A novel hybrid state estimator for including synchronized phasor measurements

State estimator is crucial for on-line power system monitoring, analysis and control. With the increasing use of synchronized phasor measurement units (PMU) in power grids, how to utilize phasor measurements to improve the precision of state estimator becomes imperative. Since there are lots of traditional measurements in SCADA system and it is hard for phasor measurements to replace them in the near future, the best way is to develop hybrid state estimator which includes both phasor and traditional measurements to get better behavior. In this paper, a novel state estimator for including voltage phasors, branch current phasors and traditional measurements is proposed. The detailed model and how to calculate covariance matrix of PMU measurements are described in detail. New England 39-bus system and IEEE 118-bus system are used as test systems and the simulation results demonstrate that the proposed state estimation algorithm improves the precision greatly and gets better behavior as compared with other state estimators with or without phasor measurements.     

非接触式电压相量测量算法

同步相量测量技术为电网动态安全监测提供了数据基础,非接触式电压传感技术具备安全、便捷、成本低的优势,有利于测量装置实现海量布点。现有非接触式电测量的缺陷在于复杂电压经探头传变后二次侧输出电压发生畸变,难以还原一次侧电压相量。为解决电压畸变问题,文中提出了一种对带内信号分频计算的相量测量算法。首先对探头输出电压进行预处理,滤除带外信号与噪声,随后采用矩阵束法计算带内信号频率,以此构建信号模型进行时域拟合求解带内信号相量,最后将带内信号相量还原至一次侧后合成得到综合相量。仿真结果表明,所提方法能够利用探头二次侧输出电压采样值计算一次侧电压相量。实验数据显示所提方法的幅值测量误差小于4.5%,相位误差小于1°,频率误差小于0.04 Hz,频率变化率误差小于4 Hz/s。     

基于暂态相控大电流的继电保护无负荷相量测量方法

针对一次设备带负荷前继电保护设备无法开展带实际负荷验证保护方向问题,提出一种基于暂态相控大电流的继电保护无负荷相量测量方法。注入电流互感器一次暂态大电流相位与参考电压保持固定角度,在电流互感器二次回路及继电保护装置回路中以录波方式测量参考电压与电流互感器变换后的暂态电流相位是否仍然保持固定角度,确定带方向保护功能的正确性,实现电流互感器极性、电流互感器二次回路注流、带负荷相量测量三项试验在设备正式带电前一次完成。     

Tools for dynamic analysis of the general large power system using time-varying phasors

This paper extends the applicable range of phasors for transient analysis from the traditional slow quasi-stationary range to accommodate fast speeds up to the carrier frequency. Rigorous phasor calculus is developed for time varying low pass phasor signals whose bandwidths are less than the 60 Hz carrier frequency. Symmetrical components technique for analysing quasi-stationary unbalanced power system transients is extended to cover the low pass time-varying phasors. It is also proved that the time varying phasors can be used for computing the fast electromagnetic transients within the linear RLC lumped parameter representation of the transmission network irrespective of the transient speeds. In linear networks, this time-varying phasor concept unifies two classical approaches: (1) transient analysis using instantaneous currents and voltages, and (2) steady state analysis using traditional phasors, into analysing both behaviours precisely using the time-varying phasors.     

Generalized State Estimation of Flexible AC Power Systems Considering Wind Generators and Primary Frequency Control

This paper proposes a practical approach to incorporate the mathematical models of both fixed-speed and variable-speed wind turbine generators, automatic load frequency controls as well as voltage magnitude and frequency dependent loads into a weighted least squares-based state estimation algorithm suitable for the analysis of flexible alternating current (AC) transmission systems. As opposed to conventional static state estimators, where the inclusion of these electric components has been neglected so far, the proposed approach permits the determination of the steady state operation of a power system in the event of a supply-demand unbalance by estimating the magnitude of the frequency deviation from its nominal value. The state estimation is based on measurements related to those that should be obtained by a supervisory control and data acquisition (SCADA) system and phasor measurement units. For the purpose of this paper, the set of values associated with SCADA measurements (nodal power injections, power flows, and voltage magnitudes) and phasor measurement unit (PMU) measurements (voltage and current phasors) are generated from a power flow analysis of the network under study. Lastly, numerical simulations are reported to demonstrate the effectiveness of the proposed approach.     

A new hybrid state estimation based on pseudo‐voltage measurements

This paper presents a new hybrid state estimation method based on the concept of pseudo‐voltage measurements for a power system containing both conventional and synchronizing phasor measurements. Actual measurement data is employed to calculate the magnitude and phase of the pseudo‐voltage. In the proposed formulation, the measurement matrix describing the relations between the measured data and the state variables contains only 0 or 1. Then the state estimation problem is formulated based on the weighted least‐squares criterion, and its solution can be obtained without using iterative procedures. Comparisons with previous hybrid state estimation methods have been performed on IEEE 14‐bus, 57‐bus, and 118‐bus systems. Numerical experimental results indicate that the proposed approach yields solutions of comparable accuracy with other methods but with shorter computation times. Moreover, the proposed method also provides superior results in the presence of bad data. © 2015 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

State estimation and bad data processing for systems including PMU and SCADA measurements

Conventional state estimators (SE) are based on real-time measurements, consisting of bus voltages and active and reactive power flows and injections, and estimate the voltage phasors of the network buses. Until recently, these measurements were obtained only through SCADA. With the advent of GPS synchronized measurements obtained by phasor measurement units (PMU), effective techniques are required to incorporate the extremely accurate PMU measurements into state estimation, in order to improve its performance and observability. This paper develops a non-linear weighted least squares estimator by modeling the current phasor measurements either in rectangular or in polar coordinates and compares the two approaches. Any numerical problems arised at flat start or for lightly loaded lines, are resolved. The error amplification, due to the current phasor measurement transformation from polar into rectangular coordinates, is also investigated. The normalized residual test is used to effectively identify any bad data in the conventional and phasor measurements. The proposed techniques are tested with the IEEE 14-bus system.     

Robust Measurement Design by Placing Synchronized Phasor Measurements on Network Branches

This paper is concerned about optimal placement of synchronized phasor measurements that can monitor voltage and current phasors along network branches. Earlier investigations on placement of phasor measurement units (PMUs) have assumed that a PMU could be placed at a bus and would provide bus voltage phasor as well as current phasors along all branches incident to the bus. This study considers those PMUs which are designed to monitor a single branch by measuring the voltage and current phasors at one end of the monitored branch. It then determines the optimal location of such PMUs in order to make the entire network observable. The paper also addresses the reliability of the resulting measurement design by considering loss or failure of PMUs as well as contingencies involving line or transformer outages. Developed placement strategies are illustrated using IEEE test systems.      

利用卫星时间作基准的电力系统同步相量测量

本文首先对同步相量测量的思想进行阐述，然后给出一种新的同步相量测量方案，该方案将基于ＧＰＳ时间信息的时钟同步技术与离散付氏变换算法相结合，能在统一参考基准下实时测量电力系统各节点的电压电流相量。文章对该方案涉及到的算法、同步采样技术、硬件构成以及可行性等进行了详细描述。     

基于同步相量和相对电距离的电压静态稳定性评价

论述了负荷特性对相对电距离指标的影响,并与电压稳定性负荷节点指标进行了比较,论证了两种方法的等价性。提出利用从相量测量装置获得的电压和电流相量,并基于静态等值的思想,通过相对电距离指标对各负荷节点的静态电压稳定性进行排序,从而可对关键节点进行监测和控制。多机系统的仿真结果表明了该方法的有效性。     

基于SCADA/PMU混合量测的广域动态实时状态估计方法

根据来自监视控制与数据采集(supervisory control and data acquisition,SCADA)系统和相量测量单元(phasor measurement unit,PMU)的数据特点,提出了一种基于SCADA/PMU混合量测的广域动态实时状态估计方法,该方法充分利用了各节点间电压变化的相互联系,通过SCADA系统提供的初始值和安装PMU的节点的电压量测可简单地获得其他未安装PMU节点的电压相量。该方法有效地解决了在PMU配置不足的情况下如何观测电网状态以及如何在动态过程下实时观测电网。最后,通过对新英格兰10机39节点系统的多种故障进行仿真,验证了该方法的有效性和准确性。     

基于变时间窗傅里叶变换比相式快速阻抗继电器新算法

首先分析了衰减直流分量对传统的比相式距离保护原理的影响的根源,将线路时域内微分方程在一个时间段内的积分后再进行Fourier变换;并拓展了操作电压(补偿电压)的定义,即假设测量点到整定点的线路无故障的整定点电压,同时利用变时间Fourier变换技术,分析了操作电压矢量与极化电压矢量在区内外故障时的关系,在此基础上提出了基于变时间窗的比相式阻抗继电器新算法。理论分析和EMTP仿真表明,该算法不受衰减直流分量的影响,且动作速度相比较传统的比相式算法有很大提高。     

考虑电力系统潮流直接可解的同步相量量测单元最优配置

基于全球定位系统(Global Positioning System,GPS)的同步相量量测单元(Phasor Measurement Unit,PMU)是一种新型的量测装置,该装置可以直接量测节点电压相量.文章在电力系统潮流直接可解概念的基础上提出了采用遗传算法解决PMU的最优配置问题.数学模型(即评价函数)的构造是采用遗传算法的主要瓶颈,文章建立了PMU最优配置的数学模型,并以此模型为评价函数开发出相应的遗传算法.算例结果表明文章所建立的模型和采用的算法是有效的.     

A new protection scheme for fault detection, direction discrimination, classification, and location in transmission lines

This paper presents a new adaptive fault protection scheme for transmission lines using synchronized phasor measurements. The work includes fault detection, direction discrimination, classification, and location. Both fault-detection and fault-location indices are derived by using two-terminal synchronized measurements incorporated with distributed line model and modal transformation theory. The fault-detection index is composed of two complex phasors and the angle difference between the two phasors determines whether the fault is internal or external to the protected zone. The fault types can be classified by the modal fault-detection index. The proposed scheme also combines online parameter estimation to ensure protection scheme performance and achieve adaptive protection. Extensive simulation studies show that the proposed scheme provides a fast relay response and high accuracy in fault location under various system and fault conditions. The proposed method responds very well with regards to dependability, security, and sensitivity (high-resistance fault coverage).     

An adaptive PMU based fault detection/location technique fortransmission lines. I. Theory and algorithms

An adaptive fault detection/location technique based on a phasor measurement unit (PMU) for an EHV/UHV transmission line is presented. A fault detection/location index in terms of Clarke components of the synchronized voltage and current phasors is derived. The line parameter estimation algorithm is also developed to solve the uncertainty of parameters caused by aging of transmission lines. This paper also proposes a new discrete Fourier transform (DFT) based algorithm (termed the smart discrete Fourier transform, SDFT) to eliminate system noise and measurement errors such that extremely accurate fundamental frequency components can be extracted for calculation of fault detection/location index. The EMTP was used to simulate a high voltage transmission line with faults at various locations. To simulate errors involved in measurements, Gaussian-type noise has been added to the raw output data generated by EMTP. Results have shown that the new DFT based method can extract exact phasors in the presence of frequency deviation and harmonics. The parameter estimation algorithm can also trace exact parameters very well. The accuracy of both new DFT based method and parameter estimation algorithm can achieve even up to 99.999% and 99.99% respectively, and is presented in Part II. The accuracy of fault location estimation by the proposed technique can achieve even up to 99.9% in the performance evaluation, which is also presented in Part II     

不对称三相电压下电压源型换流器谐波分析与抑制策略

不对称三相电压下,电压源型换流器(VSC)将产生低次谐波,给电网造成谐波污染。随着VSC在电力系统中的广泛应用,这类问题必须得到更多的关注,提出有效的解决方法。基于动态相量和序分量,推导出序分量动态相量,并对其特性进行了分析;将含开关函数描述的VSC时域模型转化为动态相量模型;定义交流电流和直流电压的各阶序分量动态相量为状态变量,建立了以状态空间描述的VSC序分量动态相量谐波分析模型,综合考虑了开关函数的详细动态特性和交直流侧谐波的相互作用,从而揭示了VSC产生谐波的机理,实现了VSC谐波的解析求解。在此基础上,提出负序补偿的不对称调制策略,以抑制低次谐波的产生。通过各种不对称情况下的仿真和计算,验证了所提出的谐波分析模型的正确性和谐波抑制策略的有效性。     

电力系统次同步和超同步谐波相量的检测方法

针对现有基于基波相量检测的动态监测装置和系统不能满足精确检测次(超)同步谐波的要求,提出一种能够同时检测次(超)同步谐波和基波相量的新方法,它改进了现有定间隔采样相量校正算法,通过自动频率检测、多模式滤波和相量校正方法,可在信号内包含多个非整次谐波分量的情况下,高精度检测出所有次(超)同步谐波和基波相量。给出了检测方法的原理和实现,采用理想测试信号和工程实际数据测试并验证了方法的精度和抗噪声能力。     

基于SDAE-ELM伪量测建模的高容错快速状态估计方法

目前在电力系统中无法保证相量量测单元完全覆盖的情况下,状态估计需要采用相量量测单元（phasor measurement unit, PMU）与数据采集与监控（supervisory control and data acquisition, SCADA）混合量测进行传统非线性状态估计,但是SCADA数据精度低,含有较多不良数据,同时混合数据需要迭代求解,会导致计算效率低且存在截断误差。针对该问题,文章提出了一种基于堆叠去噪自编码器（stack denoising autoencoder, SDAE）与极限学习机（extreme learning machine, ELM）伪量测建模的电力系统高容错快速状态估计方法。其将含有不良量测的SCADA量测数据作为SDAE-ELM伪量测模型的输入,节点电压实部与虚部作为输出,根据历史数据进行训练得到伪量测值与伪量测误差模型,训练完成后得到精度较高的伪量测;将伪量测与PMU量测一起进行快速的线性状态估计。仿真结果表明,所提方法在保证估计精度的基础上,提高了计算效率,验证了所提方法的有效性。     

微机保护傅里叶算法分析

目前有多种采用傅里叶算法求取信号谐波分量相量值的方法,使得工程技术人员无从选择。通过严密的数学推导,对相量形式的多样性进行了详细的解释,给出了2种明确的谐波分量相量值求取算法,仿真计算结果证明了结论的正确性和可行性。