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Resilient Architectures and Algorithms forGeneration Control of Inertialess AC Microgrids
Alejandro D. Domınguez-Garcıa
Coordinated Science LaboratoryDepartment of Electrical and Computer Engineering
University of Illinois at Urbana-Champaign
NSF Workshop on Power Electronics-Enabled Operation of Power SystemsIllinois Institute of Technology
Chicago, ILNovember 1, 2019
Microgrid Notion
A group of loads and distributed energy resources (DERs) interconnectedvia an electrical network with a small physical footprint with the possibilityof operating:
M1. as part of a large power system [Grid-connected mode]
M2. as an autonomous power system [Islanded mode]
Examples of Distributed Energy Resources (DERs)
PV systems Electric Vehicles Fuel Cells Residential Storage
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 1 / 19
tie line
microgrid
G
G
bulk grid
Grid-Connected: May be viewed as a single entity with the idea ofcontrolling the DERs within its boundaries to provide services to thebulk grid
Islanded: Enables consumers to maintain electricity supply byappropriately controlling the DERs within its boundaries
Different control objectives for each operational mode and each typeof DER
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 2 / 19
tie line
microgrid
G
G
bulk grid
Grid-Connected: May be viewed as a single entity with the idea ofcontrolling the DERs within its boundaries to provide services to thebulk grid
Islanded: Enables consumers to maintain electricity supply byappropriately controlling the DERs within its boundaries
Different control objectives for each operational mode and each typeof DER
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 2 / 19
tie line
microgrid
G
G
bulk grid
Grid-Connected: May be viewed as a single entity with the idea ofcontrolling the DERs within its boundaries to provide services to thebulk grid
Islanded: Enables consumers to maintain electricity supply byappropriately controlling the DERs within its boundaries
Different control objectives for each operational mode and each typeof DER
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 2 / 19
Architectural SolutionsCentralized:
I Requires communication between a central processor and the variousgeneration resources (and possibly loads)
I Requires up-to-date knowledge of generation resource availabilityI Subject to failures at the decision maker (single-point-of-failure)
Distributed:I Inherent ability to handle incomplete global knowledgeI Potential resiliency to faults and/or unpredictable behavior
DistributedCentralized
2
1
3
6
4
5
in
Controller
1
2
3
i
4
5
6
n
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 3 / 19
Our Distributed Control Platform
Each control node acquires information locally (e.g., frommeasurements) and via exchanges with nearby control nodes
The information is used as inputs to a suite of distributed algorithmsimplementing requisite control functions
Communication link to assetsCommunication link to assets
Communication link across feedersCommunication link across feeders
Communication link between control nodesCommunication link between control nodes
X Control node XX Control node X
X Control area XX Control area X
AggregationAggregation
B6
A3 A4
B1
B2
B5
B4
. . .
Bus 2
Bus 201Bus 101
200HP
Inductionmotor
4MVA
Diesel
Bus 203
Grid - Bus1
SEL751-1 SEL751-2 SEL751-3
Bus 205
C1
1200kVA
I1
3000kVA
I2
250kVA
C2
1500kVA
Bus 105
Bus 106
Bus 107
P1
1000kVA
Bus 102 Bus 103
Bus 204
3 MVA
ESS
C3
1000kVA
P2
1000kVAI5
400kVA
T101
500kVA
13.8/0.48kV
T102
2500kVA
13.8/0.48kV
T103
3750kVA
13.8/4.16kV
T106
500kVA
13.8/0.208kV
T104
2000kVA
4.16/0.48kV
T104
2000kVA
4.16/0.48kV
F1_CB1 F1_CB2 F1_CB3
F1_CB4 F1_CB5 F1_CB6 F1_CB7 F1_CB8F1_CB12
F1_CB13
F1_GCB
F1_CB9
F1_CB10 F1_CB11
F1_CB14
T107
2500kVA
13.8/0.48kV
Bus 202
C4
1000kVAP5
700kVA
F2_CB1 F2_CB2 F2_CB3
F2_CB5
F2_CB11
F2_CB6 F2_CB7
F2_CB8 F2_CB4
F2_CB9 F2_CB10
F2_CB19 F2_CB12 F2_CB13
F2_CB14 F2_CB15
F2_CB17 F2_CB18 F2_CB16
T201
2500kVA
13.8/0.48kV
T203
3750kVA
13.8/4.16kVT202
500kVA
13.8/0.208kV
T204
1000kVA
4.16/0.48kV
T205
1500kVA
4.16/0.48kV
T207
5000kVA
13.8/0.48kV
T206
2500kVA
13.8/0.48kV
T210
1000kVA
13.8/0.48kV
T208
2000kVA
13.8/0.48kV
T209
2000kVA
13.8/0.48kV
I3
300kVA
I4
500kVAP3
1000kVA
Bus 206 Bus 207
Bus 209 Bus 210
Bus 208
Bus 104
. . .
. . .
. . .
. . .
. . .
B4B2
B5
B7
B6
A1A3
A2 A4
B3
B1
Distributed
control
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 4 / 19
Our Work in the Last Decade
We have developed, mathematically analyzed, and tested numerousdistributed algorithms for performing several control functions, including:
I frequency control, voltage control, optimal dispatch, provision of ancillary services,optimal power flow, synchronization
Our laboratory-grade control node prototypes are currently equipped withdistributed algorithms for frequency control [TCST 2017]
Laboratory-grade control node prototype
Load Bus
Generator Bus
1
4
5
2
3
6 1
4
5
2
3
6
0 2 4 6 80.75
1
1.25
1.5
time, t [s]
P4(t) P5(t) P6(t)∆ω(t) [rad/s]
0 2 4 6 8
0−0.01−0.02−0.03−0.04−0.05−0.06
time, t [s]0 2 4 6 8
0.75
1
1.25
1.5
time, t [s]
P1(t) P2(t) P3(t)
(a) Electrical single-linediagram of 6 bus microgrid
(b) Communicationgraph
(c) Load perturbations (e) Weighted averagefrequency error
(d) Generators share loadaccording to their power ratings
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 5 / 19
Our Work in the Last Decade
We have developed, mathematically analyzed, and tested numerousdistributed algorithms for performing several control functions, including:
I frequency control, voltage control, optimal dispatch, provision of ancillary services,optimal power flow, synchronization
Our laboratory-grade control node prototypes are currently equipped withdistributed algorithms for optimal asset scheduling [CDC 2012]
Laboratory-grade control node prototype
P1 P2 P3 P4 P5 P6
1 2 3 4 5 6
20 40 60 80
0
0.5
1
k
Pj[k]
P1[k] P2[k] P3[k]
P4[k] P5[k] P6[k]
(c) Estimation of the optimal power outputs ofthe generation units, Pj [k], j = 1, 2, 3, 4, 5, 6
(a) Electrical single-line diagramof 6 bus microgrid
(b) Communication graph
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 6 / 19
Our Work in the Last Decade
We have developed, mathematically analyzed, and tested numerousdistributed algorithms for performing several control functions, including:
I frequency control, voltage control, optimal dispatch, provision of ancillary services,optimal power flow, synchronization
Our laboratory-grade control node prototypes are currently equipped withdistributed algorithms for provision of regulation services [CDC 2011]
Laboratory-grade control node prototype
Feeder
1 2
3 4
1 2
3 4
0 10 20 30 40 50 60 70 80
Time (minutes)
-150
-100
-50
0
50
100
150
Act
ive
Po
wer
(k
W)
Three-phase Active Power Injection to Bulk Grid
RegD Signal
Active power injection
660 665 670 675 680 685 690
Time (seconds)
-40
-38
-36
(a) Electrical single-line diagramof 4 bus microgrid
(b) Communication graph (c) Aggregate response of DERs to PJM RegD signal
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 7 / 19
Controller Hardware-in-the-loop (C-HIL) Testing
All our distributed algorithms have been tested in a C-HILenvironment
C-HIL testing is a safe, low cost, repeatable, flexible and efficientapproach for testing control hardware
CONTROLLED
SYSTEM
computer simulation (in real-time)
communication protocol
reference
signaloutput
control signal
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 8 / 19
Illinois C-HIL Testbed Architecture
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 9 / 19
Cyber Layer
Ethernet shield
(enables ethernet communication)
Arduino microcontroller board
(enables implementation of control algorithms)
Xbee module + Xbee shield
(enables wireless communication)
Cyber layer controller
The cyber layer is equipped with cyber layer controllers, eachoutfitted with wireless and ethernet transceivers
Cyber layer controllers execute the distributed algorithms necessary toimplement each particular control function
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 10 / 19
Physical Layer
The Typhoon HIL402 and Typhoon HIL603 are utilized for real-timeemulation of the physical layer
The emulators are equipped with detailed and reduced models of:I Rooftop photovoltaic (PV) panelsI Battery storage systemsI Wind turbine generatorsI MicroturbinesI Fuel cellsI Loads
Simulation time steps are as low as 500ns
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 11 / 19
Low-level controllers
Low-level controllers cabinet
TI MSP-EXP432e401y Ethernet board
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 12 / 19
Equipment cabinet
A laboratory
prototype of
the control node
A laboratory
prototype of
the control node
View of the testbed control console showing severallaboratory-grade control node prototypes
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 13 / 19
Moving Forward
Demonstrate the ability of our distributed architecture to handlechallenging scenarios, including:
Networking multiple already-existing microgrids
Plug-and-play integration of additional assets
Communication failures and control node reboot/shutdown
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 14 / 19
Networking of Multiple Microgrids
B6
A3 A4
B1
B2
B5
B4
Bus 2
Bus 201Bus 101
200HP
Inductionmotor
4MVA
Diesel
Bus 203
Grid - Bus1
SEL751-1 SEL751-2 SEL751-3
Bus 205
C1
1200kVA
I1
3000kVA
I2
250kVA
C2
1500kVA
Bus 105
Bus 106
Bus 107
P1
1000kVA
Bus 102 Bus 103
Bus 204
3 MVA
ESS
C3
1000kVA
P2
1000kVAI5
400kVA
T101
500kVA
13.8/0.48kV
T102
2500kVA
13.8/0.48kV
T103
3750kVA
13.8/4.16kV
T106
500kVA
13.8/0.208kV
T104
2000kVA
4.16/0.48kV
T104
2000kVA
4.16/0.48kV
F1_CB1 F1_CB2 F1_CB3
F1_CB4 F1_CB5 F1_CB6 F1_CB7 F1_CB8F1_CB12
F1_CB13
F1_GCB
F1_CB9
F1_CB10 F1_CB11
F1_CB14
T107
2500kVA
13.8/0.48kV
Bus 202
C4
1000kVAP5
700kVA
F2_CB1 F2_CB2 F2_CB3
F2_CB5
F2_CB11
F2_CB6 F2_CB7
F2_CB8 F2_CB4
F2_CB9 F2_CB10
F2_CB19 F2_CB12 F2_CB13
F2_CB14 F2_CB15
F2_CB17 F2_CB18 F2_CB16
T201
2500kVA
13.8/0.48kV
T203
3750kVA
13.8/4.16kVT202
500kVA
13.8/0.208kV
T204
1000kVA
4.16/0.48kV
T205
1500kVA
4.16/0.48kV
T207
5000kVA
13.8/0.48kV
T206
2500kVA
13.8/0.48kV
T210
1000kVA
13.8/0.48kV
T208
2000kVA
13.8/0.48kV
T209
2000kVA
13.8/0.48kV
I3
300kVA
I4
500kVAP3
1000kVA
Bus 206 Bus 207
Bus 209 Bus 210
Bus 208
Bus 104
. . .
. . .
. . .
. . .
. . .
B4B2
B5
B7
B6
A1A3
A2 A4
B3
B1
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 15 / 19
Networking of Multiple Microgrids
B6
A3 A4
B1
B2
B5
B4
. . .
Bus 2
Bus 201Bus 101
200HP
Inductionmotor
4MVA
Diesel
Bus 203
Grid - Bus1
SEL751-1 SEL751-2 SEL751-3
Bus 205
C1
1200kVA
I1
3000kVA
I2
250kVA
C2
1500kVA
Bus 105
Bus 106
Bus 107
P1
1000kVA
Bus 102 Bus 103
Bus 204
3 MVA
ESS
C3
1000kVA
P2
1000kVAI5
400kVA
T101
500kVA
13.8/0.48kV
T102
2500kVA
13.8/0.48kV
T103
3750kVA
13.8/4.16kV
T106
500kVA
13.8/0.208kV
T104
2000kVA
4.16/0.48kV
T104
2000kVA
4.16/0.48kV
F1_CB1 F1_CB2 F1_CB3
F1_CB4 F1_CB5 F1_CB6 F1_CB7 F1_CB8F1_CB12
F1_CB13
F1_GCB
F1_CB9
F1_CB10 F1_CB11
F1_CB14
T107
2500kVA
13.8/0.48kV
Bus 202
C4
1000kVAP5
700kVA
F2_CB1 F2_CB2 F2_CB3
F2_CB5
F2_CB11
F2_CB6 F2_CB7
F2_CB8 F2_CB4
F2_CB9 F2_CB10
F2_CB19 F2_CB12 F2_CB13
F2_CB14 F2_CB15
F2_CB17 F2_CB18 F2_CB16
T201
2500kVA
13.8/0.48kV
T203
3750kVA
13.8/4.16kVT202
500kVA
13.8/0.208kV
T204
1000kVA
4.16/0.48kV
T205
1500kVA
4.16/0.48kV
T207
5000kVA
13.8/0.48kV
T206
2500kVA
13.8/0.48kV
T210
1000kVA
13.8/0.48kV
T208
2000kVA
13.8/0.48kV
T209
2000kVA
13.8/0.48kV
I3
300kVA
I4
500kVAP3
1000kVA
Bus 206 Bus 207
Bus 209 Bus 210
Bus 208
Bus 104
. . .
. . .
. . .
. . .
. . .
B4B2
B5
B7
B6
A1A3
A2 A4
B3
B1
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 16 / 19
Integration of an Additional Asset
B6
A3 A4
B1
B2
B5
B4
. . .
Bus 2
Bus 201Bus 101
200HP
Inductionmotor
4MVA
Diesel
Bus 203
Grid - Bus1
SEL751-1 SEL751-2 SEL751-3
Bus 205
C1
1200kVA
I1
3000kVA
I2
250kVA
C2
1500kVA
Bus 105
Bus 106
Bus 107
P1
1000kVA
Bus 102 Bus 103
Bus 204
3 MVA
ESS
C3
1000kVA
P2
1000kVAI5
400kVA
T101
500kVA
13.8/0.48kV
T102
2500kVA
13.8/0.48kV
T103
3750kVA
13.8/4.16kV
T106
500kVA
13.8/0.208kV
T104
2000kVA
4.16/0.48kV
T104
2000kVA
4.16/0.48kV
F1_CB1 F1_CB2 F1_CB3
F1_CB4 F1_CB5 F1_CB6 F1_CB7 F1_CB8F1_CB12
F1_CB13
F1_GCB
F1_CB9
F1_CB10 F1_CB11
F1_CB14
T107
2500kVA
13.8/0.48kV
Bus 202
C4
1000kVAP5
700kVA
F2_CB1 F2_CB2 F2_CB3
F2_CB5
F2_CB11
F2_CB6 F2_CB7
F2_CB8 F2_CB4
F2_CB9 F2_CB10
F2_CB19 F2_CB12 F2_CB13
F2_CB14 F2_CB15
F2_CB17 F2_CB18 F2_CB16
T201
2500kVA
13.8/0.48kV
T203
3750kVA
13.8/4.16kVT202
500kVA
13.8/0.208kV
T204
1000kVA
4.16/0.48kV
T205
1500kVA
4.16/0.48kV
T207
5000kVA
13.8/0.48kV
T206
2500kVA
13.8/0.48kV
T210
1000kVA
13.8/0.48kV
T208
2000kVA
13.8/0.48kV
T209
2000kVA
13.8/0.48kV
I3
300kVA
I4
500kVAP3
1000kVA
Bus 206 Bus 207
Bus 209 Bus 210
Bus 208
Bus 104
. . .
. . .
. . .
. . .
. . .
B4B2
B5
B7
B6
A1A3
A2 A4
B3
B1
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 17 / 19
Integration of an Additional Asset
B6
A3 A4
B1
B2
B5
B4
. . .
Bus 2
Bus 201Bus 101
200HP
Inductionmotor
4MVA
Diesel
Bus 203
Grid - Bus1
SEL751-1 SEL751-2 SEL751-3
Bus 205
C1
1200kVA
I1
3000kVA
I2
250kVA
C2
1500kVA
Bus 105
Bus 106
Bus 107
P1
1000kVA
Bus 102 Bus 103
Bus 204
3 MVA
ESS
C3
1000kVA
P2
1000kVAI5
400kVA
T101
500kVA
13.8/0.48kV
T102
2500kVA
13.8/0.48kV
T103
3750kVA
13.8/4.16kV
T106
500kVA
13.8/0.208kV
T104
2000kVA
4.16/0.48kV
T104
2000kVA
4.16/0.48kV
F1_CB1 F1_CB2 F1_CB3
F1_CB4 F1_CB5 F1_CB6 F1_CB7 F1_CB8F1_CB12
F1_CB13
F1_GCB
F1_CB9
F1_CB10 F1_CB11
F1_CB14
T107
2500kVA
13.8/0.48kV
Bus 202
C4
1000kVAP5
700kVA
F2_CB1 F2_CB2 F2_CB3
F2_CB5
F2_CB11
F2_CB6 F2_CB7
F2_CB8 F2_CB4
F2_CB9 F2_CB10
F2_CB19 F2_CB12 F2_CB13
F2_CB14 F2_CB15
F2_CB17 F2_CB18 F2_CB16
T201
2500kVA
13.8/0.48kV
T203
3750kVA
13.8/4.16kVT202
500kVA
13.8/0.208kV
T204
1000kVA
4.16/0.48kV
T205
1500kVA
4.16/0.48kV
T207
5000kVA
13.8/0.48kV
T206
2500kVA
13.8/0.48kV
T210
1000kVA
13.8/0.48kV
T208
2000kVA
13.8/0.48kV
T209
2000kVA
13.8/0.48kV
I3
300kVA
I4
500kVAP3
1000kVA
Bus 206 Bus 207
Bus 209 Bus 210
Bus 208
Bus 104
. . .
. . .
. . .
. . .
. . .
B4B2
B5
B7
B6
A1A3
A2 A4
B3
B1
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 18 / 19
Failure of multiple control nodes
B6
A3 A4
B1
B2
B5
B4
. . .
Bus 2
Bus 201Bus 101
200HP
Inductionmotor
4MVA
Diesel
Bus 203
Grid - Bus1
SEL751-1 SEL751-2 SEL751-3
Bus 205
C1
1200kVA
I1
3000kVA
I2
250kVA
C2
1500kVA
Bus 105
Bus 106
Bus 107
P1
1000kVA
Bus 102 Bus 103
Bus 204
3 MVA
ESS
C3
1000kVA
P2
1000kVAI5
400kVA
T101
500kVA
13.8/0.48kV
T102
2500kVA
13.8/0.48kV
T103
3750kVA
13.8/4.16kV
T106
500kVA
13.8/0.208kV
T104
2000kVA
4.16/0.48kV
T104
2000kVA
4.16/0.48kV
F1_CB1 F1_CB2 F1_CB3
F1_CB4 F1_CB5 F1_CB6 F1_CB7 F1_CB8F1_CB12
F1_CB13
F1_GCB
F1_CB9
F1_CB10 F1_CB11
F1_CB14
T107
2500kVA
13.8/0.48kV
Bus 202
C4
1000kVAP5
700kVA
F2_CB1 F2_CB2 F2_CB3
F2_CB5
F2_CB11
F2_CB6 F2_CB7
F2_CB8 F2_CB4
F2_CB9 F2_CB10
F2_CB19 F2_CB12 F2_CB13
F2_CB14 F2_CB15
F2_CB17 F2_CB18 F2_CB16
T201
2500kVA
13.8/0.48kV
T203
3750kVA
13.8/4.16kVT202
500kVA
13.8/0.208kV
T204
1000kVA
4.16/0.48kV
T205
1500kVA
4.16/0.48kV
T207
5000kVA
13.8/0.48kV
T206
2500kVA
13.8/0.48kV
T210
1000kVA
13.8/0.48kV
T208
2000kVA
13.8/0.48kV
T209
2000kVA
13.8/0.48kV
I3
300kVA
I4
500kVAP3
1000kVA
Bus 206 Bus 207
Bus 209 Bus 210
Bus 208
Bus 104
. . .
. . .
. . .
. . .
. . .
B4B2
B5
B7
B6
A1A3
A2 A4
B3
B1
A. D. Domınguez-Garcıa (Illinois) Microgrid Distributed Control [email protected] 19 / 19