Distributed hierarchical control architecture for integrating smart grid assets during normal and disrupted operations
Disclosed herein are representative embodiments of methods, apparatus, and systems for facilitating operation and control of a resource distribution system (such as a power grid). Among the disclosed embodiments is a distributed hierarchical control architecture (DHCA) that enables smart grid assets to effectively contribute to grid operations in a controllable manner, while helping to ensure system stability and equitably rewarding their contribution. Embodiments of the disclosed architecture can help unify the dispatch of these resources to provide both market-based and balancing services.
1. A system for coordinating distribution of electricity according to a distributed hierarchical control architecture (DHCA), comprising:
one or more device-level transactive controllers at a device level of the DHCA;
one or more feeder-level transactive controllers at a feeder level of the DHCA;
one or more area-level transactive controllers at an area level of the DHCA; and
one or more system-level transactive controllers of the DHCA,
at least one of the device-level transactive controllers and at least one of the feeder-level transactive controllers being configured to communicate with one another,
at least one of the feeder-level transactive controllers and at least one of the area-level transactive controllers being configured to communicate with one another,
at least one of the area-level transactive controllers and at least one of the system-level transactive controllers being configured to communicate with one another,
wherein the device-level transactive controllers, feeder-level transactive controllers, area-level transactive controllers, and system-level transactive controllers are configured to participate in a real-time market for settling a price for electricity in one or more upcoming time intervals for the real-time market, and
wherein at least some of the device-level transactive controllers, feeder-level transactive controllers, area-level transactive controllers, and system-level transactive controllers are also configured to participate in a balancing market different than the real-time market, the balancing market being configured to maintain system stability during periods of imbalance in the system, reduce deviations in system frequency, and reduce deviations in inter-area power flow from a desired level.
2. The system of claim 1 , wherein the device-level transactive controllers operate at a faster frequency in the balancing market than in the real-time market.
3. The system of claim 1 , wherein one or more of the device-level transactive controllers participating in the balancing market are configured to control a controllable load or a controllable energy supply.
4. The system of claim 1 , wherein one or more of the device-level transactive controllers participating in the balancing market are configured to control discharging and charging of an electric battery.
5. The system of claim 1 , wherein one or more of the device-level transactive controllers participating in the balancing market are configured to provide balancing services by reacting autonomously to one or more of a frequency of the power system, voltage of the power system, a broadcast imbalance signal, current real-time market price, day-ahead price, or device conditions.
6. The system of claim 1 , wherein the device-level transactive controllers, feeder-level transactive controllers, area-level transactive controllers, and system-level transactive controllers are further configured to participate in a day-ahead market for settling a price for electricity for a following day.
7. The system of claim 1 , wherein the real-time market is configured to operate at a first time scale and the balancing market is configured to operate at a second time scale faster than the first time scale, wherein, for the first time scale, the upcoming time intervals for the real-time market occur every 5 to 15 minutes, and wherein the second time scale is less than 60 seconds.
8. One or more non-transitory computer-readable media having stored thereon computer-executable instructions for causing one or more processing units, when programmed thereby, to perform operations to coordinate distribution of electricity according to a distributed hierarchical control architecture (DHCA), the operations comprising:
providing one or more device-level transactive controllers at a device level of the DHCA;
providing one or more feeder-level transactive controllers at a feeder level of the DHCA;
providing one or more area-level transactive controllers at an area level of the DHCA;
providing one or more system-level transactive controllers of the DHCA;
configuring at least one of the device-level transactive controllers and at least one of the feeder-level transactive controllers to communicate with one another;
configuring at least one of the feeder-level transactive controllers and at least one of the area-level transactive controllers to communicate with one another;
configuring at least one of the area-level transactive controllers and at least one of the system-level transactive controllers to communicate with one another;
configuring the device-level transactive controllers, feeder-level transactive controllers, area-level transactive controllers, and system-level transactive controllers to participate in a real-time market for settling a price for electricity in one or more upcoming time intervals for the real-time market; and
configuring at least some of the device-level transactive controllers, feeder-level transactive controllers, area-level transactive controllers, and system-level transactive controllers to participate in a balancing market different than the real-time market, the balancing market being configured to maintain system stability during periods of imbalance in the system, reduce deviations in system frequency, and reduce deviations in inter-area power flow from a desired level.
9. The one or more non-transitory computer-readable media of claim 8 , wherein the device-level transactive controllers operate at a faster frequency in the balancing market than in the real-time market.
10. The one or more non-transitory computer-readable media of claim 8 , wherein one or more of the device-level transactive controllers participating in the balancing market are configured to control a controllable load or a controllable energy supply.
11. The one or more non-transitory computer-readable media of claim 8 , wherein one or more of the device-level transactive controllers participating in the balancing market are configured to control discharging and charging of an electric battery.
12. The one or more non-transitory computer-readable media of claim 8 , wherein one or more of the device-level transactive controllers participating in the balancing market are configured to provide balancing services by reacting autonomously to one or more of a frequency of the power system, voltage of the power system, a broadcast imbalance signal, current real-time market price, day-ahead price, or device conditions.
13. The one or more non-transitory computer-readable media of claim 8 , wherein the device-level transactive controllers, feeder-level transactive controllers, area-level transactive controllers, and system-level transactive controllers are further configured to participate in a day-ahead market for settling a price for electricity for a following day.
14. The one or more non-transitory computer-readable media of claim 8 , wherein the real-time market is configured to operate at a first time scale and the balancing market is configured to operate at a second time scale faster than the first time scale, wherein, for the first time scale, the upcoming time intervals for the real-time market occur every 5 to 15 minutes, and wherein the second time scale is less than 60 seconds.
15. A method for coordinating distribution of electricity according to a distributed hierarchical control architecture (DHCA), the method comprising:
providing one or more device-level transactive controllers at a device level of the DHCA;
providing one or more feeder-level transactive controllers at a feeder level of the DHCA;
providing one or more area-level transactive controllers at an area level of the DHCA;
providing one or more system-level transactive controllers of the DHCA;
configuring at least one of the device-level transactive controllers and at least one of the feeder-level transactive controllers to communicate with one another;
configuring at least one of the feeder-level transactive controllers and at least one of the area-level transactive controllers to communicate with one another;
configuring at least one of the area-level transactive controllers and at least one of the system-level transactive controllers to communicate with one another;
configuring the device-level transactive controllers, feeder-level transactive controllers, area-level transactive controllers, and system-level transactive controllers to participate in a real-time market for settling a price for electricity in one or more upcoming time intervals for the real-time market; and
configuring at least some of the device-level transactive controllers, feeder-level transactive controllers, area-level transactive controllers, and system-level transactive controllers to participate in a balancing market different than the real-time market, the balancing market being configured to maintain system stability during periods of imbalance in the system, reduce deviations in system frequency, and reduce deviations in inter-area power flow from a desired level.
16. The method of claim 15 , wherein the device-level transactive controllers operate at a faster frequency in the balancing market than in the real-time market.
17. The method of claim 15 , wherein one or more of the device-level transactive controllers participating in the balancing market are configured to control a controllable load or a controllable energy supply.
18. The method of claim 15 , wherein one or more of the device-level transactive controllers participating in the balancing market are configured to control discharging and charging of an electric battery.
19. The method of claim 15 , wherein one or more of the device-level transactive controllers participating in the balancing market are configured to provide balancing services by reacting autonomously to one or more of a frequency of the power system, voltage of the power system, a broadcast imbalance signal, current real-time market price, day-ahead price, or device conditions.
20. The method of claim 15 , wherein the device-level transactive controllers, feeder-level transactive controllers, area-level transactive controllers, and system-level transactive controllers are further configured to participate in a day-ahead market for settling a price for electricity for a following day.
21. The method of claim 15 , wherein the real-time market is configured to operate at a first time scale and the balancing market is configured to operate at a second time scale faster than the first time scale, wherein, for the first time scale, the upcoming time intervals for the real-time market occur every 5 to 15 minutes, and wherein the second time scale is less than 60 seconds.