Recent and Prospective Developments in Power

System Control Centers

Adapting the Digital Twin Technology for Application in Power System Control Centers

Christoph Brosinsky and Dirk Westermann Rainer Krebs

Power Systems Group Energy Management Division
Technische Universität Ilmenau Siemens AG
Ilmenau, Germany Erlangen, Germany
power.systems@tu-ilmenau.de

Abstract—The development of power system control centers has
always been linked to the evolving of new technologies and
innovative concepts. Switching to IP/TCP-based communication
was one mayor evolutionary step in the past. Now, new precise
time-synchronized phasor measurement units (PMU) based
monitoring tools are on the rise and enable dynamic system
observation. Future control centers for power systems can profit
from this development, enlarging the observability and rising
operator situation awareness. The next evolutionary step in
control center technology may be the utilization of the Digital
Twin concept. Its abilities to depict the actual and possible
future system state, makes it an inevitable solution for further
improvement of power system monitoring and control systems.
This paper discusses recent developments of control center
technology and introduces a new concept of a Digital Twin
centric control center architecture which is based on a dynamic
simulation engine called dynamic digital mirror.
Index Terms—Control Center, Digital Twin, DMS, EMS,
SCADA, WAMS
I. INTRODUCTION
Control center technology is emerging relatively slow
while the number of distributed generation units and a
growing number of decommissioned conventional power
plants lead to a higher rate of possible contingencies in the
electrical power system [1]. The time to react to critical faults
decreases. New precise and flexible monitoring tools and
controllable operational equipment will be needed to
future system states. Dynamic Security Assessment (DSA)
and new optimization tools are able to do predictive
calculations online. Thus, possible future states as well as
possible mitigation strategies to contingencies are already
known before they occur. A big task, which is actually not yet
solved, is to visualize those precalculated results and
simultaneously prevent operators from confusion. This is why
power system control centers, often referred as energy
management system (EMS) for transmission and distribution
management system (DMS) for distribution systems, will
handle legacy control center tools and new applications at
least for the next years separately. SCADA will still be
needed, but will be enriched by new online observability
tools, which run in parallel. The future generation of control
center technology will link both ways and facilitate the
operator, providing only one system to keep an eye on.
This paper provides a succinct review of existing control
center technologies and tools. Other past and future visions of
control centers are given in [4–9]. This paper exceeds a
discussion of requirements of future control centers. A new
approach is introduced, based on dynamically mirroring the
system state by digital twinning. The new concept to
determine the power system state is assumed to be the next
evolutionary step in the field of control center technology.
GUI
Control Room

accomplish this task. Volatile generation and highly flexible Steady State Assessment Dynamic Assessment

utilities like HVDC and FACTS devices introduce small time PF SSA OPT EMS PDP DSA PSA
OPF CA MDM Applications WAM WAP WAC
constants into the power system. Thus, dynamic phenomena (Power Apps)
SCC Archive ... SIPS DSE ...
will play a growing role in the future. To react to the changes,
it is necessary to enlarge the observability of the power
IEC 61850, IEC 60870-5-104

system by means of wide area monitoring and reducing the PDC

State Estimation PDC
time steps between measurements. This is possible by DB
utilization of time-synchronized phasor measurement units
(PMUs). Modern control centers comprise a growing number
IEEE C37.118

IEEE C37.118

IEEE C37.118

SCADA SCADA
of applications for wide area monitoring and control, taking DB
into account PMU technology and flexible power system
IEC 60870-5-104
asset (e.g. VSC-HVDC and FACTS) [2, 3]. A simplified IEC 61850
3rd Party
Access
architecture of modern control centers is shown in Fig. 1.
(abbreviations see chapter II). Legacy Supervisory Control Processlayer
Substation
and Data Acquisition (SCADA) tools cannot deal with the
PMU PMU PMU
shrinking time constants and the new measurement devices. RTU RTU RTU

The next generation of control a further look into possible Fig. 1. Schematic modern modular control center architecture

978-1-5386-3669-5/18/$31.00 ©2018 IEEE

 II. ADVANCES IN CONTROL CENTER TECHNOLOGY
Traditionally, control centers are based on SCADA
systems, which transmit and display measurement data and
other information within a few seconds [10]. The increasing
use of PMUs, leads to sufficiently small data transmission
intervals and measurement timeframes for advanced
monitoring of grid dynamics. PMU data are space vectors of
current and voltage that are time stamped with an accuracy of
± 1μs and a sample rate of up to 60 samples per second
(related standards in Fig. 2). In the control center a phasor
data processor processes the PMU measurements for further
analysis. Modern control centers use advantages of both
technologies to rise power system observability. SCADA and
PMU based wide area monitoring systems (WAMS) normally
run independently in parallel. A comparison of main
differences between SCADA and WAMS is given in Table I.
A modern control center (see Fig. 1) is based on software
modules which include at least the following functionalities
and applications:
• SCADA System, Database (DB) and Graphical User
Interface (GUI),
• Historical Recording (Archive),
• State Estimation (SE),
• Model Data Management (MDM),
• Contingency Analysis (CA),
• Static Security Assessment (SSA)
• Power Flow (PF) and Optimal Power Flow (OPF),
• Short Circuit Current (SCC) Calculation,
• Operational Planning Tools, e.g., Load Forecast &
Reserve Monitoring (OPT)
• Communication Modules (e.g., 3rd Party Access)
Furthermore, advanced functionalities for enhanced
dynamic observability, assessment and decision support tools
are on the rise and comprise the following:
• Wide Area Monitoring, Protection and Control
(WAM, WAP and WAC),
• Dynamic Security Assessment (DSA),
• Phasor Data Processing (PDP),
• Protection Security Assessment (PSA),
• System Integrity Protection Schemes (SIPS)
• Dynamic State Estimation (DSE)
The relevant parts of a modern control center linked to
the approach described in this paper are outlined in the
following subsections.
A. Supervisory Control and Data Acquisition
A periodic exchange of data between a control instance
and remote terminal units (RTUs) in substations or other
distributed components in the power system is often realized
by SCADA systems. The data exchange bases on short
telegram messages send from a control center to the
application in the field (e.g. RTU) or from the field to the
control center. Such messages can be status indications,
jamming signals, commands or set points and measurement
values.
B. State Estimation
Full observability of the power system is not always
given, due to missing measurement data or communication
loss. The state estimation module in the control center
determines the missing data and completes the data set with
approximated values with a specific uncertainty [11]. The
estimated operational state of the power system, is necessary
to execute control center software programs and advanced
security analysis tools, therefore SE is perhaps the most
important control center function [11, 12]. With rise of the
PMU technology dynamic state estimators based on different
algorithmic approaches are also available [13, 14].
C. Synchrophasor Technology
Dynamic voltage instabilities and highly time resolved
power flows can be derived by sophisticated data analysis
applications, which convert PMU data into high-value
operational and planning information [15]. Synchrophasor
systems use PMUs, to measure magnitude, phase and
sequence of an AC value, by application of Fourier
transformation to the alternating signal. A phasor becomes a
synchrophasor when timestamped. Therefore, an accurate
time source is necessary e.g. a Global Positioning System
(GPS). PMU reporting rates are typically below 60 frames
per second [16], but may be higher. The sampled
measurement values are digitized and packet into frames for
transmission and streamed to a substation or control center
phasor data concentrator (PDC – sometimes also called
synchrophasor vector processor [17]). PMU sensor networks
increase the power system observability to monitor dynamic
and transient events [18]. The necessary data processing, is
done by a PDC, which basically aggregates and time-aligns
the samples for further processing. The PDP module in the
control center visualizes those measurements and enables the
operator to observe frequency and angle deviations as well as
power oscillations. Phasor data processing enables many
advanced applications in control centers, e.g. online
monitoring of system dynamics and dynamic security
enhancement [19].
TABLE I COMPARISON OF SCADA BASED EMS AND PMU BASED WAMS
ANALYTICS [15, 17, 19, 20]
Description SCADA (EMS) WAMS
Data Update 2-10 s (slow) Once in 20 ms (fast)
Steady and Dynamic
State Detection Steady State
State
Measurement
|Vi|, |Vj|, Pij, Qij |Vi|, |Vj|, |δi|, |δj|
Values
Timestamp
At Substation or EMS GPS Timestamped at
Arrival Measurement Location
Nonlinear, Numerical
State Estimation Linear calculation
Calculation
Stability Small Signal Stability Oscillation Monitoring
Island Detection &
Islanding Island Management
Resynchronization
D. Intelligent Substations
Substations provide various access points to system
parameters, enabling monitoring, control, and secure
operation of widespread bulk power systems. Therefore,
substations are strategically important in power system design
and operation. They are typically deployed with an
abundance of instrumentation to facilitate functions including
monitoring, control and communication [21]. Remote
terminal units and intelligent electronic devices (IED) are the
data aggregators of the substation. They communicate with
the SCADA system providing measurement values and listen
to commands. Modern substation automation and
communication systems are based on the IEC 61850 standard
which also supports PMU measurements. Automated
substations with PMUs in combination with fast-acting
FACTs devices are able to mitigate local problems before
they propagate out of the substation to the rest of the grid
[22]. The approach presented in this paper assumes the
existence of intelligent substations, which are able to
communicate the actual operational state and reserves for
further processing in the control room.
E. Substation Automation and Agent based Technology
In the power system of the future, where faster reactions
to disturbances are necessary, the control system will be
distributed at the substation level. The aim to limit
disturbances, without control center action reduces reaction
time and unbounds the system from potential
telecommunication disruptions [23]. A possible approach to
reduce control center actions is agent based. An agent
generally is a software or hardware system, which is
embedded in particular system instances and is able to act
autonomous to solve predefined tasks. Agents interact and
communicate with other agents, perceive their environment
and act pro-active on changes in their environment. [24].
F. Power System Automation Protocols
Accurate and responsive power systems incorporate high
demands on information and communication technology
(ICT). Real-time supervisory and control applications depend
on high end-to-end performance and overall scalability, to
guarantee working applications. Robust middleware services
that are able to operate with variable resources and multi-
source sensor data are indispensable for this approach [25].
Increasing complexity of the power system lead to the
development of new approaches in power system
communication. Legacy and still widely used SCADA
protocols (e.g. IEC 60870-5-104 or DNP3) for TCP/IP
communication between control center and substation are
supplemented by new data modelling approaches. IEC 61850
defines a modern communication protocol for power systems,
which is based on an advanced and expandable data model
and includes the definition of appropriate data exchange
services. Modern implementations comprise interfaces to
PMU and the Common Information Model (CIM). The CIM
model takes a significant role in the power system industry for
data exchange. It is applicable at transmission and at
distribution level, using a hierarchical approach which is close
to a database structure. The CIM model is extended regularly
to adapt to new factors such as market models, graphic models
and new grid components. The harmonization approach
between IEC 61850 and CIM is also an advantage [26, 27].
The Common Grid Model Exchange Specification (CGMES)
facilitates the exchange of operational and grid planning data
among transmission system operators. For coordination
between either different organizations or synchronization of
data bases between control centers of the same organization,
the Inter Control Center Communication Protocol (ICCP) also
known as Telecontrol Application Service Element 2 (TASE-
2) is a commonly used to exchange data.
G. Dynamic Control Center Applications
Lately developed toolboxes and applications, increase the
observability of the power system in control centers. A power
system is observable if the measurements allow determination
of bus voltage magnitude and angle at every bus of the
network [28]. In context of PMU devices, this definition is
still valid. Adding observability by means of synchrophasor
technology in the power system enables a number of new
possible applications such as WAMS for real time operation
and control.
1) Synchrophasor based Control Center Applications:
The common time reference of PMU measurements from
different locations in an interconnected area contain the
valuable information for WAMS. By utilization of PDC and
PDP applications the system conditions become depictable in
real time. Taking into account the possibilities and
applications stated in Table II, synchrophasor technology
enables new, fast and highly accurate control center
functionalities, such as real-time state estimation and
dynamic monitoring of operating conditions. There are many
standards defined for PMU data measurement and transfer.
Fig. 2 summarizes the latest IEEE standards related to phasor
measurements and data processing.
TABLE II APPLICATIONS FOR SYNCHROPHASOR DATA [29]
Real-Time Off-Line
Visualization Analysis and Assessment
Monitoring and Alarming System Planning
State Estimation Model Validation
Protection and Control Disturbance Analysis
2) Dynamic Security Assessment:
Besides static security assessment, which reflects the steady
state system condition, dynamic security assessment is part of
modern control center applications. The ability of the system
to safely reach a new system state is analyzed in DSA
applications. The probabilistic dynamic system behavior
(voltage and transient stability) determined by dynamic
simulations enable investigation of dynamic stability limits.
Therefore, a fully determined data set of the actual system
state is prerequisite. The system operator in a control room
will use the DSA results to decide whether a contingency is
critical and will determine mitigation strategies to avoid
instabilities. DSA systems were already deployed in the late
1980’s [30], but recent implementations focus on a predictive
and online operation [31].
H. Situation Awareness in Control Rooms TABLE III EVOLUTION OF SIMULATION AND CONTROL CENTER
TECHNOLOGY
Despite the increasing use of automation, human
Simulation Control Center
operators remain an integral part of modern power systems Technology [41] Technology
[32, 33]. Operator situational awareness (OSA) has a
Individual Application:
significant impact on the probability of the system entering 1st
Simulation Limited to very
Hard Wired, Fully Analog
the cascading phase of a blackout [34]. To prevent cascading Generation Communication
Specific Topics
outages it is therefore important to support decision processes 2 nd
Simulation Tools: Simulation is IP/TCP based
effectively, before the situation becomes uncontrollable [32]. Generation a Standard Tool for Engineering Communication
To achieve this in a control room several factors need to be 3rd Simulation-based System Dynamic Assessment
considered: interface design (GUI), operator stress and Generation Design Tools
workload, application complexity and automated decision Digital Twin Centric
4th Digital Twin: Simulation is a
Control Center
support and operator training [35]. In case all these factors get Generation Core Functionality of Systems
Architecture
aligned with the tasks in a control room, critical situations
will get acknowledged sooner and can get mitigated A. The Digital Twin Concept
successfully. A rising OSA can mitigate stability problems A Digital Twin is the digital representation of a unique
and blackout risk. asset (product, machine, service, system or another intangible
III. UTILIZING DIGITAL TWINS IN CONTROL CENTERS asset), that alters its properties, condition and behavior by the
means of models, information and data [42]. Thus, Digital
Recently Industry 4.0 and the Internet of Things (IoT) Twins (DT) are software-based abstractions of complex
have become buzzwords for the manufacturing industry [36, physical systems or objects which are connected via a
37]. Coupling sensor data of a productive process with a communication link to the real object through a continuous
database and algorithmic assessment tools led to the Digital data flow from the real world. A DT makes it possible to
Twin concept [36, 38]. A digital equivalent of a process as a reflect the physical conditions in real time by linking the
base for the optimization is adaptable for many systems or physical and digital world, providing advanced analytics for
objects which are expressible as cyber-physical system [39]. the system it mirrors. The possibility of identifying problems
In consequence the adaption of the Digital Twin for power before they occur predestines the application of a DT for the
system monitoring and control is a realistic approach and can manufacturing industry, where this technology is currently
lead up to the next evolutionary step in power system control being used intensively and under further development [43,
center technology. The assumption is, that DT technology 44]. There are already applications of the DT technology in
builds the foundation for the future generation of control product life cycle management (PLM) [45]. For power
center core applications. This is substantiated by the system industry PLM utilization for power plant design,
comparison of the development of simulation and control engineering, commissioning and maintenance is a possible
center technology in Table III. application [42, 46]. DTs are not yet used for power system
monitoring and control, but the concept of a dynamic digital
mirror (DDM) is already part of actual discussions [2].
B. Mirroring the Sytem State by Dynamic Simulations
GPS
PMU PMU
Real-Time
A DDM is a dynamic model that reflects the system state
Monitoring in real-time. Depending on the application, a DDM is created
Real-Time from the data pool of the asset operator, comprising a grid
Applications model, the current operating data and conditions (see Fig. 3).
Offline Data A DDM supports dynamic modeling and describes the
PMU Analysis dynamic system behavior, thus its functionality goes far
Substation PDC
State beyond a SCADA database. A DDM is conceivable as a
Estimation constantly running modelling engine, reflecting the real assets
Digital operating condition in real time. Depending on the evaluation
PMU Twinning task or modeling approach, a DDM can be a customized
model of the whole power system or represent only aspects or
Timing
Standards
Communication parts of it (see Fig. 3). In the proposed concept for utilization
Standards
IEEE 1588
IEEE C37.118-2 of Digital Twins in power system monitoring and control
IEEE C37.238
IEC 61850-9-3
IEC 61850-90-5 systems, the dynamic digital mirror is only a part of the
EMS PDC & PDP Data Storage
whole system. For real-time simulation, rapid system analysis
Test Guide for Measurement PDC Guide
Data Storage and control feedback, RTU and PMU sensor data are fed to
Standards IEEE C37.244
Installation &
Calibration, IEEE C37.118-1 PDC Standard
Standard the DT database and then used in a DDM modelling instance.
IEEE C37.111
IEEE C37.242 IEC 60255-118-1 IEEE PC37.247 A validity cross check needs to be applied to ensure that the
related asset and sensor data is correctly allocated. Using self-
Fig. 2. Visual summary of PMU related standards adapted from [40] teaching and machine learning algorithms in combination
with operational real-time data, which flows into the DT from
the power system, the virtual copy will get continuously
enriched and thereby theoretically enables increasingly
precise statements about the system state. The digital image is
continuously updated, while the objective function behind the
applied algorithms is to minimize model errors. The idea of
mirroring the power system by a dynamic simulation engine
has the advantage, that even in the case of non-availability
actual measurement data due to measurement failure or
communication loss, a statement about the latest system state
is still possible.
C. Obstacles for Digital Twin Deployment
To utilize the real value of the Digital Twin concept, a
holistic approach for storage, management, examination and
validation of the DT data is needed. Since modelling of
dynamic power system phenomena is rather complex, a major
challenge for digital twin deployment can arise from
determination of the detail-level of the power system model.
While an excessive simplified model may not unveil the
value a digital twin promises, a very accurate approach might
lead to unbearable complexity, considering a bunch of
electrical equipment data, measurement devices and a
massive amount signals to enrich the digital representation of
the power system.
D. Example of a Digital Twin and Usecases
Taking a DT of a power plant as an example, physical and
virtual copy are matched and optimized continuously to
achieve the best possible economic outcomes [46]:
• Augmentation of predictability of plant starts
considering multiple objectives (time, output,
emissions, fuel)
• Improvement of economics while respecting
operational boundaries and asset lifetime
• Optimization of unit controls to address dynamic
market and operating conditions
• Reduction of unplanned outage trough an optimal
maintenance concept and continuous online
monitoring and prognostics
The example shows, that a commercial application of the DT
technology is already existing. Analogue to this particular
example a DT can also mirror other physical assets which
consist of complex physical structures and are subject to tight
legal or market rules. Both is the case for power system
operation where a complex physical system is bound to legal
and market rules. A DT for power system operation and
control can help to optimize the power system operational
performance, which in the end results in saving funds and
emissions.
E. The Digital Twin for Power System Control Centers
A digital close to real-time image of the power system
realized with the digital twinning approach basically consist
of the power system state in real space, a virtual set of state
variables and the data streams connecting both, the physical
and the virtual power system. Although digital twinning of
power systems is not yet available for control center
application, all the necessities are already existing. The
technologies which are recently in focus when control center
technology is discussed have been described in this
publication. The hypothesis that a DT could become the
central element of a control system in the future leads to
further considerations, such as the communication between
several DTs, running in control centers of different system
operators. With sharing DT data, both horizontal and vertical
system operation can be addressed. Benefits of a dynamic
digital mirrored power system are the continuous comparison
of monitored grid behavior and simulated grid behavior
(pattern recognition), the fast detection of abnormal grid
situations, automated recommendations for preventive actions
to avoid outages, offline control room operator training,
investment, workflow and asset optimization. A digital close
to real-time image of the power system and operational
processes can help to optimize performance and rise OSA.
IV. CONCLUSION
Recent developments in the European energy system
comprise growing infeed of renewables, high amount of
power electronics and a decrease of conventional power
generation and though limited inertia. The prominent gap
between existing control center technology and future needs,
rising from new operational requirements will be closed
within the next years by application of technological
evolvement in hardware and software. Powerful computing
capabilities are needed to enable analysis of the power system
by advanced algorithms for real-time feedback as well as
predictive and offline analysis. The new instances in the
control center will help operators to act faster and apply
fortunate decisions, assisted by an advanced WAM system
with powerful applications. The concept of a Digital Twin
furthermore reduces the applicational gap in control centers.
It builds up a new basis for improvement of power system
efficiency and reliability. While rising flexibility in power
system operation and thus enabling more volatile renewable
power generation, it helps reducing carbon emissions.
Visionary and dedicated engineers and ICT specialists can
improve the proposed concept and use the rich applicability
of Digital Twins for power system control and operation.
Datapool RT-Running Applications
Instances
Services
Customized Functions
DDM Interfaces
DT
Database Customized
Services
Functions
DDM
Interfaces
Digital Model
Twin Parameter Tuning
Continuous Data Exchange
Processlayer
(Substation)
RTU PMU/PDC
Fig. 3. The Digital Twin Concept for Power System Control Centers
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