9 Ashwani Power System State Estimation PDF
9 Ashwani Power System State Estimation PDF
9 Ashwani Power System State Estimation PDF
STATE ESTIMATION
Presentation by
Ashwani Kumar Chandel
Associate Professor
NIT-Hamirpur
Presentation Outline
• Introduction
• Power System State Estimation
• Solution Methodologies
• Weighted Least Square State Estimator
• Bad Data Processing
• Conclusion
• References
Introduction
• Transmission system is under stress.
Generation and loading are constantly increasing.
Capacity of transmission lines has not increased
proportionally.
Therefore the transmission system must operate with ever
decreasing margin from its maximum capacity.
• Operators need reliable information to operate.
Need to have more confidence in the values of certain
variables of interest than direct measurement can typically
provide.
Information delivery needs to be sufficiently robust so that
it is available even if key measurements are missing.
• Interconnected power networks have become more complex.
• The task of securely operating the system has become more
difficult.
Difficulties mitigated through use
of state estimation
• Variables of interest are indicative of:
Margins to operating limits
Health of equipment
Required operator action
Network
Observability
Check
Measurement P12
Model: h(x)
V1
Power System State Estimation (Cont.,)
• We generally cannot directly observe the state
But we can infer it from measurements
The measurements are noisy (gross measurement
errors, communication channels outage)
Ideal Noisy
measurement: Measurements
Measurement: z
H(x) z=h(x)+e
Consider a Simple DC Load Flow Example
1 0.02rad
2 0.10rad
Case with all meters have small errors
M12 62MW 0.62pu
M13 6MW 0.06pu
M 32 37MW 0.37pu
If we use only the M13 and M32 readings,
as before, then the phase angles will be:
1 0.024rad
2 0.0925rad
3 0rad(still assumed to equal zero )
This results in the system flows as shown in
Figure . Note that the predicted flows match at
M13, and M32 but the flow on line 1-2 does not
match the reading of 62 MW from M12.
Power System State Estimation (Cont.,)
• The only thing we know about the power system comes to
us from the measurements so we must use the
measurements to estimate system conditions.
• Measurements were used to calculate the angles at
different buses by which all unmeasured power flows,
loads, and generations can be calculated.
• We call voltage angles as the state variables for the three-
bus system since knowing them allows all other quantities
to be calculated
• If we can use measurements to estimate the “states” of
the power system, then we can go on to calculate any
power flows, generation, loads, and so forth that we
desire.
State Estimation: determining our best guess at the state
1 2 2
PDF( ) exp( /2 )
2
20
f(x)
Gaussian
distibution
Actual
distribution
x
0 3
Weighted least Squares-State Estimator
• The problem of state estimation is to determine the
estimate that best fits the measurement model .
• The static-state of an M bus electric power network is
denoted by x, a vector of dimension n=2M-1, comprised of
M bus voltages and M-1 bus voltage angles (slack bus is
taken as reference).
• The state estimation problem can be formulated as a
minimization of the weighted least-squares (WLS)
function problem.
m 2
• (z i h i (x))
min J(x)= 2
i 1 i
(Cont.,)
• This represents the summation of the squares of the
measurement residuals weighted by their respective
measurement error covariance.
• where, z is measurement vector.
h(x) is measurement matrix.
m is number of measurements.
σ2 is the variance of measurement.
x is a vector of unknown variables to be estimated.
• The problem defined is solved as an unconstrained
minimization problem.
• Efficient solution of unconstrained minimization problems
relies heavily on Newton‟s method.
(Cont.,)
• The type of Newton‟s method of most interest here is the
Gauss-Newton method.
• In this method the nonlinear vector function is linearized
using Taylor series expansion
h(x x) h(x) H(x) x
• where, the Jacobian matrix H(x) is defined as:
h(x)
H(x)
x
• Then the linearized least-squares objective function is
given by
1
J( x) (z h(x) H(x) x) T R 1 (z h(x) H(x) x)
2
(Cont.,)
• where, R is a weighting matrix whose diagonal elements
are often chosen as measurement error variance, i.e.,
2
1
R
2
m
1
J( x) (e(x) H(x) x) T R 1 (e(x) H(x) x)
2
J( x)
H T R 1 (e H x) 0
x
H T R 1H x H T R 1e
G x H T R 1e
Weighted Least Squares-Example
•
est
1
x est est
2
(Cont.,)
• To derive the [H] matrix, we need to write the measurements
as a function of the state variables 1 and 2 . These functions
are written in per unit as
1
M12 f12 ( 1 2 ) 5 1 5 2
0.2
1
M13 f13 ( 1 3 ) 2.5 1
0.4
1
M 32 f32 ( 3 2 ) 4 2
0.25
(Cont.,)
•
5 5
[H] 2.5 0
0 4
2 2
M12 M12 0.0001
2 2
R M13 M13 0.0001
2 2
M32 M32 0.0001
(Cont.,)
•
1 1
est
0.0001 5 5
1 5 2.5 0
est
0.0001 2.5 0
2
-5 0 -4
0.0001 0 4
1
0.0001 0.62
5 2.5 0
0.0001 0.06
-5 0 -4
0.0001 0.37
(Cont.,)
• We get
est
1 0.028571
est
2
0.094286
e
e is given by
z h(x)
Bad Data Detection and Identification
• Detection refers to the determination of whether or not the
measurement set contains any bad data.
• Identification is the procedure of finding out which specific
measurements actually contain bad data.
• Detection and identification of bad data depends on the
configuration of the overall measurement set in a given
power system.
• Bad data can be detected if removal of the corresponding
measurement does not render the system unobservable.
• A single measurement containing bad data can be
identified if and only if:
it is not critical and
it does not belong to a critical pair
Bad Data Detection
•
N
Y X i2
i 1
Y 2
k
Chi-square probability density function
Chi-squares distribution table
(Cont.,)
• The degrees of freedom k, represents the number of
independent variables in the sum of squares.
• Now, let us consider the function f(x), written in terms of the
measurement errors: 2
m m m
1 2 e i N 2
f (x) R ii ei ei
i 1 i 1 R ii i 1
m
f ei2 / 2
i .
j 1
Bad Data Identification
•
(zi zi ) / R ii'
R ii' (I HG 1HT R 1 )R
Steps to Bad Data Identification
•
N ei
e i i=1,2,...m
'
R ii
Bad Data Analysis-Example
•
Cont.,
• Measurement equations characterizing the meter
readings are found by adding errors terms to the system
model. We obtain
5 1
z1 x1 x 2 e1
8 8
1 8
z2 x1 x 2 e2
8 8
3 1
z3 x1 x 2 e3
8 8
1 3
z4 x1 x 2 e4
8 8
(Cont.,)
• Forming the H matrix we get
V1
G 1H T Wz
V2
• We get
V1 16.0072V
V2 8.0261V
•
(Const.,)
z1
9.00123A
z2 3.01544A
z3 7.00596V
5.01070V
z4
(Cont.,)
•
e1
9.01 9.00123 0.00877A
e2 3.02 3.01544 0.00456A
e3 6.98 7.00596 0.02596V
5.01 5.01070 0.00070V
e4
(Cont.,)
•
4
f ei2 / 2
i 100(0.00877) 2 100(0.00456) 2 50(0.02596) 2 50(0.00070) 2
j 1
0.043507
(Cont.,)
•
4
f ei2 / 2
i 100(0.06228) 2 100(0.15439) 2 50(0.05965) 2 50(0.49298) 2
j 1
15.1009
(Cont.,)
•
R ii' (I HG 1HT R 1 )R
ei
eiN i=1,2,...m
'
R ii
(Cont.,)
•
e1 0.06228
1.4178
'
R11 (1 0.807) 0.01
e2 0.15439
3.5144
'
R 22
(1 0.807) 0.01
e3 0.05965
0.4695
'
R 33
(1 0.193) 0.02
e4 0.49298
3.8804
'
R 44
(1 0.193) 0.02
Conclusion
• Real time monitoring and control of power systems is
extremely important for an efficient and reliable operation
of a power system.
• Sate estimation forms the backbone for the real time
monitoring and control functions.
• In this environment, a real-time model is extracted at
intervals from snapshots of real-time measurements.
• Estimate the nodal voltage magnitudes and phase angles
together with the parameters of the lines.
• State estimation results can be improved by using
accurate measurements like phasor measurement units.
• Traditional state estimation and bad data processing is
reviewed.
References
• F. C. Schweppe and J. Wildes, “Power system static state estimation, part I: exact
model,” IEEE Trans. Power Apparatus and Systems, vol. PAS-89, pp. 120-125,
Jan. 1970.
• R. E. Tinney W. F. Tinney, and J. Peschon, “State estimation in power systems,
part i: theory and feasibility,” IEEE Trans. Power Apparatus and Systems, vol.
PAS-89, pp. 345-352, Mar. 1970.
• F. C. Schweppe and D. B. Rom, “Power system static-state estimation, part ii:
approximate model,” IEEE Trans. Power Apparatus and Systems, vol. PAS-89,
pp.125-130, Jan. 1970.
• F. F. Wu, “Power System State Estimation,” International Journal of Electrical
Power and Energy Systems, vol. 12, Issue. 2, pp. 80-87, Apr. 1990.
• Ali Abur and Antonio Gomez Exposito. (2004, April). Power System State
Estimation Theory and Implementation (1st ed.) [Online]. Available:
http://www.books.google.com.
• Allen J wood and Bruce F Wollenberg. (1996, February 6). Power Generation,
Operation, and Control (2nd ed.) [Online]. Available:
http://www.books.google.com.