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Opal Rt Giroux Scrpting In Emtp Works

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Opal Rt Giroux Scrpting In Emtp Works

  1. 1. Opal-RT Technologies Opal-RT Presentation EMTP-RV User Group Meeting Dubrovnik, Croatia April 30th 2009 Scripting in EMTPWorks : From EMTP-RV Circuits to Simulink Diagrams for Real-Time Simulation Mathieu Giroux mathieu.giroux@opal-rt.com OPAL-RT Real-Time simulation of Power Systems RT-LAB Electrical Applications 2007.03.20 4/30/2009 1
  2. 2. Contents  OPAL-RT Technologies at a glance  What is an RT-Simulator, why RT-Simulation  EMTP-RV real-time interface / specifications  Developments realized in EMTPWorks  Conclusions OPAL-RT From EMTP-RV to Real-Time 4/30/2009 2
  3. 3. Opal-RT Technologies at a glance COTS-based Real-Time Simulation and HIL Test Systems  Established in 1997, in Montreal, Canada  Branch offices in USA and in India, worldwide distributor network  50+ employees  Hardware and Software  HIL and fully digital simulators Integrated with Matlab/Simulink  FPGA development system and IOs  Solutions for testing and development of controls in Power Systems, Automotive, Aerospace and Defense  Control Prototyping Systems  Electronic Control Unit (ECU) Tester  Hardware-in-the-Loop  eDRIVEsim and eMEGAsim: Opal-RT real-time power system simulators based on SimPowerSystems OPAL-RT From EMTP-RV to Real-Time 4/30/2009 3
  4. 4. OPAL-RT – Electric & Power Electronics CONVERTEAM French Navy TRAIN & HVDC More Electrical Aircraft OPAL-RT Real-Time simulation of Power Systems June 12, 2008 4
  5. 5. What is a Real-Time Simulator  Real-Time computer and  Capable of emulating the I/O system simulated plan, control systems or both simultanously  Integrated with modeling  With sufficient accuracy to meet and simulation software test and design objectives REAL or RT-LAB SIMULINK-BASED +  RT-LAB eDRIVEsim and PROTOTYPE CONTROLLER Motor - eMEGAsim simulators are integrated with:  MATLAB, SIMULINK  SimPowerSystems, RTW  EMTP-RV, JMAG-RT  QNX and LINUX RTOS  Windows and LabVIEW RT-LAB PLANT SIMULATOR OPAL-RT From EMTP-RV to Real-Time 4/30/2009 5
  6. 6. APPLICATIONS VS RT-LAB REAL-TIME DIGITAL SIMULATOR PRODUCT FAMILY RT-LAB eDRIVEsim eMEGAsim DRIVES & VSC 1 to 4CPU 2 to 8 CPU 4 to 64CPU CONTROLLERS B C D E F Prototype Controllers Mechatronic Systems POWER ELECTRONICS Motor Drives Voltage Source Ac grids & HVDC Converters AC Fed Drive Multi-Level & Matrix Converters Train Traction Systems POWER GRIDS AC Grid & Protection Systems Thyristor-based HVDC and FACTS IGBT-based VSC, FACTS, STATCOM Wind farm AC/DC Grids Ships and Aircrafts Smart Grids Any Power System can now be eDRIVElab RT-LAB BERTA RT-LAB XSG JMAG-RT Educational Speed Regutator Tester FPGA Dev System FEA Motor Model accurately simulated in Real-Time! OPAL-RT Real-Time simulation of Power Systems
  7. 7. Why Real-Time and Faster than Real-time Simulation?  Use of Modeling and Simulation at every step of the design: MODEL-BASED DESIGN  Why Fast off-line simulation Specify with parallel computers Fesabilty Test  Fast user interaction  Feasibility and concept analysis Impl-  Design optimization of large systems Design ement  Statistical / Monte Carlo analysis  Why Real-Time (RT)? Prototyping  Connection to real physical equipment  Fast user interaction for debugging, tuning, optimizing, training …  Integration tests: functionality, performance, reliability, and safety  Applications of Real-Time Simulation :  Full digital simulation for Software-In-The-Loop (SIL)  Rapid Control Prototyping (RCP) with physical or virtual plants  Hardware-In-the-Loop (HIL) with actual or prototype controllers BETTER AND MORE TESTS IN SHORTER TIME OPAL-RT Real-Time simulation of Power Systems 4/30/2009 7
  8. 8. EMTP-RV real-time interface Project goal • Provide to existing Opal-RT users a better interface for large and very large topologies • Provide to existing EMTP-RV users a real-time interface in EMTPWorks Requirements 1) Develop a data translator: from EMTP-RV data to Simulink/SimPowerSystems data 2) Enable model separation tools in EMTPWorks (distributed simulation) 3) Add to EMTPWorks special real-time libraries. (Signal acquisition, communication with IOs, special models for real-time, etc…) OPAL-RT Real-Time simulation of Power Systems 4/30/2009 8
  9. 9. EMTP-RV to Simulink Data translator - Architecture With EMTPWorks scripting tools, it is possible to customize the modeling environment without any “hard-code” change Data Parsing EMTPWorks Netlist Data translation Simulink Simulink files Real-Time creation -Real-time libraries Text File (EMTPWorks .clf readable/parseable mdl files ready for creation tools) m scripting real-time with RT-LAB New netlist format -Model validation for required Initialize machines real-time simulation (Report Script from EMTP-RV load- -(dwj scripts) Language) flow and steady-state results - Model Separation (HTML files) functions added (dwj scripts) OPAL-RT Real-Time simulation of Power Systems 4/30/2009 9
  10. 10. Custom Netlist generation • The EMTP-RV Netlist contains only the data required by its computational engine (solver) • Netlist generation rules can be modified by users (see C:Program FilesEMTPWorksReport ScriptsEMTP Netlist.rfm) • The Netlist generation script is called the Report Script Language. • We modified the Netlist to provide to the data converter the missing elements (device position, orientation, subsystem- device (ex: transformer, etc…) OPAL-RT Real-Time simulation of Power Systems 4/30/2009 10
  11. 11. Machine Initialization in SPS from EMTP-RV data EMTPWorks Steady State HTML Load Flow files Initialize automatically Mechanical Power and Field Voltage values. Calculate speed, machine angles, and currents OPAL-RT Real-Time simulation of Power Systems 4/30/2009 11
  12. 12. Real-time interface process (from EMTP-RV to real-time) Model separation for real-time – right click on any power line  Power systems can be separated on lines and signals  Control systems can be separated on signals  Separation can also be performed in subsystems Automatically, the network topology is divided into 2 parts OPAL-RT Real-Time simulation of Power Systems 4/30/2009 12
  13. 13. Interface the model with I/Os OPAL-RT Real-Time simulation of Power Systems 4/30/2009 13
  14. 14. Generation of Simulink files ready for real-time netlist netlist 1 Simulink file is generated Conversion per processor master slave console RT-LAB files RL-LAB separation files OPAL-RT Real-Time simulation of Power Systems 4/30/2009 14
  15. 15. Examples – 23 bus network In one click 10 subsystem levels 294 blocks 325 signals are converted in an equivalent Simulink model within 20 s OPAL-RT Real-Time simulation of Power Systems 4/30/2009 15
  16. 16. Examples – 23 bus network OPAL-RT Real-Time simulation of Power Systems 4/30/2009 16
  17. 17. Examples – ASM machines / EMTP-RV demo wrm This EMTP-RV demo compares 2 ics icr scope wr asynchronous machine models: ibs ibr ias 1) Model built with controls iar Tem scope Tem THETAr 2) Hard-coded model scope THETAr M es C2 Tm scope scope scope scope scope scope icr iar ibr c ia ib ic 1 i(t) p1 as ar i(t) p2 R3 + bs br 1 cs cr + + 0.2kV /_0 AC2 ASM_block 1 R2 ?vi C1 Tm scope scope scope scope scope scope c icrASM iarASM ibrASM iaASM ibASM icASM 1 ASM1 R4 i(t) p3 i(t) p4 + S ASM R 1 + N ?m 0.2kV /_0 AC1 + 0.2kV ?vi 1 R1 0.750kVA Hard-coded model OPAL-RT Real-Time simulation of Power Systems 4/30/2009 17
  18. 18. Examples – ASM machines / EMTP-RV demo OPAL-RT Real-Time simulation of Power Systems 4/30/2009 18
  19. 19. Examples – ASM machines / EMTP-RV demo OPAL-RT Real-Time simulation of Power Systems 4/30/2009 19
  20. 20. Conclusions  EMTPWorks is an highly customizable tool.  With dwj scripts, circuit separation and validation tools were developed  A new augmented Netlist for data exchange was created using Report Script Language  HTML for new block panels and for SimPowerSystems machines initialization  Most of EMTP-RV models and functionalities can be translated in Simulink/SimPowerSystems  The EMTP-RV real-time interface is now commercialized OPAL-RT Real-Time simulation of Power Systems 4/30/2009 20
  21. 21. Thank you. Questions? Learn more about Opal-RT products and solutions on www.opal-rt.com Technical papers: www.rt-lab.com Newsletter: www.planetrt.com Mathieu Giroux mathieu.giroux@opal-rt.com Stendaler Straße 4 10559 Berlin, GERMANY Phone: +49 (0)30 2904 4231 Cell: +49 (0)17 5526 7025 Skype: giroux_opalrt OPAL-RT Real-Time simulation of Power Systems

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