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Opal-RT Technologies Inc. – Product Information & Simulation Applications

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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

http://www.opal-rt.com/


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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


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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.


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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)


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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




Additional models N/A

Package D21Q-1


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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





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)





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





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





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


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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





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


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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 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


24

Hardware enclosure Single-CPU MX Station

Software modules RT-LAB, Time-Stamped Bridge

Additional models


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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 package eDRIVEsim, package # C11Q

Hardware enclosure MX Station or HIL Box

Software components RT-LAB, RT-EVENTS

Additional models JMAG software


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


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


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



Software modules RT-EVENTS


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


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




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


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




Additional models Fuel Cell Stack

Package C11Q-1


30

Mechanical System 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




Package C11Q-1


32

Power Grid Applications


33

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



Software modules RT-EVENTS, ARTEMiS


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


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.



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


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





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


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).




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


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.




Additional models DT, DPL, Stubline


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





Package E


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


40

step range.

Shipborne Power Generation System





Package E


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


42





Package E


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




Package E


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


45





Package E


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


47





Package E


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.





49


Package E


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


Hardware enclosure Dual Intel® Core™ 2 Quad Processors with a clock speed of 2.3 GHz and 2 GB RAM


Number of CPUs 8 (7 used)

Time Step 50 microseconds


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.



Software modules ARTEMiS, Python API, TestDrive GUI

Number of CPUs 1



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


Number of CPUs 3


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


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.


Hardware enclosure Dual Intel® CoreTM 2 Quad Processors with a clock speed of 2.3GHz and 2 GB RAM


Number of CPUs 1


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


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.


Hardware enclosure Dual Intel®CoreTM 2 Quad Processors with a clock speed of 2.3GHz and 2 GB RAM


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


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.



Software modules ARTEMiS, RT-EVENTS

Number of CPUs 2


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


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).




Number of CPUs 1


Inspired from ‘Operating performance of the STATCOM in the Kanzaki substation’, CIGRE 2005, by H. Yonezawa, et al.

1 CPU: Tc = 36 s


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



Software modules ARTEMiS,

Number of CPUs 1



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


59

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


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


61

AD-GRID 23: 6-Three-Phase Bus Transmission and Distribution System


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).



CPUs Descriptions Components Content Model Calculation Time Minimum

time step Acceleration

factor


8 µs 12 µs 33


62

AD-GRID 24: 8- Bus, 2 mutually coupled transmission lines, 6-machines Transmission and Distribution System


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).


6 - transformers.

7- tree-phase breakers (including 2 breakers to simulate the faults).

1-Three phase resistive load





factor


16 µs 27 µs 66


63

AD-GRID 25: 8- Bus, 6-machines Transmission and Distribution System


8-3-phase busses.

3- lines with a fault point (6-half lines in total).



5 - Transformers.

10- tree-phase breakers (including 6 breakers to simulate the faults).

1-Three phase 100MW resistive load





factor


18 30 66


64

AD-GRID 26: 16- Bus, 3-machines Transmission and Distribution System


16-3-phase busses.

9- Lines including one mutually coupled line and one line with a fault point.


2 Ideal sources

4 - Transformers.

5- three-phase breakers (including 1 breaker to simulate the faults).

4-Three phase 20MW resistive load


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.



factor


20 27 51


65

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


66

[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

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