OPAL-RT RT14 Conference: Three level inverter SynRM drive

Three Level Inverter Synchronous Reluctance Machine (SynRM) Drive, by Concordia University and OPAL-RT

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
1
Lesedi Masisi
Supervisors: Prof P. Pillay and S.S Williamson
Power and Energy Research Group, Concordia
University
L_masisi@encs.concordia.ca
Three Level Inverter Synchronous Reluctance Machine
(SynRM) Drive

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
2
• Introduction
• Research area and motivation
• Research goal and objectives
• Three level inverter
• SynRM drive
Outline

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
3
• Fluctuating prices of rare earth permanent magnets
• Used in permanent magnet synchronous machine (PMSM)
• PMs predominantly in China
• Control strategy of a SynRM is similar to that of a PMSM
• More mechanically robust than PMSM and induction machines (IM)
• Can reach higher speeds
• Easier to cool
Why synchronous reluctance machine?

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
4
Challenges of a SynRM
• Low saliency
• Poor power factor
• Short constant power region
• Higher torque ripples

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
5
• Increasing demand for better vehicle performance
• Higher dc bus voltage demand
• Demand for higher converter switching frequency
• Compared to a 2-level inverter
• Lower dv/dt (total harmonic distortion)
• Lower torque ripple
• Lower switching losses
• Less burden on the cooling system
Why a three level inverter ?

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
6
• Maintaining a balanced neutral point voltage
• Balanced dc bus capacitors
• Suppressing the neutral point ripple voltage
• Affects the switch power ratings
Challenges of a three level inverter

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
7
Balancing algorithm using SVM: 3LVSI

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
8
Balancing algorithm using SVM: 3-level inverter
SV (100)
SV (0-1-1)

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
9
New Balancing Algorithm Scheme
Switching sequence

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
10
• Neutral point voltage ripple [1]
• Power factor
• Modulation index
• RMS output inverter current
• Inverter fundamental frequency
• DC capacitor
• Capacitor sizing
• Machine saliency
3LVSI: DC capacitor sizing
[1] J. Pou, R. Pindado, D. Boroyevich, and P. Rodriguez, “Evaluation of the low-frequency neutral-point voltage oscillations in the three-level
inverter,” Industrial Electronics, IEEE Transactions on, vol. 52, no. 6, pp. 1582–1588, 2005.

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
11
3LVSI: DC capacitor sizing using saliency
Motor phasor diagram [2]
Where k is the saliency ratio
[2] T. Matsuo and T. Lipo, “Rotor design optimization of synchronous reluctance machine,” Energy Conversion, IEEE Transactions on, vol. 9,
no. 2, pp. 359–365, 1994.

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
12
3LVSI: DC capacitor sizing using saliency
Neutral point voltage ripple (Normalized)

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
13
Vector control of SynRM

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
14
Prototype SynRM
Stator housing Rotor Rotor with shaft

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
15
Prototype 3LVSI
• IGBTs
• 600 V
• 100 A
• Universal gate drivers
• Powerex (BG2B)
• Dead time IC
• 6 inputs (6-
complements)

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
16
Experimental Set-up
• Sampling time
• 20 us
• Dc bus
• 250 V
• 13 Analog signals
• 6-outputs
• 7-inputs
• Computational time
• < 10 us

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
17
3LVSI: DC capacitor sizing using saliency
Neutral point voltage @ mi=0.85(average) with 490uF capacitor
Theoretical neutral point voltage:
• Ignored motor resistance (accuracy will improve for bigger machines )
• Experimental errors
• Maximum torque/amps closest to the maximum power factor point
Measured neutral point voltage:
= 47.8 V

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
18
SynRM Electric Drive: 2/3 LVSI results
Two level inverter Three level inverter

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
19
@ a modulation index of 0.45
@ a modulation index of 0.85
Simple 2-Pole SynRM
SynRM Electric Drive: 2/3 LVSI results

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
20
• Conducted for the first time 3LVSI SynRM drive
• Demonstrated a new balancing algorithm based on SVM
• The use of machine saliency to size the dc link capacitors
• The three level inverter promises lower core losses
Conclusion

The 7th International Conference
on Real-Time Simulation Technologies
Montreal | 9-12 June, 2014
21
Questions ?
Thank you!

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More from OPAL-RT TECHNOLOGIES

Detailed large-scale real-time HYPERSIM EMT simulation for transient stabilit...

Towards cloud-based real-time HIL for wide-area special control and protection system testing Presented by: Jean Belanger, President and CTO of OPAL-RT TECHNOLOGIES Abstract: High penetration of inverter-based Distributed Energy Resources (DERs), widespread installation of FACTS and HVDC interconnection systems, and the decommissioning of thermal and nuclear plants are significantly reducing inertia in large-scale power systems. Fast power-electronics based control and protection schemes act to stabilize these systems, but they are sensitive to harmonics, transients, and system imbalances. It has been shown that simplified positive-sequence RMS models alone are insufficient for Transient Stability Assessment (TSA) of large-scale, low-inertia power grids. Therefore, utilities and regulators such as NERC, as well as professional associations such as CIGRE and IEEE, have begun investigating detailed EMT simulation to assess the transient stability of large-scale, low-inertia power grids that include power-electronic plant controllers. However, detailed EMT simulation of large-scale power grids for 20 to 30 second time-frames and hundreds of contingencies presents a number of computational and analytic challenges including excessive simulation time, large-scale grid data management and the unavailability of detailed and validated models of power-electronic plant controllers. Furthermore, these plant controllers, if they are provided by OEMs, are in the form of blackbox, pre-compiled DLLs, which are implemented for specific simulation tools, without any interoperability standard. This presentation will describe OPAL-RT solutions to achieve very large-scale, detailed grid EMT simulation in real-time for Hardware-in-the-Loop (HIL) / Software-in-the-Loop (SIL) control and protection testing, as well as quasi-real-time simulation for fast TSA evaluation of large-scale, low-inertia power systems. With these solutions, blackboxcontrol and protection systems can be implemented natively in the EMT simulation tool, HYPERSIM. PSCAD DLLs can also be co-simulated with HYPERSIM using a software interface based on the CIGRE model-interoperability guidelines. Such advances will accelerate connection studies and can be used to implement cloud-native tools to help operators assess system stability with hundreds of contingencies in 5-to 10-minute time-frames. This performance can be achieved for grids having several thousand busses with a 50-microsecond time-step using a few hundred processors. As HYPERSIM runs under Windows or LINUX, powerful cloud-based applications can be implemented for TSA and to test wide area control and protection systems using SIL or HIL with real control and protection software and hardware. Communication system emulators, such as eXata can also be used to analyze cyber-attacks and countermeasures as well as to evaluate the effect of communication failures and delays on system performance. Learn more at www.opal-rt.com

2017 Atlanta Regional User Seminar - Real-Time Microgrid Demos

This document discusses challenges in simulating distributed energy resources and microgrids in real-time including bidirectional power flow, integration of new technologies, controls, islanding operations, and communication networks. It also describes a real-time hardware-in-the-loop simulation platform that models a microgrid test system containing generators, loads, energy storage and PV to evaluate commercial microgrid controllers under different operating conditions and grid connection scenarios.

2017 Atlanta Regional User Seminar - Conclusion

OPAL-RT held their Regional User Seminar in Atlanta, GA on February 15th, 2017. Presentations from the seminar will be made available on their FTP site in the coming days. Upcoming events in both the US and Canada were also announced, including the 4th International Grid Simulator Testing Workshop in April 2017, CPES Annual Conference in Virginia in April 2017, and OPAL-RT's User Group Conference #RT17 in Montreal, Canada from September 5-8, 2017. Attendees were asked to complete a survey about the seminar before leaving.

2017 Atlanta Regional User Seminar - Using OPAL-RT Real-Time Simulation and H...

This document summarizes a presentation given by Shuhui Li at an Opal-RT user seminar on February 15, 2017 in Atlanta, GA. The presentation covered Li's research using Opal-RT real-time simulation and hardware-in-the-loop systems for power and energy systems at the University of Alabama. Specific topics included solar energy conversion and grid integration, electric vehicle charging stations, microgrid control, interior permanent magnet motor control for EVs, and an NSF-funded research center on efficient vehicles. Real-time simulation and hardware experiments were shown for various applications including solar PV systems, energy storage, electric vehicle charging, and inverter control for grid-connected microgrids and permanent magnet synchronous motors.

2017 Atlanta Regional User Seminar - Virtualizing Industrial Control Systems ...

This document discusses virtualizing industrial control systems to create testbeds for cybersecurity research. It describes creating a high-fidelity virtual copy of a physical SCADA system and comparing results between the physical and virtual testbeds under normal and attack conditions. As an example, it details virtualizing a gas pipeline testbed that includes sensors, actuators, a programmable logic controller and human-machine interface. It also discusses expanding the virtual gas pipeline testbed and virtualizing additional systems like a water storage tank and power system using the same approach.

2017 Atlanta Regional User Seminar - Residential Battery Storage Systems. Des...

Sonnen is a leading manufacturer of residential battery storage systems in Europe and the US. They use Opal-RT hardware-in-the-loop systems to test the dynamic operation of bi-directional inverters, optimize battery charging and discharging algorithms using real weather and demand data, validate and test new software releases, and develop algorithms to monitor battery health by measuring impedance. The Opal-RT systems allow accelerated testing without external hardware.

2017 Atlanta Regional User Seminar - Real-Time Volt/Var Optimization Scheme f...

This presentation discusses real-time optimization schemes for distribution systems with high PV integration. It proposes using PV inverter reactive power control to minimize voltage deviations and power losses. A day-ahead optimization determines inverter VARs, OLTC taps, and capacitor states. An online control adjusts inverter VARs in real-time to compensate for forecast errors. Case studies show the approach reduces objective function values. Distributed control algorithms using multiple embedded controllers communicating over a network are also investigated through real-time simulation.

Comparison of Non-real-time and Real-time Simulators with Relays-in-the-Loop ...

2017 Atlanta Regional User Seminar Introduction

The document summarizes the agenda for OPAL-RT's Regional User Seminar in Atlanta, GA on February 15th, 2017. It includes panels on real-time power system simulation, partner technology overviews, hardware-in-the-loop applications, and real-time microgrid demos. It also provides updates on OPAL-RT's expansion in Latin America, research collaborations in the US, involvement in an aircraft technology project in Canada, and new product features and releases.

Webinar | HIL-based Wide-area Monitoring, Protection and Control R&D and Testing

Webinar | HIL Testing of Electric Transportation

OPAL-RT and RTDS Technologies Co-Simulation

Power Grid Cybersecurity

This document summarizes a webinar about cybersecurity for power grids. It introduces OPAL-RT, a company that provides real-time digital simulators for power systems. It then discusses how modern power grids are vulnerable to cyberattacks as they incorporate more intelligent technologies. The rest of the webinar focuses on how real-time simulation can be used to assess cybersecurity risks, research attack mitigation systems, and test compliance with new standards. Speakers from OPAL-RT and the Pacific Northwest National Laboratory discuss their work using real-time simulation for cybersecurity applications.

Lab-Scale MMC Test Bench

Microgrid Controller HIL Demonstration Platform

Rapid Control Prototyping Solutions

This document summarizes a presentation by Guillaume Boué of OPAL-RT on their rapid control prototyping solutions. The presentation covers an introduction to OPAL-RT, why rapid control prototyping is useful, OPAL-RT technology including their real-time computers and software interface, application highlights in areas like electric motor drives and modular multilevel converters, and a question and answer section. Key benefits outlined are finding errors early to reduce costs, easily building and tweaking control designs in real-time, and efficiently addressing power electronics, electric drive, and power systems challenges.

OPAL-RT | Setup and Performance of a Combined Hardware-in-loop and Software-i...

1. The document describes a combined hardware-in-loop (HIL) and software-in-loop (SIL) test for an MMC-HVDC control and protection system using a real-time simulator. 2. The test setup involves using FPGAs to simulate the low-level valve controller in the pole controller hardware, while simulating the rest of the grid and MMC station. 3. Test results demonstrated the start and stop sequence of the MMC, its real power step response, and capacitor voltage balancing worked as specified.

RT15 Berkeley | ePHASORsim: Real-time transient stability simulation tool - O...

ePHASORsim is a real-time transient stability simulation tool that can simulate large power systems with thousands of nodes using a phasor domain solution with time-steps in the range of milliseconds. It can run simulations both offline and in real-time on RT-LAB enabled simulators. It has a variety of features including modeling of transmission and distribution systems, flexible data input formats, on-the-fly parameter changes, measurements and monitoring, parallel processing, and support for communication protocols and functional mock-up interface. It has been used for applications such as operator training, wide area monitoring, state estimation, and automatic control.

RT15 Berkeley | HYPERSIM - OPAL-RT

1. HYPERSIM is a real-time power system simulator developed through a collaboration between IREQ, RTE, China State Grid, and OPAL-RT to model power systems and power electronics from nanoseconds to milliseconds. 2. It is designed for power system engineers to simulate large EMT models in parallel on supercomputers, and integrate with other simulators like ePHASORsim and eMEGAsim. 3. HYPERSIM includes modeling, visualization, automation, and reporting tools and can interface with hardware in the loop controllers for applications like large scale wind power integration studies.

RT15 Berkeley | Introduction to FPGA Power Electronic & Electric Machine real...