Typhoon HIL HILLTOP testbed DOE HILLTOP - 30

31 Today: HILLTOP on 2 Real-time Sims Operating 4 Microgrid Controllers SEL Microgrid Controller Schneider Microgrid Controller Eaton Microgrid Controller GE Microgrid Controller DOE HILLTOP - 31

32 Outline Motivation Testbed Buildup Integration Process Demonstration Orientation DOE HILLTOP - 32

33 The Integration Process: Device Integration I/O point check Communications Comm w/out errors, change setpoints, scale factors Device-level performance characterization Load acceptance, load rejection tests Large setpoint changes Determine capability curves Customize site-specific controls / DER mode changes DER paralleling / generator load sharing DOE HILLTOP - 33

34 The Integration Process: Microgrid Controller Configuration Transitions Intentional islanding Unplanned islanding Synchronization and reconnection Steady-state operation Grid-tied optimal dispatch Islanded stability Faults Protection Reconfiguration for critical load service DOE HILLTOP - 34

35 Outline Motivation Testbed Buildup Integration Process Demonstration Orientation DOE HILLTOP - 35

36 Demo #1: SEL Controller on OPAL-RT Focus: Black Start, Islanding, & Fast Load Shedding 10:00am SEL Microgrid Controller Schneider Microgrid Controller Eaton Microgrid Controller GE Microgrid Controller DOE HILLTOP - 36

37 #3: Schneider on OPAL-RT Focus: Reconfiguration & Load Prioritization SEL Microgrid Controller 2:10pm break Schneider Microgrid Controller Eaton Microgrid Controller GE Microgrid Controller DOE HILLTOP - 37

38 #4: Eaton Controller on Typhoon HIL Focus: Protection & DER Dispatch SEL Microgrid Controller Schneider Microgrid Controller 3:10pm Eaton Microgrid Controller GE Microgrid Controller DOE HILLTOP - 38

39 DOE HILLTOP - 39 Demonstration Sequence

40 Buses, Breakers, and Loads LEGEND Live Bus Dead Bus Closed Breaker Open Breaker Critical Load Priority Load Interruptible Load Energized Load Dropped Load Energized Motor Load DOE HILLTOP - 40

41 Feeder Status and Power Factor Grid-tied Feeder Islanded Feeder DOE HILLTOP - 41

42 Distributed Energy Resources Energized Solar PV Array Discharging Energy Storage System (ESS) / Battery Energized Diesel Genset Energized Natural Gas-fired Combined Heat and Power (CHP) Plant DOE HILLTOP - 42

43 DOE HILLTOP - 43 Real and Reactive Power Production and Capability Curves

44 Testing of Future Advanced DER: IEEE P1547 Draft Amendment P1547 LEGEND Nominal Normal range Must ride through May ride through Must trip DOE HILLTOP - 44

45 DOE HILLTOP - 45 Energy Sources Sand Chart

46 High-fidelity Oscilloscope Waveforms LEGEND Grid voltage CHP current CHP voltage Diesel genset voltage DOE HILLTOP - 46

47 Our Mission: Transitioning Technology for National Energy Resilience 1 Engagement Platform Proof-of-concepts Stakeholder engagement (utilities, regulators, host sites) 2 Development Platform Vendor / new equipment evaluation Advanced controls R&D 3 Deployment Platform Controller integration Pre-commissioning testing 4 Standards Test Platform IEEE P and P1547 conformance testing Industry support: model repository 5 Electric Power HIL Controls Collaborative (EPHCC) Shared Repository DOE HILLTOP - 47

48 Acknowledgements Sponsor Dan Ton, DOE OE MIT Lincoln Laboratory Reynaldo Salcedo Ed Corbett Kendall Nowocin Chris Smith Igor Pedan Liz Dalli Raajiv Rekha Joe Cooley Tammy Santora Marija Ilic Scott van Broekhoven Bill Ross Collaborators SEL Schneider Electric Eaton General Electric Typhoon HIL EPC Power OPAL-RT Scott Manson, SEL Will Allen, SEL Tom Steber, Schneider Vijay Bhavaraju, Eaton Ivan Celanovic, Typhoon HIL Allan Abela, EPC Power Galen Nelson, MassCEC Jessica Ridlen, MassCEC Fran Cummings, Peregrine Group Babak Enayati, National Grid Jim Reilly, Reilly Associates DOE HILLTOP - 48

49 Erik Limpaecher Assistant Group Leader Energy Systems, Group (lab) DOE HILLTOP - 49

50 DOE HILLTOP - 50 BACKUP

51 HIL Platform Block Diagram Vendor-supplied equipment Microgrid Controller (Unit Under Test) Communication Translation Hardware / Firmware COM Microgrid Controller Mechanical Enclosure Modbus TCP IEC61850 Firewall and Network Switch Modbus TCP Cyber Test C2 Proxy IEC61850 Lantronix Intellibox 2100 TCP to RS485 Lantronix Intellibox 2100 TCP to RS485 MIT-LL Interface Box Modbus RS485 Modbus RS485 Woodward EasyGen 3500 #1 Woodward EasyGen 3500 #2 EPC Power Electronics Controller #1: Storage EPC Power Electronics Controller #2: PV SEL-751 Relays (qty 3) Fast Load Shedding SEL-2440 (Optional) MIT-LL Interface Box COM DIO AIO COM DIO AIO COM DIO AIO COM DIO AIO COM DIO AIO COM DIO AIO Simulated Load Meters Simulated Generic Relays Simulated Combined Heat and Power System Simulated Diesel Genset Simulated Battery Storage & Power Converter Simulated PV & Inverter Simulated Breakers Load Switches Simulated Distribution Grid and Microgrid Test Feeder OPAL-RT and Typhoon HIL Real-time Simulation Platforms DOE HILLTOP - 51 Update diagram to make text larger, add