Estimating Synchronous Generator Electromechanical Parameters With Phasor Measurements and Unscented Kalman Filter

Parameter Estimation in Power Systems
State Space Formulation
UKF Implementation
Simulations
Final Thoughts
Estimating Synchronous Generator Electromechanical Parameters with Phasor Measurements and Unscented Kalman Filter
Yasser Wehbe & Lingling Fan
Electrical Engineering Dept., University of South Florida presented at
NAPS 2012
Estimating Synchronous Generator Electromechanical Parameters
UKF Implementation
Simulations
Final Thoughts
Source of Interest
Parameter and state estimation impact on power system stability Investigation the estimation of synchronous generator states and parameters using a time window of PMU measurements. Active research area in KF and LSE
KF and LSE Importance of observation equations richness
Research objective: Output data on PMUs only
UKF Implementation
Simulations
Final Thoughts
Impact of Wrong Parameters Values

August 10, 1996 WSCC Outage
4600
Observed COI Power (Dittmer Control Center)
4400
Real event
4200
4000
4600
Simulated COI Power (initial WSCC base case)
4400
Dynamic simulations
4200
4000
10
20
30
40
50
60
70
80
90
Time in Seconds
No between simulated and real Figure : Deviationconfidence in dynamic database event, from NERC
UKF Implementation
Simulations
Final Thoughts
Deliverables
estimate electromechanical parameters & states: xq , rotor angle , , H, D, and Pm Dual UKF Colored noise
PMU G1
jx'd
V ,
P, Q
Transmission Network
UKF Implementation
Simulations
Final Thoughts
Flux Decay Model
Tdo
dEq = Eq (xd xd )Id + Efd dt d = b dt 2H d = Pm Pe D( 1) b dt b E = [(xq xd )Iq + jEq ]e j(/2) E = V + jxd I
(1) (2) (3)
(4) (5)
UKF Implementation
Simulations
Final Thoughts
Flux Decay Model (cntd)
Tdo
dEq = Eq (xd xd )Id + Efd dt d = b dt 2H d = Pm Pe D( 1) b dt b
(6) (7) (8)
(xq xd )I 2 sin(2 2) 2 2 Qe = Eq Isin( ) + (xd xq )I cos 2 ( ) xd I 2 Pe = Eq Icos( ) +
(9) (10)
UKF Implementation
Simulations
Final Thoughts
Flux Decay Model (cntd)
dEq = Eq (xd xd )Id + Efd (11) dt d = b (12) dt 2H d = Pm Pe D( 1) (13) b dt b Pe = Eq Icos( ) 2 sin(2 2) (xq xd )I + Pe = (Qe +xq I 2 )cot() 2 Qe = Eq Isin( ) 2 2 2 + (x x )I cos ( ) x I Tdo
d q d
(14)
UKF Implementation
Simulations
Final Thoughts
State Space System: Continuous
d = b dt 2H d = Pm Pe D( 1) b dt b Pe = (Qe + xq I 2 )cot( )
(15) (16) (17)
xq , rotor angle , , H, D, and Pm
UKF Implementation
Simulations
Final Thoughts
State Space System: Discrete
k k+1 = k + h k hb +
(18) (19) (20) (21) (22) (23)
k+1 = k + h
k k b (Pm Pe ) D k (b k ) k + 2H k
k H k+1 = H k + H k+1 Pm k+1 k+1 xq
= = =
k + Pm k D + D k k xq + xq
k Pm k
k k k Z k = Pe + k = [Qe + xq (I k )2 ]cot( k k ) + k
(24)
UKF Implementation
Simulations
Final Thoughts
UKF
Initial estimates for xk-1 and Pk-1
Prediction
Correction
Gk = xk = Pk =
xk = Pk =
UKF: mean and covariance matrices are calculated statistically through UT set up all UKF tuning parameters especially a
13
UKF Implementation
Simulations
Final Thoughts
UKF Implementation
and xq would converge together, eq (17) dual lter equation (18) needs proper initialization colored noise set up all UKF tuning parameters especially a limiting severe non-linearity of cot in eq (17)
UKF Implementation
Simulations
Final Thoughts
Dual Filter
Filter 1
Initialization X10 , P 10
Filter 2
Initialization X20 , P 20
Prediction
() X1k+1() , P 1XX
Prediction
() X2k+1() , P 2XX
k+1()
xk+1() q
Observation Z k+1
Correction
(+) X1k+1(+) , P 1XX
Correction
(+) X2k+1(+) , P 2XX
UKF Implementation
Simulations
Final Thoughts
Case 1: Flux Decay Machine
Simulation:Two-area four machine system Results: Parameter H D xq Pm Init value 10 0 1 0.71 Sim. value 6.5 3 1.5 0.797 Est. value 6.24 2.95 1.61 0.795 Error -4.1% -1.8% +7.2% -1.1%
Table : Results of case 1
UKF Implementation
Simulations
Final Thoughts
Case 1: Flux Decay Machine (cntd)

Rotor Angle
0.8 0.6 40 Error (rd) Error % 0.4 0.2 0 -0.2 30 20 10 0 0 5 Time (s) 10 15 -10 0 5 Time (s) 10 15 60 50
Inertia
xq
20 0 -20 Error % -40 -60 -80 -100 Error %
Damping Factor
50
-50
-100 0 5 Time (s) 10 15
5 Time (s)
10
15
UKF Implementation
Simulations
Final Thoughts
Case 2: Sub-transient Machine
Simulation:Two-area four machine system Results: Parameter H D xq Pm Init value 10 0 1 0.72 Sim. value 6.5 3 1.5 0.787 Est. value 7.15 3.02 1.61 0.792 Error +10.1% +0.8% +7.2% +0.7%
Table : Results of case 2
UKF Implementation
Simulations
Final Thoughts
Case 2: Sub-transient Machine (cntd)

0.6 0.4
Error (rd)
Rotor Angle
60 40 20 0
Inertia
0.2 0 0.2 0 5
Time (s)
10 xq
15
Error %
5
Time (s)
10
15
20 0 20 40
Error %
5
Time (s)
10
15
UKF Implementation
Simulations
Final Thoughts
Final Thoughts
The parameters estimated values are close to the simulated ones xq and estimations are highly correlated Dual lter with colored noise solved the estimation pb.
UKF Implementation
Simulations
Final Thoughts
This is the last slide.
UKF Implementation
Simulations
Final Thoughts
This is the last slide. Any questions?

Estimating Synchronous Generator Electromechanical Parameters With Phasor Measurements and Unscented Kalman Filter

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Estimating Synchronous Generator Electromechanical Parameters With Phasor Measurements and Unscented Kalman Filter

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Parameter Estimation in Power Systems

State Space Formulation

Yasser Wehbe & Lingling Fan