Real-Time Simulation Technology for Modern Power Electronics

Front Cover
Real-Time Simulation Technology for Modern Power Electronics
Copyright Page
Contents
Preface
1 Roles and challenges of power electronics real-time simulation
1.1 Introduction
1.1.1 What is power electronics?
1.1.2 Role of simulation
1.1.3 Role of real-time simulation
1.1.4 State-of-the-art power electronics real-time simulation
1.1.5 Challenges of power electronic real-time simulation
1.1.5.1 Improve the modeling accuracy
1.1.5.2 Reduce the simulation time step
1.1.5.3 Interfacing issues in the HIL real-time simulation
1.1.5.4 Balance the generality and performance
1.1.6 Scope and structure of the book
References
2 Power electronic devices
2.1 Introduction
2.2 Power diode
2.2.1 Operating principle of PN junction
2.2.2 Characteristics of power diodes
2.2.2.1 Static characteristics
2.2.2.2 Dynamic characteristics
2.3 Thyristor
2.3.1 Structure and operating mechanism of Thyristors
2.3.2 Characteristics of thyristors
2.3.2.1 Static characteristics
2.3.2.2 Dynamic characteristics
2.4 Power bipolar junction transistor
2.4.1 Structure and operating mechanism of BJT
2.4.2 Characteristics of BJT
2.4.2.1 Static characteristics
2.4.2.2 Dynamic characteristics
2.5 Power MOSFET
2.5.1 Structure and operating mechanism of power MOSFET
2.5.2 Characteristics of power MOSFET
2.5.2.1 MOSFET static characteristics
2.5.2.2 MOSFET dynamic characteristics
2.6 Insulated gate bipolar transistor
2.6.1 Structure and operating mechanism of IGBT
2.6.2 Characteristics of IGBT
2.6.2.1 Static characteristics
2.6.2.2 Dynamic characteristics
References
3 Modeling of power electronic devices
3.1 Introduction
3.2 Static model
3.2.1 Average model
3.2.2 Switching function model
3.2.3 Ideal switch model
3.2.4 Binary resistor model
3.2.5 Associated discrete circuit model
3.2.6 Determination of switching status
3.3 Transient model
3.3.1 Nonlinear equivalent circuit model
3.3.2 Piecewise linear transient model
3.3.2.1 Phase 1 and Phase 2 modeling
3.3.2.2 Phase 3 and Phase 4 modeling
3.3.2.3 Phase identifications
3.3.3 Curve-fitting model
3.3.4 Two-level quasi-transient model
3.3.4.1 System-level model
3.3.4.2 Device-level model
3.3.4.3 High-resolution quasi-transient model example
3.4 Thermal model
3.4.1 Equivalent thermal network
3.4.1.1 Elements of thermal networks
3.4.1.2 Cauer model and Foster model
3.4.1.3 Thermal system model
3.4.1.4 Thermal effect corrections
3.4.2 Multidimensional thermal network
3.4.2.1 Paralleled device thermal model
3.4.2.2 Multiple heat source coupling thermal model
3.4.2.3 Dimensions of thermal networks
3.4.3 Electrothermal model
References
4 Modeling of circuit components
4.1 Introduction
4.2 Passive components
4.2.1 Ohm’s law
4.2.2 Equivalent model of the inductor
4.2.3 Equivalent model of the capacitor
4.3 Power sources
4.3.1 Independent power source
4.3.2 Controlled power sources
4.3.3 Batteries
4.3.4 Fuel cell
4.3.5 Photovoltaic panel
4.3.6 Wind power plants
4.4 Transformers
4.4.1 Ideal transformer
4.4.2 Equivalent model of a real transformer
References
5 Modeling of power electronic converters
5.1 Introduction
5.2 Kirchhoff’s laws
5.2.1 Kirchhoff’s current law
5.2.2 Kirchhoff’s voltage law
5.3 Discretization of differential equations
5.3.1 Explicit and implicit methods
5.3.2 Taylor’s expansion and Runge–Kutta methods
5.3.3 Adams–Bashforth method
5.3.4 Predictor–corrector method
5.3.5 Backward differentiation formulas
5.3.6 Variable order method and variable step method
5.3.6.1 Fixed order method and variable order method
5.3.6.2 Fixed step method and variable step method
5.3.7 Solver accuracy
5.3.8 Solver stability
5.4 Converter model using the nodal analysis method
5.4.1 Nodal voltage analysis method
5.4.2 Modified nodal voltage analysis method
5.5 Converter model using the state-space method
5.5.1 State-space representation of electric networks
5.5.2 Discrete-time state-space model of electric networks
5.6 System-level converter model
5.6.1 System-level model using the nodal analysis method
5.6.2 System-level model using state-space equation method
5.7 Device-level converter model
5.7.1 Device-level model using curve-fitting-based switch model
5.7.1.1 Steady-state modeling
5.7.1.2 Switching transient modeling
5.7.2 Device-level model using two-level quasi-transient switch model
5.7.2.1 FIBC network solution with static IGBT model
5.7.2.2 Quasi-transient switching modeling by the high-resolution model
5.7.2.3 System-level simulation results
5.7.2.4 Device-level simulation results
5.8 Electrothermal converter model
References
6 Numerical solver of power electronic converter models
6.1 Introduction
6.2 Numerical solutions of linear algebraic equations
6.2.1 Direct method
6.2.1.1 Gaussian elimination method
6.2.1.2 LU decomposition method
6.2.1.3 Cholesky decomposition method
6.2.2 Iterative methods
6.2.2.1 Gauss–Seidel iteration method
6.2.2.2 Jacobi iteration method
6.2.2.3 Gauss–Seidel iteration corresponding to the Jacobi iteration formula
6.2.2.4 Successive over-relaxation method
6.2.3 Precomputing method
6.2.4 Inversion updating method
6.3 Electric network partitioning methods
6.3.1 Network tearing technique
6.3.2 State-space nodal method
6.4 Delay-based network decoupling methods
6.4.1 Transmission line modeling method
6.4.2 Equivalent power source method
6.4.3 Explicit numerical integration method
6.4.4 Multirate modeling method
6.5 Numerical solution of nonlinear electric networks
6.5.1 Newton–Raphson method
6.5.2 Iterative solver design
6.5.3 Lookup-table method
6.6 Illustrative example
References
7 Hardware-in-the-loop real-time simulation of power electronic systems
7.1 Introduction
7.2 Time constraints of hardware-in-the-loop real-time simulation
7.2.1 Time constraint in CHIL
7.2.2 Time constraint in PHIL
7.3 Interface issues in hardware-in-the-loop
7.3.1 Interface issues in CHIL
7.3.1.1 Sampling rate effects on digital ports
7.3.1.2 Compensation algorithm
7.3.2 Interface issues in PHIL
7.3.2.1 Power amplifiers
7.3.2.2 Interface algorithms
7.3.2.2.1 Ideal transformer method
7.3.2.2.2 Transmission line method
7.3.2.2.3 Partial circuit duplication
7.3.2.2.4 Damping impedance method
References
8 Processor-based real-time simulation of power electronic systems
8.1 Introduction
8.2 Hardware structure of the processor-based commercial real-time simulator
8.2.1 Hardware structure of the RTDS
8.2.2 Hardware structure of Opal-RT
8.2.3 Hardware structure of digital signal processor-based real-time simulators
8.3 Model implementation in real-time target processors
8.3.1 Preparing the mathematical model
8.3.2 Coding
8.3.3 Offline verifications
8.3.4 Real-time validations
8.4 Case studies
8.4.1 Case study 1: the choice of the numerical method in an R-L circuit
8.4.2 Case study 2: AC-DC-AC power conversion system
8.4.2.1 Mathematical modeling
8.4.2.2 Offline verification
8.4.2.3 The chattering problem due to the blocking mode
8.4.2.4 Code compilation
8.4.2.5 Validate the real-time simulation in the target hardware
References
9 Field programmable gate array-based real-time simulation of power electronic systems
9.1 Introduction
9.2 The architecture of FPGA-based real-time simulation
9.2.1 The solving structure of the system-level simulation model
9.2.2 The solving structure of the device-level simulation model
9.3 FPGA hardware design
9.3.1 High-level design tools for FPGA hardware
9.3.2 Factors affecting the FPGA execution
9.4 Optimized methods for FPGA-based computation
9.4.1 Improved numerical accuracy by using the per-unit system
9.4.2 Reduce computing latency by paralleled network modeling
9.5 Generic programmable FPGA solver approach
9.6 Case study
9.6.1 FPGA-based system-level simulation
9.6.2 FPGA-based device-level simulation
9.7 Choice of the simulator for the application
9.7.1 Comparison between processors and FPGAs
9.7.2 Choice of the simulator based on the time-step requirements
9.7.3 Introduction to processor-FPGA cosimulation framework
References
10 Case studies of power electronics real-time simulations in industrial applications
10.1 Introduction
10.2 Real-time simulation in electric vehicle applications
10.2.1 Real-time simulation results
10.3 Terrestrial microgrid
10.3.1 Utility grid
10.3.2 Distributed energy resources average model
10.3.2.1 Battery energy storage system
10.3.2.2 PV power plant
10.3.2.3 Wind power plant
10.3.3 Variable load
10.3.4 Microgrid controller
10.3.5 Real-time simulation results
10.3.5.1 Case 1
10.3.5.2 Case 2
10.4 Controllerhardware-in-the-loop testing for battery energy storage systems
10.4.1 Smart grid converter
10.4.2 Controller-hardware-in-the-loop setup
10.4.2.1 Controller
10.4.2.2 Signal interface
10.4.2.3 Real-time simulation results
10.4.2.4 Overall loop-back latency
10.4.2.5 Controller-hardware-in-the-loop simulation results
10.4.2.6 Case 1
10.4.2.7 Case 2
10.4.2.8 Case 3
References
11 Advances and trends in power electronics real-time simulation
11.1 Introduction
11.2 Enabling the real-time simulation of wide-bandgap device-based converters
11.2.1 Brief introduction of wide bandgap devices
11.2.2 Challenges of real-time simulation in embracing the wide bandgap devices
11.2.2.1 Simulation speed
11.2.2.2 Modeling accuracy
11.2.2.3 Electromagnetic interference
11.2.2.4 Multidomain simulation capacity
11.2.3 Possible ways to embrace the wide bandgap devices in real-time simulation
11.3 Artificial intelligence-aided real-time simulation
11.4 Prognostics and health management using real-time simulation
11.5 Faster or slower than real-time simulation
11.5.1 Faster-than-real-time simulation
11.5.2 Slower-than-real-time simulation
References
12 Outlooks on power electronics real-time simulation
12.1 Introduction
12.2 Integrating the multiphysics power electronics model in the real-time simulation
12.3 Expanding real-time simulation in the full lifecycle (digital twin application)
12.4 Worldwide collaborative simulation using GDRTS
References
Index
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