Professional Documents
Culture Documents
By
Lashkari Himanshu Dineshkumar
Enrolment No: - 110430707001
Guided by
Prof. Jaydeepsinh B. Sarvaiya
M.E. (Electrical Power System)
Assistant Professor
Electrical Engineering Department
A thesis Submitted to
Gujarat Technological University
In Partial Fulfilment of the Requirement for
The Degree of Master of Engineering
In Electrical Engineering
May-2014
CERTIFICATE
This is to certify that research work embodied in this thesis entitled Application of
Synchrophasor Technology for Wide Area Measurement system was carried out by
Mr. Lashkari Himanshu Dineshkumar (110430707001) at Electrical Engineering
Department, Shantilal Shah Engineering College, Bhavnagar, for the partial
fulfillment of M.E. degree to be awarded by Gujarat Technological University. This
research work has been carried out under my supervision and is to my satisfaction of
department. The students work has been published for publication.
Date:
Place:
Guided By
Principal
Dr. M. G. Bhatt
Seal of Institute
COMPLIANCE CERTIFICATE
This is to certify that research work embodied in this thesis entitled Application of
Synchrophasor Technology for Wide Area Measurement System was carried out by
Mr. Lashkari Himanshu Dineshkumar (Enrollment No. 110430707001) at Shantilal
Shah Engineering College (043), Bhavnagar for partial fulfillment of Master of
Engineering degree to be awarded by Gujarat Technological University. He has
complied with the comments given by the Dissertation phase I as well as Mid
Semester Thesis Reviewer to my satisfaction.
Date:
Place:
Place:
II
THESIS APPROVAL
Date:
Place:
Examiner(s) :-
III
DECLARATION OF ORIGINALITY
I hereby certify that I am the sole author of this thesis and that neither any part
of this thesis nor the whole of the thesis has been submitted for a degree to any other
University or Institution.
I certify that, to the best of my knowledge, my thesis does not infringe upon
anyones copyright nor violate any proprietary rights and that any ideas, techniques,
quotations, or any other material from the work of other people included in my thesis,
published or otherwise, are fully acknowledged in accordance with the standard
referencing practices. Furthermore, to the extent that I have included copyrighted
material that surpasses the bounds of fair dealing within the meaning of the Indian
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I declare that this is a true copy of my thesis, including any final revisions, as
approved by my thesis review committee.
Date:
Place:
Enrollment No. :-
110430707001
Institute Code :-
043
IV
ACKNOWLEDGEMENT
I sincerely express my deep sense of reverential gratitude to my guide Prof.
J. B. Sarvaiya, Assistant Professor, Department of Electrical Engineering, Shantilal
Shah Engineering College, Bhavnagar, for his valuable suggestions, constant
encouragement and unflinching co-operation throughout this work. I sincerely
thank for his exemplary guidance and encouragement. His trust and support inspired
me in the most important moments of making right decisions and I am glad to work
with him. I would like to thank faculties of Electrical Engineering at S.S.E.C.
TABLE OF CONTENTS
Certificate
Compliance Certificate
II
Thesis Approval
III
Declaration of Originality
IV
Acknowledgement
Table of Contents
VI
List of Figures
VIII
Abstract
Chapter 1
IX
Introduction
1.1 Objective of Thesis
Chapter 2
Literature Review
Chapter 3
Chapter 4
3.1 General
11
13
3.7 Applications
14
3.8 Summary
15
17
19
20
VI
Chapter 5
Chapter 6
22
23
24
28
Chapter 8
32
36
37
38
38
42
43
44
References
Appendix A
45
Appendix B
Index
46
VII
List of Figures
Figure 3.1
Phasor Representation
Figure 3.2
Figure 3.3
Figure 3.4
Figure 3.5
Figure 4.1
Figure 4.2
PMU Architecture
Figure 5.1
Figure 5.2
Figure 5.3
Figure 5.4
Figure 5.5
Figure 5.6
Figure 5.7
Figure 6.1
Figure 6.2
Figure 7.1
Figure 7.2
Figure 7.3
Figure 7.4
Case Study
Figure 7.5
Figure 7.6
Figure 7.7
Figure 7.8
VIII
Supervised By
Prof. Jaydeepsinh B. Sarvaiya
Assistant Professor in Electrical Engineering
Abstract
For the secure and reliable operation of the interconnected power system, it is
required to measure and monitor the system in real time. Conventional Supervisory
Control and Data Acquisition / Energy Management System (SCADA/EMS) obtain
the data at interval of 2-10 sec. This report gives an idea about synchronized Phasor
Measurement (SPM) based Wide Area Monitoring System (WAMS) using Phasor
Measurement Unit (PMU) placed at various locations in electrical power network.
They are synchronized by the Global Positioning System (GPS) satellites. High
precision time stamped data are obtained from PMUs at typical rates of 30 samples
per second. For improvements in power system control and protection by utilizing
real time synchronized phasor measurements is suggested. In this Dissertation work,
Objective of the work is to develop a Matlab based Simulink model of the Phasor
Measurement Unit. Phasor Data Concentrator for Data storage and a common
reference time data are also developed in Matlab.
Synchronized Phasor Measurements can be used for Power system protection. This
SPM makes our power system protection more accurate and faster. So, we have
develop a Matlab Simulink model of differential protection using Synchronized
Current Measurements.
IX
Chapter
Introduction
The deregulation
by United
Electricity
of
is a challenge
to maintain
manner
parameters
Now
To
like P, Q, V, f, b to be measured
location so
In recent years, power systems have been very difficult to manage as the load
demands increase and environment constraints restrict the transmission network.
Three main factors cause voltage instability and collapse. The first factor is
dramatically increasing load demands. The second factor is faults in the power
system. The last factor is increasing reactive power consumption.
1.1
Objective
The objective of this project is to develop a Matlab based Simulink model for the
Phasor Measurement Unit. Presently, EMS/SCADA system is in use for the
StateEstimation of the system. But it suffers from some serious disadvantages like
Non-accurate State Estimation, unsynchronized data with respect to time. So, prime
requirement of current scenario is to develop such a system, that can oversome this
disadvantages of current measurement system and which is capable to give accurate
time synchronized state estimation of various parameters.
Synchronized
wide
area measurement
monitoring,
units
phasor measurements
systems
protection,
(PMUs)
measurements
are
and control
power
system
in
advanced
applications.
devices that
element of
power
system
Phasor
measurement
provide
synchronized
sampling using
1.2
Scope of Work
System(WAMS).
Chapter 2 describes the Literature Review for this Dissertation Work. In this
chapter various Reference Books & Papers are included which is very helpful to
carry out this work.
Chapter 3
presents
limitations.
measurement
existing
power monitoring
in current
methods
and its
of synchronized
power system
phasor
for better
performance.
Chapter 7 is the Simulation and Result for the Phasor Measurement Unit and its
Placement strategies. Developed Simulink model of PMU is also used for the
power system protection.
Chapter
Literature Review
Literature Review plays a very important role in the project. Literature survey consists
of book referred which gives fundamental knowledge of synchronized phasor
measurement and its applications. Papers were taken from IEEE conference
proceeding referred etc. IEEE standards for PMU and PDC are also referred.
This paper at
This Standard
Simulator discusses the importance of PMU data for Power system operation. In
this paper the main computational algorithms involved in the phasor measurement
process are illustrated using a MATLAB based PMU simulator. This paper gives a
good understanding of the phasor measurement process.
The Paper
[7] Xu B., and Abur A. 7 Optimal Placement of Phasor Measurement Units for State
estimation The above PSERC report states about Optimal PMU Placement with
the State Estimation of the Power system Network.
[8]Federico M., 8 Documentation for PSAT The paper is the Documentation for
use of Power System Analysis Toolbox. It is a Matlab Toolbox which is very
helpful for the Implementation of various PMU Placement Technique.
Chapter
For
are
General
Electrical
according
to importance
of
measured data.
3.1.1
Traditional
The traditional
system to gather
system
data.
SCADA systems
obtain
these data
from
that
few seconds long. The gathered data include status of breakers and switches,
real and reactive power flows, and volt- age magnitudes.
in steady state, the measured
gathering
process.
quantities
remain constant
during
the data-
enough data to estimate the voltage magnitudes and angles at all buses with
respect to an angle reference.
3.1.2
Limitations
Conventional
when the
system state is changing quickly and when critical data are missing. When the
power system state
window
is changing
quickly,
inconsistencies
measurements
consistent
with
Additionally,
and the
taken
in a time
each other.
are proportional
rate
The
to
at which the
3.2
Smart
A smart
Grid
advanced
location
and
is likely to fail.
grid integrates
technologies
methods
values obtained
sensing technologies,
control methods,
grid.
to the simulated
benefits and design challenges to the utility, its customers, and the associated
technologists.
of data from all the sensors on the system within few power cycles.
3.3
generation
changes,
disturbances
oscillations
frequency
faults
and
transients
frequency
measurement
setup
WAMS
frequency
in the
are essentially
Unlike c o n v e n t i o n a l
is required. Wide
These
like inter-machine
Systems(WAMS)
acquisition technology.
trippings.
a wide area
Area Measurement
equipment
measurements
transients,
subject to disturbances
RMS values
and voltages.
system
acquires
phasor data
power system.
GPS
measured
synchronized
by PMUs
at selected
include
both
voltage
locations
magnitudes
and
in the
and
current,
is a viable alternative
as it
3.4
Phasor
circuits.
phase angles.
system operators
phasor
Measurement
the analysis
Phasor measurements
at important
measurements
of AC
nodes help
Synchronized
model validation,
post-event
analysis, real-time
with m a g n i t u d e
is used to represents
the
reference
reference
magnitude
and
and phase
sinusoidal
(with respect
is expressed
to a
using
sinusoidal
an angular
peak
measure.
to the amplitude
of the sinusoidal
signal.
given by
x(t) = Xm cos(t + )
(3.1 )
here being the frequency of the signal in radians per second, and being
the phase angle in radians. Xm is the peak amplitude of the signal. The root
mean square (RMS) value of the input signal is (Xm/2).
Equation
3.1
(3.2)
(3.3)
10
Measurement
Synchrophasor
of Synchrophasors
measurements
Constant (UTC)
shall be tagged
time corresponding
This
to the current
Time
1 s , 1970,
requirements
As standard
3.5
Phasor
The
Phasor
Measurement Unit
Measurement
Unit
(PMU)
receive
signals
locations
data concentrator
system ratings;
and control
estimator
and improvements
power
the voltage
available
flows,
in state
measurements
voltage magnitudes,
known as
and stability
Management
magnitudes
measurements
commonly
from Global
monitoring;
estimation, protection,
System
(EMS). A state
form
or current
of power
through
the
branches.
and tested
in Virginia
1690
developed
system
(WAMS),
which
11
A PMU When placed at a bus, can provide a highly accurate measurements of the
voltage phasor at that bus, as well as the current
transmission
Modern
lines (depending
on the available
features,
measurement
like frequency
measurement,
power quality
of substation
apparatus.
The analog signals are derived from the voltage and current
transformer
secondaries, with
microprocessor
appropriate
of the status
channels).
anti-aliasing
and
sequence
surge
filtering.
The
timing
at the beginning
in a message
stream
to be communicated
to a remote
is
site
over a
line.
12
3.6
Communication
Methods
lines:
they are easy to set up and economical to use. These o f f e r data rates o f
up to about 56 kbps ( analog).
Fiber-optic
cables:
it
to RF and atmospheric
provides, which
telecommunication
can
of using fiber-optics
interference,
be
used
by
include
its
utilities
of using
for
fiber-optics
other
is its
lines:
is fast emerging
links:
is a new technique
(PLC)
and
option
as compared to leased lines, since they are easy to set up and are highly
reliable. The main disadvantages of using microwave links are signal fading
and multipath
propa- gation.
Satellites:
Earth
orbiting satellites
Remote substation
SCADA
is one area where satellites have been used effectively. The disadvantages
of
13
3.7
Applications
The real power flow from the sending end can be calculated by
The relationship between can be also written by the line impedance, the phase angle
and the reactive power supplied to the line. Therefore, from these three equations
above, the new equation of voltage regulation can be written as
14
voltage measurement
recording
Distributed
control
generation
and control
3.8
Summary
In this chapter
brief introduction
of Synchronized
Phasor
Measurement
is given.
15
Chapter 4
16
DFT has components at + and-. These components can be combined and divided
by the square root of 2 to get the RMS value.
-1.
The equation for the fundamental component can be rewritten as complex form as
following
17
Where,
18
19
Telemetry from different sub-stations and power plants are being received at each
SLDC/RLDC and subsequently to NLDC which are being utilized in day to day
operations of the regional grid.
Prior to the introduction of Phasor Measurement Units (PMUs) at control centre level
this analogue value is normally not considered as measurable in SCADA system and
hence does not form a part of the SCADA measurement. However SCADA
technology does provide an estimate of the relative phase angle difference (with
respect to a reference bus) through the State Estimator. The State estimator uses the
SCADA inputs (analogue and digital measurands) to estimate the system state viz.
node voltage and angle.
Information about phase angle difference between two different nodes in a power
system has also been calculated based on the real time power flow between the nodes,
bus voltages and network reactance using standard equation = sin-1 (P*X/V1*V2).
Angular information at control centre is also obtained by placing phase angle
transducer at strategic locations and interfacing it in existing SCADA system
20
Update time in the SCADA system is considerably large (up to 10-15 seconds) for
visualizing and controlling the dynamics of power system. The real time angular
measurement in the power system avoids above uncertainties and can be relied on to
assess the transmission capability in real time which is very crucial in efficiently
operating the present electricity market mechanism.
PMUs are able to measure what was once immeasurable: phase difference at different
substations. A pilot project was implemented in Northern Region (NR) to assess the
potential of PMU/synchrophasor measurements. Experienced gained with this pilot
project is described in the following paragraph.
21
Chapter
General
Secure o p e r a t i o n
system
of power systems
operating conditions.
substations
close monitoring
The measurements
of the
and un-metered
electrical
current
(I), active
network
parameters
measurements
quantities e.g.
were pr o vid ed
of global positioning
bus voltage
(V), frequency
by SCADA,
including
active
magnitudes.
and reactive
The utilization
relaying
applications
units
devices that
incident
channels.
These
(f),
power flow (P) reactive power (Q), load angle (J) and
of PMUs
requires
phasor
and Ohm's
c a lc u la t e d
as pseudo
that
these
laws, the
of the voltage
measurements
phasors
are obtained
from t h e P M U s
have been
installed.
Then
remaining
variables
can
applying
easily b e
has been studied by various researchers in the past. Two different approaches
used for solving this problem
topological observability,
(OPP)
literature,
and
like Depth
Simulated
First
Annealing
Search (DFS),
(SA), Tabu
Minimum
Search
(TS),
of PMU can be
22
5.2
Concepts of PMU
Placement
to that
bus and
bus. The
measurement
to a bus where
measurement
to each branch
to each node
pseudo-measurement
a l l o w s interconnecting
current
pseudo-measurement
be indirectly
law (KCL).
are
known.
This
observed zones.
to each branch
calculated
to each branch
by the
Kirchhoff
balance
at a node is known.
The observability
conditions
that
the
and
the current
installed
phasors
branches
are
known.
Condition 2: If one end voltage phasor and the current phasor of a
branch are known, then the voltage phasor at the other end of the
branch can be calculated.
Condition 3: If voltage phasors of both ends of a branch
known, then the current
are
can be directly
obtained.
23
bus without
PMU and
the current phasors of the incident branches are all known but one,
then the current
using KCL.
Condition 5: If the voltage
phasor
of a zero-injection
bus is
be obtained
phasors
injection
adjacent
buses to that
of zero
injection
of a set of adjacent
buses
can
zero
be computed
phasors
by node
voltage
equations.
The m e a s u r e m e n t s
measurements.
obtained
The measurements
called pseudo-measurement.
from Condition
obtained
1 are called
from Conditions
The measurements
obtained
direct
from Conditions
24
Figure:- 5.1 Example of the First Observability Rule. Red values are already
known, blue values can be calculated.
VB = VA IAB(RAB + jXAB)
VC = VA IAC(RAC + jXAC)
VD = VA IDA(RAD + jXAD)
This significantly reduces the number of PMUs (and therefore cost) needed for
complete observability. PMUs are required to be on a minimum of 20-30% of buses to
achieve full system observability. Because of the ability of a PMU to observe
neighboring busses, PMU placement for full observability is very similar to the graph
theory topic of Domination.
There are also many special situations in which a bus can be calculated even if it is
not connected to a directly observable bus. The following general rules cover many of
these situations in which a bus does not have injection. If a bus without injection is
observed and all but one of its connecting buses is observed, then the unobserved bus
becomes observed.
25
26
27
5.4 PMU
Placement Algorithms
5.4.1
Depth
Recursive
Security,
Recursive
first
N-1
First Algorithm
This met hod uses rules from 1 to 3 (it does not consider p u r e transit
nodes)
only. The first P MU is placed at the bus with the largest number of connected
branches. If there are more than one bus with such characteristic, one is randomly
chosen. PMU are placed with the same criterion, until the complete network
visibility is obtained as depicted in figure 5.4
28
Recursive
This method
N Security Algorithm
is a modified depth
can be
of N minimum
of the minimum
algorithm is performed
spanning
N times
tree generation
(N being the
spanning trees:
number
algorithm.
The
of buses),
using
bus .
patterns:
replaced at the buses connected with the node where a PMU was originally
set, as depicted in figure3.2 PMU placements
The rules for minimal PMU placement assume a fixed network topology and a
complete reliability of measurement
which yield a
complete visibility in case of one line outage at a time (N-l spanning) is based on
the following: A bus is said to be observable if at least one of the two following
conditions applies:
Step 1: A PMU is placed at the node.
Step 2: The node is connected at least to two nodes equipped with a PMU.
Step 2 is ignored, if the bus is connected to single-end line.
The Proposed Algorithm is for Optimal location of PMU placement from which, the
power system network is completely observable. This developed method uses the
Placement rules for PMU placement and this algorithm is applied to IEEE 14 bus test
system. The Optimum location of PMU from above method are as shown in Results.
31
Chapter 6
The dashed dual slope shown in Fig. 6.1 is used for high-current conditions
where current transformer (CT) accuracy and saturation is more likely. Transmission
lines equipped with series compensation, flexible alternating current transmission
system (FACTS) devices, or multiterminal lines present protection problems which
call for differential protection. To date, such transmission line problems are solved
with differential-like schemes such as phase comparison. The easy availability of
synchronized measurements using Global Positioning System (GPS) technology and
the improvement in communication technology make it possible to consider true
differential protection of transmission lines and cables. Differential protection can be
based on computed phasors or on samples, although it can be argued that significant
shunt elements in the transmission line make phasors the preferred solution. In either
33
(6.1)
The impedances Zc1 and Zc2 are the impedances of the possible series
capacitor networks or FACTS devices, Z and Ys are the exact- impedance and
admittance, respectively. If the relay measures I1, V1, I2, and V2, then the differential
currents Ix and Iy can be obtained from Eq. Under no-fault conditions using
Kirchhoffs current law Ix = Iy. When a fault occurs the 50-Hz exact- is no longer
valid because the currents and voltages are no longer pure fundamental frequency
signals. A percentage differential characteristic such as shown in Fig. 6.1 based on Ix
34
(6.2)
V4 = V2 I2 I2ZC2
IS1 = V3YS
IS2 = V4YS
IX = I1 IS1
IY = I2 IS2
(6.3)
The preceding discussion is for lines of any length because of the exact- equivalent
but has the disadvantage of requiring voltage measurements. In an approximation to
the charging current is proposed which does not require voltage measurement. The
assumption is that each end uses data communicated from the other end to perform
the current differential calculation.
The best synchronization is obviously obtained with GPS. Pre fault load
currents can also be used for synchronizing. Data communication over a dedicated
fibre channel, while expensive, provides the best performance. A frequency shift
power line carrier, voice-grade channel operating at 64 kbps, can also be used. The
reliability of current differential schemes can be improved by adding redundant
channels.
35
Chapter 7
Simulation and Results
Matlab Simulation of WAMS Architecture
In this chapter Matlab Simulation of Prototype PMU is developed. In this chapter,
Simulink Models and their Results are shown.
Sampling is very important to get the precise time stamping to the measurements.
Nyquist criteria is to be followed for the sampling. For 50 Hz power system your
sampling frequency should be minimum of fs 2f0 . In our case we are Sampling
frequency is of 500 samples per second.
37
Here
Matlab
modeling
for
DFT
is
done
by
the
Fourier
TransformvMathematical Relation.
In this case study a simple 5 bus system is considered. 5 PMU is placed at each bus.
PMU is calculating the magnitude and phasors with time synchronization.
38
From above diagram it is quite clear that PMU measures the input phasors and Phasor
Data concentrator concentrates that data with common time reference frame.
discussed
with h e l p o f Power S y s t e m
described
location
required
various
observability
Analysis
Toolbox
(PSAT) a nd
PMU hardware
indicates
PMU
combinations
remained
possible
observable.
For complete
system
observability
algorithm
algorithm
N Security
However R e c u r s i v e
N-1
as it includes s i n g l e
Method
Bus Location
Depth First
06
01
1, 4, 6, 8, 10, 14
Recursive N Security
03
01
2, 6, 9
2,5,6,7,9,10,13,14
1,3,5,7,9,11,12,13
1,2,4,6,7,10,13,14
08
10
2,3,5,7,9,10,11,12
2,3,5,7,9,11,12,13
1,2,4,6,7,10,13,14
2,3,5,7,9,11,12,13
2,3,5,7,9,11,12,14
40
{2,6,7,9}{2,6,8,9}{2,7,10,13}{2,8,10,13}{2,7,11,13}
Figure 7.7 Matlab model for Differential Protection system using Phasor
Measurements
41
This is an attempt
algorithms
discussed
in
this chapter. By using basic Rules and Conditions for PMU placement, a
generalized Algorithm is also developed and also tested for 14 bus IEEE test
system.
Here three distinct PMU Placement algorithms are compared with the aim of
achieving complete observability of the power system in steady state
conditions. The outage of one of the line or equipment also analysed and the
results of IEEE 14 bus test system are discussed.
A Matlab model for use of PMU for Differential protection is developed and
results are as shown in Figure 7.8
42
Chapter 8
Conclusion:
Future Scope:
43
References
Papers:
[1] Phadke A. G., Thorp J.S. and De La Ree Jaime, Synchronized Phasor
Measurement Applications in Power Systems, IEEE Transactions On Smart
Grid, Vol. 1, No. 1, June 2010
[2] Adamiak Mark, Premerlani William and Kasztenny Bodgan,
Synchrophasors: Definition, Measurement, and Application, General
Electric Co., Global Research
[3] IEEE Std C37.118-2005 for Synchrophasors for Power Systems.
[4] Dotta Daniel and Chow Joe H., A MATLAB-based PMU Simulator, IEEE
Fellow.
[5] Mynam Mangapathirao V., Harikrishna Ala, and Singh Vivek, The Paper
entitled Synchrophasors Redefining SCADA Systems, Schweitzer
Engineering Laboratories, Inc., 2011.
[6] Phadke A. F. and Nuqui R. F., Phasor Measurement Unit Placement
Techniques for Complete and Incomplete Observability, IEEE Transactions
On Power Delivery, Vol. 20, No. 4, October 2005 2381
[7] Xu B., and Abur A. Optimal Placement of Phasor Measurement Units for
State estimation PSERC Final Project report, 2005
[8] Federico M., Documentation for PSAT , version 2.1.6 (2010)
Books:
[9] Phadke A. G. and Thorp J.S., Synchronized Phasor Measurement and Their
Applications, Springer, USA, 2008
Websites:
[10] www.naspi.com Northen American Synchrophasor Initiative
[11] www.pserc.com Power System Engineering and Relaying Committee
44
Appendix A
Abbreviation
EMS
GIS
GPS
IED
OPP
PDC
PMU
RMS
RTU
SCADA
SPM
WAMS
Nomenclature
Frequency (radian)
Frequency (Hz)
Current (Ampere)
Voltage
45
Appendix B
Index
Algorithm for PMU Placement, ........................................................ 31
Applications, ............................................................................ ........ 14
Architecture of PMU, .................. ........................................... ........ 19
Block Diagram of PMU, ...................................................... ........ 12
Case Study of 5 bus, .................... ........................................... ........ 38
Communication
Depth
Synchronized Phasor