IEEE SMART GRID RESEARCH IEEE VISION FOR SMART GRID CONTROLS: 2030 AND BEYOND IEEE 3 Park Avenue New York, NY 10016-5997 USA IEEE Vision for Smart Grid Controls: 2030 and Beyond Project Lead: Anuradha M. Annaswamy Chapter Leads: Massoud Amin Anuradha M. Annaswamy Christopher L. DeMarco Tariq Samad i Trademarks and Disclaimers IEEE believes the information in this publication is accurate as of its publication date; such information is subject to change without notice. IEEE is not responsible for any inadvertent errors. The Institute of Electrical and Electronics Engineers, Inc. 3 Park Avenue, New York, NY 10016-5997, USA Copyright © 2013 by The Institute of Electrical and Electronics Engineers, Inc. All rights reserved. Published June 2013. Printed in the United States of America. IEEE is a registered trademark in the U. S. Patent & Trademark Office, owned by The Institute of Electrical and Electronics Engineers, Incorporated. 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IEEE acknowledges with appreciation their dedication and contribution of time and effort on behalf of IEEE. iii iv Acknowledgments IEEE wishes to thank the following people for their outstanding contributions to the IEEE Smart Grid Controls Vision Project: • Anu Annaswamy, Massoud Amin, Tariq SAmAd, and Christopher DeMArco • Bill Ash and Alex GelmAn • Duncan Callaway, Aranya Chakrabortty, Amro FArid, AlejAndro Dominguez-GArciA, Pramod Khargonekar, and Jakob Stoustrup Over the past year, these project leaders worked tirelessly outside of their own academic and professional endeavors to conceptualize and develop the framework of the vision, and to oversee the writing and execution of this final document. As contributing editors to the document, they were instrumental in providing oversight, clarity, and overall direction to the more than 30 men and women who authored this SmArt Grid controls vision. v Authors JAcob Aho Mercè GrierA i FisA MAssoud Amin IAn Hiskens AnurAdhA M. AnnAswAmy PAul Houpt George Arnold Gabriela Hug Andrew Buckspan Pramod Khargonekar AngelA CAdenA HimAnshu KhurAnA DuncAn CAllAwAy ArmAn KiAni EduArdo CAmAcho Steven Low MichAel CArAmAnis John McDonAld ArAnyA ChAkrAbortty EduArdo MojicA-NAvA Amit ChAkrAborty Alexis Legbedji Motto Joe Chow Lucy Pao Munther Dahleh Alessandra Parisio Christopher L. DeMarco AdriAn Pinder AlejAndro Dominguez-GArciA MichAel Polis DAniel DottA MArdAvij RoozbehAni Amro FArid Zhihua Qu PAul FlikkemA NicAnor QuijAno Dennice GAyme TAriq SAmAd SAhikA Genc JAkob Stoustrup vi Table of Contents Chapter 1 Introduction ..................................................................................................................... 1 1.1 Citations ........................................................................................................................ 3 Chapter 2 Overview of Existing Control Practice in the Electric Power Grid ............................. 4 2.1 Introduction ................................................................................................................... 4 2.2 Generation set point control for markets and economic dispatch ............................... 5 2.3 Beyond set point control: stable power and frequency regulation ............................... 8 2.4 Electromechanical dynamics of primary and secondary control .................................. 9 2.5 Reactive power and voltage magnitude control ......................................................... 16 2.6 Communication, measurement and computational architectures supporting present day grid control ........................................................................................................... 17 2.7 Interdependencies with other cyber and digital infrastructures .................................. 20 2.8 Summary .................................................................................................................... 22 2.9 Citations ...................................................................................................................... 22 Chapter 3 Drivers for Change ........................................................................................................ 24 3.1 Introduction ................................................................................................................. 24 3.2 Driver 1: Decarbonization ........................................................................................... 25 3.3 Driver 2: Reliability in the face of growing demand .................................................... 27 3.4 Driver 3: Electrification of transportation .................................................................... 32 3.5 Driver 4: Empowered consumers ............................................................................... 35 3.6 Driver 5: Market designs and regulatory paradigms .................................................. 37 3.7 Challenges .................................................................................................................. 39 3.8 Enabling factors .......................................................................................................... 40 3.9 Summary .................................................................................................................... 49 3.10 Citations ...................................................................................................................... 50 Chapter 4 Control-enabled Smart Grid: Scenarios for 2030 to 2050 .......................................... 53 4.1 Introduction ................................................................................................................. 53 4.2 Scenario 1: Grid-scale real-time endpoint-based control ........................................... 54 4.3 Scenario 2: Dynamic pricing and multiple-horizon power markets ............................ 59 4.4 Scenario 3: Real-time, closed-loop, ubiquitous demand response ............................ 62 4.5 Scenario 4: Smart periphery—coordinated and hierarchical microgrids .................... 66 4.6 Scenario 5: Transportation electrification ................................................................... 69 4.7 Scenario 6: Distribution automation ........................................................................... 73 4.8 Scenario 7: AC-DC transmission systems ................................................................. 76 4.9 Scenario 8: Renewable generation ............................................................................ 80 4.10 Conclusions ................................................................................................................ 83 ix Table of Contents 4.11 Citations ...................................................................................................................... 83 Chapter 5 Research Challenges .................................................................................................... 85 5.1 Introduction ................................................................................................................. 85 5.2 Loci of control: innovations in current power systems ................................................ 86 5.3 Loci of control: emerging centers of activity ............................................................. 103 5.4 Loci of control: grid-wise perspectives ..................................................................... 119 5.5 Loci of control: game-changing control architectures ..............................................