Distributed Dynamic State Estimator: Extension to Distribution Feeders

Transcription

1 Disribued Dynamic Sae Esimaor: Exension o Disribuion Feeders Sakis Meliopoulos Georgia Power Disinguished Professor School of Elecrical and Compuer Engineering Georgia Insiue of Technology Alana, Georgia IEEE-PES General Meeing Vancouver, BC, Canada July 21-25, 2013 Clinon Hedringon USVI Waer & Power Auhoriy Power Sysem Auomaion Laboraory Page 1

2 Ouline DS-SE Challenges Basic Background Technology: Disribued Sae Esimaion Disribuion Sysem Sae Esimaion Implemenaion Sae Esimaion of generaion resources along disribuion circuis Conclusions Power Sysem Auomaion Laboraory Page 2

3 DS-SE Challenges Power Sysem Auomaion Laboraory Page 3

4 Special Issues and Challenges Available Measuremens in Disribuion Feeders Subsaion Daa Recloser Daa Capacior Conrol Daa Smar Meer daa secondary) Cusomer Owned Disribued Resources wih Meering Oher Sae Esimaion is Exended o Cusomer Sysems Typically no Enough for Full Observabiliy Feeder Secions May Be no Observable Implemenaion Approaches Become Imporan Muliphase Modeling is a Necessiy Many More Power Devices han Transmission Sysems Power Sysem Auomaion Laboraory Page 4

5 DMS Design For Auonomy Plug and Play Power Sysem Auomaion Laboraory Page 5

6 Background: USVI-WAPA Insallaion of he Disribued Dynamic Sae Esimaor on he USVI WAPA sysem. Demonsraion and Field Experience wih he operaion of he Disribued Sae Esimaor on he USVI-WAPA Demonsraion: Augus 1-2, 2012 Exension o Disribuion Sysem Compelling Reasons Power Sysem Auomaion Laboraory Page 6

7 Disribued Dynamic Sae Esimaion Sae of Technology: provides a high fideliy real ime model of he sysem a speeds of 60 imes per second. Demonsraion projecs a several uiliies have been implemened for field evaluaion How: disribued dynamic sae esimaion using a) synchrophasor echnology, b) numerical relays, and c) physically based models Power Sysem Auomaion Laboraory Page 7

8 The SuperC Concep Disribued SE) The SuperC is concepually very simple: Uilize all available daa Relays, DFRs, PMUs, Meers, ec.) Uilize a deailed subsaion model hree-phase, breakeroriened model, insrumenaion channel inclusive and daa acquisiion model inclusive). Use Derived and Virual Measuremens by Applicaion of Physical Laws A leas one GPS synchronized device PMU, Relay wih PMU, ec.) Resuls on UTC ime enabling a ruly decenralized Sae Esimaor Power Sysem Auomaion Laboraory Page 8

9 Disribued Dynamic Sae Esimaion Implemenaion Measuremen Layer Phase Conducor v) Poenial Transformer Insrumenaion Cables v 1 ) i) Curren Transformer i 1 ) v 2 ) i 2 ) Aenuaor Burden Aenuaor Burden IED Vendor D Relay Vendor C PMU Vendor A Ani-Aliasing Filers PMU Vendor C LAN LAN Daa Processing Super- Calibraor Encoding/Decoding Crypography Physical Arrangemen FireWall Daa Flow Daa/Measuremens from all PMUs, Relays, IEDs, Meers, FDRs, ec are colleced via a Local Area Nework in a daa concenraor. The daa is used in a dynamic sae esimaor which provides he validaed and high fideliy dynamic model of he sysem. Bad daa deecion and rejecion is achieved because of high level of redundan measuremens a his level. Power Sysem Auomaion Laboraory Page 9

10 Disribued Dynamic Sae Esimaion Implemenaion The Esimaor is Defined in Terms of: Model Sae Measuremen Se Esimaion Mehod δ dω g 1 g1, ωg1, d y g1 Subsaion of Ineres DSE Applicaion) V, δ V, δ Transmission Line 1 V, δ Observabiliy Redundancy δ d g 2 g 2, ωg 2, ω d y g 2 V, δ Transmission Line 2 V, δ Sysem is Represened wih a Se of Differenial Equaions DE) The Dynamic Sae Esimaor Fis he Sreaming Daa o he Dynamic Model DE) of he Sysem Power Sysem Auomaion Laboraory Page 10

11 Performance Evoluion: Disribued Sae Esimaion Execuion Time Monior CPU Time Usage Indicaes in Real Time he Porion of he Time Used by he SE Calculaions. 100%=Time Beween Two Successive SE Compuaions. example: if SE is se o execue 60 imes per second, hen 100%=16.6 ms Power Sysem Auomaion Laboraory Page 11

12 Disribued Sae Esimaion Synhesis of Sysem Wide Sae a he Conrol Cener Sae Esimaor: Exracs Informaion from Daa Minimum Daa Traffic No Informaion Loss Power Sysem Auomaion Laboraory Page 12

13 Summary Disribued Sae Esimaion Enables Sae Esimaion a Each Cycle Sixy Times per Second). The Approach Requires a Deailed Three Phase Subsaion Model and a Leas One PMU Device. Four Demonsraion Projecs Have Provided and Will Provide Tremendous Experience. The Approach Has Enabled a New Disurbance Play Back Which Has Proven o be Very Useful. Power Sysem Auomaion Laboraory Page 13

14 Objec Oriened DS-SE Use Exising Measuremens Supplemen wih Virual Derived Pseudo-measuremens Apply o a DS Secion wih A Leas one GPS Sync Meas Formulaion Power Sysem Auomaion Laboraory Page 14

15 Power Sysem Auomaion Laboraory Page 15 Objec Oriened DS-SE Across Volage) Measuremen: Objec Oriened Model [ ] C h i I B h i Y h i V A B where B Y V Y V F Y V Y V Y V Y V Y I I i i i i eq eq m m eq m T m T T T m m eq m + + = + = 0 ) ~ ) ~ ) ~ ) ~ ) ~ ) ~ ) ~ ) ~ ) ~ ) ~ ) ~ ) ~ ) ~ ) ~ ) ~ 0 ) ~ 0 ) ~ j j j x z η + = ) ~ ) ~ Through Curren, Torque, ec.) Measuremen: Measuremen represens a qualiy associaed wih one row of he Objec oriened model ) z j j Objec Oriened Model row k of ) ~ η + = z j Row k QSE saes are Phasors, Speed, ec

16 Disribued Sae Esimaion Virual Measuremens - Examples ~ ~ ~ 0 = I + I + I Any Equaion of a Model Used in he Sae Esimaion Example: The Equaion for he Transformer Inernal Volage Virual Measuremen z m σ m = 0 value = 0 sandard deviaion Power Sysem Auomaion Laboraory Page 16

17 Disribued Sae Esimaion Derived and Pseudo-Measuremens - Examples Power Sysem Auomaion Laboraory Page 17

18 Disribued Sae Esimaion Pseudo-Measuremens - Examples In a Feeder, here may be secions wihou insrumenaion Pseudo-Measur. Can Provide he Link Towards Full Observabiliy An example is shown Power Sysem Auomaion Laboraory Page 18

19 Disribued SE Measuremen Se Non-Synchronized Measuremens Non-GPS Synchronized Relays provide phasors referenced on phase A Volage. The phase A Volage phase is ZERO. The SuperC provides a reliable and accurae esimae of he phase A volage phasor. ~ A sync = ~ A meas e jα α is a synchronizing unknown variable j A cosα sinα + cosα) and sinα) are unknown variables in he sae esimaion algorihm There is one α variable for each non-synchronized relay ~ A A sync real = real ~ A meas e jα A imag A = imag sinα + cosα) Power Sysem Auomaion Laboraory Page 19

20 DS-SE: Algorihm Min J = ν phasor ~*~ η η ν ν 2 ν σ + ν non syn η ν ν 2 ν σ η Soluion x = x ν + 1 ν + [ h x) ] A z where: A = [ T ] 1 H WH [ T H W ] Efficiency Demonsraed he abiliy o execue he sae esimaor 60 imes per second for subsanial size subsaions. There is sill space for improved compuaional efficiency. Power Sysem Auomaion Laboraory Page 20

21 Demonsraion: USVI-WAPA The USVI-WAPA Sysem Expansion Plans Power Sysem Auomaion Laboraory Page 21

22 The USVI-WAPA Sysem Presen Projec: Exension o Feeders and PV Farms Power Sysem Auomaion Laboraory Page 22

23 Demonsraion Projecs Applicaion o PV Farms 1.16 MW Array) Power Sysem Auomaion Laboraory Page 23

24 Wha is Monioring via Sae Esimaion? Implemenaion Sysem is Represened wih a Se of Differenial Equaions DE) in erms of he sysem sae SYSTEM STATE: Volages a each node of he sysem see example sysem) The Sae Esimaor Fis he Sreaming Daa o he Model of he Sysem via a leas square approach. END RESULT: Bes esimae of sysem sae, i.e. volages a each node The Esimaor is Defined in Terms of: Model Sae Measuremen Se Esimaion Mehod Observabiliy Redundancy Power Sysem Auomaion Laboraory Page 24

25 1.16 MW PV Array 4224 Panels W) 2 Solarex Inverers 500kW each) 10 Combiners per Inverer 25 Power Sysem Auomaion Laboraory Page 25

26 Field Demonsraion 1.16 PV Array 26 Power Sysem Auomaion Laboraory Page 26

27 Model Overview 27 Power Sysem Auomaion Laboraory Page 27

28 Buckman PV Array WinIGS Model 28 Power Sysem Auomaion Laboraory Page 28

29 Buckman PV Array WinIGS Model 29 Power Sysem Auomaion Laboraory Page 29

30 Buckman PV Array WinIGS Model PV Module Model: PV Srings, PV Sring model, Converer Model Phoovolaic Array Model Inverer Model 30 Power Sysem Auomaion Laboraory Page 30

31 Field Daa 9:00 9:30 am 30 Samples / Sec) V BUCKMAN_AGC_Phasor Vol CH-A_Magniude V) V Deg BUCKMAN_AGC_Phasor Vol CH-A_Angle Deg) Deg A BUCKMAN_AGC_Phasor Cur CH-A_Magniude A) A Deg BUCKMAN_AGC_Phasor Cur CH-A_Angle Deg) Deg V BUCKMAN_AGC_V_PVGRP1DC_PO_Magniude V) V A BUCKMAN_AGC_C_PVGRP1AC_PVGRP_Magniude A) A February 24, :59: February 24, :29: Power Sysem Auomaion Laboraory Page 31

32 Field Daa 9:30 10:00 am 30 Samples / Sec) V BUCKMAN_AGC_Phasor Vol CH-A_Magniude V) V Deg BUCKMAN_AGC_Phasor Vol CH-A_Angle Deg) Deg A BUCKMAN_AGC_Phasor Cur CH-A_Magniude A) A Deg BUCKMAN_AGC_Phasor Cur CH-A_Angle Deg) Deg V BUCKMAN_AGC_V_PVGRP1DC_PO_Magniude V) V A BUCKMAN_AGC_C_PVGRP1AC_PVGRP_Magniude A) A February 24, :29: February 24, :59: Power Sysem Auomaion Laboraory Page 32

33 Field Daa 10:30 11:00 am 30 Samples / Sec) V BUCKMAN_AGC_Phasor Vol CH-A_Magniude V) V Deg BUCKMAN_AGC_Phasor Vol CH-A_Angle Deg) Deg A BUCKMAN_AGC_Phasor Cur CH-A_Magniude A) A Deg BUCKMAN_AGC_Phasor Cur CH-A_Angle Deg) Deg V BUCKMAN_AGC_V_PVGRP1DC_PO_Magniude V) V A BUCKMAN_AGC_C_PVGRP1AC_PVGRP_Magniude A) A February 24, :29: February 24, :59: Power Sysem Auomaion Laboraory Page 33

34 Field Daa 11:00 11:30 am 30 Samples / Sec) V BUCKMAN_AGC_Phasor Vol CH-A_Magniude V) V Deg BUCKMAN_AGC_Phasor Vol CH-A_Angle Deg) Deg A BUCKMAN_AGC_Phasor Cur CH-A_Magniude A) A Deg BUCKMAN_AGC_Phasor Cur CH-A_Angle Deg) Deg V BUCKMAN_AGC_V_PVGRP1DC_PO_Magniude V) V A BUCKMAN_AGC_C_PVGRP1AC_PVGRP_Magniude A) A February 24, :59: February 24, :29: Power Sysem Auomaion Laboraory Page 34

35 Synchrophasor Field Daa Snapsho 35 Power Sysem Auomaion Laboraory Page 35

36 Conclusions: Technology Capabiliies An Objec Oriened Implemenaion of a Disribuion Sysem Sae Esimaion Enables Full Observabiliy of he Disribuion Sysem and Cusomer Owned Resources. Sae Esimaion enables: a) validaion of daa, and b) exen he observabiliy of he disribuion sysem beyond he exising insrumenaion. The DS-SE enables many applicaions: Uiliy Opimize volage along feeder by cap conrol disribued resource conrol, ec. Cusomer/Third Pary Resources Example: PV Model Validaion Idenify Panel Deerioraion, Fauly Panels, ec. Deermine roo cause of disurbances 36 Power Sysem Auomaion Laboraory Page 36