Design and Implementation of a Hierarchical Digital Twin for Power Systems Using Real-Time Simulation
Abstract
:1. Introduction
1.1. Motivation
1.2. Digital Twin Overview and Applications
1.3. Concept of Hierarchical Digital Twins to Improve Simulation Quality
- Extension of measurement data regarding dynamic behavior;
- Continuous online adaption of model parameters with observer algorithms;
- Hardware-in-the-Loop coupled with real-time simulation to provide an online emulation of the physical system;
- Digital snapshots of grid situations for commissioning and operation;
- Vendor-agnostic real-time simulation system for Digital Twin setup.
2. Setup and Applications of Hierarchical Digital Twins
2.1. System Setup and Communication Links
2.2. Real-Time Interface and HiL-Coupled Real-Time Simulation
3. Implementation of Key Components of the Real-Time Interface
3.1. Communication and Signal Exchange
3.2. Observer-Based Modeling of Grid Nodes
- (1)
- UKF is initialized as follows:
- (2)
- Time update equations are the following:
- (a)
- Computing of sigma points
- (b)
- Obtain priori state estimate and error covariance
- (3)
- Measurement update equations are the following:
3.3. Hardware-in-the-Loop Real-Time Simulation Configuration
4. RTI Implementation into a Laboratory Test Bench
4.1. Simulation Setup
4.2. Grid Scenario and Focus of Investigations
5. Results in Laboratory Setup
5.1. Results of the DT Grid: Steady-State Conditions
5.2. Results of the DT Grid: Dynamic Behavior
5.3. Time Delays for Communication and Processing Grid Information
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Ruhe, S.; Schaefer, K.; Branz, S.; Nicolai, S.; Bretschneider, P.; Westermann, D. Design and Implementation of a Hierarchical Digital Twin for Power Systems Using Real-Time Simulation. Electronics 2023, 12, 2747. https://doi.org/10.3390/electronics12122747
Ruhe S, Schaefer K, Branz S, Nicolai S, Bretschneider P, Westermann D. Design and Implementation of a Hierarchical Digital Twin for Power Systems Using Real-Time Simulation. Electronics. 2023; 12(12):2747. https://doi.org/10.3390/electronics12122747
Chicago/Turabian StyleRuhe, Stephan, Kevin Schaefer, Stefan Branz, Steffen Nicolai, Peter Bretschneider, and Dirk Westermann. 2023. "Design and Implementation of a Hierarchical Digital Twin for Power Systems Using Real-Time Simulation" Electronics 12, no. 12: 2747. https://doi.org/10.3390/electronics12122747