Submitted by Renata Lopes (renatasil82@gmail.com) on 2017-04-25T15:30:19Z No. of bitstreams: 1 rodrigoarrudafelicioferreira.pdf: 7303630 bytes, checksum: 971316c74f1313f54e1c09c837c93e74 (MD5) / Approved for entry into archive by Adriana Oliveira (adriana.oliveira@ufjf.edu.br) on 2017-04-26T12:05:46Z (GMT) No. of bitstreams: 1 rodrigoarrudafelicioferreira.pdf: 7303630 bytes, checksum: 971316c74f1313f54e1c09c837c93e74 (MD5) / Made available in DSpace on 2017-04-26T12:05:46Z (GMT). No. of bitstreams: 1 rodrigoarrudafelicioferreira.pdf: 7303630 bytes, checksum: 971316c74f1313f54e1c09c837c93e74 (MD5) Previous issue date: 2015-03-13 / CAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Este trabalho apresenta um estudo sobre alguns dos aspectos relacionados às microrredes em corrente contínua, uma alternativa para utilização de fontes renováveis de energia em sistemas de geração distribuída. Considerando que a manutenção da tensão no barramento principal das microrredes, no qual as fontes e as cargas são conectadas, é uma das questões mais importantes para a operação de modo satisfatório destes sistemas, um sistema de controle descentralizado de tensão integrando técnicas de controle por droop de tensão e de controle por modos deslizantes é proposto. Uma microrrede CC de 10 kW conectada à rede CA e composta por arranjos fotovoltaicos e bancos de baterias, dimensionada para atender uma parcela das cargas eletrônicas e de iluminação do Instituto Federal de Educação, Ciência e Tecnologia – Campus Juiz de Fora, é modelada e simulada em tempo real utilizando o conceito de simulação CHIL. Resultados experimentais utilizando controladores externos como dispositivos em teste são utilizados para analisar o comportamento do sistema em diferentes condições e para validação da metodologia proposta. Além disso, é apresentado um estudo das técnicas de análise de estabilidade de tensão para sistemas em corrente contínua. Por fim, é apresentada uma metodologia baseada em síntese de elementos reativos utilizando conversores estáticos para estabilização ativa de sistemas CC simplificados, contendo uma fonte e uma carga do tipo potência constante. / This work presents aspects related to DC microgrids, an alternative way of using renewable energy sources in a decentralized fashion. Whereas the maintenance of the microgrid main bus voltage, in which the sources and loads are connected, is one of the most important issues for the satisfactory operation of these systems, a novel methodology for regulating DC bus voltage integrating voltage droop control and sliding mode control techniques is proposed. A grid-connected 10 kW DC microgrid containing photovoltaic arrays and a battery bank, sized to meet a portion of electronic and lighting loads of the Federal Institute of Education, Science and Technology - Campus Juiz de Fora, is modeled and simulated in real time using the concept of CHIL simulation. Experimental results using external controllers as hardware under test are used to analyze system behavior under different conditions and to validate the proposed methodology. Furthermore, a study regarding voltage stability analysis techniques applied to DC systems is presented. Finally, a methodology based on synthesis of reactive elements using static converters for active stabilization of simplified CC systems, containing one source and one constant power load, is presented.

Submitted by Geandra Rodrigues (geandrar@gmail.com) on 2018-03-27T15:05:33Z No. of bitstreams: 1 dalmocardosodasilvajunior.pdf: 7879052 bytes, checksum: 389a4104e77ceeccf54e988e08d73109 (MD5) / Approved for entry into archive by Adriana Oliveira (adriana.oliveira@ufjf.edu.br) on 2018-03-27T17:57:39Z (GMT) No. of bitstreams: 1 dalmocardosodasilvajunior.pdf: 7879052 bytes, checksum: 389a4104e77ceeccf54e988e08d73109 (MD5) / Made available in DSpace on 2018-03-27T17:57:39Z (GMT). No. of bitstreams: 1 dalmocardosodasilvajunior.pdf: 7879052 bytes, checksum: 389a4104e77ceeccf54e988e08d73109 (MD5) Previous issue date: 2017-12-11 / As tecnologias de Geração Distribuída (GD), geralmente, consistem em geradores modulares (em grande maioria renováveis) que oferecem uma série de benefícios poten-ciais, além de estarem mais próximos dos consumidores finais. Embora a GD possa ter colaborações como comentado, a inserção de energias renováveis na rede elétrica pode afetar a proteção e também a estabilidade da mesma, implicando em desvios na tensão e na frequência do sistema. Um dos principais problemas enfrentados é a falta de inér-cia das energias renováveis e também o aparecimento de correntes harmônicas devido às cargas não lineares. Baseado nesse cenário, e como forma de solução dos problemas comentados, surge a pesquisa de inversores multifuncionais, capazes de não só conectar tais energias renováveis à rede elétrica, mas também oferecer suporte a ela. Os serviços ancilares incluem auxílio à estabilidade de tensão e frequência, mitigação de conteúdo harmônico, equilíbrio de geração e demanda de energia, entre outros aspectos. Dessa forma, metodologias baseadas nas implementações alternativas de controle, tais como a Máquina Síncrona Virtual e o Filtro Ativo de Potência (FAP) podem ser adotadas como soluções para esses problemas. Nessa vertente, simulações em tempo real com Hardware In the Loop (HIL) no simulador digital de tempo real (Real Time Digital Simulator) (RTDS) e processamento digital de sinal e engenharia de controle (digi-tal Signal Processing and Control Engineering) (dSPACE), são ferramentas poderosas que podem auxiliar o processo de simulação das funções ancilares analisadas. Assim, nesse trabalho, simulou-se o inversor multifuncional como forma de mostrar a efetiva regulação de tensão, frequência e diminuição do conteúdo harmônico em sistemas de potência, especialmente em microrredes de corrente alternada (CA). Por fim, os resul-tados demonstram o funcionamento do sistema e podem ser usados como validação das estratégias de controle propostas. / Distributed Generation technologies generally consist of modular (mostly renewa-ble) generators that offer a number of potential benefits, while being closer to the end consumers. Although the DG present features as commented, the insertion of renewa-ble energies in the electrical network can affect the protection and also the stability of the network, implying in voltage and frequency deviations. One of the main problems faced is the lack of inertia of renewable energies and also the appearance of harmonic currents due to non-linear loads. Based on this scenario, and as a way of solving these problems, the research of smart inverters, capable of not only connecting such renewable energies to the electric grid but also supporting it, emerges. Some ancillary services as voltage and frequency stability, mitigation of harmonic content, balance of generation and energy demand, among other aspects, can be fullfilled. Thus, methodologies based on sophisticated control implementations such as the Virtual Synchronous Machine and the Active Power Filter, can be adopted as solutions to these problems. In this aspect, real-time simulations with Control Hardware In The Loop HIL in Real Time Digital Simulator RTDS and dSPACE, are a powerfulls tool can aid the simulation process of the analyzed ancillary functions. Thus, in this work, the multifunctional inverter was simulated as a way to show the effective regulation of voltage, frequency, and harmonic content mitigation in power systems, especially in AC microgrids. Finally, the results demonstrate the operation of the system and can be used as validation of the proposed control strategies.

L'objectif de ce travail de thèse est de développer une bibliothèque de modules IPs (Intellectual Properties) de simulateurs temps réel embarqués qui simulent différents éléments d'un système électrique. Ces modules ont été conçus pour être utiliser non seulement pour une validation HIL (Hardware-In-the-Loop) des commandes numériques mais aussi pour des applications de commande embarquées, où le module IP de simulateur et le contrôleur sont tous les deux implémentés et exécutés dans la même cible FPGA. Cette nouvelle classe de simulateurs temps réel devrait être de plus en plus incluse dans la prochaine génération de contrôleurs numériques. En effet, ces modules IPs de simulateurs temps réel embarqués peuvent être avantageusement intégrés dans les contrôleurs numériques pour assurer des fonctions comme l'observation, l'estimation, le diagnostic où la surveillance de la santé. Inversement aux cas de HIL, le principal défi lors de la conception de tels simulateurs est de faire face à leur complexité ayant à l'esprit que, dans le cas des systèmes embarqués, les ressources matérielles disponibles sont limitées en raison du coût. En outre, ce problème est renforcé par la nécessité des pas de simulation très petit. Ceci est généralement le cas lors de la simulation des convertisseurs de puissance.Pour développer ces modules IPs, des lignes directrices dédiés de conception ont été proposées pour être suivies pour gérer la complexité de ces simulateurs (solveur de modèle, solveur numérique, pas de simulation, conditionnement de données) tout en tenant compte des contraintes temporelles et matérielles/coût (temps de calcul limité, ressources matérielles limitées ...).Les modules IPs de simulateurs à développer ont été organisés en deux catégories principales: ceux qui sont consacrées aux éléments électromagnétiques d'un système électrique, et ceux dédiés à ses éléments commutés.La première catégorie regroupe les éléments où les phénomènes électriques, magnétiques sont modélisés en plus de phénomènes mécaniques (pour les parties mécaniques) et des phénomènes potentiellement thermiques. Trois cas sont traités: le simulateur temps réel embarqué d'une machine synchrone triphasée, celui d'une machine asynchrone triphasée et celui d'un alternateur synchrone à trois étages. En plus de cela, les avantages de l'utilisation de la transformation delta pour améliorer la stabilité du solveur numérique lorsque un petit pas de calcul et le codage virgule fixe (avec une précision de données limitée) sont utilisés, ont été étudiés.La deuxième catégorie concerne des éléments commutés tels que les convertisseurs de puissance où les événements de commutation sont considérés. Là encore, plusieurs topologies de convertisseurs ont été étudiées: un redresseur simple alternance, un hacheur série, un hacheur réversible en courant, un hacheur quatre quadrant, un onduleur monophasé, un onduleur triphasé, un redresseur à diodes triphasé et un redresseur MLI triphasé. Pour tous ces modules IPs de simulateurs, l'approche de modélisation ADC (Associated Discrete Circuit) est adoptée.Le module IP de simulateur temps réel embarqué du redresseur MLI a été appliqué dans un contexte d'une application embarquée. Cette dernière consiste en une commande tolérante aux défauts d'un convertisseur de tension coté réseau. Ainsi, ce module IP est associé à celui d'un simulateur temps réel d'un filtre RL triphasé et les deux sont embarqués dans le dispositif de commande du redresseur pour estimer les courants de lignes. Ces courants sont injectés dans le dispositif de commande dans le cas d'un défaut de capteur de courant. La capacité de cet estimateur de garantir la continuité de service en cas de défauts est validée par des tests HIL et expérimentalement. / The aim of this thesis work is to develop an IP-Library of FPGA-based embedded real-time simulator IPs (Intellectual Properties) that simulate different elements of an electrical system. These IPs have been designed to be used not only for Hardware-In-the-Loop (HIL) testing of digital controllers but also for low cost embedded control applications, where the simulator IP and the controller are both implemented and run altogether in the same FPGA device. This emerging class of real-time simulators is expected to be more and more included in the next generation of digital controllers. Indeed, such embedded real-time simulator IPs can be advantageously embedded within digital controllers to ensure functions like observation, estimation, diagnostic or health-monitoring. Conversely to the HIL case, the main challenge when designing such simulator IPs is to cope with their complexity having in mind that, in the case of embedded systems, the available hardware resources are limited due to the cost. Furthermore, this challenge is strengthened by the need of very short simulation time-steps which is typically the case when simulating power converters.To develop these IPs, dedicated design guidelines have been proposed to be followed to manage the complexity of these simulator IPs (model solver, numerical solver, time-step, data conditioning) with regards to the timing and the area/cost constraints (computation time limit, limited hardware resources …).The simulators IPs to be developed have been organized into two main categories: those dedicated to electromagnetic elements of an electrical system and those dedicated to their switching elements.The first category gathers elements where electric, magnetic phenomena are modelized in addition to mechanical phenomena (for moving systems) and potentially thermal phenomena. Three cases are dealt with: the embedded real-time simulator of a three-phase synchronous machine, the one of a three-phase induction machine and the one of a brushless synchronous generator. Also, the advantages of using delta transformation to improve the stability of the numerical solver when short simulation time-step and fixed-point (with limited data precision) are used, have been studied.The second category concerns switching elements such as power converters where switching events are considered. Here again, several converter topologies have been studied: a half-wave rectifier, a buck DC-DC converter, a bidirectional buck DC-DC converter, a H-bridge DC-DC converter, a single-phase H-bridge DC-AC converter, a three-phase voltage source inverter, a three-phase diode rectifier and a three-phase PWM rectifier. For all these IPs, the Associated Discrete Circuit (ADC) modeling approach is adopted.The embedded real-time simulator IP of the three-phase PWM rectifier has been applied in the context of an embedded application. The latter consists of a fault-tolerant control of a grid-connected voltage source rectifier. Thus, this simulator IP is associated with the one of a three-phase RL-filter and are both implemented within the rectifier controller to estimate the grid currents. These currents are injected in the controller in the case of a current sensor fault. The ability of this estimator to guarantee the service continuity in the case of faults is validated through HIL tests and experiments.

Pour le développement des convertisseurs d’électronique de puissance, la simulation en temps réel joue un rôle essentiel dans la validation des performances des convertisseurs et de leur contrôle avant leur réalisation. Cela permet de simuler et reproduire avec précision les formes d’ondes des courants et tensions des convertisseurs de puissance modélisés avec un pas de temps de simulation correspondant exactement au temps physique. Les circuits d’électronique de puissance sont caractérisés par le comportement non linéaire des interrupteurs. Par conséquent, les représentations des dispositifs de commutation sont cruciales dans la simulation en temps réel. Le modèle au niveau système est largement utilisé dans les simulateurs temps réel du commerce et les plates-formes expérimentales, qui modélisent les comportements des interrupteurspar deux états stationnaires distincts - passant et bloqué - et négligent tous les phénomènes transitoires. Ces dernières années, la simulation temps réel au niveau du composant est devenue populaire car elle permet de simuler les formes d'onde de commutation transitoires et de fournir des informations utiles concernant les contraintes sur les interrupteurs , les pertes, les effets parasites et les comportements électrothermiques. Néanmoins, la simulation temps réel au niveau du composant est contrainte par le pas de temps transitoire réalisable en raison des quantités de calcul accrues introduites par la non-linéarité du modèle de commutation.Afin d'intégrer le modèle au niveau du composant dans la simulation en temps réel, cette thèse porte sur l'exploration approfondie des techniques de modélisation et de simulation en temps réel au niveau composantdes convertisseurs d’électronique de puissance. Les techniques de simulation en temps réel les plus récentes sont d’abord examinées de manière exhaustive, tant au niveau du système que du composant. En outre, deux approches de modélisation au niveau du composant sont proposées, à savoir le modèle haute résolution quasi-transitoire (HRQT) et le modèle transitoire linéaire par morceaux (PLT). Dans le modèle HRQT, le modèle de réseau est implémenté par une simulation au niveau système tout en générant les formes d'onde de commutation transitoires avec une résolution de 5 ns, ce qui permet de simuler le convertisseur de puissance avec des transitoires rapides jusqu'à des dizaines de nanosecondes. Compte tenu des effets des transitoires sur l’ensemble du réseau, les modèles non linéaires des IGBT et diodes sont linéarisés par morceaux dans le modèle PLT. À l'aide de techniques efficaces de découplage de circuits, le modèle du convertisseur de puissance au niveau composant peut être simulé de manière stable avec un pas de temps de simulation global de 50 ns. Les deux modèles proposés sont testés et validés via différents cas sur une plate-forme temps réel de National Instruments basée sur un FPGA, comprenant un convertisseur boost boosté entrelacé (FIBC) pour le modèle HRQT, un convertisseur DC-DC-AC pour le modèle PLT et un convertisseur modulaire à plusieurs niveaux (MMC) pour les deux. Des résultats précis sont produits par rapport aux outils de simulation hors ligne. L'efficacité et les valeurs d'application sont également vérifiées par les résultats d’essais en temps réel. / In the development cycles of the power electronics converters, the real-time simulation plays an essential role in validating the converters’ and the controllers’ performances before their implementations on real systems. It can simulate and reproduce the current and voltage waveforms of the modeled power electronics converters accurately with a simulation time-step exactly corresponding to the physical time. The power electronics circuits are characterized by nonlinear switching behaviors. Therefore, the representations of switching devices are crucial in real-time simulation. The system-level model is widely used in both commercial real-time simulators and the experimentally built real-time platforms, which models the switching behaviors by two separate steady states – turn-on and turn-off, and neglects all the switching transients. In recent years, the device-level real-time simulation has become popular since it can simulate the transient switching waveforms and provide useful information with regard to the device stresses, the power losses, the parasitic effects, and electro-thermal behaviors. Nevertheless, the device-level real-time simulation is constrained by the achievable transient time-step due to the increased computational amounts introduced by the nonlinearity of the switch model.In order to integrate the device-level model in the real-time simulation, in this thesis, the device-level real-time modeling and simulation techniques of the power electronics converters are deeply explored. The state-of-art real-time simulation techniques are firstly reviewed comprehensively with regard to both system-level and device-level. Moreover, two device-level modeling approaches are proposed, including high- resolution quasi-transient model (HRQT) and the piecewise linear transient (PLT) model. In HRQT model, the network model can be implemented by system-level simulation while generating the transient switching waveforms with a 5 ns resolution, which is good at simulating the power converter with fast switching transients down to tens of nanoseconds. Considering the effects of the transient behaviors on the entire network, the PLT model is proposed by piecewise linearizing the nonlinear IGBT and diode equivalent models. With the help of effective circuit decoupling techniques, the device-level power converter model can be simulated stably with a 50 ns global simulation time-step. The proposed two models are tested and validated via different case studies on National Instruments (NI) FPGA-based real-time platform, including floating interleaved boost converter (FIBC) for HRQT model, DC-DC-AC converter for PLT model, and modular multi-level converter (MMC) for the both. Accurate results are produced compared to offline simulation tools. The effectiveness and the application values are further verified by the results of the real-time experiments.

Les travaux présentés dans ce mémoire portent sur les convertisseurs continu-continu (DC/DC) pour les réseaux de transport à Courant Continu (HVDC) dans un contexte de réseau maillé de type Multi Terminaux DC (MTDC). Dans ce genre de réseau, les convertisseurs DC/DC sont nécessaires pour interconnecter ces réseaux. L’objectif de ce travail est donc d’étudier un convertisseur DC/DC pour des applications à haute tension et forte puissance. De nombreux convertisseurs DC/DC classiques existent, mais ne sont pas adaptés à ces niveaux de tension et puissance. Le volume et coût sont les points clés de l’étude pour l’industrialisation des structures dédiées aux réseaux HVDC. Parmi les structures identifiées, le convertisseur DC-DC Modulaire Multiniveaux (M2DC), récent et compact, a été finalement choisi. Le travail proposé développe l’étude du M2DC en régime établi et une modélisation en modèle moyen de ce convertisseur. Ensuite, des lois de contrôle sont proposées pour valider les analyses précédentes sur la base du principe de l’inversion du modèle. Le travail vise enfin à valider les analyses et le contrôle à l’aide de la maquette du Convertisseur Modulaire Multiniveaux (MMC) du L2EP. Pour cela, un dimensionnement du M2DC basé sur le MMC existant est proposé. Enfin, des simulations HIL (Hardware-In-the-Loop) valident les analyses et montrent la faisabilité du prototypage du M2DC / This work is based on Multi Terminal Direct Current (MTDC) grids. In the MTDC grid, DC/DC converter stations are needed to connect different HVDC grids. A lot of DC/DC converters have been studied and developed, but are not suitable for high voltage and great power constraints. Therefore, the objective of this work is the study of a DC/DC converter for high voltage and great power applications. For the potentially HVDC applications, the volume and costs are major criteria. According to this, a high voltage and great power potential DC/DC converter is selected, which is the DC-DC Modular Multilevel Converter (M2DC). Focusing on the M2DC, the work proposes analyses in steady state and builds an average model for the converter. Based on the average model, the basic control algorithm for the converter is developed to validate the previous analysis. Since the thesis aims to use the existing L2EP Modular Multilevel Converter (MMC) to test the M2DC model and control, a design of the M2DC based on MMC is proposed. Finally, the M2DC HIL (Hardware In-the-Loop) simulations results are presented confirming previous analyses and allowing to go on to prototyping the M2DC on the base of the existing MMC

[pt] Modelos equivalentes de rede podem ser usados na avaliação de segurança online, no planejamento da operação de grandes sistemas e na simulação em tempo real. A representação de partes não observadas do sistema por equivalentes melhora significativamente o desempenho computacional, que é um requisito importante na avaliação de segurança on-line, e necessário quando não estão disponíveis informações sobre áreas não observadas. Em simuladores em tempo real, devido a limitações de hardware, é obrigatório o uso de equivalentes. Para estudos de planejamento, as reduções de rede fazem sentido se o sistema for muito grande e o foco da análise restrito a uma parte relativamente pequena do sistema, para os quais o uso de equivalentes de rede pode poupar uma enorme quantidade de tempo. O tema dos equivalentes de rede recebeu atenção significativa nos anos 70 e 80, principalmente na avaliação da segurança estática. Entretanto, para aquelas perturbações que envolvem respostas de potência pelo sistema externo, simples modelos estáticos podem não ser suficientes. Para isso, utiliza-se a representação dinâmica nesses equivalentes. O sistema externo deve manter uma resposta semelhante às oscilações eletromecânicas do sistema original. Tendo em vista a expansão do Sistema Interligado Nacional (SIN), a crescente inserção de elos de corrente contínua e a elevada da participação de fontes de geração distribuída, especialmente a eólica, é esperado um aumento significativo do número e complexidade dos modelos para simulações dinâmicas. Assim, é de extrema relevância o aperfeiçoamento dos equivalentes dinâmicos, tanto para utilização on-line como para o planejamento da operação. Portanto, esta dissertação visa explorar os limites das técnicas de equivalentes dinâmicos de rede mais recentes, bem como possíveis caminhos para o aperfeiçoamento de sua aplicação, inclusive com a consideração do seu uso para acelerar o cálculo de regiões de segurança. Além de uma revisão da teoria recente de equivalentes estáticos e dinâmicos, serão apresentadas aplicações de equivalentes dinâmicos em diferentes regiões do SIN. A primeira região, mais restrita, representa a rede de atendimento aos estados do Acre e Rondônia, com o restante do SIN reduzido. A segunda região, mais geral, reduz partes do SIN considerando o bloqueio total do Bipolo Xingu-Estreito e seu impacto na rede. Os resultados obtidos são amplamente discutidos. / [en] Equivalent network models can be used for online security assessment, operation planning of large systems, and real-time simulation. Representing unobserved parts of large networks by equivalents significantly improves computational performance, which is an important requirement in online security assessment and required when no information on unobserved areas is available. In real-time simulators, due to hardware limitations, the use of equivalents is mandatory. For planning studies, network reductions make sense if the system is too large and the focus of analysis is restricted to a relatively small part of the system, for which the use of network equivalents can save a huge amount of time. The topic of network equivalents received significant attention in the 1970s and 1980s, especially in static security assessments. However, for those perturbations involving power responses by the external system, simple static models may not be sufficient. For this, the dynamic representation in these equivalents is used. The external system must preserve a response similar to the electromechanical oscillations of the original system. Considering the expansion of the Brazilian Interconnected System (BIS), the increasing insertion of DC links and the high contribution of distributed generation sources, especially wind, a significant increase in the number and complexity of the models for dynamic simulations is expected. Thus, it is extremely important to improve the dynamic equivalents, for both online use and for operation planning. Therefore, this dissertation aims to explore the limits of the latest dynamic network equivalent techniques as well as possible ways to improve its application, including its use to speed up the assessment of security regions. In addition to a review of the recent theory of static and dynamic equivalents, applications of dynamic equivalents will be presented in different regions of the BIS. The first region, more restricted, represents the network transmission services to the states of Acre and Rondônia, with the rest of the BIS reduced. The second region, more general, reduces parts of the BIS considering the total block of the Xingu-Estreito bipole and its impact on the network. The results obtained are widely discussed.

O ilhamento em sistemas elétricos contendo geração distribuída ocorre quando parte da rede elétrica torna-se eletricamente isolada da concessionária e o subsistema isolado continua a ser energizado por geradores distribuídos. É importante detectar essa condição, que pode, por exemplo, levar a problemas como alteração da qualidade da energia elétrica e religamento automático fora de sincronismo, causando danos irreversíveis aos equipamentos da rede elétrica. Uma forma de detecção do ilhamento é o uso de funções de proteção de frequência e suas variações, tais como a função de taxa de variação de frequência e a função de deslocamento de fase (ou salto de vetor). Neste contexto, é importante que se tenham modelos computacionais e analíticos confiáveis dessas funções de proteção para que sejam executadas simulações, permitindo validar ajustes e verificar condições anormais de operação. O objetivo desta dissertação é desenvolver e validar modelos computacionais e analíticos das funções de proteção de sub/sobre frequência, taxa de variação de frequência e deslocamento de fase, empregados na detecção de ilhamento de geradores distribuídos. Os modelos computacionais são desenvolvidos em uma plataforma que permite realizar simulações dinâmicas em tempo real. A validação dos modelos é efetuada utilizando funções de proteção existentes em relés comerciais. A avaliação de desempenho dos modelos em relação à proteção anti-ilhamento é realizada utilizando o conceito das curvas de desempenho, as quais foram obtidas a partir de simulações computacionais em tempo real e em malha fechada pelo uso de um simulador digital em tempo real. Os resultados permitem comprovar a efetividade dos modelos para representar as funções de proteção dos relés comerciais ensaiados, com erros abaixo de 3% para uma ampla faixa de pontos de operação do sistema elétrico e do gerador distribuído. / Islanding in power distribution systems with distributed generators occurs when part of the electrical network becomes isolated from the electrical company and the isolated area is still energized by distributed generation. It is important to detect this condition which can lead to problems such as low power quality levels and out of step reclosing, causing severe equipment damages. One of the island detection methods is the use of frequency protection functions and their variations, such as the rate of change of frequency relay and phase shift relay (or vector surge relay). In this context, it is important to obtain reliable relay computational and analytical models to execute simulations that allow verifying and validating settings, and investigating abnormal operation conditions. This dissertation aims to develop and validate computational and analytical models of under and over frequency, rate of change of frequency and phase shift protection functions applied to distributed generation islanding detection. The computational model development is performed on a real time dynamic simulation platform. The model validations are performed using protection functions of commercial relays. The models performance evaluation and validation were carried out by using the performance curves, which are obtained through real time closed loop simulations using a real time digital simulator. The results prove the model effectiveness to represent commercial protection functions, with errors below 3% for a wide range of distribution system and distributed generator operating conditions.

O ilhamento em sistemas elétricos contendo geração distribuída ocorre quando parte da rede elétrica torna-se eletricamente isolada da concessionária e o subsistema isolado continua a ser energizado por geradores distribuídos. É importante detectar essa condição, que pode, por exemplo, levar a problemas como alteração da qualidade da energia elétrica e religamento automático fora de sincronismo, causando danos irreversíveis aos equipamentos da rede elétrica. Uma forma de detecção do ilhamento é o uso de funções de proteção de frequência e suas variações, tais como a função de taxa de variação de frequência e a função de deslocamento de fase (ou salto de vetor). Neste contexto, é importante que se tenham modelos computacionais e analíticos confiáveis dessas funções de proteção para que sejam executadas simulações, permitindo validar ajustes e verificar condições anormais de operação. O objetivo desta dissertação é desenvolver e validar modelos computacionais e analíticos das funções de proteção de sub/sobre frequência, taxa de variação de frequência e deslocamento de fase, empregados na detecção de ilhamento de geradores distribuídos. Os modelos computacionais são desenvolvidos em uma plataforma que permite realizar simulações dinâmicas em tempo real. A validação dos modelos é efetuada utilizando funções de proteção existentes em relés comerciais. A avaliação de desempenho dos modelos em relação à proteção anti-ilhamento é realizada utilizando o conceito das curvas de desempenho, as quais foram obtidas a partir de simulações computacionais em tempo real e em malha fechada pelo uso de um simulador digital em tempo real. Os resultados permitem comprovar a efetividade dos modelos para representar as funções de proteção dos relés comerciais ensaiados, com erros abaixo de 3% para uma ampla faixa de pontos de operação do sistema elétrico e do gerador distribuído. / Islanding in power distribution systems with distributed generators occurs when part of the electrical network becomes isolated from the electrical company and the isolated area is still energized by distributed generation. It is important to detect this condition which can lead to problems such as low power quality levels and out of step reclosing, causing severe equipment damages. One of the island detection methods is the use of frequency protection functions and their variations, such as the rate of change of frequency relay and phase shift relay (or vector surge relay). In this context, it is important to obtain reliable relay computational and analytical models to execute simulations that allow verifying and validating settings, and investigating abnormal operation conditions. This dissertation aims to develop and validate computational and analytical models of under and over frequency, rate of change of frequency and phase shift protection functions applied to distributed generation islanding detection. The computational model development is performed on a real time dynamic simulation platform. The model validations are performed using protection functions of commercial relays. The models performance evaluation and validation were carried out by using the performance curves, which are obtained through real time closed loop simulations using a real time digital simulator. The results prove the model effectiveness to represent commercial protection functions, with errors below 3% for a wide range of distribution system and distributed generator operating conditions.

Hardware-in-the-loop (HiL) is a concept for testing physical equipment by connecting itto a mathematical representation (model) of the physical process. HiL-testing reduces thecost and saves time before testing the physical equipment (hardware) on the real (physical)process. The physical process chosen for this study is wire+arc additive manufacturing(WAAM), an advanced additive manufacturing (AM) technology that deposits metalbased material layer-by-layer. In this study, simulations of the robot path are carried outwhile the physical robot performs a physical process (additive manufacturing). In robotadditive manufacturing, the desired CAD model is currently sliced down into layers usingslicer software, and the layers are then translated into a path. The robot then moves alongthe path of these pre-defined layers to produce a three-dimensional structure. The heightof the produced structures and desired CAD models have deviations because of processinstabilities and temperature variations among other factors. The robot path should beupdated every time a layer is printed to compensate for the height differences. This isachieved by parametrizing the CAD model, i.e., the CAD model of the structure to beprinted is replaced by a mathematical equation (model). In this study, the mathematicalmodel is updated for each layer in real-time with feedback data from sensors that monitorthe additive manufacturing process. The concept of updating a mathematical model andexecuting it in real-time is called real-time simulation (RTS). In this study, a HiL-basedreal-time simulation setup has been developed, which predicts the required printing layerheight and the number of layers (based upon the latest feedback data from the monitoringsensors), and the required height of the structure. By combining hardware and software,a cyber-physical system has been created, enabling the transition from automation toautonomous robotics and contributing to Industry 4.0.

This thesis describes design and implementation of 3D space physical real-time simulation system as add-on to graphical engine. System contains processing of rigid solid simulation, collision detection and response, which are provided by physical laws. Document contains theoretical introduction of this course of study, design and implementation as multiplatform library and description of user interfaces. Output of this thesis, except library, is also example applications, which demonstrate functionality of designed simulation model.