Controller-Hardware-in-the-Loop Simulation Setup using a Real-Time Hybrid Simulator for Testing of Wide-area Damping Controllers

Poorly damped low-frequency inter-area electro-mechanical oscillations are a major concern in large synchronous grids. Embedded power electronic actuators such as HVDC and FACTS devices with wide-area damping controllers (WADCs) can be an effective solution to this problem. A WADC uses the synchrophasor measurements from the phasor measurement units (PMUs) installed across the system. This paper illustrates the controller-hardware-in-the-loop (CHIL) simulation setup for testing a WADC using a real-time hybrid simulator (RTHS). The RTHS does real-time co-simulation using a transient stability program (TSAT) and a real-time simulator that simulates electromagnetic transients. A two-area four-machine test system with an embedded HVDC link is used for demonstration.

I. Introduction

Low-frequency inter-area oscillations (swing modes) are frequently observed in large power grids. These oscillations pose a threat to overall system stability and may limit the power transfer capability of a transmission network. Power electronics actuators (PEAs) such as HVDC systems and FACTS devices with damping controllers have the capability to increase the damping of the inter-area swing modes [1]. A wide-area measurement system (WAMS) consists of Phasor measurement units (PMUs) installed at different locations across the grid. It can provide signals with good observability of inter-area modes. These feedback signals can enhance the performance of damping controllers which target these modes. A damping controller with a feedback signal from a WAMS is called a wide-area damping controller (WADC).