Fast harmonic estimation using real-time embedded ...
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Erhan Sezgin*, Anurag Mohapatra†, Vedran Peric†
†Center for Combined Smart Energy Systems (CoSES),
Munich School of Engineering
*Gazi University, Ankara
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
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• Motivation
• Harmonic analysis methods
• Real time processing on HIL targets
• Conclusions and future work
2
Outline
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
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What are harmonics:Integer & non-integer(inter-harmonics) multiples of
fundamental component(50Hz) of a voltage or current
signal.
Caused by:• Power electronic devices
• Non-linear loads
• Unbalanced grids due to high penetration of
renewables.
Important for:• Grid monitoring
• Application of legal sanctions defined by regulations
• Active power filtering
4
Motivation
Fundamental, harmonics & overall signal.
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
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How to provide accurate feedback of harmonic presence in the measurements for
microgrid experiments?
4
Motivation – within CoSES
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
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How to provide accurate feedback of harmonic presence in the measurements for
microgrid experiments…while not burdening the real-time controller?
5
Motivation – within CoSES
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
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How to provide accurate feedback of harmonic presence in the measurements for
microgrid experiments…while not burdening the real-time controller?
3
Motivation – within CoSES
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
226 current & voltage measurements,
sampled at maximum 10kHz
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How to provide accurate feedback of harmonic presence in the measurements for
microgrid experiments…while not burdening the real-time controller?
3
Motivation – within CoSES
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
226 current & voltage measurements,
sampled at maximum 10kHz
6 embedded controllers
to accquire the signals
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How to provide accurate feedback of harmonic presence in the measurements for
microgrid experiments…while not burdening the real-time controller?
3
Motivation – within CoSES
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
226 current & voltage measurements,
sampled at maximum 10kHz
6 embedded controllers
to accquire the signals
Processor has many other
tasks in real-time
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5
Harmonic analysis methods
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
50Hz, Fundamental
Mag. = 1, Phase = 0°
150Hz, 3rd Harm.
Mag. = 0.5, Phase = 270°
500Hz, 10th Harm.
Mag. = 0.1, Phase = 0°
350Hz, 7th Harm.
Mag. = 0.4, Phase = 30°
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5
Harmonic analysis methods
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
50Hz, Fundamental
Mag. = 1, Phase = 0°
150Hz, 3rd Harm.
Mag. = 0.5, Phase = 270°
500Hz, 10th Harm.
Mag. = 0.1, Phase = 0°
350Hz, 7th Harm.
Mag. = 0.4, Phase = 30°
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5
Harmonic analysis methods
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
50Hz, Fundamental
Mag. = 1, Phase = 0°
150Hz, 3rd Harm.
Mag. = 0.5, Phase = 270°
500Hz, 10th Harm.
Mag. = 0.1, Phase = 0°
350Hz, 7th Harm.
Mag. = 0.4, Phase = 30°
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5
Harmonic analysis methods
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
50Hz, Fundamental
Mag. = 1, Phase = 0°
150Hz, 3rd Harm.
Mag. = 0.5, Phase = 270°
500Hz, 10th Harm.
Mag. = 0.1, Phase = 0°
350Hz, 7th Harm.
Mag. = 0.4, Phase = 30°
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5
Harmonic analysis methods
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
50Hz, Fundamental
Mag. = 1, Phase = 0°
150Hz, 3rd Harm.
Mag. = 0.5, Phase = 270°
500Hz, 10th Harm.
Mag. = 0.1, Phase = 0°
350Hz, 7th Harm.
Mag. = 0.4, Phase = 30°
Reference signals
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6
Harmonic analysis methods
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
50Hz, Mag. = 3, Phase = 0°
150Hz, Mag. = 0.5, Phase = 270°
350Hz, Mag. = 0.4, Phase = 30°
500Hz, Mag. = 0.1, Phase = 0°
3
2
1
0
-1
-2
-3
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Harmonic analysis methods
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
50Hz, Mag. = 3, Phase = 0°
150Hz, Mag. = 0.5, Phase = 270°
350Hz, Mag. = 0.4, Phase = 30°
500Hz, Mag. = 0.1, Phase = 0°
3
2
1
0
-1
-2
-3
Raw signal
50Hz, Mag =1, Phase = 0°
Output??
Bandpass around 50Hz
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6
Harmonic analysis methods
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
3
2
1
0
-1
-2
-3
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6
Harmonic analysis methods
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
3
2
1
0
-1
-2
-3
3
2
1
0
-1
-2
-3
50Hz, Mag =3, Phase = 0°
Delay due to Filters
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Harmonic estimation must take into account -
7
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Harmonic analysis methods
Robust against rogue harmonics
Buffer delay vs Accuracy
Robust against frequency error
Sample by sample update vs Buffered frame update
Sampling rate vs Harmonic range
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Harmonic estimation must take into account -
7
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Harmonic analysis methods
Robust against rogue harmonics
Buffer delay vs Accuracy
Robust against frequency error
Sample by sample update vs Buffered frame update
Sampling rate vs Harmonic range
Calculations must finish within iteration of the real-time loop
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Fourier based methods
• Discrete fourier transform (DFT)
Sliding Discrete Fourier Transform (SDFT)
Modulated Sliding Discrete Fourier Transform (mSDFT)
Time-frequency based methods
• Second Order Generalized Integrators (SOGI)
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Harmonic analysis methods
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
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• Maximum sampling rate is 10kHz
• On each iteration, all of the calculations in
the model should be completed to prevent
data loss.
• Otherwise, the controller either skips the
model (overrun), or cannot react real time
(latency).
9
Real time processing on HIL targets
Frame based processing vs sample by sample
processing. input, fundamental component,
sample by sample (SDFT), frame based (DFT).
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
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• Maximum sampling rate is 10kHz
• On each iteration, all of the calculations in
the model should be completed to prevent
data loss.
• Otherwise, the controller either skips the
model (overrun), or cannot react real time
(latency).
9
Real time processing on HIL targets
Frame based processing vs sample by sample
processing. input, fundamental component,
sample by sample (SDFT), frame based (DFT).
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
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10
Real time processing on HIL targets
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Input signal to test the real time harmonic estimation
Harmonic orders – 1st, 2nd, 3rd, 5th, 7th,11th, 13th
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• Outputs are estimated waveforms; not just magnitudes with phase angles.
10
Real time processing on HIL targets
RT computation time results for SDFT, mSDFT and SOGI
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
100µs (10kHz) limit
for 1 iteration in RT
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• Outputs are estimated waveforms; not just magnitudes with phase angles.
10
Real time processing on HIL targets
RT test results step change at 0.5s for SDFT, mSDFT and SOGI
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
50Hz
100Hz
150Hz 550Hz
350Hz
250Hz
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• Outputs are estimated waveforms; not just magnitudes with phase angles.
• mSDFT outperformed the other methods in less burden and equally accurate results.
10
Real time processing on HIL targets
RT test results step change at 0.5s for SDFT, mSDFT and SOGI
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
50Hz
100Hz
150Hz 550Hz
350Hz
250Hz
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• A compromise is made,
Fundamental components at 10kHz
Harmonic components at 2kHz
• It is possible to process even 146
measurements on a single PXI and obtain
phasors of the entire grid instantaneously.
• While still leaving considerable processing
power for other tasks.
11
CoSES PQ meter using mSDFT
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
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• Various signal processing algorithms and data processing approaches are compared for
monitoring of CoSES
• An efficient, fast and robust PQ meter application using mSDFT has been implemented
• PQ meter has possibility to reduce controller burden even more by switching to buffered
frame updates if necessary
• Future work
Reducing frequency fluctuation dependency.
Using the PQ meter for feedback in a live experiment.
12
Conclusions and future work
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
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Supplemenatary Slides
17
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
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Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
7
Implementation nuances
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Window length = 2 cycles
Signal arrives here Result arrives here
Short delay
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Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
7
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Window length = 4 cycles (more information)
Signal arrives here Better quality result arrives here
Implementation nuances
Longer delay
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Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
7
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Window length = 4 cycles (more information)
Signal arrives here Better quality result arrives here
Implementation nuances
Longer delay
Buffer delay vs Accuracy
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Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
8
Implementation nuances
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
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Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
8
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Window length = 2 cycles
Sampling rate = 10 kHz
Computation rate High
Implementation nuances
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Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
8
Implementation nuances
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Window length = 2 cycles
Sampling rate = 5 kHz
Computation rate medium
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Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
8
Implementation nuances
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Window length = 2 cycles
Sampling rate = 2 kHz
Computation rate low
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Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
8
Implementation nuances
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Window length = 2 cycles
Sampling rate = 2 kHz
Computation rate low
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Sampling rate vs Harmonic range
Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
8
Implementation nuances
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Window length = 2 cycles
Sampling rate = 2 kHz
Computation rate low
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Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
9
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Implementation nuances
One data frame
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Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
9
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Implementation nuances
One data frame
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Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
9
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Implementation nuances
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Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
9
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Implementation nuances
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Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
9
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Implementation nuances
![Page 44: Fast harmonic estimation using real-time embedded ...](https://reader033.fdocuments.in/reader033/viewer/2022041609/6252f9d840236c41c35ca31b/html5/thumbnails/44.jpg)
Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
9
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Implementation nuances
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Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
9
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Implementation nuances
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Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
10
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Implementation nuances
![Page 47: Fast harmonic estimation using real-time embedded ...](https://reader033.fdocuments.in/reader033/viewer/2022041609/6252f9d840236c41c35ca31b/html5/thumbnails/47.jpg)
Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
10
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Implementation nuances
![Page 48: Fast harmonic estimation using real-time embedded ...](https://reader033.fdocuments.in/reader033/viewer/2022041609/6252f9d840236c41c35ca31b/html5/thumbnails/48.jpg)
Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
10
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Implementation nuances
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Fourier based methods
• Discrete fourier transform (DFT)
• Sliding Discrete Fourier Transform (SDFT)
• Modulated Sliding Discrete Fourier Transform (mSDFT)
10
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Implementation nuances
Robust against frequency error
Grid frequency estimation
must be accurate.
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Time-frequency based methods
• Second Order generalized integrators
10
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Implementation nuances
Measured Signal
Pre-determined group
of possible harmonics
Parallel SOGIs
Grid Frequency,
SOGI Gain tuning
Estimated harmonics
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Time-frequency based methods
• Second Order generalized integrators
10
Fast harmonic estimation using real-time embedded controllers in CoSES smart grid
MSE Colloquium | 30. July 2020
Implementation nuances
Robust against rogue harmonics
Measured Signal
Pre-determined group
of possible harmonics
Parallel SOGIs
Grid Frequency,
SOGI Gain tuning
Estimated harmonics