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Transcript of Sim Apps Booklet
Opal-RT Technologies Inc. – Product Information & Simulation Applications
1
eMEGAsim and eDRIVEsim Product Information & Simulation Application Examples
Rev. 6.2 (March 2011) Copyright © 2009 Opal-RT Technologies, Inc.
All rights reserved
www.opal-rt.com
Opal-RT Technologies Inc. – Product Information & Simulation Applications
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Contents
1. Opal-RT’s Products & Technology 4
1.1 eMEGAsim Real-Time Power Grid Simulator ........................................................................... 4 1.2 eDRIVEsim Real-Time Digital Simulator ................................................................................... 4 1.3 RT-LAB BERTA Test Bench for Speed Governors ................................................................... 5 1.4 TestDrive ECU Development & Testing System ....................................................................... 5 1.5 RT-LAB ...................................................................................................................................... 5 1.6 RT-EVENTS .............................................................................................................................. 7 1.7 RT-EVENTS Time-Stamped Bridges ........................................................................................ 8 1.8 ARTEMiS ................................................................................................................................... 8 1.9 ARTEMiS Advanced Models ..................................................................................................... 8 1.10 RT-XSG ............................................................................................................................... 9 1.11 JMAG-Studio ..................................................................................................................... 10 1.12 Specialized Software Modules & Model Libraries ............................................................. 11
2. AC-Fed Drives & Power Electronic Applications 12
AD-DRIVE-01: Train Traction Drive ............................................................................................... 13 AD-DRIVE-05: Onboard Power System for a Military Vehicle ....................................................... 14 AD-DRIVE-06: PMSM Inverter with AC-side Diode Rectifier ......................................................... 15 AD-DRIVE-07: Doubly-fed Induction Generator for Wind Turbine Applications ............................ 16 AD-DRIVE-08: 9-level PWM Inverter with AC-side, Multi-winding Transformer ............................ 17 AD-DRIVE-12: Naval Combat Survivability Testbed ..................................................................... 18 AD-DRIVE-13: Matrix Converter Drive ........................................................................................... 19 AD-DRIVE-14: AC-DC, 6-pulse Thyristor Converter ..................................................................... 20 AD-DRIVE-17: FPGA-based Simulation of an IGBT H-bridge and RL Load ................................. 21
3. Voltage-Source Drive Applications 22
AD-DRIVE-02: Real-Time, FPGA-based Simulation of a PMSM .................................................. 23 AD-DRIVE-03: Finite Element-based, Real-Time Simulation of Motor Drives .............................. 25 AD-DRIVE-04: Fuel-cell, Hybrid-Electric Vehicle ........................................................................... 26 AD-DRIVE-09: Parallel IGBT-bridge Induction Motor Drive........................................................... 27 AD-DRIVE-10: Switched-reluctance Motor Drive .......................................................................... 28 AD-DRIVE-11: PEM Hydrogen Fuel Cell for a Hybrid Vehicle ...................................................... 29
4. Mechanical System Applications 30
AD-DRIVE-15: RT-LAB DriveLab .................................................................................................. 31
5. Power Grid Applications 32
AD-GRID-01: 48-pulse, GTO-STATCOM-Compensated Power System ...................................... 33 AD-GRID-02: Kundur Power System ............................................................................................. 34 AD-GRID-03: Thyristor-based SVC ............................................................................................... 35 AD-GRID-04: HVDC, 12-pulse, 1 GW, Transmission System ....................................................... 36 AD-GRID-05: 8-Bus 8-Machine HVDC Network ............................................................................ 37 AD-GRID-06: 10 Wind-Turbine Farm and Power Grid .................................................................. 38 AD-GRID-07: Multi-Machine Ship Power Generation .................................................................... 39 AD-GRID-08: 23 bus Network ........................................................................................................ 41
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AD-GRID-09: 23-bus Network with Offshore Wind Farm .............................................................. 43 AD-GRID-10: 35-bus HVAC Network ............................................................................................ 44 AD-GRID-11: 41-bus HVAC/HVDC Network ................................................................................. 46 AD-GRID-12: AC Electric Railway System .................................................................................... 48 AD-GRID-13: 60 Hz, 138/230kV HVAC Power System ................................................................. 50 AD-GRID-14: Small Network Model with Multiple Test Sequencing ............................................. 51 AD-GRID-15: Bipolar HVDC System ............................................................................................. 52 AD-GRID-16: First CIGRE Benchmark for HVDC control studies ................................................. 53 AD-GRID-17: Multi-terminal HVDC System ................................................................................... 54 AD-GRID-18: Train-traction model ................................................................................................. 55 AD-GRID-19: 3-level, 72-pulse STATCOM .................................................................................... 56 AD-GRID-20: Thyristor Controller Series Capacitor test system ................................................... 57 AD-GRID-21: 330-bus HVAC Network .......................................................................................... 58
6. References 60
Opal-RT Technologies Inc. – Product Information & Simulation Applications
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Opal-RT’s Products & Technology
1.1 eMEGAsim Real-Time Power Grid Simulator
eMEGAsim is ideal for the study, test, and simulation of large in-land power grids, industrial power systems, commercial and military ships, and electrical train traction systems and feeding networks. eMEGAsim takes advantage of Intel multi-core CPUs and FPGA processors to simulate models of power electronics with sub-microsecond precision.
Ideal for simulation of power electronics found in new distributed generation (DG) technologies including wind farms, off-grid power systems, photovoltaic cells, and Plug-in Hybrid Electric Vehicles (PHEV). eMEGAsim is scalable from 4 to 64 CPUs, enabling it to simulate very large power grids with a time step as low as 20 microseconds
1.2 eDRIVEsim Real-Time Digital Simulator
The ideal real-time platform for designing advanced control systems and performing HIL testing of controllers used in high-speed electric motors, power converters, and hybrid drives including:
• PMSM, BLDC, and IM motor drives • Automotive: Hybrid power trains, power steering, and auxiliary power systems • Transportation: Train traction and auxiliary systems, ship propulsion systems • Rectifiers and battery chargers • Wind energy and power electronic distributed generation and distribution systems • Industrial drives and multi-level converters
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1.3 RT-LAB BERTA Test Bench for Speed Governors
RT-LAB BERTA represents the best tool available today for solving speed regulator problems at the source, and at the lowest possible cost.
RT-LAB BERTA lets you accurately set speed regulator PID gains, in turn assessing the stable behavior of the generating unit. RT-LAB BERTA achieves this without taking the generating unit under test offline from the overall power system, and ensuring that simulated power system disturbances used by RT-LAB BERTA do not place you or the overall power system at risk. RT-LAB BERTA combines a Real-Time Digital Simulator, based on eMEGAsim technology, and the reprogrammable LabVIEW-based GUI of Opal-RT’s TestDrive testing system.
1.4 TestDrive ECU Development & Testing System
RT-LAB TestDrive is a modular hardware-in-the-loop (HIL) system designed to meet design & testing challenges involved with next generation ECUs.
An ideal replacement for static simulators and the current generation of programmable simulators, TestDrive achieves low unit cost through the use of off-the-shelf hardware technologies and a common I/O modular design. TestDrive can serve as an I/O processor when combined with Opal-RT's eDRIVEsim simulator for closed-loop real-time simulation using high fidelity plant models. This flexibility enables you to integrate your TestDrive with, or upgrade directly to, the more powerful RT-LAB eDRIVEsim Real-Time Simulator, when you need it.
1.5 RT-LAB
RT-LAB™ is the core technology behind Opal-RT’s flagship Real-Time Simulator products including eDRIVEsim, eMEGAsim, RT-LAB BERTA and the OP6000 TestDrive ECU Tester. Fully integrated with MATLAB/Simulink from The MathWorks, RT-LAB enables distributed Real-Time Simulation and Hardware-in-the-Loop testing of complex electrical, mechanical, and power electronic systems, and related controllers using commercially available FPGA and Intel-based x86 processors.[27]. RT-LAB can be used for Rapid Control Prototyping to quickly build controllers from block diagrams.
Opal-RT Technologies Inc. – Product Information & Simulation Applications
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Rapid Control Prototyping with RT-LAB based Real Time Simulators
HIL (hardware-in-the-loop) testing with RT-LAB based Real Time Simulators
RT-LAB based
Real-Time Simulator
+ -
Controller
RT-LAB based Real-Time Simulator
+
-Motor
Plant model
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1.6 RT-EVENTS
RT-EVENTS™ is a Simulink toolbox for the fixed-time-step simulation of hybrid systems that involve dynamics and discrete events occurring asynchronous to the simulation clock. RT-EVENTS is compatible with both RT-LAB™ and Real Time Workshop (RTW) from The MathWorks making it ideal for use in Real-Time Simulation applications.
RT-EVENTS library of blocks
The RT-EVENTS toolbox solves simulation accuracy problems of dynamic systems that depend on
events not synchronized with the model sample time. In standard fixed-timestep simulations, such events are only taken into account at the next time step, and therefore can introduce significant errors within the simulation.
A key feature of RT-EVENTS 3.1 is the blockset’s ability to compensate for multiple events occurring between fixed-time-steps. This means that fixed-time-step simulations using RT-EVENTS can be executed with a higher degree of accuracy, even when using a relatively large time step. This can also be beneficial when conducting non-real-time simulations since the use of larger time steps can result in shorter computation times and more detailed waveforms. RT-EVENTS 3.1 is particularly ideal for use in the Simulation of fast switching power electronic devices, such as those found in electrical power networks.
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PWM generation with RT-EVENTS and FPGA-driven digital outputs
1.7 RT-EVENTS Time-Stamped Bridges
Time-Stamped Bridges are fixed-step models of voltage source converters that are designed for real-time simulation and HIL testing. Applications for these models include, but are not limited to: DC-DC converters, PWM (pulse width modulation) inverters, and multi-level inverters.
These models are designed to be driven by the gate signals of an FPGA card with nanosecond-resolution or by Opal-RT`s RT-EVENTS blockset to simulate pulse generation. Time-Stamped Bridge models are much faster than their SimPowerSystems and ARTEMiS counterparts, and are ideal for the real-time simulation of inverter drives and converters.
1.8 ARTEMiS
ARTEMiS is a suite of fixed-step solvers and algorithms that optimize Real-Time Simulation of SimPowerSystems models of electrical, power electronic, and electromechanical systems [23]. ARTEMiS 5 provides full compatibility with MATLAB 2008A and SimPowerSystems 4.6, enabling users to work with, and enhance, the latest SimPowerSystems demonstration models, as well as a number of new motor models such as BLDC, step motor, and battery models.
ARTEMiS 5 takes advantage of RT-LAB’s improved support for simulators using a large number of processor cores, and comes with an extensive library of real-time models to enable true parallel simulation of coupled electrical systems on multi-core eDRIVEsim and eMEGAsim simulators. ARTEMiS 5 also has enhanced compatibility with RT-EVENTS which provides for efficient and seamless interconnectivity between RT-EVENTS interpolated switch control and ARTEMiS/SimPowerSystems models.
1.9 ARTEMiS Advanced Models
The ARTEMiS Advanced Models blockset is a collection of special models used by ARTEMiS to achieve real-time performance. Included are Decoupling Transformer (DT) models that permit the decoupling of secondary circuits, Distributed Parameter Line (DPL) models, and stubline models. DT, DPL, and stubline models allow the separation of large circuits into sub-systems that can then be processed in parallel using RT-LAB simulators.
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Simulation of a 6-pulse thyristor convertor with ARTEMiS
1.10 RT-XSG
RT-XSG enables engineers to generate custom, application specific models that can be implemented onto an FPGA device. Signal conditioning and conversion modules are also available that enable the custom model to be used for Real-Time Simulation, and Hardware-in-the-Loop (HIL) data processing.
RT-XSG can be used in standalone mode in order to provide configuration data when operating in the MATLAB/Simulink environment. It can also be used when modeling within the RT-LAB® environment,
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providing the user with a state-of-the-art solution for advanced FPGA-accelerated Real-Time and HIL system simulation.
RT-XSG provides a convenient, Simulink-based way to build models. Using the RT-XSG toolbox saves time when conducting FPGA-based co-simulation, since it automatically manages configuration file generation on each supported platform. It also manages the configuration of the platform, along with the transfer of high-bandwidth data between RT-LAB simulation models and the user-defined custom model, built using RT-XSG, and executed on an FPGA device.
1.11 JMAG-Studio
JMAG-Studio is an electromagnetic field analysis software package developed by the Japan Research Institute. The software supports the design and development of motors, actuators, circuit components, antennas, and other electric and electronic products.
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1.12 Specialized Software Modules & Model Libraries
Library Main Functions Applications
RT-EVENTS Real-Time Simulation of hybrid events-based systems
PWM Generation
Pulse frequency and duty measurement
Encoder simulation
Internal combustion engine simulation
RT-Drive Library of electrical components for motor drive simulation Voltage source converters
DC-DC converters
Specialized drive functions
ARTEMiS Real-time Simulation of electrical systems – Used with SimPowerSystems
from The MathWorks
Power networks including HVDC & SVC line-commutated drives with:
Thyristors drives
Cyclo- converters
Diode & thyristors rectifiers
RT-XSG Implementation of Xilinx Blockset on RT-LAB FPGA Ultra-fast Real-Time Simulation
High frequency PWM generation
Special communication protocols
RT-LAB.XSG A library of motor drive models for FPGA targets, based on RT-XSG
PMSM and BLDC RT ultra-fast models including:
Resolver
Encoders
PWM generation
RT-LAB.JMAG Implementation of Finite-Element JMAG motor models on RT-LAB Simulator High-fidelity PM motor model
EMTP-RT Interface to EMTP-RV Electromagnetic Transient Simulation software Off-line & Real-Time Simulation of Large Power Grids
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AC-Fed Drives & Power Electronic Applications
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AD-DRIVE-01: Train Traction Drive
Keywords: PMSM motor, 3-level inverter, 12-pulse thyristor rectifier
The train traction drive demo is composed of a grid-connected, 12-pulse, thyristor rectifier connected to a 3-level, GTO (gate turn-off thyristor) inverter feeding a 1 MW permanent magnet motor.
To achieve hard-real-time simulation of the AC-side rectifier, the inverter was modeled with Time-Stamped Bridges and ARTEMiS. To artificially decouple the 2 secondary windings of the transformer, a special transformer model was designed. Thus, ARTEMiS solvers can make a full precomputation of the two 6-pulse thyristor modes. Without this, the algorithm would have to precompute 4096 (212) different system equations for the AC-side only.
To decouple the secondary windings, a short transmission line having the same line inductance modeled the secondary leakage inductance. This approximation has the effect of introducing some line capacitances that are not present in the actual circuit. However, as long as the sample time is small, the spurious capacitances are also small and the error is minimal.
Train traction drive circuit
System configuration
Hardware enclosure HILBox
Software modules Time-stamped bridge, ARTEMiS
Additional models Advanced models (DT)
Package D21Q-1
Thyristor
rectifiers
3-level GTO
bridge
Permanent magnet motor
~ 1 MW
SM
12 mF
12 mF20000V L-L
Y
Y
D
Controller
GTO
pulses
Motor
speedinverter
currents
1.5MVA, 50 Hz
20000 V - 1000 V
4 mH
4 mH
Thyristor Controller
synchro
signalsDC-link
inductance
currents
DC-link
capacitor
voltage
500 Hz
carrier FPU
122212
Thyristor
gate
pulses
CPU 1: (Ts= 50 us) CPU 2: (Ts= 25 us)
Opal-RT Technologies Inc. – Product Information & Simulation Applications
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AD-DRIVE-05: Onboard Power System for a Military Vehicle
Keywords: Diesel-driven alternator, diode rectifier, DC power system, PMSM inverter, DC-motor chopper, AC-voltage inverter
This demo represents a typical onboard power system for a military vehicle. The main power source is a diesel motor driving an alternator with output rectified to produce a 600 VDC bus voltage, used primarily for vehicle traction. A DC-DC converter converts this voltage to 26 V for hotel loads. In this case, the load consists of a DC motor and an AC inverter with its load.
The diode rectifier uses the ARTEMiS blockset to precompute all modes of the rectifier, thus removing SimPowerSystems mode computation from the real-time loop. The traction motor, DC-motor chopper, and AC inverter use Opal-RT Time-Stamped Bridges. Time-Stamped Bridges use special interpolation techniques to accurately compute the voltage application time for the motors and load.
The model runs in real time at 21 microseconds without I/O on a dual-Xeon-based, 2.4 GHz, RT-LAB simulator.
Onboard power system for a military vehicle
System configuration
Hardware enclosure HILBox
Software modules Time-stamped bridge, ARTEMiS
Additional models N/A
Package D21Q-1
Opal-RT Technologies Inc. – Product Information & Simulation Applications
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AD-DRIVE-06: PMSM Inverter with AC-side Diode Rectifier
Keywords: Diode rectifier, 9 kHz PMSM drive, HIL simulation, small motor drive
This demo implements a permanent magnet motor drive fed by a 3-phase diode rectifier. The model runs on a dual-Xeon-based, 2.8 GHz, RT-LAB simulator with sample times of 10 microseconds for the motor inverter and 80 microseconds for the diode rectifier. The diode rectifier uses the ARTEMiS blockset to precompute all modes of the rectifier, thus removing SimPowerSystems mode computation from the real-time loop. An IGBT bridge using Time-Stamped Bridges is used to accurately compute the voltage-time application time to the motor model. This is important because if the model samples the IGBT gate signals at 10 microseconds without special care, important errors would occur in the motor flux computations with the PWM carrier set at 9 kHz (~110 microseconds period, ~10 times the simulation time step).
In August 2004, Opal-RT successfully created for Mitsubishi Electric Co. of Japan a real-time simulator running this model [8]. The model is connected to a real external vector controller with a sampling rate of 55 microseconds. The external controller reads the motor currents and the quadrature encoder signals from the simulator and feeds the simulator with the 6 IGBT gate signals. The complete model runs in this HIL mode at a sample time of 10 microseconds for the CPU simulating the inverter and 80 microseconds for the CPU running the AC-side of the model.
PMSM inverter with AC-side
System configuration
Hardware enclosure HILBox
Software modules Time-stamped bridge, ARTEMiS
Additional models N/A
Package D21Q-1
permanent
magnet motor
Currents
External controller (sampling rate =55 s)
3-phase
source
reactor
diode
rectifier
x6 x6
PWM
inverter
N
S
Tload
IGBT
pulses
Quadrature
encoder signals
CPU 1: (Ts= 80 us) CPU 2: (Ts= 10 us)
(Fpwm
=9 kHz)
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AD-DRIVE-07: Doubly-fed Induction Generator for Wind Turbine Applications
Keywords: wind turbine, doubly-fed induction generator, back-to-back PWM inverters, PWM rectifier
This demo implements a doubly-fed induction generator for a wind-turbine connected to a grid circuit. The inductive grid, transformers, and induction machine are modeled in SimPowerSystems. The two PWM inverters are modeled with Time-Stamped Bridges. In all tests, the PWM carrier frequency is set to 2 kHz and the simulation step size is 50 microseconds. A more elaborate description of the set-up used for the real-time simulation of this model can be found in references [9][12].
Doubly-fed induction generator for wind energy generation – Complete system (left) and real-time task distribution with I/O (right)
System configuration
Hardware enclosure HILBox
Software modules Time-stamped bridge, ARTEMiS
Additional models N/A
Package D21Q-1
3~
= 3~
=
DFIM
Grid
Filter
Transformer
PWM inverters
Gearbox
Wind turbine
(X=20%)
1: 4
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AD-DRIVE-08: 9-level PWM Inverter with AC-side, Multi-winding Transformer
Keywords: multi-level inverter, multi-winding transformer, ARTEMiS decoupling
The multi-level inverter shown in 0 is a high-power, ultra-low harmonic generating inverter drive. By feeding the DC-stage from winding with different phases, the injected harmonics are minimized at the primary. A 9-level inverter also provides low harmonics at the load. Time-Stamped Bridges are used to model the inverter part while a special decoupling transformer, in conjunction with ARTEMiS, permits full-mode precomputation of this model and allows faster time steps with real-time simulations. This model was run in real-time with a time-step of 75 microseconds on a dual-Xeon-based, 2.4 GHz, RT-LAB simulator.
9-level inverter with 12-winding, 3-phase transformer
System configuration
Hardware enclosure HILBox
Software modules Time-stamped bridge, ARTEMiS
Additional models Advanced models (DT)
Package D21Q-1
Diode rectifiers
9 -level GTO
bridge inverter
R-L load
SM
3000V L-L
+30 degree
+15 degree
0 degree
-15 degree
Phase A transformer
(6 windings)
Phase B transformers
-rectifier
Phase C transformers-
rectifiers
54 mF
54 mF
54 mF
54 mF
Phase A of Load
9-level GTO
bridge
inverterphase B
9-level GTO
bridge
inverterphase C
CPU1: 75 us CPU2: 75 us
internal
neutral point
920 V
3000 V
920 V
920 V
920 V
Network
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AD-DRIVE-12: Naval Combat Survivability Testbed
Keywords: onboard power systems, redundant systems, alternators, buck converters.
Next-generation, all-electric warships will be equipped with highly complex energy generation and distribution systems that must be capable of operating under very stringent conditions. These systems will include several power electronics systems interconnected by AC and DC busses to feed a variety of complex loads and controls. The design, test, commissioning, operation, and maintenance of such systems will be a challenge due to the complexity of the totally interconnected system. In particular, the stability assessment of such systems is challenging.
This demo implements an augmented version of the Naval Combat Survivability Testbed (NCST) distribution with 2 synchronous machine generators. In the system, each generator feeds one of the DC busses. From each bus, an SSCM (ship service converter module) feeds each load in a redundant way so that if power fails on one bus, the load can be fed from the other bus. SSCM are buck converters similar to the CPL (constant power load (CPL). There are 3 different loads connected to the buses through the SSCM: an induction machine, a power inverter, and a CPL.
On a dual-Xeon-based, 2.4 GHz, RT-LAB simulator with no I/O and using RT-LAB 7.0b4 software with the RedHawk Linux operating system, this model runs at sample time of 37 microseconds.
NCS Distribution testbed model with alternators
System configuration
Hardware enclosure HILBox
Software modules Time-stamped bridge, ARTEMiS
Additional models Advanced models (DT)
Package D21Q-1
Diode rectifier
x6
CPU 1 CPU 2
Alternator regulator
Exitation
voltage
DC
voltage
3 KW
2 kW
AC inverter regulator
IGBT
pulses
AC load
voltageDiesel motor &
speed regulator
x6
Alternator regulator
Exitation
voltageDC
voltage
SSCM SSCM SSCM
SSCM SSCM SSCM
208 V
60 Hz
FPUIGBT
pulses
Induction
Motor
modulation
index
0.18
374 F
20 mH
0.1
2 power regulator
i
+
v
-IGBT
pulses
Zone 1 : AC inverter and load
Zone 2 : Induction motor inverter
Zone 3 : Constant power loadTo zone 1 To zone 2 To zone 3
V zone 1
V zone 2
V zone 3
500 V
500 V
420 V 420 V 420 V
v,i
set-point: 5 kW
Diesel motor &
speed regulator
Diode rectifierGenerator #1 Generator #2
Starboard Bus
Port Bus
Fault
PIset-point
1600 RPM
Opal-RT Technologies Inc. – Product Information & Simulation Applications
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AD-DRIVE-13: Matrix Converter Drive
Keywords: matrix converter, direct AC-AC converter
This matrix drive demo is composed of 18 IGBTs, MCTs, or even RB-IGBTs (reverse blocking IGBTs) grouped in pairs in series-parallel configuration with diodes (except in the case of RB-IGBT). An input filter and voltage clamp circuit complete the circuit.
This drive topology has some interesting characteristics: It has intrinsic power regeneration capabilities. It can have a smaller mounting place than conventional AC-AC converters because neither braking resistors nor large electrolytic capacitors are required. It has low total harmonics of input current with high efficiency and power factor. Also, because the matrix converter drive has no large DC-bus capacitor (usually electrolytic) it has a longer lifetime and is more reliable.
This matrix converter model can be accurate at a typical simulator time step (10 microseconds) and a typical matrix converter switching frequency (10 kHz), and the model takes into account multiple dead time effects occurring in matrix converters. It can also detect individual IGBT firing faults like load open-circuits and source short-circuits, and can operate independently from the commutation technique (e.g., with current commutation or voltage-based methods). Finally, it takes into account IGBT voltage offset and resistive voltage drops.
Matrix converter drive
System configuration
Hardware enclosure HILBox
Software modules Time-stamped bridge, ARTEMiS
Additional models N/A
Package D21Q-1
Sawn
Input filter
Power grid
Matrix converter
a
b
c
u v w
Clamp
circuit Inductive
load
Sawp
Bi-directional
switch
on
off
iu i
viw
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AD-DRIVE-14: AC-DC, 6-pulse Thyristor Converter
Keywords: thyristor rectifier, ARTEMiS compensation, AC-DC motor
This circuit is a 6-pulse, thyristor rectifier connected to a DC-motor equivalent model. This converter circuit topology exhibits fast switching dynamics, which in simulations with relatively large fixed time steps can cause multiple switching events in a single time-step. The DTCSE algorithm of ARTEMiS deals well with this type of circuit with no extra computational time, as compared with a single-event case [17].
The psbconverter.mdl is an example of a circuit exhibiting multiple single-step events. In
psbconverter.mdl, closing one branch of the thyristor bridge causes another branch to open
through an inductive current loop in the source. Depending on the time-step and on the inductance of the source branches, this opening can easily occur a fraction of a time-step after the opposite branch closes.
6-pulse thyristor converter with a simple DC motor model
Solution Configuration
Solution Package eDRIVEsim package # D21Q-1
Hardware Enclosure HIL Box
Software Components RT-LAB XSG, ARTEMiS
R
C
0.011mH
20mH
120V208Vrms
3
FPU
PI control
firing angle
load current
synchronisation
voltagesPLL
set point
3
6 thyristor pulses
Y-Y transfo
Opal-RT Technologies Inc. – Product Information & Simulation Applications
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AD-DRIVE-17: FPGA-based Simulation of an IGBT H-bridge and RL Load
This demo shows the implementation of an IGBT H-bridge, R-L load being simulated in real-time on an FPGA chip, along with pulse-width modulation (PWM). In this example, the PWM fluctuates between 1k-100kHz. The H-bridge is driven in an open-loop simulation mode by setting the duty cycle in the Console. All parameters of the electrical circuit, including R and L values; DC-link voltage; PWM frequency; dead time and duty-cycle can be directly input by the operator via a user-friendly interface on the host PC. The latency of the model is essentially equal to the 1 μs conversion rate of the Analog Outputs. The console offers the option of routing the IGBT pulse through the Digital Input and Output (I/O) by an optional, external loop-back connection. In the present model, the digital I/O are represented as the Front Connector I/O. These I/O can be easily re-routed to the backplan connector, using a single wire in the XSG model. By connecting the Digital Output to a real H-bridge, one can drive a DC-motor.
The H-bridge driven R-L load modeled in the FPGA card.
Solution configuration
Solution Package eDRIVEsim package # C11Q-1
Hardware enclosure HIL Box
Software components RT-LAB XSG, RT-EVENTS
Additional Models XSG (FPGA Simulation)
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Voltage-Source Drive Applications
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AD-DRIVE-02: Real-Time, FPGA-based Simulation of a PMSM
Keywords: FPGA simulation, PMSM (permanent magnet synchronous motor) simulation, very-high-bandwidth drive, fixed-point calculations
This example highlights the capacity of RT-LAB XSG to perform real-time simulation of complex plant models using FPGA technology. In particular, a permanent magnet synchronous motor (PMSM) is being simulated directly on an FPGA chip.
A 3-phase PMSM with sinusoidal flux distribution (Park model) and no saturation was implemented using the XSG blockset. Using Xilinx Foundation Tools, RT-LAB XSG automatically compiles and routes models onto an Opal-RT FPGA card.
Key advantages of RT-LAB XSG are:
Easy Simulink integration and interface of FPGA designs (controllers, small machine models, PWM modulation units, etc.)
Very fast computation of PMSM motor drive (e.g., latency of 250 ns), permitting very fast closed-loop testing of high-bandwidth motor controllers
Very fast I/O with RT-LAB. D/A and A/D update rates of 1 μs and 2 μs respectively, and a digital I/O resolution of 10 ns.
An FPGA-based PMSM drive simulated using XSG
The PMSM is driven at fixed rotor speed. The 3-phase, IGBT PWM inverter drives the stator with dead-time capability. The IGBT inverter gate signals can comes from external I/O or from an internal PWM source. In the latter case, the modulation signal is a 3-phase sinusoidal source with the exact rotor frequency but with a user-variable phase. The user can also modify the PWM carrier frequency of the modulator (up to 100kHz) as well as its dead time. Simulation with rotor-synchronous internal PWM source therefore results in constant Park d q quantities and electrical torque. By modifying the stator PWM voltage phase shift, one can observe and study its effect on the electrical torque. Similarly, by modifying the PWM dead time, one can observe the distortions on motor currents [8]. If external control is used, the machine phase currents also have fast D/A output with a 1-μs conversion rate. The machine model itself has an input-output latency less than 250 ns (+ 60 ns for the inverter).
Solution Configuration
Solution Package eDRIVEsim package # D11Q-1
Permanent
magnet motor
N
S
rotor
& VsourcePhase shift of
Vsource
internal 3-phase
voltage source
modulator
Fmod
:10-200 kHz
shift
Modulation index
upper IGBT
pulses
lower IGBT
pulses
Internal PWM test source
IGBT gate source selection
Analog Outputs
iabc
External Digital Inputs
Dead time
IGBT inverter
Opal-RT Technologies Inc. – Product Information & Simulation Applications
24
Hardware enclosure Single-CPU MX Station
Software modules RT-LAB, Time-Stamped Bridge
Additional models
Opal-RT Technologies Inc. – Product Information & Simulation Applications
25
AD-DRIVE-03: Finite Element-based, Real-Time Simulation of Motor Drives
Keywords: FEM (finite element method), cogging torque simulation, JMAG-studio software
Finite Element Method (FEM) analysis produces highly accurate motor models as compared with the Park-based models. For example, Park-based models assume a sinusoidal flux linkage and therefore do not account for the torque effects caused by the motor slots (known as cogging torque). However, Park-based models are very simple and have traditionally been used for real-time applications, unlike the more developed complex FEM-based models.
However, with RT-LAB, it is now possible to simulate FEM-based motor models in real-time. JMAG-Studio and JMAG-RT, developed by the Japan Research Institute (JRI) and available from Opal-RT, enable engineers to generate very high-precision models, for real-time implementation. The model can include details such as all inductance values, including saturation, and flux linkage functions of all motor angles and motor currents. The model can then be incorporated in an RT-LAB simulation using a standard Simulink DLL file, and interfaced with RT-LAB toolboxes for drive simulation.
A FEM-based PMSM together with kHz-range (>10 kHz) PWM inverters can be simulated at a time step of 50 microseconds using an Opteron-based, 2.2 GHz, RT-LAB simulator.
It can be used for design optimization of motor drives and also for testing and calibration of an externally connected electronic control unit (ECU), using hardware-in-the-loop simulation,
Typical design process using JMAG-Studio and RT-LAB
Solution Configuration
Solution package eDRIVEsim, package # C11Q
Hardware enclosure MX Station or HIL Box
Software components RT-LAB, RT-EVENTS
Additional models JMAG software
Opal-RT Technologies Inc. – Product Information & Simulation Applications
26
AD-DRIVE-04: Fuel-cell, Hybrid-Electric Vehicle
Keywords: Fuel cell, Battery, 10 kHz DC-DC converter, 2-level PMSM 10 kHz drive
The example of the fuel-cell, hybrid-electric vehicle is composed of a battery, a fuel cell (modeled as a voltage source), a DC-DC converter, and motor drive [4][5][6][7]. In this system, the DC-DC converter controls the power sharing between the battery and the fuel cell. The Opal-RT Time-Stamped Bridge is required to obtain accurate simulation of the DC-DC converter because its chopping frequency (10 kHz) represent only 1/10 the period of the 10 μs sample time for the model. Errors on IGBT gate sampling can lead to loss of control in the real-time simulator.
Fuel–cell, Hybrid–Electrical Vehicle Drive
This demo can be run using two distributed, RT-LAB simulators. The first system, an Intel® Pentium® M system running RT-LAB, implements a DC-DC converter controller with analog inputs and PWM outputs. The second system implements the fuel-cell, hybrid-electric vehicle models including DC-DC converter, battery, fuel cell and permanent magnetic synchronous motor (PMSM) drive, along with the PMSM controller. This simulator performed with a time step of less than 25 μs using on a dual-Xeon system with 3.0 GHz.
Solution configuration
Solution Package eDRIVEsim, package # C11Q-1
Hardware enclosure MX Station or HIL Box
Software components RT-LAB, RT-EVENTS, ARTEMiS
Additional models N/A
Permanent
magnet motor
DC-DC converter
10 kHz DC-DC converters
80kW
240 -
380 V
2600uF
5200uF
240- .
400 V
Battery circuit Fuel cell circuit
CPU 1: (Ts= 10 us)
CPU 2: (Ts= 20 us)
N
S
PWM inverter
FPU FPU
FPU Digital OUT
Digital IN
i550mH
vfuel_cell
motor
imotorV
uvwduty cycle
Motor controller
Opal-RT Technologies Inc. – Product Information & Simulation Applications
27
AD-DRIVE-09: Parallel IGBT-bridge Induction Motor Drive
Keywords: detailed Time-Stamped Bridge, interphase transformer, induction motor
This example demonstrates the implementation of an induction motor driven using two IGBT inverters connected in parallel through an interphase transformer. The DC-link is modeled as a big capacitor with voltage source and 2 choppers for over-voltage protection. A critical aspect of the parallel bridge induction motor drive of 0 is the individual firing delay between parallel IGBT, which can cause huge current spikes in the interphase transformer [13]. The Advanced Time-Stamped Bridge model allows the variation of individual IGBT characteristics and the study of this effect in real-time.
Parallel IGBT-bridge induction motor drive
System configuration
Hardware enclosure HILBox
Software modules RT-EVENTS
Additional models N/A
Package C11Q-1
External Controller
6
Induction
Motor
interphase
transformerDC-Link model
IGBT inverters
+
DC
-Lin
k
voltage
Chopper
gate
sig
nals
IGB
T b
ridge
gate
puls
es
Moto
r curr
ents
Moto
r speed
encoder
sig
nals
Vdc
(set point)
Real-time
simulator
6
Opal-RT Technologies Inc. – Product Information & Simulation Applications
28
AD-DRIVE-10: Switched-reluctance Motor Drive
Keywords: switched reluctance motor drive
This demo is a model of a 4-phase (8/6), inductance–based, switched-reluctance motor and its hysteresis drive. The model was created by Opal-RT in collaboration with Texas A&M University, who developed the (8/6) switched reluctance motor model.
Switch reluctance motor drive
System configuration
Hardware enclosure HILBox
Software modules RT-EVENTS
Additional models Switched reluctance motor model
Package C11Q-1
a a' b b' c c' d d'
Vdc
+
a
a'
b
b'
c
d
d'
c'
FPUCPU 2: (Ts= 25 us)
IGBT pulses motor
imotor
Motor controller
CPU 1: (Ts=25 us)
Drive Switched Reluctance Motor
Opal-RT Technologies Inc. – Product Information & Simulation Applications
29
AD-DRIVE-11: PEM Hydrogen Fuel Cell for a Hybrid Vehicle
Keywords: PEM (proton exchange membrane) fuel cell model, 10 kHz DC-DC converter, 2-level PMSM 10 kHz drive
This fuel cell for a hybrid vehicle circuit is depicted in 0. It’s composed of battery, a PEM (proton exchange membrane) detailed fuel-cell model, a 10 kHz, PMSM motor drive, and a 10 kHz, 3-phase, DC-DC converter. The model, developed by Emmeskay, is a commercially available, control-oriented model developed in Simulink. This dynamic model simulates the following thermo-electro-chemical phenomena occurring in a fuel cell: diffusion of gaseous reactants to the reaction sites, electrochemical reactions, combustion product diffusion from reaction sites, and heat generation.
PEM-based fuel cell for a hybrid vehicle drive
System configuration
Hardware enclosure HILBox
Software modules RT-EVENTS
Additional models Fuel Cell Stack
Package C11Q-1
Opal-RT Technologies Inc. – Product Information & Simulation Applications
30
Mechanical System Applications
Opal-RT Technologies Inc. – Product Information & Simulation Applications
31
Drive Motors
Drive Board
AD-DRIVE-15: RT-LAB DriveLab
Keywords: IGBT inverter, Induction motor drive, BLDC motor drive, PMSM Drive, DC motor drive
RT-LAB DriveLab is a fully integrated electric drive system ideal for teaching, lab experiments and research in the field of electric machine drive.
In addition to 4 types of motors and their power electronics drive, it comes with control models made for Simulink and including I/Os; these models are compatible with and are easily implemented on RT-LAB real-time PC-based system, for rapidly controlling the motors.
The system has been specially designed to be simple and robust for use in educational laboratories but is sufficiently open to allow professor or students to expand the system to their requirements, and to develop new control strategies and test them on this drive lab platform.
DriveLab motors and drive board
This teaching and research tool kit includes:
Choice of 4 motors: Permanent magnet DC generator, Permanent magnet DC motor, 3-phase permanent magnet brushless motor, 3-phase induction motor
Drive Board: 2 x 6-pulse inverter
Break-out box
RT-LAB software license and QNX Neutrino license
FPGA-based signal I/Os: Analog inputs, analog outputs, digital inputs, digital outputs
Labview graphical user interface - RT-LAB Labview API
System configuration
Hardware enclosure HILBox
Software modules RT-EVENTS
Package C11Q-1
Opal-RT Technologies Inc. – Product Information & Simulation Applications
32
Power Grid Applications
Opal-RT Technologies Inc. – Product Information & Simulation Applications
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AD-GRID-01: 48-pulse, GTO-STATCOM-Compensated Power System
Keywords: STATCOM, power system, multi-level converters
This 48-pulse STATCOM is built with four 3-phase, 3-level inverters coupled with 4 phase shifting transformers introducing a phase shift of +/- 7.5. This power system has 3 buses and 3 power lines and the STATCOM device is connected to BUS1. The network is also composed of 3 ideal inductive sources.
The STATCOM is modeled with Opal-RT Time-Stamped Bridges while the rest of the power system is modeled with SimPowerSystems and ARTEMiS [18].
48-pulse, STATCOM configuration (left) and test power system (right)
The STATCOM network has been simulated on a dual-Xeon-based, shared-memory,RT-LAB simulator running RT-LAB 7.1 software under the RedHawk Linux operating system. ARTEMiS and Time-Stamped Bridges reduced by 10 times the real-time speed to below 40 microseconds compared to SimPowerSystems alone.
Hard-real-time computational speeds on dual-Xeon-based, 2.4 GHz, RT-LAB simulator
SimPowerSystems (with ARTEMiS) network + Time-Stamped Bridge for STATCOM switches
36 microseconds
SimPowerSystems only 340 microseconds
System configuration
Hardware enclosure HILBox
Software modules RT-EVENTS, ARTEMiS
Additional models N/A
Package D21Q-1
3-level
3-level
3-level
3-level
STATCOM
Controller
BUS1
currents
voltages
VCap
GTO
pulses
48
3 mF
3 mF
500kV 60 Hz
8500 MVA
200 MW
75 km Line
200 km Line
180 km Line
500kV 60 Hz
6500 MVA
500kV 60 Hz
9000 MVA
300 MW
BUS1
BUS2
BUS3
STATCOM
Opal-RT Technologies Inc. – Product Information & Simulation Applications
34
AD-GRID-02: Kundur Power System
Keywords: Electromechanical power system stability, multi-machine power grid, dual-core Opteron simulation
The Kundur power system consists of 2 fully symmetrical areas linked together by two 230 kV lines of 220 km length. It was specifically designed in [20][21] to study low-frequency electromechanical oscillations in large interconnected power systems. Despite its small size, it mimics very closely the behavior of typical systems in actual operation.
The electromagnetic transient type of simulation made in RT-LAB enables the study of fast and detailed phenomena like single-phase faults in the Kundur network and to observe their effects on a larger time scale (i.e., on the electromechanical scale, as with inter-area power oscillations).
Kundur power network
This real-time simulation ran on dual-core, dual-Opteron-based RT-LAB simulator with a time step of 18 microseconds. Task separation was as follows: Area 1 power system on CPU 1; Area 2 power system on CPU2; All controls, CPU 3; Linux OS (TCP/IP) on CPU 4. Each task had a 12-14-microsecond calculation time.
System configuration
Hardware enclosure HILBox
Software modules ARTEMiS
Additional models DPL
Package E21Q-1
Fault
P= 413MW
Turbine and
excitation controls
Load: 967 MW
Filter and
compensators
25 km line
220 km line
220 km line
25 km line
Load: 1767 MW
power stabiliser
Turbine and
excitation controls
power stabiliser
Turbine and
excitation controls
power stabiliser
Turbine and
excitation controls
power stabiliser
Opal-RT Technologies Inc. – Product Information & Simulation Applications
35
AD-GRID-03: Thyristor-based SVC
Keywords: power system compensation, FACTS simulation, TCR, TSC, MOV protection
The real-time simulation of an SVC (static VAR compensator) was made on 2 independent RT-LAB simulators. The plant part, which includes the main power system source, transformer, a thyristor controlled reactor, and 3–thyristor, switched capacitor banks, was made on a dual-Xeon-based RT-LAB simulator. The controller part, which includes a PI compensator, synchronization unit, and thyristor firing pulse units, was made with a Pentium-M-based RT-LAB simulator. Both simulators were equipped with the necessary I/O to interface to each other: The controller had analog input to read the power system voltages and digital output to fire the thyristor. The plant simulator had complimentary I/O (analog output and digital inputs).
The demo implements a special MOV model to demonstrate capacitor protection, and uses stublines to effectively and accurately decouple each TSC (Thyristor Switched Capacitor) bank, allowing full precomputation of circuit modes by ARTEMiS.
Thyristor-based SVC
System configuration
Hardware enclosure HILBox
Software modules RT-EVENTS, ARTEMiS
Additional models N/A
Package E21Q-1
735kV
6000 MVA 333MVA
X=15%
To thyristorsTCR
109 Mvar
TSC1
94 Mvar
TSC2
94 Mvar
TSC3
94 Mvar
735 kV 16 kV
Voltage
regulatorSynchro
Reference
voltage
+
-
24
Opal-RT Technologies Inc. – Product Information & Simulation Applications
36
AD-GRID-04: HVDC, 12-pulse, 1 GW, Transmission System
Keywords: HVDC simulation, FACTS simulation, fault protection, dual-core dual-CPU Opteron simulation.
This demo models a 1000 MW (500 kV, 2 kA), HVDC link used to transmit power from a 500 kV, 5000 MVA, 60 Hz network to a 345 kV, 10 000 MVA, 50 Hz network.
The rectifier and the inverter are 12-pulse converters. The rectifier and the inverter are interconnected through a 300 km distributed parameter line and two 0.5 H smoothing reactors. The transformer tap changers aren’t simulated and fixed taps are assumed. The tap factor used on the primary voltage is 0.90 on rectifier side and 0.96 on inverter side. Reactive power required by the converters is provided by a set of capacitor banks plus 11th, 13th and high pass filters for a total of 600 MVAR on each side. Two circuit breakers are used to apply faults on the inverter AC side and the rectifier DC side.
1000 MW, HVDC, 12-pulse, transmission system
The real-time simulation of this HVDC network on a dual-core, dual-Opteron-based, RT-LAB simulator achieved a time step of 15 microseconds (with no I/O). Task separation was as follows: Rectifier power system on CPU 1; Inverter power system on CPU 2; All controls on CPU 3; Linux OS (TCP/IP) on CPU 4. Each power system task had a 12-microseconds calculation time, while the controller CPU had a 22-microseconds calculation time (the controller ran at twice the basic simulation time step).
System configuration
Hardware enclosure HILBox
Software modules RT-EVENTS, ARTEMiS
Additional models DLP, Stubline transformers
Package E21Q-1
12-pulse
thyristor
rectifier
500kV 60 Hz
0.5 H smoothing
reactor (Q=150)
Line (300 km)
345kV 50 Hz
AC filters (600 MVars)
0.5 H smoothing
reactor (Q=150)
AC filters (600 MVars)Inverter
controls &
protection
1200 MVA
Z=0.25 pu 1200 MVA
Z=0.25 pu
Rectifier
controls &
protection
12-pulse
thyristor
inverter
Opal-RT Technologies Inc. – Product Information & Simulation Applications
37
AD-GRID-05: 8-Bus 8-Machine HVDC Network
Keywords: Electromechanical stability, Transient analysis, 12-pulse HVDC link, Kundur network, Alternators with controls and power stabilizers
8-bus, 8 machine, HVDC network
This demo is an 8-bus, 8 machines network with a 12-pulse HVDC link. The network is composed of two 4-machine Kundur systems connected together with a 12-pulse HVDC links [28].
Each of the two Kundur power systems consists of two fully symmetrical areas linked together by two 230 kV lines of a 220 km length. An HVDC link rated at 500 MW (500 kV, 1kA) connects these two Kundur network. A 300 km distributed parameter line connects the two ends of the HVDC link. The rectifier and the inverter of the HVDC are 12-pulse converters. Other interesting characteristics are listed next:
Each machine is a 6 states synchronous machine model.
Each machine has its own controller and power stabilizer.
Single/multi-phase faults can be modeled on the system as well as thyristor misfires.
The electromagnetic transient type of simulation made in RT-LAB enables the study of fast and detailed phenomena like single-phase faults in the Kundur network and observe their effects on a larger time scale, i.e. on the electromechanical scale, like inter-area power oscillations and HVDC link controllability. These test results can be observed on the TestDrive interface, a convivial LabView-based GUI that enables dynamic signal view selection with scripting capabilities.
This complete model runs under RT-LAB on a dual-core dual-CPU Opteron 2.2 GHz PC at a real-time step size of 40 microseconds.
System configuration
Hardware enclosure HILBox
Software modules ARTEMiS
Additional models DT, DPL, Stubline
Opal-RT Technologies Inc. – Product Information & Simulation Applications
38
AD-GRID-06: 10 Wind-Turbine Farm and Power Grid
Keywords: Renewable Energy, Doubly-Fed Induction Generator (DFIG), Wind Turbine Generation System (WTGS)
Ten detailed doubly-fed induction generator (DFIG) based WTGS models, containing individual power electronics component, were connected to a three-section transmission system through a transformer. Each WTGS had its own distribution transformer connected to the sub-collector bus (cBx).
To form a high-resolution benchmark for protective device and power electronics controller design, fault responses of the wind farm was investigated with 50μs time-step. During the 100s simulation, three kinds of grid fault including single-line-to-ground, three-phase, and two-phase-to-ground were introduced.
Using high fidelity simulation of all doubly-fed generators and power electronic IGBT switching, this complete model runs under RT-LAB using 6-CPU on a quad-core dual-CPU Xeon 2.2 GHz PC at a real-time step size of 28 microseconds.
10 Wind-Turbine Farm - 6-CPU configuration
System configuration
Hardware enclosure HILBox
Software modules RT-EVENTS, ARTEMiS
Additional models N/A
Package E
Opal-RT Technologies Inc. – Product Information & Simulation Applications
39
AD-GRID-07: Multi-Machine Ship Power Generation
Keywords: Shipborne Power Generation System,
The modeled system, shown in 0, is primarily composed of two generation groups and five induction machine drive loads interconnected by a DC bus. More specifically, each generation group includes four ideal sources behind R-L circuits rated 230V at a frequency of 60Hz. The AC voltage provided by each generator is rectified by a 6-pulse ideal diode rectifier with R-C snubbers and is isolated using a Yg-Y transformer of unary windings ratio. The diode rectifier that is used is the SPS Universal bridge model. Stublines are essential for real-time performances as it produces decoupling of the underlying computational models. In order to lighten the calculation task of the two CPUs assigned to the generation groups, the system is therefore decoupled by one stubline at the end of each rectifier. Every load component is a squirrel cage induction motor, rated 4 HP at 220V and 60 Hz, fed by a DC/AC converter, isolated with a unary windings ratio Y-D transformer. They are all rotating at constant speed hence mechanically coupled to an infinite mass. The three-phase, 2-level inverters are Time-Stamp Bridges from the RTeDrive Blockset and are each gate-controlled by an RT-Event PWM generator (constant frequency modulation ratio and constant amplitude modulation ratio). Short decoupling lines (stublines) simulate the smoothing reactors in order to provide a virtual separation of the subsystems (each subsystem is assigned to a single CPU). The model capacitors (C1 to C5) have large values and provide the smoothing and stabilization of the DC bus voltage. The model was simulated in real-time at a time step of 20 μs on a Dual quad-core PC running under RT-LAB. Tests have also show the accuracy of the stubline and TSB models at even larger time step. These tests permit to conclude that a larger time step than 20 μs could be used (on a lower cost 4-core system for example) because the model is still accurate in the 50-70 μs time
Opal-RT Technologies Inc. – Product Information & Simulation Applications
40
step range.
Shipborne Power Generation System
System configuration
Hardware enclosure HILBox
Software modules RT-EVENTS, ARTEMiS
Additional models N/A
Package E
Opal-RT Technologies Inc. – Product Information & Simulation Applications
41
AD-GRID-08: 23 bus Network
Keywords: Transport network, Transient analysis, synchronous machine
This model simulates a 500 kV transport network consisting of 45-distribution lines that supplies power to 17 loads of 120 MW and 30 MVar. The frequency of the network is 60 Hz. There are seven 1000 MVA hydraulic generation turbine plant (synchronous machines and regulators) connected to the network.
eMEGAsim makes possible to see the behaviour of the network when faults occur during simulation (A to ground, AB to ground, ABC to ground ). It makes also possible to study the electromagnetic transient when the network lost machines or lines. Instability, islanding and resonance are some of the phenomenon that can be study and validate with the model.
This transport network represented a typical electric network with loads, generation machines and distribution lines. It shows the capacity of eMEGAsim to simulate this kind of network in real time with good performance. This model is separated in 4 CPUs and the step size of each cpu are 58 us on a dual quad core machine running at 2.3 GHz.
23 Bus Network
Opal-RT Technologies Inc. – Product Information & Simulation Applications
42
System configuration
Hardware enclosure HILBox
Software modules RT-EVENTS, ARTEMiS
Additional models N/A
Package E
Opal-RT Technologies Inc. – Product Information & Simulation Applications
43
AD-GRID-09: 23-bus Network with Offshore Wind Farm
Keywords: Transport network, Transient analysis, synchronous machine, Renewable Energy, Doubly-Fed Induction Generator (DFIG)
This model simulates a 500 kV transport network consisting of 45-distribution lines and supplies power to 17 loads of 120 MW and 30 MVar. The frequency is 60 Hz. There are seven 1000 MVA hydraulic generation turbine plants (synchronous machines and regulators) connected to the network. A wind farm consisting of 10 wind turbines (double fed induction generator) was connected in the middle of the transport network.
This model represents a typical electric network with loads, generation machines, electronic devices and distribution lines. The model is distributed across 6 CPUs of a PC equipped with dual quad-core Intel processors operating at 2.3GHz. Step sizes of CPUs as follows: 58 us for the network (4 CPUs), 120 us for controls (1 CPU) and 35 us for the wind turbine (1 CPU). eMEGAsim makes it possible to see the effects of one fault on the network (A to ground, AB to ground, ABC to ground ) and wind farm. It also makes it possible to see the loss of machines or lines and the consequences for the network and wind farm.
23 - Bus Network with Wind Farm
System configuration
Hardware enclosure HILBox
Software modules RT-EVENTS, ARTEMiS
Package E
Opal-RT Technologies Inc. – Product Information & Simulation Applications
44
AD-GRID-10: 35-bus HVAC Network
Keywords: Transport network, Transient analysis, synchronous machine
This model simulates a 500 kV transport network consisting of 35 buses, 67 distribution lines, 8 hydraulic generation turbine plants (synchronous machines and regulators), and 15 loads. The frequency of the network is 60 Hz.
With eMEGAsim, it is possible to see the behaviour of the network when faults occur during simulation (A to ground, AB to ground, ABC to ground ). It also makes it possible to study the electromagnetic transient when the network loses machines or lines. Instability, islanding and resonance are some of the phenomenon that can be studied and validated with the model.
This transport network represented a typical electric network with loads, generation machines and distribution lines. It shows the excellent capacity of eMEGAsim to simulate this kind of network in real-time. This model is separated into 4 CPUs and the minimum step size of each CPU is 46 us on a dual quad-core machine running at 2.3 GHz.
35-Bus HVAC Network
B16
System Diagram
M35
B35
B34B33
B30
B29
B32
B31
B19
B21
B20
M20
B14
B15
B18 B17
B11
B12
M11
B13
B28
B9
B27
B25
B26
M10
B5 B6 B7 B8
B4
B3
B2
B1
M1
B24
B23
B22
M24
M23
PLANT
TRANSFORMER
BUS
LOAD
500KVHVAC
M31
B10
B36
Opal-RT Technologies Inc. – Product Information & Simulation Applications
45
System configuration
Hardware enclosure HILBox
Software modules RT-EVENTS, ARTEMiS
Additional models N/A
Package E
Opal-RT Technologies Inc. – Product Information & Simulation Applications
46
AD-GRID-11: 41-bus HVAC/HVDC Network
Keywords: Transport network, Transient analysis, synchronous machine, HVDC
This model simulates a 500 kV transport network consisting of 41 buses, 70 distribution lines, 11 plants (including hydraulic generation turbine, synchronous machines and regulators), 15 loads, and 3 HVDC lines. The frequency of the network is 60 Hz.
With eMEGAsim, it is possible to see the behavior of the network when faults of HVAC or/and HVDC occur during simulation (A to ground, AB to ground, ABC to ground). It also makes it possible to study the electromagnetic transient when the network loses machines or lines. Instability, islanding and resonance are some of the phenomenon that can be studied and validated with the model.
This transport network represented a typical electric network with HVDC, loads, generation machines and distribution lines. It shows the excellent capacity of eMEGAsim to simulate this kind of network in real-time. This model is separated into 7 CPUs and the minimum step size of each CPU is 46 us on a dual quad-core machine running at 2.3 GHz.
35-Bus HVAC Network
B16
B41
HVDC3
B38
System Diagram
M35
B35
B34B33
B30
B29
B32
B31
B19
B21
B20
M20
B14
B15
B18 B17
B11
B12
M11
B13
B28
B9
B27
B25
B26
M10
B5 B6 B7 B8
B4
B3
B2
B1
M1
B24
B23
B22
M24
M23
B40
PLANT
TRANSFORMER
BUS
LOAD
500KVHVAC
500KVHVDC
RECT/INV
B39
HVDC2
B37
HVDC1
M31
B10
B36
Opal-RT Technologies Inc. – Product Information & Simulation Applications
47
System configuration
Hardware enclosure HILBox
Software modules RT-EVENTS, ARTEMiS
Additional models N/A
Package E
Opal-RT Technologies Inc. – Product Information & Simulation Applications
48
AD-GRID-12: AC Electric Railway System
Keywords: AC electric railway system, distributed parameter line, PI line model, Transient analysis
This model simulates an AC electric railway system, which is mainly composed of Scott-transformers, autotransformers, running rails, protection wires, feeders, messenger wires, and contact wires. The AC electric railway system is based on single phase 55/27.5 kV. AC feeding circuits supply electric trains with the electric power through three-phase to two-phase Scott transformers, feeders, contact wires and rails. Autotransformers are installed approximately at every 10 km with circuit breakers which connect adjacent up and down tracks at the parallel post.
AC electric railway system (source: [29]])
The system models containing different feeders and the contact wires models, namely the distributed parameter line (DPL) model, 1-section PI line model, and multi-section PI line model, were built up for the system transient studies. For the DPL model, the short length of the lines sets a limitation on the maximum time step, i.e. 33.3us corresponding to the propagation delay of a 10km line. The PI line model has no such limitation. However, on one hand, the simulation accuracy of high-frequency transients decreases as the model time step increases. On the other hand, the calculation time for the PI line model is larger than that of the DPL model and increases as the number of PI section increases.
This model represents a typical AC electric system with short length lines or cables. It shows the excellent capacity of eMEGAsim to simulate this kind of system with DPL model or PI line model in real-time. In real-time simulation of the system, four models, namely 4-CPU DPL model, 2-CPU DPL model, 2-CPU 1-section PI model, and 2-CPU 2-section PI model, achieved the minimum step size of 9us, 29us, 34us, 58us respectively on a dual quad-core machine running at 2.3 GHz.
With eMEGAsim, it is possible to study the system steady state and transient during fault conditions. eMEGAsim and the models would be a powerful tool for the design and planning of AC electric railway system and other AC electric systems with short length line/cables.
System configuration
Hardware enclosure HILBox
Software modules RT-EVENTS, ARTEMiS
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49
Additional models N/A
Package E
Opal-RT Technologies Inc. – Product Information & Simulation Applications
50
AD-GRID-13: 60 Hz, 138/230kV HVAC Power System
Keywords: HVAC, distributed parameter line, PI line model, Transient analysis
This 60 Hz, 138/230kV HVAC power system model is an 86-bus electrical network. Its 86 transmission lines supply power to a total of 23 loads, rated at 413 MVA (403 MW, 91MVAR) each. Nine ideal voltage sources with lumped equivalent impedance are representing the generators. Full machine dynamics can easily be added.
Distributed parameters line models are used for the representation of long lines. As in the following equation, this type of line’s transport delay τ (in seconds) is defined by:
where d is the line length in km, L is the line inductance in H/km and C is the line capacitance in F/km. Since its transport delay is proportional to its line length, the distributed parameters line can only be accurately simulated with very small sampling times for very small lengths. PI section models have to be used for the representation of smaller lines for real-time simulation using practical fixed-time step within 10 to 50 microseconds to achieve hard real-time performance. In the studied network, some lines were sectionalized into multiple short parts for the study of faults at various locations. Sixty (60) three-phase PI section lines with self and mutual impedance representation and 26 distributed parameter lines were used. All line sections with a length of 20 km and shorter were simulated using PI sections to achieve a time step of 50 µs. The shortest line length is 0.85 km.
60 Hz, 138/230kV HVAC power system model
The model was separated for the parallelization of the computation tasks on 7 processor cores of an 8-core processor eMEGAsim target computer. Most of the system separation was done using optimized distributed parameter lines from the eMEGAsim’s ARTEMiS toolbox. As they are long lines, their intrinsic delay permits reliable distribution without affecting the dynamic property of the system.
LCd
System configuration
Hardware enclosure Dual Intel® Core™ 2 Quad Processors with a clock speed of 2.3 GHz and 2 GB RAM
Software modules ARTEMiS
Number of CPUs 8 (7 used)
Time Step 50 microseconds
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51
AD-GRID-14: Small Network Model with Multiple Test Sequencing
Keywords: distributed parameter line, PI line model, Transient analysis, Automated Fault Sequencing
This model simulates a 2 bus 154 kV, 50Hz transmission system. It has 2 parallel transmission lines (4 half-lines in total), modeled using ARTEMiS Distributed Parameter Lines. It has a total of 5 current breakers, one on the main of the generation side bus and one on each line side. A total of 7 fault positions were implemented to conduct multiple tests on the model.
2 bus 154 kV, 50Hz transmission system model
A large number of tests can be pre-programmed and run several times using Python scripts. The Automated Fault Sequencer synchronizes on the positive zero crossing of Phase-A voltage as measured from BUS1 (generator side). After zero crossing, the fault is started at t = fault_starttimes, a parameter set via the Python script. The fault lasts for t = fault_duration, which is also a variable set via Python script. Then, the waveforms are acquired from synchronization to time t = acquisition_time. Waveform data is then saved in MATLAB .MAT format for future analysis. This can then be used to conduct statistical studies such as Monte Carlo-style power system studies.
A custom Interface was built using the RT-LAB TestDrive GUI. TestDrive has an interface based on LabVIEW software from National Instruments and can also be scripted using Python. TestDrive uses the LabVIEW runtime engine, enables users to build on-the-fly LabVIEW displays and control panels by virtually wiring real-time simulation signals to graphical displays. TestDrive also has built-in display triggering capability that enables the display of complex waveforms in real-time and the synchronization of those waveforms to specific events like a fault or control signal step.
System configuration
Hardware enclosure Dual Intel® Core™ 2 Quad Processors with a clock speed of 2.3 GHz and 2 GB RAM
Software modules ARTEMiS, Python API, TestDrive GUI
Number of CPUs 1
Time Step 50 microseconds
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52
AD-GRID-15: Bipolar HVDC System
Keywords: Bipolar HVDC simulation, FACTS simulation, 12-pulse thyristor converters
This demo models a detailed bipolar HVDC system. A 1000 MW (±500 kV, 1kA per pole) DC link is used to transmit power from a 500 kV, 5000 MVA, 60 Hz network (SCR of 5) to a 345 kV, 10 000 MVA, 50 Hz network (SCR of 10).
The rectifiers and the inverters are composed of one (1) 12-pulse converter per pole. The rectifiers and the inverters are interconnected through 300 km distributed parameter lines and two 0.5 H smoothing reactors. The reactive power required by the converters is provided by a set of capacitor banks plus 11th, 13th and high pass filters for a total of 600 MVAR on each side. Two circuit breakers are used to apply faults on the inverter AC side and rectifier DC side.
On the inverter side, a resonant RLC circuit is included to study controller interaction. This circuit is modeled without SPS so the inverter-side grid impedance Z, defined by short-circuit power, resonance frequency and damping, is continuously adjustable during run-time.
System Configuration
Hardware enclosure Dual Intel® CoreTM 2 Quad Processors with a clock speed of 2.3GHz and 2 GB RAM
Software modules ARTEMiS
Number of CPUs 3
Time Step 50 microseconds
CPU3: Tc = 17 s
CPU1:
Tc = 30 s
CPU3: Tc = 16 s
Image adapted from: S.A. Zidi, S. Hadjeri, M. K. Fellah, "The performance analysis of an HVDC link", Electronic Journal <Technical Acoustics>, November 2004
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53
AD-GRID-16: First CIGRE Benchmark for HVDC control studies
Keywords: HVDC simulation, FACTS simulation, 12-pulse thyristor converters, weak AC systems
This demo models the first CIGRE benchmark for HVDC link protection studies rated at 1000 MW with a DC voltage of 500 kV and a DC current of 2 kA. The monopolar DC-link is modeled as a back-to-back link with a smoothing reactor on each side and a capacitor in the middle. Tap changers are not simulated and fixed taps are assumed. Both AC systems are modeled with a short-circuit ratio (SCR) of 2.5, which is considered as a weak AC system. This condition makes the AC systems’ voltage stability harder and thus, the HVDC controls more difficult because they are bound to operate near the stability margin. The benchmark is also defined in a way that creates composite resonances between the AC and the DC system, also creating tough conditions for HVDC controls. Two circuit breakers are used to apply faults on the inverter AC side and the rectifier DC side.
System Configuration
Hardware enclosure Dual Intel® CoreTM 2 Quad Processors with a clock speed of 2.3GHz and 2 GB RAM
Software modules ARTEMiS
Number of CPUs 1
Time Step 50 microseconds
Image taken from :
M. Szechtman, T. Wess, C.V. Thio, "First Benchmark Model
for HVDC Control Studies", Electra, No. 135, April 1991.
345kV,50Hz
CIGRE Benchmark equivalent network
CIGRE
Inverter
Filters
CIGRE
Rectifier
Filters
230kV,50Hz
CIGRE Benchmark equivalent network
12 pulse
thyristor
rectifier
12 pulse
thyristor
inverter
Rectifier
controls &
protection
Inverter
controls &
protection
1 CPU: Tc = 29 s
Image taken from: M. Szechtman, T. Wess, C. V. Thio, "First Benchmark Model for HVDC Control Studies", Electra, No. 135, April 1991
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54
AD-GRID-17: Multi-terminal HVDC System
Keywords: HVDC simulation, 12-pulse thyristor rectifier, FACTS simulation
This demo models a multi-terminal HVDC system. It includes eight 12-pulse valve groups with converter transformers, smoothing reactors and generic controls. There are three HVDC converter stations. One station has four 12-pulse valve groups (two bi-polar in parallel), and the other two stations have 2 12-pulse valve groups (one bi-polar) each. In each station, there are 15 3-phase AC filter sub-banks on the AC side and eight branches of filter banks on the DC sides (four at positive pole and four at negative pole) with breakers. The AC filter sub-banks are tuned to filter harmonics of 11th, 13th, and above 24th, and gives 15 tiers of VAR compensation. In each station, there are two simplified SVCs (Static Var Compensator), six synchronous generators along with their controls, and a grid source (represented by ideal source via an impedance), are connected to the AC systems.
System Configuration
Hardware enclosure Dual Intel®CoreTM 2 Quad Processors with a clock speed of 2.3GHz and 2 GB RAM
Software modules ARTEMiS
Number of CPUs 7
Time Step 50 microseconds and 100us for controller
Line (300km)
Line (300km)
0.5H smoothing
reactor
0.5H smoothing
reactor
0.5H
smoothing
reactor
0.5H smoothing
reactor
0.5H smoothing
reactor
Line (300km)
Line (300km)
AC
Filt
er
(30
0M
Va
r)
AC
Filt
er
(30
0M
Va
r)
SVC Group
& ControlsSVC Group
& Controls
AC
Filt
er
(30
0M
Va
r)
HVDC Controls
& Protections
0.5H smoothing
reactor
Generator
group
Generator
group
Generator
group
12 pulse
thyristor
inverter
12 pulse
thyristor
rectifier
12 pulse
thyristor
rectifier
12 pulse
thyristor
rectifier
CPU5: Tc = 35 s CPU6: Tc = 35 s
CPU7: Tc = 22 s
CPU4: Tc = 40 s CPU2: Tc = 40 s
CPU3: Tc = 40 s CPU1: Tc = 20 s
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55
AD-GRID-18: Train-traction model
Keywords: 2-level Inverter, DC-Link Fault, deadtime
This demo models a Train Traction Drive System, with two separate identical DC systems. To achieve hard-real-time simulation the rectifier and inverter were modeled with RT-EVENTS Time-Stamped Bridges and ARTEMiS. The VSC-based 2-arm rectifiers providing the DC voltage (1500 V rating) to each link are AC-fed by a single-phase Catenary Panto rated 25 kV, 50 Hz, through a double secondary traction transducer. The two DC links are parallel connected through diodes, to a simple RL load. Each DC-link has a filter tuned at 100 Hz (2nd harmonic). The drive systems (one on each DC-link) consist in two (2) sets of two (2) asynchronous motors, with each set being fed by 3-arm IGBT inverters. The asynchronous machines are star connected machines, rated 297 kW and 991 Vrms LL. The machines are speed controlled.
This model allows the study and validation of various phenomena, such as DC-Link to ground fault, three- or single-phase fault at IGBT output, loss of the catenary as well as multiple contingencies on the gating signals of the IGBT drives.
System Configuration
Hardware enclosure Dual Intel®CoreTM 2 Quad Processors with a clock speed of 2.3GHz and 2 GB RAM
Software modules ARTEMiS, RT-EVENTS
Number of CPUs 2
Time Step 50 microseconds
4
425kV
1PH,50Hz
external secondary
impedance of
Transformer
external secondary
impedance of
Transformer
100Hz
filter
100Hz
filter
ASM
ASM
ASM
ASM
Traction
Motor 1
Traction
Motor 4
Traction
Motor 3
Traction
Motor 2
6
6
Load
smoothing
inductor
smoothing
inductor
1500 VDC
Bus
1500 VDC
Bus
Control for
Inverter
Control for
Rectifier
CPU2: Tc = 18 s CPU2: Tc = 22 s
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56
AD-GRID-19: 3-level, 72-pulse STATCOM
Keywords: Multi-level converters, Multi-pulse converters, STATCOM, FACTS
This model is a 3-level STATCOM with 72 switches for the voltage stabilization of a 77 kV bus. A multi-pulse transformer allowing for a three-phase to 18-phases AC system is interfacing the FACTS system to the grid. A relatively low frequency PWM switching algorithm is applied (300 Hz carrier frequency) to reduce switching losses in the STATCOM. However, the multi-pulse topology with six (6) 3-level bridges allows for characteristic harmonics elimination as each bridge carrier signals are interlaced with a phase shift of 1/6 of the carrier period.
Figure 1. A simplified STATCOM schematic (72-switch).
System Configuration
Hardware enclosure Dual Intel®CoreTM 2 Quad Processors with a clock speed of 2.3GHz and 2 GB RAM
Software modules RT-EVENTS
Number of CPUs 1
Time Step 50 microseconds
Inspired from ‘Operating performance of the STATCOM in the Kanzaki substation’, CIGRE 2005, by H. Yonezawa, et al.
1 CPU: Tc = 36 s
Opal-RT Technologies Inc. – Product Information & Simulation Applications
57
AD-GRID-20: Thyristor Controller Series Capacitor test system
Keywords: power system compensation, FACTS, simulation, TCR, TCSC, power transfer improvement
This demo models a Thyristor Controlled Series Capacitor placed on a 500kV, long transmission line, to improve power transfer. The TCSC consists of a fixed capacitor and a parallel Thyristor Controlled Reactor (TCR) in each phase. When the TCSC is bypassed, the power transfer is around 110MW. The test system is as described in [32]. The effects of operating the TCSC in capacitive, inductive or manual alpha modes can be analyzed. The effects of varying the reference impedance on the power transfer can also be viewed. In the capacitive mode the range for impedance can be varied from 120 to 136 Ohm. This range corresponds to approximately 490 to 830MW power transfer range (100%-110% compensation). When compared with the power transfer possible of 110 MW with an uncompensated line, the TCSC enables significant improvement in power transfer level. In the inductive and alpha modes the range for impedance can be varied from 19 to 60 Ohm to see that the power transfer ranges varies from 100 to 85 MW.
TCSC Test System
TCSC
control
system
TCR pulsesVTCSC
IABC
ZREF
Control Mode
Line
Firing Unit
AC system 2AC system 1
TCSC
System configuration
Hardware enclosure Dual Intel® Core™ 2 Quad Processors with a clock speed of 2.3 GHz and 2 GB RAM
Software modules ARTEMiS,
Number of CPUs 1
Time Step 50 microseconds
Opal-RT Technologies Inc. – Product Information & Simulation Applications
58
AD-GRID-21: 330-bus HVAC Network
Keywords: Transmission network, Transient analysis, synchronous machine, multi-target simulation
Introduction
This model demonstrates the capability of eMEGAsim to simulate large-scale power systems in real-time across multiple targets. A large 500 kV transmission network consisting of 330 3-phase buses is modeled and simulated.
Model description
The power system in this model is a 500 kV 60Hz network, consisting of 330 3-phase buses, 517 transmission lines (ARTEMiS distributed parameter line model), 42 generation plants and one swing bus, and 90 loads. Each plant is simulated as one combined synchronous machine (SM) with turbine and governor, excitation system, and power system stabilizer, connected to grid through a 3-phase 2-winding step-up transformer. The swing bus is simulated as an ideal voltage source connected to the bus through equivalent impedance. In each load bus, the load is simulated as a combined load of three-phase series RLC.
This entire system is decoupled into 18 zones and each zone is simulated on one subsystem. All generator controllers are simulated in a separate control subsystem. In real time, the 19 subsystems are simulated on 19 CPUs across 3 eMEGAsim targets. Signals are communicated between the targets through the use of a low-latency Dolphin PCIexpress connection.
Phenomena
This model can be used to study typical power system phenomena of steady state and electromechanical/electromagnetic transients. Four types of fault, namely bus grounding, line grounding, line open, and generator loss, can be applied to the system. For different faults, one-, two-, or three-phase fault can be selected. Other phenomena, such as system stability, islanding, and resonance, can be studied and validated with this model.
System information
Num. of CPU/Target CPU type Min. step size Software modules Package
19 / 3 2 Quad-Core
Intel® Xeon® 2.33GHz 51 us ARTEMiS, RT-LAB E1 Series
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Figure 1. 330-Bus 500kV Network
System Diagram
2B6
3M15
3B15
3B14
3B13
3B10
3B9
3B12
3B11
2B9
2B112B10
2M10
2B4
2B52B82B7
2B1
2B2
2M1
2B3
3B8
1B9
3B7
3B5
3B6
1M10
1B51B61B71B8
1B4
1B3
1B2
1B1
1M1
3B4
3B3
3B2
3M4
3M3
3M11
1B10
1B111B12
1B13
1B16
2B12
1B151B14
2B13
2B14
2B15
2B16
3B1
3B16
PLANT
TRANSFORMER
BUS
LOAD
500KVHVAC
5B6
6B95B9
5B115B10
5M10
5B4
5B55B85B7
5B1
5B2
5M1
5B3
6B8
4B9
6B7
6B5
6B6
4M10
4B54B64B74B8
4B4
4B3
4B2
4B1
4M1
6B4
6B3
6B2
6M4
6M3
4B10
4B114B12
4B13
4B16
5B12
4B154B14
5B13
5B14
5B15
5B16
6B1
6B15
6B14
6B136B126B11
6M11
6B16
6B10
8B6
9M15
9B15
9B14
9B13
9B10
9B9
9B12
9B11
8B9
8B11 8B10
8M10
8B4
8B58B8 8B7
8B1
8B2
8M1
8B3
9B8
7B9
9B7
9B5
9B6
7M10
7B5 7B6 7B7 7B8
7B4
7B3
7B2
7B1
7M1
9B4
9B3
9B2
9M4
9M3
9M11
7B10
7B11 7B12
7B13
7B16
8B12
7B15 7B14
8B13
8B14
8B15
8B16
9B1
9B16
11B6
12B911B9
11B11 11B10
11M10
11B
4
11B511B8 11B7
11B1
11B2
11M1
11B3
12B8
10B9
12B7
12B5
12B6
10M10
10B5 10B6 10B7 10B8
10B4
10B3
10B2
10B1
10M1
12B4
12B3
12B2
12M4
12M3
10B10
10B11 10B12
10B13
10B16
11B12
10B15 10B14
11B13
11B14
11B15
11B16
12B1
12B15
12B14
12B13 12B12 12B11
12M11
12B16
12B10
14B6
15B15
15B14
15B13
15B10
15B9
15B12
15B11
14B9
14B11 14B10
14M10
14B4
14B514B8 14B7
14B1
14B2
14M1
14B3
15B8
13B9
15B7
15B5
15B6
13M10
13B5 13B6 13B7 13B8
13B4
13B3
13B2
13B1
13M1
15B4
15B3
15B2
15M4
15M3
15M11
13B10
13B11 13B12
13B13
13B16
14B12
13B15 13B14
14B13
14B14
14B15
14B16
15B1
15B16
17B6
18B9 17B9
17B11 17B10
17M10
17B4
17B517B8 17B7
17B1
17B2
17M1
17B3
18B8
16B9
18B7
18B5
18B6
16M10
16B5 16B6 16B7 16B8
16B4
16B3
16B2
16B1
16M1
18B4
18B3
18B2
18M4
18M3
16B10
16B11 16B12
16B13
16B16
17B12
16B15 16B14
17B13
17B14
17B15
17B16
18B1
18B15
18B14
18B13 18B12 18B11
18M11
18B16
18B10
Opal-RT Technologies Inc. – Product Information & Simulation Applications
60
AD-GRID 22: 7-Three-Phase Bus Transmission and Distribution System
This model simulates a 230-kV, 60 Hz transmission system consisting of
7 3-phase busses.
4- Lines with a fault point (7 half-lines in total).
2 fixed impedance loads of 40 MW each.
4 100-MVA hydraulic generation plant (detailed synchronous machine models with turbines and all regulators).
6 transformers.
1 ideal source.
17 three-phase breakers (including 3 breakers to simulate the faults).
REAL TIME SIMULATION PERFORMANCE
This real time simulation ran on a dual-Xeon-based, 3.33 GHz and RT-LAB simulator with a time step of 25µs. The overall system was run using only one CPU core out of 12 processor cores available. The processors allocation and Real-Time Performance are summarized in Table below.
CPUs Descriptions Components Content Model Calculation Time Minimum time step
Acceleration factor
CPU 1: (25 µs) SM_Transmission (complete system of Figure 1)
15 µs 22 µs 70
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61
AD-GRID 23: 6-Three-Phase Bus Transmission and Distribution System
This model simulates a 230-kV, 60 Hz transmission system consisting of
6 3-phase busses.
3- Lines with a fault point (6 half-lines in total).
2 100-MVA hydraulic generation plant (detailed synchronous machine models with turbines and all regulators).
4 transformers.
1 ideal source.
9 three-phase breakers (including 3 breakers to simulate the faults).
REAL TIME SIMULATION PERFORMANCE
This real time simulation ran on a dual-Xeon-based, 3.33 GHz and RT-LAB simulator with a time step of 20µs. The overall system was run using only one CPU core out of 12 processor cores available. The processors allocation and Real-Time Performance are summarized in Table below.
CPUs Descriptions Components Content Model Calculation Time Minimum
time step Acceleration
factor
CPU 1: (20 µs) SM_Transmission (complete system of Figure 1)
8 µs 12 µs 33
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62
AD-GRID 24: 8- Bus, 2 mutually coupled transmission lines, 6-machines Transmission and Distribution System
This model simulates a 230-kV, 60 Hz transmission system consisting of
8-3-phase busses.
2- Lines with a fault point (2* 2- lines mutually coupled).
5-100-MVA hydraulic generation plant (detailed synchronous machine models with turbines and all regulators).
1-120-MVA hydraulic generation plant (detailed synchronous machine models with turbines and all regulators).
6 - transformers.
7- tree-phase breakers (including 2 breakers to simulate the faults).
1-Three phase resistive load
REAL TIME SIMULATION PERFORMANCE
This real time simulation ran on a dual-Xeon-based, 3.33 GHz and RT-LAB simulator with a time step of 30µs. The overall system was run using only one CPU core out of 12 processor cores available. The processors allocation and Real-Time Performance are summarized in Table below.
CPUs Descriptions Components Content Model Calculation Time Minimum
time step Acceleration
factor
CPU 1: (30 µs) SM_Transmission (complete system of Figure 1)
16 µs 27 µs 66
Opal-RT Technologies Inc. – Product Information & Simulation Applications
63
AD-GRID 25: 8- Bus, 6-machines Transmission and Distribution System
This model simulates a 230-kV, 60 Hz transmission system consisting of
8-3-phase busses.
3- lines with a fault point (6-half lines in total).
4-100-MVA hydraulic generation plant (detailed synchronous machine models with turbines and all regulators).
1-120-MVA hydraulic generation plant (detailed synchronous machine models with turbines and all regulators).
5 - Transformers.
10- tree-phase breakers (including 6 breakers to simulate the faults).
1-Three phase 100MW resistive load
REAL TIME SIMULATION PERFORMANCE
This real time simulation ran on a dual-Xeon-based, 3.33 GHz and RT-LAB simulator with a time step of 35µs. The overall system was run using only one CPU core out of 12 processor cores available. The processors allocation and Real-Time Performance are summarized in Table below.
CPUs Descriptions Components Content Model Calculation Time Minimum
time step Acceleration
factor
CPU 1: (35 µs) SM_Transmission (complete system of Figure 1)
18 30 66
Opal-RT Technologies Inc. – Product Information & Simulation Applications
64
AD-GRID 26: 16- Bus, 3-machines Transmission and Distribution System
This model simulates a 230-kV, 60 Hz transmission system consisting of
16-3-phase busses.
9- Lines including one mutually coupled line and one line with a fault point.
3-100-MVA hydraulic generation plant (detailed synchronous machine models with turbines and all regulators).
2 Ideal sources
4 - Transformers.
5- three-phase breakers (including 1 breaker to simulate the faults).
4-Three phase 20MW resistive load
REAL TIME SIMULATION PERFORMANCE
This real time simulation ran on a dual-Xeon-based, 3.33 GHz and RT-LAB simulator with a time step of 30µs. The overall system was run using only one CPU core out of 12 processor cores available. The processors allocation and Real-Time Performance are summarized in Table 1.
CPUs Descriptions Components Content Model Calculation Time Minimum
time step Acceleration
factor
CPU 1: (30 µs) SM_Transmission (complete system of Figure 1)
20 27 51
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References
[1] RT-LAB 8.1, Opal-RT Technologies inc., 1751 Richardson, bureau 2525, Montréal, Qc, H3K 1G6 www.opal-rt.com
[2] S. Abourida, C. Dufour, J. Bélanger, “Real-Time and Hardware-In-The-Loop Simulation of Electric Drives and Power
Electronics: Process, problems and solutions”, Proceedings of the International Power Electronics Conference – Niigata”
(IPEC-Niigata 2005), 2005
[3] C. Dufour, J. Bélanger, T. Ishikawa, K. Uemura, “Advances in Real-Time Simulation of Fuel Cell Hybrid Electric Vehicles”,
Proceedings of 21st Electric Vehicle Symposium (EVS-21), Monte Carlo, Monaco, April 2-6 2005
[4] T. Matsumoto, N. Watanabe, H. Sugiura, T. Ishikawa, “Development of Fuel-Cell Hybrid Vehicle”, The 18th International
Electric Vehicle Symposium, Berlin, 2001
[5] T. Ishikawa, S. Hamaguchi, T. Shimizu, T. Yano, S. Sasaki, K. Kato, M. Ando, H. Yoshida “ Development of Next Generation
Fuel-cell Hybrid System”, Proceedings of 2004 SAE International Conference
[6] C. Dufour, T. K. Das, S. Akella,”Real Time Simulation of Proton Exchange Membrane Fuel Cell Hybrid Vehicle”, Proceedings
of the 2005 Global Powertrain Congress (GPC-05), Sept. 27-29, 2003, Ann Harbor, MI, USA.
[7] C. Dufour, S. Abourida, J. Belanger, “Real-Time Simulation of Hybrid Electric Vehicle Traction Drives”, Proceedings of the
2003 Global Powertrain Congress (GPC-03), Sept. 23-25, 2003, Ann Harbor, MI, USA.
[8] M. Harakawa, H. Yamasaki, T. Nagano, S. Abourida, C. Dufour and J. Bélanger, “Real-Time Simulation of a Complete PMSM
Drive at 10 us Time Step”, Proceedings of the 2005 International Power Electronics Conference (IPEC 2005) – April 4-8, 2005
, Niigata, Japan.
[9] C. Dufour, L. Wei, T. A. Lipo, ”Real-Time Simulation of Matrix Converter Drives”, Proceedings of the 11th European
Conference on Power Electronics and Applications (EPE-2005), Dresden, Sept. 11-14, 2005
[10] C. Dufour, J. Bélanger, “Real-time Simulation of a 48-Pulse GTO STATCOM Compensated Power System on a Dual-Xeon PC
using RT-LAB”, Proceedings of the 6th International Conference on Power Systems Transients (IPST-05), June 19-23, 2005,
Montréal, QC, Canada.
[11] C. Dufour, J. Bélanger, “A Real-Time Simulator for Doubly Fed Induction Generator based Wind Turbine Applications”,
Proceedings of IEEE 35th Power Electronics Specialists Conference (PESC 2004), Aachen, Germany, June 20-25, 2004
[12] C. Dufour, J. Bélanger, “Real-Time Simulation of Doubly Fed Induction Generator for Wind Turbine Applications”
Proceedings of the 11th International Power Electronics and Motion Control Conference (EPE-PEMC 2004), Sept. 2-4 2004,
Riga, Latvia
[13] C. Dufour, S. Abourida, J. Bélanger, “Real-Time Simulation of Electrical Vehicle Motor Drives on a PC Cluster”, Proceedings
of the 10th European Conference on Power Electronics and Applications (EPE-2003), Toulouse, Sept. 2-4, 2003.
[14] M.A. Ouhrouche, N. Léchevin, S. Abourida, “RT-LAB Based Real-Time Simulation of a Direct Field-Oriented Controller for
an Induction Motor”, Proceedings of Electrimacs, 2002, Montreal, Canada.
[15] S. Abourida, C. Dufour, J. Bélanger, G. Murere, N. Lechevin, Y. Biao, “Real-time PC-based simulator of electric systems and
drives”, Proceedings of the IEEE Applied Power Electronics Conference and Exposition, 2002.
[16] C. Dufour, J. Bélanger, S.Abourida, “Accurate Simulation of a 6-pulse Inverter with Real Time Event Compensation in
ARTEMiS”, Proceedings of the 7th International Conference on Modeling and Simulation of Electrical Machine, Converters
and Systems, (ELECTRIMACS 2002), Montreal, Canada, August 2002
[17] C. Dufour, J. Bélanger, “Discrete Time Compensation of Switching Events for Accurate Real-Time Simulation of Power
Systems”, Proceedings of the 27th IEEE Industrial Electronics Society Conference (IECON'01), Nov 29-Dec 2 2001, Denver,
Colorado, USA
[18] C. Dufour, J. Bélanger, S.Abourida, “Real-Time Simulation of Onboard Generation and Distribution Power Systems”,
Proceedings of the 8th International Conference on Modeling and Simulation of electrical Machine, Converters and Systems,
(ELECTRIMACS 2005), April 17-20, 2005, Hammamet, Tunisia
Opal-RT Technologies Inc. – Product Information & Simulation Applications
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[19] C.A. Rabbath, M. Abdoune, J. Belanger, “Effective real-time simulations of event-based systems”, Proceedings of the 2000
Winter Simulation Conference.
[20] P. Kundur, Power System Stability and Control, McGraw-Hill, 1994, Example 12.6, p. 813
[21] Klein, Rogers, Moorty and Kundur: "Analytical investigation of factors influencing PSS performance,"IEEE Trans. on EC,
Vol. 7 , No 3, September 1992
[22] C. Dufour, S. Abourida, J. Bélanger,V. Lapointe, “Real-Time Simulation of Permanent Magnet Motor Drive on FPGA Chip for
High-Bandwidth Controller Tests and Validation”, 32nd Annual Conference of the IEEE Industrial Electronics Society(IECON-
06),, Paris, France, November 7-10, 2006.
[23] C. Dufour, S. Abourida, J. Bélanger,V. Lapointe, “InfiniBand-Based Real-Time Simulation of HVDC, STATCOM, and SVC
Devices with Commercial-Off-The-Shelf PCs and FPGAs”, 32nd Annual Conference of the IEEE Industrial Electronics Society
(IECON-06), Paris, France, November 7-10, 2006
[24] S. Abourida, C. Dufour, J. Bélanger, T. Yamada, T. Arasawa, “Hardware-In-the-Loop Simulation of Finite-Element Based
Motor Drives with RT-LAB and JMAG”, Proceedings of the EVS-22 Symposium, Yokohama, Japan, October 23-28, 2006.
[25] R. Majumber, B.C. Pal, C. Dufour, P. Korba, “Design and Real-Time Implementation of Robust FACTS Controller for
Damping Inter-Area Oscillation”, IEEE Transactions on Power Systems, Vol. 21, No. 2, pp. 809-816, May 2006.
[26] C. Dufour, “Deux contributions à la problématique de la simulation numérique en temps réel des réseaux de transport
d’énergie“ (in French), Ph.D. thesis, Laval University, Québec, Canada, may 2000
[27] L.-F. Pak, O. Faruque, X. Nie, V. Dinavahi, “A Versatile Cluster-Based Real-Time Digital Simulator for Power Engineering
Research”, IEEE Transactions on Power Systems, Vol. 21, No. 2, pp. 455-465, May 2006.
[28] C. Dufour, J.-N. Paquin, V. Lapointe, J. Bélanger, L. Schoen, “PC-Cluster-Based Real-Time Simulation of an 8 synchronous
machines network with HVDC link using RT-LAB and TestDrive”, Paper accepted for the Proceedings of the 7th International
Conference on Power Systems Transients (IPST 2007), Lyon, France, June 2007.
[29] Hanmin Lee, Gildong Kim, Sehchan Oh, Gilsoo Jang, Sae-hyuk Kwon, “Fault analysis of Korean electric railway system”,
Electric Power Systems Research 76, pp 317 – 326, 2006
[30] C. Dufour, J. Bélanger, S. Abourida, V. Lapointe, “FPGA-Based Real-Time Simulation of Finite-Element Analysis Permanent
Magnet Synchronous Machine Drives”, Proceeding of the 38th Annual IEEE Power Electronics Specialists Conference (PESC
’07), Orlando, Florida, USA, June 17-21, 2007
[31] C. Dufour, J. Bélanger, V. Lapointe, S. Abourida, “Real-Time Simulation of Finite-Element Analysis Permanent Magnet
Synchronous Machine Drives on a FPGA card”, Proceedings of the 12th European Conference on Power Electronics and
Applications (EPE-2007), Aalborg, Danemark, Sept. 2-5, 2007
[32] D.Jovcic, G.N.Pillai "Analytical Modelling of TCSC Dynamics" IEEE Transactions on Power Delivery, vol 20, Issue 2, April
2005, pp. 1097-1104