ieee pes general meeting, tampa fl june 24-28, 2007 conferência brasileira de qualidade de energia...
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IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
1
Chapter 6: Real-Time Digital Time-Varying Harmonics Modeling and Simulation Techniques
Contributors: L-F. Pak, V. Dinavahi, G. Chang, M. Steurer, S. Suryanarayanan, P. Ribeiro
Tutorial on Harmonics Modeling and Simulation
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
2
Need for Sophisticated Tools for Power Quality (PQ) Studies
Proliferation of nonlinear and time-varying loads has led to significant power quality concerns. Traditionally, time-varying harmonics were studies using statistical and probabilistic methods for periodic harmonics.
Cannot describe random characteristics Cannot capture the reality of physical phenomena. A time-dependent spectrum is needed to compute the local power-frequency distribution at each instant.
Significant advances in equipment for PQ monitoring, waveform generation, disturbance detection, and mitigation.
Digital signal processing is widely used. Sophisticated power electronic controllers are used for PQ mitigation. Need for testing and validation of such equipment.
Real-time digital simulation as an advanced tool for PQ analysis and mitigation.
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
3
Real-Time Harmonic Modeling and Simulation Techniques
Wave Digital Filters
Discrete Wavelet Transform
Real-Time Electromagnetic Transient Network Solution
Real-Time Digital Simulators
RTDS PC-Cluster Based Simulators HYPERSIM DSPACE
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
4
(c)
(b)
(a)
AnalogElement
Realization by WDFs
PortResistance
Incident andReflected waves
A
B 0R
TL
2
CT
2
A
B
T
A
B -1T
Wave Digital Filters
Digital Signal Processing tool that transforms analog networks into
topologically equivalent digital filters
Synthesis is based on wave network characterization
Designed to attain low-sensitivity structures to quantization errors in digital filter coefficients
Powerful technique for simulating power system harmonics and transients
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
5
Transient CapacitorModel
Steady-state CapacitorModel
Transient InductorModel
Steady-state InductorModel
dttdi
Ltv)()(
WWTWW VLiLIDLV 0)0(
WVLiL 0)0( TWDL
+ -+-
0cv
SWSWWS IDLV
dttdv
Cti)(
)(
TWINC1
WTWWW IINC
VCvV 10)0(
WVCv 0)0(
+ --+
SDSW IINC
1
jkv )0(0ci
SWSWS IINC
WV 1
+ -+ -+ -
( b ) ( c )
Discrete Wavelet Transform
Time-Frequency representation of time varying
signals.
Wavelet analysis starts by adopting a prototype function. Time Analysis is done with a contracted high-frequency prototype. Frequency analysis is done using a dilated low-frequency prototype.
Operator representation theory is used to model electrical componenets in discrete wavelet domain
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
6
SIEMEN
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HiN
et WS
4400
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6X
13X18
7X12X
19X
24
ST
ATU
Sgree
n = enabled, link O
Kflashin
g green=disa
bled,link O
Koff = link fail
TC
VR
Module
Packet
Status
Packet
Status
13141
51618
1920
2122
2324
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2122
2324
12
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910
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IT
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COL-ACT-STA-
1 2 3 4 5 6 7 8 9101112HS1 HS2 OK1 OK2 PS
CONSOLE
Hosts
Gigabit
Target Cluster
Infini-BandLink
Closed-LoopController Testing
Hardware-in-the-LoopMachine Testing
Ethernet
PC-Cluster Based Real-Time Digital Simulator
Real-Time eXperimental LABoratory (RTX-LAB) at the University of Alberta.
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
7
Fully Flexible and scalable
Fast FPGA based analog and digital I/O and high intra-node communication speed
Varity of synchronization options
Compatible with MATLAB/SIMULINK and other programming languages
Features of the RTX-LAB Simulator
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
8
Target Cluster
Hosts
External Hardware
External Hardware
Host 1
FPGA 1(Signal Conditioning)
FPGA n(Signal Conditioning)
Shared
Memory
CPU1
CPU2
Cluster Node 2 (Dual XEON)
Shared
Memory
CPU1
CPU2
Cluster Node 1 (Dual XEON)
Shared
Memory
CPU1
CPU2
Cluster Node n (Dual XEON)
INFINIBAND
LINK
SIG
NAL
WIRE
GIGABIT
ETHERNET
Host 2
Host n
Two types of computers- Targets and Hosts
Targets are dual CPU based 3.0 GHZ Xeon, work as the main simulation engine and facilitates FPGA based I/Os
Hosts are 3.00 GHZ Pentium IV, used for model development, compilation and loading of the model to the cluster
Hardware Architecture of the RTX-LAB Simulator
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
9
Software Architecture of the RTX-LAB Simulator
Target Cluster
External Hardware
Hosts
SIMULINK
Intra-Node Communication
Real-Time OS- Real-Time Linux- CPU Shielding
- Parallel Simulation- Multi-Rate Simulation
- Real-Time Communication
Signal-WireReal-Time Network Interface
InfinibandCBB
(Constant Bi-Sectional Bandwidth)
Hardware Communication- A/D and D/A Conversion
- Signal Conditioning- Fast DMA Burst Transfer
Using FPGA
Model DevelopmentSystem ModelControl Model
S-functionCustom Solver
Real-Time Communication
SchedulingData Acquisition
I/O Management
TCP/IP SIMULINKLabViewPythonOthers
GUI
CompilationReal-Time
Workshop (RTW)
Cluster NodeTarget OS- RedHawk Linux
Host OS- Windows XP
Model Development- MATLAB/SIMULINK Other programming
Languages C, C++
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
10
InfiniBand Link Maximum Throughput- 10Gbps
Shared Memorybus speed – 2.67Gbps
Signal Wire LinkData Transfer rate-1.2Gbps
Gigabit Ethernet linkTransfer Rate- Up to 1Gbps
I/O signals from real-hardware are connected through FPGA based I/Os
Xilinx Virtex-II Pro is used 100 MHZ operation speed
Communication Links in the RTX-LAB Simulator
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
11
(a)
(b)
I/O Comp. Wait for Sync
One time-step
I/O Comp. Wait for Sync
One time-step
One time-step One time-step
I/O Recv
Sen
d
One time-step
I/O Recv
Sen
d
One time-step
Master Subsystem
Slave Subsystem
I/O Comp.Wait for
SyncSen
d
Rec
v
I/O Comp.Wait for
SyncSen
d
Rec
v
ACQ
ACQ
ACQ
ACQ
ACQ
ACQ
Com
p.
Com
p.
Comp : ComputationACQ : AcquisitionRecv : ReceiveSync : Synchronization
External Hardware
Slave(Subsystem 1)
Controlsystem
Console(Subsystem 3)
User Interface
GatingPulses
Te*
m*
m
Master(Subsystem 2)
Electricalsystem
Iabc
Target Cluster Hosts
Cluster Node 1
Cluster Node 2
Host 1
Subsystems and Synchronization in the RTX-LAB Simulator
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
12
VL-L = 220 kVPower grid
RT1 = 0.002 p.u.LT1 = 0.55 p.u.
220 kV / 45 kVHV/MV Transformer
Y
RT2 = 0.002 p.u.LT2 = 0.55 p.u.
45 kV / 600 VMV/LV Transformer
Y
RS = 0.001 p.u.LS = 0.005 p.u.
Case Study 1: Time-Varying Harmonic Analysis on the RTX-LAB Real-Time Digital Simulator
Single-line Diagram of the Arc Furnace Installation
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
13
ChaoticComponentGeneration
DeterministicComponentGeneration
StochasticComponentGeneration
++
ControlledVoltage Source
Connectionto MV/LV
Transformer
Phase Current Measurement
Case Study 1: Time-Varying Harmonic Analysis on the RTX-LAB Real-Time Digital Simulator
Schematic of the Arc Furnace Model
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
14
1st
3rd
5th 7th9th
Case Study 1: Time-Varying Harmonic Analysis on the RTX-LAB Real-Time Digital Simulator
Voltage and Current for the Arc Furnace
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
15
1st
5th 7th
Case Study 1: Time-Varying Harmonic Analysis on the RTX-LAB Real-Time Digital Simulator
Voltage at the Primary Winding of the MV/LV Transformer
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
16
1st
5th
Case Study 1: Time-Varying Harmonic Analysis on the RTX-LAB Real-Time Digital Simulator
Current in the Primary Winding of the MV/LV Transformer
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
17
3PC-13PC-2
Rack 1
3PC-33PC-43PC-53PC-63PC-73PC-8
3PC-93PC-10
DOPTO-1
RPC
IRCWIF
3PC-13PC-2
Rack 2
3PC-33PC-43PC-53PC-63PC-73PC-8
3PC-9
3PC-10DOPTO-1
RPC
IRCWIF
DOPTO-2
3PC-13PC-2
Rack 3
3PC-33PC-43PC-53PC-63PC-73PC-8
3PC-93PC-10
DOPTO-1
RPC
IRCWIF
3PC-13PC-2
Rack 4
3PC-33PC-43PC-53PC-63PC-73PC-8
3PC-9
3PC-10DOPTO-1
RPC
IRCWIF
DOPTO-2
3PC-13PC-2
Rack 5
3PC-33PC-43PC-53PC-63PC-73PC-8
DOPTO-1
RPC
IRCWIF
GPC
3PC-13PC-2
Rack 6
3PC-33PC-43PC-53PC-63PC-73PC-8
RPC
IRCWIF
GPC
3PC-13PC-2
Rack 7
3PC-33PC-43PC-53PC-63PC-73PC-8
DOPTO-1
RPC
IRCWIF
GPC
3PC-13PC-2
Rack 8
3PC-33PC-43PC-53PC-63PC-73PC-8
RPC
IRCWIF
GPC
3PC-13PC-2
Rack 9
3PC-33PC-43PC-53PC-63PC-73PC-8
DOPTO-1
RPC
IRCWIF
GPC
3PC-13PC-2
Rack 10
3PC-33PC-43PC-53PC-6
IRCWIF
GPC-3
GPC-1
GPC-2
3PC-13PC-2
Rack 11
3PC-33PC-43PC-53PC-6
IRCWIF
GPC-2
GPC-1
3PC-13PC-2
Rack 12
3PC-33PC-43PC-53PC-6
IRCWIF
GPC-2
GPC-1
3PC-13PC-2
Rack 13
3PC-33PC-43PC-53PC-6
IRCWIF
GPC-2
GPC-1
3PC-13PC-2
Rack 14
3PC-33PC-43PC-53PC-6
IRCWIF
GPC-2
GPC-1
• Provides time domain solution in real time with typical time step sizes around 50 μs using the Dommel (EMTP) algorithm
• Features dual time step (<2 μs) capability for PE simulations• Allows up to 54 electrical nodes per rack, but subsystems can be connected through cross-rack
elements (transmission lines, etc.)• Large library of power system and control component models (like EMTDC)• > 350 parallel DSPs• > 2500 analog outputs and over 200 digital inputs and outputs
RPC – Network SolutionIRC – Inter-rack Communication
WIF – Workstation Interface3PC – Controls, system dynamics
GPC – Network solution, fast-switching converters
RTDS at CAPS
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
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• Largest RT simulator installation in any university worldwide• Systems of up to 250 three-phase buses• Sufficient high-speed I/O to enable realistic HIL and PHIL experiments
14 Rack RTDS Installation at CAPS
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
19
(Controller) hardware in loop (HIL) and power hardware in loop PHIL
Real Time Digital Simulator
Universalcontroller
D/A
A/D Protection relay
M
AC/AC power converter (Motor Drive)
External Hardware
System Data in Simulation
Hardware response
MG
G
G
Controller
Relay
DC Load
Simulated rest of system
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
20
IndustryDC
Load
Real-Time Digital Simulation on RTDSTM
+
-
RL =0.48 LL =1.00 mH
RT = 0.05 p.u.LT = 0.005 p.u.
Rsource = 0.05 p.u.Lsource = 0.005 p.u.
VL-L = 12.47 kV 12.47 kV / 480 VPower Grid Distribution Transformer
6-pulseThyristor Rectifier
YY
Enerpro® FCOF 6100 Three-PhaseThyristor Firing BoardTested Hardware
VoltageSensing
GatingPulses
Case Study 2: Power Quality Sensitivity Study of a Controller on the RTDS
Schematic of the Industrial Distribution System and Rectifier Load
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
21
0.05 0.1 0.15 0.2 0.25
-10
-5
0
5
10
P r i m
a r y
v o l
t a g e
( k V
)
0.05 0.1 0.15 0.2 0.25 0
0.1
0.2
0.3
0.4
Time (s)
D C
v o l
t a g e
( k V
)
Case Study 2: Power Quality Sensitivity Study of a Controller on the RTDS
Single-phase Voltage Sag (40% reduction, no phase shift) and its Impact on Rectifier DC Output
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
22
0.05 0.1 0.15 0.2 0.25
-10
-5
0
5
10
P r i m
a r y
v o l t a
g e (
k V )
0.05 0.1 0.15 0.2 0.25 0
0.1
0.2
0.3
0.4
Time (s)
D C
v o l
t a g
e ( k
V )
Case Study 2: Power Quality Sensitivity Study of a Controller on the RTDS
Phase-Shifted Single-phase Voltage Sag (40% reduction) and its Impact on Rectifier DC Output
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
23
0 0.01 0.02 0.03 0.04 0.05-5
0
5
time (s)
Vol
tage
(kV
)
0 500 1000 1500 20000
0.05
0.1
frequency (Hz)Vol
tage
Mag
nitu
ed (k
V)
Voltage (kV)
Case Study 3: Harmonic Distortion on the RTDSShipboard Power System
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
24
G M
GM
Wind Speed
Local Load
Capacitor Bank
SubstationLine Impedance
System Simulated in Real Time Simulator
To change the stiffness of the grid For reactive
power compensation
User Interaction
Simulated Wind Turbine Model
VSD
VSD
Rotor torque
iGT
Case Study 4: A HIL Simulation for Studying the Transient Behavior of Wind DG
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
25
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2-0.1
-0.05
0
0.05
0.1
time (s)
curre
nt (k
A)
Simulation generator current
0 2 4 6 8 10 12 14 16 18 200
0.05
0.1
Order of Harmonic
Mag
nitu
de
Normalized FFT of the Current
Case Study 4: A HIL Simulation for Studying the Transient Behavior of Wind DG
IEEE PES General Meeting, Tampa FLJune 24-28, 2007
Conferência Brasileira de Qualidade de EnergiaSantos, São Paulo, Agosto 5-8, 2007
26
Conclusions
With rising number of time-varying and nonlinear loads sophisticated harmonics modeling and simulation tools are needed.
A combination of fast topological methods and powerful real-time simulators can overcome limitations of off-line simulation tools.
A general review of current off-line harmonic modeling and simulation tools is presented.
Currently available real-time simulation techniques are discussed.
Two real-time case studies: arc furnace modeling and power quality sensitivity of a controller, are presented.