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Simple basics
What is SCADA?
Supervisory Control Data Acquisition
Simple basics
How to look into the future? How to know present problems/state? How & what actions to take? Which are best actions? Optimisation? How can we control the events?
Simple basics
What is State Estimation (SE)? Why is it required? How is it achieved?
Techniques? Process?
EMS functions objective Power system monitoring Power system control Power system economics Security assessment
EMS Functions : Classification Based on Function 1. State Estimation 2. Power Flow Analysis 3. Contingency Analysis 4. Security enhancement
SE Problem Development
Whats A State?
The complete solution of the power system is known if all voltages and angles are identified at each bus. These quantities are the state variables of the system. Why Estimate? Meters arent perfect. Meters arent everywhere. Very few phase measurements? SE suppresses bad measurements and uses the measurement set to the fullest extent.
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EMS Functions
Out of the all EMS functions State Estimator is the first and most important function. All other EMS functions will work only when the State Estimator is running well. State Estimator gives the base case for further analysis.
State Estimation
State Estimation is the process of assigning a value to an unknown system state variable based on measurements from that system according to some criteria. The process involves imperfect measurements that are redundant and the process of estimating the system states is based on a statistical criterion that estimates the true value of the state variables to minimize or maximize the selected criterion. Most Commonly used criterion for State Estimator in Power System is the Weighted Least Square Criteria.
State Estimation It originated in the aerospace industry where the basic problem have
involved the location of an aerospace vechicle (i.e. missile , airplane, or space vechicle) and the estimation of its trajectory given redundant and imperfect measurements of its position and velocity vector.
In many applications, these measurements are based on optical observations and/or radar signals that may be contaminated with noise and may contain system measurement errors. The state estimators came to be of interest to power engineers in1960s. Since then , state estimators have been installed on a regular basis in a new energy control centers and have proved quite useful.
State Estimation
In the Power System, The State Variables are the voltage Magnitudes and Relative Phase Angles at the System Nodes. The inputs to an estimator are imperfect power system measurements of voltage magnitude and power, VAR, or ampere flow quantities. The Estimator is designed to produce the best estimate of the system voltage and phase angles, recognizing that there are errors in the measured quantities and that they may be redundant measurements.
60 MW
Only two of these meter readings are required to calculate Bus2 the bus phase angles and all load and 40 MW generation values fully. M32
65 MW
M13
Bus1
Per unit Reactances (100 MVA Base): X12=0.2 X13=0.4 X23=0.25
Case-1 Suppose we use M13 and M32 and further suppose that M13 and M32 gives us perfect readings of the flows on their respective transmission lines. M13=5 MW=0.05pu M32 =40 MW=0.40pu f13=1/x13*(1- 3 )=M13 = 0.05 f32=1/x32*(3- 2)=M32 = 0.40 Since 3=0 rad 1/0.4*(1- 0 )= 0.05 1/0.25*(0- 2) = 0.40 1 =0.02 rad 2 =-0.10 rad
62 MW
65 MW
M13
Bus1
Per unit Reactances (100 MVA Base): X12=0.2 X13=0.4 X23=0.25
Bus2 37 MW
M32
35 MW
Meter Location
What we need ?
A procedure that uses the information available from all the three meters to produce the best estimate of the actual angles, line flows, and bus load and generation. We have three meters providing us with a set of redundant readings with which to estimate the two states 1 and 2.. We say that the readings are redundant
since, as we saw earlier, only two readings are necessary to calculate 1 and 2 the other reading is always extra. However, the extra reading does carry useful information and ought not to be discarded summarily.
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X est =[ [H]T[R-1][H] ]-1 X [H]T[R-1]Zmeas [H]= an Nm by Ns matrix containing the coefficients of the linear functions fi(x) [R] = 1 2 2 2 . . Nm 2
[Z meas]=
. .
M13= f13 = 1/0.4 x(1 - 3) =2.5 1 M32 = f32 = 1/0.25 x(3 - 2) =-4 2
[H]= 5 -5 2.5 0 0 -4
M13 2 M23 2
SE Functionality
So Whats It Do?
Identifies observability of the power system. Minimize deviations of measured vs estimated values. Status and Parameter estimation. Detect and identify bad telemetry. Solve unobservable system subject to observable solution. Observe inequality constraints (option).
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SE Measurement Types
What Measurements Can Be Used?
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Bus voltage magnitudes. Real, reactive and ampere injections. Real, reactive and ampere branch flows. Bus voltage magnitude and angle differences. Transformer tap/phase settings. Sums of real and reactive power flows. Real and reactive zone interchanges. Unpaired measurements ok
Observability Analysis
Bus Observability
A bus is observable if enough information is available to determine its voltage magnitude and angle. Observable area can be specified (Region of Interest).
Bus or station basis
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Solution Algorithms
Objective Weighted Least Squares:
Minimize: J(x) = .5 [Z - h(x)] t R -1 [Z - h(x)] where, J = Weighted least squares matrix R = Error covariance matrix
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Unobservable System
Portions of the network that cannot be solved completely based on real-time telemetry are called unobservable and are color-coded yellow.
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Penalty Factors
Real-Time Penalty Factors
Calculated on successful completion of RTNA. Available for use by Generation Dispatch and Control. Penalty Factor display.
Network component P,Q Bus Voltage magnitude Values Tap Positions Data Quality Information
RTGEN
Unit MW base points and MW limits Unit Participation Factors Unit Ramp Rates Unit Control Status and on/off line status Scheduled Area Transactions
Output Bus Voltages And Angles MW/MVAR Flows Limit Violations Generation And Load Tap Position Anomalous input Data Loss Sensitivity In addition to all these SE also Detects & Identifies the Bad Measurements
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Causes of Poor Estimate quality Topology/Model error in the vicinity of the problem
Switching devices in wrong status, particularly non telemetered. New construction Bad equivalents Branch parameters incorrect Capacitors or reactor in wrong state. Unsuitable pseudo measurements Unrealistic Unit Limits Unrealistic Load model Incorrect target values for regulation schedule Incorrect tap position
Should it be on AVR? Should it be estimated?
Contingency Analysis
A contingency is a defined set of hypothetical equipment outages and / or breaker operations
Also : node outage, substation outage Conditional contingencies
Contingency Analysis reports which hypothetical contingencies would cause component limit violations.