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Developing automated Hardware-In-the-Loop tests with RTDS for verifying the

protective relay performance

Conference Paper · November 2016

DOI: 10.1109/CONCAPAN.2016.7942388

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 Developing Automated Hardware-In-the-Loop Tests
with RTDS for Verifying the Protective Relay
Performance

l2 l
R. Iracheta-Cortez , , N. Flores-Guzman
l
Management of Industrial Mathematics , Center for Research in Mathematics (CIMAT), Guanajuato, GTO, 36240, Mexico
Catedras Conacyt2, University of Istmo, Tehuantepec, Oax, 70760, Mexico
reynaldo.iracheta@cimat.mx, norberto@cimat.rnx

Abstract- This paper describes the steps for carrying out
automated Hardware-In-the-Loop tests to protective relays with
the real-time power system simulator RTDS. The main features
with such tests are the performance verification of new protective
relays, before their commissioning within the electrical
substations, and the improvement of the power system reliability.
A brief description of the software, hardware and applications of
the RTDS simulator is made. A digital simulation model of a
power network is proposed, as a benchmark case, to perform the
Hardware-In-the-Loop tests with the distance relay SEL-421.
Finally, a report is made to analyze the performance of the
distance relay.
Keywords- Real-Time Simulator; Protective Relay; Hardware­
In-the-Loop tests; Power Network, RTDS;
worldwide for being used in power system applications. It was
developed by the Center of Research in HVDC of Manitoba in
Winnipeg, Canada. Subsequently, the Electrical Research
Institute of the Hydro-Quebec power utility developed
HYPERSIM simulator. The common characteristic between
RTDS and HYPERSIM is that both simulators use the nodal
EMTP solution [6, 12]. During the 90's, the high-tech
company OPAL-RT Technologies developed the eMEGAsim
simulator. This simulator is a little bit different to the previous
two due to its solution is based on a state-space representation
of the power network in Simulink®. The main requirement to
perform real-time simulations with eMEGAsim is to build the
model of a power network and its controls in
Matlab/Simulink®. Fig 1 show the real-time simulators RTDS,

eMEGAsim and HYPERSIM

I. INTRODUCTION A common characteristic of these power real-time digital
Real-time simulators are powerful tools for the analysis, simulators is its parallel processing capacity for simulating
design, control, protection and operation of power systems. electromagnetic transients in large networks [14-17]. In
The evolution of these simulators over the last decades is the addition, its design allows a wide range variety of tests in
result of many research and development efforts. For instance, electrical equipment such as digital protective relays and
Transient Network Analyzers (TNA's) or analog simulators control systems. This article describes a procedure to develop
evolved into hybrid simulators when appeared the first digital automated Hardware-In-the-Loop tests to a distance protection
simulation tools, for analyzing power systems, such as the relay with the RTDS simulator. These tests are used in this
Electromagnetic Transient Program (EMTP) [1-3]. Then, the paper to verify quickly the performance of new protective
fully digital simulators appeared with development of digital relays, before their cOmmissIOning within electrical
processors. substations, for improving the reliability of the power system.
Hybrid simulators peaked from the 70's and up to the 90's.
The foundation of these real-time simulators is the
combination of TNA's with the digital solution of an EMTP­
type program [4-5]. One of the first applications for these
simulators was used to program the transmission line
equations in DSPs while the rest of the power network was
simulated with TNA's.
During the 90's appeared the first fully real-time digital
simulators which are based on technology of supercomputers.
With these simulators, larger power networks can be a) b) c)
simulated fully digital and in real-time for analyzing Fig. I: Real-Time Simulators: a) RTDS,b) eMEGAsim and c)
HYPERSIM.
electromagnetic transients and also, for carrying out
Hardware-In-the-Loop (HIL) tests to electrical devices,
mainly, in protection and control systems [6-11]. The Real­
Time Digital Simulator (RTDS) was the first of its kind
The authors gratefully acknowledge support from the National Council
on Science and Technology (CONACYT) and the Center for Research in
Mathematics (CIMAT).
 II. SOITWARE AND HARDWARE
The RTDS simulator is a supercomputer with software and
hardware specially designed for the simulation and analysis of
electromagnetic transients in the electric power systems. The
RTDS hardware is based on a parallel processing architecture
customized to simulate with one or several processors the
general solution of the power network. The addition of more
processors permits to simulate large power networks without
affecting the real time simulation capacity. Additionally, the
RTDS software counts on a wide library of power
components, control and automated protection systems; those
together with a very friendly user interface that make the
assembly and study of a wide variety of electric AC, DC
systems easier and integrated. Because the operation of real
time of the RTDS simulator is achieved on an indefinite and
sustained way, tests to electric equipment are no longer
exclusively reserved for analog simulators [5, 9].
A. RTDS Hardware
The RTDS simulator is organized in hardware units, named
racks, they are mainly made up of processing and
communication cards as seen in Fig. 2. Each rack is designed
to include from 2 to 6 PB5 processing cards and 1
communication card with the working station (GTWIF, Giga
Transceiver Workstation Interface Card). All cards inserted in
the rack are connected to a common plate located in the back
part of the simulator. Additionally, the modular design of
RTDS simulator permits the addition of multiple racks and the
addition of cards of analogic and digital signals. The main
types of cards used with the RTDS hardware are following
described: The PB5 is used to solve equations representing the
power system and the components of the control system. The
minimum performance of operation of an RTDS rack is
achieved with 2 PB5 cards. Each rack permits the nodal
solution of 1 or 2 electric sub nets up to a maximum of 90
single phase nodes or 30 three phase buses per subnetwork.
The integration steps (�t) used in the real time simulation can
be adjustable from 10 to 50 us. The rest of the processors of
the rack are required to solve individual power components
(transmission lines, generators, transformers, etc.) and its
controls. The main function of the GTWIF card is the
handling of communication between the RTDS simulator and
the guest computer. This card does not participate actively in
the solution of the power system but play an important role as
an interface device and simulation control. The specific
functions of this card are: a) load, start and stop simulation
cases, b) Generation of timers, c) synchronization among
racks, d) Racks diagnostics, e) All communication with the
RSCAD® software.
Backplane
Fig. 2: Hardware arquitecture RTDS®.
B. RTDS Software
The RSCAD® Software is the graphical interface that allows
users to build, compile, execute and analyze simulation cases.
This software uses the algorithm developed by H. Dommel to
get the digital solution of electromagnetic transients of an
electric power network modeled with constant or distributed
parameters. The essence of the Dommel algorithm consists on
representing any element from the power system as an
equivalent Norton type into the discrete time domain. To get
such as equivalent, integration numeric methods are used to
discretize the branch current equations described in the
continuous time domain, for each of the elements integrating
the power system. With the branch equations in the discrete
time domain are obtained relations among voltages and
currents to the present time (t) and past time (t-�t). To start
the simulation it is important to specify the fixed step of
integration (�t), and additionally, the initial conditions of the
system to update the states of the simulation in t �t, 2�t, =
3�t, ... up to the maximum time of the simulation tmax.. In
Table I are shown the discrete equivalents for the basic
elements of the power system: resistance, inductor, capacitor
and transmission line.
The general solution outlined by H. Dommel to calculate
the transitory electromagnetic in any power network
configuration is given by
[G] [ ( t ) ] [ i ( t ) ] - [ hist (t - �t ) ] (la )
v
=
where G is the matrix of nodal conductance of the electric net,
v(t) is the vector of nodal voltages for time t, i(t) is the vector
of current sources for time t, hist(t-�t) is the vector of
historical of currents of the system for time (t-�t) [1]. The
conductance matrix G of the power network is kept constant
when a fixed step of time �t is used and there is no switching
of circuit breakers. The construction of G follows the same
construction rules of the matrix of nodal admittance during in
steady state analysis.
 Table I: Discrete Equivalents III. MAIN ApPICATlONS OF RTDS SIMULATOR
Com onent EMTP Solution
a) Resistance: The main applications of RTDS simulator are summarized in
R Fig. 3. From this figure, one can say that Hardware-In-the­
Loop tests; to digital protective relays and control systems,
and Power-Hardware-In-the-Loop tests; to distributed
generator, electric vehicles batteries, motors and loads, are
b) Inductor: exclusively of real-time simulators such as RTDS [18]. This is
L because such tests allow the simultaneous interaction of the
ikm rY'\rV\ digital simulation with the physical equipment. Additionally,
+ � , , , L-o-
k m with the RTDS simulator, open and closed loop tests can be
()
d·
vkm t = L� 2L
implemented for both; individual protection relays and full
dt RL=-,GL=l/RL protective relays schemes. In these tests they may include
Ilt
ibn (t) GL Vbn (t)+ histL (t-Ilt)
=
equipment compatible with lEe 61850. Fig. 4 shows a
schematic drawing of the manner how closed-loop testing
histL (t-Ilt) = 20LVon (t)+ histL (t-2�)
protective relays is performed. Hardware-In-the-Loop tests are
c) Capacitor
useful: 1) To assess the performance of individual protection
. C
relays, protection schemes and control systems before
��
+ kI � - commissioning, 2) Know the answer of the power system to
different failure scenarios, 3) to improve the safety and
ikm ( t ) = L
dVkm Ilt
RC = ,Gc =11 RC reliability of protection systems and control and 4) Testing
dt 2C
new ideas and concepts for the development of new protection
ikm (t) Gc Vkm (t)+ histc (t-Ilt)
relays and/or control systems.
=

histe (t-"'t)=-20eVkm (t)-histe (t- 2"'t)

Other applications with RTDS simulator can be used to
d) LosslessTransmissio

:�r:.r+ fl?��
perform many studies and analysis of smart grid applications,
n Line
i .. TL i .. distributed generation and advanced power electronics.
k0 • III 0 m
I
aVkm aikm
-.1. .1._ Wide Area

Zc = ,)L/C,r=//v=/075
_ = Protection and
L
ax at ' Controllesting

_ 8ikm _ OVkm i"", (t) = (1 / Zm) V k (t)+ histbn (t-,) Distributed LargeScale Real­
C
ax - at ' in" (t) = (II Zmh (t)+ histmk (t-,) Generation -.. �:::Tim
= = e=S=im=ulat
= =io=ns=

i(x,t) (x ) +f, (x + ) (Renewables) �

� - vt vt , hist""' (t- r)=-(1 / Ze)vm (t- r)-i... (t- r)
1=======1
=

v( x, t)= Zef, ( ) Zef, ( + )

x - vt - x vt histmk(t-r)=-(I / Zc)v.(t-r)-ibn(t-r)
Education and
Power Electronics
Training
Equation (la) can be splited as follows
[GAA GAB] [VA(t ) ] [iA(t ) ] -[ hist A(t -�t)] (lb) Smart Grid �
GBA GBB vB(t) iB(t) histB(t-�t)
Sub-index A denotes a set of nodes with known voltage while
= Development
and PHILSimulation
Testing
HIL ControlSystems
Testing

sub-index B denotes a set of nodes with unknown voltages. Protective Relay

The latter nodes needs to be calculated at each time step by Testing with IEC
61850
solving
VB ( ) [GBBr {iB(t)-histB(t-�t)+GBAVA(t)} (Ie)
t
=

This equations are equivalent to solve a set of linear equations

Fig. 3: Main applications of the Real-Time Digital Simulator (RTDS).

GBB GBA•
at each time-step with constant sub-matrices
This happens as long as the time-step remains unchanged
and
Digital Simulator RTDS

during the entire simulation time. The history terms, at the

right side of this equation, have also be updated at each Thevenin
Equivalent Equivalent
simulation time-step. For running efficient simulations of (THI) (TH2)
electromagnetic transients in power systems, it is highly
recommended to calculate only at one time sub-matrices
and GBAbefore entering to the recursive loop of time.
GBB
Additionally, the power network solution can be parallelized
due to conductance matrices are usually sparse.

Fig. 4: Hardware-In-the-Loop tests to protective relays.

 IV. ELECTRICAL NETWORK MODEL IN RTDS A. Fault contra l logic

Fig. 5a shows the unifilar power network diagram used for For the simulation of the power network in RSCAD/RTDS, as
testing the distance relay. The system is made up of two shown in Fig. 5, three fault modules are used to cause multiple
Thevenin equivalents of 230 kV rms at 60 Hz. The types poly-phase faults along the transmission line in the real­
corresponding data of source impedances are provided in time simulation. Two of these modules are used exclusively to
Table I. Both Thevenin equivalents are connected by means of simulate faults at both ends of the line while the remaining
a transmission line of 100 km. Its geometric configuration is module is just for simulating intermediate faults in the
illustrated in Fig. 6b. This power network model have transmission line. In Fig. 6 are illustrated the fault module and
switches between each Thevenin equivalent and the its control to build the power network in DraftiRSCAD. Each
transmission line. In addition, it has also placed a fault module fault module is made up by a switch whose resistance in open
at the middle of the transmission line to cause different types circuit is very large and its resistance in closed circuit is
of contingencies for the real-time simulation in RunTime. The specified by the user. In the first part of the control logic,
fault control is designed to select the type of fault, its position shown in Fig. 6b, the fault parameters can be initialized by
and its resistance. setting the fault point (POW) wave and the duration of the
The geometric data of the transmission lines are captured in fault (FLTDUR). This process involves, first, a process of zero
the T-Line/RSCAD module to generate the parameter file crossing detection of the voltage signal (N4) with the logical
*.t1b. Additionally, the T-Line module is configured for this function IF-Then-Else and the positive edge detector. The
line as Bergeron and also, transposition and interpolation logic function AND produces a logic 1 when the fault button
options are enabled. Table II provides the information of is pressed and the zero crossing is detected. The POW control
positive sequence impedance (ZI) and zero sequence produces a delay in seconds of the logic 1 between the
impedance (Zo) of the transmission line. These impedances application of the fault and the point of its occurrence. The
can be obtained from file * .tlb. FLTDUR control generates a logic 1 pulse whose width is
The complete design for this power network in Draft and equal to the fault duration.
RunTime modules is illustrated in Appendix A. Fig. 6c illustrates the second part of the fault control logic.
The settings of this control allow the user to select the type of
Tabla [. Thevenin Equivalent Data fault and its position. Each fault type is equivalent to one bit
Source THI TH2 of memory. In the control logic, it is used the formula 2bit.[ to
Source Type R-RiL R-RiL
convert into decimal value the switch power status. The
Vnom (kV) 230 230
15.96 < 88.36° 28.943<80.865° FLTABC variable refers to the type of fault in its decimal
ZI (Q)
Zo(Q) 22.833 < 88.91° 22.833<86.22° value. The FLTSIG variable is the result of the multiplication
of logical fault pulse (T4) and the type of fault to obtain
Table [[. Transmission Line Data FLTSIG. A dial is used to select the type of fault a dial is used
Model Bergeron with discrete values {I, 2, 3}, as a control variable. Discrete
Transposition Yes
values 1 and 3 enable faults at the both ends of the
Interpolation Yes
ZI (Q) 53.2914<82.22° transmission line and 2 is only to cause intermediate faults.
Zo(Q) 147.52 <75.48°
B. Switch Contra l Logic

Transmission line
The circuit of the switch control is shown in Fig. 7. Buttons
230 kV
Switch
I IT 100
km 52CS3Tl and 52CS3Cl are used for the three-phase manual
60 Hz closing and opening of switches. Variable TA is a logical
THI
1
TH2 number provided by the digital relay for the single-phase
1 1100
�
I I
°
•
10 2030
I I I
40 50 6070 80 90
I I I I I I ·
% tripping of the switch. The RECLl variable is also a logical
Fault Location value 0-1 provided by the digital relay for doing the single­
a) phase reclosing.

9m
p.7mfm'I;�1 }}
GW,
•
GW2
Ground Wires (GW)
C. Draft Variables

The values of resistance (Ron) and fault position (Fpoint) are

o 0 0 Power Wires (PW) considered as pre-processing Draft variables to allow changes
a b c of these variables from the RunTime RSCAD console. This
Diameters Resistivities means that the recompilation of these variables is automatic
20 m
¢\;W=9.5mm RDC-{;w=3.75Q/km from the RunTime without having to go to RSCAD Draft
Ground Plane
¢I." =30.58 mm RDC-p\v = 0.0701Q/km module to recompile again. A sign $ must precede the variable
7777777777777777 name captured in component as shown in Fig. 8.
p67tJr=lOOnm
b)
Fig. 5: Test case. a) Electrical network model, b) Geometric configuration of
the transmission line.
 V. DISTANCE RELAYPARAMETERS
To simplify the calculations of secondary impedances values
seen by the distance relay only are considered unitary
transfonnation ratios for CTs and PTs. With this assumption,
secondary impedance values are equal to Zo and Zl
impedances of the transmission line. Additionally, the distance
relay is configured with 2 protection zones and is not
considered the tele-protection scheme_ The details of the
calculations for configuring the relay are shown below.
A. Calculation of residual compensation constants

The relays are calibrated according to the positive sequence

a) impedance of the protected line. Usually, the zero sequence
impedance (Zo) of a transmission line is different to the
positive sequence impedance (Zj ) . When a single-phase
ground fault occurs in the transmission line, there is a current
zero sequence which cause that the impedance seen by the
relay will be different to the impedance seen at the fault point.
Therefore, the scope of the ground fault requires zero
b) sequence compensation. For the relay used, this setting IS
Fault Selector
Fault Position provided by the residual compensation factor Kzo given by
( Z ZI )
I
I Kzo l = ;;I 1 ( 2a )
y

LKzo =L
(z 0 -ZI ) ( 2b )
3ZI
c) For the transmission line shown in Fig. 9a, compensation
Fig. 6: Fault Module. a) DRAIT/RSCAD,b) POW and fault duration (part I),
c) Fault selector (part II). = =
factors are IKzol 0.589 and L Kzo -0.027 3° .
B. Zone 1 phase reach
Switch Control
The required Zone 1 reach IS 80% of the line impedance.
Therefore,
0.8x ( 53.2914L82.22° ) = 42.633L82.22° no ( 3a )
C. Zone 2 phase reach

For setting the zone 2 reach, it is considered a 120% of the

protected line. Hence, the zone 2 reach is
1.2x ( 53.2914L82.22° ) = 63.949L82.22° no ( 3b )
Fig. 7: Switch control.
Fault Module D. Zone time delay settings
nds share � FAULT

In the distance relay can be programmed several timers for

different protection zones in order to ensure the proper relay
coordination settings with other relays that are also in the

= =
same network. Time delay settings for each relay protection
zone are given by TZl 0 s Y TZ2 0.25 s. In Table III are listed
the parameters used for setting the distance relay.

If rtds share sid Tl16CAl

Fig. 8: DRAFT Variables.

 Parameter
Table III' Distance Relay Parameters
Description Value Units
Current Amplification = 5 A / V. ( 4c )
ZL/ (mag) Positive Sequence Impedance of 53.29 Q The trip and reclosing signals coming from the digital relay
the line (magnitude) are produced by dry contacts. These contacts are connected to
ZLi (ang) Positive Sequence Impedance of 82.22 Degrees the input channels on the front panel of RTDS simulator. In
the line (angle)
ZLO (mag) Zero Sequence Impedance of the 147.52
Fig. 9b is shown the connection diagram of the dry relay
Q
line (magnitude) contacts shown input channels on the front panel 110 simulator
ZLO (ang) Zero Sequence Impedance of the 75.48 Degrees RTDS. The tripping and reclosing digital signals are used in
line (angle) the digital simulation to control the opening and closing
Kzo (mag) Residual compensation factor 0.59 -

switches.
(magnitude)
Kzo (ang) Residual compensation factor 0.027 Degrees The RTDS front panel of high voltage (HV) and an external
(phase angle) DC voltage source in the range of 125 volts are required for
ZI (mag) Zone I reach impedance setting 42.63 Q providing the digital signal status of switches to the protective
(magnitude) relay. The connections between the HV panel, power supply
ZI (ang) Zone I reach impedance setting 82.22 Degrees
(angle)
and digital protective relay is illustrated in Fig. 9c.
Z2 (mag) Zone 2 reach impedance setting 63.95 Q B. Performance of a distance relay
(magnitude)
Z2 (ang) Zone 2 reach impedance setting 82.22 Degrees The reach accuracy and the operating times are two factors
(angle) that affect the performance of a distance relay. The reach
TZI Time delay at zone 1 0 s accuracy depends on the voltage level presented in the relay
TZ2 Time delay at zone 2 0.25 s
under fault conditions and also, of impedance measurement
VI. HARDWARE- IN-THE- Loop TEST TO A DISTANCE RELAY techniques used in the design of a relay. Operation times relay
depend on the magnitude of the fault current and the point of
This section describes the procedure for doing automated
the voltage waveform where the fault occurs.
Hardware-In-the Loop tests to a distance protection relay
SEL-421 with the real-time digital simulator RTDS. The D/AGTAOCard OMICRON Relay SEL 421

objective of the test is to evaluate the functionality of the relay CMS156

under different fault scenarios. The test procedure described

.
-­
-­

below.
__ ",
--

Vpeak= ± 5 V Amplification Level Operation Ranges

A. Connections b etween the RTDS simulator and the 50VN 120/250 V
115 A
protective relay 5AN

In Hardware-In-the-Loop tests to digital relays with RTDS is

required the output GTAO card to perform the D/A
conversion of digital signals of currents and voltages coming
from the simulator. The GTAO card is physically connected to
the PB5 card processor via a fiber optic port. The modular
design of the simulator RTDS allows you to connect more
than one GTAO card. In addition, with each GTAO card you
can collect up to 12 analog signals within an adjustable output
voltage range Vpeak = ± 5 volts. For setting the range of the
output voltage of GTAO card in the RSCAD software, it is
required to configure a scale which depends on the following
b)
formula
(VL-peak RTDS)( S )
o 0

S�e = �a ) @®®®®®®®®®®®®®®®
@ �®®®®®®®®®®®®®®

( VL-peak analog output ) <1.' !@@@@®@@@@@@@@@

•

o ," " . • " " " " " 0

In the Hardware-In-the-Loop test is used an amplifier

OMICRON CMC156 for increasing the voltage levels of
Vpeak=± 5 volts to the operation relay ranges SEL-421. The
operation relay ranges varies from 120 to 250 Vac for voltage
Supply
and 1 to 5 A for current. Fig. 9a shows the schematic drawing oc Powtr
{max 2SO Vd<')

connections between GTAO card, amplifier and relay c)

CMC156 OMICRON illustrated in SEL-421. The
amplification ranges of the OMICRON CMC156 are
Voltage Amplification = 50 V / V
And
Fig. 9: Electric connections among RTDS and the distance relay. a) Sending
analog signals to the protective relay, b) Dry contact connections to the fi'ont
panel,c) Connection in the HV panel to get the switch state signals.
4b ( )
This paper describes a perfonnance test to a protective relay
SEL-421 for obtaining 3D curves with operating times for Fault type: Phase A (POW = 0°)
multiple simulation cases involving different impedance ratios
SIR= ZS/ZL (source impedance divided by the line impedance)
and different types of contingencies (magnitudes, positions
and types of failure). Additionally, it is created a script file
within the RunTime/RSCAD@ module to control the operation
of the simulator RTDS and also to collect and analyze a large
amount of data automatically without the user interaction. In
Table IV are listed the ranges of values for each of the
parameters used in the real-time simulation. In Figs. lOa-c are
depicted the 3D curves with the relay operating times for
faults in phases A, B and C with a fault angle POW = 0 0 for
all impedance ranges of the SIR ratio and fault positions
shown in Table IV. It can be seen in these figures that the
a)
relay operating times increase as the magnitude of SIR
D Fault type: Phase B (POW = 0°)
parameter increases. Similarly, the relay operation times are
35
greater when the position of the fault increases. From these
simulation results one can say that the distance relay under test
30
has excellent sensItIvIty characteristics to operate
appropriately under different operation changes of the power
25
system.

VII. CONCLUSIONS 20

The use of real-time Digital simulation tools, such as RTDS,

allows users to create realistic models for any kind of power 15

network configuration and also, it can be carried out many 30

studies and analysis in power systems. The exclusive 20
10
characteristic of these simulators is the ability to perform SIR
Hardware-In-the-Loop tests to physical equipment for
protection and control at realistic operation conditions of the b)
power system. This is the main reason because of they are D Fault type: Phase C (POW = 0°)
spreading very fast all over the world. In addition, other
35
important feature is the continuous user's interaction with the
rea-time simulation. Thus, real-time simulators can be used by
30
electrical utilities and universities as an education and training
tool for engineers and technicians for improving their
25
comprehension of the power system operation.
The rigorous development of Hardware-In-the-Loop tests
20
to protective relays, through script files, is very important to
evaluate the performance under different contingency
15
scenarios and operation conditions. With these tests, the
reliability of the power energy supply is guaranteed without
jeopardizing the electrical infrastructure. The simulator RTDS
is a widely used tool for electrical utilities, electrical
manufacturing industries, research center and universities. In c)
Mexico, the Testing Lab of Equipments and Measurements Fig. 10: 3D curves with the operating times of the distance relay SEL-421.
(LAPEM, Spanish acronym of Laboratorio de Pruebas de a) Fault in phase A,b) Fault in phase B,c) Fault in phase C.

Equipos y Mediciones) uses RTDS simulator to verify and VIII. APPENDIX

certify the perfonnance of new protective relays.
In Fig. 11 is shown the Hardware-In-the-Loop test to the
Table IV ReaI-tIme slmu atlOn parameters distance relay performed with the real-time simulator RTDS.
Parameter Range The DRAFT circuit used for the simulation of this power
I. SIR: {O.I,0.5,1,2,3,5,8,10,15,20,30} network is illustrated in Fig. 12. Finally, the real-time
2. POW n {O,30,60,90}
monitoring and control of variables with the RunTime module
3. Fault: {A,B,C,AB,BC,AC,ABC}
4. Position (%): fl O,20,30,40,50,60,70,80,90}
is depicted in Fig. l3.
5. Magnitude (0): fRFalia 0.1}
=

Hardware-In-the-Loop test to a digital protective relay.
IX. REFERENCES
[I] Dommel, H.W., "Digital Computer Solution of Electromagnetic
Transients in Single-and Multiphase Networks," Power Apparatus and
Systems, IEEE Transactions on, voI.PAS-88, no.4, ppJ88, 399, April
1969.
[2] Dommel H. W., "Electromagnetic Transients Program Reference
Manual (EMTP Theory Book)", Prepared for Bonneville Power
Administration,P.O. Box 3621,POItland,Ore.,97208,USA,1986.
[3] Bose, A., "Digital simulation of power systems, "TENCON '98. 1998
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[4] R.M. Mathur, Xuegong Wang, "Real-Time Digital Simulator of the
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[5] Xuegong Wang, R. M. Mathur, "Real-Time Digital Simulator of the
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2255,1989.
[6] Kuffel, R; Giesbrecht, 1.; Maguire, T.; Wierckx, RP.; Mclaren, P.,
"RTDS-a fully digital power system simulator operating in real time,"
WESCANEX 95. Communications, Power, and Computing. Conference
Proceedings, IEEE, vol.2,no.,ppJOO,305 vol.2,15-16 May 1995.
[7] R. Kuffel, P. Mclaren, M. Yalla, X. Wang, 'Testing of the Beckwith
Electric M-0430 Multifunction Protection Relay Using a Real-Time
Simulator (RTDS)," in Proceeding ofTCDS-95,College Station,Texas.
USA,April 1995,pp. 49-54.
Fig. 12: Draft Circuit for testing the power network.
[8] H. Duchen, M.Lagerkvist, R.Kuffel, R.Wierckx "HYDC Simulation
and Control System Testing Using a Real-Time Digital Simulator
(RTDS)," in Proceeding of lCDS-95, College Station, Texas, USA,
April 1995,pp. 213-218.
[9] P.G. Mclaren, R Kuffel, J. Giesbrecht, W. Keelthipala, S. Innes, A.
Castro, D. Fedirchuk, K. Mustaphi, K. Sletten, "On site relay transient
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[10] X. Wang, J. Giesbrecht, D. Woodford, L. Arendt, R. Wierckx, R.
Kuffel, "Enhanced Performance of a Conventional HVDC Analogue
Simulator with a Real-Time Digital Simulator," in Proceedings of the
1993 Power System Computation Conference,Vol. I ,pp. 663-669.
[I I ] R Kuffel, R Wierckx, P. Forsyth, H. Duchen, M. Lagerkvist, X.
Wang, "Expanding an Analogue HYDC Simulator's Modelling
Capability Using a Real-Time Digital Simulator (RTDS)," in
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[12] V. Q. Do et aI., Hypersim, "An Integrated Real-Time Simulator for
Power Networks and Control Systems", 3"1 In!. Conf. on Digital Power
System Simulators (lCDS'99),May 25-28,1999.
[13] Kaddouri, A., Khodabakhchian, B., Dessaint, L.A., Champagne, R.,
Snider,L., "A new generation of simulation tools for electric drives and
power electronics," Power Electronics and Drive Systems,1999. PEDS
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[14] Van-Que Do and Alpha Oumar Ban-y, "A Real-Time Model of the
Synchronous Machine based on Digital Signal Processors", IEEE
Trans. Power Systems, voI .8-1,February 1993,pp. 60-66.
[15] Y. Maharsi et ai, "HYDC Control System Operating in Real Time
Using Parallel DSPs", fEEE Summer Power Meeting, San Francisco,
July 24-28,1994,paper no. 94 SM530-6-PWRS.
[16] M. Lavoie, V. Que-Do, 1.L. Houle, 1. Davidson, "Real-Time
Simulation of Power Systems Stability Using Parallel Digital Signal
Processors", IMACS-TCl Conference, Montreal,July 7-9,1993.
[17] H. Le-Huy, J.e. Soumagne, "Digital Real-Time Simulation of
Transmission Lines Using Parallel Processors", ZMACSTCf
Conference, Montreal,July 7-9,1993.
[18] P. Kotsampopoulos, V. Kleftakis, G. Messinis, N. Hatziargyriou,
Design, development and operation of a PHIL environment for
Distributed Energy Resources, 38th Annual Conference of the IEEE
Industrial Electronics Society (IECON'2012), October 25-28 2012,
Montreal,Canada.
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