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Power System State Estimation - A Review: Dudekula Sai Babu, K Jamuna, and B.Aryanandiny
Power System State Estimation - A Review: Dudekula Sai Babu, K Jamuna, and B.Aryanandiny
ACEEE Int. J. on Electrical and Power Engineering , Vol. 5, No. 1, February 2014
Abstract The aim of this article is to provide a comprehensive tion of robust estimation, hierarchical estimation, with and
survey on power system state estimation techniques. The without the inclusion of current measurements, etc. The SE
algorithms used for finding the system states under both static uses only volt- age magnitude, real and reactive power in-
and dynamic state estimations are discussed in brief. The
jections and flows of SCADA measurements. The inclusion
authors are opinion that the scope of pursuing research in the
area of state estimation with PMU and SCADA measurements
of branch currents measurements in SE deteriotes the perfor-
is the state of the art and timely. mance of estimators. It also leads to non uniquely observable
which produces more than one state for the given one set of
Index Terms State Estimation, LAV, WLS, Kalman, measurements [6], [7]. Distributed SE for very large power
Synchronized phasor measurements, PMU. system has been taken for study since the very beginning.
The computational procedure involved in SE is an optimiza-
I. INTRODUCTION tion function. The optimization function can be first order or
second order of the derivative. The first order methods are
State Estimation is the process of assigning a value to an the classical weighted least squares [8], the iteratively re-
unknown system variables based on the measurements ob- weighted least squares [9] and the linear programming based
tained from the system. State estimator has been widely used on least absolute value estimator. The second order method
as an indispensable tool for online monitoring, analysis and involves the evaluation of the Lagrangian Hessian matrix.
control of power systems. It is also exploited to filter The primal-dual interior-point method and Huber M estima-
redundant data, to eliminate incorrect measurements and to tor are the solution metholodigies are available in literature to
produce reliable state estimates. Entire power system solve the second order method. The system states are evalu-
measurements are obtained through Remote Terminal Unit ated either by statically or dynamically. The above methods
(RTU) of Supervisory Control and Data Acquisition (SCADA) mentioned are static state estimators. At the given point of
systems which have both analog and logic measurements. time, the set of measurements are used to estimate the sys-
Logic measurements are used in topology processor to tem state at that instant of time. The common method used to
determine the system configuration. solve the static SE is weighted least square and weighted
State estimator uses a set of analog measurements such least absolute value methods. The heuristic methods are also
as bus voltage magnitude, real power injections, reactive applied to find the states. In the dynamic state estimation,
power injections, active power flow, reactive power flow and the system states are continuously monitored at the regular
line current flows along with the system configuration. These intervals. The DSE uses the Kalman filter, Leapfrog algorithm,
measurements are obtained from SCADA systems through non-linear observer technique and invariant imbedding
remote terminal unit. The phasor concept was introduced method to estimate the system states dynamically.
by Throp [1]. Based on this the new measuring device was
developed, namely Phasor Measurement Unit (PMU). The A. Weighted Least Square(WLS) Method
PMUs use a navigational satellite system to synchronize In the WLS method, the objective is to minimize the sum
digital sampling at different substations. The Global of the squares of the weighted deviations of the estimated
Positioning Sys- tem is used to synchronize the measurement measurements from the actual measurements. The system
units. The PMU records fifteen different channels of the real states are estimated from the available measurements. The
and imaginary parts of the secondary voltages and currents objective function is expressed as follows,
[2]. The phasor reporting rate is 60 phasors/sec for a voltage,
5 currents, 5 watt measurements, 5 var measurements,
(1)
frequency and the rate of change of frequency. The state
estimators are used both measurements together or separately
for estimating system states. The detailed explanations are where fi (x) and 2 is the system equation and the variance
given in this review paper. of the ith measurement respectively. J(x) is the weighted
residuals. m is the number of measurements and zi is the
II. STATIC STATE ESTIMATION ith measured quantity. If fi (x) is the linear function then
the solution of eqn. (1) is a closed form. Usually, the power
SE is a very useful tool for the economic and secure op- flow and power injection equations are described by non-
eration of transmission networks. From early days of linear function. Hence the solution leads iterative proce-
Scheweppe [3][5], developments of SE are done as a no dure to determine the state of the system. The steps pro
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ACEEE Int. J. on Electrical and Power Engineering , Vol. 5, No. 1, February 2014
cessed in WLS are (1) to find the gradient of J(x) and (2) In the normal equation method, the numerical instability
force it into zero and solved by Newtons method. The op- leads the ill-condition of the linear equation. This can be
timal state estimate is found using eqn. (2). solved effectively by Peters-Wilkinson method [16]. The
condition number of a symmetric, positive definite matrix
(2) (G) is defined as whose eigen values are real and positive can
(3) be computed using eqn. (4). It can also be defined as the eqn.
(5).
where Ideally the value of should be 1 for a well conditioned
R Measurement error covariance matrix system. A very high value of indicates that the system is
x System state vector ill-conditioned. The ill-conditioning occurs due to the
H Jacobian matrix following reasons[17].
z Measurement vector The position of the reference slack bus.
The covariance matrix R reflects the relative relation Existence of the negative line reactance.
between the measurements. If there is no interaction Improper choice of line flow measurements.
between the various measurements then R will be a The network strategy create the first and second
diagonal matrix. The diagonal elements are the variances of problem. The metering strategy affects the line flow
the individual measurements (ri = 2 ). Recently the SE with measurements. The WLS algorithm anticipated to converge
measurement dependencies is solved with WLS technique very slowly when the network strategy is wrong and the
[10]. metering strategy is correct. The diagonal elements of the
Due to the sparsity of the information matrix (G), the WLS information matrix is increased and solved by Levenberg-
solution is obtained quickly by triangular factorization Marquardt (LM) algorithm, leads to rapid convergence. Both
method. This technique is called as normal equation method. the metering and network strategy is wrong, the WLS
It can also solved by orthogonal transformation method and algorithm will not converge. Even LM algo- rithm provides a
combination of these two methods (hybrid method) also solution but not the right solution. In this case, the
presented in [11]. The steps involved in these methods are household or orthogonal transformation in conjunction
explained in Table. I. The normal equation method fails when with LM escorts to the right solution. The Newtons method
(1) H is in ill- condition and (2) The high measurement is one of the solutions for the ill-conditioning problem. The
redundancy affects the sparsity. The numerical behavior has actual WLS technique, the first order gradient of measurement
improved in orthogonal transformation method. It has to store function only considered and higher order terms are neglected.
Q1 matrix, hence memory size increases. The hybrid method The Taylor series expansion of a function g(x) is represented
solves iteratively the normal equation, where the triangular in eqn (6).
factorization is carried out using orthogonal transformations. The second order has been included in the measurement
It maintains the good sparsity and numerical robustness. function, and it has solved by Newtons method, the efficient
gradient convergent technique [18] and the states are
(4)
calculated by the eqn.(8). i represents the iteration. The
singular value decomposition is one among the solution for
(5) this case [19].
computational burden. In WLS solution steps, the elements bad data and outlier are discussed in robust state estimation
of the gain matrix do not significantly change between the flat but they are closely related. Bad data occurs due to failure
start initialization and the converged solution. The sensitivity of communication link, meter intermittent fault and incorrect
of the real (reactive) power equations to changes in the recoding. An outlier does not contain any error due to
magnitude (phase angle) of bus voltages is very low, structure of its corresponding equation. The identification
especially for high voltage transmission systems [20]. These of such kind of outliers is very difficult. Robust estimators
two observations lead to the fast decoupled formulation of are expected to remain unbiased despite the existence of
the state estimation problem. The actual measurement, different types of outliers. The robustness of an estimator is
Jacobian and covariance matrices are partitioned based on evaluated based on the breakdown point. It is the largest
the real power and reactive power separately. The ratio of (s=m/mb ) mb is the number of bad data present in
measurement equations are represented in eqn. (8). the measurements.
(8) (11)
Programming (LP).
(20)
(21)
(19) (27)
where z is the set of the observed measurements, A is the 2. Introduce the slack variables to make all the inequality
vector that are linearly related with the measurement vector, constraints into nonnegative.
e is the random measurement error, r= z - h(x)x is the
residual vector, Wi is the reciprocal of the measurement (28)
error variance. The state estimate of WLAV can be described
as optimization problem and formulated as Linear
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3. Replace the non-negative constraints with logarithmic the next sampling time. Prediction capacities of DSE auto-
barrier terms in the objective. matically ensure system observability even in the presence
of measurement observable islands. Also predicted values
help to identify topology errors, gross bad data and sudden
change of states. The kalman filter is the best tool for
(29) dynamic state estimation.
A. Kalman Filter based DSE
The power system state and observation equations are
4. Incorporate the equality constraints into the objective
represented in eqs. (42) and (40) respectively.
using
xk+1 = Axk + k (39)
(30) zk = H xk + k (40)
(52)
(54)
(63)
(55)
energy is the sum of kinetic and potential energy. By the linear form of branch current using equation (69), which
monitoring the kinetic energy, the inferring strategy is relates the line current with both ends of voltage phasor.
adopted such that potential energy is systemically reduced. When a PMU is placed at the particular bus, the
The particle forced to move in the minimum potential energy corresponding element in a first block of matrix H becomes 1,
position. The advantages of this method are listed below. otherwise zero. PMU Branch current measurements (I) and
It uses only gradient information. There is no explicit their relation with voltage phasor are shown in eqn. (69). A
line search performed. typical model of the network is shown in Fig. 2, gij +jbij is
It is very robust and it handles the discontinuous and the series branch of the transmission line and gsi + jbsi are
function steep valleys and gradients. shunt branch of the transmission line.
The algorithm searches the low local minimum. Hence
it used it for global minimum optimization. (70)
V. SIMULATION STUDIES
The static state estimations are performed with SCADA
and PMU measurements which are named as traditional and
linear state estimation respectively. The results have been
demonstrated on simple four bus system and IEEE 14, 57 bus
test systems. For each system, the true values of
where, V is the voltage phasors, I is the branch current measurements were generated using load flow. The noise
phasors. r and im denotes the real and imaginary parts of the was added to the true value assuming a Gaussian distribution
phasors respectively. N is the number of buses and NL is the with zero mean. Here, the error of TSE measurements follows
number of branches. The notation k1 and k2 obtained from the normal distribution with zero mean and standard deviation
of 0.004 for voltage magnitudes, 0.01 for power injections and
0.008 for power flows, while SD of real and imaginary value of
PMU measurements are taken as 0.0001.
(69) 4 bus system: A simple 4 bus test system is comprising 2
generators and loads. The PMU is located at nodes 1 and 4.
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Table 2 gives the comparison of estimated voltage magnitude PMUs located at the various nodes. The comparison is made
and angle using both TSE and LSE. It is observed that the between TSE and LSE in terms of estimated bus voltage
estimated voltage magnitudes of the LSE method are almost magnitude and angle from the true value. Fig. 2 explains the
equal to the actual values. The PMU measurements thus bus voltage magnitude error. LSE produces very little error in
provide an accurate system state. bus voltage magnitude.
TABLE II. C OMPARISON OF ESTIMATED SYSTEM STATES FOR 4 BUS SYSTEM
SYSTEM
research. The authors conclude that the scope of research [10] E. Caro, A. Conejo, and R. Mnguez, Power system state
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1885, 2009.
timely.
[11] A. Monticelli, C. Murari, and F. Wu, A hybrid state estimator:
Solving normal equations by orthogonal transformations,
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