webinar | hil-based wide-area monitoring, protection and control r&d and testing
TRANSCRIPT
HIL-Based Wide-AreaMonitoring, Protection and Control R&D and Testing
Sept. 6, 2016
Introduction Thomas Kirk, M.A.Sc.Sales EngineerOPAL-RT Technologies
Keynote SpeakersMario Paolone, M.Sc., Ph.D.Associate ProfessorÉcole polytechnique fédérale de Lausanne
Luigi Vanfretti, M.Sc., Ph.D.Associate ProfessorKTH Royal Institute of Technology
1 2 3 4 5
Introduction
Real-Time Simulation, Applications, & Solutions
Luigi VanfrettiKTH
Mario PaoloneEPFL
Questions?
4
1
“Wide-area monitoring, protection, and control (WAMPAC) involves the use of system-wide information and the communication of selected local information to a remote location to counteract the propagation of large disturbances.
Synchronized measurement technology (SMT) is an important element and enabler of WAMPAC.
It is expected that WAMPAC systems will in the future reduce the number of catastrophic blackouts and generally improve the reliability and security of energy production, transmission, and distribution, particularly in power networks with a high level of operational uncertainties.”
V. Terzija et al., “Wide-Area Monitoring, Protection and Control of Future Electric Power Networks”, IEEE Proceedings, vol. 99, No.1, pp. 80-93, January. 2011
2
• Motivation for WAMPAC • Highly stressed, complex systems
• Reduced system inertia
• Increased instability
• Weakened reliability and security
• Blackouts (2003 US-Canada, 2003 Italy)• Lack of real-time WAMPAC functionality
pointed to as root cause
• Synchrophasors/PMUs driving force1
• Reporting - SCADA: 0.25-0.5 Hz, PMUs: 30Hz+
• $357m invested by DOE and industry partners under ARRA 2009
• 1700 PMUs provide near 100% visibility
200920122015
1 –http://www.energy.gov/sites/prod/files/2016/03/f30/Advancement%20of%20Sychroph asor%20Technology%20Report%20March%202016.pdf
Source: U.S. Energy Information Administration, based on Oklahoma Gas &
Electric system disturbance data
2
http://www.energy.gov/sites/prod/files/2016/03/f30/Advancement%20of%20Sychrophasor%20Technology%20Report%20March%202016.pdf
1 2 3 4 5
Introduction
Real-Time Simulation, Applications, & Solutions
Luigi VanfrettiKTH
Mario PaoloneEPFL
Questions?
4
To & From Virtual DevicesCommands, Status
GPS Clock
PMU
Antenna
C37.118Analog out
Time syncRF
Time sync
RelayIEC61850 SV, GOOSE
Virtual Devices
Analog outDigital Comm
Phasor Data Concentrator(PDC)
Control Center: Control, Applications and HMI
ControllerModbus, DNP3, etc.Analog, Digital IO
Communication Network
Synchropasors
Power Amplifier 9
Network Simulators:• Scalable Networks• OPNET• NS2/NS3
• Detailed Large-Scale Power System software developed by Hydro-Québec
• Automated testing with TestView (supports Python)
• Based on MATLAB/Simulink & SimPowerSystems
• Open API (Python, C++, Java)
• Automate studies, link to external systems
• Phasor-based real-time simulation software for very large networks
• Import PSSE, CYME, DIgSILENT PowerFactorynetworks
ePHASORsimReal-Time TransientStability Simulator10 ms time step
HYPERsimLarge Scale Power SystemSimulation for Utilities & Manufacturers25 µs to 100 µs time step
1 s(1 Hz)
10,000
2,000
1,000
500
100
10
0
10 ms(100 Hz)
50 µs(20 KHz)
10 µs(100 KHz)
20,000
Period (frequency) of transient phenomena simulated
Number of3-PhaseBuses
eMEGAsimPower System & Power Electronics Simulation10 µs to 100 µs time step
C37.118
PD
C
Mo
del P
redictive C
on
troller
EmulatedPMUs
C37.118
Systems Under Test
10
C. Dufour et al., “RENEWABLE INTEGRATION AND PROTECTION STUDIES ON A 750-NODE DISTRIBUTION GRID USING A REAL-TIME SIMULATOR AND A DELAY-FREE PARALLEL SOLVER.” CIRED 2015http://www.opal-rt.com/sites/default/files/opal_kirk_synchrophasor_applications_real_time_20160324.pdf
8
N. Sofizan and N. Yusuf, “Application of Real-time Phasor Domain Simulation for Wide Area Protection in Large-Scale Power Systems,” AORC-CIGRE Technical Meeting, August 16-21, 2015
Amplifier
21ZRelay + OOSP + PMU
3 CTs + 3 VTs
Low levelsignals
ePhasorSimPDC + OOSP(Angular Acceleration Method)
Dedicated OOSP(SCV Method)
GO
OSE
3 CTs + 3 VTsC
37
.11
8
0 0.5 1 1.5-1.5
-1
-0.5
0
0.5
1
1.5x 10
4
Time (s)
Vo
lta
ge
(V
)
0 0.5 1 1.5-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1x 10
4
Time (s)
Cur
rent
(A)
9 9.5 10 10.5 11 11.5 12 12.5 13 13.5 14
-250
-200
-150
-100
-50
0
50
100
Time (s)
An
gle
(D
eg
.)
Generator Rotor Angle After Out-Of-Step Control
OOS Condition
OOS Resolve
Generator Shedding
8
NASPI 2016 Atlanta: http://www.opal-rt.com/sites/default/files/opal_kirk_synchrophasor_applications_real_time_20160324.pdf
2
CLOSED Systems
2
OPEN System• Flexible and Scalable Architecture
• Programmable with modern and legacy tools• Support for latest security technologies
Than I< you!
1 2 3 4 5
Introduction
Real-Time Simulation, Applications, & Solutions
Luigi VanfrettiKTH
Mario PaoloneEPFL
Questions?
4
KTH$ROYAL$INSTITUTEOF$TECHNOLOGY
Luigi%Vanfrettihttps://www.kth.se/profile/luigiv/
Associate%Professor%&%Docent
Department of%Electric%Power%&%Energy%Systems%(EPE)
Taking'the'Next'Step!Implementation,%Testing%and%OpenHSourceHSoftware%Tools%for%
Synchrophasor%RealHTime%Control%and%Protection
2
• SmarTS&Lab&– Arch.&and&Implementation• From&proof9of9concept&and&learning&to&experimental&research• Experimental&Workflow
• RT9Modeling
• WAMPAC&Applications& Developed& in&SmarTS9Lab• Monitoring
• Control• Protection
• OSS&Tools&for&Synchrophasor&Application&Development• S3DK&&&BabelFish (IEEE&C37.118.2&Toolkit and&Client(s)&for&Labview)• Khorjin (IEC&6185099095& Traffic Generator&/&Client)
• Conclusion
Outline
3
Acknowledgements
Almas,%Maxime,% Gudrun,%Luigi,% Francisco,%Vedran
Funding&&&Projects:
To&all&Students&@KTH&SmarTS&Lab.,&and&in&particular& for&this&presentation& to:&Almas &&
4
Reza
AliJanHossein
Eldrich
Research$Areas
Data'Analytic'methods%and%tools%
extract%key%information%
from%big%data
Predictive tools%to%anticipate%
uncertainties%and%
perform%grid%
optimization% through%
modern%computation%
facilities
Monitoring'Tools%allowing%realHtime%
assessment%of%
the%grid
Control methods%and%technologies% for%
design,%optimization,%
management% and%
coordination%of%
distributed%control%
assets
Self=healingprotection% to%mitigate%
grid%collapse%and%
enhance%coordination%
of%protection%and%
control%systems
Modeling'&'Simulation
Sensors'&'Data'Infrastructure
5
SMART&TRANSMISSION& SYSTEM&LABORATORY& (SmarTS2Lab)
Platform&for&developing&WAMPAC&Applications
6
Proof%of%Concept%Stage: 201092012
7
2011 2 2012• We&carried&out&the&first&implementation&of&the&lab&through&2011,&mostly&by&MSc&
student&(Almas),&myself&and&a&little&help&from&technicians.• First&implementation&was&fully&operational&around&Dec.&2011.• A&paper&with&the&implementation&done&in&2011&was&presented&in&the&IEEE&PES&
General&Meeting! Experience&as&basis&for&next&implementation.• A&proof&of&concept&application&built&using&openPDC! Experience&was&basis&for&
defining&the&needs&for&the&environment&to&develop&prototype&apps.
First*Architecture First*Implementation
2010:&• I&started&working&on&the&development&of&a&lab.&around&August/September& 2010.• Not&a&lot&of&people&where&doing&this&back&then&(for&power&systems),& it&was&also&seen& as&“unnecessary”& or&“useless”& by&many&of the&‘experts’.• I&prepared& a&white&paper&for&negotiations&internally&in&the&university&on&the&potential&use&of&RT9HIL&technology:&
http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva963372• Procurement&process& for&the&simulator&was&carried&out&in&2010&/&RT&Target& arrived&somewhere& in&March/April&2011.
9 L.&Vanfretti,&et&al,&"SmarTS Lab&— A&laboratory&for&developing&applications&for&WAMPAC&Systems," 2012%IEEE%Power%and%Energy%Society%General%Meeting,&San&Diego,&CA,&2012,&pp.&198.doi:&10.1109/PESGM.2012.6344839
9 M.&Chenine,&L.&Vanfretti,&et&al,&"Implementation&of&an&experimental&wide9area&monitoring&platform&for&development&of&synchronized&phasormeasurement&applications," 2011%IEEE%Power%and%Energy%Society%General%Meeting,&San&Diego,&CA,&2011,&pp.&198.doi:&10.1109/PES.2011.6039672
ECS
Architecture&post&2012
8
M.&S.&Almas,&M.&Baudette,&L.&Vanfretti,&S.&L�vlund and&J.&O.&Gjerde,&"Synchrophasor&network,&laboratory&and&software&applications&developed&in&the&STRONg2rid&project,"&2014&IEEE&PES&General&Meeting&|&Conference&&&Exposition,&National&Harbor,&MD,&2014,&pp.&195.&doi:&10.1109/PESGM.2014.6938835
S3DK
Most&Important&SW&Technologies&Developed
Khorjin
BabelFish
Our&&&&&&&&&&&&&&&&&&&&&&Implementation
9
Performing&Scientific&Experimental Work&in&Development,& Implementation& and&Testing& of&PMU&Apps&using&RT9HIL&Simulation
(1) A real9time simulation model of activedistribution networks is developed to test thePMU application.
10
(2)&The&real9time&simulation&model&is&interfaced&with&phasor measurement&units&(PMUs)&in&HIL&
(3)&PMU&data&is&streamed&into&a&PDC,&and&the&concentrated&output&stream&is&forwarded&to&an&application&development&computer
(4)&A&computer&with&development&tools&within&the&LabVIEWenvironment&receives&the&PMU&data.All&data&acquisition&is&carried&out&using&the&corresponding&standards&(i.e.&IEEE&C37,&IEC&61850).
(5)&During&development,&implementation&and&testing,&the&application&is&fine9tuned&through&multiple&HIL&experiments.
The&“Golden&Crown”of&our&RT&Modeling&Experience
First&Version&published&in&SEGAN:H.&Hooshyar,&F.&Mahmood,&L.&Vanfretti,&M.&Baudette,&Specification,& implementation,&and&hardware9in9the9loop&real9time&simulation&of&an&active&distribution&grid,&Sustainable&Energy,&Grids&and&Networks,&Volume&3,&September&2015,&Pages&36951,&ISSN&235294677,http://dx.doi.org/10.1016/j.segan.2015.06.002Second&version&published&in&IECON:H.&Hooshyar,&L.&Vanfretti,&C.&Dufour,&“Delay9free¶llelization&for&real9time&simulation&of&a&large&active&distribution&grid&model”,&in&Proc.&IEEE&IECON,&Florence,&Italy,&October&23927,&2016.Soon&in&release&of&RT9Lab&and&ARTEMiS (ask&Christian&Dufour @Opal9RT).&All&source&files&available&in&Github!https://github.com/SmarTS9Lab/FP79IDE4L9KTHSmarTSLab9ADN9RTModel
11
NEAR2REAL2TIME& MONITORING&APPLICATIONS
Overview
Near9Real9time& monitoring&PMU&applications,& aim&to&provide&fast&updates& in&near9real&time&(10s&of&seconds&to&a&few&(192)&minutes)&so&that&operators&can&take&corrective&or&remedial& actions&
12
Wide9Area&Near9Real9Time&Monitoring&Applications
(1)&Monitoring&&&Visualization& (2)&Mobile&Apps
(3)&Inter9Area&Oscillation&Assessment (4)&Forced&Oscillation&Detection
(5)&Real9Time&Voltage&Stability&Assessment
13
(1)9(2)&M.&S.&Almas,&et&al,&"Synchrophasor&network,&laboratory&and&software&applications&developed&in&the&STRONg2rid&project,"&2014&IEEE&PES&General&Meeting |&Conference&&&Exposition,&National&Harbor,&MD,&2014,&pp.&195.&doi:&10.1109/PESGM.2014.6938835(3)&V.&S.&Perić,&M.&Baudette,&L.&Vanfretti,&J.&O.&Gjerde and&S.&Løvlund,&"Implementation&and&testing&of&a&real9time&mode&estimation&algorithm&using&ambient&PMU&data,"PowerSystems%Conference%(PSC),%2014%Clemson%University,&Clemson,&SC,&2014,&pp.&195.doi:&10.1109/PSC.2014.6808116(4)&M.&Baudette et%al.,&"Validating&a&real9time&PMU9based&application&for&monitoring&of&sub9synchronous&wind&farm&oscillations," Innovative%Smart%Grid%Technologies%Conference%(ISGT),%2014%IEEE%PES,&Washington,&DC,&2014,&pp.&195.doi:&10.1109/ISGT.2014.6816444(5)&J.&Lavenius and&L.&Vanfretti,&“Real9Time&Voltage&Stability&Monitoring&using&PMUs”,&Workshop&on&Resiliency&for&Power&Networks&of&the&Future,May&8th 2015.&Online:&http://www.eps.ee.kth.se/personal/vanfretti/events/stint9capes9resiliency92015/07_JanLav_Statnett.pdf
Transmission&Network
Distribution&Network
Aggregated& load
Effect of&both networksEffect of&distribution&networkEffect of&transmission&network
More&stable&with&wind&gen.&@ distribution&network
14
A.&Bidadfar,&H.&Hooshyar,&M.&Monadi,&L.&Vanfretti,&Decoupled&Voltage&Stability&Assessment&of&Distribution&Networks&using&Synchrophasors,”&IEEE&PES&General&Meeting&2016,&Boston,&MA,&USA.&Pre9print:&link.&
A&Monitoring&Application&for&Decoupled&Voltage&Stability&Assessment&of&Distribution&&&Transmission&Networks
REAL2TIME&CONTROL&AND&PROTECTION&APPLICATIONS
Overview
The&term&“Real9time& control&and&protection& refers”&to&actions&aiming&to&steer,&optimize&and&protect&the&overall&system&performance&in&the&time&scale&of&a&few&milliseconds& to&10s&of&seconds.&• This&time9scale& is&completely&different&to&the&reaction&time&of&control&room&
operators&and&associated&applications,&which&in&traditional& SCADA&systems& is&295&minutes.&
• Real9time& control&and&protection&must%act%automatically%and%with%minimal%latency.
15
RT&Modeling&for&Wide9Area&Damping&Control&and&Interfacing&with&an&Excitation&Control&System
16
(1)&RT9HIL&Assessment& of&ECS• Auto&Mode:&(Voltage®ulation)
• Manual&Mode:&Field&(Current&Regulation)
• PSS%Functionality (MultiIBand%PSS)
(2)&Development of Damping Control&Models (PSS)&for&RT9SILStabilizers Δω,&ΔPa,&MB9PSS,& and&the&Phasor&POD&where developed for&SIL&testing.&
(1)&M.&S.&Almas&and&L.&Vanfretti,&"Experimental&performance&assessment&of&a&generator's&excitation&control&system&using&real9time&hardware9in9the9loop&simulation," IECON%2014%I40th%Annual%Conference%of%the%IEEE%Industrial%Electronics%Society,&Dallas,&TX,&2014,&pp.&375693762.&doi:&10.1109/IECON.2014.7049059(2)&M.&S.&Almas&and&L.&Vanfretti,&"Implementation&of&conventional&and&phasor&based&power&system&stabilizing&controls&for&real9time&simulation," IECON%2014%I 40th%Annual%Conference%of%the%IEEE%Industrial%Electronics%Society,&Dallas,&TX,&2014,&pp.&377093776.&doi:&10.1109/IECON.2014.7049061(3)&M.&S.&Almas&and&L.&Vanfretti,&"RT9HIL&testing&of&an&excitation&control&system&for&oscillation&damping&using&external&stabilizing&signals," 2015%IEEE%Power%&%Energy%Society%General%Meeting,&Denver,&CO,&2015,&pp.&195.&doi:&10.1109/PESGM.2015.7286100
(3)&Interfacing Control&Models with ECS&SystemStabilizers models&where&testing&both&for&the&MB9PSS&and&our&target&control&(Phasor&Oscillation&Damper)&with&the&ECS&in&the&loop.
17
A,%BA
B
AB
S3DK
Controller%Configuration%Interface SoftwareHHardware%Layers Testing
E.%Rebello,%M.%S.%Almas%and%L.%Vanfretti,%"An%experimental%setup%for%testing%synchrophasorHbased%Damping%control%systems,"Environment%and%Electrical%Engineering%(EEEIC),%2015%IEEE%15th%International%Conference%on,%Rome,%2015,%pp.%1945H1950.%doi:%10.1109/EEEIC.2015.7165470E.%Rebello,%L.%Vanfretti%and%M.%Shoaib Almas,%"Software%architecture%development%and%implementation%of%a%synchrophasorHbased%realHtime%oscillation%damping%control%system," PowerTech,%2015%IEEE%Eindhoven,%Eindhoven,%2015,%pp.%1H6.%doi:%10.1109/PTC.2015.7232288E.%Rebello,%L.%Vanfretti%and%M.%Shoaib Almas,%"PMUHbased%realHtime%damping%control%system%software%and%hardware%architecture%synthesis%and%evaluation," 2015%IEEE%Power%&%Energy%Society%General%Meeting,%Denver,%CO,%2015,%pp.%1H5.%doi:%10.1109/PESGM.2015.7285812%
Wide9Area&Control&Architecture(s)&and&Implementation
Extending&the&Application&of&our&Wide9Area&Control&for&Control&of&Large&Industrial&Loads
18G.%M.%Jonsdottir,%M.%S.%Almas,%M.%Baudette,%M.%P.%Palsson and%L.%Vanfretti,%"RTHSIL%performance%analysis%of%synchrophasorHandHactive%loadHbased%power%system%damping%controllers," 2015%IEEE%Power%&%Energy%Society%General%Meeting,%Denver,%CO,%2015,%pp.%1H5.doi:%10.1109/PESGM.2015.7286372
G.%M.%Jonsdottir,%M.%S.%Almas,%M.%Baudette,%L.%Vanfretti,%and%%M.%P.%Palsson,%“Hardware%Prototyping%of%Synchrophasorand%Active%LoadHBased%Oscillation%Damping%Controllers%using%RTHHIL%
Approach”,%%IEEE%PES%GM%2016,%July%17H21,%Boston,%Massachusetts,%USA
The%load%control%algorithm%developed%
d/dt
max
minLoad+control+algorithm
Load+ModulationPhasor+
POD
Local/Remote+Measurements
Oscillatory+Content Load+Change+
Signal Switch>0
Idea:&Develop&an&algorithm&to&control&industrial&load,&in&particular&aluminium smelters&for&damping&of&inter9area&&oscillations.
Testing:• Using&the&29Area&Four&machine&Klein9Roger9Kundur&power&
system&model.• In&RT9SIL&and&RT9HIL.Results:• Several&local&and&remote&synchrophasor&input&signals&tested• There& is&a&big&difference&in&the&perfromance&of&the&controller&in&RT9
SIL&and&RT9HIL.• These&results&highlight& the&importance&of&considering& the&effect&of&
the&hardware&implementation&when&looking&at&software&simulation&results.
Input&Signal&1: V+Area1
Input&Signal&2: (Vφ Area1 I Vφ Area2)/2
Scenario:&5%&change&in&Vref of&G1
WIDE&AREA&PROTECTION
Islanding using Local and&Wide9Area&Measurements
19
M.&S.&Almas&and&L.&Vanfretti,&"RT9HIL&Implementation&of&the&Hybrid&Synchrophasor and&GOOSE9Based&Passive&Islanding&Schemes,"&in IEEE%Transactions%on%Power%Delivery,&vol.&31,&no.&3,&pp.&129991309,&June&2016.doi:&10.1109/TPWRD.2015.2473669
Islanding&using&Local&and&Wide9Area&Measurements
20
Requirements:&IEEE&Std.&154792008,&DG&must&be&disconnected&within&2&seconds&(maximum&delay,&includes&islanding%detection,%trip%signal%generation,%trip%signal%transfer%and%breaker%opening.
NDZ&(non9detection& zone):&range&of&power&mismatches&between&DG&supply&and&load&for&which&the&detection&method&will&fail.Measurements• Local&measurement9based&islanding&! use&local&
measurements&at&the&DG&side.&Large&NDZ:&fail&when&mismatch&btwn&local&load&and&DG&is&small.
• Wide9ara&islanding&! Use&remote&measurements&at&network&&&DG.&
• Hypothesis:&islanding&detection&time&can&be&improved&because&of&better&ability&to&detect&imbalances&at&lower&NDZs
• Iff&the&delay&is&controlled&to&a&minimum.
Delays? Both&measurement&and&trip&signal&have&delays,&the&approach&needs&to&make&them&as&small&as&possible.Islanding&Detection• Over/under&voltage,&Over/under&frequency,&ROCOF• Question:&Which&one&would&perform&better?Trip&signal&– generation&and&transfer• Question:&how&to&minimize&delay&in&trip&time?
Proposed&Approach:
• Minimize&delays&by&using&direct&relay9to9relay&communications&to&transfer&PMU&data&from&a&Master&PMU&(remote)&to&a&Slave&PMU&(local)&that&executes&the&islanding&detection.
• Use&IEC&618509891&(GOOSE)&to&isolate&the&DG&and&minimizing&delay&in&trip&time.
Implementation&and&Testing
21
Local&Phasors: Remote&Phasors:
Results
22
Reactiv
e(Po
wer(M
ismatch((Δ
Q)
10% 20% 30%:35% :25% :15%
20%
30%
10%
:20%
:10%
:30%
Over(
Volta
ge
Under(Voltage
NDZ
Over(Voltage
Under(Voltage
Reactiv
e(Po
wer(M
ismatch((Δ
Q)
10% 20% 30%:35% :25% :15%
20%
30%
10%
:20%
:10%
:30%
Over(
Volta
ge
Under(Voltage
NDZ
Over(Voltage
Under(Voltage
Local&Over/Under&Voltage&Islanding:
Wide2Area&Over/Under&Voltage&Islanding:
ROCOF9based schemes are effective for both active andreactive powermismatch, and result in faster operation.
Wide9area&schemes¬&only&perform&faster,&but&also&have&
smaller&NDZs
By&performing&more&than&400&RT9HIL&tests, it&is&concluded&that&if&latencies&are&kept&to&a&minimum,&wide9area&passive&islanding&detection&schemes&reduce&the&NDZ&to&half&or&two9third&of&the&one&using&local&synchrophasors.
OSS&TOOLSS3DK,&BABELFISHAND&KHORJIN(PROTOCOL&PARSERS&AND&APP&DEV.&TOOLS)
OSS##Tools
SynchrophasorParsers#+ Toolkit
BabelfishBFv1
BFES3DK
Synchrophasor#and#IEC#61850F90F5
Parser/Traffic GeneratorKhorjin
23
MotivationA&bridge&to&take&the&next&step&in&the&“last&mile”&in&PMU&App&Development
• PMU&SW&Apps require real9time data&acquisition.• PMU&data&is&sent&to&these SW&Apps usingmany different&comm.&protocols.• For&fast%software%prototyping and*testing,&communication protocol parsing is&
required.• Low level data&management&routines (windowing,&etc.)&do¬&need to&be&
reinvented N×.• To&assist&students&and&researchers&with&a&background&in&power&systems,&but&
lacking proficient&software&development&and&programming&skills.
PMU&1
PMU&2
PMU&n
PDCCommunicationNetwork
Infrastructure
Data& in&IEEE& C37.118&Protocol
Real9time&data&locked&into&vendor&specific&software&system
Historical&Data&in&Proprietary&Database
Interfacesusing&standard&protocols&and&a*
flexible*development*
environment**are&needed
Last&Mile&in&PMU&App&Development
24
SmarTS&Lab&OSS&Tools&EvolutionS3DK
&(LabView
&and
&C++)
BabelFish
V1(LabView
andC++)
Babe
lFish
&Engine&(Lab
view
&Only)
Khorjin&(Lab
View
,&C++)
IEC&61850&Mapping&
C37.118.2&Module
6185099095Module
•Focus&on&Performance•Not&necessary to&be&user&friendly•Gateway&for&IEC&transition•Executes&on&embeddedsystems&with&low&requirements
•Developed&entirely& in&LabView.•Only&requires& IP&address,&Port&number&and&Device& ID&of&the&PMU/PDC&stream
Reading(Module(C++)
Interfacing(Module((Active(X)
GUI(Module(LabView)
Why%only%Labview?
Derive Requirements for&Embedded&Computers
•Real9time&reading&from&PMU/PDC&(DLL)• Interfacing&with&LabView&via&ActiveX&(minimum&delay)•LabView&presentation&layer
•Client/Server&Architecture•Multi9Threading•LabView&VI/API
•Calls&C++&Methods•Toolbox9like&functions
Why%Khorjin?
Support&for&COTS&Embedded&Computers
S3DK(LabView&&&C++)
BabelFishV1(LabView&&&C++)
BabelFish& Engine(LabView&Only)
Khorjin(C++)
Development:& 2011&9 2013 Development:& 2014&– 2016&…
PMU_CFG92_PACK
CMD
NamesofPMUsElements
PMU_DATA_PACK
25
BabelFish&Engine&(Labview&Only)
BabelFish&V1(LabView&and C++)
S3DK(LabViewand&C++)
Khorjin(C++)
Core&Functionality
C37.118.2&Parser
C37.118.2&Parser C37.118.2&Parser
C37.118.2&and&IEC&6185099095
Operating&System
Windows Windows Windows Windows,&Linux,VXworks
Platform Labview 2012&or&newer
Labview&2012,&C++,&.Net,&Active X,&VS
LV, C++ GNU&C&Compiler
Support&Embedded
Only&NI&LabViewsupport
Anything(in&principle)
User&Friendliness
Skills LV&Basics LabView,&C++&Expert LabView (+) C++&Expert
Executes PC PC PC PC, Embedded
SmarTS&Lab&OSS&Tools&ComparisonOSS
Feature
Performance&and&Functionalities
Friendliness& and&Programming&Skills 26
S3DK&– LabView API,&UI&and&Tools
27
GUI
Many blocks&to&access&and&handle
RT&data
Graphical&User& Interfaces&
Communication&Configuration
Development Tooling
ECS
Integration&of&OSS&Tools&in
Smart
KhorjinKhorjin
28
Khorjin now&allows&us&to&provide&RT&data&to&a&variety&of&application&
and&embedded&systems
Three& level&design
Control&applications&(S3DK&vs&Khorjin)
Network(communication
Raw(synchrophasors
LabVIEW(Networkpublished(Shared(Variables
Input(Signal(Selection
PhasorPOD
Load(ControlAlgorithm
NICcRIOPC RT(processor FPGA
20ms 100µs20msLoad
ModulationAnalogOutput
C37.118
PhasorPOD
AnalogOutput
SVCControl(signal
The&hardware&prototype&controller&design
Remotely&run&VI• Runs&on&a&PC.• S3DK&used&to&unwrap&PDC&
stream.
Real2Time&Software&VI• Runs&on&the&real9time&processor&
of&the&cRIO.• Manages&the&signal&selection
Core&FPGA&Software&VI• Runs&on&the&FPGA• The&load&control&and&SVC&
control&implemented.
NI9cRIO
Two&level&design
S3DK&is&executed& on&a&PC&with&a&non&real9time& operating&system&=>&Non2deterministic&delay S3DK
Three& level&design
Control&applications&(S3DK&vs&Khorjin)
Khorjin
Phasor
POD
Load/Control
Algorithm
NI8cRIO
RT/processor FPGA
20ms 100µs
Load
Modulation
Analog
Output
C37.118
Phasor
POD
Analog
Output
SVC
Control/signal
The&hardware&prototype&controller&design
Remotely&run&VI• Runs&on&a&PC.• S3DK&used&to&unwrap&PDC&
stream.
Real2Time&Software&VI• Runs&on&the&real9time&processor&
of&the&cRIO.• Manages&the&signal&selection
Core&FPGA&Software&VI• Runs&on&the&FPGA• The&load&control&and&SVC&
control&implemented.
NI9cRIO
Two&level&design
Real2Time&Software&VI• Runs&on&the&real9time& processor&of&the&cRIO.• Khorjin used&to&unwrap&PDC&stream.• Input&signal&selected
Core&FPGA&Software&VI• Runs&on&the&FPGA• The& load&control&and&SVC&control&
implemented.
Khorjin
Results!!
G1
G2
Area!1
Local!Loads
900!MVA
900!MVA 900!MVA20!kV!/!230!kV
25!Km 10!Km
900!MVA20!kV!/!230!kV
967!MW100!MVAR!(Inductive)E387!MVAR!(Capacitive)
220!Km!Parallel!Transmission!Lines
Power!TransferArea!1!to!Area!2
10!Km 25!Km
900!MVA900!MVA20!kV!/!230!kV
G4900!MVA
20!kV!/!230!kV 900!MVA
Area!2Bus1 Bus2
Local!Loads
1767!MW100!MVAR!(Inductive)E537!MVAR!(Capacitive)
Load!Control Load!
Modulation
G3
SVC
Test&Power&System
ΔV#$%
ConclusionS3DK is&good&for&beginners.&Problem:&runs&on&PC&which&adds&to&the&latency.Solution: Khorjin,&in&princible&can&run&on&any&platform.&Allows&you&to&perform&unwrap&the&PMU&stream&on&the&controller&platform.
Hardware&prototype&controllers&tested:• In&RT9SIL&and&RT9HIL.• In&RT9HIL&using&S3DK&and&
Khorjin.
Scenario:&5%&change&in&Vref of&G1
Total&delay&in&RT2HIL&setup:S3DK:&200I500%ms% Khorjin:& 50I76%ms
Repositories Currently Available at&GitHub
• S3DK:&https://github.com/SmarTS9Lab9Parapluie/S3DK• BabelFish:&https://github.com/SmarTS9Lab9Parapluie/BabelFish• Khorjin:&Will&be&available at&GitHub end&of 2016.
33
L.&Vanfretti,&V.&H.&Aarstrand,&M.&S.&Almas,&V.&S.&Perić and&J.&O.&Gjerde,&"A&software&development&toolkit&for&real9time&synchrophasorapplications," PowerTech (POWERTECH),%2013%IEEE%Grenoble,&Grenoble,&2013,&pp.&196.doi:&10.1109/PTC.2013.6652191&
L.&Vanfretti,&I.&A.&Khatib and&M.&S.&Almas,&"Real9time&data&mediation&for&synchrophasor application&development&compliant&with&IEEE&C37.118.2," Innovative%Smart%Grid%Technologies%Conference%(ISGT),%2015%IEEE%Power%&%Energy%Society,&Washington,&DC,&2015,&pp.&195.doi:&10.1109/ISGT.2015.7131910
L.&Vanfretti,&M.S.&Almas&and&M.&Baudette,&“BabelFish– Tools&for&IEEE&C37.118.29compliant&Real9Time&SynchrophasorData&Mediation,”&SoftwareX,&submitted,&June&2016.
S.R.&Firouzi,&L.&Vanfretti,&A.&Ruiz9Alvarez,&F.&Mahmood,&H.&Hooshyar,&I.&Cairo,&“An&IEC&6185099095&Gateway&for&IEEE&C37.118.2&Synchrophasor Data&Transfer,”&IEEE&PES&General&Meeting&2016,&Boston,&MA,&USA.&Pre9print:&link.
S.R.&Firouzi,&L.&Vanfretti,&A.&Ruiz9Alvarez,&H.&Hooshyar and&F.&Mahmood,&“Interpretation&and&Implementation&of&IEC&6185099095&Routed9Sampled&Value&and&Routed9GOOSE&Protocols&for&IEEE&C37.118.2&Compliant&Wide9Area&SynchrophasorData&Transfer,”&Electric&Power&Systems&Research.&March&2016.&Submitted.&August&2016.&First&Revision.
G.M.&Jonsdottir,&E.&Rebello,&S.R.&Firouzi,&M.S.&Almas,&M.&Baudette&and&L.&Vanfretti,&“Audur – Templates&for&Custom&Synchrophasor9Based&Wide9Area&Control&System&Implementations,”&SoftwareX,&in&preparation,&2016.
Other&Contributions& to&Open&Science: RaPId and&OpenIPSLNow%Available%as%OSS!
• Our&work&on&OpenIPSL and&RaPId has&been&published& in&an&Open&Access&Journal,&available&on9line:
• http://dx.doi.org/10.1016/j.softx.2016.05.001
• http://www.sciencedirect.com/science/article/pii/S235271101630019X
• The OpenIPSL library canbe found on9line&at&Github:
• https://github.com/SmarTS9Lab/OpenIPSL
• The&RaPId&software&can&be&found& at:• https://github.com/SmarTS9
Lab/iTesla_RaPId
…&and&more&to&come!&See&our&Github&accounts:&https://github.com/SmarTS9Lab/And&coming&soon&with&more&synchrophasor9related&applications:&https://github.com/SmarTS9Lab9Parapluie 34
– What did we covered?– We learned about the Smart Transmission System Laboratory, which serves as a test9bench where new
WAMPAC software applications are developed and tested.– Our laboratory, equipped with real9time simulators, PMUs and other equipment has allowed us to do
rigorous and scientific experimental testing of our research by performing RT9HIL simulations– We showed how OSS Tools provides users the freedom real9time synchrophasor streams in the LabView
environment for rapid application prototyping.– What is the future in WAMPAC?
– A more open market needs to be developed, and the foundational building blocks for the technology needto be openly available (standards, their implementations, etc.)
– The feature, to me, seems quite limited if the status quo continues.– We hope to bridge this gap through our open source tools, to empower other researchers.
– What is the future for HIL?– The full Model9Based approach should be better supported by technologies, i.e. avoid re9implementation
of applications / models / controls, etc., in n different systems.– We need to support open standards for model9exchange (FMI Standard)– We need to develop new and rigorous methods on how to test applications, HW and SW.
– What we learned by using HIL?– It is really hard work to use the HIL approach, and it is even harder to get things published.– We have learned more than what we expected (or wanted), and mastered the technologies.– Nothing would have been possible without investing time in training my students, the highest value of a
lab is the individuals in it.– Taking the next step was a 5 year process, and we believe that our work can help others – that’s why we
are sharing our tools as open source software.
Conclusions
35
Thank&you!• Questions?
• Our&group’s&website:• https://www.kth.se/en/ees/omskolan/organisation/avdelningar/epe/research/smart9transmission9systems9laboratory9smarts9lab91.627203
36
The&scientific&man&does¬&aim&at&an&immediate&result.&He&does¬&expect&that&his&advanced&ideas&will&be&readily&taken&up.&
His*work*is*like*that*of*the*planter*= for*the*future.*His&duty&is&to&lay&the&foundation& for&those&who&are&to&come,&and&point&the&way.&
9 Nikola%Tesla 9
C37.118.2&Data&Mediation&(S3DK&and&BabelFish)
FREQ%2byteFREQ%2byteFREQ%2byte8943 20189654321678
DATA$1DATA$2DATA$3CHK FRAMESIZEIDCODESOCFRACSEC
X0001001
SYNC
AA%(hex)857458 X0000001
S3DKBabelFish
Features:Fast%prototyping%of%PMU%based%applications• Provide Access&to&raw9measurements&in&real9time that are wrapped inside&
PMU/PDC&stream&(Phasor,&Analog,&Digitals)• Choice&to&select&data&of&interest• Phasor&can&be&presented&in&either&rectangular&or&polar&coordinates.• Transmit&data9of9interest&using&TCP/UDP
• End&user&can&receive&data&independant&of&platform,&OS
50.0450.0450.05
DATA$1DATA$2DATA$3 Time
15:45:18.52
Connection&Requirements:1. IP&Address&of&
PMU/PDC&Stream2. Device& ID&Code3. Port&Number
52
S3DKGraphical User Interface
GUI Connection&Setting
Accessing throughLabView Enviroment
53
BabelFish v1(Graphical User Interface)
Step&1
Quantities being sent&by&PMU/PDC Step&2:&Selection of&Data9of9Interest
Real9Time Monitoringof&Data9of9Interest
54
• The&Khorjin&library&is&an&Open&Source&code&providing&following&functionalities:! IEEE&C37.118.2&Traffic&Parser
! IEEE&C37.118.2&to&IEC&6185029025&Protocol&Converter
! IEC&6185029025&Traffic&Generation! Routed9Sampled&Value! Routed9GOOSE
! IEC&6185029025&Traffic&Parser! Routed9Sampled&Value! Routed9GOOSE
• The&Khorjin&library&supports&different&platforms.! Will&be&publicly& available&by&the&end&of&2016.
Khorjin&Library:&Functionalities
Khorjin
Windows
Linux
Mac
NI&cRIO
Raspberry&Pi
56
Khorjin Library:&Gateway Architecture
• The&Gateway&functionality&of&“Khorjin”&library&is&getting&use&of&its&modular&architecture:
! Easy&future&development
• The&Khorjin&Gateway&is&designed&and&implemented&in&three&main&components&of:1)&IEEE&C37.118.2&Module,
2)&IEC&61850&Mapping&Module,&and
3)&IEC&6185029025&R2SV&/&R2GOOSE&Publisher&Module.
• In&order&to&be&platform9independent:! A&Platform&Abstraction&Layer&is&Implemented.
! Depending%on%the%platform,%the%relevantplatformIdependent%functions%are%utilized(i.e.&Socket,&Thread,&Time&and&…).
57
1 2 3 4 5
Introduction
Real-Time Simulation, Applications, & Solutions
Prof. Luigi VanfrettiKTH
Prof. Mario PaoloneEPFL
Questions?
4
1 2 3 4 5
Introduction
Real-Time Simulation, Applications, & Solutions
Prof. Luigi VanfrettiKTH
Prof. Mario PaoloneEPFL
Questions?
4
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