topic 6: wide area measurementshamed/smart_grid_topic... · wide-area measurement for situational...
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Topic 6: Wide Area Measurements
1Networking and Distributed Systems
Department of Electrical & Computer EngineeringTexas Tech University
Spring 2012
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Wide-Area Measurement
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 2
• We would like to deploy several sensors across the grid:
• To monitor the operation of the grid (almost) in real‐time.
• Applications:
• Angle and frequency monitoring
• Post‐mortem analysis (disturbances and system failures)
• Voltage and voltage stability monitoring
• Improved state estimation
• Steady‐state benchmarking
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Wide-Area Measurement for Situational Awareness
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 3
• WAM can help us achieve Wide‐area Situational Awareness:
• Situational Awareness:
• To be able to optimally and yet robustly operate the grid.
• Key Sensor: Phasor Measurement Unit (PMU)
Understanding the current environment and being able to accurately anticipate future problems to enable effective actions.
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Synchronized Measurements
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 4
• A PMU at a substation measures voltage and current phasors:
• Very precise synchronization with μs accuracy.
• Compute MW/MVAR and frequency.
• Measurements are reported at a rate of 20‐60 times a second.
• Can track grid dynamics in real time
• Traditional SCADA refresh rate is seconds to minutes
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Synchronized Measurements
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 5
•Each utility has its own Phasor Data Concentrator (PDC) to
• Aggregate/align data from various PMUs based on time tag
PMU 1
PMU 2
PMU 3
PDC / Vector Processor
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Synchronized Measurements
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 6
• Measurements from each utility’s PDC is sent to the Central Facility:
• Where the measurements are synchronized across utilities
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Comparison Between SCADA and PMUs
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 7
• PMUs have much faster sampling rate:
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Synchrophasor Definition
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 8
• Synchrophasor:
• Time‐tagged sequence phasor measured at different locations.
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PMU Architecture
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 9
• A GPS receiver is used to time‐stamp measurements:
Measurements from all PMUs will be synchronized
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Measurement Synchronization
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 10
• It is achieved via:
• 24 Satellites
• 12 Hour Orbit Time
• Signal: Position, Velocity, Time
• Visibility:
• 5 to 8 Satellites from
• Any point at any time!
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Measurement Synchronization
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 11
• Performance:
• 95% Reliable
• 100 nanosecond time accuracy
• Q: Good enough?
• Positioning is not a concern in PMUs.
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Preventing Blackouts
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 12
• An application of PMUs and Situational Awareness:
• Quickly respond to emergencies
• Prevent disturbance propagation
• Planned islanding, if needed
• Limited scope load shedding, if needed
• Faster system restoration
• In general, we have no idea what happened after blackout.
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Northeast Blackouts 2003
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 13
• Affected:
• About 10 Million People in Ontario, Canada
• About 45 Million People in 8 U.S. States
• Initiated in Ohio because of
• A device and also human error.
• A sequence of events finally led to the blackout.
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Northeast Blackouts: Map of the Areas Affected
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 14
Some of the Major Cities Affected: New York, Toronto, Detroit, Cleveland, Ottawa
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Northeast Blackouts: Map of the Areas Affected
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 15
Evening of August 14, 2003
Downtown Toronto
• Video: http://www.youtube.com/watch?v=6nt0njgVmv4.
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Northeast Blackouts: Brief Timeline
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 16
• 12:15:00 EDT: Some error in State Estimator in Northern Ohio
• 13:31:00 EDT: The Eastlake, Ohio generating plant shuts down
• 16:05:57 EDT: Last point blackout could have been prevented!
• 16:13:00 EDT: A total of 256 power plants are offline
• Restoration: It took up to 6 days in some locations.
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Northeast Blackouts: Brief Timeline
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 17
Rate of Line and Generator Trips During the Cascade
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Northeast Blackouts: Brief Timeline
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 18
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Northeast Blackouts: Brief Timeline
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 19
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Northeast Blackouts: Brief Timeline
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 20
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Northeast Blackouts: Brief Timeline
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 21
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Northeast Blackouts: Brief Timeline
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 22
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Northeast Blackouts: Brief Timeline
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 23
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PMU Measurements Could Warn Instability
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 24
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PMU Measurements Could Warn Instability
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 25
• We can also use analytical models to capture:
• Dynamics of the phase angles and frequency.
• Usually we aim to reach linear models.
• The models can be used to
• Analyze stability as we collect PMU readings
• Find stability regions using simulations
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Dynamic Models
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 26
• Consider a network of n generators connected to each other:
• Connections are throughm tie‐lines, withm ≤ n (n‐1) / 2
Example: with n = 6 generators and m = 9 tie‐lines
Ref: A. Chakraborttyet al.
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Dynamic Models
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 27
• The internal voltage phasor of the ith generator is denoted as:
• For the link connecting pth and qth generators, impedance is:
• And we have
.,,2,1, niE ii
.pqpqpq jxrz
.11
pqpqpqpq jxrz
y
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Dynamic Models
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 28
• The dynamic electro‐mechanical model of the ith generator:
where
iNk ikik
ik
ikkiikikkiiki
ii
sii
xrrxxrEErE
PH 22
1222 tancos(2
ii
s
Generator ofVelacity Angular Rotor Hz 60at Velacity Angular Nominal120
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Dynamic Models
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 29
• A linear model around an initial equilibrium :
Assuming that a disturbance u enters the system at node j:
.,11
nn
),( 00 ii
uL
I
j
0
00
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Dynamic Models
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 30
• A linear model around an initial equilibrium :
where
),( 00 ii
uL
I
j
0
00
matrix identity ldimensiona-nI
1 iselement theand zero elements allr with unit vectoA thj j
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Dynamic Models
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 31
• A linear model around an initial equilibrium :
where
),( 00 ii
uL
I
j
0
00
ik
ikki
Nk ikik
kiii r
xxr
EELi
10022
tansin
otherwise 0
iftansin 10022 i
ik
ikki
ikik
ki
ikNk
rx
xrEE
L
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Dynamic Models
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 32
• So far we have only modeled angle and angular velocity.
• Q: What if we measure voltage phasors using PMUs?
qqE pqpqV ppE
Measurement is done somewhere between two generators.
Ref: A. Chakraborttyet al.
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Dynamic Models
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 33
• Voltage magnitude is obtained as
where
)cos()1(2)1( 2222qppqpqqppqppqqpq EEEEV
pq
pqpq z
z
location PMU tonode reference from Impedancepqz
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Dynamic Models
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 34
• The linearized model around becomes:
where
q
p
q
p
C
qpqpqppq
pqpqpq
pq
EEV
aaV
0011)sin(),()1(
0000
),( 00 ii
00
00
and at Model Voltage
Nonlinear of Evaluation),(
qp
qppqV
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Dynamic Models
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 35
• Finally, the state space model becomes:
• The model can be used for
• Stability Analysis
• System Identification
• Closed‐loop controller / stabilizer design.
q
p
q
p
pqpq CV
uL
I
j
0
00
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Region of Stability
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 36
• Using the non‐linear/linear models and simulations:
• We obtain regions for PMU readings that assure stability
• Contingency and security scenarios can also be considered.
PMU 1 Reading
PMU 2 Reading
Update Stability Boundary with SCADA data rate
Update Trajectory Pointswith PMU data rate
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Region of Stability
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 37
• Alarm is triggered as the trajectory approaches boundaries.
• Stability regions can also be used to visualize stability status.
• There can be several such two‐dimensional regions.
• One challenge: where are the optimal locations for PMUs?
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PMU Deployment Status
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 38
• PMU devices are available from many vendors:
• ABB, Schweitzer, AMETEK, Arbiters, GE, Macrodyne, SEL
• New IEEE C37.118 standard has been approved.
• Partly covered that in Topic 2.
• There are systems that are already installed and operating.
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PMU Deployment Status
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 39
• Eastern Interconnection Phasor Project (EIPP):
Source: EIPP
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PMU Deployment Status
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 40
• Eastern Interconnection Phasor Project (EIPP):
Source: EIPP
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PMU Deployment Status
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 41
• CCET Discovery Across Texas Project:
Source: C
CET
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PMU Deployment Status
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 42
• FNET (Frequency Monitoring Network) Project:
• University of Tennessee
• Virginia Tech
• They use a special type of PMU:
• Frequency Disturbance Recorder (FDR)
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PMU Deployment Status
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 43
• FDR measures
• Measure frequency, phase angle, and voltage
• Of the power system at ordinary 120 V outlets
• It is a single phase PMU.
• FDRs send data to the FNET servers over the Internet.
• Video: www.youtube.com/watch?v=9Vt2OlVoBJc (From 0:40)
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PMU Deployment Status
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 44
• Locations of current FDRs installed:
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PMU Deployment Status
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 45
• They have monitored frequency at some recent events:
• Visualization of the Eastern Interconnection powersystem frequency before, during, and after a generator tripat the John Amos plant in Nitro, West Virginia. (8/6/2007).
• Video: http://www.youtube.com/watch?v=f0rdFy1f4t4
• They have also simulated some other major events:
• Blackout of 2003 (8/14/2003).
• Video: http://www.youtube.com/watch?v=eBucg1tX2Q4
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PMU Deployment Status
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid 46
• Link to FNET website:
• http://www.tntech.edu/cesr/fnet
• http://fnetpublic.utk.edu/
• Link to more captured events:
• http://fnetpublic.utk.edu/sample_events.html
• Link to more simulations:
• http://www.youtube.com/PowerITLabUTK
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References
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid
• North American Electric Reliability Council, "Technical Analysis of the August 14, 2003, Blackout: What Happened, Why, and What Did We Learn?", Report to the NERC Board of Trustees by the NERC Steering Group, July 2004. http://www.nerc.com/docs/docs/blackout/NERC_Final_Blackout_Report_07_13_04.pdf.
• M. Vaiman, M. Vaiman, S. Maslennikov, E. Litvinov, and X. Luo,"Calculation and Visualization of Power System Stability MarginBased on PMU Measurements", in Proc. of IEEE Smart GridCommunications Conference (Smart Grid Comm’10),Gaithersburg, MD, October 2010.
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References
Dr. Hamed Mohsenian-Rad Texas Tech UniversityCommunications and Control in Smart Grid
• D. Novosel, "Tutorial on PMU Technology and Applications", In Proc. of the International Conference on SynchrophasorMeasurement Applications, Brazil, June 2006.
• A. Chakrabortty and C. F. Martin, "Optimal measurementallocation for parametric model identification of electricalnetworks", IEICE Transactions on Nonlinear Theory and ItsApplications, vol. 2, no. 3, pp. 302‐319, 2010.
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