A Teaching Tool For Phasor Measurement Estimation: December, 2013 Daniel Dotta

Federal Institute of Santa Catarina
Electrical Engineering
A Teaching Tool for Phasor Measurement

Estimation
December, 2013
Daniel Dotta
Electrical Engineering Department
Federal Institute of Santa Catarina (IFSC), Brazil
Nov-Dec 2013, DD
Outline
Objective
Motivation
Phasor Measurement Process
Phasor Definition
PMU Architectures
PMU Simulink Simulator
Simulations
Conclusions
Future Developments
Nov-Dec 2013, DD
Objective
To present the design of a Simulink-based Phasor
Measurement Unit (PMU) Simulator
Nov-Dec 2013, DD
Motivation
PMUs are spread around world
Over thousand PMUs installed in USA and China
Dissemination of phasor processing techniques

inside a PMU is quite limited
NASPI Research Task Team
Education
Necessity on modernize power system education
courses
CURENT Project at RPI (Rensselaer Polytechnic Institute)
IEEE Power and Energy Education Initiative
Nov-Dec 2013, DD
What is a Phasor?
t 0
x t 2 A cos 2 60 t
Re
2 Ae j
Phasor representation of a sinusoidal wave form
Complex number that represents a sine wave whose amplitude

(X) and angular frequency () are time-invariant
The power system frequency is not time-invariant (PMUs must
deal with it)
Nov-Dec 2013, DD
Anatomy of a PMU
There is no standardization on the algorithms used inside a

PMU or the number of cycles used in computing a phasor
Adapted from Ken Martin and Arun Phadke
Nov-Dec 2013, DD
PMU Architectures
x(t)
x(t)
Analog
Filter
A/D
Converter
Non-Uniform
Sampling
Analog
Filter
Sampling
Clock
Frequency
Estimator
x(k)
A/D
Converter
Frequency
Estimator
x(k)
Digital
Filter
Digital
Filter
Phasor
Estimator
Phasor
Estimator
Uniform
Sampling
(first one)
X(k)
X(k)
Frequency Tracking
Sampling
Clock
Frequency Compensation
Nov-Dec 2013, DD

Sine Wave
Time-Domain Signal
1.5
N 12
N=12
Magnitude (pu)
Window Size
(points)
0.5
Regular sampling
period (Ts)
-0.5
-1
-1.5
0.014
1/fs
0.016
0.018
Sampling rate
For N=12
0.02
0.022
0.024
Time(s)
0.026
f s Nf
0.028
0.03
0.032
Sampling period
f s 12 60 720Hz
Nov-Dec 2013, DD
Ts 0.0014s
1
Ts
fs
8

Frequency Domain
N 12
Time Domain
Time-Domain Signal
1.5
Magnitude (pu)
DFT
N=12
0.5
-0.5
-1
1/fs
-1.5
0.014
0.016
0.018
Samples
where
0.02
0.022
0.024
Time(s)
0.026
0.028
0.03
0.032
xn x(tn )
X m X (e jm )
tn nTs , n 0,, N -1
Nov-Dec 2013, DD
2
m m , m 0,, N -1
N
9
Phasor Estimation
Definition of DFT
N 1
2
Xm
xn e
N n 0
Fundamental frequency
component, set m=1
2
j nm
N
N 1
2
X
xn e
N n 0
2
n
N
Discrete Fourier Transform is a simple widely used method for phasor

estimation
Other methods have been discussed

Kalman filters, weighted least squares and neural networks
Currently used in the commercial PMUs
Nov-Dec 2013, DD
10
Frequency Estimation
Frequency Estimation is a key role in the both architectures
Changing the sampling window
Providing the frequency for phasor correction
Several methods are found in the literature

Zero Crossing
Least Error Squares
Kalman Filters
Demodulation
Phasor measurement angle changing
Nov-Dec 2013, DD
11
Zero-Crossing
Good performance for well filtered or perfect waves
High sensible to noise
Least Error Squares

Based on least squares and Taylor series expansion
in the neighborhood of the nominal frequency
Do not work very well for frequencies out of nominal
Relative Error - LES
12
neighborhood
10
Relative Error (%)
0
45
Nov-Dec 2013, DD
50
55
60
Frequency (Hz)
65
70
75
12
Kalman Filters
Suitable for noise rejection
Slow compared with the other methods
Dependent from the model parameters adjustment (variance and covariance noise
matrices)
Demodulation
The main idea is to multiply the scalar input with a sine and cosine signal with a
know frequency
Z (k ) e j (0tk )
Sensible to large negative sequence component
Fault conditions
V (k ) Ae
Nov-Dec 2013, DD
j (1tk )
Y (k ) Ae j[(1 0 )tk ]
X
13
Phasor Angle Changing
Based on the idea that
1
f (t )
2 t
Use positive sequence phasor estimation

Present satisfactory results under large frequency variations
Used in commercial PMUs
Phasor angle changing and demodulation presented
satisfactory results
Nov-Dec 2013, DD
14
Results for frequency ramp
Demodulation
Angle Changing
Nov-Dec 2013, DD
15
Pos-Processing
Under off-nominal operation the phasor measured (Xmes) is
different from the true value (Xtrue)
The effect of the off-nominal frequency can be expressed by a P
and Q factor.
Phasor correction
N ( 0 )t
( 0 ) t
j ( N 1)
2
2
P {
}e
( 0 )t
Nsin
2
N ( 0 )t
sin
( 0 ) t
j ( N 1)
2
2
Q {
}e
where
( 0 )t
Nsin
2
N - window size
X mes PX true QX
sin
w actual frequency
w0 nominal frequency
*
true
Nov-Dec 2013, DD
16
Pos-Processing
The P factor is directly influence by N and frequency value
P behavior under frequency variation (N=48)
Complex Gain P
Magnitude
1.005
1
0.995
0.99
Angle (degress)
0.985
-5
-4
-3
-2
-1
-4
-3
-2
-1
20
10
0
-10
-20
-5
Frequency Variation (Hz)

Nov-Dec 2013, DD
17
PMU Block Diagram

Frequency Compensation
filtering
X N n X N n 1
2
( xN n xn )e
N
Xn
Pn
X ntrue
2
n
N
Post-Processing
measured
xn (t )
Xn
X nfiltering
Filtering*
DFT
Frequency
estimation
X ntrue
Look up table with

calibration factor
Pn
Filtering*
A Average Filter
B Windowing
(C) Least Squares
N ( 0 )t
( 0 ) t
j ( N 1)
2
2
Pn {
}e
( 0 )t
N sin
2
sin
t sampling period
Fixed
N - window size
*D. Dotta and J. H. Chow. Phasor Measurement Estimation Second Harmonic

Filtering. IEEE Trans. Power Delivery, 2013.
Nov-Dec 2013, DD
18

First version was written in Matlab code
Applied in classroom (RPI)
Mainly used for research
Described in IEEE PES GM 2013 paper
Second version in Matlab Simulink (2013)

Applied in classroom at IFSC
Application at CURENT courses is under discussion
Paper under revision IEEE Transactions on Power Systems
(Education)
Nov-Dec 2013, DD
19

Main Advantages
Composed of only one file
Can be easily executed in a students laptop
Real digital data processing (Digital Recorders)

SIMULINK diagrams removed most of the drudgery of keeping
track of the block-diagrams and feedback
Nov-Dec 2013, DD
20
Teaching Tool
Main Window
0
Step
1
Ramp
Disturbance
Switch 1
60
Nominal
Frequency
59
Frequency Goal
SP_MF
SP_MF
SP_MnF
SP_MnF
PS_M
PS_M
PS_Md
PS_Md
PS_A
PS_A
PS_Ad
PS_Ad
Switch 2
Frequency Deviation
PMU
Frequency
Goal
Nov-Dec 2013, DD
FD
Ploting
Area
21

Main Components
Phasor A
CF
SP_MF
1
SP_MF
SP_MnF
Single-PhaseProcessing
2
SP_MnF
3 PS_M
2
Frequency
Goal
Phase A
Frequency
Phase A
Phasor A
Phasor A
Phase B
Phase B
Phasor B
Phasor B
Phase C
Phase C
Phasor C
Phasor C
P_PS
PS_M
P_PS
1
Disturbance
Type
Three-Phase
Signal Producer
CF
P_ PS
Phasor
Estimation
Symmetrical
Components
FD
Frequency
Estimation
Nov-Dec 2013, DD
FD
PS_M
PS_Md
4
PS_Md
PS_A
PS_Ad
6
PS_Ad
PS_A
Lookup
Table
7
Frequency
Deviation
Downsampling
5 PS_A
22
Simulations
Frequency Step (1 Hz)
Phase A - Signal Input
Magnitude
2
1
0
-1
-2
1.5
1.6
1.7
1.8
1.9
2.1
2.2
2.3
2.4
2.5
Frequency
60
Hz
Estimated
Reference
59.5
59
1.5
1.6
1.7
1.8
1.9
2.1
2.2
2.3
2.4
2.5
Time(s)
Frequency Sampling = 2.88 kHz

Nov-Dec 2013, DD
23
Simulations
Positive Sequence
Positive Sequence Magnitude - Downsampling
1.1
Magnitude (pu)
1.05
0.95
0.9
0
0.5
1.5
2.5
3.5
4.5
4.5
Time
(s) - Downsampling
Positive Sequence
Angle
250
200
Angle (degrees)
150
100
50
0
-50
-100
-150
-200
0
0.5
1.5
2.5
3.5
Time (s)
Nov-Dec 2013, DD
24
Simulations
Positive Sequence (Ramp +1Hz)
Downsampling Angle - Ramp Disturbance
150
Angle (degrees)
100
50
0
-50
-100
-150
1.5
2.5
3.5
4.5
Time (s)
Positive Frequency Ramp between 2-3 seconds

Nov-Dec 2013, DD
25
Simulations
Positive Sequence Complex Gain P Influence
PS Magnitude - Before Correction
1.0002
1.0001
Magnitude (pu)
1
0.9999
0.9998
0.9997
0.9996
0.9995
0.9994
1.8
1.9
2.1
2.2
2.3
Time (s)
Frequency Step Disturbance

Nov-Dec 2013, DD
26
Simulations
Positive Sequence Complex Gain P Influence
PS Magnitude - Before Correction
Magnitude (pu)
1
0.9999
0.9998
0.9997
0.9996
0.9995
1.6
1.8
2.2
2.4
2.6
2.8
3.2
3.4
3.6
Time (s)
Frequency Ramp Disturbance

Nov-Dec 2013, DD
27
Simulations
Single-Phase Complex Gain Q Influence
Frequency Step Disturbance

Nov-Dec 2013, DD
28
Simulations
Single-Phase Magnitude
1.008
Magnitude (pu)
1.006
1.004
1.002
1
0.998
0.996
0.994
0.992
0.99
1.99
2.01
2.02
2.03
2.04
2.05
2.06
2.07
Time (s)
Before Downsampling
Nov-Dec 2013, DD
29
Simulations
Single-Phase Filtering and Downsampling
Mangnitude (pu)
1.01
1.005
1
0.995
0.99
0.985
2
2.5
3.5
Time (s)
After Downsampling
Nov-Dec 2013, DD
30
Simulations
Positive Sequence Complex Gain Q Influence
Positive Sequence - Unbalanced Operation
Magnitude (pu)
1.0002
0.9998
0.9996
0.9994
1.5
2.5
3.5
4.5
Time (s)
Unbalanced Operation (5%)

Nov-Dec 2013, DD
31
Real Data
Frequency Step
Real Data - Frequency
51
50.5
Hz
50
49.5
49
48.5
48
0
10
15
20
25
30
35
40
Time (s)
Nov-Dec 2013, DD
32
Real Data
Single-Phase Performance
Single-Phase - Real Data
11.3
Magnitude (V)
11.2
11.1
11
10.9
10.8
10.7
10.6
10
15
20
25
30
35
40
Time(s)
1 Hz Oscillation
Nov-Dec 2013, DD
33
Real Data
Single-Phase Performance Zoom
Single-Phase - Real Data
11.325
Magnitude (V)
11.32
11.315
11.31
11.305
11.3
11.295
24
26
28
30
32
34
36
38
Time(s)
1 Hz Oscillation - Show up in Frequency Spectrum

Nov-Dec 2013, DD
34
Real Data
Positive Sequence
Magnitude - Positive Sequence
11.3
Magnitude (V)
11.2
11.1
11
10.9
10.8
10.7
10.6
15
20
25
30
Time(s)
Nov-Dec 2013, DD
35
Conclusions
Phasor measurement process understanding (data analysis)
Maybe helpful to include PMU measurement in state estimators
Maybe helpful to better design future advanced protection and
control applications
Real data processing
Can be used in classroom for WAMS teaching
Validated in classroom set with students from IFSC and USP-SC
Nov-Dec 2013, DD
36
Future Developments
Hybrid state estimator using both SCADA and PMU data
increases the reliability (solution convergence) of a
state estimator by a few percent because of better
observability (Prof. Ali Abur)
Phasor state estimator
State estimator using only PMU data
Very few US ISOs can have this capability except for
New York: Full coverage for 765/345/230 kV; most
PMUs have multiple current channels
Perhaps New England also
Nov-Dec 2013, DD
37
Power Transfer Paths/Interfaces
Nov-Dec 2013, DD
38
State Estimator
PMU
Network
Parameters
PMU
PMU
Phasor
Data
State
Estimator
PDC
(Only Phasors)
Trustable Data
for
Applications
Network
Status
PMU
Nov-Dec 2013, DD
39
Contact
Contact
Daniel Dotta: dotta@ifsc.edu.br
Nov-Dec 2013, DD
40
WAMS Overview
USA
Selective coverage of HV buses
Old PMUs (some close to 20 years); New PMUs: DOE Smart
Grid Investment Program (SGIG) adding over 1000 PMUs
Deregulated markets no direct monitoring of generator
variables; in New York, the norm is no PMU on a generator
substation
Concerns with sharing PMU data between different ISOs
PMU data communication over both private and public
networks
China (based on several presentations by Prof. Bi)

New generation of PMUs on every HV substation bus
Monitoring of synchronous generator variables, including
the rotor angle
Nov-Dec 2013, DD
41
Nov-Dec 2013, DD
42
Time Synchronization
GOES (Geostationary
Operational
Environmental Satellite
(NASA)): 25-100 microsecond accuracy
GPS (Global Positioning
System, 1973, originally 24
satellites) 32 satellites in
medium Earth orbit: 2
micro-second accuracy
IRIG-B pulses
IEEE 1588: distributed by
Ethernet
Nov-Dec 2013, DD
43
Introduction
US power system: 3 phase sinusoidal AC voltages and
currents at a frequency of 60 Hz
Phase a quantities (voltages and currents) lead phase b

quantities by 120 degrees, which lead phase c by 120
degrees
Nov-Dec 2013, DD
44
Voltage and Current Measurements

What operators see on the EMS screens
V and P,Q are sampled every 5 sec (or less frequently). An RTU will transmit the
data via modems, microwave, or internet in ICCP directly to control rooms or
NERC Net (USA).
The data from different locations are not captured at precisely the same time.
However, V, P, and Q normally do not change abruptly (unless there is a large
disturbance nearby). These data can be used in the State Estimator to validate
the measured data and calculate the non-metered voltages and line power flows.
The parameter that is still varying in steady-state is the system frequency f which
is not exactly at 50 or 60 Hz, and as a result, the phase of the voltages and
currents would change rapidly.
Nov-Dec 2013, DD
45
Phasor Measurement Equipment
Macrodyne Model 1690

Phasor Measurement Unit
Schweitzer Engineering Laboratories

SEL-421 Protection, Automation, and
Control System
Arbiter Power Sentinel 1133A
ABB Phasor Measurement Unit

RES 521
Nov-Dec 2013, DD
46
Phasor Measurement Equipment

1. Generically known as a Phasor Measurement Unit (PMU)
2. Sample AC waveform using A/D converter
3. High internal sampling rate (like 2.88 or 5.76 kHz); writes/exports
data at 6-60 samples per second; USA is using 30 sps
4. Time stamped with GPS signals, high bandwidth, high accuracy
1% Total Vector Error
0.2% magnitude resolution
0.3 degree phase resolution
Frequency measurement to 0.001 Hz (1 mHz)

1 cycle (or more) measurement time
5. Phasor Data Concentrator (PDC) collects data from multiple PMUs
6. Off-nominal frequency phasor calculation
Nov-Dec 2013, DD
47

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Federal Institute of Santa Catarina