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Register a new userImpact of DER Communication Delay in AGC: Cyber-Physical Dynamic Simulation
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Distributed energy resource (DER) frequency regulations are promising technologies for future grid operation. Unlike conventional generators, DERs might require open communication networks to exchange signals with control centers, possibly through DER aggregators; therefore, the impacts of the communication variations on the system stability need to be investigated. This paper develops a cyber-physical dynamic simulation model based on the Hierarchical Engine for Large-Scale Co-Simulation (HELICS) to evaluate the impact of the communication variations, such as delays in DER frequency regulations. The feasible delay range can be obtained under different parameter settings. The results show that the risk of instability generally increases with the communication delay.
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Modern network systems such as transportation, manufacturing, and communication systems are subject to cyber-physical disruptions. Cyber disruptions compromise sensing and/or actuating which closed-loop control relies on, and physical disruptions undermine network capability. This paper develops a novel approach to analysis and design of traffic control for dynamic flow networks subject to a rather broad class of disruptions. We consider a single-origin-single-destination acyclic network with possibly finite link storage spaces. Both cyber and physical disruptions are modeled as a set of discrete modes that modify the control and/or the network flow dynamics. The network switches between various modes according to a Markov process. By considering switched, piecewise polynomial Lyapunov functions and exploiting monotonicity of the network flow dynamics, we analyze network throughput under various disruption scenarios and show that cyber-physical disruptions can significantly reduce network throughput. For control design, we derive two results analogous to the classical max-flow min-cut theorem: (i) for a network with observable disruption modes, there exist mode-dependent controls that attain the expected-min-cut capacity; (ii) for a network with infinite link storage spaces, there exists an open-loop control that attains the min-expected-cut capacity. We also design a closed-loop control for general cases and derive an explicit relation from the control to a lower-bound for throughput. Our approach is illustrated by a series of numerical examples.
Modern power grids are dependent on communication systems for data collection, visualization, and control. Distributed Network Protocol 3 (DNP3) is commonly used in supervisory control and data acquisition (SCADA) systems in power systems to allow control system software and hardware to communicate. To study the dependencies between communication network security, power system data collection, and industrial hardware, it is important to enable communication capabilities with real-time power system simulation. In this paper, we present the integration of new functionality of a power systems dynamic simulation package into our cyber-physical power system testbed that supports real-time power system data transfer using DNP3, demonstrated with an industrial real-time automation controller (RTAC). The usage and configuration of DNP3 with real-world equipment in to achieve power system monitoring and control of a large-scale synthetic electric grid via this DNP3 communication is presented. Then, an exemplar of DNP3 data collection and control is achieved in software and hardware using the 2000-bus Texas synthetic grid.
Assuring the correct behavior of cyber-physical systems requires significant modeling effort, particularly during early stages of the engineering and design process when a system is not yet available for testing or verification of proper behavior. A primary motivation for `getting things right in these early design stages is that altering the design is significantly less costly and more effective than when hardware and software have already been developed. Engineering cyber-physical systems requires the construction of several different types of models, each representing a different view, which include stakeholder requirements, system behavior, and the system architecture. Furthermore, each of these models can be represented at different levels of abstraction. Formal reasoning has improved the precision and expanded the available types of analysis in assuring correctness of requirements, behaviors, and architectures. However, each is usually modeled in distinct formalisms and corresponding tools. Currently, this disparity means that a system designer must manually check that the different models are in agreement. Manually editing and checking models is error prone, time consuming, and sensitive to any changes in the design of the models themselves. Wiring diagrams and related theory provide a means for formally organizing these different but related modeling views, resulting in a compositional modeling language for cyber-physical systems. Such a categorical language can make concrete the relationship between different model views, thereby managing complexity, allowing hierarchical decomposition of system models, and formally proving consistency between models.
For a class of Cyber-Physical Systems (CPSs), we address the problem of performing computations over the cloud without revealing private information about the structure and operation of the system. We model CPSs as a collection of input-output dynamical systems (the system operation modes). Depending on the mode the system is operating on, the output trajectory is generated by one of these systems in response to driving inputs. Output measurements and driving inputs are sent to the cloud for processing purposes. We capture this processing through some function (of the input-output trajectory) that we require the cloud to compute accurately - referred here as the trajectory utility. However, for privacy reasons, we would like to keep the mode private, i.e., we do not want the cloud to correctly identify what mode of the CPS produced a given trajectory. To this end, we distort trajectories before transmission and send the corrupted data to the cloud. We provide mathematical tools (based on output-regulation techniques) to properly design distorting mechanisms so that: 1) the original and distorted trajectories lead to the same utility; and the distorted data leads the cloud to misclassify the mode.
This paper models a class of hierarchical cyber-physical systems and studies its associated consensus problem. The model has a pyramid structure, which reflects many realistic natural or human systems. By analyzing the spectrum of the coupling matrix, it is shown that all nodes in the physical layer can reach a consensus based on the proposed distributed protocols without interlayer delays. Then, the result is extended to the case with interlayer delays. A necessary and sufficient condition for consensus-seeking is derived from the frequency domain perspective, which describes a permissible range of the delay. Finally, the application of the proposed model in the power-sharing problem is simulated to demonstrate the effectiveness and significance of the analytic results.
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