Electrical Power and Energy Systems: Hamze Hajian-Hoseinabadi

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Electrical Power and Energy Systems 49 (2013) 455–463

Contents lists available at ScienceDirect

Electrical Power and Energy Systems


journal homepage: www.elsevier.com/locate/ijepes

Reliability and component importance analysis of substation automation systems


Hamze Hajian-Hoseinabadi *
Department of Electrical Engineering, Sharif University of Technology, Tehran, Iran

a r t i c l e i n f o a b s t r a c t

Article history: This paper aims to present a comprehensive technique to quantitatively assess the reliability of substa-
Received 17 November 2009 tion automation systems. The technique is based on the tie-sets methodology. In order to demonstrate
Accepted 7 June 2010 the application of the proposed technique, a variety of substation automation architectures is first intro-
Available online 2 July 2010
duced. The associated reliability block diagrams as well as the exact system reliability are then given. The
impacts and the degree of importance of various components on the reliability of substation automation
Keywords: systems are presented. Two suitable measures of importance are selected. The first is the Birnbaum’s
Component importance
measure used to determine the bottleneck of the system reliability. The second measure uses criticality
Quantitative reliability assessment
Reliability block diagram
importance to diagnose failures and generating repair or inspection checklists.
Substation automation system Ó 2010 Elsevier Ltd. All rights reserved.

1. Introduction (FTA) [5]. An effective approach is presented in this paper to quan-


titatively assess the reliability of the SAS. The technique is based on
System automation is the control of power system apparatus the tie-sets methodology. Furthermore, this paper aims at investi-
operations to take the place of the human functions of observation, gating the reliability indices to identify the critical components in a
decision, and action. Substation automation refers to using intelli- SAS. The importance analysis for SASs was not covered in the liter-
gent electronic device (IED) data within the substation and control ature so far. This paper selects two appropriate measures of the
commands from remote users to control the power system devices importance including Birnbaum’s measure and criticality impor-
within the substation [1]. The IEDs are communicated by fiber-op- tance measure.
tic due to the following reasons [2]:
2. Architectures of substation automation systems
– It isolates equipment from hazardous and damaging ground
potential rise. 2.1. Substation automation components
– It is immune to radio frequency interference and other electro-
magnetic interference. A typical SAS consists of various components and levels. The
– It eliminates data errors due to communications ground-loop
substation control point is often located in a special shielded
problems. room and provides an overview across the whole station. Also,
it provides the Human Machine Interface (HMI) as central place
Substation automation designers are faced with many choices for substation operation. The HMI serves to operate and supervise
about system topology, primary and backup devices, and redun-
the substation. In addition, all general purpose hardware, screens
dant paths. Some of the factors that a designer considers in select- and printers are concentrated on station level. A server collects
ing the automation components and designing the system are
data from all of the local devices and creates a substation data-
equipment costs, installation and commissioning costs, perfor- base. The HMI uses data from this database. In this paper, the
mance, security and reliability [3]. This paper is concerned with
server is based on industrial personal computers (IPC). A commu-
the reliability of component in the selection and design process. nication gateway provides data access and control from a Net-
Quantitative reliability evaluation of a substation automation sys-
work Control Center (NCC). It needs a physical coupling to the
tem (SAS) can be a significant analytical problem. There are some wide area communication connection used by NCC, and a proto-
previous works which consider reliability of the substation control
col converter, which interprets the messages according to the
network topologies from a qualitative point of view [2–4]. The NCC protocol and translates them to action in the SAS. The sta-
technique used in these works is based on the Fault Tree Analysis
tion level functions rely on data exchange with the bay level
functions, sending down commands as well as configuration
* Tel.: +98 913 313 0258. parameters and data, and retrieving the process state and locally
E-mail address: hamze.hajian@gmail.com captured fault and disturbance data. The physical bay level is

0142-0615/$ - see front matter Ó 2010 Elsevier Ltd. All rights reserved.
doi:10.1016/j.ijepes.2010.06.012
456 H. Hajian-Hoseinabadi / Electrical Power and Energy Systems 49 (2013) 455–463

close to the switchyard equipment. Modern control and protec- 2.2. Various substation automation architectures
tion IEDs associated with the bay level can be incorporated into
several cubicles designated as bay control units (BCUs). Further- Consider the five different substation automation architectures
more, as communication plays a very critical role in a SAS, both shown in Figs. 1–5, with different levels of redundancy, availabil-
Ethernet switch (ESW) and Ethernet interface (EI) should be ity, performance and of course cost [7].
modeled. The Ethernet interface may be referred to as either A typical simple cascading (or bus) architecture is illustrated in
Ethernet port or Ethernet communication media [6]. The Ethernet Fig. 1. Each switch is connected to the previous switch or next
port is assumed to be a part of the host IED and its reliability is switch in the cascade via one of its ports. The maximum number
included in the overall MTTF of the IED. Accordingly, we consider of switches, which can be cascaded, depends on the worst case de-
only Ethernet communication media rather than Ethernet port in lay (latency) which can be tolerated by the system. The advantage
the reliability models. It has to be noted that, due to the impor- of simple cascading architecture is cost effective as this structure
tance of DC power supply (DCP) in the control system, the DCP is allows for shorter wiring instead of bringing all connections to a
included in the reliability model of the automation system in the central point. This type of structure has some disadvantages. For
form of a series component with other elements. example, if one of the cascade connections is lost, all IEDs down-

Fig. 1. Architecture 1: simple cascading architecture.

Fig. 2. Architecture 2: redundant cascading architecture.


H. Hajian-Hoseinabadi / Electrical Power and Energy Systems 49 (2013) 455–463 457

Fig. 3. Architecture 3: ring architecture.

Fig. 4. Architecture 4: star architecture.

stream of that connection are also lost. Furthermore, the worst case of the other switches uplink to it in order to form a star configura-
delays across the cascading backbone have to be considered if the tion. This type of configuration offers the least amount of latency.
application is very time sensitive. One way of increasing availabil- Compared to the other architectures, the star architecture has
ity is to provide redundant networks. Then, instead of a single fail- the lowest latency. However, this type of configuration has no
ure causing the top event, two failures must occur to cause the redundancy. If the backbone switch fails, all switches are isolated.
entire system to fail. A redundant cascading architecture is illus- Finally, a hybrid (star/ring) architecture, combining star and ring
trated in Fig. 2. This architecture provides a higher level of avail- architectures is shown in Fig. 5. This architecture provides a high
ability than simple cascading architecture. A typical ring level of availability and is immune to numerous types of faults.
architecture is shown in Fig. 3. It is very similar to the simple cas-
cading architecture except that the loop is closed. This provides 3. SAS reliability assessment
some level of redundancy if any of the ring connections fail. This
type of architecture has some advantages such as cost effective. Before developing the reliability models for the substation auto-
Also rings offer redundancy in the form of immunity to physical mation structures, it is necessary to clearly define their scope. A
breaks in the network. However, similar to the cascading architec- typical automation system for an electric power substation con-
ture, latency of the ring architecture has to be considered if the sists of up to three hierarchical levels. The hierarchical levels
application is very sensitive. A typical star architecture is shown (HLs) are the remote control point (HL 1), the substation control
in Fig. 4. Switch 1 is referred to as the ‘backbone’ switch since all point (HL 2) and the bay control point (HL 3). The control
458 H. Hajian-Hoseinabadi / Electrical Power and Energy Systems 49 (2013) 455–463

Fig. 5. Architecture 5: hybrid architecture.

command can be initiated from a remote control point (HL 1) or Ri ðtÞ ¼ Pi ðtÞ ¼ eki t ; ð2Þ
from the substation control point (HL 2). In other words, the con-
where ki failure rate of component i.
trol functionality of local bay level is ignored.
The reliabilities of DC power system, bay control units, Ethernet
interface, Ethernet switches, Human Machine Interface, NCC server
3.1. Reliability block diagram
and industrial personal computer can be designated as PDCP, PBCU,
PEI, PESW, PHMI, PNCCS and PIPC respectively. Furthermore, the reliabil-
The first step in reliability calculation is to develop the reliabil-
ity of architecture i can be shown as RðiÞ sys . It is assumed that the
ity block diagram (RBD) which is a success-oriented network
components of the same type have the same reliability. With refer-
describing the function of the system. The RBD shows the logical
ence to Fig. 6, all the architectures have two minimal paths.
connections of components needed to fulfill a specified system
The system reliability of architecture 1 is
function [8], where the components that are used together to per-
form a function are put in series, and the redundant components ð1Þ
Rsys ðtÞ ¼ 6P DCP P 6ESW P5BCU P7EI PIPC PHMI PNCCS
are put in parallel. It is assumed that each automation structure
has six bays with bay controllers, one station level server (IPC) þ 6PDCP P6ESW P5BCU P6EI PIPC PHMI þ 6PDCP P6ESW P5BCU P6EI PNCCS
and one NCC server (NCCS) inclusive gateway function. Both SCS
 5PDCP P6ESW P6BCU P7EI PIPC PHMI  5PDCP P6ESW P6BCU P7EI PNCCS
server and the NCC server are completely independent from each
other. It is further assumed that the control function is considered þ 5PDCP P6ESW P6BCU P8EI PIPC PHMI PNCCS : ð3Þ
to be available, if one, but not more than one bay is no longer con-
trollable from station level or remote. Therefore the (n  1) of n The system reliability of architecture 2 is (after being
condition is considered. With the above assumptions, the reliabil- simplified)
ity block diagrams associated with these automation structures are
established and shown in Fig. 6.
ð2Þ
Rsys ðtÞ ¼ P DCP P 6ESW P5BCU P6EI ð2  P6ESW Þð6  5PBCU :PEI ÞðPIPC PHMI ð1
It can be seen from the diagrams that the NCC control is func-  P NCCS PEI Þ þ PNCCS Þ: ð4Þ
tionally redundant to station level control. The tie-sets (minimal
paths) method is used to calculate the system reliability based The system reliability of architecture 3 is
on the RBDs shown in Fig. 6. A tie-set is a set of system components
whose functioning ensures that the system functions. A minimal
ð3Þ
Rsys ðtÞ ¼ 6P DCP P 5BCU P7EI P5ESW PIPC PHMI PNCCS P2ESW
tie-set (path) is one in which all the components within the set þ 6PDCP P5BCU P6EI P5ESW PIPC PHMI PESW
must work for the system to function, and if any one element does
not function then the system is not guaranteed to work. A tie-set þ 6PDCP P5BCU P6EI P5ESW PNCCS P ESW
will fail if just one component of the tie-set fails and all the system  5PDCP P6BCU P7EI P6ESW PIPC PHMI PESW
tie-sets must fail for the system to fail [9]. Assuming component
independence, and denoting the probability of occurrence of tie-  5PDCP P6BCU P7EI P6ESW PNCCS P ESW
set Ti by PðT i Þ, the probability of a given architecture success (avail- þ 5PDCP P6BCU P8EI P6ESW PIPC PHMI PNCCS P2ESW : ð5Þ
ability) for n minimal tie-sets is specified by [10]:
The system reliability of architecture 4 is
Rsys ¼ PðT 1 [ T 2 [ T 3 [ . . . [ T n Þ: ð1Þ
ð4Þ
Rsys ðtÞ ¼ 6P DCP P 6ESW P 5BCU P 7EI PIPC PHMI PNCCS

3.2. System reliability þ 6PDCP P6ESW P5BCU P6EI PIPC PHMI þ 6PDCP P6ESW P5BCU P6EI PNCCS
 5PDCP P7ESW P6BCU P7EI PIPC PHMI  5PDCP P7ESW P6BCU P7EI PNCCS
If failure rate of component i is constant, the reliability of this
component is expressed as: þ 5PDCP P7ESW P6BCU P8EI PIPC PHMI PNCCS : ð6Þ
H. Hajian-Hoseinabadi / Electrical Power and Energy Systems 49 (2013) 455–463 459

(a) RBD of architecture 1

(b) RBD of architecture 2

(c) RBD of architecture 3

(d) RBD of architecture 4

(e) RBD of architecture 5


Fig. 6. Reliability block diagrams of various substation automation architectures.

The system reliability of architecture 5 is (after being 3.3. Discussion


simplified)
7 5 6 (1) Simple cascading architecture (architecture 1) has the low-
Rð5Þ
sys ðtÞ ¼ P DCP P ESW P BCU P EI ð2  P ESW Þð6  P BCU P EI P ESW Þ est reliability compare to others as it has no-redundant
 ðPIPC P HMI ð1  PNCCS P EI PESW Þ þ PNCCS Þ: ð7Þ Ethernet switches.
(2) By adding redundant Ethernet switches, the MTTF of cas-
The system reliabilities of all architectures can be calculated cading architecture increases (compare architectures 1
using the reliability data listed in Table 1 [3,11]. and 2). Compared to other architectures, the availability
The system unavailability is calculated by
Q sys ¼ 1  Rsys ðtÞ: ð8Þ
The system unavailability versus time is shown in Fig. 7.
Both unavailability and reliability of the system, at mission time
of 1000 h, are listed in Table 2.
Furthermore, Fig. 8 shows the Mean Time to Failure (MTTF) of
all architectures. It has to be noted that, MTTF can be defined as:
Z 1
MTTF ¼ Rsys ðtÞdt: ð9Þ
0

Table 1
Unavailability of substation automation components.

Components MTTF (yr) Failure rate (yr1)


DCP 109.6 0.00912
IPC 14.3 0.06993
NCCS 14.3 0.06993
EI 300 0.00333
ESW 11.5 0.08696
HMI 10 0.10000
BCU 103.5 0.00966
Fig. 7. System unavailability versus time of various architectures.
460 H. Hajian-Hoseinabadi / Electrical Power and Energy Systems 49 (2013) 455–463

Table 2 importance measure are used in this paper to quantify the compo-
System unavailability and reliability at mission time of 1000 h. nent importance in a SAS.
Architecture Qsys  103 Rsys (%)
1 58.98607 94.10139
2 4.57636 99.54236
4.1. Birnbaum’s measure
3 3.44176 99.65582
4 12.92223 98.70778 In 1969 Birnbaum [13] introduced the concept of importance
5 3.53899 99.64610 and developed a probabilistic measure of component reliability
importance. This measure is denoted by IB(i|t) and defined as the
probability that component i is critical to system failure, i.e. when
i fails it causes the system to pass from a working to a failed state.
Analytically, Birnbaum’s measure of importance of component i at
time t is

@Rsys ðtÞ
IB ðijtÞ ¼ ð10Þ
@Pi ðtÞ

where i = 1, 2, . . . , n.
The Birnbaum’s importance of component i can be interpreted
as the rate at which the system reliability improves as the reliabil-
ity of component i is improved. Birnbaum’s measure can also be
written as

IB ðijtÞ ¼ hð1i ; Rsys ðtÞÞ  hð0i ; Rsys ðtÞÞ; ð11Þ


Fig. 8. MTTF comparison of various architectures.

where h(1i, Rsys(t)) denotes the conditional probability that the sys-
tem is functioning when it is known that component i is functioning
of redundant cascading design is considerably more than
at time t, and h(0i, Rsys(t)) denotes the conditional probability that
either simple cascading or star topologies. Furthermore,
the system is functioning when component i is in a failed state at
the availability of redundant cascading architecture is rela-
time t.
tively less than both ring (architecture 3) and hybrid (archi-
From the definition, the Birnbaum’s measure may serve as a
tecture 5) topologies.
good indicator for selecting components that are the best candi-
(3) The star design is more reliable than simple cascading
dates for efforts leading to improving system reliability. However,
design, but the availability of this topology is considerably
IB(i|t) only depends on the structure of the system and reliability of
less than other topologies. This is reasonable since this archi-
other components. It is independent of the actual reliability Pi(t) of
tecture has no redundancy. As mentioned in Section 2, if the
component i. This is a weakness of Birnbaum’s measure [8].
backbone switch fails, all switches are isolated. Compared to
other architectures, at mission time of 1000 h, the star
design is approximately 4.6 times more reliable than the 4.2. Criticality importance
simple cascading topology. While this design is nearly 2.8,
3.8 and 3.7 times less reliable than the redundant cascading, The criticality importance ICR(i|t) is another well-known mea-
ring and hybrid topologies, respectively. sure. As compared with Birnbaum’s measure, the reliability aspect
(4) Both the ring and hybrid topologies are the most reliable of the studied component is integrated into the measure. The crit-
architectures in comparison with the others. For example, icality importance can be defined by
at mission time of 1000 h, the ring design is about 17.1,
1.3 and 3.8 times more reliable than the simple cascading, IB ðijtÞ  ð1  Pi ðtÞÞ
redundant cascading and star designs, respectively. ICR ðijtÞ ¼ : ð12Þ
1  Rsys ðtÞ
The criticality importance measures the probability of a partic-
4. Component importance analysis ular component i being responsible for system failure before time t.
For component i to cause system failure, component i must be crit-
Importance measures in reliability engineering are used to ical, and then fail. Component i will then, by failing, cause the sys-
identify weak areas of a system and signify the role of components tem to fail. When component i is repaired, the system will start
in either causing or contributing to proper functioning of the sys- functioning again. Consequently, criticality importance is remark-
tem. In other words, component importance measures are used ably suitable for prioritizing maintenance actions in complicated
to measure the effect of the reliability of individual components systems. Here, the maintenance may refer to preventive mainte-
on the overall system reliability. From the design view-point, it is nance, corrective maintenance or failure-finding maintenance [8].
crucial to identify the weaknesses of the system and how the fail-
ure of each individual component affects proper functioning of the
system; so that efforts can be spent properly to improve the sys- 4.3. Measure results
tem reliability [12]. From the operational view-point, the compo-
nent importance measure may be used to allocate inspection and Since architecture 1 has the lowest reliability level, it will not be
maintenance resources to the most important components. Several considered further in the following component importance analy-
importance measures such as Birnbaum’s measure [13], Fussell– sis. Component importance for architectures 2–5 are presented in
Vesely’s measure [14], risk achievement worth, risk reduction Figs. 9–16. The component importance at mission time of 1000 h
worth [15] and criticality importance for components have been and the ranking of components by their importance are listed in
proposed in the past. The Birnbaum’s measure and criticality Tables 3–6.
H. Hajian-Hoseinabadi / Electrical Power and Energy Systems 49 (2013) 455–463 461

Fig. 9. Birnbaum’s measure of component importance for architecture 2.


Fig. 12. Criticality importance measure of component for architecture 3.

Fig. 10. Criticality importance measure of component for architecture 2. Fig. 13. Birnbaum’s measure of component importance for architecture 4.

Fig. 11. Birnbaum’s measure of component importance for architecture 3. Fig. 14. Criticality importance measure of component for architecture 4.
462 H. Hajian-Hoseinabadi / Electrical Power and Energy Systems 49 (2013) 455–463

Fig. 15. Birnbaum’s measure of component importance for architecture 5. Fig. 16. Criticality importance measure of component for architecture 5.

4.4. Discussion
Ethernet interface is more critical than the Ethernet switches.
It can be observed that the Birnbaum’s measure and criticality The Birnbaum’s measures may induce deceptive conclusions in
importance measure may lead to different rankings. Taking archi- terms of prioritizing system maintenance. It is clear that the Ether-
tecture 3 as an example, the Birnbaum’s measures show that the net interface should be ranked lower in the maintenance checklist

Table 3
Component importance for architecture 2.

Measure EI BCU IPC NCCS HMI ESW DCP


IB 0.0347 0.0082 0.0082 0.0195 0.0082 0.0549 0.9965
Order: DCP > ESW > EI > NCCS > (HMI = IPC = BCU)
ICR 0.0029 0.0018 0.0143 0.0340 0.0204 0.1186 0.2267
Order: DCP > ESW > NCCS > HMI > IPC > EI > BCU

Table 4
Component importance for architecture 3.

Measure EI ESW1 ESW2 BCU IPC NCCS HMI ESW ser. 3 DCP
B
I 0.0998 0.0177 0.0289 0.0540 0.0177 0.0289 0.0177 0.0540 0.9976
Order: DCP > EI > (ESW ser. 3 = BCU) > (ESW2 = NCCS) > (IPC = HMI = ESW1)
ICR 0.0110 0.0509 0.0831 0.0171 0.0410 0.0669 0.0586 0.1550 0.3017
Order: DCP > ESW ser.3 > ESW2 > NCCS > HMI > ESW1 > IPC > BCU > EI

Table 5
Component importance for architecture 4.

Measure EI ESW1 BCU IPC NCCS HMI ESW ser.2 DCP


IB 0.0803 0.9969 0.0535 0.0081 0.0193 0.0081 0.0535 0.9881
Order: ESW1 > DCP > EI > (ESW ser.2 = BCU) > NCCS > (HMI = IPC)
ICR 0.0024 0.7620 0.0045 0.0050 0.0119 0.0072 0.0409 0.0796
Order: ESW1 > DCP > ESW ser.2 > NCCS > HMI > IPC > BCU > EI

Table 6
Component importance for architecture 5.

Measure EI ESW1 ESW2 BCU IPC NCCS HMI ESW ser.3 ESW ser.4 DCP
IB 0.0997 0.0177 0.0289 0.0540 0.0177 0.0289 0.0177 0.0098 0.0540 0.996
Order: DCP > EI > (BCU = ESW ser.4) > (ESW2 = NCCS) > (HMI = IPC = ESW1) > ESW ser.3
ICR 0.0107 0.0495 0.0808 0.0167 0.0398 0.0651 0.0570 0.0275 0.1508 0.293
Order: DCP > ESW ser.4 > ESW2 > NCCS > HMI > ESW1 > IPC > ESW ser.3 > BCU > EI
H. Hajian-Hoseinabadi / Electrical Power and Energy Systems 49 (2013) 455–463 463

than Ethernet switches. The reason for this is that although Ether- 5. Conclusion
net switches occupy similar positions in the system, the Ethernet
interface has a lower failure rate. Compared to the Birnbaum’s Firstly, this paper presents an approach for reliability assess-
measure, the criticality importance gives a more reasonable mea- ments of various substation automation systems. The proposed
sure, indicating that the Ethernet interface is less important than technique is applied to five substation automation architectures
the Ethernet switches as expected. Therefore, it can be concluded to examine the effectiveness of the technique. The results predict
that the criticality importance measure is more effective and use- the percentage of time, on average, in which the system is able
ful. It has to be noted that, if the objective is to assist system to perform the control actions. Also, the results show that both
designers, and if the reliability of each component can be increased the ring and hybrid topologies are the most reliable architectures
by a specified amount, the Birnbaum’s measure is a suitable mea- in comparison with the others. Finally, this paper aims at selecting
sure. However, if the objective is to prioritize maintenance actions, the reliability indices to identify the critical components in a sub-
or if improvements can be made only to components that have low station automation system. The Birnbaum’s measure is recom-
reliability, the criticality importance measure is an appropriate mended as a quantifier of component importance for identifying
one. The following observations can be made based on the critical- the bottleneck of the system reliability. The criticality importance
ity importance measures: is suggested as another important quantifier which is useful for
prioritizing maintenance actions. The criticality importance analy-
(1) Ethernet interface and bay control unit: EI and BCU are the ses show that the DC power system and Ethernet switches are the
least critical components in architectures 2–5. The reason most critical components in all architectures.
for this is that it is assumed that the SAS is considered to
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(ESW1, ESW2). In other words, ESW series 4 are more critical
Institute; 1995.
than other components except DCP.

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