Multi-layer Hardware-in-the-Loop Testbed for

Microgrids
Adrien Geni, Petar Gartner, Danilo Medjo, Mladen Dini
Development department
Typhoon HIL
Novi Sad, Serbia
adrien@typhoon-hil.com
Abstract The paper presents a multi-layer hardware-in-theloop (HIL) based testbed for development, evaluation and testing
of microgrid operation. The testbed is a configurable setup which
can match any microgrid structure. The presented microgrid
consists of 15 distributed energy resources (DERs). It includes 4
distributed generators (DGs): a solar plant, diesel generator, 2
constant power sources, 10 distributed loads (DLs): a direct-online induction machines, constant power load, 7 passive loads, a
three phase rectifier with an active filter and a battery storage
system (BSS). Power system and power electronics parts were
simulated by a real time simulator. Controllers for the PE
converters were real, industrial controllers connected to the realtime simulator. Supervisory control and data acquisition system
(SCADA) for the microgrid was designed and connected to the
system. The system behavior was analyzed in a number of
different scenarios.
KeywordsHardware-in-the-Loop; microgrid; testbed;

I. INTRODUCTION
The grid, as it is now, is designed to be centralized, small
number of sources and significantly larger number of loads
spread across the large distribution network. With fast
penetration of renewable energy sources such as wind farms
and solar plants, sources are geographically distributed across
the grid. In order to handle all the additional sources, grid is
changing and becoming smarter. Basic building blocks of the
future smart grids are microgrids. Microgrids are small scale
girds that can be connected to a larger system or they can
operate completely autonomously. Today, microgrids have
numerous applications such as power system of large ships,
aircrafts [1], hospitals, temporary settlements and so on.
Because of large number of smart DERs, microgrids require
new control algorithms, protection algorithms and energy
management systems. Locally controllers for the DERs
require advanced control algorithms and have to support novel
communication protocols [2].
It is a challenge to develop, test and commission a
complex microgrid which is composed of large number of
complex DERs. In order to make it possible, new development
and test methodologies and tools need to be introduced. The
first step in development of microgrids is an offline computer
simulation. There are simulation tools that can simulate the
todays grid very well, but the model accuracy is not good

978-1-5090-3720-9/16/$31.00 2016 IEEE

enough for girds with lot of smart DERs. DERs are composed
of a power electronics converter controlled by computer
software. It is hard to model the software, the smartness of the
DERs. While this segment off the microgrid and smart energy
resources have to be tested the most.
Hardware-in-the-loop (HIL) testing and development is a
known methodology for more than two decades in automotive
industry. In this approach, part of the entire system is
simulated in real time, while another part of the system
remains the original, real one. In automotive industry, this
methodology is a standard. Nowadays, in power electronics
industry, HIL is more and more used in full product
development cycle, starting from early research all the way to
the regression testing. In power electronics application the
power part is simulated in real time, while the controller, the
brain of the converter, remains the exact same that will be
embed in the real system. This type of HIL is called control
hardware in the loop (CHIL) [3], [4], [5], [6]. HIL
development and testing methodology is at its early stage in
the field of microgrids. It is a challenge for real-time
simulation tools to match the requirements for full microgrids
with high fidelity models of smart DERs included. With new
tools emerging and improving, complex microgrid HIL
systems are enabled.
Multi-layer hardware-in-the loop based testbed for
development, evaluation and testing of microgrid operation is
presented in the paper. In the second section, multi-layer HIL
methodology is presented and defined. In third section
microgrid model used through the paper is introduced. In
section four the developed SCADA system is described in
details. Testbed is presented in section five. In section six HIL
experimental results are shown for various test scenarios that
demonstrate the feasibility of the testbed.
II. MULTI-LAYER HIL METHODOLOGY FOR MICROGRIDS
In HIL test methodology, one part of the system is
replaced with a model simulated in real time, while the other
one, usually the part under test, remains real. In power
electronics, CHIL approach is very common. In CHIL, the
high power part of a converter is simulated in real time, while

the controller is a real controller [3], [4], [5], [6]. SCADA

systems and microgrid monitoring and control systems are
usually tested using HIL approach where a simplified model
of the network or microgrid is simulated in real-time [7].
Multi-layer HIL methodology for developing, testing and
verification of microgrids includes real hardware and software
under test on different layers. Block diagram of multi-layer
HIL for microgrids is shown in Fig. 1. High power part of the
microgrid is simulated in real time. Microgrid SCADA is not
simulated, it remains the real one. It is connected to the realtime simulator through one of standard protocols such as
Modbus, IEC61850 or some custom protocols based on
Ethernet or USB interface or even through digital and analog
IO. SCADA is also interfaced with the real DER controllers
through the same protocols. Microgrids may include DERs of
different complexity. Some simpler DERs, such as passive
loads, direct-on-line machines, generators, rectifiers, can be
accurately modeled and simulated. While more complex ones,
such as various smart converters, solar converters, battery
chargers, complex machine drives, active filters should be
replaced with CHIL systems.

Fig. 1. Block diagram of multi-layer HIL test methodology for microgrids

III. MICROGRID MODEL

Model of the microgrid used through the paper is shown in
Fig. 2. It is a low voltage microgrid with 400 V of phase to
phase voltage. Maximal overall power consumption is rated to
100 kVA. It is composed of 6 buses and 15 DERs. The
microgrid can be in two operation modes: grid connected and
islanded mode. In grid connected mode, the whole power
system is connected to a 16 kV grid through a step down
transformer. In islanded mode, a diesel generator is connected
to the network. It becomes the main power source in islanded
mode.

Fig. 2. Simplified single line diagram of the microgrid

Detailed model of the microgrid is shown in Fig. 4. In the

following subsections, the model, including all DERs will be
described in details.
A. Diesel generator
Diesel generator is denoted as DER 1. It is a simplified
model of the diesel generator. Its rated maximal power is 100
kVA. Diesel generator is modeled as a controlled voltage
source behind reactance. Control part consists of power meter,
speed PI regulator and first-order generator model [8]. In grid
connected mode of the microgrid, diesel generator is
disconnected, while in islanded mode it is the grid forming
device.
B. Solar Inverter
Solar inverter is denoted as DER 2. It is included in the
microgrid testbed as a CHIL system. The power stage, shown
in Fig. 3, is modeled in details inside the simulator. The
controller is an industrial solar inverter controller. It is
interfaced to the real time simulator through digital and analog
inputs and outputs. The controller sends the PWM signals for
the inverter switches through digital inputs and measures the
voltages and currents on analog outputs of the simulator.
Model of the solar inverter consists of a photovoltaic panel
model, three phase three level T-type converter, passive filter
and a there phase circuit breaker. Rated power of the solar
plant at maximal irradiation is 34 kW.

Fig. 3. Model of the solar inverter

Fig. 4. Detailed microgrid model

C. Three phase rectifer non linear load

Three phase rectifier, denoted as DER 4 is connected at
bus 3. It represents a highly non-linear load. Rectifier has two
operation modes, low power and high power mode. Power
consumption in these two modes are 22 kW and 44 kW,
respectively. High power mode is modeled by connecting an
additional resistive load. Three phase rectifier can be
disconnected from the grid by opening a local circuit breaker.
D. Double active filter
Next to the rectifier, at bus 3, a double active filter is
placed. Its function is to cancel out the harmonics in grid
currents generated by the rectifier. It is implemented as a
CHIL system.

Fig. 5. Model of the double active filter power stage

The power stage of the active filters is shown in Fig. 5.

Each of them consists of a three phase two level converter and
a local filter tuned on the switching frequency, which is 10
kHz. Double active filter controller is an industrial controller
interfaced with the simulator through digital inputs and analog
outputs.
E. Passive linear loads
DERs 3, 5, 6, 7, 8, 9 and 14 are linear passive loads
implemented as star connection of inductances in series with
resistance. These loads are always connected to the grid.
Power consumption of the each load is 3.0 kW of active power
and 0.6 kVAr of reactive power. These distributed loads
represent a typical residential load. DER 11, connected to bus
5, is a load bank composed of three passive linear loads
previously described. DER 11 load bank can be disconnected
from the grid by opening a local circuit breaker.
F. Three phase active power loads
There are two three phase active power sources [8] in the
microgrid model. Source denoted as DER 9 is connected at
bus 4, while the source denoted as DER 13 is connected at bus
6. These sources represent an averaged model of converters.
Both of these constant power sources are designed to match
the power demand on the local bus. Source DER 9 has a
maximal power rating of 15kVA which can cover the demand
for loads DER 6, 7 and 8. Source DER 11 has a maximal
power rating of 20 kVA that matches the demand of bus 6.
DER 14, a 3kVA passive load, and DER 15, a 15 kVA
induction machine, are connected to bus 6. Active power
sources are implemented as controlled current sources.
Current control logic requires two reference inputs: reference
for active power Pref, processed through frequency droop look
up table; reference for reactive power Qref, processed through
voltage droop look up table [12].

G. Single constant power load unbalanced load

DER 12 is a single phase constant power load connected
between phase A and phase B representing an unbalanced
load. References for the active and reactive powers can be set.
Implementation of these components are same as for three
phase active power sources.
H. Battery storage system
There is a battery storage system (BSS) connected at bus 5.
The unit is denoted as DER 10. Both, the power stage and the
control algorithm are modeled and implemented in the real
time simulation tool. Full model of the BSS is presented in
Fig. 6. The power stage consists of a 720V, 120Ah lead-acid
battery, three phase two level converter and an output
switching frequency filter. Switching frequency is set to 10
kHz. The BSS controller consists of the main current control
loop controller and an overvoltage protection. The main
current loop consists of a phase locked loop (PLL), abc to dq
converter for the grid currents, two PI regulators for id and iq
components of the currents, dq to abc converter and a three
channel PWM modulator [9]. Overcharge protection, is
controlling the enable for PWM modulator. It is sensing the
battery voltage, if the voltage is over a certain limit, it stops
the charging. It consists of a Schmitt trigger and a logic that
generates the PWM modulator enable signal.

Fig. 6. Model of a battery storage system

I. Induction machine load

A 15kVA induction machine driving a fan is directly
connected to the grid at bus 6. It can be connected or
disconnected from the grid by controlling the local circuit
breaker. Fan is modeled as a linear load in function of the
machine speed. Load can be changed from 0.0 to 1.0 per unit,
which models the angle of the blades.
J. Grid faults
Two faults are modeled, a phase to phase short and a phase
to ground short circuit. Cable section from the grid to the step
down transformer is split in two 250 m sections. Grid faults
are modeled between these two sections. Faults are modeled
using ideal switches, presented in Fig. 7.

Fig. 7. Grid phase to phase and phase to ground faults model

K. Cable sections
Busses in the microgrid are connected through cables of
different lengths. Length for cable is noted on Fig. 2 and Fig.
4. All cable sections are modeled as coupled R-L circuits.
IV. MICROGRID SCADA SYSTEM
Supervisory control and data acquisition system (SCADA),
shown in Fig. 8, was developed for the presented microgrid
system. The same software environment used for real time
simulation has an embedded tool for custom SCADA systems
development [10]. It is based on python programing language
which opens a possibility for complete customization of the
SCADA system. SCADA communicates with the real time
simulator through USB interface. It sets the inputs such as grid
voltages, solar panel irradiation, active and reactive power
references for constant power loads and sources, operates the
circuit breakers, reads and displays the voltage, current and
power in different points of the system. It also communicates
with the real controllers connected to the real time simulator
by setting the references and activating or deactivating them
through serial RS232 interface.
Left part of the SCADA window shows a single line
diagram of the microgrid. RMS voltage measurements show
the voltages on all 6 busses. The measurements are located
next to the busses on the single line diagram. Active and
reactive powers are measured through the main lines of
busses. Power measurement units are located on the single line
diagram next to the busses. At each circuit breaker in the
microgrid there is an option for direct control from the
SCADA. Next to each controllable DER there is an LED
indicator that lights up when the corresponding DER is active.
Load of the three phase rectifier can be changed directly from
the SCADA from low to high and vice versa.
Right part of the SCADA contains additional control and
supervisory options for some DERs. First sub panel is the
control part for the single phase constant power load. There is
a LED that indicate if the load is active. Reference values for
active and reactive powers can be set in this sub panel. Second
and third subpanels are the reference inputs for three phase
constant power sources DERs 9 and 13.

Fig. 8. Microgrid SCADA

On the right side of the constant power control sub panels

there is a sub panel called Grid Faults. From this panel, a
microgrid operator is able to initiate several grid faults and
disturbances. In a real microgrid, it would be either not
possible, or extremely hard, dangerous and expensive to
initiate faults on the grid. This is one of the very important
possibilities allowed by HIL testing approach. In this
particular case, options for two disturbances and two faults are
added. An operator can add harmonic components to the grid,
any harmonic from 2nd to 50th with amplitudes from 0.0 1.0
per unit. An unbalanced grid can be set as well. It is possible
to initiate two grid faults, phase to phase short and phase to
ground shorts. When these faults are enabled, SCADA sends a
command to the ideal switches that are modeling the faults
and closes the corresponding switch. It is trivial to add more
complex faults and disturbances such as zero or low voltage
ride through, grid frequency sweep, etc.
Next sub panel is the Solar Inverter Unit sub panel.
Irradiation of the solar panel can be set by rotating the PV
Irradiation knob. In PV Monitor graph voltage, current and
power consumed from the PV panel is displayed. Blue curve
on the graph shows the PV current - voltage curve, while the
red curve represents the power - voltage curve. Red dot on the
power curve is moving in real time, it shows the present power
point on the curve. It is used to analyze the maximal power
point (MPPT) tracking functionality of the solar inverter.
Beneath the solar inverter panel is the Battery Storage Unit
panel. Voltage and state of charge of the battery are
monitored. An operator can manually switch among charging
or discharging operation modes of the BSS.
At the bottom left corner of the SCADA window is the
Induction Machine control panel. Induction machine
mechanical speed and mechanical torque are observed in real

time. By rotating the Load p.u. knob it is possible to change

the machine load from 0.0 to 1.0 p.u.
V. TESTBED SETUP
The hardware setup of the microgrid testbed is shown in
Fig. 9. It consists of three Typhoon HIL603 real time
simulators connected in parallel, controller for the solar
inverter and controller for double active filter. For the
presented microgrid, 2 simulators where used. The third one is
added for further development. The simulation step for real
time simulation of power stage was 2 s.
The controller for the solar inverter is implemented on a
Texas instruments TMX320F2837 control card. It is
connected to the first simulators digital and analog IO
through a dedicated interface card called TI DSP Interface
[11]. It is sending the PWM signals to the real time
simulators digital inputs. At the analog outputs of the
simulator, the controller is measuring the grid voltages, grid
currents, PV current and PV voltage. The controller is not
changed at all in comparison to the controller in a real solar
plant.
Controller for the active filter is connected to the second
simulator. It is interfaced also through digital inputs and
analog outputs. The controller itself consists of two
independent active filter controllers packed in a single box. On
the front side of the controller is a panel PC. Industrial
monitoring and control software for the active filters is
running on the panel PC. The active filter controllers are not
modified for the testbed. These controllers are exactly the
same as the ones in the field.

Fig. 10. Step change in the irradiance

Fig. 9. Microgrid testbed

VI. HIL EXPERIMENTAL RESULTS

The microgrid testbed is designed for development, testing
and validation of the full microgrid systems and all its
components, including controllers of the smart distributed
energy resources, fault protections and SCADA system.
Testing results for DER level controllers, switching to
islanding mode, various fault and disturbance scenarios are
provided to validate the proposed microgrid testbed and multilayer HIL methodology.

B. Doulbe active filter testing scenario

In this scenario, a high power three phase rectifier was
connected to the grid. The rectifiers power consumption was
44 kW. After connecting the rectifier to bus 3, grid currents
where distorted, as shown in Fig. 11. At this point active
filters where not enabled. In Fig. 12 grid and active filter
currents are shown after enabling the active filters (AFs). It
can be seen that the grid current distortion is compensated by
the active filter. Double AF controller implements an
algorithm where the two active filters equally shares the
currents needed for harmonic compensation. The grid currents
are sinusoidal after the AFs are enabled, which was the goal of
the active harmonic filters. It can also be seen that the two
filters equally share the currents.

Signals presented in this section are acquired through

capture functionality of the used real time simulators. The
captured signals could be analyzed in details with 2 s
resolution. All changes in the microgrid were initiated from
the microgrid SCADA.
A. Solar inverter test scenarios
The controller for the solar inverter receives the references
for active power and reactive power from the SCADA. During
the tests active power was set to maximum, and reactive
power reference was set to zero. Switching frequency of the
inverter is 10 kHz. Maximal power point tracking algorithm is
implemented in the solar inverter controller. Since the active
power reference is set to maximum, the controller will always
try to push all the available energy from the solar panel to the
grid. In Fig. 10 currents of the inverter are shown during step
change in the solar panel irradiation from 200 W/m2 to 750
W/m2. At the step change the controller immediately tries to
increase the output power, but fails and disconnects after 60
ms from the step change. After next 50 ms it connects again
successfully, increasing the power. Note that this kind of step
change in the irradiation never occurs in reality.

Fig. 11. Disturbed grid currents, currents of both active filters; both active
filters disabled

Fig. 12. Compensated grid currents, currents of both active filters; both active
filters enabled

C. Matching supply and demand on bus 4

In this test scenario the power demand on bus 4 is supplied
from local power source DER 9. Currents between bus 3 and
bus 4 are shown in Fig. 13. At the starting point the local

power source is not active. All the power consumed by at bus

4 is supplied from bus 3. At 1.0 seconds the local power
source DER 9 is activated. During the next 0.8 seconds, its
power generation is gradually increasing while, the amplitude
of the currents between bus 3 and bus 4 is falling. After the
transient, local demand is fully matched by DER 9.

observed in its currents. It can be noticed that the solar

inverter disconnected. Active filters remained connected.

Fig. 15. Currents during introduction of harmonics

Fig. 13. Currents between bus 3 and bus 4 during supply-demand matching on
bus 4

D. Switching from grid connected to islanded mode

Microgrid is disconnected from the grid and connected to
the diesel generator during this test scenario. Diesel generator
voltages were not in phase with the grid voltages, and
transients with current overshoots are expected to be observed.
Grid currents, battery storage converter currents, solar inverter
currents and active filter currents were observed during
transition. Results are shown in Fig. 14. Initial current
overshoots can be seen after the circuit breaker is switched.
Solar inverter disconnects from the microgrid and that the
current supplied by the battery converter increased. Active
filter and battery storage converter did not disconnect from the
grid.

In Fig. 16 effects of line to ground short can be observed.

Phase C was shorted to the ground in the middle of the cable
section from the grid to the transformer. The fault introduced
an unbalanced voltages in the microgrid. Battery storage
inverter remained connected to the microgrid. The solar
inverter immediately disconnected from the grid. Active filters
remained connected. Current of the active filter increased.

Fig. 16. Currents during phase to ground short

During phase to phase short, phases A and B where

shorted in the mid-section of the cable connecting the grid and
the transformer. Effects of the fault can be observed in Fig. 17.
Solar inverter disconnected immediately. Active filters tried to
remain connected for 1 second, but after that they
disconnected. Battery storage inverter remained connected
since it has a simplified model of the controller.
Fig. 14. Currents during switching to islanded mode

E. Disturbance and fault scenarios

During all the following test scenarios grid voltages,
battery storage inverter, solar inverter and active filter phase
currents were observed.
In first scenario 5th and 11th harmonics are added to the
grid voltage. Amplitude of the harmonic components was 0.1
p.u. Results are presented in Fig. 15. Battery storage inverter
remained connected, same harmonic components can be

Fig. 17. Currents during phase to phase short

In final fault scenario a switch failure in battery storage

inverter was modeled. Top switch in the phase A of the battery
storage two level inverter was shorted. Captured results during
the fault can be observed in Fig. 18. Fault in the battery
storage inverter did not affect the operation of the solar
inverter and the active filters. Consequences of the fault can be
observed in the battery storage inverter currents.

system. This approach ensured high model accuracy and

fidelity.
Multi-layer HIL methodology for development and testing
of complex microgrids showed significant advantage in
comparison to the testing approach in the field. We showed
that it is possible to test the microgrid against various fault
conditions such as grid shorts, grid disturbances, converter
faults, large power fluctuations which are extremely hard to
recreate in a real microgrid.
The presented testbed is an easily reconfigurable system.
The microgrid structure can be changed in a matter of minutes
or hours. Other external controllers or SCADA systems can be
easily connected to the testbed. Advanced communication
protocols such as IEC 61850 are supported but not covered by
the paper.

Fig. 18. Currents during battery storage inverter fault

VII. CONCLUSIONS
Multi-layer HIL methodology for development and testing
of complex microgrids is proposed in this paper. A microgrid
testbed composed of real time simulators, industrial double
active filter controller and solar inverter controller was built.
Custom SCADA system was developed for monitoring and
control of the presented microgrid. The modeled microgrid
was a 100 kVA, 400 V network with 6 busses and 15 DERs.
DERs included solar inverter, diesel generator, battery storage
system, active filters, nonlinear load, passive linear loads,
constant power sources and loads and an induction machine
driving a fan. Experimental results of various test scenarios
were presented. The power stage of the microgrid was
simulated with 2 s time step in real time. Active filter and
solar inverter controllers remained the real ones.
During the testbed development, more complex DERs
were tested separately. Active filters and solar inverter CHIL
were verified by industrial partners according to their results
from the field. Real time simulation results of BSS and
rectifier were compared to results obtained using offline
simulation tools. The whole microgrid was compared to
results from offline simulation tool. In offline simulation tool
average models for smart DERs where used.
The presented HIL approach showed significant flexibility
from microgrid modeling point of view. It is possible to model
DERs with different level of complexity and accuracy. In the
presented system there are simple active power sources with
and without droop control functionally, this represented an
average model of converters. Second level of complexity was
a battery storage system, which had a detailed model of the
power stage with a simulated control algorithm. Third level of
converter model complexity was presented in case of the solar
inverter and double active filters. Power stages were modeled
in details in the simulator, while the controllers remained the
real. Controllers were connected to the simulator as a CHIL

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