Protection Communication - ISGT 2012
Transcript of Protection Communication - ISGT 2012
M. Shoaib Almas and
Dr.-Ing. Luigi Vanfretti
Docent and Assistant Professor
KTH Royal Institute of Technology, Sweden
E-mail: [email protected]
Web: http://www.vanfretti.com
Scientific Advisor to Statnett SF Smart Operation R&D Program
R&D Department
Statnett SF, Oslo Norway
3rd IEEE PES Innovative Smart Grid Technologies (ISGT)
Real-Time Simulation of Smart Grids
Panel Session
Berlin, Germany– October 14-17, 2012
Real-Time Hardware-in-the-Loop Validation for WAMPAC:
Power System Protection and Communication
Outline
•Motivation for RT-HIL Approach
•SmarTS Lab: An RT-HIL Lab for WAMPAC Apps Dev.
•Model-To-Data Workflow for SIL and RT-HIL Validation
•Recent Projects at SmarTS LAB for Power System Protection
and Communication
•Power System Modeling of Protective Relays
•Power System Communication (GOOSE and Sampled
Values) Validation using RT-HIL
•Interfacing RTS for Station Bus and Process Bus
Implementation
•Comparison of Conventional and RT-HIL
approaches for Power Protection Relay Testing
• A software development toolkit for developing and testing
PMU based applications for Wide Area Monitoring,
Protection and Control
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
Timeline for M. Shoaib Almas
• Almas joined KTH, The Royal Institute of Technology, in 2009 to
pursue his Masters in Electric Power Engineering majoring in
Power Systems. Previously he has obtained a Bachelors in
Electrical Engineering from National University of Sciences and
Technology (NUST), Pakistan.
• He has two years of experience working as a Design Engineer
for designing protection schemes for substations (132kV, 220
kV and 500kV) through microprocessor-based relays.
• His professional experience includes substation automation
and coordination of protective relays to minimize the effect of
faults in power transmission networks.
• He performed his master thesis “PMU-Assisted Local
Optimization of the Coordination between Protective Systems
and VSC-HVDCs” at the Electric Power System (EPS) division of
KTH.
• Currently PhD. Candidate, Project Title “Real-Time Wide-Area
Control of Hybrid AC and DC Grids”
Motivation
• Each substation has in average 50 IEDs performing protection (differential, bus-
bar, overcurrent, over/under voltage, over/under frequency etc.) and
communicating with various protocols/standards (C37.118, GOOSE, SV,
MODBUS, DNP 3.0)
• In order to accurately model a power system, these IEDs along with their
respective communication techniques need to be modeled precisely with the
same settings as the real hardware relay . Power System Modeling
• With substations adopting IEC-61850 standards, RT HIL approach proves
beneficial to exploit interoperability, the use of Station/Process Bus
effectiveness, etc. Power System Communication
• Digital Real-Time Simulators are compatible with long-established modeling
software like MATLAB/SIMULINK (Opal-RT) and are IEC 61850 compliant
(GOOSE & Sampled Values)
• RT-HIL approach provides freedom to carry on research related with Smart
Transmission Grids:
- Wide Area Monitoring Protection and Control (WAMPAC)
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
• Smart Grid require Smart Operation, Smart Control and Smart Protection:
- The ultimate goal should be to attain an automatic-feedback self-healing control system
• Measure – Communicate – Analyze (System Assessment and real limits) – Determine
Preventive/Corrective Actions – Communicate – Control and protect
• To achieve this vision, new applications need to be developed in a controlled environment, allowing
testing and considering the ICT chain
How to develop a controlled environment for
developing Smart Transmission Grid Technologies?
Sync. Timing
Phasor Measurement Data
Controllable and Protective Device
Measurement and Status Data
Data Alignment
and
Concentration
Com
mun
icat
ion
Net
wor
ksData Storage
and Mining
Monitoring
Transmission System
Control Center
Advanced
Displays Early Warning
System
Near Real-Time
Security
Assessment Automatic
Determination of
Control Actions
Decision/Control Support System
Smart-Automatic Control Actions
Smarter Operator
Decision Support
Smarter Operator Control
Actions
The SmarTS Lab Architecture
Opal-RTReal-Time Simulator
CommunicationNetwork
(WAN /Network Emulator)
Station Bus
Low-LevelAnalog I/Os
Physical DevicesLow-Power
Prototypes
V and IAmplifiers
Digital I/Os
Amplified analog outputs (current/voltage)
SEL PMUs /Relays
ABB Relays
NI- cRIO 9076
Synchrophasor Data
WAMS
Applications
PDC(s)
WAPS
Applications
PMUs
External Controllers
V and IAmplifiers
GOOSE
Sampled Values
GOOSE
Sampled Values
Protective Relays
WACS
Applications
WAMPAC Application
Host Platform
GOOSE
Process Bus
GOOSE
Digital I/Os
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
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SmarTS Lab Comm. and Synchronization Architecture and Implementation
GPS - Signal
IRIG-B
Process Bus
(IEC 61850-9-2)
Station Bus
(IEC 61850-8-1)
Synchrophasor Bus
(IEEE C37.118)
GPS Signal
IRIG-B
Process Bus
(IEC 61850-9-2)
Station Bus
(IEC 61850-8-1)
Synchrophasor Bus
(IEEE C37.118)
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
Software-in-the-Loop Validation
Hardware-in-the-
Loop Validation
Model-to-Data
Workflow
Analog Input of relay
(Current from CT)
Analog to Digital
ConverterDigital Filtering
Protection
Algorithm
(Instantaneous,
Definite or IDMT)
Three Phase
Current
Current Set Point
Trip Signal
Part 1 Part 2 Part 3
Recent Projects at SmarTS LAB
1. Model Validation of an Over-Current Relay
ComparatorComparator
Input CurrentInput Current
Pickup ValuePickup Value
Trip SignalTrip Signal
Block Diagram
• Instantaneous
• Definite Time
• Inverse Definite Minimum
Time (IDMT)
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
Is
to find ratio
Zero-Order
Hold
ControlOut1
Timer
Scope3
Scope2
Scope1
>
Relational
Operator
Lowpass
Lowpass Filter
In3 Out1
Extracting Time of Fault
2
Downsample
Divide2
Divide1
FourierMag
Phase
Discrete Fourier
sqrt(2)
Converting To R.M.S
> Is
Compare
To Constant
Control
Current InputOperation Time
Calculating Operation Time
Add
1
In1
Current input from the
secondary side of the
CT. This is an analog
signal
S-function running an algorithm. It
monitors the input and checks if the
input is 1 or not. (i.e. input current
greater than pickup). The S-function
gives out the time at wchih this input
current goes above the pickup value.
Converts an input signal
with continuous sample
time to an output signal
with discrete sample
time
Down-sampling to
avoid anti-aliasing
effects
Low pass digital FIR
filter
Fourier analysis of the
input signal to extract
fundamental out of it
Dividing fundamental
componentent with
square root of 2 to get
RMS valueComparator to check
whether the input
current level is greater
than the pickup value
or not
Output of this block is
the time which has
elapsed since the input
current has exceeded
the pickup value
This block compares the
operation time computed with
the time elapsed by the timer.
1
Operation
Time
TMS
~= 0
Switch
u(1)^(alpha)
Fcn
0
1
Is
C
2
Current Input
1
Control
This block has a switch. The output of switch is zero
in case when the current input is lesser than pickup
value. The output of the block is the actual simulation
time in case the current exceeds the pickup value
This block implements the mathematical
equation to compute
the operation time corresponding to the
type of characteristic curve chosen by
the user
1s
CT TMS
I
I
a= ´
æ ö-ç ÷
è ø
1. Model Validation of an Over-Current Relay (contd.)
Modeling and Implementation for RT Simulation
Implementation in
SimPowerSystems
(MATLAB/Simulink)
1. Model Validation of an Over-Current Relay (contd.)
Protection Algorithm Implemented in the Overcurrent Relay Model
1
s
CT TMS
I
I
a= ´
-æ öç ÷è ø
Different Types of Inverse Characteristics
Relay Characteristic
Type α C
Standard Inverse 0.02 0.14
Very Inverse 1 13.5
Extremely Inverse 2 80
Long Inverse 1 120
IDM
T C
ha
ract
eri
stic
Cu
rve
s
If
Input Current >
Pickup Value
NO
YES
Instantaneous
NO
NOStart Timer
If characteristic
=IDMT
TRIP
Characterisic Curve =
Standard Inverse
Calculate
Operation
Time
YES
Timer >Definite
Time set by user
NO
Characterisic Curve =
Very Inverse
Calculate
Operation
TimeCharacterisic Curve
= Long Inverse
YES NO
YES
Operation Time
>=Timer
NO
Calculate
Operation
Time
YES
Calculate
Operation
Time
NO
YES
YES
Current Input from
Current
Transformer
Compare with the
preset value
(pickup Value)
Start
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
1. Model Validation of an Over-Current Relay (contd.)
Test Case Model Developed in SimPowerSystems (MATLAB/Simulink)
Bus 2
Thevenin
Equivalent
(Strong Grid)
Bus 1
Transmission Line
L 1-2 `̀
Load
SEL_487E
(Set for
OverCurrent
Protection)
CT Circuit
Breaker
Digital output of relay
connected directly to
breaker for Trip
Fault
Fault Recorder
Event
Recorder
Oscillography
Digital I/O of relay are
hardwired
Fault Recorder
Event
Recorder
Oscillography
Digital I/O of relay are
hardwired
Conceptual
Understanding
Fault Current Phase A
Fault Current Phase B
Fault Current Phase C
Digital Input of Simulator which
is connected to the Digital Output of
SEL-487E relay
Analog Outputs of the Simulator which
are connected to the Current Amplifiers
from Megger whose output is connected to
Analog inputs (CT inputs) of SEL-487E
Dedicated block by Opal-RT which assigns
a particular FPGA whose Analog and/or Digital I/Os
will be accessedScaling
Factor
Phase Voltage=1kV
Frequency = 50Hz
Length of Line = 100km
Three Phase to Ground Fault
Applied at t = 2sec
Active Power for Load = 1 MW
Frequency = 50Hz
Phase Voltage = 1kV
Discrete,Ts = 5e-005 s.
powergui
A
B
C
Three-Phase Source
A
B
C
A
B
C
Three-Phase Fault
IabcA
B
C
a
b
c
Three-PhaseV-I Measurement
Bus 2
A
B
C
a
b
c
Three-PhaseV-I Measurement
Bus 1
A
B
C
Three-PhaseSeries RLC Load
A
B
C
A
B
C
Three-PhasePI Section Line
com
A
B
C
a
b
c
Three-Phase Breaker
Terminator
Relay_Monitoring
I_abc
Trip_Signal
Fault Pickup
Operation_Time
Ratio Input/Pickup
OverCurrent Relay
OP5142EX1 Ctrl
Board index: 1
Mode:Master
Error
IDs
OpCtrl OP5142EX1
Slot 3 Module A Subsection 2Vals
Status
OP5142EX1 DigitalIn
'OP5142EX1 Ctrl'
Slot 1 Module A Subsection 1Volts Status
OP5142EX1 AnalogOut
'OP5142EX1 Ctrl'
3
Multimeter
-K-
Gain
Fault_Currents
Current
Transformer
400
CT
ARTEMiS Guide
Ts=50 us
SSN: ON
1. Model Validation of an Over-Current Relay (contd.) Test Case Model Developed in SimPowerSystems (MATLAB/Simulink)
HIL Implementation
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
1. Model Validation of an Over-Current Relay (contd.)
Validation Results
2. Power System Communication (Station & Process Bus Implementation Comparison of the Real-Time Results with Stand Alone Testing Using Freja-300 (Relay Test Set)
CT Input
VT InputDigital I/O
Three phase voltage
injection to the
relay under testThree phase current
injection to the
relay under test
Digital I/O of the relay
under test. The Digital
Output is configured to
change its contact from
normal open to normal
close when a
protection function
operates
Workstation with software FREJA
Win which is a graphical interface
for the FREJA 300 Relay Testing
System
Relay Test Set
Freja 300
1
2
Stand-Alone Testing
Hardwired Stand-Alone Testing
GOOSE (IEC 61850-8-1:Station Bus)
The only way to validate the RT-HIL results for protection
IEDs is to compare results with existing technology
(stand-alone tests)
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
Synchronous Generartor
500MVA , 20kVStep Up Transformer
20kV / 380 kV
Bus 2
Bus 3
Thevenin
Equivalent
Bus 1
Transmission Line
L 1-3
Transmission Line
L 1-3 a
Transmission Line
L 3-5
M
`
Bus 4
Step Down Transformer
380 kV / 6.3 kV
Bus 5
M
`
Induction Motor
4.9 MVA , 6.3 kV
OLTC Controlled Load
ABB RED-670 ABB RED-670
Real-Time HIL (Process Bus IEC
61850-9-2 Implementation)
[Opal-RT + ABB-RED 670]
Softwares:
· MATLAB / SimPowerSystems
· ABB PCM 600: Relat Settings
· RT-LAB: Real-Time Execution
· WireShark: Network Analyzer
· ABB IET 600: Substation Automation
Architecture
No Hardwires for CT and VT connections
No need of Amplifiers for RT-HIL execution
Process BUS
(IEC 61850-9-2)
2. Power System Communication (Station & Process Bus
Implementation (contd.)
3. Comparison of Standalone
and RT-HIL Testing Approach
Comparison of Results from Standalone and RT-HIL Testing
Fault Applied at t=2 sec, protection tested=instantaneous
overcurrent
Testing
Methodology
Feature Tripping Time
(sec)
Delay (msec)
Standalone Hardwired 2.0083 8.30
GOOSE 2.0060 6.00
RT-HIL Hardwired 2.0085 8.50
GOOSE 2.0062 6.20
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
SDK Platform
C37.118
PDC
DLL
Live Buffer
Access Buffer
PRL
SnapShooter
Data
- Time Stamp
- Voltage Phasors
- Current Phasors
- Frequency
Selector
Custom Application
DLL
Live Buffer
Access Buffer
PRL
SnapShooter
Selector
pp
Remote
PMU App. SDK A LabView-Based PMU Application SDK
PMU Recorder Light (PRL)
DLL
?
DLL
?
?
SnapShooter ap
PRL
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
EthernetPortEthernetPort
OPAL-RTOPAL-RT MATLAB/Simulink Design
models
MATLAB/Simulink Design
models
Real-Time Digital simulation is converted to
Analog / Digital Signals through I/O s
Real-Time Digital simulation is converted to
Analog / Digital Signals through I/O s
The amplified current and voltages are connected to the CT and VT
inputs of the PMUs. The PMUs acquire these analog quantities,
computes the phasors and time tags them, and streams out the
synchronized phasor data in C37.118 format.
The amplified current and voltages are connected to the CT and VT
inputs of the PMUs. The PMUs acquire these analog quantities,
computes the phasors and time tags them, and streams out the
synchronized phasor data in C37.118 format.
The current and voltage from
the analog outputs of the
simulator are amplified by using
Megger SMRT-1 Amplifier and
fed into the CT/VT inputs of the
PPMMUU
The current and voltage from
the analog outputs of the
simulator are amplified by using
Megger SMRT-1 Amplifier and
fed into the CT/VT inputs of the
PMU
SEL 487ESEL 487E
SEL-5073
PDC
SEL-5073
PDC
PRL
Workstation
PRL
Workstation
MUs connected to
real power system
PMUs connected to
real power system
Workstation running PRL
Application in Labview
Workstation running PRL
Application in Labview
SEL-5073 is a software PDC
which takes synchrophasor
data from SEL and NI-cRIO
PMUs, time allign them and
outputs a single
concentrated stream
SEL-5073 is a software PDC
which takes synchrophasor
data from SEL and NI-cRIO
PMUs, time allign them and
outputs a single
concentrated stream
EL 4211SEL 421
SEL 421SEL 421
GPS AntennnaGPS Antenna
ABBBB RREESS-55221ABB RES-521
Synchronous
Generartor
500MVA , 20kV
Step Up Transformer
20kV / 380 kV
Bus 2
Bus 3
Thevenin
Equivalent
Bus 1
Transmission Line
L 1-3
Transmission Line
L 1-3 a
MBus 4
Step Down
Transformer
380 kV / 6.3 kV
Bus 5
Induction Motor
4.9 MVA , 6.3 kV
OLTC Controlled Load
OP5949 Active Monitoring PanelOP5949 Active Monitoring Panel
OP 5600 I/O Extension ChasisOP 5600 I/O Extension Chasis
eMEGAsim (12 Cores)eMEGAsim (12 Cores)
EL 5078-2SEL 5078-2
Synchrophasor data
visulaization tool from SEL
Synchrophasor data
visulaization tool from SEL
a. Model
b. Implementation
c. Results from PMU based
monitoring Application
PMU App. SDK A LabView-Based PMU Application SDK
Prototype Implementation (PMU App. SDK Beta)
Connection with PDC
Configuration
PC Loading Monitor Data Channel Selection
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
Real-Time Data Access
Straightforward Development
of Monitoring Application
a. Results from developed
synchrophasor based monitoring
application (with Statnett)
b. Results from vendor specific
(SEL-5073 PDC monitoring) tool
Comparison with a commercial monitoring tool
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
PMU Based Application Example
Real-Time Mode Meter
Estimates frequency of the
electromechanical modes of the
power system
Three different spectral estimators are used
ensuring accurate signal spectrum
estimation:
• Welch’s method,
• Auto-Regresive (AR)method
• Auto-Regresive Moving
Average (ARMA) method
Conclusions and Further Work
• Smart Transmission Grids will benefit from RT HIL simulation for developing new
technologies.
• Modeling for real time simulation is necessary:
• Developing more models for protection functions like Distance protection, differential
protection, over/under voltage, over/under frequency protection etc. to have available a
library for protection functions.
• Consideration of actual measurement and automation streams is necessary:
• Exploiting IEEE C37.118 (Synchrophasors from PMU) and IEC 61850 (Substation
Automation) can be useful to develop applications which can serve as online oscillation
detection, mode estimation, power oscillation damping, etc.
• PMU-Based applications can enable flexibility:
• Developing a Real-Time controller which can read data from power system / substation
components irrespective of the vendor protocol and can translate it to take either
distributed or global control actions.
• RT HIL simulation can help us to achieve broader goals:
• Power system which is more reliable and more flexible
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
Thank you! [email protected]
http://www.vanfretti.com
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012