the digital substation: resilient and cyber secure …...2018/11/20 · pserc webinar, november 20,...
TRANSCRIPT
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PSERC Webinar, November 20, 2018 1
The Digital Substation: resilient and Cyber
Secure Protection and Control
Sakis Meliopoulos
Georgia Institute of Technology, Atlanta, Georgia USA
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PSERC Webinar, November 20, 2018 2
Presentation Outline • Protective Relaying Status & Challenges:
Performance Statistics
• Perennial Issues: Data Integrity, Hidden Failures,
Complexity and now cyber attack concerns
• The digital substation concept
• Relevant Technologies – Setting-less relays
– Error Correction within Merging Units
– Substation Centralized Protection Scheme
– Detection of Hidden Failures and cyber attacks
• Real Time Autonomous Self Healing
• Concluding Remarks
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PSERC Webinar, November 20, 2018 3
Performance Statistics Mis-Operations & Protection Gaps
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PSERC Webinar, November 20, 2018 4
Performance Statistics: DoE Relay Mis-operations: 10%
Of These 65% are related to hidden failures
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PSERC Webinar, November 20, 2018 5
Sample Statistics For the Brazilian National Grid, the ISO collects yearly the data about the
performance of protection systems. The following graph shows the
percent of success in operation of protection of transmission lines,
transformers and buses, for the whole Brazilian grid, in 3 years.
Brazil 2008 2009 2010
Line 97.42 96.3 96.8
Transformer 86.3 87.3 91.2
Bus 86.8 86.2 83.0
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PSERC Webinar, November 20, 2018 6
Statistics Protection Systems Misoperations Identified as
#1 NERC Reliability Issue in 2010
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PSERC Webinar, November 20, 2018 7
Causes of Mis-Operation
• Complexity
Relay Settings
Coordination Issues
• Data Integrity
• Hidden Failures
• Cyber Attacks
• Protection Gaps
(HIF, Faults near neutrals, etc.)
• Unusual Events
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PSERC Webinar, November 20, 2018 8
Relevant
Technologies
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PSERC Webinar, November 20, 2018 9
The Substation of the Future PSERC Project 2007-08 (Meliopoulos, Bose)
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PSERC Webinar, November 20, 2018 10
Overall Approach
From
This
To
This
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Merging Units were Introduced by 2009:
• Hardfiber by GE.
Today many manufacturers offer free standing
merging units and
NCIT (Non-Conventional Instrument
Transformers)
Standardization is quite advanced
Present Day Technology
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PSERC Webinar, November 20, 2018 12
The Digital Substation
Concept
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PSERC Webinar, November 20, 2018 13
The Digital Substation Concept
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PSERC Webinar, November 20, 2018 14
Architectural Notes
GPS-Synchronized
Samples
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PSERC Webinar, November 20, 2018 15
The Setting-Less
Protection Method Complexity and Protection Gaps
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DSE Motivation: In Search of Secure Protection
Setting-less Protection has been inspired from Differential protection
Analytics: Dynamic State Estimation (systematic
way to determine observance of physical laws)
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The Setting-Less Protection Method (Dynamic State Estimation Based Protection)
Protection Zone State x(t): Minimum Number of Variables that
Completely Define the Operating Condition of the Protection Zone, i.e.
Voltages, Flux, Speed, etc.
Measurements z(t): Any Measurement Can be Expressed as a Function
of the State x(t), i.e. z(t)=h(x(t)).
State Estimation: Compute x(t) that will make the difference: z(t)-h(x(t))
as small as possible. Note z(t) are Sample Values
2
1
mi i
i i
z t h x tMin J
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PSERC Webinar, November 20, 2018 18
The Setting-Less Protection Method (Dynamic State Estimation Based Protection)
If Protection Zone is Free of Faults, the distance (z(t)-h(x(t)))
is very small – comparable to Measurement Error.
If Protection Zone is Free of Faults and there are faults
outside the protection zone, the distance (z(t)-h(x(t))) is very
small – comparable to Measurement Error.
If Protection Zone experiencing an internal Fault, the distance
(z(t)-h(x(t))) becomes large.
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PSERC Webinar, November 20, 2018 19
Protection of Saturable Core Transformers
Event:
• 14.4/2.2kV, 1000 kVA single-
phase saturable-core transformer
• A 800kW load connected to the
system, generating transients and
inrush currents at 0.72 seconds
• Followed by a 5% turn-ground
fault near neutral terminal of the
transformer at 1.52 seconds
List of Measurements:
• Single-phase voltages at two
sides
• Single-phase currents at two sides
• Temperature measurements at
selected points
1 2
1-Ph
V
G
V A AA
FAULT
LINE LOADSOURCE XFMRH XFMRL
Internal Turn-Ground Fault
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PSERC Webinar, November 20, 2018 20
Differential Protection for Turn-ground Fault 5% from Neutral
5.870 A
-3.673 A
Differential_Current (A)
2.968 A
1.728 A
Fundamental_I_op (A)
47.79 A
45.85 A
Restraint_I_res (A)
6.211 %
3.768 %
Diff_Ratio_Index (%)
1.000 u
-1.000 u
Trip_Decision
2.074 s 4.500 s
Legacy Differential Protection MISSES the Fault
Differential Current (SV)
Operating Current
Restraining Current
Differential Ratio Index (%)
Trip Decision
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PSERC Webinar, November 20, 2018 21
11.42 kV
-11.42 kV
Actual_Measurement_Voltage_XFMRH_A (V)
67.55 A
-67.51 A
Actual_Measurement_Current_XFMRH_A (A)
45.57 mA
-45.55 mA
Residual_Actual_Measurement_Current_XFMRH_A (A)
34.92
0.266 m
Chi_Square
100.00
48.25 u
Confidence_Level
1.000
0.000
Trip_Decision
55.98 us
12.60 us
Execution_time (s)
2.045 s 4.500 s
Setting-less Protection for Turn-ground Fault 5% from Neutral
Setting-Less protection detects fault in sub-msec time
and trips within a fraction of a cycle.
Voltage Measurement
CurrentMeasurement
DSE Residuals
Chi Square Test
Confidence Level
Trip Decision
DSE Execution Time
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PSERC Webinar, November 20, 2018 22
Major Additional Benefit: Perpetual Model
Calibration and Validation A Ubiquitous System for Perpetual Model Validation
Protection is Ubiquitous • Makes Economic Sense to Use
Relays for Distributed Model Data Base
• Capability of Perpetual Model
Validation
• Component Real Time Model with GPS
Time Stamp – enables distributed
approaches
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PSERC Webinar, November 20, 2018 23
Data Integrity 1. Instrumentation Channel Errors 2. Hidden Failures
3. Cyber Data Attacks
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PSERC Webinar, November 20, 2018 24
Effects of Input Data Accuracy
Quality of Data is Affected from (a) Instrumentation Channel Errors, (b)
Hidden Failures and (c) cyber data attacks. All Affect Performance of
Setting-less relays as any other legacy relays.
Relays and merging units are becoming more accurate by using higher
resolution in data acquisition and higher sampling rates.
Errors from instrumentation channels remain practically the same.
Instrumentation channel errors have been much higher than the errors
introduced by the data acquisition even in earlier generations of sensor
less systems.
Merging Units offer a unique opportunity to perform error correction within
a merging unit MU provides corrected data in primary quantities.
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• Given a measurement at the secondary of an instrumentation
channel, can we extract the correct value of the primary quantity?
• Can it be done on a sample by sample basis?
Basic Question
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PSERC Webinar, November 20, 2018 26
Basic Approach to Error Correction Construct the mathematical model of the instrumentation channel:
Example CT Channel
Use actual measurements and augment with:
(a) virtual measurements,
(b) derived measurements, and
(c) pseudo measurements
Perform dynamic state estimation Best Estimate Of Primary Current
Redundant Measurements.
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PSERC Webinar, November 20, 2018 27
Dynamic State
Estimation
States: 15 Actual Measurements: 1
Virtual Measurements: 14
Derived Measurements: 5
Pseudo measurements: 1
CT Channel math Model
Measurements
Actual: - Voltage or Current at
Burden
Add: -Virtual,
-Derived, and
-Pseudo-Measurements
Example Virtual Measurement:
Example Derived Measurement:
Example Pseudo Measurement:
1
1 1 1
10 ( ) i
L
m m p L s
di tg e t i t i t t g L
n dt
1
1 1 1iLm
b L s
di ti t t g L
dt
40 ( )m v t
21 Equations in 15 unknowns.
One of the unknowns is the Primary
Current
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PSERC Webinar, November 20, 2018 28
Current Transformer Parameters
Example System Example System Parameters
115-kV transmission system.
Current transformer on phase A
CT ratio is 800:5A
Error class: 10C100.
CT instrumentation cable: #10 copper
Instr. cable length: 96 meters
Burden resistance: 0.1 Ω
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PSERC Webinar, November 20, 2018 29
Example System Results
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PSERC Webinar, November 20, 2018 30
118.5 A
-105.3 A
I_CT_SEC (A)
26.51 ms 77.70 ms
Phase A to ground fault at “MIDBUS”
CT Secondary Current
Example System Results – Mild CT Saturation Simulated CT Secondary Current Waveform
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PSERC Webinar, November 20, 2018 31
Estimated results match actual primary current with less than 1% error
Example System Results – Mild CT Saturation Error Correction Performance
Estimated Primary Current
Actual Primary Current
Secondary Current x CT Ratio
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PSERC Webinar, November 20, 2018 32
Intelligent Merging Units Provide Corrected
Primary Values Error Correction Integrated into Merging Units
(alternative: in substation computers)
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PSERC Webinar, November 20, 2018 33
Data Integrity 1. Instrumentation Channel Errors
2. Hidden Failures
3. Cyber Data Attacks
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PSERC Webinar, November 20, 2018 34
Impact of Hidden Failures/Cyber Attacks
Hidden failures and cyber attacks corrupt the data “seen” by a
relay, legacy relay or setting-less protective relay.
Hidden failures/cyber attacks will cause relay mis-operation
whether it is a legacy protective relay or a setting-less relay.
Need to identify hidden failures/cyber attacks and avert relay
mis-operations.
Present State of Art: Some legacy relaying schemes can
identify some hidden failures and inhibit relay operation. No
capability to take corrective action.
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PSERC Webinar, November 20, 2018 35
Proposed Method for Securing Data
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PSERC Webinar, November 20, 2018 36
Proposed Method for Securing Data
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PSERC Webinar, November 20, 2018 37
Dynamic
State
Estimation
Based
Centralized
Protection
Scheme
Resilient
Centralized
Substation
Protection
(rCSP)
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PSERC Webinar, November 20, 2018 38
Dynamic State Estimation Based
Centralized Protection Scheme (rCSP)
Hypothesis Testing: Observations
At substation level redundancy is high (over 2000%)
System is continuously running.
Probability of simultaneous failure events is low
Hypothesis Testing: Mechanics
Identify suspect measurements from residuals
Group suspect data with certain criteria (see paper)
Determine “faulted devices” from setting-less relays output
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PSERC Webinar, November 20, 2018 39
Dynamic State Estimation Based Centralized
Protection Scheme (rCSP)
Hypothesis Type 1 (H1): Remove suspect measurements and rerun DSE. If
probability high removed measurements are bad identify root cause
issue diagnostics replace bad data with estimated values. End hypothesis
testing. Otherwise go to H2.
Hypothesis Type 2 (H2): (determine if a fault decision is correct). For the
reported faulted device, remove all internal device measurements and remove
the faulted device model from the substation model. Then rerun DSE. If
probability high the device is truly experiencing an internal fault. Allow zone
relay to trip the faulted device. End hypothesis testing.
Hypothesis Type 3 (H3): This test combines type 1 and type 2 hypothesis
testing to cover the case of a simultaneous fault and a hidden failure.
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PSERC Webinar, November 20, 2018 40
Numerical Example
5 Protection Zones: – 115 kV Transmission Line
– 115 kV Bus
– 115/13.8 kV , 36 MVA Transformer
– 13.8 kV Bus
– 13.8 kV Distribution Line (one of the two)
Case Study:
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PSERC Webinar, November 20, 2018 41
Numerical Example Case1: Primary Fuse Blown Y-Y, PT-4A
Hidden
Failure
Sequence of Events
1 2 3 5 4
6 MW
Load
Switched
On
6MW
Load
Switched
Off
Fuse
Blown
0
Time (seconds)
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PSERC Webinar, November 20, 2018 42
Numerical Example Case1: Primary Fuse Blown Y-Y, PT-4A
Setting-less Relay of Transformer Zone:
22.82 kV
-11.60 kV
Transformer_Zone_LV_Side_PhA (V)
11.61 kV
-11.63 kV
Transformer_Zone_LV_Side_PhB (V)
11.64 kV
-13.29 kV
Transformer_Zone_LV_Side_PhC (V)
100.0
0.000
Confidence_Level
1.000
0.000
Trip_Decision
1.500 s 3.121 s
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PSERC Webinar, November 20, 2018 43
Numerical Example
Case1: Primary Fuse Blown Y-Y, PT-4A
Centralized Protection Scheme :
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PSERC Webinar, November 20, 2018 44
Numerical Example
Case1: Primary Fuse Blown Y-Y, PT-4A
Centralized Protection Scheme :
200.0
-200.0
Confidence_Level
1.000
0.000
Hidden_Failure_ Status
1.000 u
-1.000 u
Faulty_ Zone_Status
0.000 s 4.992 s
1.000
0.000
PT-4A_Hidden_Failure
1.000 u
-1.000 u
PT-4B_Hidden_Failure
1.000 u
-1.000 u
PT-4C_Hidden_Failure
0.000 s 4.992 s
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PSERC Webinar, November 20, 2018 45
Numerical Example
Case1: Primary Fuse Blown Y-Y, PT-4A
Compromised Data Correction :
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PSERC Webinar, November 20, 2018 46
Concluding Remarks
Centralized Substation Protection innovations:
Innovation 1: Setting-less Protective Relay
Innovation 2: Merging Units can provide corrected primary values via
instrumentation error correction embedded in intelligent Merging Units
Innovation 3: Supervision of protection functions (logical nodes) to
determine that hidden failures do not exist. In case of hidden failures
use real time dynamic model to replace compromised data with
estimated data enable resiliency
Innovation 4: Supervision of data integrity to determine data attacks.
In case of cyber data attack, use real time model to replace false data
enable resiliency.
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PSERC Webinar, November 20, 2018 47
Concluding Remarks
IEEE and CIGRE Efforts Move Towards the DIGITAL
SUBSTATION.
The entire process should be automated with self healing
capabilities against data errors, hidden failures and cyber
attacks.
Automated testing and in-line testing of active substation
protection and control systems. The technology exists. We
need to continue developments to bring these approaches
to a practical level.
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PSERC Webinar, November 20, 2018 48
“Find out why! To accept something the
way it has always been done is simply
not acceptable. Furthermore, it is
boring.”
Walter A. Elmore, 1925-2010
Τέλος