Abstract
As the power system undergoes continued change—widespread integration of inverter-based resources, electrification of transportation systems, decentralization, and increased digitization—the best practices for power system studies and device testing are also evolving. Electromagnetic transient (EMT) simulation is being used progressively by transmission and distribution system operators, equipment manufacturers, education and research institutions, and consultants who require a greater depth of analysis than is possible with traditional (RMS-based) system representation. Real-time simulation is becoming increasingly prevalent in the aforementioned verticals as it provides an efficient means of EMT analysis and also enables hardware-in-the-loop (HIL) testing of protection, control, and power devices. Real-time simulator manufacturers must continually develop their technology to improve the scope and accuracy of the power system components and phenomena that can be represented, the range and quantity of devices that can be subjected to HIL testing, and ease of use. This review paper will summarize recent advances and best practices in real-time simulation and hardware-in-the-loop testing from the perspective of RTDS Technologies, the manufacturer of the RTDS® Simulator. The focus is on power electronics modeling and testing, IEC 61850 simulation and interfacing, and graphical user interface advancements for this particular brand of a real-time simulator.
Highlights
Introduction and Javier ContrerasReal-time digital power system simulation was initially developed in the 1980s for the purpose of testing high-voltage direct current (HVDC) project control equipment [1]
The applications of real-time simulation have evolved over time, and the technology has been widely applied to a large range of projects including distribution automation, microgrids and renewable energy, wide area protection and control, power electronics, cybersecurity, and inverter testing [3]
Losses increase with switching frequency until they are generally deemed excessive in the 3–5 kHz range [12]; The L/C representation can introduce current and voltage oscillation that appears as noise on the output waveforms; The impedance of the switch is frequency-dependent, which limits its operational bandwidth
Summary
Real-time digital power system simulation was initially developed in the 1980s for the purpose of testing high-voltage direct current (HVDC) project control equipment [1]. Real-time digital simulators were developed in response to these issues; they offered a much more flexible solution for the closed-loop testing of HVDC controls and transmission protection equipment. Using EMT modeling, it is possible to represent transients and other sub-cycle phenomena, behaviors diverging significantly from the fundamental frequency, and low-level control systems of inverter-based resources, all of which are critical characteristics of the modern grid and which cannot typically be captured by RMS modeling. Though challenging from a processing perspective, maintaining real-time operation significantly increases the efficiency of EMT simulations relative to offline tools. Models must accurately capture the dynamic behavior of complex power system components (machines, transformers, transmission lines, renewable energy equipment, etc.) while meeting the constraints of the Dommel Algorithm and hard real-time. Further documentation on the advances and best practices presented in this paper are available in the References section or upon request
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