Power System State Estimation

Mukhtar Ahmad

H O U S
BOSTON|LONDON
artechhouse.com
Contents

Preface 11

1 Energy Management Systems 13

1.1 Real-Time Control of a Power System 13

1.2 Energy Control Center 16

1.3 Security Analysis and Monitoring 17

1.4 State Estimation 18

References 20

2 Power Flow Equations 21

2.1 Power System Representation 21

2.1.1 Transmission Line 21

2.1.2 Power Transformer 23

2.2 Admittance Diagram 26

2.3 Power Flow Analysis 30

2.3.1 Gauss-Seidel Method 31

2.3.2 Newton-Raphson Method 35

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6 Power System State Estimation

2.4 Decoupled Power Flow 45

2.5 Visual Tools for Power Flow Studies 47

2.6 DC Power Flow 48

2.7 Regulating Transformers 49

References 50

3 Weighted Least Square Estimation 51

3.1 Introduction 51

3.2 Properties of Weighted Least Square Estimates 52

3.3 Maximum Likelihood Weighted Least Square State

Estimation 52
3.3.1 Likelihood Function 53

3.4 Matrix Formulation and Measurement Model 55

3.4.1 Measurement Model 57

3.5 WLS State Estimation Algorithm 59

3.5.1 State Estimationby Orthogonal Decomposition 67

3.5.2 Equality Constrained State Estimation 70

3.6 Decoupled State Estimation Method 71

3.6.1 Algorithm Decoupling 72

3.6.2 Model Decoupling 72

3.7 DC State Estimator 72

References 75

4 Network Observability and Pseudomeasurements 77

4.1 Network Graphs and Matrices 77

4.2 Bus Admittance and Bus Impedance Matrices 80

4.2.1 Loop to Branch Incidence Matrix 82

4.3 Loop Equations 84

 Contents 7

4.4 Observability Analysis 84

4.5 Branch Variable Formulation 85

4.5.1 New Branch Variables 85
4.5.2 Measurement Model Using Branch Variables 88

4.5.3 Observability Analysis for Branch Variable

Formulation 89

4.6 Network Topology Processing 91

4.7 Network Configuration 92

4.7.1 Topological Observability 93

4.7.2 Topological Observability Algorithm 94

4.8 Topology Error Processing 95

4.9 Detection and Identification of Topology Errors 96

4.9.1 Residual Analysis 97

References 98

5 Bad Data Detection 101

5.1 Bad Data Detection in WLS Method 101

5.1.1 Leverage Points 102

5.2 Methods of Bad Data Detection 102

5.2.1 Chi-Squares Test 103

5.3 Identification of Bad Data 106

5.3.1 Method of Normalized Residual 107

5.3.2 Normalized Residuals 108

5.3.3 Largest Normalized Residual Test 109

5.4 Hypothesis Testing Identification 112

5.5 Case Study: Improved Bad Data Processing with

Strategic Placement of PMUs 113

References 118

Appendix 5A: Chi-Square Test 119

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6 Robust State Estimation 121

6.1 Basic Formulation 121

6.2 Breakdown Points 122

6.2.1 Leverage Points 125

6.3 M-Estimators 127

6.4 State Estimation Methods with Bad Data Rejection

Properties 129

6.4.1 Methods Using Nonquadratic Objective Functions 129

6.5 Least Absolute Value State Estimators 132

6.6 Simplex Method 133

6.7 Interior Point Algorithm 135

6.8 LMS Estimator 137

References 138

Appendix 6A: Linear Programming 139

6A.1 Simplex Algorithm 140

7 State Estimation Using Line Current Measurements 141

7.1 Introduction 141

7.2 Modeling State Equations 142

7.3 State Estimation with Current Measurements 145

7.3.1 Multiple Solutions 145

7.4 Methods to Obtain a Unique Solution in the

Presence of Current Measurements 146

7.5 Determining the Uniqueness of a Solution Based

on Numerical Methods 147

7.6 Bad Data Detection in the Presence of Current

Measurements 148
 Contents 9

7.6.1 WLS State Estimation 148

7.6.2 WLAV Estimation 149

7.7 Some Observations 150

References 150

8 Phasor Measurement Units Applications in

State Estimation 153

8.1 Synchronized Phasor Measurements 153

8.1.1 Synchrophasor Definition 154

8.2 Application of PMUs in Static State Estimation 155

8.2.1 Linear Measurement Model with PMUs 157

8.2.2 Measurement Equations 157

8.2.3 Indirectly Observable Buses 157

8.3 Combining Conventional and PMU Measurements 158

8.3.1 Formulation of the Hybrid State Estimator 161

8.3.2 Applying Real and Imaginary Parts of the Complex

Current Measurement 164
8.3.3 Applying Pseudovoltage Measurements 164

8.3.4 Post-Processing Adding of Phasor Measurements 166

8.4 Phasor Measurements in Dynamic State Estimation 166

8.5 Optimal PMU Placement 167

8.5.1 Integer Programming-Based Optimal Placement 170

8.5.2 PMU Placement to Detect Topology Errors 174

8.5.3 Placement of PMUs for Bad Data Detection 175

8.6 Some Observations 176

References 177

9 Distribution System State Estimation 179

9.1 Introduction 179

9.1.1 Topology Estimation 180

9.2 Pseudomeasurements 181

9.2.1 Method of Assumed Variance (MAV) 182

10 Power System State Estimation

9.2.2 Normal Distribution Fitting (NDF) 183

9.2.3 Gaussian Mixture Model (GMM) 183

9.2.4 Correlation Method 184

9.3 State Estimation for Radial Distribution Systems 185

9.3.1 State Estimation Scheme 186

9.4 Branch Current Based Estimation Method 189

9.4.1 Branch Power Measurements 189

9.4.2 Current Magnitude Measurements 190

9.4.3 Power Injection Measurements 190

9.4.4 Voltage Magnitude Measurements 191

9.5 Object-Oriented State Estimation 192

9.6 Measurement Placement 193

9.7 State Estimation with Kalman Filter 196

9.7.1 Test System 199

References 200

About the Author 201

Index 203