epnes: intelligent power routers for distributed coordination in electric energy processing...

EPNES: Intelligent Power Routers for Distributed Coordination in Electric

Energy Processing Networks: Report 1

Agustín Irizarry Carlos TorresManuel Rodríguez Idalides VergaraJosé Cedeño Juan JimenezBienvenido Vélez Marianela SantiagoMiguel Vélez-ReyezEfraín O’Neill

September 25, 2003 EPNES: Intelligent Power Routers 2

Producers

Consumers

Routers

C1 C2 C2

…Cm

R1

R2

R4

Rk

P1 P2

…

…Pn

R3

P3…

Project Goal: Electrical Energy Networks Featuring Intelligent Power Routers (IPRs)

GOAL:System

Reconfigurationwith

Minimal Human Intervention


State-of-Art Power Delivery

ProducersP1 P2

Pn

P3

Consumers

C1 C2 C3 C4

Power

Systems

with

centralized

control


Re-routing in Response to Failures

ProducersP1 P2

Pn

P3

Consumers

C1 C2 C3 C4

x

x

System MTTR Limited by Operator

Response Time


Re-routing in Response to Major Disturbances

ProducersP1 P2

Pn

P3

Consumers

C1 C2 C3 C4

Slow Operator Response

May Cause Cascading

Failures


Re-routing in Response to Major Disturbances

ProducersP1 P2

Pn

P3

Consumers

C1 C2 C3 C4

IPRSRespondPromptlyto AvoidFurther

Deterioration


Outline

Background and Problem Statement• Analogy: IPRs and Data Networks• Year 1 Goals and Results

– IPR Architecture and Modeling– IPR Restoration Model– IPR Network Restoration Protocols– IPR Risk Assessment– Education and Economics

• Year 2 Projected Goals• Summary


Our approach

• Decentralized control in response to major disturbances

• Intelligent Power Routers (IPR):– modular building blocks– strategically distributed over entire network– embedded intelligence – information exchange allows neighboring IPRs to

coordinate network reconfiguration– improve network survivability, security, reliability,

and re-configurability


Distributed Data Routing

C1

C3

S1

S2

C2

DataConsumer

Internet

DataServers

Multiple redundant paths to move data between computers

R1

R3

R4

R2

Routers


Distributed Routing: Tradeoffs• Advantages

– Highly reliable• Multiple redundant paths to deliver the data

– Highly scalable• Grow network by adding more routers incrementally

– Improved Performance• Distributed and Parallel processing for data movement

• Disadvantages– Complex Control: Requires intelligence!

• Continuously run routing algorithms to find possible routes

– Complex Implementation• Hardware and software not trivial to implement


Recovering from Failures

• Each router continuously monitors the network

• When a broken link is detected by a router:– Its routing table is updated to reflect unavailable

link– Update notice is propagated to near neighbors– Neighboring routers react accordingly

• Update their tables• Propagate their updates to their own neighbors

• Idea is to find new paths to move the data– Avoid routes that use broken link


Distributed routing for power delivery systems ?

• We believe possible to use the concept of distributed control and coordination to obtain:– Greater reliability– Scalability– Improved survivability


How are power delivery systems different from computer networks?

– Energy (not data) is transmitted

– Must match generation to demand at all times

– No buffers

– Its a bit hard to get rid of excess energy

We must deal with the laws of Physics!

Bienvenido Velez

Energy transmission (not data)Hard to get rid of excess energy


Outline

Background and Problem StatementAnalogy: IPRs and Data Networks• Year 1 Goals and Results

– IPR Architecture and Modeling– IPR Restoration Model– IPR Network Restoration Protocols– IPR Risk Assessment– Education and Economics

• Year 2 Projected Goals• Summary


RestorationModels

IPRPROTOCOLS

DistributedControlModels

IPRArchitecture

Project Organization

Education

Economics

Dr. Bienvenido

Velez


Potential architecture of the Intelligent Power Router

Power System

Energy FlowControl Devices

ICCUInterfacing

Circuits

SensorInput

SwitchingCommands

Intelligent Power Router


IPRs Design

• Basic Functionality of IPR

Take the role of controlling the routing of power over the lines.


Simulation Tool

• Understand how to model physical components for power system

• Creating self-defined models


Simulating the IPR

• Simulating basic functionality of IPR– Load Priority– Line Priority


RestorationModels

IPRPROTOCOLS

DistributedControlModels

IPRArchitecture

Project Organization

Education

Economics

Dr. RicardoCedeño


Power System Restoration Overview: Improvement of security and reliability of the electric

power system operation.

Researchers: Juan J. Jiménez, Graduate Student UPRM José R. Cedeño, Assistant Professor UPRM

Research: Formulate the Power System Restoration (PSR) problem and solve it with an Evolutionary Computation technique.

Approach: Use particle swarm optimization for solving the PSR problem. Formulate the PSR problem as a multi-stage, combinatorial, nonlinear, constrained optimization problem with binary and continuous variables.


Power System Restoration Problem formulation in terms of penalty functions:

2

1

min SAXMSAf ST

N

LLLLLi

L

j

jG

j

jG

N

jjQ

N

jjP QAPA

1

2

1

2

k

k

n

n

N

kkPF

N

nnV PFAVA

1

2

1

2

st,:

0TotalTotal DG PP

0TotalTotal DG QQ

where,

S =

iXXXk jL N

k

N

jjk

N

LL

1 11

jP = lim

jj GG PP

jQ = lim

jj GG QQ

nV = limVVn

kPF = limkk PFPF

The objective of the formulation is to minimize the unserved load while satisfying the operating constraints of the system. Also, at each stage of the restoration process only one switching operation is allowed.


Power System RestorationParticle swarm optimization (PSO) Approach:• PSO is one of the Evolutionary Computation techniques.

• PSO was originally developed in 1995 by a social-psychologist (James Kennedy) and an electrical engineer (Russell Eberhart).

• PSO emerged from earlier experiments with algorithms that modeled the "flocking behavior" seen in many species of birds.

• PSO consists of a number of particles (possible solutions) moving around in the search space looking for the best solution.

PSO Model:

kiv

1k

iv

kis

1kis

gbestv

pbestv

IF ii vSrand ()

THEN 1kis = 1,

ELSE 1kis = 0

kiiki

ki spbestrandcvv

111 () kii sgbestrandc 22 ()

11 ki

ki

ki vss Continuous variables

Binary variables


Power System Restoration

Test System and Results:

Restoration Path

Generation Units and

Transformers Transmission Lines Loads

G1 & G2 & G3 &

Stag

e T1-4 T2-7 T3-9

L4-5 L4-6 L5-7 L6-9 L7-8 L8-9 L5 L6 L8

0 X 1 X X 2 X X X 3 X X X X 4 X X X X X 5 X X X X X X 6 X X X X X X X 7 X X X X X X X X 8 X X X X X X X X X 9 X X X X X X X X X X 10 X X X X X X X X X X X 11 X X X X X X X X X X X X

Total load served increase through the stages.In each stage all the control and stage variables were within their limits and the power balance equations were met.The restoration path was established and all loads were served.

50%50% 25%50%100%

75%100%

100%

RestorationCompleted


• Objectives– De-centralized System Restoration Algorithm– Maximize number of high-priority loads restored

• Approach– Model as Network of IPRs (Graph Model)– Design Communication Protocols and Routing

messages algorithms– Design Objective Function

• Prk : Priority of load k , range [1,N], N is the lowest priority• Lk : each of the loads in the system (power required/load)• Yk : Variable decision ( yk = 1 : Restored, yk = 0 : no restored)• R: set of de-energized loads

* *( Pr ), max Prk k k kk RMAX L y

De-Centralized Communication & Control Protocols


Modeling Power Network As a Graph

C

B

F

GE

D H

A

(5)

(2)

(10)

(7)

(8)

(3)

(4)

(6)

(5)

(2)(1)(5)

(3)

(12)(15)

(5)

Graph G(V,E) : A set of nodes V connected by a set of edges E that represent some objects and their relations .

IPRS model:Vertices – IPRs on busesEdges – lines between

busesWeight – power flowEdges have Priority/Reliability measure

Weight w(e) of an edge e : indicates some metric about e


Restoration in Electrical Energy Network Featuring Intelligent Power Routers (IPRs)

Link 1 Link 2 Link 3

Link 4 Link 5 Link 6

Link 7 Link 8

Bus 1 Bus 2

Bus 4Bus 3 PR 4PR 3

PR 1 PR 2

Src 1 Src 3Src 2

Snk 2Snk 1

PR Link Priority Reliability

Pr1 1 - 1

4 1 -

Pr2 2 - 1

3 - 2

5 2 -

6 1 -

Pr3 4 - 1

5 - 2

7 1 -

Pr4 6 - 1

8 1 -

Normal State

— Normal State Message

System going down

— Request Power

— Deny Request

— Request Status— Response Status

— Affirmative Response

Restoration Process Table 1. Priority and Realibility


Risk Assessment

• What do we want to do?– Measure the change in reliability of the system

when is operated with and without IPRs.

• How to measure it?– Adequacy– Security

• Well-Being indices• Risk Framework

• What influences reliability ?– Effect on system’s reliability of adding IPRs


Well Being indices

• What are they?• How do they capture

changes in the network?

Example:two 3 MW units, one 5 MW unit, 2% FOR each

Capacity Out (MW)

Probability

0 .98×.98×.98 .941192

3 .02×.98×.98 + .98×.02×.98

.038416

5 .98×.98×.02 .019208

6 .02×.02×.98 .000392

8 .02×.98×.02 + .98×.02×.02

.000784

11 .02×.02×.02 .000008


Failure mechanism

• We need the IPR failure probability – No data available on

IPR’s failure modes or probability (They have not being built yet !)

– Data Routers info may be useful to make an approximation.

Data RouterComp Hardware

Switch

Power Hardware

Intelligence

• How does it fail?–Software

–Router

–Switch


Validation TestBed:DC Zonal Electric Distribution

System

By: Lida Jáuregui-Rivera, Ph.D. Student

Advisor: Dr. Miguel Vélez-Reyes


DCZEDS: Simplified Model


Starboard and Port Power Supplies

3-phase input Voltage : 480-560 V line-line rms

Regulates an output of 500 V dc for loads up to 15KW

Power Supply Voltages and Currents

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .6-500

0

500

S ta rboard - P ower S upp ly - V o ltage

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .6

-100

0

100 S ta rboard - P ower S upp ly - C urren t

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

200

400500600 P ort - P ower S upp ly - V o ltage

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .6

-100

0

100 P ort - P ower S upp ly - C urren t

T im e/sec


Zone 1 Subsystem

Components of Zone1

Two Ship Service Converter Modules (SSCM).

A diode or’ing network

One Ship Service Inverter Module (SSIM) with a Load Bank

The inputs to this subsystem block include

on/off signals for the two SSCM’s and the SSIM

Voltage reference setting for the SSCM’s.

The voltage reference setting controls the output voltage of the SSCM.


Zone1 Ship Service Converter Module

The converter accepts 500 V dc and regulates

the output voltage to 400 dc for loads up to 20 A.

Block Diagram of the

SSCM Control

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

200

400

S S C M -stb d V o u t

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

200

400 S S C M -port V ou t

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

20

40

60S S C M -s tbd Iou t

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

20

40

60 S S C M -port Iou t

T im e/sec

Voltages and Currents Waveforms


Zone1 Ship Services Inverter Module Accepts 380 – 440 V dc and Provides a 3-

phase AC voltage (380 – 440 V)

SSIM Control Diagram

0 .2 0 .25 0 .3 0 .35 0 .4 0 .45 0 .5-400

-200

0

200

400

600Load bank V o ltage

0 .2 0 .25 0 .3 0 .35 0 .4 0 .45 0 .5

-40

-20

0

20

40

Load B ank C urren t

T im e/sec

Voltages and Currents Waveforms of the Three Phase Load


Zone 2 Subsystem

0 0.1 0 .2 0 .3 0 .4 0 .5 0 .60

200

400

Zone2 S S C M -s tbd V out

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

200

400

Zone2 S S C M -port V ou t

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

2

4

6Zone2 S S C M -s tbd Iou t

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

2

4

6 Zone2 S S C M -port Iou t

Two Ship Service Converter Modules

(SSCM)


Motor Controller Module

Voltages and Currents Waveforms


Inverter Topology of the Motor Controller

Accepts 300 – 420 V dc. The ouput of the inverter is connected to a inductio motor

Block Diagram of the Drive Control

0 0.1 0 .2 0 .3 0 .4 0 .5 0 .60

10

20

30E lec trom a gne tic T orq ue o f the Ind uc tion M otor

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

1 00

2 00R otor S p eed

0 0.1 0 .2 0 .3 0 .4 0 .5 0 .6-1 00

0

1 00In duc tion M o to r S ta to r V o lta ges

0 0.1 0 .2 0 .3 0 .4 0 .5 0 .6-20

0

20Ind uc tio n M otor S ta to r C u rre n ts

Torque, Speed, Voltages and Currents Waveforms


Zone 3 Components

Two Ship Service Converter Modules (SSCM)


Constant Power Load Module

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

200

400Zone3 S S C M -s tbd V -ou t

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

200

400

Zone3 S S C M -port V -ou t

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

1

2

3Zone3 S S C M -s tbd i-ou t

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

5

10Zone3 S S C M -port i-ou t

T im e /sec

Output Voltages and Currents Waveforms of the SSCM’s


Constant Power Load Module The topology is based on a buck

converter.

Accepts 120 – 600 V dc and regulates the output

voltage to 100 V dc

The converter is loaded with a 2-Ohm resistor

CPL Control Diagram

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

20

40

60

80

100C P L O u tpu t V o ltage

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

10

20

30

40

50C P L O u tpu t V o ltage

T im e/sec

Output Voltage and Current Waveforms of the CPL


Simulation of Fault Conditions

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

500

1000S ta rboard - Zone1 - V o ltage

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

500


0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

500


T im e/sec

Fault in Zone 2 Bus at 0.4 sec. of operation

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .6-100

-50

0

50

100P ort - Zone1 - C u rren t

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .6-200

-100

0


0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .6-100

-50

0

50


T im e /sec


0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .6-500

0

500Zone2 S S C M -s tbd V -ou t

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .6-500

0

500 Zone2 S S C M -port V -ou t

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

5

10 Zone2 S S C M -s tbd i-ou t

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60

5

10 Zone2 S S C M -port i-ou t

T im e /sec

Output Voltages and Currents of the Zone 2 SSCMs

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .6-20

0

20

40 E lec trom agne tic To rque o f the Induc tion M o to r

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .6-100

0

100

200 R o to r S peed

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .6-100

0

100 Induc tion M o to r S ta to r V o ltages

0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .6-20

0

20 Induc tion M o to r S ta to r C u rren ts

T im e /sec

Torque, Speed, Voltages and Currents of the Induction

Motor


Final Comments

• We have familiarized ourselves with the DC Zonal testbed developed by ONR– Lida Jauregui left UPRM.– New student started: Noel Figueroa

• Testbed will serve a model for control system development.


What we promised for year 1

• Design of first IPR(v1.0) software module• Integration of the IPR module into simulation

system or development of the programmatic interface

• Experimentation with IPR(v1.0)• Formulation of the risk assessment problem

for IPR controlled system• Development of economics and ethics

modules (curriculum improvement)


Activities for year 2

• Disseminate results from iteration 0• Design of alternative IPR control algorithms• Simulations and preliminary reliability assessment• Design of second IPR (v2.0) software module• Evaluation of alternative IPR control algorithms• Use of economics and ethics modules in electrical

engineering courses (use assessment tools)• Development of short course for non-power

engineeering majors


Questions ?

epnes: intelligent power routers for distributed coordination in electric energy processing...

Documents

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