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Chapter 6: Real-Time Digital Time-Varying Harmonics Modeling and Simulation Techniques

Organized by Task Force on Harmonics Modeling & Simulation Adapted and Presented by Paulo F Ribeiro AMSC May 28-29, 2008. Chapter 6: Real-Time Digital Time-Varying Harmonics Modeling and Simulation Techniques.

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Chapter 6: Real-Time Digital Time-Varying Harmonics Modeling and Simulation Techniques

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  1. Organized by Task Force on Harmonics Modeling & Simulation Adapted and Presented by Paulo F Ribeiro AMSC May 28-29, 2008 Chapter 6: Real-Time Digital Time-Varying Harmonics Modeling and Simulation Techniques Contributors: L-F. Pak, V. Dinavahi, G. Chang, M. Steurer, S. Suryanarayanan, P. Ribeiro

  2. Need for Sophisticated Tools for Power Quality (PQ) Studies • Proliferation of nonlinear and time-varying loads has led to significant power quality concerns. • Traditionally, time-varying harmonics were studies using statistical and probabilistic methods for periodic harmonics. • Cannot describe random characteristics • Cannot capture the reality of physical phenomena. • A time-dependent spectrum is needed to compute the local power-frequency distribution at each instant. • Significant advances in equipment for PQ monitoring, waveform generation, disturbance detection, and mitigation. • Digital signal processing is widely used. • Sophisticated power electronic controllers are used for PQ mitigation. • Need for testing and validation of such equipment. • Real-time digital simulation as an advanced tool for PQ analysis and mitigation.

  3. Real-Time Harmonic Modeling and Simulation Techniques • Wave Digital Filters • Discrete Wavelet Transform • Real-Time Electromagnetic Transient Network Solution • Real-Time Digital Simulators • RTDS • PC-Cluster Based Simulators • HYPERSIM • DSPACE

  4. Wave Digital Filters • Digital Signal Processing tool that transforms analog networks into topologically equivalent digital filters • Synthesis is based on wave network characterization • Designed to attain low-sensitivity structures to quantization errors in digital filter coefficients • Powerful technique for simulating power system harmonics and transients

  5. Discrete Wavelet Transform • Time-Frequency representation of time varying signals. • Wavelet analysis starts by adopting a prototype function. Time Analysis is done with a contracted high-frequency prototype. Frequency analysis is done using a dilated low- frequency prototype. • Operator representation theory is used to model electrical componenets in discrete wavelet domain

  6. PC-Cluster Based Real-Time Digital Simulator • Real-Time eXperimental LABoratory (RTX-LAB) at the University of Alberta.

  7. Features of the RTX-LAB Simulator • Fully Flexible and scalable • Fast FPGA based analog and digital I/O and high intra-node communication speed • Varity of synchronization options • Compatible with MATLAB/SIMULINK and other programming languages

  8. Hardware Architecture of the RTX-LAB Simulator • Two types of computers- Targets and Hosts • Targets are dual CPU based 3.0 GHZ Xeon, work as the main simulation engine and facilitates FPGA based I/Os • Hosts are 3.00 GHZ Pentium IV, used for model development, compilation and loading of the model to the cluster

  9. Software Architecture of the RTX-LAB Simulator • Target OS- RedHawkLinux • Host OS- Windows XP • Model Development- MATLAB/SIMULINK Other programming Languages C, C++

  10. Communication Links in the RTX-LAB Simulator • I/O signals from real-hardware are connected through FPGA based I/Os • Xilinx Virtex-II Pro is used 100 MHZ operation speed • InfiniBand Link Maximum Throughput- 10Gbps • Shared Memory bus speed – 2.67Gbps • Signal Wire Link Data Transfer rate-1.2Gbps • Gigabit Ethernet link Transfer Rate- Up to 1Gbps

  11. Subsystems and Synchronization in the RTX-LAB Simulator

  12. Case Study 1: Time-Varying Harmonic Analysis on the RTX-LAB Real-Time Digital Simulator Single-line Diagram of the Arc Furnace Installation

  13. Case Study 1: Time-Varying Harmonic Analysis on the RTX-LAB Real-Time Digital Simulator Schematic of the Arc Furnace Model

  14. Case Study 1: Time-Varying Harmonic Analysis on the RTX-LAB Real-Time Digital Simulator Voltage and Current for the Arc Furnace

  15. Case Study 1: Time-Varying Harmonic Analysis on the RTX-LAB Real-Time Digital Simulator Voltage at the Primary Winding of the MV/LV Transformer

  16. Case Study 1: Time-Varying Harmonic Analysis on the RTX-LAB Real-Time Digital Simulator Current in the Primary Winding of the MV/LV Transformer

  17. RTDS at CAPS • Provides time domain solution in real time with typical time step sizes around 50 μs using the Dommel (EMTP) algorithm • Features dual time step (<2 μs) capability for PE simulations • Allows up to 54 electrical nodes per rack, but subsystems can be connected through cross-rack elements (transmission lines, etc.) • Large library of power system and control component models (like EMTDC) • > 350 parallel DSPs • > 2500 analog outputs and over 200 digital inputs and outputs RPC – Network Solution IRC – Inter-rack Communication WIF – Workstation Interface 3PC – Controls, system dynamics GPC – Network solution, fast-switching converters

  18. 14 Rack RTDS Installation at CAPS • Largest RT simulator installation in any university worldwide • Systems of up to 250 three-phase buses • Sufficient high-speed I/O to enable realistic HIL and PHIL experiments

  19. (Controller) hardware in loop (HIL) and power hardware in loop PHIL Simulated rest of system

  20. Case Study 2: Power Quality Sensitivity Study of a Controller on the RTDS Schematic of the Industrial Distribution System and Rectifier Load

  21. Case Study 2: Power Quality Sensitivity Study of a Controller on the RTDS Single-phase Voltage Sag (40% reduction, no phase shift) and its Impact on Rectifier DC Output

  22. Case Study 2: Power Quality Sensitivity Study of a Controller on the RTDS Phase-Shifted Single-phase Voltage Sag (40% reduction) and its Impact on Rectifier DC Output

  23. Case Study 3: Harmonic Distortion on the RTDSShipboard Power System Voltage (kV)

  24. Case Study 4: A HIL Simulation for Studying the Transient Behavior of Wind DG

  25. Case Study 4: A HIL Simulation for Studying the Transient Behavior of Wind DG

  26. Conclusions • With rising number of time-varying and nonlinear loads sophisticated harmonics modeling and simulation tools are needed. • A combination of fast topological methods and powerful real-time simulators can overcome limitations of off-line simulation tools. • A general review of current off-line harmonic modeling and simulation tools is presented. • Currently available real-time simulation techniques are discussed. • Two real-time case studies: arc furnace modeling and power quality sensitivity of a controller, are presented.

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