EPNES Intelligent Power Routers for Distributed Coordination in

EPNES: Intelligent Power Routers for Distributed Coordination in Electric Energy Processing Networks: Report 1 Agustín Irizarry Manuel Rodríguez José Cedeño Bienvenido Vélez Miguel Vélez-Reyez Efraín O’Neill October 4, 2002 Carlos Torres Idalides Vergara Juan Jimenez Marianela Santiago EPNES: Intelligent Power Routers

Project Goal: Electrical Energy Networks Featuring Intelligent Power Routers (IPRs) GOAL: System Reconfiguration with Minimal Human Intervention September 25, 2003 EPNES: Intelligent Power Routers 2

State-of-Art Power Delivery Producers P 1 P 2 P 3 Pn Power Systems with centralized control C 1 September 25, 2003 Consumers C 2 C 3 EPNES: Intelligent Power Routers C 4 3

Re-routing in Response to Failures Producers P 1 P 2 P 3 Pn System MTTR Limited by Operator Response Time x x Consumers C 1 September 25, 2003 C 2 C 3 EPNES: Intelligent Power Routers C 4 4

Re-routing in Response to Major Disturbances Producers P 1 P 2 P 3 Pn Slow Operator Response May Cause Cascading Failures C 1 September 25, 2003 Consumers C 2 C 3 EPNES: Intelligent Power Routers C 4 5

Re-routing in Response to Major Disturbances Producers P 1 P 2 P 3 Pn IPRS Respond Promptly to Avoid Further Deterioration Consumers C 1 September 25, 2003 C 2 C 3 EPNES: Intelligent Power Routers C 4 6

Outline ü 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 September 25, 2003 EPNES: Intelligent Power Routers 7

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 September 25, 2003 EPNES: Intelligent Power Routers 8

Distributed Data Routing Routers S 1 Data Servers Data Consumer C 1 R 2 C 3 Internet R 3 S 2 R 4 C 2 Multiple redundant paths to move data between computers September 25, 2003 EPNES: Intelligent Power Routers 9

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 September 25, 2003 EPNES: Intelligent Power Routers 10

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 September 25, 2003 EPNES: Intelligent Power Routers 11

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 September 25, 2003 EPNES: Intelligent Power Routers 12

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! September 25, 2003 EPNES: Intelligent Power Routers 13

Outline ü Background and Problem Statement ü 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 September 25, 2003 EPNES: Intelligent Power Routers 14

Project Organization Economics Dr. Bienvenido Velez Education September 25, 2003 EPNES: Intelligent Power Routers 15

Potential architecture of the Intelligent Power Router September 25, 2003 EPNES: Intelligent Power Routers 16

IPRs Design • Basic Functionality of IPR Take the role of controlling the routing of power over the lines. September 25, 2003 EPNES: Intelligent Power Routers 17

Simulation Tool • Understand how to model physical components for power system • Creating self-defined models September 25, 2003 EPNES: Intelligent Power Routers 18

Simulating the IPR • Simulating basic functionality of IPR – Load Priority – Line Priority September 25, 2003 EPNES: Intelligent Power Routers 19

Project Organization Economics Education Dr. Ricardo Cedeño September 25, 2003 EPNES: Intelligent Power Routers 20

Power System Restoration v Overview: Improvement of security and reliability of the electric power system operation. v Researchers: Juan J. Jiménez, Graduate Student UPRM José R. Cedeño, Assistant Professor UPRM v Research: Formulate the Power System Restoration (PSR) problem and solve it with an Evolutionary Computation technique. v 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. September 25, 2003 EPNES: Intelligent Power Routers 21

Power System Restoration Problem formulation in terms of penalty functions: 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. September 25, 2003 EPNES: Intelligent Power Routers 22

Power System Restoration Particle 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: Continuous variables Binary variables September 25, 2003 EPNES: Intelligent Power Routers 23

Power System Restoration üTotal load served increase through the stages. üIn each stage all the control and stage variables were within their limits and the power balance equations were met. üThe restoration path was established and all loads were served. Test System and Results: 100% 75% Restoration Completed 100% 25% 50% 100% 50% September 25, 2003 EPNES: Intelligent Power Routers 24

De-Centralized Communication & Control Protocols • 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 September 25, 2003 EPNES: Intelligent Power Routers 25

Modeling Power Network As a Graph G(V, E) : A set of nodes V connected by a set of edges E that represent some objects and their relations. Weight w(e) of an edge e : indicates some metric about e (4) (8) D H (5) C (3) (7) (2) (5) A B (10) September 25, 2003 (6) (1) (2) (5) E (15) (12) G (5) (3) F EPNES: Intelligent Power Routers IPRS model: Vertices – IPRs on buses Edges – lines between buses Weight – power flow Edges have Priority/ Reliability measure 26

Restoration in Electrical Energy Network Featuring Intelligent Power Routers (IPRs) System Restoration going Process down Normal State Src 1 Link 1 Bus 1 PR 1 Link 4 Table 1. Priority and Realibility Src 2 Link 2 Src 3 Link 3 Bus 2 PR 2 Link 5 PR Link Priority Reliability Pr 1 1 - 1 4 1 - 2 - 1 3 - 2 5 2 - 6 1 - 4 - 1 5 - 2 7 1 - 6 - 1 8 1 - Pr 2 Link 6 Pr 3 Bus 3 PR 3 Link 7 Snk 1 — Normal State Message — Request Power September 25, 2003 Bus 4 PR 4 Link 8 Pr 4 Snk 2 — Deny Request — Request Status — Response Status — Affirmative Response EPNES: Intelligent Power Routers 27

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 September 25, 2003 EPNES: Intelligent Power Routers 28

Well Being indices Example: • What are they? two 3 MW units, one 5 MW unit, 2% FOR each • How do they capture Capacity Probability changes in the Out (MW) network? . 98×. 98 0. 941192 September 25, 2003 3 . 02×. 98 +. 98×. 02×. 98 . 038416 5 . 98×. 02 . 019208 6 . 02×. 98 . 000392 8 . 02×. 98×. 02 +. 98×. 02 . 000784 11 . 02×. 02 . 000008 EPNES: Intelligent Power Routers 29

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 Router Comp Hardware Intelligence Switch Power Hardware • How does it fail? –Software –Router –Switch September 25, 2003 EPNES: Intelligent Power Routers 30

Validation Test. Bed: DC Zonal Electric Distribution System By: Lida Jáuregui-Rivera, Ph. D. Student Advisor: Dr. Miguel Vélez-Reyes September 25, 2003 EPNES: Intelligent Power Routers 31

DCZEDS: Simplified Model September 25, 2003 EPNES: Intelligent Power Routers 32

Starboard and Port Power Supplies § 3 -phase input Voltage : 480 -560 V line-line rms Power Supply Voltages and Currents § Regulates an output of 500 V dc for loads up to 15 KW September 25, 2003 EPNES: Intelligent Power Routers 33

Zone 1 Subsystem Components of Zone 1 § 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. September 25, 2003 EPNES: Intelligent Power Routers 34

Zone 1 Ship Service Converter Module § The converter accepts 500 V dc and regulates the output voltage to 400 dc for loads up to 20 A. Voltages and Currents Waveforms Block Diagram of the SSCM September 25, Control 2003 EPNES: Intelligent Power Routers 35

Zone 1 Ship Services Inverter Module § Accepts 380 – 440 V dc and Provides a 3 -phase AC voltage (380 – 440 V) Voltages and Currents Waveforms of the Three Phase Load SSIM Control Diagram September 25, 2003 EPNES: Intelligent Power Routers 36

Zone 2 Subsystem § Two Ship Service Converter Modules (SSCM) Voltages and Currents Waveforms § A diode or’ing network § Motor Controller Module September 25, 2003 EPNES: Intelligent Power Routers 37

Inverter Topology of the Motor Controller § Accepts 300 – 420 V dc. The ouput of the inverter is connected to a inductio motor Torque, Speed, Voltages and Currents Waveforms Block Diagram of the Drive Control September 25, 2003 EPNES: Intelligent Power Routers 38

Zone 3 Components § Two Ship Service Converter Modules (SSCM) § A diode or’ing network Output Voltages and Currents Waveforms of the SSCM’s § Constant Power Load Module September 25, 2003 EPNES: Intelligent Power Routers 39

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 Output Voltage and Current Waveforms of the CPL § The converter is loaded with a 2 -Ohm resistor CPL Control Diagram September 25, 2003 EPNES: Intelligent Power Routers 40

Simulation of Fault Conditions Fault in Zone 2 Bus at 0. 4 sec. of operation September 25, 2003 EPNES: Intelligent Power Routers 41

Output Voltages and Currents of the Zone 2 SSCMs September 25, 2003 Torque, Speed, Voltages and Currents of the Induction Motor EPNES: Intelligent Power Routers 42

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. September 25, 2003 EPNES: Intelligent Power Routers 43

What we promised for year 1 • Design of first IPR(v 1. 0) software module • Integration of the IPR module into simulation system or development of the programmatic interface • Experimentation with IPR(v 1. 0) • Formulation of the risk assessment problem for IPR controlled system • Development of economics and ethics modules (curriculum improvement) September 25, 2003 EPNES: Intelligent Power Routers 44

Activities for year 2 • • • Disseminate results from iteration 0 Design of alternative IPR control algorithms Simulations and preliminary reliability assessment Design of second IPR (v 2. 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 September 25, 2003 EPNES: Intelligent Power Routers 45

Questions ? September 25, 2003 EPNES: Intelligent Power Routers 46