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CenSCIR Presentation 20070328
CenSCIR Presentation 20070328
Presentation Outline
Introduction
The Static State Estimation Process
General
In Power Systems
Alarms
Events
Measurements
SCADA
Archive
Archive Data
Data
Acquisition
Commands
Load
Data
Power delivery
control
Monitoring
& State
Estimation
Power market
Parameter Data
Parameter
Data Base
Operator
Displays
Control
Presentation Outline
Introduction
The Static State Estimation Process
General
In Power Systems
z = h(x)
I12
System
State: x
Measurement
Model: hi(x)
P47
V3
7
System
State:x
8
System
State:x
Measurements:z
9
Noise
Ideal
Measurements
h(x)
10
Noisy
Measurements
z=h(x)+v
C ( x ) = ( zi hi ( x )) / Ri
i =1
Noisy
Measurements
State Estimator
(minimize C(x))
12
State
Estimate
g(x ) = C (x ) = HT (x )R 1 (z h(x )) = 0
x
where
H (x ) = h(x )
x
13
[1] Ali Abur and Antonio Gomez Exposito, Power System State Estimation: Theory and Implementation, Chapter
2: Weighted Least Squares State Estimation,, 2004, Marcel Dekker, Inc (ISBN: 0-8247-5570-7), pp 9-36
14
Presentation Outline
Introduction
The Static State Estimation Process
General
In Power Systems
16
x = [12 13 L 1n V1 V2 L Vn ]
The ambiguity is removed.
17
Presentation Outline
Introduction
The Static State Estimation Process
General
In Power Systems
Presentation Outline
Introduction
The Static State Estimation Process
General
In Power Systems
23
Performance of base-case
dynamic estimator
Comparative performance of
static and base-case dynamic
estimator at different
sampling periods and process
noise coefficients.
Dynamic performance is
dependent on
characterization of w(),
which can be tuned to give
the minimum error.
From Debs-Larson, 1970
24
26
27
28
Load-Flow equations
Starting with the load-flow equations,
we lineralize around an operating
point and look at the incremental
changes to state and injections.
~ P
~
~
f (V , ) = Vi Vk Yik Pi + jQi = 0
k
Q
~ P
~ P
f (V , )
f (V , )
Q V~ +
Q P + e = 0
~
Q f
P
V
Q
P
~
JV I + e f = 0
Q
P
~
V = J 1 + e f 2
Q
P (t + 1) P(t )
u(t + 1) =
Q(t + 1) Q(t )
~
x(t ) = V (t )
x(t + 1) = x(t ) + J 1u(t + 1) + w (t )
30
31
Conclusion
Static state estimation in electric power
systems provides useful and reliable
information to operators.
State estimation results can be improved
through Kalman filtering with a pseudodynamics of the system.
Basic dynamic state estimators can be
improved through careful selection of the
dynamic model and handling of suspect data.
32
Questions?
33
Pij2 + Qij2
Vi
ij=i-j
34
Measurement Jacobian: H
Power Injections
Pi
= Vi V j ( Gij sin ij + Bij cos ij ) Vi Bii
i
j
Qi
= Vi V j (Gij cos ij + Bij sin ij ) Vi Gii
i
j
Pi
= ViV j (Gij cos ij Bij sin ij )
j
Qi
= ViV j ( Gij cos ij Bij sin ij )
j
Pi
= V j (Gij cos ij + Bij sin ij ) + Vi Gii
Vi
j
Qi
= V j (Gij sin ij Bij cos ij ) + Vi Bii
Vi
j
Pi
= Vi (Gij sin ij + Bij cos ij )
V j
Qi
= Vi (Gij sin ij Bij cos ij )
V j
35
Measurement Jacobian: H
Power Flows
Pij
i
Pij
j
Pij
Vi
Pij
V j
Qij
Qij
Qij
Qij
i
j
Vi
V j
36
Measurement Jacobian: H
Voltage and Current Magnitudes
Pij
i
Pij
j
=0
=0
Vi
=1
Vi
Vi
=0
V j
I ij
i
I ij
j
I ij
Vi
I ij
V j
g ij2 + bij2
I ij
=
=
=
37
V iV j sin ij
g ij2 + bij2
I ij
g ij2 + bij2
I ij
g ij2 + bij2
I ij
V iV j sin ij
(V V
i
cos ij )
(V V cos )
j
ij
Appendix 1:
Least Squares Eqs
z = h(x) +
1
T
C (x) = [z h(x)]R 1 [z h(x)]
2
C (x)
= H (x )R 1 [z h(x )] = 0
x x=x
h(x)
H=
x
pinv ( H ( x ), R ) = H T R 1 H ( x )
H T (x ) R 1
38
Appendix 2:
Prediction (Pseudo-Dynamic) Eqs
~
~
~
V (V Y ) = P + jQ
V =V e
f
f
k ik
Inj = [P1
j i
P2 L Pn
f (x, Inj)
=
f
x
Q
Q1 Q2 L Qn ]
x = [ 1 2 L n V1 V2 L Vn ]
g i (x, Inj) = Vi e
j i
(V e
k
j k
Yik
) (P + jQ ) = 0
V = J
f Q
f P
f (x, Inj) P
=
u
f Q
P
f P
Q I 0
=
=I
f Q 0 I
Q
f (x, Inj)
f (x, Inj)
x +
Inj + e f = 0
x
u
39
Appendix 3:
Kalman Filter Eqs
x(t + 1) = x (t ) + J 1 [u(t + 1) u(t )]
( ) ]H
L(t + 1) = S(t ) + J W J
1 T
{H[S(t ) + J W[J ] ]H
1
1 T
+ L(t + 1)RLT (t + 1)
40
+R