Here is where the concept of the Digital Twin (DT) come into picture. For this reason, a digital version of the dynamic hardware emulator is needed. Furthermore, some critical operating conditions may be difficult to achieve due to the high potential in damaging the hardware of the setup, which is costly. Despite the enormous and valuable benefit in emulating power system dynamics through a DHEPS, the starting of the emulator can be very time-consuming at some point due to the sequential procedures to put in operation the different components involved, which may hinder its exploration under a broad range of operating scenarios and disturbances. In order to carry out lab research and have a hardware platform for the physical testing and evaluation of different power system solutions as close as possible to reality, a dynamic hardware emulator of an electrical power system (DHEPS) was built in.
Therefore, taking into account the aforementioned issues and the ever-increasing complexity of power systems, innovative concepts and advanced control structures are required to guarantee the stability of modern grids. In addition, since large renewable power plants are usually located far away from major load centers and power has to be transmitted over long distances, the system may be pushed to its transmission limits and different challenging problems related to low-damped inter-area oscillation modes can also appear. For example, the overall increasing penetration of new renewable energy sources (such as wind and solar power) is strongly affecting and changing system’s dynamics, and consequent issues such as the reduction of the overall amount of inertia have to be timely addressed to keep the system stable. Electric power systems are already the backbone of today’s society, and the importance and value of their reliable operation will increase even more due to emerging trends. The continuous growth of the world’s population, as well as the transition into a more sustainable behavior of the society that involves for example the shift to the E-mobility paradigm and the use of more environmentally friendly heating systems, increase the consumption of electric energy dramatically. This controller was then implemented and tested within the dynamic hardware emulator in the laboratory. Furthermore, a case study is presented where the digital twin was used to design a controller to damp inter-area oscillations with the help of wide area measurements. Static and dynamic accuracy have been investigated and an overall good accuracy can be shown with the help of quantification of errors. To build the simulation model, the parameters of involved synchronous machines, excitation systems, prime movers and transmission lines have been identified and then compared to laboratory measurements to assess the accuracy of the digital twin.
Therefore, this paper presents a digital twin of a dynamic hardware emulator that can be used for controller hardware in the loop (CHIL) testing and is based on a small-scale laboratory system. To deal with different operating and control issues in this sense, and support actual needs, advanced tools and solutions are required. The increasing deployment of new technologies to contribute to the decarbonization of power systems is imposing new challenges in terms of system dynamics and stability.
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