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Synchrophasor Data Under GPS Spoofing: Attack Detection and Mitigation Using Residuals
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Anomaly Detection, Localization and Classification using Drifting Synchrophasor Data Streams
With ongoing automation and digitization of the electric power system, several Phasor Measurement Units(PMUs) have been deployed for monitoring and control. PMU data can have multiple anomalies, and many of the researchers in the past have concentrated on training machine/deep learning algorithms offline for anomaly detection over PMU data (i.e., not in real time). These machine/deep learning algorithms, when trained offline on a sample rather than a population of the dataset, fail to consider the dynamic behavior of the power grid in real-time, resulting in low accuracy. Considering the dynamic behavior of the power grid (e.g., change in load, generation, distributed energy resources (DERs) switching, network, controls), the definition of data anomalies varies in time and requires online training. A fundamental challenge is to enable online (i.e., real-time) training of machine/deep learning algorithms for anomaly detection over streaming PMU data. While machine/deep learning is often desirable to manage data streams, training a deep learning algorithm over streaming PMU data is nontrivial due to changes in data statistics caused by dynamic streaming data. This paper proposes PMUNET: a novel device-level deep learning-based data-driven approach for anomaly detection, localization, and classification over streaming PMU data, using online learning and multivariate data-drift detection algorithm .Two variants of PMUNET, Dynamic data Change Driven Learning (DCDL) and Continuity Driven Learning (CDL), are proposed and compared. DCDL aims to train the deep learning algorithm whenever the definition of anomaly changes due to the power grid dynamics. On the other hand, CDL continuously trains the deep learning algorithm over the PMU data-stream. The experimental results verify that DCDL outperforms CDL and other efficient anomaly detection methods over multiple events such as faults and load/ generator/capacitor/DERs variations/switching for IEEE 14 and 39 Bus test system as well as real PMU industrial data. The result verifies that DCDL variant of PMUNET improves over existing approach with a gain of 2% - 10% in terms of accuracy, false-positive rate, and false-negative rate.
Resilience Against Data Manipulation in Distributed Synchrophasor-Based Mode Estimation
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Machine Learning Guided Operational Intelligence from Synchrophasors (Final Report)
Schweitzer Engineering Laboratories (SEL) and Oregon State University (OSU) received over 27 terabytes of electrical power system phasor measurement unit (PMU) data for the Eastern, Western, and ERCOT interconnections. The dataset includes measurements spread across 446 PMUs from early 2016 to mid 2018 depending on the interconnect. The full dataset was split into a training and test (holdout) dataset by PNNL. All data was received in the Apache Parquet format. The overarching goal of this project is to develop and execute a strategy to mitigate data anomalies, perform analysis on the dataset, and detect anomalous events in the data.
Final Project Briefing - Combinatorial Evaluation of Physical Feature Engineering, Classical Machine Learning, and Deep Learning Models for Synchrophasor Data at Scale
Final project briefing from PingThings for FOA 1861
Big Data Analysis of Synchrophasor Data: Experience from the Trenches in a Startup
Panel talk discussing the Big Data FOA1861 project
Discovery of Signatures, Anomalies, and Precursors in Synchrophasor Data with Matrix Profile and Deep Recurrent Neural Networks (Final Project Report)
The widespread deployment of phasor measurement unit (PMU) across the U.S. together with the burgeoning machine learning technology made it possible to develop data-driven PMU data analytics to improve grid security and reliability in a more insightful and effective manner. Although PMU applications have been explored for over a decade, the representative PMU usage is limited to the bulk power system monitoring mainly due to the data integrity issues associated with PMUs (typically missing, fragmented, and wrongly amplified data). To forge a breakthrough on this stalemate and embrace PMUs for power system control and protection as well, we applied various advanced machine learning and big data analysis technology to the power system event detection and classification as the first step toward the power system control and protection pertaining to grid security enhancement.
Synchrophasor-Based Zonal Current Differential Protection for Secondary Low Voltage Networks
This report describes an approach to utilizing phasor measurement unit (PMU) data from multiple Intelligent Electronics Devices (IEDs) in a low-voltage network to produce a differential scheme for protecting the medium-voltage feeder and low-voltage network transformers. The proposed protection scheme is designed and prototyped on a real-time automation controller. Its performance is evaluated using real-time controller hardware-in-the-loop simulation. Lab testing results indicate that the proposed protection scheme allows significant distributed energy resources (DER) backfeed and enables selective and fast protection of medium voltage feeders.
A Persistence Meter for Nimble Alarming Using Ambient Synchrophasor Data
Persistent oscillations in the power grid are often indicative of fragility, and may be harbingers of systemic or cascading failures. Modernization of the grid, including increased penetration of intermittent renewables and integration of new power electronics, is making the oscillatory swing dynamics of the network both more complex and variable. In this project researchers from the University of Wisconsin-Madison (Bernard Lesieutre, lead), Washington State University (Sandip Roy, lead), and the Electric Power Group (Neeraj Nayak, lead) have developed technologies that monitor persistent oscillations in the grid and provide operators with alarms and analytics when concerning oscillations are detected. Some of the algorithms have already been implemented in EPG’s PGDA software and integrated into their RTDMS system for use in control rooms.
Phasor-Measurement-Unit-Based Data Analytics Using Digital Twin and PhasorAnalytics Software
A major objective of this project was to apply GE’s commercial machine learning and data analytics toolsets to large-scale, real-world, anonymized Phasor Measurement Unit (PMU) datasets in order to extract signatures, correlated and/or causal factors, and precursor patterns associated with significant power system phenomena. The project had a particular emphasis on extraction of insights relevant to asset health monitoring, real-time load modeling and cybersecurity monitoring. Additionally, the team was directed to undertake a comprehensive data quality analysis for the provided datasets and encouraged to estimate the ‘machine-learning readiness’ of the datasets by documenting any major obstacles to the application of commercial machine learning algorithms. To accomplish the aforementioned objectives, the project team’s work centered around the identification of key event signatures and application of the identified event signatures for event detection and event classification. The industry-validated, semi-supervised machine learning strategy employed for event signature identification involved several major tasks, including data-preprocessing, generation of an overabundance of features, normal data identification, normality modeling, and event signature identification through a methodical, quantitative ranking of features in order of relevance to each studied event type. Throughout the project, data quality issues and mitigation techniques were investigated. In this report, insights are provided regarding the readiness of the provided synchrophasor datasets for application of machine learning and data analytics. The methodologies employed for this technical strategy are summarized in this report. With regards to data preprocessing and feature generation, the provided Training and Test Datasets were ingested into GE’s big data environment. Subsequently, the team applied bad data cleansing and data imputation scripts, event detection scripts, and application programming interfaces (APIs) to the datasets for convenient data access. The project team completed development and validation of dozens of physics-based, statistics-based and transformation-based feature functions used for the extraction of over 60 synchrophasor features. Using a new parallel feature generation technology developed on this project, over 60 features have been rapidly generated for the full two years’ worth of Training and Test Dataset data associated with both the Eastern and Western interconnects. Even accommodating for temporal down-sampling inherent to the feature extraction procedure, this parallel feature generation activity resulted in a massive feature set with a storage requirement approximately equal to that of the raw training dataset itself. With regards to normal data identification and normality modeling, a normality model was built using the feature data extracted from the Training Dataset and iteratively refined subsequent to incremental adjustments and expansions of the Training Dataset feature data. With respect to event characterization and signature identification, an event signature identification pipeline was developed and used in conjunction with the normality model to identify over 15 event signatures for key event categories within the Training Dataset. The identified event signatures were used to characterize hundreds of key events in terms of relative severity, duration, and location of the event. An investigation was undertaken to identify correlated and causal factors involved in transformer events. A separate investigation into temporal trends in ring-down analysis results was undertaken to determine possible associations between system dynamics and various other factors such as loading, season or year. To validate the identified event signatures, additional work was undertaken to develop signature-based anomaly detection and classification tools suitable for convenient application to the synchrophasor datasets. The anomaly detection and classification tools, suitable for online application, were then applied to the entirety of the Eastern Interconnect Training and Test Datasets. Performance of the event detection and classification tools was evaluated upon receipt of the Test Dataset event logs (i.e., the labels for events contained in the Test Dataset), and promising results were obtained despite several challenges (documented herein) associated with application of supervised or semi-supervised machine learning methods to large-scale, anonymized datasets. Finally, the detection and classification tools were used to detect, classify, and characterize thousands of new events not included in the original event logs provided by the DOE within both the Training and Test Datasets.
Optimal PMU design based on sampling model and sensitivity analysis
The precise measurements of the synchrophasor and frequency from phasor measurement units (PMUs) are widely used in power grid applications. With the improvement of the technique, applications always require stable dynamic performance and higher accuracy for the synchrophasor and frequency measurements, which is challenging for PMU development. To evaluate the contribution of PMU hardware to measurement accuracy, this paper proposes a general-purpose sampling model to analyze the measurement error. In the proposed sampling model, a strict mathematical derivation is derived, where its error is purely determined by the parameters of the PMU hardware. The sensitivity analysis is carried out by three methods, including mathematical analysis, computer simulation, and variance-based sensitivity analysis. Through the sensitivity analysis, this paper establishes the systematic formulation and the inclusion of synchrophasor, frequency, and ROCOF. Experimental results based on the real-world testbench involving distribution-level PMUs match the mathematical analysis conclusion, which verifies the correctness of the general-purpose sampling model. Furthermore, a strategy for the optimal PMU design is proposed, which could guide PMU design in the future.
Adding power of artificial intelligence to situational awareness of large interconnections dominated by inverter‐based resources
Abstract Large‐scale power systems exhibit more complex dynamics due to the increasing integration of inverter‐based resources (IBRs). Therefore, there is an urgent need to enhance the situational awareness capability for better monitoring and control of power grids dominated by IBRs. As a pioneering Wide‐Area Measurement System, FNET/GridEye has developed and implemented various advanced applications based on the collected synchrophasor measurements to enhance the situational awareness capability of large‐scale power grids. This study provides an overview of the latest progress of FNET/GridEye. The sensors, communication, and data servers are upgraded to handle ultra‐high density synchrophasor and point‐on‐wave data to monitor system dynamics with more details. More importantly, several artificial intelligence (AI)‐based advanced applications are introduced, including AI‐based inertia estimation, AI‐based disturbance size and location estimation, AI‐based system stability assessment, and AI‐based data authentication.
End-to-end Analytics for Grid Arch Design & All-hazard Assessment
Resiliency, reliability, and security of the next-generation smart grid depend upon leveraging advanced communication and computing technologies, integrating them with physical power systems, and developing real-time, fast, data-based applications to help in wide-area monitoring and control of the grid. Using a high sampling data rate from phasor measurement units (PMUs) to develop applications has opened the door to achieving the next-generation grid requirements. The North American Synchrophasor Initiative Network (NASPlnet) was developed in 2007-09 to create a standard and guide for PMU data exchanges. With the advancement in both networking and grid requirements, it is necessary to evaluate the performance of different NASPInet versions and their impact on applications. Therefore, we need a cyber-power cosimulation framework that supports very large-scale co-simulation capable of running in parallel, high-performance computing platforms and capturing real-life network behavior. This work presents a cyber-physical co-simulation testbed using NS3 to model the communication network, GridPACK to model the power grid, and HELICS as a co-simulation engine. Comparative analysis of latency in synchrophasor networks and a performance evaluation of a power system stabilizer application based on PMU data in an Institute of Electrical and Electronics Engineers 39-bus test system is presented using this co-simulation testbed.
Evaluating a Commercial Dynamic Line Rating Software with the National PMU Dataset
To accelerate the development of data-driven applications for power systems, the Department of Energy (DOE) supported the collection and curation of a synchrophasor dataset spanning two years of observations from transmission utilities across the US. This National PMU Dataset (NPDS) was anonymized and distributed to awardees of a DOE research grant under nondisclosure agreements (NDAs) but has also been retained at PNNL to enable further research. Agreements with data contributors prevent the data from being shared outside the organization. However, establishing a blind research validation methodology is envisioned to maximize the value proposition of the NPDS. In this validation strategy, researchers may share algorithms/software (potentially as executables to protect intellectual property) with PNNL, and PNNL will share feedback about the software’s performance on subsets of the NPDS. Such a blind methodology ensures that sensitive information about critical infrastructure remains protected, but the value of the NPDS can be extended to research beyond PNNL. Through iterative feedback, the algorithms may be tweaked to address real-world artifacts. As the NPDS data is temporally and geographically diverse, it may capture features absent in smaller datasets used during the development of the algorithm under test. This report presents lessons learned from applying the blind validation methodology to LineID™, a synchrophasor-based dynamic line rating software developed by Topolonet Corporation. Improvements made to the software through iterative feedback, limitations of the validation methodology, as well as how the limitations of the NPDS affected the evaluation process are discussed. Observations indicate that the proposed validation methodology can be valuable for evaluating other tools in the future.
Estimation of Electromechanical Modes of Oscillation in the Eastern Interconnection from Ambient PMU Data
A power system's inter-area electromechanical modes of oscillation determine if the system is small-signal stable. Mode meters are tools that estimate the modes based on ambient synchrophasor measurements, allowing continuous monitoring of the system's stability margin. This paper reports on the application of mode meter algorithms to 21 months of synchrophasor measurements from the United States Eastern Interconnection (EI). Estimates for three modes were updated every minute, providing a much more comprehensive set of results than previous studies based on disturbance recordings. The detailed signal designs and mode meter configurations provided in this paper can be used to accelerate mode meter deployments in the EI. Analysis of the mode estimates reveal for the first time how seasonal load changes and system reconfiguration impact the EI system's dynamics.
Rapid Monitoring and Defense Approach for Resilience Improvement of Grid Cyber Security
Cyber-physical systems and electric utilities significantly depend on the reliability and efficiency of information and operational technology. However, false data injection attacks based on synchrophasor measurement data pose a serious threat to the safe and reliable operation of modern power systems. Here, to mitigate this problem, a rapid monitoring and defense approach is proposed to defend against cyber attacks. Initially, the Time and Frequency based Convolutional neural Network (TFCN) is proposed to detect different types of attacks. Within the TFCN, the advances are that both time and frequency domain information can be fused without extra spectrum analysis methods, and can save detection time to speed the calculation efficiency using the developed time-frequency block. Next, a comprehensive defense strategy is developed for multiple cyber attacks to ensure the stability and resilience of the power system according to the feedback detection results. The advances of this strategy are that different control strategies can be automatically selected to recover the stability to the greatest extent according to the detected attacks. To verify the effectiveness of the proposed approach, the high-speed frequency measurements collected from the wide-area monitoring system are used. The results demonstrate that the cyber attack detection performance can reach 95.57% accuracy, outperforming both traditional and some advanced neural networks. Importantly, the defense strategy is conducted and verified in a modified IEEE 39 bus system as well, which illustrates profound performance in faster stability restoration.
Practical Event Location Estimation Algorithm for Power Transmission System Based on Triangulation and Oscillation Intensity
Event location in power systems is quite essential information for system operators to enhance control-room situational awareness capability. Therefore, it is of great importance to develop an event location estimation algorithm for transmission systems with high accuracy. With the development of wide-area measurement system (WAMS) such as FNET/GridEye, and the synchrophasor measurement devices (SMDs) such as frequency disturbance recorders (FDRs), the synchronous measurement data including frequency, voltage amplitude and phase angle can be collected and used for event location estimation. First, the phase angle and rate of change of frequency (RoCoF) trajectories are respectively used for determining two sets of wave arrival time associated with each FDR. Then, a convolutional neural network (CNN) is utilized to determine the wave arrival order to select the more suitable set of wave arrival times for a given case and to perform corresponding modifications. Next, the oscillation intensity associated with each FDR is determined based on phase angle trajectories in the center of inertia (COI) coordinate system. Finally, the multiple criteria for event location estimation are represented. In conclusion, case studies and comparisons between the proposed and previous algorithms using actual and confirmed cases in U.S. power systems are performed to demonstrate the effectiveness and improvement of the proposed algorithm in practical applications.