www.opal-rt.com 12007.03.20RT-LAB Electrical Applications 1

Opal-RT TechnologiesOpal-RT Technologies

Real-time Simulation of 15-bus Electric Grids interconnected with an 192-pulse STATCOM

using the eMEGAsim simulator

Weihua WangOpal-RT Technologies

July 9th, 2009Montreal, Quebec, Canada

Opal-RT Technologies

www.opal-rt.com

PRESENTATION OUTLINE

2

Introduction to the eMEGAsim Real-Time Simulator

Configuration of the Simulated Power System Models

The Power Grid Model

The STATCOM Model

Model Distribution and Performance

Sample Test Scenarios

Result Cross-validation of Different Simulation Platforms

Conclusion

www.opal-rt.com 3

Opal-RT Toolboxes for SIMULINKOpal-RT Toolboxes for SIMULINKBlocksets

SimPowerSystemsStateStaStateflow

SReal-TimeWorkshop

eMEGAsimeMEGAsim RT-LAB™ RT-LAB™

ARTEMiS™ARTEMiS™

eMEGAsim SOFTWARE ARCHITECTURE

RTeDRIVE™RTeDRIVE™ RT-Events™RT-Events™

www.opal-rt.com 4

eMEGAsim Basic Hardware ARCHITECTURE

PC-Based RT Sim. 2PC-Based RT Sim. 2

OHCI

InfiniBand

Dolphin

OHCI

InfiniBand

Dolphin

PC

IP

CI

PC-Based Real-Time Simulator 1PC-Based Real-Time Simulator 1

FPGA

(OP5110)

FPGA

(OP5110)

16 Dig Out16 Dig Out 16 Dig In16 Dig In

CarrierCarrier

16 An Out16 An Out 16 An In16 An In

CarrierCarrierPC

IP

CI

CPUCPU

CPUCPU

Sh.Mem.Sh.Mem.

eMEGAsimeMEGAsim

OHCI

InfiniBand

Dolphin

OHCI

InfiniBand

Dolphin

www.opal-rt.com 5

The Simulated Power Grid Model

6 Synchronous generators with complete alternator modeled in the full park D-Q rotor reference frame and mechanical parts

6 excitation systems (IEEE type 1 sychronous machine voltage regulator)

12 ArtemisTM Distributed Parameter Lines (DPL) using Begeron DPL model

8 hybrid loads (with 70% induction motor and 30% constant impedance load)

www.opal-rt.com

The 192-pulse STATCOM Model

6

RTE Drive TM Time Stamped Bridge

24 Switches per Group, and 8 Groups, 192 Switches in total

www.opal-rt.com

Model Distribution – Grid Model

7

CPU 1CPU 3 CPU 2

www.opal-rt.com

Model Distribution and Performance- the Grid Model

Components Content Calculation Time*

Minimum Step size

AccelerationFactor**

CPU1: Network1

•3 Synchronous Machines•3 Three-phase Two-winding Transformers•6 DPL (1/2 decoupling)•3 Induction Motors•3 Three-phase RLC loads

25us (50%)(50 us Time-

step)

40us 116 (50us)

CPU2:Network2

•3 Synchronous Machines•3 Three-phase Two-winding Transformers•1 Three-phase Three-winding Transformers• 6 DPLs (1/2 decoupling) and 6 DPLs•5 Induction Motors•5 Three-phase RLC loads•1 Capacitor Bank

31us (62%)(50 us Time-

step)

CPU3:Controllers

•6 Synchronous Machine Controllers

9us (9%)(100us Time-

step)

8

* The eMEGAsim target computer used for the test is a dual Intel® Core TM 2 Quad Processors, 2.3GHz, 2 GB RAM

** The Windows-based PC station used for the test is a Intel® CoreTM 2 Duo CPU, 2GHz, 2 GB RAM

www.opal-rt.com

Model Distribution and Performance- the STATCOM Model

9

Component Content Calculation Time*

Minimum Step size

AccelerationFactor**

CPU1: Network

•24 Single-phase Two-winding Transformers•1 Three-phase Two-winding Transformers•1 Three-phase Harmonic Filter•2 Three-phase ideal sources•2 Three-phase RLC loads•2 DPLs •1 STATCOM main controller

22us (44%)(50 us Time-

step)

37us

6.7*** (50us)

CPU2:STATCOMGroups 1 to 4

• 8 Three-Level Time-stamped Bridges (96 switches)• 4 PWM Firing Units

33us (66%)(50 us Time-

step) 35**** (50us)

CPU3:STATCOMGroups 5 to 8

•8 Three-Level Time-stamped Bridges (72 switches)• 4 PWM Firing Units

33 us (66%)(50us Time-step) 15124*****

(Variable Steps)

* The eMEGAsim target computer used for the test is a dual Intel® Core TM 2 Quad Processors, 2.3GHz, 2 GB RAM

** The Windows-based PC station used for the test is a Intel® CoreTM 2 Duo CPU, 2GHz, 2 GB RAM

***All IGBTs were simulated by the Time-stamped Bridges from RTeDRIVETM using the Art5 solver from ArtemisTM .

**** All IGBTs were simulated by the Three-level Bridges from the SimPowerSystem using the Art5 solver from ArtemisTM .

***** All IGBTs were simulated by the Three-level Bridges from the SimPowerSystem using Ode23t (Trapezoidal solver).

www.opal-rt.com

CPU1: Network1

CPU2:Network2

CPU3:PCC

CPU4:STATCOM

CPU5:STATCOM

CPU6:Controller

Component Content

•3 Synchronous Machines and their controllers•3 Three-phase Two-winding Transformers•6 DPL (1/2 decoupling)•3 Induction Motors•3 Three-phase RLC loads

•3 Synchronous Machines and their controllers•3 Three-phase Two-winding Transformers•6 DPL (1/2 decoupling)•3 Induction Motors•3 Three-phase RLC loads•2 ideal switches•2 Power Calculation blocks

•1 Three-phase Three-winding Transformers • 24 Single-phase Two-winding Transformers•12 DPLs (1/2 decoupling)•1 Capacitor Bank•2 Induction Motors•2 Three-Phase RLC loads

•8 Three-Level Time-stamped Bridges (96 switches)• 4 PWM Firing Units

•8 Three-Level Time-stamped Bridges (96 switches)• 4 PWM Firing Units

•1 STATCOM main controller

Calculation Time*

23 us (46%)(50 usTime-

step)

29 us (58%)(50 usTime-step)

30 us (60%)(50 usTime-step)

33 us (66%)(50 usTime-

step)

33 us (66%)(50 usTime-

step)

7 us (14%)(50 us Time-

step)

Minimum Step size

45 us

AccelerationFactor**

142 (50us)

Model Distribution and Performance- the Power Grid with a STATCOM Model

10

* The eMEGAsim target computer used for the test is a dual Intel® Core TM 2 Quad Processors, 2.3GHz, 2 GB RAM

** The Windows-based PC station used for the test is a Intel® CoreTM 2 Duo CPU, 2GHz, 2 GB RAM

www.opal-rt.com

Sample Test Scenarios

• Short-circuit Faults Single-phase fault Phase-phase fault Three-phase fault

• Generator Switching• Load Switching• STATCOM switching

11

www.opal-rt.com

Sample Results

Real-time simulation results for the voltage and current at Bus 6

12

Three-phase-to-ground fault applied at t=0.15s for a duration of 0.1 seconds

www.opal-rt.com

Results Cross-validation

• STATCOM voltage phase-A. (unit 104V) • Red for Reference model (made in EMTP) at time-step of 3us• Blue for the STATCOM model made with Simpowersystem, RT-LAB, RT-

Events and RTE-Drive running at time-step of 50 us, and green for voltage reference)

13

www.opal-rt.com

Conclusion

• A 15-bus electric grids interconnected with an 192-pulse STATCOM can be simulated on the validated eMEGAsim simulator

• The real-time simulation can be executed at a time-step less than 50 microseconds with adequate accuracy on the eMEGAsim platform

• Scenarios, including short-circuit faults, load and generator switching can be studied with the eMEGAsim using a detailed modeling approach

14