Optimal Placement of Phasor Measurement Units for State Estimation using Integer Linear Programming

Presentation by Ajinkya Sinkar & Vikas Kurariya (M.Tech, Power Electronics & Power Systems)

November 5, 2013

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Overview

Block Diagram of a Generic PMU PMUs for State Estimation Need For Optimal Placement of PMU Placement for Complete & Incomplete Observability

CAPSA Course Project Presentation

Overview

Block Diagram of a Generic PMU PMUs for State Estimation Need For Optimal Placement of PMU Placement for Complete & Incomplete Observability Formulation of Placement Problem in ILP framework
Formulation without Zero Injection Constraints Formulation with Zero Injection Constraints

Result of Simulation in MATLAB Conclusion

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Block Diagram of a Generic PMU

A PMU consists of the following: Filter A/D Converter GPS Receiver Microprocessor

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Block Diagram of a Generic PMU

A PMU consists of the following: Filter A/D Converter GPS Receiver Microprocessor Basic Assumption made in the project is that a PMU installed at a particular bus can measure the voltage at that bus as well as the current along all the lines connected to that bus.

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PMUs for State Estimation

Conventional State Estimators

Non-linear ( Measurements available are power ow over lines and voltage magnitude at buses) Time consuming as they use iterative methods.

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PMUs for State Estimation

Conventional State Estimators

Non-linear ( Measurements available are power ow over lines and voltage magnitude at buses) Time consuming as they use iterative methods.

State Estimators using PMU measurements

Linear ( Voltage and current phasors are measured) Time is saved as no iterations required for calculating the state estimates.

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Need for Optimal Placement of PMUs

Placing PMU at every bus for direct monitoring is possible but not a feasible solution.

CAPSA Course Project Presentation

Need for Optimal Placement of PMUs

Placing PMU at every bus for direct monitoring is possible but not a feasible solution.
Cost of PMU is very high

CAPSA Course Project Presentation

Need for Optimal Placement of PMUs

Placing PMU at every bus for direct monitoring is possible but not a feasible solution.
Cost of PMU is very high Communication lines may not be available from a particular bus.

CAPSA Course Project Presentation

Need for Optimal Placement of PMUs

Placing PMU at every bus for direct monitoring is possible but not a feasible solution.
Cost of PMU is very high Communication lines may not be available from a particular bus.

It is not necessary to place PMUs at every bus in the system. ( We can use Ohms Law and KCL to nd voltage at other buses and current ows over other lines)

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Complete and Incomplete Observability

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Complete and Incomplete Observability

Complete Observability
In this placement strategy, there are no buses in the system which are unobservable.

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Complete and Incomplete Observability

Complete Observability
In this placement strategy, there are no buses in the system which are unobservable.

Incomplete Observability
In this strategy, there is atleast one bus which remains unobservable. The topographical distance of this bus is very less from its observed neighbours. Voltage at this bus is calculated by interpolation techniques.

In our project, we have done the optimal placement for complete observability.

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Objective of Optimal Placement Problem

The objective is to make the system completely observable with minimum number of PMUs.

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Objective of Optimal Placement Problem

The objective is to make the system completely observable with minimum number of PMUs. For achieving the above objective, we have made use of a binary integer variable xi , such that:

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Objective of Optimal Placement Problem

The objective is to make the system completely observable with minimum number of PMUs. For achieving the above objective, we have made use of a binary integer variable xi , such that: xi = 1 if PMU is installed at i th bus 0 if PMU is not installed at i th bus

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Objective of Optimal Placement Problem

The objective is to make the system completely observable with minimum number of PMUs. For achieving the above objective, we have made use of a binary integer variable xi , such that: xi = 1 if PMU is installed at i th bus 0 if PMU is not installed at i th bus

We have made use of the IEEE 14 bus system shown in the following slide for simulation.

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Single Line Diagram of IEEE 14 Bus System

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Problem Formulation in ILP Framework without Zero Injection Bus

Objective: min x1 + x2 + x3 + ...... + x14 subject to:

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Problem Formulation in ILP Framework without Zero Injection Bus

Objective: min x1 + x2 + x3 + ...... + x14 subject to: Bus 1 : x1 + x2 + x5 1

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Problem Formulation in ILP Framework without Zero Injection Bus

Objective: min x1 + x2 + x3 + ...... + x14 subject to: Bus 1 : Bus 2 : x1 + x2 + x5 1 x1 + x2 + x3 + x4 + x5 1

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Problem Formulation in ILP Framework without Zero Injection Bus

Objective: min x1 + x2 + x3 + ...... + x14 subject to: Bus 1 : Bus 2 : Bus 3 : x1 + x2 + x5 1 x1 + x2 + x3 + x4 + x5 1 x2 + x3 + x4 1

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Problem Formulation in ILP Framework without Zero Injection Bus

Objective: min x1 + x2 + x3 + ...... + x14 subject to: Bus 1 : Bus 2 : Bus 3 : Bus 4 : Bus 5 : Bus 6 : Bus 7 : Bus 8 : Bus 9 : Bus 10: Bus 11: Bus 12: Bus 13: Bus 14:
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x1 + x2 + x5 1 x1 + x2 + x3 + x4 + x5 1 x2 + x3 + x4 1 x2 + x3 + x4 + x5 + x7 + x9 1 x1 + x2 + x4 + x5 + x6 1 x5 + x6 + x11 + x12 + x13 1 x4 + x7 + x8 + x9 1 x7 + x8 1 x4 + x7 + x9 + x10 + x14 1 x9 + x10 + x11 1 x6 + x10 + x11 1 x6 + x12 + x13 1 x6 + x12 + x13 + x14 1 x9 + x13 + x14 1
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Single Line Diagram of IEEE 14 Bus System

Figure: IEEE 14 Bus Test System (Bus 7 is zero injection bus)

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Problem Formulation in ILP Framework considering Zero Injection Bus

If conventional method suggested by [2] is used, the constraints become non-linear. For linearising the zero injection constraint, we make use of another index called the bus observability conrmation index which is dened by [4] as: ui = 1 if i th bus is observable 0 if i th bus is unobservable

The zero injection constraint for IEEE 14 bus is as shown: u4 + u7 + u8 + u9 3

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Problem Formulation in ILP Framework considering Zero Injection Bus contd ...

The constraint at bus no. 4, 7, 8 and 9 now become: x2 + x3 + x4 + x5 + x7 + x9 u4 x4 + x7 + x8 + x4 + x9 u7 x7 + x8 u8 x4 + x7 + x9 + x10 + x14 u9

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Problem Formulation in ILP Framework considering Zero Injection Bus contd ...

The constraint at bus no. 4, 7, 8 and 9 now become: x2 + x3 + x4 + x5 + x7 + x9 u4 x4 + x7 + x8 + x4 + x9 u7 x7 + x8 u8 x4 + x7 + x9 + x10 + x14 u9 Only these constraints change as bus no. 4, 8 and 9 are connected to bus no. 7

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Problem Formulation in ILP Framework considering Zero Injection Bus contd ...

The constraint at bus no. 4, 7, 8 and 9 now become: x2 + x3 + x4 + x5 + x7 + x9 u4 x4 + x7 + x8 + x4 + x9 u7 x7 + x8 u8 x4 + x7 + x9 + x10 + x14 u9 Only these constraints change as bus no. 4, 8 and 9 are connected to bus no. 7 Objective function as well as other constraints formulated earlier (without zero injection bus) remain the same.

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Result & Observation

The result of simulation on IEEE 14 Bus System using bintprog function in Optimisation toolbox of MATLAB is as follows: Without Zero Injection No. of PMU Location 4 2,6,7,9 With Zero Injection No. of PMU Location 3 2,6,9

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Result & Observation

The result of simulation on IEEE 14 Bus System using bintprog function in Optimisation toolbox of MATLAB is as follows: Without Zero Injection No. of PMU Location 4 2,6,7,9 With Zero Injection No. of PMU Location 3 2,6,9

It can be seen that the number of PMUs required for complete observability decreases when zero injection bus is present in the system.

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Conclusion

Optimal placement of PMUs using binary integer programming has been done.

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Conclusion

Optimal placement of PMUs using binary integer programming has been done. Results of simulation on IEEE 14 bus system shows that the number of PMUs required for complete observability are about 1/3 of the total number of buses present in the system.

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Conclusion

Optimal placement of PMUs using binary integer programming has been done. Results of simulation on IEEE 14 bus system shows that the number of PMUs required for complete observability are about 1/3 of the total number of buses present in the system. Number of PMUs required decreases when zero injection buses are present in the system.

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Future Scope of Work

The present algorithm can be used for placement of PMUs on larger systems to verify its eectiveness. PMU placement problem for incomplete observability can be formulated and solved as an ILP problem. Phasing of PMU placements can be implemented.

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References

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A.G. Phadke and J.S. Thorp Synchronized Phasor Measurements and their Applications, Springer Publication, 2008. B. Xu and A. Abur, Optimal placement of phasor measurement units for state estimation, Final Project Report, Power System Engineering Research Centre PSERC Publication 05-58, Oct. 2005. X. Dongjie, H. Remmu, W. Peng and X. Tao, Comparison of several PMU placement algorithms for state estimation, Proc. Inst. Elect. Eng.E Int. Conf. Develop. Power Syst. Protection, pp. 32-35, April 2004. D. Dua, S. Dambhare, R.K. Gajbhiye and S.A. Soman, Optimal multistage scheduling of PMU placement: An ILP approach, IEEE Transactions on Power Delivery, vol. 23, no. 4, pp. 1812-1820, Oct. 2008. T.L. Baldwin, L. Mili, M.B. Boisen and R Adapa, Power system observability with minimal phasor measurement placement, IEEE Transactions Power Systems, vol. 8, no. 2, pp. 707-715, May 1993. R. Nuqui and A.G. Phadke, Phasor measurement unit placement techniques for complete and incomplete observability, IEEE Transactions on Power Delivery, vol. 20, no. 4, pp. 2381-2388, Oct. 2005. Hadi Saadat, Power system analysis, WCB McGraw-Hill Publication, 1999.

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THANK YOU !!!

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