Explore a comprehensive and state-of-the-art presentation of real-time electromagnetic transient simulation technology by leaders in the field
Real-Time Electromagnetic Transient Simulation of AC-DC Networks delivers a detailed exposition of field programmable gate array (FPGA) hardware based real-time electromagnetic transient (EMT) emulation for all fundamental equipment used in AC-DC power grids. The book focuses specifically on detailed device-level models for their hardware realization in a massively parallel and deeply pipelined manner as well as decomposition techniques for emulating large systems.
Each chapter contains fundamental concepts, apparatus models, solution algorithms, and hardware emulation to assist the reader in understanding the material contained within. Case studies are peppered throughout the book, ranging from small didactic test circuits to realistically sized large-scale AC-DC grids.
The book also provides introductions to FPGA and hardware-in-the-loop (HIL) emulation procedures, and large-scale networks constructed by the foundational components described in earlier chapters. With a strong focus on high-voltage direct-current power transmission grid applications, Real-Time Electromagnetic Transient Simulation of AC-DC Networks covers both system-level and device-level mathematical models. Readers will also enjoy the inclusion of:
- A thorough introduction to field programmable gate array technology, including the evolution of FPGAs, technology trends, hardware architectures, and programming tools
- An exploration of classical power system components, e.g., linear and nonlinear passive power system components, transmission lines, power transformers, rotating machines, and protective relays
- A comprehensive discussion of power semiconductor switches and converters, i.e., AC-DC and DC-DC converters, and specific power electronic apparatus such as DC circuit breakers
- An examination of decomposition techniques used at the equipment-level as well as the large-scale system-level for real-time EMT emulation of AC-DC networks
- Chapters that are supported by simulation results from well-defined test cases and the corresponding system parameters are provided in the Appendix
Perfect for graduate students and professional engineers studying or working in electrical power engineering, Real-Time Electromagnetic Transient Simulation of AC-DC Networks will also earn a place in the libraries of simulation specialists, senior modeling and simulation engineers, planning and design engineers, and system studies engineers.
Table of Contents:
About the Authors xix
Preface xxi
Acknowledgments xxv
List of Acronyms xxvii
1 Field Programmable Gate Arrays 1
1.1 Overview 1
1.2 Multiprocessing System-on-Chip Architecture 6
1.3 Communication 7
1.4 HIL Emulation 9
1.5 Summary 16
2 Hardware Emulation Building Blocks for Power System Components 17
2.1 Overview 17
2.2 Concept of HEBB 18
2.3 Numerical Integration 18
2.4 Linear Lumped Passive Elements 20
2.5 Sources 27
2.6 Switches 30
2.7 Transmission Lines 32
2.8 Network Solver 54
2.9 Nonlinear Elements: Iterative Real-Time EMT Solver 63
2.10 Summary 77
3 Power Transformers 79
3.1 Overview 79
3.2 Nonlinear Admittance-Based Real-Time Transformer Model 80
3.3 Nonlinear Magnetic Equivalent Circuit Based Real-time Multi-Winding Transformer Model 100
3.4 Real-Time Finite-Element Model of Power Transformer 123
3.5 Summary 141
4 Rotating Machines 143
4.1 Overview 143
4.2 Lumped Universal Machine (UM) Model 144
4.3 General Framework for State-Space Electrical Machine Emulation 158
4.4 Nonlinear Magnetic Equivalent Circuit Based Induction Machine Model 178
4.5 Summary 190
5 Protective Relays 193
5.1 Overview 193
5.2 Hardware Emulation of Multifunction Protection System 195
5.3 Test Setup and Real-Time Results 209
5.4 Summary 214
6 Adaptive Time-Stepping Based Real-Time EMT Emulation 217
6.1 Overview 217
6.2 Nonlinear Solution and Adaptive Time-Stepping Schemes 219
6.3 Adaptive Time-Stepping Universal Line Model and Universal Machine Model for Real-Time Hardware Emulation 236
6.4 Summary 252
7 Power Electronic Switches 253
7.1 Overview 253
7.2 IGBT/Diode Nonlinear Behavioral Model 255
7.3 Physics-Based Nonlinear IGBT/Diode Model 270
7.4 IGBT/Diode Curve-Fitting Model 292
7.5 Summary 300
8 AC–DC Converters 301
8.1 Overview 301
8.2 Detailed Model 303
8.3 Equivalenced Device-Level Model 305
8.4 Virtual-Line-Partitioned Device-Level Models 324
8.5 MMC Partitioned by Coupled Voltage–Current Sources 344
8.6 Clamped Double Submodule MMC 355
8.7 Summary 374
9 DC-DC Converters 377
9.1 Overview 377
9.2 Buck–Boost Converter 379
9.3 Solid-State Transformer Modeling 381
9.4 Summary 394
10 DC Circuit Breakers 397
10.1 Overview 397
10.2 HHB in MTDC System 399
10.3 Proactive Hybrid HVDC Breaker 402
10.4 Ultrafast Mechatronic Circuit Breaker 426
10.5 Summary 444
11 Large-Scale AC and DC Networks 447
11.1 Overview 447
11.2 Spatial Decomposition and Parallelism 449
11.3 Multi-FPGA Hardware Design for Real-Time EMT Emulation 453
11.4 CIGRÉ DC Grid Hybrid Modeling Methodology 465
11.5 Real-Time Co-Emulation Framework for Cyber-Physical Systems 479
11.6 Faster-Than-Real-Time Hybrid Dynamic-EMT Emulation of AC–DC Grids 495
11.7 Summary 510
Bibliography 513
Appendix A Parameters for Case Studies 531
A.1 Chapter 2 531
A.1.1 Case in Section 2.7 531
A.1.2 Cases in Section 2.8 531
A.2 Chapter 3 531
A.2.1 Cases in Section 3.2 531
A.2.1.1 Cases Study I 531
A.2.1.2 Cases Study II 532
A.2.2 Cases in Section 3.3 532
A.2.2.1 Transformer 532
A.2.2.2 System 532
A.2.3 Cases in Section 3.4 532
A.3 Chapter 4 533
A.3.1 UM Case in Section 4.2 533
A.3.2 Cases in Section 4.3 534
A.3.2.1 State-Space Matrices of Rotating Machines 534
A.3.2.2 Parameters of Rotating Machines 538
A.3.3 MEC Case in Section 4.4 538
A.4 Chapter 5 538
A.5 Chapter 6 539
A.5.1 Cases in Section 6.2 539
A.5.2 Cases in Section 6.3 540
A.6 Chapter 7 540
A.7 Chapter 8 541
A.7.1 Equivalenced Device-Level Model in Section 8.3 541
A.7.2 MMC-IM Case in Section 8.4 541
A.7.3 MVDC Case in Section 8.5 541
A.7.4 MTDC Case in Section 8.6 541
A.8 Chapter 9 541
A.9 Chapter 10 542
A.9.1 HHB Case 542
A.9.2 UFMCB Case 542
A.10 Chapter 11 543
A.10.1 CIGRÉ B4 DC Grid Test System 543
Index 545
About the Author :
Venkata Dinavahi, PhD, PEng, FIEEE, is a Professor in the Department of Electrical and Computer Engineering at the University of Alberta in Edmonton, Alberta, Canada. He received the BEng degree from the Visveswaraya National Institute of Technology (VNIT), Nagpur, India, in 1993, the MTech degree from the Indian Institute of Technology (IIT) Kanpur, India, in 1996, and a PhD in Electrical and Computer Engineering from the University of Toronto, Ontario, Canada, in 2000. He was the founding chair of the IEEE Power & Energy Society (PES) Task Force on Interfacing Techniques for Simulation Tools from 2006-2014. He contributed to several IEEE PES Working Groups and Task Forces notably in the Analytical Methods for Power Systems (AMPS) committee. He is a Fellow of IEEE, a member of CIGRÉ and a Professional Engineer in the Province of Alberta. He was the recipient of the 2018 Outstanding Engineer Award from the IEEE PES/IAS Northern Canada Chapter.
Ning Lin, PhD, is a Postdoctoral Researcher at the University of Alberta. He received the BSc and MSc degrees in Electrical Engineering from Zhejiang University, China, in 2008 and 2011, respectively, and a PhD in Electrical and Computer Engineering from the University of Alberta, Canada, in 2018. From 2011 to 2014, he worked as an engineer on power system automation, flexible AC transmission system (FACTS), and high-voltage direct current (HVDC). His research interests include electromagnetic transient simulation, transient stability analysis, real-time simulation, AC/DC grids, parallel processing, and high-performance computing of power systems and power electronics.
