phasor measurement units, wams, and their … · 2017. 8. 2. · a.g. phadke virginia tech,...
TRANSCRIPT
![Page 1: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/1.jpg)
PHASOR MEASUREMENT UNITS,
WAMS,
AND THEIR APPLICATIONS
A.G. Phadke
Virginia Tech, Blacksburg, VA, USA
Seminario Internacional de Medición Fasorial Sincronizada - Medellin
![Page 2: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/2.jpg)
5. Wide Area Measurement Systems - WAMS
Lecture outline
6. Applications of PMUs and WAMS
1. Birth of PMUs – Virginia Tech
2. Phasor Measurement Techniques
3. Synchronization
7. Conclusions
4. Standards
![Page 3: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/3.jpg)
1. Birth of PMUs – Virginia Tech
![Page 4: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/4.jpg)
DISTANCE RELAYS FOR 3-PHASE SYSTEMS
• Six distance relays at each terminal
• Three ground distance relays: a-g, b-g, c-g
• Three phase distance relays: a-b, b-c, c-a
• Need to cover 10 fault types
Symmetrical Component Distance Relay Development
We at AEP wanted to work on line relaying using IBM System 7, and
it was necessary to fit the algorithm in one cycle to make a high-speed
relay.
![Page 5: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/5.jpg)
DISTANCE RELAYS ON 3-PHASE SYSTEMS
Six equations have to be solved:
• a-g relay responds to Ea/(Ia + mI0)
• b-g relay responds to Eb/(Ib + mI0)
• c-g relay responds to Ec/(Ic + mI0)
• a-b relay responds to (Ea-Eb)/(Ia-Ib)
• b-c relay responds to (Eb-Ec)/(Ib-Ic)
• c-a relay responds to (Ec-Ea)/(Ic-Ia)
R
I
E
x a-g
b-g
a-b
b-c c-g c-a
![Page 6: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/6.jpg)
ONE equation (instead of six) with symmetrical components (SCDR):
k0 etc. are defined in terms of symmetrical
component voltages and currents. Then the
distance to the fault is given by:
Fault distance = k1 + k2k2’ + k0k0’
1 + k1 + k2’ + k0’
FOR ALL FAULT TYPES!
This was a nice algorithm, and I did get a patent on this.
Made some money too.
![Page 7: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/7.jpg)
Computer relaying development laboratory at AEP
Ted Hlibka and Mark Adamiak
![Page 8: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/8.jpg)
Structure of SCDR algorithm
Structure of PMU
Filters
&
Sampling
Phasors
By
DFT
VA, VB, Vc
IA, IB, IC
V1, I1
V2, I2
V0, I0
k Relaying
Logic
Currents
&
Voltages
Filters
&
Sampling
Currents
&
Voltages
Phasors
By
DFT
VA, VB, Vc
IA, IB, IC
V1, I1
V2, I2
V0, I0
k Relaying
Logic
The microcomputers became quite fast in time, and there was no particular benefit
in making SCDR for distance relaying. However, a realization came that the
sequence measurement part of the algorithm is very valuable in many power system
applications. That was the birth of the PMU.
![Page 9: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/9.jpg)
(b)
GPS
receiver
PMU
Signal
conditioning
unit
User
Interface
Proto-type of complete PMUs at Virginia Tech
![Page 10: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/10.jpg)
Virgilio Centeno went to
Macrodyne after getting
his Ph.D. and
worked with Jay Murphy
to design the first
commercial PMU.
![Page 11: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/11.jpg)
2. Phasor Measurement Techniques
![Page 12: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/12.jpg)
• Introduction to phasors
q
Real
Ima
gin
ary
• The starting time defines the phase angle of the phasor.
• This is arbitrary.
• However, differences between phase angles are
independent of the starting time.
q
t=0
![Page 13: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/13.jpg)
• Sampling process, Fourier filter for phasors
sin and cos
functions
t
Input signal
xn
xn-1
.
.
x1
Data
sam
ple
s
co
sin
es
sin
es
Phasor X = --S xk(coskq - j sinkq)
2
N
![Page 14: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/14.jpg)
• Non-recursive phasor calculations
t
q1
q1
q2
q2 = q1 + kf
The non-recursive phasor rotates in the forward
direction, one sample angle per sample.
![Page 15: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/15.jpg)
• Recursive phasor calculations
t
q1
q1
The recursive phasor remains fixed if the input
waveform is constant.
q2= q1
q2 = q1
![Page 16: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/16.jpg)
• Effect of noise on phasor calculations
• Harmonics eliminated correctly if Nyquist
criterion is satisfied.
• Non-harmonic components
• Random Noise
True Phasor
Circle of
uncertainty
Siz
e o
f cir
cle
of
un
cert
ain
ty
Measurement
data window
![Page 17: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/17.jpg)
Measurement of frequency and rate of change of frequency:
Phase angle of positive sequence voltage is constant when input is at nominal frequency and constant.
At constant off-nominal frequencies, the phase angle changes linearly.
Slope of angle is (w-w0)
60 Hz
58 Hz
59 Hz
61 Hz
62 Hz
Using angles over a window, and assuming them to be a quadratic function of time, the
Rate of change of angle provides frequency measurement, and the second derivative
Provides rate of change of frequency very accurately.
![Page 18: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/18.jpg)
3. Synchronization
![Page 19: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/19.jpg)
• Motivation for synchronization
By synchronizing the sampling processes for
different signals - which may be hundreds of miles
apart, it is possible to put their phasors on the same
phasor diagram.
Substation A Substation B
At different locations
![Page 20: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/20.jpg)
• Sources for Synchronization
• Pulses
• Radio
• GOES
• GPS
![Page 21: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/21.jpg)
Anti-aliasing
filters
16-bit
A/D conv
GPS
receiver
Phase-locked
oscillator
Analog
Inputs
Phasor
micro-
processor
Modems
• A phasor measurement unit
Except for synchronization, the hardware is the same
as that of a digital fault recorder or a digital relay.
![Page 22: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/22.jpg)
4. Standards
![Page 23: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/23.jpg)
IEEE standard for
SYNCHROPHASORS for
Power Systems
IEEE Std 1344-1995
IEEE Std C37.118-2005
IEEE Std C37.118.1-2011
IEEE Std C37.118.2-2011
IEC 61850-90-5-2011
Evolution of
Synchrophasor
Standards
![Page 24: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/24.jpg)
C37.118.1
Synchrophasor Measurements for Power Systems
![Page 25: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/25.jpg)
Measurement accuracy defined: Total Vector Error (TVE)
A pure sinusoid is generated and input to the PMU
It corresponds to a theoretical phasor value X = Xr + j Xi
PMU produces a measurement at t0 : X(t0)
X(t0) = Xr(t0) + j Xi(t0)
TVE is defined as follows:
TVE = √ [Xr(t0) - Xr]
2 + [Xi(t0) - Xi]2
Xr2 + Xi
2
![Page 26: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/26.jpg)
Measurement accuracy defined: Total Vector Error (TVE)
Two classes of PMU performance are defined:
P class: Fast responding, minimum filtering,
minimum delay (Mainly used for
protection and control)
M class: Slower responding, significant filtering,
longer delay (Mainly used for
measurements in the presence of out-
of-band signals)
P and M classes replace the ‘0’ and ‘1’ classes of C37.118
![Page 27: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/27.jpg)
Dynamic tests:
• Sinusoidal modulation
• Ramp variation of frequency
• Step changes in magnitude and phase
Steady State tests:
• Off-nominal frequency
• Harmonic signals
• Non-harmonic signals
![Page 28: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/28.jpg)
DYNAMIC TESTS FOR PMUS
Signals to be generated
according to formulas
Anti-aliasing Filter
PMU
Expected output Positive sequence Phasor magnitude and angle. Frequency, rate of change of frequency
PMU output Positive sequence Phasor magnitude and angle. Frequency, rate of change of Frequency At designated reporting instants
Error Report
Balanced three phase inputs
1. Sinusoidal modulations
2. Ramps
![Page 29: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/29.jpg)
ya = √2×67×{1+0.2×sin(2π×0.2×t)} × sin{120×π×t + 2π×1.0×sin(2π×0.2×t)}
yb = √2×67×{1+0.2×sin(2π×0.2×t)} × sin{120×π×t + 2π×1.0×sin(2π×0.2×t) – 2π/3}
yc = √2×67×{1+0.2×sin(2π×0.2×t)} × sin{120×π×t + 2π×1.0×sin(2π×0.2×t) – 4π/3}
67 volt rms nominal signal
Amplitude modulation 0.2 pu
Modulation frequency 0.2 Hz
Frequency modulation amplitude 1.0 Hz
Example: Sinusoidal modulation
0 1 2 3 4 5 6 7 8 9 10 Nominal cycles Reporting times
Initial Phasor Estimate
df/dt f
Final Phasor Estimate corrected for ‘f’, f, df/dt
0 2 4 6 8 10 df/dt f P
![Page 30: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/30.jpg)
0 1 2 3 4 5 6 7 8 9 10-20
0
20
40
60
80
100
Example: Sinusoidal modulation; Simulation Results from Matlab
True Phasor rms amplitude
True Phasor Phase Angle
Errors in Phasor Magnitude and Phase angles Frequency Estimates df/dt estimates
Seconds
Volts, R
adia
ns,
Radia
ns/s
ec,
Radia
ns/s
ec
2
![Page 31: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/31.jpg)
ya = √2×67× sin{120×π+ 2π×(0.2/2) ×t} ×t)
yb = √2×67× sin{120×π+ 2π×(0.2/2) ×t} ×t– 2π/3}
yc = √2×67× sin{120×π+ 2π×(0.2/2) ×t} ×t– 4π/3}
67 volt rms nominal signal
Nominal frequency 120 ×π
Ramp rate of 0.2 Hz/sec
Example: Ramp modulation
0 1 2 3 4 5 6 7 8 9 10 Nominal cycles Reporting times
Initial Phasor Estimate
df/dt f
0 2 4 6 8 10 df/dt f P
Final Phasor Estimate corrected for ‘f’, f, df/dt
![Page 32: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/32.jpg)
0 1 2 3 4 5 6 7 8 9 10-10
0
10
20
30
40
50
60
70
True Phasor rms amplitude
Errors in Phasor Magnitude and Phase angles
Frequency Estimates
True Phasor Phase Angle
Seconds
Volts, R
adia
ns,
Radia
ns/s
ec,
Radia
ns/s
ec
2
Example: Ramp modulation; Simulation Results from Matlab
df/dt estimates
![Page 33: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/33.jpg)
C37.118.2
Synchrophasor Data Transfer for Power Systems
![Page 34: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/34.jpg)
Phasor reporting rates:
Data reporting frequency Fs is in data frames per
second, and is defined for a 50 Hz or 60 Hz system:
System 50 Hz 60 Hz
frequency
Fs 10 25 50 10 12 15 20 30 60
The first reporting instant is at the roll-over of the UTC
second, and all others follow at multiples of the nominal
power frequency period T. Example: Fs = 30, for 60 Hz.
UTC roll-over
2T 4T 6T 8T
![Page 35: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/35.jpg)
Reporting time and data window:
Data samples used for phasor estimation
The standard does not specify the positioning of the
data window in relation to the reporting instant.
![Page 36: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/36.jpg)
Bandwidth requirements:
Bits per second using UDP/IP over Ethernet
Fs 10 12 15 25 30 50 60
2 phasors
integer
2 phasors
fl-point
12 phasors
integer
12 phasors, 2 an.
2 dig. integer
6720 8064 10080 16800 20160 33600 40320
7680 9216 11520 19200 23040 38400 46080
9920 11904 14880 24800 29760 49600 59520
10560 12762 15840 26400 31680 52800 63360
![Page 37: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/37.jpg)
IEC 61850-90-5-2011
Complete 61850 solution for synchrophasor
communication
![Page 38: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/38.jpg)
5. Wide Area Measurement Systems - WAMS
![Page 39: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/39.jpg)
Wide Area Measurement System
PMU
PMU
PMU PMU
PMU PMU
PMU
PMU
PMU
![Page 40: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/40.jpg)
Wide Area Measurement System
System Architecture
Super Data
Concentrator
Data
Concentrator
PMU PMU PMU PMU PMU PMU
Data
Concentrator
PMUs located in substations
Data storage
Applications
![Page 41: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/41.jpg)
6. Applications of PMUs and WAMS
![Page 42: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/42.jpg)
Wide Area Measurement System
PMUs measure (synchronously):
• Positive sequence voltages and currents
• Phase voltages and currents
• Local frequency
• Local rate of change of frequency
• Circuit breaker and switch status
PMU data reporting rates:
• Data reported at up to once per cycle
![Page 43: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/43.jpg)
• State estimation
• Instrument transformer calibration
• Network parameter estimation
• Protection systems
• System Control
![Page 44: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/44.jpg)
Three-phase transducer calibration
![Page 45: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/45.jpg)
Three-phase transducer calibration
•PMUs are installed at two substation
•Voltages: PT CVT
•Currents: CT
a a a ab ac a a ab ac a
q0 p0 pq pq pq pq0 p p p p0
b b ab b bc b ab b bc b
q0 p0 pq pq pq pq0 p p p p0
c c ac bc c c ac bc c c
q0 p0 pq pq pq pq0 p p p p0
E E Z Z Z I B B B E
E = E - Z Z Z I - B B B E
E E Z Z Z I B B B E
![Page 46: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/46.jpg)
Error model of transducers
• Error model of PTs and CTs:
Here, e and i are the ratio correction factor (RCF)
|e|,|i|~Uniform(0.96,1.04) ; angle(e), angle(i) ~ Uniform(-3,3) degree
• Simple error model. With the assumption, in short time period, the errors
of transducers are constants.
• Several sets of measurements by PMUs, during 24 hour under different
load conditions, provide redundancy to solve the errors. (20 cases for
47-bus and 53-branch system)
a a a
b b b
c c c
m
m
m
E e 0 0 E
E 0 e 0 E
E 0 0 e E
=
a a a
b b b
c c c
m
m
m
0 0
0 0 I
0 0 I
I i I
I = i
I i
![Page 47: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/47.jpg)
24-hour load cases • At each point, the load condition changes. PMUs can measure three-phase voltages
and currents under each condition. And all of these set satisfy OHM law.
0
0.2
0.4
0.6
0.8
1
1.2
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24
Lo
ad
perc
en
t (%
)
Hour
Average 24-hour load in winter
qm
m
m
a a a a ab ac a a a ab ac
p pq pq pq m p p p
b b b ab b bc b b ab b bc
q p pq pq pq m p p p
c c c ac bc c c c ac bc c
q p pq pq pq m p p p
e 0 0 E E Z Z Z i 0 0 I B B B
0 e 0 E = E - Z Z Z 0 i 0 I - B B B
0 0 e E E Z Z Z 0 0 i I B B B
a
p0
b
p0
c
p0
E
E
E
![Page 48: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/48.jpg)
No NR iteration • Get linear equations
Branch with perfect PT
Branch with two buses to be calibrated
12 12 1 12 12 12 2 2
12 1 21 21 12 12 2 2
(Y + B )E = i I + Y e E
Y E = -i I + (Y + B )e E
rs rs rs rs r r rs s s
sr sr rs rs s s rs r r
0 = -i I + (Y + B )e E - Y e E
0 = -i I + (Y + B )e E - Y e E
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
r
r
12
21
12 12 2 rs 12 12 1
21 12 12 2 sr 12 1
rs rs rs rs s
sr rs s rs rs 2
r
s
i
i
I Y E i (Y + B )E
I (Y + B )E i Y E
-I (Y + B )E Y E
-I Y E (Y + B )E e
e
e
L L
L L
L L M
L L
M M M M M M M L M M
M
D(I) YAE
X Eref
X=([D(I) YAE)-1Eref
![Page 49: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/49.jpg)
DVP 500kv system
![Page 50: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/50.jpg)
abc abc
true calibratede - e
abc abc
true calibratede eangle( ) -angle( )
![Page 51: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/51.jpg)
• Network parameter estimation
![Page 52: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/52.jpg)
• Protection system improvements
with WAMS
![Page 53: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/53.jpg)
• Moving towards fewer and less intense blackouts
Protection system performance issues
(1) Inappropriate settings for prevailing conditions
(2) Hidden failures in protection systems
(3) Security-Dependability balance
![Page 54: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/54.jpg)
1. Equipment Protection (Primary)
Example: Lines, Transformers, Generators, Buses
Fairly straight forward: Protect against faults to
avoid damage to the equipment, to get the fault
off the system as quickly as possible to avoid
cascading failures of the network.
Modern relays are autonomous, fast acting,
and often duplicated or even triplicated to
avoid failure to clear a fault.
Relay times may be as short as a cycle, and
circuit breaker times may be 2-3 cycles.
These are primary protection systems.
Overview of protection systems and practices
![Page 55: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/55.jpg)
Overview of protection systems and practices
1. Equipment Protection (Primary)
Contest between security and dependability
Biases
2. Equipment Protection (Back-up)
Of necessity it is slower
It trips larger part of the system
Back-up operation is more damaging
It is more difficult to set, depends too much on
conditions of the network.
![Page 56: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/56.jpg)
Overview of protection systems and practices
3. System Protection The aim is to protect the power system from hurtful faults
Load shedding and restoration
Loss of field
Out-of-step
Islanding
It has the same performance characteristics as the Back-up systems:
Of necessity it is slower
It trips larger part of the system
It is more difficult to set, depends too much on
conditions of the network.
4. Remedial Action Schemes More complex, a start on wide area measurement based
protections
![Page 57: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/57.jpg)
Preliminary Remarks
• Wide area measurements: PMU data
• High-speed protections not affected
• Slow speed protections – Back-up,
Stability, Loss-of-field, RAS
• Adequate communication facilities
implied: within substation, with
neighboring substations,
with remote substations,
system-wide
![Page 58: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/58.jpg)
Topics for WAMS based protection
(2) Alarming for relay characteristic penetration
(3) Adaptive out-of-step relaying
(1) Adjusting balance of security-dependability
Balance to be shifted when the power system
is in emergency state as determined from
wide area measurements.
Wide area measurements to determine
trajectories and trends of relaying parameters.
Wide area measurements to determine
trajectories and predict outcome of stability
swings in real-time.
![Page 59: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/59.jpg)
Other possibilities:
(4) Supervision of back-up zones
(5) Intelligent load shedding using load-
generation imbalance estimate in real
time
(6) Adaptive loss-of-field relay
(7) System-wide integration of Remedial
Action Schemes (RAS or SIPS)
Topics for WAMS based protection
![Page 60: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/60.jpg)
Protection system bias:
High dependability
Corresponding
best possible security
System State
Assessment PMU data PMU data
Critical System
Locations
Supervisory
signals
Adjustment of Dependability-Security
balance under stressed system
conditions.
Relay 1
Relay 2
Relay 3
OR
VOTE
AND
Supervisory
signal
See detail
below
(1) Adjusting balance of security-dependability
To
Circuit
Brealer
(Dealing with Hidden Failures)
![Page 61: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/61.jpg)
(2) Alarming for relay characteristic penetration
Static: Load encroachment Dynamic: Swings
How close?
Revise settings? How close?
Revise settings?
Critical Relay locations
![Page 62: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/62.jpg)
•R
•X
•Inner zone
•Outer zone
•Stable swing
•Unstable swing •Unstable swing
•Stable swing
•T1 •T2
Traditional out-of-step relay parameters using reactance type relays
and timers.
Impedance relays and timers are used to detect
and protect against unstable oscillations
Setting are determined
from results of a large
number of simulations
under different conditions
(3) Adaptive Out-of-Step Relays
Inadequacies in present systems
![Page 63: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/63.jpg)
Georgia
Out of step
condition
S-PMU
Relay
S-PMU
Relay
Previous Experience
1993-1994
System behaving as a 2-machine system
![Page 64: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/64.jpg)
0 1 2 3 4 Seconds
Equivalents Angle Difference, September 8, 1994
50
48
46
44
42
40
38
Measured
Algorithm
Improved
Algorithm
Original
Equal Area Criterion
Swing Prediction
for
Florida-Georgia
Interconnection
Pre-disturbance power-angle curve
P
d
P m
Post-disturbance
power-angle curve
Accelerating
area A 1
Decelerating area A
2
max A
d o o
![Page 65: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/65.jpg)
Out-of-step relaying for complex networks
(1) Identify critical PMU placement sites
(2) Real-time coherency determination
(3-a) Two machine equivalent
(4-a) Extended Equal Area
Criterion application
(3-b) Two machine equivalent
(4-b) Time-series of swing curves
and prediction
![Page 66: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/66.jpg)
Out-of-step relaying for complex networks
(2) Real-time coherency determination
PMU data
Observation window
![Page 67: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/67.jpg)
Out-of-step relaying for complex networks
(3-a) Two machine equivalent
(4-a) Extended Equal Area
Criterion application
Pre-disturbance power-angle curve
P
d
P m
Post-disturbance
power-angle curve
Accelerating
area A 1
Decelerating area A
2
max A
d o o
PMU
Relay
PMU
Relay
![Page 68: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/68.jpg)
Out-of-step relaying for complex networks
(3-b) Two machine equivalent
(4-b) Time-series of swing curves
and prediction
PMU PMU
Processing
Center
Time
d1 - d2
Observation
Interval
Prediction
Interval
![Page 69: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/69.jpg)
(4) Supervision of back-up zones
Zone 3 picks-up
Balanced Conditions?
Any Zone-1 picked up?
Yes.
If not Block Zone-3 }
![Page 70: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/70.jpg)
(5) Intelligent load shedding using load-
generation imbalance estimate in real
time
ACE = DT-BDF
Dynamic ACE measures
Load needed to be shed
To return to pre-disturbance state
![Page 71: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/71.jpg)
(6) Adaptive loss-of-field relay
System
Thevenin Z
Determined
In real time
R
X
Weak system
Strong system
![Page 72: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/72.jpg)
(7) System-wide integration of Remedial
Action Schemes (RAS or SIPS)
RAS 1 RAS 2
Are RAS 1 and RAS 2
In conflict with each
other?
Make one RAS which
Will combine the
Objectives of the two
RAS schemes and
Create a unified
response.
![Page 73: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/73.jpg)
Concluding remarks on protection system improvements
• Protection systems can be improved
with the help of wide-area measurements
• Only slow-responding protections are
appropriate candidates for such improvements
• Many improvements occur as steps to
improve response to next contingencies,
and are not intended to operate when a
fault has occurred.
With careful implementation, frequency and intensity
of blackouts can be reduced, and service restoration
can be more rapid.
![Page 74: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/74.jpg)
SYSTEM CONTROL WITH PHASORS
![Page 75: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/75.jpg)
• This lecture is theoretical in nature. A number
of studies have been reported in literature, although as
yet there is no field implementation of these ideas.
• We will consider control of
HVDC systems
Excitation Control
Power System Stabilizer
FACTS control
Control with phasor feed-back.
![Page 76: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/76.jpg)
Control with phasor feed-back.
Controlled Device
Controller
Measurements
![Page 77: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/77.jpg)
Phasor feed-back
• Expect to be less dependent on model of
the system being controlled.
• Processes being controlled are relatively slow.
• Process frequencies in the range of 0.2-2.0 Hz.
These are representative of electromechanical
oscillations, transient stability, and certain
overload phenomena.
• The frequency of phasor measurements is
expected to be of the order of 15-30 Hz, which
is certainly sufficient to handle the control task.
![Page 78: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/78.jpg)
Example of control with phasor feed-back
System A System B
Power demand Controller
dA- dB
time
Performance with
constant power
control law
Desired
performance
![Page 79: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/79.jpg)
Example 1: HVDC Controller
1640 MW
820 MW
(200+j20) MVA
590 MVAR
680 MVAR
3 phase fault
cleared in 3 cycles
G1
G2
![Page 80: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/80.jpg)
Example 1: HVDC Controller
Control law 1: Constant current, constant voltage on HVDC
Control law 2: Optimal controller
d1
d2
t (seconds) 5
![Page 81: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/81.jpg)
Example 2: Excitation Controller
G1
G2
G3
G4 G5
G6
G7
G8
G9
G10
![Page 82: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/82.jpg)
Example 2: Excitation Controller
Centralized optimal controller
Network
real-time
phasor
data
Optimal
Controller
Control
vector
for all
generator
excitation
and governor
systems
![Page 83: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/83.jpg)
Example 2: Excitation Controller
All generator angles plotted with G10 angle as reference.
Control law 1: Without optimal feed-back vector
Control law 2: Optimal controller vector feed-back
d1
t (seconds) 5
d2
d3
d4
![Page 84: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/84.jpg)
Example 3: Power System Stabilizer
AVR
AVR
AVR
AVR
Phasor
feed-
back
PSS
Control modes:
1. AVR alone
2. PSS on one machine
3. Phasor feed-back on one machine
100 ms
fault cleared
![Page 85: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/85.jpg)
Example 3: Power System Stabilizer
Small signal analysis for tie flows of 158 MW
Mode Frequency Damping ratio Mode shape
-0.5977j7.0365 1.1199 0.0849 local area 1
-0.6060j7.2470 1.1534 0.0833 local area 2
+0.0296j4.1784 0.665 -0.0071 inter-area
0 Real
Imagin
ary
158 MW 50 MW
Eigenvalues
![Page 86: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/86.jpg)
Example 3: Power System Stabilizer
MW
tie
-lin
e
Time
1. AVR alone
2. PSS on one machine
3. Phasor feed-back on one machine
![Page 87: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/87.jpg)
Example 4: FACTS controller
G1
G2 G3
TCSC Phasor
feed-
back
• Simulation scenario:
- Determine loading levels which are dynamically
unstable
- Use phasor feedback to stabilize that operating
condition
![Page 88: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/88.jpg)
References:
(1) Niusha Rostamkolai, Ph.D. dissertation, Virginia Tech 1986,
“Adaptive Optimal Control of AC/DC Systems.
(2) N. Rostamkolai, A.G. Phadke, J.S. Thorp, W.F. Long, “Measurement
based optimal control of high voltage AC/DC systems”, IEEE Trans.
on Power Systems, Vol. 3 No. 3, August 1988, pp 1139-1145.
(3) Edgardo Manansala, Ph.D. dissertation, Virginia Tech August 1989,
“Adaptive power system control”.
(4) Edgardo C. Manansala, A.G. Phadke, “An optimal centralized
controller with nonlinear voltage control”, Electric Machines and
Power Systems, 19, 1991, pp 139-156.
(5) L. Mili, T. Baldwin, A.G. Phadke, “Phasor measurements for voltage
and transient stability monitoring and control”, Workshop on
Application of advanced mathematics to Power Systems, San
Francisco, Sept. 4-6, 1991.
(6) A.F. Snyder, N. Hadjsaid, D. Georges, L. Mili, A.G. Phadke,
O. Faucon, S. Vitet, “Inter-area oscillation damping with power
system stabilizers and synchronized phasor measurements”,
PowerCon 1998, China.
(7) M.A. Smith, “Improved Dynamic Stability Using FACTS devices with
phasor measurement feedback”, MS Thesis, Virginia Tech, 1994.
![Page 89: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/89.jpg)
Multi-infeed HVDC Systems in China
North China
South
Northeast
Tibet
Northwest
Central ChinaEast
China
Hainan
Shanghai
Tianshengqiao
Gezhouba
Three-Gorge
Kunming
Wuhan
Chinese
Taiwan
Five HVDC links Terminating in
China Southern POWER GRID
Guangzhou
11.4% annual growth in GDP –doubling time 6.42 years
16 times bigger in less than 26 years
![Page 90: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/90.jpg)
WAMS Based Wide-area Coordinated
Modulation Control of Multi-infeed HVDC
YN
GZ
GX
GZ
Control signals
control server
PMU signal
Control Unit
Increase the damping of inter-area oscillation in CSG
![Page 91: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/91.jpg)
Wide-area Coordinated HVDC Control System
– Control Unit in Converter Substation
Control Unit
PMU
GPS
Communication
Interface
![Page 92: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/92.jpg)
Wide-area Coordinated HVDC Control System
– Centralized Control Server
Event Archives Real-time Control Server
![Page 93: PHASOR MEASUREMENT UNITS, WAMS, AND THEIR … · 2017. 8. 2. · A.G. Phadke Virginia Tech, Blacksburg, VA, USA Seminario Internacional de Medición Fasorial Sincronizada - Medellin](https://reader033.vdocuments.net/reader033/viewer/2022060913/60a7b600b7720d375e0a3b30/html5/thumbnails/93.jpg)
7. CONCLUSIONS
• PMUs have introduced a game-changing technology in power
system engineering.
• Power grids throughout the world have launched ambitious
programs to introduce WAMS on their systems.
• State Estimation will see the first applications.
• Instrument transformer calibration, network parameter
estimation will likely be the next steps.
• Protection and control are likely to be tried on an
experimental basis, before they are integrated in the normal
power system EMS applications.