A Bilateral Teleoperation Approach for Interface Algorithms in Distributed Real-Time Simulations

摘要

Distributed simulation has an emerging role in enabling flexible environment for assessment of next-generation power systems. Geographically distributed real-time simulation (GD-RTS) environment established by virtual interconnection of Digital Real-Time Simulators (DRTS) located at geographically dispersed laboratories allows for holistic testing of novel devices and concepts. Main challenges associated with establishing GD-RTS environment are ensuring simulation stability and providing simulation fidelity of high degree. The issue of designing a cosimulation Interface Algorithm (IA) that meets these requirements is closely related to the bilateral teleoperation concept in robotics. In this work we analyze applicability of wave variables, one of the most widely used method for bilateral teleoperation. Wave variables ensure simulation stability in presence of large time delays. Simulation fidelity of IA has been improved by introducing transformation of wave variables to dynamic phasor domain.