R E A L T I M E D I G I T A L S I M U L A T I O N F O R T H E P O W E R I N D U S T R Y

The RTDS Simulator performs simulations for thestudy and analysis of small or very large and complexelectrical power networks. To date some applicationsinclude:

• closed-loop testing of protective relays, andintegrated protection and control schemes;

• closed-loop testing of control systems for HVDC,SVC, TCSC, and synchronous machines, includingAVR and PSS;

• studying general AC system operation includingbehaviour of generation and transmission systems;

• investigating power system equipment interaction;

• studying interaction between integrated AC/DCsystems;

• developing FACTS devices and associatedcontrols; and

• educating and training of power system personnel.

The RTDS Simulator was the first of its kind and is theworld’s benchmark for performing real time simulations.

... because power system apparatus must functionproperly from the first day of operation, under the mostextreme conditions.

Since worst case power system conditions are rareand dangerous to induce in the real world, the RealTime Digital Simulator – RTDS® – is used to providethem in a realistic and safe environment.

• overall system performance can be optimized;

• new power system network designs or upgrades canbe evaluated and accurately tested;

• equipment can be test-driven and customized;

• problems are discovered faster – solutions aredesigned and tested immediately;

• contingencies can be planned for and modeled;

• component interactions can be better analyzed andunderstood; and

• productivity and reliability can be improved,

all in real time as if operating under actual networkconditions.

Reduce Time toMarket/Commissioning Reduced Costs Increased Reliability More Thorough

Testing

Real Time DigitalSimulation

Knowledge is Power

FEATURES

BENEFITS

Increased Accuracy

ModularityAnalogue

andDigital I/O

DeviceInteraction

StudiesFlexibility

RealisticTest

ConditionsClosed-loopSpeed and

EfficiencyUtilizing custom computing hardware and software,

simulations performed by the RTDS Simulator

encompass results from DC up to electromagnetic

transients. Inherently, these results include information

regarding the system load flow and transient stability,

as well as that of faster disturbances. The proprietary

operating system used by the RTDS Simulator

guarantees “hard real time” during simulations,

therefore, ensuring a true replica of the real power

system signals.

RealTimeDigitalSimulatorRTDS®

Power System Simulation

Page 1

OVERVIEW

The RTDS Simulator is more widely used than anyother simulator in the world. RTDS Technologies hasthe experience, expertise, and proven technology forfast, reliable, accurate, and cost effective study ofpower systems. We pioneered real time digitalsimulation and remain focused on the support andcontinued development of the RTDS Simulator.

... depended on by many of the world’s key manufacturersof protective relays, controllers, and power electronicsystems, as well as, the world’s most progressiveutilities and universities.

SIEMENS started in 1996 with RTDS simulators forclosed loop testing of HVDC and FACTS controls and forprotective relays. Initially using RTDS for the digital acsystem simulation as part of hybrid simulators we endedup at fully digital applications first for SVC and TCSC andrecently also for line-commutated HVDC systems.

Impressed and encouraged by the positive results, thewide range of applications and the excellent supportRTDS today is our main tool for off-site Functional andDynamic Performance Tests. These tests are an essentialpart of SIEMENS study and testing schedule for HVDCand FACTS and make therefore great demands on thesimulator models.

Type testing and training on protective relays is also handled with RTDS, which allows a fast andflexible adaptation to various power system topologiesand configurations. It provides also in this field a highstandard and an efficient solution to our requirements onreal-time simulation.

Siemens AG, Power Transmission and Distribution,System Technology Department EVNP4 – Germany

Real Time Digital Simulator – RTDS

PROVEN AND VALIDATED TECHNOLOGY FOR CLOSED-LOOP CONTROL AND PROTECTION TESTING

In early 2001, KEPCO installed a large scale RTDSsimulator at our research centre, KEPRI. Our RTDS isused together with other study and analysis tools for awide range of research, development and testing projectsrelating to South Korea’s power system.

KEPRI’s RTDS is the largest and most powerful real timesimulator in the world and consequently, many challengeswere met during its design and testing. RTDS Technologiesprovided KEPRI engineers with in depth training...allowing KEPRI to contribute to the successful and timelycompletion of the simulator project.

Since installation, our simulator has been successfullyused for:

• Busbar Protection Testing,

• PSS design and testing for real in-service generator units,

• Unbalance fault studies and their affect on powertransformers, and

• Pre-commissioning studies for the first 765 kV twincircuit transmission lines in Korea. The studiesutilized a network model with 90 full generator unitsand over 200 buses.

KEPCO/KEPRI – South Korea

LARGE SCALE REAL TIME SIMULATIONS OPEN UPNEW APPLICATIONS

Since 1996, we have performed Control System testssuch as HVDC, TCSC, and Switching controllers and alsoseveral Protection tests. In addition, FURNAS has beenhired by other companies to perform Protection Systemtests using the RTDS. The number of tests performedand complexity of them have increased continuously,demanding upgrades of our RTDS. Using the RTDSSimulator, Protection tests improved - the quality of thetests increased; the number of tests increased; thenumber of cases in each test increased; and thecomplexity of the tests increased. With the help of thebatch mode, the RTDS performs almost everythingunsupervised, including analysis. It’s a very powerful tool!

FURNAS Centrais Eletrica – Brazil

IMPROVING EFFICIENCY, PRODUCTIVITY, ANDRESULTS OF TESTING

We have relied heavily on our RTDS Simulator since1997 for closed-loop testing of protective relays. OurRTDS runs nearly 24 hours/day, often running 5000cases in an 8 hour period. The design flexibility of theRTDS Simulator as well as support from staff at RTDSTechnologies enables the system to grow with our needs.Several new complex models have been developed jointlybetween our companies.

Alstom T&D Protection and Control – England

ACCOMPLISH MORE WITH AUTOMATED TESTING

Our RTDS is mainly used for testing protective relays.RTDS is also used to test safety and stability controlinstruments for power systems. We use RTDS to simulatemany types of complex faults that may occur in thepower system...RTDS has become an important tool forSifang to research and develop control systems.

Hathway Sifang Protection and Control Co., Ltd. – Peoples Republic of China

PROVIDING FLEXIBLE, EASY, AND SAFE ACCESS TO A POWER SYSTEM FOR TESTING DEVICES

Our RTDS Simulator has become an essential tool in thedevelopment and testing of our relays. We haveundertaken work together with RTDS Technologies todevelop new components for relay modeling. In additionto our internal use of the RTDS, it has also been used forperforming numerous studies for clients and subsequentlywe have purchased a second RTDS Simulator for thatpurpose. Our clients demand high quality productstailored to their needs – our RTDS plays an integral partin meeting those expectations.

SEL – Schweitzer Engineering Laboratories – USA

WORKING WITH OUR USERS TO BETTER SERVICETHEIR NEEDS

Nokian Capacitors Ltd. from Finland has verified theoperation of their SVC system for a utility SVCinstallation they are supplying to Furnas Eletricas inBrazil by carrying out a comprehensive test programutilizing the simulator laboratory and personnel of RTDSTechnologies.

Nokian Capacitor Ltd. – Finland

RTDS TECHNOLOGIES ALSO PROVIDES TESTING AND SIMULATION SERVICES

The RTDS Simulator is an innovative tool for powersystem education, research and development. We valueit particularly as an intermediate step between softwaresimulation and field trials. The similarity of the userinterface with EMTDC is very helpful to the students. Wehave always found the RTDS staff extremely helpful andvery much appreciate their enthusiastic support.

UMIST – England

PROVIDING THE SUPPORT AND SERVICES EXPECTEDBY CLIENTS

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© DiskArt™ 1988

© DiskArt™ 1988

© DiskArt™ 1988

© DiskArt™ 1988

OUR

CLIE

NTS

OUR CLIENTS

SOFTWAREThe RTDS software is the user’s link to the simulatorhardware. The main elements of the software are thegraphical user interface, RSCAD, and the libraries ofpower and control system component models.

RSCAD Graphical User InterfaceRSCAD represents a family of software toolsconsisting of individual modules that accomplish thedifferent tasks involved in operating the simulator.Through RSCAD, the user has the ability to organizeand share simulation projects and cases; assemblecircuit diagrams using predefined or user-definedpower and control system component models;automate or interact with simulator operation; and analyze and post-process simulation results.

Component Model LibrariesExtensive libraries of power and control systemcomponent models have been designed and tested byRTDS Technologies and subsequently validated byusers. Much care has been given to ensuring that thelibrary components operate efficiently since thelength of their code directly impacts the minimumachievable simulation timestep. User DefinedComponent (UDC) models enable new components tobe created and integrated with the predefinedcomponents already available.

The comprehensive component libraries, built upthrough years of experience, as well as, the user-defined capability ensure the ability to meet studyrequirements now and in the future.

The Real Time Network Solution, Embedded ValveGroups, and Improved Firing are just a few of theadvanced algorithms developed and implementedspecifically for the RTDS Simulator. These algorithmsprovide the accuracy and efficiency needed torealistically simulate complex power system networksand devices in real time.

...built specifically to address power simulation needs,the RTDS Simulator provides accuracy, speed, andflexibility through sophisticated and user-friendlyhardware and software.

HARDWAREThe RTDS’s parallel processing architecture isdesigned specifically for power system simulation.Some key features are:

Real TimeThe custom design ensures continuous hard real timeoperation. For each increment in time, all of theequations representing the power system arecomputed (and all I/O updated) in a measured timeexactly equal to the timestep.

Modularity The RTDS Simulator is modular in many aspects ofits design ensuring that clients receive the hardwarerequired for their specific needs - best utilizing theirinvestment and yet allowing for future expansion.

Input and Output (I/O) The simulator provides the most direct data pathpossible from the processor to the I/O. This structureallows the use of hundreds of I/O channels atminimum cost, without significantly impacting thetimestep or creating communication bottlenecks. TheI/O is modular, customizable and easily expanded asrequired.

RTDS Simulator Hardware and Software

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RTDS

HAR

DWAR

E &

SOF

TWAR

ERTDS HARDW

ARE &

SOFTWARE

... ensuring that protection devices operate reliably and securely.

The RTDS Simulator is an ideal tool for thoroughlydesigning, studying, and testing protection schemes;initially simulating the protection, if desired, andlater interfacing the physical equipment for finalverification.

As relays have become more sophisticated, moresophisticated testing methods are required. TheRTDS Simulator provides the most advanced andcomprehensive testing available.

Closed-loop testing on the RTDS Simulator is the onlymethod capable of:

• fully evaluating the interaction of more than oneprotection device;

• studying the true interaction of the protectionsystem with the power system; and

• providing maximum testing efficiency (i.e. morecontingencies can be investigated in less time).

Application – Closed-loop Testing of Protective Relays

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The RTDS Simulatoris the power system.

Closed-loop Testing of Protective Relays

The RTDS Simulator is capable of testing single and multiple protective relay schemes either at low levels

(i.e. +/- 10 Vpk) or at standard secondary levels (e.g. In=5 A, Vn=67 V). To provide secondary level voltages

and currents, amplifiers are connected in the test loop between the RTDS Simulator and the protective relay.

It provides a proven power system representationincluding advanced models for components such asinstrument transformers, critical for relay testing.

The RTDS Simulator has been used to protect powersystem apparatus, as well as for testing all types ofrelay devices used in transmission systems apparatus(e.g. lines, generators, and transformers). It has beenused for relay algorithm simulation, prototype testing,validation, type testing, relay selection, and pre-commissioning.

Various RTDS hardware configurations have beenused to test single relays and more complex multi-terminal systems with relay interaction. The modularstructure of the RTDS hardware enables theappropriate configuration to be allocated. I/Operipherals, such as high precision output and opticalisolation, are designed to make interfacing andtesting easy.

RELA

Y TE

STIN

GRELAY TESTING

• Components such as the Embedded Valve Groupwith Improved Firing, the Real Time NetworkSolution, and the Switched Filter componentprovide the necessary features to fully andefficiently utilize the simulator for control system testing.

The RTDS Simulator has been used extensively to testvarious types of controllers:

• Generator AVRs and PSSs,

• HVDC controls,

• SVC controls,

• TCSC controls, and

• Other specialized control equipment.

The simulator has been used for control systemdevelopment, verification, prototype testing,validation, type testing, and pre-commissioning.

... providing a realistic closed-loop environment to testthe operation of controls.

Control system research, development, and testingcan be easily performed using the RTDS Simulator.Control systems can be either internally representedusing individual control blocks or the physicalcontroller can be interfaced to the simulator throughanalogue and digital I/O for closed-loop operation.

• Real time simulation is the only means for testingcontrol equipment, and the digital simulatorrepresents the most flexible and efficient methodof performing such tests.

• The flexible I/O structure used by the RTDSSimulator facilitates the high volume of signalexchange required when testing complexcontrollers. The modular design allows additionalI/O to be added if interfacing requirements expand.

Application – Closed-loop Testing of Control Equipment

Page 9photo courtesy of Manitoba Hydro

The RTDS Simulatoris the power system.

Closed-loop Testing of Control Equipment

Closed-loop controller testing often requires

interfacing numerous analogue and digitial signals.

The RTDS Simulator’s modular I/O design enables

efficient and straightforward connection, and

provides optical isolation when necessary.

CLOS

ED-L

OOP

CONT

ROLS

TES

TING

CLOSED-LOOP CONTROLS TESTING

The comprehensive power and control systemlibraries provided with the simulator make it possibleto conduct meaningful power system studies. Themodel representations have been validated andbenchmarked against various well-known and well-accepted methods. Benchmark cases have been runon the RTDS Simulator to validate its response overthe following range of simulation classes:

• Electromagnetic Transient

• Electromechanical Transient

• Transient Stability

• Load Flow / Steady State

The validation process includes comparisons betweenthe RTDS Simulator and various references including:

• EMTDC©, EMTP© and NETOMAC©

• PSS/E©, Y-Method and BPA Transient Stability

• PSS/E© and BPA Load Flow

• CIGRE© and IEEE© benchmark cases

• Actual power system measurements

Examples of the studies which have been performedusing the RTDS Simulator include:

• Power system and equipment interactioninvestigation

• Breaker reclose and fault recovery strategies

• Transformer inrush and saturation studies

• Subsynchronous Resonance studies

• Power swing damping strategies

... using the RTDS Simulator provides the link betweentheory and practical operation of the power system.

Whether studying a specific power system orproviding education and training, the RTDS Simulatorprovides access to a convenient, safe and realisticpower system model.

Power system simulation studies can involve nearlyany network configuration, including models thatrepresent the fundamental dynamics of an entireutility’s network. Regardless of the size of the powersystem, the RTDS Simulator provides an interactivelearning environment where the user plays an activepart in the simulation. Simulation studies andtraining can be performed with off-line simulationprograms, but they are generally slower – leaving theuser to wait. With a real time tool, the same resultsare available immediately and no time is wasted.Users are able to follow their engineering intuitionand in turn increase their understanding of thesystem under study.

The RTDS Simulator is an ideal tool to illustratesimulation techniques, as well as, power systemdynamics and operation. It represents the system

performance over a large frequency range (DC toapproximately 3 kHz). This depth of analysis provideslong term system dynamic and stability informationthat may not be seen using off-line electromagnetictransient simulation tools.

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Application – Power System Studies and Education

Simulation services, from setting up cases and creating new models through to performingcomplete simulation studies and tests, are available from RTDS Technologies.

POW

ER S

YSTE

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STUD

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& T

RAIN

ING

POWER SYSTEM

STUDIES &

TRAINING

RTDS Technologies Inc. was established andincorporated in Manitoba, Canada in February, 1994.The company, privately owned and operated, is primarilyengaged in manufacturing, marketing, servicing andcontinuing development of the Real Time DigitalSimulator (RTDS®).

The simulator was originally developed at theManitoba HVDC Research Centre following severalyears of hardware and software design. Research onthe fundamental RTDS Simulator technology beganin the mid 1980s, with the first commercial simulatorinstallation following in 1993. After completing thedevelopment phase, the Research Centre granted RTDSTechnologies an exclusive license to manufacture,market, service and further develop both thehardware and software related to the RTDS Simulator.Since that time, RTDS Technologies Inc. hascontinued to advance this exciting new technology.

The RTDS Simulator’s transition from research projectto commercial product was overseen by formeremployees of the Manitoba HVDC Research Centrewho were key to the simulator’s development and whosubsequently founded RTDS Technologies.

RTDS is a registered trademark of the Manitoba HVDCResearch Centre.

... providing superior expertise, equipment, support and services – expected and relied on by our clients.

Knowledge is power and the RTDS Simulator helpsprovide the knowledge needed for reliable andefficient operation of power systems and powersystem equipment.

RTDS Technologies has an innovative team of worldclass electrical engineers – experts in the design andimplementation of computer hardware and softwarefor power system simulation. Our close relationshipwith our clients and a clear understanding of theirunique requirements enables us to focus on theirindividual needs and incorporate requests into furtherproduct development.

Fast, knowledgeable technical support and one-on-one training is provided around the globe by ourdevelopers, application experts and technicians, aswell as our network of local representatives. Together,we provide insightful direction and expertise.

RTDS Technologies offers a comprehensive Warrantyand Extended Warranty and Maintenance programthat includes:

• continual upgrades of software and documentation

• hardware and software trouble-shooting

• simulation study support

• extended hardware warranty

You can depend on RTDS Technologies for yourcurrent and future simulation requirements.

RTDS Technologies has demonstrated a commitmentto continued research and development in the area ofreal time power system simulation. New andinnovative hardware and software has been providedto customers as a part of a continuous upgrade pathfurthering the capabilities of the RTDS Simulator.

RTDS Technologies accomplishments during the pastdecade include:

• Developed and introduced the world’s first fullydigital real time simulator

• Provided affordable fully digital technology whichenabled a wider group of users to access real timesimulation

• Changed the way protective relay testing isperformed, adding more complex thorough testingas well as a fast batch test facility

• Changed the way real time studies and controlstesting are performed, providing larger systems andimproved accuracy

• Introduced the world’s first portable real timesimulator

• Installed the world’s largest real time simulator forpower system studies

RTDS Technologies

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RTDS Technologies

... growing out of research and development conductedat the Manitoba HVDC Research Centre.

RTDS Technologies Inc.

200-1619 Pembina Hwy.,

Winnipeg, Manitoba

Canada R3T 3Y6

Telephone: 204 989 9700

Fax: 204 452 4303

Email: rtds@rtds.com

Website: http://www.rtds.com

photo courtesy of Manitoba Hydro

RTDS Technologies has shaped the power system simulation industry. Choose with confidence – trust in our many years of experience in real time simulation.

RTDS

TECH

NOLO

GIES

RTDS Technologies Inc.

200-1619 Pembina Hwy.,

Winnipeg, Manitoba

Canada R3T 3Y6

Telephone: 204 989 9700

Fax: 204 452 4303

Email: rtds@rtds.com

Website: http://www.rtds.com

Printed in Canada 2002