IEEE Transactions on Power Delivery, Vol. 13, No.

1, January 1998

73

IEEE STANDARD FOR SYNCHROPHASORS FOR POWER SYSTEME

Prepared by Working Group H-8 of the Relay Communications Subcommittee of the IEEE Power System Relaying Committee Working group members are: K. E. Martin, Chairman, G. Benmouyal, Vice Chairman, M. G. Adamiak, M. Begovic, R.. 0. Bumett, Jr., K. R. Carr, A. Cobb, J. A. Kusters, S. H. Horowitz, G. R. Jensen, G. L. Michel, R. .I. Murphy, A. G. Phadke, M. S. Sachdev, J. S. Thorp.
Abstract: IEEE Standard 1344, Synchrophasors for Power Systems, w s completed in 1995. It sets parameters required to a ensure that phasor measurement will be made and communicated in a consistent manner. It specifies requirements for the timing signal used for phasor synchronizationand the time code needed for input to a measurement unit. GPS is the recommended time source and IRIG-B is the basic format used for time communication. The standard requires correlating phasors computed from unsynchronized and synchronized sampling to a common basis. Timetagging accurately and consistently is essential for wide area comparison of phase. The standard specifies information exchange and control message formats. These include data output, configuration, and command messages. It includes 7 annexes that discuss the concepts covered in the body of the standard. Keywords: Synchrophasor, Synchronized phasor, Phasor Data Output source. The standard describes the measurements in relation to a Phasor Measurement Unit (PMU). It addresses synchronization of data sampling, data-to-phasor conversions, and formats for timing input and phasor data time, accuracy, hardware, software, or a phasor computation process.

I GPS R y e i v e r I
Time & Sync

Phasor Measurement

OVERVIEW
Figure 1. PMU functional block diagram.

IEEE 1344-1995 is a standard for synchronized phasor measurements in substations. A phasor is a vector representation of the magnitude and phase angle of an AC waveform. Phase angle between sites can be determined when the measurements are synchronized to a common time

PE-068-PWRD-1-03-1997 A paper recommended and approved by the IEEE Power System Relaying Committee of the IEEE Power Engineering Society for publication in the IEEE Transactions on Power Delivery. Manuscript submitted February 7, 1997; made available for printing March 26, 1997.

The purpose for the standard is to define synchronized phasor measurements in substations so that measurement equipment can be readily interfaced with other systems. Power system measurements are steadily migrating from analog to digital systems. Low cost, high-power microprocessors allow construction of measurement units that can digitize AC power waveforms and compute phasors in real time. Wide area phase comparisons can be made from this phasor data through the use of high precision time dissemination that is now readily available. As a result, phasor measurements are being explored using a variety of hardware and software approaches. This standard specifies data formats and synchronization requirements to allow correlating phasors from various sources imd comparing them with similar data from different measurement systems. It has sections that address synchronizing signals, time input format, synchronization of the phasor measurement process, and data output formats. Details are discussed in the seven

annexes.

0885-8977/98/$10.00 0 1997 IEEE

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SYNCHRONIZATION AND TIME

flags. Control bit designations and the high precision format are described in detail in Annex F of the standard. After an extensive investigation of other alternatives, IRIGB was chosen as the basic format. It is the most common form of time synchronization in sub-station equipment, and no other standardized codes provide all that it lacks. Standard IRIG codes have no provision for leap seconds, leap years, local time offsets, daylight savings time, year number, or time quality factors. They do have a number of spare bits that can be used to present the missing information. Given the wide use of IFUG-B and its flexibility of implementation through the availability of spare bit positions, the only good choice was to use this as the base of transmitting an accurate time reference. IRIG-B is normally transmitted either as a 100 Hz level shift, or used to modulate a 1 kHz AM carrier. Neither of these are suitable for timing needs that approach 1 microsecond. As a result, a modified Manchester coding scheme was chosen. The coding scheme is easily transmitted by fiber-optic, has defined coding edges to reach sub microsecond timing precision, and can be easily implemented with existing electronic devices.

A phasor represents both the magnitude and phase angle of the AC power signal. Phase angle is measured in reference to the time of measurement. Comparison of phasors measured throughout an interconnected grid requires a common timing reference provided by a synchronizing source. The synchronizing source may be local or global as long as it supplies all sites included in the region of comparison.

The Global Position System (GPS) provides time synchronization that satisfies these requirements. GPS is a US Department of Defense radio-navigation system consisting of 24 satellites arrayed to provide at least 4 satellite visibility at all times, Each satellite transmits a navigation signal from which a receiver can decode time synchronized to within 0.2 ps of Coordinated Universal Time (UTC), the world standard. The inherent availability, redundancy, reliability, and accuracy make it a system well suited for synchronized phasor measurement systems. GPS is currently the only regional synchronizing signal source that is accurate enough for phasor measurement. The standard time broadcast systems do not have sufficient accuracy. Radio broadcasts, two way radio transfer, fiber optic, UHF, or microwave systems could be used for localized systems but require development of specialized interfaces to deal with signal delays. These other alternatives are costly and are not currently competitive with GPS receivers. IEEE 1344 requires the synchronizing source to be referenced to within 1 ps of UTC. This will ensure the greatest compatibility among PMUs. The standard also requires the reliability to exceed 99.87% (one hour of outage per month). 1 ps accuracy is achievable from GPS and meets the requirements of all foreseeable data needs. It corresponds to an angular accuracy of 0.022 degree for a 60 Hz system and 0.018 degree for a 50 Hz system which allows an error budget for most applications which require angle accuracy of 0.1 degree or less.

PHASOR MEASUREMENT CONVENTIONS

Data sampling The sample taken on the 1 second mark is sample number zero (0). Using the convention that the signal v(t) = JZ v cos (mot + cp) corresponds to the phasor V eh,the phasor computed from a window beginning at a positive voltage maximum is real while one computed from a window beginning at a positive going voltage zero is negative imaginary as shown in figure 2.

Time input
The standard specifies that time should be provided referenced to UTC and as an IRIG-B code (Inter-Range Instrumentation Group time code) or using a new high precision format. If time is provided as modulated IRIG-B an additional 1 pulse-per-second (PPS) is required for 1 ps synchronization. The control bits are used to enhance standard IRIG-B with year, time zone, and other special

I Sample NO. o

I Sample NO. o

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Figure 2 Convention for phasor representation

If the 1 PPS signal occurs at time to, the measured phasor corresponding to a signal v(t) = JZ V cos (coot + 9) with a frequency coo is V rdOoto+ 9). For steady state signals at off-nominal frequency o 1, the measured phasor with timetag corresponding to the 1 PPS instant to is V d o l t o + q). The behavior of the measured phasor between the 1 PPS points and the response to non-steady-state (transient) conditions will vary with the algorithms used, and is discussed in annex C of the standard.

The choice of sampling frequency, the algorithms used for phasor calculation, and the choice of the time-tag all affect the apparent system responses represented by phasors. Different choices of these parameters can yield somewhat different phasor response characteristics during transient conditions. Phasors produced by different systems can be accurately compared only for steady state calculations. Comparison for transient conditions requires a detailed knowledge of these characteristicsand their consequences. For example, figure 3 illustrates how the choice of timetag affects the apparent phasor response. The illustration is a balanced 3 phase system which undergo'es a -0.1 rad phase angle step at P0.05 sec. In this example, a DFT transform with a 12 sample data window and a 720 sample/second sample rate was used. The three plots ishow the difference induced by taking the phasor timetag from the data sample at the beginning (front), the middle, or the end (back) of the data window.

Time-tags
Phasor timetags consist of a four (4) byte second-ofcentury (SOC) word in Network Time Protocol (NTP) format and a two (2) byte sample count (SMPCNT) integer. This second-of-century number is the UTC time in seconds figured from midnight of January 1, 1900. NTP can be determined by multiplying the number of seconds per day by the days since 1/1/1900. Leap seconds do not alter the scale; a leap second insertion results in two consecutive seconds having the same SOC number. The sample number is the two byte integer between 0 and N-1 where N is the sample rate. In systems where phasors are derived from synchronized samples, this is the sample number of the sample in the data window used in the phasor calculation. This is independent of the length of the data window used in the phasor calculation.

Phasor Calculation
If synchronized phasors are calculated from synchronized data samples, the data sampling is required to be synchronized to within 1 ps of UTC time. Data sampling is required to be phase locked to GPS with an integer number of samples each second that are evenly spaced throughout the one second interval. The samples are required to be numbered from 0 to N-1 where N is the sample rate. Sample 0 is the first sample in the new second coincides with the one second roll-over. It is recommended that the sample rate be chosen from the list of Least Common Multiple sample frequencies as defined in IEEE Standard C37.111-1991 (COMTRADE). The standard also allows for synchronized phasors calculated from non-synchronized data samples with the provision that the calculating process is required to determine an equivalent UTC time and sample number as described for synchronized sampling techniques. The phasor thus determined is required to have the same magnitude and phase angle as a phasor derived from synchronized samples over the same data window with the same time stamp and sample number.

I 1.46 I
0.01

I
I

I
I
I

I
I

I
I

.t++++x~r"m
I

0.02

0.03

0.04 Time [sec]

0.05

0.06

0.07

Figure 3. Response of the positive sequence phasor to a step angle change of -0.1 rad

Several observations may be made:

0 Using the timetag at the front of the window makes the phasor appear to begin responding to the transient before it occurs. It is, however, close to the true response when the event is over. 0 The timetag at the middle of the data window yields a response that is closest on an average to the true event, but still starts to react before the event. 0 The timetag at the end of the windlow gives a response that is most like other transducers in that it begins to respond as soon as the event occurs and slews tlo the new value. It takes the longest to reach the final value. This is the choice

specified in the standard.

There is an error due to length of time the phasor responds to the input. This is similar to the frequency
0

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response in an analog system, but is of a fixed length which is a function of thedaia window. The length of the data window can be altered to suit a particular application. A shorter window yields a faster response in transient conditions but higher noise and greater data handling capability due to a higher data rate. There is a transient error whose properties are dependent upon the filtering algorithm used. This effect can be minimized for a certain transient (or a class of transients), but only at the expense of additional computational burden and a poorer result for another class of transients. The effects of harmonics, transducer non-linearities, and other factors which may degrade the overall response are not included in this example. Real-time delays relating to data computation and transmissions are also not shown. Generally, the variety of approaches to phasor calculation will yield similar but different results during transient system behavior. Any approach will have its strong and weak points. The system designer will have to choose techniques that best suit the range of applications of primary interest. Data analysis will have to account for differences when comparing phasors derived using different techniques.
DATA FORMATS MESSAGES AND

stored in the configuration file. The data frame contains measured data and is identified by having the three most significant bits of the SMPCNT (third word, 5th byte) equal to zero. Following SMPCNT the status word (STAT) includes flags for time, data, and trigger status in the high 5 bits and gives the byte count for the frame in the low 11 bits.

first transmitted

MSB 4 LSB

[socl /-xzEq[sTAT] 2
2

W I
2

last transmitted < byteslword

Figure 4 - Data frame for phasor data

The PMU described in the standard transmits three types of information--data, configuration, and header. Data includes status, phasor, and other computed information derived from measurements. Configuration information is a machine readable, binary file stored in the PMU and describes set-up and operational parameters. Header information is an ASCII file that provides user information that may include configuration information. These three information types are transmitted in frames that are described in detail in the standard. The general syntax of all message frames is as follows: The fist 4 bytes of each frame are the SOC time mark. In addition to providing the basic one second resolution timetag, the 4 byte SOC can be used for frame synchronization. It is followed by the two byte SMPCNT word which identifies the frame type and gives the sample number (for data frames) or the frame count. The sample number gives sub-second timing information for data frames. The three most significant bits of the SMPCNT word determine the frame
type. Only three of the eight possible frame types are defined

Following STAT, phasors are sent in two word (4 byte) format. The words are real and imaginary values respectively in 16 bit integer format (twos complement) if the data is in rectangular coordinates. If polar coordinates are used, the phasors are magnitude in unsigned 16 bit integer and angle in radians x in the range - 7 ~to + n, respectively. After the last phasor, frequency deviation (FREQ) from nominal and rate-of-change of frequency (DFREQ) are in 16 bit integer format. Deviation is scaled in milliHertz (Hz x lom3) which allows a range of -32 to +32 Hz from nominal, adequate for all but the most severe disturbance. DFREQ is in Hz per second x Digital channel data (DIG) is contained in 2 byte segments, one for each 16 bit channel. The cyclic redundancy check word (CRC) is the last two bytes. The CRC uses the CCITT specified error checking polynomial, 16+,12+,5+1. In order to parse the data frame, a central system must acquire the configuration file. There are two types of configuration files: a system configuration file CFG-1, and a data configuration file CFG-2. The system configuration file indicates all inputs available on the PMU. The data configuration file indicates the information actually being sent, since only a subset of that available may be transmitted by the PMU in the data frame. Configuration file
information kcludes:

leaving room for future dermition. Every frame is terminated by a two byte CRC word which allows positive error detection. The Data Frame is shown in figure 4. Each frame is a data scan corresponding to the time-tag and sample number. The data is in binary format with no delimiters. Information for parsing and converting the information to engineering units is

(1)

(2) (3)

(4)
(5) (6)

Station name and identification Number of phasors Number of digital channels Channel and phasor names, units, and conversion factors Nominal line frequency Transmission period (data ;ate)

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The header file is an ASCII file containing PMU and input parameters such as station, line, scaling, and filtering information. It is meant to be human readable and does not have a fixed format. The file is sent as requested in a framed format described in the standard. The header and configuration files may be transmitted during real time data transmissions (if sufficient bandwidth exists), so the information will be interleaved with data frames. Since these files may be too large to send in one block between data frames, they can are broken into multiple frames for transmission. The PMU may be setup and controlled from a host. Commands are passed in received message frames. The standard specifies a minimum command set, leaving most of the message set for future expansion. Like the other frames, this frame starts with the same synchronizing SOC timetag, and ends with a CRC termination.
ANNEXES

00402-8, U.S. Government Printing Ojffice, Washington, D.C. 20402. [3] IRIG Standard 200-89, Secretariat, Range Commanders Council, White Sands Missile Range, New Mexico 88002,1989. [4] GPS Interface Control Document, IRN-200B-PR001, 1 July 1992. [5] IEEE C37.111-1991, IEEE Standard Common Format for Transient Data Exchange (COMTRADE) for Power Systems, June 1991. 11 Network Time Protocol (Version 3) Specification, 6 Implementation, and Analysis, D. L. Mills, DARPA Network Working Group, RFC- 13051, University of Delaware, March, 1992. [7] Power System Relaying Committee Working Group H7, Synchronized Sampling and Phasor Measurements for Relaying and Control, IEEE Trans. on ID, Vol. 9, No. 1, Jan. 1994.

This Standard contains seven Annexes which provide additional information to the concepts and practices developed in the main body of the text. The first annex is a bibliography. Three annexes discuss details of sampling accuracies, the effects of various time tagging conventions, and the merits of using non-synchronized sampling. Two annexes discuss various systems for time synchronization and provides details on the choice of time codes. Another annex provides detailed examples of phasor data formats. CONCLUSIONS Phasor measurements add a new dimension to power system monitoring and controls. They provide direct measurement of the fundamental units of voltage and current including both magnitude and phase angle. This compact measurement set is easily communicated in real time which enhances its utility for real time systems. It provides all the fundamental power system measurements as well as systemwide phase angles. State estimation, protective relaying, and stability controls can be greatly improved with adaptive techniques using phasor measurements. This standard provides a framework for defining phasor measurements and integrating them with other applications.

BIBLIOGRAPHY
[11 The Fast Fourier Transform, E.O. Brigham, Prentice Hall, Inc., New York, 1974, p105. [Z] 1992 Federal Radionavigation Plan, DoTVNTSC-RSPA-92-2/DoD-4650.5, Stack No. 008-047-