Hybrid Simulation and Off-the-Shelf Hardware for Efficient Real-Time Simulation Studies

A real-time simulation study, where a control system replica is connected to a real-time electromagnetic transient simulator in closed-loop (known as hardware-in-the-loop), is an essential tool in commissioning or refurbishment projects of major power system devices such as static var compensators, high-voltage direct-current transmission systems and other flexible alternative-current transmission systems: it allows to reduce commissioning risks and it is useful throughout the life of the system. It is however an expensive endeavor in time, manpower and equipment. The present paper aims at presenting a more affordable and efficient way to pursue realtime hardware-in-the-loop commissioning studies by using 1) hybrid simulation (electromagnetic transient and transient stability modeling) to increase the scale of the power system that can be simulated in real-time without increasing the required real-time hardware resources and 2) low-cost commercially off-the-shelf computers. To illustrate this approach, a hardware-inthe-loop experimental setup is presented and detailed: based around the control system replica of Hydro-Québec's Figuery static var compensator, this setup shows how hybrid simulation and low-cost personal computers can be used to reduce the cost of real-time simulation studies.