Design and Implementation of a Centralized Disturbance Detection System for Smart Microgrids

RÉSUMÉ L’excursion de fréquence et de tension sont parmi les défis nombreux qui se posent aux microréseaux. La détection des perturbations peut être effectuée par le système de surveillance centralisé de micro-réseaux qui utilise des données de synchrophasor rapportées à partir de différents noeuds. Les réseaux de communication de synchrophasor présentent des retards et des Pertes de paquets qui peuvent détériorer l’intégrité des données et donc compromettre la fiabilité des systèmes de surveillance et de contrôle des micro-réseaux intelligents. Ce mémoire présente un nouveau concentrateur de données de vecteurs de phase avancé (APDC) capable de contrer les manques de la communication et d’améliorer la qualité des ressources de la production décentralisée (DER) dans les micro-réseaux. L’APDC proposé utilise un système de compensation adaptatif pour obtenir une estimation efficace des éléments de données manquants. L’estimateur adaptatif utilise le taux de changement d’éléments de données pour choisir entre l’estimateur LMMSE et un estimateur basé sur les dérivés pour prédire les valeurs futures des éléments de données. Si, à un instant donné, les éléments de données synchrophasors de certaines unités de mesure de phasor (PMU) manquent, les valeurs estimées sont utilisées pour compenser les données manquantes. En outre, une unité de surveillance est proposée pour détecter de manière fiable les excursions en fréquence et identifier les DERs affectés par les îlotages. L’unité de surveillance utilise un algorithme de détection centralisé élaboré qui traite les données de fréquence pour distinguer entre l’îlotage possible des DERs et les perturbations du réseau de distribution. L’APDC proposé est développé sur la plate-forme OpenPDC en temps réel et sa performance est évaluée à l’aide d’une configuration expérimentale comprenant trois PMUs, un réseau de télécommunications, des interrupteurs, et un concentrateur de données de vecteurs de phase classique (PDC). Les résultats expérimentaux confirment une intégrité des données de haut niveau dans les conditions normales et perturbées des micro- réseaux. Des études sur l’effet du bruit de mesure montrent que l’APDC proposé est même efficace en présence de bruits sévères. De plus, une détection rapide et fiable des événements d’îlotage est obtenue en raison de l’amélioration considérable du temps de détection même en cas de pertes de données sévères et de bruit de mesure. Enfin, la performance de l’APDC proposé est comparée à une méthode d’estimation existante. Les résultats montrent l’avantage important de l’APDC, en particulier dans des conditions perturbées.----------ABSTRACT Microgrids are subject to various disturbances such as voltage transients and frequency excursions. Disturbance detection can be performed by a microgrid centralized monitoring system that employs synchrophasor data reported from different nodes within the microgrid. Synchrophasor communication networks exhibit delays and packet dropout that can undermine the data integrity and hence compromise the reliability of the monitoring and control systems of the smart microgrids. In this thesis, an advanced phasor data concentrators (APDC) is proposed that is capable of counteracting the communication impairments and improving the quality of monitoring of distributed energy resources (DERs) in microgrids. The proposed APDC utilizes an adaptive compensation scheme to achieve an efficient estimate of missing data elements. The adaptive estimator employs the rate of change of data elements to choose between the vector linear minimum mean square error (LMMSE) and the derivative-based estimators to predict the future values of data elements. Whenever the synchrophasor data elements of some phasor measurement units (PMU) are missing, the estimated values are used to compensate for the missing data. Moreover, a monitoring unit is proposed to reliably detect frequency excursions and identify the DERs affected by islanding events. The monitoring unit utilizes an elaborate centralized detection algorithm that processes frequency data to distinguish between possible islanding of DERs and disturbances occurred within the host grid. The proposed APDC is developed on a real-time OpenPDC platform and its performance is evaluated using an experimental setup including three PMUs, communication links, switches, and a conventional phasor data concentrator (PDC). The experimental results confirm a high-level data integrity under both normal and disturbed conditions. Studies on the effect of measurement noise show that the proposed APDC is even efficient in the presence of noise. Moreover, fast and reliable detection of islanding events is achieved even under severe data losses and measurement noise. Finally, the performance of the proposed APDC is compared with a recently proposed estimation method that shows the significant advantage of the APDC, especially under disturbed conditions

IEEE 1588 synchronization in distributed measurement systems for electric power networks

Modern electric power systems can be considered as the consequence of the continuous technological evolution, often pushed by economical, political and social requirements. As an example, the main transformations in electric distribution systems arise from the diffusion of “Distributed Generation” (DG), i.e. small production plants, often supplied through renewable energy sources, whose presence has significant implications on both energy management (since “active networks” are needed to take into account bidirectional energy flows by means of innovative devices) and protection systems (since adaptive protections can be used to automatically reconfigure the network in the case of fault occurrence). In general, in both transmission and distribution networks, monitoring, control and protection tasks are usually performed by Intelligent Electronic Devices (IEDs), which can be, by their nature, connected to each other by suitable communication links. A famous example of this approach is represented by the series of Standard IEC 61850 (Communication Networks and Systems in Substations). These standards are related to networks and communication systems within the substation, but are used as a reference in all those circumstances in which an electrical system is managed through the use of IEDs communicating with each other (as in the case of active distribution networks). In this way, control and protection schemes practically become algorithms, whose correct behavior is determined firstly by the availability of data measured in strategic points of the network. The critical role of the above mentioned applications, which clearly emerges from their implications on safety, as well as from economical considerations, makes it of fundamental importance the evaluation of correctness and trustworthiness of the information on which such actions are based. Many of these applications implemented for control and protection purposes in electric power networks require the acquisition of information by Wide Area Monitoring System (WAMS) from strategic points of the system and need that the acquired data have an extremely accurate common time reference. Generally, amplitudes and phases of the positive sequence voltages are the quantities to be estimated in the network nodes. Because of the extension of power networks, suitable measurement devices should be used to ensure proper synchronization between the collected data. Thus, the key components of WAMSs are represented by Phasor Measurement Units (PMUs) designed to measure synchronized phasors (synchrophasors). Typical synchronization specifications for synchrophasors measurement are in the order of few microseconds. Such a tight synchronization requirements lead to the need of highly accurate clock settings, such as the ones bases on satellite systems. Currently, the Global Positioning System (GPS) is the only system to provide a time reference with sufficient availability and accuracy for most distributed monitoring and control applications in power systems. As an alternative, in situations where many devices are located in a geographically limited sub-area (e.g. a substation) of the system and are connected to each other by suitable communication networks (as described by the series of standard IEC 61850), it could be advantageous to distribute the time reference of a high accuracy clock to the devices through suitable network synchronization protocols. Between them, the PTP (Precision Time Protocol) defined in the Standard IEEE 1588 offers the best accuracy performance. It is worth mentioning that the Standard IEC 61850-9-2 practically indicates Ethernet as a preferred communication solution, thus offering an optimal support to implement 1588 synchronization in electric power plants. In this context, it should be recalled that the IEEE 1588 profile for power system applications (project PC37.238) is being developed under IEEE Power System Relaying Committee (PSRC) and Power System Substation Committee (PSSC). The scope covers all power system applications, including Synchrophasors. The group works in close coordination with TC57 WG10, which plans to adopt the PTP profile in the next revision of IEC 61850. In the first part of this thesis, the state of the art regarding power system evolution, IEEE Standard on synchrophasor measurements and synchronization system is presented. In particular, the problems related to the evolution of the power system along with some possible advantages due to the implementation of Phasor Measurement Units in Wide Area Monitoring Systems are introduced. After a general description of the architecture of a distributed measurement system based on PMUs, the new synchrophasors standard is analysed, highlighting the differences with previous versions, the requirements for the measurement of synchrophasors and the definition of synchrophasor under steady-state and dynamic conditions. Moreover, a summary of the possible synchronization solutions is introduced. For each solution, advantages and disadvantages are highlighted. In particular, satellite system and network based protocol are analysed in detail. In the second part of the thesis, a synchronization solution able to exploit the worldwide availability of the GPS and the possibility to disseminate the synchronization signal with high accuracy by means of the network synchronization protocol IEEE 1588 is proposed. This solution is used for the synchronization of PMUs. The objective of this work is to analyse the possibility to synchronize PMUs via PTP and to study the impact that such a synchronization solution has on the performance of measurement systems under both steady-state and anomalous operating conditions, as well as its effects on the applications that make use of their data. Two different versions of the PTP are used: the first one uses hardware-assisted time-stamp mechanism whereas the second one uses software-only time-stamp mechanism. Two experimental systems are characterized in detail with an accurate description of all the used hardware and software components, and their synchronization performances under different operative conditions are analysed. Finally, among all the sources which may contribute to the uncertainty introduced by PMUs, the last part of this thesis analyses the impact of the phasor estimation models on the accuracy of these devices, with particular attention to algorithms proposed in literature for the estimation of dynamic phasors and studies their performances under several different conditions

Tarkan ja luotettavan ajan siirto kantaverkossa

This master’s thesis is about time distribution that supports substation applications needed for power transmission. The work was done for the Telecommunication department of Finland’s power transmission system operator Fingrid Oyj. This thesis answers to the following question: What is the need for accurate and synchronized time in power substations and how it will be delivered? Fingrid’s telecommunication network supports the power transmission grid and its operation. Telecommunication network can distribute time to power substations for the applications that need synchronized and accurate time. Current telecommunication equipment used in Fingrid is getting old and new techniques are planned to be implemented. When Fingrid is acquiring new communication equipment, they need to set requirements on the capability to distribute time. This thesis is an initial effort to investigate time distribution requirements for Fingrid’s needs. This thesis aids Fingrid Telecommunication department to define requirements for time distribution. For this thesis, I met with multiple Fingrid professionals, telecommunication device suppliers and time distribution researchers. This thesis answers to its research questions by means of a literature review and interviews.Tämä diplomityö käsittelee ajansiirron vaikutusta sähköasemasovellusten toimintaan. Työ tehtiin Suomen kantaverkkoyhtiö Fingrid Oyj:n tietoliikenneyksikölle. Fingridin tietoliikenneverkko on osa kantaverkkoa ja mahdollistaa sähköjärjestelmän toiminteita. Tietoliikenneverkon yksi palvelu on synkronoidun ajan siirtäminen sähköasemille. Nykyinen tietoliikennetekniikka on vanhenemassa ja uutta laitteistoa suunnitellaan hankittavaksi ja testattavaksi. Tämän diplomityön tarkoitus on selvittää mikä on järkevä tapa toteuttaa ajan siirto ja kuinka tarkkaa sen pitää olla. Työ auttaa tietoliikenneyksikköä hankinnan vaatimusmäärittelyssä ajansiirron osalta. Työtä varten on tavattu monia Fingridin asiantuntijoita, tietoliikennelaitetoimittajia sekä ajansiirron asiantuntijoita. Työ vastaa tutkimuskysymykseen kirjallisuuskatsauksen ja haastattelujen perusteella

DFT-based Synchrophasor Estimation Algorithms and their Integration in Advanced Phasor Measurement Units for the Real-time Monitoring of Active Distribution Networks

The increasing penetration of Distributed Energy Resources (DERs) at the low and medium-voltage levels is determining major changes in the operational procedures of distribution networks (DNs) that are evolving from passive to active power grids. Such evolution is causing non-negligible problems to DN operators (DNOs) and calls for advanced monitoring infrastructures composed by distributed sensing devices capable of monitoring voltage and current variations in real-time. In this respect, Phasor Measurement Units (PMUs) definitely represent one of the most promising technologies. Their higher accuracy and reporting rates compared to standard monitoring devices, together with the possibility of reporting time-tagged measurements of voltage and current phasors, enable the possibility to obtain frequent and accurate snapshots of the status of the monitored grid. Nevertheless, the applicability of such technology to DNs has not been demonstrated yet since PMUs where originally conceived for transmission network applications. Within this context, this thesis first discusses and derives the requirements for PMUs expected to operate at power distribution level. This study is carried out by analyzing typical operating conditions of Active Distribution Networks (ADNs). Then, based on these considerations, an advanced synchrophasor estimation algorithm capable of matching the accuracy requirements of ADNs is formulated. The algorithm, called iterative-interpolated DFT (i-IpDFT) improves the performances of the Interpolated-DFT (IpDFT) method by iteratively compensating the effects of the spectral interference produced by the negative image of the spectrum and at the same time allows to reduce the window length up to two periods of a signal at the nominal frequency of the power system. In order to demonstrate the low computational complexity of such an approach, the developed algorithm has been subsequently optimized to be deployed into a dedicated FPGA-based PMU prototype. The influence of the PMU hardware components and particularly the effects of the stability and reliability of the adopted UTC-time synchronization technology have been verified. The PMU prototype has been metrologically characterized with respect to the previously defined operating conditions of ADNs using a dedicated PMU calibrator developed in collaboration with the Swiss Federal Institute of Metrology (METAS). The experimental validation has verified the PMU compliance with the class-P requirements defined in the IEEE Std. C37.118 and with most of the accuracy requirements defined for class-M PMUs with the exception of out of band interference tests

Real-Time State Estimation of the EPFL-Campus Medium-Voltage Grid by Using PMUs

We describe the real-time monitoring infrastructure of the smart-grid pilot on the EPFL campus. We experimentally validate the concept of a real-time state-estimation for a 20 kV active distribution network. We designed and put into operation the whole infrastructure composed by the following main elements: (1) dedicated PMUs connected on the medium-voltage side of the network secondary substations by means of specific current/voltage transducers; (2) a dedicated communication network engineered to support stringent time limits and (3) an innovative state estimation process for real-time monitoring that incorporates phasor-data concentration and state estimation processes. Special care was taken to make the whole chain resilient to cyber-attacks, equipment failures and power outages. The achieved latency is within 65ms. The refresh rate of the estimated state is 20ms. The real-time visualization of the state estimator output is made publicly available, as well as the historical data (PMU measurements and estimated states). To the best of our knowledge, the work presented here is the first operational system that provides low-latency real-time state estimation by using PMU measurements of a real active distribution network

Wide-Area Time-Synchronized Closed-Loop Control of Power Systems And Decentralized Active Distribution Networks

The rapidly expanding power system grid infrastructure and the need to reduce the occurrence of major blackouts and prevention or hardening of systems against cyber-attacks, have led to increased interest in the improved resilience of the electrical grid. Distributed and decentralized control have been widely applied to computer science research. However, for power system applications, the real-time application of decentralized and distributed control algorithms introduce several challenges. In this dissertation, new algorithms and methods for decentralized control, protection and energy management of Wide Area Monitoring, Protection and Control (WAMPAC) and the Active Distribution Network (ADN) are developed to improve the resiliency of the power system. To evaluate the findings of this dissertation, a laboratory-scale integrated Wide WAMPAC and ADN control platform was designed and implemented. The developed platform consists of phasor measurement units (PMU), intelligent electronic devices (IED) and programmable logic controllers (PLC). On top of the designed hardware control platform, a multi-agent cyber-physical interoperability viii framework was developed for real-time verification of the developed decentralized and distributed algorithms using local wireless and Internet-based cloud communication. A novel real-time multiagent system interoperability testbed was developed to enable utility independent private microgrids standardized interoperability framework and define behavioral models for expandability and plug-and-play operation. The state-of-theart power system multiagent framework is improved by providing specific attributes and a deliberative behavior modeling capability. The proposed multi-agent framework is validated in a laboratory based testbed involving developed intelligent electronic device prototypes and actual microgrid setups. Experimental results are demonstrated for both decentralized and distributed control approaches. A new adaptive real-time protection and remedial action scheme (RAS) method using agent-based distributed communication was developed for autonomous hybrid AC/DC microgrids to increase resiliency and continuous operability after fault conditions. Unlike the conventional consecutive time delay-based overcurrent protection schemes, the developed technique defines a selectivity mechanism considering the RAS of the microgrid after fault instant based on feeder characteristics and the location of the IEDs. The experimental results showed a significant improvement in terms of resiliency of microgrids through protection using agent-based distributed communication