1. Real Time Digital Simulation
RTDS®
Power Systems Simulation in
Real Time

2. RTDS Technologies Inc. Company: Based in Winnipeg, Canada
Established in 1994
- 40 °C

3. RTDS Technologies Inc. History: Manitoba HVDC Research Centre (1980s)
Funding from Manitoba Hydro
World’s 1st real time digital simulator
1st commercial installation in 1993
Created a independent company - RTDS Technologies in 1994

4. RTDS Technologies Inc. RTDS Technologies: over 100 installations
over 400 units
23 countries
clients include leading …
electrical power utilities
electrical equipment manufacturers
research and learning institutions

5. RTDS Technologies Inc. RTDS Simulator Users:
Electrical power utilities
Electrical equipment manufacturers
Research and learning institutions
19 countries:
North America: Canada(5) , USA(6)
Asia: China(20), Japan(11), South Korea(10), Malaysia(1), Singapore(1)
Europe: England (4), Finland(1), Germany(1), Greece(1), Italy(1), Netherlands(1), Spain(1), Sweden(1)
Other: Brazil (1) , South Africa(1), India(1), New Zealand(1)
=69 clients
Counting alstom as 2
Counting hitachi kokbu & research as 1
Counting kepco & kepsac as 1
Counting beckwith as 1 – not an installation

6. RTDS Technologies Inc. Real Time Digital Simulation
Electromagnetic transient solution (EMTP type simulation)
Based on the Dommel algorithm
Trapezoidal rule of integration
New solution produced each timestep
Continuous hard real-time response must be achieved and sustained if physical control and protection equipment is to be included in the simulation study
Dedicated high speed processing and signal communication required to achieve real-time
The RTDS Simulator
A combination of specially designed parallel processing hardware and detailed, efficient solution algorithms

7. Time scales of power system phenomena
Presentation title
April-19-17
Time scales of power system phenomena
Electromagnetic transient modeling and simulation
HVDC, FACTS, etc.
Generator control
Protection
Prime mover control
LFC
Operator actions
Frequency variations
Lightning
Switching
Subsynchronous resonance
Transient stability
Long term dynamics
Tie-line regulation
Daily load variation
Short-duration variations
Long-duration variations
Impulsive transients
Oscillatory transients
Voltage fluctuations
Imbalance, harmonics, inter-harmonics, notching, noise
10-7
10-5
10-3
10-1
101
103
105
Timescale (seconds)
1 cycle
1 sec
1 min
1 hr
1 day
Location

8. RTDS Technologies Inc.
Simulation Techniques:

9. Transients and Steady State
Transient solution
Harmonics
Non-linear effects
Frequency dependent effects
Steady state solution
RMS Value

10. Transients and Steady State
High frequency
Damped (short duration)

11. Transients and Steady State
Transient stability problem
Fault / clearance
Slow Transients (electro-mechanical)

12. Electromagnetic transients
Electrical transient occurs when there is a rapid exchange or flow of energy from one element to another
Interaction of energy stored in electric fields of capacitances and magnetic fields of inductances in electrical power systems
Initiated by a change to the network topology (connections)
Switching Events
Opening and closing
Faults
Inception and clearance
Lightning
Others

13. Electromagnetic transients
Open

14. Basic R-L-C networks Oscillatory transients: Both L and C involved
Damping is due to resistance
System losses
Loads

15. Transient vs. Steady State
Presentation title
April-19-17
Transient vs. Steady State
Load Flow / Transient Stability
Each solution based on
phasor calculations
Electro-Magnetic Transients
Direct time domain solution of Differential Equations
Location

16. Time Step
Period of natural frequency is about 1.5 ms 2

17. Time Step
Time step of 1.0 ms 2

18. Time Step
Time step of 5 micro-seconds 2

19. Time Step
Time step of 70 micro-seconds 2

20. Non Real Time vs. Real Time
Simulation:
Non Real Time:
Simulation of the system’s response over 1 second may require several seconds or even minutes of computer time
Wide range of available non real-time programs (PSCAD, EMTP, etc.)
Solution speed is not hard real-time, hence interpolation can be used in large closely connected networks with numerous switches
Real Time:
Simulation of the system’s response over 1 second must be completed in exactly 1 second.
Hard real-time provides equidistant updates from each timestep

21. 实时仿真 Real Time Simulation
实时：仿真系统中完成一个物理现象的时间与电力系统中完成该现象的时间完全一样；
时间域中的电磁暂态分析；
实时仿真应在所仿真的整个系统，而不是在部分的仿真系统进行；
实时仿真应能连续地长时间进行；
实时仿真装置应能与实际的电力系统元件（例如与控制保护系统）相连接来完成闭环试验或是能在电力系统中运行；
Real Time:The time to complete a physical phenomena should be exactly the same as it happened in a real power system;
It is in time domain, electromagnetic transient analysis;
The real time simulation is in full simulated system, not in part of the simulated system;
The real time simulation can operate continuously;
The real time simulation can connect to the real power system equipments （e.g. relay or control system) for a close loop test or can operate in the power system;

22. 动模与数模仿真 Analog and Digital Real Time Simulations
两种实时仿真：
动模与数模
三个时间里程碑：
1880年代，1970年代，1989年
动模在世界上已有百年的历史，在国内至少有50年历史;
实时数字仿真只有19年历史;
目前实时数字仿真的安装地点约为动模的一倍;仿真规模在数十倍以上；
Two Kinds of Real Time Simulation:
Analog and Digital
Three Milestone Years:
1880’ ’
Analog Real Time Simulation Has 100 year’s History worldwide and more than 50 Year’s History in China
Real Time Digital Simulation Has only 19 year’s History
Digital/Analog： The Location Number: 2， Simulated Scale: Tens Times

23. 国外实时数字仿真的里程碑（供讨论） Milestone of Real Time Simulation (for discussion)
美国国家专利 , Waldo E. Enns 交流网络仿真装置，申请 批准 ；
IEEE论文Hermann W. Dommel 教授,
单相和多相网络中电磁暂态的数字仿真
世界上第一台实时数字仿真装置诞生： 1989年，Manitoba HVDC研究中心（RTDS技术公司）; Dennis Woodford, Rick Kuffel, Rudi Wiercks, Trevor Maguire, James Giesbrecht
US Patent , Waldo E. Enns, Applied ，Approval
Apparatus for A.C. Network Analysis
IEEE Paper April 4, 1969, Hermann W. Dommel
Digital Computer Simulation of Electromagnetic Transient in Single-and Multiphase Networks
Manitoba HVDC Research Center (RTDS Tchnologies Inc), 1989, Dennis Woodford, Rick Kuffel, Rudi Wiercks, Trevor Maguire, James Giesbrecht
The Birth Day of First Power System Real Time Digital Simulator Worldwide

24. 经验与教训（一） What We Learned from the History Review (1)
电力工业的发展是实时仿真的主要推动力;
科技的进步是实时仿真的基础（电工理论基础，电力系统理论和技术以及计算机技术）;
正确的技术路线和市场化;
坚持不懈的研究与开发;
The Real Time Simulation Is Driven by The Development of Electric Power Industry;
Science & Technology’s Progresses are the Base of the Real Time Simulation (Theories & Technologies of Electric and Computer);
Right Technical Plan/Path and Marketing;
Continue R&D;

25. 经验与教训（二） What We Learned from the History Review (2)
如同任何其它历史（经济，技术，政治等等）实时仿真的历史也有历史的创造者，推动者和见证者
-今天每一个人都可以为自己参与了这个实时仿真的技术发展史而自豪
回顾历史可以让我们知道自己从何而来，现在何处，以及将要去往何处。
-实时仿真技术从发展至今尚处成长期，它值得我们为其努力。
As Other Histories (Economy, Technical etc), Real Time Simulation Technology Has Its History Creators, Promoters and Witnesses.
Every Body in This Room Can Proud For His Involving In This History
Review History Let Us Know Where We Are From, Where We Are and Where We To Go:
Real Time Simulation Technologies Are Still Growing. It Is Worth For Us to Continue Work For It.

26. 对未来应用的建议 Suggestions For The Applications in Near Future
继续为交直流大电力系统服务仍是一段时期内实时仿真的主要方向;
重视实时仿真在再生能源和负荷管理的应用;
Continue Work for the AC/DC Power Systems
Put Attention to Renewable Energy and Demand Management

27. RTDS
Simulation
Hardware

28. Simulation Hardware Custom parallel processing computer
RTDS Hardware:
Custom parallel processing computer
Hardware is modular, allowing users to increase computing capability as required
Main interface with the hardware is through user-friendly software
Ample, convenient input and output allowing connection of physical devices

29. Simulation Hardware A Rack:
A unit of hardware is called a ‘Rack’ and typically includes:
1~6 RISC Processor Cards (GPC)
1 Inter-Rack Communication Card (IRC)
1 Workstation InterFace Card (WIF)

30. Simulation Hardware
Parallel Processing – Sharing the burden of calculation:
Processor
IRC
 > t
Rack 1
Rack 2
Backplane
WIF
Computer
LAN

31. Simulation Hardware Small Scale Simulations: Reduced # of processors
Transportable to site
Large Scale RTDS Simulations:
Large scale studies
Complex simulation case
One large or several smaller simultaneous simulations

32. Simulation Hardware Modular Hardware: Easy expansion
Maximum availability
Easy maintenance
Full Compatibility
Processing power
GPC

33. Simulation Hardware Customer Driven Development:
Giga Processor Card - GPC:
Introduced January 2005
Additional Power utilizing two IBM 750GX Power PC’s each running at 1 GHz
Multiple timestep operation supported

34. Simulation Hardware RISC Processor Card (GPC): GPC Network Solution
1 GPC processor handles 54 nodes in a single lumped circuit, as well as 12 embedded valve groups
presently dimensioned for 56 single-phase switches (i.e. breakers and/or faults)

37. Simulation Hardware Workstation InterFace Card - WIF:
Each rack contains a single WIF with its own unique Ethernet Address
Connects to workstation via standard Ethernet LAN
Provides timestep clock
Provides communications to load, start and stop simulation case
Enables user interaction with simulation
Provides data exchange coordination and data record capability

38. Simulation Hardware Workstation InterFace Card - WIF:
50 MHz MPC860T/DT processor 
10/100 Base TX Ethernet interface
1 million point plot memory
Bus logic to control local rack simulation
Global bus for Multi-rack simulation
RS-232C Diagnostic/Configuration Port
LED display on the faceplate to show configuration information

39. Simulation Hardware Inter-Rack Communication Card - IRC:
Connection via RJ-45 jack
Connection paths which mimic the power system
No need to change connections
High speed communication between racks
Direct connection to six other racks

40. Simulation Hardware Flexible and Expandable I/O for the GPC:
GTAI (12 channel, isolated 16-bit analogue input card)
GTAO (12 channel, isolated 16-bit analogue output card)
GTDI (64 channel, isolated digital input card)
GTDO (64 channel, isolated digital output card)
GTFPI (interface to digital and high voltage interface panels)
GTNET (Ethernet Interface System)
The GT family of I/O cards can be daisy chain connected to a single GPC fiber port (fewer GPC cards needed to accommodate I/O connection).

41. Simulation Hardware High Precision Analogue Output Card - GTAO:
Twelve (12) synchronized 16-bit output signals per card
Output range +/- 10 volts peak (0.3 mV resolution)
Fully compatible for 12 channel update of small timestep (~ 2μs) simulation signals
Connects to GPC via fiber optic connection – daisy chain connection allowed to other GTIO cards
Rail mounted with access from rear of cubicle
Signal selection and scaling in Draft

42. Simulation Hardware High Precision Analogue Input Card -GTAI:
12 channel input card with 16 bit A-to-D converters
Provides optical isolation of input signals from external devices to the RTDS
Interfaces to GPC via fiber optic connection
+/- 10 V true differential analog input
Connects to GPC via fiber optic connection – daisy chain connection allowed to other GTIO cards
Rail mounted with access from rear of cubicle
Signal selection and scaling in Draft

43. Simulation Hardware GPC Digital Input - GTDI:
Required for digital input to small timestep simulations
64 digital input signals per card
Connects to GPC via fiber optic connection – daisy chain connection allowed to other GTIO cards
Rail mounted with access from rear of cubicle
Signal selection in Draft

44. Simulation Hardware GPC Digital Output - GTDO:
Required for digital output to small timestep simulations
64 digital output signals per card
Connects to GPC via fiber optic connection – daisy chain connection allowed to other GTIO cards
Rail mounted with access from rear of cubicle
Signal selection in Draft

45. Simulation Hardware
GPC Front and High Voltage Panel Interface - GTFPI:
Interface to 16 digital input and 16 digital output low voltage channels
Interface to 16 dry contacts
Connects to GPC via fiber optic connection – daisy chain connection allowed to other GTIO cards
Rail mounted with access from rear of cubicle
Signal selection in Draft

46. 开关量输出回路
装置开关输出回路接线图

47. Simulation Hardware GPC Network Communication - GTNET: GTNET – GSE
IEC binary messaging
GTNET – SV
IEC sampled values
GTNET – Playback
very large data playback
GTNET – DNP
DNP SCADA interface

48. Simulation Hardware Digital Interface Panel:
Interconnect signals between the RTDS external equipment
16 digital input and 16 digital output via 4mm banana plug adapters mounted on front of the cubicle
Signals from the GPC connect to the digital interface panel via the GTFPI card

49. Simulation Hardware High Voltage Interface Panel:
16 solid state contacts rated for up to 250 Vdc
Used to send status signals from the RTDS Simulator to external equipment at station level voltage (max. 250 Vdc)

50. Simulation Hardware Amplifiers:
External amplifiers are used to provide secondary level voltages and currents
Amplifiers are connected in the test loop between the RTDS Simulator and the equipment under test
Various amplifiers solutions have been used (Omicron, Analogue Associates/Techron/Crown, Doble, etc.)

51. RTDS Technologies Inc.
RTDS
Simulation
Software

52. Simulation Software RTDS Software: Graphical User Interface RSCAD
Power and Control System
Software
Component Model Libraries & Compiler

53. Simulation Software RSCAD Graphical User Interface:
FILEMAN TLINE RUNTIME
DRAFT CABLE MULTIPLOT

54. Simulation Software RSCAD Graphical User Interface Software:
JAVA Based
Runs on PC under Windows and on Sun Workstation under Unix
Single line diagram drawing format
Hierarchy structure for circuit layout
Integrated Load Flow
Software can be installed on any number of customer computers
PSS/E conversion function

55. Simulation Software Circuit Construction in RSCAD / DRAFT:
Circuit assembly
Data entry
3 phase drawing models single line drawing mode

56. Simulation Software
Component Editing:

57. Simulation Software Running the Simulation in RSCAD / RUNTIME:
True real time performance provides ability to operate the simulated power system interactively
Simulator control
Monitoring
Data acquisition
Manual mode
Automatic mode

58. Simulation Software Automated Batch Mode Testing: Script file
High level programming language with C like structure
adaptive via if, for, and while statements
user-defined subroutines
customize reporting of result analysis
automated plot printing
Efficient means of running numerous cases

59. Simulation Software
Comprehensive library of component models available:
Power System Control System
Component Model Library Component Model Library

60. Machine Models
The simplest model is that of a constant speed ( frequency) machine consisting of an ideal voltage source behind an appropriate impedance. For an electromagnetic transient study this would most likely be the machine subtransient reactance.
E``
X``

61. jX`` This type of machine model would be appropriate in a study
where the transmission line being protected was represented
by lumped impedances and the time scale of interest was several cycles. The relay bandwidth would be restricted to 50/60Hz and dc offset components. e.g. jX
E``
jX`` R
Machine jx
Trans.
Line
Infinite BB
Relay

62. For longer time periods involving possible power swings then the transient reactance would replace the subtransient reactance and the machine inertia would have to be represented by at least a single equivalent mass. The moment of inertia, J, is for both the turbine generator and exciter combined. X` E` Tm
Inertia, J Te

63. Swing Example
Here is a study involving a full dqo machine model with single
mass inertia and a single pole open and reclose feature at the relay
location R. There are two 100km distributed parameter lines
with a single phase fault half way along one of the lines.

65. Multi-mass machine models
Single mass inertia models are probably OK for hydro turbine sets.
Steam turbines on the other hand have multiple stages (HP, IP, LP) plus the generator and exciter and may be much larger than the hydro sets.
Shafts have been damaged by mechanical resonances excited by sub-synchronous frequencies on the electrical network.

66. AVR’s, governors & PSS’s
In studies where the inertia of the set is relevant then we need to also include other devices which produce effects in the time window of interest.
Governors are in general very slow except in cases of “fast valving” on a steam set.
Automatic voltage regulators and Power Sytem Stabilisers will certainly be in play during power swing conditions.

67. Conclusions Choose a model which suits the time scale of interest.
Where possible, compare any simulation results with recordings to check for model validity.
Models for internal faults are not generally available and are actively being researched at the present time.

68. Transformer Models Can be modeled in RTDS in three fundamental ways
The Ideal transformer model
The Linear transformer model
The built-in saturable transformer model

69. Ideal Transformer Model
Ignores leakage flux
Assumes flux is confined in the core
Neglects Magnetizing Currents
Assumes no core reluctance

70. Simple Transformer

71. Ideal Transformer Equations

72. Linear Transformer Model
In this case the magnetizing branch is included in the model as an inductive branch.

73. Saturable Transformer Model
Uses a star-circuit representation
User could include saturation data

74. Transformer Model Rp Lp Rs Ls Lm
n:1
Ideal
Transformer

75. Transformer V-I Curve Characteristic
Non-Linear region
V-I curve knee point
Saturation voltage
Operating point
for voltage transformers
Voltage
Linear region
Operating point
for current transformers
Current
More in Section 10

76. Non-linear Element Represented as Piece-Wise Linear -i Function ( t ) (
t -
t)
slope kn i L
iL(t-  t)
iL(t)

77. Saturable Transformer Model
The model requires as a minimum the following data
The voltage rating of each winding
The leakage impedance of each winding
The transformer connectivity information

78. Transmission Line Models
RTDS users must know
What kind of models are available
Applicability of the various models for steady state or transient studies
Advantages and disadvantages of each model

79. EMTP Line Models for Steady State Studies
Exact-pi model
Nominal-pi model

80. Exact-Pi Model Exact-pi model It is a lumped-parameter model
The model includes hyperbolic corrections
Frequency independent
Best model for steady state studies

81. Exact-Pi Models
It is a multi-phase line model and it takes into account
Skin effect and
Circuits in the same right-of-way
Not good for transient studies

82. Nominal-Pi Model Derived from the exact-pi model Takes into account
Ignores hyperbolic corrections
Takes into account
Skin effect and

83. Nominal-Pi Model Multi-phase line model Frequency Independent
No time step limitations
Not good for transient Studies
Could be used if multiple Nominal-pi sections are cascaded together

84. Nominal-Pi Model Model Limitations
Cannot be Used for “Electrically Long Lines”
Limited to lines with length < 150 Km at 60 Hz
Limited to lines with length < 5 Km at 2 kHz

85. RTDS Line Models for Transient Studies
Nominal-pi model
Frequency independent distributed parameter line model
Frequency dependent distributed parameter line model

86. RTDS Line Models for Transient Studies
Nominal-pi
Not recommended for transient studies
Produces reflections at the cascading points
Computationally expensive
Sections must be kept very short { 5-10 km for frequencies up to about 2 kHz}

87. RTDS Line Models for Transient Studies
Constant parameter distributed line model
Bergeron model
Model assumes that R’, L’, & C’ are constant
L’ & C’ are distributed and the losses R’*l are lumped in three places
Shunt losses are ignored

88. RTDS Line Models for Transient Studies
Frequency dependent transmission line model
Represents accurately the distributed nature of all line parameters
Frequency Dependent
Transformation matrix is real and constant
Most accurate for use in transient studies

89. RTDS Line Models for Transient Studies
The DP and FD models
Use traveling wave solutions and are valid over a wider frequency range
Require transformations between phase and modal domain
Keep track of modal waves traveling at different speeds
When the modal propagation time ( or “travel time” ) of a line is less than the chosen simulation time−step Δt, the line cannot be represented using these general travelling wave models.

90. Conclusions Use pi-exact model for steady state studies
Use fd-line models for lines of main interest in your study
Use cp-line models for lines of secondary interest

91. Section 10
Relay Input Sources

92. np
CT load
(burden) ns ip is

93. Burden
Magnetizing
Branch ip Rp Lp Ls Rs is
Ideal CT

94. ip’ Rp Lp Ls Rs is Es im
imr
imx Lm Rm Rl

95. ip’ is Es im Lm Rb
Current
source

96. CT Saturation for Symmetric Fault Currents10
100
1000
CT ratio
error [%]
600/5 A, C100 CT
with 1.5 W total load resistance
Ideal CT
CT Primary Current [A] (referred to the secondary)
CT Secondary Current [A]
CT Saturation for Symmetric Fault Currents
0.1 1
Exciting Current [A]
Voltage [V] 15 23 35 48 7

97. Lm is nonlinear inductor,
specified in piecewise linear form
-I data points are not readily available
ATP provides a routine SATURATION to
convert Vrms-Irms characteristics
into -I set

98. Coupling Capacitor Voltage Transformers
9.2
Digital Models of
Coupling Capacitor Voltage Transformers
CCVT

99. A CCVT Circuit Connection

100. A 138 kV CCVT Design HV 138kV C ps C 1 L d1 R R L d1 L C C p R p L s Rx 1 C G 2 2 G 3 C C p C L T x s F F L R r 2 d1 G R Z 1 C a Cp b F
SW1 R R a d1 x 3 y 1
5kV/115V/66.4V y 2 R h y 3

101. Voltage Transformer
Digital Models

102. n:1
Ideal
Transformer Ls Rp Lp Cp Rm Lm Rs

103. Simulation Software
Component Builder:

104. RTDS Technologies Inc.
Applications

105. Applications
Closed-loop testing of protection systems:

106. Applications Protection systems test methods: Synthetic testing
Typical of test set used for routine testing
No true power system signals used
“Synthetic” waveforms are often unrealistic and in some cases misrepresent how a relay will function in service

107. Applications Protection systems test methods: Playback testing
Uses recorded or simulated power system signals
Waveforms only valid until the relay trips
Only one relay can be tested

108. Applications Protection systems test methods: Closed loop testing
Requires a real time simulator to provide realistic power system signals
Closed loop response allows complete interaction between the relay and the simulated power system
Multiple devices (relays and/or controllers) can be tested as if connected to an actual power system

109. Applications Closed-loop testing of protection systems:
Standard electrical connection

110. Applications Closed-loop testing of protection systems:
Interconnection via IEC GOOSE and Sampled Values

111. Applications Closed-loop testing of protection systems:
Proven power system representation
Advanced instrument transformer models
Script files for automated testing and customized reporting
Hardware interface
Interaction studies providing a true test for multiple relays and other devices
Suitable for low level testing of single relays and multiple relays
Flexible amplifier solutions
Voltage and Current Signals (low level)
Amplified Voltages and Currents (Sec. Levels)
Trip and Reclose Signals
RTDS Simulator
Voltage and Current Amplifiers
Protective Relay(s)
Interfacing to Protective Relays

112. Applications Closed-loop testing of protection systems: Manufacturers
ABB Automation – Sweden • Dong Fang - China
AREVA T&D – England • SiFang - China
Basler Electric – USA • Guodian Nanjing Automation - China
GE Multilin – Canada • LGIS – South Korea
Siemens AG – Germany • NxtPhase T&D - Canada
SEL – USA
TMT&D - Japan
Utilities
REE – Spain • Guangxi EPRI - China
PG&E –USA • East China EPRI - China
KEPCO – Korea • Fujian EPRI – China
FURNAS – Brazil • Sichuan EPRI – China
CCGroup – China • North China EPRI - China
SEC – Saudi Arabia
Universities / Research & Test Institutes
China EPRI – China • CPRI – India
Kinectrics – Canada • NTU – Singapore
University of Bath – England • University of Western Ontario – Canada
Wuhan University – China • Xuchang Relay Institute - China

113. Applications
Closed-loop testing of control systems:

114. Applications
Testing of Excitation Controllers:

115. Interfacing to HVDC Controls
Applications
Closed-loop testing of control systems:
True real time required
Large amount of data exchange
100’s of digital and analogue I/O channels needed
Improved firing for power electronics
Real time network solution
more breakers
Switched filter component
more breakers with fewer nodes
Digital and Analogue
Signals
From RTDS to Controls
commutating bus voltages
dc current & voltage
winding currents
-breaker status
Digital and Analogue
Signals
From Controls to RTDS
firing pulses
block/bypass signals
control variable monitoring
Interfacing to HVDC Controls

116. Applications Commercial Control System Studies:
HVDC (High Voltage Direct Current)
SVC (Static Var Compensator)
TCSC (Thyristor Switched
Series Cap.)
Generator (Exciter, Governor, PSS)
STATCOM (3-level, PWM ~1200 Hz)

117. Applications Closed-loop testing of control systems: Manufacturers
ABB Power Systems – Sweden • Fuji - Japan
AREVA T&D – England • Hitachi - Japan
Basler Electric – USA • Kinkei - Japan
Siemens AG – Germany • Medensia – Japan
Nokian Capacitors – Finnland • XJ Corporation
Utilities
KEPCO – Korea • Fujian EPRI – China
FURNAS – Brazil • South Central Power China - China
Manitoba Hydro – Canada • TNB - Malaysia
Universities / Research & Test Institutes
CPRI – India • Kinectrics - Canada
BDCC – China • Xian High Voltage Apparatus Research Institute - China

118. Applications General Power System Studies & Education:
efficiency of real time
frequency response from 0-3kHz with one tool
detailed control - power system interaction investigation
Ongoing R & D to combine two types of equivalence techniques

119. Applications General Power System Studies & Education : Utilities
KEPCO – Korea • Chugoku EPCo – Japan
Kansai EPCo – Japan • Takaoka EPCo – Japan
Tohoku EPCo – Japan • Manitoba Hydro – Canada
BC Hydro – Canada • LADWP - USA
Universities / Research & Test Institutes
CPRI – India • ChangWon University – South Korea
Clemson University – USA • Florida State University (CAPS) – USA
J Power – Japan • TU Delft / TU Eindhoven – The Netherlands
University of Manitoba – Canada • University of Western Ontario – Canada
University of Wyoming – USA • University of Missouri-Rolla – USA
University of Cassino – Italy • University of Durban – South Africa

120. RTDS Technologies Inc.
Validation

121. Validation Validation: In-house Independent validation by customers
Commercial studies
Industry benchmark cases
Electromagnetic Transient
Electromechanical Transient
Transient Stability
Load Flow / Steady State

122. Validation Comparisons between RTDS and various references:
EMTDC, EMTP, and Netomac
Non real time electromagnetic transient simulation
PSS/E, Y-Method, Netomac, and BPA
Transient stability
PSS/E, Netomac, and BPA
Load flow
CIGRE and IEEE
Benchmark cases
Actual power system measurements

123. Grid Master Power Controller
Validation
Commercial Studies:
Siemens
Grid Master Power Controller
ESKOM, South Africa

124. Model validation
Fault recordings
Near the fault bus
Voltages
Currents

125. RTDS Technologies Inc.
Recent
Developments

126. Recent Developments Requirements: Resources:
Continued development in both hardware and software
Aimed at meeting changing needs of power system engineers and of the power system itself
Requirements:
more accurate power system modelling
Resources:
more powerful processors
Led to
Further developments in RTDS real time simulation

127. Recent Developments Recently developed models for GPC card:
Phase Domain Transmission Lines
UMEC Transformer
Voltage Source Converters

128. Recent Developments Simulation: Challenge of VSC modelling
Non Real Time:
Solution process is not hard real-time, hence interpolation can be used even in large closely connected networks with numerous switches
Real Time:
Hard real-time required, hence interpolation cannot be applied in large closely connected networks with many switches
VSC Bridge; Adequate valve firing resolution provided by small time-steps
Main Network; simulation is more efficient with larger time-steps
Conflicting requirements
Multiple timestep approach chosen
Challenge of VSC modelling
The main network ---
Requires a normal time step of approximately 50 μs
The VSC model ---
Requires a firing resolution of a few microseconds

129. Recent Developments VSC Sub-Network
Efficient EMT simulation programs often utilize the concept of sub-networks
Individual sub-networks can be solved in parallel
Taking this approach we map VSC bridges into individual sub-networks
The VSC sub-network interfaces with the main circuit
The interface is similar to well known “hybrid” analogue/digital real-time simulation methods
VSC interface is fully digital and eliminates difficulties with D/A and A/D conversions as well as amplifiers used in the hybrid simulator
Small time-step solution in the VSC sub-network is interfaced to large time-step solution of the main network

130. Recent Developments Example Simulation Test Case
Small time-step execution time minimized by linking pre-created machine language modules
Doubly fed induction machine with saturation
Six-pulse two-level bridge (two units)
Three-phase high pass filter bank
Three-phase RL branch
Capacitor branch
Three-phase interface transformer
Network solution equations
= 0.4 msec
= 0.22 msec (per unit)
= 0.09 msec
= 0.05 msec
= msec
= 0.11 msec
= 0.2 msec
Total small time-step execution time
~ 1.32 msec
Small time-step used in example case
~1.67 msec

131. Recent Developments Example Simulation Test Case
Validation of real-time results against PSCAD non real-time simulation with 50 msec time-step
RTDS
PSCAD

132. Recent Developments More Recent Work
Real Time Simulation of 3-level STATCOM with 36 valves

133. RTDS Technologies Inc.
Conclusion

134. Conclusion Impact of Real Time Digital Simulation Techniques:
represents an important advancement in the understanding of power system operation and performance
allows more organizations to establish affordable and manageable in-house simulation facilities
combines the accuracy of digital models with the real time response of traditional analogue simulators
provides a mechanism to rigorously study and test the performance of new and existing protection and control devices prior to installation in the actual power system
provides detailed knowledge of power system performance before, during, and after an event
increases confidence and reliability in the design, implementation and operation of the electrical network and its complex components

135. RTDS Technologies welcomes any questions or comments.
RTDS Technologies Inc.
Additional Information:
Our website
Technical publications
Multiple volumes of published papers available dating back to 1991
Technical documentation and tutorials
Including on-line reference
RTDS Technologies welcomes any questions or comments.
Please do not hesitate before, during and after installation to contact us.

136. Generator Controls Generic controls: Controllers based on PSS/E models
Stabilizers
Exciters
EXAC1AVR
EXAC1AAVR
EXAC2AVR
EXAC3AVR
EXAC4AVR
EXDC2AVR
EXST1AVR
EXST1AAVR
EXST2(A)AVR
EXST3AVR
EXPIC1AVR
IEE2STPSS
IEEESTPSS
PSS2A
Governor / Turbine
GASTGOV
HYGOVGOV
IEESGOGOV
IEEEG1GOV
IEEEG2GOV
IEEEG3GOV
TGOV1GOV

137. Generator Controls Detailed exciter simulation:
Static exciter with detailed rectifier circuit

138. Generator Controls Detailed exciter simulation:
Automatic voltage regulator

139. Generator Controls Detailed exciter simulation: Protection
Under Excitation
Limiter
Stator Current
Limiter
Volts per Hertz
Limiter
Over Excitation
Limiter