linear state estimation and modern control centers...presentation title - 27/03/2015 - p 15 . lse in...

Anil Jampala, Jay Giri

27th March, 2015

Linear State Estimation and Modern Control Centers

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 2

Agenda

Validation

On-going work

Practical Challenges

Linear State Estimator

Background

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 3

Looking Back

• Blackouts – Lack of situational information is a major cause

• (Traditional) State Estimator

1. Measurements from RTUs Errors/noise Missing Data Redundant Measurements

State Estimator (SE) determines “state” using measurements & network model to provide a “Basecase” for Security and Study applications.

Measurement model: r x h z + = ) ( 1

To minimize R x h z / )) ( ( 2 ∑ − 2

Solve linearize d equation x z ∆ × = ∆ J iteratively in the sense of WLS: z x ∆ = ∆ − − − 1 T 1 1 T R J ) J R J ( 3

. z vector is larger than x vector Other approaches are possible and can be explored.

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 4

Looking Back - Continued

• SE was proposed in the early ‘70s and has become a must in EMS

• Historically

1. Computer Technology limited the model size in the past Late 1990s – 1800 bus positive sequence model

Hardware and Software limitations are no longer a constraint. MISO’s SE model – 50,000+ buses

SE runs well under a minute Recently, PNNL reported running SE well under a second

2. How fast is “needed” for secure operation? • Now Typical periodicity: 2 minutes

3. Is Positive sequence model adequate? • Three-phase measurements are increasingly available

• Positive Sequence model may not reveal problems due to unbalance

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 5

SynchroPhasors are allowing us to look at subsecond data

• EMS is unaware of these events

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 6

Off-Line Analysis of a past event (Oct 22 01:23:59 and 01:24:36)

10 Minutes view

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 7

Off-Line Analysis (Oct 22 01:23:59 and 01:24:36)

Zooming in

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 8

Another Event from 2014

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 9

SUBSTATION Measurements & Controls

Next Generation EMS Applications using SynchroPhasor data

e-terraplatform

e-terratransmission (GSA) On-line DSA

e-terrasimulator

SCADA

Model-Based Measurement-Based

Monitoring Phasor Data Concentrator

e-terraphasorpoint

Application Services Historian Replay

Analytics

VISUALIZATION e-terravision

Corporate Historian

Analysis Tools e-terraphasoranalytics

e-terraphasorpoint Replay Off-line DSA

CONTROL ROOM NETWORK Operations

BUSINESS NETWORK

Planning

PMU RTU

Substation

PMU Plant/HVDC Controllers

Substation

e-terraphasorcontroller

Linear State Estimator (LSE) Hybrid State Estimator

Off-line LSE

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 10

Linear State Estimator – Benefits

• LSE runs at subsecond cycles using phasor measurements – Much faster than State Estimator

• Validation of PMU data, including topology error detection at substation level

• Output of LSE can be used for RAS, SE, RVII and Other Phasor Applications – Estimated values (as opposed to raw inputs)

• Useful in case of man-in-the-middle (Cyber) attacks also?

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 11

Ongoing Work in LSE Area

• Virginia Tech [Dominion & Quanta]

• Georgia Tech [also with PG&E]

• RPI

• WSU [also with PG&E/Alstom]

• PJM

NASPI Workshop on LSE this Wednesday was stimulating and encouraging

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 12

WSU Two Level LSE

• Two Level −Substation −Central Level

• Measurement equations are similar but uses Phasors

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 13

Substation Level LSE

•

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 14

Control Center Level LSE

•

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 15

LSE in PG&E SGIG Project

Phase 1 Steps:

• Preliminary Observability Analysis

• Stand-alone LSE Application Integration

• LSE integration and Testing at POC

• Deployed in Production

Phase 2 (2015 - 2016)

Phase 1 Demonstration

Phase 2 Realization

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 16

Redundancy

16

Multi-host Redundancy (ISD Link)

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 17

LSE Application Context

SCADA

QKNET

RTNET (SE)

Parallel SE

OpenPDC LSE C37.118

ISD

ISD

Web Service

EMS

PMU data

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 18

LSE Application

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 19

Migrating new application to familiar UI

Text UI of LSE To e-terraVision

“The ultimate goal is to ensure new applications are accepted and used by operators.”

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 20

Modeling

• EMS model – 4,000+ buses and evolving • Load Flow Program – < 15,000 busses

• RTDS model - ~ 250 buses

• One more model for LSE?

• Naming Conventions: SCADA Analog vs. PMU Signal

TABLEMT LINE TM-VD_4 PVAA V5PMU01_1_1N7-PA1

TABLEMT LINE TM-VD_4 PVAM V5PMU01_1_1N7-PM1

TABLEMT LINE TM-VD_4 PIAA V5PMU01_1_1N7-PA7

TABLEMT LINE TM-VD_4 PIAM V5PMU01_1_1N7-PM7

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 21

LSE Model (cont)

• Subset of EMS model

• Need for Breaker Status

• Substation SE – limited by PMU information

• Line side PMUs

• Use of Pseudo Measurements

PMU

Breaker

Substation 10

Substation 5

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 22

Migrating new applications to a production EMS

• Redundant

configuration • Study version of

application • Training • Re-inventing the

wheel • Product Life Cycle

Maintenance • Algorithm 2

• The Development

Environment • The User Interface • Where should the

application reside? • Inputs and Outputs • Application Program

Interface (API) • Security and

Administration

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 23

LSE Testing

• Standalone Testing

• Use of Virtual PMUs in PG&E SynchroPhasor Test Facility

• Nearly 100 Test scenario

• Validation with the EMS State Estimator

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 24

LSE Test – Scenario 1 – Basecase – Voltage Magnitude

510

515

520

525

530

535

540

545

550

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17

Voltage Magnitude

Voltage Magnitude Estimated

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 25

LSE Test – Scenario 1 – Basecase - Angles

0

5

10

15

20

25

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17

Voltage Angle

Voltage Angle Estimated

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 26

LSE – In EMS Environment

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 27

LSE – In EMS Environment

0 5 10 150

200

400

600

volta

ge m

agni

tude

(kV

)

all the six voltage measurement

0 5 10 15330

340

350

360

curre

nt m

agni

tude

(A) one of the current measurement

0 5 10 15540

545

550

555

time (second)

volta

ge m

agni

tude

(kV

) state

5.4 5.6 5.8 6 6.2 6.4 6.6 6.8542

544

546

548

volta

ge m

agni

tude

(kV) PMU measurement on normal node

5.4 5.6 5.8 6 6.2 6.4 6.6 6.80

200

400

600

volta

ge m

agni

tude

(kV) PMU measurement on line outage node

5.4 5.6 5.8 6 6.2 6.4 6.6 6.8540

545

550

555

time (second)

volta

ge m

agni

tude

(kV) state

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 28

Evaluation Framework – Parallel State Estimator

SCADA (with

PMUs)

Network model

(without PMUs)

Network model (with

PMUs)

Compare both

Solutions

Parallel State Estimator

State Estimator

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 29

Wide Area Visualisation

RTUs

Off-line LSE in Integrated WAMS Architecture

PhasorPoint Workbench

Wide Area Monitoring Platform

PMU & RTU Aggregation Application

s

e-terrabrowser

e-terravision

PMUs

Energy Management System Dynamic Security

Assessment

e-terraPhasorAnalytics

DSA

Real-Time Data Stream

Offline (On-Demand) Data Transfer

EMS (GSA)

Off-line LSE

© ALSTOM 2013. All rights reserved. Information contained in this document is indicative only. No representation or warranty is given or should be relied on that it is complete or correct or will apply to any particular project. This will depend on the technical and commercial circumstances. It is provided without liability and is subject to change without notice. Reproduction, use or disclosure to third parties, without express written authority, is strictly prohibited.

Presentation title - 27/03/2015 - P 30

Summary

• LSE will become a main-stream EMS application.

• Address the life-cycle challenges for a successful roll-out