State Estimation

Remote Terminal Unit (RTU) installed at a substation door open (RTU)

 Plays very important role in

Monitoring of PS Control of PS  Security control  Economic Dispatch

 Aim
Obtain best system state variables to fit a scatter of data

 Scatter of data due to

Imperfect measurements Variations in transmission line linear models Line charging etc

 Imperfect measurements are due to

Signal noise Metering accuracy A\ D conversion

 Noisy data are best modeled as random variables  Hence estimating state variables is based on statistical criterion  In PS, state variables are
voltage magnitudes & phase angles at system nodes

History
Major developments taken place in aerospace field in 20th century Problem: Problem: Location of aerospace vehicle (missile, airplane, space vehicle) : Estimation of its trajectory (Given redundant & imperfect measurements of position & velocity)

Definition of State Estimation

Is the process of assigning a value to an unknown system state variable based on measurements from that system according to some (statistical) criteria

State Estimators
 They are the methods \ algorithms, algorithms, developed using measurements from network to calculate state of network  Purpose: Purpose:
Detect bad / incorrect data Detect changes in network configuration Replace faulty / missing data

Data collection from PS

? PS State Estimation
 Problems in monitoring transmission system
 

Nature of measurement transducers Communication problems in transmitting values back to operations control centre

 Transducers are subject to errors  Telemetry equipments experience comm. channel out no information of some part of system  These are the reasons for developing PS SE

Principles of State Estimation

 Consider a DC load flow example of 3-bus system  Only information provided is by three MW fig. power flow meters as shown in fig. meter placement  Only Two of the meters are required to calculate bus phase angles, load & generation values fully

3 - bus system

Meter placement

Case 1
 Suppose meters M13 & M32 are used  Suppose M13 & M32 give us perfect readings of flows on their respective transmission lines M13 = 5 MW = 0.05 pu M32 = 40 MW = 0.40 pu
Flows on lines 1-3 & 3-2 can be set to meter readings

f 13

1 ! (U 1  U 3 ) ! M 13 ! 0.05 pu x13
1 ! (U 3  U 2 ) ! M 32 ! 0.40 pu x 32
3

f 32

We know

= 0, solve the above equations solve

U 1 ! 0.02rad

&

U 2 ! 0.10rad

Case 2
 All three meter readings have slight errors  Suppose readings obtained are
12

! 62 W ! 0.62 pu

M 13 ! 6 MW ! 0 .06 pu
32

! 37 W ! 0.37 pu

 Suppose meters M13 & M32 are used as before

 Calculate phase angles

U1 ! 0 .024 rad
U 2 !  0 .0925 rad

U 3 ! 0rad
 This results in system flows as shown in fig.  Flow on line 1-2 does not match 1-

Flows resulting from use of meters M13 & M32

Case 3
 Suppose meters M12 & M32 are used

 Calculate phase angles & line flows  This results in system flows as shown in fig.  Flow on line 1-3 does not match 1-

Flows resulting from use of meters M12 & M32

Conclusion
 A procedure is needed that uses information available from all meters to produce the best estimate of actual angles, line flows, bus load & generations

Reference

Allen J.Wood and Bruce F.Woolenberg, Power generation, operation and control, John Wiley & sons Inc. Inc. George L Kusic, Computer-Aided ComputerPower Systems Analysis, Prentice-Hall Prenticeof India, Pvt. Ltd. Pvt. Ltd.

RTU
 Provides interface for measurements of voltage, current , power flow, status .. to be transferred to the central computer via telemetry  Also implements commands from the central computer to equipment
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