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Transcript of OpenPowerNet – Simulation of Railway Power … · OpenPowerNet – Simulation of Railway Power...
Stephan_080124_OpenPowerNet_engl.ppt (Figure 1)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Prof. Dr.-Ing. Arnd StephanInstitut für Bahntechnik GmbH
OpenPowerNetSimulation von Bahnstromsystemen
OpenPowerNetSimulation of Railway Power Supply Systems
Stephan_080124_OpenPowerNet_engl.ppt (Figure 2)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
• There are consumers with a time-dependent and location-dependent power demand (picking up and recovering energy).
• The network structure and the voltage influence the load flow.• The power supply system may influence the energy consumption.
The electrical load flow and the energy consumption within the railway power supply network depend on the running trains and the power supply system characteristics.
• Load flow and energy consumption• Technical layout and design of the electrical installations.
Simulation of these dynamic processes allow analysis and prognosis:
Simulation of Railway Power Supply Systems – why?
Stephan_080124_OpenPowerNet_engl.ppt (Figure 3)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
• current and power losses increase with decreasing voltage, • under low voltage current and power limitations of the propulsion
control are activated ⇒ with impact on the driving dynamics,• the network voltage influences the braking energy recovering
decisively (energy absorption capability).
The voltage situation of the railway power supply network determines the load flow and may have retroaction to the propulsion characteristics of the trains:
• for a.c. networks less relevant because of stable voltage level,• for d.c. networks with high load dynamics absolutely essential
These retroactions to be emulated in the simulation:
Requirements
Stephan_080124_OpenPowerNet_engl.ppt (Figure 4)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
• each train’s driving state and the required traction power, • the train’s positions within the network,• the layout and capability of the power supply system.
Energy consumption simulation for electrical railway systems requires detailed information available at the same time concerning
• either concerning the complexity of the railway operation simulation,• or regarding the modelling depth of the propulsion technology and
the electrical network.
For that reason a number of compromises were made in the past
Initial Situation
Stephan_080124_OpenPowerNet_engl.ppt (Figure 5)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
• Line routing and alignment• Track layout• Signalling system• Train data• Propulsion data• Timetable• Connecting conditions• Operating rules
Railway Operation Load Flow and Energy
• Line routing and alignment• Track layout• Signalling system• Train data• Propulsion data• Timetable• Connecting conditions• Operating rules• Power grid / Substations• Feeder lines and cables• Catenary system
Simulation Requirements
Stephan_080124_OpenPowerNet_engl.ppt (Figure 6)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
• Line routing and alignment• Track layout• Signalling system• Train data
• Timetable• Connecting conditions• Operating rules
Railway Operation Load Flow and Energy
• Propulsion data
• Power grid / Substation• Feeder lines and cables• Catenary system
Plug-in
Separation of Simulation Tasks
Stephan_080124_OpenPowerNet_engl.ppt (Figure 7)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
OpenPowerNet
Propulsion Technology
Railway Operation Simulation
ATMAdvanced
Train Module
“Co-Simulation”
Power Supply System
PSCPower Supply
CalculationInteraction
Stephan_080124_OpenPowerNet_engl.ppt (Figure 8)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Simulation Sequence per Time Step
Line Voltage, Requested Effort
Train Current
Train Position,Requested
EffortAchieved
Effort
OpenTrack
PSC ATM
OpenPowerNet
Stephan_080124_OpenPowerNet_engl.ppt (Figure 9)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
a) constant efficiency factors for propulsion equipmen t
b) driving state related efficiency factors
c) load depending efficiency factors of components
d) detailed engine models of components
+ auxiliary power and eddy current break
+ additionally: limiting values of propulsion control (e.g. voltage related current limitation)
Modelling levels available for propulsion simulatio n
Stephan_080124_OpenPowerNet_engl.ppt (Figure 10)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Pel
Pmech
Propulsion Structure
Stephan_080124_OpenPowerNet_engl.ppt (Figure 11)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Wirkungsgradverläufe ICE 3 für maximale ZugkraftHerstellerangabe für Betrieb bei 15 kV 16,7 Hz
0,5
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Motorfrequenz
Wirk
ungs
grad
Transformator
4-QS
Pulswechselrichter
Asynchron-Fahrmotor
Radsatzgetriebe
Gesamt
Hz
Efficiency Characteristics of ICE3 train1 AC 15 kV 16,7 Hz
Stephan_080124_OpenPowerNet_engl.ppt (Figure 12)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
1σL 2'σL1R sR 2'
HL1u
2'i1i
1 2'+i i
ΨH
1Ψ 2'Ψ
= +e le k t m e c h L ä u fe r v e r lu s teM M M
232 22 ' '
2 2
⋅= =
π πR o to r v e r lu s te
L ä u fe r v e r lu s te
i RPM
n n
Propulsion Component Modelling (example for traction motor)
Stephan_080124_OpenPowerNet_engl.ppt (Figure 13)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
23000
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om in
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pere
Spannung in Volt Strom in Ampere
Propulsion Model VerificationTrain Current and Pantograph Voltage
Stephan_080124_OpenPowerNet_engl.ppt (Figure 14)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Fahrschaubild und Leistungsverlauf ICE1Betriebsfahrt Hannover - Göttingen, Meßwerte am führenden Triebkopf,
Simulation IFB: Standardparameter und Wirkungsgradmodell ICE1/2
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km/h
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Fehlertoleranzen: Fahrschaubild < 1 %
Energie ab Stromabnehmer < 2 %
Quelle: IFB
Train Speed and Power CharacteristicsMeasurement and Simulation Results
ICE1 Hannover – Göttingen
Stephan_080124_OpenPowerNet_engl.ppt (Figure 15)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Requirements to the electrical network model
- Simulation of all common AC- and DC-railway power su pply systems
- Representation of the entire electrical network st ructure
- Unrestricted choice of conductor configuration alon g the line
- Precise consideration of electromagnetic coupling o f conductors for a.c.-systems
- Switch state change within the railway power supply system
- Retroaction to the railway operation simulation (Op enTrack)
- Iterative communication with the propulsion simulat ion (ATM)
- Configurable data output
- Interfaces for post-processing
Stephan_080124_OpenPowerNet_engl.ppt (Figure 16)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Modelling of infrastructure
Catenary arrangement and switch state
Stephan_080124_OpenPowerNet_engl.ppt (Figure 17)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Modelling of the Railway Power Supply System
- Electrical network structure (feeding sections, fee ding points, switch state) in congruence to the track topology
- Electrical characteristics of the feeding power gri d
- Electrical characteristics of the substations
- Electrical characteristics of the conductors (cable s, Catenary wires, tracks, rails)
- Electrical characteristics rail-to-earth
- Modelling of additional power consumers (e.g. switc h heatings)
- Loading capacity (conductors, converters, transform ers)
- Protection settings
Stephan_080124_OpenPowerNet_engl.ppt (Figure 18)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Power Supply Network Structure (DC 0.6 … 3.0 kV)
Power Grid Connection3 AC 10 / 20 / 30 kV
OCS
Rails
train NOT in section train in section
Substation
GO1
GR1
GO3
GR2
GO4
GR3
GO5
GR4
sw
sw
SS1
sw
sw
SS2
sw
sw
SS3
sw
sw
SS4
Earth
G’RE G’RE G’RE G’RE G’RE G’RE G’RE
sw sw sw sw
GO2
single-end double-end double-end
0.6 kV
Stephan_080124_OpenPowerNet_engl.ppt (Figure 19)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Power Grid Connection1 AC 110 kV 16,7 Hz
Power Supply Network Structure (1 AC 15 kV 16,7 Hz)
OCS
Rails
Substation
YO1
YR1
YO2
YR2
YO3
YR3
sw
sw
SS1
sw
sw
SS2
Earth
Y’RE Y’RE Y’RE Y’RE Y’RE Y’RE Y’RE
sw swsw
CS
sw
15 kV
Stephan_080124_OpenPowerNet_engl.ppt (Figure 20)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Power Supply Network Structure (2 AC 25 kV ~ 50 / 6 0 Hz)
OCS
Rails
Negative Feeder
train NOT in section train in section
AutotransformerSubstation
YO1
YR1
YN1
Autotransformer Autotransformer
YO2
YR2
YN2
YO3
YR3
YN3
YO4
YR4
sw
sw
sw
SS
sw
sw
sw
AT1
sw
sw
sw
AT2
sw
sw
sw
AT3
Power Grid Connection3 AC 110 / 220 kV
Earth
Y’RE Y’RE Y’RE Y’RE Y’RE Y’RE Y’RE
25 kV
-25 kV
Stephan_080124_OpenPowerNet_engl.ppt (Figure 21)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Substation / AT Structure (2 AC 25 kV ~ 50/60 Hz)
Stephan_080124_OpenPowerNet_engl.ppt (Figure 22)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Trackside Arrangement of Conductors
Source: DB KoRiL 997
Stephan_080124_OpenPowerNet_engl.ppt (Figure 23)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
300
mRL RR
E
RF
NF
MW
CW
Trackside Arrangement of Conductors
Stephan_080124_OpenPowerNet_engl.ppt (Figure 24)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
„Slice“
Catenary Arrangement and Conductor Model
Stephan_080124_OpenPowerNet_engl.ppt (Figure 25)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
y
x
(0; 0)
(x1; y1)
material, diameter
electro-magneticcoupling effects
Slice n
Catenary Arrangement and Conductor Model
Stephan_080124_OpenPowerNet_engl.ppt (Figure 26)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Sequence of Slices
Stephan_080124_OpenPowerNet_engl.ppt (Figure 27)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Mathematical Network Model
Stephan_080124_OpenPowerNet_engl.ppt (Figure 28)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Electrical network calculation using the advanced method of nodes
Voltage drops caused by self- and mutual induction
Stephan_080124_OpenPowerNet_engl.ppt (Figure 29)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Verification of the simulation
� Punctual theoretical evaluation
- current sum cero for network slices
- energy picking up and recovering
- correspondence of voltage minimum and maximum / ju mpswith the network structure during constant load tes t
� Comparison of measurement data with the simulation results for predefined load cases
- driving dynamics of the trains
- current-, voltage- and power characteristics
Stephan_080124_OpenPowerNet_engl.ppt (Figure 30)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
AB07, Messfahrt F8, mit Halt
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Zeit [s]
Ges
chw
idni
gkei
t [km
/h]
v_TFZ_2099 v_Tfz_Simu
Verification: Measurement and Simulation
Stephan_080124_OpenPowerNet_engl.ppt (Figure 31)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
AB07, Messfahrt F8, mit Halt
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]
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om [A
]
Toleranz U (EN 50163) U_nenn U_TFZ_2099 U_Tfz_Simu I_TFZ_2099 I_Tfz_Simu
675 A
673 A
Verification: Measurement and Simulation
Stephan_080124_OpenPowerNet_engl.ppt (Figure 32)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
High Speed Railway 300 km/h
100 km Double Track 2AC 25 kV 50 Hz
Stephan_080124_OpenPowerNet_engl.ppt (Figure 33)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Train Current
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km
I [A
]
Train Current I = f(s)
Simulation Results: High Speed Railway 2AC 25 kV
Stephan_080124_OpenPowerNet_engl.ppt (Figure 34)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Train Current
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km
I [A
]
Train Voltage
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km
U [V
]
Train Current I = f(s), Line Voltage at Pantograph U = f(s)
Simulation Results: High Speed Railway 2AC 25 kV
Stephan_080124_OpenPowerNet_engl.ppt (Figure 35)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Multiple Train Voltage
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km
U [V
]
Pantograph Voltages of all Trains U = f(s)
Simulation Results: High Speed Railway 2AC 25 kV
Stephan_080124_OpenPowerNet_engl.ppt (Figure 36)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
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U[V
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U[V
]
10:02:30 AT-station switched-off
Overhead Line Voltage U = f(t)
Simulation Results: High Speed Railway 2AC 25 kV
Stephan_080124_OpenPowerNet_engl.ppt (Figure 37)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Conductor Current
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I [A] Return Feeder
Earth
Return Current Distribution I = f(s)T
rain
Pos
ition
SS AT1 AT2
Simulation Results: High Speed Railway 2AC 25 kV
Stephan_080124_OpenPowerNet_engl.ppt (Figure 38)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
T ra n s fo rm e r P o w e r
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P [M
W]
Substation Transformer Power P = f(t)
Simulation Results: High Speed Railway 2AC 25 kV
Stephan_080124_OpenPowerNet_engl.ppt (Figure 39)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
T ra n s fo rm e r E n e rg y C o n s u m p tio n
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E [M
Wh]
Energy Consumption at Substation Busbar E = f(t)
Simulation Results: High Speed Railway 2AC 25 kV
Stephan_080124_OpenPowerNet_engl.ppt (Figure 40)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
City Light Rail300 km TRAM 220 km Trolley
DC 600 V
Stephan_080124_OpenPowerNet_engl.ppt (Figure 41)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Vehicle modellingTRAM und Trolleybus
2 x Mirage Cobra
Tram2000 Tram2000+Pony Tram2000 Sänfte
Mercedes GTB Hess DGTB Hess
Stephan_080124_OpenPowerNet_engl.ppt (Figure 42)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Graphical time table
Line A
Stephan_080124_OpenPowerNet_engl.ppt (Figure 43)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Stephan_080124_OpenPowerNet_engl.ppt (Figure 44)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Minimum voltage: catenary and pantographNormal operation
ST
RV
t [5.
804]
HE
GA
[5.3
98]
IHA
G [5
.017
]
FR
IE [4
.681
]
FR
IB [4
.304
]
HO
EF
[3.7
48]
GO
LPt [
3.46
9]
ZW
IN [3
.175
]
KA
LKt [
2.76
2]
KE
RN
[2.4
93]
HE
LVt [
2.31
1]
MIL
A [1
.913
]
RO
EN
[1.5
81]
LIM
Mt [
1.28
8]
Heu
ri-F
riese
n
Heu
ri-H
öfliw
e
Bad
en-K
alkb
reB
aden
-Lan
gstr
Alb
is-S
chw
eig
Lette
-Lim
mat
p
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Trenner Toleranz U (EN 50163) U_nenn U_min_abs U_min_Tfz
Stephan_080124_OpenPowerNet_engl.ppt (Figure 45)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Rail-to-earth potential Normal operation
FR
AN
[6.9
15]
WIN
Z [6
.494
]
WA
RT
[6.0
51]
ZW
IE [5
.691
]
ME
IE [5
.374
]
SC
HT
[4.9
98]
AT
RO
[4.6
02]
EG
UT
[4.2
34]
WA
IF [3
.754
]
WIP
K [3
.297
]
EW
YS
[3.0
63]
DA
MM
[2.6
89]
QU
EL
[2.4
16]
LIM
M [2
.092
]LI
MM
p [2
.003
]
MU
FG
[1.7
32]
SIH
L [1
.391
]
Fra
nk-ä
.Lim
ma
Tob
el-m
_Lim
ma
Lette
-i.Li
mm
a
Lette
-Wip
king
Lette
-o.L
imm
a
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1 2 3 4 5 6 7
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nnun
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]
Stephan_080124_OpenPowerNet_engl.ppt (Figure 46)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Converter current and bus-bar voltage Normal operation
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om [A
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Stephan_080124_OpenPowerNet_engl.ppt (Figure 47)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Converter current and bus-bar-voltage Depot gateway 4:50 - 7:05 h
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Stephan_080124_OpenPowerNet_engl.ppt (Figure 48)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Load and loading capacity SubstationNormal operation, blackout in neighbouring subst.
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RK Rosengarte
BK V, 2381 A
BK VI, 2381 A
Stephan_080124_OpenPowerNet_engl.ppt (Figure 49)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Load values Substation, Normal operation without blackouts
Station Sektor Imax Ieff Pmax Eab Eauf Everl IEinst IKmin IKmin /IEinst Imax/IEinst
[A] [A] [kW] [kWh] [kWh] [kWh] [kA] [kA]
1 s 7200 s soll > 110% soll < 90%
2 h
SK -o.Rämistraße 1915 588 1221 520 -10 4 3,5 14,0 400% 54,7%SK -Seilergraben 1686 404 1072 264 0 2 3,0 11,7 390% 56,2%SK -Hottingerstraße 1961 475 1252 417 0 3 3,0 10,4 347% 65,4%SK -Klosbachstraße 1665 332 1048 257 0 4 3,5 10,4 297% 47,6%SK -Kreuzbühlstraße 3710 1018 2312 1000 -33 36 4,2 12,7 302% 88,3%SK -Heimplatz 1128 310 720 290 0 1 3,0 34,0 1133% 37,6%SK -u.Rämistraße 40 172 50 111 36 0 0 3,0 23,0 767% 5,7%SK -u.Rämistraße 129 1145 316 738 220 0 1 3,0 38,2%SK -Bellevueplatz 2824 1075 1770 1226 -6 18 3,5 16,6 474% 80,7%SK -Zeltweg TB 912 279 582 153 -28 1 2,5 2,7 108% 36,5%RK -Heimplatz 2 Kabel -1242 513 -749 0 -627 3RK -Kreuzbühlstraße -2164 678 -1324 2 -789 8RK -o.Rämistraße -649 238 -393 0 -281 2RK -Heimplatz -3425 1375 -2065 0 -1683 8RK -Bellevueplatz -1742 657 -1050 0 -804 7RK -Zeltweg TB -912 279 -582 28 -153 1gesamt 8773 3527 5289 4305 0 97
SK: SpeisekabelRK: Rückleiterkabel
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Stephan_080124_OpenPowerNet_engl.ppt (Figure 50)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Load and loading capacity Catenary wire at feeding p ointNormal operation, blackout in neighbouring subst.
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Stephan_080124_OpenPowerNet_engl.ppt (Figure 51)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Energy balance
Case 1 Case 2 Case 3 Case 4
Stephan_080124_OpenPowerNet_engl.ppt (Figure 52)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Power losses balance
Case 1 Case 2 Case 3 Case 4
Stephan_080124_OpenPowerNet_engl.ppt (Figure 53)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Recovering balance
Case 1 Case 2 Case 3 Case 4
Stephan_080124_OpenPowerNet_engl.ppt (Figure 54)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Visualisation
Post-processing: Electro-magnetic Field Exposition 1AC 15 kV 16,7 Hz
Stephan_080124_OpenPowerNet_engl.ppt (Figure 55)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
1. Operation Simulation (OpenTrack)• Precise railway operation simulation using a commer cial simulator• Co-simulation with electrical network calculation o f OpenPowerNet (New!)• Online-communication between operation and electric al network simulation
via SOAP-Interface (New!)• Retroaction of electrical network calculation to tr ain driving dynamics• automatic disturbance generation caused by the powe r supply (New!)
2. Load Flow and Energy Calculation (OpenPowerNet)• Complete electrical network calculation by the PSC module considering all
electromagnetic coupling effects (New!)• Input of the electrical network parameters by geome trical conductor
arrangement and material properties, unrestricted c onfigurable (New!)• Switch state changes of the electrical network duri ng simulation (New!)• Configurable modelling depth for train propulsion s ystem in the ATM module:
constant efficiency / characteristic curves / engin e models + control (New!)• Comprehensive analyzing and interpreting tools (ene rgy, load flows, currents,
voltages, temporal / local) as well as data export for post-processing
Summary
Stephan_080124_OpenPowerNet_engl.ppt (Figure 56)
OpenPowerNet – Simulation of Railway Power Supply IT08 Rail Userworkshop
Eine Expertenrunde für das Gesamtsystem Bahn
The Expert Team for the Complete Railway System
IFB Niederlassung Dresden, Wiener Str. 114-116, 01219 Dresden, GermanyPhone: +49 351 87759-0 E-Mail: ifb-dresden@bahnt echnik.de www.bahntechnik.de