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IFAC-PapersOnLine 49-27 (2016) 178–182

The
The Role
Role and
and Importance
Importance of
of Real
Real Time
Time Digital
Digital Simulation
Simulation in
in the
the
Development and Testing of Power System Control and
Development and Testing of Power System Control and
Protection Equipment
Protection Equipment
Rick Kuffel*,
Rick Kuffel*, Paul
Paul Forsyth*,
Forsyth*, Cyprian
Cyprian Peters*
Peters*
Rick Kuffel*, Paul Forsyth*, Cyprian Peters*
RTDS Technologies Inc. Winnipeg, Canada
RTDS Technologies Inc. Winnipeg, Canada
RTDS Technologies Inc. Winnipeg, Canada

In the
Abstract: In
Abstract: the past
past several
several decades
decades there
there have
have been
been many
many advances
advances made
made in
in power
power system
system technology.
technology. InIn
Abstract:
order In the
ensure theprotection
past several
anddecades
control there have used
equipment been inmany
the advances of
operation made in power
power systems system technology.
behaves as In
designed,
order ensure the protection and control equipment used in the operation of power systems behaves as designed,
order ensure
advanced realthe
timeprotection andand
simulation control equipment
testing are used
tools are in the
utilized. As operation
the industry
industryof adapts
power systems
to the behavesofashigh
the presence
presence designed,
speed,
advanced real time simulation and testing tools utilized. As the adapts to of high speed,
advanced real
sophisticated time
and simulation
interactive and testing
components, tools
the are
role utilized.
and As the
importance industry
of real adapts
time to the
simulation presence
is of
increased.high speed,
sophisticated and interactive components, the role and importance of real time simulation is increased.
sophisticated and interactive components, the role and importance of real time simulation is increased.
© 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
real time
Keywords: real
Keywords: time simulation,
simulation, EMT,
EMT, HIL,
HIL, WAMPAC,
WAMPAC, HVDC, HVDC, VSC,
VSC, MMC
MMC
Keywords: real time simulation, EMT, HIL, WAMPAC, HVDC, VSC, MMC
__________________________________________________________________________________________
__________________________________________________________________________________________
__________________________________________________________________________________________
___
___
___

1. INTRODUCTION
1. INTRODUCTION
1.
Over INTRODUCTION
the past
past several
several decades
decades electric
electric power
power systems
systems have
have protection and
and control
control equipment.
equipment. TheseThese simulators
simulators were
were
Over the protection
Over
changedthe and
pastevolved
severalsubstantially.
decades electric With power systems
increasing have
pressure protection
mainly and control
composed of equipment.physical
scaled-down These models
simulators
of were
power
changed and evolved substantially. With increasing pressure mainly composed of scaled-down physical models of power
changed
to improve
improveandeconomic
evolved substantially.and With increasing pressure mainly
system composed
components, of scaled-down
and inherently
inherentlyphysical models
operated of power
in real
real time.
to economic efficiency
efficiency and reduce reduce environmental
environmental system components, and operated in time.
to improve
impact, economic
today’s efficiency
networks and reduce
are being
being pushedenvironmental
ever further
further system
Although components,
they were and inherently
important tools operated
at their in real
time, theytime.
did
impact, today’s networks are pushed ever Although they were important tools at their time, they did
impact,
towards today’s
the networks
boundaries of are being
stability and pushed
safe ever further
operation. To Although
have they
several were important
drawbacks. The tools size
limited at their
and time, they did
complexity of
towards the boundaries of stability and safe operation. To have several drawbacks. The limited size and complexity of
towards
counteract thethese
boundaries of stability
pressures, utilities and adding
are safe operation.
sophisticatedTo have
the several representation,
network drawbacks. Theaslimited
well size
as the and
highcomplexity
procurementof
counteract these pressures, utilities are adding sophisticated the network representation, as well as the high procurement
counteract
new schemes
schemes these
andpressures, toutilities
devices to are adding
their networks.
networks. Realsophisticated
time digital
digital the
and network
operatingrepresentation,
costs, were as well
were among
among the as the high
notable procurement
disadvantages of
new and devices their Real time and operating costs, the notable disadvantages of
new schemes and devices to their networks. Real time digital and
this operating
technology. costs, were among the notable disadvantages of
simulators have become a critical tool for utilities and
simulators have become a critical tool for utilities and this technology.
simulators
manufacturers have become
in this
this a critical
demanding and tool for environment.
utilities and this technology.
manufacturers in demanding and dynamic
dynamic environment.
manufacturers
become in this demanding for and dynamic environment. In the
the late
late 1960’s,
It has
It has become common
common place for
place manufacturers
manufacturers and utilities
and utilities In 1960’s, the digital electromagnetic
the digital electromagnetic transient
transient
It
to has become
utilize real common
time place
digital for
simulationmanufacturers
to support and utilities
their efforts In the latealgorithm
simulation 1960’s, was digital electromagnetic
the developed and introduced transient
by Dr.
Dr.
to utilize real time digital simulation to support their efforts simulation algorithm was developed and introduced by
to
in utilize
the real of
study time digitalbehavior/operation,
power simulation to support the their efforts
closed-loop simulation
Hermann algorithm
Dommel was
[1]. Thedeveloped
algorithm and introduced
applies the by Dr.
trapezoidal
in the study of power behavior/operation, the closed-loop Hermann Dommel [1]. The algorithm applies the trapezoidal
in the study
testing newofequipment,
of new power behavior/operation,
equipment, and the strategic the
the strategic closed-loop
development of Hermann
rule Dommelto[1].
of integration
integration The algorithm
convert applies
differential the trapezoidal
equations into linear
linear
testing of and development of rule of to convert differential equations into
testing
new of new and
protection equipment,
control and the strategic development of
functions. rule of integration
algebraic equationsto convert
that differential
could easilyequations
be into linear
solved by aa
new protection and control functions. algebraic equations that could easily be solved by
new protection and control functions. algebraic
computer. equations
This that could
so-called EMT easily be technique
simulation solved byhasa
computer. This so-called EMT simulation technique has
computer.
since This in
been used
used so-called EMTof simulation technique has
This paper
This paper will
will describe
describe the
the concept
concept ofof real
real time
time digital
digital since been in aa number
number non-real-time
of non-real-time simulation
simulation
This paperand
willillustrate
describe theit is
concept of realtotime digital since beensuch
programs used in a number
as EMTP,
EMTP, ATP andof PSCAD.
and non-real-time simulation
simulation and illustrate how it is being applied to support the
simulation how being applied support the programs such as ATP PSCAD.
simulation
developmentandand
illustrate how itoperation
continued is being applied to support
of today’s
today’s the
modern programs such as EMTP, ATP and PSCAD.
development and continued operation of modern
development and In continued operation of on
today’s modern It wasn’t
wasn’t until
until the
power systems.
power systems. In particular, it
particular, it will focus
will focus application
on application of
of It the late
late 1980’s
1980’s that
that computer
computer technology
technology andand
power systems.
such technology In
technology in particular,
in the it will focus
the development, on application
development, testing
testing and of
and It wasn’t until the
modeling techniques late
techniques had 1980’s that
had matured computer
matured enough
enough to technology
to make
make possibleand
possible
such modeling
such technologyof protection
implementation in the development,
and control testing used
schemes and modeling
the real techniques
real time
time digital had maturedofenough
simulation power to make possible
systems and the
the
implementation of protection and control schemes used the digital simulation of power systems and
implementation
throughout the of protection and control schemes used
the industry.
industry. the
manyreal time
complex digital simulation
components they of power
include. systems
The goal and
of the
real
throughout many complex components they include. The goal of real
throughout the industry. many complexsimulation
time digital
digital components theyto include. The goal of real
time simulation waswas to combine
combine flexibility
flexibility and
and
2. REAL
REAL TIME
TIME SIMULATION
SIMULATION time digital
accuracy of simulation
digital was techniques
simulation to combine withflexibility
the real and
time
2. accuracy of digital simulation techniques with the real time
2. REALhas TIME SIMULATION accuracy
response ofof analogue
of digital simulation techniques
simulators. Once with the realwould
time
Simulation played
Simulation has played an an important
important role
role in
in the
the evolution
evolution of
of response analogue simulators. Once achieved,
achieved, this
this would
Simulation
power systemshas played
systems into
into thean important
the modern, role
modern, complex in the
complex networksevolution
networks we of
we see
see response of
bring aa whole analogue
whole new simulators.
new level
level of Once
of accuracy achieved,
accuracy and this
and flexibility would
flexibility in
in the
the
power bring
power
today. systems
Before into thesimulation
digital modern, complex
was networksanalogue
developed, we see bring a whole
procedure used new
to level of
design, accuracyand
implement andtest
flexibility
power in the
system
today. Before digital simulation was developed, analogue procedure used to design, implement and test power system
today. Before
simulators, digital simulation
or Transient
Transient Network was developed,
Analyzers analogue
(TNA’s) were procedure
andused
control and to design,
protection implement and test power system
equipment.
simulators, or Network Analyzers (TNA’s) were control protection equipment.
simulators,
used to
to studyor Transient
study electrical Network
electrical power Analyzers
power systems
systems and
and test (TNA’s)
test physical
physical were control and protection equipment.
used
used to study electrical power systems and test physical
2405-8963 © 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Copyright
Copyright © 2016 IFAC 178
Peer review©under
2016 responsibility
IFAC 178Control.
of International Federation of Automatic
Copyright © 2016 IFAC 178
10.1016/j.ifacol.2016.10.739
 2016 IFAC CTDSG
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Rick Kuffel et al. / IFAC-PapersOnLine 49-27 (2016) 178–182 179
A digital simulator provides a discrete solution at different
instances in time rather than the continuous waveforms
measured in a real power system. However as the time
separating the discrete solutions (referred to as the simulation
timestep) becomes smaller, the simulation signals become
more representative of a continuous waveform. A simulation
timestep of 50 µs is an industry accepted target for accurate
representation of a power system over a frequency range
from DC to approximately 2-3 kHz. Such a frequency range
is required for the proper testing of protection and control
equipment. In fact some equipment (e.g. firing pulse controls
for power electronic devices) will require an even faster
response time, so even smaller simulation timesteps need to
be considered. It should be clear that significant computing
resources are needed to ensure the simulation can achieve and
sustain real time operation and response. For this reason,
specialized parallel processing architecture has been
developed and used in the implementation of real time digital
simulators. [2]
2.1 Network Representation
A fundamental requirement of a real time power system
simulator is its ability to represent the various elements found
in an actual network. Some of the more difficult and critical
elements might include.
a) Transmission lines and cables
b) Synchronous and induction machines
(generators/motors)
c) Distributed energy resources (wind, solar)
d) Transformers with saturation and tap changers
e) Instrument transformers (CT, PT, CVT)
f) Power electronics (e.g. FACTS and HVDC)
g) Controlled breakers and faults (many switches
required)
Naturally it is important that models accurately represent the
behaviour of the actual physical devices found in a network,
but this is also not trivial. Nonlinearities are challenging to
deal with using digital simulation and even more so in a real
time digital simulation environment. For example, saturation
effects and frequency dependent transmission line and cable
models must be handled carefully to ensure not only
accuracy, but also numerical stability.
2.2 Communication
The physical equipment (control/protection) being tested
must communicate with the simulated power system in the
same way it would while in service under normal and
stressed conditions. That means voltages and currents
measured and used by the protection and control must be
actual sine waves which are at least proportional to the
voltage and current signals that would be produced at the
secondary terminals of Current and Potential Transformers
(CT’s and PT’s). Typically digital to analogue (d/a)
179
converters have been used by real time digital simulators to
provide this type of output. A standard operating range of the
d/a’s is in the range of +/- 10 V. Depending on how the tests
are being conducted and what signals are required, it may be
necessary to amplify the analogue outputs using power
amplifiers to produce secondary level voltages and current
(typically 64 Vrms and 1 or 5 Arms respectively). Equipment
interconnection also typically includes bidirectional exchange
of digital signals to represent things like circuit breaker
status, relay trip/reclose commands, firing pulses, etc. Digital
signal exchange is normally accomplished using isolated,
high speed digital input/output hardware.
In addition to the conventional input and output methods
outlined above, it is also necessary for real time simulators to
communicate using high level Ethernet based protocols. As
the industry moves towards digital substations and introduces
smart grid technologies, the ability to properly communicate
and coordinate information between Intelligent Electronic
Devices (IED) becomes an increasingly important aspect of
real time simulator testing.
2.3 Protection and Control Models
Real time simulation tests of protection and control
equipment range widely in terms of complexity. In some
cases a single control or protection device may be connected
to a relatively simple circuit model in order to study its
behaviour over a predetermined set of contingencies. More
typically however, in today’s modern and complex networks,
numerous devices should be considered simultaneously and
the interaction between these devices must be reflected in the
simulation study. Since the simulator user does not always
have access to all of the physical control/protection devices
needed for a particular study the simulator itself must contain
internal models which can suitably reproduce the behaviour
of the physical device. So-called generic component models
must exist in the simulator library to allow this type of testing
(i.e. where some of the control /protection equipment is
physically connected and some is internally modelled).
3. CLOSED LOOP TESTING
To be effective as a testing tool, a real time simulator must be
able to subject the equipment under test to any type of
operating condition it will see when in service. This ranges
from normal steady state operation, to emergency operation,
to rarely seen fault conditions. During any study, device(s)
under test continuously sense the output from the simulator
and provide the corresponding feedback. This bidirectional
connection is known as closed loop testing or Hardware In-
the Loop (HIL) testing. Figure 1 below illustrates the concept
of HIL testing of an end-to-end line protection scheme using
a traditional electrical interface including D/A Converters,
2016 IFAC CTDSG
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digital I/O and power amplifiers. Also shown is the interface
needed to test protection equipment in a fully digital
environment, something that has become increasingly
common and important in the power system protection
industry.
Fig. 1 Traditional HIL Interface
Fig. 2: IEC61850 HIL Interface
When fully digital protection systems are considered the
exchange analogue and digital signals is replaced with
exchange of Ethernet based communication protocols. In the
case of protection and automation systems the IEC 61850
standard has been accepted. IEC 61850 is the international
standard for substation automation and defines the format of
communication for all substation automation functions and
their engineering [3]. As IEC 61850 becomes more widely
accepted and implemented by protection device
manufacturers and power system utilities, it is critical that the
testing tools keep pace allowing these new devices to be
thoroughly tested.
4. WIDE AREA MEASUREMENT PROTECTION AND
CONTROL (WAMPAC)
As protection and control devices become increasingly
sophisticated and interdependent, equipment manufacturers
and utilities are looking at ways to take advantage of this to
improve overall network performance, security and
availability. One of the new concepts being investigated and
implemented is wide area measurement protection and
control. These schemes take a wider view of the power
network operation/state rather than relying solely on local
measurement as is typically the case with conventional
protection/control schemes. WAMPAC schemes are often
given far reaching and powerful influence on network
operation. Coordinated protective/control actions may
180
include line tripping, control of generation, load shedding,
etc. It goes without saying that these actions, if implemented
incorrectly, would have a devastating effect on the network.
Therefore it is imperative that today’s real time simulators are
capable of representing in detail the large scale networks
needed to validate WAMPAC functions [4].
An important aspect of WAMPAC is the Phasor
Measurement Unit (PMU). In order to effectively test any
WAMPAC related function the simulator must have the
ability to internally model the PMU devices and to
communicate data using industry developed protocols for
PMU applications. In particular, the simulator must have the
ability to communicate using the IEEE C37.118 protocol.
5. POWER ELECTRONICS APPLICATIONS
Recent developments in power electronics and their increased
application in power transmission and distribution systems
have introduced new challenges for real time simulators.
Traditional FACTS devices and LCC based HVDC
transmission represent early applications of power electronics
in the power system industry. More recent introduction of
Voltage Source Converters at both the transmission and
distribution level with higher switching frequencies and
complex converter configurations have made it necessary for
simulator suppliers to investigate and implement new
methods and techniques in their traditional simulation
methods and algorithms.
5.1 HVDC and FACTS
Manufacturers of HVDC and FACTS devices have been
using real time simulation to carry out the Dynamic
Performance Tests (DPT) and Factory Acceptance Tests
(FAT) associated with specific real-world projects for
decades[5]. Before the introduction of real time digital
simulation scaled down analogue models were used for such
studies. In those days the representation of the AC networks
to in which the HVDC or FACTS systems would
interconnect were very much simplified and hence the scope
of testing was somewhat limited. With the introduction of
digital simulators for real time studies much more realistic
representation of the interconnected AC networks and the
converter equipment was made possible. More realistic
representation allows more comprehensive and detailed
testing and hence leads to fewer potential problems at the
time of commissioning and once the system is in service.
5.2 Voltage Source Converters
The introduction of IGBT based VSC converter topologies
necessitated a change in the approach used for real time
simulation – particularly as the switching frequency of
 2016 IFAC CTDSG
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Rick Kuffel et al. / IFAC-PapersOnLine 49-27 (2016) 178–182 181
converters and the complexity of converter configurations
began to increase.
Until about 2012 most VSC systems were based on two-level
or three-level converter configurations and utilized PWM
firing. Today most VSC schemes are using Modular Multi-
Level Converters (MMC), sometimes with several hundred
sub-modules in each converter arm, which introduces another
level of difficulty and complexity for real time simulation.
Fig. 3: FAT of LCC HVDC Controller
For EMT simulations of typical power networks a simulation
time step in the range of 50 usec is considered an industry
NORM. But a 50 usec resolution when VSC converters are
included in the simulation is too large. A much smaller time
step is needed.
In non-real-time electromagnetic transient simulation
programs, interpolation within the time-step is used to
provide the firing resolution required by the VSC models
even when time steps are relatively large. Whenever
switching occurs within a time-step, the EMT program
decomposes the network matrix according to the new
switching state and proceeds again from the point of
interpolation.
In real-time EMT simulation, it is not a practical option to
interpolate and decompose the main network during a single
time-step. There may not be enough time to complete the
interpolation and decomposition before real time requires that
the simulation move to the next time-step. Therefore,
interpolation as a general method has limitations when
applied to real time simulation.
181
5.3 Multi-Rate Simulation
When considering real time simulation studies of networks
that include fast acting power electronic devices there is
significant benefit and even need, to represent different
portions of the system using different simulation time steps.
When simulation tests are run to verify performance of the
control and protection of a VSC converter it is normally
necessary to include a substantial part of the surrounding
power network. Representing the entire network using a time
step small enough to accurately reflect operation of the
converter valves is wasteful and perhaps not even possible.
So the concept of multi-rate simulation has been developed
together with a numerically stable interface that can be
applied to achieve accurate and flexible studies of practical
modern power systems.
Fig. 4: Voltage Source Converters; Three-Level; MMC
5.4 Interaction Studies
As more and more fast-acting, complex power electronics is
added to the power network it becomes increasingly
important to consider how all these devices will work
together. So-called interaction studies have become an
important part of any utility’s planning process and any
manufacturer’s validation and testing process.
Long Distance
Ultra High
Voltage
Fig. 5: Interaction Study Example
2016 IFAC CTDSG
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October 11-13, 2016. Prague, Czech Republic

Figure 5 is an illustration of interaction studies performed at
the power system simulation laboratory of China Southern
Grid (CSG). In this case multiple infeed of HVDC and
UHVAC was considered in the model in order to ensure that
the control and protection equipment of the various infeed
links did not adversely impact on another. Simulation studies
involved a large scale network representation with a
substantial amount of physical control and protection
equipment interconnected. Complex studies like this one
require significant simulation resources and an experienced
team of users, but is becoming increasingly common in the
power industry as networks become more complex and more
intelligent.
5.5 Replica Schemes
Because of the complexity and increasing importance of
HVDC and FACTS in today’s power systems, many utilities
have started specifying so-called replica schemes with
important projects. When a replica scheme is considered, a
duplicate set of the major control and protection equipment is
supplied along with a real time simulator. The replica
controls must have the same physical core and function as the
protection and control installed on-site. The Human-Machine
Interface (HMI) for the replica controls must also offer the
same functionality as that installed onsite.
The real time simulator provided with the replica scheme
must represent the HVDC/FACTS scheme in full detail as
well as the surrounding AC network(s).
6. CONCLUSIONS
In the past several decades there have been many advances
made in power system technology. In order ensure the
protection and control equipment used in the operation of
power systems behaves as designed, advanced real time
simulation and testing tools are utilized. As the industry
adapts to the presence of high speed, sophisticated and
interactive components, the role and importance of real time
simulation is increased.
Manufacturers and utilities continue to increase their
dependence on real time simulation and testing as networks
become more complicated and interactive. Improved system
performance, reduced on-site commissioning time, reduced
outage time, improved equipment understanding, ability to
debug, improve and repair as well as an overall increase in
confidence are all achieved by the appropriate application of
real time simulation in the power industry.
AND MULTIPHASE NETWORKS", IEEE TRANS. ON
POWER APPARATUS AND SYSTEMS, VOL. PAS-88, NO.
4, PP. 388-399, APRIL 1969.
[2] “A REALTIME DIGITAL SIMULATOR FOR
TESTING RELAYS” TRANSACTIONS ON POWER
DELIVERY, VOL. 7, NO.1, JANUARY 1992 A
REALTIME DIGITAL SIMULATOR FOR TESTING
RELAYS
[3] Websites : IEC 61850, located http://www.61850.com.
[4] REAL TIME REQUIREMENTS AND CLOSED LOOP
TESTING OF WIDE AREA PROTECTION AND
CONTROL SCHEMES, XII Symposium of Specialists in
Electric Operational and Expansion Planning, Brazil, 2014,
May 18 – 21, 2014, pages 1-7
[5] HVDC CONTROL AND PROTECTION TESTING
USING THE RTDS SIMULATOR In Proc. 4th International
HVDC Transmission Operating Conference, Yichang PRC,
September 2001, Paper No. 17 pp. 101-106
VI. BIOGRAPHIES
Rick Kuffel graduated from the University of Manitoba with
B.Sc. EE and M.Sc.EE in 1984 and 1986 respectively. After
graduating he worked at BBC in Switzerland and Teshmont
Consultants in Winnipeg before moving to the Manitoba
HVDC Research Centre in 1989. There he worked mainly on
the development of the real time simulator and in 1994
became a founding principal of RTDS Technologies.
Paul Forsyth graduated from the University of Manitoba with
B.Sc.EE in 1988. After graduating he worked for several
years in the area of reactive power compensation and HVDC
at ABB Power Systems in Switzerland. He also worked for
Haefely-Trench in both Germany and Switzerland before
returning to Canada in 1995. Since this time he has been
employed by RTDS Technologies where he currently holds
the title of Marketing Manager / Simulator Specialist.
Cyprian Peters graduated from the University of Manitoba
with B.Sc.EE in 2010. Since graduating, he has been
employed by RTDS Technologies where he holds the title of
Simulator Specialist.

VI. REFERENCES

[1] H. W. DOMMEL, "DIGITAL COMPUTER SOLUTION

OF ELECTROMAGNETIC TRANSIENTS IN SINGLE-

182