Hardware-in-the-loop Testing of Direct Transfer Trip for Network Protector Units in the Presence of Distributed Energy Resources
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Joshi, Milan↗
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Performance of the Extravehicular Mobility Unit (EMU): Airlock Coolant Loop Recovery (A/L CLR) Hardware - Phase II
An EMU water processing kit (Airlock Coolant Loop Recovery A/L CLR) was developed as a corrective action to Extravehicular Mobility Unit (EMU) coolant flow disruptions experienced on the International Space Station (ISS) in May of 2004 and thereafter. Conservative schedules for A/L CLR use and component life were initially developed and implemented based on prior analysis results and analytical modeling. The examination of postflight samples and EMU hardware in November of 2006 indicated that the A/L CLR kits were functioning well and had excess capacity that would allow a relaxation of the initially conservative schedules of use and component life. A relaxed use schedule and list of component lives was implemented thereafter. Since the adoption of the relaxed A/L CLR schedules of use and component lives, several A/L CLR kit components, transport loop water samples and sensitive EMU transport loop components have been examined to gage the impact of the relaxed requirements. The intent of this paper is to summarize the findings of that evaluation, and to outline updated schedules for A/L CLR use and component life.
Steele, John↗
Hardware in-the-Loop Demonstration of Real-Time Orbit Determination in High Earth Orbits
This paper presents results from a study conducted at Goddard Space Flight Center (GSFC) to assess the real-time orbit determination accuracy of GPS-based navigation in a number of different high Earth orbital regimes. Measurements collected from a GPS receiver (connected to a GPS radio frequency (RF) signal simulator) were processed in a navigation filter in real-time, and resulting errors in the estimated states were assessed. For the most challenging orbit simulated, a 12 hour Molniya orbit with an apogee of approximately 39,000 km, mean total position and velocity errors were approximately 7 meters and 3 mm/s respectively. The study also makes direct comparisons between the results from the above hardware in-the-loop tests and results obtained by processing GPS measurements generated from software simulations. Care was taken to use the same models and assumptions in the generation of both the real-time and software simulated measurements, in order that the real-time data could be used to help validate the assumptions and models used in the software simulations. The study makes use of the unique capabilities of the Formation Flying Test Bed at GSFC, which provides a capability to interface with different GPS receivers and to produce real-time, filtered orbit solutions even when less than four satellites are visible. The result is a powerful tool for assessing onboard navigation performance in a wide range of orbital regimes, and a test-bed for developing software and procedures for use in real spacecraft applications.
Moreau, Michael↗
Modeling and Simulation Verification, Validation and Accreditation (VV&A): A New Undertaking for the Exploration Systems Mission Directorate
and Accreditation (VV&A) session audience, a snapshot review of the Exploration Space Mission Directorate s (ESMD) investigation into implementation of a modeling and simulation (M&S) VV&A program. The presentation provides some legacy ESMD reference material, including information on the then-current organizational structure, and M&S (Simulation Based Acquisition (SBA)) focus contained therein, to provide a context for the proposed M&S VV&A approach. This reference material briefly highlights the SBA goals and objectives, and outlines FY05 M&S development and implementation consistent with the Subjective Assessment, Constructive Assessment, Operator-in-the-Loop Assessment, Hardware-in-the-Loop Assessment, and In Service Operations Assessment M&S construct, the NASA Exploration Information Ontology Model (NExIOM) data model, and integration with the Windchill-based Integrated Collaborative Environment (ICE). The presentation then addresses the ESMD team s initial conclusions regarding an M&S VV&A program, summarizes the general VV&A implementation approach anticipated, and outlines some of the recognized VV&A program challenges, all within a broader context of the overarching Integrated Modeling and Simulation (IM&S) environment at both the ESMD and Agency (NASA) levels. The presentation concludes with a status on the current M&S organization s progress to date relative to the recommended IM&S implementation activity. The overall presentation was focused to provide, for the Verification, Validation,
Prill, Mark E.↗
Mini AERCam: A Free-Flying Robot for Space Inspection
The NASA Johnson Space Center Engineering Directorate is developing the Autonomous Extravehicular Robotic Camera (AERCam), a free-flying camera system for remote viewing and inspection of human spacecraft. The AERCam project team is currently developing a miniaturized version of AERCam known as Mini AERCam, a spherical nanosatellite 7.5 inches in diameter. Mini AERCam development builds on the success of AERCam Sprint, a 1997 Space Shuttle flight experiment, by integrating new on-board sensing and processing capabilities while simultaneously reducing volume by 80%. Achieving these productivity-enhancing capabilities in a smaller package depends on aggressive component miniaturization. Technology innovations being incorporated include micro electromechanical system (MEMS) gyros, "camera-on-a-chip" CMOS imagers, rechargeable xenon gas propulsion, rechargeable lithium ion battery, custom avionics based on the PowerPC 740 microprocessor, GPS relative navigation, digital radio frequency communications and tracking, micropatch antennas, digital instrumentation, and dense mechanical packaging. The Mini AERCam free-flyer will initially be integrated into an approximate flight-like configuration for laboratory demonstration on an airbearing table. A pilot-in-the-loop and hardware-in-the-loop simulation to simulate on-orbit navigation and dynamics will complement the airbearing table demonstration. The Mini AERCam lab demonstration is intended to form the basis for future development of an AERCam flight system that provides on-orbit views of the Space Shuttle and International Space Station unobtainable from fixed cameras, cameras on robotic manipulators, or cameras carried by space-walking crewmembers.
Fredrickson, Steven↗
Miniaturized Autonomous Extravehicular Robotic Camera (Mini AERCam)
The NASA Johnson Space Center (JSC) Engineering Directorate is developing the Autonomous Extravehicular Robotic Camera (AERCam), a low-volume, low-mass free-flying camera system . AERCam project team personnel recently initiated development of a miniaturized version of AERCam known as Mini AERCam. The Mini AERCam target design is a spherical "nanosatellite" free-flyer 7.5 inches in diameter and weighing 1 0 pounds. Mini AERCam is building on the success of the AERCam Sprint STS-87 flight experiment by adding new on-board sensing and processing capabilities while simultaneously reducing volume by 80%. Achieving enhanced capability in a smaller package depends on applying miniaturization technology across virtually all subsystems. Technology innovations being incorporated include micro electromechanical system (MEMS) gyros, "camera-on-a-chip" CMOS imagers, rechargeable xenon gas propulsion system , rechargeable lithium ion battery, custom avionics based on the PowerPC 740 microprocessor, GPS relative navigation, digital radio frequency communications and tracking, micropatch antennas, digital instrumentation, and dense mechanical packaging. The Mini AERCam free-flyer will initially be integrated into an approximate flight-like configuration for demonstration on an airbearing table. A pilot-in-the-loop and hardware-in-the-loop simulation to simulate on-orbit navigation and dynamics will complement the airbearing table demonstration. The Mini AERCam lab demonstration is intended to form the basis for future development of an AERCam flight system that provides beneficial on-orbit views unobtainable from fixed cameras, cameras on robotic manipulators, or cameras carried by EVA crewmembers.
Fredrickson, Steven E.↗
Modular, Autonomous Command and Data Handling Software with Built-In Simulation and Test
The spacecraft system that plays the greatest role throughout the program lifecycle is the Command and Data Handling System (C&DH), along with the associated algorithms and software. The C&DH takes on this role as cost driver because it is the brains of the spacecraft and is the element of the system that is primarily responsible for the integration and interoperability of all spacecraft subsystems. During design and development, many activities associated with mission design, system engineering, and subsystem development result in products that are directly supported by the C&DH, such as interfaces, algorithms, flight software (FSW), and parameter sets. A modular system architecture has been developed that provides a means for rapid spacecraft assembly, test, and integration. This modular C&DH software architecture, which can be targeted and adapted to a wide variety of spacecraft architectures, payloads, and mission requirements, eliminates the current practice of rewriting the spacecraft software and test environment for every mission. This software allows missionspecific software and algorithms to be rapidly integrated and tested, significantly decreasing time involved in the software development cycle. Additionally, the FSW includes an Onboard Dynamic Simulation System (ODySSy) that allows the C&DH software to support rapid integration and test. With this solution, the C&DH software capabilities will encompass all phases of the spacecraft lifecycle. ODySSy is an on-board simulation capability built directly into the FSW that provides dynamic built-in test capabilities as soon as the FSW image is loaded onto the processor. It includes a six-degrees- of-freedom, high-fidelity simulation that allows complete closed-loop and hardware-in-the-loop testing of a spacecraft in a ground processing environment without any additional external stimuli. ODySSy can intercept and modify sensor inputs using mathematical sensor models, and can intercept and respond to actuator commands. ODySSy integration is unique in that it allows testing of actual mission sequences on the flight vehicle while the spacecraft is in various stages of assembly, test, and launch operations all without any external support equipment or simulators. The ODySSy component of the FSW significantly decreases the time required for integration and test by providing an automated, standardized, and modular approach to integrated avionics and component interface and functional verification. ODySSy further provides the capability for on-orbit support in the form of autonomous mission planning and fault protection.
Cuseo, John↗
Validation and Verification of LADEE Models and Software
The Lunar Atmosphere Dust Environment Explorer (LADEE) mission will orbit the moon in order to measure the density, composition and time variability of the lunar dust environment. The ground-side and onboard flight software for the mission is being developed using a Model-Based Software methodology. In this technique, models of the spacecraft and flight software are developed in a graphical dynamics modeling package. Flight Software requirements are prototyped and refined using the simulated models. After the model is shown to work as desired in this simulation framework, C-code software is automatically generated from the models. The generated software is then tested in real time Processor-in-the-Loop and Hardware-in-the-Loop test beds. Travelling Road Show test beds were used for early integration tests with payloads and other subsystems. Traditional techniques for verifying computational sciences models are used to characterize the spacecraft simulation. A lightweight set of formal methods analysis, static analysis, formal inspection and code coverage analyses are utilized to further reduce defects in the onboard flight software artifacts. These techniques are applied early and often in the development process, iteratively increasing the capabilities of the software and the fidelity of the vehicle models and test beds.
Gundy-Burlet, Karen↗
SILHIL Replication of Electric Aircraft Powertrain Dynamics and Inner-Loop Control for V&V of System Health Management Routines
Software-in-the-loop and Hardware-in-the-loop testing of failure prognostics and decision making tools for aircraft systems will facilitate more comprehensive and cost-effective testing than what is practical to conduct with flight tests. A framework is described for the offline recreation of dynamic loads on simulated or physical aircraft powertrain components based on a real-time simulation of airframe dynamics running on a flight simulator, an inner-loop flight control policy executed by either an autopilot routine or a human pilot, and a supervisory fault management control policy. The creation of an offline framework for verifying and validating supervisory failure prognostics and decision making routines is described for the example of battery charge depletion failure scenarios onboard a prototype electric unmanned aerial vehicle.
Verification and Validation↗
MBSE Validation and Verification: Case Study for LADEE
The Lunar Atmosphere Dust Environment Explorer (LADEE) mission orbited the moon in order to measure the density, composition, and time variability of the lunar dust environment. The successful mission launched September 7, 2013 and was de-orbited and impacted the moon's surface on April 17, 2014. The ground-side and onboard flight software for the mission was developed using a “Model-Based Software Engineering” (MBSE) methodology combined with strong reuse of Government and Commercial Off-The Shelf (G/COTS) components. Models of the spacecraft and flight software were developed in a graphical dynamics modeling package. Flight Software requirements were prototyped and refined using the simulated models. After the model was shown to work as desired in the simulation framework, C-code software was automatically generated from the models. The auto-generated software was then tested in real-time Processor-in-the-Loop and Hardware-in-the-Loop test beds. “Traveling Road Show” test beds were used for early integration tests with payloads and other subsystems. Traditional techniques for verifying computational sciences models were used to characterize the spacecraft simulation. A lightweight set of formal methods analysis, static analysis, formal inspection, and code coverage analyses were utilized to further reduce defects in the onboard flight software artifacts. These techniques were applied early and often in the development process, iteratively increasing the capabilities of software and fidelity of vehicle models and test beds.
Model-Based Software Engineering, Validation and V↗
Hydrogen Energy Storage System at Borrego Springs Towards an H2 Enabled 100% Renewable Microgrid
San Diego Gas & Electric's Borrego Springs Microgrid is one of the largest microgrids in the USA, serving 2500 residential customers, 300 commercial and industrial customers, and has a peak demand of approximately 14 MW. This microgrid is located at the end of a long transmission line, and is subjected to extreme weather events like storms, wildfires, and flooding, which frequently cause grid outages. The microgrid currently relies on 3.65 MW of diesel-powered generators to provide grid-forming services during these outages, which results in greenhouse gas and criteria pollutant emissions. However, the microgrid has access to approximately 37 MW of installed solar generation and struggles with overgeneration and curtailment. 1.5 MW/4.5 MWh of grid-scale batteries have been installed to capture some the overgeneration and provide resiliency, but a longer-duration low-greenhouse gas emission energy storage solution is needed. In our project, the team will evaluate in the lab and demonstrate in the field a grid-forming fuel cell inverter that can provide grid-forming services while utilizing hydrogen's energy storage scalability. We will first utilize NREL's Renewable Energy Integration and Optimization (REopt) platform to perform analyses on future microgrid scenarios that use hydrogen assets to reduce or eliminate the need for diesel backup generators. We will then evaluate the grid-forming inverter through power hardware-in-the-loop and controller hardware-in-the-loop experiments at ARIES, and de-risk the field deployment and operation of hydrogen assets in the microgrid setting. Finally, this project will demonstrate the operation of the fuel cell inverter and updated microgrid controller by operating in grid-forming mode in the Borrego Springs microgrid.
blackstart with fuel cells↗
Validation of Interconnection and Interoperability of Grid-Forming Inverters Sourced by Hydrogen Technologies in View of 100% Renewable Microgrids
Grid-forming assets are required in microgrids to act as voltage-frequency masters. These grid-forming assets can operate in two modes of operation: grid-following mode and grid-forming mode. In grid-following mode of operation, these assets will follow real power and reactive power setpoints and in grid-forming mode of operation these assets will follow voltage and frequency setpoints. Traditionally, diesel generators or natural gas-based generators are widely used to act as a voltage-frequency master. However, many utilities are aiming to replace generators with grid forming-inverters supplied by solar photovoltaics (PV), batteries or fuel cells. Since grid-forming assets need a long-term reliable energy source, fuel cells are a reasonable and viable choice to supply the grid-forming inverters, but some of the challenges facing the wide deployment of grid-forming fuel cell inverters need to be addressed. Specifically, in our proposed work, we aim to focus on the interconnection and interoperability requirements of grid-forming fuel cell inverters. Currently, state-of-the-art fuel cell inverters follow the general interconnection requirements of distributed energy resources (DERs) and general interoperability requirements of DERs, but these requirements were built with PV and battery systems in mind. Fuel cells have different operational requirements, and therefore these requirements need to be appropriately modified for the grid operators to use. These additional steps add to the investment and operational cost to the grid operators. Through the ARIES platform, this proposed project aims to bridge this gap and use power hardware-in-the-loop (PHIL) and controller hardware-in-the-loop (CHIL) experiments to inform the creation of open-source interconnection and interoperability information that can aid in faster and cheaper installation and operation of grid-forming fuel cell inverters.
controller hardware-in-the-loop↗
Advanced grid-forming (GFM) inverter controls, modeling and system impact study for inverter dominated grids
Our main goals in this project are to understand: 1) the stability of the power system with very high penetration of PV or other inverter-based resources (IBR), 2) the interactions among IBRs and traditional generators, and 3) the impact of the GFM inverters on bulk power system. To achieve these goals, we took a holistic research and development approach. First, an impedance-based large system modeling and stability analysis tool was developed to aid the large IBR system small-signal stability analysis. Second, consensus-based control and transient overload ride through were developed to control and coordinate multiple GFM inverters in a large system to maintain transient stability during big grid events. Third, high fidelity electromagnetic transient (EMT) IBR models were developed and integrated into a large reduced WECC model to study the system impact from IBRs. Lastly, extensive validation tests of the GFM control which was developed in this project and implemented in two 1MW commercial solar inverters were performed using different validation platforms, e.g., control hardware-in-the-loop (CHIL) platform, power hardware- in-the-loop (PHIL) platform, and a real PV plant.
14 SOLAR ENERGY↗
Probing Signal-Based Inertia and Frequency Response Estimation for Power Systems With High Levels of Inverter-Based Resources
Power system inertia is the inherent capability of a power system to resist changes in its frequency during disturbances. Real-time inertia estimation technology has become more important due to the low-inertia issues caused by the increasing integration levels of inverter-based resources (IBRs) from renewable energy; however, existing inertia estimation methods hardly consider multiple frequency response controls that act within the same time frame as conventional inertial response, thus making measured inertia values vary under different testing conditions. To resolve this issue, this paper proposes a novel real-time estimation method to simultaneously estimate a power system's inertia constant and frequency response droop constant using a well-designed probing signal. First, we formulate the inertia and frequency response model of a power system with IBRs. Second, through the integration and manipulation of the developed model, we propose a multivariate linear regression-based estimation method that is resilient to measurement noise. Third, we design a probing signal that can be injected by IBRs to incite the required transients for estimation. Finally, we validate the proposed estimation method through comprehensive power-hardware-in-the-loop experiments using inverter hardware and a realistic island power system model. The results demonstrate that the proposed method can accurately estimate the inertia and droop value of the power system with grid-following IBRs and grid-forming IBRs with virtual synchronous machine control.
frequency response↗
Development and Implementation of a Hardware In-the-Loop Test Bed for Unmanned Aerial Vehicle Control Algorithms
Successful prediction and management of battery life using prognostic algorithms through ground and flight tests is important for performance evaluation of electrical systems. This paper details the design of test beds suitable for replicating loading profiles that would be encountered in deployed electrical systems. The test bed data will be used to develop and validate prognostic algorithms for predicting battery discharge time and battery failure time. Online battery prognostic algorithms will enable health management strategies. The platform used for algorithm demonstration is the EDGE 540T electric unmanned aerial vehicle (UAV). The fully designed test beds developed and detailed in this paper can be used to conduct battery life tests by controlling current and recording voltage and temperature to develop a model that makes a prediction of end-of-charge and end-of-life of the system based on rapid state of health (SOH) assessment.
Battery Testbed↗
Probing Signal-Based Inertia and Frequency Response Estimation for Power Systems with High Penetration of Inverter-Based Resources: Preprint
Power system inertia is the inherent capability of a power system to resist changes in its frequency during disturbances. Real-time inertia estimation technology has become more important due to the low-inertia issues caused by the increasing integration levels of inverter-based resources (IBRs) from renewable energy; however, existing inertia estimation methods hardly consider multiple frequency response controls that act within the same time frame as conventional inertial response, thus making measured inertia values vary under different testing conditions. To resolve this issue, this paper proposes a novel real-time estimation method to simultaneously estimate a power system's inertia constant and frequency response droop constant using a well-designed probing signal. First, we formulate the inertia and frequency response model of a power system with IBRs. Second, through the integration and manipulation of the developed model, we propose a multivariate linear regression- based estimation method that is resilient to measurement noise. Third, we design a probing signal that can be injected by IBRs to incite the required transients for estimation. Finally, we validate the proposed estimation method through comprehensive power- hardware-in-the-loop experiments using inverter hardware and a realistic island power system model. The results demonstrate that the proposed method can accurately estimate the inertia and droop value of the power system with grid-following IBRs and grid-forming IBRs with virtual synchronous machine control.
frequency response↗
Platform to Evaluate DER and Microgrid Controls for Successful Field Deployment
This presentation provides an overview of NLR's megawatt-scale controller-hardware-in-the-loop (CHIL) and power-hardware-in-the-loop (PHIL) platforms to evaluate distributed energy resource and microgrid controls for successful field deployment.
24 POWER TRANSMISSION AND DISTRIBUTION↗
Integrated Hydrogen Energy System Testing/Validation: Cooperative Research and Development Final Report, CRADA Number CRD-21-18272
Through the ARIES platform, this proposed project aims to bridge a gap and utilize the power hardware-in-the-loop (PHIL) and controller hardware-in-the-loop (CHIL) experiments and create open-source interconnection and interoperability information that can aid in faster and cheaper installation and operation of grid forming fuel cell inverters.
08 HYDROGEN↗