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1
Security assessment: decision support tools for power system operators
James D. McCalley, [email protected]
Iowa State University, Ames, Iowa
September 5, 2000
© Iowa State University. All rights reserved.
2
Overview
Security-related decisions
Current approach and what’s wrong with it
Security assessment using probabilistic risk
Illustrations
Risk-based decision-making
Cumulative risk assessment
Conclusions
3
On-line Operator How to constrain the Operating rules,assessment economic operation to on-line assessment,(min-hours) maintain the normal state ? and $$$$
Security-related decisions
Time-frame Decision maker Decision Basis for decision
Operational Analyst What should be the Minimum operating
planning operating rules ? criteria, reliability,
(hrs-months) and $$$$
Planning Analyst How to reinforce/maintain Reliability criteria
(months-years) the transmission system ? for system design,
and $$$$
4
Decision-Drivers Security
Overloadsecurity
Voltage Security
Dynamic Security
Trans- former Overload
Line Overload
Low Voltage
Unstable Voltage
Transient(early-swing)instability
Oscillatory (damping)instability
5
Number of operating studies for determining security limitsNational Grid Company, UK
1985: 3/quarter
1990: 120/week
2000: 1300/week
6
Bus 1 500
Bus 1 230
Bus 1 115
Bus 2 500Bus 2 500
Bus2 230Bus2 230
Bus 2 115Bus 2 115
110%
Imports Operator’s view Operator’s view at 2:10 pm, at 2:10 pm, 8/12/998/12/99
200 MW flow
94%
93%
0.95 pu volts
A Stressed A Stressed SystemSystem
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Simulation Simulation Results of a Results of a Preventive ActionPreventive Action
Bus 1 500Bus 1 500
Bus 1 230Bus 1 230
Bus 1 115Bus 1 115
Bus 2 500Bus 2 500
Bus2 230Bus2 230
Bus 2 115Bus 2 115
103%
Imports
0 MW flow
101%
104%
0.91 pu volts
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Power system “states” and actions
Normal (secure)
Emergency
Restorative
Extreme emergency.Separation, cascading
delivery pointinterruption,
load shedding
Alert,Not secure
Off-economic dispatch
Controlled loadcurtailment
Transmission loading reliefprocedures
Other actions(e.g. switching)
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Model current conditions
Select contingencies
Compute post-contingency performance
Determine if alert(the action-trigger)
Identify possible actions
Select action
Assessment and decision today
Determine if alert(the action-trigger)
Identify possible actions
Select action
Perform assessment
a-priori
10
What is wrong with this approach?
#2The decision is driven by the most severe credible contingency
#1Assessment is made of the past but the decision is made for the future.
11
What is wrong with this approach?
#1Assessment is made of the past but the decision is made for the future.
• actions can come too late
• un-quantified future uncertainties requires large margin
12
Actions can come too late;Un-quantified uncertainties require large margin
Line flowContingency-based flow limit
Time
MW
Select action
Assess Action trigger
Identifyaction set
Based on the previous condition
13
What is wrong with this approach?
#2The decision is driven by the most severe credible contingency
• inaccurate assessment and consequently an inconsistent action trigger• selection of less effective actions
14
4
3 2
1
5
1
2
3
4
5
6 7
8
Five-bus test system for illustrating concepts
Loss of cct 1 overloads cct 2
Loss of cct 6 overloads cct 7
Loss of cct 5 createslow voltage at bus 4.
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A
B
C D
E
16
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What causes the inconsistency?Assumption that all contingencies in selected set are of equal probability
Ignoring risk contribution from problems that are not most constraining
Discrete quantification of severity
18
What do we do then?
Model a forecasted future
using probabilistic modeling of uncertainties
and assess it with
quantitative evaluation of contingency severity for each possible condition
19
Forecast the future load and transactions
forecasted line flow95% confidence limitsactual line flow
Time
MW Loading
Select action
Assess Action trigger
Identifyaction set
(Based on future Conditions)
20
On-line risk-based assessment
∑∑ ×=i j
jtiftjtift XESevXXEXSevRisk ),()|Pr()Pr()|( ,,,,
Uncertainty inoutage conditions
Uncertainty in operating conditions Severity
function
Forecasted operating conditions for future time t
21
Possible near-future operating cdts (bus injections)
Selected near-futurecontingency states
Determine low voltageseverity for each bus
Determine overloadseverity for each circuit
Determine voltage instability severity for the system
MM
Forecasted operating
conditions Determine cascadingseverity for each circuit
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• Xt,f is forecasted severity measures: flows, voltages, loadability
• Xt,j is small deviation from forecasted value due to variation (or uncertainty) in parameters k:
kk
XXX ftjt Δ
∂∂
+= ,,
Then, the pdf on Xt+1 can be obtained as:
),(~)|Pr( ,,,
T
ftftjt k
XC
k
XXNormalXX ⎥⎦
⎤⎢⎣
⎡∂∂
⎥⎦
⎤⎢⎣
⎡∂∂
C is the covariance matrix for the vector of uncertain parameters k
Uncertainty in operating conditions...
23
Severity modeling
LOLP, EUE, Cost of re-dispatch, as indices for use in security-related decision-making, each pre-suppose adecision and are therefore inappropriate.
It’s modeling should NOT depend on a pre-supposed decision as this constrains the decision space, which is the space of investigation.
Re-dispatch
Loa
d cu
rtai
lmen
t
Trans
miss
ion
load
ing
relie
f
Identified by CIGRE TF38.02.21 Task Force asmost difficult problem in probabilistic security assessment.
24
Severity modeling: essential features
Definition: Severity is an unavoidable consequence of a specified condition.
It provides a quantitative evaluation of what would happen to the power system in the specified condition.
One uses it, together with probability of the condition, to decide whether to re-dispatch, call for TLR, or interrupt load.
25
Severity modeling
Economic quantification is attractive but difficult and can give a false sense of precision.
Essential features• Simple.• Reasonable reflection of relative severity between outcomes to enable calculation of a composite index. • Increase continuously as the performance indicator (e.g., flow, voltage, loading margin, cascaded lines) gets worse.• Interpretable in physical and deterministic terms.
26
Voltage in per unit
Severity
Flow as % of rating
10090
1
Severity
0.950.92
1
OVERLOAD
Severity
MW loading margin
1100 100
1
Severity
Number of cascaded circuits
1 2 3 4 5 …
654321
Severity functions...
Because all severity functions evaluate to 1.0 at the deterministic threshold, a risk level R may be roughly thought of as the expectationOf the number of violations in the next hour.
100
LOW VOLTAGE
CASCADINGNote: non-convergenceat any level of cascading evaluates to 100.
VOLTAGEINSTABILITY
27
))},(CasNum()),(VCMargin(
)),(Voltage()),(Flow({
)|Pr()Pr()|(
,1,1
,1,1
,1
jtiCasjtiVC
bjtibb
cjticc
i jtjtit
XESevXESev
XESevXESev
XXEXSevRisk
++
++
+
++
+
×=
∑∑
∑∑Decomposability
The above expresses system risk.
Interchanging summations allows us to obtain:• What incurs risk: total risk for a single component (bus or branch risk) or a set of them (regional risk)• What causes risk:
system, regional, or component risk for a specific contingency system, regional, or component risk for a specific problem type
28
29
30
31
Decision-making by RBOPF
Traditional OPF:
Minimize: generation cost
Subject to:
Power flow equations
Generation limits
Branch flow & bus voltage constraints
Other security constraints
A variation:
Minimize: a(generation cost) + b(total system risk)
Subject to:
Power flow equations
Generation limits
Regional risk constraints
32
Cumulative risk assessment
33
Final CommentsThe “secure” and “alert” states
only differ in terms of how insecure they are, and we need a measurable
index to reflect this.
Risk is a computable quantity thatcan be used to integrate security with
economics in formal decision-making algorithms.