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2012 IEEE International Conference on Power and Energy (PECon), 2-5 December 2012, Kota Kinabalu Sabah, Malaysia

A Novel Approach for Optimal Placement of PMUs with Minimum Measurement Channels
Nikhil Gupta , Mayank Goyal , Dr. Pravin Tripathy ,
Department

of Electrical and Electronics Engineering Indian Institute of Technology, Email: g.nikhil@iitg.ac.in Department of Electrical and Electronics Engineering Indian Institute of Technology,, Email: g.mayank@iitg.ac.in Department of Electrical and Electronics Engineering Indian Institute of Technology,Guwahati, Email: ptri@iitg.ac.in
AbstractPower System Observability is essential for monitoring and control of a power system, hence placement of Phasor Measurement Units (PMUs) must ensure both topological and numerical observability for complete observability. Moreover, it is important to modify the cost function which indicates the cost associated with the number of measurement channels of a PMU. This paper presents an algorithm to achieve complete power system observability while ensuring minimum number of channels associated with the given placement. Minimization of channels has been achieved by assigning cost to measurement channels and by using Gaussian elimination to ensure minimum number of measurement channels for a given PMU placement. Both the techniques have been demonstrated considering IEEE 9-Bus,14-Bus Systems. Index TermsSynchrophasor; SCADA; Phasor Measurement Unit.

based devices. Each PMU computes the synchronized voltage and current phasors. These measurements are then collected at a centralized location called as the PDC (Phasor Data Concentrator). The speed of operation of PMUs has resulted in higher refresh rate and thus the synchrophasor based WAMS (Wide Area Monitoring System) is well suited to track the power system dynamics in real-time. A Power System is called observable if the phasor voltages of all the buses are known. Ideally PMU placement at all the buses in a Power System ensures complete observability. However, owing to high cost of PMUs this is cost prohibitive and calls for the problem of Optimal PMU Placement (OPP). An Optimal PMU placement solution therefore must result in minimum number of PMUs. Various meta-heuristic and deterministic techniques have been proposed in literature [1]. Meta Heuristic techniques such as Genetic Algorithm [2], Particle Swarm Optimization (PSO) [3], Tree Search and Topology [4] and Tabu Search [5] have been proposed to solve OPP problem. These techniques are good when multi objective goal is considered. However these techniques are time consuming and do not guarantee an optimal solution. Deterministic techniques such as Integer Programming [7] and Binary Search [8] make extensive use of integer programming and numerical based techniques. These techniques are computationally fast and easily implementable. In this paper we have employed Integer Linear Programming (ILP) extensively for OPP problem. In this paper, a new algebraic algorithm based on ILP to solve OPP problem has been developed. As suggested in [10] a PMU with more number of channels/functions costs several thousand dollars more than a simple PMU. Therefore in this paper PMUs with variable channel cost and PMU measurement channel reduction using Gaussian Elimination

I. I NTRODUCTION Most of the existing power systems in the world are equipped with SCADA (Supervisory Control and Data acquisition) system which utilizes RTUs (Remote Terminal Units). The data sent by these RTUs are scanned at a control center with a scan rate in the order of seconds. The collected data is then utilized by the state estimator to estimate the state of power system and typically the estimated states are updated with an interval of 5-30 minutes, hence the SCADA based systems nd limited application and cannot be used to observe the dynamics of the system. With the development of new technology which utilizes synchophasors for Wide Area Monitoring and Control, it is possible to measure the state of power system i.e. voltage and angle of buses in one or two cycles of fundamental frequency, and hence can be used for many applications like small signal stability prediction, transient stability prediction etc. The power utilities in the world are now thinking to replace RTUs based monitoring with PMUs based wide area monitoring. PMUs are time synchronized GPS (Global Position System)

978-1-4673-5019-8/12/$31.00 2012 IEEE

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2012 IEEE International Conference on Power and Energy (PECon), 2-5 December 2012, Kota Kinabalu Sabah, Malaysia

has been suggested to reduce the number of channels to minimum possible associated with a given PMU placement. Zero injection Buses have also been considered. The organization of this paper is as follows: In Section II, Topological observability and proposed solution for numerical observability has been discussed. Section III considers proposed topological observability with variable measurement channel cost. Section IV demonstrates use of Gaussian Elimination to reduce channels further. Simulation and Results have been demonstrated and discussed in Section V. II. OPP F ORMULATION A. Topological Observability As suggested in [6] [7], Topological Placement can be formulated as an Integer Linear Programming (ILP) problem where the objective is to minimize the total cost of the PMU installations, also ensuring that each bus in the power system is observable. If PMUs are to be placed in an N bus system, where cost of placing a PMU at bus-j is c j and U represents the vector consisting of binary decision variables u j , then the objective function can be written as follows and the optimal solution of the ILP problem can be marked as U i.e.
N

observability. The next section demonstrates an algebraic technique to achieve complete observability. B. Numerical Observability For the purpose of numerical observability, an additional step is proposed, which can be used to extend the results of Topological Placement for, 1. Checking if the resulted PMU placement (from topological placement) leads to complete numerical observability or not. If not, then 2. To nd the optimal PMU locations where additional PMUs must be placed to make the system numerically observable as well. The solution of the additional PMU placement (APS) problem is based on the proposed Sequential Addition Algorithm (SAA). The following owchart describes the algorithm step by step.

Minimize c j u j
i=1

(1)

Subject to f (U ) 1 where u j is a binary decision variable The determination of the numerical observability of an N-bus power system is equivalent to deciding whether the measurement Jacobian H, which relates the measurements to bus voltage phasors (2N state variables) in a conventional Weighted Least Square (WLS) estimator, is of full rank i.e. Z = HX Where, Z = Voltage and Current Phasor Measurements H = Measurement Jacobian X = Voltage Phasors A voltage and current phasor measurement set (considered in this study) allows complete numerical observability of the network if, Rank(H ) = 2N 1 (4)
Figure 1. Sequential Addition Algorithm Flowchart

(2)

(3)

With a topological observability based placement technique, equation (4) may not always be true. In that case, the state estimation cannot be carried out. Hence, it is essential to compliment the topological observability with the numerical

where, Ptopological : Basic optimal PMU locations vector for topological solution H: Measurement Jacobian

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2012 IEEE International Conference on Power and Energy (PECon), 2-5 December 2012, Kota Kinabalu Sabah, Malaysia

p: Length of Ple f t N: Number of buses Ple f t contains the array of all Bus number where PMU not placed Pwork contains temporary solution for PMU placement Pnumerical : Final solution containing Optimal PMU solution The SAA can be summarized as follows. 1. Initialize the search with Ptopological as an input vector. 2. Start the bus count i = 0 and check for the Rank H. If Rank(H) = 2N-1, stop. 3. Else, Add the Ple f t [i] to Pnumerical . 4.If the rank of the H matrix with Pwork = 2N-1, stop. 5. If the rank of the H matrix with Pwork increases then i = i +1 and Pnumerical = Pwork . 6 Else, i = i +1 and go to step 3. The step-1 of the proposed OPP method results in Ptopological that makes the system topologically observable. The objective of the step-3 is to keep the Ptopological unaltered and to remove the rank deciency (if it exists) with additional PMU placement. The solution approach proposed for the additional PMU placement (APS) problem initially assumes PMUs to be placed only at Ptopological positions. Then in each step Ple f t [i], a candidate location is added and rank of the resulting Jacobian is calculated. If addition of a candidate bus increases rank of the Jacobian the corresponding location is retained in Pwork as an additional PMU location. Thus, each step of the step-3 essentially checks the impact of adding additional PMU, taken one by one, in ascending order on the rank of the matrix H. This process will stop when Rank(H) equals 2N-1.The application of the sequential addition algorithm, on each of such combinations, yields one set of the additional PMU locations. One of these combinations, which give the minimum number of additional PMU locations, leads to the optimal solution. This can be viewed as a brute force search or as exhaustive search method, where all the possibilities are explored to obtain the true optima, and can be adopted for an off-line study. III. T OPOLOGICAL PLACEMENT WITH VARIABLE PMU C OST PMU cost consists of xed cost of a PMU and variable cost associated with number of measurement channels. In the present work we have heuristically considered cost ci of placing PMU at Bus i to be of the form: ci = x + M y Where, x is xed cost of a PMU y is the cost of an additional measurement channel M is the number of channels of PMU placed at Bus i Therefore topological placement in the present formulation (5)

also takes into account the additional cost due to the increase in number of channels and hence results in a placement whereby our goal of decreasing number of channels is achieved. It is obvious that such a placement does not result into complete numerical stability for which there is a need for additional PMU placement as suggested in section II. For this purpose we apply SAA on the obtained solution to get complete observability of the system. IV. E LIMINATION OF R EDUNDANT C HANNELS Once we know PMU locations, we have voltage phasors known at all the PMU buses as well as current phasors of all the incident edges. Each voltage or current measurement by a PMU corresponds to a measurement channel of PMU. This set of measurements have certain redundant measurements/equations. Mathematically, this set of equations can be represented as follows: Z = HV (6)

The proposed method applies Gaussian Elimination on the Matrix H . Therefore the independent set of measurements in Z can be obtained and dependent set of measurements gives the redundant measurements, which can be removed while preserving Rank(H) equals 2N-1 hence keeping the system numerically stable. Elimination of redundant measurements/equations results in removal of measurement channels, thus giving minimum number of channels for a given PMU placement. V. S IMULATIONS AND R ESULTS The proposed technique has been simulated in MATLAB and case studies are performed on IEEE 9-Bus System and IEEE 14-Bus System. In simulations, without loss of generality it (admittance/reactance) has been assumed of value 1.

Table I summarizes the simulation results for OPP problem considering xed cost of a PMU. For IEEE 9-Bus System the total number of PMUs required are two with PMU Buses 2 and 6. The total number of channels required without removing redundancy is 11. Upon Gaussian elimination it can be observed that V2 and I69 are redundant which results in removal of two channels. Similarly for IEEE 14-Bus System the total number of PMUs required are four with PMU Buses 2,6,7 and 9 and channels required can be reduced from 18 to 14 using Gaussian elimination. It can be noted that number of PMUs required using proposed technique is similar to that proposed in [6] [9] with reduced number of channels. Table II summarizes result using variable PMU cost and SAA algorithm. Without any loss of generality xed PMU

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2012 IEEE International Conference on Power and Energy (PECon), 2-5 December 2012, Kota Kinabalu Sabah, Malaysia

Table I R EDUNDANT MEASUREMENTS AND N UMBER OF C HANNELS WITHOUT VARIABLE COST

System IEEE 9-Bus IEEE-14 Bus

PMU locations 2, 6 2, 6, 7, 9

Measurements V2 , I2,1 , I2,3 , I2,4 , I2,8 , I2,9 , V6 , I6,5 , I6,7 , I6,8 , I6,9 I2,1 , I2,3 , I2,4 , I2,5 , V2 , I6,5 , V6 , I6,11 , I6,12 , I6,13 , I7,9 , I7,8 , I7,4 , V7 , V9 , I9,4 , I9,7 , I9,10 , I9,14

Redundant measurements V2 , I6,9 I7,9 , V2 , V6 , V7 , V9

Number of Channels required 9 14

Table II R EDUNDANT C HANNELS AND C OST USING VARIABLE COST

System IEEE 9-Bus IEEE-14 Bus

PMU locations 4, 8 2, 8, 10, 13

Measurements I4,3 , I4,5 , V4 , I4,9 , I6,5 ,V6 , I6,7 , I6,8 , I6,9 , I4,2 I2,1 , I2,3 , I2,4 , I2,5 , V2 , I8,7 , V8 , V10 , I10,9 , I10,11 , I6,13 , I13,12 , V13 , I13,14

Redundant measurements V8 , Nil

Number of Channels required 9 14

cost 3.80 6.80

Figure 2.

IEEE 9-bus system

cost (without any channel) has been assumed to be unit 1 and additional PMU channel cost has been assumed to be 0.2. For IEEE-9 Bus system the total number of PMUs required are two with PMU Buses 4 and 8. The total number of channels required is 9, cost being 3.80. It can be noted that the technique optimizes the number of channels required using alternative PMU bus locations while ensuring complete observability. Similarly for IEEE 14-Bus system the proposed technique places PMUs at 2,8,10 and 13 with number of channels required being 14. It can be noted that this results in an optimized placement with zero redundant channels.

Figure 3.

IEEE 14-bus system

VI. C ONCLUSION In this paper an improved and a novel way of PMU placement has been suggested. The proposed numerical technique results in PMU placement which ensures complete power system observability. The proposed technique is simple and easily implementable in MATLAB. Further, two techniques,

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2012 IEEE International Conference on Power and Energy (PECon), 2-5 December 2012, Kota Kinabalu Sabah, Malaysia

Gaussian elimination and Variable Channel cost for channel minimization of a given PMU placement have been suggested. Associating cost with channels results in alternate PMU buses which ensures reduced channels. Gaussian Elimination has been then carried to reduce number of channels further. Gaussian elimination has also been carried out on PMU buses locations suggested in existing research literature. The two suggested techniques complement each other and result in minimum number of channels. R EFERENCES
[1] W. Yuill, A. Edwards, S. Chowdhury, and S.P. Chowdhury, Optimal PMU placement: A comprehensive literature review, Power and Energy Society General Meeting, 2011 IEEE , vol., no., pp.1-8, 24-29 July 2011 [2] B. Milosevic, and M. Begovic, Nondominated sorting genetic algorithm for optimal phasor measurement placement, Power Engineering Society General Meeting, 2003, IEEE , vol.2, no., pp. 4 vol. 2666, 13-17 July 2003 [3] S. Chakrabarti, G.K. Venayagamoorthy, and E. Kyriakides, PMU placement for power system observability using binary particle swarm optimization, Power Engineering Conference, 2008. AUPEC 08. Australasian Universities , vol., no., pp.1-5, 14-17 Dec. 2008 [4] R.F. Nuqui, and A.G. Phadke, Phasor measurement unit placement techniques for complete and incomplete observability, Power Delivery, IEEE Transactions on , vol.20, no.4, pp. 2381- 2388, Oct. 2005 [5] J. Peng, Y. Sun, and H. F. Wang, Optimal PMU placement for full network observability using Tabu search algorithm, Elec. Power Syst. Res., vol. 28, no. 4, pp. 223-231, May 2006 [6] B. Gou, Generalized Integer Linear Programming Formulation for Optimal PMU Placement, Power Systems, IEEE Transactions on , vol.23, no.3, pp.1099-1104, Aug. 2008 [7] B. Gou, Optimal Placement of PMUs by Integer Linear Programming, Power Systems, IEEE Transactions on , vol.23, no.3, pp.1525-1526, Aug. 2008 [8] S.Chakrabarti, and E. Kyriakides, Optimal Placement of Phasor Measurement Units for Power System Observability, Power Systems, IEEE Transactions on , vol.23, no.3, pp.1433-1440, Aug. 2008 [9] N. H. Abbasy, and H. M. Ismail, A Unied Approach for the Optimal PMU Location, IEEE Trans. Power Syst.,, vol. 24, pp. 806 - 813 , May 2009 [10] Available Online: http://www.selinc.com/synchrophasors/.

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