Real-Time Simulation of Renewable Energy Systems Using RT-LAB, by OPAL-RT

1. Real-Time Simulation
of Renewable Energy Systems
Using RT-LAB
Presented by Andy Yen
andy.yen@opal-rt.com
Montréal, Canada
©2013 OPAL-RT - June 24th, 2013
From Imagination to Real-Time
IEEE COMPEL 2013
The 14th IEEE Workshop on Control and
Modeling for Power Electronics (COMPEL)

2. 2
When we think about environment and energy, we think:
– Electric Vehicle
– Hydro Power
– Wind Power
– Photovoltaic Power
– Renewable Energies
Power Engineers think about:
– How to control
– How to bring this technology quickly to market
– How to distribute power
– How to interconnect
Introduction

3. 3
Context
Modelling Challenges for Renewable Energy Systems
Solution
Specialized models
Summary
Outline

4. Context : Real-Time Simulation Helps in Development Process
4
Rapid Control Prototyping Hardware in-the-loop Testing
Desktop Simulation
Coding
Validation

5. Context : Controlled System, and Real-Time Simulation
5
PlantController
Rapid Control Prototyping Hardware-in-the-loop
Simulation

6. 6
Electric Drive for Hybrid Electric Vehicle and Electric Vehicle
Modular Multilevel Converter (MMC) for HVDC Connection
Wind farms, Photovoltaic Systems to Grid Connection
Renewable Energy Systems

7. 7
Example figure : PMSM motor for electric vehicle model
Reduce latency
– Protection – Fast response needed
– High speed – Fast rotating machine
– Precision – Position of the rotor
Challenges for Electric Drive

8. Typical MMC HVDC circuit
MMC response to a short circuit
fault at transformer primary side
8
Challenges for Modular Multilevel Converter
Large number of
Inputs/Outputs managements
Wikipedia

9. 9
Numerous converters
Fast switching
Short Transmission Lines
Challenges for Micro-Grid
Vgrid
A
B
C
a
b
c
Three-Phase
Breaker
A
B
C
A
B
C
Resistance: Ri
Inductance: Li
A
B
C
A
B
C
Three-Phase
Series RL
Resistance: Ri
Inductance: Li
A
B
C
A
B
C
Three-Phase
Resistance
Resistance: Rgrid
A
B
C
A
B
C
Three-Phase
Parallel RL
Inductance : Lgrid
Resistance : Rdamp_Lgrid
A
B
C
A
B
C
Three-Phase
Inductance
Inductance: La
Capacitance:
DClink_C
Resistance:
DClink_R
+
-
PV Subsystem
Delta
Capacitance : Cf
g
A
B
C
+
-
g
A
B
C
+
-
2-level IGBT/Diode

10. 10
Low Latency
High resolution – Small Time Steps
Non-averaged model
Fault capabilities
Transient analysis
Higher Harmonics effect
Solution : FPGA-based simulation
FPGA

11. 11
FPGA are more difficult to program
Modeling via Block Diagram
Generating bitstream is long
(typical: 120 min + )
Flashing FPGA firmware is long
~15 mins
FPGA-based Simulation with eHS
Easier to program
Flexibility
Save bitstream generation time
Save reprogramming time
Difficulties Want

12. Fast and versatile architecture
12
Workstation Multicore
CPU
FPGA
firmware
System Under
Control
Ethernet PCIExpress
Analog I/O
Digital I/O
Real-Time Computer

13. ≈ 2 μs
CPU and FPGA-based Simulation Platform
Real-TimeSimulator CPU-Based Simulation
Controller
Firing PulsesMeasurements
Analog Outputs Digital Inputs
FPGA
(IO management)
CPU
25 μs model step
≈ 50-100 μs
Analog Outputs Digital Inputs
FPGA
CPU
FPGA-Based Simulation
Controller
Firing PulsesMeasurements
Real-TimeSimulator
0.25 μs model step

14. FPGA
14
eHS (electrical Hardware Simulation) solver
– Generic Power Converter solver on FPGA
– SPS model editor interface (Soon with PLECS, PSIM and EMTP-RV)
– Reconfigurable from Host PC without reprogramming the FPGA
– Simulation in off-line mode with eHS nodal solver within Simulink
eHS Key Features
Automatic Model
Generation
eHS
Automatic generation of
electric circuit model:
No Mathematical Modeling
No FPGA expertise
No VHDL programming
Circuit Editor
(SPS, PLECS, …)

15. eHS uses the modified nodal analysis approach
– It solves a admittance matrix to find the voltage at each node and the current from each sources.
– The admittance matrix does not need to be re-computed for each switch status
– Simulated model topology and parameters can be modified without recompiling the bitstream
The maximum size of the circuit is determined by the number of inputs,
switches and reactive components
Currently, the maximum number of components is :
– 16 inputs (voltage/current sources)
– 16 outputs (voltage/current measurements)
– 24 switches (IGBTs, breakers, etc)
– 60 non-switching devices (ie. L and C) – unlimited resistors
eHS Nodal Solver
eHS core
Y[0:15]
24x switches control
16x Inputs
U[0:15]
S[0:23]
16 Measurements

16. eHS method replaces switches by:
– either a very small inductance when conducting
– or a very small capacitor when not conducting
This method is called the fix-Y because the admittance matrix does not change
when a switch changes state.
Switch Model in eHS
h is the time step

17. For the matrix to remain the same upon switching event, the following equation
must remains true
Gs= h
L = C
h where h is the time step
When building the nodal matrix a value between 10 and 0.001 has to be set to
represent a switch. This determines the value of the inductor and the capacitor
representing the switch.
L= h
Gs C=h × Gs
For example, a time step 100ns and a Gs=1, the switch will be represented by the
following inductance when conducting or the following capacitance when non-
conducting.
L= h
Gs = 100ns
1 = 100nH C=h × Gs=100ns × 1=100nF
Ideally, we need a very small inductor and a very small capacitor to represent a ideal
switch. Depending of the circuit topology, the best result is obtained by optimizing
the value of Gs and compare results with conventional off-line software.
Switch Model in eHS

18. 18
FPGA are more difficult to program
Modeling via Block Diagram
Generating bitstream is long
(typical: 120 min + )
Flashing FPGA firmware is long
~15 mins
FPGA-based Simulation with eHS
Easier to program
Flexibility,
freedom to change circuit topology
Save bitstream generation time
Save reflashing time
On-line modification of circuit
parameters
On-line modification of circuit
topology
Difficulties Want

19. eHS model : PV connected to grid.
Time Step = 500ns
4 sources inputs (1 DC from PV, 3 phases AC from Grid)
16 voltage and current measurements,
15 switches (2x 2level inverters & 3phase breaker)
CPU (20 μs)FPGA (500 ns)CPU
Vgrid
A
B
C
a
b
c
Three-Phase
Breaker
A
B
C
A
B
C
Resistance: Ri
Inductance: Li
A
B
C
A
B
C
Three-Phase
Series RL
Resistance: Ri
Inductance: Li
A
B
C
A
B
C
Three-Phase
Resistance
Resistance: Rgrid
A
B
C
A
B
C
Three-Phase
Parallel RL
Inductance : Lgrid
Resistance : Rdamp_Lgrid
A
B
C
A
B
C
Three-Phase
Inductance
Inductance: La
Capacitance:
DClink_C
Resistance:
DClink_R
+
-
PV Subsystem
Delta
Capacitance : Cf
g
A
B
C
+
-
g
A
B
C
+
-
2-level IGBT/Diode
19
Real-Time eHS Simulation Examples
CONTROLLERS (On CPU, FPGA or using external hardware)

20. 20
Results for PV model
Real-Time eHS Simulation

21. 21
Standard architecture of OPAL-RT RT-LAB simulator and RCP system
Mixed CPU-FPGA-based Multi-Rate Simulation Platform
≈ 2 μs
Analog Outputs Digital Inputs
FPGA
CPU
Actual Controller
Firing PulsesMeasurements
Real-TimeSimulator
0.25 μs model step
10 μs to 100 μs model step
≈ 20-30 μs
Complex grid and mechanical
models and controllers
communication systems
≈ 2 μs
Analog Outputs Digital Inputs
FPGA
CPU
RT-LAB Prototype
Controller
Firing PulsesMeasurements
0.25 μs model step
10 μs to 100 μs model step
≈ 20-30 μs
Complex grid and mechanical
models and controllers
communication systems
Low Latency
Small
time step
For fast Power
Electronic
Larger
time step
For grid and
mechanical
subsystems

22. 22
MMC Solver
Specialized Models

23. 23
Motor model on FPGA
– Using Finite Element Analysis (FEA) modeling approach:
• Such as JMAG-RT and MotorSolve
Specialized Models
Flux, impedance values according to
the mechanical angles of the motors

24. 24
Comparative results :
Specialized models
 Torque control results at high currents (saturation)
-50
0
50
Currents(A)
0 0.005 0.01 0.015
0
5
10
15
Time (s)
Torque(N.m.)
DQ (fixed Ld-Lq)
VDQ
SH
(Ld=1.43 mH Lq=2.34 mH)(Ld=1.53 mH Lq=2.5 mH) (Ld=1.45 mH Lq=2.45 mH)
motor file: '10k_D_C_I-.rtt'
motor speed: 4000 RPM
VDQ torque= 12.7 N.m.
DQ torque=13.7 N.m.
SH average torque= 12.5 N.m.
Iref=20A (beta=0) Iref=40A (beta=40 deg)Iref=30A (beta=0)

25. CPU
25
eHS Real-Time (eFPGAsim, Virtex 6)
– Ac side & Converter: 400 ns
– Inverter & Filter: 690 ns
– FPGA PMSM motor: 100ns
Real-Time FPGA-based Simulation Example
− Inverter switching frequency = 8 kHz
− Converter switching frequency = 4 kHz
eHS FPGA eHS FPGA FPGA
M
INV
P
N
TB L3_U0
L3_V0
L3_W0
C_UV
C_VW
C_WU
Sine-Wave Filter
Motor
L3_U0
L3_V0
L3_W0
C_UV
C_VW
C_WU
L3_U0
L3_V0
L3_W0
Power
Source
INPUT FILTER
CNV
3-level
Invertor
OUTPUT FILTER
M
INV
P
N
TB L3_U0
L3_V0
L3_W0
C_UV
C_VW
C_WU
Sine-Wave Filter
Motor
L3_U0
L3_V0
L3_W0
C_UV
C_VW
C_WU
L3_U0
L3_V0
L3_W0
Power
Source
INPUT FILTER
CNV
Trans
former
L1
L1
L1
L2
L2
L2
C
C
C
L
L
L
C
C
C
Load

26. Real-Time FPGA-based Simulation Example
26
eHS and SPS
superimposed
eHS and SPS
superimposed
zoomed
Motor voltage
(Phase-to-phase)
Motor current
zoomed
8-kHz components due to the 8-kHz PWM carrier

27. 27
Non-Flashing technology:
– 1 firmware by application which handle
a large number of configuration
Multiple configurations:
– Generic Power Systems solver
– Modification in a model editor
– Reconfigurable from the host PC
OPAL-RT FPGA-based Simulation

28. 28
Flexible I/O routing and configuration
OPAL-RT Real-Time Simulation

29. 29
Flexible I/O routing and configuration
OPAL-RT Real-Time Simulation

30. 30
Flexible I/O routing and configuration
OPAL-RT Real-Time Simulation

31. 31
FPGA-based Simulation has many advantages over regular CPU-based
simulation
High Resolution Simulation
Low Latency
With OPAL-RT’s eFPGAsim, modelling is :
Easy
Reliable
Flexible
Customizable
Summary
FPGA
≈ 2 us
Analog Outputs Digital Inputs
FPGA
CPU
Controller
Firing PulsesMeasurements
Real-TimeSimulator
0.25 us model step

32. 32
Cover the complete spectrum of power system analysis & studies
ePOWERgrid Product Family
ePHASORsim
Real-Time Transient
Stability Simulator
10 ms time step
NEW
HYPERsim
Large Scale Power System
Simulation for Utilities & Manufacturers
10 µs to 100 µs time step
NEW
eFPGAsim
Power Electronics Simulation on FPGA
1 µs to 100 ns time step
NEW
1 s
(1 Hz)
10,000
5000
2500
1000
100
10
0
10 ms
(100 Hz)
50 µs
(20 KHz)
10 µs
(100 KHz)
1µs
(1 MHz)
100 ns
(10 MHz)
10 ns
(100 MHz)
20,000
Period (frequency) of transient phenomena simulated
Number of
Nodes
eMEGAsim
Power System & Power Electronics Simulation
Based on Matlab/Simulink and SimPowerSystem
7 µs to 100 µs time step

33. OPAL-RT Democratize Real-Time Simulation
33

34. Real-Time Simulation
of Renewable Energy Systems
Using RT-LAB
Presented by Andy Yen
andy.yen@opal-rt.com
Montréal, Canada
From Imagination to Real-Time
Thank you !
©2013 OPAL-RT - June 24th, 2013
IEEE COMPEL 2013
The 14th IEEE Workshop on Control and
Modeling for Power Electronics (COMPEL)