modeling and simulation of intelligent electrical power grids · modeling and simulation of...
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Modeling and Simulation of Intelligent Electrical Power Grids
Peter PalenskyTU Delft
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2(~1.75*10^28)
17549672866236885712379329542
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Kinetic equations → Temperature
T = k/n * Σ mi*v
i2
k = some constantn = number of molecules
m = mass of moleculev = velocity of molecule
T = absolute temperature
Collisions?
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Pressure → Temperature
T = P*V / N*R
P = pressureV = volume
N = amount of substance (in moles)R = ideal gas constant
T = absolute temperature
P
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Electrical Power Grids
● Topology● All elements,
parameters● Matrices
I=Y V
Switching?
V = VoltagesI = Currents
Y = nodal admittance matrix
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Electrical Power Grids
● Complex already!● Weasle around problems
– Conservative rules– Over-engineer– Damping, inertia, etc.
Image: NREL
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Intelligent Electrical Power Grids
A System of Systems
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Paradigm shift needed
P
?
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One of the new (?) things: Data
1) Metering
2) More metering (PMUs, etc.)
3) Unstructured data
4) Asking controllers/ DERs/IoT
PMU: Phasor Measurement UnitIoT: Internet of Things
DER: Distributed Energy Resources
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First attempts: 2004
● Early, experimental platform● App(lication) as the goal!● Communicating box● Multi-agent system● Intelligent Loads● Scalability?
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Even more challenges for Grid as Platform● Scalability? ● Interoperability, Interfaces?● Data/function/infrastructure ownership?● Security, Resilience?● Physics vs. Data vs. Economics?● Upgrades/Updates?● Basic rules/standards or anarchy?● Governance, fairness?
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cyber-physicalenergy system
physical worldcontinuous models
energy generation, transport, distribution, consumption, etc.
physical worldcontinuous models
energy generation, transport, distribution, consumption, etc.
information technologydiscrete models
controllers, communication infrastructure, software, etc.
information technologydiscrete models
controllers, communication infrastructure, software, etc.
roles/behaviorgame theory models
agents acting on behalf of a customer, market players, etc.
roles/behaviorgame theory models
agents acting on behalf of a customer, market players, etc.
aggregate/stochasticstatistical models
weather, macro-view of manyindividual elements, etc.
aggregate/stochasticstatistical models
weather, macro-view of manyindividual elements, etc.
Grid connects worlds...
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Heterogeneity within worlds
● Power System Physics: electricity, mechanics, hydraulics,...● Within electricity grid: multi-view, different models
– Electromagnetic Transients (EMT)● µs: switching, lighting, harmonics
– Phasor Domain / Transient Stability (TS)● ms: machines, controls
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How to solve?
● Research on cyber-(multi)physical ecosystems– Understand, validate, optimize
● Traditional (analytical)methods limited
● New Methods– Flexible, Modular– Scalable– Allow scenario handling– How to find? Go through typical examples
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Case 1: Thermal System with Market
● Thermal domain
● Discrete controller
● Agents/Market
● Stochastic events
● Describe via bond graph
● Analyze interplay of continuous domain and asynchronous events
● Scalability of methods
Heater Thermal Mass
conduct1 conduct2
Switch
Controller
Agent
Tin
TsetPrice
Vent Schedule
Q_dot_amb
Energy CounterE
P
Out0 Out1
On/Off
SUM
Market
Price
Consumption
Environment
H1 [house]
H2 [house]
Hn [house]
Thermal Flow
Information
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Case 2: UC1 + el. power station
● Plus: Electrical domain– Ideal grid– Non-ideal power station
● Plus: Mechanical domain● Tightly coupled elements!
● Further use cases– 3: Thermal grid– 4: Non-trivial market– 5: Communication network– 6: non-ideal grid– 7: EV-charging
EV: electric vehicle
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Options for modeling a hybrid system
● (0) Squeeze submodels into one tool
– Language, solver, method
– n-1 submodels in wrong language● Tedious● Error prone● Brutal simplifications
● (1) Universal tool
– Universal language, solver, etc.● (2) Co-simulation
– Combine specialized languages, solvers, etc.
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(0) Use tool of subdomain● Example: Omnet++
– discrete event scheduler– For communication networks
● Parameters in config file● Topology in *.ned files● Agent behavior in C++ code simple Sensor
{ parameters: int datarate; gates: output value;}
network Testnetwork1 { types: channel C extends ned.DatarateChannel { datarate = 100Mbps; ber = 2e-10; delay = 75us; } submodules: Sensor47: Sensor; Controller5: Controller; ... connections: Sensor47.value <--> C <--> Controller5.port++; Controller5.ctrlval <--> C <--> Valve12.setpoint; ... }
class Sensor : public cSimpleModule{ protected: virtual void initialize(); virtual void handleMessage(cMessage *msg);};Define_Module(Node);void Node::initialize(){ if (blabla) { cMessage *msg = new cMessage(something); send(msg, "value"); }}void Sensor::handleMessage(cMessage *msg){ do_something; }
[General]network = Testnetwork1Testnetwork1.Controller5.KP = truncnormal(3,1)
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Info serverInfo server
Energy Resource (load, generator, etc.)
Energy Resource (load, generator, etc.)
Communication channel
Communication channel
(Distributed)
Algorithm(Distributed)
Algorithm
Power gridPower grid
Environment( climate, human behaviour etc. )
Environment( climate, human behaviour etc. )
Required behavior
Achieved behavior
Discrete Simulation Platform● Power system simulation
– Matlab prototypes– Translate to OMNeT++
● Telecommunications● Discrete event simulator
open source, cross-platform
● Models of– Generators, loads,
grid,...● Testing
– Algorithms– Communication
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Not full T↑ T↑ T↓ T↓
T=0 T=0
Not empty
Empty / STORE
Full / DRAIN
FLUSHpflush(t)FLUSH
pflush(t)
Extremely simplified models● First tries: continuous model, 28 state discrete, etc. etc. etc.● Simplified Markov Model with two states● Computationally inexpensive
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ΔThigh
ΔTlow
ton toff
ΔT
time
Power
DRAIN
ΔThigh
ΔTlow
ton toff
ΔT
time
Power
STORE
ΔThigh
ΔTlow
ton toff
ΔT
time
Power
FLUSH
ΔThigh
ΔTlow
ton toff
ΔT
time
Power
NORMAL OPERATION
Linear, analytic solutions → useless
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How to represent physical models
● Analytic– No solver– No interaction
● Causal– Unidirectional flow of information– Transfer functions, blocks– Simulink, Ptolemy– Good for controls
● Acausal– Bidirectional flow of information– Equation-based model– Modelica, Simscape– Good for (multi)physics
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(1) “Universal tool” approach
● (a) Agent-oriented / modular– Autonomous objects– GridLAB-D, Omnet++
● (b) Monolithic– Equation-based model– Modelica, Simscape
● Both– Use object oriented languages– Are compiled into executable
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(1a) Agent-oriented models
● Model split into (large) number of autonomous objects – Communicate variables
with each other– Determine
synchronization points● Discrete event
scheduler coordinates● Good scalability
O1O2
O3On
Scheduler
V
Sync
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(1a) Time synchronization
time
order of execution
Object 1
Object 1
Object 2
Object 2
Object 3
Object 3
Object 4
Object 4
● Objects update their states
● Objects predict “personal” sync time
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(1a) Time synchronization
time
order of execution
Object 1
Object 1
Object 2
Object 2
Object 3
Object 3
Object 4
Object 4
● Objects update their states
● Objects predict “personal” sync time
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(1a) Time synchronization
time
order of execution
Object 1
Object 1
Object 2
Object 2
Object 3
Object 3
Object 4
Object 4
● Objects update their states
● Objects predict “personal” sync time
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(1a) Results “agent oriented”
● Good performance● Perfect event handling● Module, extensible● Hierarchies possible
● BUT– Physics?
(no integrators)
minimum step size is lower bound
~n
~n^2
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(1b) Monolithic models
● Simscape, Modelica● Equations compiled into executable● Numerical solver finds zero crossings● Convenient, multi-domain physics● Strong syntax, good docu
ModelFlat
ModelSorted
Equations
Index ReducedEquations
ODEExecutable
flattening sorting
Indexreduction
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(1b) Connectors link physical properties
Flow Variables
Potential Variables
A
B
CIV
IV
IV
● Flow: Ia+Ib+Ic=0● Potential: Va+Vb+Vc
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(1b) Potential & flow variables: Energy conservation
CurrentVoltageElectrical
Reaction RateConcentration(Bio)Chemical
Heat Flow RateTemperatureThermodynamics
Volume Flow RatePressureFlow, Hydraulic
Magnetic FluxMagnetic potentialMagnetic
Force
Torque
Position
AngleMechanics
Flow
Variables
Potential Variables
Domain
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(1b) Modelica code examplepackage Energy package Interfaces partial connector HeatPort “Thermal port for 1-dim. Heat transfer“ Types.Temperature T; flow Types.HeatFlowRate Q_flow; end HeatPort; ... end Interfaces; package Components model House4 "House and Temperature lumped thermal element storing heat" Types.Temperature T(start=20 + 273.15, displayUnit="degC") "Temperature of element"; parameter Energy.Types.ThermalCapacity Cth = 430.578 "Heat capacity of element“; parameter Types.Density ro = 1.2041; parameter Types.Volume volume = 200; Interfaces.HeatPort_a port_a; equation T = port_a.T; ro*volume*Cth*der(T) = port_a.Q_flow; end House4; model Heater ... end Heater; ... end Components; ... end Energy;
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Use Case 1 SimScape results
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(1) “One Tool” bottom line...
● Both options not ideal...
● Missed events?● Physics in
agents?● Performance?● Parallel
computing? 101
Number ofHouses
Simulationtime in seconds
102 103 104 105 106
101
102
103
104
105
106
107
108
A dynamic
A fixed
M DASSL
M RungeKutta
M Euler
M LSODAR
1 day
3 days model time
M xxx: Monolithic, A xxx: Agent based
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(2) Co-Simulation
● “normal” simulation
– Model → ODEs/DAEs
– One modeling tool, one solver (e.g. Euler, RK45, DASSL, ODE15s, etc.)
● Co-Simulation
– Multiple solvers/tools
– Pick the best!
– Coupled models
>1
ODE: ordinary differential equationDAE: differential-algebraic equation
Co-Simulation
SimulationHybrid
Simulation
ParallelSimulation
# models
# solvers
1 >1
1
>1
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Coupling of Models
● r coupled systems of DAEs
● m external steps during simulation time
● 1-n internal steps during one external step
Model 1
Model 2
y1
y2
u1
u2
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Coupling principles
● Explicit coupling exchanges data at every external step once
● Implicit coupling iterates each external step until the system converges
● # steps determines error
One or more (internal) steps
external step (synchronization point)
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Numerical Co-Simulation
● Combine models
● Solve collaboratively
● Multi-disciplinary problems possible
● Difficult...
CommunicationNetwork
Simulator
PowerElectronics/
ControlsSimulator
DistributionGrid
Simulator
BatterySimulator
CarUsage
Simulator
Real system
Simulated systemEnergy Market Simulator
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EMT-TS Grid Co-Simulation
● Fast parts in EMT– Details, switching, power electronics
● Big system in TS
Simulated in TS
Simulated in TS
Simulated in EMT
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Challenges in Co(upled) Simulation
● Multiple simulators
● Multiple models● How to couple?● Scenario
Handling?● Interface?
ScriptingEngine
Scenario
Initial statesParametersu time series
Optimizer
StrategyUtility function
result
create
init
Co-Simulation
FMUSolver
u
y
y
u
y
yu
u
u
yu
y
ModelFMU
FMU
Solver
Model
Solver
Model
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Case 7 “dynamic demand-response”
small scale distribution gridmedium/low voltage network with consumers
small scale distribution gridmedium/low voltage network with consumers
realistic battery modelrealistic battery modelhousehold load profilestaken from measurement campaign
household load profilestaken from measurement campaign
charging control algorithmdistributed charging power regulation
charging control algorithmdistributed charging power regulation
stochastic driving patternsderived from real-world car sharing data
stochastic driving patternsderived from real-world car sharing data
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Case 7 implementation (commercial)
● PowerFactory
– Power system
– Loads, generation
● Dymola/Modelica
– Batteries● GridLAB-D
– Charging controls
– Charging agents
– Vehicle driving
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Case 7 implementation (FOSS)
● PSAT/Octave– Power
System● Open
Modelica– Batteries
● GridLAB-D– Vehicles,
charging● 4DIAC
– Grid controls
FOSS: Free and/or Open Source Software
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Agent/discrete Part
● Done in GridLAB-D● Sequence of car
activities● Configured via car-
sharing monitoring data– Stochastic model– Input to discrete
numerical model
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Results: details, details, details● Detailed models
– Unbalanced grid– Chemical battery– Emulated controls
● Real-time simulation
● Multi-focus– Battery aging– Grid limits– Agent
convergence– Economic
optimum
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Results: dynamic step size control
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Results: ICT & Physics
● Impact of communication latency, packet loss, etc.● Various communication channels (power line, etc.)
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Smart Grids Modeling Bottom Line● Hybrid systems
– Cyber-physical (-socio -economic-environmental -etc.)
● Multi-disciplinary problem– Tools, modeling principles, teams– Language (natural, formal)– Co-simulation can help– Harmonization of analytic and numeric methods
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49Peter Palensky [email protected]