2017 4th International Conference on Electrical and Electronics Engineering
A Kalman Filter Based Transient State Estimation Method Applicable to Whole or
Specific Region of Power Systems Having Known and Unknown Loads
Mehmet Karadeniz
K.T.Manas University
Computer Engineering Department
Bishkek, Kyrgyzstan
e-mail: mehmet.karadeniz@gmail.com
Abstract-On a power network, events are desired to be
monitored to find its reasons and to take preventive action.
Today, power quality measurement devices are used to obtain
synchronous measurement data of network, however these
devices are expensive and it is not considered a practical option
to place one on each node of the network. Therefore, methods
estimating voltages and currents at non-measured points of the
network are required. In this study, a new power system
transient state estimation method is designed to estimate
transientsin a power network in which some of the loads are
unknown. By this method, reduction of measuring devices is
aimed considering measurement noises. In addition, the
developed method can also be applied on a small area of a
power system, and this contributes reducing the amount of
measuring devices and calculation time in estimation. The
method is applied to a specific region of the IEEE 14 Bus
System, and simulation results show that the method gives
satisfactory results despite noises.
Keywords-transient state estimation; kalman filter
I. INTRODUCTION
Power Quality (PQ) refers to "maintaining the near
sinusoidal waveform of power distribution bus voltages and
currents at rated magnitude and frequency", the fitness
of electric power to consumer devices [1]. Power quality is
defined as a set of electrical boundaries that allows an
equipment to function in its intended manner without
significant loss of performance or life expectancy [2], and
defined in standards [3], [4]. PQ problems appear on power
networks in forms such as voltage dips, transients, peeks,
voltage fluctuation. These reduce quality of the power
supplied to the customers and have negative effects on the
other components and devices on the network.
Events or sudden disturbances called "transients" [3] are
among the power quality problems desired to be solved.
Today, transient data are obtained by phase measurement
unit (PMU) devices. However due to high costs of PMU s,
practically it is not possible to take enough number of
measurements on the network [5]. To keep the power quality
in servicing energy to the customers, origin of transients
should be determined to make preventive action. Therefore,
issue of transient estimation at non-measured points of
network arises.
Transient State Estimation (TSE) is a method extended
from State Estimation of power systems aiming to estimate
978-1-5090-6789-3//7/$31.00 20 17 IEEE
M. Timur Aydemir
Gazi University
Electrical and Electronics Engineering Department
Ankara, Tiirkiye
e-mail: aydemirmt@gmail.com
the unmeasured voltages and currents of a power network
and used to identify the cause of transients in a system [6].
First studies are based on observer design and requires all of
the system parameters [7], [8]. Recent studies are based on
dynamical formulation of the whole system and solving the
measurement equation derived from these dynamical
relationships [9]-[12]. In order to supply more information to
these methods, virtual measurement values are used: in[lO],
derivative values obtained by calculations are also included
to supply extra information to the measurement system, and
in [12], past values of measured values are used.
Among the mentioned studies on TSE, dynamic model of
the network is required and each component of the network
is modeled as difference equations obtained by Numerical
Integrator Substitution known as Dommel's method, and the
obtained set of linear equations are formulated as
measurement equation to obtain state variables. Loads
connected to the system are also included in formulations
modeled by equivalent resistor and inductor. In practice,
there are always nonlinear and/or time variant loads,
composite loads, and therefore it may not be quite possible to
model the total load connected to a bar. Moreover, there are
loads such as arc furnace having chaotic behavior and their
load characteristics may change immediately which poses
hard problems for these TSE methods.
In this study, a Kalman Filter based TSE method is
developed to monitor transients (instantaneous values) of
unmeasured voltages and currents applicable on whole or
specific region of a network having known and unknown
loads. Solution of three major problems is aimed: reducing
effects of the measurement noise, reducing calculation time
and reducing the number of measurements if possible.
Amount of calculation can be reduced by applying the
method to specific regions on the considered network where
possible. Reducing the number of measurements is possible
including the dynamics of known loads in the method since
dynamical equations of known loads contribute the
estimation. Effects of measurement noise are reduced by
using Kalman Filter.
The developed method basically requires only line
parameters, but not load or generator parameters. However,
if there are loads whose dynamical model and parameters are
known in the network, this method requires fewer amounts
of measurement points and thus fewer amounts of measuring
devices. With proper placement of measurement devices, the
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required number of measurement channels (points) for full
estimation is proportional to the difference between the total
number of nodes and the number of nodes having known
loads in all or interested part of the network. However, while
the number of measurement can be reduced due to known
loads, Kalman Filter demands extra measurements for
correction, and therefore there should be a compromise
between reduction of noise and number of measurements in
the design of monitoring.
In practice, many of the voltages of nodes connected to
unknown loads are not measured. If such node voltages are
not measured, then they should be obtained by calculation. In
general, this calculation is possible if a line current
connected to such node and the voltage of the other end of
this line are both known. The calculated voltage values are
fed as inputs to the developed method. However, this
calculation demands derivation with respect to time and this
increases effects of noise. In this study, Savitzky-Golay filter
is used to obtain better time derivatives [13]. Here, it may be
considered to use additional hardware for current derivative
measurement for more reliable operation. Studies in
literature contributing the development of current derivative
measuring equipments are relatively new [14].
In the simulation study, the method is applied to a
specific region of the IEEE-14 bus single phase network.
Two measurement devices are placed on two nodes, and then
the voltages of these nodes and the lines connected to them
are measured with 20l1s sampling time and 0.3% noise. It is
shown that the developed method estimates all other non-
measured node voltages, line currents and node injected
currents of the selected region.
This paper is organized as follows; in section 11, the
developed transient state estimation method for power
systems is explained and modeled. In section Ill, the test
system and simulation results are presented. Concluding
comments are given in section IV.
11. THE DEVELOPED TRANSIENT STATE ESTIMATION
METHOD
Main body of the proposed method is composed of a
state-space model of the region of a network to be monitored
excluding the dynamics of unknown loads, and a Linear
Kalman filter based on this model. In the study, "load" is
referred to "total of loads connected to a node" and "a node
having known load" is referred to a node having one or more
loads that their dynamics are known.
According to the proposed method, to model a specific
region of a network, the nodes constituting the boundary
between the region to be monitored and the remaining part of
the network should be determined and their voltages have to
be measured. By this manner, the interested region can be
assumed as a complete system itself: its states are line
currents, node voltages and some branch currents of loads in
the region, and its inputs are the measured voltages. If the
dynamics of the interested region is fully known, it can be
simulated just using the state-space model of the region:
x(t) = Ax(t) + Bu(t)
(1)
yet) = Hx(t)
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However, in many cases there are loads of which
dynamics (its structure or parameters) are unknown. In this
case, voltages of the nodes connected to these unknown
loads must either be measured or calculated. In the first case,
both unknown load voltage and current are measured if a
measuring device is connected to its load. In the second case
where there is no device connected to the unknown load, its
voltage have to be calculated. For this calculation, current of
one of the line connected to this unknown load and the
voltage at the other end have to be known. Therefore, in this
method, measuring devices are placed on points (nodes)
where there is a line connection to the nodes with unknown
loads. For example, suppose that there is a measuring device
on node a, and an unknown load is connected to node b, and
there is a line connects the nodes a and b. If node voltage Va
and line current iab is measured, then the node voltage Vb can
be calculated for short lines as
where Lab and Rab are the line impedance and resistance
respectively. As mentioned before, this calculation demands
time derivative that increases the effects of noise, and
Savitzky-Golay filter is used to obtain better results.
Furthermore, much better results may be expected using
current derivative measurement.
Measured voltages of boundary nodes and the calculated
node voltages are formulated as inputs of the model given by
(1). There are two types of equations to be written in state-
space formulation: Line current equations, and equations of
known loads. Equations and state variables are selected
according to the load (for example, if a load is modeled as
series resistor-inductor branch parallel with a capacitor,
voltage equation for capacitive branch and current equation
for inductive branch is written). Current equation of a line
between nodes a and b can be written as
~ i (t) = _1 (v (t) - v (t) -
dt ab Lab
R i (t)) ............ ........ (3)
ab ab
ab
where Va and Vb are node voltages, Rab and Lab are parameters
of the line.
Since measurements are sampled values, discrete version
of the system is used in the method obtained by Euler
approximation. Discrete time system model of the selected
region including noise is given by state-space equations:
xk = Axk - 1 + BU k _ 1 + Wk _ 1(4a)
Yk =Hxk +vk (4b)
where Xk is the state vector including line currents, node
voltages and branch currents of known loads, and Uk is the
measured and the calculated node voltages. Wk is the noise of
model inputs that arethe measured and calculated node
voltages. Vk is the measuring error of line currents used in
Kalman Filter correction. Equation 4.a and 4.b are used in
the prediction and the correction steps of Linear Kalman
filter of which equations are given below:
 Xk = AXk- l + BU k_l and state variables are the line currents, capacitor voltages
- T and inductor currents of known loads:
Ft = APk_lA +Q
Kk = I{HT{HI{H T +Rt ............................ (5)
xk = xk + Kk(Yk - HXk ) Lastly, node injection currents i lO , i 12 and i 14 are
calculated by arithmetic operations of the related state
Ft = (I - KkH)1{ variables and measured line currents.
For Kalman Filter correction, i 6- 11 and i 6- 13 can be
where x k and x are the predicted and corrected estimations
k measured. If i 6- 11 isused, then the Kalman filter provides
of state variables, Yk is the measured values for correction. correction on i lO - ll , Vll and ill, and using i 6- 13 the Kalman
filter provides correction on i I2 - 13 , i 13 - 14 , V13 and i13 .
Ill. SIMULATION RESULTS
In the simulation, a nonlinear load (an AC/DC converter)
In the case study, the method is applied to the upper connected to node 14 and a transient occurs due to the large
region of the IEEE 14 Bus System shown in dashed lines in amount of change of capacitance at load 12 at 0.03s. For
Figure l. Two measuring devices are placed at node 6 and 9. correction i 6- 11 is measured U6-13 is not measured).
Note that, adding a third measuring device at node 2 makes Estimation of node injection current III is shown in
possible to estimate the whole network. Figure 3. If i 6- 11 were not measured, estimation would be as
, -- - - - K - - - -- 13- - - - - - - - - - - - - (; -, in Figure 4. It can be clearly seen that the noise effect is
I I
I U 14 reduced using i 6- 11 in estimation.

,
I

-400

0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05

Figure 3. Estimation of I" and comparison with actual value

Figure 1. IEEE-14 bus system

+
Rn

Ln

Figure 2. Single phase load model used for known loads (Load N)

0.015
The region includes the nodes 6, 9, 10, 11, 12, l3 and 14. 002 0025 0.03 0035 004 0045 005

Loads connected to nodes 6, 9, 10, 12, 14 are unknown and
denoted by 'U' in Figure l. Loads connected to node 11 and
l3 are known and modeled by resistor-inductor parallel with
a capacitance (RLIIC) inthe simulation (denoted by 'K' in
Figure 1 and its structure is shown in Figure 2).
According to the requirements of the method, voltages of
border nodes 6 and 9 (V6, V9), and currents at lines from node
6 and 9 to the nodes connected to unknown loads are
measured (i6-12' i 9_10 and i 9 - 14) for the calculation of nodes
Figure 4. Estimation of I" (h-" is not measured)
Estimation of voltages and injection currents of nodes 11,
l3 and 14 are given in Figure 3, 5, 6, 7, 8 and 9 respectively.
Note that, V 14 is calculated from the measurements of V9 and
19- 14 , not estimated by filter.
- - V"
- - V 11 est

voltages VlO, V12, V14 to which unknown loads are connected. - - V 11 err

Node injection currents of nodes 6 and 9 (i6, i9) are just

measured to be monitored.
Now we can formulate the sub-network as a system by
equation (l) having 5 inputs and 9 state variables. Inputs are -2
the measured and calculated voltages: 0.0'-:-
15= -----::07.02=-----::
0.702:-:-
. 5-:--:-':-:-------:0:-:
.0'::-:
35:----:-
0.7c
04:----:-
0.-:-:
04-=-5------:0:-'::-:'
.05

U = [V6 V9 VlO V l2 V l4 Y Figure 5. Estimation of V" is compared with actual value

93
 By today's PQ devices, measurements are taken with 0.1 %
error. The proposed method is effective if measurements
errors are below 0.4%.

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