Kickoff Meeting

July 17th, 2012

Wind Turbine Drivetrain Testing Facility

Objective: Accelerate the development of new technology into the wind market to reduce the cost of energy delivered.

Mission: Provide (1) High Value, (2) High Quality and (3) Cost Competitive testing services to industry.
Establish long term partnerships with industry for work force development, research and education.

15 MW Grid Simulator with Hardware-In-the-Loop (HIL)

Vision: An international center of excellence in grid compatibility and grid security. Mission:
Accelerate the introduction of new technologies through research, advanced testing, certification and modeling.

Objectives:
1. Provide (1) High Value, (2) High Quality and (3) Cost Competitive research, development, testing and certification services.

2. Develop the most flexible test facility possible in order to meet the ever growing electrical interface and grid integration testing requirements.
3. Establish long term partnerships with public and private partners to promote research, work force development and education in power systems engineering.

Industrial Advisory Boards

Wind Turbine Drivetrain Testing Facility
GE Energy * Siemens * Clipper Wind Timken Bearings Bosch-Rexroth Winergy Nordex ZF Mitsubishi Moventas Vestas * Gamesa * RePower * GE Transportation Broad Wind Northern Power Sys Samsung Areva * Suzlon 15 MW HIL Grid Simulator
Duke Energy SCANA Santee Cooper US DOE EERE TECO-Westinghouse Underwriters Lab SRNL Alstom Grid ABB

* Also participating in 15MW HIL Grid Simulator Project

Leveraging:
Wind Turbine Drive Train Testing Facility (WT DTTF) requirement for Low Voltage Ride Through (LVRT) and High Voltage Ride Through (HVRT) The electrical infrastructure at the WT DTTF
The combination of being able to mechanically load a wind turbine and perform grid compatibility testing is rare

Build upon fault ride-through requirements by incorporating various other grid compatibility testing scenarios
5

15 MW Hardware-in-the-Loop Grid Simulator - Overview

Dedicated Power System Substation Hardware-in-the-Loop Grid Simulator

Experimental, prototype, and commercialized electrical equipment can be rigorously tested without exposing the power system to the risks involved with testing. Electrical Equipment Under Test

Simulated Power System

Advanced Converter Technology

Real Time Digital Simulator

A power system is simulated and reproduced in real-time in order to ensure grid compatibility of the device.
6

Existing and Proposed Grid Simulation Facilities in the USA

FSU CAPS Facility NREL ESIF Smart Power Lab 1 MVA One 2L-VSC TBD Yes TBD

The terms grid simulation and simulated grid have many meanings. Facilities having similar testing capabilities does not take into account accuracy, noise or bandwidth, which are critical for acceptable data. The CU HIL Grid Simulator is targeted to be a certified test facility with Underwriters Laboratory. The 15 MW HIL Grid Simulator will also have the most comprehensive suit of fault ridethrough capabilities in the world for multi-megawatt devices.

Rated Power Converter Technology Dynamometer Hardware in the Loop Real Time Simulators

5 MVA Four Parallel 2L-VSC 5 MW Yes RTDS & Opal-RT

NREL NWTC CU HIL Grid Controllable Simulator Grid Interface 7.5 MVA 15 MVA Two parallel Eight Parallel 7L3L-NPC-VSC SCHB 2.5 MW and 5 7.5 MW and 15 MW MW TBD Yes TBD RTDS

Possible Electrical Evaluations

Steady State Envelope Tests Power Ramp Rate Harmonic Evaluations Flicker Mitigation Volt/VAR Regulation Active Frequency Regulation Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes No Yes Yes Yes Yes Yes Yes Yes Yes Yes

Grid Fault Ride-Through Evaluations Low Voltage Ride-Through Limited Limited Reduced Power Reduced Power Yes (Possible Power Reduction) Limited by Series Impedance (Optional Reactive Divider) Yes

Zero Voltage Ride-Through

Limited by Series Limited by Series Impedance Impedance

Yes with Reactive Divider

High Voltage Ride-Through

Reduced Power Reduced Power Reduced Power with with with Transformer Transformer Transformer Tapping Tapping Tapping

Built-In Overvoltage

HIL Grid Simulator Target Markets

Target Device Technologies Renewable Energies: wind, large solar, etc Traditional DG: diesel, NG, etc. Microgrid and parallel generation applications Multi-megawatt grid storage Inverter Interface X X X X Rotating Machine X X X

FACTs devices: SVC, DVR, etc.

Multi-megawatt motor drives Emerging Technologies Tactical Microgrids

X
X X X X X

Integration of the HIL Grid Simulator into the WT-DTF

Facility Main Electrical System

15 MW Test Rig Motors and Drives

Hardware-InThe-Loop Grid Simulator

7.5 MW Test Rig Motor and Drives

Test Rig Mechanical Drive Train

Device Under Test (DUT)

Test Rig Mechanical Drive Train

WTG Under Test

WTG Under Test

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15 MW Hardware-in-the-loop Grid Simulator

Electrical One-line of the Complete Facility
23.9 kV (60 Hz) Utility Bus

Added HIL Equipment

Variable 23.9 kV (50/60 Hz)

11

Facility Configurations: Three Independent Test Bays

23.9 kV (60 Hz) Utility Bus

Variable 23.9 kV (50/60 Hz)

12

Facility Configurations: Large Test Stand Utilizing Grid Simulator

23.9 kV (60 Hz) Utility Bus

Variable 23.9 kV (50/60 Hz)

13

HIL Grid Simulator Hardware and Design Considerations

Fundamental HIL Components 1. Real-Time Digital Simulator 2. 4-Quadrant Amplifier 3. LVRT/ZVRT Test Equipment 4. HIL Grid Simulator Interface Controller Safety
Personnel, then equipment

Flexibility and Adaptability

Achieving a platform that is capable of meeting

Accuracy and Bandwidth

Switching frequency filtering versus desired converter step response and closed loop time How efficiently can the HIL lineup replicate what the simulation requires

Stability and Controllability

Ensuring that the HIL lineup has the capacity, stiffness, to drive the device(s) under test

Reliability
Designing a system that is robust and well protected during faults and failures
1414

Real-Time Power System Simulation

Real-Time Digital Simulator (RTDS)
An expandable parallel computer designed to solve power system models in real-time Extensive library of components and controls, including FACTs devices Up to 48 busses per rack solved on the main GPC with a solution step of 50 ms Secondary GPCs in each rack solve detailed bus and line models at time steps as low as 2 ms Targeting 4 racks for a total of 192 system buses

Matches the real-time power system simulation platforms utilized at Clemsons main campus in order to facilitate more efficient research Existing RTDS with Hardware-In-the-Loop (HIL) Amplifiers
Currently the largest RTDS HIL setup is at the CAPS facility at Florida State University (5 MVA at 4160 V) The CAPS facility is focused on ship board power and sponsored by ONR
15

Proposed Amplifier Power Levels and 50 Hz De-rating

Transformer cores should be sized for the worst case condition: Max voltage at 50 Hz The proposed 22 kV reduced voltage for 50 Hz operation provides a more efficient usage of steel while matching a standard 50 Hz system voltage Some short term over-excitation may be acceptable for extreme frequency deviations or some HVRT applications

16

Preliminary Specifications
Overall Electrical Nominal Voltage 24 kV (60 Hz) and 22 kV (50 Hz) Nominal Power 15 MVA Frequency Range 45 to 65 Hz Sequence Capabilities 3 and 4 wire operation Amplifier Preliminary Specifications Installed Power 20 MVA Rated Power 15 MVA Bank Power Split 2 x 7.5 MVA Rated Voltage 0 - 4160 V Over-voltage 133 % Rated (Built in) Multilevel 7 - L (9 - L OV) Frequency Range 0 - 65 Hz Fault Ride-Through Reactive Divider SC Duty 12-15 MVA (Open Circuit) Continuous Power 7 MVA Max Shunt Current 2500 ARMS Inductor Type Air Core Inductor Quality Factor > 10 Inductor Tapping 5 % at 15 MVA Resistor Banks 10 Ohms Resistor Tapping 1 Ohm Incremental Total X/R Ratio Range > 10 to less than 5 Snubbing Resistor Capacitor + Arrestor Thermal Duty Cycle 10 minutes or less Sim Grid Step-Up Transformers Voltage Ratio 4.16 / 24 kV Rated Power 7.5 MVA Max Cont. Voltage 130 % Nominal Frequency 50 or 60 Hz Windings Yy-d HV Taps -10 / +10 Special Considerations Flux, Voltage, Seq. Comp., K-factor Switch Gear and Cabling Switch Gear Type MetalClad Vacuum Breaker Rated Voltage 27 kV Rated Current 1200 A Protection SEL (Preferred vendor) 24 kV System Cable 35 kV Class (100% Insul.) 4.16 kV System Cable 5 kV Class (133% Insul.) Measurement Equipment Resistive Divider 0.15 (%) Rogowski Coil ? 0.15 (%)

PT Type Accuracy Class CT Type Accuracy Class

Interface Controller Interface Controller Type FPGA Based w/ onboard DAQ Sampling Rate Up to 128 kHz/Ch Direct Input Channels 16 A/D ( >= 12 bit ) 17

18

Envisioned Electrical Testing and Grid Integration Evaluations

Steady State and Envelope Evaluations Power Quality Evaluations Grid Fault Ride-Through Testing
Power Set Points Voltage and Frequency Variations Controls Evaluation

Increasing level of difficulty

Voltage Flicker Harmonic Evaluations Anti-Islanding (Software)

Low Voltage Ride-Through (LVRT) Unsymmetrical Fault Ride-Through High Voltage Ride-Through (HVRT)

Open Loop Testing

Hardware-In-the-Loop Testing

Recreation of field events with captured waveform data

Simulated dynamic behavior and interaction between grid and the device under test

19

Steady State Envelope Testing

Active and reactive power set points, limits and ramp rates as commanded by operations Voltage and frequency trip limits and time to trip
IEEE 1547 limits and/or those specified in specific grid codes

Frequency and voltage trip points for various TSOs in Europe

Grid Code Requirements for Large Wind Farms: A Review of Technical Regulations and Available Wind Turbine Technologies M. Tsili, Ch. Patsiouras, S. Papathanassiou

20

Power Quality: Harmonic Evaluations

The HIL Grid Simulator amplifier design has a low noise floor with respect to harmonic ranges required by standards
IEC requires measurement out to the 9 kHz Very limited background harmonics produced by the amplifier up to 15 kHz

Harmonic Evaluations:
1.

Injected harmonic current by the DUT

IEEE 519 current limits

2.

Harmonic susceptibility
Background harmonic voltages, DUT susceptibility and trip limits

3.

Programmable system impedance for quasi-stationary harmonic analysis

Harmonic voltage adjusted by the amplifier in order to converge on a specified system and filter impedances

Envisioned harmonic evaluation control schemes are similar to those used in active filtering
Example IEC Harmonic Voltage Compatibility Plot

21

Power Quality: Active Voltage Regulation and Voltage Flicker

Volt/VAR Control:
Presently limited to extreme circumstances such as fault ride-through events and includes a wide dead band around nominal voltage The future standards may involve allowing devices regulate their own voltage through Volt/VAR control (slow acting droop mode control)

Voltage Flicker Susceptibility and Mitigation

Voltage flicker could be mitigated through fast acting Volt/VAR control
May promote voltage instabilities in actual systems

Voltage flicker testing to include both rectangular and sinusoidal modulation across a wide band of sub-harmonic frequencies

E.ON Netz Grid Code: The principle of voltage support in the event of grid faults

22

Inertial Frequency Response and Active Frequency Regulation

What role can renewable devices have on inertial frequency response?
Wind Turbines Photovoltaic Converters Energy Storage

The need has been recognized to coordinate inertial response testing with the WT-DTF dynamometers Hub and blade simulation could provide rotor inertia simulation for kinetic energy capture during times of emergency frequency response.
A Frequency of grid before event
B Frequency after initial stabilization C Frequency Nadir

FERC Frequency Response Characteristic 23

Anti-Islanding (Software)
What is Anti-Islanding?
Unintentional islanding of distributed generation can cause equipment damage, power quality issues and safety hazards. IEEE 1547 Standards for Interconnecting Distributed Resources to Electric Power Systems. Established testing protocol for Upper/Lower Voltage and Frequency thresholds used to detect islanding.
Real RLC Load

Detection Schemes
Primarily voltage and/or frequency variations

Software Implementation
Advantages
Lower Power Requirements (no physical components) Flexibility of RLC components
Simulated RLC Load

Challenges
Control Methodology Test Method Validation

24

Present Fault Ride-Through Testing Requirements

The electrical active power (MW) of the generator is reduced by reducing the available voltage
Depending on generator design, a drive train torque transient may be established

Fault Ride-Through Depth

IEC 61400-21 levels are 70% and 20% of nominal voltage Designed primarily for DFIGs FERC 661-A : 0% nominal voltage

Impedance divider is the most common technique and is outlined in the IEC Standard Every country and/or regulatory authority has their own LVRT/ZVRT withstanding curves
IEC 61400-21 Tolerance of voltage drop (50 Hz)

25

Fault Ride-Through (FRT) Withstanding Curves from Around the World

Modified to reflect the present FERC standards from: Grid Code Requirements for Large Wind Farms: A Review of Technical Regulations and Available Wind Turbine Technologies M. Tsili, Ch. Patsiouras, S. Papathanassiou

26

High Voltage Ride Through (HVRT) Requirements

Highest HVRT Limits: Hydro Qubec: Supplementary requirements for wind generation May 2003
1.25 < V < 1.40 p.u.* V > 1.40 p.u.* tmax = 0.10 s tmax = 0.03 s

* Power electronics allowed to temporarily block above 1.25 pu.

High voltage ride-through poses an inefficient use of resources without utilization of transformer voltage taps. Proposed solution includes +10 % high voltage taps on the step-up transformers to achieve 1.45 pu undistorted overvoltage.
27

Fault Induced Delayed Voltage Recovery (FIDVR)

Predominately caused by the stalling and subsequent tripping of a high penetration of line connected induction motors. Built in HVRT capabilities makes simulation of this type of event possible
WECC Fault Ride-Through boundaries 28

Why Hardware-In-the-Loop (HIL)?

As distributed generation and renewable energy devices become larger and more common, these devices will have a significant role to play in power system stability

The power grid is a complex dynamic system that is difficult and costly to replicate for testing purposes
HIL places the device under test (DUT) onto a virtual grid where disturbances are simulated in real-time and creates a closed-loop dynamic system
The DUT actually influences the virtual system, which is critical for testing interactions with soft grids

HIL allows for simulation of the complex power system model with:
A high degree of reconfiguration (tie lines, transformers, outages, etc) Easily variable power levels and load flows Contingency analysis and cascading outages

29

How HIL Testing Works

The proposed Simulated Grid with Hardware-In-the-Loop capabilities takes traditional power system compatibility testing with voltage sag generators and TNAs to the next logical step by combining them into one system

Basic principle of interfacing a device to a power system consists of:

The power system presenting a voltage and frequency to the device and The device in turn delivers current to or absorbs current from the power system

Due to the dynamics of the power system and the multitude of devices connected to it, the interaction of this voltage and current relationship can be complex. This is especially true during disturbances on the power system.

HIL Testing allows:

The actual device under test to influence the voltage at the terminals by the manner in which it draws current from the simulated grid For the stiffness of the simulated grid to be controlled

Thus a HIL testing environment requires:

Simulating a large scale transmission or distribution system in real-time Accurately create the proper voltage to present to the device under test Incorporating the current from the device back into the simulated power system
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HIL with a Real-Time Digital Simulator (RTDS)

Simulated Power System
Commanded Voltage from Simulation HIL Test System Output Voltage

Device Current Feedback

The closed-loop system allows the DUT behave as if it were actually connected to the power system being simulated
31

Device Under Test

HIL Testing Present and Future Benefits

Ability to replicate virtually any transmission or distribution system worldwide, making the testing possibilities endless

Design capacity (15 MW) allows for testing of devices to scale, scaled devices of even higher power levels or smaller paralleled units
Extensive testing of hardware and software to meet safety and quality assurance requirements through full integrated system testing. Parallel model verification and validation

Development

Demonstration

Verification

Envisioned Progression of HIL Testing Benefits

HIL Testing Capabilities Wind

Wind Farm Modeling
Classic lumped WTG stability study Disturbances external to the farm
Simulated Grid Bus

Collector Bus Modeling

Model several WTGs in parallel Disturbances internal to the farm

Parallel Model Verification

Present the same test case to both a simulated machine and the actual WTG under test

Wind Farm and Collector Bus Experiments

Application Specific Issues

Offshore versus land based Stiff versus weak grid conditions

Parallel Model Verification 33

HIL Testing Capabilities Energy Storage

Four quadrant power flow capabilities allows for a number of HIL testing possibilities not normally available in this power range.

HIL testing allows for the combination of several testing scenarios into a single event with real world dynamics
Testing of energy storage for grid compatibility would include both charging and discharging characteristics and the rate of change between charging and discharging based upon grid requirements. Possibilities for energy storage in supporting the power system and providing ancillary services
Real power support Frequency regulation Reactive power support Active voltage regulation

34

35

Amplifier Topology And Filtering Options

Initial Design Specifications:
4 Quadrant Operation 20 MVA Capacity Voltage range: 0 to 133% nominal Voltage accuracy within 0.5% fundamental only Imbalance capable Frequency range 45 to 65 Hz Less than 3 % Total Harmonic Distortion (2nd 100th Harmonic)

Three-level converter (3-L NPC converter)

Dominant technology in the MW motor drive market Switching frequency = 2 X chopping frequency (500 1000 Hz) Harmonic evaluations and HIL testing would be limited by low frequency harmonics produced by this type of converter Large sine filter required to meet THD needs
36 36

Multilevel Topology: Series Connected H-Bridge

Multilevel topology requires significantly less filtering

Less filtering allows for better control of dynamic transitions and low order harmonic components
Possible for the multilevel architecture to accommodate higher switching frequencies for increased voltage accuracy Switching duties are split between many different devices with smaller voltage rises Reserve capacity voltage levels allow for more leeway in dynamic simulations and HVRT
THDv = 9.8 % Fs = 600 Hz 13 total levels
THDv = 36.9 % Fs = 600 Hz

Ideal Line Voltage Output: 3-Level NPC Converter (top) and Multilevel Converter (bottom): Fs per switching 37 device = 600 Hz

Series Connected H-Bridge (SCHB) topology

Independently derived DC supplies for each H-Bridge module with full regenerative capabilities Base power consists of 3 slices to provide 7 level operation Additional slice is used to provide over voltage capabilities Topology is naturally capable of accommodating 4 wire operations
4 power slices per amplifier
38

Power Module
C

Isolation Transformer

Active Front End Input

DC Bus

Single Phase Output

Individual power module with three phase input single phase output

Phase Shifted Carrier PWM (PSCPWM)

Phase Shifted Carrier Advantages
High degree of harmonic cancelation due to multilevel architecture Increased reference sampling fidelity

Sampling fidelity can be further increased by using asymmetrical sampling of each individual carrier

Preliminary simulations show promising results with 2 kHz switching frequencies First noise mode is at 16 kHz (Fs x 2 x Carriers) Reference resolution also at 16 kHz using asymmetrical sampling 39

Complete Amplifier Layout

40

41

Present State of the Art of Fault Ride-Through

FRT Container: FGH Test Systems GmbH
Commercial containerized solutions for field testing High amount of fault duty available due to typical collector bus designs Manually tapped reactors used to set the voltage depth Fixed source voltage limits realistic slow voltage recoveries

ABB Factory Testing Facility

Utility connection used for 50 Hz and an 8 MVA synchronous generator for 60 Hz Motor driven no load tap changers used on oil filled reactor banks Designed to test a 2 MW machine

Vestas and NWTC (Converter Only)

Converter must handle DUT fault duty Converter topologies limit more refined testing scenarios

FGH Test Systems GmbH Web Flyer Electrical 42 One-line (top) and Reactor container (bottom)

FRT Container Implementation Issues in a Test Lab

Short circuit duty is a practical implementation problem! Facility short circuit duty is limited A secondary source of reactive power is preferred to drive the FRT equipment Economics and feasibility drive the secondary VAR source design Converter driven VARs have control advantages

Designing for a limited SC Duty SSC-Base = 15 MVA Summation of XS and XF 1 pu Include overhead to allow for fault voltage and small short circuit duty adjustments
* Assuming IWTG = 0 A

43

FRT Options with the HIL Grid Simulator

The combination of a power converter and reactive divider provides several different testing options. Vector control of the reactive divider can yield increased performance with low SC ratios (SDUT/SFault) Improved bypass breaker transitions with flux management In-Fault voltage control (especially for fault VAR supporting devices)

Reactive Divider Uncontrolled

Well established method Trial and error method with low SC ratios

Converter Only
More flexible test method Exposes converter to DUT fault duty

Controlled Reactive Divider

Increased In-Fault voltage accuracy Allows for high DUT fault duties
44

Preliminary LVRT Reactive Divider Schematic

45

All fault types are possible

46

Reactive Divider Fault Simulation Process

Step 1: Pre-Insertion

Step 2: Bypass Disabled

47

Reactive Divider Fault Simulation Process

Step 3: Fault Close

Step 4: Fault Clear

48

Reactive Divider Fault Simulation Process

Step 5: Bypass Enable

Step 6: Locked Out

49

Semi-Controlled FRT Zero Voltage Example

7.5 MVA synchronous generator operating at unity PF 12 MVA reactive divider fault duty Zero voltage set-point

50

Semi-Controlled FRT Zero Voltage Example

7.5 MVA synchronous generator operating at unity PF 12 MVA reactive divider fault duty Zero voltage set-point

51

Semi-Controlled FRT Zero Voltage Example

7.5 MVA synchronous generator operating at unity PF 12 MVA reactive divider fault duty Zero voltage set-point

52

Inductor Sizing for Voltage Depth

The second iteration of the reactive divider has greatly simplified the design and utilizes a slightly different inductor Inductor sizing calculated to work at 60 Hz (24kV) and 50 Hz (22kV) with a 15 MVA rating Inductance can be stepped in approximately 5% increments ( 5 mH taps on a 90 mH base) Total of 12 inductors (4 on each phase)

53

Mutual Inductances and Peak Attraction Forces

Though at first thought to be an issue, it was found that mutual inductance is negligible (on the order of 10-4H) with only a few centimeters of spacing. The mutual inductance can be diminished farther by mounting the inductors axes parallel rather than coaxially.

Aluminum racking can be used to mitigate the effects of induction heating to adjacent ferrous building materials. Any racking needs to be designed to the expected forces created by the magnetic fields. 54

Inductor Design and Ratings

Mutual inductance and peak attraction force calculations are verified with FEM tools and will be expanded into 3D Inductor thermal ratings must be designed to meet facility specifications and will verified with FEM tools

Preliminary inductor rating curve

3D FEM analysis of inductor design 55

Chopping Current and Snubbing

Vacuum circuit breakers tend to have fast arc extinction With inductive loads, the transient recovery voltage becomes a concern and surge arrestors alone may not be sufficient The RC snubber circuits are being looked into meet or exceed the TRV and RRRV IEEE/ANSI standards.

Snubber design must also account for parallel resonances and may require an overdamped solution
56

57

Step-Up Transformer Options

Goal: To provide 3 wire and 4 wire operation of the amplifier
3 wire operation during FRT testing with the reactive divider more evenly loads the amplifier during unsymmetrical ground faults 4 wire operation allows for the simulation of distribution systems with zero sequence voltages
Yy Open Corner Delta: 3 winding transformer

An open corner delta tertiary winding could allow for zero sequence current isolation from the amplifier if closed
The zero sequence impedance could be adjusted with series impedance

Challenging design with respect to:

Over voltage requirements and HVRT needs 50 and 60 Hz operation needed Reactive divider amplifier loading and flux management
58

Yy-d Transformer 3 Limb Core

A 3 limb core may not require an open corner delta
The tank could provide a phantom delta during ungrounded Wye operation

Zero sequence voltage would require significant magnetizing current

59

Yy-d Transformer 5 Limb Core

A 5 limb core with an open delta provides two distinct advantages
The delta impedance can be designed into the transformer Side limbs allow for zero sequence flux to flow through a low reluctance path

60

61

Preliminary Control and DAQ Block Diagram

HIL Grid Simulator Hardware and Control Components

62

HIL Grid Simulator Control

There exists a wide area of research and development associated with the timing, data logistics, and control algorithms that will improve the performance of hardware-in-the-loop simulations. AC systems contain a broad spectrum of frequencies and the closed loop delay time will result in a phase shift that varies with frequency Because HIL is an online dynamic simulation, the controller must be deterministic and only has one attempt at getting being correct.
HIL Grid Simulator Interface Controller (FPGA Based)
RTDS Voltage Output Predict Voltage Trajectories (Error + VREF) Output PWM to Converter with time coordination Generate Trajectory Errors

Filtering and Stability Assessment

Optimize PWM for Reference Trajectory

Current and Voltage Feedback

63

Interface Controller: Proposed HIL Interface Compensation

Interface compensation with respect to Hardware-In-the-Loop applications involves accounting for the non-ideal output impedance of the amplifier The interface controller serves as a wrapper for the HIL simulation

Interface Compensation Control Flow Block Diagram

Interface Compensation Control Schematic

64

Interface Controller: Proposed HIL Interface Compensation

Pure Sinusoidal Reference Added Harmonic Content (5th and 7th)

65

Thank You

66