1. Opal-RT Technologies
Opal-RT Presentation
EMTP-RV User Group Meeting
Dubrovnik, Croatia
April 30th 2009
Scripting in EMTPWorks :
From EMTP-RV Circuits to Simulink
Diagrams for Real-Time Simulation
Mathieu Giroux
mathieu.giroux@opal-rt.com
OPAL-RT Real-Time simulation of Power Systems
RT-LAB Electrical Applications 2007.03.20 4/30/2009 1

2. Contents
 OPAL-RT Technologies at a glance
 What is an RT-Simulator, why RT-Simulation
 EMTP-RV real-time interface / specifications
 Developments realized in EMTPWorks
 Conclusions
OPAL-RT From EMTP-RV to Real-Time 4/30/2009 2

3. Opal-RT Technologies at a glance
COTS-based Real-Time Simulation and HIL Test Systems
 Established in 1997, in Montreal, Canada
 Branch offices in USA and in India, worldwide distributor network
 50+ employees
 Hardware and Software
 HIL and fully digital simulators Integrated with Matlab/Simulink
 FPGA development system and IOs
 Solutions for testing and development of controls in Power Systems,
Automotive, Aerospace and Defense
 Control Prototyping Systems
 Electronic Control Unit (ECU) Tester
 Hardware-in-the-Loop
 eDRIVEsim and eMEGAsim: Opal-RT real-time power system simulators
based on SimPowerSystems
OPAL-RT From EMTP-RV to Real-Time 4/30/2009 3

4. OPAL-RT – Electric & Power Electronics
CONVERTEAM
French Navy
TRAIN & HVDC
More Electrical
Aircraft
OPAL-RT Real-Time simulation of Power Systems June 12, 2008 4

5. What is a Real-Time Simulator
 Real-Time computer and  Capable of emulating the
I/O system simulated plan, control systems
or both simultanously
 Integrated with modeling
 With sufficient accuracy to meet
and simulation software
test and design objectives
REAL or RT-LAB
SIMULINK-BASED
+
 RT-LAB eDRIVEsim and PROTOTYPE CONTROLLER Motor
-
eMEGAsim simulators are
integrated with:
 MATLAB, SIMULINK
 SimPowerSystems, RTW
 EMTP-RV, JMAG-RT
 QNX and LINUX RTOS
 Windows and LabVIEW
RT-LAB PLANT
SIMULATOR
OPAL-RT From EMTP-RV to Real-Time 4/30/2009 5

6. APPLICATIONS VS RT-LAB REAL-TIME DIGITAL SIMULATOR PRODUCT FAMILY
RT-LAB eDRIVEsim eMEGAsim DRIVES & VSC
1 to 4CPU 2 to 8 CPU 4 to 64CPU
CONTROLLERS
B C D E F
Prototype Controllers
Mechatronic Systems
POWER ELECTRONICS
Motor Drives
Voltage Source Ac grids & HVDC
Converters
AC Fed Drive
Multi-Level & Matrix Converters
Train Traction Systems
POWER GRIDS AC Grid
& Protection Systems
Thyristor-based HVDC and FACTS
IGBT-based VSC, FACTS, STATCOM
Wind farm AC/DC Grids
Ships and Aircrafts
Smart Grids Any Power System
can now be
eDRIVElab RT-LAB BERTA RT-LAB XSG JMAG-RT
Educational Speed Regutator Tester FPGA Dev System FEA Motor Model accurately simulated
in Real-Time!
OPAL-RT Real-Time simulation of Power Systems

7. Why Real-Time and Faster than Real-time Simulation?
 Use of Modeling and Simulation at every step of the
design: MODEL-BASED DESIGN
 Why Fast off-line simulation Specify
with parallel computers Fesabilty
Test
 Fast user interaction
 Feasibility and concept analysis Impl-
 Design optimization of large systems Design
ement
 Statistical / Monte Carlo analysis
 Why Real-Time (RT)? Prototyping
 Connection to real physical equipment
 Fast user interaction for debugging, tuning, optimizing, training …
 Integration tests: functionality, performance, reliability, and safety
 Applications of Real-Time Simulation :
 Full digital simulation for Software-In-The-Loop (SIL)
 Rapid Control Prototyping (RCP) with physical or virtual plants
 Hardware-In-the-Loop (HIL) with actual or prototype controllers
BETTER AND MORE TESTS IN SHORTER TIME
OPAL-RT Real-Time simulation of Power Systems 4/30/2009 7

8. EMTP-RV real-time interface
Project goal
• Provide to existing Opal-RT users a better interface for large and very large topologies
• Provide to existing EMTP-RV users a real-time interface in EMTPWorks
Requirements
1) Develop a data translator:
from EMTP-RV data to
Simulink/SimPowerSystems data
2) Enable model separation tools
in EMTPWorks (distributed simulation)
3) Add to EMTPWorks special
real-time libraries. (Signal acquisition,
communication with IOs, special
models for real-time, etc…)
OPAL-RT Real-Time simulation of Power Systems 4/30/2009 8

9. EMTP-RV to Simulink Data translator - Architecture
With EMTPWorks scripting tools, it is possible to customize the modeling
environment without any “hard-code” change
Data Parsing
EMTPWorks Netlist Data translation Simulink
Simulink files Real-Time
creation
-Real-time libraries Text File
(EMTPWorks .clf readable/parseable mdl files ready for
creation tools) m scripting real-time with RT-LAB
New netlist format
-Model validation for required Initialize machines
real-time simulation (Report Script from EMTP-RV load-
-(dwj scripts) Language) flow and steady-state
results
- Model Separation (HTML files)
functions added
(dwj scripts)
OPAL-RT Real-Time simulation of Power Systems 4/30/2009 9

10. Custom Netlist generation
• The EMTP-RV Netlist contains only the data required by its
computational engine (solver)
• Netlist generation rules can be modified by users
(see C:Program FilesEMTPWorksReport ScriptsEMTP Netlist.rfm)
• The Netlist generation script is called the Report Script
Language.
• We modified the Netlist to provide to the data converter the
missing elements (device position, orientation, subsystem-
device (ex: transformer, etc…)
OPAL-RT Real-Time simulation of Power Systems 4/30/2009 10

11. Machine Initialization in SPS from EMTP-RV data
EMTPWorks
Steady State HTML
Load Flow files
Initialize automatically
Mechanical Power and
Field Voltage values.
Calculate speed,
machine angles, and currents
OPAL-RT Real-Time simulation of Power Systems 4/30/2009 11

12. Real-time interface process (from EMTP-RV to real-time)
Model separation for real-time – right click on any power line
 Power systems can be separated on lines and signals
 Control systems can be separated on signals
 Separation can also be performed in subsystems
Automatically, the network topology is divided into 2 parts
OPAL-RT Real-Time simulation of Power Systems 4/30/2009 12

13. Interface the model with I/Os
OPAL-RT Real-Time simulation of Power Systems 4/30/2009 13

14. Generation of Simulink files ready for real-time
netlist netlist
1 Simulink file is generated
Conversion per processor
master slave
console
RT-LAB files
RL-LAB separation files
OPAL-RT Real-Time simulation of Power Systems 4/30/2009 14

15. Examples – 23 bus network
In one click
10 subsystem levels
294 blocks
325 signals
are converted in an equivalent
Simulink model within 20 s
OPAL-RT Real-Time simulation of Power Systems 4/30/2009 15

16. Examples – 23 bus network
OPAL-RT Real-Time simulation of Power Systems 4/30/2009 16

17. Examples – ASM machines / EMTP-RV demo
wrm
This EMTP-RV demo compares 2 ics
icr
scope wr
asynchronous machine models: ibs
ibr
ias
1) Model built with controls iar
Tem scope Tem
THETAr
2) Hard-coded model scope THETAr
M es
C2
Tm
scope
scope
scope
scope
scope
scope
icr
iar
ibr
c
ia
ib
ic
1
i(t) p1 as ar i(t) p2
R3
+ bs br
1 cs cr
+
+
0.2kV /_0 AC2
ASM_block 1 R2
?vi
C1
Tm
scope
scope
scope
scope
scope
scope
c
icrASM
iarASM
ibrASM
iaASM
ibASM
icASM
1
ASM1
R4 i(t) p3 i(t) p4
+ S ASM R
1
+
N ?m
0.2kV /_0 AC1
+
0.2kV
?vi 1 R1
0.750kVA
Hard-coded model
OPAL-RT Real-Time simulation of Power Systems 4/30/2009 17

18. Examples – ASM machines / EMTP-RV demo
OPAL-RT Real-Time simulation of Power Systems 4/30/2009 18

19. Examples – ASM machines / EMTP-RV demo
OPAL-RT Real-Time simulation of Power Systems 4/30/2009 19

20. Conclusions
 EMTPWorks is an highly customizable tool.
 With dwj scripts, circuit separation and validation tools were
developed
 A new augmented Netlist for data exchange was created using
Report Script Language
 HTML for new block panels and for SimPowerSystems machines
initialization
 Most of EMTP-RV models and functionalities can be translated in
Simulink/SimPowerSystems
 The EMTP-RV real-time interface is now commercialized
OPAL-RT Real-Time simulation of Power Systems 4/30/2009 20

21. Thank you.
Questions?
Learn more about Opal-RT products and solutions on
www.opal-rt.com
Technical papers: www.rt-lab.com
Newsletter: www.planetrt.com
Mathieu Giroux
mathieu.giroux@opal-rt.com
Stendaler Straße 4
10559 Berlin, GERMANY
Phone: +49 (0)30 2904 4231
Cell: +49 (0)17 5526 7025
Skype: giroux_opalrt
OPAL-RT Real-Time simulation of Power Systems