Decaying DC offset current mitigation in phasor estimation applications: A Review

Decaying DC (DDC) offset current mitigation is a vital challenge in phasor current estimation since it causes malfunctioning/maloperation of measurements and protection systems. Due to the inductive nature of electric power systems, the current during fault inception cannot change immediately and it contains a transient oscillation. The oscillatory component acts similar to an exponential DC signal and its characteristics depend on the X/R ratio of the system, fault location, and fault impedance. DDC attenuates accurate phasor estimation, which is pivotal in protection systems. Therefore, the DDC must be eliminated from the fault current (FC) signal. This paper presents an overview of DDC mitigation methods by considering different groups—before the discrete Fourier transform (pre-DFT), after the discrete Fourier transform (post-DFT), the least square-based (LS-based), and other methods. Through a comprehensive review of the existing schemes, the effects of noise, harmonics, multiple DDCs (MDDCs), and off-nominal frequency (ONF) on the accuracy of DDC estimation, were recognized. A detailed discussion (along with some simulation results) are presented to address the main advantages/disadvantages of the past studies. Finally, this paper presents a few suggestions for future researchers, for researchers to investigate more implementable solutions in this field

An accurate frequency estimation in power networks in the presence of harmonics

The main frequency is an important parameter of an electrical power system. The frequency can change over a small range due to generation-load mismatches. Some power system protection and control applications, e.g., frequency relay for load shedding, load-frequency controller, require accurate and fast estimation of the frequency. Most digital algorithms for measuring frequency have acceptable accuracy if voltage waveforms are not distorted. However, due to nonlinear devices, e.g., semiconductor rectifiers, electric arc furnaces, the voltage waveforms can include higher harmonics. The paper presents a new method of measurement of power system frequency, based on digital filtering and Prony’s estimation method. Simulation results confirm, that the proposed method is more accurate than others, e.g., than the method based on the measurement of angular velocity of the rotating voltage phasor. A precise digital algorithm based on Discrete Fourier Transforms (DFT) to estimate the frequency of a sinusoid with harmonics in real-time is proposed. This algorithm that we called the Smart Discrete Fourier Transforms (SDFT) smartly avoids the errors that arise when frequency deviates from the nominal frequency, and keeps all the advantages of the DFT e.g., immune to harmonics and the recursive computing can be used in SDFT. These make the SDFT more accurate than conventional DFT based techniques. In addition, this method is recursive and very easy to implement, so it is very suitable for use in real-time. We provide the simulation results compared with a conventional DFT method and second-order Prony method to validate the claimed benefits of SDFT

A wide area system for power transmission security enhancement using a process systems approach

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Power System Dynamics Enhancement Through Phase Unbalanced and Adaptive Control Schemes in Series FACTS devices

This thesis presents novel series compensation schemes and adaptive control techniques to enhance power system dynamics through damping Subsynchronous Resonance (SSR) and low-frequency power oscillations: local and inter-area oscillations. Series capacitive compensation of transmission lines is used to improve power transfer capability of the transmission line and is economical compared to the addition of new lines. However, one of the impeding factors for the increased utilization of series capacitive compensation is the potential risk of SSR, where electrical energy is exchanged with turbine-generator shaft systems in a growing manner which can result in shaft damage. Furthermore, the fixed capacitor does not provide controllable reactance and does not aid in the low-frequency oscillations damping. The Flexible AC Transmission System (FACTS) controllers have the flexibility of controlling both real and reactive power which could provide an excellent capability for improving power system dynamics. Several studies have investigated the potential of using this capability in mitigating the low-frequency (electromechanical) as well as the subsynchronous resonance (SSR) oscillations. However, the practical implementations of FACTS devices are very limited due to their high cost. To address this issue, this thesis proposes a new series capacitive compensation concept capable of enhancing power system dynamics. The idea behind the concept is a series capacitive compensation which provides balanced compensation at the power frequency while it provides phase unbalance at other frequencies of oscillations. The compensation scheme is a combination of a single-phase Thyristor Controlled Series Capacitor (TCSC) or Static Synchronous Series Compensator (SSSC) and a fixed series capacitors in series in one phase of the compensated transmission line and fixed capacitors on the other two phases. The proposed scheme is economical compared to a full three-phase FACTS counterpart and improves reliability of the device by reducing number of switching components. The phase unbalance during transients reduces the coupling strength between the mechanical and the electrical system at asynchronous oscillations, thus suppressing the build-up of torsional stresses on the generator shaft systems. The SSR oscillations damping capability of the schemes is validated through detailed time-domain electromagnetic transient simulation studies on the IEEE first and second benchmark models. Furthermore, as the proposed schemes provide controllable reactance through TCSC or SSSC, the supplementary controllers can be implemented to damp low-frequency power oscillations as well. The low-frequency damping capability of the schemes is validated through detail time-domain electromagnetic transient simulation studies on two machines systems connected to a very large system and a three-area, six-machine power system. The simulation studies are carried out using commercially available electromagnetic transient simulation tools (EMTP-RV and PSCAD/EMTDC). An adaptive controller consisting of a robust on-line identifier, namely a robust Recursive Least Square (RLS), and a Pole-Shift (PS) controller is also proposed to provide optimal damping over a wide range of power system operations. The proposed identifier penalizes large estimated errors and smooth-out the change in parameters during large power system disturbances. The PS control is ideal for its robustness and stability conditions. The combination results in a computationally efficient estimator and a controller suitable for optimal control over wider range of operations of a non-linear system such as power system. The most important aspect of the controller is that it can be designed with an approximate linearized model of the complete power system, and does not need to be re-tuned after it is commissioned. The damping capability of such controller is demonstrated through detail studies on a three-area test system and on an IEEE 12-bus test system. Finally, the adaptive control algorithm is developed on a Digital Signal Processing Board, and the performance is experimentally tested using hardware-in-the-loop studies. For this purpose, a Real Time Digital Simulator (RTDS) is used, which is capable of simulating power system in real-time at 50 µs simulation time step. The RTDS facilitates the performance evaluation of a controller just like testing on a real power system. The experimental results match closely with the simulation results; which demonstrated the practical applicability of the adaptive controller in power systems. The proposed controller is computationally efficient and simple to implement in DSP hardware

Data-Driven Diagnostics of Mechanism and Source of Sustained Oscillations

Sustained oscillations observed in power systems can damage equipment, degrade the power quality and increase the risks of cascading blackouts. There are several mechanisms that can give rise to oscillations, each requiring different countermeasure to suppress or eliminate the oscillation. This work develops mathematical framework for analysis of sustained oscillations and identifies statistical signatures of each mechanism, based on which a novel oscillation diagnosis method is developed via real-time processing of phasor measurement units (PMUs) data. Case studies show that the proposed method can accurately identify the exact mechanism for sustained oscillation, and meanwhile provide insightful information to locate the oscillation sources.Comment: The paper has been accepted by IEEE Transactions on Power System

Wide-area monitoring and control of future smart grids

Application of wide-area monitoring and control for future smart grids with substantial wind penetration and advanced network control options through FACTS and HVDC (both point-to-point and multi-terminal) is the subject matter of this thesis. For wide-area monitoring, a novel technique is proposed to characterize the system dynamic response in near real-time in terms of not only damping and frequency but also mode-shape, the latter being critical for corrective control action. Real-time simulation in Opal-RT is carried out to illustrate the effectiveness and practical feasibility of the proposed approach. Potential problem with wide-area closed-loop continuous control using FACTS devices due to continuously time-varying latency is addressed through the proposed modification of the traditional phasor POD concept introduced by ABB. Adverse impact of limited bandwidth availability due to networked communication is established and a solution using an observer at the PMU location has been demonstrated. Impact of wind penetration on the system dynamic performance has been analyzed along with effectiveness of damping control through proper coordination of wind farms and HVDC links. For multi-terminal HVDC (MTDC) grids the critical issue of autonomous power sharing among the converter stations following a contingency (e.g. converter outage) is addressed. Use of a power-voltage droop in the DC link voltage control loops using remote voltage feedback is shown to yield proper distribution of power mismatch according to the converter ratings while use of local voltages turns out to be unsatisfactory. A novel scheme for adapting the droop coefficients to share the burden according to the available headroom of each converter station is also studied. The effectiveness of the proposed approaches is illustrated through detailed frequency domain analysis and extensive time-domain simulation results on different test systems

Adaptive Parameter Estimation of Power System Dynamic Models Using Modal Information

Knowledge of the parameter values of the dynamic generator models is of paramount importance for creating accurate models for power system dynamics studies. Traditionally, power systems consists of a relatively limited numbers of large power stations and the values of generator parameters were provided by manufacturers and validated by utilities. Recently however, with the increasing penetration of distributed generation, the accuracy of these models and parameters cannot be guaranteed. This thesis addresses the above concerns by developing a methodology to estimate the parameter values of a power system dynamic model online, employing dynamic system modes, i.e. modal frequencies and damping. The dynamic modes are extracted from real-time measurements. The aim of the proposed methodology is to minimise the differences between the observed and modelled modes of oscillation. It should be emphasised that the proposed methodology does not aim to develop the dynamic model itself but rather modify its parameter using WAMS measurements. The developed methodology is general and can be used to identify any generator parameters., However, thesis concentrates on the estimation of generator inertia constants. The results suggest that the proposed methodology can estimate inertias and replicate the dynamic behaviour of the power system accurately, through the inclusion of pseudo-measurements in the optimisation process. The pseudo-measurements not only improves the accuracy of the parameter estimation but also the robustness of it. Observability, a problem when there are fewer numbers of measurements than the numbers of parameters to be estimated, has also been successfully tackled. It has been shown that the damping measurements do not influence the accuracy and robustness of generator inertia estimation significantly

FFTと連続ウェーブレット変換法を用いた同期位相計測に基づく電力システムのモード検出とダンピング推定

The thesis carries out the estimation of damping as well as the frequencymode of inter area oscillations in the range of 0.1 to 1.0 Hz. This belongs underthe topic of angle stability management of power systems. Previously some otherstudies had been conducted in this area at which most of them employed themethods such as the least squares, Yule-Walker, autoregressive (AR),autoregressive moving average (ARMA), the Kalman filter and the subspacemethod. Another research also had been conducted which based on Fast FourierTransform (FFT) analysis individually, the damping ratio and frequencyoscillation were estimated from eigenvalue of the matrix associated to a SingleMachine Infinite Bus (SMIB) model. An output-only-based simplified oscillationmodel was developed to estimate the characteristic of inter-area power oscillationbased on extracted oscillation data. However, this previous method did notexplain how to calculate damping ratio without considering any simplified model.Furthermore, the behavior of the signal during certain time of analysis could notbe described.This thesis promotes a novel approach in analyzing PMU data based onFast Fourier Transform (FFT) and Continuous Wavelet Transform (CWT)algorithm. Then proceed by demodulating the slicing signal at a particular peakand ridge of the signal using a decrement technique. The approach applied in thisthesis can be classified into the non-parametric approach, where it works directlyon the data. The damping calculation method in this thesis emphasized on theaccurate and robust damping estimations which was proved by attempting thesimulation towards various level of signal to noise ratio (SNR).To verify the outcome of this method a synthesized signal contains ofthree ringdown modes representing a real signal from PMU was analyzed. Theresults were compared to the given parameters and it was clearly shown that thismethod gave the result within an acceptable range of error. Additionally, theacceptability of this method was also verified by comparing to the result ofeigenvalue-based calculation on a standard power system model. The simulationindicated the results of the two approaches fitted each other means this FFT-CWTis workable to assess the damping ratio of a small signal oscillation in powersystem. The advantage of this method is no prior data of the system required;hence this approach is very applicable in the power system where gathering datafrom the network is not attainable.This thesis also elaborated the application of wide area signal recorded byPMU, refined by the FFT-CWT method, for controlling the oscillation damping ofpower system. The simulation showed the application of wide area signal as aninput to the damping controller has a great prospective to countermeasure the interarea oscillation in the system.九州工業大学博士学位論文 学位記番号:工博甲第413号 学位授与年月日:平成28年3月25日1. INTRODUCTION|2. SYNCHROPHASOR MEASUREMENT AND THE METHOD OF ANALYSIS|3. FAST FOURIER TRANSFORM AND CONTINUOUS WAVELET TRANSFORM APPROACH|4. APPLICATION OF THE APPROACH FOR MODE AND DAMPING CALCULATION|5. WIDE AREA SIGNAL DAMPING CONTROLLER|6. CONCLUSION AND FUTURE WORK九州工業大学平成27年

Learning from power system data stream: phasor-detective approach

Assuming access to synchronized stream of Phasor Measurement Unit (PMU) data over a significant portion of a power system interconnect, say controlled by an Independent System Operator (ISO), what can you extract about past, current and future state of the system? We have focused on answering this practical questions pragmatically - empowered with nothing but standard tools of data analysis, such as PCA, filtering and cross-correlation analysis. Quite surprisingly we have found that even during the quiet "no significant events" period this standard set of statistical tools allows the "phasor-detective" to extract from the data important hidden anomalies, such as problematic control loops at loads and wind farms, and mildly malfunctioning assets, such as transformers and generators. We also discuss and sketch future challenges a mature phasor-detective can possibly tackle by adding machine learning and physics modeling sophistication to the basic approach