A Critical Review of Robustness in Power Grids using Complex Networks Concepts

Complex network theory for analyzing robustness in energy gridsThis paper reviews the most relevant works that have investigated robustness in power grids using Complex Networks (CN) concepts. In this broad field there are two different approaches. The first one is based solely on topological concepts, and uses metrics such as mean path length, clustering coefficient, efficiency and betweenness centrality, among many others. The second, hybrid approach consists of introducing (into the CN framework) some concepts from Electrical Engineering (EE) in the effort of enhancing the topological approach, and uses novel, more efficient electrical metrics such as electrical betweenness, net-ability, and others. There is however a controversy about whether these approaches are able to provide insights into all aspects of real power grids. The CN community argues that the topological approach does not aim to focus on the detailed operation, but to discover the unexpected emergence of collective behavior, while part of the EE community asserts that this leads to an excessive simplification. Beyond this open debate it seems to be no predominant structure (scale-free, small-world) in high-voltage transmission power grids, the vast majority of power grids studied so far. Most of them have in common that they are vulnerable to targeted attacks on the most connected nodes and robust to random failure. In this respect there are only a few works that propose strategies to improve robustness such as intentional islanding, restricted link addition, microgrids and smart grids, for which novel studies suggest that small-world networks seem to be the best topology.This work has been partially supported by the project TIN2014-54583-C2-2-R from the Spanish Ministerial Commission of Science and Technology (MICYT), by the project S2013/ICE-2933 from Comunidad de Madrid and by the project FUTURE GRIDS-2020 from the Basque Government

Analysis of the blackout risk reduction when segmenting large power systems using lines with controllable power flow

Large electrical transmission networks are susceptible to undergo very large blackouts due to cascading failures, with a very large associated economical cost. In this work we propose segmenting large power grids using controllable lines, such as high-voltage direct-current lines, to reduce the risk of blackouts. The method consists in modifying the power flowing through the lines interconnecting different zones during cascading failures in order to minimize the load shed. As a result, the segmented grids have a substantially lower risk of blackouts than the original network, with reductions up to 60% in some cases. The control method is shown to be specially efficient in reducing blackouts affecting more than one zone.DG and PC acknowledge funding from project PACSS RTI2018-093732-B-C22 and APASOS PID2021-122256NB-C22 of the MCIN/AEI/10.13039/501100011033/ and by EU through FEDER funds (A way to make Europe), from the Maria de Maeztu program MDM-2017-0711 of the MCIN/AEI/10.13039/501100011033/, and also from the European Union's Horizon 2020 research and innovation programme (Grant Agreement No. 957852, VPP4Islands). B.A.C. and J.M.R.-B. acknowledge access to Uranus, a supercomputer cluster located at Universidad Carlos III de Madrid (Spain) funded jointly by EU FEDER funds and by the Spanish Government via the National Research Project Nos. UNC313-4E-2361, ENE2009-12213-C03-03, ENE2012-33219, and ENE2012-31753. OGB was supported in part by FEDER/Ministerio de Ciencia, Innovacion y Universidades - Agencia Estatal de Investigación, Project RTI2018-095429-B-I00 and in part by FI-AGAUR Research Fellowship Program, Generalitat de Catalunya. The work of OGB is supported by the ICREA Academia program

The interplay of network structure and dispatch solutions in power grid cascading failures

For a given minimum cost of the electricity dispatch, multiple equivalent dispatch solutions may exist. We explore the sensitivity of networks to these dispatch solutions and their impact on the vulnerability of the network to cascading failure blackouts. It is shown that, depending on the heterogeneity of the network structure, the blackout statistics can be sensitive to the dispatch solution chosen, with the clustering coefficient of the network being a key ingredient. We also investigate mechanisms or configurations that decrease discrepancies that can occur between the different dispatch solutions

Assessing Resilience in Power Grids as a Particular Case of Supply Chain Management

Electrical power grids represent a critical infrastructure for a nation as well as strategically important. Literature review identified that power grids share basic characteristics with Supply Chain Management. This thesis presents a linear programming model to assess power grid resilience as a particular case of Supply Chain Management. Since resilient behavior is not an individual or specific system\u27s attribute but a holistic phenomenon based on the synergic interaction within complex systems, resilience drivers in power grids were identified. Resilience is a function of Reliability, Recovery Capability, Vulnerability and Pipeline Capacity. In order to embed heterogeneous variables into the model, parameterization of resilience drivers were developed. A principle of improving resilience through redundancy was applied in the model by using a virtual redundancy in each link which allows reliability improvement throughout the entire network. Vulnerability was addressed through the standard MIL-STD 882D, and mitigated through security allocation. A unique index (R) integrates the resilience complexity to facilitate alternate scenarios analysis toward strategic decision making. Decision makers are enabled to improve overall power grid performance through reliability development as well as security allocation at the more strategic links identified by the optimal solutions. Moreover, this tool lets decision makers fix grid variables such as reliability, reduced pipeline capacity, or vulnerabilities within the model in order to find optimal solutions that withstand disruptions. The model constitutes an effective tool not only for efficient reliability improvement but also for rational security allocation in the most critical links within the network. Finally, this work contributes to the federal government mandates accomplishment, intended to address electrical power-related risks and vulnerabilities

Stochastic Dynamics of Cascading Failures in Electric-Cyber Infrastructures

Emerging smart grids consist of tightly-coupled systems, namely a power grid and a communication system. While today\u27s power grids are highly reliable and modern control and communication systems have been deployed to further enhance their reliability, historical data suggest that they are yet vulnerable to large failures. A small set of initial disturbances in power grids in conjunction with lack of effective, corrective actions in a timely manner can trigger a sequence of dependent component failures, called cascading failures. The main thrust of this dissertation is to build a probabilistic framework for modeling cascading failures in power grids while capturing their interactions with the coupled communication systems so that the risk of cascading failures in the composite complex electric-cyber infrastructures can be examined, analyzed and predicted. A scalable and analytically tractable continuous-time Markov chain model for stochastic dynamics of cascading failures in power grids is constructed while retaining key physical attributes and operating characteristics of the power grid. The key idea of the proposed framework is to simplify the state space of the complex power system while capturing the effects of the omitted variables through the transition probabilities and their parametric dependence on physical attributes and operating characteristics of the system. In particular, the effects of the interdependencies between the power grid and the communication system have been captured by a parametric formulation of the transition probabilities using Monte-Carlo simulations of cascading failures. The cascading failures are simulated with a coupled power-system simulation framework, which is also developed in this dissertation. Specifically, the probabilistic model enables the prediction of the evolution of the blackout probability in time. Furthermore, the asymptotic analysis of the blackout probability as time tends to infinity enables the calculation of the probability mass function of the blackout size, which has been shown to have a heavy tail, e.g., power-law distribution, specifically when the grid is operating under stress scenarios. A key benefit of the model is that it enables the characterization of the severity of cascading failures in terms of a set of operating characteristics of the power grid. As a generalization to the Markov chain model, a regeneration-based model for cascading failures is also developed. The regeneration-based framework is capable of modeling cascading failures in a more general setting where the probability distribution of events in the system follows an arbitrarily specified distribution with non-Markovian characteristics. Further, a novel interdependent Markov chain model is developed, which provides a general probabilistic framework for capturing the effects of interactions among interdependent infrastructures on cascading failures. A key insight obtained from this model is that interdependencies between two systems can make two individually reliable systems behave unreliably. In particular, we show that due to the interdependencies two chains with non-heavy tail asymptotic failure distribution can result in a heavy tail distribution when coupled. Lastly, another aspect of future smart grids is studied by characterizing the fundamental bounds on the information rate in the sensor network that monitors the power grid. Specifically, a distributed source coding framework is presented that enables an improved estimate of the lower bound for the minimum required communication capacity to accurately describe the state of components in the information-centric power grid. The models developed in this dissertation provide critical understanding of cascading failures in electric-cyber infrastructures and facilitate reliable and quick detection of the risk of blackouts and precursors to cascading failures. These capabilities can guide the design of efficient communication systems and cascade aware control policies for future smart grids

On the Control of Microgrids Against Cyber-Attacks: A Review of Methods and Applications

Nowadays, the use of renewable generations, energy storage systems (ESSs) and microgrids (MGs) has been developed due to better controllability of distributed energy resources (DERs) as well as their cost-effective and emission-aware operation. The development of MGs as well as the use of hierarchical control has led to data transmission in the communication platform. As a result, the expansion of communication infrastructure has made MGs as cyber-physical systems (CPSs) vulnerable to cyber-attacks (CAs). Accordingly, prevention, detection and isolation of CAs during proper control of MGs is essential. In this paper, a comprehensive review on the control strategies of microgrids against CAs and its defense mechanisms has been done. The general structure of the paper is as follows: firstly, MGs operational conditions, i.e., the secure or insecure mode of the physical and cyber layers are investigated and the appropriate control to return to a safer mode are presented. Then, the common MGs communication system is described which is generally used for multi-agent systems (MASs). Also, classification of CAs in MGs has been reviewed. Afterwards, a comprehensive survey of available researches in the field of prevention, detection and isolation of CA and MG control against CA are summarized. Finally, future trends in this context are clarified

Modelling and vulnerability analysis of cyber-physical power systems based on interdependent networks

The strong coupling between the power grid and communication systems may contribute to failure propagation, which may easily lead to cascading failures or blackouts. In this paper, in order to quantitatively analyse the impact of interdependency on power system vulnerability, we put forward a “degree–electrical degree” independent model of cyber-physical power systems (CPPS), a new type of assortative link, through identifying the important nodes in a power grid based on the proposed index–electrical degree, and coupling them with the nodes in a communication system with a high degree, based on one-to-one correspondence. Using the double-star communication system and the IEEE 118-bus power grid to form an artificial interdependent network, we evaluated and compare the holistic vulnerability of CPPS under random attack and malicious attack, separately based on three kinds of interdependent models: “degree–betweenness”, “degree–electrical degree” and “random link”. The simulation results demonstrated that different link patterns, coupling degrees and attack types all can influence the vulnerability of CPPS. The CPPS with a “degree–electrical degree” interdependent model proposed in this paper presented a higher robustness in the face of random attack, and moreover performed better than the degree–betweenness interdependent model in the face of malicious attack

Self-Organized Dynamics of Power Grids: Smart Grids, Fluctuations and Cascades

Climate change is one of the most pressing issues of our time and mitigating it requires a reduction of CO2 emissions. A big step towards achieving this goal is increasing the share of renewable energy sources, as the energy sector currently contributes 35% to all greenhouse gas emissions. However, integrating these renewable energy sources challenges the current power system in two major ways. Firstly, renewable generation consists of more spatially distributed and smaller power plants than conventional generation by nuclear or coal plants, questioning the established hierarchical structures and demanding a new grid design. Restructuring becomes necessary because wind and solar plants have to be placed at favorable sites, e.g., close to coasts in the case of wind. Secondly, renewables do not provide a deterministic and controllable power output but introduce power fluctuations that have to be controlled adequately. Many solutions to these challenges are build on the concept of smart grids, which require an extensive information technology (IT) infrastructure communicating between consumers and generators to coordinate efficient actions. However, an intertwined power and IT system raises great privacy and security concerns. Is it possible to forgo a large IT infrastructure in future power grids and instead operate them purely based on local information? How would such a decentrally organized system work? What is the impact of fluctuation on short time scales on the dynamical stability? Which grid topologies are robust against random failures or targeted attacks? This thesis aims to establish a framework of such a self-organized dynamics of a power grid, analyzing its benefits and limitations with respect to fluctuations and discrete events. Instead of a centrally monitored and controlled smart grid, we propose the concept of Decentral Smart Grid Control, translating local power grid frequency information into actions to stabilize the grid. This is not limited to power generators but applies equally to consumers, naturally introducing a demand response. We analyze the dynamical stability properties of this framework using linear stability methods as well as applying numerical simulations to determine the size of the basin of attraction. To do so, we investigate general stability effects and sample network motifs to find that this self-organized grid dynamics is stable for large parameter regimes. However, when the actors of the power grid react to a frequency signal, this reaction has to be sufficiently fast since reaction delays are shown to destabilize the grid. We derive expressions for a maximum delay, which always desynchronizes the system based on a rebound effect, and for destabilizing delays based on resonance effects. These resonance instabilities are cured when the frequency signal is averaged over a few seconds (low-pass filter). Overall, we propose an alternative smart grid model without any IT infrastructure and analyze its stable operating space. Furthermore, we analyze the impact of fluctuations on the power grid. First, we determine the escape time of the grid, i.e., the time until the grid desynchronizes when subject to stochastic perturbations. We simulate these events and derive an analytical expression using Kramer's method, obtaining the scaling of the escape time as a function of the grid inertia, transmitted power, damping etc. Thereby, we identify weak links in networks, which have to be enhanced to guarantee a stable operation. Second, we collect power grid frequency measurements from different regions across the world and evaluate their statistical properties. Distributions are found to be heavy-tailed so that large disturbances are more common than predicted by Gaussian statistics. We model the grid dynamics using a stochastic differential equation to derive the scaling of the fluctuations based on power grid parameters, identifying effective damping as essential in reducing fluctuation risks. This damping may be provided by increased demand control as proposed by Decentral Smart Grid Control. Finally, we investigate discrete events, in particular the failure of a single transmission line, as a complementary form of disturbances. An initial failure of a transmission line leads to additional load on other lines, potentially overloading them and thereby causing secondary outages. Hence, a cascade of failures is induced that propagated through the network, resulting in a large-scale blackout. We investigate these cascades in a combined dynamical and event-driven framework, which includes transient dynamics, in contrast to the often used steady state analysis that only solves static flows in the grid while neglecting any dynamics. Concluding, we identify critical lines, prone to cause cascades when failing, and observe a nearly constant speed of the propagation of the cascade in an appropriate metric. Overall, we investigate the self-organized dynamics of power grids, demonstrating its benefits and limitations. We provide tools to improve current grid operation and outline a smart grid solution that is not reliant on IT. Thereby, we support establishing a 100% renewable energy system

Smart grid architecture for rural distribution networks: application to a Spanish pilot network

This paper presents a novel architecture for rural distribution grids. This architecture is designed to modernize traditional rural networks into new Smart Grid ones. The architecture tackles innovation actions on both the power plane and the management plane of the system. In the power plane, the architecture focuses on exploiting the synergies between telecommunications and innovative technologies based on power electronics managing low scale electrical storage. In the management plane, a decentralized management system is proposed based on the addition of two new agents assisting the typical Supervisory Control And Data Acquisition (SCADA) system of distribution system operators. Altogether, the proposed architecture enables operators to use more effectively—in an automated and decentralized way—weak rural distribution systems, increasing the capability to integrate new distributed energy resources. This architecture is being implemented in a real Pilot Network located in Spain, in the frame of the European Smart Rural Grid project. The paper also includes a study case showing one of the potentialities of one of the principal technologies developed in the project and underpinning the realization of the new architecture: the so-called Intelligent Distribution Power Router.Postprint (published version