Protection Communication - ISGT 2012

M. Shoaib Almas and

Dr.-Ing. Luigi Vanfretti

Docent and Assistant Professor

KTH Royal Institute of Technology, Sweden

E-mail: [email protected]

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

Real-Time Hardware-in-the-Loop Validation for WAMPAC:

Power System Protection and Communication

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, bus-

bar, 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)


• 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

How to develop a controlled environment for

developing Smart Transmission Grid Technologies?

Sync. Timing

Phasor Measurement Data

Controllable and Protective Device

Measurement and Status Data

Data Alignment

and

Concentration

Com

mun

icat

ion

Net

wor

ksData Storage

and Mining

Monitoring

Transmission System

Control Center

Advanced

Displays Early Warning

System

Near Real-Time

Security

Assessment Automatic

Determination of

Control Actions

Decision/Control Support System

Smart-Automatic Control Actions

Smarter Operator

Decision Support

Smarter Operator Control

Actions

The SmarTS Lab Architecture

Opal-RTReal-Time Simulator

CommunicationNetwork

(WAN /Network Emulator)

Station Bus

Low-LevelAnalog I/Os

Physical DevicesLow-Power

Prototypes

V and IAmplifiers

Digital I/Os

Amplified analog outputs (current/voltage)

SEL PMUs /Relays

ABB Relays

NI- cRIO 9076

Synchrophasor Data

WAMS

Applications

PDC(s)

WAPS

Applications

PMUs

External Controllers

V and IAmplifiers

GOOSE

Sampled Values

GOOSE

Sampled Values

Protective Relays

WACS

Applications

WAMPAC Application

Host Platform

GOOSE

Process Bus

GOOSE

Digital I/Os


Sm

arT

S L

ab

Ha

rdw

are

Im

ple

me

nta

tio

n

SmarTS Lab Comm. and Synchronization Architecture and Implementation

GPS - Signal

IRIG-B

Process Bus

(IEC 61850-9-2)

Station Bus

(IEC 61850-8-1)

Synchrophasor Bus

(IEEE C37.118)

GPS Signal

IRIG-B

Process Bus

(IEC 61850-9-2)

Station Bus

(IEC 61850-8-1)

Synchrophasor Bus

(IEEE C37.118)


Software-in-the-Loop Validation

Hardware-in-the-

Loop Validation

Model-to-Data

Workflow

Analog Input of relay

(Current from CT)

Analog to Digital

ConverterDigital Filtering

Protection

Algorithm

(Instantaneous,

Definite or IDMT)

Three Phase

Current

Current Set Point

Trip Signal

Part 1 Part 2 Part 3

Recent Projects at SmarTS LAB

1. Model Validation of an Over-Current Relay

ComparatorComparator

Input CurrentInput Current

Pickup ValuePickup Value

Trip SignalTrip Signal

Block Diagram

• Instantaneous

• Definite Time

• Inverse Definite Minimum

Time (IDMT)


Is

to find ratio

Zero-Order

Hold

ControlOut1

Timer

Scope3

Scope2

Scope1

>

Relational

Operator

Lowpass

Lowpass Filter

In3 Out1

Extracting Time of Fault

2

Downsample

Divide2

Divide1

FourierMag

Phase

Discrete Fourier

sqrt(2)

Converting To R.M.S

> Is

Compare

To Constant

Control

Current InputOperation Time

Calculating Operation Time

Add

1

In1

Current input from the

secondary side of the

CT. This is an analog

signal

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.

Converts an input signal

with continuous sample

time to an output signal

with discrete sample

time

Down-sampling to

avoid anti-aliasing

effects

Low pass digital FIR

filter

Fourier analysis of the

input signal to extract

fundamental out of it

Dividing fundamental

componentent with

square root of 2 to get

RMS valueComparator to check

whether the input

current level is greater

than the pickup value

or not

Output of this block is

the time which has

elapsed since the input

current has exceeded

the pickup value

This block compares the

operation time computed with

the time elapsed by the timer.

1

Operation

Time

TMS

~= 0

Switch

u(1)^(alpha)

Fcn

0

1

Is

C

2

Current Input

1

Control

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

This block implements the mathematical

equation to compute

the operation time corresponding to the

type of characteristic curve chosen by

the user

1s

CT TMS

I

I

a= ´

æ ö-ç ÷

è ø

1. Model Validation of an Over-Current Relay (contd.)

Modeling and Implementation for RT Simulation

Implementation in

SimPowerSystems

(MATLAB/Simulink)


Protection Algorithm Implemented in the Overcurrent Relay Model

1

s

CT TMS

I

I

a= ´

-æ öç ÷è ø

Different Types of Inverse Characteristics

Relay Characteristic

Type α C

Standard Inverse 0.02 0.14

Very Inverse 1 13.5

Extremely Inverse 2 80

Long Inverse 1 120

IDM

T C

ha

ract

eri

stic

Cu

rve

s

If

Input Current >

Pickup Value

NO

YES

Instantaneous

NO

NOStart Timer

If characteristic

=IDMT

TRIP

Characterisic Curve =

Standard Inverse

Calculate

Operation

Time

YES

Timer >Definite

Time set by user

NO

Characterisic Curve =

Very Inverse

Calculate

Operation

TimeCharacterisic Curve

= Long Inverse

YES NO

YES

Operation Time

>=Timer

NO

Calculate

Operation

Time

YES

Calculate

Operation

Time

NO

YES

YES

Current Input from

Current

Transformer

Compare with the

preset value

(pickup Value)

Start



Test Case Model Developed in SimPowerSystems (MATLAB/Simulink)

Bus 2

Thevenin

Equivalent

(Strong Grid)

Bus 1

Transmission Line

L 1-2 `̀

Load

SEL_487E

(Set for

OverCurrent

Protection)

CT Circuit

Breaker

Digital output of relay

connected directly to

breaker for Trip

Fault

Fault Recorder

Event

Recorder

Oscillography

Digital I/O of relay are

hardwired

Fault Recorder

Event

Recorder

Oscillography

Digital I/O of relay are

hardwired

Conceptual

Understanding

Fault Current Phase A

Fault Current Phase B

Fault Current Phase C

Digital Input of Simulator which

is connected to the Digital Output of

SEL-487E relay

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

Dedicated block by Opal-RT which assigns

a particular FPGA whose Analog and/or Digital I/Os

will be accessedScaling

Factor

Phase Voltage=1kV

Frequency = 50Hz

Length of Line = 100km

Three Phase to Ground Fault

Applied at t = 2sec

Active Power for Load = 1 MW

Frequency = 50Hz

Phase Voltage = 1kV

Discrete,Ts = 5e-005 s.

powergui

A

B

C

Three-Phase Source

A

B

C

A

B

C

Three-Phase Fault

IabcA

B

C

a

b

c

Three-PhaseV-I Measurement

Bus 2

A

B

C

a

b

c

Three-PhaseV-I Measurement

Bus 1

A

B

C

Three-PhaseSeries RLC Load

A

B

C

A

B

C

Three-PhasePI Section Line

com

A

B

C

a

b

c

Three-Phase Breaker

Terminator

Relay_Monitoring

I_abc

Trip_Signal

Fault Pickup

Operation_Time

Ratio Input/Pickup

OverCurrent Relay

OP5142EX1 Ctrl

Board index: 1

Mode:Master

Error

IDs

OpCtrl OP5142EX1

Slot 3 Module A Subsection 2Vals

Status

OP5142EX1 DigitalIn

'OP5142EX1 Ctrl'

Slot 1 Module A Subsection 1Volts Status

OP5142EX1 AnalogOut

'OP5142EX1 Ctrl'

3

Multimeter

-K-

Gain

Fault_Currents

Current

Transformer

400

CT

ARTEMiS Guide

Ts=50 us

SSN: ON

1. Model Validation of an Over-Current Relay (contd.) Test Case Model Developed in SimPowerSystems (MATLAB/Simulink)

HIL Implementation



Validation Results

2. Power System Communication (Station & Process Bus Implementation Comparison of the Real-Time Results with Stand Alone Testing Using Freja-300 (Relay Test Set)

CT Input

VT InputDigital I/O

Three phase voltage

injection to the

relay under testThree phase current

injection to the

relay under test

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

Workstation with software FREJA

Win which is a graphical interface

for the FREJA 300 Relay Testing

System

Relay Test Set

Freja 300

1

2

Stand-Alone Testing

Hardwired Stand-Alone Testing

GOOSE (IEC 61850-8-1:Station Bus)

The only way to validate the RT-HIL results for protection

IEDs is to compare results with existing technology

(stand-alone tests)


Synchronous Generartor

500MVA , 20kVStep Up Transformer

20kV / 380 kV

Bus 2

Bus 3

Thevenin

Equivalent

Bus 1

Transmission Line

L 1-3

Transmission Line

L 1-3 a

Transmission Line

L 3-5

M

`

Bus 4

Step Down Transformer

380 kV / 6.3 kV

Bus 5

M

`

Induction Motor

4.9 MVA , 6.3 kV

OLTC Controlled Load

ABB RED-670 ABB RED-670

Real-Time HIL (Process Bus IEC

61850-9-2 Implementation)

[Opal-RT + ABB-RED 670]

Softwares:

· MATLAB / SimPowerSystems

· ABB PCM 600: Relat Settings

· RT-LAB: Real-Time Execution

· WireShark: Network Analyzer

· ABB IET 600: Substation Automation

Architecture

No Hardwires for CT and VT connections

No need of Amplifiers for RT-HIL execution

Process BUS

(IEC 61850-9-2)

2. Power System Communication (Station & Process Bus

Implementation (contd.)

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

RT-HIL Hardwired 2.0085 8.50

GOOSE 2.0062 6.20


SDK Platform

C37.118

PDC

DLL

Live Buffer

Access Buffer

PRL

SnapShooter

Data

- Time Stamp

- Voltage Phasors

- Current Phasors

- Frequency

Selector

Custom Application

DLL

Live Buffer

Access Buffer

PRL

SnapShooter

Selector

pp

Remote

PMU App. SDK A LabView-Based PMU Application SDK

PMU Recorder Light (PRL)

DLL

?

DLL

?

?

SnapShooter ap

PRL


EthernetPortEthernetPort

OPAL-RTOPAL-RT MATLAB/Simulink Design

models

MATLAB/Simulink Design

models

Real-Time Digital simulation is converted to

Analog / Digital Signals through I/O s

Real-Time Digital simulation is converted to

Analog / Digital Signals through I/O s

The amplified current and voltages are connected to the CT and VT

inputs of the PMUs. The PMUs acquire these analog quantities,

computes the phasors and time tags them, and streams out the

synchronized phasor data in C37.118 format.

The amplified current and voltages are connected to the CT and VT

inputs of the PMUs. The PMUs acquire these analog quantities,

computes the phasors and time tags them, and streams out the

synchronized phasor data in C37.118 format.

The current and voltage from

the analog outputs of the

simulator are amplified by using

Megger SMRT-1 Amplifier and

fed into the CT/VT inputs of the

PPMMUU

The current and voltage from

the analog outputs of the

simulator are amplified by using

Megger SMRT-1 Amplifier and

fed into the CT/VT inputs of the

PMU

SEL 487ESEL 487E

SEL-5073

PDC

SEL-5073

PDC

PRL

Workstation

PRL

Workstation

MUs connected to

real power system

PMUs connected to

real power system

Workstation running PRL

Application in Labview

Workstation running PRL

Application in Labview

SEL-5073 is a software PDC

which takes synchrophasor

data from SEL and NI-cRIO

PMUs, time allign them and

outputs a single

concentrated stream

SEL-5073 is a software PDC

which takes synchrophasor

data from SEL and NI-cRIO

PMUs, time allign them and

outputs a single

concentrated stream

EL 4211SEL 421

SEL 421SEL 421

GPS AntennnaGPS Antenna

ABBBB RREESS-55221ABB RES-521

Synchronous

Generartor

500MVA , 20kV

Step Up Transformer

20kV / 380 kV

Bus 2

Bus 3

Thevenin

Equivalent

Bus 1

Transmission Line

L 1-3

Transmission Line

L 1-3 a

MBus 4

Step Down

Transformer

380 kV / 6.3 kV

Bus 5

Induction Motor

4.9 MVA , 6.3 kV

OLTC Controlled Load

OP5949 Active Monitoring PanelOP5949 Active Monitoring Panel

OP 5600 I/O Extension ChasisOP 5600 I/O Extension Chasis

eMEGAsim (12 Cores)eMEGAsim (12 Cores)

EL 5078-2SEL 5078-2

Synchrophasor data

visulaization tool from SEL

Synchrophasor data

visulaization tool from SEL

a. Model

b. Implementation

c. Results from PMU based

monitoring Application

PMU App. SDK A LabView-Based PMU Application SDK

Prototype Implementation (PMU App. SDK Beta)

Connection with PDC

Configuration

PC Loading Monitor Data Channel Selection


Real-Time Data Access

Straightforward Development

of Monitoring Application

a. Results from developed

synchrophasor based monitoring

application (with Statnett)

b. Results from vendor specific

(SEL-5073 PDC monitoring) tool

Comparison with a commercial monitoring tool


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


Thank you! [email protected]

http://www.vanfretti.com

[email protected]


Documents

Protection Communication - ISGT 2012