Publications

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This report serves as the executive summary to the comprehensive document that describes the software, control logic, and operational functions of the Pacific DC Intertie (PDCI) Oscillation Damping Controller. The purpose of the damping controller (DCON) is to mitigate inter-area oscillations in the Western Interconnection (WI) by active improvement of oscillatory mode damping using phasor measurement unit (PMU) feedback to modulate power flow in the PDCI. This report provides the high level descriptions, diagrams, and charts to receive a basic understanding of the organization and structure of the DCON software. This report complements the much longer comprehensive software document, and it does not include any proprietary information as the more comprehensive report does. The level of detail provided by the comprehensive report on the software documentation is intended to assist with the process needed to obtain compliance for North American Electric Reliability Corporation Critical Infrastructure Protection (NERC-CIP) as a Bulk energy system Cyber Asset (BCA) device. That report organizes, summarizes, and presents the charts, figures, and flow diagrams that detail the organization and function of the damping controller software. The PDCI Wide-Area Damping Controller is the result of a collaboration between Sandia National Laboratories (SNL), Bonneville Power Administration (BPA), Montana Tech University (MTU), and the Department of Energy (DOE).

Inter-area oscillations are present in all power systems dispersed over large areas and can have detrimental effects limiting transmission capacity or even causing blackouts. The availability of wide-area measurements in power systems has enabled damping of inter-area oscillations using distributed control methods and system components, such as energy storage devices. We investigate the performance of damping control enabled by energy storage devices distributed throughout an example two-area power system assuming the availability of wide-area measurements of generator machine speeds. The energy storage devices are capable of injecting active power into the system in order to damp inter-area oscillations that occur after a fault in the system. An analysis of the linearized system and several simulations of the nonlinear system with multiple combinations of controlled power injections from energy storage devices are performed. From the results, we quantify and discuss how damping performance depends on the sizes and locations of injections.

Synchrophasor data, now prevalent in power systems around the world, is enabling the development of applications such as wide area control systems (WACS). Because synchrophasor data is transmitted from dispersed locations it is only available to WACS after a certain delay and at irregular time intervals. This paper initially shows that these non-uniformities in the availability of the data cause the WACS output command to be non-smooth potentially affecting the actuator. Next, paper also shows how delays in the WACS input signal are translated into erroneous and inverted WACS output commands. Finally, the paper proposes exact time-synchronization of the data as a solution of the above problems to ensure that the control action is not compromised.

A wide-area controller to damp inter-area oscillations in the North American Western Interconnection (WI) by modulating power transfers in a HVDC link is used in this paper to investigate the effects that latencies in its feedback signals have on its performance. This controller uses two feedback measurements to perform its control action. The analysis show that the stabilizing effect of the controller in transient stability and small signal stability is compromised as the feedback measurements experience higher delays. The results show that one of the feedback signals can tolerate more delay than the other. The analysis was performed with Bode plots and time domain simulations on a reduced order model of the WI from which a linear version was obtained.

This paper explores the controllability of power system oscillation modes by multiple high voltage DC (HVDC) transmission lines. The controllability exploration is performed in a reduced model of the Western Electricity Coordination Council (WECC) system, with added HVDC lines according to previously proposed lines. The exploration shows that various oscillation modes, across several system areas, can be simultaneously controlled by coordinating three or more HVDC lines. The degree of damping in each oscillation mode can be selected by designing a multi-input multi-output control system on the HVDC lines.

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This report documents the use of wind turbine inertial energy for the supply of two specific electric power grid services; system balancing and real power modulation to improve grid stability. Each service is developed to require zero net energy consumption. Grid stability was accomplished by modulating the real power output of the wind turbine at a frequency and phase associated with wide-area modes. System balancing was conducted using a grid frequency signal that was high-pass filtered to ensure zero net energy. Both services used Phasor Measurement Units (PMUs) as their primary source of system data in a feedforward control (for system balancing) and feedback control (for system stability).

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This paper presents simulation results of a control scheme for damping inter-area oscillations using high-voltage DC (HVDC) power modulation. The control system utilizes realtime synchrophasor feedback to construct a supplemental commanded power signal for the Pacific DC Intertie (PDCI) in the North American Western Interconnection (WI). A prototype of this controller has been implemented in hardware and, after multiple years of development, successfully tested in both open and closed-loop operation. This paper presents simulation results of the WI during multiple severe contingencies with the damping controller in both open and closed-loop. The primary results are that the controller adds significant damping to the controllable modes of the WI and that it does not adversely affect the system response in any of the simulated cases. Furthermore, the simulations show that a feedback signal composed of the frequency difference between points of measurement near the Washington-Oregon border and the California-Oregon border can be employed with similar results to a feedback signal constructed from measurements taken near the Washington-Oregon border and southern California. This is an important consideration because it allowed the control system to be designed without relying upon cross-system measurements, which would have introduced significant additional delay.

Distributed control compensation based on local and remote sensor feedback can improve small-signal stability in large distributed systems, such as electric power systems. Long distance remote measurements, however, are potentially subject to relatively long and uncertain network latencies. In this work, the issue of asymmetrical network latencies is considered for an active damping application in a two-area electric power system. The combined effects of latency and gain are evaluated in time domain simulation and in analysis using root-locus and the maximum singular value of the input sensitivity function. The results aid in quantifying the effects of network latencies and gain on system stability and disturbance rejection.

Lightly damped electromechanical oscillations are a source of concern in the western interconnect. Recent development of a reliable real-time wide-area measurement system (WaMS) has enabled the potential for large-scale damping control approaches for stabilizing critical oscillation modes. a recent research project has focused on the development of a prototype feedback modulation controller for the Pacific DC Intertie (PDCI) aimed at stabilizing such modes. The damping controller utilizes real-time WaMS signals to form a modulation command for the DC power on the PDCI. This paper summarizes results from the first actual-system closed-loop tests. Results demonstrate desirable performance and improved modal damping consistent with previous model studies.