Hardware in the Loop Test for Relay Model Validation

Sunil Palla, Student Member, IEEE, Anurag K Srivastava, Member, IEEE and Noel N. Schulz, Senior Member, IEEE
hardware in the loop test for relay model validation using National Instruments (NI) products. National Instruments products are compatible with LabVIEW graphical programming language. LabVIEW programming language is user friendly and is used to develop complex measurement and control applications very quickly and easily [5]. Moreover NI instruments are less expensive with a wide variety of features. Simulation Interface Toolkit (SIT) was used to communicate between Simulink model and PXI controller [6]. The research work is continuation of work done in [7] and there is a parallel effort using different real-time simulation tools [8]. The power system in simulation and the device are coupled at a low voltage level, and digital/analog signals are exchanged at the interface. Thus, taking the signal output from the simulation and using them as input for the device being tested can test the controller. The output from the device being tested is then fed back into the simulation, thereby affecting the simulation in real time. II. DESIGN PROCEDURES OF HIL TEST WITH NATIONAL INSTRUMENTS (NI) The design procedure of HIL test includes: i) Model development of power system and relay, ii) Software models in the loop test, iii) Hardware interface test, and iv) Hardware in the loop test implementation. In the first stage, both the power system and relay models are prototyped in the software simulation. In the second stage, a loop is formed using simulation models of the power system and relay. For a fault on the power system, the relay model generates the trip signals. This trip signal is fed back to the circuit breaker present in the power system and the response of the system is observed. In the third stage, a hardware interface test is conducted. In this part, the communication capability of NI PXI-8196 (PCI (Peripheral Component Interconnect) extensions for Instrumentation) controller and data acquisition device NIPXI-6251 are tested. The NI PXI-1042Q is an 8-slot chassis. The NI PXI-8196 controller is installed in the system controller slot of NI PXI-1042Q chassis. NI PXI-8196 is a high performance real time embedded controller. It has VGA (Video graphics array) port, Serial and Parallel ports, Ethernet, USB (Universal Serial Bus), GPIB (General Purpose Interface Bus), Express Card/34 module. The NI PXI-6251 is a M-series multifunctional data acquisition device. When satisfactory performance on the Hardware interface test is obtained, the controller under test (SEL-351S) is ready for the final hardware in the loop test. Figure 1 shows the design procedure

Abstract Future naval ships requires significantly larger amount of energy and power due to loads as pulse weapons and Electromagnetic Aircraft Launch System (EMALS). Modeling and simulation in different conditions are needed for better design of future Shipboard Power System (SPS). Hardware in the Loop (HIL) simulation is often used to understand the behavior of a new device, or to predict an outcome under different system conditions without knowing the detail of device design. This paper presents a design procedure of HIL test for power system modeling and simulation using Simulink and National Instruments (NI) equipments. A HIL simulation refers to a system in which parts of a pure simulation have been replaced with actual physical components. Additionally, a HIL test could help to build a model and validate a model of a new device. Thus a HIL test provides a testing platform for power devices. Design procedure for the HIL test and simulation results obtained by interfacing a power system with the relay model built in Simulink with NI equipment have been presented. Index Terms Hardware in the Loop, Overcurrent Relay, Model validation, Electric Ship.
I.

INTRODUCTION

eal-time Hardware in the Loop (HIL) simulation is becoming an essential simulation tool for engineering design, especially in protection equipment, automotive, controls, and power electronics design [1]. HIL simulation refers to a system in which parts of a pure simulation have been replaced with actual physical components. HIL helps in building an ideal model and validate the model for a new device [2,3,4]. Shipboard Power Systems (SPS) consists of various vital devices such as generators, relays, and pulse loads. SPS have unique characteristics and these devices have to be tested under different conditions. The HIL test provides a platform to test the performance of the equipment under different conditions and obtain its response. The main purpose of this project is to validate the relay model for a Schweitzer Engineering Laboratories (SEL)-351S directional over-current relay by performing a HIL test. The validated relay model can be used in the modeling of Shipboard Power Systems (SPS). This paper presents the
This work was supported by ONR funds N00014-02-1-0623. Sunil Palla (skp89@ msstate.edu), Dr. Anurag K Srivastava (corresponding author, 662-325-5858, srivastava@ece.msstate.edu) and Dr. Noel N Schulz (schulz@ece.msstate.edu) are with the Department of Electrical and computer Engineering, Mississippi State University, Box 9571, Mississippi State, MS 39762 USA.

1-4244-0947-0/07 $25.00 2007 IEEE.

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of HIL test. Figure 2 shows the block diagram of HIL test. In order to demonstrate the HIL test, a power system model was developed in Matlab/Simulink. LabVIEW graphical programming language was used to interact with NI PXI controller. Software model development.

A_driver_baseVI. We can set the parameter values using the front panel of the VI rather than using a host VI and the SIT server [6].
SIT Server Matlab LabVIEW

NI PXI Controller

Software models in Loop Test

M. VI

SIT Server Hardware Interface Test

A.dll

Relay

Fig. 2: Block diagram of HIL test. Hardware in the Loop Test Fig. 1. Design procedure of HIL test To run a Simulink model on a Real Time (RT) target, there is a need to convert that model into a Dynamic Link library (DLL) that LabVIEW can call. Advantages of DLL include saving memory and reduction of swapping; easier upgrading and modifications to the DLL; as well as greater development environment support. To create a model DLL, Real-Time Workshop converts the Simulink model and any of its submodels into C code. Then Microsoft Visual C++ compiles the C code into a model DLL named A.dll, where A is the name of the Simulink model. The Simulation Interface Toolkit (SIT) provides methods for creating a LabVIEW user interface for a Simulink model, converting a Simulink model into a DLL, and running a Simulink model on an RT target. The RT target here is a NI PXI-8196 controller. Converting a Simulink model into A.dll will result in creating a simulation model, which can run on an RT target. SIT server creates M.VI (Model Virtual Instrument) and D.VI (Driver Virtual Instrument), which are used to communicate with A.dll. Using the host VI, the M.VI and the A.dll are downloaded to an RT target. Adjusting the controls in the host VI can modify the parameters of the A.dll. The M.VI starts the SIT server on an RT target, calls a driver VI that calls the A.dll, and then stops the SIT server when the simulation stops. The D.VI interacts with the A.dll and exchange parameter information between the host VI and the A.dll on the Real Time target. We can switch the LabVIEW execution target and run LabVIEW on an RT target when we do not need to use a front panel to communicate with the simulation model. When we convert the simulation model into an A.dll, the SIT server automatically generates D.VIs that does not require the SIT server to run the simulation on the RT target. The D.VIs relating to this function are A_daq_driver_base VI and III.
MODELING OF POWER SYSTEM AND RELAY

The power system was modeled in MATLAB/ Simulink as shown in figure 3. The power system model is a two-bus system. The generator has a line-to-line voltage of 500 kV. The load is a general three phase series RLC load. Phase A fault is present on the system at 50% of the transmission line length. The breaker receives an external signal. This external signal comes from the controller under test (directional overcurrent relay 351-S). When the fault happens on the system, it will be detected by the relay and the trip signal is sent back to the breaker resulting in tripping of the circuit. Figure 4 depicts an instantaneous overcurrent relay model for transmission line protection. An instantaneous overcurrent relay is a comparator in which the magnitude of the relay input current is compared with the threshold (Pickup setting) value to check the fault status in the power system. This Simulink relay model can be divided into three parts as shown in figure 4. Part A is for conversion of analog input signals to digital signals. Part B is for filtering and phasor calculation and Part C is for comparator to check the status of the power system, determining whether a fault occurred in the system or not. A Current Transformer (CT) of 600:5 transformation ratio is used. After having the relay input signals, the complete model of microprocessor based instantaneous overcurrent relay is developed using ZOH (Zero-order Hold), Comparator, and OR gate models. In this project, SEL-351S relay is used. This SEL-351S is a Directional Overcurrent relay. Generally, the setting range for pickup settings (threshold) of SEL-351S relay is: 0.25 - 100.00 Amperes secondary (5 A nominal phase current inputs, IA, IB, IC). 0.05 - 20.00 Amperes secondary (1 A nominal phase current inputs, IA, IB, IC)[9]

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Fig. 3. Power System modeling in Matlab/Simulink.

Fig. 4. Instantaneous Overcurrent Relay Model in Matlab/Simulink. the power system in LabVIEW program. The block diagram code consists of three main sections. The code to initialize the simulation, the code to set the parameter values, and the code to receive indicator updates from the simulink model. The front panel of the power system LabVIEW VI (Virtual Instrument) contains all the necessary controls and indicators to interact with the A.dll. The parameter and value fields are used to modify the parameters for the A.dll. The name of the A.dll automatically appears in the A.dll text box in the front panel.

IV. SIMULATION RESULTS The developed models of power system and relay were used to simulate software model in the loop test. Figure 5 shows the response of the power system obtained with this test. A fault occurs on Phase A and the breaker generates an internal signal to clear the fault to imitate as if an actual relay is sending the trip signal. The first graph represents the threephase voltage at the generator end. The second graph shows the three-phase voltage at transmission line. The third one shows the generator current and the fourth graph depicts the line current. Figure 6 shows the LabVIEW user interface for the power system model. The upper part of the figure shows the block diagram and the lower part depicts the front panel of

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Fig. 5. Simulation result of Power System.

Fig. 6. Block Diagram and Front Panel for LabVIEW Power system program. V. HARDWARE INTERFACE TEST AND FUTURE HIL TEST In the Hardware Interface Test, we are testing the NI PXI controller interface with other components before conducting the actual HIL test. In this Hardware Interface Test, the power system model is downloaded into the NI PXI- 8196 Controller. A Cathode Ray Oscilloscope (CRO) is connected to analog output pins of NI PXI-6251 DAQ device through the SCB-68 (Shielded I/O Connector block for DAQ devices with 68-pin connectors) interconnector. The voltage and current response of the power system is observed in the CRO. A function generator waveform is assumed to be similar to the trip signal of the SEL relay. The function generator is connected to analog input pins of NI PXI-6251 through an SCB-68 interconnector. Trip signals are sent from the function generator to the power system and the impact of the function generator waveform on the power system is seen in an oscilloscope. By this test we can interpret as if actual relay is sending control signals into the power system. Figure 7 shows the hardware interface test.

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The future HIL configuration is shown in figure 8. The upper part of the figure depicts NI PXI Controller and the Lower part of the figure depicts SEL 351-S Relay. The HIL test will lead to a testing platform for an SEL relay, and also, this algorithm can be exported for any other device testing.

Software implementaion and hardware interface tests has been done succefully. Future work is to transfer this power system model into the NI PXI controller and conduct the relay HIL test. MSU researchers are investigating different modeling tools and real-time simulation platforms to understand the types of tools necessary for improving the design and operational aspects of the all-electric ship. By combining the protection system and power system in a simulation environment, we plan to investigate optimization with the integration of these two systems. VII. ACKNOWLEDGEMENTS The authors would like to acknowledge the Office of Naval Research for its support of these research activities through grant funds N00014-02-1-0623. VIII. REFERENCES
[1] B. Lu, The Real-Time Extension of the Virtual Test Bed: A MultiSolver Hard Real-Time Hardware-In-the-Loop Simulation Environment, Masters thesis, Department of Electrical Engineering, University of South Carolina, Columbia, SC, 2003. J. Wu and N. N. Schulz, Experimental Design for Remote HardwareIn-the-Loop testing, Proceedings of ASNE Reconfiguration and Survivability Symposium, Jacksonville, Florida, Feb. 2005. S. Ayasun, S. Vallieu, R. Fischl, and T. Chmielewski, Electric machinery diagnostic/testing system and power hardware-in-the-loop studies, 4th IEEE International Symposium on Diagnostics for Electric Machines, Aug. 2003, pp. 361 366 S. Ayasun, S. Vallieu, R. Fischl, and T. Chmielewski, SimulationStimulation Interface for Hardware in-the-Loop Studies, Proceedings of the MED POWER, Athens, Greece, November 2003 NI LabVIEW. Available on website: http://www.ni.com/LabVIEW/whatis/ Simulation Interface Toolkit Server User Guide. Available on website: http://zone.ni.com/devzone/cda/tut/p/id/3583 Jian Wu, Yong Cheng, Anurag K Srivastava, Noel N. Schulz, Herbert L. Ginn III Hardware in the Loop Test for Power System Modeling and Simulation, IEEE PES Power Systems Conference and Exposition, PSCE, 2006 Oct. 29-Nov. 1 2006, pp. 1892 1897. Yujie Zhang, Jimena Bastos, Noel N. Schulz and Daxa Patel, Modeling and Testing of Protection Devices for SPS using MATLAB/Simulink and VTB, Proceedings of the IEEE Electric Ship Technologies Symposium, 2007, June 2007, in press. SEL-351S relay Instructional Manual, Available on website: http://www.sel-inc.com

[2] [3]

[4] [5] [6] [7]

Fig. 7. Hardware Interface Test

[8]
Power System Measurement

Break Control

[9]

IX. BIOGRAPHIES
Sunil Palla is pursuing his masters degree since 2006 in Electrical and Computer Engineering at Mississippi State University (MSU). He received B.Tech. from Chaitanya Engineering College affiliated to Jawaharlal Technological University, Andhra Pradesh, India in 2006. He is member of IEEE and his fields of interest include power system modeling and simulation and Power System Protection. Anurag K. Srivastava received his Ph.D. degree from Illinois Institute of Technology (IIT), Chicago, in 2005, M. Tech. from Institute of Technology, India in 1999 and B. Tech. in Electrical Engineering from Harcourt Butler Technological Institute, India in 1997. He is working as Assistant research professor at Mississippi State University since September 2005. Before that, he worked as research assistant and teaching assistant at IIT, Chicago, USA and as Senior Research Associate at Electrical Engineering Department at the Indian Institute of Technology, Kanpur, India as well as Research Fellow at Asian Institute of Technology, Bangkok, Thailand. His research interest includes power system security, real time simulation, power system modeling,

Fig. 8. Future HIL test with Relay VI.

SUMMARY AND FUTURE WORK

Design procedure and simulation results obtained through Hardware in the Loop (HIL) test for SEL-351S relay have been presented. Hardware in the Loop test facilitates the testing of system in different conditions and helps to facilatate better designs for shipboard power system. The response of power system model and realy model designed in Matlab/Simulink and LabVIEW interfaces to communicate with the power system model are presented in this paper.

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power system deregulation and artificial intelligent application in power system. Dr. Srivastava is member of IEEE, IET, Power Engineering Society, Sigma Xi and Eta Kappa Nu. He is recipient of several awards and serves as reviewer for IEEE Transaction on Power System, international journals and conferences. Noel N. Schulz received her B.S.E.E. and M.S.E.E. degrees from Virginia Polytechnic Institute and State University in 1988 and 1990, respectively. She received her Ph.D. in EE from the University of Minnesota in 1995. She has been an Associate Professor in the ECE department at Mississippi State University since July 2001.She currently holds the TVA endowed professorship in power systems engineering. Prior to that she spent six years on the faculty of Michigan Tech. Her research interests are in computer applications in power system operations including artificial intelligence techniques. She is a NSF CAREER award recipient. She has been active in the IEEE Power Engineering Society and is serving as Secretary for 2004-2005. She was the 2002 recipient of the IEEE/PES Walter Fee Outstanding Young Power Engineer Award. Dr. Schulz is a member of Eta Kappa Nu and Tau Beta Pi.

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