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Power System State Estimation
Power System State Estimation
Presentation Outline
Introduction
Introduction
Transmission system is under stress.
Generation and loading are constantly increasing. Capacity of transmission lines has not increased proportionally. Therefore the transmission system must operate with ever decreasing margin from its maximum capacity. Operators need reliable information to operate. Need to have more confidence in the values of certain variables of interest than direct measurement can typically provide. Information delivery needs to be sufficiently robust so that it is available even if key measurements are missing. Interconnected power networks have become more complex. The task of securely operating the system has become more difficult.
of interest with high confidence despite: measurements that are corrupted by noise measurements that may be missing or grossly inaccurate
system security analysis On-line dispatcher power flow Contingency Analysis Load Frequency Control To provide diagnostics for modeling & maintenance
based on a set of measurements of the model of the system. The state estimator uses Set of measurements available from PMUs System configuration supplied by the topological processor, Network parameters such as line impedances as input. Execution parameters (dynamic weightadjustments)
quantities.
Filter out small errors due to model approximations and
measurement inaccuracies;
Detect and identify discordant measurements, the so-
State Estimation
Analog Measurements Pi , Qi, Pf , Qf , V, I, km Topology Processor State Estimator V, Bad Data Processor
angle at each bus j i x [V1 , V2 ,..., Vn , 1 ,..., b ] Vi Ve i All variables of interest can be calculated from the state and the measurement mode. z = h(x)
I12
Measurement Model: h(x)
P12
V1
(Cont.,)
Only two of these meter readings are required to calculate the bus phase angles and all load and generation values fully
M13
5MW 0.05pu
M 32
0.40pu
Now calculating the angles, considering third bus as swing bus we get
1 2
0.02rad 0.10rad
If we use only the M13 and M32 readings, as before, then the phase angles will be:
1 2 3
This results in the system flows as shown in Figure . Note that the predicted flows match at M13, and M32 but the flow on line 1-2 does not match the reading of 62 MW from M12.
us from the measurements so we must use the measurements to estimate system conditions. Measurements were used to calculate the angles at different buses by which all unmeasured power flows, loads, and generations can be calculated. We call voltage angles as the state variables for the threebus system since knowing them allows all other quantities to be calculated If we can use measurements to estimate the states of the power system, then we can go on to calculate any power flows, generation, loads, and so forth that we desire.
the noisy measurements we have available. This leads to the problem how to formulate a best estimate of the unknown parameters given the available measurement. The traditional methods most commonly encountered criteria are The Maximum likelihood criterion The weighted least-squares criterion. Non traditional methods like Evolutionary optimization techniques like Genetic Algorithms, Differential Evolution Algorithms etc.,
Solution Methodologies
Weighted Least Square (WLS)method: Minimizes the
weighted sum of squares of the difference between measured and calculated values . In weighted least square method, the objective function f to be minimized is given by m 1 2 ei 2
i 1 i
Value (WLAV)method: Minimizes the weighted sum of the absolute value of between measured and calculated values. The objective function to be minimized is given by
| pi | i 1
The weights get updated in every iteration.
(Cont.,)
Least Absolute Value(LAV) method: Minimizes the objective function which is the sum of absolute
value of difference between measured and calculated values. The objective function g to be minimized is given by g=
m i 1
W | h (x)-z | i i i
Subject to constraint zi= hi(x) + ei Where, 2 = variance of the measurement W=weight of the measurement (reciprocal of variance of the measurement) ei = zi-hi(x), i=1, 2, 3 .m. h(x) = Measurement function, x = state variables and Z= Measured Value m=number of measurements
(Cont.,)
The measurements are assumed to be in error: that is, the
value obtained from the measurement device is close to the true value of the parameter being measured but differs by an unknown error. If Zmeas be the value of a measurement as received from a measurement device. If Ztrue be the true value of the quantity being measured. Finally, let be the random measurement error. Then mathematically it is expressed as
Zmeas Ztrue
(Cont.,)
PDF( )
1 exp( 2
/2
20
Actual distribution
x
0
estimate that best fits the measurement model . The static-state of an M bus electric power network is denoted by x, a vector of dimension n=2M-1, comprised of M bus voltages and M-1 bus voltage angles (slack bus is taken as reference). The state estimation problem can be formulated as a minimization of the weighted least-squares (WLS) function problem. 2 m (z h (x)) i i min J(x)= 2
i 1 i
(Cont.,)
This represents the summation of the squares of the
measurement residuals weighted by their respective measurement error covariance. where, z is measurement vector. h(x) is measurement matrix. m is number of measurements. 2 is the variance of measurement. x is a vector of unknown variables to be estimated. The problem defined is solved as an unconstrained minimization problem. Efficient solution of unconstrained minimization problems relies heavily on Newtons method.
(Cont.,)
The type of Newtons method of most interest here is the
Gauss-Newton method. In this method the nonlinear vector function is linearized using Taylor series expansion
h(x x) h(x) H(x) x
where, the Jacobian matrix H(x) is defined as:
H(x)
h(x) x
given by
J( x) 1 (z h(x) H(x) x) T R 1 (z h(x) H(x) x) 2
(Cont.,)
where, R is a weighting matrix whose diagonal elements
2 m
J( x)
(Cont.,)
J( x) x
H T R 1 (e H x) 0
H T R 1e
H T R 1H x G x
H T R 1e
x est
est 1 est 2
(Cont.,)
To derive the [H] matrix, we need to write the measurements
and
. These functions
5
1
2.5 )
(Cont.,)
5 [H] 2.5 0
5 0 4
2 M12
(Cont.,)
est 1 est 2
5 2.5 0 -5 0 -4
5 2.5 0
1
5 0 4
5 2.5 0 -5 0 -4
(Cont.,)
We get
est 1 est 2
0.028571 0.094286
power flowing in each transmission line and the net generation or load at each bus.
(0.62 (5 1 5 2 )) 2 J( 1 , 2 ) 0.0001 2.14 (0.06 (2.5 1 )) 2 0.0001 (0.37 (4 2 )) 2 0.0001
detect measurement errors, and to identify and eliminate them if possible. Measurements may contain errors due to Random errors usually exist in measurements due to the finite accuracy of the meters Telecommunication medium. Bad data may appear in several different ways depending upon the type, location and number of measurements that are in error. They can be broadly classified as: Single bad data: Only one of the measurements in the entire system will have a large error Multiple bad data: More than one measurement will be in error
(Cont.,)
Critical measurement: A critical measurement is the one whose
elimination from the measurement set will result in an unobservable system. The measurement residual of a critical measurement will always be zero.
A system is said to be observable if all the state variables can be
Redundant
measurement: A redundant measurement is a measurement which is not critical. Only redundant measurements may have nonzero measurement residuals.
the
measurement
set
will
make
the
system
(Cont.,)
When using the WLS estimation method, detection and
identification of bad data are done only after the estimation process by processing the measurement residuals.
J x
(z
h( x))' W z
h(x)
H1 WZ 0 GX
G 1H1WZ X
Z HX
e is given by
z h(x)
measurement set contains any bad data. Identification is the procedure of finding out which specific measurements actually contain bad data. Detection and identification of bad data depends on the configuration of the overall measurement set in a given power system. Bad data can be detected if removal of the corresponding measurement does not render the system unobservable. A single measurement containing bad data can be identified if and only if: it is not critical and it does not belong to a critical pair
Y
i 1
X i2
2 k
(Cont.,)
The
degrees of freedom k, represents the number of independent variables in the sum of squares. Now, let us consider the function f(x), written in terms of the measurement errors: 2 m m m e 1 2 N 2 i f (x) R ii ei ei R ii i 1 i 1 i 1 where e is the i th measurement error, Rii is the diagonal entry of the measurement error covariance matrix and m is the total number of measurements. Then, f(x) will have a chi-square distribution with at most (m n) degrees of freedom. where, m is number of measurements. n is number of state variables.
f
j 1
ei2 /
2 i
' (zi zi ) / R ii
' R ii
(I HG 1HT R 1 )R
N i
ei R
' ii
i=1,2,...m
Cont.,
Measurement
equations characterizing the meter readings are found by adding errors terms to the system model. We obtain
z1 z2 z3 z4 5 1 x1 x 2 e1 8 8 1 8 x1 x 2 e2 8 8 3 1 x1 x 2 e3 8 8 1 3 x1 x 2 e4 8 8
(Cont.,)
Forming the H matrix we get
100 0 0 0 0 100 0 0 0 0 0 0 50 0 0 50
(Cont.,)
Solving for state estimates i.e.,
V1 V2
We get
G 1H T Wz
V1 V2
16.0072V 8.0261V
(Const.,)
z1 z2 z3 z4
(Cont.,)
e1 e2 e3 e4
(Cont.,)
f
j 1
ei2 /
2 i
0.043507
(Cont.,)
[z1 z 2 z3 z 4 ]T
[e1 e2 e3 e4 ]T
4
f
j 1
ei2 / 15.1009
2 i
(Cont.,)
' R ii
(I HG 1HT R 1 )R
ei eiN R
' ii
i=1,2,...m
(Cont.,)
e1
' R11
0.06228 1.4178 (1 0.807) 0.01 0.15439 (1 0.807) 0.01 0.05965 (1 0.193) 0.02 0.49298 (1 0.193) 0.02 3.5144 0.4695 3.8804
e2 R e3 R R
' 33 ' 22
e4
' 44
Conclusion
Real time monitoring and control of power systems is
extremely important for an efficient and reliable operation of a power system. Sate estimation forms the backbone for the real time monitoring and control functions. In this environment, a real-time model is extracted at intervals from snapshots of real-time measurements. Estimate the nodal voltage magnitudes and phase angles together with the parameters of the lines. State estimation results can be improved by using accurate measurements like phasor measurement units. Traditional state estimation and bad data processing is reviewed.
References
F. C. Schweppe and J. Wildes, Power system static state estimation, part I: exact
model, IEEE Trans. Power Apparatus and Systems, vol. PAS-89, pp. 120-125, Jan. 1970. part i: theory and feasibility, IEEE Trans. Power Apparatus and Systems, vol. PAS-89, pp. 345-352, Mar. 1970. approximate model, IEEE Trans. Power Apparatus and Systems, vol. PAS-89, pp.125-130, Jan. 1970. Electrical Power and Energy Systems, vol. 12, Issue. 2, pp. 80-87, Apr. 1990.
Ali Abur and Antonio Gomez Exposito. (2004, April). Power System State
Estimation Theory and Implementation (1st ed.) [Online]. Available: http://www.books.google.com. Allen J wood and Bruce F Wollenberg. (1996, February 6). Power Generation, Operation, and Control (2nd ed.) [Online]. Available: http://www.books.google.com.