Basics of Power System Control and Protection

A. P. Sakis Meliopoulos
Georgia Power Distinguished Professor School of Electrical & Computer Engineering Georgia Institute of Technology
NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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School of Electrical and Computer Engineering

Chairman Chairman (interim) (interim)
Dr. Dr. Douglas Douglas B. B. Williams Williams

Associate Associate Director Director Graduate Graduate Affairs Affairs

Computer Computer Engineering Engineering

Microelectronics Microelectronics

Associate Associate Director Director Undergraduate Undergraduate Affairs Affairs

Digital Digital Signal Signal Processing Processing

Modern Modern Optics Optics

Electric Electric Power Power

Associate Associate Director Director Electromagnetics Electromagnetics

Systems Systems and and Controls Controls

Telecommunications Telecommunications

Associate Associate Director Director

Electronic Electronic Design Design and and Applications Applications

Bioengineering Bioengineering

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Undergraduate Curriculum
ECE3070 ECE3070 Electromechanical Energy Conversion

ECE4320 ECE4320

Power System Analysis

ECE4321 ECE4321

Power System Engineering

ECE4330 ECE4330

Power Electronics

ECE4325 ECE4325

Electric Power Quality

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Graduate Courses in Power Systems

ECE6320 ECE6320 Control and Operation of Power Systems

ECE6321 ECE6321

Power System Stability

ECE6322 ECE6322

Power System Planning

ECE6323 ECE6323

Power System Relaying

ECE8843 ECE8843

Topics in Electric Power Computational Intelligence in Power Systems

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Graduate Courses in Power Electronics

ECE6330 ECE6330

Power Electronic Devices & Subsystems

ECE6331 ECE6331

Power Electronic Circuits

ECE6335 ECE6335

Electric Machinery Analysis and Design

ECE6336 ECE6336

Dynamics & Control of Electric Machine Drives

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Continuing Education
Power Systems Certificate Program
Core Core Courses Courses Power Power System System Relaying: Relaying: Theory Theory and and Application Application Modern Modern Energy Energy Management Management Systems Systems Integrated Integrated Grounding Grounding System System Design Design and and Testing Testing Grounding, Grounding, Harmonics, Harmonics, & & Electromagnetic Electromagnetic Influence Influence Design Design Practices Practices Power Power Distribution Distribution System System Grounding Grounding and and Transients Transients Power Power Electronic Electronic Devices, Devices, Circuits, Circuits, and and Systems Systems Elective Elective Courses/Conferences Courses/Conferences Fault Fault and and Disturbance Disturbance Analysis Analysis Conference Conference Georgia Georgia Tech Tech Protective Protective Relaying Relaying Conference Conference

All Courses are Coordinated by the Department of Professional Education All Courses are Offered Annually Academic Administrator: A. P. Meliopoulos
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NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

Present State of the Art: C&O and P&C

Model Based Control and Operation

Control & Operation

Real Time Model
State Estimation

Protection & Control

Component Protection
generators, transformers, lines, motors, capacitors, reactors

Applications
Load Forecasting Optimization (ED, OPF) VAR Control Available Transfer capability Security Assessment Congestion management Dynamic Line Rating Transient Stability EM Transients, etc. Visualizations

System Protection
Special Protection Schemes, Load Shedding, Out of Step Protection, etc.

Communications
Substation Automation, Enterprize, InterControl Center

Markets:
Day Ahead, Power Balance, Spot Pricing, Transmission Pricing (FTR, FGR), Ancillary Services

The Infrastructure for Both Functions is Based on Similar Technologies: Thus the Opportunity to Merge, Cut Costs, Improve Reliability Integration of New Technologies
NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Power Systems Operation

Main Objectives
REGULATION Frequency Voltage Net Interchange Pollutants SECURITY ECONOMICS Net Interchange Pollutants Power Transactions IPPs Energy Balance Market Ancillary Services

Tools
DATA AQUISITION SYSTEM SUPERVISORY CONTROL STATE ESTIMATION ANALYSIS OPTIMIZATION CONTROL

Restructuring
POWER MARKET (SMD) TRANSMISSION TARRIFS (FTR,FGR) CONGESTION MANAGEMENT ERO (Electric Reliability Organization)

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Component (Zone) Protection

G+GSU Backup Line 20 kV 230 kV Bus

Xfmr

Generators Transformers Buses Transmission Lines Motors Capacitor Banks Reactors, etc.

12kV

FDR Zone

Radial
NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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System Protection
Out of Step (Transient Stability) Transient Voltage Collapse
Reactance Grounded Gen 800 MVA-15 kV X1=15.5%,X2=18%,X0=9% Reactance Grounded Gen 800 MVA-15 kV X1=15.5%,X2=18%,X0=9%

Va = 8.400 kV
G

SOURCE-A
2

Va = 63.01 kV
BUS10

Va = 61.99 kV Va = 42.02 kV
BUS-MID BUS20
1 2

Illustration of Two Power System Swings: (a)Stable Out of Step Relay Should not Operate (b)Unstable Out of Step Relay Should Operate

Va = 8.238 kV
BUS30
G

Generator Angle 52 Degrees

2x47.4 mile 115 kV Transmission Line Generator Angle -49 Degrees

Special Protection Schemes

Special Protection Schemes are Protective Relaying Functions Concerned with the Protection Against Special System Conditions that May Lead to Catastrophic Results. These System Conditions are Determined with Extensive Studies of Specific System Behavior. Using this Information a SPS is designed that monitors the System and When the Special System Conditions Occur (Recognition Triggers) the System Operates (Automatically or with Operator Review and Action)

Illustration of Voltage Collapse Near the Center of a Stable System Swing Voltage Transitions Are Slow Undervoltage Protection Should not Operate

Load Shedding Frequency / Voltage

A System Disturbance May Create Generation-Load Imbalance Leading to Sustained Frequency Decline. This Condition, if not Corrected, May Lead to Equipment Damage. The Condition Can be Temporarily Corrected by Load Shedding Until Additional Generation can be Dispatched. Similarly, a Disturbance May Create Sustained Voltage Problems. These problems Can be Also Corrected by Load Shedding

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Control & Operation

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Modern Energy Management System Functional Diagram

ENERGY/ECONOMY FUNCTIONS SUBSYSTEM Load Forecast Load Forecast Unit Commitment Power Bids Ancillary Services Economic Dispatch Automatic Generation Control Economic Interchange Evaluation
DATA AQUISITION AND PROCESSING SUBSYSTEM

Parameter Estimation

SCADA Measurements

GPS Synchronized Measurements

Network Topology State Estimation Displays

Power Balance Market

Congestion Management Transmission Valuation SECURITY MONITORING AND CONTROL SUBSYSTEM Optimal Power Flow Security Dispatch Environmental Dispatch
Emergency State

External Equivalents

Security Monitoring
Normal State Extremis State

Emergency Controls

Contingency Analysis VAR Dispatch

Insecure State

Restorative Controls

Preventive Controls

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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OVERVIEW OF ENERGY MANAGEMENT SYSTEMS Data Acquisition and Processing Subsystem

G1 G2

MW Flow Measurement MVAR Flow Measurement kV Measurement Disconnect Switch Status Breaker Status

New Technology
GPS Synchronized Measurements (Phasors)

RTU

Communication Link with Control Center

Contact Inputs Analog Inputs Contact Outputs Analog Outputs

Data

RTU
Commands

Master Station

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Network Configurator Example

Breaker Oriented Model

AutoBank 500kV/230kV G1 AutoBank 500kV/230kV

G2

SG1

SG2

Bus Oriented Model

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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State Estimator
G1 G2

MEASUREMENTS: STATE:
T2

1 T1 2
Interconnection

FORMULATION: SOLUTION:

L1

4
Interconnection

L3 L2 5 T1 6
MW Flow Measurement MVAR Flow Measurement kV Measurement Transformer Tap Measurement

Traditional State Estimation

Centralized Procedure

Observability Bad Data Detection/ID/Rejection Parameter Estimation

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Technological Developments

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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The OLD and the NEW

Circuit Breaker CT CCVT

Relays

Circuit Breaker

CT

CCVT

IED-Relay Comm Link

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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SCADA Evolution
Indicator

Control

SCADA circa 1923 Independent of Protection

To Data Base Remote Access

Control Center
User Interface Encoder Decoder

Communication Standards
GPS

Communications Terminal
RTU IED Disturbance Recorders Relays

SCADA circa 2003

SCADA
Communications Terminal
Local Computer

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Project Background: Substation Architectures: SmartGrid

Protection, Control, Communications

Physical System

GE Hardfiber System
NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

Industry Direction: Single Data Acquisition System for Protection, Control, and Operations 1.20

Important New Technology GPS-Synchronization History of GPS-Synchronized Measurements

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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History of GPS-Synchronized Measurements

GPS Satellite System Initiated 1989, Completed 1994

The Antikythera Mechanism 87 BC

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Important Milestones
1970: First Computer Relay (PRODAR, Westinghouse, Gilcrest, Rockefeller, Udren) 1984: First Commercial Processor Based Relay (SEL) 1989: GPS Signal Becomes Commercially Available 1990-91: Phasor Measurement System (Arun Phadke) 1992: Phasor Measurement Unit (PMU) (Jay Murphy, Macrodyne)
NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Arun Phadkes Arun Phasor Phadkes Measurement PMS System

Block BlockDiagram DiagramPublished Publishedby byArun ArunPhadke Phadke

Vintage 1990-92 Vintage 1990-91 several units were sold to Several Units AEP, NYPA, Were Sold to others

AEP, NYPA, others

CHARACTERISTICS Analog Filter with Cutoff Frequency of 360Hz Sample & Hold A/D Technology with Analog Multiplexing 12 bit S&H A/D 720 s/s

Time TimeAccuracy AccuracyWas WasNever NeverMeasured Measuredor orReported. Reported. Multiplexing and Design Suggest Very High Multiplexing and Design Suggest Very HighTiming TimingError Error Estimated Time Precision: 100 us, 2 degrees at 60 Hz Estimated Time Precision: 100 us, 2 degrees at 60 Hz
NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Macrodyne 1620 PMU

Released to Market January 1992
Jay Murphy (Macrodyne) Was First to Introduce Term PMU: Phasor Measurement Unit
Input Protection & Isolation Section GPS Antenna A/D Converter ( Modulation) Optical Isolation Digitized Data 2880 s/s GPS Receiver Optical Isolation Analog Inputs V : 300V I : 2V Input Protection & Isolation Section 1PPS IRIGB

CHARACTERISTICS
Memory

Individually GPS Syncd Channels Common Mode Rejection Filter with Optical Isolation 16 bit A/D Modulation

Sampling Clock

PLL

A/D Converter ( Modulation)

Optical Isolation Digitized Data 2880 s/s

Optical Isolation

Display & Keyboard RS232 Data Concentrator (PC)

Master Workstation

Time ss TimeAccuracy Accuracy1 1 0.02 0.02Degrees Degreesat at60 60Hz Hz

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NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

Distributed Dynamic State Estimation Implementation

PMU Technology Enables Distributed SE
Measurement Layer
Phase Conductor
v(t) i(t)

IED Vendor D

Physical Arrangement
Data Processing
FireWall

LAN

Current Transformer Attenuator

Relay Vendor C

Potential Transformer

Instrumentation Cables

i1(t) i2(t)

Burden

PMU Vendor A
SuperCalibrator

Attenuator

v1(t)

v2(t)

PMU Vendor C Burden

Data/Measurements from all PMUs, Relays, IEDs, Meters, FDRs, etc are collected via a Local Area Network in a data concentrator. The data is used in a dynamic state estimator which provides the validated and high fidelity dynamic model of the system. Bad data detection and rejection is achieved because of high level of redundant measurements at this level.
NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

Encoding/Decoding Cryptography

Anti-Aliasing Filters

Data Flow
LAN

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Numerical Results B-G Plant

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Transient Stability Monitoring

The dynamic state estimator is utilized to predict the transient stability or instability of a generator. The dynamic state of the system provides the center of oscillations of the generator swing. From this information the potential energy of the generator is computed as a generalization of the basic energy function method. The total energy of the generator can also be trivially computed once the potential energy has been computed. The total energy is compared to the potential energy of the generator if the total energy is higher than the peak (barrier) value of the potential energy this indicates that the generator will lose its synchronism (transient instability). It is important to note that this approach is predictive, i.e. it identifies a transient instability before it occurs. The figures provide visualizations of generator oscillations and the trajectory of the total energy superimposed on the system potential energy.

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Energy Management Systems

Hierarchy of Scheduling Functions
Level 1: Load Forecasting Unit Commitment Emissions Control Economy Purchases Level 2: Economic Dispatch Environmental Dispatch Economic Interchange Evaluation Optimal Power Flow Transfer Capability Day-Ahead Scheduling Spot Market Scheduling Level 3: Automatic Generation Control - Frequency Control - Interchange Control - Transactions Control - Inadvertent Power Flow Control
NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Generating Unit Control Schemes

Schematic Representation
Tramsmission System and Load Prime Mover

G
Vg Pg f

Tie Line

Governor G(s) f Vref

Exciter

fsched + Bias Bf + f L(s) + K(s) + + Psched

+ PSS D(s)

Pg Pg

f -

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Net Interchange Control

G

Area 1

Area 3

Vi e ji

ACE = P

Area 4

Area 2
G

Area Control Error (ACE)

ACE = Pint + Bf

Pgi = a i ACE
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Economic Scheduling Functions Hierarchical Structure

A
Resource Scheduling (weeks)
Mid Term Load Forecast Units out for maintenance Fuel Management Weekly hydro energy usage

Unit Commitment (hours/Days)

Short Term Load Forecast List of committed units Hourly hydro energy usage Interchange schedule

Economic Dispatch (minutes)

Security Dispatch
Economic Base Points Participation Factors

Automatic Generation Control (seconds)

Pdesi , i =1,2,...,n
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Economic Dispatch
G1 G2

MEASUREMENTS COST
T2

1 T1 2
Interconnection

FORMULATION SOLUTION

L1

4
Interconnection

L3 L2 5 T1 6
MW Flow Measurement MVAR Flow Measurement kV Measurement Transformer Tap Measurement

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Optimal Power Flow

G1 G2

MEASUREMENTS
1 T1 2
Interconnection

3 T2 L1 4
Interconnection

STATE CONTROLS FORMULATION SOLUTION

L3 L2 5 T1 6
MW Flow Measurement MVAR Flow Measurement kV Measurement Transformer Tap Measurement

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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SYSTEM SECURITY
(Congestion Management) Power System Operating States
Restorative Controls

NORMAL and SECURE System Optimization

D,O
Preventive Controls Restorative Controls

RESTORATIVE System Security

D,O
Emergency Controls EXTREMIS System Security

NORMAL but VULNERABLE/INSECURE Optimization/Security

D,O

Emergency Controls

Corrective Controls EMERGENCY System Security

D,O
Transition Due to Disturbances Transition Due to Control Action

D,O

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Energy Management Systems Hierarchical Structure

System Power Production and Control (SPPC) Operations Coordination Office (OCO)

Regional Dispatch Center (RDC)

Substation
UCE Vexc

Power Plant
Power Plant Controls Psched fsched ACE Vsched

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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New Challenges: Wind/PV Farm Characteristics

Types 1 and 2 are Not Used for Large Projects Types 3 and 4 Limit Fault Currents to About 120% of Nominal Current

Proposed Proposed Requirements Requirements NERC NERC PRC-024, PRC-024, >20 >20 MVA MVA or or >75 >75 MVA MVA Total Total

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Renewables and Uncertainty

Solar is Available During High Price/Cost Hours Small Storage can provide huge add-on value to solar projects Better capacity factor than other renewables (70 to 80%)

Wind Availability is Highly Volatile and Patterns May be Opposite to Grid Needs (i.e. CA) Large Storage Schemes are needed to coordinate economic usage of wind energy and to provide add-on value Very small capacity factor (10 to 25%)

Large Wind Swings

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Energy Management Systems: Evolution

Control and Operation of Power Systems is Driven by (a) Legislative action (b) Economics (c) Technical constraints The envelop is always moving because of technological advancements
ERO Focus: Operational Reliability
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History of Utility Regulatory Legislation

Federal Power Commission PUHCA 1935 (Public Utility Holding Company Act) Federal Energy Regulatory Commission (1977) PURPA 1978 (Public Utility Regulatory Policies Act) Clean Air Act 1990 Energy Policy Act 1992 Orders 888 & 889 1996 (1 OASIS ) CECA 1998 (Comprehensive Electricity Competition Act) Order 2000 SMD Standard Market Design US Energy Policy Act, 2005 (provides authority to enforce reliability)
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Visualization & Animation

University of Illinois/Georgia Tech (PSERC Project)

G e n e ra to r A n im a tio n - U n it C a p a b ility
U n it N a m e

Qg

R o tor H e ating

Pg

L ow V o lta ge

S e n s itiv itie s

d P g /d P d Q g /d P d V g /d P

Large Scale Systems

Performance - Model Hierarchy
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NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Energy Management Systems Information Systems and Standards

OASIS UCA ICCP CCAPI CIM Open Access Same-Time Information System Utility Communication Architecture Inter-Control Center Communications Protocol Control Center Application Program Interface Common Information Model

IEC61850 Evolution of the UCA C37.118 Synchrophasor Data

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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Active Future Distribution Systems (with distributed energy resources solar, wind, PHEVs, fuel cells,).
Smart Grid technologies: Distributed Monitoring, Control, Protection and Operations system. Target Speeds 10 times per second Functions: (a) Optimal operation of the distribution system under normal operating conditions, (b) Emergency management in cases of faults and assist the power grid when needed, (c) Assist Voltage recovery, (d) Assist cold load pickup, (e) Balance Feeder, (f) etc., etc.

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Evolution, Naxos Island, Greece June 25, 2011

NSF/ECEDHA Education Workshop Georgia Tech GLC, Atlanta, Georgia, July 9-12, 2011

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