OPAL-RT RT14 Conference: egston compiso opal-rt

The 7th International Conferenceon Real-Time Simulation TechnologiesMontreal | 9-12 June, 2014

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Carl BisaillonOPAL-RT

[email protected]

Power Hardware-In-the-Loop (PHIL)

Optic Fiber ORION Protocol

Gernot PammerEGSTON

[email protected]


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Workshop plan

EGSTON COMPISO solution presentationo Introduction of EGSTONo Description of the COMPISOo Benefits & Features of the COMPISO

Join Hands-on Demonstratono Power Hardware-In-the-Loop with COMPISO through ORION Optic Fiber protocol

OPAL-RT presentationo Introduction of partnership with EGSTONo OP4500 product and PHIL ORION solutiono Benefits, Features and Accomplishments on the PHIL with COMPISO

OPAL-RT road mapo Future for OPAL-RT and EGSTON in their partnership

Q&A


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HQ, Sales, R&D

Production Facilities

Local sales teams

Employees

Sales 2013

Certification

Austria (Eggenburg, Vienna)

Czech Republic, China, India

Germany, China, India

1.035

€ 44.5 Millions

ISO 9001 ISO/TS 16949


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Products & Applications

Cable SystemsInductive Components

Power SuppliesAutomotive Components

medical equipment

chargers

sanitarian applications

security applications

stroke magnets/solenoids

coils for elektric drives

sensor coils

antenna coils

transformers & chokes

power supplies for industrial

applications

white goods

telecom industry

robots

construction machinery

machines for agriculture

cranes

railway vehicles


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Products & Applications (March 2014)

Power Electronics

COMPISOUltra Compact Bidirectional Multi Purpose Inverter

with Sinusodial Output

Digital Amplifiers

DC-DC Converters

DC-AC Converters

DC-AC Drive Inverters

Converter Components

Converter System


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Ultra Compact Bidirectional Multi Purpose Inverter with Sinusoidal Output

WHAT IS COMPISO ?

COMPISO


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COMPISO digital amplifier

…0010100101010…

Digital Input Signal

Analogue Output Signal10µs

Processing Delay

4 QuadrantOutput


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Transfer Function – No load

10 kHz-1 dB

10 kHz-25°


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Transfer Function – RL = 3 Ω

10 kHz-1 to -3 dB

10 kHz-40 to -48 °


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3-Phase Amplitude Output Voltage

Full span (400VRMS)

up to 5 kHz


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• Digital Amplifier

• Extremely low ripple (< 0.15% VIN)

• Full span output voltage (400 VRMS) up to 5 kHz

• Signal bandwidth: 10kHz / -3 dB

• Extremely high output dynamics

(load jump 10% to 90% < 100µsec)

• Low signal transport & processing latency: 10µsec

COMPISO Summary


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• Standard Buck-Boost Converter

• COMPISO Converter6-leg step-up / step down converter withcoupled inductors

COMPISO Features - Converter

VOUT

IIN

IOUTL

C

C

=

=

Z

S

S

VIN


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• Ripple Graph• VDC_LINK=800V & IOUT=100A

COMPISO Features - Ripple

• Ripple Theory

Best case

Min (3)

Worst case

Max (4)


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• Modules• DC-DC Converter

• POUT=120kW, IOUT=±150ADC, VOUT = 800VDC

• Single-phase AC-DC Converter• SOUT= 40kVA, IOUT=±126ARMS, VOUT= 400VRMS

• Power Rack = 3 Converters• DC-DC Converters (360kW)

• AC-DC Converters (120kVA)

• Cascading• DC Mode: IOUT = 150 to 1.500 ADC

• AC Mode: IOUT = 126 to 1.260 ARMS

COMPISO Features - Modules

19“

8 H

UC PR

C PM 1

C PM 2

C PM 3

C PR

C PM 1

C PM 2

C PM 3


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• UDP-Link• Standard 100 Mbps optical Ethernet

• Asynchronous Package Transfer

• Parametrization

• Status information

• RT-Link (ORION by OPAL-RT)• High Speed optical interface

• Synchronous Package Transfer

• Send Set Points in real-time to COMPISO

• Receive measurement values (Voltage, Current) from COMPISO

COMPISO Interface Types


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• Control Modes• Raw Duty Cycle (Active Damping)

• Voltage Control

• Current Control

• Signal Sources• Internal

• Arbitrary Waveform Generator

• External• RT-Link (ORION)

• UDP-Link

COMPISO Control ModesCPM

UDP

AWFG

RT-Link

V

A

Current controller

Active damping

Voltage controller

Vint

Iint

VDC link

CPM Power Path

CPM Internal Controller


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• Set Point Generator• External RT Controller

• HIL

• Inner Closed Loop• Voltage Control

• Current Control

COMPISO Closed Loop – Inner Loop Mode


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• HIL

• Inner Closed Loop• Raw Duty Cycle Active Damping

• Outer Closed Loop• Control Loop implemented in

RT-Controller / HIL

COMPISO Closed Loop – Outer Loop Mode


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• HIL

• Inner Closed Loop• Voltage Control

• Outer Closed Loop• Control Loop implemented in

RT-Controller / HIL

• Current Control

COMPISO Closed Loop – Cascaded Loop Mode


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PHIL hands-on demonstration


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• OP4500• Simulated distribution grid

(residential model)

• Voltage source with harmonics

• Fault breakers on grid

• A PHIL load in simulatedneighbourhood

• ORION protocol by Optic Fiber

• Load measurement by Ain (Closed-loop)

PHIL demonstration architecture

To Be connected to

the 13th house as a

Hardware Under Test

Simulated Part


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• PHIL Architecture• COMPISO System

• Real load

• OP4500 target

• External Measurement (CT&VT)

• GUI• RT-LAB (TestDrive)

• EGSTON GUI SCADA

PHIL hands-on demonstration architecture

DC

AC 3~

50/ 60 Hz

C OM PIS O

A C G R ID

DC

AC 3~

50/ 60 Hz

C OM PIS O

A C G R ID

D C

A C 3 ~

5 0 / 6 0 H z

C OM PIS O

A C G R ID

DC

AC

C OM PIS O

A C Inve r t e r

DC

AC

C OM PIS O

A C Inve r t e rT R A N S F OR M E R

e

5 0 / 6 0 H z

G r id

~~

~

C ir c u it

B r e a ke r

COMPISO Power Conversion System

A C - D C D e vic e

U nd e r T e s tM e a s u r e m e nt

D C

A C / D C

C OM PIS O

D ig it a l A m p

V D C

A

V~

C ONT R OL

GU I

U D P- Link

S w it c h

R T - Link

E G S T ON G U I

S C A D A

C ONT R OL

GU I

H a r d w a r e In

t h e Loop

G U I

H IL

(R T - C ont r olle r )

D r ive r

Pr oc e s s or

Power Rating – Cascaded Systems

Input Voltage range 560 VAC,RMS

Power (Basic) 120 kW

Power (Cas 2) 240 kW







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• Load voltage from OP4500 to COMPISO by Optic Fiber• Grid measured voltage 220 Vrms

• COMPISO generates voltage• Hardware unipolar voltage 60 Vpk

• Current tranformer for measurement• Hardware current 2 Apk

• Load current from hardware to OP4500 by Ain• Current injected in grid 14 Arms

• Load seen by simulated grid• Active power of 3 kW

Demonstration & Results


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• Close-loop system may becomeunstable under certain condition

• Instability caused by delays maydamage equipment and reduceprecision

PHIL Stability Analysis• Stability depends on:

• Ratio of load power over short-circuit power of the feeder

• Type of load• Damping of source impedance• Power amplifier bandwidth• Simulator’s sampling frequency• Use of current feedback filter

PHIL simulation equivalent circuit


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• Instability caused by the interaction of:• Lsource (linear gain with a phase of −𝜋

2)

• L//R filter and voltage amplifier (Limit gain, add phase lag)

• IO time delay (add linear phase lag)

• Type of load (Higher power, higher gain)• Resistive (No phase effect)• Inductive (Reduce Lsource phase & gain)• Capacitive (Increase Lsource phase & gain)

• Current feedback filter (Limit gain at fc)

PHIL Stability Analysis+

-

)(sFsource

sTe

1 )(sFampli

2

1

Z

2I

bI1

1V

aI1 )(sF filtersT

e 2

sT

Filteramplisource

b

a esFsFsFZsI

sIsF .

21

1 )()()(1

)(

)()(

sss

s

ssL

ZsF

filterampliLR 1

1

1

1

1

1

1

1.

1)(

2

CwjZ

12 wjLZ 22 22 RZ


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• Bode Diagram• Stability becomes gain dependent

when phase reaches 0

• Maximum stable load (ga𝑖𝑛 ≤ 1), determines max load power

• Lower sample time increases the simulation stability and accuracy

• Cut all frequencies beyond a phase gain of -π

PHIL Stability Analysis Conclusions


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• Xeon E3 4 cores processor up to 3.3Ghz

• Xilinx Kintex-7 FPGA

• CPU model sample time down to 7µs

• FPGA chip sample time down to 250ns

• 4 optional 2-Gbits SFP optical interface

• 64 DIO with 50ns latency

• 32 fast analog converters (16-bit precision)

OP4500


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• A design by Antoine Keirsbulck (FPGA and Driver Team Leader at OPAL-RT)

• Low-speed digital communication protocol

• Baud rate 25 MHz

• Manchester Coder/Decoder

• Requires the 126-0509 LVDS to fiber optic adapter

• EGSTON applicationo Message time intervals of 4µso 1 command header word and 3 data words

PHIL ORION Protocol – Opal Remote IO Network


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• Permits transmission over a safedistance without distorsion in highpower environment

• High speed signal transmission

• ORION is an open access protocol• Spec available on demand

• Simple wiring

Benefits, features and accomplishments


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• University of Padua• 3-phase PHIL

• 30-60 kW system

Future for OPAL-RT and EGSTON


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Questions and Contacts

Carl Bisaillon, Eng. Jr.Application [email protected]: 1-514-935-2323 ext 357Fax: 1-514-935-4994

Gernot PammerDirector Business Unit Power [email protected] +43 2243 21284 - 8108M +43 6646 147508

mailto:[email protected]

http://www.opal-rt.com/

mailto:[email protected]

OPAL-RT RT14 Conference: egston compiso opal-rt

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