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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 – – – – – • Ship Power System – 8 projects – – – – – – – – • 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