Transcript USC_ESRDC_26May2009_Overview 2009x

USC Team Research Overview
Presented by Roger Dougal
University of South Carolina
USC Team
Roger Dougal
Enrico Santi
June Shin
Mohammod Ali
Jamil Khan
Antonello Monti
Ferdi Ponci
RWTH University, Aachen, Germany
Participating via subcontract
Anton Smith
Igor Kondratiev
Blake Langland
2
Research Efforts
•
Design Tools – 5 projects
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•
Ship Power System – 8 projects
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•
Power Routing
State Estimation
Online identification of converter transfer function
DC Bus stabilization
Coordinated control of multifunction converters
Power semiconductor device modeling
Architecture dependence of power quality/disturbance propagation
Sensors for power cables
Thermal Management – 2 projects
–
–
•
Automatic code generation
Realtime simulation
Coupling methods for distributed simulation
Multi-FPGA-based simulation
Quantized discrete event simulation methods (will start 6/09)
Heat transfer in single- and two-phase flows in micro-channels
Ship system thermal models
MVDC Activities – 1 Project
–
Power protection, distribution, and control using PEBBs
3
Design Tools
•
•
•
•
VTB 2009 – released today
Automatic C code generation for arbitrary systems
Realtime simulation
Coupling methods for distributed simulation
4
VTB2009
Objectives
• Incorporate all new advances into a new software
release
• Increase breadth of distribution
Accomplishments
• VTB 2009 released at this meeting
• Free distribution of executables
• Open source for all non-proprietary models,
including help files
• Faster execution – 10x typical, uses all
available processor cores
Naval Relevance
• Removes dependence on IDV Inc, which was tied
up in VTB Pro via UI and other aspects
• Permits open sourcing of almost all models
• More widespread adoption of software
• Better view “under the hood”
• Extended algorithms for code generation to
support systems using the “natural” backplane
• Implemented code generation capabilities for
most models in the VTB library
• Full support for some target runtime
environments, such as ARM microcontroller
• Phasor solver, Quantity solver (better supports
thermal/fluid systems)
• Visual Studio 2008 compliant
• On-line video tutorials
5
Automatic Code Generation
Objective
Develop capability for any system model to be
exported as ANSI C code that can be compiled to
execute in arbitrary environment
Significance
• Permits system models to be incorporated into
control algorithms,
• Permits simulation models to run on operating
systems other than Windows (Linux, AIX, Mac, etc.),
on digital signal processors, on ARM microcontroller,
or in a real time environment for HIL
Accomplishments
• Extended algorithms for code generation to
support systems using the “natural” backplane
• Implemented code generation capabilities for
most models in the VTB library
• Full support environment for some target
environments, such as ARM microcontroller
• Permits graphics-based programming of
microcontrollers
• Facilitates incorporation of VTB system models into
any other software.
Naval Relevance
• Better, more flexible, design and simulation tools.
• Easier to program (or explore control space)
advanced algorithms for ship-board power
converters.
6
Realtime Multi-pc Simulation
Objective
Extend capability for soft real time on Windows
platform and hard realtime of vtb2003-based
systems to VTB2009, to run on multiple
networked computers
Approach
• Exploit code generation capability of VTB to
produce source code for simulation model
• Compile source code into executable for the
runtime environment
• Use real time kernel to run in Windows
environment
Accomplishments
• Investigated use of Interval Zero’s RTX
real time kernel for MS Windows
• Confirmed capability for RT operation
using system model compiled from codegen’ed output from VTB 2009.
Naval Relevance
• Permits real time simulation on commodity
hardware, and expansion of system size by
conscripting resources of additional
computers
• Increases ability to explore design space
for large systems, especially where
explorations require hardware in the loop
simulations
7
Coupling Methods for Distributed Simulation
Zone 1
Primary Bus
Objective
Develop improved methods for connecting
separate solver instances operating on
separate computing cores or machines to
break systems at points of natural coupling
Zone 2
Zone 3
Significance
Zone 4
• Permits larger system models to be partitioned
into units that can be independently executed in
parallel on multiple computers or on multiple
cores on a single computer, while still enforcing
natural conservation laws
Accomplishments
• Investigated latency insertion methods
and multi-rate modified damping
impedance method
• Achieves further ~10x speed
improvement for typical ship system
models
• Permits coupling between solvers based on
different technologies (state space, resistive
companion, etc)
Naval Relevance
Better, more flexible, design and simulation
tools. Easier to program (or explore control
space) advanced algorithms for ship-board
power converters.
8
Multi-FPGA for ultra-fast Simulation
(Y. Shi, A. Monti)
Objective
Develop inexpensive, scalable, simulation
environment for realtime simulation of large
systems at under 100 s time steps
Approach
• Use Latency Insertion Method to decouple
system into small segments
• Use FPGAs to compute each segment
• Two Avnet Xilinx Virtex-4 XC4VSX35 FPGA
evaluation boards communicate to the PC
through the PCI bridge
Accomplishments
• In 100 node system, achieved 5.7 s time step
with average error (compared to Matlab
solution) of less than 1%.
Naval Relevance
• Capability for inexpensive, high-speed, real
time simulation of large systems.
9
Ship Power Systems
•
•
•
•
•
•
•
•
Power Routing
Agent-based Load Management
State Estimation
Online identification of converter transfer function
DC Bus stabilization
Coordinated control of multifunction converters
Power semiconductor device modeling
Architecture dependence of power quality/disturbance
propagation
• Sensors for power cables
10
Power Routing: Network Based Control
(R.Liu, A. Smith, F. Ponci, A. Monti)
Objectives:
•
•
Realize a flexible control for PEBBs.
Ensure robust stable behavior vs network delays.
An agent-based experiment to
demonstrate the structure’s flexibility.
DC Source
System Control
Application
Control
Ethernet
Switch/Router
Mobile
Agent
Local
Agent 1
Local Agent 2
Converter control
Control
Switching Control
Power
Converter 1
Power
Converter 2
Passive Load
Passive Load
Control
Hardware Control
Agents operations and PEBBs.
Network-Based Control Structure for PEBBs
Advances:
•
•
In this structure, the tasks of PEBB can be
assigned dynamically without changing low
level controls.
The intelligent resources can be utilized
more properly and efficiently.
0v
Mobile agent shuts
down PEBB 1.
Mobile agent changes
Load2’s voltage Reference .
4s
Experimental
Results
11
Power Routing: Network Based Control
Problem
•
Network delays reduce control bandwidth
capability.
Ref
Controller
+
-
Network
Communication
Network
Low level
delay
control
Control Challenges:
• Stability and Robustness under
delays effects.
Network
delay
Network
Communication
Control Design Approach:
•
•
•
•
Study stochastic characteristics of the delays.
Develop PCT truncated expansion model.
Adopt a linear optimal control approach to
enforce the solution to be compliant with a
specific control architecture.
Verify Stability.
Network delays in feedback loop
Progress:
•
•
Stochastic characteristics of delays were
studied.
A preliminary networked-based control for an
induction machine was implemented.
Experiment setup and result.
Naval Significance:
•
•
Flexible, distributed, robust, network-based
control of power converters in ship systems.
General applicability to other shipboard
systems.
12
Agents for PEBB management
Objectives:
•
•
Distribute energy management and
compensation tasks among power converters
Assess different partitions of functionality
among the device controller and agent system
level device manager
Approach:
•
•
Advances / Progress / Discoveries:
•
•
Implementation of a simplified method which still
retains partial centralization
Identification of the weaknesses of reassignment of
the Broker role
• Delayed identification of the same violation
by another agent may result in Broker reassignment and instability (need to avoid
duplicate alarms)
• Other criteria under consideration
•
Agents in charge of the converters, bidding for
assignment
Load agent and broker agents negotiate
Implement power- quality-oriented current
decomposition both on agent side and
controller side for sake of comparison
Naval Significance:
•
Method to share a burden among converters
with delocalized knowledge of absolute and
current loading conditions
•
Will produce guideline for partitioning of system
level and device level functionalities
13
Fault-Tolerant Decentralized PCT Estimators Applied to
Non-Linear Electrical Power System State Estimation
Objectives:
Block Scheme of The Operation:
•
Power System
•
•
Expanded model of each DC zonal is achieved
based on PCT.
A fully decentralized algorithm is adopted.
Variation of DC bus voltage sensors’ output due to
parameter uncertainty is calculated by local PCT
estimators first. Final estimations along with the
final sensor uncertain ranges are obtained by data
assimilating among all local PCT estimators.
A DC Zonal System Example:
DPCTSM: Decentralized PCT Sensor
Measurement estimators

x
v̂
Sensors
v
A/D
S
F
D
R
vR
Decentralized
State Estimator
PCT
Monitoring System
Conclusion And Future Work:
Equivalent
Circuit:
The work presented here introduces a novel decentralized
PCT estimator to perform fault-tolerant state estimation of
electrical power system. Numerical results demonstrate the
potential of this approach in failure detection, isolation and
bad data restoring during state estimation. The capability of
distinguishing between network fault and sensor failure then
becomes an interesting point of research for the near future.
Besides, experimental verification will be conducted this year.
PCT-based Induction Machine Modeling and
Fault-tolerant FOC Control of Induction Machine
(H. Li, A. Monti)
Objectives:
•
•
•
•
Expand model of induction machine into
PCT domain
Variation of stator current sensor output
due to uncertainty of rotor resistance is
calculated by a PCT estimator.
Algorithm based on PCT boundaries is
used to diagnose and declare failed
sensors.
Missing or bad data is rebuilt with bestcase estimations from PCT estimator.
Significance:
•
•
New method developed to diagnose
sensor failure and accommodate the
failed sensor data.
New method demonstrated in faulttolerant field-oriented-control of induction
machine.
Schematic of Fault-Tolerant FOC Control of
Induction Machine
Future Work:
•
•
•
Experimental verification of the computational
results is underway.
Further applications to more complex systems
in real-time hardware in loop application will be
developed.
Fuzzy logic will be used to improve the
algorithm.
Simulation-based Control of a PEBB
Jason Tucker, Daniel Martin, Enrico Santi
Objectives:
AMSC PEBB as DC/DC
• Demonstrate simulation-based control of
power modules to represent behavior of
aggregated DC zone loads
Approach:
Measurements
(Voltages,
Currents, etc)
Controller
VTB 2009
Real-time DC
Zonal Load on
a PC
Real-time
Current
Reference
• Real-time VTB2009 model generates
current demand (reference) for hardware
controller
• Real-time executable communicates with
power hardware through DAQ interface
• Hardware-In-the-Loop (HIL) is a threephase interleaved buck converter based on
AMSC 150 kW power module
Advances/Discoveries:
• Implemented option to code-gen VTB2009 models
into a real-time executable
• Labview RT is likely the best option for running
VTB2009 in real-time
Naval Significance:
• More accurate/robust controls for electric ship
systems
DC Zonal Load Example
Online Monitoring of
Power System Impedances
GRA: Adam Barkley [[email protected]] Advisor: Dr. Enrico Santi [[email protected]]
...
G
DC Zone
Converters
AC
Loads
DC
Loads
G
Approach:
Energy
Storage
...
M
Zsource
Vs
+
-
+
Vin
+
Converter
Under Test
-
Vout
Zload
-
d
Electric ship distribution system showing
equivalent circuit from converter’s perspective
Objective:
Identify Thévenin equivalent source
and load impedances:
• across wide frequency range
• within a “stiff” system
• online as the system changes
• with minimal additional hardware
• Use power converters to perturb system
• Use correlation techniques to find impedances
• Eliminate need for dedicated Network
Analyzer by using existing digital control and
compuatation capabilities
Progress:
• Extended correlation method to measure impedances
• New test signal for improved high frequency precision
• Experimental verification using 3 commonly
encountered loads and a poorly-damped input filter
Naval Significance:
Online monitoring of ship impedances for:
• Load estimation
• System health monitoring
• Fault localization
• Adaptive control to improve robustness
17
Online Monitoring of
Power System Impedances
Experimental Results
LC Input Filter
Resistive Load
Resistive Load
Lself
Rload1
LRC Load
Zsource
Zload
LRC Load
+
Vg
-
Lfilt
Lout
+
Vin
-
Cfilt
Lload
Cload
Cout
Rload2
Input Filter
Constant Power Load
FPGA
Duty +
Cycle
Constant Power Load
PWM
+
Test
Signal
P
P
Vout
Divider
V+
+
-
V-
Rsense
18
DC Bus Stabilization
by Positive Feedforward Control
Hyoung Cho, Enrico Santi
iˆload
Objectives:
+
+
•
v̂ g
v̂
iˆin
ZS
v̂ gs
ZL
-
Converter
•
d̂
GCFF
-GCFB
Step load change from 3Ω to 6Ω
in the buck converter
PI feedback
New PFF
Approach:
•
•
Advances / Progress / Discoveries:
•
•
Successful modification of input impedance
of a converter in the frequency range where
subsystem interactions occur
Unified impedance stability criterion
considering both source and load subsystem
interaction
Develop active approach to improve the
stability which is degraded by subsystem
interactions in a large interconnected
system
Develop analysis technique for
subsystem interactions
Combining feedforward control with
conventional feedback control in a
converter
Impedance stability criterion
Naval Significance:
•
•
•
•
•
Reduced size of passive filters
No hardware modifications
No additional power electronic equipment
Increased flexibility for system
reconfiguration
Simple control scheme using linear
control design techniques
19
DC Bus Stabilization
by Positive Feedforward Control
The unified impedance criterion using two-extra-element theorem (2EET)
is in the form of minor loop gain for subsystem interaction analysis
Zin_FFFB_ZL
TMLG _ ZSZL 
ZS

Z in _ FFFB
Z out _ FFFB
ZL

K FFFB Z in _ FFFB
0.01
ZL
Vgs
where
K FFFB 
Z N _ out _ FFFB
,
Z in _ FFFB
1
Z N _ out _ FFFB

1
Z in _ FFFB

Lf
Rf
Z out _ FFFB
ZS
1
200µH
Cf
60µF
iin
L1
+
75µH
d
Vg
Gvg _ FFFBGii _ FFFB
C1
R1
70µF
iLoad
L2
+
30µH
300µF
-GCFB2
ZL
Nyquist plot of the unified impedance criterion of a
buck converter due to subsystem interaction
Nyquist plot of T MLG FFFB ZSZL
Bode plot of ZinFFFBZL
60
Interactions
0.8
20
0.6
Zin_FFFB_ZL
Zin_FFFB
Zin_FB_ZL
Zin_FB
Zout_ZS
-20
-40
Phase margin
improvement
90
Imaginary Axis
Magnitude (dB)
T_MLG_FFFB_ZSZL
T_MLG_FFFB_ZS
T_MLG_FB_ZSZL
T_MLG_FB_ZS
1
0
0.4
PM=65.4 degrees at 1.13 kHz
0.2
PM=48.3 degrees at 1.13 kHz
0
-0.2
Phase (deg)
-0.4
PM=10.4 degrees at 1.34 kHz
0
Ustable
-0.6
Stabilizing
effect
-90
-180
-1
10
Phase improvement
0
10
1
10
2
10
3
4
10
10
Frequency (Hz)
5
10
6
10
3
7
10
-0.8
-1
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
Real Axis
V2
-
-GCFB1
ZS
40
R2
GCFF
Input impedance of a buck converter
due to subsystem interaction
d
V1
6
-
Z out _ FFFB
+
C2
0.4
0.6
0.8
1
20
Validation of IGBT Physics-Based Fourier-Series Model
Under Soft- Switching Conditions
Ruiyun Fu, Enrico Santi
L1
Advances:
•
Cr
L1
iL1
iL1
D1
Lr
D1
Vin
Vin
c
Q1
ic
g
Dr
e
Zero- voltage switching
Cr
Lr
Dr
Q1
g
c
Objectives:
ic
•
e
•
Zero- current switching
Current
Tail
To build a soft-switching (zero-voltage
switching and zero-current switching) testbed
To validate the Fourier-Series IGBT model
under soft switching conditions
Approach:
•
•
•
Comparison between experimental(solid) and
simulated (dashed) waveforms of standardspeed IGBT in zero-voltage-switching circuit
The insulated gate bipolar transistor (IGBT)
model, which was validated under both
inductive and resistive hard-switching
operation, is further validated for softswitching performance
Extract the model parameters of two different
kinds of IGBT (a standard- speed and an
ultrafast device) based on the results of hardswitching operation
Use the extracted model parameters in the
physics- based IGBT model
Compare simulated (Spice) results using the
IGBT model with experimental results
Naval Significance:
•
The predictive IGBT model allows accurate
simulation-based design of soft-switching
converters
21
Proximity Non-Intrusive Sensors for Wireless Sensing and
Monitoring
Sensor, Energy
Harvester,
Wireless
Communication
Power Line
Non-Intrusive
Sensing
Objectives:
•
Design and develop miniature wireless
sensors for shipboard power system
monitoring and diagnostics
Approach:
•
Data to Supervisory
Station (Diagnostic,
Decision)
Water
tree
Conductor
Advances / Progress / Discoveries:
•
Designed and developed interdigitated
sensors and circuit models for power system
insulation damage detection
CDS
VD
Driven
Electrode
Sensing
Electrode
Substrate
Backplane
_
+
Insulation
No water
Water filled
2
3
4
5
6
Location
Naval Significance:
•
VF
10
9
8
7
6
5
4
3
2
1
0
1
•
CF
Near-field signal injection and
interelectrode capacitance measurement
Coupled reflectometry techniques
Capacitance (pF)
•
•
PVC cable data
Miniature snap type self-sustained
sensors
Continuous or sporadic monitoring and
reconfiguration using wireless sensors
Uninterrupted shipboard power line
damage, fault detection
2
Proximity Non-Intrusive Sensors for Wireless Sensing and
Monitoring
Sensor, Energy
Harvester,
Wireless
Communication
Power Line Objectives:
Non-Intrusive • Develop miniature energy harvesting
modules and circuits for wireless
Sensing
sensors; mathematical and circuit models
Advances / Progress / Discoveries:
•
Miniature energy harvesting modules
using thin film high permeability
magnetic materials and low forward drop
diodes to charge the battery of wireless
sensors
Data to Supervisory
Station (Diagnostic,
Decision)
1.5
Battery Voltage (V)
1.2
RD1 12k
RC1
D1
C1
10 M 220 μF
LS
327 μH
RD2
RS
12k
9.74 Ω
PMEG1020EA
C2
D2
0.6
Sensor Battery Charging
0.3
220 μF
RC2 10 M
CL 1E3
μF
VS
1.245V peak 60
Hz
Core Layers
0.9
P-Spice Model
RL
0
0
30
60
90
120
Time (min)
150
Total core thickness 1.25 mm
Power harvested 10 mW from
23
Line current of 13 A
180
Strategic Filter Placement using Harmonic Similarity
Objectives:
Ring
Bus
•
•
Define a metric on which to base
placement of harmonic filters
Determine the variability of power quality
on IPS architecture
Approach:
• Harmonic current sources introduce
disturbances into the IPS
• “Harmonic Similarity” between nodes
is defined as significant metric
• Measurements based on this metric
form basis for placement of
harmonic filters within the ship IPS
Ship Service Load Center
Strategic Filter Placement using Harmonic Similarity
Conclusions:
For the reference system, the metric
successfully determines that the starboard
PDM (Node 1) is the optimum location of a
single harmonic filter for all 3 IPS
architectures:
– 13.8
kV at 60 Hz: Nodal THD values all less than
5% and symmetrically distributed
– 4.16 kV at 60Hz: Two nodal port-side THD
values all exceed 5%; unsymmetrical disturbance
distribution
– 13.8 kV at 240 Hz: Load center PDMs and
sensitive load 6 THD values greatly exceed 5%;
symmetrically distributed once again
= Filter Candidate
Optimal Location
PCM
4
1
3
PCM
6
DC
7
10
8
11
PCM
Identify Load of Interest
Compute HS
5
Strategy
For each
architecture,
Injected
Harmonic
Current is in
constant
proportion to
Nominal
Current
Thermal Management
• Integrated electrical/thermal models of ship systems
• Micro channel cooling of power electronics with synthetic jet
• Piezoelectric pump for integrated cooling system
26
System Level Co-simulation of Ship’s
Hybrid power System and Thermal Plant
Power
Generation
Power
Conversion
Power
Consumption
Thermal
Plant
Converter
Objectives:
•
•
SOFC
Motor
Heat Sink
Study the transient interactions between a hybrid
power system and the associated thermal system
Provide a simulation tool that can be used to co-design
large scale electrical and thermal systems
GEN
Heat Sink
GT
Load
Distribution
Ship
Service
Heat Sink
Heat Sink
Approach:
•
GT
GEN
SOFC
Motor
Heat
Exchanger
•
Converter
Use VTB for integrated system level thermal-electrical
co-simulation of a hybrid power system and thermal
support system.
Implement coupling through thermal port on each power
consuming component.
Thermal Port
Naval Significance:
Advances / Progress / Discoveries:
•
•
A simple application scenario has been implemented and
analyzed to illustrate the co-simulation.
Dynamic responses of coupled thermal-electrical systems
are explored under a step change of the service load to
reveal system interactions.
•
•
System level simulation approach will permit ship
designers to address thermal management earlier in the
design process to produce more efficient, less costly
ship power systems.
This work outlined a typical portion of such a
configuration for whole future electrical ship systems.
27
Enhanced Heat Transfer:
micro-channel cooling using a synthetic jet actuator
Objectives:
•
Enhance heat transfer from power electronics using
microchannel heat exchangers by forming synthetic
jets, useful for both single-phase flow and two-phase
flow.
Approach:
Advances / Progress / Discoveries:
•
Experimental facility built and successfully tested for single
phase water flow.
•
Micro-synthetic jet constructed and tested successfully both
in quiescent and cross flow.
•
Results shows enhanced heat transfer for single phase flow
in micro-channel . (quantify??)
•
Experimentally investigate the enhancement of heat
transfer to a liquid flowing in a microchannel subjected
to a cross-flow synthetic micro jet.
•
Assess effectiveness of the proposed cooling strategy
by comparing heat transfer rates with and without the
synthetic jet.
Naval Significance:
•
Electric ships will increasingly rely on power electronics,
high power sensors, and advanced weapons systems,
in which thermal issues arise due to concentrated heat
loads. This approach may offer a solution for high heat
flux thermal management.
28
Piezoelectric Micropump for Cooling Electronics
˷
Applied
Electrical
Field
FLOW
Objectives:
•
Develop micropump based on acoustic
streaming principle
Integrate it into microchannel heat sink for
space-constrained electronics cooling
•
HIGH SENITIVITY CAMERA
RESERVOIR
Approach:
9O DEG. BEND TUBE
•
•
Use micro piezofiber as actuator
Quantify pumping performance (flow rate
and generated head pressure)
Micro PIV study to understand the fluid
dynamics of the micropump
Fabricate microchannel heat sink with
integrated micro piezopump
Experimentally evaluate heat transfer
performance
PIEZOPUMP
HIGH SPEED CAMERA
˷
•
•
Progress:
•
•
•
Dynamic micropump developed
Preliminary experimental characterization
complete
Some Results???
•
Naval Significance:
•
Viable on-chip, integrated, thermal
management solution for managing high
power density in compact power
electronics.
29
Integrated power/communication simulation for
designing protection in MVDC Systems
(A. Monti)
Objectives:
•
Provide the simulation technology that
can support the design of a new
generation of protection systems for
MVDC applications
Insert models of communication systems
in the framework of power system
simulation.
•
Significance:
•
•
•
MVDC distribution is currently considered
for future naval application
Very little literature is available on
protections for DC systems
A massive use of communication is
another element of novelty for future ship
power systems
Future Work:
•
•
Development of new algorithms for protections
Testing of new co-simulation scenarios
Co-Simulation Schema
VTBPro
Power System
Model
Simulink
Control
Model
OpNet
Communication
and System logic
Model