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I. INTRODUCTION
Manuscript received May 27, 2008; revised September 10, 2008. Current version published April 22, 2009. Paper no. TPWRS-00426-2008.
The authors are with the Department of Electrical Engineering, College of
Technological Studies, Shuwaikh, Kuwait 70654, Kuwait (e -mail: abbassyna@
hotmail.com; hanafy_22356@hotmail.com).
Digital Object Identifier 10.1109/TPWRS.2009.2016596
ABBASY AND ISMAIL: A UNIFIED APPROACH FOR THE OPTIMAL PMU LOCATION FOR POWER SYSTEM STATE ESTIMATION
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set formed by bus and all buses incident to it. Therefore, the
problem of optimal PMU placement is one where the objective
is to minimize the number of PMUs utilized while preserving
the system observability. This objective can be formulated as
(1)
where
(2)
is a binary network connectivity matrix defined as in (3)
(3)
. is the vector of PMU cost coefficients, is a vector whose
is a
entries are all ones, and is the total number of buses.
vector function whose entries are non-zeros if the corresponding
bus voltage is observable using the given measurement set and
zeros otherwise.
B. Considering Conventional Measurements
In practice, PMUs need to be installed in real systems which
are already monitored by conventional injection and/or power
flow measurements, in order to enhance the state estimator performance. Therefore, the model presented in the above section
needs to be modified to account for the existence of such conventional measurements in the network under study. Reference
[12] introduced a method to include conventional measurements
in the optimal PMU placement strategy. This method will be
referred to as the Individual Bus Merging (IBM) method. A
brief description of this method, along with its merits, is given
in the following section. Next an alternative proposed method,
which will be referred to as the Augmented Bus Merging (ABM)
method, will be introduced.
1) The Individual Bus Merging (IBM) Method: This method
proposes an approach for determining the optimal PMU locations for systems equipped with conventional measurements.
First, an associate set of buses will be defined for each available
zero/nonzero injection measurement in the system. This set will
be formed by the injection bus and all its associate (connected)
buses. Using network equations, the available injection measurement at a particular bus allows one to calculate the phasor
voltage of only one bus among its associate set of buses, providing that the phasor voltages of all the remaining buses in that
set are known. Therefore, the IBM method suggests that the injection bus to be merged with any one of its associate buses, and
to resolve the BILP problem defined by (3) for finding the optimal PMU locations. With this merging process, the number of
system buses will be lowered by 1 for each available injection
measurement. In addition, the network topology will be altered
and the network connectivity matrix will need to be reestablished accordingly. Similarly, the flow measurement in a particular branch allows one to calculate the phasor voltage of one
branch terminal bus, providing that the phasor voltage of the
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(4)
where
is
bus-bus incidence matrix for the
is
buses not incident to conventional measurements,
bus-bus incidence matrix for the augmented
buses.
is
bus-bus connectivity
matrix for buses not incident to conventional measurements,
is
bus-bus connectivity
and
matrix for the augmented buses.
The right-hand side vector must be modified accordingly.
The new right-hand side vector
will be defined as
, where
is
, whose elements
is
and
is
.
are all equal to 1,
In order to reflect the relaxation provided by the existence of
is set to be equal
conventional measurements, each entry in
to the number of buses connected to the injection bus while the
are all equal to 1. Finally, the optimal PMU
elements of
placement problem, considering the existence of conventional
measurements can be stated as
(5)
To illustrate the above formulation, we refer again to the
seven-bus system shown in Fig. 1, with one conventional
injection measurement placed at bus 3 (referred to as ) and
one flow measurement placed in line 45. The original system
connectivity matrix is
ABBASY AND ISMAIL: A UNIFIED APPROACH FOR THE OPTIMAL PMU LOCATION FOR POWER SYSTEM STATE ESTIMATION
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ABBASY AND ISMAIL: A UNIFIED APPROACH FOR THE OPTIMAL PMU LOCATION FOR POWER SYSTEM STATE ESTIMATION
TABLE I
RESULTS FOR THE SEVEN-BUS SYSTEM WITHOUT CONSIDERING PMU LOSS
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TABLE III
RESULTS FOR THE 14-BUS SYSTEM WITHOUT AND WITH CONSIDERING
SINGLE PMU LOSS (IGNORING ZERO INJECTION)
TABLE IV
RESULTS FOR THE 14-BUS SYSTEM CONSIDERING UNEQUAL COSTS OF PMUS
(WITHOUT CONSIDERING SINGLE PMU LOSS AND IGNORING ZERO INJECTION)
TABLE II
RESULTS FOR THE SEVEN-BUS SYSTEM CONSIDERING
SINGLE PMU LOSS (IGNORING ZERO INJECTION)
TABLE V
RESULTS FOR THE 14-BUS SYSTEM WITH CONVENTIONAL MEASUREMENTS
of equal and unequal PMU costs is the same (4 PMUs) but the
locations are different. Since the overall cost of PMU metering
system increases with increasing number of measuring channels, therefore, results of Table IV indicate that the overall cost
of PMU metering system may be substantially affected by considering different (unequal) costs for PMUs.
C. Results With Conventional Measurements-Without and
With Considering PMUs Loss
The application of the proposed unified approach to IEEE
14-bus system with conventional measurements is carried out.
Results are shown in Table V, without and with single PMU loss
consideration. The P&B and proposed LR methods for single
PMU loss are applied for the purpose of comparison. The system
has only one injection measurement at bus 7 and one flow measurement in branch 56. With no PMU loss considered, the optimal number of PMUs is 3 with their locations as indicated in
Table V. In case of considering single PMU loss, both the P&B
and the proposed LR methods possess the same optimal number
of PMUs (which is 7 in this case). However, a slight difference
in their locations is depicted (bus 1 in the P&B method is interchanged with bus 5 in the proposed LR method).
In order to check the validity of the proposed unified approach
for large systems applications, case studies are applied to the
30-, 57-, and 118-bus IEEE systems with the data shown in
Table VI. Each system has a number of injection buses but no
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TABLE VI
DATA FOR 30-, 57-, AND 118-BUS SYSTEMS
TABLE VII
OPTIMAL NUMBER OF PMUS REQUIRED FOR THE
30-, 57-, AND 118-BUS SYSTEMS
TABLE VIII
SIMULATION RESULTS FOR THE 118-BUS SYSTEM
(WITHOUT CONSIDERING SINGLE PMU LOSS)
Simulation results for the three cases are shown in Table VIII.
It is clear from the table that as the number of flow measurements increases, the number of PMUs required keeping the
system observable decreases. It can also be noticed, when comparing these results with those previously published in literature
that the required number of PMUs is reduced from 29 when
considering no flow measurements to 24 when considering
15 flow measurements. A very good agreement between the
results obtained using the proposed unified approach and those
published before is achieved. As it is clear from the results and
as expected, conventional measurements generally reduces the
number of PMUs required to maintain the system observable.
V. CONCLUSION
In this study, a unified approach is proposed for determining
the optimal number and locations of PMUs required making the
entire power system observable. The proposed unified approach
considers the impacts of both existing conventional measurements and the possibility of single or multiple PMU loss into the
decision strategy of the optimal PMU allocation problem. The
proposed approach is easy in implementation using MATLAB
as an effective programming tool. Considering single PMU loss,
a new concept (method) is developed which permits single or
multiple PMU loss keeping the entire system observable. The
effect of PMU meters cost on their optimal number and locations is simulated in this unified approach through a suggested
procedure. The developed approach is applied to different IEEE
power systems (14-bus, 30-bus, 57-bus, and 118-bus) and results are compared with those published in literature with very
good agreement.
REFERENCES
ABBASY AND ISMAIL: A UNIFIED APPROACH FOR THE OPTIMAL PMU LOCATION FOR POWER SYSTEM STATE ESTIMATION
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