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DOE OSTI2021

Examining the Economic Optimality of Automatic Generation Control

The automatic generation control (AGC) system is temporally situated between economic dispatch and synchronous generator dynamics, and its primary role is to regulate frequency within and tie-line flows between control areas. Given appropriate choice of participation factors (feed-forward controller gains that govern the disaggregation of the area-level power requirement to individual generators), the AGC can be engineered to nudge system dynamics toward a steady-state operating point corresponding to economic optimality. This paper establishes necessary and sufficient conditions under which a widely accepted choice of participation factors guarantees the alignment of steady-state synchronous generator outputs with a global minimum of a prototypical economic dispatch problem. In so doing, it resolves several ambiguities and formalizes technical assumptions governing the role of the standard AGC architecture in the context of economic dispatch and steady-state operation. Numerical case studies tailored to a modified version of the New England 39-bus 10-machine test system validate the theoretical results.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

DOE OSTI2024

Distributed Automatic Generation Control Considering DPV Using T&D Dynamic Co-Simulation

The increasing adoption of distributed energy resources (DERs) over the last decade warrants a reconsideration of control of generation resources. This paper proposes a distributed Automatic Generation Control (AGC) using transmission-and-distribution (T&D) dynamic co-simulation framework for the efficient DPV frequency regulation services. The co-simulation framework allows AGC units to exchange the information for distributed AGC, based on their adopted communication network topology. As a result, a cost-effective automatic generation control is achieved with DPV and conventional generators. The proposed distributed AGC is based on the gossip algorithm in which the neighboring AGC units share the relevant local information with each other and updates their share of AGC regulation signal. Distributed photovoltaics (DPV) unit contribute to AGC response based on their headroom capacity via DER aggregators. The algorithm is tested on IEEE-14 bus transmission system under conditions of generation failure and random load variation to observe effective frequency regulations service offered by DPVs and other AGC units. The study shows that DPV can effectively participate in AGC with the proposed distributed control framework.

automatic generation control↗

DOE OSTI2019

Grid-Friendly Renewable Energy: Solar and Wind Participation in Automatic Generation Control Systems

This paper focuses on emerging technological and regulatory considerations of using solar and wind generators to provide essential reliability services through participation in area-wide automatic generation control (AGC) systems. AGC systems enable a grid operator to centrally and automatically manage the output of interconnected generators, storage devices, and controllable loads to maintain reliable and safe system operations. The paper highlights recent experiences of solar and wind on AGC, as well as recent developments that may enable VRE to participate in AGC in the near future.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

DOE OSTI2023

Cyber-Resilient Automatic Generation Control for Systems of AC Microgrids

In this paper we propose a co-design of the secondary frequency regulation in systems of AC microgrids and its cyber security solutions. We term the secondary frequency regulator a Micro-Automatic Generation Control (μ AGC) for highlighting its same functionality as the AGC in bulk power systems. We identify sensory challenges and cyber threats facing the μ AGC. To address the sensory challenges, we introduce a new microgrid model by exploiting the rank-one deficiency property of microgrid dynamics. This model is used to pose an optimal μ AGC control problem that is easily implemented, because it does not require fast frequency measurements. An end-to-end cyber security solution to the False Data Injection (FDI) attack detection and mitigation is developed for the proposed μ AGC. The front-end barrier of applying off-the-shelf algorithms for cyber attack detection is removed by introducing a data-driven modeling approach. Finally, we propose an observer-based corrective control for an islanded microgrid and a collaborative mitigation scheme in systems of AC microgrids. We demonstrate a collaborative role of systems of microgrids during cyber attacks. Furthermore, the performance of the proposed cyber-resilient μ AGC is tested in a system of two networked microgrids.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2024

Power Sharing-Based Framework for Allocating Automatic Generation Control in Distributed Energy Resources: Preprint

The recent proliferation of distributed energy resources (DERs) in the power network along with the retirement of conventional generators has made it challenging to regulate system frequency. In this paper, we present a centralized control framework to leverage the potential of DERs in the distribution network in provisioning secondary frequency control services to the grid. The proposed framework is based on network volt-watt sensitivity analysis and takes into account DER operational and network-imposed constraints to allocate the automatic generation control (AGC) request among the aggregated units. The proposed framework was implemented on the IEEE 8500-node test feeder and results were validated against a standard linear programming-based scheme. Numerical results indicate that the proposed framework can successfully utilize the available power production headroom of the network to meet the AGC request while maintaining nodal voltages within acceptable limits.

distributed energy resources↗

DOE OSTI2023

Detection and Localization of Data Forgery Attacks in Automatic Generation Control

Not Available

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2021

Deep Reinforcement Learning for Automatic Generation Control of Wind Farms

This paper provides a model-free framework for real-time control of wind farms to accurately track a power reference signal. This problem requires tractable dynamical models for capturing the aerodynamic interaction between wind turbines and controllers that can make decisions in realtime given varying atmospheric conditions. In this paper, we propose a deep reinforcement learning framework to provide real-time yaw control of a wind farm. Modifications have been made to FLOw Redirection and Induction in Steady State (FLORIS), a modeling tool that incorporates transient wake behavior. The control problem is formulated to track a synthetic power reference signal based on historical atmospheric (wind speed and direction) information, price signals, and regulation deployment data from U.S. regional transmission operators. Results indicate that a wind farm, with this control paradigm, can achieve good tracking performance when tested with real atmospheric data.

49 EE - Wind and Water Power Program - Wind (EE-4W↗

DOE OSTI2020

MAFRIT (Multi-Area Frequency Response Integration Tool)

The Multi-Area Frequency Response Integration Tool (MAFRIT) is the only software tool of its kind that integrates primary frequency response (turbine governor control) with secondary frequency response (automatic generation control). It simulates the power system dynamic response in full time spectrum with variable time steps from millisecond to minutes to hours and days. Capable of simulating both normal and event conditions, this tool can represent real power system operations and thus evaluate the primary and secondary reserves adequacy. This unique interaction of a turbine governor model and a novel automatic generation control model places special emphasis on electric power systems with high penetrations of renewable generation.

Himanshu, Jain↗

DOE OSTI2026

Frequency Control and Dynamics (Part 1) [Slides]

This presentation provides an introductory overview of system dynamics and frequency control in electric power systems, with a focus on concepts relevant to small and interconnected grids such as those in Malawi. It explains foundational principles of AC system frequency, the relationship between generation-demand balance and frequency deviations, and the operational limits of generators and end-use equipment. The deck discusses frequency stability within broader system stability classifications and illustrates how inertia and turbine-governor dynamics shape system response to disturbances. It then outlines the tiered approach to frequency control - primary, secondary, and tertiary - detailing the roles, characteristics, timescales, and response mechanisms of each. Special emphasis is placed on hydro and thermal unit behavior, area control error (ACE), automatic generation control (AGC), and the operational implications of interconnecting small systems with larger grids. The material was developed to support Malawi's electricity sector and the establishment of the Southern Africa Battery Energy Storage Center of Excellence (SABESS CoE).

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2026

Frequency Control and Dynamics (Part 2) [Slides]

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2018

Enhancing the Flexibility of Generation of Run-Of-the-River Hydro Power Plants

Run-of-the-River Hydro Power Plants (ROR HPPs) output can be characterized as fixed and predictable output with low cost of both installation and operation. ROR HPP generation is proportional to the water flow and cannot be adjusted to provide inertia to the grid, which is critical to power systems stability. Hence ROR HPP can only participate in low profit energy markets and not in the high profit ancillary service market. With the advances in energy storage, they can help build a synthetic energy reservoir. The combined operation of ROR HPPs and energy storage are capable of both ramping and variable power output, allowing participation in the ancillary service markets. However, energy storage technologies such as supercapacitors and flywheels, which are power dense can quickly charge/discharge within a short duration. Energy dense storage technologies such as batteries can provide long duration energy injection while the maximum ramping rate is much lower than power dense energy storage. In order to provide long duration fast ramping capability, Hybrid Energy Storage Systems (HESSs) including both power and energy dense energy storage are proposed to be integrated to enable the flexible operation of ROR HPP. Power dense energy storage with quick burst of energy can assist in regulation, whereas energy dense storage can provide energy balance over larger time. In this paper, the properties of different types of energy storage including the ramping rate, affordable energy storage capacity, thermal management, etc. are analyzed. The size of each type of energy storage is determined to ensure optimal combination of HESS and ROR HPP. A generic Front End Controller (FEC) is developed and customized for ROR HPP to provide real time control and cohesive operation of multiple units. FEC serves as the interface between utility management systems and ROR HPPs to ensure their integration with the centralized controls. Using the Automatic Generation Control (AGC) signal received from grid operator, FEC optimizes the ROR HPP turbine and HESS so that the aggregated generation can satisfy the market needs. Based on the study, system operator can acquire extra inertia support for system stability, and the ROR HPP operators can enhance their revenues by participating in wider market avenues.

13 HYDRO ENERGY↗

DOE OSTI2018

Anomaly Detection for Power System Generation Control based on Hierarchical DBSCAN

The generation level of a generator in power grid is under control of multiple control loops such as governor action, Automatic Generation Control (AGC), and manual control. These control loops are vulnerable to cyber attacks and could become potential targets for the malicious adversary. In this paper, we investigated the detection of abnormal generation controls induced by cyber attacks. One data-driven anomaly detection methodology is presented based on the behavior conformity of generation units located in the same balancing authority. A semi-supervised clustering algorithm with Hierarchical Density based Spatial Clustering of Application with Noise (HDBSCAN) is proposed for the detection model training. In our previous work, we obtained a synthetic dataset that covers scenarios including normal operation, generation control under ramp attack, switching attack, AGC integrity attacks, etc. and it is used to evaluate the proposed clustering algorithm. Experimental results show that the proposed algorithm provides better detection accuracy than K-means clustering and can distinguish not only between normal and abnormal generation controls but also among various anomaly scenarios.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2020

Attack-resilient algorithms and testbed federation for wide-area protection and control in smart grid

Today’s energy infrastructure is undergoing a massive transformation across all generation, transmission, and distribution systems to provide reliability, efficiency, and sustainability to the power system network. During the past 10 years, there has been a remarkable enhancement in developing close-loop wide-area protection and control (WAPAC) applications, such as automatic generation control (AGC), wide-area protection scheme (WAPS), synchrophasor-based wide-area voltage control system (WAVCS), etc., in the energy management system (EMS) to provide an adequate situational awareness to control center operators during physical disturbances and natural events. The rapid digitalization, unencrypted communication, and numerous data-sharing devices have increased digital access points that have exposed the grid network to countless cyberattacks pertinent to the WAPAC cybersecurity. Given the amount of complex grid network coupled with legacy infrastructures, it is untrustworthy to completely rely on information technology (IT)-based conventional security measures to defend against evolving cyberattacks. Hence, there is a compelling need to go beyond the traditional paradigm of ‘security by obscurity’ and ‘bolt-on’ security measures, and develop a suite of innovative security solutions at multiple layers to transform the current “fault-resilient” grid into “fault and attack-resilient” grid of the future. This dissertation specifically focuses on developing application-specific attack-resilient solutions for critical WAPAC applications in the smart grid. The first part of the study, Attack-Resilient Wide-Area Protection Scheme, presents a cyber-physical attack-resilient system (CPARS) for WAPS, where two anomaly detection methods are proposed to detect multi-level cyberattacks followed by the rules-based intrusion mitigation system (RIMS) to initiate effective mitigation strategies, tailored to these attacks, to restore the normal grid operation after disturbances. The first anomaly detection component, Machine learning-based Anomaly Detection for Centralized WAPS, discusses a novel architecture and methodology for developing a machine-learning-based anomaly detection system (ADS) for the centralized wide-area protection system (CWAPS) by applying the variational mode decomposition (VMD) technique and decision tree (DT) algorithms using cyber logs and synchrophasor measurements. The second component, Multi-Agent-based Anomaly Detection for Decentralized WAPS, presents a two-level hierarchical multi-agent-based decentralized WAPS against the system-aware stealthy cyber-attacks. Finally, for the RIMS, the state transition diagram-based mitigation measures are defined based on the grid operation states and experimental testing and evaluation are presented in a cyber-physical testbed environment. The second part of the study, Attack-Resilient Wide-Area Voltage Control System, addresses the existing vulnerabilities in the wide-area voltage control system (WAVCS), presents the methodology for performing an impact analysis during data integrity attacks, and proposes a data-driven attackresilient system (DARS) by incorporating machine learning-based ADS and rules-based anomaly mitigation system (RAMS) to detect these attacks and provide necessary mitigation actions to maintain the transient voltage stability after disturbances. Finally, the third part, Networked Federation Testbed (NEFTSec) for Smart Grid Cybersecurity, focuses on developing an interconnected federated testbed through a common network like the internet, describes its conceptual architectures, and also presents its design components for experimental testing, validation, and evaluation. Further, it presents the co-simulation interface algorithm (CIA) to facilitate the geographically-dispersed real-time distributed simulation (GD-RTDS) during the cyber-physical federation. In general, this dissertation presents innovative attack-resilient solutions for WAPAC applications that are experimentally tested and evaluated using the PowerCyber testbed and NEFTSec platform to accelerate the transition of state-of-the-art research works to the real-field deployments.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2020

Coordinated frequency regulation among asynchronous AC grids with an MTDC system

With the increasing penetration level of renewable power, the power systems’ inertias are decreasing. To ensure that the frequency is above the threshold of the under frequency load shedding, one effective way is to share the spinning reserves among asynchronous AC grids through HVDC systems. In this paper, a coordinated frequency regulation scheme that enables spinning reserves sharing is proposed for such hybrid AC/DC grids. This scheme is a communication-free method that consists of the droop control, the inertia emulation control and the frequency safety control. The combined response of the three controls can increase not only the frequency nadir but also the settled frequency of the disturbed grid. In addition, the hysteresis comparators and the power injection limits are adopted in the frequency regulation scheme to reduce the coupling effect among AC grids. Thus, under small and harmless disturbance, the frequency regulation scheme will be inactive; the disturbance in strong AC grids would not affect the weak AC systems. The frequency regulation scheme coordinates well with the automatic generation control of the grids. Furthermore, the feasibility and effectiveness of the proposed frequency regulation scheme are verified through simulation studies.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2025

Probability Density Function Control of Frequency Fluctuations in Renewable-Rich Power Systems

The stochastic nature of renewable energy sources (RESs) necessitates treating power system frequency response as a random process with a nonstationary probability density function (PDF). Here, based upon the stochastic distribution control theory originated by the second author, this paper proposes a novel stochastic controller to improve the frequency PDF in power grids when integrating a large amount of RESs, thereby minimizing the effects of uncertainties and enhancing overall system stability. The key idea is to manipulate the controllable power generation resources so that the frequency PDF is make to follow a target PDF by using the stochastic distribution control theory originated by the second author. The proposed method can easily be plugged into existing automatic generation controls for multi-area transmission grids. The proposed method is validated via a modified Kundar's two area system and 240-bus Western Electricity Coordinating Council systems. The simulation results show that the proposed control shapes the frequency PDF narrower and sharper, leading to a notable improvement toward minimizing the effects of randomness and uncertainty during grid operation.

frequency↗

DOE OSTI2026

Distributed optimization and control for autonomous distributed energy resource power dispatch and frequency regulation considering communication failures

Distributed energy resources (DERs) can significantly enhance grid flexibility by supplying power and secondary frequency regulation (SFR) services. Yet, their large number and dispersed nature limit the effectiveness of traditional centralized power dispatch and frequency control schemes, and expose the system to single-point communication failures. This paper presents a unified distributed optimization and control framework for DER power dispatch and SFR provision. A transmission-loss-aware distributed direct current optimal power flow is first formulated to optimize DER power dispatch and reserve scheduling. On top of this, a fully distributed control scheme for DER autonomous SFR provision is developed to allocate automatic generation control signals cost-effectively while ensuring robustness to communication link disruptions. The framework is validated on IEEE 14-bus and 39-bus transmission systems with large-scale distribution feeders using transmission-distribution dynamic co-simulation, demonstrating reliable and autonomous DER power dispatch and SFR provision under diverse operating conditions and communication contingencies.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2023

Secondary Frequency Control for Reconfigurable Interconnecting Microgrids

Microgrids and microgrid technologies offer an operations and control framework for realizing the needed aggregation of a growing share of distributed energy resources. As the number of microgrids increases, so will the incentive to interconnect them, leading to a combinatorial growth of potential operating states. At the same time, their growing complexity nudges interconnected microgrids conceptually closer to balancing authorities in the bulk power system. This paper focuses on secondary frequency control and leverages the conceptual similarity between balancing authorities and interconnected microgrids to adopt an automatic generation control design with some adaptations. Frequency control and restoration is demonstrated via several use-cases with switching and reconfiguration events.

Schweitzer, Eran↗

DOE OSTI2021

Secondary Frequency Regulation from Variable Generation through Uncertainty Decomposition: An Economic and Reliability Perspective

The rapid integration of variable generation (VG), such as photovoltaics (PV), necessitates an increase in the secondary frequency regulation (SFR) to handle the system intra-dispatch interval imbalance because of VG's variation. Although PV has the control capability to provide SFR, the main challenge is in guaranteeing the delivery of PV's energy and SFRs capacities in the automatic generation control (AGC) within each dispatch interval considering its uncertainty. This paper proposes a deliverable VG SFR provision model with endogenous VG's power uncertainty decomposition. First, the uncertainty of VG is decomposed using distributionally robust chance constraints through which the deliverable SFR provision is guaranteed. Next, the intra-interval frequency response of PV's SFR is validated with a user defined AGC model including the PV power plant. Finally, the economic benefits and the reliability improvements such as the frequency deviation reduction with PV providing SFRcan be integrated and evaluated. The proposed model is tested in a modified 18-bus system and in the Western Electricity Coordinating Council test system. Results demonstrate that with the deliverable SFR from PV, the system cost and the frequency reliability can be improved simultaneously. PV's SFR performance can be guaranteed with the proposed model.

14 SOLAR ENERGY↗