Deep Learning Techniques for Power System Operation: Modeling and Implementation

The fast development of the deep learning (DL) techniques in the most recent years has drawn attention from both academia and industry. And there have been increasing applications of the DL techniques in many complex real-world situations, including computer vision, medical diagnosis, and natural language processing. The great power and flexibility of DL can be attributed to its hierarchical learning structure that automatically extract features from mass amounts of data. In addition, DL applies an end-to-end solving mechanism, and directly generates the output from the input, where the traditional machine learning methods usually break down the problem and combine the results. The end-to-end mechanism considerably improve the computational efficiency of the DL.The power system is one of the most complex artificial infrastructures, and many power system control and operation problems share the same features as the above mentioned real-world applications, such as time variability and uncertainty, partial observability, which impedes the performance of the conventional model-based methods. On the other hand, with the wide spread implementation of Advanced Metering Infrastructures (AMI), the SCADA, the Wide Area Monitoring Systems (WAMS), and many other measuring system providing massive data from the field, the data-driven deep learning technique is becoming an intriguing alternative method to enable the future development and success of the smart grid. This dissertation aims to explore the potential of utilizing the deep-learning-based approaches to solve a broad range of power system modeling and operation problems. First, a comprehensive literature review is conducted to summarize the existing applications of deep learning techniques in power system area. Second, the prospective application of deep learning techniques in several scenarios in power systems, including contingency screening, cascading outage search, multi-microgrid energy management, residential HVAC system control, and electricity market bidding are discussed in detail in the following 2-6 chapters. The problem formulation, the specific deep learning approaches in use, and the simulation results are all presented, and also compared with the currently used model-based method as a verification of the advantage of deep learning. Finally, the conclusions are provided in the last chapter, as well as the directions for future researches. It’s hoped that this dissertation can work as a single spark of fire to enlighten more innovative ideas and original studies, widening and deepening the application of deep learning technique in the field of power system, and eventually bring some positive impacts to the real-world bulk grid resilient and economic control and operation

Impact Assessment, Detection, and Mitigation of False Data Attacks in Electrical Power Systems

The global energy market has seen a massive increase in investment and capital flow in the last few decades. This has completely transformed the way power grids operate - legacy systems are now being replaced by advanced smart grid infrastructures that attest to better connectivity and increased reliability. One popular example is the extensive deployment of phasor measurement units, which is referred to PMUs, that constantly provide time-synchronized phasor measurements at a high resolution compared to conventional meters. This enables system operators to monitor in real-time the vast electrical network spanning thousands of miles. However, a targeted cyber attack on PMUs can prompt operators to take wrong actions that can eventually jeopardize the power system reliability. Such threats originating from the cyber-space continue to increase as power grids become more dependent on PMU communication networks. Additionally, these threats are becoming increasingly efficient in remaining undetected for longer periods while gaining deep access into the power networks. An attack on the energy sector immediately impacts national defense, emergency services, and all aspects of human life. Cyber attacks against the electric grid may soon become a tactic of high-intensity warfare between nations in near future and lead to social disorder. Within this context, this dissertation investigates the cyber security of PMUs that affects critical decision-making for a reliable operation of the power grid. In particular, this dissertation focuses on false data attacks, a key vulnerability in the PMU architecture, that inject, alter, block, or delete data in devices or in communication network channels. This dissertation addresses three important cyber security aspects - (1) impact assessment, (2) detection, and (3) mitigation of false data attacks. A comprehensive background of false data attack models targeting various steady-state control blocks is first presented. By investigating inter-dependencies between the cyber and the physical layers, this dissertation then identifies possible points of ingress and categorizes risk at different levels of threats. In particular, the likelihood of cyber attacks against the steady-state power system control block causing the worst-case impacts such as cascading failures is investigated. The case study results indicate that false data attacks do not often lead to widespread blackouts, but do result in subsequent line overloads and load shedding. The impacts are magnified when attacks are coordinated with physical failures of generators, transformers, or heavily loaded lines. Further, this dissertation develops a data-driven false data attack detection method that is independent of existing in-built security mechanisms in the state estimator. It is observed that a convolutional neural network classifier can quickly detect and isolate false measurements compared to other deep learning and traditional classifiers. Finally, this dissertation develops a recovery plan that minimizes the consequence of threats when sophisticated attacks remain undetected and have already caused multiple failures. Two new controlled islanding methods are developed that minimize the impact of attacks under the lack of, or partial information on the threats. The results indicate that the system operators can successfully contain the negative impacts of cyber attacks while creating stable and observable islands. Overall, this dissertation presents a comprehensive plan for fast and effective detection and mitigation of false data attacks, improving cyber security preparedness, and enabling continuity of operations

Impact Assessment, Detection, And Mitigation Of False Data Attacks In Electrical Power Systems

The global energy market has seen a massive increase in investment and capital flow in the last few decades. This has completely transformed the way power grids operate - legacy systems are now being replaced by advanced smart grid infrastructures that attest to better connectivity and increased reliability. One popular example is the extensive deployment of phasor measurement units, which is referred to PMUs, that constantly provide time-synchronized phasor measurements at a high resolution compared to conventional meters. This enables system operators to monitor in real-time the vast electrical network spanning thousands of miles. However, a targeted cyber attack on PMUs can prompt operators to take wrong actions that can eventually jeopardize the power system reliability. Such threats originating from the cyber-space continue to increase as power grids become more dependent on PMU communication networks. Additionally, these threats are becoming increasingly efficient in remaining undetected for longer periods while gaining deep access into the power networks. An attack on the energy sector immediately impacts national defense, emergency services, and all aspects of human life. Cyber attacks against the electric grid may soon become a tactic of high-intensity warfare between nations in near future and lead to social disorder. Within this context, this dissertation investigates the cyber security of PMUs that affects critical decision-making for a reliable operation of the power grid. In particular, this dissertation focuses on false data attacks, a key vulnerability in the PMU architecture, that inject, alter, block, or delete data in devices or in communication network channels. This dissertation addresses three important cyber security aspects - (1) impact assessment, (2) detection, and (3) mitigation of false data attacks. A comprehensive background of false data attack models targeting various steady-state control blocks is first presented. By investigating inter-dependencies between the cyber and the physical layers, this dissertation then identifies possible points of ingress and categorizes risk at different levels of threats. In particular, the likelihood of cyber attacks against the steady-state power system control block causing the worst-case impacts such as cascading failures is investigated. The case study results indicate that false data attacks do not often lead to widespread blackouts, but do result in subsequent line overloads and load shedding. The impacts are magnified when attacks are coordinated with physical failures of generators, transformers, or heavily loaded lines. Further, this dissertation develops a data-driven false data attack detection method that is independent of existing in-built security mechanisms in the state estimator. It is observed that a convolutional neural network classifier can quickly detect and isolate false measurements compared to other deep learning and traditional classifiers. Finally, this dissertation develops a recovery plan that minimizes the consequence of threats when sophisticated attacks remain undetected and have already caused multiple failures. Two new controlled islanding methods are developed that minimize the impact of attacks under the lack of, or partial information on the threats. The results indicate that the system operators can successfully contain the negative impacts of cyber attacks while creating stable and observable islands. Overall, this dissertation presents a comprehensive plan for fast and effective detection and mitigation of false data attacks, improving cyber security preparedness, and enabling continuity of operations

Real-time Prediction of Cascading Failures in Power Systems

Blackouts in power systems cause major financial and societal losses, which necessitate devising better prediction techniques that are specifically tailored to detecting and preventing them. Since blackouts begin as a cascading failure (CF), an early detection of these CFs gives the operators ample time to stop the cascade from propagating into a large-scale blackout. In this thesis, a real-time load-based prediction model for CFs using phasor measurement units (PMUs) is proposed. The proposed model provides load-based predictions; therefore, it has the advantages of being applicable as a controller input and providing the operators with better information about the affected regions. In addition, it can aid in visualizing the effects of the CF on the grid. To extend the functionality and robustness of the proposed model, prediction intervals are incorporated based on the convergence width criterion (CWC) to allow the model to account for the uncertainties of the network, which was not available in previous works. Although this model addresses many issues in previous works, it has limitations in both scalability and capturing of transient behaviours. Hence, a second model based on recurrent neural network (RNN) long short-term memory (LSTM) ensemble is proposed. The RNN-LSTM is added to better capture the dynamics of the power system while also giving faster responses. To accommodate for the scalability of the model, a novel selection criterion for inputs is introduced to minimize the inputs while maintaining a high information entropy. The criteria include distance between buses as per graph theory, centrality of the buses with respect to fault location, and the information entropy of the bus. These criteria are merged using higher statistical moments to reflect the importance of each bus and generate indices that describe the grid with a smaller set of inputs. The results indicate that this model has the potential to provide more meaningful and accurate results than what is available in the previous literature and can be used as part of the integrated remedial action scheme (RAS) system either as a warning tool or a controller input as the accuracy of detecting affected regions reached 99.9% with a maximum delay of 400 ms. Finally, a validation loop extension is introduced to allow the model to self-update in real-time using importance sampling and case-based reasoning to extend the practicality of the model by allowing it to learn from historical data as time progresses

Reinforcement Learning and Game Theory for Smart Grid Security

This dissertation focuses on one of the most critical and complicated challenges facing electric power transmission and distribution systems which is their vulnerability against failure and attacks. Large scale power outages in Australia (2016), Ukraine (2015), India (2013), Nigeria (2018), and the United States (2011, 2003) have demonstrated the vulnerability of power grids to cyber and physical attacks and failures. These incidents clearly indicate the necessity of extensive research efforts to protect the power system from external intrusion and to reduce the damages from post-attack effects. We analyze the vulnerability of smart power grids to cyber and physical attacks and failures, design different gametheoretic approaches to identify the critical components vulnerable to attack and propose their associated defense strategy, and utilizes machine learning techniques to solve the game-theoretic problems in adversarial and collaborative adversarial power grid environment. Our contributions can be divided into three major parts:Vulnerability identification: Power grid outages have disastrous impacts on almost every aspect of modern life. Despite their inevitability, the effects of failures on power grids’ performance can be limited if the system operator can predict and identify the vulnerable elements of power grids. To enable these capabilities we study machine learning algorithms to identify critical power system elements adopting a cascaded failure simulator as a threat and attack model. We use generation loss, time to reach a certain percentage of line outage/generation loss, number of line outages, etc. as evaluation metrics to evaluate the consequences of threat and attacks on the smart power grid.Adversarial gaming in power system: With the advancement of the technologies, the smart attackers are deploying different techniques to supersede the existing protection scheme. In order to defend the power grid from these smart attackers, we introduce an adversarial gaming environment using machine learning techniques which is capable of replicating the complex interaction between the attacker and the power system operators. The numerical results show that a learned defender successfully narrows down the attackers’ attack window and reduce damages. The results also show that considering some crucial factors, the players can independently execute actions without detailed information about each other.Deep learning for adversarial gaming: The learning and gaming techniques to identify vulnerable components in the power grid become computationally expensive for large scale power systems. The power system operator needs to have the advanced skills to deal with the large dimensionality of the problem. In order to aid the power system operator in finding and analyzing vulnerability for large scale power systems, we study a deep learning technique for adversary game which is capable of dealing with high dimensional power system state space with less computational time and increased computational efficiency. Overall, the results provided in this dissertation advance power grids’ resilience and security by providing a better understanding of the systems’ vulnerability and by developing efficient algorithms to identify vulnerable components and appropriate defensive strategies to reduce the damages of the attack

A Data Analytics Framework for Smart Grids: Spatio-temporal Wind Power Analysis and Synchrophasor Data Mining

abstract: Under the framework of intelligent management of power grids by leveraging advanced information, communication and control technologies, a primary objective of this study is to develop novel data mining and data processing schemes for several critical applications that can enhance the reliability of power systems. Specifically, this study is broadly organized into the following two parts: I) spatio-temporal wind power analysis for wind generation forecast and integration, and II) data mining and information fusion of synchrophasor measurements toward secure power grids. Part I is centered around wind power generation forecast and integration. First, a spatio-temporal analysis approach for short-term wind farm generation forecasting is proposed. Specifically, using extensive measurement data from an actual wind farm, the probability distribution and the level crossing rate of wind farm generation are characterized using tools from graphical learning and time-series analysis. Built on these spatial and temporal characterizations, finite state Markov chain models are developed, and a point forecast of wind farm generation is derived using the Markov chains. Then, multi-timescale scheduling and dispatch with stochastic wind generation and opportunistic demand response is investigated. Part II focuses on incorporating the emerging synchrophasor technology into the security assessment and the post-disturbance fault diagnosis of power systems. First, a data-mining framework is developed for on-line dynamic security assessment by using adaptive ensemble decision tree learning of real-time synchrophasor measurements. Under this framework, novel on-line dynamic security assessment schemes are devised, aiming to handle various factors (including variations of operating conditions, forced system topology change, and loss of critical synchrophasor measurements) that can have significant impact on the performance of conventional data-mining based on-line DSA schemes. Then, in the context of post-disturbance analysis, fault detection and localization of line outage is investigated using a dependency graph approach. It is shown that a dependency graph for voltage phase angles can be built according to the interconnection structure of power system, and line outage events can be detected and localized through networked data fusion of the synchrophasor measurements collected from multiple locations of power grids. Along a more practical avenue, a decentralized networked data fusion scheme is proposed for efficient fault detection and localization.Dissertation/ThesisPh.D. Electrical Engineering 201

Resilience of the Critical Communication Networks Against Spreading Failures: Case of the European National and Research Networks

A backbone network is the central part of the communication network, which provides connectivity within the various systems across large distances. Disruptions in a backbone network would cause severe consequences which could manifest in the service outage on a large scale. Depending on the size and the importance of the network, its failure could leave a substantial impact on the area it is associated with. The failures of the network services could lead to a significant disturbance of human activities. Therefore, making backbone communication networks more resilient directly affects the resilience of the area. Contemporary urban and regional development overwhelmingly converges with the communication infrastructure expansion and their obvious mutual interconnections become more reciprocal. Spreading failures are of particular interest. They usually originate in a single network segment and then spread to the rest of network often causing a global collapse. Two types of spreading failures are given focus, namely: epidemics and cascading failures. How to make backbone networks more resilient against spreading failures? How to tune the topology or additionally protect nodes or links in order to mitigate an effect of the potential failure? Those are the main questions addressed in this thesis. First, the epidemic phenomena are discussed. The subjects of epidemic modeling and identification of the most influential spreaders are addressed using a proposed Linear Time-Invariant (LTI) system approach. Throughout the years, LTI system theory has been used mostly to describe electrical circuits and networks. LTI is suitable to characterize the behavior of the system consisting of numerous interconnected components. The results presented in this thesis show that the same mathematical toolbox could be used for the complex network analysis. Then, cascading failures are discussed. Like any system which can be modeled using an interdependence graph with limited capacity of either nodes or edges, backbone networks are prone to cascades. Numerical simulations are used to model such failures. The resilience of European National Research and Education Networks (NREN) is assessed, weak points and critical areas of the network are identified and the suggestions for its modification are proposed

Protection des Infrastructures Essentielles par Advanced Modélisation, simulation et optimisation pour l’atténuation et résilience de défaillance en cascade

Continuously increasing complexity and interconnectedness of modern critical infrastructures, together with increasingly complex risk environments, pose unique challenges for their secure, reliable, and efficient operation. The focus of the present dissertation is on the modelling, simulation and optimization of critical infrastructures (CIs) (e.g., power transmission networks) with respect to their vulnerability and resilience to cascading failures. This study approaches the problem by firstly modelling CIs at a fundamental level, by focusing on network topology and physical flow patterns within the CIs. A hierarchical network modelling technique is introduced for the management of system complexity. Within these modelling frameworks, advanced optimization techniques (e.g., non-dominated sorting binary differential evolution (NSBDE) algorithm) are utilized to maximize both the robustness and resilience (recovery capacity) of CIs against cascading failures. Specifically, the first problem is taken from a holistic system design perspective, i.e. some system properties, such as its topology and link capacities, are redesigned in an optimal way in order to enhance system’s capacity of resisting to systemic failures. Both topological and physical cascading failure models are applied and their corresponding results are compared. With respect to the second problem, a novel framework is proposed for optimally selecting proper recovery actions in order to maximize the capacity of the CI network of recovery from a disruptive event. A heuristic, computationally cheap optimization algorithm is proposed for the solution of the problem, by integrating foundemental concepts from network flows and project scheduling. Examples of analysis are carried out by referring to several realistic CI systems.Sans cesse croissante complexité et l'interdépendance des infrastructures critiques modernes, avec des environs de risque plus en plus complexes, posent des défis uniques pour leur exploitation sûre, fiable et efficace. L'objectif de la présente thèse est sur la modélisation, la simulation et l'optimisation des infrastructures critiques (par exemple, les réseaux de transmission de puissance) à l'égard de leur vulnérabilité et la résilience aux défaillances en cascade. Cette étude aborde le problème en modélisant infrastructures critiques à un niveau fondamental, en se concentrant sur la topologie du réseau et des modèles de flux physiques dans les infrastructures critiques. Un cadre de modélisation hiérarchique est introduit pour la gestion de la complexité du système. Au sein de ces cadres de modélisation, les techniques d'optimisation avancées (par exemple, non-dominée de tri binaire évolution différentielle (NSBDE) algorithme) sont utilisés pour maximiser à la fois la robustesse et la résilience (capacité de récupération) des infrastructures critiques contre les défaillances en cascade. Plus précisément, le premier problème est pris à partir d'un point de vue de la conception du système holistique, c'est-à-dire certaines propriétés du système, tels que ses capacités de topologie et de liaison, sont redessiné de manière optimale afin d'améliorer la capacité de résister à des défaillances systémiques de système. Les deux modèles de défaillance en cascade topologiques et physiques sont appliquées et leurs résultats correspondants sont comparés. En ce qui concerne le deuxième problème, un nouveau cadre est proposé pour la sélection optimale des mesures appropriées de récupération afin de maximiser la capacité du réseau d’infrastructure critique de récupération à partir d'un événement perturbateur. Un algorithme d'optimisation de calcul pas cher heuristique est proposé pour la solution du problème, en intégrant des concepts fondamentaux de flux de réseau et le calendrier du projet. Exemples d'analyse sont effectués en se référant à plusieurs systèmes de CI réalistes