The Effect of Delays on Wide-Area Damping Control of Electromechanical Oscillations

Transcription

1 Introduction The Effect of Delays on Wide-Area Damping Control of - R. Karppanen AS Automaatio- ja systeemitekniikan seminaari, 2015

2 Outline Introduction 1 Introduction 2 3 4

3 Master s Thesis. 1 / 2 Introduction Aalto University s School of Electrical Engineering as a part of Nordic energy research STRONGrid. The STRONGrid partner was Fingrid, the Finnish national electricity transmission grid operator.

4 Master s Thesis. 1 / 2 Introduction Aalto University s School of Electrical Engineering as a part of Nordic energy research STRONGrid. The STRONGrid partner was Fingrid, the Finnish national electricity transmission grid operator.

5 Master s Thesis. 2 / 2 Introduction The objective is to study the effects of delays on the wide-area damping control of electromechanical oscillations. Identify the typical sources for latency in wide-area measuring systems, define them and their magnitudes. Study the effects of delays on the performance of wide-area damping control of electromechanical oscillations using power system simulations.

6 Master s Thesis. 2 / 2 Introduction The objective is to study the effects of delays on the wide-area damping control of electromechanical oscillations. Identify the typical sources for latency in wide-area measuring systems, define them and their magnitudes. Study the effects of delays on the performance of wide-area damping control of electromechanical oscillations using power system simulations.

7 Master s Thesis. 2 / 2 Introduction The objective is to study the effects of delays on the wide-area damping control of electromechanical oscillations. Identify the typical sources for latency in wide-area measuring systems, define them and their magnitudes. Study the effects of delays on the performance of wide-area damping control of electromechanical oscillations using power system simulations.

8 Background. 1 / 4 Introduction Power system stability is an important requirement for power system operations. [1] Electromechanical oscillations are one of the major challenges for power engineers and researchers. [1] Poorly damped wide-area oscillations can result in widespread blackouts or limit the power flow between system areas. [2]

9 Background. 1 / 4 Introduction Power system stability is an important requirement for power system operations. [1] Electromechanical oscillations are one of the major challenges for power engineers and researchers. [1] Poorly damped wide-area oscillations can result in widespread blackouts or limit the power flow between system areas. [2]

10 Background. 1 / 4 Introduction Power system stability is an important requirement for power system operations. [1] Electromechanical oscillations are one of the major challenges for power engineers and researchers. [1] Poorly damped wide-area oscillations can result in widespread blackouts or limit the power flow between system areas. [2]

11 Background. 2 / 4 Introduction

12 Background. 3 / 4 Introduction Increased scale in power systems has made inter-area low frequency oscillations a serious problem. [1] Poorly damped wide-area oscillations can result in widespread blackouts or limit the power flow between system areas. [2] Traditional damping controllers have solved this problem locally but risk limited success on wider area. [3]

13 Background. 3 / 4 Introduction Increased scale in power systems has made inter-area low frequency oscillations a serious problem. [1] Poorly damped wide-area oscillations can result in widespread blackouts or limit the power flow between system areas. [2] Traditional damping controllers have solved this problem locally but risk limited success on wider area. [3]

14 Background. 3 / 4 Introduction Increased scale in power systems has made inter-area low frequency oscillations a serious problem. [1] Poorly damped wide-area oscillations can result in widespread blackouts or limit the power flow between system areas. [2] Traditional damping controllers have solved this problem locally but risk limited success on wider area. [3]

15 Background. 4 / 4 Introduction The development and application of wide-area signals for monitoring and controlling power system stability. [2] In wide-area systems measurements from remote locations are gathered into one location for monitoring and control purposes. [4] Long distances and real time response requirements set strict demands for wide-area monitoring and control systems. [3]

16 Background. 4 / 4 Introduction The development and application of wide-area signals for monitoring and controlling power system stability. [2] In wide-area systems measurements from remote locations are gathered into one location for monitoring and control purposes. [4] Long distances and real time response requirements set strict demands for wide-area monitoring and control systems. [3]

17 Background. 4 / 4 Introduction The development and application of wide-area signals for monitoring and controlling power system stability. [2] In wide-area systems measurements from remote locations are gathered into one location for monitoring and control purposes. [4] Long distances and real time response requirements set strict demands for wide-area monitoring and control systems. [3]

18 Introduction. 1 / 4 Power systems are under constant changes, each change leads to an oscillatory responses from the power system. [5] The electromechanical oscillations are inherent to power systems and can observed in many of the power system variables. [6] At all times several oscillation modes can be observed in the power system.

19 Introduction. 1 / 4 Power systems are under constant changes, each change leads to an oscillatory responses from the power system. [5] The electromechanical oscillations are inherent to power systems and can observed in many of the power system variables. [6] At all times several oscillation modes can be observed in the power system.

20 Introduction. 1 / 4 Power systems are under constant changes, each change leads to an oscillatory responses from the power system. [5] The electromechanical oscillations are inherent to power systems and can observed in many of the power system variables. [6] At all times several oscillation modes can be observed in the power system.

21 Introduction. 2 / 4

22 Introduction. 3 / 4 Low frequency oscillations affect small signal stability which is a part of the phase angle instability problem. [5] Electromechanical oscillations are divided into five main types oscillations by their interaction characteristics. [5]

23 Introduction. 3 / 4 Low frequency oscillations affect small signal stability which is a part of the phase angle instability problem. [5] Electromechanical oscillations are divided into five main types oscillations by their interaction characteristics. [5]

24 Introduction. 4 / 4 Local mode oscillations. Interarea mode oscillations. Other oscillations.

25 Introduction. 4 / 4 Local mode oscillations. Interarea mode oscillations. Other oscillations.

26 Introduction. 4 / 4 Local mode oscillations. Interarea mode oscillations. Other oscillations.

27 Introduction. 1 / 6 PMU-based wide-area measurement systems: time synchronized measurements from a wide-area of the power system. [7] Collected at centralized control centers for further processing and power system monitoring and control. [7] Used worldwide, additional data from important substations on power systems to the entire power systems being critically dependant on them. [8]

28 Introduction. 1 / 6 PMU-based wide-area measurement systems: time synchronized measurements from a wide-area of the power system. [7] Collected at centralized control centers for further processing and power system monitoring and control. [7] Used worldwide, additional data from important substations on power systems to the entire power systems being critically dependant on them. [8]

29 Introduction. 1 / 6 PMU-based wide-area measurement systems: time synchronized measurements from a wide-area of the power system. [7] Collected at centralized control centers for further processing and power system monitoring and control. [7] Used worldwide, additional data from important substations on power systems to the entire power systems being critically dependant on them. [8]

30 Introduction. 2 / 6 A PMU is a digital device which extracts measurements, phasors, based on a time synchronized reference signal. [7] A phasor is a complex number that represents both the magnitude and phase angle of voltage and current sinusoidal waveforms. [7] The significant feature of the phasor measurements units is their high precision timestamps. [9]

31 Introduction. 2 / 6 A PMU is a digital device which extracts measurements, phasors, based on a time synchronized reference signal. [7] A phasor is a complex number that represents both the magnitude and phase angle of voltage and current sinusoidal waveforms. [7] The significant feature of the phasor measurements units is their high precision timestamps. [9]

32 Introduction. 2 / 6 A PMU is a digital device which extracts measurements, phasors, based on a time synchronized reference signal. [7] A phasor is a complex number that represents both the magnitude and phase angle of voltage and current sinusoidal waveforms. [7] The significant feature of the phasor measurements units is their high precision timestamps. [9]

33 Introduction. 3 / 6 The devices at the next levels of hierarchy above the PMUs are known as phasor data concentrators (PDCs). The phasor data concentrators gather data from several PMUs, reject invalid data, synchronize it and create a record. [7] A PDC can either be a software solution running on a general computer or a specific hardware solution. [8]

34 Introduction. 3 / 6 The devices at the next levels of hierarchy above the PMUs are known as phasor data concentrators (PDCs). The phasor data concentrators gather data from several PMUs, reject invalid data, synchronize it and create a record. [7] A PDC can either be a software solution running on a general computer or a specific hardware solution. [8]

35 Introduction. 3 / 6 The devices at the next levels of hierarchy above the PMUs are known as phasor data concentrators (PDCs). The phasor data concentrators gather data from several PMUs, reject invalid data, synchronize it and create a record. [7] A PDC can either be a software solution running on a general computer or a specific hardware solution. [8]

36 Introduction. 4 / 6

37 Introduction. 5 / 6 Four main uses for PMUs are state estimation, instability prediction, adaptive relaying and improved control of the power system. [7] PMUS have replaced the old systems, augmented them or allowed for the development on entirely new monitoring and control schemes. [10]

38 Introduction. 5 / 6 Four main uses for PMUs are state estimation, instability prediction, adaptive relaying and improved control of the power system. [7] PMUS have replaced the old systems, augmented them or allowed for the development on entirely new monitoring and control schemes. [10]

39 Introduction. 6 / 6 Wide-area measuring systems involve small amounts of data but at high transmission rates. [11] Dedicated fiber optic data links are preferred. [11]

40 Introduction. 6 / 6 Wide-area measuring systems involve small amounts of data but at high transmission rates. [11] Dedicated fiber optic data links are preferred. [11]

41 Introduction. 6 / 6 Wide-area measuring systems involve small amounts of data but at high transmission rates. [11] Dedicated fiber optic data links are preferred. [11]

42 Introduction Delays in. 1 / 4 Performance of the supporting information communication infrastructure. [12] Other delays be traced to the various processes and components in the system architecture. [12] Clearly identifiable sources for delay are the processing and execution times of the various devices. [12]

43 Introduction Delays in. 1 / 4 Performance of the supporting information communication infrastructure. [12] Other delays be traced to the various processes and components in the system architecture. [12] Clearly identifiable sources for delay are the processing and execution times of the various devices. [12]

44 Introduction Delays in. 1 / 4 Performance of the supporting information communication infrastructure. [12] Other delays be traced to the various processes and components in the system architecture. [12] Clearly identifiable sources for delay are the processing and execution times of the various devices. [12]

45 Delays in WAMS. 2 / 4 Introduction

46 Delays in WAMS. 3 / 4 Introduction Communication network is a crucial part of a wide area control system and can be a possible bottleneck in the architecture of these systems. [12] Communication protocols, load, distance and channels used are among the key factors in determing the communication delay. [10]

47 Delays in WAMS. 3 / 4 Introduction Communication network is a crucial part of a wide area control system and can be a possible bottleneck in the architecture of these systems. [12] Communication protocols, load, distance and channels used are among the key factors in determing the communication delay. [10]

48 Delays in WAMS. 4 / 4 Introduction End-to-end delay = Measurement delay + Control delay τ ete = τ pmu + τ c1 + τ pdc + τ c2 + τ ctrl + τ c3 + τ act. From the time of sampling to the moment it has impact on the power system through damping control. [13]

49 Delays in WAMS. 4 / 4 Introduction End-to-end delay = Measurement delay + Control delay τ ete = τ pmu + τ c1 + τ pdc + τ c2 + τ ctrl + τ c3 + τ act. From the time of sampling to the moment it has impact on the power system through damping control. [13]

50 Delays in WAMS. 4 / 4 Introduction End-to-end delay = Measurement delay + Control delay τ ete = τ pmu + τ c1 + τ pdc + τ c2 + τ ctrl + τ c3 + τ act. From the time of sampling to the moment it has impact on the power system through damping control. [13]

51 Introduction Overview on electromechanical oscillations and wide-area monitoring and control systems was presented The delay composition was introduced The work continues in the thesis on identifying the magnitudes of the delays and stufying their effects

52 Appendix For Further Reading References I [1] L. Fan, Synchronized global phasor measurement based inter-area oscillation control considering communication delay, in Power and Energy Society General Meeting, 1-6, [2] G. Chen, Y. Sun, V. Venkatasubramanian, L. Cheng, J. Lin, A. Bose, W. Zhaon, and C. Lin, Wide area control framework design considering different feedback time delays, in Power and Energy Society General Meeting, [3] C. Lu, X. Wu, J. Wu, P. Li, Y. Han, and L. Li, Implementations and experiences of wide-area hvdc damping control in china southern power grid, in Power and Energy Society General Meeting, 2012.

53 Appendix For Further Reading References II [4] D. Dotta, A. S. e Silva, and I. C. Dexker, Wide-area measurements-based twolevel control design considering signal transmission delay, IEEE Transactions on Power Systems, vol. 24, no. 1, pp , February [5] K. Praserrwong, M. Nadarajah, and D. Thakur, Understanding low-frequency oscillation in power systems, International Journal of Electrical Engineering Education, vol. 47, no. 3, pp , July [6] K. Narendra, D. R. Gurusinghe, and A. D. Rajapakse, Dynamic performance evaluation and testing of phasor measurement unit (pmu) as per ieee c standard, in IEEE General Meeting, Power Engineering Society, 2012.

54 Appendix For Further Reading References III [7] B. Naduvathuparambil, M. C. Valenti, and A. Feliachi, Communication delays in wide area measurement systems, in IEEE General Meeting, Power Engineering Society, [8] M. Chenine and L. Nordström, Investigation of communication delays and data incompleteness in multi-pmu wide area monitoring and control systems, in Electric Power and Energy Conversion Systems, [9] A. Phadke and J. Thorp, Synchronized Phasor Measurements and Their Applications, M. A. Pai and A. Stankovic, Eds. Springer, 2008.

55 Appendix For Further Reading References IV [10] M. Chenine, E. Karam, and L. Nordstrám, Modeling and simulation of wide area monitoring and control systems in ip-based networks, in Power & Energy Society General Meeting, [11] M. S. Thomas, N. Senroy, and A. S. Rana, Analysis of time delay in a wide-area communication network, in Power India International Conference, [12] K. Zhu, J. Song, M. Chenine, and L. Nordstrám, Analysis of phasor data latency in wide area monitoring and control systems, in Communications Workshops (ICC), 2010.

56 Appendix For Further Reading References V [13] D. R. Gurusinghe, A. D. Rajapakse, and D. Muthumuni, Modeling of a synchrophasor measurement unit in an electromagnetic transient simulation program, in The International Conference on Power Systems Transients (IPST) 2013, Vancouver, BC, Canada, 2013.