Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
Real-Time Hardware-in-the-Loop Validation for WAMPAC:
Power System Protection and Communication
M. Shoaib Almas and
Dr.-Ing. Luigi Vanfretti
Docent and Assistant Professor
KTH Royal Institute of Technology, Sweden
E-mail: luigiv@kth.se
Web: http://www.vanfretti.com
Scientific Advisor to Statnett SF Smart Operation R&D Program
R&D Department
Statnett SF, Oslo Norway
3rd IEEE PES Innovative Smart Grid Technologies (ISGT)
Real-Time Simulation of Smart Grids
Panel Session
Berlin, Germany– October 14-17, 2012
Outline
•Motivation for RT-HIL Approach
•SmarTS Lab: An RT-HIL Lab for WAMPAC Apps Dev.
•Model-To-Data Workflow for SIL and RT-HIL Validation
•Recent Projects at SmarTS LAB for Power System Protection
and Communication
•Power System Modeling of Protective Relays
•Power System Communication (GOOSE and Sampled
Values) Validation using RT-HIL
•Interfacing RTS for Station Bus and Process Bus
Implementation
•Comparison of Conventional and RT-HIL
approaches for Power Protection Relay Testing
• A software development toolkit for developing and testing
PMU based applications for Wide Area Monitoring,
Protection and Control
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
Timeline for M. Shoaib Almas
• Almas joined KTH, The Royal Institute of Technology, in 2009 to
pursue his Masters in Electric Power Engineering majoring in
Power Systems. Previously he has obtained a Bachelors in
Electrical Engineering from National University of Sciences and
Technology (NUST), Pakistan.
• He has two years of experience working as a Design Engineer
for designing protection schemes for substations (132kV, 220
kV and 500kV) through microprocessor-based relays.
• His professional experience includes substation automation
and coordination of protective relays to minimize the effect of
faults in power transmission networks.
• He performed his master thesis “PMU-Assisted Local
Optimization of the Coordination between Protective Systems
and VSC-HVDCs” at the Electric Power System (EPS) division of
KTH.
• Currently PhD. Candidate, Project Title “Real-Time Wide-Area
Control of Hybrid AC and DC Grids”
Motivation
• Each substation has in average 50 IEDs performing protection (differential, busbar, overcurrent, over/under voltage, over/under frequency etc.) and
communicating with various protocols/standards (C37.118, GOOSE, SV,
MODBUS, DNP 3.0)
• In order to accurately model a power system, these IEDs along with their
respective communication techniques need to be modeled precisely with the
same settings as the real hardware relay .
Power System Modeling
• With substations adopting IEC-61850 standards, RT HIL approach proves
beneficial to exploit interoperability, the use of Station/Process Bus
effectiveness, etc.
Power System Communication
• Digital Real-Time Simulators are compatible with long-established modeling
software like MATLAB/SIMULINK (Opal-RT) and are IEC 61850 compliant
(GOOSE & Sampled Values)
• RT-HIL approach provides freedom to carry on research related with Smart
Transmission Grids:
- Wide Area Monitoring Protection and Control (WAMPAC)
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
How to develop a controlled environment for
developing Smart Transmission Grid Technologies?
Smarter Operator
Decision Support
Sync. Timing
Phasor Measurement Data
Transmission System
Control Center
Smarter Operator Control
Actions
Communication Networks
Decision/Control Support System
Near Real-Time
Security
Assessment
Monitoring
Data Alignment
and
Concentration
Advanced
Displays
Data Storage
and Mining
Early Warning
System
Automatic
Determination of
Control Actions
Smart-Automatic Control Actions
Controllable and Protective Device
Measurement and Status Data
• Smart Grid require Smart Operation, Smart Control and Smart Protection:
- The ultimate goal should be to attain an automatic-feedback self-healing control system
• Measure – Communicate – Analyze (System Assessment and real limits) – Determine
Preventive/Corrective Actions – Communicate – Control and protect
• To achieve this vision, new applications need to be developed in a controlled environment, allowing
testing and considering the ICT chain
The SmarTS Lab Architecture
Opal-RT
Real-Time Simulator
Low-Level
Analog I/Os
V and I
Amplifiers
PMUs
Amplified analog outputs
(current/voltage)
Synchrophasor
Data
PDC(s)
WAMS
Applications
Digital I/Os
GOOSE
GOOSE
Sampled Values
GOOSE
SEL PMUs /Relays
Protective
Relays
Station
Bus
GOOSE
Process
Bus
Sampled Values
Digital
I/Os
Physical Devices
Low-Power
Prototypes
WAPS
Applications
ABB Relays
External Controllers
V and I
Amplifiers
Communication
Network
(WAN /Network
Emulator)
NI- cRIO 9076
WACS
Applications
WAMPAC
Application
Host Platform
SmarTS Lab
Hardware Implementation
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
SmarTS Lab
Comm. and Synchronization Architecture and Implementation
Process Bus
(IEC 61850-9-2)
Station Bus
(IEC 61850-8-1)
IRIG-B
Synchrophasor Bus
(IEEE C37.118)
GPS - Signal
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
Model-to-Data
Workflow
Hardware-in-theLoop Validation
Software-in-the-Loop Validation
Recent Projects at SmarTS LAB
1. Model Validation of an Over-Current Relay
Input
Input Current
Current
Comparator
Comparator
Trip
Trip Signal
Signal
Pickup
Pickup Value
Value
•
•
•
Instantaneous
Definite Time
Inverse Definite Minimum
Time (IDMT)
Block Diagram
Part 1
Three Phase
Analog Input of relay
Current
(Current from CT)
Part 2
Analog to Digital
Converter
Digital Filtering
Current Set Point
Part 3
Protection
Trip Signal
Algorithm
(Instantaneous,
Definite or IDMT)
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
1. Model Validation of an Over-Current Relay (contd.)
Modeling and Implementation for RT Simulation
Current input from the
secondary side of the
CT. This is an analog
signal
Converts an input signal
with continuous sample
time to an output signal
with discrete sample
time
Dividing fundamental
componentent with
square root of 2 to get
RMS value
Comparator to check
Fourier analysis of the
whether the input
input signal to extract
current level is greater
fundamental out of it
than the pickup value
or not
Low pass digital FIR
filter
1
In1
Lowpass
Zero-Order
Hold
Mag
Fourier
Phase
2
Downsample
Lowpass Filter
> Is
Divide1
Discrete
Fourier
Output of this block is
the time which has
elapsed since the input
current has exceeded
the pickup value
S-function running an algorithm. It
monitors the input and checks if the
input is 1 or not. (i.e. input current
greater than pickup). The S-function
gives out the time at wchih this input
current goes above the pickup value.
Down-sampling to
avoid anti-aliasing
effects
This block compares the
operation time computed with
the time elapsed by the timer.
In3
Out1
Compare
To Constant
>
Extracting Time of Fault
Add
Relational Scope3
Operator
Out1
Control
Timer
sqrt(2)
Is
Control
to find ratio
Divide2
Operation Time
Converting To R.M.S
Scope2
Current Input
This block has a switch. The output of switch is zero
in case when the current input is lesser than pickup
value. The output of the block is the actual simulation
time in case the current exceeds the pickup value
Implementation in
SimPowerSystems
(MATLAB/Simulink)
C
Control
1
Scope1
Calculating Operation Time
This block implements the mathematical
~= 0
C
´ TMS to compute
a
æIö
ç ÷ -1
è Is ø
the operation time corresponding to the
type of characteristic curve chosen by
the user
equation T =
0
Current Input
2
Fcn
Is
u(1)^(alpha)
Switch
1
TMS
Operation
Time
1
1. Model Validation of an Over-Current Relay (contd.)
Protection Algorithm Implemented in the Overcurrent Relay Model
Compare with the
preset value
(pickup Value)
Current Input from
Current
Transformer
Start
NO
T =
YES
YES
Instantaneous
NO
Start Timer
NO
If characteristic
=IDMT
IDMT Characteristic
Curves
If
Input Current >
Pickup Value
YES
C
Timer >Definite
Time set by user
YES
Characterisic Curve =
Standard Inverse
Calculate
Operation
Time
YES
Calculate
Operation
Time
NO
Characterisic Curve =
Very Inverse
YES
Calculate
Operation
Time
Operation Time
>=Timer
TRIP
´ TMS
Different Types of Inverse Characteristics
Relay Characteristic
α
C
Type
Standard Inverse
0.02
0.14
Very Inverse
1
13.5
Extremely Inverse
2
80
Long Inverse
1
120
NO
YES
a
æ I ö
ç ÷ -1
è Is ø
NO
Characterisic Curve
= Long Inverse
NO
Calculate
Operation
Time
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
1. Model Validation of an Over-Current Relay (contd.)
Test Case Model Developed in SimPowerSystems (MATLAB/Simulink)
Conceptual
Understanding
Digital I/O of relay are
hardwired
Fault Recorder
Event
Recorder
SEL_487E
(Set for
OverCurrent
Protection)
Oscillography
Bus 1
Bus 2
Thevenin
Equivalent
(Strong Grid)
Digital output of relay
connected directly to
breaker for Trip
Transmission Line
L 1-2
`
Circuit
Breaker
CT
Fault
Load
1. Model Validation of an Over-Current Relay (contd.)
Test Case Model Developed in SimPowerSystems (MATLAB/Simulink)
HIL Implementation
Dedicated block by Opal-RT which assigns
a particular FPGA whose Analog and/or Digital I/Os
will be accessed
Fault Current Phase B
3
OP5142EX1 Ctrl Error
Board index: 1
IDs
Mode:Master
Analog Outputs of the Simulator which
are connected to the Current Amplifiers
from Megger whose output is connected to
Analog inputs (CT inputs) of SEL-487E
Fault Current Phase A
Scaling
Factor
Fault Current Phase C
Multimeter
Terminator
Fault_Currents
-K-
Volts
OpCtrl OP5142EX1
OP5142EX1 AnalogOut
Gain
Discre te ,
Ts = 5e -005 s.
powe rgui
Slot 3 Module A Subsection 2
B
B b
B
B
C
C c
C
C
Length of Line = 100km
Phase Voltage=1kV
Frequency = 50Hz
Fault Pickup
Vals
Status
I_abc
400
CT
OP5142EX1 DigitalIn
'OP5142EX1 Ctrl'
Three-Phase
V-I Measurement
Three-Phase
Bus 1
Three-Phase Source
PI Section Line
A
A a
A
A
A
Three Phase to Ground Fault
Applied at t = 2sec
B
C
Three-Phase Fault
'OP5142EX1 Ctrl'
Trip_Signal
Digital Input of Simulator which
is connected to the Digital Output of
SEL-487E relay
A RTEMiS Guide
Ts=50 us
SSN: ON
Slot 1 Module A Subsection 1
Operation_Time
Current
Transformer
Three-Phase
Series RLC Load
A Iabc
a
B
b
C
c
coma
A
b
B
C
c
Three-Phase
V-I Measurement
Bus 2
Three-Phase
Breaker
A
B
C
Active Power for Load = 1 MW
Frequency = 50Hz
Phase Voltage = 1kV
Ratio Input/Pickup
OverCurrent Relay
Relay_Monitoring
Status
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
1. Model Validation of an Over-Current Relay (contd.)
Validation Results
2. Power System Communication (Station & Process Bus Implementation
Comparison of the Real-Time Results with Stand Alone Testing Using Freja300 (Relay Test Set)
Stand-Alone Testing
Hardwired
Stand-Alone Testing
GOOSE (IEC 61850-8-1:Station Bus)
Workstation with software FREJA
Win which is a graphical interface
for the FREJA 300 Relay Testing
System
Relay Test Set
Freja 300
2
Digital I/O of the relay
under test. The Digital
Output is configured to
change its contact from
normal open to normal
close when a
protection function
operates
Three phase current
1
injection to the
relay under test
CT Input
Digital I/O
VT Input
Three phase voltage
injection to the
relay under test
The only way to validate the RT-HIL results for protection
IEDs is to compare results with existing technology
(stand-alone tests)
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
2. Power System Communication (Station & Process Bus
Implementation (contd.)
ABB RED-670
ABB RED-670
Real-Time HIL (Process Bus IEC
61850-9-2 Implementation)
[Opal-RT + ABB-RED 670]
Process BUS
(IEC 61850-9-2)
Bus 4
Bus 3
Bus 1
M
Transmission Line
L 1-3
Thevenin
Equivalent
Transmission Line
L 1-3 a
Step Down Transformer
380 kV / 6.3 kV
Bus 2
Bus 5
Transmission Line
L 3-5
Synchronous Generartor
500MVA , 20kV
`
Step Up Transformer
20kV / 380 kV
Softwares:
·
MATLAB / SimPowerSystems
·
ABB PCM 600: Relat Settings
·
RT-LAB: Real-Time Execution
·
WireShark: Network Analyzer
·
ABB IET 600: Substation Automation
Architecture
OLTC Controlled Load
No Hardwires for CT and VT connections
No need of Amplifiers for RT-HIL execution
3. Comparison of Standalone
and RT-HIL Testing Approach
Comparison of Results from Standalone and RT-HIL Testing
Fault Applied at t=2 sec, protection tested=instantaneous
overcurrent
Testing
Methodology
Feature
Tripping Time
(sec)
Delay (msec)
Standalone
Hardwired
2.0083
8.30
GOOSE
2.0060
6.00
Hardwired
2.0085
8.50
GOOSE
2.0062
6.20
RT-HIL
Induction Motor
4.9 MVA , 6.3 kV
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
PMU App. SDK
A LabView-Based PMU Application SDK
SDK Platform
Custom Application
pp
PRL
Remote
Access Buffer
SnapShooter
Live Buffer
Selector
DLL
C37.118
Data
- Time Stamp
- Voltage Phasors
- Current Phasors
- Frequency
PDC
PMU Recorder Light (PRL)
SnapShooter
ap
PRL
?
?
?
DLL
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
PMU App. SDK
Induction Motor
4.9 MVA , 6.3 kV
A LabView-Based PMU Application SDK
Thevenin
Equivalent
Bus 1
Transmission Line
L 1-3
Transmission Line
L 1-3 a
Bus 4
Bus 3
Bus 2
a. Model
Synchronous
Generartor
500MVA , 20kV
M
Step Down
Transformer
380 kV / 6.3 kV
Bus 5
Step Up Transformer
20kV / 380 kV
OLTC Controlled Load
OPAL-RT
MATLAB/Simulink
MATLAB/Simulink Design
Design
models
models
Workstation
Workstation running
running PRL
PRL
Application
Application in
in Labview
Labview
PRL
PRL
Workstation
Workstation
eMEGAsim
eMEGAsim (12
(12 Cores)
Cores)
OP
OP 5600
5600 I/O
I/O Extension
Extension Chasis
Chasis
OP5949
OP5949 Active
Active Monitoring
Monitoring Panel
Panel
SEL
EL 5078-2
5078-2
Synchrophasor
Synchrophasor data
data
visulaization
visulaization tool
tool from
from SEL
SEL
EthernetPort
EthernetPort
b. Implementation
ABB
ABBB RES-521
RES-5521
PMUs
MUs connected
connected to
to
real
real power
power system
system
Real-Time
Real-Time Digital
Digital simulation
simulation isis converted
converted to
to
Analog
Analog // Digital
Digital Signals
Signals through
through I/O
I/O ss
SEL-5073
SEL-5073
PDC
PDC
The
The current
current and
and voltage
voltage from
from
the
the analog
analog outputs
outputs of
of the
the
simulator
simulator are
are amplified
amplified by
by using
using
Megger
Megger SMRT-1
SMRT-1 Amplifier
Amplifier and
and
fed
fed into
into the
the CT/VT
CT/VT inputs
inputs of
of the
the
PMU
PMU
SEL
SEL 421
421
SEL
SEL 487E
487E
SEL
EL 421
4211
SEL-5073
SEL-5073 isis aa software
software PDC
PDC
which
which takes
takes synchrophasor
synchrophasor
data
data from
from SEL
SEL and
and NI-cRIO
NI-cRIO
PMUs,
PMUs, time
time allign
allign them
them and
and
outputs
outputs aa single
single
concentrated
concentrated stream
stream
GPS
GPS Antenna
Antennna
c. Results from PMU based
monitoring Application
The
The amplified
amplified current
current and
and voltages
voltages are
are connected
connected to
to the
the CT
CT and
and VT
VT
inputs
inputs of
of the
the PMUs.
PMUs. The
The PMUs
PMUs acquire
acquire these
these analog
analog quantities,
quantities,
computes
computes the
the phasors
phasors and
and time
time tags
tags them,
them, and
and streams
streams out
out the
the
synchronized
synchronized phasor
phasor data
data in
in C37.118
C37.118 format.
format.
Prototype Implementation (PMU App. SDK Beta)
Connection with PDC
Configuration
PC Loading Monitor
Data Channel Selection
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
Real-Time Data Access
Straightforward Development
of Monitoring Application
Comparison with a commercial monitoring tool
a. Results from developed
synchrophasor based monitoring
application (with Statnett)
b. Results from vendor specific
(SEL-5073 PDC monitoring) tool
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
PMU Based Application Example
Real-Time Mode Meter
Estimates frequency of the
electromechanical modes of the
power system
Three different spectral estimators are used
ensuring accurate signal spectrum
estimation:
• Welch’s method,
• Auto-Regresive (AR)method
• Auto-Regresive Moving
Average (ARMA) method
Conclusions and Further Work
• Smart Transmission Grids will benefit from RT HIL simulation for developing new
technologies.
• Modeling for real time simulation is necessary:
• Developing more models for protection functions like Distance protection, differential
protection, over/under voltage, over/under frequency protection etc. to have available a
library for protection functions.
• Consideration of actual measurement and automation streams is necessary:
• Exploiting IEEE C37.118 (Synchrophasors from PMU) and IEC 61850 (Substation
Automation) can be useful to develop applications which can serve as online oscillation
detection, mode estimation, power oscillation damping, etc.
• PMU-Based applications can enable flexibility:
• Developing a Real-Time controller which can read data from power system / substation
components irrespective of the vendor protocol and can translate it to take either
distributed or global control actions.
• RT HIL simulation can help us to achieve broader goals:
• Power system which is more reliable and more flexible
Presented at 2012 3rd IEEE PES ISGT Europe, Berlin, Germany, October 14 -17, 2012
msalmas@kth.se
luigiv@kth.se
http://www.vanfretti.com
Thank you!