Heterogeneity effects in power grid network models

Studying power-grid synchronization with incremental refinement of model heterogeneity

The dynamics of electric power systems are widely studied through the phase synchronization of oscillators, typically with the use of the Kuramoto equation. While there are numerous well-known order parameters to characterize these dynamics, shortcoming of these metrics are also recognized. To capture all transitions from phase disordered states over phase locking to fully synchronized systems, new metrics were proposed and demonstrated on homogeneous models. In this paper, we aim to address a gap in the literature, namely, to examine how the gradual improvement of power grid models affects the goodness of certain metrics. To study how the details of models are perceived by the different metrics, 12 variations of a power grid model were created, introducing varying levels of heterogeneity through the coupling strength, the nodal powers, and the moment of inertia. The grid models were compared using a second-order Kuramoto equation and adaptive Runge-Kutta solver, measuring the values of the phase, the frequency, and the universal order parameters. Finally, frequency results of the models were compared to grid measurements. We found that the universal order parameter was able to capture more details of the grid models, especially in cases of decreasing moment of inertia. Even the most heterogeneous models showed notable synchronization, encouraging the use of such models. Finally, we show local frequency results related to the multi-peaks of static models, which implies that spatial heterogeneity can also induce such multi-peak behavior.

Chimera-like states in neural networks and power systems

Partial, frustrated synchronization, and chimera-like states are expected to occur in Kuramoto-like models if the spectral dimension of the underlying graph is low: ds<4. We provide numerical evidence that this really happens in the case of the high-voltage power grid of Europe (ds<2), a large human connectome (KKI113) and in the case of the largest, exactly known brain network corresponding to the fruit-fly (FF) connectome (ds<4), even though their graph dimensions are much higher, i.e., dgEU≃2.6(1) and dgFF≃5.4(1), dgKKI113≃3.4(1). We provide local synchronization results of the first- and second-order (Shinomoto) Kuramoto models by numerical solutions on the FF and the European power-grid graphs, respectively, and show the emergence of chimera-like patterns on the graph community level as well as by the local order parameters.

Temporal, Structural, and Functional Heterogeneities Extend Criticality and Antifragility in Random Boolean Networks

Most models of complex systems have been homogeneous, i.e., all elements have the same properties (spatial, temporal, structural, functional). However, most natural systems are heterogeneous: few elements are more relevant, larger, stronger, or faster than others. In homogeneous systems, criticality-a balance between change and stability, order and chaos-is usually found for a very narrow region in the parameter space, close to a phase transition. Using random Boolean networks-a general model of discrete dynamical systems-we show that heterogeneity-in time, structure, and function-can broaden additively the parameter region where criticality is found. Moreover, parameter regions where antifragility is found are also increased with heterogeneity. However, maximum antifragility is found for particular parameters in homogeneous networks. Our work suggests that the "optimal" balance between homogeneity and heterogeneity is non-trivial, context-dependent, and in some cases, dynamic.

Synchronization Transition of the Second-Order Kuramoto Model on Lattices

The second-order Kuramoto equation describes the synchronization of coupled oscillators with inertia, which occur, for example, in power grids. On the contrary to the first-order Kuramoto equation, its synchronization transition behavior is significantly less known. In the case of Gaussian self-frequencies, it is discontinuous, in contrast to the continuous transition for the first-order Kuramoto equation. Herein, we investigate this transition on large 2D and 3D lattices and provide numerical evidence of hybrid phase transitions, whereby the oscillator phases θi exhibit a crossover, while the frequency is spread over a real phase transition in 3D. Thus, a lower critical dimension dlO=2 is expected for the frequencies and dlR=4 for phases such as that in the massless case. We provide numerical estimates for the critical exponents, finding that the frequency spread decays as ∼t-d/2 in the case of an aligned initial state of the phases in agreement with the linear approximation. In 3D, however, in the case of the initially random distribution of θi, we find a faster decay, characterized by ∼t-1.8(1) as the consequence of enhanced nonlinearities which appear by the random phase fluctuations.

Synchronization dynamics on power grids in Europe and the United States

Dynamical simulation of the cascade failures on the Europe and United States (U.S.) high-voltage power grids has been done via solving the second-order Kuramoto equation. We show that synchronization transition happens by increasing the global coupling parameter K with metasatble states depending on the initial conditions so that hysteresis loops occur. We provide analytic results for the time dependence of frequency spread in the large-K approximation and by comparing it with numerics of d=2,3 lattices, we find agreement in the case of ordered initial conditions. However, different power-law (PL) tails occur, when the fluctuations are strong. After thermalizing the systems we allow a single line cut failure and follow the subsequent overloads with respect to threshold values T. The PDFs p(N_{f}) of the cascade failures exhibit PL tails near the synchronization transition point K_{c}. Near K_{c} the exponents of the PLs for the U.S. power grid vary with T as 1.4≤τ≤2.1, in agreement with the empirical blackout statistics, while on the Europe power grid we find somewhat steeper PLs characterized by 1.4≤τ≤2.4. Below K_{c}, we find signatures of T-dependent PLs, caused by frustrated synchronization, reminiscent of Griffiths effects. Here we also observe stability growth following the blackout cascades, similar to intentional islanding, but for K>K_{c} this does not happen. For T<T_{c}, bumps appear in the PDFs with large mean values, known as "dragon king" blackout events. We also analyze the delaying or stabilizing effects of instantaneous feedback or increased dissipation and show how local synchronization behaves on geographic maps.

Sandpile cascades on oscillator networks: The BTW model meets Kuramoto

Cascading failures abound in complex systems and the Bak-Tang-Weisenfeld (BTW) sandpile model provides a theoretical underpinning for their analysis. Yet, it does not account for the possibility of nodes having oscillatory dynamics, such as in power grids and brain networks. Here, we consider a network of Kuramoto oscillators upon which the BTW model is unfolding, enabling us to study how the feedback between the oscillatory and cascading dynamics can lead to new emergent behaviors. We assume that the more out-of-sync a node is with its neighbors, the more vulnerable it is and lower its load-carrying capacity accordingly. Also, when a node topples and sheds load, its oscillatory phase is reset at random. This leads to novel cyclic behavior at an emergent, long timescale. The system spends the bulk of its time in a synchronized state where load builds up with minimal cascades. Yet, eventually, the system reaches a tipping point where a large cascade triggers a "cascade of larger cascades," which can be classified as a dragon king event. The system then undergoes a short transient back to the synchronous, buildup phase. The coupling between capacity and synchronization gives rise to endogenous cascade seeds in addition to the standard exogenous ones, and we show their respective roles. We establish the phenomena from numerical studies and develop the accompanying mean-field theory to locate the tipping point, calculate the load in the system, determine the frequency of the long-time oscillations, and find the distribution of cascade sizes during the buildup phase.

Growth strategy determines the memory and structural properties of brain networks

The interplay between structure and function affects the emerging properties of many natural systems. Here we use an adaptive neural network model that couples activity and topological dynamics and reproduces the experimental temporal profiles of synaptic density observed in the brain. We prove that the existence of a transient period of relatively high synaptic connectivity is critical for the development of the system under noise circumstances, such that the resulting network can recover stored memories. Moreover, we show that intermediate synaptic densities provide optimal developmental paths with minimum energy consumption, and that ultimately it is the transient heterogeneity in the network that determines its evolution. These results could explain why the pruning curves observed in actual brain areas present their characteristic temporal profiles and they also suggest new design strategies to build biologically inspired neural networks with particular information processing capabilities.

Power-Law Distributions of Dynamic Cascade Failures in Power-Grid Models

Power-law distributed cascade failures are well known in power-grid systems. Understanding this phenomena has been done by various DC threshold models, self-tuned at their critical point. Here, we attempt to describe it using an AC threshold model, with a second-order Kuramoto type equation of motion of the power-flow. We have focused on the exploration of network heterogeneity effects, starting from homogeneous two-dimensional (2D) square lattices to the US power-grid, possessing identical nodes and links, to a realistic electric power-grid obtained from the Hungarian electrical database. The last one exhibits node dependent parameters, topologically marginally on the verge of robust networks. We show that too weak quenched heterogeneity, coming solely from the probabilistic self-frequencies of nodes (2D square lattice), is not sufficient for finding power-law distributed cascades. On the other hand, too strong heterogeneity destroys the synchronization of the system. We found agreement with the empirically observed power-law failure size distributions on the US grid, as well as on the Hungarian networks near the synchronization transition point. We have also investigated the consequence of replacing the usual Gaussian self-frequencies to exponential distributed ones, describing renewable energy sources. We found a drop in the steady state synchronization averages, but the cascade size distribution, both for the US and Hungarian systems, remained insensitive and have kept the universal tails, being characterized by the exponent τ≃1.8. We have also investigated the effect of an instantaneous feedback mechanism in case of the Hungarian power-grid.

Critical synchronization dynamics of the Kuramoto model on connectome and small world graphs

The hypothesis, that cortical dynamics operates near criticality also suggests, that it exhibits universal critical exponents which marks the Kuramoto equation, a fundamental model for synchronization, as a prime candidate for an underlying universal model. Here, we determined the synchronization behavior of this model by solving it numerically on a large, weighted human connectome network, containing 836733 nodes, in an assumed homeostatic state. Since this graph has a topological dimension d < 4, a real synchronization phase transition is not possible in the thermodynamic limit, still we could locate a transition between partially synchronized and desynchronized states. At this crossover point we observe power-law–tailed synchronization durations, with τ_t ≃ 1.2(1), away from experimental values for the brain. For comparison, on a large two-dimensional lattice, having additional random, long-range links, we obtain a mean-field value: τ_t ≃ 1.6(1). However, below the transition of the connectome we found global coupling control-parameter dependent exponents 1 < τ_t ≤ 2, overlapping with the range of human brain experiments. We also studied the effects of random flipping of a small portion of link weights, mimicking a network with inhibitory interactions, and found similar results. The control-parameter dependent exponent suggests extended dynamical criticality below the transition point.

On structural and dynamical factors determining the integrated basin instability of power-grid nodes

In electric power systems delivering alternating current, it is essential to maintain its synchrony of the phase with the rated frequency. The synchronization stability that quantifies how well the power-grid system recovers its synchrony against perturbation depends on various factors. As an intrinsic factor that we can design and control, the transmission capacity of the power grid affects the synchronization stability. Therefore, the transition pattern of the synchronization stability with the different levels of transmission capacity against external perturbation provides the stereoscopic perspective to understand the synchronization behavior of power grids. In this study, we extensively investigate the factors affecting the synchronization stability transition by using the concept of basin stability as a function of the transmission capacity. For a systematic approach, we introduce the integrated basin instability, which literally adds up the instability values as the transmission capacity increases. We first take simple 5-node motifs as a case study of building blocks of power grids, and a more realistic IEEE 24-bus model to highlight the complexity of decisive factors. We find that both structural properties such as gate keepers in network topology and dynamical properties such as large power input/output at nodes cause synchronization instability. The results suggest that evenly distributed power generation and avoidance of bottlenecks can improve the overall synchronization stability of power-grid systems.

Synchronization in network geometries with finite spectral dimension

Recently there is a surge of interest in network geometry and topology. Here we show that the spectral dimension plays a fundamental role in establishing a clear relation between the topological and geometrical properties of a network and its dynamics. Specifically we explore the role of the spectral dimension in determining the synchronization properties of the Kuramoto model. We show that the synchronized phase can only be thermodynamically stable for spectral dimensions above four and that phase entrainment of the oscillators can only be found for spectral dimensions greater than two. We numerically test our analytical predictions on the recently introduced model of network geometry called complex network manifolds, which displays a tunable spectral dimension.