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Heetae Kim1, Sang Hoon Lee2, Petter Holme1,* 1 Department of Energy Science, Sungkyunkwan Univ., Suwon, South Korea 2 School of Physics, Korea Institute for Advanced Study, Seoul, South Korea
KPS 2015 Fall conference21–23 Oct. 2015, Gyeongju, South Korea
Building Blocks of Synchronization Stability Transition on Power Grid
Heetae Kim1, Sang Hoon Lee2, Petter Holme1,* 1 Department of Energy Science, Sungkyunkwan Univ., Suwon, South Korea 2 School of Physics, Korea Institute for Advanced Study, Seoul, South Korea
KPS 2015 Fall conference21–23 Oct. 2015, Gyeongju, South Korea
Building Blocks of Synchronization Stability Transition on Power Grid
Producer ✓Net power generation > 0 ✓e.g. Power plants
Consumer ✓Net power generation < 0 ✓e.g. Substations
Producers
Consumers
Nodes ✓Power plants and substations ✓Current flow and phase synchronization
Edges ✓Transmission lines ✓Direction: Undirected (bidirectional) ✓Weight: Transmission strength
Network structure
Attributes
Power grid components
Power grid components
Interactions ✓Rotational motions of rotors are synchronized with
the rated frequency (60Hz). ✓e.g. generators, transformers. ✓A perturbation on a rotor can be absorbed by the
synchronous interaction of the network. ✓Accordingly, rotors can recover the synchrony.
Phase synchronization
d 2θidt 2
= Pi −α idθidt
+ Kij sin(θ j −θi )j∑
i j
Rated frequency Ω (= 2π × 50Hz)
∅i(t)=Ωt+θi(t)
Not in synchrony
Synchronized (Phase-locked)
d 2θidt 2
= dθidt
= 0
Power plant (P>0)
Power plant (P>0)
Consumer (P<0)
3Ω
Ω Ω
2Ω
Synchronization dynamics
Kuramoto-type model
https://youtu.be/tiKH48EMgKE
!!θi = !ωi = Pi −αωi −K Aij sin(θi −θ j )∑
the phase at node i (measured in a reference frame
that co-rotates with the grid’s rated frequency Ωr)
adjacency matrix
the net power input
the dissipation (damping) constant
the coupling (transmission) strength
i’s frequency deviation from Ωr
G. Filatrella, A. H. Nielsen, and N. F. Pedersen, Eur. Phys. J. B 61, 485 (2008).
θi
Aij Pi α K ωi
Synchronization dynamics
Phase synchronization ✓The dynamics of a generator at node i is affected
by its neighbours.
Kuramoto-type model
P. J. Menck, J. Heitzig, N. Marwan, and J. Kurths, Nat Phys 9, 89 (2013).
Basin stability∈[0,1]
=
https://youtu.be/dFjf_d69HtY
P. J. Menck, J. Heitzig, J. Kurths, and H. Joachim Schellnhuber, Nat Comms 5, 3969 (2014).
✓How much a node can recover synchrony against a large perturbation from a phase space
Basin stability
K
K
Bas
in s
tabi
lity
Coupling strength
1
2
1
2
Basin stability transition window
Basin stability at K0
K0 K1
Basin stability at K1
Node 1
Node 2
Klow Khigh
Synchronization stability transition
H. Kim, S. H. Lee, P. Holme, New J Phys. (in press) arXiv:1504.05717.
✓The shape of basin stability transition curves are diverse for each node. ✓Both the position of attributes and the network structure affect the shape.
Various transition pattern
1
0
Community consistency
1
0
∆K/∆Kmax
Previously…
H. Kim, S. H. Lee, P. Holme, New J Phys. (in press) arXiv:1504.05717.
0
1
0 20 40
Producer Consumer
Bas
in s
tabil
ity
K
Node A, DNode B, C
A B C D
Diverse transition shapes
✓The basin stability transition curves vary in a network.
e5n1-1e4n2-1e3n2-2e3n2-1e2n1-0e1n2-0e1n2-1e1n1-1
e1n2-1
e1n2-0
e2n1-0
e3n2-1
e3n2-1
e3n2-1
e3n2-1
Bas
in s
tab
ilit
y
K
e1n1-1
0
1
0 20 40
Bas
in s
tabil
ity
K
ProducerConsumer
2 / 4-nodes network motifs
For ensembles of small networks ✓2-nodes network: 1 motif ✓4-nodes network: 11 motifs
Transition pattern analysis
The same attributes
The same structure
The same transition
X O X
X O X
X X O(?)
X O O
2 / 4-nodes network motifs
Difficult to find a rule, which is always valid. ✓Not only a factor divides the transition pattern. ✓Synchronization undergoes non-linear dynamics.
Finding building rules
0
0.2
0.4
0.6
0.8
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Pro
bab
ilit
y
Basin stability
0
1
0 0.2 0.4
6-nodes network motifs
6-nodes network motifs
…
6-nodes network motifs
≒630 days
0
1
0 50 100 150
Bas
in s
tab
ilit
y
K
BS of 2-nodes networks
Producer Consumer
0
1
0 20 40
Bas
in s
tab
ilit
y
K
BS of 4-nodes networks
ProducerConsumer
0
1
0 50 100 150
Bas
in s
tab
ilit
y
K
BS of 2-nodes networks
Producer Consumer
0
1
0 20 40
Bas
in s
tab
ilit
y
K
BS of 4-nodes networks
ProducerConsumer
0
1
0 10 20 30 40
Bas
inst
abil
ity
K
Node 1
Node 2 Node 3
Node 4
0
1
0 10 20 30 40
Bas
inst
abil
ity
K
Node 1
Node 2 Node 3
Node 4
0
1
0 10 20 30 40
Bas
inst
abil
ity
K
Node 1
Node 2 Node 3
Node 4
0
1
0 10 20 30 40
Bas
inst
abil
ity
K
Node 1
Node 2 Node 3
Node 4
3-points classification
3-points classification - result
0
1
0 50 100 150
Bas
in s
tab
ilit
y
K
BS of 2-nodes networks
Producer Consumer
0
1
0 20 40
Bas
in s
tab
ilit
y
K
BS of 4-nodes networks
ProducerConsumer
3-points classification - result
3-Points 3D diagram ✓Basin stability at only three K values are necessary (K= 7, 14, and 21). ✓Nodes with the large number of triangles have the specific patterns
6-nodes motifs classification
0 10The number of triangles
including the node
Conclusions
Basin stability transition is important✓Basin stability measures synchronisation stability. ✓The basin stability does not monotonically increases
as a function of K.
✓Network motifs with 2, 4, 6-nodes with two attributes. ✓Some patterns are found. ✓further analysis is under investigation.
✓The functional form of the basin stability transition has patterns. ✓It could provide information about function or meso-scale
characteristics of the power grid.
The transition shape has diversity
Building block investigation on basic network motifs
e5n1-1e4n2-1e3n2-2e3n2-1e2n1-0e1n2-0e1n2-1e1n1-1
e1n2-1
e1n2-0
e2n1-0
e3n2-1
e3n2-1
e3n2-1
e3n2-1
Bas
in s
tab
ilit
y
K
e1n1-1
0
0.5
1
0 20 40 60 80
Bas
in s
tab
ilit
y
K
Node a1
0
0.5
1
Node b1
0
0.5
1
0 50 100 150
(a) (b)
Node b2
How and why…?
Acknowledgement
Any question?
Prof. Petter Holme Heetae Kim Eun Lee Minjin LeeDr. Sang Hoon Lee
Thank you for listening!
National Research Foundation in Korea
0
1
0 20 40 60 80
(a)
Bas
in s
tab
ilit
y
K
N1
(b)
N2-1 N2-2
(f)
N12-1 N12-2 N12-3 N12-4 N12-5
+ 6 nodes
N12-6
(e)
N8-1 N8-2 N8-3
+ 4 nodes
N8-4
(d)
N6-1 N6-2
+ 3 nodes
N6-3
(c)
N4-1
+ 2 nodes
N4-2
Synchronization stability transition
0
1
0 20 40 60 80
(a)
Bas
in s
tab
ilit
y
K
N1
(b)
N2-1 N2-2
(f)
N12-1 N12-2 N12-3 N12-4 N12-5
+ 6 nodes
N12-6
(e)
N8-1 N8-2 N8-3
+ 4 nodes
N8-4
(d)
N6-1 N6-2
+ 3 nodes
N6-3
(c)
N4-1
+ 2 nodes
N4-2
Symmetric structure
✓Example 1
Node 7 Node 4 Node 8 Node 9 Node 12
Node 16Node 2 Node 3 Node 10 Node 11
Node 17Node 1
Node 18
0
1
0 25
Bas
inst
abil
ity
K
Node 6 Node 5 Node 14 Node 13
Node 15
Synchronization stability transition
✓Example 2
Node 3 Node 4 Node 5 Node 6
Node 1
0
1
0
Bas
inst
abil
ity
K
Node 7
Node 2
Node 8
Node 3 Node 4 Node 5 Node 6
Node 1
0
1
0
Bas
inst
abil
ity
K
Node 7
Node 2
Node 8
Synchronization stability transition
✓Example 3
Graph A Graph Bis isomorphic to
f(A)=7, f(B)=4, f(C)=3, f(D)=6, f(E)=5, f(F)=2, f(G)=1.http://math.stackexchange.com/questions/393416/are-these-2-graphs-isomorphic
5 6
4
1 2
7
3
ED
B
GF
A
C
Origin ✓Iso- : “equal” ✓Morphosis: “to form”
Meaning ✓Formally, an isomorphism is bijective morphism. ✓Informally, an isomorphism is a map that preserves sets
and relations among elements.
Isomorphism screening
Network ensemble generation
Isomorphic motifs
For ensembles of small networks ✓2-nodes network: 1 motif out of 2 ✓4-nodes network: 11 motifs out of 228
24 24 24
124824 24
6126 24
2