An increasing interest is emerging on the development of smart grid cyber-physical system testbeds. As new communication and information technologies emerge, innovative cyber-physical system testbeds need to leverage realistic and scalable platforms. Indeed, the interdisciplinary structure of the smart grid concept compels heterogeneous testbeds with different capabilities. There is a significant need to evaluate new concepts and vulnerabilities as opposed to counting on solely simulation studies especially using hardware-in-the-loop test platforms. In this paper, we present a comprehensive survey on cyber-physical smart grid testbeds aiming to provide a taxonomy and insightful guidelines for the development as well as to identify the key features and design decisions while developing future smart grid testbeds. First, this survey provides a four step taxonomy based on smart grid domains, research goals, test platforms, and communication infrastructure. Then, we introduce an overview with a detailed discussion and an evaluation on existing testbeds from the literature. Finally, we conclude this paper with a look on future trends and developments in cyber-physical smart grid testbed research.

https://ieeexplore.ieee.org/ielaam/9739/7862305/7740849-aam.pdf

A Survey on Smart Grid Cyber-Physical System Testbeds

A key feature of microgrid concept is the ability to operate in islanding mode. Under such operating scenario, the distributed generators within microgrid should form a high-quality voltage supply for the load to sustain its normal operation. Power converters, the interface of renewable sources and energy storage systems, are important components of microgrids. The size and the number of the power converters required will depend on the fluctuating power flow within the microgrid. In this paper, we propose a hybrid control architecture to balance the power shared among the multiple interfacing inverters and optimize the system-operating efficiency. Simulation and real-time test results are provided to validate the proposed hybrid control scheme.

Control of Parallel-Connected Power Converters for Low-Voltage Microgrid—Part I: A Hybrid Control Architecture

Today's electricity grid is transitioning to a so-called smart grid. The associated challenges and funding initiatives have spurred great efforts from the research community to propose innovative smart grid solutions. To assess the performance of possible solutions, simulation tools offer a cost effective and safe approach. In this paper we will provide a comprehensive overview of various tools and their characteristics, applicable in smart grid research: we will cover both the communication and associated ICT infrastructure, on top of the power grid. First, we discuss the motivation for the development of smart grid simulators, as well as their associated research questions and design challenges. Next, we discuss three types of simulators in the smart grid area: power system simulators, communication network simulators, and combined power and communication simulators. To summarize the findings from this survey, we classify the different simulators according to targeted use cases, simulation model level of detail, and architecture. To conclude, we discuss the use of standards and multi-agent based modeling in smart grid simulation.

Combining Power and Communication Network Simulation for Cost-Effective Smart Grid Analysis

We report on the application of a 5-MW variable voltage source (VVS) amplifier converter for utilization in power hardware-in-the-loop (PHIL) experiments with megawatt-scale motor drives. In particular, a commercial 2.5-MW variable speed motor drive (VSD) with active front end was connected to a virtual power system using the VVS for integrating the drive with a simulated power system. An illustrative example is given, whereby a 4-MW gas turbine generator system, including various loads, is simulated and interfaced with the VSD hardware in the lab through the VVS using current feedback to the simulation. Mechanical loading is applied to the motor via an identical 2.5-MW dynamometer connected to the same shaft. This paper first describes the PHIL facility, illustrates the challenges of powering a motor drive from a controlled voltage source converter at the multimegawatt scale, and provides experimental results from dynamic simulations. While certain challenges remain with the accuracy of the interface, it is concluded that PHIL simulations at the megawatt power level are possible and may prove useful for validating models of drive systems in the future.

A Megawatt-Scale Power Hardware-in-the-Loop Simulation Setup for Motor Drives

This paper presents a field-programmable gate array (FPGA)-based real-time digital simulator for power electronic apparatus based on a realistic device-level behavioral model. A three-level 12-pulse voltage source converter (VSC)-fed induction machine drive is implemented on the FPGA. The VSC model is computed at a fixed time step of 12.5 ns, allowing a realistic representation of insulated-gate bipolar transistor (IGBT) nonlinear switching characteristics and power losses. The simulator also models a squirrel-cage induction machine, a direct field-oriented control system, and a pulsewidth modulator to achieve the real-time simulation of the complete drive system. All the models have been implemented using very high speed integrated circuit hardware description language (VHDL). Real-time simulation results have been validated using the measured device-level IGBT characteristics.

FPGA-Based Real-Time Emulation of Power Electronic Systems With Detailed Representation of Device Characteristics

Abstruct - This paper presents details on the design, architectural features and applications of a real-time digital simulator (RTDSm) developed at the Manitoba HVDC Research Centre (Winnipeg, Canada). Custom hardware and software have been developed and collectively applied to the simulation and study of electromagnetic transients phenomenon in power systems in real-time. The combination of real-time operation, flexible YO, graphical user interface and an extensive library of accurate power system component models make the RTDS an ideal simulation tool with a wide range of applications. I. INTRODUCTION Simulation has long been recognized as an important and necessary step in the development, design and testing of power generation and transmission systems. A wide variety of both analogue and digital simulation tools are available and typically used during various stages of system development. Recent advances in both computing hardware and sophisticated power system component modelling techniques have significantly increased the application of digital simulation in the power system industry. Of particular interest in the context of this paper are the advances made in the study of electromagnetic transients phenomenon.

RTDS - A Fully Digital Power System Simulator Operating in Real Time

This paper presents details on the design, architectural features and applications of a real-time digital simulator (RTDS) developed at the Manitoba HVDC Research Centre (Winnipeg, Canada). Custom hardware and software have been developed and collectively applied to the simulation and study of electromagnetic transients phenomenon in power systems in real-time. The combination of real-time operation, flexible I/O, graphical user interface and an extensive library of accurate power system component models make the RTDS an ideal simulation tool with a wide range of applications.

RTDS-a fully digital power system simulator operating in real time

This paper presents details of the design and applications of a real-time digital simulator, RTDS/sup TM/, applied to the modelling of power system transients. This paper outlines the hardware and software design aspects of the RTDS. The hardware architecture is based on parallel processing techniques and employs many high-speed digital signal processors. Sophisticated graphical interface software facilitates circuit assembly and simulator operation. Detailed power system component models together with flexible analogue and digital I/O enable detailed testing of power systems and external devices connected to such systems. The RTDS can be applied in various areas of power system study. Specific applications which have been identified include closed-loop protective relay testing, control equipment testing, analogue simulator expansion and operation as a power system training tool.

A fully digital power system simulator operating in real time

This paper outlines the hardware and software design aspects of a real-time digital simulator (RTDS). The hardware architecture is based on parallel processing techniques and employs many high-speed digital signal processors. Sophisticated graphical interface software facilitates circuit assembly and simulator operation. Detailed power system component models together with flexible analogue and digital I/O enable detailed testing of power systems and external devices connected to such systems. The RTDS can be applied in various areas of power system study. Specific applications which have been identified include closed-loop protective relay testing, control equipment testing, analogue simulator expansion and operation as a power system training tool.

R. Kuffel

Papers

RTDS - A Fully Digital Power System Simulator Operating in Real Time

RTDS-a fully digital power system simulator operating in real time

RTDS-a fully digital power system simulator operating in real time

A fully digital power system simulator operating in real time

A fully digital real-time simulator for protective relay testing