RAPID PROTOTYPING OF CONTROL SYSTEMS FROM ELECTROMAGNETIC TRANSIENT SIMULATOR PROGRAM

Transcription

1 RAPID PROTOTYPING OF CONTROL SYSTEMS FROM ELECTROMAGNETIC TRANSIENT SIMULATOR PROGRAM By: Dexter M. T. J. Williams, Esa Nummijoki, Aniruddha M. Gole and Erwin Dirks University Of Manitoba NSERC Industrial Research Chair in Power Systems Simulation

2 Content Introduction Background PSCAD Code Generator (PSCADCG) Example System Validation Testing Conclusion

3 INTRODUCTION

4 Introduction Software based design in power systems Grown in popularity with computer processing power - Electromagnetic Transient (EMT) simulation models the network in the greatest detail - Application: Flexible Alternating Current Transmission System (FACTS), High Voltage Direct Current (HVDC) - Exhaustive simulations are done to confirm the controls operate in an appropriate manner - However the control model must still be transferred into a useable control code for infield use

5 Solution to Problem Automatic code generation from simulation control elements PSCAD Code Generator (PSCADCG) MATLAB s Real-time Workshop Introduction

6 BACKGROUND

7 Background Library Workspace

8 Background PSCAD/EMTDC power system simulator 2 main types of Library components: Electrical» passive electrical components, power electronic components, machines, transformers, application specific components (EX: HVDC, FACTS) Control» arithmetic operations, logical operations, filters, application specific controls and more Problem: To convert the control model to a real-world real-time implementation

9 Background To allow for prototyping of the controls the PSCAD Code Generator (PSCADCG) is used PSCADCG reads the graphic model and develops embedded software compatible code from the model

10 PSCAD CODE GENERATOR (PSCADCG)

11 PSCADCG The PSCADCG contains 3 main parts involved in the rapid prototyping process Network generation C function generation C interface generation

12 PSCADCG: Network Generation Network generation Generates a virtual network describing the interconnection of the control elements of the design Reads project and library files to generate and equivalent virtual network of the systems controls

13 PSCADCG:C Function Generation C function generation Generates the code that describes the control operations modeled Sequential orders all elements into a queue based on order of operation Elements are sequentially de-queued and the code for each element is sequentially generated Then the code is formatted and used to generate the header and C file

14 PSCADCG: C Interface Generator C interface Generator Interfaces the C function to the hardware platform A hardware platform must first be selected The program reads the virtual header file and generates header, configuration and main loop C files

15 PSCADCG: C Interface Generator C interface Generator Main program Configuring all parameters Infinite loop Reads the A/D converter values and runs Runs the C function generated by the C function generator Outputs the values to the ports

16 EXAMPLE SYSTEM

17 Example System Step Down converter Reduces voltage from input to output using pulse width modulation Parameters Input = 10 Volts Output = 5 Volts Voltage Ripple = 0.2% Current Ripple = 2.0%

18 Example System: Controls Step Down converter Control Pulse Width Modulation Negative feedback Proportional-Integral (PI) controller for error reduction

19 Example System:PSCAD Simulation Step Down converter Control system Optimized controls Controls must be converted to a real time controller

20 Real-time Control Implementation Cerebot 32MX4 development board PIC32MX460F512L microprocessor 80 MHz 32-bit memory. PWM digital and analog I/O (Input and outputs) 8 peripheral ports open collector driver A/D D/A converters Etc. Programmed with C using the MPLAB development

21 VALIDATION TESTING

22 5 volt output test Calculated: 5.00 Simulated: 5.00 Blue signal represents the PWM signal (Top) Green signal represents PI control signal (Top) Blue signal represents the output voltages (Bottom) Green signal represents the input voltages (Bottom) Hardware: 5.10 Blue signal represents the PWM signal Green signal represents the input voltages Orange signal represents the output voltages Validation Testing

23 9.90 volt output test Calculated: 9.90 Simulated: 9.90 Blue signal represents the PWM signal (Top) Green signal represents PI control signal (Top) Blue signal represents the output voltages (Bottom) Green signal represents the input voltages (Bottom) Hardware: 9.53 Blue signal represents the PWM signal Green signal represents the input voltages Orange signal represents the output voltages Validation Testing

24 Duty Cycle (%) Validation Testing Calc. (V) PSCAD (V) Actual Hardware (V) Error PSCAD VS Hardware (%)

25 CONCLUSION

26 Conclusion PSCADCG capable of: generating control systems for a PSCAD system generating most any control system generated by PSCAD PSCADCG can possibly reduce cost and expedite the development of controls Proof of Concept was demonstrated using a simple stepdown controller It is equally applicable to design arbitrary Power System Controllers Larger scale / power systems may require additional hardware for isolation, etc. Additional code may be needed to interface with these devices Future work Support for multiple page modules Support for FPGA platforms

27 QUESTIONS