PMU based Midterm Stability Evaluation of Wide-area Power System

Yutaka Ota, Student Member, IEEE, Hiroyuki Ukai, Member, IEEE Koichi Nakainura, Member., IEEE, and Hideki Fujita, Member, IEEE
use of synchronized measurement keeping the stability of real power systems [ 1]-[4]. I n particular, the synchronized phasors over wide-area, which have implication to the stability, can be measured by using [he P M U , under this background, we propose a midterm stability

Abstract-Since the aspect of instability phenomena during midtcrm is cumplicated, the stability analysis is significant in order to keep the powcr system stable. Synchronized phasor angles obtained by the PMU (Phasor Measurement Unit) provide the effective information for evaluating the stability of B bulk power system. This paper prnposcs a midterm stability evaluation method of the wide-area power system by using the synchronized phasor measurements. Clustering and aggregating the power system to some coherent generator groups, the stability margin of each coherent group is quantitatively evaluated on the basis of the one machine and infinite bus system. The midterm stability of B longitudinal power system model of Japanese 60Hz systems ~ "~ ,. ~ bv the psA ,power s , , Analvrer),~which is hybrid-type power system simulator. is practically evaluatfd using the proposed method.
~~

~~~

I n d m Terms-aggregation.

coherency. DFT, midterm

stability,

PMU,synchronized measurement.
1. INTRODUCTION

evaluation method based On the synchronized phasor measurements for the purpose of grasping the aspect of the step-out phenomenon of the bulk power system and then appropriately executing the protection. The effectiveness of the proposed through the is experiments using a hybrid-type power system simulator. The network model is the IEEJ (Institute of Electrical and Electronics Japan) WEST I O-machine system 151, which is a longitudinal power system model of Japanese 60Hz systems. In this paper, the procedure of the phasor computation and stability evaluation are explained in section 11. And next, the results of the experiments are shown in section 111.
11. STABILITY EVALUATION METHOD

ue to the increase of the interchanged power between electric power companies and power flow of a transmission line, the stability of a bulk power system tends to be more severe. In particular, the long period oscillation in a longitudinal power system with a long trunk line like Japanese 6OHz systems may cause the step-out during midterm. An adaptive step-out detection using online measurements over the power system is effective to keep the midterm stability, because the midterm stability is influenced by many conditions (structure, operation, fault condition, and so on) of the power system. Recently synchronized measurement techniques based on a time signal of the GPS (Global Positioning System) are introduced in the field of the power system. Among them, the PMU (Phasor Measurement Unit) is practically introduced for

The outline of the stability evaluation method based on the synchronized phasor measurements is shown in Fig. I . Firstly, internal voltage phasors of each generator are estimated from voltage and current phasors measured by the PMUs at each generator terminal. By using the DFT (Discrete Fourier Transform) analysis for estimated internal voltage phasor of all generators, they are aggregated to those of coherent generator groups. The stability margins of the phasor angle of each coherent generator group are quantitatively evaluated by assuming one machine and infinite bus systems. The COA (Center of Angle) is regarded as the infinite bus. Finally, the step-out is detected. when the active power index -phase angle difference curve of each group passed through the unstable equivalent point.

A . Phmor Memurement Unir and Phasor Computation Fig. 2 shows the synchronized measurement of the phasors at generator terminals. The PMU consists of ADC (AnalogDigital Converter), CPU, and GPS receiver. A short interval clock divided from IPPS (Pulse Per Second), which is provided by the GPS receiver, is used as a sampling clock of the ADC, and the synchronized phasor measurements are transformed to the SCADA (Supervisory Control and Data Acquisition) system with time signals. The synchronizing error is standardized within I[micro-s] [6]. The authors have developed the advanced PMU using the DSP (Digital Signal Processor) as the CPU [7]. The high-resolution interval timer

with Ikpanment of Elecsicsl and Cumpuler Engineering, Nagoya Institute of'Tcchnology. Gokiso-cho Showa-ku Na~oya. JAPAN. (e-mail:yuta~irankiin.elcoal.nilechaclp) H. Ukai and K. Nakamura are with Urpartrnet,~ of Syrtriiis Managenlent and Enginccrisg. Nagoya Institute 01 Technology. Gokiso-cho Showu-ku Nagoya. JAPAN H. lhjitv I will? Etctric Power Research & Develupment Center. Chubu lilectric Power Company, 20-1 Kilasekiyama Oiiduka-cho Midnri-ku Nagoya. JAPAN.
IS

Y. Ora

0-7803-7525-4/02/$17.00 8 2002 IEEE

1676

PMUs at each generator terminal

SteD.1 Svnchronized measurement of ohasor Estimation of internal voltaae ohasor

I I
SCADA SteD.2 Coherencv Decision Internal voltage phasor of coherent generator group

Fig. 3 . Volvagc liliilsor and c u i ~ c npltusor o i g c l w l u t w l

Step.3 Stability evaluation bv assuminq one machine and infinite bus svstem Active power index S t e ~ . 4Sieo-out detection Stability margin

deviation fi-oin the designed frequency o f tlie DFT. The ) positive sequence current phasor ( I i , is calculated i n tlie same manner. is estimated iii considet-ittioil 'The internal voltage phasor with a classical generator model as follows:

v,,

VR, = v*,E'''~, = v,, + , j X , , l , ,

(5)

where indicates the synchronous reactance o f generator. The vector diagram of the voltage and current phasors is shown in Fig. 3 . Assumed that all internal voltage phasors are transmitted from the PMUs to the SCADA by coniinuiiiciltioii network, the COA is calculated as follows:

Communication Network

[I &7

Fig. 2 . Synchronircdpharor i i i e a ~ u r r i n r i ihy using PMUs. l

using CPS clock realizes within the standard synchronization. Now let vt7, be an insfantaneous value of phase-a voltage at rT, ( r : the number of samples from the beginning o f measurement, T, : the sampling period), the phase-a voltage phasor (V,,r) is computed by using the DFT (Discrete Fourier Transform) as follows:

where, M, i s the inertia constant of the generator i OK,, is the phasor angle o f the generator i. Since the COA reflects the phasor angle change caused by the frequency deviation of each generator, the subtraction the COA from the phasor angle of each generator derives the extraction of the net phasor angles change of the individual generator.

., 8

-, @ , ,

(7)

B. Cohrrenq, D~ci,sion
The internal voltage phasor o f each generator i s aggregated into that of the coherent generator groups. Firstly. by using the DFT to the phasor angle differences o f each generator from the COA ( ax,,). the magnitudes ( A , ) and declinations (Bi,) corresponding to the long period oscillation are detected its follows:

is the where, N i s the number o f samples per one cycle, designed frequency of the DFT. B y introducing the rotational coordinated system, v,;,= c ! - J % r l . (2)

.L

y,,

the phasor V , , , i s recursively computed as follows: where NI i s the number of samples per one cycle o f the long period oscillafio~iarid 1; is the frequency o f tlic long period oscillation. They are pre-determined b y advance information of the considered power system. The generators w e divided to some coherent groups vu tlie (A,,). The11 basis of the magnitude o f the long period o~cillation the generators that show the opposite declination (Bl,) are divided to another group. Finally. the internal voltage phasors

Equation (3) needs only six operations that are independent of N while (I)needs 4N+1 operations. The drastic reduction of computation time i s expected and the high-speed sampling i s possible. The positive sequence voltage phasor ( V,rj i s calculated by using the symmetrical coordinates transform from tlie threephase phasors (V',,, V',>, and V ; J as follows: ,

(Vc;,rand
as follows:

j of each coherent generator group are calculated

where V,, indicates the effective value o f the phasor and B,, indicates the phasor angle rotating with tlie frequency

1677

-;-

Stable

Unstable

111.
Pc;, = V,, V,, Xi
Fig. 5 . Asnunrprinu o f m e iimchinc and

VEKIFICATI(1N TIIKOU(I1I EXPLlllMliNT USING HYI3KII)-TYPI: POWER SYSTEM SIMULATOR

sin 6

,
rysreiiis

A . E.iperiineiilu1 Condifiom

The longitudinal power system with a long trunk line (IOOO[km]) was constructed by the PSA (Power System where, Mi is the inertia constant, Vxk,is the effective value, and Analyzer). The PSA is a hybrid-type power system simulator, 6,, is the phasor angle difference of each generator belonging it1 which generators are digital-type models, and transformer. transmission line, and other components are analog-type to the coherent group from the COA, respectively. models. The network model is the IEEJ WEST IO-machine C, Stabilify Evuliiation hy msuming One M d i i ~ e l~~finitesystem of Japanese 6OHz systems. The power flow map and Bii.~ S)!rtim impedance map is shown in Fig. 7. The daytime power flow In the previous step, as shown in Fig. 4, the power system is condition is considered, and the trunk line has an interchanged aggregated to some coherent generator groups and the internal power flow (ISOO[MW]) from west to east. The generator voltage phasors and phase angle differences from the COA are constants are common to ten machines as shown in Table 1. computed. The next step is to evaluate the stability of each The types of the excitation model and governor model are the coherent generator group. Regarding each coherent generator standard types, LAT=I and LPT=I, used in Y-method of group as one equivalent generator and the CO1 as the infinite CRlEPl (Central Research Institute of Electric Power bus, the one machine and infinite bus systems are assumed as Industry). In these conditions, the Icct. 3LC fault at point F (in Fig. 7) shown in Fig. 5 . The active power of the equivalent generator i was assumed at about l.O[s], and cleared after O.O7[s]. This is expressed as follows: fault caused the step-out in 2nd swing after the fault cleared. The instantaneous values o f three-phase voltage and current at PC. = V d m , , sin 6ti,, (10) each generator terminal were measured, and the stability x i where X, is the equivalent reactance between the equivalent evaluation method explained in section I I was applied. The generator and the infinite bus, which is assumed to be nearly sampling frequency was 9[kHz] (N=l50).
iiiliiiire bur
~

constant unless the large change of the power system structure. Therefore, in the stead of the active power, the active power index (Pc,,X,)is used for evaluation, that is: Pti,J, = VcoA, .sinS,,, (11) Fig. 6 sliows the characteristics of the active power index and phasor angle difference. These have stayed on the stable equivalent point before the fault occurred. The critical value of the phasor angle difference ( 6 , ) at the unstable equivalent point is momentarily calculated as follows:

B. Exprrimenlal Rrcult.~

where P,,J, and 6 , , indicates the active power index and the phasor angle difference before the fault occurred. The step-out is detected as passing through the unstable equivalent point, , that is, 6,,, > S, . The stability margins of each coherent generator group are quantitatively evaluated in this way.

Fig. 8 (a) and (b) show the terminal and the internal voltage phasor angles, respectively. The oscillation of the inside of the generator was smaller than the oscillation between the generators, because the oscillatory trend of the terminal and the internal voltage phasor angle was similar. The COA is also shown. The frequency of the long period oscillation of the power system was estimated about 0.33[Hz] ( 3 [ s ] ) . Fig. R (c) shows the phasor angle differences of each generator from the COA, and Fig. 8 (d) and (e) show magnitudes and declinations corresponding to the long period oscillation calculated by using the DFT analysis. From this analysis the long period oscillation was renial:kably appeared in east side and west side of the power system. And their declinations were in the opposite phase direction. The five coherent generator groups, GI-2, G2-3, (33-4, G5-6, G7-8, and C9-IO were selected by the coherency decision.

1678

j0.00932 OOkm lOOkm lOOkm lOOkm IOOkm lOOkm lOOkm 100km

i0.00466

<

m
9000 9000 9000 MW

9000 MW

9750 MW

50km lOOkm 2750 9000 MW MW

50km Transmission Line R+jX=O.OO105+j0.0315

jY/2=j0.061

9000 MW
Fig. 7. ICE1 WEST IO-machine rynteiii.
TAIILE I

9000 MW

9000 MW

9000 MW

66
9000 9000

-e-

MW

MW

4500 MW

6
9000 MW

IOOkm Transmission Line R+jX=0.0021tj0.063

jY/2=jo.122

V. ACKNOWLEDGMENT The experiments using the PSA were made on the cooperation with Department of Power System Operations, Chuhu Electric Power Co.,lnc. and Power System Analysis Group, CTI Co..Ltd. l h e authors gratefully acknowledge their cooperation. The authors thank K. Hikosaka for analyzing the experimental data.

CONSTANTS OF GENERAlOR

M=7.00[s] D=O.O[p.u.] T,,=O.4O[p.u.] X,=0.225[P.U.] x,ixc,=1.70[p.u.] x,'=o.35[p.u.] x,"=x,"=O.25[p.u.] T,'=l.OO[p.u.] Td"=7;,"=0.03[p.u.] Exciter : LAT=l Governor : LPT=1

VI. K I N K E N C ~ S
TABLEII
STABII.ITY

MARGIN COHERENl GENERArOR GROUP (Degree) OF

GI-2

G3-4

G7-8

G9-10

98.1

124.4 140.0

75.7

(3.23[s]) (3.09[s]) (3.31[s]) (3.01[s])

29.2 58.7 70.2 Step-out (4.50[s]) (4.74[s]) (4.74[s]) (4.66[s])

Fig. 9 shows the phasor angle differences of each coherent generator from the COA. The critical values of the phasor angle difference are plotted in light solid line. The step-out of the C9-IO was firstly detected at 4.66[s]. The (35-6 has been marginally before the step-out. The stability margins of the GI-2, (33-4, and '37-8 were small. Table II summaries the stability margins of these groups at the peak of each swing. IV. CONCLUSIONS

In this paper, the midterm stability evaluation method based on the synchronized phasor measurements by the PMU is proposed. As a result of the experiments using the PSA, The IEEJ WEST IO-machine system is aggregated to five coherent generator groups, and the stability margins of each group are quantitatively evaluated. The proposed method can be applied to the power systems with various scale and structure because of only using the online measurements of the generator terminals. The development of a step-out protection system of wide-area power system based on the proposed inethod is the future work

[I] A. G . Phadke and I. S. Thorp. "Improved Control and Pmcction of Powri Systaiis through Synchronircd Phvsor Measurements". Control and Dynamic Syrteois. Advanccs i n Theory and Applications, Acadcmic PICIS. vol. 43. pp. 335-376,199 I and [Z] D. N . Kostncv, .I. EsL1~rpdyos. C. A. Stigers. "Feasibility Study of Using Syncbranired Pliasor M e a s ~ r ~ i n e i ifor Gencrstor D r ~ p p i n g l~ Controls in the Colstrip System". IEEE Trum Prrwcr- ~ i ~ r l w n . 13. w1. No. 3. pp. 755-761. Aug. 1998. [3] R. 0. Burncll 1r.. M. M. Bulls. T. W . Cease. V. Cenlcno. G. Michel. K. J . Murphy. and A. G . Phsdkc. "Synchmnizcd Phasol- Mcanuremcnls o r a Power Systeiii Event". / E Trcrn.~.Power S~~.vwnr, 9 No. 3. pp. Vol. . 1643-1649. Aug. 1994. 141 c. -w. LU. M . -c. su, s. -s. T ~ ui~d ~ wallP.- ~ ~ ~ ~ ~ Y. -.I. . ora Novel I'uzry Neural Network to Keal-Timc Transient Siability Swing Prcdiction Bascd on Synchronizcd Philsor Measurements". /EEC ?krm P o n , e r . ~ v . ~ r o Vol. 14. NO.2,pp. 6x5-692, May 1999. n, [SI N. Uchidu. K. Kawato. and M. Epauja. "l)evelopmenl of Tcrt T;w Models ror lvpnnerc Power Syatanr". in Proc. 2000 I1 Meeting. Jul. 2000. for [6] lllEE S I m h d /ov .S,,ir.lr,.r,~hi,,~o~,~ I'uwr ,SI 1344.1995. 1995. [7] Y . Ota, 14. Ukai, K. Nakamum. and H. Fujila, "Evaluation of Stability illid Clecuic Power Quality iii Power Sysmn by using Synchionixd Plivsor Meusurenicnrs". in Proc. 2000 Intcnmioiiiil Confcience on Power System Technology (PowerCon2000). Vol. 111, pp. 1335.1340, Dec. 2l100.

1679

240

90

4
1 2

I
3
4

-240

4
1 2

I
3
4 5 Time[*]

Time

[SI
240 3 180

( a ) Terminal voltage phasoi- angles

810
~

(a) Phasor angle difference of C 1-2 fi-omCOA

I

720

2 630
4 540 ? 450
r 360

B 120
M

60

b -60
2-120

270
180

h-180

4
1
2

I
3
4

-240

4
1 2
3
4 Time[sl

I
6

Time

[SI

(h) Internal voltage phasor angles

240
I

(h) Phasor angle difference of C3-4 from COA

I

2 120
m ' a

M
5

60

A
b -60

0
-60

a -120
-180

E_,,, 8-120

4
I

I
2
3

-240

4
1
2

Time

[SI
I

Tim&]

(c) Phasor angle differences from COA

(c) Phasor angle difference of G5-6 fiom COA

G1

G2 G3

G4

G5

G6

G7

G8

G9 G10

Time[sl

(d) Magnitudes corresponding to long period oscillation 180

(d) Phasor angle difference of G7-X from COA 240

3 180 d 120 - 60 Y M 6 0 b -60
Y

3-120

Step-out
1

-180

'
GI

a-180 -240
2
3
4

G2 G3 G4 G5 G6 G7 G8 G9 G10

Tim&]

( e ) Declinations cor]-esponding to long period oscillation

I'ig. 8 . Synchlonircd philror
IlldilS,lrCi"UIIIs

(e) Phasor angle difference o f Ci9- I O froin COA

and cohcmllcy

dCCiSi0ll

1680