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Real-Time Superlab
Enabling high penetration of
power electronics in the electric grid
T
he Global Real-Time Superlaboratory (Global RT Superlab) represents a ven-
dor-neutral distributed platform based on the virtual interconnection of digital
real-time simulators (DRTSs) and hardware-in-the-loop (HIL) setups hosted at
eight geographically distributed laboratories in the United States and Europe
(Figure 1). This article describes the efforts toward the realization of this large-
scale virtual infrastructure and explains a demonstration of the multilab setup for sim-
ulation and testing of next-generation global power grids.
©istockphoto.com/BeholdingEye
FIG 1 The control center at the Idaho National Laboratory during a Global RT Superlab demonstration. (Photos courtesy of Idaho
National Lab.)
DRTS 1 DRTS 2
Forward/Feedback
Signals to/from
Signal Virtual Power Amplifier
Interface Power
Interface Power Amplifier
Power Hardware
(Device Under Test)
Laboratory 1 Laboratory 2
AMQP Control/Status
IP/UDP Data
z September 2018
Center for Wind Power Drives ACS Lab PGS High-Speed Test Bench
Socket AMQP
VILLASnode VILLAScontroller
Simulator
Scripts
PCIexpress
Fiber
Simulator
VILLASfpga
Fiber
FIG 3 A schematic of the VILLASframework cosimulation platform. CIM: common information model; HTTP: hypertext transfer protocol; API: application programing interface; IP:
Internet Protocol; ACS: Institute for Automation of Complex Power Systems; PGS: Institute for Power Generation and Storage Systems. (Images courtesy of RWTH Aachen University.)
require models in the electromagnetic Without a global scheduler, each
transients domain, which are exe- simulator itself is responsible to
cuted in real time. With time steps
Plans are under way to synchronize its shared task execu-
ranging from 1 to 50 μs, this becomes build a global grid to tion with a global time reference.
a challenging task, which is handled No synchronization between the tar-
better support a futur-
by specially optimized real-time simu- gets themselves is performed. Apart
lation targets. Scaling such simula- istic scenario based on from handling the data exchange,
tions to thousands of nodes is cur- an extremely high pen- the gateway is responsible for moni-
rently impossible because of the com- toring the interfaces and collecting
putational limits imposed by a single etration of renewable results and statistics.
target. VILLAS attempts to overcome energy sources. The second component, VILLAS-
this limitation by coupling existing web, is a web interface enabling par-
and proven DRTSs into clusters through ticipants to remotely monitor the sim-
the Internet. ulation via a standard web browser.
The framework consists of four components that can be Graphical dashboards allow users to customize their view
used as building blocks for arbitrarily large cosimulation of the simulation according to their interests. Simulation
setups. The first component, VILLASnode, is a gateway for results are streamed via WebSockets in near real time to
simulation data and measurements. It provides a variety of the browser and are rendered by a variety of widgets, such
interfaces to existing real-time simulation targets as well as as plots, gauges, or text boxes. This live view of the simula-
adapters to commonly used protocols, such as User Data- tion state is crucial for enabling interaction. Buttons, slid-
gram Protocol (UDP), Message Queuing Telemetry Trans- ers, and dial widgets permit users to affect the course of the
port, Advanced Message Queuing Protocol (AMQP), and simulation. An example of such a web-based visualization
international standard IEC 61850. The main way it differs is shown in Figure 4.
from existing frameworks is in its modular and decentral-
ized architecture, as it does not rely on a central broker and Global RT Superlab Demonstration
scheduler to pace the simulation. Instead, simulators are RWTH Aachen University gained its first insights and expe-
interfaced with the VILLASnode gateways, which, in turn, rience with the virtual interconnection of laboratories in
are connected to other gateways and simulators, as shown collaboration with SINTEF, a research organization with
in Figure 3. Similar to the architecture of the Internet, com- facilities in Norway. In 2014, RWTH and SINTEF demon-
plex cosimulation scenarios, each composed of a collection strated the feasibility of joint simulation based on long-dis-
of peerings without a central authority, can be created. tance interconnection of OPAL-RT Technologies systems
FIG 4 A screenshot of a web-based live visualization of the simulation status and results. (Image courtesy of RWTH Aachen University.)
FIG 5 The Global RT Superlab participants and their interconnections. (Map courtesy of RWTH Aachen University.)
CHIL and
Communication Network
Emulation
European High-Voltage
Transmission Network
SNL Benchmark (CIGRÉ)
ss6
INL RWTH
HVDC
ss1 ss2
European Medium-Voltage
Transmission Network
Benchmark (CIGRÉ)
National Wind
IEEE 13-Node
Technology Center
Test Feeder
FIG 6 The Global RT Superlab scenario. (Images courtesy of RWTH Aachen University.)
3
–1
2
–2
1
–3
–6
4
–7
3
–8
2
–9 ss1 (INL) ss5 (USC)
1
–10
0 0 1 2 3 4 5 6 7
0 10 20 30 40 50 60 70 80 90
Time (s)
Time (s)
(b)
FIG 8 The response of the wind turbine at the NREL following the
ss1 (INL) ss7 (USC) frequency increase. (Graph courtesy of RWTH Aachen University.)
FIG 7 The power measurements at the INL–USC cosimulation Fuel Cell and Water Power Technologies Offices of the U.S.
interface following the activation of the controllers at USC: (a) Department of Energy and by the Laboratory Directed
active power and (b) reactive power. (Graphs courtesy of RWTH Research and Development Office, Idaho National Labora-
Aachen University.) tory, Idaho Falls.
NREL system at the PCC with the WSCC system at the INL About the Authors
measured at the INL and NREL terminals of the cosimula- Antonello Monti (amonti@eonerc.rwth-aachen.de) received
tion interface is illustrated in Figure 8. his M.Sc. and Ph.D. degrees in electrical engineering in 1989
and 1994, respectively, from Politecnico di Milano, Italy. Cur-
Conclusions rently, he is the director of the Institute for Automation of
The Global RT Superlab was successfully established with Complex Power Systems, Rheinisch-Westfälische Technische
its first large-scale transatlantic demonstration. The Hochschule Aachen University, Germany.
VILLASframework significantly reduced research efforts Marija Stevic (mstevic@eonerc.rwth-aachen.de)
by enabling a modular and flexible interconnection and received her B.Sc. degree in electrical engineering in 2009
coordination of a multivendor, virtually interconnected and her M.Sc. degree in electrical and computer engineering
distributed platform. Eight geographically distributed labo- in 2012, both from University of Belgrade, Serbia. Currently,
ratories jointly performed a comprehensive simulation of a she is a researcher at the Institute for Automation of Com-
transatlantic HVDC interconnection between the bench- plex Power Systems, Rheinisch-Westfälische Technische
mark transmission systems of the United States and Euro- Hochschule Aachen University, Germany.
pean grids, including local transmission–distribution inter- Steffen Vogel (stvogel@eonerc.rwth-aachen.de) re
actions and a capability assessment of distributed genera- ceived his B.Sc. and M.Sc. degrees in electrical engineering,
tion units to support grid operation. The Global RT Superlab information technology, and computer engineering in 2014
provides a collaborative environment for such holistic and 2017, respectively, both from RWTH Aachen University,
studies by leveraging individual resources and competen- Germany. Currently, he is a researcher at the Institute for
cies in a flexible way. Automation of Complex Power Systems, Rheinisch-West-
fälische Technische Hochschule Aachen University,
Acknowledgments Aachen, Germany.
We would like to thank Marcelo Masera of the European Rik W. De Doncker (dedoncker@eonerc.rwth-aachen
Commission for his initial ideas on and support for a global .de) received his M.Sc. degree in electromechanical power
power system simulation infrastructure. This work was sup- engineering in 1981 and his Ph.D. degree in electrical power
ported by the RESERVE, which is a European Union Hori- engineering (with the highest distinction) in 1986, both from
zon 2020 project funded under grant agreement 72748. We the Katholieke Universiteit Leuven, Belgium. Currently, he is
also gratefully acknowledge the financial support for proj- the director of the E.ON Energy Research Center, Rheinisch-
ects related to interlaboratory connectivity provided by the Westfälische Technische Hochschule Aachen University. He