Technical Paper : D2-1-33 Out-of-step Detection using Wide Area Measurements Under the supervision of Srinu Babu. Matta Dr. Seethalekshmi K. Research Scholar Babu Banarasi Das University, Lucknow, Uttar Pradesh, India Professor 1 Out-of-detection (OOS) using WAMS Contents Power System – Snap shot & Challenges Smart Grid – An emerging Technology Protection schemes – Distance Protection Out-of-step detection techniques Proposed OOS- detection methods Case studies & Results Concluding Observations Future scope References Power System - A Snap-shot Indian Power Scenario The power system – Structure Generation – Transmission - Distribution Generation The power demand in 1947 was 1670 MW and today it is 224,907 MW. (Source: GOI site,CEA, Studygalaxy.com ) Highest monthly power generation recorded, so far is 91.7Million Units in April’13. (Source:Power Line, June’13) 3 Power System - Challenges Indian Power System Perspective 4 Power System - Challenges Peculiarities of Regional Grids in India 5 Smart Grid - An Emerging Technology Opportunity for existing AGING systems to leapfrog by envisioning a futuristic power grid Smart Grid Characteristics Emerging technology Integrates new technologies to enable re-look at design & operation of power system Detect & address emerging problems before they impact service Respond to local & system-wide inputs Incorporate measurements & Feedback controls that quickly return to stable system operation after disturbances Automatically adapt protective systems to accommodate changing system conditions Re-route power flows, improve voltage profiles, change load patterns etc. during contingencies Enable loads & Distributed generation to participate in operations Self-healing & adaptive “ Smart Grid”, means different things to different people 6 Wide Area Measurement Systems (WAMS) Synchrophasors 7 Wide Area Measurement Systems (WAMS) Phasor Monitoring Unit (PMU) ‘PMU’, are devices which use synchronization signals from the global positioning system (GPS) satellites and provide the Phasor voltages and currents measured at a given substation. PMU Hardware Block Diagram Analog Inputs Anti-aliasing filters GPS receiver Phase-locked oscillator 16-bit A/D converter Modems Phasor microprocessor 8 Wide Area Measurement Systems (WAMS) Synchrophasor :: Applications & Benefits Synchrophasor technology enables cost-effective solutions to substantially improve transmission system planning, operation, maintenance and energy trading. Real-Time Monitoring & Control State Estimation. Real Time Congestion Management Post-Disturbance Analysis. Benchmarking & System Model Variation Power System Restoration Adaptive Protection 9 Protection system – Need & Schemes Various Schemes Classification of Transmission lines on the basis of Source-to-line impedance ratio (SIR). Typical Protection scheme followed wrt the type of transmission line. 10 Protection system – Need & Schemes Distance Protection - A snap shot Description: Distance relays are double actuating quantity relays with one coil energized by voltage and the other coil by current. The system impedance is seen by the relay for judging the fault condition. Rationale: Distance protection is non unit type protection and very simple to apply. The Power swing block signal protects the system from stable power swings by extending a block operation on Distance relay and allowing the trip signal incase of unstable power swing. Benefits: These relays are used as primary and back-up protection. They can be used in carrier/communication/pilot aided distance schemes in Auto-reclosing schemes. Distance protection is widely used in protection of transmission lines. 11 Out-of-step detection techniques OOS protection – A snap shot Description: To avoid tripping of any power system element during stable swings. Protect the power system during unstable or out-ofstep conditions Rationale: Protective relays prone to respond to stable or unstable power swings and cause unwanted trippings of transmission lines or other power system elements include OC, UV, distance, directional OC, Out-of-step relay protects the power system from stable power swings by generating a out-of-step block signal (OSB) Benefits: A controlled tripping of certain power system elements during the OOS condition is necessary in order to prevent equipment damage, and wide spread power outages, and minimize the effects of the disturbance. 12 Out-of-step detection techniques Classification 13 Out-of-step detection techniques Comparison of various techniques • Concentric Distance Relay Characteristics. Merits : +Simple +The power swing condition is checked before one of the impedance tripping zones is entered allowing the tripping elements to be blocked : Demerits : - limited to a single delta impedance setting and a timer setting - Load encroachment or limit the reach of the higher impedance zones. • Blinders scheme Merits : + Used for power swing detection applications is that it can be used independent of the distance zone characteristics. + Single blinder can be used to restrict tripping of the distance relay for loads outside of the blinders. + It can be used for load encroachment applications. Demerits : -To find the correct settings for the blinders is not always simple and requires a sophisticated grid analysis. - The single-blinder scheme cannot distinguish between a fault and an OOS condition until the fault has passed through the second blinder within a given time. Two blinder scheme. 14 Out-of-step detection techniques Comparison of various techniques S. No. 1 Technique Continuous impedance measurements Merits +A delta impedance setting is not required anymore. Demerits - For security reasons additional predictive calculations may be required. +dynamic calculation of the delta impedance - very precise & faster calculation cycles of the and an automatic adaptation to the change of algorithm is required. the power swing impedance. 2 Swing center voltage and + Independent of the system source and line - The technique also requires offline system impedances stability studies to set the threshold value (rate of its rate of change change of SCV), + The magnitude of the SCV relates directly - System specific. to d, the angle difference of two sources. 3 4 Neural networks based Fuzzy logics based Energy function based - As long as the changing impedance vector is not approaching a tripping zone faster than the relay can confirm the out-of-step condition (at least 3 calculations 10 ms) the detection will be successful. - In this,monitors the rate of change of swing centre voltage (SCV) and compares it with a threshold value to discriminate between stable and out-of-step swings. With some approximations, the SCV is obtained locally from the voltage at the relay location, which consequently makes the SCV independent of power system parameters. However, the approximation is true only if the total system impedance angle is close to 90 . For a multimachine system, the voltage measured at relay location does not give an accurate approximation of SCV. + Quick decisions - Enormous trainging effort required to train for all possible swing scenarios. + self adaptive - Complexity increases as the system interconnections increase. + Quick decisions - Enormous trainging effort required to train for all - Proper weighing factors needs to be assigned for possible swing scenarios. right logical our put from the assigned rules. - Complexity increases as the system interconnections increase. + Burdensome heuristic setting process of the fuzzy system are avoided and a kind of optimization is realized. 5 Potential application + Accurate - Able to make the decisions quickly for a new case, which has close resemblance to a known predefined case for which the algorithm is trained. - The method requires computation of power flow + Useful in initiating emergency control measures and phase angle across lines belonging to the critical such as controlled system separation. cutset. + no assumptions are made regarding the - To implement as an out-of-step algorithm, power-angle relationship in a line, nor are any measurements across all series elements are required data on the system equivalents necessary to find the cutset. This technique is difficult to in implementing the detection scheme. implement as a protection algorithm because it is based on wide area information. 15 Proposed Out-of-step detection techniques Resistance based scheme The system consists of two 400KV buses M and N connected to two generators EM and EN respectively and two parallel lines connecting the buses. The relay is placed at bus M. Phasor Measurement Units (PMU) are placed at the buses M and N. PMU’s placed at the buses calculate voltage and current of the three phases of the line at a sampling rate of 20 – 60 samples / cycle. A fault occurs on one of the lines and the line is tripped. As a result of which there is an imbalance of power in the other line and thus it experiences power swing. The data collected by the PMUs is then used in the Data Concentrator to calculate the positive sequence voltage and current phasor at fundamental frequency using Discrete Fourier Transform algorithm. . PMU based schemes for SMIB system Flowchart for the resistance based scheme 16 Proposed Out-of-step detection techniques Resistance based scheme Swing Detection Element This element acts as checking criteria to ascertain the out of step condition during stable or unstable power swings. The algorithm comprises of four types of subelements as shown here, namely “Magnitude of change detection element “, “Rate of change detection element”, “differential magnitude of change detection element” and “Differential rate of change detection element”. All the parameters like T1 to T4, K1 to K4, R1set, R2set, Tmax and T are precisely set after conducting thorough study of the system configuration & its transient analysis. If either of the “Magnitude of change detection element “and “Rate of change detection element” sets along with either of the “differential magnitude of change detection element” and “Differential rate of change detection element”, then only the Swing Detection Element gives a positive output, this signal can be used for controlled tripping or for any power shedding application etc. Algorithm of Swing Detection Element 17 Proposed Out-of-step detection techniques Impedance based scheme The system consists of two 400KV buses M and N connected to two generators EM and EN respectively and two parallel lines connecting the buses. The relay is placed at bus M. Phasor Measurement Units (PMU) are placed at the buses M and N. PMU’s placed at the buses calculate voltage and current of the three phases of the line at a sampling rate of 20 – 60 samples / cycle. A fault occurs on one of the lines and the line is tripped. As a result of which there is an imbalance of power in the other line and thus it experiences power swing. The data collected by the PMUs is then used in the Data Concentrator to calculate the positive sequence voltage and current phasor at fundamental frequency using Discrete Fourier Transform algorithm. . PMU based schemes for SMIB system Flowchart for the impedance based scheme 18 Proposed Out-of-step detection techniques Impedance based scheme Swing Detection Element This element acts as checking criteria to ascertain the out of step condition during stable or unstable power swings. The algorithm comprises of four types of subelements as shown here, namely “Magnitude of change detection element “, “Rate of change detection element”, “differential magnitude of change detection element” and “Differential rate of change detection element”. All the parameters like T1 to T4, K1 to K4, R1set, R2set, Tmax and T are precisely set after conducting thorough study of the system configuration & its transient analysis. If either of the “Magnitude of change detection element “and “Rate of change detection element” sets along with either of the “differential magnitude of change detection element” and “Differential rate of change detection element”, then only the Swing Detection Element gives a positive output, this signal can be used for controlled tripping or for any power shedding application etc. Algorithm of Swing Detection Element 19 Case studies & Results Case studies The Power Stability studies for both the proposed schemes have been carried for testing on a single machine infinite bus system (SMIB) [13] and the WSCC 9-bus system [14]. The single line diagram of the systems are shown in Fig.6 and Fig.7 respectively. Simulations are carried out on PSCAD & MATLAB. A disturbance was created on one transmission line, where the performance of the distance relay to be studied, is connected. The disturbance was created by connecting load on same line for some duration. The load location and amount of loading on the line is varied to study the performance of the distance relay on stable and unstable swings. In these schemes, the system frequency is considered to be constant. For stable swings, the accuracy of the relay to classify a power swing as a stable swing is monitored. During unstable swing, the relays have been observed for speed of detection of OOS condition. Loading of the line has been limited near the margins of stability and unstability of the system depending upon the case of study. Single line diagram of SMIB. Single line WSCC 9-bus system. 20 Case studies & Results Results – Resistance based scheme Magnitude change detection element Magnitude change detection element Differential magnitude change detection element Differential magnitude change detection element Differential rate of change detection element Differential rate of change detection element Voltage Signal Voltage Signal Swing Detection Element – Out put signal Swing Detection Element – Out put signal No Trip signal Trip signal Stable swing- Created a disturbance at 2 Sec and Unstable swing- Created a major disturbance at 3 removed after 0.5 Sec. between line 1-7 of WSCC Sec and removed after 0.5 Sec. between line 1-7 9-bus system of WSCC 9-bus system Case studies & Results Results – Impedance based scheme Magnitude change detection element Magnitude change detection element Differential magnitude change detection element Differential magnitude change detection element Differential rate of change detection element Differential rate of change detection element Voltage Signal Voltage Signal Swing Detection Element – Out put signal Swing Detection Element – Out put signal No Trip signal Trip signal Stable swing- Created a disturbance at 2 Sec and Unstable swing- Created a major disturbance at 2 removed after 0.5 Sec. between line B1-B2 of Sec and removed after 0.5 Sec. between line B1-B2 SMIB system of SMIB system Out of step detection using WAMS Concluding Observations Case Power swing Amount of loading (MW) Proposed scheme: Amount of Operating time (sec) loading WAM based schemes (MVAR) Resistance Impedance based based Other OOS detection schemes Operating time (Sec) R- Rdot Double blinder Impe difference SCV Resi difference N Ope 0.83 N Ope 1.11 N Ope 0.84 N Ope N Ope 0.66 0.91 N Ope : Not operated N Ope 0.66 SMIB SMIB Stable Unstable 4000 9000 2300 4450 N Ope 0.51 N Ope 0.499 N Ope 0.61 N Ope 0.68 WSCC WSCC Stable Unstable 4000 20000 2300 7450 N Ope 0.112 N Ope 0.110 N Ope 0.41 N Ope 0.50 Power swing detection schemes based on WAMS - synchronised time measurement is proposed in this paper. Schemes work on the swing detection algorithm for resistance or impedance, where in the resistance, rate of change of resistance and differential measurements made from two sides of the transmission line detects the OOS condition. These methods use PMU data available at both ends of the transmission line. It is observed that as the disturbance severity increases, operating time of both the schemes reduces and this technique can operate for faults during steady state as well. Simulation results in SMIB case and WSCC 9 bus system case reveals that both the proposed schemes can detect and classify the power swing very precisely. 23 Out of step detection using WAMS Future scope Using Classifiers like SVM to detect the Out of step condition. Extending the same approach for using stable islanding application. 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