Mats Larsson, Corporate Research ABB Switzerland

Wide-area Monitoring and Control

for Electric Power Systems
HYCON2 Workshop on Energy, Bruxelles 2012-09-04

ABB Group
October 14, 2012 | Slide 1
Outline

Monitoring and Control of Power Networks

Angle and Frequency Dynamics in Power Systems
Wide-area Monitoring and Control
Power Damping Monitoring (PDM)
Pilot Experience from swissgrid
Conclusion

ABB Group
October 14, 2012 | Slide 2
A Simple Power System

Dam acts as long term

W mgh
Governor energy storage
Generator/turbine act as
Turbine
short term energy storage
d
Pmech 2H Pmech Pelec D
dt
Generator
d
s
dt
Pelec
Governor control adjusts
mechanical power to keep
frequency constant
Demand
Static Stability of a Generator
How do generators stay synchronized ?

V1 1 V2 0
jX

Pmax
V1 V2 0
i
jX
V1V2
P Re v1i1* sin
X

Increased generation requires increase

in load angle ( )
90 180 270 360
Stable only for
There is a maximum power transfer
capacity Pmax

ABB Group
October 14, 2012 | Slide 4
Generator Connected to a Strong Grid
Classical Generator Model

2H d 2 D d V1V2
Loss of 2
sin Pmech
synchronism s dt s dt X
linearise around 0 and
V1V2
set K cos( 0 ) :
X
2H d 2 D d
2
K 0
s dt s dt

Change Damping Synchronizing

in stored
energy power Power

Time (s)
ABB Group
October 14, 2012 | Slide 5
WSCC Blackout , USA
August 10, 1996

ABB Group
October 14, 2012 | Slide 6
Oscillations in an Interconnected Grid

Theoretically each pair of generation units can form an

oscillatory mode
Local modes
Inter-area modes

Video 1 (Macedonia, medium res)

Video 2 (Macedonia, high res)
Video 3 (Italy, high res)

ABB Group
October 14, 2012 | Slide 7
ABB Phasor Measurement Unit RES 521
Provides High Accuracy

Phasor Measurement Units (PMU)

Voltage and Current Phasors
Synchronization by GPS clock
Timestamp accuracy < 1
microsecond
PMU
Angle accuracy < 0.1 degree
Programmable action logic

4x3 Current inputs

2x3 Voltage inputs
8 binary inputs/outputs

Synchrophasor data format IEEE

1344 or C37.118 over TCP (IP &
UDP)

ABB Group
October 14, 2012 | Slide 9
Wide-area Monitoring and Control
GPS
Satellite

Time stamps

Synchronization

Control room

Voltage and current phasors

Communication network

ABB Group
October 14, 2012 | Slide 10
WAMS Application Overview
Advanced Visualization of Raw Measurements
Voltage and Phase Angle Profiles
Real-time Power Swing Display
Phasor-assisted or Linear State-estimation
Contour Mapping / Geographical Displays

Monitoring & Prediction of Transmission Capacity (Wide Area

Monitoring)
Corridor Voltage Stability Monitoring
Power Oscillation Monitoring
Line Thermal Monitoring

Coordination of Actions in Emergency Situations (Wide Area

Control and Protection)
Emergency FACTS/HVDC setpoint rescheduling
Wide-area control for Damping of Power Oscillations

ABB Group
October 14, 2012 | Slide 11
Ambient vs Transient Oscillations

50.1

50.05
Frequency (Hz)

50

49.95

49.9 ambient ambient

transient

49.85
-60 -40 -20 0 20 40 60
Time (sec)
ABB Group
October 14, 2012 | Slide 12
Power Damping Monitoring
PDM normalised trend MW1

G1 1
G2 2

Capabilities G3
G4
G5
G6
3
4
5
6
G7 7
G8 8

Accurate determination of damping G9

G10
G11
G12
9
10
11
12

level under ambient conditions G13

G14
G15
G16
13
14
15
16
T01 17
T16 18

Mode shape determination T61

T62
T74
T76
19
20
21
22
T77 23
T86 24

Possibility of incorporating probing 5600 5800 6000 6200

time/sample interval
6400 6600

signals
Use of multiple input signals
Simultaneous detection of multiple
modes

ABB Group
October 14, 2012 | Slide 13
Power Damping Monitoring (PDM)
Principle

Sliding window of 10-15 minutes length

Estimate MIMO statespace model

x(k 1) Ax(k ) Bu(k ) Ke(k )

y(k ) Cx(k ) Du(k ) e(k )

e(k) background power system load variations

u(k) probing signals (optional)
y(k) angle difference measurements
Carry out modal analysis
Damping & frequency of critical modes
Visibility in different measurements (mode shape)
Activity in each mode

ABB Group
October 14, 2012 | Slide 14
swissgrid PSGuard

ABB Group
October 14, 2012 | Slide 15
ENTSO-E
Major Oscillation Modes found by PDM

Mode 3: 0.18Hz

North-south
mode

Old East West

Mode

ABB Group
October 14, 2012 | Slide 16
ENTSO-E Disturbance 2011-02-19
Summary of Events

At 08:00 on morning of 2011-02-19 a major oscillation

starts growing in the north-south direction
The north-south mode is significantly excited
The oscillation grows to a peak amplitude at 08:09
of +/- 100 MW measured at Soazza on the connection
to Italy
of +/- 120 mHz measuread in southern Italy
The oscillation is damped out at around 08:16

Two smaller oscillations are excited at 08:38 and 09:00,

respectively

ABB Group
October 14, 2012 | Slide 17
PSGuard Frequency Recording
Raw Data

50.15
f1bas
f2bri

50.1 f3kas
f4rec
f5div
50.05 f6the
Raw Frequency (Hz)

f7tem

50

49.95

49.9

49.85
07:30 08:00 08:30 09:00 09:30 10:00

ABB Group
October 14, 2012 | Slide 18
Filtered PSGuard Frequency Recording
Zoomed in at 8:09

Peak of oscillation
150
4*Tperiod = 16.1s ~ 0.248Hz f 1bas
f 2bri

100 f 3kas
f 4rec
f 5div
Filtered Frequency (mHz)

50 f 6the
f 7tem

-50

-100

-150
2320 2330 2340 2350 2360 2370 2380
Time (s)

ABB Group
October 14, 2012 | Slide 19
PDM Results
I Oscillatory Activity (xy-plot)

0.5 0.2

0.45

0.4 0.15
Frequency

0.35

Activity (Hz)
0.3 0.1

0.25

0.2 0.05

0.15

0.1 0
-20 0 20 40 60 80 0.1 0.2 0.3 0.4 0.5
Damping (%) Mode Frequency (Hz)

Very poorly damped oscillations at 0.25 Hz main oscillation

(worst -2%)
East west-mode (0.13 Hz) still detected, but well damped

ABB Group
October 14, 2012 | Slide 20
PDM Results
II Time Series

Mode 1 Mode 2
0.28 1
Frequency (Hz)

Frequency (Hz)
0.26 0.5

0.24 0
0 50 100 150 0 50 100 150

20 100
Damping (%)

Damping (%)
10
50
0

-10 0
0 50 100 150 0 50 100 150
modal Activity (mHz)

modal Activity (mHz)

200 200
f f
2bri 2bri
modAct modAct
0 0

-200 -200
0 50 100 150 0 50 100 150
Time (min) Time (min)

ABB Group
October 14, 2012 | Slide 21
Wide-area Control
Pilot Test in Norway
Wide Area Power Oscillation
Damping control WA-POD
Chose feedback signals from any
PMU equipped substation in
Nordel
Coordinated POD action from
several actuators (SVC, FACTS,
Generators)

Prototype WACS implemented

and tested
PMU-PCU400 PDC-MACH2
control system
Wide Area Power Oscillation
Damper (POD) with local signal
based POD as backup

ABB Group
October 14, 2012 | Slide 22
Conclusion

Wide-area Monitoring and Control improves upon traditional

SCADA/EMS system with a factor of 10-100 in terms of resolution

Enables monitoring and control of dynamic (stability) phenomena

Power damping monitoring validated and transferred to

commercial product

Active control of oscillations demonstrated in pilot test

ABB Group
October 14, 2012 | Slide 23