Real-Time Digital Simulator For Power System Engineers

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Real-Time Digital Simulator forPower System EngineersDesign and Test ProtectionEquipment, Relays andPower Electronic ControllersHardware-in-the-Loop Solutionsfor Generation, Transmission andDistribution Systems Study and Testopal-rt.com

HIL introductionHardware-in-the-Loop Simulation for Developing and TestingControl and Protection Equipment Used in Power Grids and PowerElectronics SystemsHardware-in-the-loop (HIL) or controller-in-the-loop simulation is a technique used to develop and testcontroller and protection systems. The goal is to verify and certify the functionality, performance, qualityand safety of the controller and protection system software program. To achieve that, actual control andprotection equipment under tests are connected to a simulator through current and voltage interfaces inthe same way as in real life. The simulator simulates with great accuracy and high fidelity the steady-stateand transient behaviour of the modelled system under normal and faulty conditions. By recreating reality, thecontroller is “fooled” into believing it is wired to the real physical system. It then becomes possible to obtain allthe flexibility needed to test the controller and protection equipment under any operating conditions. Powerhardware-in-the-loop (PHIL) is the HIL concept extended to power components. In PHIL simulation, I/Osrequire high power flows to test power converters, generators, FACTS, and so on.The successful and reliable implementation of PHIL and HIL simulations requires sound models, fast programexecution, with reaction times below a few microseconds and fast I/O communication, so the controller andprotection system is tested in conditions identical to those it would be submitted to in reality. You also needa set of tools that allow you to monitor and interact with the simulator and visualization tools to interpretresults (scope, graphs, data logging, etc). In addition to its scalability, these are the key features of OPALRT’s eMEGAsim (tm) real-time digital simulator.2 2

HIL introductionFrom Analog to Fully Digital Simulators: a proven reliable approachHIL simulation for power grids has been used for decades to test new power system design, mainly forhigh-voltage transmission systems, and to test new power electronic devices intended to stabilize powersystems (FACTS) and to interconnect systems using HVDC. Before 1990, HIL simulation was traditionallyperformed using analog simulators, which where rather expensive and difficult to operate. Fully digital realtime simulators were developed in the nineties by several research centers to decrease the cost of powersystem simulators and to facilitate their maintenance and operation.Fully digital, real-time simulators, such as the eMEGAsimTM, have been commercially available since 2000,effectively replacing expensive analog simulators for the simulation of power grids using thyristor-basedpower electronic systems. At the time, the typical time step used was 50 microseconds. However, modernpower grids and distributed generation systems now use fast IGBT-based (or IGCT, IGO, ) converters,which require sub-microsecond time steps to achieve acceptable accuracy. eMEGAsim was designed tomeet the challenges of simulating very large power systems equipped with both conventional and very fastIGBT-based power converters and FACTS systems.Advantages of HIL and PHILHelps Support Proof-of-Concept T o demonstrate and sell new ideas and projects. T o perform preliminary design and costestimation. T o perform R&D work and product development.Decrease Cost and Time to Design andTest New Protection, Control and PowerElectronic Systems W hen actual systems or test benches are notavailable. W ith several engineering and testing teams areworking in parallel.Increase System Reliability by IncreasingTest Coverage By testing systems under both fault and normaloperating conditions that are impossible orimpractical to perform with actual systems orphysical test benches. By performing integration tests to evaluateinteraction with other control, protection andpower electronic systems.Increase System Performance By using automated tests to optimize controlparameters for several contingencies in less time. By using Monte Carlo test methods to findand solve random problems that are difficult toreplicate.Increase Component Life By using random techniques to evaluate theworst stresses on power electronic and passiveequipments, as well as transmission lines. By measuring the impact of stresses on controland protection system behavior.Decrease Time and Cost of SystemCommissioning and TroubleshootingIncrease the Effectiveness of ProfessionalTraining and Education3

overvieweMEGAsimTM for Power Grid and Power Electronic SystemseMEGAsim is a scalable real-time digital simulator that integrates cutting edge multi-processor real-timesuper computers, model libraries, accurate high speed solvers, and a wide range of fast and versatile I/Omodules, that meet the demanding requirements of precise large power systems, renewable energysystems, and power converters HIL simulation. eMEGAsim is ideal for large AC and DC power systems,distributed generations, and complex industrial power systems.eMEGAsim empowers engineers to efficiently design and test power systems controls, FACTS, monitoringtools, electronic systems, controller relays, and protection equipment efficiently with faster time-to-marketwhile reducing cost.Test and Development SoftwareRunning on a Host PCeMEGAsimTM Real-TimeDigital Simulator4 4Wind Turbine Controller Under Test

overvieweMEGAsimTM Integrates Advanced Software and HardwareTechnologies to Achieve Ultrafast, Accurate, and Reliable Real-timeSimulation of Very Large Systems.Exhaustive Power System and PowerElectronic Model library S imulates electromagnetic and electromechanicaltransients of AC and DC power grids found inaircraft, spacecraft, trains, wind farms, electricships and power generation, transmission anddistribution systems. Simulates VSC, FACTS, HVAC, HVDC, MMC,smart grid and microgrid systems. I ncorporates elaborate electric block libraries tosimulate machines, drives, lines, transformers,motors, load, or any element forming powersystems, power electronic components, controllersystems, and protection equipment and relays.Most Advanced Processing Technologiesand I/O modules Can scale up to 96 3.3-GHz processors as wellas thousands of I/O channels using standard10-Gbits/s PCI Express DOLPHIN switch tointerconnectseveral12-processorINTELcomputers and I/O modules. S upports the fastest XILINX VIRTEX 6 FPGAchips for I/O management and to executemodel subsystems with time steps below100 nanoseconds and timing accuracy of 10nanoseconds. P rovides an interface with SimPowerSystems, Plecs,SimScape, and EMTP-RV to take advantage ofmodels and solvers available in industry-standardsimulation tools. P rovides an interface with MATLAB and Simulinkfor development, prototyping and testing ofprotection equipment, relay and controller systemsin closed-loop.Advanced Solver for Maximum Accuracyand Flexibility C omes with a unique multi-rate solver thatensures simulation of the highest number ofswitches without compromising on accuracy. S imulates complex systems with hundreds ofthree-phase buses with time step below 50microseconds. S imulates on FPGA board electric circuits withtime steps as low as 100 nanoseconds S imulates transients and fault conditions difficultor impossible to do on physical systems. Optimized for parallel, off-line and real-time simulation.Power System Simulated with eMEGAsim 5

software platformUse eMEGAsimTM Software to Take you from Model-Based Development,Right Through to Real-Time Simulation.RT-LAB is an industrial grade, open, scalable real-time software platform for engineers who need to usemathematical models of dynamic systems built using MATLAB/Simulink and SimPowerSystem for real-timesimulation, control testing and related applications. It provides tools for running simulations of highly complexmodels on a network of distributed run-time targets, communicating via ultra low-latency technologies, inorder to achieve the required performance.ScopeViewScopeView is a data acquisition and signalprocessing software that is optimized forvisualisation and analysis of eMEGAsimTM results.It may be used to simultaneously load, view andprocess data from applications such as EMTP-RV,MATLAB and Comtrade.ScopeView also possesses advanced mathematical post-processing capabilities and is able tosave and load templates associated to customizedsessions of similar simulations.RT-LAB User InterfaceRT-LAB Integrated Simulation EnvironmentRT-LAB is OPAL-RT’s flagship integratedsimulation environment for real-time applications.It enables engineers to conduct distributed parallelcomputing for real-time simulation of large andcomplex models for hardware-in-the-loop andrapid control prototyping (RCP) applications. Withits interactive interface, RT-LAB provides all therequired functionalities to configure and managesimulator functions and interact with runningsimulations. On-line parameter adjustment,signal acquisition, data logging and scopes areexamples of commonly used features makingmodel development and testing easier.6 6ScopeView Signal Processing Software

software platformTest Automation SoftwareeMEGAsim comes with a complete set of modules,based on Python, TestStand and MATLAB software,to perform reproducible automated tests and MonteCarlo analysis. With a minimum of programming skills,users can create open-loop and closed-loop testingof the hardware under test at an early developmentstage. Create complex execution sequences. Generate random test vectors to simulatecomplex transient and fault conditions. Generate detailed reports and charts. Present and display results with a custom userinterface in real-time. Store data to external database.Third-Party Product Connectivity andIntegrationRT-LAB allows several commercial software toquickly interface with the eMEGAsim simulatorincluding: M odelling tools: Plecs, EMTP-RV, im, EMTP-RV, JMAG, Cruse-RT, BoostRT, LMS AMEsim, Easy-5, GT-Power, Simulink,SimPowerSystems, SimScape, StateFlow, C/C ,FORTRAN, etc. T est automation software: TestStand, Python,SystemTest, etc. V isualisationandmonitoringsoftware:LabVIEW, ScopeView, Altia, Panorama, PcVue,Wonderware, OPC server, etc. S upport API languages: C/C , Java (MATLAB),LabVIEW and TestStand. Office suite: Word, Excel, etc.RT-LABTM is based on the popular EclipseTMintegrated development environment (IDE). TheEclipse community has thousands of third-partyplug-ins that users can add to their RT-LABTMinstallation, providing extensions to the environment.Users can also program their own add-ons.eMEGAsimTM Takes Full Advantage of MATLAB,Simulink and RTWInterface LabView with eMEGAsim Simulator7

blocksets and solversElectrical and Power Electronic ModelseMEGAsim includes a rich model library that lets you create detailed and accurate models for all componentsthat make up large power grid and power electronic systems. It includes detailed block components for electrical,mechanical, magnetic and control devices such as transformers, loads, generators, motors, lines and cables,AC feeders, voltage source converters and much more. eMEGAsim also provides a complete set of realtime solvers optimized for real-time simulation, allowing you to accelerate simulation and also to simulatecomplex transient and fault conditions that are difficult or impractical to achieve with a real system.Complex and Detailed Voltage SourceConverterseMEGAsim provides an unsurpassed precisionblock set for power electronics and high frequencyswitching devices used in voltage source converters(VSC) such as two-level and three-level converters,multi-drive systems, and matrix converters. Userscan easily develop complex drive and powerelectronic circuits including filters, RLC componentsand other electrical devices.Motor Models with High Simulation Accuracyfor all ApplicationseMEGAsim supports the complete libraries ofmotor models included in SimPowerSystems,and developed and tested by the Institut derecherche d’Hydro-Québec. It includes a widerange of alternating and direct current motormodels used in all types of drives (DC, direct DC,single phase AC, poly-phase AC, PWM and variablefrequency AC) required in automotive, aerospace,industrial and military applications. Permanentmagnet synchronous motor (PMSM), brushlessDC (BLDC) and induction DQ motor models aretypical examples that can be easily parameterizedand tightly integrated into your simulation. Highestaccuracy is achieved by executing the simulationwith a time step below 10 microseconds for mediumspeed motors using standard INTEL processors orbelow 250 nanoseconds using FPGA chips.8 8FACTS devices and modular multilevel converters(MMC) require solvers that enable simulation ofthousands of fast switches. This places very largedemands on the real-time computation, that mustbe capable of dealing with the inherent effect ofchanging the circuit topology, concomitant with therequirement for small time steps. eMEGAsim canmeet these stringent requirements and maintainsufficient precision as well as minimize delaysbetween the control signals and the feedback fromthe simulators below 20 and 50 microseconds andsimulate dead-time effects.HVAC System with 12 Buses

blocksets and solversSpecialized Solvers for Large Applicationsand Optimal Use of Electrical ModelsOPAL-RT produces specific electrical and powerelectronics simulation solvers whose algorithmstake full advantage of parallel computing. Developedby foremost industry experts, eMEGAsim solvershelp Simulink and SimPowerSystems users attainvery high computational speed, stability, and fidelity,whether off-line or in real-time.Microgrid and Distribution Systems with SmallLinesThe real-time simulation of microgrid and distributionnetworks poses an additional challenge to realtime simulation since many lines are very short withtransport delays much smaller than achievable timesteps. A new method, called State-Space-Nodal,was developed to enable the parallel and real-timesimulation of systems with very short lines withoutadding artificial delay, thus increasing simulationaccuracy with respect to the traditional techniqueof adding a line with one time step delay.HVAC Transmission NetworkSimulation of Fault ConditionsOPAL-RT’s advanced and unique solvers allowthe simulation of very complex transient andfault conditions on motor terminals and on semiconductor devices such as IGBT or DC and ACbuses. Users can also simulate active and naturalrectification modes of AC-DC converters.Phase A Current and Voltage during a ABC-to-groundFault on a Transmission NetworkDistribution Network with Short Lines9

hardware platformFast Analog and Digital I/O InterfaceeMEGAsim includes fast analog and digital I/O modules specifically designed for power systems and powerelectronics real-time digital simulation. Their low latency and high sampling rates combined with short timesteps ensure the best overall cycle time possible to interface controller, protection equipment, relays or anyexternal devices.Convenient and Flexible I/OConnectivity with OP5600 platformThe eMEGAsim basic chassis comes standardwith 256 I/O channels for convenient, reliable,rapid, and cost effective connection to anyexternal device. Each I/O provides a wide range ofgeneric functionalities, used for signal acquisition,measurement, processing and generation requiredby power electronic systems. eMEGAsim alsolets you create custom signal generators anddata processing algorithms using FPGA-basedreconfigurable I/O.High Performance OP7000 ChassisThe eMEGAsim simulator can also be equippedwith the OP7000 chassis that adds FPGAcomputation power and fast analog and digital I/Omodules. The OP7000 chassis can contain 9 Virtex6 FPGA boards interconnected with very fastcommunication links. It also provides front-accessI/Os boards and signal monitoring. All I/O signalsare fully configurable and programmable.The eMEGAsim chassis comes with 6 PCIexpansion slots to provide more flexibility to addI/Os and communication devices from otherbrands (CAN, LIN, FlexRay, ARINC, MIL-STD-1553,RS-232, GPIB, Profibus, reflective memory, etc),as well as to interconnect more eMEGAsim simulators in a cluster.10 10OP5600 and OP7000 Simulator ChassisMedium-Size eMEGAsimTM Enclosure with OptionalAccessories

hardware platformIntegration of FPGA for the FastestPerformanceThe computational power required to run complexpower electronics models and support the accuratesolvers developed by OPAL-RT relies on the latestField Programmable Gate Array (FPGA) technologyprovided by Xilinx. The eMEGAsim comesstandard with an OP5142 equipped with a Spartan 3FPGA. For ultrafast large model execution in floatingpoint, users can request a Xilinx board that comesstandard with a Virtex 6 FPGA Target.ML605 Virtex 6 FPGA I/OcardSpartan 3 FPGA I/O cardI/O Monitoring Made Simpler and SaferA revolutionary embedded technology allows eachanalog and digital I/O connector to reproduce andisolate electrical signals from the back I/O connectorsto the front test point (TP) connectors. This lets youconnect any monitoring device without disturbingthe electrical signal on the back connectors. Foradditional monitoring capability, every I/O point canbe mapped from any TP connectors to an array of16 mini-BNC TP connectors. This adds versatilityand flexibility when connecting I/O channels to themonitoring equipment.IEC 61850 Compliant Protection EquipmentWhen testing IEC 61850 compliant protectionequipment, standard analog and digital signalsare replaced by sampled values (SV) and GOOSEmessages. These protocols run on a TCP/IPnetwork using high speed switched Ethernet andsimplify the connection of the equipment with thesimulator since no amplifier is required.Full Range of Optional I/O AccessoriesThe eMEGAsim chassis can be optionallyconnected to I/O interface accessories such asmapping boxes, breakout boxes (BOB), screwterminals, DB37 connectors, fault insertion units(FIU), load simulators, amplifiers, etc.OP8660 High Power Signal Conditioning ModuleSmall-Size eMEGAsim Portable Enclosurefor On-site Testing11

applicationsLarge Scale Power System SimulationClient NeedSimulate very large power systems found in generation, transmission and distribution applications with thehighest accuracy and performance.Typical ApplicationA 330-Bus 500kV Transmission Network12 12

applicationsSolution By using the eMEGAsim simulator, simulate theelectromagnetic transient of a large 3-phasepower transmission system including, for example,500 buses, 700 transmission lines, 75 generationplants and 125 loads using two standard 12 coreOP5600 chassis at 50µs. Simulate the transient stability of a very large powertransmission system including 10000 buses, 3000generators at 10ms with the phasor simulator. Load flow, short circuit, transient stability, optimalpower flow, and contingencies analysis can easilybe done with an eMEGAsim simulator. Simulate modern house distribution systems withmultiple energy sources and energy regenerationcapability including, for example, primary andsecondary distribution systems, several feeders,and 900 houses for a total of 4000 electricalelements.Technology Summary The fastest electrical network solver, calledARTEMiS, for real-time transient simulationof large power system and power electronicconverters. The Dolphin adapter board to form thefastest supercomputing clusters and tosimulate very large power systems. The fastest and most accurate phasorssolver for real-time simulation of transientstability or large transmission power system. The latest Intel Core i7, 2nd generation,computer processor for extreme performance and smart parallel computing an

systems, and power converters HIL simulation. eMEGAsim is ideal for large AC and DC power systems, distributed generations, and complex industrial power systems. e MEGA sim empowers engineers to efficiently design and test power systems controls, FACTS, monitoring

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