Kalman filter based dynamic state estimation of

Power system with UPFC

Sravan kumar kotha Soniya Sherkar Dr. Bhooshan Rajpathak
Depatment of Electrical Engineering Department of electrical Engineering Department of Electrical Engineering
Visvesvaraya National Institute of Visvesvaraya National Institute of Visvesvaraya National Institute of
Technology, Nagpur Technology, Nagpur Technology, Nagpur
Nagpur, India Nagpur, India Nagpur, India
sravankumar.ee@gmail.com sherkarsoniya@gmail.com bhooshanar@gmail.com

Abstract— Power flow and maximum load ability of the results have been demonstrated that it can be used in the
transmission system can be flexibly handled by the FACTS practical system.
devices. Voltage magnitude as well as active and reactive power
flow of a transmission line can be concurrently controlled by II. MODELLING OF UPFC IN STATE ESTIMATION
UPFC which is a multifaceted FACTS device. This paper uses
dynamic state estimation Kalman filter method to introduce an
UPFC in the network. The results show that the model can be A. Steady state model of UPFC
effectively used in practical conventional power system.
FACTS devices can be used to control the effective
Keywords— dynamic state estimation; power system; unified impedance of the line, voltage magnitude of the chosen bus or
power flow controller; kalman filter. phase angle between the two buses in the system. There by the
power flows in the line can be rerouted.
I. INTRODUCTION The UPFC can be modelled by: voltage injection model,
The increasing complexity of the modern power system impedance model and power injection model. The power
network, has made the energy management system (EMS) injection model is considered in this model, as its
critical. [4]- [6]. In energy management system, a vital role is implementation in the already existing power system for state
played by State estimation, as it gives a consistent and reliable estimation, is simple. And also, it retains the original network
system data which is acquired by processing real time [3].
telemetered data into a set of reliable data. The measurements
may consist of voltage magnitude of the buses, active and
reactive power flows, and power injection. The software’s like B. Power injection model of UPFC
transient stability analysis, voltage stability analysis, and
In power injection model of UPFC one controllable
security constraint in energy management system are derived
injected voltage source is connected in series and one
by processing the real time data.
controllable injected current source is connected in shunt of
The concept of flexible AC transmission systems was the line. In between bus-i and bus-j the UPFC is incorporated
proposed by Hingorani in 1860 [7]. The deregulating as shown in Fig. 1.
environment due to the increasing demand of transfer
capabilities have been overcome by using varies FACTS
devices. The some of the interesting applications of FACTs
devices are available transfer capability (ATC), optimal power
flow (OPF) and economic dispatch (ED) [8] [9].
The state estimation in this paper is done by using a
dynamic method known as kalman filter method instead of
standard weighted least square method. Along with
introducing UPFC in the system.
One of the most multifaceted FACTs device is a unified
power flow controller (UPFC), which has the ability to
concurrently control the bus voltage magnitude as well as Fig. 1 Equivalent circuit of UPFC.
active and reactive power flow on a transmission line. Hence,
there is a point of interest in recent days for analyzing the
(
In Fig. 1, the line admittance is Yij yij = gij + jbij . )
.
effect of UPFC in the power system. [10] [11].
E c = Ec Ðd Ec (0 £ Ec £ Ecmax , 0 £ d Ec £ 2p ) is
Till now very less efforts have been made to observe the .
effects of FACTS devices on the state estimation of power controllable series injected voltage source and I c = I c Ðd Ic
system networks [12] [13]. The new method proposed in this
paper for estimating the power system state by incorporating (0 £ I c £ I cmax , 0 £ d I c £ 2p ) denotes the shunt
UPFC device in the existing power system network. The injected current source.
UPFC improve the power flow in the lines and deduce the . . . .
conventional power system network. To know the effect Let D I i , D I j , D S i = DPi + DQi , D S j = DPj + DQ j
towards power flow to the two nodes due to UPFC efficiently,
Power injection modelling of UPFC is considered. Further, denote the addition of injection current and power with

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 UPFC respectively. Power injection model of UPFC is as The jacobian matrix of h(x) at iteration level k is represented
shown in Fig. 2 [3].
by H x(( ) ) . Contrasted and the customary state estimation,
k

the estimation conditions for the injected powers at the nodes

which are incorporated with UPFC buses ought to be adjusted
by the accompanying equations. Other measurement
equations stay unaltered [3].
PiU = Pi o + DPi
QiU = Qio + DQi
PjU = Pjo + DPj
QUj = Qoj + DQ j (6)
Fig. 2 Power Injection model of UPFC
Based on above model mentioned, power flow can be derived
Where PiU , QiU , PjU , QUj are the injected powers with
as: UPFC, and Pi o , Qio , Pjo Qoj denotes the injected powers
é æ b ö ù without UPFC.
DPi =- êU i I c cos (qi - d Ic ) + gijU i Ec cos (qi - d Ec ) - ç bij + c ÷U i Ecsin (qi - d Ec )ú
ë è 2 ø û By the addition of suitable injected powers by incorporating
é æ b ö ù
DQi = - êU i I c sin (qi - d Ic ) + gijU i Ec sin (qi - d Ec ) - ç bij + c ÷U i Ec cos (qi - d Ec ) ú
UPFC between the bus-i and bus-j, the jacobian matrix can
ë è 2ø û be modified. The linearized load flow model is considered as:
DPj =U j Ec éë gij cos (q j - d Ec ) + bij sin (q j - d Ec ) ùû é Dq ù
é DPU ù é M U FU ù ê ú
DQ j =U j Ec ëé gij sin in (q j - d Ec ) + bij cos (q j - d Ec ) ûù (1) ê Uú=ê U U ú ê DV ú
(7)
ë DQ û ë G N û
ëV û
The changes in the jacobian matrix after the powers are
C. Algorithm for state estimation with UPFC injected by incorporating UPFC at the nodes by the following
WLS technique is using in state estimation process equations. Remaining jacobian matrix unaltered.
nowadays. The connection between the measurements from The changes in the jacobian matrix due to injected powers by
the meters and state vector X of n-dimensional can be UPFC at bus-i can be calculated as:
expressed by equation (2) b
M iU = M o + U i I c sin (qi - d Ic ) + gijU i Ec sin (qi - d Ec ) - æç bij + c ö÷U i Ec cos (qi - d Ec )
Zn = h x + e ( ) (2) è 2ø
é b ù
Where FiU = F o - ê I c cos (qi - d Ic ) + gij Ec cos (qi - d Ec ) + æç bij + c ö÷ Ec sin (qi - d Ec )ú
Zn: m dimensional observation vector from the meters ë è 2 ø û
X: n dimensional state variables vector b
GiU = G o - [U i I c cos (qi - d Ic ) - gijU i Ec cos (qi - d Ec ) - æç bij + c ö÷U i Ec sin (qi - d Ec )
h (): nonlinear function that relates the observation vector to è 2ø
the state variable X.
é b ù
e: Error vector of measurements NiU = N o - ê I c sin (qi - d Ic ) + gij Ec sin (qi - d Ec ) - æç bij + c ö÷ Ec cos (qi - d Ec )ú
By considering noise in uncorrelated measurements, the ë è 2 ø û
errors have zero mean and errors are assumed to be (8)
independent such that the covariance matrix is diagonal with The changes in the jacobian matrix due to injected powers by
diagonal elements rii = s i i 2 . UPFC at bus-j can be calculated as:
E (ei) = 0 and E (eeT) = R (3) M Uj = M o - U j Ec éë gij sin (q j - d Ec ) - bij cos (q j - d Ec ) ùû
Where, s ii2 denotes the variance of the ith measurement.
The state vector estimate X̂ is resolved utilizing WLS FjU = F o + Ec éë gij cos (q j - d Ec ) + bij sin (q j - d Ec ) ùû
technique by minimizing the sum of the residual squares. (The
difference between the estimated and the actual value of the
state variable): GUj = G o + U j Ec éë gij cos (q j - d Ec ) + bij sin (q j - d Ec ) ùû
J ( x ) = é( z - h ( x ) ) R -1 ( z - h ( x ) )ù
T
(4)
ë û
As indicated by the fundamentals of WLS technique, the N Uj = N o + Ec éë gij sin (q j - d Ec ) - bij cos (q j - d Ec ) ùû
solution X̂ is acquired by an iterative strategy as [3]: (9)

( ) ) = ëé H ( x( ) ) R H ( x( ) )ùû ( ) ) R H ( x( ) )ùû
-1
D x( . é H T x(
k T k -1 k k -1 k
ë
x k +1 = x k + D( x( k ) ) (5)

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 D. Solution heirarchy
The solution steps can be unraveled as the accompanying:
B. Parameter Identification
The parameters Fk , Gk and Q are distinguished by utilizing
smoothing techniques like Holt’s linear exponential strategy.
When the data shows trend in the pattern this technique is
utilized [2].
Fk = a k (1 + b k ) I
Gk = (1 + bk )(1 - a k ) xk - bka k -1 + (1 - bk )bk -1 (12)
I is the identity matrix. All the related parameters can be
determined as an earlier information. α and β are the
smoothing parameters [2].
C. State prediction (forecasting)
For the time of next instant, the voltages or the measurements
at the nodes are anticipated in this progression.
The state vector xk+1 at this stage is anticipated with the
assistance of covariance matrix utilizing the accompanying
equations [2].
-
xk +1 = Fk X k + Gk (13)
Where 𝑥𝑥̅ is the expected value at next instant of time k+1
Pk +1 = Fk Pk FkT + Qk (14)
To estimate Xk at time k, the covariance matrix Pk is used.
D. State forecasting (filtering)
Fig. 3 Flow chart of UPFC methodology
III. DYNAMIC STATE ESTIMATION For getting optimized and higher quality measurements
filtering techniques are utilized. By filtering the predicted
Dynamic state estimation plays a vital role in estimating the new arrangement of measurements Zk+1, and the predicted
state of power system for the next moment of time as it
state vector xˆk +1 , Kalman filtering technique is used for
utilizes present and past system data and also the physical
model of the system. DSE is using frequently for precise predicting the State vector with its covariance of error Pk+1at
control and dynamic decision making in power system k+1 instant.
operation. The fundamental advances remember for DSE The objective function is given as [2]
calculations to acquire an upgraded state estimation are given J ( xs) = [ z - h( xs)]T R -1[ z - h( xs)] + [ x - x¢]T P -1[ x - x¢]
beneath [2]. (15)
A. Mathematical Modelling Kalman filter is utilized to get the final state by minimizing
the objective function using above equation.
The generalized mathematical model of a dynamic system is
IV. KALMAN FILTER
given by [2]
For predicting the state of the system, the significant bit of
xk +1 = f ( xk , uk , wk , k ) (10)
leeway of Kalman filtering based DSE can be utilized. In
Where, preventive control strategies, and load forecasting this
‘x’ denotes the state vector, prescient capacity can additionally be utilized. Because of its
‘f’ is the nonlinear function recursive nature, it can be applied on online data for
‘u’ denotes the control actions, estimation. The mathematical model of Kalman filter can be
‘w’ is the errors in the model, represented as follows:
‘k’ represents time sample and
. xk +1 = Axk + Buk + wk (16)
Since the above model is very complex, expensive and Where, xk+1 is state variable at k+1 and
unrealistic, we have to make some xˆk +1assumptions to get xk Represents state variable at k of the system.
the acceptable linear model for the DSE which is given by [2] The control vector is denoted by uk and the matrices which
xk +1 = Fk xk + Gk + wk (11) connects the state variables at time k to k+1 are A and B.
Where F is state transition model that is applied to the Certain assumptions are taken for the above numerical model
previous state variable k-1. of Kalman filter can be given as:
Gk denotes the trend behavior of the pattern and wk E [ x0 ] = x0
represents system error or noise following zero mean (white
Gaussian) and covariance Q.
E [ wk ] = 0 "k

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 E [ x0 , wk ] = 0 "k
VI. RESULTS
E éë wj , wk ùû = 0 "k (17)
The state estimation is done on IEEE 14-bus system by
The initial estimates x0 and its covariance matrix P0 are
incorporating UPFC in between two buses and the viability
known additionally at any time instant in this technique.
of the proposed technique is tested. To test the modified state
Compute the Kalman gain by,
estimation data is obtained from power flow analysis. To test
-1
K = Pp H T éë H * Pp * H T + R ùû (18) the Kalman filter technique for dynamic state estimation the
load at bus -7 is changed abruptly from 15p.u rather than
Residue matrix (predicted errors) 7.6p.u for all simulations, the resilience is 1e-4.
r = Δz - H . X p (19)
TABLE I. STATE ESTIMATION RESULTS
The updates to the states and covariance are corrected
and can be acquired by Bus True Values With UPFC Kalman Filter
no
Xc = X p + ( K *r )
Pc = [ I - K * H ] Pp (20) V p.u Θ (ο) V p.u Θ (ο) V p.u Θ (ο)

Algorithm steps for Kalman filter 1 1.06 0 1.0600 0.0000 1.0646 0.009

2 1.035 -5.137 1.0443 -4.9652 1.0448 -5.0475

3 1.01 -13.30 1.0141 -12.5539 1.0143 -12.99

4 1.007 -10.82 1.0223 -10.1941 1.0063 -11.818

5 1.009 -9.385 1.0234 -8.6386 1.0074 -9.939

6 1.06 -15.10 1.0700 -14.2162 1.0533 -14.47

7 1.041 -13.88 1.0629 -13.2646 1.0456 -14.247

8 1.08 -13.88 1.0939 -13.2875 1.0767 -14.05

9 1.024 -15.50 1.0604 -14.886 1.033 -15.37

10 1.023 -15.72 1.0528 -14.9742 1.0226 -15.782

Fig. 4 Flow chart of kalman filter. 11 1.037 -15.53 1.0590 -14.7995 1.0345 -15.63

V. UPFC EMBEDDED IEEE-14 BUS SYSTEM 12 1.043 -15.96 1.0570 -14.9148 1.0425 -16.00

13 1.037 -16.00 1.0505 -15.1872 1.0383 -16.025

In between the line 2-3, UPFC is introduced in the IEEE 14-
bus system appeared in the fig. 3. Under any load changes the
power flow through the line 2-3 is to be maintained constant
at 1.0+j0.1 which is cultivated by means of an UPFC
embedded in between the line 2-3.
Fig. 5 IEEE 14-bus system with UPFC
14 1.011 -16.76 1.0348 -16.0632 1.0147 -16.692
VII. CONCLUSIONS
In the view of traditional power state estimation model, this
paper presented the effect of UPFC which injects the power
at the two nodes. To know the effect towards power flow to
the two nodes due to UPFC efficiently, Power injection
modelling of UPFC is introduced. Notwithstanding this
dynamic state estimation of the system is done by utilizing
Kalman filter technique at different load conditions. It is
demonstrated that the Kalman filter method gives the lowest
error and gives best estimate to the system. Also, it has its
fundamental value of effectively broadening current state
estimators incorporate the impact of UPFC devices.
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