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PHASOR MEASUREMENT UNITS FOR OUT-OF-STEP DETECTION OF A MULTI-

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PHASOR MEASUREMENT UNITS FOR OUT-OF-STEP
DETECTION OF A MULTI-MACHINE SYSTEM USING
SYSTEM REDUCTION
Almoataz Y. Abdelaziz1, Amr M. Ibrahim1, Zeinab G. Hasan2
1
Electrical Power and Machines Department, Faculty of Engineering, Ain Shams University, Cairo, EGYPT
2
Electrical Power Department, Higher Institute of Engineering and Technology, Fifth Settlement, Cairo,
EGYPT
Received: 25 Mar 2013
Accepted: 15 Apr 2013
Keywords:
Phasor Measurement Unit (PMU)
Global positioning system (GPS)
Power system transient stability
Discrete Fourier Transform (DFT)
Equal-area criterion (EAC)
Out-of- step detection
Multi-machine
Time Domain Simulation (TDS)
Correspondence:
A. Y. Abdelaziz
Professor, Electrical Power
and Machines Department,
Faculty of Engineering,
Ain Shams University,
Cairo, EGYPT
Online available since 2013/Apr/17 at www.oricpub.com
© (2013) Copyright ORIC Publications
Journal of Science and Engineering
Vol. 1 (2), 2013, 121-132
http://www.oricpub.com/journal-of-sci-and-eng
Abstract
This paper presents an approach to design power system transient stability assessment
using direct methods for a multi-machine system that uses measured values of the
currents and voltages of the three phases of two buses (equivalent to Phasor
Measurement Unit data). The multi-machine system is reduced to a single machine
infinite bus system using system reduction. The measured data is transformed from time
domain into phasor domain using Discrete Fourier Transform to predict whether the
swing is a stable or an unstable one. The performance of the method has been tested on
a simulated multi-machine system using PSCAD and MATLAB software. The
proposed scheme can be used for the detection of out-of-step condition using an
extension of the equal-area criterion.
1. INTRODUCTION
The first requirement of reliable service is to keep the synchronous
generators running in parallel and with adequate capacity to meet the
load demand. Out-of-step conditions on a power system are caused by an
attempt to transfer a given amount of power through excessive
impedance or by deficient voltage levels as a result of fault conditions,
automatic or manual circuit switching or loss of machine excitation.
Many techniques are introduced for out-of-step protection.
Conventional out-of-step distance-type relaying schemes have been used
in most utilities [1]. Another concept augmenting the measured apparent
resistance (R) with its rate of change (R) has been introduced [2].
Another out-of-step relaying concept has been presented in [3], where
the relay scheme utilizes the direct method of Lyapunov to determine
when a disturbed system phase plane trajectory leaves the post-disturbed
system region of stability.
The Time Domain Simulation (TDS) technique is the most accurate
method for assessing the power system transient stability [4, 5]. The TDS
approach can be applied to any level of detail of power system models
and gives visual information about state variables. One of the main
disadvantages of the TDS approach, except for being time-consuming, is
that it does not provide information about the stability margin of the
system [6].
All rights reserved. No part of contents of this paper may be reproduced or transmitted in any form or by any
means without the written permission of ORIC Publications, www.oricpub.com.
 Journal of Science and Engineering Vol. 1 (2), 2013, 121-132 P a g e | 122

The transient energy function method [7, 8] and extended equal-area criterion [9, 10] have also been
applied in power system transient stability assessment. However, these methods have some modeling
limitations and they still need a lot of computations to determine an index for transient stability [11].
Artificial intelligence has been also introduced in the out-of-step field. The K-means clustering pattern
recognition technique gives good results in detecting out-of-step conditions [12]. Another out-of-step
prediction approach based on neural networks has been also presented in [13].
Nowadays Phasor Measurement Units (PMUs) are capable of tracking the dynamics of an electric power
system in real time, and with modern telecommunication technologies, utilities are becoming able to
respond intelligently to an event in progress [14, 15]. By synchronized sampling of microprocessor-based
systems, phasor calculations can be placed on a common reference [16-18] to achieve Synchronized Phasor
Measurement Units (SPMUs). A new approach considering synchronized measurement data from both ends
of a transmission line to protect transmission line is presented in [19].
Synchro-phasor measurements of synchronized voltage and current are used by utilities to control and
stabilize the power network. The dependence of the machine on the position of the rotor makes it difficult
for the application of phasor measurements for stability control methods. Under transient conditions, it is not
easy to find solutions to obtain machine voltages, currents and flux linkages when expressed in phase
quantities. The time varying coefficients need to be stabilized to obtain stationary mechanical coefficients
[20, 21]. Phasor measurement units equipped with Global Positioning System (GPS) receivers and a
time-stamp device are placed at power plants to obtain power plant variables. The gathered data is then
transmitted to a central location where the data can be compared, analyzed and processed. With some local
processing power they can be used to determine the generator angles, speeds, accelerations and powers from
terminal voltages and currents [20, 22]. Prior knowledge of the system is necessary since the network
topology changes would influence proper machine identification. Lack of direct measurement of the plant
auxiliaries may result in phasor measurements not providing a real picture of rotor angles. Previously two
multi-layered feed-forward artificial neural networks have been used to estimate rotor angles and speed from
phasor measurements. This solution did not consider the lack of direct measurements as a source of
uncertainties. Selection of input variables was also not considered [23, 24]. The generator measurable
outputs with its electrical parameters have been used to estimate the state variables. The results did not use
the availability of the field voltage Efd, which provides additional insight into the internal machine flux
linkages [21].
This paper presents a modification on an existing algorithm in [18], which presents a study for power
oscillations with a laboratory model comprising a strong network, a transmission line and a generator, an
algorithm tested for a three phase short circuit fault for a single machine infinite bus system . An approach to
design power system transient stability assessment using direct methods for a multi-machine system that
uses measured values of the currents and voltages of the three phases of two buses (equivalent to PMU data)
is presented. The multi-machine system was reduced to a single machine infinite bus (SMIB) system using
system reduction. The measured data is transformed from time domain into phasor domain using Discrete
Fourier Transform (DFT) to predict whether the swing is a stable or an unstable one. The performance of the
method has been tested on a simulated multi-machine system using PSCAD and MATLAB software. The
proposed scheme can be used for the detection of out of step condition using an extension of the equal-area
criterion. A three phase fault was simulated at test system comprises 4-machine network for validating the
proposed algorithm.

2. PHASOR MEASUREMENT UNIT

Instead of using relays to detect Out-Of-Step events, new measurement systems are available where it is
possible to measure phase angles in the whole power system with the same time and angle reference. The
main device in such a system is called a phasor measurement unit, PMU. The value of data provided by
PMUs has been recognized, and installation of PMUs on power transmission networks of most major power
systems has become an important current activity.
The modern PMUs use one pulse per second signals provided by the Global positioning system (GPS)
satellite receivers. GPS system consists of 24 satellites in six orbits at an approximate altitude of 10,000
miles above the surface of the earth. The accuracy of the GPS timing pulse is better than 1μs, which for a 50
Hz system corresponds to about 0.018 degrees, this accuracy is more than enough to ensure that the
123 | P a g e A. Y. Abdelaziz, Amr M. Ibrahim, Zeinab G. Hasan

measurements obtained by such clocks will be simultaneous for the purpose of estimation and analysis of the
power system state [25]. PMUs are nowadays increasingly used to measure and monitor the state of the
power systems [26]. Successful commercialization of this technology now makes it possible to build wide
area measurements systems, which enable on-line control of power systems and implementation of new
protection schemes [27].The main advantage of PMU is that measured values have same time reference.
PMU uses GPS signals to time synchronizing and after calculating voltage and current phasors, using DFT,
PMU adds a time tag to sampled data and synchronize them with GPS signals [28].With the advancement in
technology, the micro-processor based instrumentation such as protection Relays and Disturbance Fault
Recorders (DFRs) incorporate the PMU module along with other existing functionalities as an extended
feature [29].

3. APPLICATIONS OF PMUS IN POWER SYSTEM

The synchronized phasor measurement technology is relatively new, and consequently several research
groups around the world are actively developing applications of this technology. It seems clear that many of
these applications can be conveniently grouped as follows:

3.1. Advanced network protection

This category of applications of synchronized phasor measurements is that of enhancing the effectiveness
of power system protection. This involves equipment and system protection, as well as remedial action
schemes [30].

3.2. Detection of Instability

In a power system consisting of two synchronous machines and a connecting network over which
synchronizing power can flow, the problem of instability detection can be solved in real-time. The
equal-area criterion is applicable in this case, and if the machine rotor angles and speeds can be measured in
real-time a prediction algorithm can be developed for the detection of instability [31].

4. PROBLEM FORMULATION
4.1. System
In stability assessment of multi-machine systems, the following simplifying assumptions are often made:
1. Each synchronous machine is represented by a constant internal voltage behind the transient
reactance.
2. The governor's actions may be neglected. It means that input mechanical power of turbine
generator remains constant during and after the disturbance.
3. During the transients, loads are modeled as constant admittances to ground.
By these assumptions discussed in [32] the system can be modeled using system reduction, and then the
proposed out-of-step detection algorithm can be applied. A multi-machine system was chosen for this study.
The assumption was made that voltages and current can be measured by synchronized phasor measurement
devices at the terminal of the generator. Additionally, the generator parameters were known. According to
[12], if the external bus voltage has a magnitude of V and phase θ, and , which are the components of
the bus voltage after they have been converted by Parks transformation; , can be calculated by:

( ) ( ) (1)

The rotor angle δ can then be computed by:

(2)

And be used in the swing equations to calculate the acceleration power of machines [33].

4.2. Equal Area Criterion

When there is a loss of synchronism in an interconnected system, the areas must be separated at
 Journal of Science and Engineering Vol. 1 (2), 2013, 121-132 P a g e | 124

predetermined locations to maintain load generation balance, avoid equipment damage and power blackouts.
The Out-of-Step Trip function differentiates between stable and unstable power swings and initiate system
area separation at the predetermined network locations to maintain power system stability [34]. The
equal-area criterion can be used to calculate the maximum fault clearing time before the generator loses
synchronism. The equal-area criterion integrates the energy gained when the turbine-generator is
accelerating, during the fault (area A1, in Figure 1) and compares that area with the decelerating area, (area
A2, in Figure1) when the generator exports the energy stored during the fault.

Fig. 1. Equal-area criterion with an acceleration area A1 and a decelerating area A2

Area A1 represents the total kinetic energy gained during the acceleration period. As soon as the fault is
cleared at angle δc the angle will continue to increase and the kinetic energy gained during the fault period
will expand into the power system, when area A2 is equal to area A1 angle δ has reached its maximum
value [18, 35].
The area under the power-angle curve can be calculated by:

c
A1   ( P0  P sin  )d (3)
o max D
  P
A2   (P sin   P0 )d (4)
c max P

where
D= during fault
P= post fault
When area A1 < A2 the system will be stable and if A1 > A2 the system will be unstable.
For multi-machine system, we will reduce it to two machines system and then converted into an equivalent
single machine system. We will be able to use out-of-step detection algorithm in [36].

4.2.1. Combining Machines

It is easier to study the stability of a network with fewer synchronous machines than the one with many.
The number of machines may be reduced in a network by combining several machines which swing together
or almost together to form a single equivalent machine [37]. The inertia constant of the equivalent machine
can be calculated by summing the inertia of the individual machines. The machine which swing together
were combined together to form one group and the other machines another group. The network was reduced
to a two machine system. The two machine network was further reduced to a single finite machine and an
infinite bus. The equivalent inertia constant, delta and electric power were computed.

4.2.2. Single Machine Equivalent

The system having two finite machines is replaced by an equivalent system having one finite machine
and an infinite bus, so that the swing equations and swing curves of angular displacement between the two
machines are the same for both systems. The equivalent inertia constant is a function of the inertia constant
of the two actual machines. The equivalent input and output are functions of the inertia constants, inputs and
outputs of the two actual machines.
125 | P a g e A. Y. Abdelaziz, Amr M. Ibrahim, Zeinab G. Hasan

The area under the power-delta curve, assuming that the pre-fault and post-fault network conditions are
similar, can be calculated from the swing equation, with a three phase fault as follows:

(5)

where B is one group of machines that swing together and C represents another group.

(6)

where is the electrical power.

(7)
d 2
Pa  M (8)
dt 2
Pa  P0  Pe (9)
where Pa is the accelerating power and P0 is the mechanical power.

4.2.3. Assessing Stability

The ability of power system to survive the transition following a large disturbance and reach an
acceptable operating condition is called transient stability [38]. The physical phenomenon following a large
disturbance can be described as follows. Any disturbance in the system will cause the imbalance between
the mechanical power input to the generator and electrical power output of the generator to be affected. As a
result, some of the generators will tend to speed up and some will tend to slow down. If, for a particular
generator, this tendency is too great, it will no longer remain in synchronism with the rest of the system and
will be automatically disconnected from the system. This phenomenon is referred to as a generator going out
of step [38].Transient stability studies are needed to ensure that the system can withstand the transient
condition following a major disturbance [39]. A single small machine connected to a very large power
system behaves as if it is connected to an infinite bus. The infinite bus is regarded as a zero impedance and
infinite inertia not affected by the amount of current drawn from it and is a source of constant voltage (both
in phase and magnitude) and frequency [40]. It has a voltage and an angle that is constant under all
conditions and it can absorb infinite power.

4.2.4. Out of Step Detection Algorithm

Figure 2 shows a flow chart for the proposed out-of-step detection algorithm. First the algorithm takes
data from the EMTDC/PSCAD program at different time steps which is the same as the sample interval for
the PMU, 0.02 seconds. This data will be converted by a DFT to complex phasors of voltages and currents.
The algorithm takes complex current and voltage. From these vectors it calculates new vectors with
impedance, phase angle and power for all time steps. After that the program determines the areas A1 , A2
and finally checks if there is out-of-step condition or not, this may be considered as an extension for
out-of-step detection algorithm used [36].

 Explanation of the steps of the algorithm is as follows:

1- The multi-machine system will be converted to its equivalent and then simulated in PSCAD/EMTDC
program.
2- The data taken from PSCAD/EMTDC (equivalent to PMU data) will be saved in a MATLAB program.
These data will be transformed from time domain to phasor domain by DFT.
3- At t=0, first line of data, it is assumed to have a stable values (stable angle and mechanical input power
are calculated).
4- Angle and power are calculated at each time step Δt = 0.02 sec.
5- IF statement for change in angle.
A difference larger than the threshold value will operate the power swing algorithm, the threshold value is
 Journal of Science and Engineering Vol. 1 (2), 2013, 121-132 P a g e | 126

taken from studying the graphs of the change of phase angle.

6- IF statement for change in angle and value of electric power output.
If the angle has changed too much and the electric power output has decreased to a level below the
mechanical power input, the system will experience a power swing, and the algorithm will calculate area A
and area B. If these changes in angle and electric power output don’t occur, the algorithm tells that there will
be a disruption but the system will stay synchronized.
7- Warning message that the system has had a failure but will not lose synchronism.
8- Calculation of areas A and B.
9- IF statement to compare between areas A and B.
As long as area A is smaller than area B, the algorithm will continue, and if area A is larger than area B, the
algorithm will stop and sends out a warning Out of Step condition.
10- A warning message, the system will lose synchronism (Out of Step condition).

Convert the multi-machine system

to its equivalent after applying
system reduction

Data from EMTDC program is read

into MATLAB program

At t=0, initial angle and mechanical

input power are calculated

Angle and power are calculated at

each time-step

Yes If |angle (n)-angle (n+1)| ‹

Threshold value (0.1)

No

Print: system has a

failure but will stay
No If angle (n) >
synchronized initial angle
&Pm (n) ≤ Pe

Yes
Calculate area A and B

No
If area A1 > area A2

Yes

Print: OUT-OF-STEP

Fig. 2. Flowchart of Algorithm

127 | P a g e A. Y. Abdelaziz, Amr M. Ibrahim, Zeinab G. Hasan

5. MODELIG AND SIMULATION

The proposed algorithm will be tested on 4-machine network used in [33]; system configuration is shown in
Figure 3. The four machine system was reduced to form a two machine system by combining the machines that
swing together, that is, G1+G2 and G3+G4 based on the swing curves in Figure 4. The two machine network
was further reduced into SMIB. The inertia constant, delta and the electrical power were calculated according
to equations (6), (7) and (8) respectively. The resulting SMIB is used in PSCAD program. The voltages and
currents measurements at the generator and at the infinite bus are the two required readings to operate the
algorithm. The system is simulated under several fault duration for three phase short circuit fault.

Fig. 3. Four machine system

Fig. 4. Rotor angle movement for the 4 generators

 Journal of Science and Engineering Vol. 1 (2), 2013, 121-132 P a g e | 128

5.1. Case 1: 3-phase short circuit using frequency-dependent model

Time of fault: 0.1 sec.
Duration of fault: 0.4sec.
Transmission line: frequency-dependent model.
Figures 5, 6, 7 and 8 show voltage and current waveforms at both sides (generator bus and infinite bus)
obtained from the simulation using the PSCAD/EMTDC program.

Voltage versus time

1500

1000
Infinite bus voltage [kv]

500

-500

-1000

-1500
0.3 0.35 0.4 0.45 0.5 0.55 0.6 0.65
time [sec]

Fig. 5. Voltage of infinite bus

Voltage versus time

400

300

200
generator voltage [kv]

100

-100

-200

-300

-400
0.3 0.35 0.4 0.45 0.5 0.55 0.6 0.65
time [sec]

Fig. 6. Voltage of generator

129 | P a g e A. Y. Abdelaziz, Amr M. Ibrahim, Zeinab G. Hasan

-13
x 10 Current versus time
1.5

0.5

Infinite bus current [A]

0

-0.5

-1

-1.5

-2
0.3 0.35 0.4 0.45 0.5 0.55 0.6 0.65
time [sec]

Fig. 7. Current of infinite bus

Current versus time

6

3
generator current [A]

-1

-2

-3
0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.6 0.65
time [sec]

Fig. 8. Current of generator

The proposed scheme is tested by calculating areas A1 and A2 for this fault and determines that the
generator will be out of step (unstable condition), this fault is tested by TDS and determines instability of the
system as shown in Figure 9.
Time versus angle
2000

1800

1600

1400
angle [degrees]

1200

1000

800

600

400

200

0
0 0.1 0.2 0.3 0.4 0.5
time [s]

Fig. 9. Rotor angle against time for an unstable case

 Journal of Science and Engineering Vol. 1 (2), 2013, 121-132 P a g e | 130

5.2. Scheme Responses to Different Faults

The proposed algorithm is tested for detecting the system stability. The program output to number of
faults at different time durations is shown in Table 1.
Table 1. Test results of the proposed algorithm to number of faults at different time durations
Fault type Time of applying fault Duration of Proposed Time Domain Result in Ref.
(tf) fault (Df) Algorithm Output Simulation [33]
ABCG 0.1 0.1 Stable Stable Stable
ABCG 0.1 0.15 Stable Stable Stable
ABCG 0.1 0.2 Stable Stable Stable
ABCG 0.1 0.25 Stable Stable Stable
ABCG 0.1 0.3 Unstable Unstable Unstable
ABCG 0.1 0.4 Unstable Unstable Unstable
ABCG 0.1 0.5 Unstable Unstable Unstable

It is concluded from Table 1 that duration of fault is directly related to the angle difference between the
generator and infinite bus (δ) which will affect the accelerating and decelerating area affecting the stability
of the system. When Df increases for the same tf the system will tend to be unstable. All cases are compared
by TDS and give identical results. This is the same for single machine infinite bus system discussed in [36].

6. CONCLUSIONS

This paper presents an approach to design power system transient stability assessment using direct methods
for a multi-machine system which uses measured values of the currents and voltages of the three phases of
two buses (equivalent to PMU data) to detect the out-of-step condition accurately. The multi-machine
system was reduced to a single machine infinite bus (SMIB) system using system reduction. The Discrete
Fourier Transform is used to transform the sampled data in phasor domain which is equivalent to PMU
readings. The EAC is used and proved that it is an efficient method for determining the transient stability of
a power system and detecting the out of step condition for multi-machine system as one machine against
infinite bus or two machine systems. Test results show that the proposed algorithm is able to detect transient
stability on a multi-machine system with a temporary fault, through PMU measurements and generator
parameters for different durations. It would be interesting to make simulations on larger networks that
include more generators and machines and to find possible nodes to implement PMUs.

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Please cite this article as: A. Y. Abdelaziz, Amr M. Ibrahim, Zeinab G. Hasan, (2013), Phasor Measurement Units For Out-Of-Step Detection of A
Multi-Machine System Using System Reduction, Science and Engineering, Vol. 1(2), 121-132

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