Multiagent voltage and reactive power control system

Abstract

This paper is devoted to the research of multiagent voltage and reactive power control system development. The prototype of the system has been developed by R&D Center at FGC UES (Russia). The control system architecture is based on the innovative multiagent system theory application that leads to the achievement of several significant advantages (in comparison to traditional control systems implementation) such as control system efficiency enhancement, control system survivability and cyber security.

Full text

EAI Endorsed Transactions on Energy Web
12 2014 | Volume 1 | Issue 3 | e3
EAI Endorsed Transactions
on Energy Web Research Article
1
Multiagent voltage and reactive power control system
Arkhipov I.1, Molskij A.1, Ivanov A.2, Novickij D.2, Sorokin D.2, Holkin D.2
1Federal Grid Company of Unified Energy System (FGC UES), OJSC
22/3, Kashirskoe shosse, Moscow, Russia, 115201
2 R&D Center at Federal Grid Company of FGC UES (R&D Center at FGC UES), OJSC
5A, Akademika Chelomeja street, Moscow, Russia, 117630
Abstract
This paper is devoted to the research of multiagent voltage and reactive power control system development. The prototype
of the system has been developed by R&D Center at FGC UES (Russia). The control system architecture is based on the
innovative multiagent system theory application that leads to the achievement of several significant advantages (in
comparison to traditional control systems implementation) such as control system efficiency enhancement, control system
survivability and cyber security.
Keywords: Multiagent systems, Smart Grid, intelligent power systems, voltage and reactive power flow control, active power losses.
Received on 12 August 2014, accepted on 02 September 2014, published on 12 December 2014.
Copyright © 2014 Arkhipov I et al., licensed to ICST. This is an open access article distributed under the terms of the Creative
Commons Attribution licence (http://creativecommons.org/licenses/by/3.0/), which permits unlimited use, distribution and
reproduction in any medium so long as the original work is properly cited.
doi: 10.4108/ew.1.3.e3
1. Introduction
Due to rise of distributed generation, emergence of so-
called active consumers, development of microgrids,
hybrid/electric transportation and other factors power
system is getting more and more complex. Being a
System of Systems, now it provides possibility of an
autonomous and independent functioning and
development of individual subsystems. At the same time,
there is a tendency of joining autonomous power systems
in the unified power system. Transformation of the power
industry is associated with changes in the entire energy
conversion process (from production to consumption),
including the power section, information and control
subsystems and the relationships between the business
entities. It should be stressed that at the current stage of
the power industry development the key changes in the
industry are performed to reengineer the power system
control and business processes based on the intensive use
of modern information and communication technologies,
including various power automation solutions, sensors,
FACTS (flexible alternating current transmission system)
devices, etc.
Being a key infrastructure element of the power system
electric grids should be adapted to changes in a first place.
To meet new requirements the electric grids should be
controlled (to a greater extent than nowadays) to increase
power transfer capability and also be customer-oriented
and self-organizing. Electrical grid that is met the
requirements is known as Smart Grid [1, 2, 3]. The grid is
considered to be a part of intelligent power system [4, 5].
Investigation of Smart Grid development, implementation
and commissioning in Russian electrical grids was
initiated by Federal Grid Company of Unified Energy
System (FGC UES*). In particular FGC UES had
organized in 2009 following studies:
development of the Smart Grid Reference
Architecture for Russian power system;
development of new generation power control
system prototypes;
testing of complex technical solutions within selected
pilot Smart Grid areas.
Pilot Smart Grid area chosen by FGS UES to implement a
new generation power control system prototype was
Elgaugol intelligent grid cluster.
The cluster is located in the south-eastern part of the
Sakha (Yakutia) Republic and encompasses northern part
of the Amurskaja region.
Construction and commissioning of new electric grid
infrastructure in this area is necessary to provide energy
*Russian state-owned monopoly that owns and operates most of
national transmission grids.

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supply of Elga coal deposit. The electrical network of the
cluster is shown in Fig. 1.
Figure 1.The electrical network of the intelligent
cluster
During the construction and commissioning of the cluster
infrastructure the new substations and one existing
substation (that is in operation nowadays) will be
equipped with an innovative decentralized control system
– automated multiagent system of voltage and reactive
power control (MAS V&R) that is being constructed on
the base of multiagent systems theory application.
The studies are a part of the FGS UES`s Smart Grid
development program for the Unified Power System of
the East Russia† [6]. The project is being designed and
developed by R&D Center at FGC UES.
2. Smart Grid Reference Architecture
During 2012-2013 under the auspices of the Architecture
Committee (a body of the Joint FGC UES – Russian
Academy of Sciences Science and Technical Council),
seven expert working groups developed basic provisions
and approaches to the implementation of the Smart Grid
Reference Architecture – SGRA [7].
† Unified Power System of the East Russia is one of six major
subsystems of Russian national Unified Power System, and
encompasses several regions of Russian Siberia and Far East.
All groups were conventionally classified in two types.
Four groups of the 1st type represented the interests of the
different power system entities:
 Transmission and distribution;
 Large power generation companies and consumers;
 Distributed generation, energy storage and renewable
energy sources;
 Small consumers, retail companies and service
providers.
Remaining three groups (2nd type) represented different
forms of power system control and management,
including:
 Market mechanisms;
 Power system control;
 Information and communication technologies.
2.1. Requirements for the grid infrastructure
development
The tasks of the groups of 1st type were development of
scenarios to elaborate efficient use cases of the intelligent
power system and define requirements for Smart Grid on
behalf of above mentioned stakeholders.
During this process, that involved intensive group
discussions about future power system development
visions, it appeared that views of different stakeholders
were in many important cases significantly different and
in some cases even mutually exclusive. For example,
largest power generation companies and biggest
consumers in the first place need to ensure the reliability
of the power system and the ability to maximize the use of
their productive assets. On the other hand, for dynamic
developing companies, that do not refer to the resource
extraction or primary procession the key requirement was
fast connection to the electrical grid to begin production
as soon as possible.
These differences are rooted in respective stakeholder`s
economic and business-model specifics. As for
abovementioned examples, large industrial business
entities (both generators and consumers) in general
represents moderate-growing, capital-intensive industries
operating on highly competitive markets. Not surprisingly
that efficiency is a significant competitive advantage for
them and they expect intellectualization to provide new
possibilities for economising.
Vice versa, for dynamic, high-growth enterprises from
non-resource sectors power expenses do not constitute
significant part of their products costs. But affordability of
power and services are in first place – especially in the
realm of more durable administrative processes in Russia.
In the case of some high-tech industries, higher power
quality is also among key requirements.
During discussion on the key requirements for the future
grids the groups came to a consensus. All group members
marks that it is important:

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Multiagent voltage and reactive power control system
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 to support and motivate consumers to be active
participants in power systems;
 to ensure the quality of electricity that meets the
requirements of the high-tech economy;
 to make easy grid integration of all types of power
systems, equipment, devices and services (distributed
generation, energy storage, resistive load, etc.) ;
 to optimize use of assets on the side of electric grids
and other business entities;
 to develop new electricity markets and services for
different groups of consumers;
 to accelerate and reduce costs of the development,
production, and operation of control systems.
2.1. Main architectural design decisions and
their applications
Analysis of the requirements developed by the working
groups and study of best practices [8, 9] made it possible
to determine some basic architectural decisions. These
decisions formed the foundation of the architectural
template – Power Agents Architect Template Reference
Architecture (Fig. 2).
Figure 2.Power Agents Architect Template
In particular, these decisions include: multiagent approach
to control, semantic approach to working with data,
modular platform with an open architecture, "social
network" of agents, configurator of business services.
According to the architectural decisions the basic logic of
control system implementation and business process
management consist of the following theses:
 The object of control must be equipped with sensors
for gathering information in the real-time mode such
as status of the system, status of the equipment, state
of the environment, etc.
 Each object of control must be equipped with the
intelligent multiservice communicator (Power
Agents Communicator) with agent-based software
which processes the local information, performs a
variety of services (including services that produce
control actions), and interacts with other
communicators.
 Control signals obtained by Power Agents
Communicator are sent to the equipment control
systems.
 Agents are participants of the specialized social
network (Power Agents Net) which provides the
interaction between agents and additional system
services.
 Higher-level dispatch and control centres (for
example, electrical grid control centre, dispatch
power system centre, group control centre for several
substations, etc.) and possibly specialized service
companies use the software (Power Agents Services
Configurator) to configure control systems in
accordance with the requirements of the
stakeholders, to monitor the control system
operation, to have the opportunity to turn the control
system in manual mode (if it is necessary).
These theses formed architectural basis for the intelligent
power control system development. On the first stage this
system allows to control voltage and reactive power flows
in the electrical networks. At the following stages the
system will be equipped with additional modules (agents)
to implement additional functions without system’s
reengineering. Composition and number of the modules
are now being agreed.
3. System requirements for the voltage
and reactive power control system
3.1. Requirements relating to the functional
destination of the system
Basic requirements for the voltage and reactive power
control system are associated with its main functional
destination – to ensure the stabilization of the voltage
levels and the reduction of active power losses. Efficiency
of meetingthese requirements is defined by the possibility
to reduce:
 amount of active power losses in the energy cluster
by 5%;
number of unacceptable voltage levels occurrences
(in comparison to the power system in which the
control system is not in operation).

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3.2. Adaptability of the control system
One of the key requirements for the control system is the
need to provide the functioning of the control system in
cases of significant changes in power system mode. These
changes can be caused by power system switching
operations at substations or power plants, power system
disturbances and also commissioning of new power
system equipment (including controlled equipment). In
particular, the duration of new equipment integration to
the control system should be no more than one minute
(after putting equipment into operation). For the purpose
of this study R&D Center of FGC UES defined new
equipment as special electrical equipment (such as
reactive power compensation devices, synchronous
generators, etc.) or automatic control systems.
3.3. Control system functionality during
communication channels damages
Another key requirement of the control system is the need
to preserve basic functionality of the control system in
cases of communication channels damage between grid
elements (substations). Technological disturbances during
the process of information transmission via
communication channels may be due not only to technical
reasons (for example, communication equipment failures)
but also targeted third-party interference in the channels.
Fulfilment of this requirement means supporting control
system performance in case of possible interferences in
communication channels - including unacceptable delay
occurrences, loss of some or complete loss of transmitted
data (loss of communication channel) with one or more
electric grid elements. Preserving control system
performance in such cases is possible when the distributed
(decentralized) control and data storage logic is used in
the control system.
3.4. Reduced cost of the control system
construction, commissioning and operation
Another important requirement is the reduction of costs
for control system construction, commissioning and
operation. Open and modular control system architecture
allows additional functionality (additional modules) in the
existing control system. It is possible not only on the
construction stage, but also during the system operation.
Such architecture allows to develop new functional
modules by different manufacturers (companies). New
modules can be automatically integrated into the
infrastructure of control system without long periods of
control system redesigning and decommissioning. The
quantitative criterion that defines the upper limit of the
cost of the control system implementation for power
plants (substations) was proposed. This criterion
implementation will create the preconditions for
commissioning the intelligent control systems in
industrial quantities. This criterion is the following: cost
of putting into operation of the control system should not
exceed 1% of the power equipment cost of the power
system object (in which the control system is put into
operation).
Multiagent approach for the control system allows to meet
all the requirements considered, making possible to
implement distributed power system control, increasing
intelligence of the automated functions, and usage of
dynamic modularity and self-management systems.
4. The architecture of multiagent control
systems
Application of the MAS concept (as well as algorithms
for multiagent power system control) makes it possible to
construct the architecture in which a definite functionality
of the system is implemented by a separate stand-alone
subsystem – agent (or agent network if the
implementation of this function requires functioning of
several agents). The block diagram of the multiagent
automated MAS V&R power control is represented in
Fig. 3.
Figure 3.The block diagram of the multiagent
automated system of voltage and reactive power
control
From the Fig. 3 it can be seen that an automated control
system consists of two major subsystems – technological
control subsystem, and information and communication
subsystem. Technological control subsystem includes
agents that implement voltage and reactive power control
in the electrical grid. Information and communication
subsystem includes agents that support system
functioning. In particular, the information and
communication subsystem includes agents that provide
the possibility of:
 adding to the control system some new
functionality (new agents);
 preserving control system performance during
technological malfunctions (e.g., switching
devices failure);
SUBSYSTEM OF INFORMATION AND COMMUNICATION SUPPORT
SUBSYSTEM OF INTELLIGENT CLUSTER CONTROL
Power
system
level
Substation
level
Equipment
level
Power
system
level
Substation
level
Equipment
level
State
estimation
Power
system mode
monitoring
Bounds
calculation
(for optimi-
zation)
Voltage
optimization
Voltage
controller
Topology
processor Equipment
diagnostics
Agent
installation
and update
System
survivability
support
Monitoring
the control
system
Yellow
pages Security
support
Communica-
tion channels
support

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 automatic integration of new electrical
equipment to the control loop of the automated
system, etc.
Each subsystem contains multiagent groups that unite
agents of different destination and different control levels
in the social network. For each agent group a common
ontology and communication protocols are used. In terms
of expansion and development of the control system,
proposed architecture allows to add agent (or agent group)
to each subsystem in order to implement new system
functionality.
In terms of control system operation, the system division
into groups allows to define specialized agent that
coordinates group functioning and can be used to provide
user interface for MAS V&R. Application of this interface
allows users to configure the control system, including
changing agents purposes in the groups, as well as
methods of decision-making in agent interaction process.
5. Description of multiagent automated
system of voltage and reactive power
control
5.1. Description of the controlled object
As it was mentioned earlier, FGC UES`s R&D Center
develops automated MAS V&R control for the pilot
energy cluster Elgaugol. The cluster includes two
transmission lines of 220 kV from Prizeyskaya substation
(in Amurskaja region power system) to Elgaugol
substation (in Republic of Sakha power system).
Transmission lines connecting Prizeyskaya and Elgaugol
substations supply with power A and B substations that
are situated at distance of approximately 100 km and 200
km respectively from the Prizeyskaya substation. Single
line diagram of the electrical connections of the energy
cluster Elgaugol (in accordance with current project
documentation) is shown in Fig. 4.
According to the project documentation the
autotransformers with on load tap changer devices and
two groups of reactive power compensation devices are
planned to be installed at Elgaugol substation. Each group
of the reactive power compensation devices is connected
to the bus section 110 kV of substation Elgaugol and
includes one thyristor controlled reactor 50 Mvar and two
switched static capacitors 25 Mvar.
At the substation Prizeyskaya there are one thyristor
controlled reactor 100 Mvar and two shunt reactors
25 Mvar. The thyristor controlled reactor is connected to
220 kV buses, the shunt reactors are connected to 35 kV
buses.
Figure 4.Single line diagram of electrical
connections of the intelligent cluster
5.2. Control loops of the automated system
There are two basic operation modes of MAS V&R
control. Both modes are cyclic with different time loop
durations: slower optimization mode and faster control
mode.
In a slower optimization mode the control system
operation can be configured to periodical or sporadic
cycle. In the periodical cycle the optimization is run
periodically at regular time intervals (from several
seconds to minutes). In the sporadic cycle the
optimization is run by the command from agents. As a
result of the optimization the optimal voltage levels on the
buses 220 kV in the network, optimal transformer
(autotransformers) ratios and optimal compensation
devices settings are determined to achieve a minimum
value of the chosen objective function (which is used in
optimization procedure). In a slower optimization mode
different objective functions can be set: reduction of
power and energy losses in the electric networks or
improvement of the voltage level stabilization in the
network (decreasing voltage deviations from the specified
values). In addition there is optimization mode (hybrid
mode) that minimizes both power losses (objective
function #1) and the voltage deviations from the specified
values (objective function #2). In this mode the weight
and penalty coefficients are used to determine the priority
of achieving the minimum of different objective
functions.
In a faster optimization mode the group control of reactive
power compensation devices is carried out to archieve for
voltage levels obtained in the slower optimization cycle.

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The faster mode has also options for the flexible
configuration and changing settings. Objective functions
in the faster mode may be the energy losses minimization
in the power equipment or (and) reduction the number of
switching cycles of static capacitors and shunt reactors.
The choice of the objective function is possible in user
interfaces provided by coordinator agents.
5.3. Control cycles of the multiagent control
system
To provide automatic adaptation of the control system to
power system mode changes or to the commissioning of
new power equipment, multiagent concept of the system
configuration is used [10, 11, 12]. This concept is based
on the fact that each element of the power system is
represented with its equipment agent. These agents are a
part of the diagnostics equipment agent group and are on
the lower level of the functional subsystem – hardware
level. It should be noted that multiagent concept have
proved the efficiency application in power systems [13,
14, 15, 16, 17, 18].
Each equipment agent contains a description of its
elements in form of CIM (RDF) file in accordance with
the Common Information Model (IEC 61970-301) [19,
20]. The details of the network representation in agents
correspond to the details of the class diagram in CIM
model. In addition to the specified attributes the
equipment agents also include information about local
measurements and possible control actions in the format
of IEC 61970 and IEC 61850 [21].
In the future this approach will provide the integration of
control system with monitoring and diagnostic systems
for transmission through the equipment agent information
about technical condition of equipment. In this case it will
be sufficient to replace program code of corresponding
equipment agent without changing system`s basic code
(platform).
When commissioning new power system equipment (up
to the moment of its connecting to the grid) its owner
provides necessary equipment information to register the
equipment agent. During registering, equipment agent
informs “yellow pages” agent about new equipment
appearance in the grid and transmits to “yellow pages”
agent date and time of new equipment commissioning.
The yellow pages agent notifies topology agents that are
signed to the specified event.
The topology agent provides addition of new element to
the topological model (graph) of the electric grid. Later
on, topology agents based on local power system
parameter measurements and breakers` states creates a
calculation model of the grid. From this moment the
equipment is presented in the MAS infrastructure and will
be considered in the optimization calculations (when the
equipment is in operation). Calculation model is obtained
based on the power system state estimation procedure.
During the state estimation there is a possibility to check
the plausibility of information (measurements and breaker
states) received from the adjacent substations (power
plants) and to restore the missing or implausible data. The
state estimation can also be used to restore missing
information in cases of communication channel failure.
Nowadays wide-area measurement systems (WAMS) are
being commissioned that allows to use highly accurate
data provided by these systems for missing data restoring
and for predicting power system parameter change
trajectory [22, 23]. After electric grid computational
model is available, restrictor agents define the boundary
values for optimization procedure of power system
parameters. These boundary values are determined by the
upper-level systems (e.g., a dispatching centre).
Further optimization agents calculate optimal values of
voltages and ratio of transformer (autotransformer) and
transmit these values to control agents. Control agents
determine optimal control laws of reactive power change
(for equipment units which are under its control) and
monitor that the power system achieves the optimal state.
This control cycle in general is similar to the
SCADA/EMS one [24, 25]. However there is a significant
difference: control cycle in the MAS is performed at each
substation, control signals between substations are not
transmitted and the coordination of different controlled
element operation is achieved by means of the multiagent
control principles. It should be also mentioned that each
substation can use their own network model that can
differ from the models of other substations.
5.4. New opportunities provided by MAS
V&P control
Depending on the settings of the coordinator agent the
system operation efficiency may vary over a wide range.
Coordinator agents’ settings can define different parts
(bounds) of the grid to optimize and control that can lead
to a different control system’s behaviour and a different
system’s efficiency.
If state of the grid estimation is performed using accurate
measurements (for example provided by WAMS),
network models that are formed by the agents of different
substations will be practically matched. If all optimization
agents use the same objective functions then each
substation will have the same “idea” of the optimal
system state. In this extreme case the MAS performance
is similar to the performance of centralized control
systems.
In other extreme case when only local measurements and
signals are available at each substation, MAS
performance is similar to the performance of
independently acting local regulator groups.
MAS architecture and possibilities of energy cluster
Elgaugol allow to implement both extreme cases.
Determination of optimal balance between centralized and
local control and development of best mode of regulation
is one of the pilot project objectives.
From a technological point of view a rational combination
of centralized and local control within the multiagent

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architecture provides new opportunities for a variety of
directions:
• use of power reserves to improve accessibility
for grid connection and ensuring reliability of
power supply to consumers.
• opportunities to implement adaptive emergency
control and relay protection devices.
Implementation of these functions is an urgent
task that is necessary to ensure high level of
selectivity and sensitivity of protection devices
and to reduce risks of improper "manual"
selection of protection settings in electric grids.
• given the ability to scale up and phasing of MAS
development it is promising to create on the
basis of MAS a number of specialized products
and services for new or extended opportunities
for power industry business entities. Among
them are acquiring different real-time
information related to energy equipment, power
quality and power losses, etc. These new
possibilities will allow to organize system
service market in power system in the most
efficient way.
The advantage of MAS in comparison to existing
traditional centralized systems is also significantly higher
levels of cyber security and reliability of multiagent
automated systems. This is due to ability of MAS to
perform autonomous operation of different system
elements and high levels of MAS reliability in cases of
shortage of plausible measurement data.
6. Conclusion
MAS V&P control prototype has been developed by R&D
Center at FGC UES. This prototype is planned for testing
by real-time digital simulators of power system with
consequent installation in the Elgaugol cluster. This
project is aimed both on creating new systems for
practical needs of Elgaugol and Russian UES of East and
getting experience of configuration and operation of
multi-agent systems.
Development and usage if MAS V&P control system will:
 form the basis for a phased increase in the
functionality of control systems of electrical
networks;
 create preconditions for wider use of ancillary
services in the power industry;
 enable the formation and development of the
market for Smart Energy applications;
 contribute to power supply reliability
improvement.
Application and further development of the multiagent
approach in power system control will enable phased
"intellectualization" of the electric grid infrastructure and
create conditions for the new competitive market
applications foundation, enhance the efficiency of the new
technologies application.
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