An Networked HIL Simulation System for Modeling Large-scale Power Systems (original) (raw)
Related papers
Networked HIL Simulation System for Modeling Large-scale Power Systems
2020 52nd North American Power Symposium (NAPS), 2021
This paper presents a network hardware-in-theloop (HIL) simulation system for modeling large-scale power systems. Researchers have developed many HIL test systems for power systems in recent years. Those test systems can model both microsecond-level dynamic responses of power electronic systems and millisecond-level transients of transmission and distribution grids. By integrating individual HIL test systems into a network of HIL test systems, we can create large-scale power grid digital twins with flexible structures at required modeling resolution that fits for a wide range of system operating conditions. This will not only significantly reduce the need for field tests when developing new technologies but also greatly shorten the model development cycle. In this paper, we present a networked OPAL-RT based HIL test system for developing transmission-distribution coordinative Volt-VAR regulation technologies as an example to illustrate system setups, communication requirements among different HIL simulation systems, and system connection mechanisms. Impacts of communication delays, information exchange cycles, and computing delays are illustrated. Simulation results show that the performance of a networked HIL test system is satisfactory. Index Termsco-simulation, digital twin, distribution system, hardware-in-the-loop, transmission system, Volt-VAR control. systems. The setup of a coordinated real-time sub-transmission Volt-VAR control (VVC) testbed (CReS-VCT) that cosimulates transmission-distribution-DER systems is used as an example to illustrate the proposed framework. Implementations and simulation models were developed by research teams at Pacific Northwest National Laboratory (PNNL), North Carolina State University (NC State), and the University of Texas at Austin (UT-Austin). Measurements and control actions among HIL simulators are communicated via a virtual private network (VPN) tunnel or a shared-file method. The
Experiences with HIL Simulator Testing of Power Management Systems
2009
The successful operation of DP vessels depends more and more on advanced integrated functionality of software-based control systems. Consequently, software related problems, often in conjunction with hardware and/or human errors, may lead to vessel construction delays, downtime during operation, reduced income for clients, increased cost, and reduced safety. In order to reduce these risks, independent third party Hardware-in-the-loop (HIL) simulator testing has recently been applied for extensive software testing and verification of dynamic positioning systems on more than 40 offshore DP vessels. In this paper we report on experiences from HIL testing of Power Management Systems (PMS) on DP drilling, supply, anchor handling and construction vessels. The main idea is testing and verification of the PMS software using a vessel specific integrated simulator capable of simulating the dynamic response of the power generation, distribution, main consumers, and other relevant equipment. The simulator is connected via network or bus interfaces to the PMS such that all relevant feedback and command signals are simulated, typically in the range 1000-2000 for a drilling unit and somewhat less for supply and construction vessels. In order to achieve the objective, the simulator is capable of simulating a wide range of realistic scenarios defined by operational modes, operational tasks and single and multiple failure modes in order to verify correct functionality and performance during normal, abnormal and faulty conditions. This includes verification of interfaces and integrated functionality between DP computer system, Power Management System, and Thruster Control Systems. In the DP vessels considered, the Power Management Systems were parts of Integrated Automation Systems from various makers, and contained the high level power management functionality. In addition to testing the software functionality of the PMS, the interface and integration with associated power control functionality in thruster and drilling drives, protection relays, governors, AVRs and DP load limiting functions were targeted by the testing. HIL testing of PMS may be conducted in several phases of a new-building or retrofit, where the first phase is usually a factory test. By using HIL simulator technology a virtual sea trial with thorough testing is conducted before the vessel is built. The objective is fully functional and failure testing of the software before the commissioning and integration starts, ensuring that the software will be more finalized and ready for commissioning. Follow-up system and integration testing is normally conducted during commissioning, and a final verification of the integrated functionality is conduced onboard the vessel at the end of commissioning.
Setup and performances of the real-time simulation platform connected to the INELFE control system
Electric Power Systems Research, 2016
The VSC based HVDC link between France and Spain (INELFE project: France-Spain ELectrical INterconnection) will be the most powerful VSC link by 2015. This 2000 MW interconnection is composed of 2 parallel VSC links. For system studies and maintenance purposes, replicas of the control systems are acquired by the French (RTE) and the Spanish (REE) Transmission System Operators. This paper describes the hardware and software setup to perform Hardware In the Loop (HIL) simulations with the INELFE control system replicas. The converters and cables models used in the real-time simulation are presented. Modular Multilevel Converters present a major challenge for real-time simulation due to the large number of sub-modules and to the nonlinearities that shall be solved : transformer saturation and nonlinear characteristic of surge arresters that protect cables against switching transients. The paper presents how these issues have been solved in order to be able to test the control system with AC and DC faults. A complete setup has been developed in order to validate the modeling approach. Hardware-In-the-Loop (HIL) simulations have been performed which includes the real-time simulator connected to an external generic control system having the same interface than the replica. Real-time performance and simulation accuracy are fully achieved with the proposed solution.
Energies
The integration of smart grid technologies in interconnected power system networks presents multiple challenges for the power industry and the scientific community. To address these challenges, researchers are creating new methods for the validation of: control, interoperability, reliability of Internet of Things systems, distributed energy resources, modern power equipment for applications covering power system stability, operation, control, and cybersecurity. Novel methods for laboratory testing of electrical power systems incorporate novel simulation techniques spanning real-time simulation, Power Hardware-in-the-Loop, Controller Hardware-in-the-Loop, Power System-in-the-Loop, and co-simulation technologies. These methods directly support the acceleration of electrical systems and power electronics component research by validating technological solutions in high-fidelity environments. In this paper, members of the Survey of Smart Grid International Research Facility Network task ...
Real-Time Simulation Technologies for Power Systems Design, Testing, and Analysis
IEEE Power and Energy Technology Systems Journal, 2015
This task force paper summarizes the state-of-the-art real-time digital simulation concepts and technologies that are used for the analysis, design, and testing of the electric power system and its apparatus. This paper highlights the main building blocks of the real-time simulator, i.e., hardware, software, input-output systems, modeling, and solution techniques, interfacing capabilities to external hardware and various applications. It covers the most commonly used real-time digital simulators in both industry and academia. A comprehensive list of the real-time simulators is provided in a tabular review. The objective of this paper is to summarize salient features of various real-time simulators, so that the reader can benefit from understanding the relevant technologies and their applications, which will be presented in a separate paper. INDEX TERMS Digital real-time simulation (DRTS), digital simulators, hardware-in-the-loop (HIL) simulation, power engineering, power system transient simulation, real-time systems. NOMENCLATURE T e Execution time. t n Time step.
Experience with use of HIL simulators in control engineering course
IFAC-PapersOnLine, 2020
The goal of the paper is to share experience with the use of hardware-in-the-loop (HIL) simulators in a control-engineering course being taught at the University of West Bohemia. The hardware simulators were introduced recently in the course curriculum aiming to get more realistic application scenarios for the students. They allow simple explanation of the concepts of model-based systems engineering in a form close to the workflow used in industrial practice. The achieved results show some significant benefits when compared to former course content, which relied on numerical simulations only. The paper presents one of the application use-cases dealing with the problem of active car suspension control. Individual phases of the control system development as done by students are explained step by step, revealing the main benefits of the hands-on experience with the physical setup.
Improvements to the Co-simulation Interface for Geographically Distributed Real-time Simulation
IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society, 2019
As future power systems become increasingly complex and interconnected to other energy carriers, a single research infrastructure can rarely provide the required test-beds to study a complete energy system, especially if different types of real power hardware are expected to be in-the-loop. Therefore, virtual interconnection of laboratories for large-scale systems plays an important role for geographically distributed realtime simulation. This paper presents the improvements made in simulation fidelity as well as usability for establishing future simulator and laboratory connections. A general procedure is proposed and analyzed for geographically distributed real-time simulation, which allows users easily to adapt this procedure to specific test cases. A systematic and comprehensive analysis of a dynamic phasor based co-simulation interface algorithm and its improvements are provided to demonstrate the advantages as well as limitations of this approach.
Scalable model of a CHP unit for HIL simulation of a smart combined grid system
Due to the increasing energy demand and shortage of fossil fuels, the energy systems will be transformed from mainly centralized into more decentralized systems, also incorporating more renewable energy. However, optimizing the control and structure of these systems is rather complex. A method for analyzing and planning of such systems is an adapted variant of the so called Hardware-in-the-Loop simulation. This approach comprises virtual energy components as models combined with data from experimental components. As a virtual energy component, a simulation model describing the physical behavior of CHP units is proposed in this contribution. The modeling approach is based on a time domain approach using state variables of the multiple domains to describe the dynamic behavior. For instance, the first law of thermodynamics is applied to model the thermal quantities. Furthermore, the model is scalable regarding the modeling depth and the power ratings which allows an application for dif...
Internet-based control of FCU hardware-in-the-loop simulators
Simulation Modelling Practice and Theory, 2015
Hardware-in-the-loop (HIL) is an efficient technique for component testing in dynamical systems. In this technique, a system is divided into two connected components: numerical part and physical part, which is the tested component. Sometimes, to implement HIL technique, an extra actuator is required to link these separate parts, in a real-time manner. Therefore, in order to have a stabilized test rig, the actuator delay must be compensated through a controller, which may be allocated at a different place. For this purpose, the global Internet can be used as a communication platform, leading to some time-varying delays and packet losses. This paper presents a methodology for control of Internet-based HIL simulators, based on the packet-based control methodology. A sufficient condition for closed-loop stability is discussed. Implementation of the Internet-based HIL simulation on the fuel control unit (FCU) of a gas turbine engine demonstrate the effectiveness of the proposed methodology.