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STATE OF ART RESEARCH ON REAL TIME SIMULATION ANDITS APPLICATIONS IN

ENERGYSYSTEM: A REVIEW

1A.Nageswara Rao, 2P.Vijayapriya, 3M.Rama

Prasad Reddy

1,2Vellore Institute of Technology, Vellore, India

3Pulliah College of Engineering and Technology, Kurnool

ABSTRACT

Real-time simulation (RTS) is an extremely reliable method that is typically based on

electromagnetic transient simulation of composite systems including numerous domains. It is progressively used in P&E (Power and Energy) systems for academic investigation and industrial applications. This paper reviews the state-of-the-art research on the concept of RTS (Real Time Simulation) and its technologies which have been used for the analysis, design, and testing of the EPS (Electrical Power System). This paper places of interest on the RTS hardware and software. RTSs used in industry as well as academia is also covered. The purpose of this paper is to bring together all the features of various RTSs, so that the person who reads can be benefited by understanding the pertinent technologies. Also this paper gives numerous applications of RTS technologies in various domains.

1. INTRODUCTION

Real Time Digital Simulation (RTDS) of the electrically powered system is the replication of outputwaveforms, by dint of the anticipated accuracy, that are explanatory of the performance of the real time powersystem yet to bemodelled. To accomplishsuch anobjective, a realtime digital simulator prerequisites to resolve the modelsarithmetic for solitarytime-step within the unchanged time in real-life clock [1], [2].Consequently, it yields outputs at distinct time intermissions, where the system state iscertainly calculated at discrete timeswith animmovable time-step.RTDS is a solution method for transient simulation of power systemby means of digitalized time domain computations [3]-[6]. Systems are characterised by captivatingthe benefits of availableprototypesin software tool librarythru a graphical interface and also simulated on a hardware phaseusing parallel computation. The execution time is that the one distinguishes the RTDS from non-RT platform.The real time simulations of electricsystems isn’t a new-fangled idea. Formerly, it wasmerelyrecognised as analog real time simulator through actual devices in abridged size.Later hybrid simulators were scientifically advancedwith the utmostproblematic devices. By way of the advancement of the computer in 1990s, the digitalized simulators are in full swing. In the past, simulations of real time applications were predominantlyleaningin the direction of transmission grid prerequisites. Owing to the smart grid and micro gridenlargement currently, real time simulation is relocated to distribution system applications. Nevertheless, RTS (Real Time Simulation) of an outsizedcontemporary distribution networks is significantlythought-provoking.

The purpose of scripting this paper is to make availableanover-all idea of the state-of-the-

art in RTS technologies for designing, testing, and analysing the power system. The keyapparatuses and concepts as well as existing solutions are open in this review.This paper efforts to give a summaryof RTS applications at this point in time asstated in theliterature. The rest in the paper is systematized as follows. Section II, presents RTS progression. Section III acquaints with diverse groupings of RTS. Section IV talks over about RTS computing

International Journal of Pure and Applied MathematicsVolume 119 No. 12 2018, 423-443ISSN: 1314-3395 (on-line version)url: http://www.ijpam.euSpecial Issue ijpam.eu

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competences. Section V deals with the RTS Characteristics. Section VI talks about the RTS Architecture, followed by the applications in Section VII. As a final point the conclusions are drawn in Section VIII.

2. RTSSPROGRESSION:

A few digital RTSs have been recommended and verified by means of parallel processor based digitalized technology and better-quality arithmetical analysis techniques with reduced computational burden [7]-[17].EarlyRTSs were built on diverse technologies such as digital signal processor (DSP), reduced instruction set computer (RISC), and complex instruction set computer.Clustered system improvement, via off-the-shelf digitalizedprocessors relies on innovative communication networks, which is fetching a rising trend for the growth of the real time digital simulator (RTDS). The foremost commercial RTDS was established by RTDS Technologies Inc. in 1991 by means of DSPs.The earliest small-scale RTDS for the power system real-time testing is on a typicalmultiuse parallelcomputer system, known as the digital transient network analyser (DTNA).No completeRTDS was conceivable in a standard computer afore 1996, when Électricite de France familiarised their primaryRTS ARENE.It was proficient of simulating the standard phenomenon of high frequency with a multiuse parallel computer. An additional PC-based RTS, NETOMAC from SIEMENS, was utilised for outsized power grid simulation.More or less simultaneously, using the MATLAB/Simulink as the chief modelling instrument for the simulation, one more all-purpose processor-based RTS from OPAL-RT Technologies Inc. [18]-[22] was announced. Virtually dSPACE [23] was taken on as an analogous approach using a standard PC for RTS and control. HYPERSIM [24]-[26] is a completeRTDS for the study of the electromagnetic as well as electromechanical transients in outsized and multifacetedPS and formerly developed by IREQ, the Hydro-Quebec's research institute.Excluding the above-mentionedRTSs, custom laboratory-scale RTSs have been demonstrated in the literature. These RTSs use anamalgamation of hardware besides software typically to assistprecisenecessities. Two such digital processors that are ahead as a reckoning hardware for RTS are Field-programmable gate arrays (FPGAs) [27]-[32] and graphics processing unit (GPU) [33].Accessible block coding, involuntary code generation ability, and interfacing competencethrough Simulink permits these hardware touse as an supplementary platform of outsized simulators to model and then to simulate within a time step of nanoseconds while the chief simulation runs at a greater time-step. These are a fewadded promising avenues for forthcomingsurvey in the arena of RTS of the electrified power system.

3. RTDS GROUPINGS IN ENERGY SYSTEMS:

RTDS applied to the field of PS can be categorized into fully digital real-time simulation and hardware-in-the-loop (HIL) real-time simulation. A fully RTDShave need of modelling the whole systeminside the simulator.Alternatively, the HIL simulation talks about the condition where portions of the fully RTDS have been substituted with real physical apparatuses. The hardware in the loopstyle of the simulation goes with the device-under test (DuT) or hardware-under-test (HuT) linkedthru I/Ointerfaces. Some degree of controls in the real time simulation is capable of executing with the user-defined control inputs.A controller hardware in the loop (CHIL) can be defined as, the hardware in the loop system which includes hardware of the real controller thatacts together with the remaining simulated system.It’s as well used for quick controller prototyping. In this technique inside the simulator the PS is showed as a virtual one, no transfer of real power happens and also the hardware external controller exchanges the controller’s inputs and outputs with the system. Aprearrangement of CHIL is made known in Fig. 1, inside the simulator thePE converter is sculptedthen the real controller is allied to it through inputs and outputs.

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Fig.1 Basic HIL Simulation Concept for CHIL

Any Hardware in the loop simulation which involves transfer of power to or as of the HuT is known as power hardware-in-the-loop (PHIL) (Fig. 2).In this the first part is internal simulation of the power system and the second part is power hardware which is connected externally. A source coupled to PHIL interface is required for the setup of this kind which generates or absorbs power. In RTS the reference signals are generated based on the virtual system solution. Once the reference signals are given to the power amplifier the voltages and currents are produced and they are applied to the power hardware. The primary cause of using amplifier is to sense the actual signals. To complete the simulation loop, the power hardware measurements (voltages and currents acquired from the feedback signals) are scaled suitably and they are brought back to real time simulator. Altogether, a fully digital real time simulator is frequently used for knowing the system circumstances ensuing the influences of internal or external dynamics. Although the HIL real time simulator is used for minimizing the risk of investment over the usage of prototype once the fundamental theory is well known with the help of RTDS.


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Fig 2. Basic HIL simulation concept for PHIL.

4. RTS COMPUTING COMPETENCES:

The grid scale model can be solved roughly in a smaller time step or 50µs using a RTS for reproducing the transients faithfully. The computing competency may be said as the product of number of buses in power simulation network and the number of time steps taken per second. The competency corresponding to 50Hz AC network is of fairly low speed, however for PE (Power Electronics) system with high switching operating frequencies requires small time steps.If high frequency switching circuits are controlled digitally then the operation is done using a microcontroller in the order of 1µs to 10ns with an internal clock speed. For such system the simulation might require high computing capability and attain the ability to get over the simulation in a very small time step. A multi rate cosimulation can be implemented for fast simulation and slow subsystem transients.


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EMT Simulation of Lofty Network

EMT Simulation for High Frequency Circuits

Fig.3 computation capability for different types of systems and time-step requirement for different types of simulation.

In the above fig.3we can see the relationship among the computing nodes and the desired time step for distinct systems. The PSS (Power System Simulation) might be reasonably adequate at a larger time step as well as for a constant computation of power, same larger system is allowed, while for PE simulation less time steps are essential, resulting in a small system for the same power computation.

A RTS is very so often constructed to be scalable. The increase in power computation is

possibly done by adding the units of rack-mount that have a need of communicating the data between racks.Operating individual computing units in parallel reasonably offers a scaling property; on the other hand communication adds delay in time. Communication hold-ups are minimalized by taking the advantage of properties of traveling wave todecouple the solution of the subsystem network that is disconnected by transmission lines of suitable length thatis reliable with the step intervals of simulation .Powerprocessors such as centralprocessing units (CPUs) worksparallel by distributingthe commonmemories or buses to minimalize the latency in the aspect of communication.

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I. RTS CHARACTERISTICS:

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Most of the RTDS (Real Time Digital Simulators) have the characteristics as common such

In forming the target platform the multi processors in real time simulation are operated parallel.

In RTS they use the host computer (used in result monitoring)for making the offline model which is further compiled and loaded on the target platform.

The input and output terminals are interfaced with the power hardware connected externally.

As we know a communication network is in need for data exchange among multiple targets when the offline model is divided into subsystems. So an isolated communication link is established for data exchange amongst the target as well as the host computer.

II. RTS ARCHITECTURE:

The real time simulator architecture (Hardware and Software) is explained below.

HARDWARE ARCHITECTURE:

Mostly at simulation environment the hardware is directly influenced by the computation capability. Also time is the important factor involved in the hardware architecture. The hardware architecture is classified into Type – A and Type – B simulators. In [32] we have the detailed description about the hardware. The fig.4 revealed below gives the hardware architecture of the Type – A simulator. This Type – A simulator is assembled in the units called racks.


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Fig.4 Hardware Architecture of RTDS.

The rack consists of numerous PBS processor cards operated in parallel which contains two PowerPC RISC processors. Maximum of 6 or 12 processor cards are placed into one unit of rack and Maximum of 72 nodes can be simulated using each card. For huge networks extra nodes can be represented using the racks that are added additionally. Besides the chief processor cards, each rack consists an interface card so called as GTWIF card. This card is an IBM PPC405 based processor card. It’s mainly used in Ethernet communication amongst the host computer and the target. Also this card offers the communication link amongst the racks and processors operated in real time. We also have other cards such as GTSYNC card (used for synchronization), GTIO card (used in simplifying the physical connections to hardware), GTNET card (offers communication using a high level Ethernet protocols) and the global bus for synchronising the three or more racks.

Type – B simulator is an off the shelf component based and its developed using multi

thread multicore CPUs. Using the motherboard in the Multi core CPU, extension of simulation is done for each target system of various cores, along with each core can be used in modelling a subsystem [34]. The fig.5 shows the connections of different hardware components in forming the RTS.


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Fig.5 Hardware architecture of eMEGASIM

Besides common components of PC Reconfigurable FPGAs are employed for I/O signal conditioning and also modelling environment is limited for the higher frequency components using Xilinx toolbox. The modern trend of this simulator is customizing the application concerned with the system [35 - 37].

5. SOFTWARE ARCHITECTURE

The required software for RTS is grouped in to two as operating system software and application software. Generally the available RTSs run on windows or Linux. Yet, based on the hardware there is in need of some specific operating systems. For many RTS, the operating system is provided by the vendors. Normally the OS comes with hardware for custom made RTSs. Application software primarily offers a platform for modelling PSN&C (power system network and control). All together the graphical user interface (GUI) based modelling offers various components in building the whole system. To automate the simulation, some cases use Command line language in execution. For simulating the system the Application software uses the tools which have built-in models. So the custom model can be used if the model provided doesn’t meet the requirement of the user. In [32] we have a custom hardware where the OS is based on VxWorks. In [34] the author used Linux based OS in the platform of target. In the below fig.6 the software general architecture is revealed.


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Test Wave Forms

Fig.6 Software Architecture of RTS

III. APPLICATIONS OF RTS:

This section describes the applications in a summarized way for RT simulations in the areas of energy. The aim is to sum-up the foremost applications that span in general to specific. Also these applications go all the way touching various domains. Furthermore the applications vary among the design, analysis and testing. The applications of RTSs are grouped as Functional, Field Specific, Simulation Fidelity based applications and multi physics applications which are described stochastically.

Design and Modelling.

The RTSs can be used in model development and to design a novel concept for many applications. When the model is built in RT it gives us faster results with high end accuracy when it’s compared with an offline tool. In the design state mostly a fully RTDS mode is preferred. For industries the time for product development is at most important aspect. So faster simulation of the users model gives rise to more efficient design process. A few examples based on RTS are

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modelling an 200-hp dc drive [38]; developing an average models for two FACTS devices [39]; developing an high accurate model of an inductive superconducting fault current limiter [40]; modelling aphotovoltaic generation system[41], designing a wind energy conversion systems [42], [43].

Prototyping and Rapid Prototyping.

RTS isused in the prototyping as well as in its implementation. A prototype is an approximationof the real system that can be tested and modified asnecessary. Now a day’s Rapid prototyping is used mostly in RT applications. Commercially the RTSs goes with an automatic code generator that works as a transition among the system modelling and its implementation [44]. This code enables the rapid prototype implementation which is then used for integrating and verifying the model designed. A few examples are HIL simulation for RCP of a direct torque control of an IM (Induction Motor) [45]. Prototyping a high-speed closed-loopcontrol of a virtual PMSM (permanent magnet synchronous motor) drive executed on a field- programmable gate array [46]; Prototypinga 10-MVA STATCOMfor voltage regulation at the point of common coupling of a50-MW wind farm by CHIL [47].

Testing.

The utmost application of RTS is testing. Finally after building the prototype we need to test it under RT conditions. Testing RT is an added advantage over the lab test. So testing in RT provides close reproduction about the product or equipment and its behaviour in the real field. Some of the distinct examples used in RT simulation for testing are; In [48] a new positive sequence directional element has been implemented and tested using HIL, a controller for a LSLSM (long-stator linear synchronous motor) [49], a multibus micro grid controller [50], a 500- kW inverter in PHIL mode for reactive power control [51], a megawatt level generator in PHIL mode [52], and many other unique applications in [53].

Teaching and Training.

To keep up with the advancements of industry and technology education is a main area to be updated continuously. For bridging the gap between education and industry, future ones must be taught and also trained to nurturethe creativity and put on real-life conditions. The RTS has several applications in today’s education such as electric drives, mechatronics, and electronic circuit theory [54]. It’s also employed in process dynamics and control [55] to make them familiar with the real time control and the plant existing in the real time. RTS is widespread in pilot training and evaluation [56], also in medical training to test out the operations for the problem [57].

Super large EMT Real-Time Simulation

To achieve this form of simulation, parallel processing is desirable. One notable application is accessible in [58] where a RT simulation is done for Hydro-Québec power system. Alike EMT-type RT simulations are conceded out in diverse hardware simulators where the approaches are advanced to create models at large-scale which can handle huge numbers of phasor measurement units (PMUs) for testing [59].

Protection, Device Interoperability, And PMU

In RTS the feature of HIL offers a worthy arrangement for developing and testing new- fangled protection in the chain of protection. Alike work conveyed in [60] describing an RT atmosphere to test the protection and control schemes for the device.It is concentrated on topographies and competencesthat are essential for testing WAMPAC based on synchro phasor data delivered by PMUs. The growth ona complete software-based synchronized PMU uses RTsimulators to compete with a large number of real-lifePMUs, is referred in [61].

Hybrid Phasor/EMT Applications


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Dynamic phasor simulation tools, also known as transient stability (TS) programs, voltage stability, do not need the similar accuracy as for EMT studies. The hybrid simulation is likely by accepting the less accuracy for transient events that are fast and could happen in the EMT model. As referred in [62 - 64], the precision of hybrid EMT-TS may look satisfactory for an AC system; nevertheless, it is not at all times the case when ac/dc system is well-thought-out.

HVDC Testing

RTS had been used in evaluating the control and protection of Japanese Hokkaido- Honshu HVdc link system from an A/D [65].In ABB's, HIL RT simulation is carried out for a three terminal VSC based dc grid. In this all the converters are modelled in an RT simulator [66].

Facts and D-Facts Testing.

FACTS or D-FACTS offer flexible solutions to facilitate the electrical network exploitation. A few examples are D-STATCOM for voltage regulation [67], [68], FACTS controller for damping interarea oscillation [69], SVC for load compensation [69], and refining fault through of a WPP based on DFIG wind turbine using an STATCOM [70].

Modular Multilevel Converter

This converter structure is framed from numerous half-bridge or full-bridge converters. MMC RT simulation is a main challenge because of the huge numbers of submodules and I/O which are prerequisites for testing in HIL testing. In [71] and [72] the authors have representeddiverse ways to checkthe RT simulation for a modular multilevel converter.

Smart Grid: Supervision Strategy For Electric Vehicle Charging Station (Phasor Simulation)

In [73] the author gives us a recent application in modelling a phasor using an RT simulation. He investigated particular strategy having an objective to control the EV load for limiting the power transmission costs of DSO.

PHIL Simulation of Active/Reactive Power Control of Grid-Connected Photovoltaic (PV) Inverters for Ac Voltage Control Capabilities

One key problem of DS (Distribution System) is the control of PQ when integrated with the units of generation. In our day it is the part of several research projects which plays a vital role in the future grid connection standards [74]. Studies on controlling PQ due to variations in grid voltage or irradiance will surely effects the accuracy and simulation bandwidth.

Real-Time Cyber Physical Analysis for the Smart Grid

To obtain growth in smart grid there is a need to analyse and validate new devices for cyber performance before field installations because cyber simulation allows to know the real life operating scenarios. In [75- 76] the authors present the testbed for cyber performance using RTS. This testbed had been used in testing the wide area voltage stability applications to analyse the voltage stability.

Real-Time Operation And Control Of Micro grid

To realize the smart grid one of the chief building blocks is micro grid. In [77] the author presents a RT controller to run an intelligent algorithm. The below figure shows an example for RT micro grid testbed.

Home Energy Management System


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The aim of HEMS is to reduce the energy bill and also to improve comfort in human. Also

huge testbed for RES in smart homes is presented in [65 – 66]. RTS provides a good answer in testing HEMS. A dwelling modelled for testing BEMS in RT domain [67].

Electric Ship: Geographically Distributed Thermo-Electric Cosimulation

In [68] a case was reported for electric ship in thermoelectric cosimulation. At Center for Advanced Power Systems, Florida State University, Tallahassee, FL, USA, the RTS electrical model was developed and the thermal model had been developed on other RTS at the RTX-Lab of the University of Alberta (U of A), Edmonton, AB, Canada. These two simulators have exchanged data on internet using protocols.

7. CONCLUSION:

The key objective of this paper is to high spot the present state of the RT simulation technologies used in industry for EPS (Electric Power Systems) applications.Weconcised the furthermost salient features of RTS platforms with their applications related to P&E systems. Also a detailed review of applications of RT simulation is done in diverse areas in P&E systems. This paper classifies the applications into four major classes such as functional applications, field- specific applications, simulation fidelity based applications, and multi physical applications.Though intended for power systems applications, many of these RTSs are suitable for performing cosimulation using multirate/multiphysics simulation. With incessant customer support, these RTS can be used to put up any special needs of the consumers. The RTS brings the testing and research very close to the real life which leads to more precise and expressive studies. These RTS applications will sooner extend to the fields of aviation and medical rather than P&E systems.

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