IEEE-PES General Meeting Calgary, AB, CAN, July 26-30, 2009 1 PSERC Sakis Meliopoulos Georgia Power Distinguished Professor School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta, Georgia 30332 Distributed State Estimator - SuperCalibrator Approach Delivering Accurate and Reliable Data to All
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Distributed State Estimator - SuperCalibrator Approachabur/ieee/meliopoulos.pdf · • 6 SEL-421 Relays with PMU Capability • 3 SEL 734 Meters with PMU Capability • Numerous Areva
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IEEE-PES General MeetingCalgary, AB, CAN, July 26-30, 2009 1
PSERC
Sakis MeliopoulosGeorgia Power Distinguished ProfessorSchool of Electrical and Computer EngineeringGeorgia Institute of TechnologyAtlanta, Georgia 30332
Distributed State Estimator -SuperCalibrator ApproachDelivering Accurate and Reliable Data to All
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Real Time ModelState Estimation
ApplicationsLoad ForecastingOptimization (ED, OPF)VAR ControlAvailable Transfer capabilitySecurity AssessmentCongestion managementDynamic Line RatingTransient StabilityEM Transients, etc.Visualizations
Markets: Day Ahead, Power Balance,Spot Pricing, Transmission Pricing (FTR, FGR), Ancillary Services
Present State of the Art: C&O and P&C
Control & Operation Protection & Control
The Infrastructure for Both Functions is Based on Similar Technologies: Thus the Opportunity to Merge, Cut Costs, Improve Reliability Integration of New Technologies
alpha is a synchronizing unknown variableCos and sin of alpha are unknown variable in the state estimation algorithmThere is one alpha variable for each non-synchronized relay
αα
αα
α
cossin(sincos
~~
imagreal
imagreal
jmeassync
AAjAA
eAA
+
+−
==
Non-GPS Synchronized Relays provide phasorsreferenced on “phase A Voltage”. The phase A Voltage phase is ZERO.The SuperCalibrator provides a reliable and accurate estimate of the phase A voltage phase.
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Substation
I4~
I3~
I5~
I6~
I1~
I2~
SuperCalibrator Pseudo-Measurement Set
0~~~621 =++ III
( ) ( ) 0~~~~~212431 =++++ mIIIkIIk
Expected Error: 0.001%
Expected Error: 0.001%
Substation k
IS~
IR~
VS~
VR~
Line i
( ) ( ) SSmpseudo VYZYZIZYZV
R
~~~2122
1222221
12222
, −− −+−= II
Expected Error: 0.01%
Kirchoff’s Current Law Remote End State Measurement
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SuperCalibrator: Estimation Method
∑∑−∈∈
+=synnonphasor
JMinν ν
νν
ν ν
νν
σηη
σηη
22
* ~~
Solution
( )[ ]xhzAxx −+=+ νν 1
[ ] [ ]WHWHHA TT 1−=where:
EfficiencyExample, Long Bay Substation, High End PCOne Iteration: 18,000 multiply-adds (0.002 seconds)Compute Matrix A: Variable (sparsity) – Almost Invariant (0.010 secs)
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SuperCalibrator
Implementation
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Present State of the Art: Smart Grid Infrastructure
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Providing Validated and High Accuracy Information
Phase Conductor
Pote
ntia
lTr
ansf
orm
er
CurrentTransformer
PMUVendor A
Burden
Inst
rum
enta
tion
Cab
les
v(t)
v1(t) v2(t)
Burdeni2(t)i1(t)
i(t)
Attenuator
Attenuator Anti-AliasingFilters
RelayVendor C
PMUVendor C
Measurement Layer
Super-Calibrator
Dat
aPr
oces
sing
IED Vendor D
LANLAN
FireWall
Enc
odin
g/D
ecod
ing
Cry
ptog
raph
y
Model Based Data Validation and Information Extraction(Redundancy, Bad Data Rejection, Statistical Estimation, etc.)
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SuperCalibrator ImplementationDescription: The VIWAPA System
• 35 kV Transmission• 13 kV Distribution• Single Generating Plant (RHPP)• Five Substations (RHPPlant, Long Bay, Tutu, East End, St. John)
• 6 SEL-421 Relays with PMU Capability• 3 SEL 734 Meters with PMU Capability• Numerous Areva Relays (P141, P442, P142, etc.)• There is at Least one PMU at Each Substation
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SuperCalibrator ImplementationSubstation Configuration – Long Bay – 3D Model
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SuperCalibrator ImplementationSubstation Configuration – Long Bay
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SuperCalibrator ImplementationSubstation Configuration – Long Bay
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SuperCalibrator ImplementationSubstation Configuration – Long Bay
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SuperCalibrator ImplementationSubstation Configuration – Long Bay
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SuperCalibrator ImplementationSubstation Configuration – Long Bay
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Physically Based Model Sequence Parameter ModelNot Used – for Info Only
SuperCalibrator Power System Model: Physically Based Three-Phase Model: Example
Multiphase Cable Model AcceptCancelLine #2 East End Substation To St John Sub - Section 2 (Submarine)
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Computation of Phase Error
Σ
+ –
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SuperCalibrator ImplementationExample of Measurement/Pseudo-M Count – Long Bay
Long Bay SubstationNumber of Analog Measurements: 318 realNumber of Pseudo-measurements: 72 real
Number of Status Measurements: 15
Future: Beckwith Relay Measurements: 2
Number of States: 24+20Long Bay 35 kV Bus: 3 (complex)Long Bay 13 kV Bus: 3 (complex)RHPP 35 kV Bus: 3 (complex)East End 35 kV Bus: 3 (complex)
Redundancy886%
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Syncrophasor Data Processing ExampleVoltage Phase Imbalance
Max Phase Imbalance: 0.150 DegreesWaveform Calculator Formula Example (Phases B and C):LB001_V_VT1_CN_R LB001_V_VT1_CN_I R2PHAS UNWIND LB001_V_VT1_BN_R LB001_V_VT1_BN_I R2PHAS UNWIND – 120 +
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Syncrophasor Data Processing ExampleCurrent Phase Imbalance
Max Phase Imbalance: 8.748 DegreesWaveform Calculator Formula Example (Phases A and B):LB001_C_3031_B_R LB001_C_3031_B_I R2PHAS UNWIND LB001_C_3031_A_R LB001_C_3031_A_I R2PHAS UNWIND – 120 +
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Syncrophasor Data Processing ExampleVoltage Magnitude Imbalance
Max Magnitude Imbalance: 0.122 puWaveform Calculator Formula Example (Phases A and B):LB001_V_VT1_BN_R LB001_V_VT1_BN_I R2MAGN LB001_V_VT1_AN_R LB001_V_VT1_AN_I R2MAGN – 199.185 /
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Syncrophasor Data Processing ExampleCurrent Magnitude Imbalance
Max Current Imbalance: 24 A ( About 13% )Waveform Calculator Formula (Phases A and B):LB001_C_3031_B_R LB001_C_3031_B_I R2MAGN LB001_C_3031_A_R LB001_C_3031_A_I R2MAGN –
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Syncrophasor Data Processing ExampleComputation of Frequency
Note:Average Frequency 60.0104 HertzAverage Frequency Difference 45 NanoHertz 60360+×
∆∆
=t
f θ
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Synchrophasor Data Processing Example – Raw Data1 hour at 1 sample per second
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Syncrophasor Data Processing ExampleComputation of Phase Angle
Note that the phase discontinuity is an artifact of the arctangent function range limits
))Re(),2(Im(atan VV=θ
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• Utilization of All Data – Relay, SCADA, PMU
• Operates on Streaming Data from ALL DEVICES at the Substation Level – Distributed SE – Generates Streaming State to Other Concentrators (Information)
• DATA VALIDATION: Quantifies Data Accuracy – Remote Calibration
• Capable of Storing Data+Model Simultaneously
• Minimizes Data to be Transferred (very important)• - Communication of Information not Raw Data• - Improved Latencies