Luigi Vanfretti Associate Professor. Rensselaer Polytechnic Institute, ECSE, Troy, NY Web: ALSETLab.com

Transcription

1 Artag Real-Time Simulation for Model-Based Systems Engineering of Synchrophasor Systems (A 7 year journey from development and end-toend testing of PMU applications) Luigi Vanfretti Associate Professor Rensselaer Polytechnic Institute, ECSE, Troy, NY Web: ALSETLab.com luigi.vanfretti@gmail.com

2 About Me Dr. Luigi! YOB Guatemala year Electrical Power Engineering Universidad de San Carlos de Guatemala MSc and RPI 2010 RPI , KTH Royal Inst. Of Tech., Stockholm, Sweden 2010: Associate Professor 2012: Docent (Habilitation) 2013: Associate Professor ( tenured ) , SmarTS Lab. Research Group Fall 2004 Intern at INDE (National Electrification Institute), Substations Engineering Visiting The University of Glasgow, Scotland External Scientific Advisor (Consultant) Special Advisor R&D Division Statnett SF, Oslo, Norway (Power System Operator) Consultant. Other facts and numbers: - Guatemalan and Italian Citizenships. - Speak/write Spanish (native), English, Italian (spoken, poorly written), Norwegian (Basic) - 36 years, married (March 4 th, 2017) - no kids yet but really want a dog! - Lived in 4 countries, worked in 5

3 3 ALSETLab I m looking for graduate students to join my team! If you know someone that would be interested, please tell them to check my website See:

4 New Course at RPI: Spring CPS Modeling, Simulation and Analysis Understand cyber-physical systems and how to model them. Lean about standardized modeling languages and compliant tools Learn and become proficient with the Modelica language Learn and apply model-based systems engineering concepts and tools (UML, SysML using Papyrus RT) Apply identification, control and optimization techniques to CPS systems Apply its use for analysis of: Power systems Energy efficient building automation Multi-domain energy systems Cyber-physical systems design and analysis 4

5 5 Outline Generalities About Me (Luigi) Recruiting for ALSETLab New Course at RPI Motivation Cyber-physical power systems Modeling and Simulation Technologies in CPS MBSE for Power Systems for Real-Time Synchrophasor Applications Real-time modeling PMU applications for monitoring PMU applications for control Embedded Wide-Area Controls Impact of GPS signal timing and spoofing Conclusions

6 Context : Smart Grids Transformation of Electrical Power Networks to a Cyber-Physical Systems Smart Generic term used to refer to the process of digitalization of different devices / contexts / etc. (Micro/Mega) -Grid Interconnected electrical networks with means of management (techno-andeconomical). Interconnections between: generation, storage, consumption, and electrical energy transport at different voltage levels. Autonomous - Technical - Automatic: do exactly as programmed, it has no choice! Autonomous: a system has a choice to make free of outside influence - free will. Semi-autonomous: e.g. unmanned vehicles ability to choose and make decisions through a pre-defined method. Zero-Net Energy Total amount of energy used by a group (i.e. within a building, or a micro-grid) is roughly equal to the amount of renewable energy created within requires transition in technology available. What technology is needed for Smart and Autonomous Cyber-Physical Power Grids? How can it be developed? 6

7 Smart Grids = Cyber-Physical Power Systems Physical System Power System The future energy system will be a complex cyber-physical system comprised by different domains interacting with interconnected electrical power apparatus, through the cyber-system used to manage it. Controllabl e Devices Com ms Digital Control Systems Sensors (eg. PMUs) Com ms Cyber system (comms, timing, embedded systems) A Specific Example - Wide-area control systems (WACS): WACS include an ICT platform that merges the input measurement data and transforms it to a useful input signal for controllable devices to perform a given function. WACS consists of: (A) a number of synchronized phasor measurements units (PMUs a sort of GPS time-syncronized distributed sensor) from geographically spread locations, sending data through (B) a communication network (C) a computer system termed phasor data concentrator (aggregates and time-aligns data from different sensors), (D) a real-time computer system where control functions are implemented, (E) a physical component that varies electrical quantities following the control function, and (F) using the GPS system for timing. F C B A A D E WACS represent a true cyber-physical system that requires, at a minimum: Tools for design, Tools for simulation and Tools for hardware and firmware deployment These kind of tools don t really exist today for a joint cyber & physical system. 7

8 What technologies will be needed for cyber-physical power systems (or smart grids)? In general, we have two types of data that can be used to take decisions: measurements and/or simulations Modeling and Simulation Core Technologies Sensor Networks (e.g. PMUs) These tools should aim at answering critical questions: What Deriving can be knowledge learned from from the past? measurement data Simulationbased Tools Tools Tools using both models and sensor data Measurementbased Tools What actions can be taken now? What actions can be taken in the future? Deriving actionable information from measurement and simulation data The development of these tools highly depends on the evolution of M&S Technologies and Sensor Networks Data (e.g. PMU)

9 Modeling and Simulation Sensor Networks Increase of opportunity to learn from data Advanced and higher value applications require the right combination of data from M&S and Sensor Data Tomorrow s Tools: learning from the past and predicting the future Learning from data Tools data data Increase in uncertainties (larger need to make predictions from data) What happened in the past? Why did it happen? How could it be avoided? What is happening now? Why is it happening? How can it be avoided? What will happen really soon (sec. to min)? Why will it happen? How could it be avoided? What will happen in the future x min to y hrs to days? Why will it happen? Data Mining and Pattern Recognition Automated Diagnosis Event reconstruction, model validation, postmortem optimization Real-Time Monitoring Real-Time Analysis Real-Time Control and System Protection Short-term measurement-based Prediction Remedial control actions Predictive Analysis Probabilistic Forecasting How could it be avoided? Optimization Deriving actionable information! The development of these tools highly depends on the evolution of M&S and Sensor Networks

10 Smart Grids Is our technology in power systems prepared for the 4 th Industrial revolution? Has the sensor networks evolved sufficiently to enable the fourth industrial revolution? Is Model Systems-Based Engineering a framework for this evolution? Are our Modeling and Simulation (M&S) tools prepared to fulfill the needs of cyber-physical systems?

11 Evidence: what can we learn from smart grid development? Two Examples Highlighting unspoken Truths The Royal Sea Port s Active House Smart Meters From the technical perspective: Why were these failures not identified and avoided from an early stage? New kind of integration of tech and user needs: Inadequate understanding of user requirements. Lack of a cohesive approach for system-of-system design different suppliers NOT able to speak the same language and working in the same framework Product integration and deployment w/o testing and verification. Two domains, previously loosely related, & release to the wild : Cyber-security requirements and metering requirements should have been jointly defined, designed and assessed. Meter experts perhaps are not security experts Both domain experts NOT working in the same framework. Lack of joint integration testing, verification and validation Is it really that hard to develop a systems-of-systems /cyber-physical system requiring experts of two or more domains? 11

12 12 Meeting a system-of-systems challenge with Model and Simulation-Based Systems Engineering Large Number of Vendors for the Final System M&S used to test prototypes in variety of environments. M&S are used to train users in the operational environment enhancing learning. Simulation costs 1/10 of running actual scenarios. Scale of networks: costprohibitive or technically impossible for field tests. A Flying Micro-Grid! M&S used to test and validate networking protocols in laboratory - environment acting as a test bed.

13 13 The Multiple Roles of Modeling and Simulation in building: Complex Cyber-Physical Systems-of-Systems Large Number of Vendors for the Final System M&S used to test prototypes in variety of environments. M&S are used to train users in the operational environment enhancing learning. Simulation costs 1/10 of running actual scenarios. Scale of networks: costprohibitive or technically impossible for field tests. A Flying Micro-Grid! M&S used to test and validate networking protocols in laboratory - environment acting as a test bed.

14 14 Model and Simulation-Based Systems Engineering an evolving framework for multi-domain multi-physics system design, manufacturing and operation Requirement s DB Multi- Domain Model Integration Integrated Modeling Hubs System Modeling Transformation s (Meta- Modeling) Requirements Allocation and Design + Integration Design Space Exploration (Tooling) Implementation (Code Generation) Testing V&V Model Updates D B System Components & Models Multi-Domain Model Integration Abstraction Layers, Behavior and Transformations

15 The Multiple Roles of Modeling and Simulation to develop Cyber-Physical Power Systems (aka smart grids ) Conceptual Application for the Development of a WT Synchro phasor-based Controller User Cases and Requirements (HLA Design using UML Spec and CIM) User Requirements & Models Validation Testing Against Use Cases System Performance (deployment and demonstration) Operational System System Level Design & Specifications (physical modeling and off-line simulation) Overall System Models (incl. grid) Device Models Verification Testing with other elements and within the environment Subsystems Integrated Systems Subsystem Integration & Tests (hardware-in-the-loop real-time simulation) Implementation & Rapid Prototyping (software-in-the-loop real-time simulation) Component Design Models Unit Design Models Testing Testing each component in isolation and with other elements Components (SW, HW, Data) Units (SW, HW, Data) Implementation & Testing How is real-time simulation beneficial in the development of synchrophasor systems? (hardware-in-the-loop real-time simulation) Implementation (Production Code Generation)

16 Research Infrastructure (Lab.) Development (1/2) A Laboratory for Testing, V&V of PMU Applications 2010: I started working on the development of a lab. around August/September Not a lot of people where doing this back then (for power systems), it was also seen as unnecessary or useless by many of the experts. I prepared a white paper for negotiations internally in the university on the potential use of RT-HIL technology: Procurement process for the simulator was carried out in 2010 / RT Target arrived somewhere in March/April We carried out the first implementation of the lab through 2011, mostly by MSc student (Almas), myself and a little help from technicians. First implementation was fully operational around Dec A paper with the implementation done in 2011 was presented in the IEEE PES General Meeting Experience as basis for next implementation. A proof of concept application built using openpdc Experience was basis for defining the needs for the environment to develop prototype apps. - L. Vanfretti, et al, "SmarTS Lab A laboratory for developing applications for WAMPAC Systems," 2012 IEEE Power and Energy Society General Meeting, San Diego, CA, 2012, pp doi: /PESGM M. Chenine, L. Vanfretti, et al, "Implementation of an experimental wide-area monitoring platform for development of synchronized phasor measurement applications," 2011 IEEE Power and Energy Society General Meeting, San Diego, CA, 2011, pp doi: /PES First Architecture First Implementation

17 Research Infrastructure (Lab.) Development (2/2) A Laboratory for Testing, V&V of PMU Applications ECS Most Important SW Technologies Developed BabelFish Audur + Khorjin S3DK M. S. Almas, M. Baudette, L. Vanfretti, S. L vlund and J. O. Gjerde, "Synchrophasor network, laboratory and software applications developed in the STRONg2rid project," 2014 IEEE PES General Meeting Conference & Exposition, National Harbor, MD, 2014, pp doi: /PESGM

18 Future Lab: RPI I have now started to build a new laboratory at RPI: If you want to help in the development of the lab, there are many ways that you can do so, for example: Giving us cash!, e.g. General Electric gave a donation of USD Giving us stuff!, e.g. hardware (PMUs, RTUs, relays, etc.) or software! Giving us your time!, e.g. help me design a better lab than before! Giving us your time

19 Modeling for Real-Time Simulation for Synchrophasor Applications First Version published in SEGAN: H. Hooshyar, F. Mahmood, L. Vanfretti, M. Baudette, Specification, implementation, and hardware-in-the-loop real-time simulation of an active distribution grid, Sustainable Energy, Grids and Networks, Volume 3, September 2015, Pages 36-51, ISSN , Second version published in IECON: H. Hooshyar, L. Vanfretti, C. Dufour, Delay-free parallelization for real-time simulation of a large active distribution grid model, in Proc. IEEE IECON, Florence, Italy, October 23-27, New version in EMTP-RV in collaboration with EPM! All source files available in Github!

20 Testing, V&V: Experimental Work in the Development, Implementation and Testing of PMU Apps using RT-HIL Simulation (5) During development, implementation and testing, the application is fine-tuned through multiple HIL experiments. (1) A real-time simulation model of active distribution networks is developed to test the PMU application. (4) A computer with development tools within the LabVIEW environment receives the PMU data. All data acquisition is carried out using the corresponding standards (i.e. IEEE C37, IEC 61850). (3) PMU data is streamed into a PDC, and the concentrated output stream is forwarded to an application development computer (2) The real-time simulation model is interfaced with phasor measurement units (PMUs) in HIL

21 Tooling! A bridge in the last mile in PMU App Development PMU 1 PMU 2 PMU n Communication Network Data in IEEE C Protocol PDC Real-time data locked into vendor specific software system Historical Data in Proprietary Database Interfaces using standard protocols and a flexible development environment are needed Infrastructure PMU SW Apps require real-time data acquisition. Last Mile in PMU App Development PMU data is sent to these SW Apps using many different comm. protocols. For fast software prototyping and testing, communication protocol parsing is required. Low level data management routines (windowing, etc.) do not need to be reinvented N times. To assist students and researchers with a background in power systems, but lacking proficient software development and programming skills.

22 S3DK LabView API, UI and Tools Graphical User Interfaces GUI Communication Configuration Development Tooling Many blocks to access and handle RT data

23 S3DK LabVIEW Library

24 PMU-Based Real-Time Monitoring Applications using S3DK (1) Monitoring & Visualization (3) Inter-Area Oscillation Assessment (4) Forced Oscillation Detection (5) Real-Time Voltage Stability Assessment (2) Mobile Apps (1)-(2) M. S. Almas, et al, "Synchrophasor network, laboratory and software applications developed in the STRONg2rid project," 2014 IEEE PES General Meeting Conference & Exposition, National Harbor, MD, 2014, pp doi: /PESGM (3) V. S. Perić, M. Baudette, L. Vanfretti, J. O. Gjerde and S. Løvlund, "Implementation and testing of a real-time mode estimation algorithm using ambient PMU data,"power Systems Conference (PSC), 2014 Clemson University, Clemson, SC, 2014, pp doi: /PSC (4) M. Baudette et al., "Validating a real-time PMU-based application for monitoring of sub-synchronous wind farm oscillations," Innovative Smart Grid Technologies Conference (ISGT), 2014 IEEE PES, Washington, DC, 2014, pp doi: /ISGT (5) J. Lavenius and L. Vanfretti, Real-Time Voltage Stability Monitoring using PMUs, Workshop on Resiliency for Power Networks of the Future, May 8 th Online:

25 Video!

26 Validation Component Design for Wide-Area Control Systems User Requirement and Specifications Natural Language Models Use Case: WT Control Testing Against Use Cases Design Verification Verification Testing with other elements and within the environment Development Integration Testing Testing each component in isolation and with other elements Product: WT Control System Validation Hardware & Software Implementation (1) RT-HIL Assessment of ECS Auto Mode: (Voltage regulation) Manual Mode: Field (Current Regulation) PSS Functionality (Multi-Band PSS) (2) Development of Damping Control Models (PSS) for RT-SIL Stabilizers Δω, ΔPa, MB-PSS, and the Phasor POD where developed for SIL testing. (3) Interfacing Control Models with ECS System Stabilizers models where testing both for the MB-PSS and our target control (Phasor Oscillation Damper) with the ECS in the loop. (1) M. S. Almas and L. Vanfretti, "Experimental performance assessment of a generator's excitation control system using real-time hardware-in-the-loop simulation," IECON th Annual Conference of the IEEE Industrial Electronics Society, Dallas, TX, 2014, pp do (2) (2) M. S. Almas and L. Vanfretti, "Implementation of conventional and phasor based power system stabilizing controls for real-time simulation," IECON th Annual Conference of the IEEE Industrial Electronics Society, Dallas, TX, 2014, pp doi: (3) (3) M. S. Almas and L. Vanfretti, "RT-HIL testing of an excitation control system for oscillation damping using external stabilizing signals," 2015 IEEE Power & Energy Society General Meeting, Denver, CO, 2015, pp doi: /PESGM

27 Component Implementation, Rapid Prototyping and Testing for Wide-Area Control Systems S3 DK A B Controller Configuration Interface Software-Hardware Layers Testing A A, B B E. Rebello, M. S. Almas and L. Vanfretti, "An experimental setup for testing synchrophasor-based Damping control systems," Environment and Electrical Engineering (EEEIC), 2015 IEEE 15th International Conference on, Rome, 2015, pp doi: /EEEIC E. Rebello, L. Vanfretti and M. Shoaib Almas, "Software architecture development and implementation of a synchrophasor-based real-time oscillation damping control system," PowerTech, 2015 IEEE Eindhoven, Eindhoven, 2015, pp doi: /PTC E. Rebello, L. Vanfretti and M. Shoaib Almas, "PMU-based real-time damping control system software and hardware architecture synthesis and evaluation," 2015 IEEE Power & Energy Society General Meeting, Denver, CO, 2015, pp doi: /PESGM

28 Component Implementation, Rapid Prototyping and Testing exploiting the availability of models for new applications Idea: Develop an algorithm to control industrial load, in particular aluminium smelters for damping of inter-area oscillations. The load control algorithm developed Local/Remote Measurements Phasor POD Oscillatory Content d/dt max >0 min Load Change Signal Switch Load control algorithm Load Modulation Testing: Using the 2-Area Four machine Klein-Roger-Kundur power system model. In RT-SIL and RT-HIL. Input Signal 1: V + Area1 Input Signal 2: (V φ Area1 - V φ Area2)/2 Results: Several local and remote synchrophasor input signals tested There is a big difference in the perfromance of the controller in RT-SIL and RT-HIL. These results highlight the importance of considering the effect of the hardware implementation when looking at software simulation results. Scenario: 5% change in V ref of G1 G. M. Jonsdottir, M. S. Almas, M. Baudette, M. P. Palsson and L. Vanfretti, "RT-SIL performance analysis of synchrophasor-and-active load-based power system damping controllers," 2015 IEEE Power & Energy Society General Meeting, Denver, CO, 2015, pp G. M. Jonsdottir, M. S. Almas, M. Baudette, L. Vanfretti, and M. P. Palsson, Hardware Prototyping of Synchrophasor and Active Load-Based Oscillation Damping Controllers using RT-HIL Approach, IEEE PES GM 2016, July 17-21, Boston, Massachusetts, USA

29 Validation 29 Challenge in Component Implementation and Prototyping Component Level Functionality also Requires Portability User Requirement and Specifications Natural Language Models Use Case: WT Control Testing Against Use Cases Design Verification Verification Testing with other elements and within the environment Development Integration Testing Testing each component in isolation and with other elements Product: WT Control System Validation Hardware & Software Implementation User Requirement and Specifications Natural Language Use Case: WT Control Testing Against Use Cases Product: WT Control System Challenge: Different RT Targets Required Complete Re-Implementation of Validation Validation Controls in each Platform Design Verification Verification Models Testing with other elements and within the environment Opal-RT Target (Mathworks-Based Workflow) Development Hardware & Software Testing Testing each component in isolation and with other elements Implementation Integration NI-cRIO Target (LabView Workflow) Matlab/Simulink Model LabView FPGA Model

30 Networking Protocol Tools and Source Code for Synchrophasor Applications Real-Time Control Example S3D K Three level design C PC S3DK is executed on a PC with a non real-time operating system => Non-deterministic delay The hardware prototype controller design Raw synchrophasors 20ms Network communication LabVIEW Network published Shared Variables NI-cRIO RT processor Input Signal Selection FPGA Phasor POD SVC Control signal Phasor Load Control Load POD Algorithm Modulation 20ms 100µs NI-cRIO Analog Output Analog Output Remotely run VI Runs on a PC. S3DK used to unwrap PDC stream. Real-Time Software VI Runs on the real-time processor of the crio. Manages the signal selection Core FPGA Software VI Runs on the FPGA The load control and SVC control implemented.

31 Networking Protocol Tools and Source Code for Synchrophasor Applications Real-Time Control Example Khorjin NI-cRIO The hardware prototype controller design Two level design C NI-cRIO RT processor FPGA Phasor SVC POD Control signal Khorjin Phasor Load Control Load 20ms POD Algorithm Modulation 100µs Analog Output Analog Output Remotely Real-Time run Software VI VI Real-Time Software Core VI FPGA Software Core VIFPGA Software VI Runs on a the PC. real-time processor Runs of the on crio. the real-time Runs processor on the FPGA Runs on the FPGA S3DK Khorjin used used to unwrap to unwrap PDC PDC stream. of the crio. The load control and The SVC load control and SVC stream. Manages the signal selection control implemented. Input signal selected implemented.

32 Networking Protocol Tools and Source Code for Synchrophasor Applications Real-Time Control Example Hardware prototype controllers tested: In RT-SIL and RT-HIL. In RT-HIL using S3DK and Khorjin. ΔV ref Area MVA 900 MVA 20 kv / 230 kv Bus1 G1 25 Km 10 Km 900 MVA G2 900 MVA 20 kv / 230 kv Local Loads 967 MW 100 MVAR (Inductive) -387 MVAR (Capacitive) Power Transfer Area 1 to Area Km Parallel Transmission Lines SVC Load Control Bus2 10 Km 25 Km Load Modulation Local Loads Area MVA 20 kv / 230 kv 900 MVA G4 900 MVA 20 kv / 230 kv 900 MVA 1767 MW 100 MVAR (Inductive) -537 MVAR (Capacitive) G3 In RT-HIL using S3DK o Blue line far from green line. o Larger delay (S3DK) can only run in a non-deterministic computer (... under windows). o PDC adds to latency. Total delay in RT-HIL setup: S3DK: ms Khorjin: ms In RT-HIL using Khorjin. o Protocol client runs in RT-Target avoiding delays from: PDC and parser in PC. Scenario: 5% change in V ref of G1

33 S3DK (LabView and C++) BabelFish V1 (LabView and C++) BabelFish Engine (Labview Only) Khorjin (LabView, C++) OSS Tools Evolution BabelFishV1 (LabView & C++) S3DK (LabView & C++) BabelFish Engine (LabView Only) Khorjin (C++) Reading Module (C++) Interfacing Module (Active X) GUI Module (LabView) CMD PMU_CFG- 2_PACK NamesofPMUs Elements C Module IEC Mapping Real-time reading from PMU/PDC (DLL) Interfacing with LabView via ActiveX (minimum delay) LabView presentation layer Why only Labview? Client/Server Architecture Multi-Threading LabView VI/API Calls C++ Methods Toolbox-like functions Derive Requirements for Embedded Computers Development: PMU_DA TA_PACK Developed entirely in LabView. Only requires IP address, Port number and Device ID of the PMU/PDC stream Why Khorjin? Module Focus on Performance Not necessary to be user friendly Gateway for IEC transition Executes on embedded systems with low requirements Support for COTS Embedded Computers Development:

34 Everything is (will be) on Github! S3DK: BabelFish: Audur: L. Vanfretti, V. H. Aarstrand, M. S. Almas, V. S. Perić and J. O. Gjerde, "A software development toolkit for real-time synchrophasor applications," PowerTech (POWERTECH), 2013 IEEE Grenoble, Grenoble, 2013, pp Khorjin: coming soon! doi: /PTC L. Vanfretti, I. A. Khatib and M. S. Almas, "Real-time data mediation for synchrophasor application development compliant with IEEE C ," Innovative Smart Grid Technologies Conference (ISGT), 2015 IEEE Power & Energy Society, Washington, DC, 2015, pp doi: /ISGT L. Vanfretti, M.S. Almas and M. Baudette, BabelFish Tools for IEEE C compliant Real-Time Synchrophasor Data Mediation, SoftwareX, submitted, June S.R. Firouzi, L. Vanfretti, A. Ruiz-Alvarez, F. Mahmood, H. Hooshyar, I. Cairo, An IEC Gateway for IEEE C Synchrophasor Data Transfer, IEEE PES General Meeting 2016, Boston, MA, USA. Preprint: link. S.R. Firouzi, L. Vanfretti, A. Ruiz-Alvarez, H. Hooshyar and F. Mahmood, Interpretation and Implementation of IEC Routed-Sampled Value and Routed-GOOSE Protocols for IEEE C Compliant Wide-Area Synchrophasor Data Transfer, Electric Power Systems Research. March Submitted. August First Revision. L. Vanfretti, G.M. Jonsdottir, M.S. Almas, E. Rebello, S.R. Firouzi and M. Baudette, "Audur A platform for Synchrophasor-Based Power System Wide-Area Control System Implementation," submitted for review, Software X, February 28, 2017.

35 Validation Challenge in Component Implementation and Prototyping Networking & Protocol Models and Software (Libs. / Source) User Requirement and Specifications Natural Language Models Use Case: WT Control Testing Against Use Cases Design Verification Verification Testing with other elements and within the environment Development Integration Testing Testing each component in isolation and with other elements Product: WT Control System Validation Challenge: Joint (integrated) modeling of networking, IT and power grid physics through the whole Model & Simulation - Based Systems Engineering Framework. Hardware & Software Implementation Through SGAM, but need to create CIM profile User Requirement and Specifications Use Case: WT Control Validation Product: WT Control System Validation Testing Against Use Cases Potential for use of Modelica Synchronous library of components is needed Natural Language Models Design Verification Testing with other elements and within the environment Verification Software Models with ICT Behavior Network Protocol Client/Server Source Development Hardware & Software Testing Testing each component in isolation and with other elements Implementation Integration (with some help from Khorjin, maybe!)

36 Use Case: WT Control User Requirement and Specifications Product: WT Control System Validation Validation Testing Against Use Cases Natural Language Verification and Validation Design for Timing System-Dependent Applications Verification Verification Testing with other elements and within the environment Models Integration Development Testing Testing each component in isolation and with other elements Hardware & Software Implementation Challenge: Joint (integrated) modeling, simulation and TV&V including Timing Systems through the whole Model & Simulation - Based Systems Engineering Framework. Case Study: GPS Vulnerability and Impact on Synchrophasor Applications Real-Time Simulator IRIG-B Substation Clock Phasor Arbiter Model 1094 B Measurment Units (PMUs) GPS Antenna SEL 421 (1) 3-phase Voltage and current signals SEL 421 (2) to the low-level interface of PMUs PMU Stream Communication Network (Managed Ethernet Switch) Impact on Real-Time Control Impact on Near-Real-Time Monitoring Phasor Data Concentrator SEL-5073 Legend PDC stream To WAMPAC Feedback Signal GPS Signal Hardwired PMU stream Power system testcase model executed in real-time in Opal-RT PDC stream Unwraps PDC stream and provides raw measurements in LabView enviroment S3DK To External Controllers for synchrophasor protection/control applications Feedback signal from external controller to RTS Sychrophasors received in external controllers based on NI-cRIOs with deployed algorithm for protection (islanding detection) and control application (power oscillation damping) Monitoring application displaying real-time electrical quantities The loss in time synchronization signal shows an erroneous increase in line loading from 80% to 92 % and shows an increase from 625 MW to 752 MW within a span of 550 s after the disconnection of time signal from PMU2 M.S. Almas, L. Vanfretti, R.S. Singh and G.M. Jonsdottir, Vulnerability of Synchrophasor-Based WAMPAC Applications to Time Synchronization Spoofing, IEEE Transactions on Smart Grid,

37 Validation Going Beyond System Level : Model Transformation Challenges User Requirement and Specifications Natural Language Models Use Case: WT Control Testing Against Use Cases Design Verification Verification Testing with other elements and within the environment Development Integration Testing Testing each component in isolation and with other elements Product: WT Control System Validation Hardware & Software Implementation Challenge: Bottlenecks in Model Transformation User Requirement and Specifications Use Case: WT Control Validation Product: WT Control System Validation Testing Against Use Cases CIM does not consider the requirement for support in model transformation for component-level design. Power system analysis and design tools do not support means for model exchange, and do not model/capture low-level device functions. FMI support for real-time? Models are difficult to exchange across the Model-V workflow, resulting in multiple re-implementations of the same models/controls/functions Natural Language Models Design Development Hardware & Software Verification Testing with other elements and within the environment Testing Testing each component in isolation and with other elements Implementation Verification Integration

38 Conclusions: The Cyber-Physical Future is in our hands! We need to spend significant efforts to face the challenges of the cyberphysical future of power systems! Model & Simulation-Based Systems Engineering (MBSE) gives a proven foundation for developing complex cyber-physical systems from design to manufacturing to operation. We need to focus in the development of Tools for multi-domain and multi-physics modeling Tools and models for design, Tools for simulation and Tools for hardware implementation Controllabl e Devices Com ms Physical System Power System Digital Control Systems Sensors (eg. PMUs) Com ms Cyber system (comms, timing, embedded systems) Capable of taking into account interactions (ICT, cyber and physical security, etc) from different parts of the cyber-physical system while managing the basic functions of the grid. We have only began to develop these foundations we can t do it alone: Systems View is key. We also need to think about the socio/economical/phylosophical implications of software pervasiveness. The cyborg-world is upon us! Let s be prepared!

39 THANK YOU