opal-rt seminar on hypersim
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HYPERSIMIntroduction to OPAL-RT and HYPERSIM
India Seminar,
December 2013
About Vincent Lapointe
- Master degree in multi-domain simulation
- Working for OPAL-RT since 1998
- Leading the R&D department
- Second visit in India
OPAL-RTOPAL-RT TECHNOLOGIES in Brief
Founded in 1997
• HQ in Montreal
• +100 Employees
CEO and Funder Jean Belanger
• 25 years of experience at
Hydro Quebec
+500 customers
worldwide
Main uses
• HIL
• RCP
• PHIL• Faster simulation
Our main market
OPAL-RT Offers a Complete Range of
Solutions for…
Real-Time Simulation of Power Electronics &
Power Systems
Helps Engineer in Development Process
Rapid Control Prototyping Hardware in-the-loop Testing
Desktop Simulation
Coding
Validation
OPAL-RT Offers a Complete Range of
Solutions for…
PlantController
Rapid Control Prototyping Hardware-in-the-loop (HIL)Simulation
Simulink simulation of
• Motor drive control
• Power electronic control
• FACTS
• Protection, PMU
• MMC, HVDC, FACTS
• PV, Wind Farm, DER
• Plugin and hybrid vehicle
• Power electronic converters
• SCADA, WAM
Software-in-the-loop
ePHASORsim
HYPERSIM
eMEGAsim
Power System, Power Electronic,
Control, Physical Modelling
Simulation
Large EMT Power System
Simulation , FACTS, HVDC
Wide Area & Transient Stability
Simulation,
Fast Power Electronic Simulation
on FPGA
OPAL-RT Real-Time Power System
Simulation Suite
eFPGAsim
From wide area studies to detailed power electronic simulations
Simulate a Wide Range of Applications
Typical application time step
Application TypicalFrequency
Typical Time Step
Simulation Technology
Transient Stability Simulation (PHASOR) 100 Hz 10 ms
Intel CPU3.3 Ghz
Robotics / Aircraft simulation 1 000 Hz 1 ms
Electromagnetic Transients Simulation (EMT) 20 000 Hz 50 us
Low frequency Power Electronics Simulation
100 000 Hz 10 us
FEM PMSM Motor with Inverter 2 500 000 Hz 0,4 us
FPGAHigh FrequencyPower Electronics Simulation
5 000 000 Hz 0.2 us
One Core Simulation Capability
HYPERSIM
25x 3-phase buses (75 nodes at 50us)
3 wind turbines Detailed switching (50us)
72-pulses STATCOM 3-level (50us)
MMC Model / HVDC Up to 1500 cells at 25us
Power Electronics128 Nodes per FPGA at 200ns
MMC1500 cells per FPGA at 500ns
Motor ModelFEA at 250ns on FPGA
eFPGAsim
10 000 NodesWith breakers
(Transient Stability at 10 ms)
ePHASORsim
12 cores
Our products include
Test Management and AutomationAutomation, Data Processing, Reporting
Simulation ToolsSolvers, Block sets, Advanced models
HardwareSimulator Chassis, FPGA and I/O Boards, Protocols, Accessories
ServicesConsulting, Studies, Training, Commissioning, Integration
HYPERSIMPower System Real-Time Simulator
What is HYPERSIM?
• Real-time simulator for Electro-Magnetic
Transient analysis
• Used for HIL Testing of critical controls
connected to grid
• Offline simulation, fast simulation
• Detailed Wind power plant simulation
What is HYPERSIM?
Based on decades of research by Hydro
Quebec
Also developpers of:
SimPowerSystems
The Origin of HYPERSIM
Hydro-Québec’s Network Simulation Center
• HQ developed an analog simulator
Motivation: Quebec power network is
special
• Power generation is very far away
from city.
• Many long lines. Requires a lot of
active compensation.
Focus: Real-time network simulation.
• Needed to design new 735-kV line
and specify the equipment
(insulation co-ordination) using
statistical technique
• Needed to test REAL controllers for
an unstable network
• The real-network is not available
(7 years to built)
• Cannot disconnect the real power
grid for test purpose!
What is HYPERSIM?
Venture between OPAL-RT &
Hydro Quebec
Large scale real-time EMT
simulatorValidated and proven models
What is HYPERSIM?
Parallel processing made easy
Offline and Real-time Display and
Data Processing
Automatic Test Control Software
What is HYPERSIM?
I/O Rack
ABB SVC Controller Testing with HYPERSIM
Workstation Controller
under test
• Chenier Static Var Compensator (Quebec) • Levis Synchronous Condenser (Quebec) • Langlois Variable Frequency Transformer (Quebec-USA)
What are the Application Domains?Everything related to generation, transmission and distributions power systems
Energy storage,
FC, capacitor bankPV, MicroGrid,
PHIL
WindFarm,DER
Motor, Load,
GeneratorMMC, HVDC, FACTS,
SVC, STACOM
Smart Grid,
SCADA
EV, HV Relay, PMU,
Control
What are the Application Domains?Everything related to generation, transmission and distributions power systems
• Perform a study of large and complex
electrical power networks• general AC system operation from generation to
distribution;
• interaction between AC and DC systems;
• interaction between different power system controllers;
• fault analysis
• Do closed-loop testing of control system
• Develop, improve and assess new protection
and control concepts
What are Benefits?
EMT simulation and real-time HIL testing has proven to be very cost-effective
• Testing of Control and Protection • Commissioning of interconnections • Operating strategies • Optimisation and settings • Maintenance and training • New concepts validation
What are main features?
Scalability & Power• Modeling scalability for large networks
• More than 2000 x 3-phase buses
• Extreme scalability using COTS SGI computers or
INTEL motherboard (Supermicro)
• Automatic task mapping
• I/O scalability • more than 3500 I/Os for MMC controller certification
• supports many communication protocols and many
devices
What are main features?
High Scalability using SGI Computer
128 Cores1 TB Memory
Two sockets16 Cores
Up to 125 Go Ram
From 16 to 2048 cores using 4 Racks
Two sockets16 Cores
Up to 125 Go Ram+ 2 PCIe Slots
1 IRU
What are main features?
OP5600 OPAL-RT Real-Time Simulator
Great computation power • Powerful real-time target (12 CPU cores 3.46 GHz) • Xilinx FPGA (Spartan 3 or Virtex 6) • Real-time OS (Linux Redhat) • Distributed parallel computation
Huge I/O capabilities • Up to 128 analog I/O or 256 digital I/O or a mix of both • Rear D-Sub 37 connectors for external devices • Front I/O monitoring (access to all I/O lines) • Many chassis can be connected together of larger I/O lines amount
Connectivity • Up to 4 PCI slots • Embedded hard drive for real-time data logging • Support for 3rd party I/Os and communication protocols (IEC61850, UDP/IP, CAN,
ARINC, MIL1553, IRIG-B, DNP3.0, C37.118, etc…)
What are main features?
Conviviality• Offline simulation is possible
• No need to use dedicated RT simulator
• Model recompilation in a few seconds, Task mapping
• Breaker sequence interface
• ScopeView user friendly software
What are main features?
Openness
Import EMTP-RV network
Interface with Simulink & SPS
Custom C-Code and library
What are main features?
Models
CT , PT models
Virtual IED and relay library
Generator, transfo, line, motor, load
Power electronic and switches
CEPRI - State Grid Simulation Center
HYPERSIM in Action …
HYPERSIM in Action …
HVDC controllers
under test
I/O Racks
Outaouais HVDC Interconnection, (Quebec-Ontario)
Châteauguay HVDC Interconnection (Quebec-USA)
Radisson-Nicolet-Boston Multi-terminal HVDC line
Hydro Quebec Installation at IREQ – HVDC Controller Replica
HYPERSIM in Action …
Static Var Compensator (SVC) model in HYPERSIM
HYPERSIM in Action …
Fault analysis using ScopeView and TestView software
HYPERSIM in Action …
Built-in component library and editors
HYPERSIM in Action …
Proposed Simulation Lab Configuration
Replica to be installed connected to HYPERSIM simulator
RTE Real-Time Simulation Lab
• 32 cores SGI computer for Protection relays testing
• 96 cores SGI computer for HVDC and FACTS studies
• 2 Study replica for Alstom Grid SVC & 1 maintenance replica
• 1 HVDC LCC "STUDY" replica from ALSTOM Grid • 1 HVDC SVC "STUDY" replica from SIEMENS (INELFE project) • 1 HVDC SVC "MAINTENANCE" replica from SIEMENS (INELFE project) • 1 SVC "STUDY" replica from SIEMENS (NANTERRE project) • 1 SVC "MAINTENANCE" replica from SIEMENS (NANTERRE project)
HYPERSIM in Action …
Hydro Quebec HVAC-HVDC network simulated with Hypersim
HYPERSIM in Action …
32 cores configuration example
HYPERSIM in Action …
PMU testing
PDC
PMU, Distance Relay
HYPERSIM in Action …
Wind Farm Integration, Control and Protection
Some customers …
Power Grid MTDC Project India
Replica of the Nanterre SVC project
HVDC/AC and FACTS studies
Real-time simulator for power systems
HVDC and FACTS (SVC) control replica
and protection relay testing
CEPRI
EPGF
Siemens SVC integration
Protection relay testing
HardwareSimulator Chassis, FPGA and I/O Boards,
Protocols, Accessories
Hardware Solutions
OP4500RCP & HIL simulator for power electronic lab
OP7020MMC FPGA-based simulator
OP7000Next-generation multi-FPGA simulator
OP5600Off-the-shelf Hardware-in-the-Loop simulator
OPAL-RT Real-Time Simulator
SGI UV2000 Super computer with 32 to 2048 cores
Hardware Solutions
OPAL-RT Real-Time Simulator Chassis
Hardware Solutions
OP5600 - OPAL-RT Real-Time Simulator
Great computation power • Powerful real-time target (12 CPU cores 3.46 GHz) • Xilinx FPGA (Spartan 3 or Virtex 6) • Real-time OS (Linux Redhat) • Distributed parallel computation
Huge I/O capabilities • Up to 128 analog I/O or 256 digital I/O or a mix of both • Rear D-Sub 37 connectors for external devices • Front I/O monitoring (access to all I/O lines) • Many chassis can be connected together of larger I/O lines amount
Connectivity • Up to 4 PCI slots • Embedded hard drive for real-time data logging • Support for 3rd party I/Os and communication protocols (IEC61850, UDP/IP, CAN,
ARINC, MIL1553, IRIG-B, DNP3.0, C37.118, etc…)
Hardware Solutions
Front view
Back view
Top View
1A
1B
2A
2B
3A
3B
4A
4B
Convenient BNC
connectors
Interface a scope for
monitoring (Isolated
interface)
Monitoring Panel
Enables to tap every
signals from the front
DB37 Connectors
Interface I/O signals
8 Mezzanines
Insert the proper analog
& digital mezzanines
OP5600 - OPAL-RT Real-Time Simulator
Hardware Solutions
ID # Description
OP5340K1 Analog Input Card (16 Channels, 16 bits, 2.5 us, ±16V)
OP5330K1 Analog Output Card (16 Channels, 16 bits, 1 us, ±16V)
OP5353K1 Digital Input Card (32 Channels, Optocoupler, 4.5V to 30V)- 32 Static Input Channels
OP5353K3 Digital Input Card (32 Channels Optocoupler, 4.5V to 30V)- 16 PWM Frequency or Time Stamp Digital Input- 16 Static Input Channels
OP5353K2 Digital Input Card (32 Channels Optocoupler, 4.5V to 30V)- 32 Static or PWM Frequency or Time Stamp Digital Input
OP5354K1 Digital Output Card (32 Channels, Push-Pull, galvanic isolation 5V to 30V)- 32 Static Output Channels
OP5354K3 Digital Output Card (32 channels, Push-Pull, galvanic isolation 5V to 30V)- 16 PWM Frequency or Time Stamp Digital Output- 16 Static Output Channels
OP5354K2 Digital Output Card (32 channels, Push-Pull, galvan isolation 5V to 30V)- 32 Static or PWM Frequency or Time Stamp Digital Output
OP5600 Available I/O Mezzanines
Hardware Solutions
OP7000- OPAL-RT Real-Time Simulator
FPGA-based real-time simulator • Equipped with 1 to 4 FPGA VIRTEX 6 boards • Executes models on FPGA (time step below 500 ns) • Supports eFPGAsim electrical system, floating-point
simulation solvers • High-speed interconnection with OP5600 simulators
Huge I/O capabilities • Up to 128 analog I/O or 256 digital I/O or a mix of both • Rear I/O connectors (DB37 or BNC) • Front I/O monitoring via BNC (up to 16 I/O lines can be monitored
simultaneously) • LED status for each I/O line • Optical fiber for digital lines available
Hardware Solutions
OP8620 Interconnection Box OP8610 Break-out Box
Fault Insertion UnitLoad Box
Accessories
Turnkey HIL Test Bench
Mapping Box
FIU
Breat-Out Box
Load BoxThird Party
Real-Time Simulator
Firmware-Drivers Solutions
Communication Protocols
Electric Systems
DNP3 C37.118 61850
MMSIRIG-B1588
60870Modbus
Automotive and Aerospace
CAN FlexRay LIN
1553ARINC
429
Generic Protocols
RS-232 RS-422 RS-485
RFMTCP/IP
Control and Automation
OPC FieldBus Ethercat
eMEGAsimLeadership in the Modular Multilevel
Converter (MMC) Application
eFPGAsimPower Electronic Real-Time Simulator
Using the advanced electrical system solvers (eHS)
What is eFPGAsim?
• Power electronic real-time simulator • HIL testing
• Feasibility studies
• Protection and control design
• Include an ultra fast solver on FPGA
What are the Application Domains?
• Complex converters
• PV, Wind farm
• Microgrid
• Motor drive
• Hybrid and electric vehicle
What are the Challenges?
Scalability• High number of switches and I/Os
• Numerous converters
High speed • Fast rotating machine
• Fast switching (PWM frequency is high)
• Protection - Fast response needed
Precision• Position of the rotor
• Short lines
WorkstationFPGA System
Under Test
Ethernet
Analog I/O
Digital I/O
CPU-Based Simulation
CPU
What is the eFPGAsim solution?
The traditional CPU simulation
approach …
≈ 50 μs
≈ Ts = 25 us I/O only
WorkstationFPGA System
Under Test
Ethernet
Analog I/O
Digital I/O
FPGA-Based Simulation
CPU
What is the eFPGAsim solution?
… is replaced by FPGA simulation
≈ 2 μs
Ts = 0.5 us
What is needed?
• Low latency
• High resolution & small time step
• Non-averaged model
• Fault capability & transient analysis
FPGAAutomatic Model
Generation
Circuit Editor
What are the limitations of FPGA
technology?
• FPGAs are difficult to program
• Generation and flashing is long
• Easier to program - schematic editor)
• Save reprogramming time
• Save generation time
• Online parameter modifications
eFPGAsim in Action …
3-Level NPC Converter - PWM at 4kHz
eFPGAsim in Action …
PV simulation and interconnection with the grid
Vgrid
A
B
C
a
b
c
Three-Phase Breaker
A
B
C
A
B
C
Resistance: RiInductance: Li
A
B
C
A
B
C
Three-PhaseSeries RL
Resistance: RiInductance: Li
A
B
C
A
B
C
Three-PhaseResistance
Resistance: Rgrid
A
B
C
A
B
C
Three-PhaseParallel RL
Inductance : LgridResistance : Rdamp_Lgrid
A
B
C
A
B
C
Three-PhaseInductance
Inductance: La
Capacitance:DClink_CResistance:DClink_R
+
-
PV Subsystem
DeltaCapacitance : Cf
g
A
B
C
+
-
g
A
B
C
+
-
2-level IGBT/Diode
Controllers
CPU1 - Ts = 20us FPGA - Ts = 500us CPU1
CPU2 – Ts = 100us
eFPGAsim in Action …
Dual SH-VDQ PMSM Drive with boost
converter
Test AutomationAutomation, Data Processing, Reporting
Test Automation
OPAL-RT provides many tools for performing Test Automation
ScopeViewOffline and Real-Time Waveform Display and Analysis
TestDriveInstrumentation software and HMI testing platform
TestViewAutomatic Test Control Software
PythonFlexible and easy to use scripting API
Third party toolsTestStand, Diadem, Matlab, …
ScopeView - Offline and Real-time
Display and Data Processing
Display signals and waveforms …
SCOPEVIEW let you:
Perform data processing
Import / Export data &Produce reports
COMTRADE
as an analog oscilloscope
Create, load and save templates … to process data faster!
ScopeView - Offline and RT Display and
AnalysisSCOPEVIEW let you:
TestDrive - HMI for RT testing application
Connect models with LabView …
Test Drive let you
and takes the best of two tools
Create rich user interface
Simplified and integrated scripting using Python.
TestDrive - HIM for RT testing application
Display very fast waveforms acquired from FPGA with the Virtual Scope
Test Drive let you
TestView - Automatic Test Control
Software
Automate test sequences, perform intelligent data management … guaranty results integrity and test reproducibility
• Create complex studieswith thousand of tests
• Scripts and macros• Play back recorded data
TestView - Automatic Test Control
Software
Perform statistical and Monte Carlo analysis
Find non functional condition
TestView - Automatic Test Control
Software
Define execution flow using conditional steps such as : for, while, if
TestView - Automatic Test Control
Software
Tune parameters and control breaker sequence
• Incremental, uniform and Gaussiandistribution
• Relative reference Time• Breaker and switch type• Phase / Command mode
TestView - Automatic Test Control
Software
Perform post-processing and offline analysis using ScopeView
TestView - Automatic Test Control
Software
Generate reports automatically
Python - Flexible and Easy to Use
Scripting API
Execute your sequence using scripts and simulator API
1 Edit script
2 Run script
3 Display results in console
7 View & Debug Thread 4 View Variables
6 Interactive command line
5 Add Breakpoints
• Start/stop /Restart simulator• Change parameters• Acquire waveforms• For loop, While, If conditions• Create reports using Excel/Word• Configure simulator
Third party tools
Use also Matlab to perform numerical computation, visualization, and programming
MATLAB
Third party tools
Use TestStand to develop automated test using our simulator API and steps
Test Stand
ePHASORsimReal-Time Transient Stability Solver
What is ePHASORsim?
Real-time transient stability simulator
• Large-scale power systems
• Transmission, distribution and generation
Phasor domain solution
• Nominal frequency
• Positive sequence (transmission system)
• 3-phases (distribution system)
• Time step in the range of few milliseconds
What is ePHASORsim?
What are the Application domains?
What are existing tools?
Offline Phasor Tools time-step: millisecond
PSS/e
ETAP
EUROSTAG
CYME
Real-time EMT Tools time-step: microsecond
eMEGAsim
Hypersim
RTDS
…
ePHASORsim
ePHASORsim in Action …
Simplified HQ Transmission System Simulation
ePHASORsim in Action …
Distribution Feeder Simulation interfaced using DNP3 for
PDC Testing
Commands and measures
ePHASORsim in Action …
RTDMS - Phasor Real Time Monitoring Synchrophasor Integration
ePHASORsim in Action …
DER Integration and Plugin Vehicle Station
ePHASORsim in Action …
Open Source PDC Software Integration
ePHASORsim in Action …
Preliminary testing of EMT and Phasor types interconnections
HYPERSIMPower System Applications Examples
India Seminar,
December 2013
MMCApplication Example : Modular Multi-Level Converter
Siemens Energy Sector - Power Engineering Guide - Edition 7
What are Applications and
Advantages of MMC Converters
High Voltage
• HVDC such as SIEMENS HVDC-Plus and
ABB HVDC-Light
Medium Voltage
• STATCOM
• Motor drives
• Grid connection of renewable energies • Low PWM frequency
• Reduced switch losses
• Low ac harmonic content (THD)
• No need for a filter
• Continuous currents
• Fast recovery from short-circuit
• Reliability
• Reduce stress on components
What are Advantages and
Applications of MMC Converters
Pole controller Valve controller
MMC Station MMC Valves
How it works?
Vdc+
Vdc-
Vac
• Building block is a cell
• Two-terminal cells provides
a unipolar or bipolar
voltage
• Capacitors in each cell
• Serial connection of cells to
form arms
• Sum of all SM capacitor
voltage in 1 arm equals two
times the dc link voltage
• At any given time, only half
SM output their capacitor
voltage.
What are the MMC characteristics?
• DC-link voltage is controlled by switch
states (fast)
• Arm currents are continuous
• Commutating inductors are in arms
• Capacitor voltage has to be balanced
What are the challenges?
• More components
• Design and validation of controller
is complex
• Need advanced tool for validation
• But also more challenge for real-
time simulation
• Number of switches
• Number of I/Os
What are the challenges?
Control Objectives
• Active and reactive power regulation • Capacitor voltage in SM to 1 p.u.• Dc link voltage to 1 p.u.• Capacitor voltage in all SMs is balanced• Minimize circulating current• Minimize zero sequence current injecting
into the grid
What are the challenges?
Control objectivesPhase currents (Ia)
• Equal upper & lower power contribution
• Minimizing zero-sequence current
Arm currents (Iupa)
• Equal 3-phase power contribution
• Minimizing zero-sequence current
• Minimizing circulating current
DC currents (Idc)
• Equal 3-phase power contribution
• Minimizing zero-sequence current
What is our solution?
Advanced valve and pole controllers
Versatile I/O interface
• Thousands of analog and digital
channels
• Customized Ethernet protocol
(Aurora – Gigabit)
• Using massive optical fibers
• Precise IGBT I/O firing signals
Detailed MMC model for HIL and RCP
and various topologies
Strong capability of fault
simulation
What is our solution?
CPU Models
• Supporting MMC 1P and 2P
• Unlimited number of cell per arm
• Taking several CPU cores to
calculate the models
• 1 CPU can solve 300 cell at a time
step of 25 us
• Providing Vcell-cap debugging mode
to help user developing their
controller
What is our solution?
FPGA Models• Support MMC 1P (will support MMC 2P at request)
• For 1 FPGA VIRTEX 6 (OP7000 system)
• up to 500 cell/arm * 3 arm, or 1000 cell/arm.
• VIRTEX 7 FPGA: 1500 cells with OP7020 system
• Support multiple FPGAs.
• no CPU resources to calculate the models,
• MMC block calculates at a time step of 250 ns or 500 ns
• PWM generation and capacitor voltage balancing
algorithm embedded in FPGA
• Providing Vcell-cap debugging mode to help user
developing their controller
MMC in Action…
Pole & Valves Controller in the Loop
Some MMC customers …
HIL test controller 8*6/2 terminal
Fast simulation : 100*6 / 2
Simulation of a 3-terminal MMC
HVDC project : 500*6/2
Rapid Control Prototyping : ?*?/5
Simulation a 3-terminal MMC HVDC
project and validation its controller
200*6/3
CSG
HIL Testing, Simulation of a 5
terminal MMC HVDC project :
220*6/5
XJ Group
SPERI
ProtectionApplication Example : Protection and Relay Testing
http://www.dacom.ro/en/home-15-11-46.html
The traditional relay testing approach …
Relay under testOmicron, Megger, Doble Test Sets
Replay offline simulation
Recorded data from field Limitations
• Open loop
• Fixed V/I (ramp, constant, …)
• Close to operating point
This is a good and proven method for
most “traditional” and “easy” cases
… is enhanced by a real-time simulator!
Relay under test
Real-Time Simulator
Real-time simulator are used by advanced testing laboratories for
complex cases and developing/testing new relay algorithms using new
technologies…
Advantages
• Closed loop
• Detailed EMT simulation
• Complex protection schemes
• See effect of the relay on grid
Increased number of relay functionalities
New and more complex applications
New type of equipment and large scale system
MergingUnit
PDC WAM
PMU
Interoperability and new communication protocols
DNP3 C37.118 61850
MMS OPC UAIRIG-B 1588
What are the New Challenges?
OIT
What are the New Challenges?
Security
CT , PT models Virtual IED and relay library
Generator, transfo, line, motor, load
Power electronic converters
Rich model library
What is our solution?
Import EMTP-RV network
Interface with Simulink controls
Broad spectrum of drivers and protocols
DNP3 C37.118 61850
MMS OPC
IRIG-B 1588 UserVersatility and Flexibility
Custom C-Code and library
What is our solution?
Communication failure
Loss of packetsCorrupted dataData overflowetc. Fault and disturbance
Fault location, type and interception angle
Apparatus internal fault
Simultaneous events
What is our solution?
TestViewScripts and macrosPlay back recorded data from fieldPerform Monte Carlo analysisGenerate reports automaticallySave results in a database with full documentation for future test auditing
Test Automation and DB
Intelligent data management
Various export format
COMTRADE
ScopeView Analysis
What is our solution?
Typical relay configuration
Using IEC 61850 • Sampled values (V/I) • and Goose (Trip Command)
Using amplifier or low voltage interface• Analog out (V/I) • Digital I/O (Trip/Command)
Advanced Protection Functionnalities
Development and testing of the performance of a «Local Instability Detector» (LID)
Relay Design Methodology
Loss of synchronism (RPS)
Stage 3 – Simulink Implementation
Stages 4, 5 – Industrialization
• Proof of concept• New industrial product• Real-time homologetion tests
(10988 tests) using Hypersim
Code Generation
RPS acceptance tests
Wide-Area Control System (WACS) Vision
Combined remote and local data to take better decision
Actions << 200 ms
WACS Simulation on HYPERSIM
PT/CT - V/I
C37.118
SSU - Local Controls
HYPERSIM
PDC
PMU
C37.118
Digital -IEC61850C37.118
Substation Synchronous Unit (SSU)Multiband Power System Stabilizer (MBPSS)
HYPERSIM in Action …
PMU testing
PDC
PMU, Distance Relay
OPAL-RT Offers a Complete Range of
Solutions for Engineers …
Power GridPMU/PDC
Rapid Control Prototyping Hardware-in-the-loop (HIL)Simulation
PMU & PDC validation
WAMPAC testing
Software-in-the-loop
Design, improve, asses PMU and PDC
WAMS HIL Testing with HYPERSIM
Power System
C37.118
PMU
AIO/SV
Network control center
SCADA + Operator
PDC
Power System
C37.118Simulated PMU
WACS HIL Testing with HYPERSIM
Network control center
Power System
PMU
C37.118
Relay, IED
SPDC
C37.118
Control Substation
Relay, IED
SSU
PSS
AVR
SVC
PDC
MODBUS, DNP3, 60870, 61850
DIO/SVSCADA + Operator
WACS Tasks
• Generator load dropping
• Reactive power switching
• TCSC/SVC Modulation
• TAP Changing
• …
Power System
Actions << 200 ms
Simulated PMU / PDC
Some RCP and HIL Applications
Monitoring• State estimation
• Date historian, data mining and data archiver
• Faut location estimator
• Oscillation monitoring
Control & Protection• Generator dropping / load shelding
• Reactive power switching
• TCSC/SVC modulation
• TAP changing
• Voltage, frequency and rotor angle stability
• Thermal overload remedial
• event based remedial action
• Optimal PMU placement
Supported Protocols for WAMPACs
C37.118 Protocol
Some features
• Master / slave mode
• 10-120 frames / seconds
• GPS Time synchronization
• IEEE Std C37.118. 2005-2011 – Classes P & M
• Multiple PMU/PDC
• Multiple streams I/O
• Configuration auto-detection for not reachable device
Useful tool : Wireshark, PMUConnectionTester, OpenPDC
Timing & Synchronization
Spectracom TSync-PCIe (Slave)
• Support PTP IEEE-1588, 1PPS, IRIG-B, GPS
• Provide simulator time stamp & time step synchronization
Satellite-Synchronized Clock (Master)
• GPS-locked SEL-2401 driven with IRIG-B
HYPERSIM in Action …
KTH Royal Institute of Technology – WAMPAC Laboratory
SEL421 - PMU
OP5600 eMEGAsim
ABB – Line Distance - PMU
Megger V/I Amplifiers
SEL3373 - PDC
Arbiter Master GPS Subs. Clock
GPS Antenna Network Switch
Communication Server
Opnet, Synchrowave
Typical WAMPAC configuration
WAMS
WACS
WAPS
Simulator
Demos Example
MICOM P644 – Distance relay using Hypersim• IEC 61850 Sampled values (V/I) and Goose (Trip)
Simple Example
Simple Example
Wind PowerApplication Example : Wind Power
Why using a simulator for WPP?
• Perform large-scale WP integration
studies (real-time or off-line)
• Control prototyping
• Model validation
« While traditional synchronous generation
modeling relies on physics, Wind Generation
modeling is all about controls…»
Modeling the Wind Turbine
Nacelle, Gear Box, Wind
DFIG Model
Generator Control
Grid and Collector
• Detailed converter
• Controller
• Integration of manufacturer models
• User defined models
• Simulink, C code
• Power train model
• Wind model with Kalman filters
Modeling the Wind Power Plant with
all Turbines
3 phases fault
1 phase fault
• Control interaction,
• Resonance,
• Harmonic/inter-harmonic emissions,
• Voltage flickers
• Inertial response
• Fault current contribution of WT/WPP
• Impact of individual control and protection
• Situation where only few turbines trip
Modeling Large Scale WP Integration
• Resonance
• Stability analysis
• Operation strategies
• Interaction with SSR
• Use the aggregation techniques of
wind power plant
Some customers …
HIL testing of MMC controller used for
grid-connected wind farms
Real-time simulation of large-scale wind
farms integrated into the electric grid
HIL test of the controllers of DFIG drives
used for grid-connected wind turbine
RCP of DFIG drives used for grid-
connected wind turbine
Real-Time LaboratoryHIL/RCP Laboratory for Study and Test Power Electronic Controls
What is our HIL/RCP Laboratory?
Conduct experiments in the fields of- Electrical machinery, - Power converters and - Wind energy generation.
Study, design and test- Power electronics controls - Validation of model against experimental results - Integration of renewable energy sources into the
grid - System behavior under nominal and extreme
condition
What is our HIL/RCP Laboratory?
- Design control strategies using RT-LAB and Simulink/SPS/Stateflow
- Total integration of Lab-Volt laboratory with OPAL-RT chassis and conditioning module
- Step-by step tutorial and operational demonstration
What is our solution ?
It is composed of :
Lab-Volt hardware kit (0.2-kW or 2-kW). Real-time simulator
Signal conditioning interface
What is our solution ?
Lab-Volt Hardware
0.2-kW Electromechanical Training System- test multiple control algorithms on - DFIG, PMSM BLDC and Induction Generator
What is our solution?
Lab-Volt Hardware
2-kW DFIG Lab-Volt’s “Renewable Energy” System
- More realistic and efficient generators- Suite for micro grid applications- Four quadrant dynamometer (torque, speed
control)- Emulate wind variation. - Design control algorithms to optimize the amount
of active power pushed to the grid. - Different types of generators available
Our Laboratory in Action …
IGBT learning experiment
FACTS Application Example : FACTS Testing
Rte real-time simulation laboratory "MAINTENANCE" replica provided with its own simulator
Replica to be installed connected to HYPERSIM simulator
RTE Real-Time Simulation Lab
• 32 cores SGI computer for Protection relays testing
• 96 cores SGI computer for HVDC and FACTS studies
• 2 Study replica for Alstom Grid SVC & 1 maintenance replica
• 1 HVDC LCC "STUDY" replica from ALSTOM Grid • 1 HVDC SVC "STUDY" replica from SIEMENS (INELFE project) • 1 HVDC SVC "MAINTENANCE" replica from SIEMENS (INELFE project) • 1 SVC "STUDY" replica from SIEMENS (NANTERRE project) • 1 SVC "MAINTENANCE" replica from SIEMENS (NANTERRE project)
HVDCApplication Example : HVDC Testing
SVC
SVC
SVC
SVC
SVC
SVC
• 8 x 12-pulse AC-DC Converters and Controllers
• 6 SVCs and Controllers
• Several AC Filters
• 24 DC Filter Banks and DC Lines
• Several AC Machines and Controls
• 50 micros, 6 CPUs for Power System (XEON 2.3 GHz)
MULTI-TERMINAL HVDC SYSTEMS
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