Discrete time compensation of switching events for accurate real-time simulation of power systems

This paper presents new simulation software that allows the efficient and accurate fixed-time-step simulation of complex event-based dynamic systems. The software, named ARTEMIS^TM (Advanced Real-Time Electro-Mechanical Transient Simulator), accurately simulates time-segment linear systems with discontinuities occurring anywhere between time-steps. The new software is used for the simulation of energy and power system dynamics, and is implemented in the ARTEMIS Add-On for Simulink´s Power System Blockset. With ARTEMIS Discrete Time Compensation of Switching Events (DTCSE), the between-step events are transparently taken into account and compensated for in the simulation results. This eliminates sub-synchronous jitter while causing only minor increase in both the average time-step and real-time time-step (typically less than 1.0%) making ARTEMIS with DTCSE suitable software for real-time simulation of precision-critical hardware-in-the-loop (HIL) systems. The DTCSE algorithm is very good at handling typically challenging fixed-time-step simulation cases, like multiple single time-step discontinuities