Basics of Power System Control and Protection

Basics of Power System Control and Protection
A. P. Sakis Meliopoulos
Georgia Power Distinguished Professor School of Electrical & Computer Engineering Georgia Institute of Technology
NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011
1.1
School of Electrical and Computer Engineering

Chairman Chairman (interim) (interim)
Dr. Dr. Douglas Douglas B. B. Williams Williams
Associate Associate Director Director Graduate Graduate Affairs Affairs
Computer Computer Engineering Engineering
Microelectronics Microelectronics
Associate Associate Director Director Undergraduate Undergraduate Affairs Affairs
Digital Digital Signal Signal Processing Processing
Modern Modern Optics Optics
Electric Electric Power Power

Associate Associate Director Director Electromagnetics Electromagnetics
Systems Systems and and Controls Controls
Telecommunications Telecommunications
Associate Associate Director Director
Electronic Electronic Design Design and and Applications Applications
Bioengineering Bioengineering
1.2
Undergraduate Curriculum
ECE3070 ECE3070 Electromechanical Energy Conversion
ECE4320 ECE4320
Power System Analysis
ECE4321 ECE4321
Power System Engineering
ECE4330 ECE4330
Power Electronics
ECE4325 ECE4325
Electric Power Quality
1.3
Graduate Courses in Power Systems

ECE6320 ECE6320 Control and Operation of Power Systems
ECE6321 ECE6321
Power System Stability
ECE6322 ECE6322
Power System Planning
ECE6323 ECE6323
Power System Relaying
ECE8843 ECE8843
Topics in Electric Power Computational Intelligence in Power Systems
1.4
Graduate Courses in Power Electronics
ECE6330 ECE6330
Power Electronic Devices & Subsystems
ECE6331 ECE6331
Power Electronic Circuits
ECE6335 ECE6335
Electric Machinery Analysis and Design
ECE6336 ECE6336
Dynamics & Control of Electric Machine Drives
1.5
1.6
Continuing Education
Power Systems Certificate Program
Core Core Courses Courses Power Power System System Relaying: Relaying: Theory Theory and and Application Application Modern Modern Energy Energy Management Management Systems Systems Integrated Integrated Grounding Grounding System System Design Design and and Testing Testing Grounding, Grounding, Harmonics, Harmonics, & & Electromagnetic Electromagnetic Influence Influence Design Design Practices Practices Power Power Distribution Distribution System System Grounding Grounding and and Transients Transients Power Power Electronic Electronic Devices, Devices, Circuits, Circuits, and and Systems Systems Elective Elective Courses/Conferences Courses/Conferences Fault Fault and and Disturbance Disturbance Analysis Analysis Conference Conference Georgia Georgia Tech Tech Protective Protective Relaying Relaying Conference Conference
All Courses are Coordinated by the Department of Professional Education All Courses are Offered Annually Academic Administrator: A. P. Meliopoulos
1.7
Present State of the Art: C&O and P&C

Model Based Control and Operation
Control & Operation

Real Time Model
State Estimation
Protection & Control

Component Protection
generators, transformers, lines, motors, capacitors, reactors
Applications
Load Forecasting Optimization (ED, OPF) VAR Control Available Transfer capability Security Assessment Congestion management Dynamic Line Rating Transient Stability EM Transients, etc. Visualizations
System Protection
Special Protection Schemes, Load Shedding, Out of Step Protection, etc.
Communications
Substation Automation, Enterprize, InterControl Center
Markets:
Day Ahead, Power Balance, Spot Pricing, Transmission Pricing (FTR, FGR), Ancillary Services
The Infrastructure for Both Functions is Based on Similar Technologies: Thus the Opportunity to Merge, Cut Costs, Improve Reliability Integration of New Technologies
1.8
Power Systems Operation

Main Objectives
REGULATION Frequency Voltage Net Interchange Pollutants SECURITY ECONOMICS Net Interchange Pollutants Power Transactions IPPs Energy Balance Market Ancillary Services
Tools
DATA AQUISITION SYSTEM SUPERVISORY CONTROL STATE ESTIMATION ANALYSIS OPTIMIZATION CONTROL
Restructuring
POWER MARKET (SMD) TRANSMISSION TARRIFS (FTR,FGR) CONGESTION MANAGEMENT ERO (Electric Reliability Organization)
1.9
Component (Zone) Protection

G+GSU Backup Line 20 kV 230 kV Bus
Xfmr
Generators Transformers Buses Transmission Lines Motors Capacitor Banks Reactors, etc.
12kV
FDR Zone
Radial
1.10
System Protection
Out of Step (Transient Stability) Transient Voltage Collapse
Reactance Grounded Gen 800 MVA-15 kV X1=15.5%,X2=18%,X0=9% Reactance Grounded Gen 800 MVA-15 kV X1=15.5%,X2=18%,X0=9%
Va = 8.400 kV
G
SOURCE-A
2
Va = 63.01 kV
BUS10
Va = 61.99 kV Va = 42.02 kV
BUS-MID BUS20
1 2
Illustration of Two Power System Swings: (a)Stable Out of Step Relay Should not Operate (b)Unstable Out of Step Relay Should Operate
Va = 8.238 kV
BUS30
G
Generator Angle 52 Degrees
2x47.4 mile 115 kV Transmission Line Generator Angle -49 Degrees
Special Protection Schemes

Special Protection Schemes are Protective Relaying Functions Concerned with the Protection Against Special System Conditions that May Lead to Catastrophic Results. These System Conditions are Determined with Extensive Studies of Specific System Behavior. Using this Information a SPS is designed that monitors the System and When the Special System Conditions Occur (Recognition Triggers) the System Operates (Automatically or with Operator Review and Action)
Illustration of Voltage Collapse Near the Center of a Stable System Swing Voltage Transitions Are Slow Undervoltage Protection Should not Operate
Load Shedding Frequency / Voltage

A System Disturbance May Create Generation-Load Imbalance Leading to Sustained Frequency Decline. This Condition, if not Corrected, May Lead to Equipment Damage. The Condition Can be Temporarily Corrected by Load Shedding Until Additional Generation can be Dispatched. Similarly, a Disturbance May Create Sustained Voltage Problems. These problems Can be Also Corrected by Load Shedding
1.11
Control & Operation
1.12
Modern Energy Management System Functional Diagram

ENERGY/ECONOMY FUNCTIONS SUBSYSTEM Load Forecast Load Forecast Unit Commitment Power Bids Ancillary Services Economic Dispatch Automatic Generation Control Economic Interchange Evaluation
DATA AQUISITION AND PROCESSING SUBSYSTEM
Parameter Estimation
SCADA Measurements
GPS Synchronized Measurements
Network Topology State Estimation Displays
Power Balance Market
Congestion Management Transmission Valuation SECURITY MONITORING AND CONTROL SUBSYSTEM Optimal Power Flow Security Dispatch Environmental Dispatch
Emergency State
External Equivalents
Security Monitoring
Normal State Extremis State
Emergency Controls
Contingency Analysis VAR Dispatch

Insecure State
Restorative Controls
Preventive Controls
1.13
OVERVIEW OF ENERGY MANAGEMENT SYSTEMS Data Acquisition and Processing Subsystem

G1 G2
MW Flow Measurement MVAR Flow Measurement kV Measurement Disconnect Switch Status Breaker Status
New Technology
GPS Synchronized Measurements (Phasors)
RTU
Communication Link with Control Center
Contact Inputs Analog Inputs Contact Outputs Analog Outputs
Data
RTU
Commands
Master Station
1.14
Network Configurator Example
Breaker Oriented Model

AutoBank 500kV/230kV G1 AutoBank 500kV/230kV
G2
SG1
SG2
Bus Oriented Model
1.15
State Estimator
G1 G2
MEASUREMENTS: STATE:
T2
1 T1 2
Interconnection
FORMULATION: SOLUTION:
L1
4
Interconnection
L3 L2 5 T1 6
MW Flow Measurement MVAR Flow Measurement kV Measurement Transformer Tap Measurement
Traditional State Estimation

Centralized Procedure
Observability Bad Data Detection/ID/Rejection Parameter Estimation

1.16
Technological Developments
1.17
The OLD and the NEW

Circuit Breaker CT CCVT
Relays
Circuit Breaker
CT
CCVT
IED-Relay Comm Link
1.18
SCADA Evolution
Indicator
Control
SCADA circa 1923 Independent of Protection

To Data Base Remote Access
Control Center
User Interface Encoder Decoder
Communication Standards
GPS
Communications Terminal
RTU IED Disturbance Recorders Relays
SCADA circa 2003

SCADA
Communications Terminal
Local Computer
1.19
Project Background: Substation Architectures: SmartGrid
Protection, Control, Communications
Physical System
GE Hardfiber System
Industry Direction: Single Data Acquisition System for Protection, Control, and Operations 1.20
Important New Technology GPS-Synchronization History of GPS-Synchronized Measurements

1.21
History of GPS-Synchronized Measurements
GPS Satellite System Initiated 1989, Completed 1994
The Antikythera Mechanism 87 BC
1.22
Important Milestones
1970: First Computer Relay (PRODAR, Westinghouse, Gilcrest, Rockefeller, Udren) 1984: First Commercial Processor Based Relay (SEL) 1989: GPS Signal Becomes Commercially Available 1990-91: Phasor Measurement System (Arun Phadke) 1992: Phasor Measurement Unit (PMU) (Jay Murphy, Macrodyne)
1.23
Arun Phadkes Arun Phasor Phadkes Measurement PMS System

Block BlockDiagram DiagramPublished Publishedby byArun ArunPhadke Phadke
Vintage 1990-92 Vintage 1990-91 several units were sold to Several Units AEP, NYPA, Were Sold to others
AEP, NYPA, others
CHARACTERISTICS Analog Filter with Cutoff Frequency of 360Hz Sample & Hold A/D Technology with Analog Multiplexing 12 bit S&H A/D 720 s/s
Time TimeAccuracy AccuracyWas WasNever NeverMeasured Measuredor orReported. Reported. Multiplexing and Design Suggest Very High Multiplexing and Design Suggest Very HighTiming TimingError Error Estimated Time Precision: 100 us, 2 degrees at 60 Hz Estimated Time Precision: 100 us, 2 degrees at 60 Hz
1.24
Macrodyne 1620 PMU

Released to Market January 1992
Jay Murphy (Macrodyne) Was First to Introduce Term PMU: Phasor Measurement Unit
Input Protection & Isolation Section GPS Antenna A/D Converter ( Modulation) Optical Isolation Digitized Data 2880 s/s GPS Receiver Optical Isolation Analog Inputs V : 300V I : 2V Input Protection & Isolation Section 1PPS IRIGB
CHARACTERISTICS
Memory
Individually GPS Syncd Channels Common Mode Rejection Filter with Optical Isolation 16 bit A/D Modulation
Sampling Clock
PLL
A/D Converter ( Modulation)
Optical Isolation Digitized Data 2880 s/s
Optical Isolation
Display & Keyboard RS232 Data Concentrator (PC)
Master Workstation
Time ss TimeAccuracy Accuracy1 1 0.02 0.02Degrees Degreesat at60 60Hz Hz

1.25
Distributed Dynamic State Estimation Implementation

PMU Technology Enables Distributed SE
Measurement Layer
Phase Conductor
v(t) i(t)
IED Vendor D
Physical Arrangement
Data Processing
FireWall
LAN
Current Transformer Attenuator
Relay Vendor C
Potential Transformer
Instrumentation Cables
i1(t) i2(t)
Burden
PMU Vendor A
SuperCalibrator
Attenuator
v1(t)
v2(t)
PMU Vendor C Burden
Data/Measurements from all PMUs, Relays, IEDs, Meters, FDRs, etc are collected via a Local Area Network in a data concentrator. The data is used in a dynamic state estimator which provides the validated and high fidelity dynamic model of the system. Bad data detection and rejection is achieved because of high level of redundant measurements at this level.
Encoding/Decoding Cryptography
Anti-Aliasing Filters
Data Flow
LAN
1.26
Numerical Results B-G Plant
1.27
Transient Stability Monitoring

The dynamic state estimator is utilized to predict the transient stability or instability of a generator. The dynamic state of the system provides the center of oscillations of the generator swing. From this information the potential energy of the generator is computed as a generalization of the basic energy function method. The total energy of the generator can also be trivially computed once the potential energy has been computed. The total energy is compared to the potential energy of the generator if the total energy is higher than the peak (barrier) value of the potential energy this indicates that the generator will lose its synchronism (transient instability). It is important to note that this approach is predictive, i.e. it identifies a transient instability before it occurs. The figures provide visualizations of generator oscillations and the trajectory of the total energy superimposed on the system potential energy.
1.28
Energy Management Systems

Hierarchy of Scheduling Functions
Level 1: Load Forecasting Unit Commitment Emissions Control Economy Purchases Level 2: Economic Dispatch Environmental Dispatch Economic Interchange Evaluation Optimal Power Flow Transfer Capability Day-Ahead Scheduling Spot Market Scheduling Level 3: Automatic Generation Control - Frequency Control - Interchange Control - Transactions Control - Inadvertent Power Flow Control
1.29
Generating Unit Control Schemes

Schematic Representation
Tramsmission System and Load Prime Mover
G
Vg Pg f
Tie Line
Governor G(s) f Vref
Exciter
fsched + Bias Bf + f L(s) + K(s) + + Psched
+ PSS D(s)
Pg Pg
f -
1.30
Net Interchange Control

G
Area 1
Area 3
Vi e ji
ACE = P
Area 4
Area 2
G
Area Control Error (ACE)
ACE = Pint + Bf
Pgi = a i ACE
1.31
Economic Scheduling Functions Hierarchical Structure

A
Resource Scheduling (weeks)
Mid Term Load Forecast Units out for maintenance Fuel Management Weekly hydro energy usage
Unit Commitment (hours/Days)

Short Term Load Forecast List of committed units Hourly hydro energy usage Interchange schedule
Economic Dispatch (minutes)
Security Dispatch
Economic Base Points Participation Factors
Automatic Generation Control (seconds)
Pdesi , i =1,2,...,n
1.32
Economic Dispatch
G1 G2
MEASUREMENTS COST
T2
1 T1 2
Interconnection
FORMULATION SOLUTION
L1
4
Interconnection
L3 L2 5 T1 6
1.33
Optimal Power Flow

G1 G2
MEASUREMENTS
1 T1 2
Interconnection
3 T2 L1 4
Interconnection
STATE CONTROLS FORMULATION SOLUTION
L3 L2 5 T1 6
1.34
SYSTEM SECURITY
(Congestion Management) Power System Operating States
Restorative Controls
NORMAL and SECURE System Optimization
D,O
Preventive Controls Restorative Controls
RESTORATIVE System Security
D,O
Emergency Controls EXTREMIS System Security
NORMAL but VULNERABLE/INSECURE Optimization/Security
D,O
Emergency Controls
Corrective Controls EMERGENCY System Security
D,O
Transition Due to Disturbances Transition Due to Control Action
D,O
1.35
Energy Management Systems Hierarchical Structure

System Power Production and Control (SPPC) Operations Coordination Office (OCO)
Regional Dispatch Center (RDC)
Substation
UCE Vexc
Power Plant
Power Plant Controls Psched fsched ACE Vsched
1.36
New Challenges: Wind/PV Farm Characteristics

Types 1 and 2 are Not Used for Large Projects Types 3 and 4 Limit Fault Currents to About 120% of Nominal Current
Proposed Proposed Requirements Requirements NERC NERC PRC-024, PRC-024, >20 >20 MVA MVA or or >75 >75 MVA MVA Total Total
1.37
Renewables and Uncertainty

Solar is Available During High Price/Cost Hours Small Storage can provide huge add-on value to solar projects Better capacity factor than other renewables (70 to 80%)
Wind Availability is Highly Volatile and Patterns May be Opposite to Grid Needs (i.e. CA) Large Storage Schemes are needed to coordinate economic usage of wind energy and to provide add-on value Very small capacity factor (10 to 25%)
Large Wind Swings
1.38
Energy Management Systems: Evolution
Control and Operation of Power Systems is Driven by (a) Legislative action (b) Economics (c) Technical constraints The envelop is always moving because of technological advancements
ERO Focus: Operational Reliability
1.39
History of Utility Regulatory Legislation

Federal Power Commission PUHCA 1935 (Public Utility Holding Company Act) Federal Energy Regulatory Commission (1977) PURPA 1978 (Public Utility Regulatory Policies Act) Clean Air Act 1990 Energy Policy Act 1992 Orders 888 & 889 1996 (1 OASIS ) CECA 1998 (Comprehensive Electricity Competition Act) Order 2000 SMD Standard Market Design US Energy Policy Act, 2005 (provides authority to enforce reliability)
1.40
Visualization & Animation

University of Illinois/Georgia Tech (PSERC Project)
G e n e ra to r A n im a tio n - U n it C a p a b ility
U n it N a m e
Qg
R o tor H e ating
Pg
L ow V o lta ge
S e n s itiv itie s
d P g /d P d Q g /d P d V g /d P
Large Scale Systems

Performance - Model Hierarchy
1.41
1.42
Energy Management Systems Information Systems and Standards

OASIS UCA ICCP CCAPI CIM Open Access Same-Time Information System Utility Communication Architecture Inter-Control Center Communications Protocol Control Center Application Program Interface Common Information Model
IEC61850 Evolution of the UCA C37.118 Synchrophasor Data
1.43
Active Future Distribution Systems (with distributed energy resources solar, wind, PHEVs, fuel cells,).
Smart Grid technologies: Distributed Monitoring, Control, Protection and Operations system. Target Speeds 10 times per second Functions: (a) Optimal operation of the distribution system under normal operating conditions, (b) Emergency management in cases of faults and assist the power grid when needed, (c) Assist Voltage recovery, (d) Assist cold load pickup, (e) Balance Feeder, (f) etc., etc.
1.44
Evolution, Naxos Island, Greece June 25, 2011
1.45

Basics of Power System Control and Protection

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Basics of Power System Control and Protection

School of Electrical and Computer Engineering

Associate Associate Director Director Graduate Graduate Affairs Affairs

Computer Computer Engineering Engineering

Associate Associate Director Director Undergraduate Undergraduate Affairs Affairs

Digital Digital Signal Signal Processing Processing

Modern Modern Optics Optics

Electric Electric Power Power

Systems Systems and and Controls Controls

Associate Associate Director Director

Electronic Electronic Design Design and and Applications Applications

Power System Analysis

Power System Engineering

Electric Power Quality

Graduate Courses in Power Systems

Power System Stability

Power System Planning

Power System Relaying

Topics in Electric Power Computational Intelligence in Power Systems

Graduate Courses in Power Electronics

Power Electronic Devices & Subsystems

Power Electronic Circuits

Electric Machinery Analysis and Design

Dynamics & Control of Electric Machine Drives

Present State of the Art: C&O and P&C

Control & Operation

Protection & Control

Power Systems Operation

Component (Zone) Protection

Generator Angle 52 Degrees

2x47.4 mile 115 kV Transmission Line Generator Angle -49 Degrees

Special Protection Schemes

Load Shedding Frequency / Voltage

Control & Operation

Modern Energy Management System Functional Diagram

GPS Synchronized Measurements

Network Topology State Estimation Displays

Power Balance Market

Contingency Analysis VAR Dispatch

OVERVIEW OF ENERGY MANAGEMENT SYSTEMS Data Acquisition and Processing Subsystem

Communication Link with Control Center

Contact Inputs Analog Inputs Contact Outputs Analog Outputs

Network Configurator Example

Breaker Oriented Model

Bus Oriented Model

Traditional State Estimation

Observability Bad Data Detection/ID/Rejection Parameter Estimation

The OLD and the NEW

IED-Relay Comm Link

SCADA circa 1923 Independent of Protection

SCADA circa 2003

Project Background: Substation Architectures: SmartGrid

Protection, Control, Communications

Important New Technology GPS-Synchronization History of GPS-Synchronized Measurements

History of GPS-Synchronized Measurements

GPS Satellite System Initiated 1989, Completed 1994

The Antikythera Mechanism 87 BC

Arun Phadkes Arun Phasor Phadkes Measurement PMS System

AEP, NYPA, others

Macrodyne 1620 PMU

A/D Converter ( Modulation)

Optical Isolation Digitized Data 2880 s/s

Display & Keyboard RS232 Data Concentrator (PC)

Time ss TimeAccuracy Accuracy1 1 0.02 0.02Degrees Degreesat at60 60Hz Hz