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Presentation Outline
• Power Quality (PQ)
– Definition and introduction
• Disturbances Classification
• PQ Monitoring Techniques
• Signal Processing for Disturbance Identification
• Intelligent PQ Monitoring System (IPQMS)
• Summary
2
What is a Power Quality Disturbance?
• Deviation (steady-state or transient) of voltage or
current waveforms from a pure sinusoidal form of a
specified magnitude.
So what?
– Signal distortion is normally associated with
relatively high frequency components, which flow
in the system, at relatively great distance from
their point of origin.
– This “non-ideal condition” create problems for the
power system, depending on the components that
cause the distortion, their magnitude, frequency
and duration.
3
Power Quality Disturbances
• Why now?
– Modern electrical equipment are sensitive to PQ
disturbances e.g. microprocessor-based
controllers, power electronic devices such as
SMPS, variable speed drives, etc.
– Modern equipment (same equipment!) largely
employ switching devices and hence have
become the major source of degradation of PQ.
4
Power Quality Events
• Steady-State Events
– These are long term abnormalities in the voltage/current
waveform.
– Information are best presented as a trend of disturbance
level over a period of time (relatively long), and then
analysed.
A
t, 0
n
e
r
r
u
C
-1
-2
-3
0.05 0.06 0.07 0.08 0.09 0.1
Tim e , s
1 .5
0 .5
-0 .5
-1
0 0 .0 5 0 .1 0 .1 5 0 .2
Disturbances Long
Duration
Sustained Interruption
Under Voltages
> 1 min.
> 1 min.
0.0 pu
0.8~ 0.9 pu
Variation Over Voltages > 1 min 1.1~ 1.2 pu
Handheld Portable
• Artificial Intelligence
- Using Artificial Neural Network (ANN)
- Good extraction capability, flexible, fast response, can adapt to
changes in the system. Need appropriate training.
9
An Ideal PQ Monitoring System would be
able to:
Capture and Extract disturbance waveform
Do a Trend analysis
Disturbance Extraction
Extracted Waveforms
Event Categorization
Feature
Transition Feature Extractor Steady-State Feature Extractor
Extraction
Transition Disturbance Feature Vector Steady-State Disturbance Feature Vector
Event
Transition Event Classification Steady-State Event Classification
Classification
Transition Disturbance Types Steady-State Disturbance Types
e(t)
1
-1
Re(C ) ⋅ Vr (t ) + Im(C ) ⋅ Vr (t − )
50
40
T -2
-3
-4
4
30
e(t ) = v(t ) −
0 50 100 150 200 250 300 3 50 400
20
C
10
Extracted Disturbance
0
-10
-20
-30
0 50 1 00 150 200 250 300 350 400
r= C
where,
Voltage Waveform 1. 01
⎡ T ⎤
T
C = ∫ ⎢v(t ) ⋅ Vr (t ) + j ⋅ v(t ) ⋅ Vr (t − )⎥ ⋅ dt
1
0. 99
0⎣
4 ⎦ 0. 98
r
0. 97
0. 96
0. 95
1 1. 2 1 .4 1 .6 1 .8 2 2 .2 2 .4 2 .6 2.8 3
RMS Variation
12
Example
V o lta g e W a ve fo rm
2
Volta ge (pu)
0
-2
0 0.1 0.2 0 . 3E x tra c te
0 . d4 N o is e 0 . 5 0.6 0.7 0.8
2
Volta ge (pu)
-2
0 0.1 0.2 0 . 3 R M S 0V. o4 lta g e 0 . 5 0.6 0.7 0.8
2
rm s (pu)
1.5
0.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
13
Event Categorization
Steady Transition
State State
Captured
Event
Captured
Event Captured
Event
Intermediate
Intermediate Steady State
Transition State
State Model 14
Example
5 2
Vs (p.u.)
Vs (p.u.)
0 0
-5 -2
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
(a) Sampled voltage w aveform (a) Sampled voltage waveform
5 0.2
Ve (p.u.)
Ve (p.u.)
0 0
-5 -0.2
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
STATE
STATE
3 3
2 2
1 1
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
Vc (p.u.)
0.1
0 0
-2 -0.1
0.1 0.102 0.104 0.106 0.108 0.11 0.112 0.114 0.116 0.118 0.17 0.18 0.19 0.2 0.21 0.22 0.23
(d) Captured PQ event w aveform time(s) (d) Captured PQ event waveform time(s)
Captured Captured
Transient Steady-state
Event Event
Waveforms Waveforms
16
Example: Oscillatory Transient
17
Example: Steady-state Feature Space
0 .4
0 .3 5
0 .3
Harmonic Distortion
0 .2 5
0 .2
0 .1 5
0 .1
No disturbance
Under Voltage
0 .0 5 Over Voltage
0
0 .6 0 .7 0 .8 0 .9 1 1 .1 1 .2 1 .3 1 .4
18
Time Domain Harmonic Extraction
0.8
| H( jω ) |
n=2
0.6
n=4
0.4
0.2
n=8 n=6
0
0 50 100 150 200 250 300
Hz
19
Frequency Domain Harmonics Extraction
250 10
200 8
Function
Magnitude
100 Step 4
Function
50 2
0 0
0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
t (sec)
20
Fast Individual Harmonic Extraction
(FIHE)
mth order Harmonic Extraction
⎡⎡ 2mπ 2mπ ⎤ ⎡ ⎤⎤
T ⎢⎢ sin( m ω 0 t ) sin( mω 0 t − ) sin( mω 0 t + ) ⎥ ⎢ M n sin(nω0t ) ⎥ ⎥
t+ 0 3 3
4 6 ∞ ⎢⎢ 2mπ 2mπ ⎥ ⎢ 2nπ ⎥ ⎥
β m (t ) = ∑ ⎢⎢cos(mω0t ) cos(mω0t − 3 ) cos(mω0t + 3 )⎥⎥ ⋅ ⎢ M n sin(nω0t − 3 )⎥ ⎥⎥ dt
T0 ∫t n = 2 k −1 ⎢ ⎢ ⎢ ⎥
n≠3 k ⎢ ⎢ 1 1 1 ⎥ ⎢ M sin(nω t + 2 nπ ⎥⎥
⎢ ⎢⎣ )
⎥⎦ ⎣⎢ 3 ⎦⎥ ⎥⎦
n 0
⎣ 2 2 2
α abc (t )
ω1
idc=ih5
ih1 ω7+ω5
ω7 B
ih7
ih5
ih7 ih1
C
1st
1st 11th
300Hz
300Hz
300Hz
100Hz
200Hz
250Hz
600
900
(Hz)
300
550
650
(Hz)
250
350
50
22
Evaluation of Response Time
8 200
Amplitude
Amplitude
6 150
4 100
2 50
0
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1 0
0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
t (sec) t (sec)
Amplitude
200 100
Amplitude
0
0
-100
-200
-200
-400
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
t(sec) t (sec)
23
Performance Analysis
200 200
By FIHE By FIHE
150 150
Amplitude
Amplitude
100 100
By FT By FT
50 50
0 0
0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06 0.065 0.07 0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06 0.065 0.07
t (sec) t (sec)
24
Non-Recursive Technique using ANN
X ⎛ k ωn ⎞
Y k (n )d = V k sin ⎜⎜ + φk ⎟⎟ Desired
⎝ fs ⎠
Y k ( n ) = f (X , W ) Actual
V k = Y k (n )2 + Y k+ (n )2
Y k+ ( n ) = f + (X ,W ) Actual
⎛ k ωn ⎞
Y k+ (n )d = V k cos ⎜⎜ + φk ⎟⎟ Desired
⎝ fs ⎠
X = [S ( n − M + 1) S ( n − M ) ... S ( n − 1) S ( n)]
T
Least Mean Square (LMS) algorithm used for training the ANN
∂ε 2
W new = W old − α
(i ) (i )
∂W ( i )
2
(
where ε 2 = (Yk (n) d − Yk (n) ) + Yk (n) d − Yk (n)
+ +
)
2
25
Response to a step increase of 5th
harmonic component
Kalman Filter
ANN
26
Performance Analysis
1.1
0.9
0.8
0.7
FIHE
ANN IHE
0.6
FFT
0.5
Butterworth Filter
0.4
0.48 0.49 0.5 0.51 0.52 0.53 0.54 0.55 0.56 0.57 0.58
27
Maximum Error in FFT Caused by Normal
System Frequency Variations
40
35
30
ERROR IN
25 FUNDAMENTAL
% PEAK ERROR
FREQUENCY
20
ERROR IN 3RD
HARMONIC
15
ERROR IN 5TH
10
HARMONIC
5 ERROR IN 7TH
HARMONIC
0
47.5 48 48.5 49 49.5 50 50.5 51 51.5 52 52.5
-5
FUNDAMENTAL FREQUENCY hZ
28
Maximum Error in CWT Caused by Normal
System Frequency Variations
2.5
1.5
MAX ERROR %
FUNDAMENTAL
3RD HARMONIC
1
5TH HARMONIC
7TH HARMONIC
0.5
0
47.5 48 48.5 49 49.5 50 50.5 51 51.5 52 52.5
-0.5
FREQUENCY Hz
29
Maximum Error in ANN Technique Caused
by Normal System Frequency Variations
30
Correction for Error due to Normal
System Frequency Variations
31
Event Classification
Transition Event Feature Vector Steady State Event Feature Vector
( 63 elements ) ( 2 elements )
Under Normal
Voltage Voltage Voltage Condition
Sag Swell
32
The ‘Intelligent’ PQ Monitoring System (IPQMS)
33
Summary
• Use of DSP techniques in PQ monitoring and
analysis results in powerful, accurate and small size
equipment.
• DSP based equipment is capable of maintaining
accuracy in the “non-ideal environment” of power
systems.
• Including Artificial Intelligence in PQ equipment, will
help in:
– Classifying and locating the source of distortion and its
contribution
– Perform long term feature analysis of disturbance levels
– Provide methods to identify trends over a period of time
and suggest possible solutions!
34