A Virtual Laboratory for Teaching Power System Dynamics and Control at
U n d e r g r a d u a t e L e v e l i n D e v e l o p i n g N a t i o n s
Luigi Vanfretti
INTRODUCTION
This poster presents:
Development of a virtual laboratory
framework for teaching power system
dynamics and control at the undergraduate
level being used in developing nations.
OBJECTIVES
VIRTUAL
LABORATORY
FRAMEWORK
User experiences and adoption plans
from Universities of:
ü
ü
Guatemala
El Salvador
va
Tensiones
de
vb
fase
va
vc
vc
vq
vb
cos(teta_r)
sin( )[sin_teta_r]
sin(teta_r)
r
-iq
[vq]
Delta
Transformacion
abc a qd0 vd
rotativo
cos( )[cos_teta_r]
r
[vq]
vq
[vd]
[vd]
Eje q,
Eje d
wr/wb
y
Ecs. MecanicasTem
vd
v0
vq
|Vt|
[Vt]
[iq]
[it]
[vd]
-iq Potencia, Tension |It|
y Corriente
vd
P
[id]
-id
[Q]
Potencia, Tensión y Corriente
cos(teta_r)
wr/wb Osiclador
sin(teta_r)
[wr_wb]
[iq]
-iq
[id]
-id
[cos_teta_r]
[sin_teta_r]
ia
ib
[cos_teta_r]
Transformacion
i0
qd0 rotativo
a abc
cos(teta_r)
[sin_teta_r]
sin(teta_r)
ic
y
[ia]
[Q]
To Workspace
[ib]
[Delta]
[Tem]
[ia]
Scope
[if]
Scope1
-4
y1
[if]
To Workspace1
[Tem]
-6
0
Inicializacion
y graficacion
[ic]
0.1
0.2
0.3
0.4
0.5
0.6
Time (sec.)
Gen.
Voltage Step Response (p.u.)
HV
jxL1
Vt
One-line diagram of the SMIB system
MATLAB/Simulink Customized model
0
Simulation menus
1
THERMAL
PLANT
[v1]
v
bus 1
THEVENIN
EQUIVALENT
net
Step2
Demux
i
avr
I=YV
omega
i
omega
Pe
Tm
0
Slider
Gain
Step1
bus 2
0.01
t
Clock
Transfer Fcn4
Transfer Fcn5
Transfer Fcn
0.745566s+1
0.745566s+1
s
0.028171s+1
0.028171s+1
s+0.7
Fig. C.2.
110
20
4
12
G2
-10
y  Vt

 1q
E
K p  30
0.04
Response
0
T
1
2
3
4
5
6
Time sec.
7
8
9
10
System: GVt
Gain: 47
Pole: -0.00244 + 9.39i
Damping: 0.00026
Overshoot (%): 99.9
Frequency (rad/sec): 9.39
8
6
4
2
-2
-3
-2.5
-2
-1.5
x' = Ax+Bu
y = Cx+Du
[w]
Modelo del sistema SMIB
Espacios de Estado
[Pe]
Vt (p.u.)
Regulador de Voltaje
0
numTor(s)
numWO(s)
denPSS(s)
denTor(s)
denWO(s)
PSS
Filtro Torsional
Filtro Pasa Altos
Without PSS
With PSS
0.06
Vt
[w]
w
[Pe]
-1
Cambio de
Signo
0.02
Pe
0
[Vt]
[w]
-Vt-
[Pe]
-w-
0
1
AVR
7
9
10
Manual Control
2
3
Time (sec.)
4
5
6
7
8
9
10
Fig. C.3.
0.03
0.6
Manual Control
0.02
0.015
0.01
0.005
0.4
0
8
0.025
0
4
U nder
M a n u a l C o n t r o10l
3
0
1
2
3
4
5
6
Time (sec.)
7
8
9
10
Machine Internal Number
1
0
2
4
6
8
Time (sec.)
Plotting and analysis capabilities
CURRENT USERS IN
CENTRAL AMERICA
The USCG case:
U sed during Spring and Sum m er ’06 for:
üGeneration Systems course
üPower System Analysis course
Future plans: use of the synchronous machine
Simulink models for the Electric Machines course
and to teach MATLAB/Simulink to in a seminar.
Adoption plans:
0.04
numPSS(s)
6
USACG
UNAH
0
1
2
3
4
5
Time (sec.)
6
7
8
-Pe-
UCA
Future plans – the manual will be used for teaching
üsynchronous machine modeling and simulation
üsynchronous machine parameters.
The custom models for machine modeling will be used
to supplement LabVIEW applications already available
at UCA.
At UCR:
At UNAH:
9
10
The lab will support the
Electric Machines course:
üusing the different
synchronous machine
Simulink models
üthe manual to
accompany class lectures
on machine modeling.
üStarting Fall’06, the lab be used in
two courses: Power Transmission
and Power System Analysis.
üThe manual in MS Word format was
provided to Prof. Araya. He will use
it to prepare slides for his lectures.
üUCR has also been provided with the
ULg Simulink tool and will obtain
PST.
Prospective users:
The lab. is suitable
for any institution
with access to
MATLAB/ Simulink
and Spanish as
instruction
language.
[1] United Nations Development Programme Report 2005. Available online: http://hdr.undp.org/reports/global/
[2] G. Rogers and J.H. Chow; “H ands-on teaching power system dynamics,” IEEE Com puter Applications in Pow er, vol. 8, no. 1, pp. 12-16, Jan 1995.
[3] C.D. Vournas, E.G. Potamianakis, C. Moors and T. Van Cutsem, “An educationalsim ulation toolfor pow er system controland stability,” IEEE
Transactions on Power Systems, vol. 19, no. 1, pp. 48-55, Feb. 2004.
[4] J.H. Chow and K.W. Cheung, “A Toolbox for pow er system dynam ics and controlengineering education and research,” IEEE Transactions on
Power Systems, vol. 7, no. 4, pp. 1559-1564, Nov. 1992.
[5] J.H. Chow, G.E. Boukarim and A. Murdoch, “Pow er system stabilizers as undergraduate controldesign projects,” IEEE Transactions on Pow er
Systems, vol. 19, no.1, pp. 144-151, Feb. 2004.
references
The author would like to thank Profs. Graham Rogers and Thierry
Van Cutsem for providing their computer tools. The feedback of
Profs. Juan Carlos Morataya (USCG), Eduardo Pérez (UCA), Rosa
María Díaz (UNAH) and Eddie Araya (UCR) is appreciated. The
author would also like to thank Prof. Joe Chow for his help in
preparing this poster.
UCR
0.5
0.1
0.08
denVR(s)
-0.5
Power System Stabilizer Design
[Vt]
numVR(s)
5
AVR
EDUCATIONAL TECHNOLOGY TRANSFER TO
DEVELOPING NATIONS
0.12
Vc SW
Vc on/off
-1
Real
PartePart
Real
y  Cx  Du t 
MATLAB/Simulink simulation tool:
4
Machine Speed Deviations
0.8
The UCA case:
Collaboration started
Sum m er ‘05. The lab is used
in the Power System
Dynamics course particularly
for teaching LFC and AGC.
0
Model implemented in MATLAB/Simulink
N
Open Loop
K p  10
0.02
Linearized at the operating equilibrium point
x Ax  Bu t 
To 0.0747 p.u.
K p  20
10
P
3
K p  40
0.06
12
T
2
Gen. Active Power Output
1
Users experience:
Parte Compleja
Imaginary
Part
 1d
Sensitivity analysis
14
VR 

1
Voltage at Bus 3
0.2
Fig. C.1.
Sample power system one-line diagram
Root Locus Analysis
'
d
G4
0
Time (sec.)
2
V  0
where the states and the outputs are
14
2
0.08
0
y  g x, u t 
120
11 G3
1
AVR+PSS
AVR
AVR+PSS
1.2
10
0.9
Plotting and analysis capabilities
1.4
G1 1
0.8
Fig. B.2.
0
MATLAB/Simulink Customized model
13
0.7
10
Fig. B.1.
101
0.5
0.6
Time (sec.)
Manual Control
20
t1
3
0.4
Pe1
turbine
impedance
LOAD
0.3
Rotor Angle 
0.5
Pe
TURBINE
bus 3
0.2
1
generator1
STEAM
0.1
MACHINE if
Tm
PSS
0
1.5
1
SYNCH. P
vf
AVR vf
DOUBLE-CLICK
HERE TO
INITIALIZE
1
Plotting and analysis capabilities
v
v
0.9
0.5
Fig. A.2.
K p  50
The state space model is given by:
x f x, u t 
0.81
0.1
jxL 2
jxT
0.7
1.5
Fig. A.3.
SIMULACION 2: simulacion2code.m
Fallas en Generadores Síncronos
Transformación
qdo rotativo a abc
PST [4] is a MATLAB tool conceived for research
in power system dynamics and control [2]. It is
used to:
üobserve the effect of different control systems
on the system of Figure C.1.
üanalyze damping - Figure C.2. and C.3.
Mathematical model:
acknowledgments
Selector2
t=0.15
t=0.20
t=0.3
t=0.5
2
-2
AVR+PSS
Design the AVR gain
and a PSS to stabilize
the swing mode of
the SMIB system.
[Vt]
Selector1
2.5
0
U U(E)
[ic]
U U(E)
Critical Fault Clearing Time
[ia]
[ib]
Fig. A.4.
2
[P]
Power System Toolbox (PST):
LV
PSS on/off
[id]
[it]
[P]
Q
ULg provided a Simulink model in [3].
üIt consists of detailed blocks (Figure B.1.)
üThey represent synchronous machines, turbine,
governor, AVR, PSS, etc.
üFigure B.2. shows the response of the system
under a fault on Bus 2 with different types of
control systems.
Activity:
PSS SW
-id
4
[Vt]
[v1]
Linearized analysis
of the SMIB
t
[if]
Transformación
abc a qd rotativo
[vq]
Phase A
Phase B
Phase C
Field Current
[Tem]
if
ULg MATLAB/Simulink Blockset:
0.12
Ganancia de
Normalización
6
Ecs. de la M.S.
Analysis and Design:
E
Fig. A.1.
[wr_wb]
2
Sample design
activity:
'
q
Three Phase Fault
[iq]
[Delta]
Angle  (p.u.)
A sample model is shown in Figure A.1.
It can be used to simulate faults on
generators.
üProvides several user menus (Figure
A.2.).
üFigure A.3. shows a three-phase fault.
üProvides a simple protective relay where
fault clearing time can be configured.
üFigure A.4. shows a generator response
for various fault clearing time.
The manual can be
used for:
ülaboratory
instruction
üindependent study
üsupport textbook
Being an inexpensive
option for instruction.
Clock
ü
Costa Rica
Honduras
Customized MATLAB/Simulink Models:
Language is a barrier
for learning in
developing nations
where:
üliteracy index (LI) is
low, (in GT, LI is
69.1% [1])
üknowledge of
English as a second
language is scarce
üaccess instructional
material is
expensive (in GT,
HDI is 0.663 [1])
Vref
ü
Aims to provide undergraduates with
üa supplement to their formal lecture
courses
ümotivation for self learning in advanced
topics
üsimulation tools
üreference manual
Project developed at USCG where the needs
of the undergraduate power program were
üto support the Generation Systems course
üintroduce advanced topics to the curriculum
üpedagogic material for teaching new
courses
üself learning and research
Simulation Tools:
A Comprehensive
Manual in Spanish
x
 
NEED AND AIM FOR A VIRTUAL LABORATORY FRAMEWORK
Speed (p.u.)
ü
üCustomized and third party
computer simulation tools.
ü A sample design activity
Current (p.u.)
ü
Facilitate simulation tools,
enhance learning through simulations, and
provide a reference manual in Spanish.
Rensselaer Polytechnic Institute
Troy, New York State
Voltage (p.u.)
ü
Department of Electrical, Computer, and Systems Engineering