phasor mesurement system in brazil
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Abstract-- This paper describes recent results of the MedFaseeproject aiming at the development and performance testing of a
Synchronized Phasor Measurement System (SPMS) prototype and
its applications for monitoring of power system operation. The
prototype consists of a Phasor Data Concentrator (PDC) and three
Phasor Measurement Units (PMUs) installed in cities in Southern
Brazil. Results from monitoring system frequency and voltage in
normal and abnormal conditions are shown. These results indicate
that is possible to obtain important information on power systemdynamics using SPMS connected at low-voltage and Internet.
Index Terms Phasor Measurements, PMU, power system
monitoring, wide-area monitoring, SPMS, WAMS.
I. INTRODUCTION
N the last years, economic considerations associated to the
electricity market and environment restrictions have led grid
operators to postpone or reduce investments. This scenario
combined with the continuous load increase leads the power
system and its components to operate closer to their limits.
Furthermore, reliable electricity supply is now essential for
society, and blackouts are becoming more costly [1].
To operate the power system closer to limits and still to
keep a high reliability is a challenging task and requires tools
that allow the prompt detection of instabilities. SCADA data
provide a comprehensive record of power system conditions
but at a relatively slow rate [2]. New tools such as
Synchronized Phasor Measurement Systems (SPMS), which
use advances in communications, computers and Global
Positioning System (GPS) technologies, are needed for
monitoring and control to improve the security of large power
systems [3]. The SPMS can capture the faster power system
variations enabling operators to monitor and often control
critical power system operating indices, which are essentialfor secure operation of a large power system, including static
phase-angle limits (power system stress), critical intermediate
voltage support when operating at large phase-angle
Work partially supported by contract FNDCT CT-Energ/Finep
01.02.0039.00 and Reason Technology S.A.
I. C. Decker, D. Dotta, M. N. Agostini , and A. S. e Silva are with Federal
University of Santa Catarina, Florianpolis, SC 88.040-900 Brazil (e-mail:
[email protected],[email protected],[email protected],agui
S. L. Zimath is with Reason Technology S. A., Florianpolis, SC 88.025-
500 Brazil (e-mail: [email protected]).
separation, dynamic/transient phasor movements indicating
dynamic/transient swings among different areas and modal
inter area oscillation frequencies and their modal damping [3].
The SPMS, sometimes referred to more generically as a
Wide Area Measurement System (WAMS), are basically
composed by PMUs (Phasor Measurements Units)
connected to a Phasor Data Concentrator (PDC) and
application methodologies for monitoring and control of
power system real time operation [2]. The first developmentsin SPMS started in 1989 with the WAMS project in
subsystems of the WECC (Western Electricity Coordinating
Council) of U.S.A. [4]. This project involved the use of GPS-
synchronized measurements over a large area of that power
network [5]. In the last few years, several others countries
started to install SPMS in their electrical systems. Besides the
U.S.A., the following countries are reported to have installed
and integrated phasor measurement units for research or are
developing prototypes: Brazil [4], Scandinavia [9], Korea
[10], Taiwan [11], China [12], Japan [13], and France, Italy,
Switzerland, Croatia, Greece, Mexico, South Africa [5].
In the beginning of 2003, following the experience gainedin the western power system, the U.S. Department of Energy
(DOE) launched the Eastern Interconnection Phasor Project
(EIPP), which is being executed by a work group comprising
transmission owing utilities, hardware and software vendors,
power system operators, reliability councils and government.
The EIPP seeks to improve power system reliability through
wide area measurement, monitoring and control [6]. To reach
this goal six task teams were created by EIPP. As the SPMS
technology is so incipient, the main work developed for the
task team was the identification, description and specification
of the functional requirements for components of software and
hardware for SPMS. These components include the
equipments (PMUs, PDC, network, etc) and the monitoring,
protection and control applications. Specifically, the
Performance Requirements Task Team (PRTT) has been
working in a report including guidelines/requirements for a
PMU Testing Guide. The main objective of PMU Testing
Guide is to define a testing procedure to assess the PMUs
that will be installed in the Eastern Interconnection. The PMU
assessment is important as shown in [7]. That work shows that
PMUs of different manufacturers can be only compared under
nominal frequency operations conditions. In off-nominal
frequency operation every tested PMU unit yielded a different
Performance of a Synchronized Phasor
Measurements System in the Brazilian Power
SystemI. C. Decker, D. Dotta, M. N. Agostini, S. L. Zimath, andA. S. e Silva.
I
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phase and magnitude for the common measured voltage
signal. These measurement errors must be taken into account
to allow the connection between PMUs of different
manufactures.
This paper describes new results of a research project on
SPMS in Brazil, the MedFasee project. The main goal of this
paper is to show the performance of a SPMS prototype
comprising three PMUs and one PDC, under normal and
abnormal power system conditions.The paper is organized as follows. In Section 2, the
MedFasee project is presented and the main software and
hardware components of the SPMS prototype are described.
In Section 3, the performance of the PMU prototype is
presented. In Section 4, the performance of the SPMS
prototype in monitoring the power system under normal and
abnormal conditions is presented. Finally, in Section 5 and 6,
the future developments and main conclusions are,
respectively, presented.
II. MEDFASEE PROJECT
The MedFasee project was started in 2003 aiming at thedevelopment of a phasor measurement system prototype and
applications for power systems monitoring and control. The
prototype was installed in the end of 2004 and since then the
frequency and disturbances, in the Southern Brazil power
system, have been monitored.
A. SPMS Prototype
The SPMS prototype is composed by one PDC and three
PMUs. The three PMUs were installed in laboratories of three
universities in Southern Brazil: Federal Center of
Technological Education of Parana (CEFET-PR) in Curitiba,
Federal University of Santa Catarina (UFSC) in Florianpolis
and Catholic University (PUCRS) in Porto Alegre. The PMUsmeasure the instantaneous three-phase distribution voltage and
frequency. Each PMU is connected to the Internet through an
ethernet network interface and sends the phasors to the PDC
located in the Electrical Systems Planning Research
Laboratory (LabPlan) at UFSC. In Figure 1 the geographical
location of the PDC and PMUs in Brazil is shown.
The main hardware components and the prototype
functionalities are described as follows:
1) PMU
The PMUs were entirely designed and built as part of the
MedFasee project. To implement the main PMU functions,
phasor calculation and transmission to the PDC, the voltageand current samples, acquired synchronously with the GPS
reference, are processed by Discrete Fourier Transform
(DFT), and formatted in data frames, using the IEEE Std.
1344-1995 format [15]. Each PMU has a GPS receiver to
synchronize the samples, so that the phasor angles measured
by all PMUs in the power system are in the same time
reference. The PMUs have eight analogue channels (four for
voltage and four for current), and 16 digital channels. The
PMU generated data are continuously sent to the PDC, at a
rate of 60Hz, using an Ethernet link (UDP/IP protocol). This
rate and an angle precision of 0.1 electric degrees are suited
for the analysis of long term dynamic phenomena [15].
Fig. 1. PMUs and PDC geographical location.
2) PDC
The PDC receives and correlates time-tagged phasor data
sent by all the PMUs. It has the following main functions:
a) Acquisition of the phasors, continuously sent by the
PMUs and handling of transmission errors;b) Storage of phasors in a central database;
c) Support for real time system monitoring;
d) Support for offline study applications, making
available old phasors.
These functions are designed and implemented in
computing routines using the Object Oriented Modeling
paradigm and C++ programming language. As the PDC needs
to support real time applications it is necessary to rank the
routines priorities. For example, the task of phasors
acquisition has a higher priority than a request from the off-
line study application. To solve this problem a real time
environment needed to be implemented. The PDC was built
using the GNU/Linux operating system that does not have
native real time support. The real time support is enabled in
GNU/Linux applying a patch to the GNU/Linux kernel. There
are two main packages for this finality: RT-Linux and RTAI.
The latter was chosen since it presented a better support for
object-oriented programming tasks.
3) Network
The PMUs and PDC are connected by ethernet using the
Internet network. The Internet connection was chosen due to
its availability and the facilities provided to manage the PMUs
remotely. The phasors are sent by the PMUs using the UDP/IP
protocol and the remote administration is performed by theSSH (Security Shell) application.
Figure 2 shows the phasors loss (in percentage) in a typical
workday (Tuesday). The worse period is about midday when
up to 2% of the data sent did not arrive at the PDC. The same
behavior was found in all weekdays. In holidays and
weekends the data loss is almost 0%. The measured
transmission delay in the Internet is about 130 ms. In the local
100 Mbps Ethernet network (LabPlan network) this delay falls
to 30 ms. These results support the choice of the Internet for
the MedFasee project purposes.
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Fig. 2. Network performance (data lost in percentage).
4) Database
The database is an independent process in the PDC and it is
accessed by the storage routines through specific database
functions [4]. The external applications are connected directly
to the database. The database structure was designed to
facilitate the data access and stores up to seven days of
continuous data of all PMUs in the power system. Thedatabase is circular; new data replaces the oldest data. The
database was implemented using the MySQL software for
GNU/Linux. The MySQL database fulfills the requirements of
the SPMS prototype. However, further studies and
developments on Real Time Databases are necessary to
improve the PDC capacity.
B. Support for Monitoring Applications
Facilities for monitoring applications using the PDC
phasors were developed and implemented. These facilities are
divided in two modules [14]:
1) Real Time Module
This module supports the monitoring of real time data provided by the PDC. The application shows the real-time
phasors arriving in the PDC.
2) On-Line Module
This module allows the monitoring of the phasors kept in
the PDC database. The main screen allows access to the
database and graphics plotting. This screen enables the user to
choose which phasors he wants to observe. One of the phasors
can be chosen as the system reference. The user can still
choose which measurements to observe: voltage magnitude,
voltage angle or frequency. Due to the characteristics of this
module it was developed in Matlab. This environment
facilitates the development of graphical applications and the
mathematical treatment.
C. SPMS Architecture
The architecture of the SPMS system is divided in four
main layers:
1) Data acquisition: The PMUs are located in strategic
points to measure voltage and current. The phasors are
calculated and sent to the PDC.
2) Data Management: The phasors sent by the PMUs are
correlated in a uniform data stream.
3) Data Services: This layer includes the set of services
required for supplying data for the different applications.
4) Applications: This is the layer where the monitoring,
control and protection applications are executed.
In the Figure 3, the overview of the SPMS architecture is
presented.
Fig. 3. SPMS Architecture of the MedFasee Project.
III. PMU PROTOTYPE PERFORMANCE TESTS
As shown in Figure 3, the PMUs are located in the first
layer of the SPMS architecture and they are responsible for
the phasors determination. The performance of this
component is crucial for the performance of any SPMS in
monitoring and control applications. For monitoring
applications, if the measurements do not represent the real
power system state an operator, who is using a SPMS tomonitor the power system variation, could make wrong
decisions. For control applications, especially in emergency
control, there is not much time to take into account
measurement errors.
The main application reported in this paper, presented in
the next section, concerns power system monitoring. To
ensure the reliability of the data obtained by the SPMS, it
was necessary to verify the performance of the PMU
prototype under normal and abnormal conditions. The goal of
the tests presented in this section is simply to validate the data
obtained by the PMUs and not to test the performance of the
prototype against any commercial PMU currently available.
The Synchrophasors Standard IEEE 1344-1995 [15] does
not specify PMU performance tests. The new Synchrophasors
Standard PC 37.118 [16] defines measurement requirements,
compliance verification and accuracy, but at the time that the
tests were performed it was under revision. Discussions
promoted by PRTT on this issue [8] show that further work
needs to be done in this area. However for evaluating the
reliability of data acquired by the prototype PMUs tests based
on [7] were realized.
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A. Test Settings
As remarked in section II, the PMUs prototypes measure
the instantaneous three-phase distribution voltage. Therefore
the tests realized in this work emphasized the performance of
the voltage measurement under nominal and off-nominal
conditions using the modern test sets. Two main tests were set
up as follows.
B. Balanced three phase voltages at nominalfrequency
This test compares the performance of the PMU under
balanced three phase voltage conditions in a range from 10%
to 120% of the nominal voltage rating in steps of 10% at
nominal frequency. For every voltage step a three second
window of data was aligned according to the time stamp
provided by each PMU unit. The aligned phasor magnitudes
were compared against a reference value measured at every
voltage step using certificate measuring instruments. The
following results only measure accuracy with respect to the
instruments used. In Figure 4 the deviation of the
measurement phasor magnitude with respect to the reference
value is shown.
These results shows that the phasor magnitudes measured
by the PMU presents a satisfactory performance with errors
lower than 0.35% with respect to the reference value.
-0,35%
-0,30%
-0,25%
-0,20%
-0,15%
-0,10%
-0,05%
0,00%
0,05%
0,10%
0,15%
1 0% 2 0% 3 0% 4 0% 5 0% 6 0% 7 0% 8 0% 9 0% 1 00 % 1 10 % 1 20 %
Voltage %
Error
Fig. 4. Absolute error in magnitude.
Figure 5 shows the phase difference between the measured
data and the reference.
C. Unbalanced (single phase) voltage at off-
nominal frequencyThis test is intended to evaluate the performance of the
PMU under unbalanced and off-nominal frequency operation.
The unbalanced condition is simulated by applying a single-
phase voltage (phase A) to the PMU unit. The frequency is
varied in a range between 55 and 65 Hz. The variation of the
phasor magnitude with respect to the off-nominal frequency is
shown in Figure 6.
From this figure it can be concluded that the phasor
magnitude measured by PMU is not significantly affected by
off-nominal frequencies in the range 55 and 65 Hz. The tests
carried out in this section show that the characteristics of
PMU prototype ensure the reliability of the results described
in the next section.
-0,12
-0,1
-0,08
-0,06
-0,04
-0,02
0
0,02
0,04
0,06
0,08
0,1
1 0% 20 % 3 0% 4 0% 50 % 6 0% 7 0% 80 % 9 0% 1 00 % 11 0% 1 20 %
Voltage %
Degrees
Fig. 5. Phase shift with respect to the reference.
-0,020%
-0,015%
-0,010%
-0,005%
0,000%
0,005%
0,010%
0,015%
0,020%
0,025%
55 56 57 58 59 60 61 62 63 64 65
Frequency
Error
Fig. 6. Magnitude error under off-nominal frequency.
IV. SPMS PROTOTYPE PERFORMANCE
The development of phasor measurement applications for
monitoring is part of the MedFasee project. This section
describes the SPMS prototype performance under normal and
abnormal operating conditions using the software applications
developed in the MedFasee project.
A. Monitoring and Analysis of Frequency
OscillationsSeveral examples of frequency oscillations monitoring in
the Southern Brazil 60 Hz power system based on measured
data from the SPMS prototype were monitored. Two
weekdays were chosen to be show in the paper.
In Figure 7, the behavior of voltage frequency measured by
the PMU in Curitiba at heavy load (between 21h and
21h30min), is presented. Periods of 30 minutes, on
Wednesday 30/11/2005, and on Thursday 31/11/2005, were
analyzed. This graphics shows frequency oscillations with
large magnitude in periods of heavy load.
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Fig. 7. Curitiba, Frequency Voltage.
In Figure 8, the frequency spectrum of the system
frequency, at the heavy load period, is shown.
Fig. 8. Curitiba, Frequency Spectrum.
An oscillation mode near 0.02Hz, corresponding to a
period of approximately 50 seconds, can be observed. This
mode appears with evidence in all load periods (heavy,
medium, low). The use of the phasors obtained from the
SPMS prototype allows many analyses in real time, including
the identification of oscillation modes, using system real data,
without the need of simulations with complex models.
1) Disturbance Detection Outage of a 765kV
Transmission Line
An important disturbance was registered by the SPMS
prototype in October 04, 2005. At 20h38min, the circuit two
of a three circuits of the 765 kV transmission line
Itaipu/Ivaipor (shown in Figure 9) was tripped.
Fig. 9. Brazil South/Southeast Power System.
At 20h40min, circuits one and three of the same line were
tripped. This caused the loss of 13 generators including 8
Itaipu generators, with a total generation shedding of 6,920
MW. There was a disconnection between the
Northern/Southern and Southeastern/Northeastern regions of
the Brazilian System. The first stage of the SPS (SpecialProtection Scheme) was activated with load shedding of
approximately 2,842 MW. Figure 10 shows the frequency
evolution from 20h35min until 21h00min.
Fig. 10. Voltage frequency at three locations.
Figure 10 shows that at 20h40min26s the frequency started
to fall reaching the minimum value of 58.25Hz in Porto
Alegre, at 20h40min30s. The frequency recovery started at
20h40min33s and at about 20h43min33s the frequencyreached 59.6 Hz. At approximately 20h56min the frequency
returned to the nominal value. To show the SPMS prototype
capability, it is shown, in Figure 11, the moment where circuit
two (Itaipu/Ivaipor) was tripped and the subsequent attempt
to reconnect the circuit.
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Fig. 11. Voltage frequencies zoom.
At 21h06min, all loads and the Northern/Southern
Interconnection were restored. At 21h30 min, circuit one
(Itaipu/Ivaipor) was reconnected. However, at 21h52min,circuit one was tripped again and it was followed by a
generation tripping of 1,800 MW in Itaipu. In this disturbance
there was no load shedding and the protection scheme kept all
circuits of the Itaipu/Ivaipor line open. The frequency
evolution of this disturbance is shown in Figure 12.
Fig. 12. Voltage frequency evolution in the second Itaipu disturbance.
Figure 12 shows that at 21h50min50s the frequency started
to fall reaching the minimum value of 58.4Hz. After threeminutes the frequency returned to the nominal value.
2) Disturbance Detection Outage of a 230 kV Substation
On August 23, 2005, at 14h43min58s, part of an important
230 kV substation (Cidade Industrial), in Porto Alegre, was
tripped. This disturbance resulted in a tripping of seven 230
kV lines, generation shedding of 215 MW and a load
shedding of 38 MW. The loss of these components caused
under voltage in the southernmost state area.
Figure 13 shows the Brazilian System frequency calculated
from the angular variation registered at the PMU located in
Florianopolis. At 14h43min50s, an oscillatory process started
in the frequency leading to an over frequency of 60.178 Hz,
eight seconds after the disturbance (14h43min58s). The
frequency returned to the nominal value approximately three
minutes after the disturbance start, at 14h47min.
Fig. 13. Voltage frequency evolution at Florianpolis.
In Figure 14, the angular difference between the voltages
measured by the PMUs installed in Curitiba and in
Florianpolis, during the disturbance, is shown. The fast
oscillations during the disturbance can be observed again. The
angular difference between the points fell to approximately
1.8 degrees as a result of the active power flow redistribution
in the network.
Fig. 14. Angular difference between Florianpolis and Curitiba.
The data sent by the PMU located in Porto Alegre, during
the disturbance, did not arrive at the PDC as a consequence of
an Internet connection failure between UFSC and PUCRS.
The failure duration was of approximately 1 minute, although
the PMU kept registering the data since it was connected to a
no-break system. In Figure 15 the voltage magnitude
monitored by the PMU in Porto Alegre is shown. The
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disturbance caused an over voltage that was only partially
observed due to the Internet connection failure.
Fig. 15. Voltage magnitude at Porto Alegre.
V. FUTURE DEVELOPMENTSThe prototype described in this paper has been working for
a year monitoring variables of Southern Brazil system during
normal and abnormal conditions.
Although the prototype was installed in the distribution
system, many transmission system phenomenons could be
observed. However, the connection at the distribution system
level makes the analysis more complex since transient
components due to switching in the distribution system add to
frequency components associated to power oscillations at the
transmission system level. Therefore, the next phase of the
project comprises the installation and tests of a SPMS in the
EHV (Extra High Voltage) Brazilian transmission system.Monitoring applications were giving special attention in
this paper. However other applications are being developed
such as model improvement of power system components
using SPMS, fault location, emergency control and control
applications aiming the small-disturbance angle stability.
VI. CONCLUSIONS
This paper described the performance of a SPMS prototype
developed by the MedFasee project. The PMUs were installed
in geographically distant cities of Southern Brazil.
Performance tests were realized and have shown that the
PMUs are able to monitor power system disturbances under
normal and abnormal conditions.
Performance results of SPMS under Internet have shown
its capability in providing network connection for SPMS. The
Internet has proved a good choice for the project but
reliability can be an issue for industrial applications. The use
of private networks by the utilities can be a reliable
alternative.
Monitoring of normal and abnormal conditions were
accomplished by the SPMS prototype. The measured data
allowed the analysis of the low-voltage frequency and
identification of a natural oscillation mode with a period of
approximately 50 seconds in the Brazilian Interconnected
system. The prototype robustness was tested with the capture
of important power system disturbances. The disturbances
were registered with high precision and enabled the analysis
of the disturbance effects at specific points of the low-voltage
system.
Finally, the paper results indicate that it is possible to
obtain important information on power system dynamics usingSPMS connected at low-voltage and Internet. The authors
believe that the evolution of this technology could make the
system operating conditions available to the wider public.
VII. ACKNOWLEDGMENT
The authors gratefully acknowledge the contributions of
Professor F. Neves, from CEFET-PR, and Professors F. B.
Lemos and A. Manzoni, from PUCRS, and their laboratory
staff for their cooperation to support PMUs installation.
VIII. REFERENCES
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[16] IEEE Standard for Synchrophasors for Power Systems, IEEE Standard
PC37.118-2005, Jun. 2005. (under revision)
IX. BIOGRAPHIES
Ildemar Cassana Decker received his B. Sc. from the Catholic University of
Pelotas, RS., Brazil. He obtained his M.Sc. (1984) and D.Sc. (1993) degrees in
Electrical Engineering from Federal University of Santa Catarina and Rio de
Janeiro, Brazil, respectively. From 1980 to 1985 he worked in Federal
University of Santa Maria, RS. Since 1985 he has been Associate Professor ofthe Federal University of Santa Catarina, in Department of Electrical
Engineering. His general research interest is in the area of computer methods
for power systems analysis and control and high performance scientific
computing.
Daniel Dotta received his B. Sc. and M.Sc. degrees in Electrical Engineering
from the Federal University of Santa Catarina, SC., Brazil. Since 2004 he has
been developing his Ph.D. in Federal University of Santa Catarina, in
Department of Electrical Engineering. His general research interest is in the
area of modeling and object-oriented programming for power systems analysis
and control and high performance scientific computing.
Marcelo Neujhar Agostini received his degree in Electrical Engineering
from Federal University of Santa Maria in 1996. He worked as a research
engineer at the same institution before starting postgraduate studies. He
obtained his D.Eng. degree in Electrical Engineering from the Federal
University of Santa Catarina in 2002. Currently he works at this university as
a researcher engineer. His general research interest are phasor measurements,
software engineering applied to Electric Power Systems, Object-Oriented
Modeling, Electric Power Systems Modeling, Electric Power Systems
Dynamics and High Performance Scientific Computing.
Sergio Luiz Zimath received his degree in Automation and Control
Engineering from Federal University of Santa Catarina in 1997. Since 1995,
he has been with Reason Technology where he was responsible for the
development of the Digital Fault Recorder model RPIV, GPS Based time
references among other products. Since 2005 he is in charge of the Research
Projects Department, involved in the study of new technologies.
Aguinaldo Silveira e Silva received his degree in Electrical Engineering from
Federal University of Parana in 1977, and the M.Sc. and Ph.D degrees in
Electrical Engineering from Federal University of Santa Catarina, in 1982 and
UMIST, UK, in 1990, respectively. Since 1980, he has been with Federal
University of Santa Catarina. His main research interests are in the area of
power systems dynamics and control applications.