EPNES: Intelligent Power Routers for Distributed Coordination in Electric Energy Processing Networks: Report 1 Agustín Irizarry Carlos Torres Manuel Rodríguez Idalides Vergara José Cedeño Juan Jimenez Bienvenido Vélez Marianela Santiago Miguel Vélez-Reyez Efraín O’Neill
46
Embed
EPNES: Intelligent Power Routers for Distributed Coordination in Electric Energy Processing Networks: Report 1 Agustín IrizarryCarlos Torres Manuel RodríguezIdalides.
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
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
September 25, 2003 EPNES: Intelligent Power Routers 3
State-of-Art Power Delivery
ProducersP1 P2
Pn
P3
Consumers
C1 C2 C3 C4
Power
Systems
with
centralized
control
September 25, 2003 EPNES: Intelligent Power Routers 4
Re-routing in Response to Failures
ProducersP1 P2
Pn
P3
Consumers
C1 C2 C3 C4
x
x
System MTTR Limited by Operator
Response Time
September 25, 2003 EPNES: Intelligent Power Routers 5
Re-routing in Response to Major Disturbances
ProducersP1 P2
Pn
P3
Consumers
C1 C2 C3 C4
Slow Operator Response
May Cause Cascading
Failures
September 25, 2003 EPNES: Intelligent Power Routers 6
Re-routing in Response to Major Disturbances
ProducersP1 P2
Pn
P3
Consumers
C1 C2 C3 C4
IPRSRespondPromptlyto AvoidFurther
Deterioration
September 25, 2003 EPNES: Intelligent Power Routers 7
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
September 25, 2003 EPNES: Intelligent Power Routers 8
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
• Continuously run routing algorithms to find possible routes
– Complex Implementation• Hardware and software not trivial to implement
September 25, 2003 EPNES: Intelligent Power Routers 11
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 12
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 13
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
September 25, 2003 EPNES: Intelligent Power Routers 14
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
September 25, 2003 EPNES: Intelligent Power Routers 15
RestorationModels
IPRPROTOCOLS
DistributedControlModels
IPRArchitecture
Project Organization
Education
Economics
Dr. Bienvenido
Velez
September 25, 2003 EPNES: Intelligent Power Routers 16
Potential architecture of the Intelligent Power Router
Power System
Energy FlowControl Devices
ICCUInterfacing
Circuits
SensorInput
SwitchingCommands
Intelligent Power Router
September 25, 2003 EPNES: Intelligent Power Routers 17
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 18
Simulation Tool
• Understand how to model physical components for power system
• Creating self-defined models
September 25, 2003 EPNES: Intelligent Power Routers 19
Simulating the IPR
• Simulating basic functionality of IPR– Load Priority– Line Priority
September 25, 2003 EPNES: Intelligent Power Routers 20
RestorationModels
IPRPROTOCOLS
DistributedControlModels
IPRArchitecture
Project Organization
Education
Economics
Dr. RicardoCedeño
September 25, 2003 EPNES: Intelligent Power Routers 21
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.
September 25, 2003 EPNES: Intelligent Power Routers 22
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.
September 25, 2003 EPNES: Intelligent Power Routers 23
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
September 25, 2003 EPNES: Intelligent Power Routers 24
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
September 25, 2003 EPNES: Intelligent Power Routers 25
• 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
September 25, 2003 EPNES: Intelligent Power Routers 26
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
September 25, 2003 EPNES: Intelligent Power Routers 27
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
September 25, 2003 EPNES: Intelligent Power Routers 28
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 29
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
September 25, 2003 EPNES: Intelligent Power Routers 30
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
September 25, 2003 EPNES: Intelligent Power Routers 31
Validation TestBed:DC Zonal Electric Distribution
System
By: Lida Jáuregui-Rivera, Ph.D. Student
Advisor: Dr. Miguel Vélez-Reyes
September 25, 2003 EPNES: Intelligent Power Routers 32
DCZEDS: Simplified Model
September 25, 2003 EPNES: Intelligent Power Routers 33
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
September 25, 2003 EPNES: Intelligent Power Routers 34
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.
September 25, 2003 EPNES: Intelligent Power Routers 35
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
September 25, 2003 EPNES: Intelligent Power Routers 36
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
September 25, 2003 EPNES: Intelligent Power Routers 37
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)
A diode or’ing network
Motor Controller Module
Voltages and Currents Waveforms
September 25, 2003 EPNES: Intelligent Power Routers 38
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
September 25, 2003 EPNES: Intelligent Power Routers 39
Zone 3 Components
Two Ship Service Converter Modules (SSCM)
A diode or’ing network
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
September 25, 2003 EPNES: Intelligent Power Routers 40
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
September 25, 2003 EPNES: Intelligent Power Routers 41
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
1000S ta rboard - Zone2 - V o ltage
0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .60
500
1000S ta rboard - Zone3 - V o ltage
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
100P ort - Zone2 - C u rren t
0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .6-100
-50
0
50
100P ort - Zone3 - C u rren t
T im e /sec
September 25, 2003 EPNES: Intelligent Power Routers 42
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
September 25, 2003 EPNES: Intelligent Power Routers 43
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 44
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)
September 25, 2003 EPNES: Intelligent Power Routers 45
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
September 25, 2003 EPNES: Intelligent Power Routers 46