A Teaching Tool For Phasor Measurement Estimation: December, 2013 Daniel Dotta
A Teaching Tool For Phasor Measurement Estimation: December, 2013 Daniel Dotta
A Teaching Tool For Phasor Measurement Estimation: December, 2013 Daniel Dotta
Electrical Engineering
Daniel Dotta
Electrical Engineering Department
Federal Institute of Santa Catarina (IFSC), Brazil
Nov-Dec 2013, DD
Electrical Engineering
Outline
Objective
Motivation
Phasor Measurement Process
Phasor Definition
PMU Architectures
PMU Simulink Simulator
Simulations
Conclusions
Future Developments
Nov-Dec 2013, DD
Electrical Engineering
Objective
To present the design of a Simulink-based Phasor
Measurement Unit (PMU) Simulator
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Electrical Engineering
Motivation
PMUs are spread around world
Over thousand PMUs installed in USA and China
Education
Necessity on modernize power system education
courses
CURENT Project at RPI (Rensselaer Polytechnic Institute)
IEEE Power and Energy Education Initiative
Nov-Dec 2013, DD
Electrical Engineering
What is a Phasor?
t 0
x t 2 A cos 2 60 t
Re
2 Ae j
Electrical Engineering
Anatomy of a PMU
Electrical Engineering
PMU Architectures
x(t)
x(t)
Analog
Filter
A/D
Converter
Non-Uniform
Sampling
Analog
Filter
Sampling
Clock
Frequency
Estimator
x(k)
A/D
Converter
Frequency
Estimator
x(k)
Digital
Filter
Digital
Filter
Phasor
Estimator
Phasor
Estimator
Uniform
Sampling
(first one)
X(k)
X(k)
Frequency Tracking
Sampling
Clock
Frequency Compensation
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Electrical Engineering
1.5
N 12
N=12
Magnitude (pu)
Window Size
(points)
0.5
Regular sampling
period (Ts)
-0.5
-1
-1.5
0.014
1/fs
0.016
0.018
Sampling rate
For N=12
0.02
0.022
0.024
Time(s)
0.026
f s Nf
0.028
0.03
0.032
Sampling period
f s 12 60 720Hz
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Ts 0.0014s
1
Ts
fs
8
Electrical Engineering
N 12
Time Domain
Time-Domain Signal
1.5
Magnitude (pu)
DFT
N=12
0.5
-0.5
-1
1/fs
-1.5
0.014
0.016
0.018
Samples
where
0.02
0.022
0.024
Time(s)
0.026
0.028
0.03
0.032
xn x(tn )
X m X (e jm )
tn nTs , n 0,, N -1
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2
m m , m 0,, N -1
N
9
Electrical Engineering
Phasor Estimation
Definition of DFT
N 1
2
Xm
xn e
N n 0
Fundamental frequency
component, set m=1
2
j nm
N
N 1
2
X
xn e
N n 0
2
n
N
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Electrical Engineering
Frequency Estimation
Frequency Estimation is a key role in the both architectures
Changing the sampling window
Providing the frequency for phasor correction
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Electrical Engineering
Frequency Estimation
Zero-Crossing
Good performance for well filtered or perfect waves
High sensible to noise
12
neighborhood
10
0
45
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50
55
60
Frequency (Hz)
65
70
75
12
Electrical Engineering
Frequency Estimation
Kalman Filters
Suitable for noise rejection
Slow compared with the other methods
Dependent from the model parameters adjustment (variance and covariance noise
matrices)
Demodulation
The main idea is to multiply the scalar input with a sine and cosine signal with a
know frequency
Z (k ) e j (0tk )
Fault conditions
V (k ) Ae
Nov-Dec 2013, DD
j (1tk )
Y (k ) Ae j[(1 0 )tk ]
X
13
Electrical Engineering
Frequency Estimation
Phasor Angle Changing
Based on the idea that
1
f (t )
2 t
satisfactory results
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Electrical Engineering
Frequency Estimation
Results for frequency ramp
Demodulation
Angle Changing
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Electrical Engineering
Pos-Processing
Under off-nominal operation the phasor measured (Xmes) is
different from the true value (Xtrue)
The effect of the off-nominal frequency can be expressed by a P
and Q factor.
Phasor correction
N ( 0 )t
( 0 ) t
j ( N 1)
2
2
P {
}e
( 0 )t
Nsin
2
N ( 0 )t
sin
( 0 ) t
j ( N 1)
2
2
Q {
}e
where
( 0 )t
Nsin
2
N - window size
X mes PX true QX
sin
w actual frequency
w0 nominal frequency
*
true
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Electrical Engineering
Pos-Processing
The P factor is directly influence by N and frequency value
P behavior under frequency variation (N=48)
Complex Gain P
Magnitude
1.005
1
0.995
0.99
Angle (degress)
0.985
-5
-4
-3
-2
-1
-4
-3
-2
-1
20
10
0
-10
-20
-5
17
Electrical Engineering
X N n X N n 1
2
( xN n xn )e
N
Xn
Pn
X ntrue
2
n
N
Post-Processing
measured
xn (t )
Xn
X nfiltering
Filtering*
DFT
Frequency
estimation
X ntrue
Pn
Filtering*
A Average Filter
B Windowing
(C) Least Squares
N ( 0 )t
( 0 ) t
j ( N 1)
2
2
Pn {
}e
( 0 )t
N sin
2
sin
t sampling period
Fixed
N - window size
18
Electrical Engineering
(Education)
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Electrical Engineering
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Electrical Engineering
Teaching Tool
PMU Simulink Simulator
Main Window
0
Step
1
Ramp
Disturbance
Switch 1
60
Nominal
Frequency
59
Frequency Goal
SP_MF
SP_MF
SP_MnF
SP_MnF
PS_M
PS_M
PS_Md
PS_Md
PS_A
PS_A
PS_Ad
PS_Ad
Switch 2
Frequency Deviation
PMU
Frequency
Goal
Nov-Dec 2013, DD
FD
Ploting
Area
21
Electrical Engineering
SP_MF
1
SP_MF
SP_MnF
Single-PhaseProcessing
2
SP_MnF
3 PS_M
2
Frequency
Goal
Phase A
Frequency
Phase A
Phasor A
Phasor A
Phase B
Phase B
Phasor B
Phasor B
Phase C
Phase C
Phasor C
Phasor C
P_PS
PS_M
P_PS
1
Disturbance
Type
Three-Phase
Signal Producer
CF
P_ PS
Phasor
Estimation
Symmetrical
Components
FD
Frequency
Estimation
Nov-Dec 2013, DD
FD
PS_M
PS_Md
4
PS_Md
PS_A
PS_Ad
6
PS_Ad
PS_A
Lookup
Table
7
Frequency
Deviation
Downsampling
5 PS_A
22
Electrical Engineering
Simulations
Frequency Step (1 Hz)
Phase A - Signal Input
Magnitude
2
1
0
-1
-2
1.5
1.6
1.7
1.8
1.9
2.1
2.2
2.3
2.4
2.5
Frequency
60
Hz
Estimated
Reference
59.5
59
1.5
1.6
1.7
1.8
1.9
2.1
2.2
2.3
2.4
2.5
Time(s)
23
Electrical Engineering
Simulations
Positive Sequence
Positive Sequence Magnitude - Downsampling
1.1
Magnitude (pu)
1.05
0.95
0.9
0
0.5
1.5
2.5
3.5
4.5
4.5
Time
(s) - Downsampling
Positive Sequence
Angle
250
200
Angle (degrees)
150
100
50
0
-50
-100
-150
-200
0
0.5
1.5
2.5
3.5
Time (s)
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Electrical Engineering
Simulations
Positive Sequence (Ramp +1Hz)
Downsampling Angle - Ramp Disturbance
150
Angle (degrees)
100
50
0
-50
-100
-150
1.5
2.5
3.5
4.5
Time (s)
25
Electrical Engineering
Simulations
Positive Sequence Complex Gain P Influence
PS Magnitude - Before Correction
1.0002
1.0001
Magnitude (pu)
1
0.9999
0.9998
0.9997
0.9996
0.9995
0.9994
1.8
1.9
2.1
2.2
2.3
Time (s)
26
Electrical Engineering
Simulations
Positive Sequence Complex Gain P Influence
PS Magnitude - Before Correction
Magnitude (pu)
1
0.9999
0.9998
0.9997
0.9996
0.9995
1.6
1.8
2.2
2.4
2.6
2.8
3.2
3.4
3.6
Time (s)
27
Electrical Engineering
Simulations
Single-Phase Complex Gain Q Influence
28
Electrical Engineering
Simulations
Single-Phase Complex Gain Q Influence
Single-Phase Magnitude
1.008
Magnitude (pu)
1.006
1.004
1.002
1
0.998
0.996
0.994
0.992
0.99
1.99
2.01
2.02
2.03
2.04
2.05
2.06
2.07
Time (s)
Before Downsampling
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Electrical Engineering
Simulations
Single-Phase Complex Gain Q Influence
Single-Phase Filtering and Downsampling
Mangnitude (pu)
1.01
1.005
1
0.995
0.99
0.985
2
2.5
3.5
Time (s)
After Downsampling
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Electrical Engineering
Simulations
Positive Sequence Complex Gain Q Influence
Positive Sequence - Unbalanced Operation
Magnitude (pu)
1.0002
0.9998
0.9996
0.9994
1.5
2.5
3.5
4.5
Time (s)
31
Electrical Engineering
Real Data
Frequency Step
Real Data - Frequency
51
50.5
Hz
50
49.5
49
48.5
48
0
10
15
20
25
30
35
40
Time (s)
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Electrical Engineering
Real Data
Single-Phase Performance
Single-Phase - Real Data
11.3
Magnitude (V)
11.2
11.1
11
10.9
10.8
10.7
10.6
10
15
20
25
30
35
40
Time(s)
1 Hz Oscillation
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Electrical Engineering
Real Data
Single-Phase Performance Zoom
Single-Phase - Real Data
11.325
Magnitude (V)
11.32
11.315
11.31
11.305
11.3
11.295
24
26
28
30
32
34
36
38
Time(s)
34
Electrical Engineering
Real Data
Positive Sequence
Magnitude - Positive Sequence
11.3
Magnitude (V)
11.2
11.1
11
10.9
10.8
10.7
10.6
15
20
25
30
Time(s)
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Electrical Engineering
Conclusions
PMU Simulink Simulator
Phasor measurement process understanding (data analysis)
Maybe helpful to include PMU measurement in state estimators
Maybe helpful to better design future advanced protection and
control applications
Real data processing
Can be used in classroom for WAMS teaching
Validated in classroom set with students from IFSC and USP-SC
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Electrical Engineering
Future Developments
Hybrid state estimator using both SCADA and PMU data
increases the reliability (solution convergence) of a
state estimator by a few percent because of better
observability (Prof. Ali Abur)
Phasor state estimator
State estimator using only PMU data
Very few US ISOs can have this capability except for
New York: Full coverage for 765/345/230 kV; most
PMUs have multiple current channels
Perhaps New England also
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Electrical Engineering
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Electrical Engineering
State Estimator
PMU
Network
Parameters
PMU
PMU
Phasor
Data
State
Estimator
PDC
(Only Phasors)
Trustable Data
for
Applications
Network
Status
PMU
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Electrical Engineering
Contact
Contact
Daniel Dotta: [email protected]
Nov-Dec 2013, DD
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Electrical Engineering
WAMS Overview
USA
Selective coverage of HV buses
Old PMUs (some close to 20 years); New PMUs: DOE Smart
Grid Investment Program (SGIG) adding over 1000 PMUs
Deregulated markets no direct monitoring of generator
variables; in New York, the norm is no PMU on a generator
substation
Concerns with sharing PMU data between different ISOs
PMU data communication over both private and public
networks
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Electrical Engineering
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Electrical Engineering
Time Synchronization
GOES (Geostationary
Operational
Environmental Satellite
(NASA)): 25-100 microsecond accuracy
GPS (Global Positioning
System, 1973, originally 24
satellites) 32 satellites in
medium Earth orbit: 2
micro-second accuracy
IRIG-B pulses
IEEE 1588: distributed by
Ethernet
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Electrical Engineering
Introduction
US power system: 3 phase sinusoidal AC voltages and
currents at a frequency of 60 Hz
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Electrical Engineering
V and P,Q are sampled every 5 sec (or less frequently). An RTU will transmit the
data via modems, microwave, or internet in ICCP directly to control rooms or
NERC Net (USA).
The data from different locations are not captured at precisely the same time.
However, V, P, and Q normally do not change abruptly (unless there is a large
disturbance nearby). These data can be used in the State Estimator to validate
the measured data and calculate the non-metered voltages and line power flows.
The parameter that is still varying in steady-state is the system frequency f which
is not exactly at 50 or 60 Hz, and as a result, the phase of the voltages and
currents would change rapidly.
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Electrical Engineering
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Electrical Engineering
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