Power Hardware-in-the-Loop and the KIT Energy Smart Home ... · KIT Energy Smart Home Lab...
Transcript of Power Hardware-in-the-Loop and the KIT Energy Smart Home ... · KIT Energy Smart Home Lab...
Sebastian Hubschneider
Power Hardware-in-the-Loop and the KIT Energy Smart Home Lab Environment
Introduction Sebastian Hubschneider, M.Sc., Research Associate
Karlsruhe Institute of TechnologyInstitute of Electric Energy Systems and High-Voltage Technology
20 academic employees
Fields of research
AC/DC grids (system management, grid stability, smart grids, …)
HVDC systems (inverters, fault correction, partial underground cabling, …)
Electrical components (redox-flow, inductive charging, cables, PHIL, …)
Accredited High-Voltage Laboratory
Agenda PHIL at KIT – IEH
DUT loop-feedback
Advanced Decentral Grid Control
Goals and general (PHIL) setup
KIT Energy Smart Home Lab
Low voltage grid simulation
First measurements and experiences
PHIL at KIT – IEHSoftware
HYPERSIM R6.0.11.o505
1 core activated
Planned data interfacefor long-term gridsimulations (.csv)
RT-Lab
ScopeView
Hardware
OP5030 Real-Time Simulator
OP5607 I/O Expansion Unit, Virtex 7 FPGA Processor
4-Quadrant-Amplifier Spitzenberger & Spiess3x 10 kVA at 270 Vrms
Current measurement (20 MHz)
PHIL at KIT – IEH Real-Time since April 2016
Research fields
DUT-independent loop-feedback (stability, high resolution)
PHIL limitations and possible achievable loop-times
Real-Time grid simulation for intelligent households
Interaction of inverter active front ends, non-passive loads and PHIL
DUT loop-feedback Objectives
DUT-independent test environment for active and passive electrical equipment (rapid prototyping)
Stable for all test cases without knowledge of DUT
20 kHz resolution (grid control, switching operations, short circuits)
Analysis of different loop-feedback methods
Evaluation via MATLAB/Simulink
Implementation via HYPERSIM
Control-technological studies
DUT loop-feedback Exemplary: Improved Damping Impedance Method, IDIM
Source: „Implementierung und Entwicklung von Rückkopplungsverfahren für Power Hardware-in-the-Loop Systeme“, Pia Brutschin
AC
ZSim
ZHUT
USim
ZabZab
V ZHUTZHUT
UHUT
VZ*
AIHUT
Impedance adjustment
DUT loop-feedback Exemplary: Improved Damping Impedance Method, IDIM
Source: „Implementierung und Entwicklung von Rückkopplungsverfahren für Power Hardware-in-the-Loop Systeme“, Pia Brutschin
DUT loop-feedback Exemplary: Improved Damping Impedance Method, IDIM
Source: „Implementierung und Entwicklung von Rückkopplungsverfahren für Power Hardware-in-the-Loop Systeme“, Pia Brutschin
stable case unstable case
DUT loop-feedback Next: Parallel implementation of methods with adequate decisive criteria
Interface Algorithm Accuracy Stability Implementation Limitations
ITM (voltage source)
∗∗∗∗ ∗∗ ∗Stable for RL loads; 𝑍𝑠𝑖𝑚 < 𝑍DUT
ITM (current source)
∗∗∗∗ ∗∗ ∗Stable for RC loads; 𝑍𝑠𝑖𝑚 > 𝑍𝐷𝑈𝑇
PCD ∗ ∗∗∗∗ ∗∗ Stable; exact for 𝑍𝑎𝑏 ≫ 𝑍𝐷𝑈𝑇; 𝑍𝑎𝑏 ≫ 𝑍𝑠𝑖𝑚
DIM ∗∗∗∗ ∗∗∗ ∗∗ Inexact if 𝑍∗ ≠ 𝑍𝐷𝑈𝑇
TLM ∗∗ ∗∗∗∗ ∗∗∗∗ Adjustion of 𝑍𝑎𝑏 to the system
TFA ∗∗∗∗ ∗ ∗∗∗∗ Algorithm adjustment to DUT needed
Taganrog∗∗ ∗∗∗ ∗∗∗∗
Weighting of parameters as trade-off between stability and accuracy
PHIL loop times
Device Under Test / KIT Energy Smart Home Lab
Simulated lowvoltage grid
I/O controller
𝑖, 𝑣
𝑣
4-Quadrant-Amplifier
Real-TimeSimulation
PHIL system
Total loop-time to achieve: …
PHIL loop times
Device Under Test / KIT Energy Smart Home Lab
Simulated lowvoltage grid
I/O controller
𝑖, 𝑣
𝑣
4-Quadrant-Amplifier
Real-TimeSimulation
𝒕𝑺𝑰𝑴 ≅ 𝟏𝟎 µ𝒔
Total loop-time to achieve:A/D grid calculation D/A
𝟏𝟎 µ𝒔 …
PHIL system
PHIL loop times
Device Under Test / KIT Energy Smart Home Lab
Simulated lowvoltage grid
I/O controller
𝑖, 𝑣
𝑣
4-Quadrant-Amplifier
Real-TimeSimulation
𝒕𝟒𝑸𝑺 ≅ 𝟖 µ𝒔
Total loop-time to achieve:A/D grid calculation D/A Voltage output (4QA)
𝟏𝟎 µ𝒔 𝟖 µ𝒔 …
PHIL system
PHIL loop times
Device Under Test / KIT Energy Smart Home Lab
Simulated lowvoltage grid
I/O controller
𝑖, 𝑣
𝑣
4-Quadrant-Amplifier
Real-TimeSimulation
𝒕𝑴𝑬𝑨𝑺 ≅ 𝟐 µ𝒔
Total loop-time to achieve:A/D grid calculation D/A Voltage output (4QA) Meas
𝟏𝟎 µ𝒔 𝟖 µ𝒔 𝟐 µ𝒔 …
PHIL system
𝟏𝟎 µ𝒔 𝟖 µ𝒔 𝟐 µ𝒔
PHIL loop times
Device Under Test / KIT Energy Smart Home Lab
Simulated lowvoltage grid
I/O controller
𝑖, 𝑣
𝑣
4-Quadrant-Amplifier
Real-TimeSimulation
𝒕𝑻𝑶𝑻 ≅ 𝟐𝟎 µ𝒔
Total loop-time to achieve:A/D grid calculation D/A Voltage output (4QA)
𝟐𝟎 µ𝒔Meas
PHIL system
T = 40 µs
T = 50 µs
t_O t_I t_O t_I t_O t_I t_O t_I t_O t_I t_O t_I t_O t_I t_O t_I t_O t_I
2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2
t_I t_I t_I t_I t_I t_I t_I t_I t_I
2 2 2 2 2 2 2 2 2
t_O t_O t_O t_O t_O t_O t_O t_O t_O
2 2 2 2 2 2 2 2 2
t_O t_V t_I t_O t_V t_I t_O t_V t_I t_O t_V t_I
2 2 2 2 2 2 2 2 2 2 2 2
t_O t_O t_V t_I t_I t_O t_O t_V t_I t_I t_O
2 2 2 2 2 2 2 2 2 2 2
t_O t_O t_I t_I t_O t_O t_I t_I
2 2 2 2 2 2 2 2N/O
8N/ON/O
t_Calc
10N/O
t_V
t_4QSN/O
8
t_Calc
6…N/O N/O N/O
t_4QS
8
Soft
wa
reH
WLo
op
10 8N/O
t_Calc t_VN/O
6 6
N/O N/O N/O
…t_Calc t_Calc
…8 8 8 8
N/O
…
…t_4QS t_4QS t_4QS t_4QS
…
N/O N/O N/O N/O N/O N/O N/O N/O N/O
10
N/O N/O N/O N/O N/O N/O N/O N/O N/O
t_Calc…
10 10 10 10 10 10 10 10
t_Calc t_Calc t_Calc t_Calc t_Calc t_Calc
…6 6 6 6 6 6 6 6 6
10
…t_Calc t_Calc t_Calc t_Calc t_Calc t_Calc t_Calc t_Calc
1 2 3 4 5 6 7 8 9
t_Calc t_Calc
t_Calc
PHIL loop times Theoretically possible temporal resolution
time / µ𝑠
fpga
fpga fpga
fpgaSW SW
SW
Step size: 10 µ𝑠
SW
Reactive power provision and voltage stability
Congestion handling
Spinning reserve and short circuit power
LV grids have to get active
Advanced Decentral Grid Control
Challenges
Increasing energyproduction in LV grids
New prosumers in LV grids
Source: Project „Advanced Decentral Grid Control“
Conception of future energy grids
Coordination of producers, storage & flex. consumers
Provision of ancillary services
Grid development and state estimation
Grid stability in critical situations (traffic light concept)
Proof of concept and system
Baden-Württemberg,
GermanyKIT Laboratory
Energy Smart Home Lab
Field test
Advanced Decentral Grid Control
Key facts
Funding: “Zukunftsfähige Stromnetze” of the BMWi
Project term: July 2015 – June 2018
Our approach: Integration of hard- and software components into one testbed for low voltage systems
Source: Project „Advanced Decentral Grid Control“
Hybrid Energy Storage System
Battery-storage
Super-capacitor
Appliances
Heating, venti-
lation, and air-
conditioning
Artificial Mains Network
Signal Processing
IntelligentBuildings
Artificial Mains Network
Calculation
DistributedGeneration
PV System
PV Simulator
MicroCHP
DGDGDG
ICT
Gri
d
LV
Gri
d
KIT
En
erg
y S
mart
Ho
me L
ab
4-Quadrant-
Amplifier
Hybrid Energy Storage Control
System
Building Energy Management System
External Entities
Advanced Decentral Grid Control
Source: „Establishing a hardware-in-the-loop research environment with a hybrid energystorage system“, 2016 IEEE Innovative Smart Grid Technologies – Asia (ISGT-Asia)
KIT Energy Smart Home Lab
PV inverterSmart Meter
EV charging station
Intelligent appliances
µCHP
PV Simulator4-Quadrant-
Amplifier
Hot water storage with insert heating element
Hybrid electrical energy storage
A/C
Electric Vehicle
Living room
KitchenTechnical
roomBedroom 1
Bedroom 2
Source: KIT Energy Smart Home lab, http://www.aifb.kit.edu/web/Energy_Smart_Home_Lab
KIT Energy Smart Home LabDistributed Generation
PV panels 24x Sovello SV-T-195 4.7 kWp
PV inverter SMA Sunny Tripower STP 10000TL-10 10 kVA, 3-phase
PV simulator ET System LAB/SMS3100 3.0 kWp
CHP SenerTec Dachs G 5.5 standard 5.5 kW electrical , 12.5 kW thermal
Appliances
Home appliances Miele: coffee machine, dishwasher, dryer, hob, oven, washing machine;Liebherr: deep freezer, refrigerator; other: microwave, water kettle, toaster
Heating and Air-conditioning System
Insert heating element Eltra 2NP5635-290 9 kW
Air-conditioning inverter Mitsubishi PUHZ-RP60VHA4 6 kW cooling capacity
Hybrid Electrical Energy Storage System
Battery 12x Hoppecke power.com HC122000 7.920 kWh (three hour discharge)
EDLC 5x SPS MCE0010C0-0090R0TBA 40.32 kWs (per module)
Source: „Establishing a hardware-in-the-loop research environment with a hybrid energy storage system“, 2016 IEEE Innovative Smart Grid Technologies – Asia (ISGT-Asia)
Low voltage grid simulation Real-time simulation of exemplary LV grids
Provision of predefined grid setups Facilitate highly dynamic interactions of Energy Smart Home Lab
(ESHL) and simulated grid
Address voltage quality & frequency issues
Grid overloads / overvoltage / undervoltage
Frequency changes (multiple ESHL instances)
Asymmetrical loads
Mains errors
Low voltage grid simulationWeak grid
Frequency change / asymmetrical loadLine Fault
1-phase / 3phase
VHz V
0
320
-320
320
240
50
First measurements
Grid to 4QA ESHL running on 4QA 4QA to Grid
V_4QA
V_Grid
V_ESHL
I_4QA
Switching operation between stiff and artificial LV grid (ScopeView)
First measurements
Source: „Establishing a hardware-in-the-loop research environment with a hybrid energystorage system“, 2016 IEEE Innovative Smart Grid Technologies – Asia (ISGT-Asia)
3-phase voltages Active & reactive power
Simulating a weak grid with the 4-quadrant-amplifier
THANK YOU
Sebastian Hubschneider, M.Sc.Research Associate
Karlsruhe Institute of TechnologyInstitute of Electric Energy Systems and High-Voltage Technology (IEH)
Phone: +49 721 608-43055Email: [email protected]
www.ieh.kit.edu