Webinar | HIL-based Wide-area Monitoring, Protection and Control R&D and Testing
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The document discusses wide-area monitoring, protection, and control (WAMPAC) systems, highlighting their role in enhancing the reliability and security of power networks against disturbances. It emphasizes the importance of synchronized measurement technology and real-time simulation applications, noting significant investments and advancements in this area from 2009 to 2016. The presentation underscores the development of tools and platforms for testing and implementing WAMPAC solutions, aiming to improve grid management and disaster prevention.
Webinar | HIL-based Wide-area Monitoring, Protection and Control R&D and Testing
- 1. HIL-Based Wide-Area Monitoring, Protection and Control R&D and Testing Sept. 6, 2016
- 2. Introduction Thomas Kirk, M.A.Sc. Sales Engineer OPAL-RT Technologies Keynote Speakers Mario Paolone, M.Sc., Ph.D. Associate Professor École polytechnique fédérale de Lausanne Luigi Vanfretti, M.Sc., Ph.D. Associate Professor KTH Royal Institute of Technology
- 3. 1 2 3 4 5 Introduction Real-Time Simulation, Applications, & Solutions Luigi Vanfretti KTH Mario Paolone EPFL Questions? 4
- 4. 1 “Wide-area monitoring, protection, and control (WAMPAC) involves the use of system-wide information and the communication of selected local information to a remote location to counteract the propagation of large disturbances. Synchronized measurement technology (SMT) is an important element and enabler of WAMPAC. It is expected that WAMPAC systems will in the future reduce the number of catastrophic blackouts and generally improve the reliability and security of energy production, transmission, and distribution, particularly in power networks with a high level of operational uncertainties.” V. Terzija et al., “Wide-Area Monitoring, Protection and Control of Future Electric Power Networks”, IEEE Proceedings, vol. 99, No.1, pp. 80-93, January. 2011
- 5. 2 • Motivation for WAMPAC • Highly stressed, complex systems • Reduced system inertia • Increased instability • Weakened reliability and security • Blackouts (2003 US-Canada, 2003 Italy) • Lack of real-time WAMPAC functionality pointed to as root cause • Synchrophasors/PMUs driving force1 • Reporting - SCADA: 0.25-0.5 Hz, PMUs: 30Hz+ • $357m invested by DOE and industry partners under ARRA 2009 • 1700 PMUs provide near 100% visibility 200920122015 1 –http://www.energy.gov/sites/prod/files/2016/03/f30/Advancement%20of%20Sychroph asor%20Technology%20Report%20March%202016.pdf Source: U.S. Energy Information Administration, based on Oklahoma Gas & Electric system disturbance data
- 7. 1 2 3 4 5 Introduction Real-Time Simulation, Applications, & Solutions Luigi Vanfretti KTH Mario Paolone EPFL Questions? 4
- 8. To & From Virtual Devices Commands, Status GPS Clock PMU Antenna C37.118Analog out Time sync RF Time sync RelayIEC61850 SV, GOOSE Virtual Devices Analog out Digital Comm Phasor Data Concentrator(PDC) Control Center: Control, Applications and HMI Controller Modbus, DNP3, etc.Analog, Digital IO Communication Network Synchropasors Power Amplifier 9 Network Simulators: • Scalable Networks • OPNET • NS2/NS3
- 9. • Detailed Large-Scale Power System software developed by Hydro-Québec • Automated testing with TestView (supports Python) • Based on MATLAB/Simulink & SimPowerSystems • Open API (Python, C++, Java) • Automate studies, link to external systems • Phasor-based real-time simulation software for very large networks • Import PSSE, CYME, DIgSILENT PowerFactory networks ePHASORsim Real-Time Transient Stability Simulator 10 ms time step HYPERsim Large Scale Power System Simulation for Utilities & Manufacturers 25 µs to 100 µs time step 1 s (1 Hz) 10,000 2,000 1,000 500 100 10 0 10 ms (100 Hz) 50 µs (20 KHz) 10 µs (100 KHz) 20,000 Period (frequency) of transient phenomena simulated Number of 3-Phase Buses eMEGAsim Power System & Power Electronics Simulation 10 µs to 100 µs time step C37.118 PDC ModelPredictiveController Emulated PMUs C37.118 Systems Under Test 10 C. Dufour et al., “RENEWABLE INTEGRATION AND PROTECTION STUDIES ON A 750-NODE DISTRIBUTION GRID USING A REAL-TIME SIMULATOR AND A DELAY-FREE PARALLEL SOLVER.” CIRED 2015 http://www.opal-rt.com/sites/default/files/opal_kirk_synchrophasor_applications_real_time_20160324.pdf
- 10. 8 N. Sofizan and N. Yusuf, “Application of Real-time Phasor Domain Simulation for Wide Area Protection in Large-Scale Power Systems,” AORC-CIGRE Technical Meeting, August 16-21, 2015 Amplifier 21ZRelay + OOSP + PMU 3 CTs + 3 VTs Low level signals ePhasorSim PDC + OOSP (Angular Acceleration Method) Dedicated OOSP (SCV Method) GOOSE 3 CTs + 3 VTs C37.118 0 0.5 1 1.5 -1.5 -1 -0.5 0 0.5 1 1.5 x 10 4 Time (s) Voltage(V) 0 0.5 1 1.5 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1 x 10 4 Time (s) Current(A) 9 9.5 10 10.5 11 11.5 12 12.5 13 13.5 14 -250 -200 -150 -100 -50 0 50 100 Time (s) Angle(Deg.) Generator Rotor Angle After Out-Of-Step Control OOS Condition OOS Resolve Generator Shedding
- 12. 2 CLOSED Systems
- 13. 2 OPEN System • Flexible and Scalable Architecture • Programmable with modern and legacy tools • Support for latest security technologies
- 14. ThanI< you!
- 15. 1 2 3 4 5 Introduction Real-Time Simulation, Applications, & Solutions Luigi Vanfretti KTH Mario Paolone EPFL Questions? 4
- 17. 2
- 18. • SmarTS&Lab&– Arch.&and&Implementation • From&proof9of9concept&and&learning&to&experimental&research • Experimental&Workflow • RT9Modeling • WAMPAC&Applications& Developed& in&SmarTS9Lab • Monitoring • Control • Protection • OSS&Tools&for&Synchrophasor&Application&Development • S3DK&&&BabelFish (IEEE&C37.118.2&Toolkit and&Client(s)&for&Labview) • Khorjin (IEC&6185099095&Traffic Generator&/&Client) • Conclusion Outline 3
- 19. Acknowledgements Almas,%Maxime,% Gudrun,%Luigi,% Francisco,%Vedran Funding&&&Projects: To&all&Students&@KTH&SmarTS&Lab.,&and&in&particular&for&this&presentation& to:& Almas && 4 Reza AliJanHossein Eldrich
- 20. Research$Areas Data'Analytic' methods%and%tools% extract%key%information% from%big%data Predictive tools%to% anticipate% uncertainties%and% perform%grid% optimization% through% modern%computation% facilities Monitoring' Tools%allowing% realHtime% assessment%of% the%grid Control methods%and% technologies%for% design,%optimization,% management% and% coordination%of% distributed%control% assets Self=healing protection%to%mitigate% grid%collapse%and% enhance%coordination% of%protection%and% control%systems Modeling'&'Simulation Sensors'&'Data' Infrastructure 5
- 21. SMART&TRANSMISSION& SYSTEM&LABORATORY&(SmarTS2Lab) Platform&for&developing&WAMPAC&Applications 6
- 22. Proof%of%Concept%Stage: 201092012 7 2011 22012 • We&carried&out&the&first&implementation&of&the&lab&through&2011,&mostly&by&MSc& student&(Almas),&myself&and&a&little&help&from&technicians. • First&implementation&was&fully&operational&around&Dec.&2011. • A&paper&with&the&implementation&done&in&2011&was&presented&in&the&IEEE&PES& General&Meeting ! Experience&as&basis&for&next&implementation. • A&proof&of&concept&application&built&using&openPDC ! Experience&was&basis&for& defining&the&needs&for&the&environment&to&develop&prototype&apps. First*Architecture First*Implementation 2010:& • I&started&working&on&the&development&of&a&lab.&around&August/September& 2010. • Not&a&lot&of&people&where&doing&this&back&then&(for&power&systems),&it&was&also&seen&as&“unnecessary”&or&“useless”&by&many&of the&‘experts’. • I&prepared&a&white&paper&for&negotiations&internally&in&the&university&on&the&potential&use&of&RT9HIL&technology:& http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva963372 • Procurement&process&for&the&simulator&was&carried&out&in&2010&/&RT&Target&arrived&somewhere& in&March/April&2011. 9 L.&Vanfretti,&et&al,&"SmarTS Lab&— A&laboratory&for&developing& applications&for&WAMPAC&Systems," 2012%IEEE%Power%and%Energy%Society% General%Meeting,&San&Diego,&CA,&2012,&pp.&198. doi:&10.1109/PESGM.2012.6344839 9 M.&Chenine,&L.&Vanfretti,&et&al,&"Implementation&of&an&experimental&wide9 area&monitoring&platform&for&development&of&synchronized&phasor measurement&applications," 2011%IEEE%Power%and%Energy%Society%General% Meeting,&San&Diego,&CA,&2011,&pp.&198. doi:&10.1109/PES.2011.6039672
- 25. Performing&Scientific&Experimental Work&in& Development,&Implementation& and&Testing&of&PMU&Apps&using&RT9HIL&Simulation (1) A real9time simulation model of active distribution networks is developed to test the PMU application. 10 (2)&The&real9time&simulation& model&is&interfaced&with& phasor measurement&units& (PMUs)&in&HIL& (3)&PMU&data&is&streamed&into&a&PDC,&and&the& concentrated&output&stream&is&forwarded&to&an& application&development&computer (4)&A&computer&with& development&tools& within&the&LabVIEW environment&receives& the&PMU&data. All&data&acquisition&is& carried&out&using&the& corresponding& standards&(i.e.&IEEE& C37,&IEC&61850). (5)&During&development,& implementation&and& testing,&the&application&is& fine9tuned&through& multiple&HIL&experiments.
- 28. Wide9Area&Near9Real9Time& Monitoring&Applications (1)&Monitoring&&&Visualization& (2)&Mobile&Apps (3)&Inter9Area&Oscillation&Assessment (4)&Forced&Oscillation& Detection (5)&Real9Time&Voltage&Stability& Assessment 13 (1)9(2)&M.&S.&Almas,&et&al,&"Synchrophasor&network,&laboratory&and&software&applications&developed&in&the&STRONg2rid&project,"&2014&IEEE&PES&General&Meeting |&Conference&&& Exposition,&National&Harbor,&MD,&2014,&pp.&195.&doi:&10.1109/PESGM.2014.6938835 (3)&V.&S.&Perić,&M.&Baudette,&L.&Vanfretti,&J.&O.&Gjerde and&S.&Løvlund,&"Implementation&and&testing&of&a&real9time&mode&estimation&algorithm&using&ambient&PMU&data,"Power Systems%Conference%(PSC),%2014%Clemson%University,&Clemson,&SC,&2014,&pp.&195. doi:&10.1109/PSC.2014.6808116 (4)&M.&Baudette et%al.,&"Validating&a&real9time&PMU9based&application&for&monitoring&of&sub9synchronous&wind&farm&oscillations," Innovative%Smart%Grid%Technologies%Conference% (ISGT),%2014%IEEE%PES,&Washington,&DC,&2014,&pp.&195. doi:&10.1109/ISGT.2014.6816444 (5)&J.&Lavenius and&L.&Vanfretti,&“Real9Time&Voltage&Stability&Monitoring&using&PMUs”,&Workshop&on&Resiliency&for&Power&Networks&of&the&Future, May&8th 2015.&Online:& http://www.eps.ee.kth.se/personal/vanfretti/events/stint9capes9resiliency92015/07_JanLav_Statnett.pdf
- 29. Transmission&Network Distribution&Network Aggregated&load Effect of&both networksEffect of&distribution&networkEffect of&transmission&network More&stable&with&wind&gen.&@ distribution&network 14 A.&Bidadfar,&H.&Hooshyar,&M.&Monadi,&L.&Vanfretti,&Decoupled&Voltage&Stability&Assessment&of&Distribution& Networks&using&Synchrophasors,”&IEEE&PES&General&Meeting&2016,&Boston,&MA,&USA.&Pre9print:&link.& A&Monitoring&Application&for&Decoupled&Voltage&Stability& Assessment&of&Distribution&&&Transmission&Networks
- 30. REAL2TIME&CONTROL&AND&PROTECTION&APPLICATIONS Overview The&term&“Real9time&control&and&protection&refers”&to&actions&aiming&to&steer,& optimize&and&protect&the&overall&system&performance&in&the&time&scale&of&a&few& milliseconds& to&10s&of&seconds.& • This&time9scale& is&completely&different&to&the&reaction&time&of&control&room& operators&and&associated&applications,&which&in&traditional&SCADA&systems&is& 295&minutes.& • Real9time&control&and&protection&must%act%automatically%and%with%minimal% latency. 15
- 31. RT&Modeling&for&Wide9Area&Damping&Control&and&Interfacing& with&an&Excitation&Control&System 16 (1)&RT9HIL&Assessment& of&ECS • Auto&Mode:&(Voltage®ulation) • Manual&Mode:&Field&(Current& Regulation) • PSS%Functionality (MultiIBand%PSS) (2)&Development of Damping Control& Models (PSS)&for&RT9SIL Stabilizers Δω,&ΔPa,&MB9PSS,&and&the&Phasor&POD& where developed for&SIL&testing.& (1)&M.&S.&Almas&and&L.&Vanfretti,&"Experimental&performance&assessment&of&a&generator's&excitation&control&system&using&real9time&hardware9in9the9loop&simulation," IECON%2014%I 40th%Annual%Conference%of%the%IEEE%Industrial%Electronics%Society,&Dallas,&TX,&2014,&pp.&375693762.&doi:&10.1109/IECON.2014.7049059 (2)&M.&S.&Almas&and&L.&Vanfretti,&"Implementation&of&conventional&and&phasor&based&power&system&stabilizing&controls&for&real9time&simulation," IECON%2014%I 40th%Annual%Conference% of%the%IEEE%Industrial%Electronics%Society,&Dallas,&TX,&2014,&pp.&377093776.&doi:&10.1109/IECON.2014.7049061 (3)&M.&S.&Almas&and&L.&Vanfretti,&"RT9HIL&testing&of&an&excitation&control&system&for&oscillation&damping&using&external&stabilizing&signals," 2015%IEEE%Power%&%Energy%Society%General% Meeting,&Denver,&CO,&2015,&pp.&195.&doi:&10.1109/PESGM.2015.7286100 (3)&Interfacing Control& Models with ECS&System Stabilizers models&where&testing& both&for&the&MB9PSS&and&our&target& control&(Phasor&Oscillation& Damper)&with&the&ECS&in&the&loop.
- 32. 17 A,%B A B A B S3DK Controller%Configuration%Interface SoftwareHHardware%Layers Testing E.%Rebello,%M.%S.%Almas%and%L.%Vanfretti,%"An%experimental%setup%for%testing%synchrophasorHbased%Damping%control%systems," Environment%and%Electrical%Engineering%(EEEIC),%2015%IEEE% 15th%International%Conference%on,%Rome,%2015,%pp.%1945H1950.%doi:%10.1109/EEEIC.2015.7165470 E.%Rebello,%L.%Vanfretti%and%M.%Shoaib Almas,%"Software%architecture%development%and%implementation%of%a%synchrophasorHbased%realHtime%oscillation%damping%control%system," PowerTech,% 2015%IEEE%Eindhoven,%Eindhoven,%2015,%pp.%1H6.%doi:%10.1109/PTC.2015.7232288 E.%Rebello,%L.%Vanfretti%and%M.%Shoaib Almas,%"PMUHbased%realHtime%damping%control%system%software%and%hardware%architecture%synthesis%and%evaluation," 2015%IEEE%Power%&%Energy% Society%General%Meeting,%Denver,%CO,%2015,%pp.%1H5.%doi:%10.1109/PESGM.2015.7285812% Wide9Area&Control&Architecture(s)&and&Implementation
- 33. Extending&the&Application&of&our&Wide9Area& Control&for&Control&of&Large&Industrial&Loads 18 G.%M.%Jonsdottir,%M.%S.%Almas,%M.%Baudette,%M.%P.%Palsson and%L.%Vanfretti,%"RTHSIL%performance%analysis%of%synchrophasorHandHactive%loadHbased%power%system%damping%controllers," 2015% IEEE%Power%&%Energy%Society%General%Meeting,%Denver,%CO,%2015,%pp.%1H5. doi:%10.1109/PESGM.2015.7286372 G.%M.%Jonsdottir,%M.%S.%Almas,%M.%Baudette,%L.%Vanfretti,%and%%M.%P.%Palsson,%“Hardware%Prototyping%of%Synchrophasorand%Active%LoadHBased%Oscillation%Damping%Controllers%using%RTHHIL% Approach”,%%IEEE%PES%GM%2016,%July%17H21,%Boston,%Massachusetts,%USA The%load%control%algorithm%developed% d/dt max min Load+control+algorithm Load+ Modulation Phasor+ POD Local/Remote+ Measurements Oscillatory+ Content Load+Change+ Signal Switch>0 Idea:& Develop&an&algorithm&to&control& industrial&load,&in&particular& aluminium smelters&for&damping& of&inter9area&&oscillations. Testing: • Using&the&29Area&Four&machine&Klein9Roger9Kundur&power& system&model. • In&RT9SIL&and&RT9HIL. Results: • Several&local&and&remote&synchrophasor&input&signals&tested • There&is&a&big&difference&in&the&perfromance&of&the&controller&in&RT9 SIL&and&RT9HIL. • These&results&highlight&the&importance&of&considering&the&effect&of& the&hardware&implementation&when&looking&at&software&simulation& results. Input&Signal&1: V+ Area1 Input&Signal&2: (Vφ Area1 IVφ Area2)/2 Scenario:&5%&change&in&Vref of&G1
- 34. WIDE&AREA&PROTECTION Islanding using Local and&Wide9Area&Measurements 19 M.&S.&Almas&and&L.&Vanfretti,&"RT9HIL&Implementation&of&the&Hybrid&Synchrophasor and&GOOSE9Based&Passive&Islanding&Schemes,"& inIEEE%Transactions%on%Power%Delivery,&vol.&31,&no.&3,&pp.&129991309,&June&2016. doi:&10.1109/TPWRD.2015.2473669
- 35. Islanding&using&Local&and&Wide9Area&Measurements 20 Requirements:&IEEE&Std.&154792008,&DG&must&be&disconnected& within&2&seconds&(maximum&delay,&includes&islanding%detection,% trip%signal%generation,%trip%signal%transfer%and%breaker%opening. NDZ&(non9detection&zone):&range&of&power&mismatches&between& DG&supply&and&load&for&which&the&detection&method&will&fail. Measurements • Local&measurement9based&islanding&! use&local& measurements&at&the&DG&side.&Large&NDZ:&fail&when& mismatch&btwn&local&load&and&DG&is&small. • Wide9ara&islanding&! Use&remote&measurements&at& network&&&DG.& • Hypothesis:&islanding&detection&time&can&be&improved& because&of&better&ability&to&detect&imbalances&at&lower&NDZs • Iff&the&delay&is&controlled&to&a&minimum. Delays? Both&measurement&and&trip&signal&have&delays,&the& approach&needs&to&make&them&as&small&as&possible. Islanding&Detection • Over/under&voltage,&Over/under&frequency,&ROCOF • Question:&Which&one&would&perform&better? Trip&signal&– generation&and&transfer • Question:&how&to&minimize&delay&in&trip&time? Proposed&Approach: • Minimize&delays&by&using&direct&relay9to9 relay&communications&to&transfer&PMU& data&from&a&Master&PMU&(remote)&to&a& Slave&PMU&(local)&that&executes&the& islanding&detection. • Use&IEC&618509891&(GOOSE)&to&isolate&the& DG&and&minimizing&delay&in&trip&time.
- 37. Results 22 Reactive(Power(Mismatch((ΔQ) 10% 20% 30%:35% :25% :15% 20% 30% 10% :20% :10% :30% Over( VoltageUnder( Voltage NDZ Over( Voltage Under( Voltage Reactive(Power(Mismatch((ΔQ) 10% 20% 30%:35% :25% :15% 20% 30% 10% :20% :10% :30% Over( VoltageUnder( Voltage NDZ Over( Voltage Under( Voltage Local&Over/Under&Voltage&Islanding: Wide2Area&Over/Under&Voltage&Islanding: ROCOF9based schemes are effective for both active and reactive power mismatch, andresult infaster operation. Wide9area&schemes¬&only& perform&faster,&but&also&have& smaller&NDZs By&performing&more&than&400&RT9HIL&tests, it&is&concluded&that&if&latencies&are&kept&to&a&minimum,&wide9area&passive&islanding& detection&schemes&reduce&the&NDZ&to&half&or&two9third&of&the&one&using&local&synchrophasors.
- 38. OSS&TOOLS S3DK,&BABELFISH AND&KHORJIN (PROTOCOL&PARSERS&AND&APP&DEV.&TOOLS) OSS## Tools Synchrophasor Parsers#+ Toolkit Babelfish BFv1 BFE S3DK Synchrophasor#and# IEC#61850F90F5 Parser/Traffic Generator Khorjin 23
- 39. Motivation A&bridge&to&take&the&next&step&in&the&“last&mile”&in&PMU&App&Development • PMU&SW&Apps require real9time data&acquisition. • PMU&data&is&sent&to&these SW&Apps using many different&comm.&protocols. • For&fast%software%prototyping and*testing,&communication protocol parsing is& required. • Low level data&management&routines (windowing,&etc.)&do¬&need to&be& reinvented N×. • To&assist&students&and&researchers&with&a&background&in&power&systems,&but& lacking proficient&software&development&and&programming&skills. PMU&1 PMU&2 PMU&n PDCCommunication Network Infrastructure Data& in&IEEE& C37.118&Protocol Real9time&data&locked& into&vendor&specific& software&system Historical&Data&in& Proprietary&Database Interfaces using&standard& protocols&and&a* flexible* development* environment**are& needed Last&Mile&in&PMU& App&Development 24
- 41. BabelFish& Engine& (Labview&Only) BabelFish&V1 (LabView&and C++) S3DK (LabView and&C++) Khorjin (C++) Core& Functionality C37.118.2& Parser C37.118.2&Parser C37.118.2& Parser C37.118.2&and& IEC&6185099095 Operating& System Windows Windows Windows Windows,&Linux, VXworks Platform Labview 2012&or& newer Labview&2012,&C++,& .Net,&Active X,&VS LV, C++ GNU&C&Compiler Support& Embedded Only&NI&LabView support Anything (in&principle) User& Friendliness Skills LV&Basics LabView,&C++&Expert LabView (+) C++&Expert Executes PC PC PC PC, Embedded SmarTS&Lab&OSS&Tools&Comparison OSS Feature Performance&and&Functionalities Friendliness& and&Programming&Skills 26
- 42. S3DK&– LabView API,&UI&and&Tools 27 GUI Many blocks&to& access&and&handle RT&data Graphical&User&Interfaces& Communication&Configuration Development Tooling
- 44. Three&level&design Control&applications&(S3DK&vs&Khorjin) Network( communication Raw( synchrophasors LabVIEW(Network published(Shared(Variables Input(Signal( Selection Phasor POD Load(Control Algorithm NICcRIO PC RT(processor FPGA 20ms 100µs 20ms Load Modulation Analog Output C37.118 Phasor POD Analog Output SVC Control(signal The&hardware&prototype&controller&design Remotely&run&VI • Runs&on&a&PC. • S3DK&used&to&unwrap&PDC& stream. Real2Time&Software&VI • Runs&on&the&real9time&processor& of&the&cRIO. • Manages&the&signal&selection Core&FPGA&Software&VI • Runs&on&the&FPGA • The&load&control&and&SVC& control&implemented. NI9cRIO Two&level&design S3DK&is&executed& on&a&PC&with&a& non&real9time&operating&system&=>& Non2deterministic&delay S3DK
- 45. Three&level&design Control&applications&(S3DK&vs&Khorjin) Khorjin Phasor POD Load/Control Algorithm NI8cRIO RT/processor FPGA 20ms 100µs Load Modulation Analog Output C37.118 Phasor POD Analog Output SVC Control/signal The&hardware&prototype&controller&design Remotely&run&VI • Runs&on&a&PC. • S3DK&used&to&unwrap&PDC& stream. Real2Time&Software&VI • Runs&on&the&real9time&processor& of&the&cRIO. • Manages&the&signal&selection Core&FPGA&Software&VI • Runs&on&the&FPGA • The&load&control&and&SVC& control&implemented. NI9cRIO Two&level&design Real2Time&Software&VI • Runs&on&the&real9time&processor&of&the&cRIO. • Khorjin used&to&unwrap&PDC&stream. • Input&signal&selected Core&FPGA&Software&VI • Runs&on&the&FPGA • The&load&control&and&SVC&control& implemented. Khorjin
- 46. Results !! G1 G2 Area!1 Local! Loads 900!MVA 900!MVA 900!MVA 20!kV!/!230!kV 25!Km 10!Km 900!MVA 20!kV!/!230!kV 967!MW 100!MVAR!(Inductive) E387!MVAR!(Capacitive) 220!Km!Parallel! Transmission!Lines Power!Transfer Area!1!to!Area!2 10!Km 25!Km 900!MVA900!MVA 20!kV!/!230!kV G4 900!MVA 20!kV!/!230!kV 900!MVA Area!2 Bus1 Bus2 Local! Loads 1767!MW 100!MVAR!(Inductive) E537!MVAR!(Capacitive) Load! Control Load! Modulation G3 SVC Test&Power&System ΔV#$% Conclusion S3DK is&good&for&beginners.& Problem:&runs&on&PC&which& adds&to&the&latency. Solution: Khorjin,&in&princible& can&run&on&any&platform.& Allows&you&to&perform&unwrap& the&PMU&stream&on&the& controller&platform. Hardware&prototype& controllers&tested: • In&RT9SIL&and&RT9HIL. • In&RT9HIL&using&S3DK&and& Khorjin. Scenario:&5%&change&in&Vref of&G1 Total&delay&in&RT2HIL&setup: S3DK:&200I500%ms% Khorjin:& 50I76%ms
- 47. Repositories Currently Available at&GitHub • S3DK:&https://github.com/SmarTS9Lab9Parapluie/S3DK • BabelFish:&https://github.com/SmarTS9Lab9Parapluie/BabelFish • Khorjin:&Will&be&available at&GitHub end&of 2016. 33 L.&Vanfretti,&V.&H.&Aarstrand,&M.&S.&Almas,&V.&S.&Perić and&J.&O.&Gjerde,&"A&software&development&toolkit&for&real9time&synchrophasor applications," PowerTech (POWERTECH),%2013%IEEE%Grenoble,&Grenoble,&2013,&pp.&196. doi:&10.1109/PTC.2013.6652191& L.&Vanfretti,&I.&A.&Khatiband&M.&S.&Almas,&"Real9time&data&mediation&for&synchrophasor application&development&compliant&with&IEEE& C37.118.2," Innovative%Smart%Grid%Technologies%Conference%(ISGT),%2015%IEEE%Power%&%Energy%Society,&Washington,&DC,&2015,&pp.&195. doi:&10.1109/ISGT.2015.7131910 L.&Vanfretti,&M.S.&Almas&and&M.&Baudette,&“BabelFish– Tools&for&IEEE&C37.118.29compliant&Real9Time&Synchrophasor Data&Mediation,”&SoftwareX,& submitted,&June&2016. S.R.&Firouzi,&L.&Vanfretti,&A.&Ruiz9Alvarez,&F.&Mahmood,&H.&Hooshyar,&I.&Cairo,&“An&IEC&6185099095&Gateway&for&IEEE&C37.118.2&Synchrophasor Data& Transfer,”&IEEE&PES&General&Meeting&2016,&Boston,&MA,&USA.&Pre9print:&link. S.R.&Firouzi,&L.&Vanfretti,&A.&Ruiz9Alvarez,&H.&Hooshyar and&F.&Mahmood,&“Interpretation&and&Implementation&of&IEC&6185099095&Routed9Sampled& Value&and&Routed9GOOSE&Protocols&for&IEEE&C37.118.2&Compliant&Wide9Area&Synchrophasor Data&Transfer,”&Electric&Power&Systems&Research.&March& 2016.&Submitted.&August&2016.&First&Revision. G.M.&Jonsdottir,&E.&Rebello,&S.R.&Firouzi,&M.S.&Almas,&M.&Baudette&and&L.&Vanfretti,&“Audur – Templates&for&Custom&Synchrophasor9Based&Wide9Area& Control&System&Implementations,”&SoftwareX,&in&preparation,&2016.
- 48. Other&Contributions& to&Open&Science: RaPId and&OpenIPSL Now%Available%as%OSS! • Our&work&on&OpenIPSL and&RaPId has& been&published& in&an&Open&Access& Journal,&available&on9line: • http://dx.doi.org/10.1016/j.softx.2016. 05.001 • http://www.sciencedirect.com/science /article/pii/S235271101630019X • The OpenIPSL library canbe found on9 line&at&Github: • https://github.com/SmarTS9 Lab/OpenIPSL • The&RaPId&software&can&be&found& at: • https://github.com/SmarTS9 Lab/iTesla_RaPId …&and&more&to&come!&See&our&Github&accounts:&https://github.com/SmarTS9Lab/ And&coming&soon&with&more&synchrophasor9related&applications:&https://github.com/SmarTS9Lab9Parapluie 34
- 49. – What did we covered? – We learned about the Smart Transmission System Laboratory, which serves as a test9bench where new WAMPAC software applications are developed and tested. – Our laboratory, equipped with real9time simulators, PMUs and other equipment has allowed us to do rigorous and scientific experimental testing of our research by performing RT9HIL simulations – We showed how OSS Tools provides users the freedom real9time synchrophasor streams in the LabView environment forrapid application prototyping. – What is the future in WAMPAC? – A more open market needs to be developed, and the foundational building blocks for the technology need to be openly available (standards, their implementations, etc.) – The feature, to me, seems quite limitedif the status quo continues. – We hope to bridge this gap through our open source tools, to empower other researchers. – What is the future for HIL? – The full Model9Based approach should be better supported by technologies, i.e. avoid re9implementation of applications / models / controls, etc., in n different systems. – We need to support open standards for model9exchange (FMI Standard) – We need to develop new and rigorous methods on how to test applications, HW and SW. – What we learned by using HIL? – It is really hard work to use the HIL approach, and it is even harder to get things published. – We have learned more than what we expected (or wanted), and mastered the technologies. – Nothing would have been possible without investing time in training my students, the highest value of a lab is the individualsin it. – Taking the next step was a 5 year process, and we believe that our work can help others – that’s why we are sharing our tools as open source software. Conclusions 35
- 50. Thank&you! • Questions? • Our&group’s&website: • https://www.kth.se/en/ees/omskolan /organisation/avdelningar/epe/resear ch/smart9transmission9systems9 laboratory9smarts9lab91.627203 36 The&scientific&man&does¬&aim&at&an&immediate&result.& He&does¬&expect&that&his&advanced&ideas&will&be&readily&taken&up.& His*work*is*like*that*of*the*planter*= for*the*future.* His&duty&is&to&lay&the&foundation&for&those&who&are&to&come,&and&point&the&way.& 9 Nikola%Tesla 9
- 51. C37.118.2&Data&Mediation& (S3DK&and&BabelFish) FREQ%2byteFREQ%2byteFREQ%2byte8943 20189654321678 DATA$1DATA$2DATA$3CHK FRAMESIZEIDCODESOCFRACSEC X0001001 SYNC AA%(hex)857458 X0000001 S3DK BabelFish Features:Fast%prototyping%of%PMU%based%applications • Provide Access&to&raw9measurements&in&real9time that are wrapped inside& PMU/PDC&stream&(Phasor,&Analog,&Digitals) • Choice&to&select&data&of&interest • Phasor&can&be&presented&in&either&rectangular&or&polar&coordinates. • Transmit&data9of9interest&using&TCP/UDP • End&user&can&receive&data&independant&of&platform,&OS 50.0450.0450.05 DATA$1DATA$2DATA$3 Time 15:45:18.52 Connection& Requirements: 1. IP&Address&of& PMU/PDC&Stream 2. Device&ID&Code 3. Port&Number 52
- 52. S3DK Graphical User Interface GUI Connection&Setting Accessing through LabView Enviroment 53
- 53. BabelFish v1 (Graphical User Interface) Step&1 Quantities being sent&by&PMU/PDC Step&2:&Selection of&Data9of9Interest Real9Time Monitoringof&Data9of9Interest 54
- 54. • The&Khorjin&library&is&an&Open&Source&code&providing&following&functionalities: ! IEEE&C37.118.2&Traffic&Parser ! IEEE&C37.118.2&to&IEC&6185029025&Protocol&Converter ! IEC&6185029025&Traffic&Generation ! Routed9Sampled&Value ! Routed9GOOSE ! IEC&6185029025&Traffic&Parser ! Routed9Sampled&Value ! Routed9GOOSE • The&Khorjin&library&supports&different&platforms. ! Will&be&publicly&available&by&the&end&of&2016. Khorjin&Library:&Functionalities Khorjin Windows Linux Mac NI&cRIO Raspberry&Pi 56
- 55. Khorjin Library:&Gateway Architecture • The&Gateway&functionality&of&“Khorjin”&library&is&getting&use&of&its&modular& architecture: ! Easy&future&development • The&Khorjin&Gateway&is&designed&and&implemented&in&three&main&components& of: 1)&IEEE&C37.118.2&Module, 2)&IEC&61850&Mapping&Module,&and 3)&IEC&6185029025&R2SV&/&R2GOOSE&Publisher&Module. • In&order&to&be&platform9independent: ! A&Platform&Abstraction&Layer&is&Implemented. ! Depending%on%the%platform,%the%relevant platformIdependent%functions%are%utilized (i.e.&Socket,&Thread,&Time&and&…). 57
- 56. 1 2 3 4 5 Introduction Real-Time Simulation, Applications, & Solutions Prof. Luigi Vanfretti KTH Prof. Mario Paolone EPFL Questions? 4
- 57. 1 2 3 4 5 Introduction Real-Time Simulation, Applications, & Solutions Prof. Luigi Vanfretti KTH Prof. Mario Paolone EPFL Questions? 4
- 59. Our new Cybersecurity webpage is now online: http://www.opal-rt.com/cybersecurity For a one-on-one demo or any additional questions you might have: http://www.opal-rt.com/contact-opal-rt Visit our event page to view where to meet OPAL-RT Technologies: http://opal-rt.com/events The content of this webinar will be available shortly on: http://opal-rt.com/events/past-webinars Quick Survey as you leave! 35