Advance in Electronic and Electric Engineering.

ISSN 2231-1297, Volume 4, Number 6 (2014), pp. 593-598

Research India Publications
http://www.ripublication.com/aeee.htm



Optimal PMU Placement in Power System Considering the
Measurement Redundancy


Satyendra Pratap Singh and S.P. Singh

Electrical Engineering Department, IIT (BHU) Varanasi, Varanasi, India.


Abstract

In this paper, Integer Programming based methodology is presented for
the optimal placement of Phasor Measurement Unit (PMU) that
minimizes the cost of installation and provide the entire power system
observability. The concepts of zero injection buses are used in this
paper for further reduction in number of PMUs. Integer Programming
may produce multiple results if neighboring buses to zero injection
buses are not handled properly. Though all the results are correct but
create confusion in selecting one of them. In order to mitigate this
problem a criterion has been proposed in this paper to select the
appropriate location of PMU in such circumstances. The proposed
algorithm is tested on IEEE 14-bus, IEEE 24-bus and IEEE 30-bus
systems.

Keywords: Phasor Measurement Unit; Integer Programming method;
Redundancy Measurement; Observability analysis.

1. Introduction
In recent years, series of blackouts have been encountered in power systems. For
secure operation of power systems, close monitoring of the system operating
conditions is required. Today with the presence of Global Positioning System (GPS) it
is quite possible to monitor the operation of power systems. This is traditionally
accomplished by the state estimator which innate in the control centre computer and
has access to the measurements received from different substations in the monitored
system. These measurements are commonly provided by the remote terminal units
(RTU) at the substations and include real/reactive power flows, power injections, and
magnitudes of bus voltages and branch currents. More recently, synchronized phasor
measurements have started to become available at selected substations in the system
Satyendra Pratap Singh & S.P. Singh

594
under observation. Phasor measurement unit (PMU) becomes more and more attractive
to power engineers because it can provide time synchronized measurements of voltage
and currents phasors (EPRI Report, 1997). Synchronization is achieved by same-time
sampling of voltage and current waveforms using timing signals from the GPS.
Voltage and current phasors, obtained from PMU buses, can be used to get full system
data in control center computer using simple KVL and KCL equations. So the
standards of power system monitoring, control and protection elevates to a new level
because of Synchronized phasor measurement. Initiating work in PMU development
and utilization is done by Phadke, 1986 and 1993. An algorithm which finds the
minimal set of PMU placement needed for power system has been developed in
(Baldwin, 1993 and Xu, 2004) where the graph theory and simulated annealing method
have been used to achieve the goal. In (Chen, 2004) a strategic PMU placement
algorithm is developed to improve the bad data processing capability of state
estimation by taking advantage of PMU technology. Providing selected buses with
PMUs can make the entire system observable. This will only be possible by proper
placement of PMUs among the system buses. The authors in (Gou, 2008) developed an
optimal placement algorithm for PMUs by using integer programming. However, the
proposed integer programming becomes a nonlinear integer programming under the
existence of zero injection buses. In (Ahmadi, 2011), authors presented a binary
particle swarm optimization (PSO) methodology and considering measurement
redundancy for optimal placement of PMUs when using a mixed measurement set.
The paper is organized as follows: Section 2 states the Integer Programming
method to minimize the optimal placement of PMUs. In section 3, mathematical
formulations for optimal PMU placement are described. Finally test results are given in
Section 4, and Section 5 concludes the paper.

2. Integer Programming Method for PMU Placement
The Optimal PMU Placement (OPP) formulation based topological observability
method finds a minimal set of PMUs such that a bus must be reached at least once by
the PMUs. The optimal placement of PMUs for an N bus system is formulated as
follows (Gou, 2008):


Where, N is total number of system buses w
k
is weight factor accounting to the cost
of installed PMU at bus k, X is a binary variable vector whose entries are defined as
Eq. 4 and AX is a vector function that its entries are non-zero if the corresponding bus
voltage is observable using the given measurement set and according to observability
Optimal PMU Placement in Power System Considering the Measurement 595

rules mentioned above, it ensure full observability while minimizing the total
installation cost of the PMUs, otherwise its entries are zero.

The entries in A are defined as follows:

And b is a vector whose entries are all ones as shown in Eq. (5).

The procedure for building the constraint equations will be described for two
possible cases where there are (1) no conventional measurement, (2) zero injection
buses. After getting the optimal number of PMUs, expression for redundancy
measurement is given as:


where, P is the total optimal number of PMUs, A is the connectivity matrix, and L
is the location of PMUs at the power system buses. Equ.(6) gives the redundancy
measurement for all the possible results of optimal location of PMUs.

3. Solution Method
Case1: A system with no conventional measurements
In this case, zero injection buses are ignored from the test system. In order to form the
constraint set, the binary connectivity matrix A, will be formed first. Matrix A can be
directly obtained from the bus admittance matrix by transforming its entries into binary
form.

Fig. 1: 7-bus system.

Consider the 7-bus system and its measurement configuration shown above.
Building the A matrix for the 7-bus system of Fig (1) yields:


Satyendra Pratap Singh & S.P. Singh

596
The constraints for this case can be formed as (Equ. 7):


The operator + serves as the logical OR and the use of 1 in the right hand side
of the inequality ensures that at least one of the variables appearing in the sum will be
non-zero. The constraint f
1
1 implies that at least one PMU must be placed at either
one of buses 1 or 2 (or both) in order to make bus 1 observable. Similarly, the second
constraint f
2
1 indicates that at least one PMU should be installed at any one of the
buses 1, 2, 3, 6, or 7 in order to make bus 2 observable.

Case 2: A system with zero injection measurements
This case considers the most general situation where zero injection buses are presented
in the power system. Consider again the 7-bus system shown in Fig.1, where bus 3 is
assumed to be a zero injection bus. In this case, it is easy to see that if the phasor
voltages at any three out of the four buses 2, 3, 4 and 6 are known, then the fourth one
can be calculated using the Kirchhoffs Current Law applied at bus 3 where the net
injected current is known. Hence, the constraints associated with these buses will have
to be modified accordingly as shown below:

The operator . serves as the logical AND in the above equations. The
expressions for f
i
can be further simplified by using the following properties of the
logical AND (.) and OR (+) operators. Given two sets A and B, where set A is a subset
of set B, Then A+B=B and AB=A .
Applying this simplification logic to all expressions will yield:

Note that the constraints corresponding to all other buses will remain the same as
given in equation (7). One exception is the constraint for bus 3 where the injection is
measured (or known). This constraint will be eliminated from the constraint set. The
reason for removing the constraints associated with injection buses is that their effects
are indirectly taken into account by the product terms augmented to the constraints
associated with the neighboring buses.

Optimal PMU Placement in Power System Considering the Measurement 597

4. Test Results
In this paper integer programming of MATLAB is used to optimize the PMU
placement. The proposed integer linear programming algorithm has been tested on
IEEE 14-bus, IEEE 24-bus and IEEE 30-bus systems. The Information of the test
systems for the numbers and locations of zero injections are given in table 1.

Table 1: System information of All the IEEE test bus systems.

Test System No. of zero injection buses Location of zero injection buses
IEEE 14-bus 1 7
IEEE 24-bus 4 11, 12, 17, 24
IEEE 30-bus 6 6, 9, 22, 25, 27, 28

The results of proposed method without and with zero injection measurement are
displayed in Tables 2 and 3 respectively. In case of zero injection buses, higher values
of measurement redundancy maximize the observability of power system buses. Table
2 shows the results of proposed method without considering zero injection buses. In
case 1 single result is obtained so there is no need for redundancy measurement to
obtained the best result in Table 2.

Table 2: Simulation results for all the test systems without considering zero injections.

Test System Optimal No. of PMUs Optimal location of PMUs
IEEE 14-bus 4 2, 6, 7, 9
IEEE 24-bus 7 2, 3, 8, 10, 16, 21, 23
IEEE 30-bus 10 1, 7, 9, 10, 12, 18, 24, 25, 27, 28

Now Table 3 shows the test results of proposed method having more than one
optimal placement of PMUs set considering zero injection buses. In case 2, IEEE 14-
bus test system has three optimal number of PMUs and their location are {2, 6, 9} &
{3, 6, 9}. Redundancy value of first set (2, 6, 9) is 15 and for second set (3, 6, 9) is 13.
According to the proposed method best result has the maximum redundancy value so
the final optimal PMU set is {2, 6, 9}. Table 4 shows the best solution of optimal
placement of PMUs in power system considering zero injection buses on the basis of
measurement redundancy value from Table 3.

Table 3: Simulation results for all the test system with considering zero injections.

Test System Optimal No. of
PMUs
Optimal location of
PMUs
Measurement
Redundancy
IEEE 14-bus 3 2, 6, 9 15
3, 6, 9 13
IEEE 24-bus 6 1, 2, 8, 16, 22, 23 24
Satyendra Pratap Singh & S.P. Singh

598
1, 2, 8, 16, 21, 23 25
2, 8, 10, 15, 18, 20 24
IEEE 30-bus 7 1, 2, 10, 12, 15, 19, 27 34
2, 4, 10, 12, 15, 18, 27 36
3, 5, 10, 12, 15, 18, 27 32

Table 4: Final results for all the test system with considering zero injections.

Test System Optimal location of PMUs Measurement Redundancy
IEEE 14-bus 2, 6, 9 15
IEEE 24-bus 1, 2, 8, 16, 21, 23 25
IEEE 30-bus 2, 4, 10, 12, 15, 18, 27 36

5. Conclusion
An Integer Programming method is presented in this paper, which minimize the cost of
installation of PMUs in power system by minimizing the number of PMUs for full
observability of power system. Besides the placement of mere PMUs, this study also
considers the placement of PMUs when zero injection buses are present in the power
system. In addition, multiple choices of locations are eliminated by selecting the
combination of buses having maximum redundancy. Simulation results on IEEE 14-
bus, IEEE 24-bus and IEEE-30 bus test systems indicate that the proposed placement
method satisfactorily provides full observable system measurements with minimum
number of PMUs.

References

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