Power system control centers:past,present and future

B.YUVASHREE,P.SIVANANDHA VALLI, 3 YEAR,EEE ARUNAI COLLEGE OF ENGINEERING,TIRUVANNAMALAI 606603. [email protected] Abstract-In this paper, we review the functions and architectures of control centers: their past, present, and likely future. The evolving changes in power system operational needs require a distributed control center that is decentralized, integrated, flexible, and open. Present-day control centers are moving in that direction with varying degrees of success. The technologies employed in todays control centers to enable them to be distributed are briefly reviewed. With the rise of the Internet age, the trend in information and communication technologies is moving toward Grid computing and Web services, or Grid services. A Grid service-based future control center is stipulated. Keywords - Computer control of power systems, control center, energy management system, SCADA. INTRODUCTION: The control center is the central nerve system of the power system. It senses the pulse of the power system, adjusts its condition, coordinates its movement, and provides defense against exogenous events. In this paper, we review the functions and architectures of control centers: their past, present, and likely future. We first give a brief historical account of the evolution of control centers. A great impetus to the development of control centers occurred after the northeast blackout of 1965 when the commission investigating the incident recommended that utilities should intensify the pursuit of all opportunities to expand the effective use of computers in power system planning and operation. Control centers should be provided with a means for rapid checks on stable and safe capacity limits of system elements through the use of digital computers. The resulting computer-based control center, called the Energy Management System (EMS), achieved a quantum jump in terms of intelligence and application software capabilities. The requirements for data acquisition devices and systems, the associated communications, and the computational power within the control center were then stretched to the limits of what computer and communication technologies could offer at the time. Special designed devices and proprietary systems had to be developed to fulfill power system application needs. Recent trends in industry deregulation have fundamentally changed the requirements of the control center and have exposed its weakness. Conventional control centers of the past were, by todays standards, too centralized, independent, inflexible, and closed. The restructuring of the power industry has transformed its operation from centralized to coordinated decentralized decision- making. The blackouts of 2003 may spur another jump in the applications of modern information and communication technologies (ICT) in control centers to benefit reliable and efficient operations of power systems. The ICT world has moved toward distributed intelligent systems with Web services and Grid computing. The idea of Grid computing was motivated by the electric grids of which their resources are shared and consumers are unaware of their origins. The marriage of Grid computing and service-oriented architecture into Grid services offers the ultimate decentralization, integration, flexibility, and openness. CONTROL CENTER EVOLUTION: In the 1950s analog communications were employed to collect real-time data of MW power outputs from power plants and tieline flows to power companies for operators using analog computers to conduct load frequency control (LFC) and economic dispatch (ED). When digital computers were introduced in the 1960s, remote terminal units (RTUs) were developed to collect real-time measurements of voltage, real and reactive powers, and status of circuit breakers at transmission substations through dedicated transmission channels to a central computer equipped with the capability to perform necessary calculation for automatic generation control (AGC), which is a combination of LFC and ED. This is called the SCADA system.
RD

Fig.1 Control centers (CC) in the market environment.

After the northeast blackout of 1965, a recommendation was made to apply digital computers more extensively and effectively to improve the real-time operations of the interconnected power systems. The capability of control centers was pushed to a new level in the 1970s with the introduction of the concept of system security, covering both generation and transmission systems. Efficient solution algorithms for large nonlinear programming problem known as the optimal power flow (OPF) were developed for transmission-constrained economic dispatch, preventive control, and security-constrained ED (SCED). In the late 1980s minicomputers were gradually replaced by a set of UNIX workstations or PCs running on an LAN. At the same time, SCADA systems were installed in substations and distribution feeders. More functions were added step by step to these distribution management systems (DMS) as the computational power of PCs increased. In the second half of the 1990s, a trend began to fundamentally change the electric power industry. This came to be known as industry restructuring or deregulation.

configuration in which datafrom several remote devices were fed into a single computer was a ubiquitous configuration in the process control industry. This architecture fit the needs of the power system then. Over the years, networking and communications technologies in the computer industry have progressed significantly. Substation automation in recent years, however, has introduced digital relays and other digital measurement devices; all called intelligent electronic devices (IEDs).

Fig.2 EMS and BMS interactions

CONVENTIONAL CONTROL CENTERS Control centers have evolved over the years into a complex communication, computation, and control system. The control center will be viewed here from functional and architectural perspectives. As pointed out previously, there are different types of control centers whose BMS are different. From the functional point of view, the BMS of the control center of ISO/RTO is more complex than the others. Our description below is based on a generic control center of ISO/RTO, whereas specific ones may be somewhat different in functions and structure . A. Functions The first group of functions is for power system operation and largely inherits from the traditional EMS. They can be further grouped into data acquisition, generation control, and network (security) analysis and control. Typically, data acquisition function collects real-time measurements of voltage, current, real power, reactive power, breaker status, transformer taps, etc. from substation RTUs every 2 s to get a snapshot of the power system in steady-state. The collected data is stored in a real-time database for use by other applications. The sequence of events (SOE) recorder in an RTU is able to record more real-time data in finer granularity than they send out via the SCADA system.
A .Architecture

Fig.3 Conventional CC Function

architecture

Fig.4

Conventional CC

FUTURE CONTROL CENTERS: Future control centers, as we envision, will have much expanded applications both in power system operations and business operations based on data that are collected in a much wider and faster scale. The infrastructure of the control center will consist of large number of computers and embedded processors (e.g. IEDs) scattered throughout the system, and a flexible communication network in which computers and embedded processors interact with each other using standard interfaces. The data and data processing, as well as applications, will be distributed and allow local and global cooperative

The SCADA system was designed at a time when the power industry was a vertically integrated monopoly. The centralized star

processing. It will be a distributed system where locations of hardware, software, and data are transparent to the user. The information technology has evolved from objects, components, to middleware to facilitate the development of distributed systems that are decentralized, integrated, flexible, and open. Although significant progress has been made, it is still not fully distributed. Todays middleware is somewhat tightly coupled. For example, the ORB in CORBA, which provides interface between objects, is not fully interoperable. A software service was originally defined as an application that can be accessed through a programmable interface. Services are dynamically composed and distributed, and can be located, utilized, and shared. The idea of service-oriented architecture, Grid computing and open standards should be embraced for adoptions not only in future control centers, but also in other power system functions involving information and communication technologies

units (PMU) are deployed in many power systems to measure current and voltage phasors and phase angle differences in real time. GPS in PMU provides a time-tagged one pulse-per-second (pps) signal which is typically divided by a phase-locked oscillator into the required number of pulses per second for sampling of the analog measurements. B. Functions Market functions of a control center will expand once new measurement systems are available and our understanding of market behavior increases. We mentioned market surveillance and contract compliance and there will be more in the future. On the power system operation side, the new data acquisition systems, such as PMUs that provide measurements in the order of milliseconds, offer new opportunities for dynamic security assessment and emergency control that would greatly enhance system reliability. A great deal of research has already begun along these directions. Developing new functions to utilize enhanced data acquisition systems to greatly improve power system reliability and efficiency will be a great challenge to the research community. Successful research results will be valuable in bringing power system operations to a new level of reliability and efficiency. Another function in control centers that has developed rapidly in the last couple of years and will become even more important in the future is the visualization tools to assist power system operators to quickly comprehend the big picture of the system operating condition. As technology progresses, more and more data will become available in real time. The humanmachine aspect of making useful information out of such data in graphics to assist operators comprehend the fast changing conditions easily and timely and be able to respond effectively is crucial in a complex system such as the power system as long as human operators are still involved. Developing new functions to utilize enhanced data acquisition systems to greatly improve power system reliability and efficiency will be a great challenge to the research community. Successful research results will be valuable in bringing power system operations to a new level of reliability and efficiency.

A. Data Acquisition For power system reliability, the security monitoring and control function of the control center is actually the second line of defense. The first line of defense is provided by the protective relay system. For example, when a fault in the form of a short circuit on a transmission line or a bus occurs, measurement devices such as a current transformer (CT) or potential transformer (PT) pick up the information and send it to a relay to initiate the tripping (i.e., opening) of the appropriate circuit breaker or breakers to isolate the fault. The protective relay system acts in a matter of one or two cycles (one cycle is 1/60 of a second in a 60-Hz system). The operation of the protective relay system is based on local measurements. The operation of security monitoring and control in a control center, on the other hand, is based on system-wide (or wide-area) measurements every 2 s or so from the SCADA system. The state estimator in EMS then provides a snapshot of the whole system. Different time scales driving the separate and independent actions by the protective system and the control center lead to an information and control gap between the two. The security monitoring and control functions of todays control center, such as state estimation, contingency analysis, etc., are based on steady-state models of the power system. There is no representation of system dynamics that govern the stability of a system after a fault in control centers advanced application software. The design philosophy for security control is that of preventive control, i.e., changing system operating conditions before a fault happens to ensure the
system can withstand the fault. There is no analytical tool for emergency control by a system operator in a control center. All of these are the result of limitations imposed by: 1) the data acquisition system and 2) computational power in conventional control centers

C.Grid Services-Based Future Control Centers A future Grid service-based control center will be an ultimate distributed control center that is decentralized, integrated, flexible, and open. In a Gridservice environment, everything is a service. Future control centers will have data services provided throughout the power system. Data acquisition services collect and timestamp the data, validate and normalize them, and then make it available. Data processing services process data from various sources for deposition into databases or high level applications. Applications will call data services and data will be delivered just in-time for critical

Although RTUs, IEDs, and substation control systems (SCSs) in substations sample power measurements in a granularity finer than a second, SCADA collects and reports data (by exception) only in the interval of several seconds. The bandwidth limitation problem in SCADA is a legacy problem from the past. Future communication networks for SCADA using WAN will have much wider bandwidth and will be able to transmit measurement data in finer resolutions. However, the data needs to be synchronized. This can be done by using synchronization signals from the global positioning system (GPS) via satellites. Modern GPS-based phasor measurement

applications. Various functions serving the needs of control centers are carried out as application services. Traditional applications, such as contingency analysis, congestion management, may be further decomposed into their constituent components, for example, power flows, OPF, etc. Application services may have different granularity and may rely on other services to accomplish its job (Fig. 5). Data and application services are distributed over the Grids. The Grids can use the intranet/Internet infrastructure in which subnetworks are formed for different companies (enterprise grids) with relatively loose connection among cooperative companies (partner grid). Data and application services are distributed over the Grids. The Grids can use the intranet/Internet infrastructure in which sub-networks are formed for different companies (enterprise grids) with relatively loose connection among cooperative companies (partner grid). The computer and communication resources in the Grids are provided and managed by the standard resource services that deliver distributed computing and communication needs of the data and application services. Computer and communication infrastructure will be left to the ICT professionals. This clear separation of responsibility would simplify and accelerate the delivery of new technology. We envision future control centers based on the concept of Grid services include among others the following features: an ultrafast data acquisition system; greatly expanded applications a partner grid of enterprise grids dynamic sharing of computational resources of all intelligent devices use of service-oriented architecture distributed data acquisition and data processing services distributed control center applications expressed in terms of layers of services use of standard Grid services architecture and tools to manage ICT resources.

that is fully decentralized, integrated, flexible, and open, as the Grid services-based future control center to be described in Section VIII-C, is counted as a distributed control center, the definition is perhaps too stringent. We adopt the definition of the distributed system in Section V-B to control centers and call it a distributed control center if it comprises of a set of independent computers that appears to the user as a single coherent system. A distributed control center typically has some or all of its data acquisition and data processing functions distributed among independent computers and its EMS and BMS applications also distributed. It utilizes the distributed system technologies to achieve some level of decentralization, integration, flexibility, and openness: the characteristics that is desirable in todays power system operating environment. Current trends in the development of distributed control centers from the previous multicomputer networked system to a flexible and open system with independent computers are moving in the following directions: separation of SCADA, EMS, and BMS; IP-based distributed SCADA; standard (CIM)-based distributed data processing; middleware-based distributed EMS and BMS applications.

VI. MODERN DISTRIBUTED CONTROL CENTERS

The term distributed control center was used in the past to refer to the control center whose applications are distributed among a number of computers in a LAN [33]. By that standard almost all control centers today that are equipped with distributed processing capability in a networked environment would be called distributed. That definition is too loose. On the other hand, if a control center

Fig. 8. Distributed data acquisition.

The data acquisition part of SCADA handles real-time data, and is very transaction-intensive. The applications in EMS involve mostly complex engineering calculations and are very computation-intensive. These two dissimilar systems are tightly bundled together in a conventional control center because proprietary data models and databases are used due to historical reasons. With proprietary data models and database management systems to handle data, such data

could not be easily exchanged, and it prevents effective use of third-party application software. A separate SCADA system and EMS system would serve a control center better by expediting the exploitation of new technologies to achieve the goals of decentralization, integration, flexibility, and openness. The separation of SCADA and EMS is a logical thing to do. The SCADA function in a conventional control center starts with the RTUs collecting data from substations and, after simple local processing (e.g., data smoothing and protocol specification), the data is then sent through a dedicated communication channel with proprietary protocol to the appropriate data acquisition computer in the control center where a TCP/IP based computer network is used. An interface is therefore needed. The data acquisition computer converts the data and prepares it for deposition in the real-time database. The real-time database is accessed and used by various applications. For reasons of efficiency, the interface may be handled by a telecontrol gateway, and more gateways may be used in a control center. The location of the gateway may move to the substation if standard IP protocol is used. The gateway is then connected to the control center. If the RTU is TCP/IP based, it can be connected directly to the control center resulting in a distributed data acquisition system. In this way, the gateway serves as a data concentrator and communication processor (Fig. 8). RTUs or IEDs may be connected to a data concentrator or connected directly to the control center [34]. The use of fixed dedicated communication channels from RTUs to control center leaves no flexibility in RTUcontrol center relationship which was not a problem in the past. When, for example, another control center requires real-time data from a particular substation not in the original design, there are only two ways to do it. In the first case, the other control center has to acquire the data through the control

center to which the RTU is attached. In the second case, a new dedicated channel has to be installed from the RTU to the other control center. The dedicated channels with proprietary protocols for SCADA were developed for reasons of speed and security [35], [36]. Communication technologies have advanced tremendously in the last couple of decades in both hardware and software, resulting in orders of magnitude increase in transmission speed and sophistication in security protection. Modern communication channels with metallic or optical cables have enormous bandwidths compared to the traditional 9600 kb/s or less available for RTU communications. Responsibility to guarantee timely delivery of specific data in a shared communication network such as intranet or Internet falls to the QoS function of communication network management and is accomplished through protocols for resource allocation.With further advancement in QoS, more and more stringent real-time data requirements may be handled through standard protocols. Network security involves several issues: confidentiality, integrity, authentication, and nonrepudiation. Cryptography is used to ensure confidentiality and integrity, so that the information is not available to and can not be created or modified by unauthorized parties. Digital hash is used for authentication and digital signature for nonrepudiation. Network security has advanced rapidly in recent years [37]. There is no reason that the new SCADA communications should not be using standard protocols such as IPbased protocols. Indeed, inability of SCADA to take advantage of recent progress in cyber security is considered a serious security risk by todays standards [38]. SCADA should be IP-based and liberated from dedicated lines by tapping into an available enterprise WAN or as a minimum use Internet technology to enable the use of heterogeneous components.

In the future, as Internet QoS performance and encryption protocols improve, there will be little difference between a private-line network and virtual private network (VPN) on the Internet when standard protocols are used. A VPN is a network that is constructed by using public wires to connect nodes. The system uses encryption and other security mechanisms to ensure that only authorized users can access the network and that the data cannot be intercepted. VPN can be used to augment a private-line enterprise network when a dedicated facility can not be justified. In other words, the physical media and the facilities used for the network will become less of a concern in a control center when standard protocols are used. If standard communication protocols are used, a control center (i.e., its application software) may take data input data concentrators situated either inside or outside its

territorThe only difference between data from and internal

for fast and easy access to relevant information. Intelligent agents with learning capability may be deployed for data management and data delivery. Once the data is deposited in the real-time database, it can be used by various applications to serve the required functions of EMS or BMS. The output of an application may be used by another application. As long as an application has access through the network to the database with sufficient speed and ensured security, the physical location of the application server and the data will be of little concern. The network should be capable of hosting any kind of applications and supporting intelligent information gathering through it [41]. Component and middleware technologies enable such distributed architecture. Present-day control centers are mostly provided with CIM data models and middleware that allow distributed applications within the control center. Only a few of them use CIM-based data models and middleware-based applications as their platforms. Specific applications of distributed technologies include Java [42], component technology [43], [44], middleware-based distributed systems [45], CORBA [46], [47], and agent technology [48], [49]. A comprehensive autonomous distributed approach to power system operation is proposed [24]. Deployment of agents responsible for specific temporally coordinated actions at specific hierarchical levels and locations of the power system is expected to provide the degree of robust operation necessary for realizing a self-healing grid [13].

Fig. 9. IP-based distributed SCADA.

concentrator or an external one is the physical layer of the communication channel. The former may be through the intranet and the latter needs special arrangement for a communication channel [38], [40] (Fig. 9). With IP-based distributed SCADA that uses standard data models, data can be collected and processed locally before serving the applications. Again using standard data models, databases can also be distributed. Search engines may be utilized

VII. EMERGING TECHNOLOGIES The information and communication technologies have converged into Grid services that are based on Web services

and Grid computing. Future control centers should embrace this development and build an infrastructure on Grid services. In this section, we introduce the serviceoriented architecture, Web services and Grid computing .

B. Web Services
Web services [50], [51] are a particular type of SOA that operates effectively over the Web using XML-based protocols. Web services enable interoperability via a set of open standards to provide information about the data in a document to users on various platforms.Web services are built on Fig. 11. Web service. service-oriented architecture, Internet/intranet technologies, and other technologies like information security. The core components of Web services consist of: Simple Object Access Protocol (SOAP) for crossplatform inter-application communication; Web Services Description Language (WSDL) for the description of services; Universal Description, Discovery, and Integration protocol (UDDI) for finding available Web services on the Internet or corporate networks. Web service providers describe their services usingWSDL (Fig. 11) and register with UDDI registry. UDDI can point to services provided by service providers and obtain descriptions through WSDL. For a service client, a typical invoking process would be the following: locate a Web service that meets the requirements through UDDI; obtain that Web services WSDL description; establish the link with the service provider through SOAP and communications with XML messages. The Web services architecture takes all the best features of the service-oriented architecture and combines it with the Web. The Web supports universal communication using loosely coupled connections. Web protocols are completely vendor-, platform-, and language-independent.Web services support Web-based access, easy integration, and service reusability. With Web service architecture, everything is a service, encapsulating behavior and providing the behavior

through an interface that can be invoked for use by other services on the network. Services are self-contained, modular applications that can be described, published, located, and invoked over the Internet. Promises of Web services for power system applications have been pointed out [52] [55].

C. Grid Computing and Grid Services

Online power system dynamic analysis and control for future control centers will demand computational power beyond what is currently available. It also requires distribution of intelligence at all hierarchical levels of the power grid to enable sub-second coordinated intelligent control actions (Section VIII-B). In future control centers, applications need to be more intelligent and computation needs to be more intelligent too. In this subsection, we look at recent progress and future promises in distributed computing that facilitate distributed intelligence and fast computing. In recent years, progress has been made in distributed high-performance computing. High-performance computing, traditionally called supercomputing, is built on different, but co-located processors. It is expensive and used by only special customers for special purposes. Cluster computing is based on clusters of high-performance and massively parallel computers built primarily out of commodity hardware components. It is popular and has been applied to control centers. There is a newparadigm, called Grid computing [56] [58], that has emerged out of cluster computing. It is a clustering of a wide variety of geographically distributed resources (computer CPUs and memories) to be used as a unified resource, yet it provides seamless access to and interaction among these distributed resources, applications and data. A virtual organization is formed when an application is invoked. This new paradigm is built on the concept of services in the service-oriented architecture. However, Grid computing has generalized the concept of software services to resources. In other words, resources in Grid computing are provided as services. Grid computing renders Grids resources and Grid applications to consist of dynamically composed services.

The motivation and the vision of Grid computing are to develop: a world in which computational power (resources, services, data) is as readily available as electrical power and other utilities, in which computational services make this power available to users; in which these services can interact to perform specified tasks efficiently and securely with minimal human intervention. More specifically, the idea of grid computing is to provide: universal access to computing resources; seamless global aggregation of resources; seamless composition of services. To enable the aggregation of geographically distributed resources in grid computing, protocols and mechanisms to secure discovery of, access to, and aggregation of resources for the realization of virtual organizations and the development of applications that can exploit such an aggregated execution environment are necessary. In 1996 the Advanced Research Projects Agency (ARPA) launched the successful Globus Project with the objective to create foundation tools for distributed computing. The goal was to build a system that would provide support for resource discovery, resource composition, data access, authentication, authorization, etc. Grid computing is making progress to become a practical reality. And it is the future to come. Advocates of Grid computing are pushing for the grand vision of global grids over the Internet. The other extreme, however, is the cluster grids of small managed computer cluster environments that are popularly employed today. In between, we may view various sub-grids of the Global grid in Grid computing as consisting of: enterprise grids; partner grids. Enterprise grids are meant for multilocation enterprises to share their resources. Partner grids are extensions of enterprise grids to facilitate collaboration and access to share resources between sister organizations (Fig. 12). They are of particular interest in the context of control centers. Grid service is a convergence of Grid computing andWeb

services. Grid services offer dependable, consistent, and pervasive access to resources irrespective of their different physical locations or heterogeneity, using open standard data formats and transport protocols. Grid services can be viewed as an extension of Web services. A standard called Open Grid Services Infrastructure (OGSI) was developed using this approach. Globus Toolkit 3.2 (GT3.2) is a software toolkit based on OGSI that can be used to program Grid-based applications. Another standard, the Web Services Resource Framework (WSRF), was presented in 2004, to substitute OGSI. WSRF aims to integrate itself into thefamily of Web services. Globus Toolkit 4 (GT4) is implementation of WSRF [59]. CONCLUSION A control center uses real-time data to support the operation of a power system to ensure a high level of reliability and an efficient operation of the market. In this paper, we have briefly reviewed the evolution of control centers from its past to present. An elementary tutorial on the enabling technologies, from object to middleware technologies that help in making todays control centers more decentralized, integrated, flexible, and open is included. The power industry is catching up in the application of the latest ICTs to control centers. With the rise of the Internet age, the trend in ICT is moving toward Grid services. The introduction of PMUs, on the other hand, may usher in a new generation of data acquisition systems and enabling of more advance applications in controlling dynamic performance of power systems in real time. We have attempted to outline a development direction for future control centers utilizing Grid services architecture Control centers involve extremely complex systems with intricate linkages of hardware, software, and devices. The presentation of this paper aims to simplify a great deal of the complex issues involved in implementation for the sake of conceptual clarity. Every step in the implementation is a challenge. The focus of this paper has been on the technology and the closing of the technology gap between power system control centers and ICT. The promises of new data acquisition devices and systems, Grid computing and boundless-bandwidth Communications offer tremendous opportunities in the development of new functions and new approaches to improve power system reliability and efficiency.

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Felix F. Wu (Fellow, IEEE) is the Philip Wong WilsonWong Professor in Electrical Engineering at the University of Hong Kong, Hong Kong, where he served as Pro Vice Chancellor (Vice President) from 1997 to 2001. He is also a Professor Emeritus at the University of California, Berkeley, where he has been on the Faculty since 1974.

Khosrow Moslehi (Member, IEEE) received the Ph.D. degree from the University of California, Berkeley. He is the Director of Product Development at ABB Network Management/Central Markets, Santa Clara, CA. He has over 20 years of experience in power system analysis, optimization, system integration, and architecture.

Anjan Bose (Fellow, IEEE) is the Dean of the College of Engineering and Distinguished Professor at Washington State University, Pullman. He has over 30 years of industrial and academic experience in power system engineering. Dr. Bose is a Member of the National Academy of Engineering. 1908