PMU-Based Monitoring of Power System Dynamics

1
Liu ,

2
Patel ,

Chen-Ching
Mahendra
Evangelos
1. Washington State University
2. Electric Power Research Institute

Nonlinear Dynamic Observability

PMU-Based Power System Dynamics Monitoring

State Calculator (SC).

Maximal Lyapunov Exponent (MLE).
Observability Analysis of Nonlinear Dynamic
Systems.
Real Power System
Monitored State
Variables (Waveforms)
x1 , , xk

Off-Line Simulation
of All Credible
Disturbances

Unmonitored
State Variables PMU
xk 1 , , xn
x '1 , , x 'k

Power Swing
Curves
Spectrum
Analysis

, x 'k , x 'k 1 ,

Time Window T
Covering at Least
One Cycle of the
Power Swing

L0f h1 ( x)

0
L f hp ( x)

l ( xt ) 1
L
h
(
x
)
f 1

n 1

L f hp ( x)

, L hh ,
0
f

h
L1f h=L f h
x1

h
x2

f1 ( x)

h f 2 ( x)
...

xn ...

f n ( x)

The ratio of smallest and largest singular value of observability

matrix is chosen as an index to assess the level of system observability.
Observability indices can be tracked along system trajectory.

State Calculator

Rotor Angle Stability Analysis Results

Line Trip

, x 'n

1.5

60.04
60.02

Calculation of MLE
over Finite Time
Window T

Observability
Analysis along
System Trajectory

MLE t T
Prediction of
System Stability
Using MLE

As the number of
PMUs increases, the
level of observability
also improves.

Calculation of
Observability
Index

State Calculator and MLE

Dynamic Model of a Power System

, L2f h L f ( L f h) ,

179-Bus WECC System:

State
Calculator
x '1 ,

The observability indices are much higher and always above 0, but
their values differ significantly.
The observability of 15-PMU scenario is always higher than the 14PMU scenario.
The SC results with 15 PMUs are much closer to the simulation
results. That indicates that 15 PMUs and for that specific location
provide a sufficient level of confidence based on the system
observability.

l ( x)
x x xt

The system is locally observable at xt ,if the matrix

has a full rank. O( x) is called the observability matrix, in which
O( xt )

1,8,9,10,15,16,17,18,19,20,21,22,24,27
1,4,8,9,10,15,16,17,18,19,20,21,22,24,27

0.5

59.98

-0.5

59.96
59.94
59.92
59.9

-1

59.88
-1.5

10
12
time (sec)

14

16

18

20

59.86

10
12
time (sec)

14

16

18

20

Generator Trip
14

0.16
14 PMU measurements
15 PMU measurements

0.14

Observability Index

0.12

j k 1,..., n

61.5

16

Assume x1 (t ), , xk (t ) are observed by PMU measurements.

xk +1 (t ), , xn (t ) are estimated by
1
1

x j (t t ) = x j (t ) + t f (x(t )) + f (x (t t ))
2
2

observed
x1 (t t ) = x1
(t t )

60

MLE = -0.23555 System is stable

i i
x f ( x)
i 1,2,..., n
i hi ( , )

x j (t t ) = x j (t ) + f (x(t ))t

0.1

61

12
10

Frequency (Hz)

Flowchart

A dynamic system is observable if, for any time t, the current state x(t)
can be determined using only the measurements h(x(t)).

Generators with PMUs

Frequency (Hz)

Methodology

PMU
number
14
15

Relative Rotor Angles of Generators (rad)

Goal

Wide area monitoring of rotor angle stability to prevent

widespread blackouts.

2
Farantatos

Relative Rotor Angles of Generators (rad)

Guanqun

1
Wang ,

8
6

60.5

60

4
59.5

2
0

0.08

-2

0.06

59

10

15

20
time (sec)

25

30

35

40

10

15

20
time (sec)

25

30

35

40

MLE = 0.72849 System is unstable

0.04

xk (t t ) = xkobserved (t t )

The Lyapunov Exponents are used to

characterize the exponential divergence
or convergence of nearby trajectories.

0.2

x(t )

x(t )

x0

x0

MLE is calculated by the approximation of x(t ) eMLEt x0

MLE of x(t) is calculated to monitor rotor angle stability after a disturbance.

If MLE<0, the system is (asymptotically) stable.
Otherwise, it is considered unstable.

0.4

0.6

0.8

1
Time (s)

1.2

1.4

1.6

1.8

Simulation Result
SC with 15 PMUs
SC with 14 PMUs

7
6
5

179-bus WECC

Generator number
State Calculator
MLE

29
0.0495s
0.0434s

15246-bus (PJM
system)
1964
3.5918s
16.5111s

2
1
0

10

12

14

16

18

Time (s)

State Calculator with 14 and 15 PMUs

Converging trajectories: Stable

System Size

Conclusions

-1

Divergent trajectories: Unstable

Observability for 14 and 15 PMUs

Relative Rotor Speed of Generators(Radian/s)

MLE

Computational Performance

0.02

NASPI, March 2015, Burlingame, CA

20

Developed MLE and State Calculator as effective techniques to predict

loss of synchronism in power systems.
Developed an index to quantify the level of observability for different
PMU deployment scenarios.