specifications for the power grid simulator
TRANSCRIPT
College of Engineering and Architecture
Specifications for the Power Grid Simulator
Anjan BoseWashington State University
Pullman, WA
CMU Conference on TestbedsPittsburgh, PAApril 1, 2015
College of Engineering and Architecture
What is Simulation?
• Testbed?• Analytical Tools?• Apps?• Simulation maybe a part of an analytical tool• Analytical tool or app requires Input – static vs time variable Output – characterizes the app
• Simulation is a mathematical description of behavior
College of Engineering and Architecture
What is simulation?
• Is power flow a simulation?• Power flow ‘simulates’ an instant• Simulation usually implies behavior over time Electromagnetic (<msecs) Electromechanical (>msecs) Uniform frequency (secs) Economic Dispatch (min) Unit Commitment (hours-days-weeks) Hydro Coordination (seasonal) Planning (years)
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Time Step of 0.1(s)
College of Engineering and Architecture
What is Real Time?
• Is the computation time faster than the time step?• What affects the computation time Size of the grid Complexity of the models (equations) Nonlinearities, particularly discontinuities Computer architecture Algorithm
Are there any real time simulators?
College of Engineering and Architecture
Simulator Characteristics
• Models Algebraic equations (power flow) Differential equations Logic (control, protection)
• Main concern is the speed of dynamic behavior• Faster behaviors are harderMany simulators are possible.Can they be seamlessly connected?
College of Engineering and Architecture
Transmission vs Distribution
• Mostly simulated separately• Distribution models usually smaller• Do we have to model distribution in our
transmission simulation?• Distributed generation, dynamic load control• How much detail?
College of Engineering and Architecture
Why New Simulation Testbeds?
• Faster sensing (PMU)• Faster communication• Faster computers• Faster controllers (FACTS)
Can we operate the grid more efficiently and reliably?Need better tools to design and test new operational procedures and controls.
College of Engineering and Architecture
Simulation Challenges
• What is missing in the existing simulators? New measurements New power electronics equipment New controls logicAlso PMUs Communications ComputationHandling of the feedback loop of streaming measurements, control logic and control signals
College of Engineering and Architecture
Real Time Simulation
• Does the simulation have to be real time?Issues• Synchronizing the simulation of different parts Power grid Communications Computation Control/protection logic
Don’t know how to do time simulation of communication and computation
SGDRIL Test Bed at WSU
PI SYSTEM
PI Interface PI Server
PI Analytics
C37.118
OPAL-RT
Programmable PMU
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Real Time Digital Simulator and Other Devices
The test bed consists of –a) Real Time Digital Simulator b) Master Computerc) Substation Automation Computerd) 5 Nos. of PMUs e) Software & Hardware PDCs f) Synchrophasor Vector Processor
(SVP)g) Real Time Automation Controller
(RTAC)h) GPS Clocks (2 Nos.)i) Ethernet Hubj) Amplifiersk) Different Softwares.
http://www.eecs.wsu.edu/~asrivast/SGDRIL/index.html 12
Hardware Interface/Ethernet Internet
PMUPDCDatabase
Subsystem
NS 3, GridStat, or Deternet
Control Center
OpenPDC
RT-VSMApplication LayerApplication Layer
Communication Layer
Sensor and Actuator Layer
Power System Layer
Cyber-Power System Modeling
Real Time Power System Simulator
GridSim: High Level Diagram
GridStat
Transient Stability Simulator Substation 1Control Center SE
Running at 5Hz
Control Center Oscillation Monitor
Running at 30Hz
Pow
er T
opol
ogy
Sim
ulat
or
User Defined Model
RT Timekeeping
Output Streamer
Control ListenerTimestamp Generator
Topology Mapper
C37.118 Output
Closed Loop ControllerRunning at 30Hz
Substation 2
Substation N
…
Data Receiver & Control Forwarder
Measurement Generator
TimingImplementation
& Design
TimingDesign
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GridSim: Full Architectural Diagram
GridStat
Transient Stability Simulator Substation 1
SubstationSE
SubstationGW
Control Center SE(5Hz)
Tim
e Al
ignm
ent
Com
puta
tion
Visu
aliza
tion
Grid
Stat
Pub
lishe
r
Grid
Stat
Sub
scrib
er
… Tim
e Al
ignm
ent
Control Center Oscillation Monitor (30 Hz)
Tim
e Al
ignm
ent
Com
puta
tion
Visu
aliza
tion
Grid
Stat
Sub
scrib
er
Pow
er T
opol
ogy
Sim
ulat
ion
Engi
ne
Use
r Def
ined
Mod
el
RT Timekeeping
Output Streamer
Control Listener
Measurement Generator
Form
at P
arse
r
Tim
esta
mp
Gene
rato
r
Topo
logy
Map
per
C37.
118
Out
put
Data
Rec
eive
r &
Cont
rol F
orw
arde
r
Substation 2
SubstationSE
SubstationGW
Grid
Stat
Pub
lishe
r
… Tim
e Al
ignm
ent
Substation N
SubstationSE
SubstationGW
Grid
Stat
Pub
lishe
r
… Tim
e Al
ignm
ent
…
Controller(30Hz)
Tim
e Al
ignm
ent
Com
puta
tion
Cont
rol A
ctio
ns
Grid
Stat
Sub
scrib
er
TimingImplementation
& Design
TimingDesign
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Adaptation for GridCloud Architecture
GridStat
Replay Process 2
Re-
play
ed D
ata
File
sO
f C37
.118
Dat
a
PMUN
PMUN-1
PMU1
…PMU2
GridCloud Replica 1
COLN
COLN-1
COL1
…COL2
SubstationSE1 P
SubstationSEM
Control Center SERunning at 5Hz
Tim
e Al
ignm
ent
S
Com
puta
tion
Resu
lts
Visu
aliza
tion
GridCloud Replica 2
COLN
COLN-1
COL1
…COL2
SubstationSE1
SubstationSEM
GridCloud Replica 3
COLN
COLN-1
COL1
…COL2
SubstationSE1
SubstationSEM
Client Handler
291 Substations
291 Substations
291 Substations
Replay Process 1
Re-p
laye
d Da
ta F
iles
Of C
37.1
18 D
ata
PMUN
PMUN-1
PMU1
…PMU2
Client Handler
Replay Process 3
Re-
play
ed D
ata
File
sO
f C37
.118
Dat
a
PMUN
PMUN-1
PMU1
…PMU2
Client Handler
4632 Streams
Time-Synchronized Data Sources Internet GridCloud running on Amazon Elastic Compute Cloud
P
P
P
P
P
4632 Streams
4632 Streams
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College of Engineering and Architecture
Testbed Challenge• What are we testing? A scenario A widget (sensor, relay, controller) A control process or protection scheme
• Inputs Streaming measurements (real time data) System data (static data)
• What simulation to use• Output Must include performance metrics
College of Engineering and Architecture
Testbed Challenge
• Many testbeds?• Or one very flexible testbed Changeable, flexible simulations Different system data sets Different scenarios (measurement data) Different output setsThis is difficult to design. Maybe a few testbedscan cover the whole range