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Developing Virtual Protection System for Control and Self-healing of Power System

Abstract

Vahid Salehi

Osama Mohammed

Student Member, IEEE


Florida International University
10555 W Flagler
Miami, FL 33174, USA
vsaleOO1 @fiu.edu

Fellow, IEEE
Florida International University
10555 W Flagler
Miami, FL 33174, USA
mohammed@fiu.edu

Using new technologies for communication in

power system creates new opportunities for developing wide


area system monitoring, protection and control system. Virtual
Protection System (VPS) is a system that can be implemented in
control center to detect any system abnormalities in a virtual
environment by using PMUs data from whole system area. The
control system can use the VPS fault analyses to detect system
states and apply the proper remedies for self-healing of power
system. Developed laboratory test setup is presented and several
tests are accomplished in this regard. Applications of this system
in power system control and self-healing will be discussed.

Index

Control,

Terms-Virtual
Wide

Area

Protection

Protection,

System,

Power

Wide

System

Area

Real-time

Analysis, Self-healing, Power System Blackout

I.

defense line against faults and other disturbances that may


cause extensive damage to power system equipments. They
are the most important self-healing mechanisms of a power
system. Modem protective relays have evolved into a highly
reliable system over many years [5]. Today relays and meters
also include time-synchronized measurement abilities.
Modem communication technology provides fiber-optic and
low cost radio links and makes precise time available over
wide areas [6]. A phasor measurement unit (PMU) measures
the electrical waves on an electricity grid to determine the
health of the system. In power engineering, these are
considered one of the most important measuring devices in
the future of power systems [7]. By application of these
devices, the typical minute scale SCADA times will decrease
to a second or less.

INTRODUCTION

In a self-healed power system, unplanned outages and


abnormalities could be prevented through better prediction,
analysis and control. Recognition and diagnosis of fault
conditions has a significant role that may prevent
disturbances extension and spreading to other healthy parts of
the power system [1]. Such capability requires timely based
coordination between monitoring, analysis and control of
power system in different scales. Recently, the high
performance IT infrastructure has been deployed in power
system communication platform in order to respond to
transient and steady-state operating conditions in real-time
format [2]. This feather can encompass the whole power
system control levels and consist of all functions
implemented for power system wide area monitoring and
control system. Fig. 1 shows the conventional power system
real-time monitoring, analysis and control procedure. Each
function operates at different timescale from milliseconds to
an hour corresponding physical phenomena of the power
system [3]. Recent technologies enhanced the communication
structure of power system by its high accuracy, security and
data transfer speed. Hence, smart grid, the most challenging
subject in power system uses modem communication
infrastructure at wide area power grid to improve grid
reliability, reduce the price of electricity, improve operational
efficiency, improve security and safety, and promote
environmental quality [4].
Protection devices are the first and major devices in

Power System

Corrective

&

Preventive
Action

Security
constrains

Performance
Enhancement

Automatic
Generator Control

Control System
Fig.

Automatic
Emergency Control

I. Conventional power system real-time monitoring, analysis and

978-1-4244-9500-9/11/$26.00 2011 IEEE

control procedure

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The objective of this paper is to introduce virtual


protection system which can offer various types of
advantages for controlling and self-healing in power system.
The virtual protection system (VPS) is implementation of
present protection system in a real-time format in a control
center. Most real-time softwares have the capabilities to
implement mathematical, logical and controlling build in
functions to model available relay functions and settings
inside their environment. This will be modifying the same
operated relay in digital form in order to use in wide area
monitoring and control system. The PMU feature of modem
digital relays which are all over the grid, and communication
aspects, give us better chance to run VPSs by realistic
network data. The speed of communication guarantees the
accuracy of operation of this real-time system to predict
relays operation in real power system and simulate the system
behavior as fast as system topology and parameters
variations. In the next section, the VPS system will be
discussed in idea and features that presents. The application
of this system to control and have self-healing strategies in a
power system will be demonstrated by a practical example.
II.

calculate system parameters with high resolution as fast as


PMUs data. In addition, the system data will contain system
topology (breakers status) and all relays settings which will
be used in the VPS system. In the real-time VPS environment
there will be capabilities to implement functional algorithm
to predict situations such as cascade or catastrophic events.
The proper remedial or self-healed action will be recognized
by available control systems such as generators control
system, available FACTS controllers, tap changers, voltage
regulators, load shedding process, reconfiguration and etc.
This controller will work on less than a second time step
resolution. Hence, the modem real-time wide area controlling
system may use slow traditional SCADA data and analysis
results which were explained in Fig. 1. Finally, this
procedure will result the new control schemes and protection
system settings for healing the system to new topology and
isolate the faulty part of the network from remained parts in
order to maintain stability and keep the reliability of the
power system.

VIRTUAL PROTECTION SYSTEM

Protective relaying is a fundamental discipline of power


system engineering and it has always played a very important
role in power system security and reliability. Because of the
complexity of the system and multiplicity of computing
factor, relays coordination and operation are a challenging
topic in power system [8]. In order to build an intelligent and
adaptive protection system, this paper proposes Virtual
Protection System (VPS), applicable in power system control
centers, not only to investigate coordination between realistic
relays, but also for prediction of cascade events in power
system and self-healing purposes. Fig. 2 demonstrates the
whole VPS idea and its role in modem wide area monitoring
and control system. This system will use Phasor
Measurements Units for monitoring very fast real-time data
with rate of at least 10 data package per second for 60 Hz
system according to Std C37.118. The PMUs are particularly
effective in improving protection functions which have
relatively slow response times. For such protection functions,
the latency of remote measurements is not a significant issue.
For example, back-up protection functions of distance relays
and protection functions concerned with managing angular or
voltage stability of networks can benefit from remote
measurements with propagation delays with latencies of up to
several hundred milliseconds [9].
The modem communication infrastructure is used to gather
all system data from PMUs in the same time reference in
automated substations and send them to control center. In
many situations the reliable measurement of a remote voltage
or current on the same reference as local variables has made a
substantial improvement in protection functions possible. In
contrast to conventional SCADA system, this system will

Power System

----------------------------

.I Power System
("'l Data Acquisition

Proper Protection

Setting and control


schemes

Real-time wide

System
(less than second

and Relay settings

Voltage

I--

Monitoring

..

&

Control System
(minute time
frame)

time frame)

Real-time System
Parameter
Calculations

.Voltage Sequences
Current Sequences
Reactive Power

Network Impedance
Power Factor
Frequency
Voltage Angles
Current Angles

Unbalance Factors
Current Differential
Stability Indexes

Topology Change Prediction,

System Behavior Prediction,


Events Monitor,
Fault Location
Stability index

Fig.

& Currents

Active Power

Conventional

area Monitoring
and Control

System Topology

-------------------

& affected Area

r-I

Real-time Virtual Protection


System

2. Modem power system real-time monitoring, analysis and control

978-1-4244-9500-9/11/$26.00 2011 IEEE

procedure

Page 3 of 7

III.

VIRTUAL PROTECTION SYSTEM DEVELOPMENT IN POWER


SYSTEM TEST-BED

The virtual environment for protective relaying evaluation


has been discussed in reference [10]. But in this environment
authors used simulators for power system, instrumentation
and protective relays. In this research the VPS are
accomplished in laboratory scale test-bed power system
which is developed in Energy System Research Lab at
Florida International University. The most important issue in
developing such research based power system test-bed is
precise measurement of system parameters in real-time
format which is applicable by using PTs and CTs. Then,
these data will be transferred to the Digital PMUs developed
in Real-time software LabVIEW by using analogue to digital
DAQ. Fig. 3 shows the single line diagram of a small test
setup in order to implement PMU and VPS system in real
time platform. Fig. 4 demonstrate overall view of laboratory
test setup consist of a generation station, three buses with five
switches, two line model and passive and motor loads. The
real-time software has been used to capture voltage and
current waveforms and calculate the all possible parameters
in real-time format for monitoring the wide area system by
synchronous data. Fig. 5 presents the screen of measurements
in 02708 branch at Fig. 3. Voltages and currents in each
phase, calculated zero, positive and negative sequences with
their angles reference to global system have been presented
in top-left side. Active and reactive powers for each phase
and total of phases as well as power factor and frequency
have been presented in the top-middle side of this screen.
Furthermore, the phasor diagrams and time tracking of active,
reactive power and frequency have been depicted in this
PMU.

- Inverse Power Flow


- Voltage Unbalance Function
- Current Unbalance Function
The whole functions are developed in LabVIEW software
which can receive all voltages and currents from PMUs, and
then make a decision for breaker action. These relays are
tested in test bed power system at Florida International
University. In the following sections the functionality
programming of this relay in digital form will be explained
by detail and test verification.

Llnl" 0060

lIn 0430

Fig. 4. Overall view of laboratory test setup


--

BU10410

Fig. 3. Single line diagram of laboratory test setup in LabVIEW

In this research, the generic form of digital relay with


different capability for protecting power system elements
have been developed in real time software environment and
for using as virtual protection system it has following
capabilities:
- Over/Under Voltage
- Rate of Change of Voltage (ROCOV)
- Over/Under Frequency
- Rate of Change of Frequency (ROCOF)
- Time Over-current
- MHO Distance Relay
- Polygonal Distance Relay

--

Fig. 5. Front panel of the digital PMU at 0270A

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Page 4 of 7

A.

Over/Under Voltage and ROCOV Protection

B.

Over/Under Frequency and ROCOF Protection

D.

In an electrical power system overvoltage may be


classified into two categories: temporary over/under voltage
and permanent over/under voltages. Protection relay settings
were applied according to criteria developed by the power
equipment owner or manufacturer. The operating voltage
must normally be within the limits of 0.95 p.u and 1.05 p.u,
in order to have a good quality of voltage for the customers
or clients. These limits are known as the "Voltage Quality
Limits". During a contingency or emergency the quality
limits can be exceeded. In such cases the criteria to control
the overvoltage are those required to protect power
equipment such as transformers and generators from damage.
The limits of overvoltage in this case are defmed by the
capability limits of the power system equipments such as the
transformers and the generators.

Fault

Frequency relays are used whenever deviations from


nominal system frequency need to be detected. Frequency
deviations can be harmful to connected objects, such as
generators and motors, or when abnormal frequency creates
inconvenience for power consumers and may cause failures
of electrical apparatuses. Frequency relays are also used
where detection of high or low frequency indicates system
abnormalities, such as faults in speed regulation units or
system overload. An over/under frequency relay is generally
used as a backup protection to mechanical over speed devices
to avoid damages to prime mover.
e.

Overcurrent Function

The protective relaying which responds to a rise in current


flowing through the protected element over a pre-determined
value is called 'overcurrent protection' and the relays used for
this purpose are known as overcurrent relays. Over current
relay function monitors the general balanced overloading and
has current/time settings. This is determined by the overall
protective discrimination scheme. There advantage over
definite time relays is that they can have much shorter
tripping times can be obtained without any risk to the
protection selection process. These are classified in
accordance with their characteristic curves that indicate the
speed of the operation. Based on this they are defined as
being inverse, very inverse or extremely inverse and etc
depends on the different values for A, B and C in equation

(I):
T=T

(11 )B -1
P

+C)

Distance Protection

Distance relaying should be considered when over-current


relaying is too slow or is not selective. Distance relays are
generally used for phase-fault primary and back-up
protection on sub-transmission lines, and on transmission
lines where high-speed automatic reclosing is not necessary
to maintain stability and where the short time delay for end
zone faults can be tolerated. Distance functions have been in
use for many years and have progressed from the original
electromechanical types through analog types and now up to
digital types of functions. A simple mho distance function,
with a reach of Z ohms, is shown in Fig. 6.

LR

Fig. 6. MHO impedance relay characteristic

Polygonal characteristic digital distance relay provides


better resistive coverage than any mho-type characteristic for
short lines. This is especially true for earth fault impedance
measurement, where the arc resistances and fault resistance
to earth contribute to the highest values of fault resistance.
This form of polygonal impedance characteristic is shown in
Fig. 7.
Zone 3

Zone 2

Fig. 7. Polygonal digital impedance relay characteristic

(I)

Which Tp is the time dial setting and Ip is the pick-up


current setting for the relay according to ANSI/IEEE
standard.

E.

Voltage Unbalance Function

In a three-phase system, voltage unbalance takes place


when the magnitudes of phase or line voltages are different
and the phase angles differ from the balanced conditions, or
both. Voltage unbalance is defined as the ratio of the negative
sequence voltage component to the positive sequence voltage

978-1-4244-9500-9/11/$26.00 2011 IEEE

Page 5 of 7

component. The percentage Voltage Unbalance Factor


VUF), or the true definition is given by:
V
2
VUF=V
I

or

V
a
V
I

(%
(2)

Since the relay operates on a percentage of the unbalance


in line voltages, it will detect a single-phase condition on
light load as well as on heavy load. The unbalance voltage
relay is usually connected to a bus and it will effectively
protect a group of many motors when the open circuit is
between source and the bus.
F.

Current Unbalance Function

realistic relay and monitor protection system behavior by


applying PMUs data in the virtual environment.
In order to test this relay two different experiment
including single phase short circuit and single phase outage
has been carried out. All fault conditions are placed on motor
load terminal. In one case the single phase fault had been
occurred in motor terminal and the PMU at that terminal
sends the fault data to virtual relay at the control center. The
active and reactive powers as well as frequency changes are
plotted at Fig. 9 respectively.
o-,iVIookIr

f,Sort

........ ,..I.

o...AWwJ.undiM

r=
....
... =
=--=
---,

o...CwnntfWrion.l

The Current Unbalance Function monitors 3-phase lines to


detect an unbalanced current. It can also monitor three
separate single phase lines for equal current levels. Line
voltage unbalances usually cause these line-current
unbalances. In fact, current unbalance can be 20 times as
high as the voltage unbalance. Similar to unbalance voltage
factor, the Current Unbalance Factor (CUF) is defined by
following equations. This factor can detect any unbalance
situation caused by unbalance faults to prevent any kind of
damages. Similar to VUF the unbalance voltage factor is
defined as:

w.yfUO>dlo..J.
IfriwMPow. RewfuMtlell

Vehafe

CiurrMt . .

,
"""
IG<.....

(3)

l-X

:j.
.

'"

...

118,
u.o

Uj

,
JU

G.

Current Differential Function

Current differential relays are traditionally used for


protection of short to medium length two terminal cables or
overhead lines. This application requires a dedicated metallic
pilot wire between the line ends. In a differential protection
scheme, currents on both sides of the equipment are
compared. Under normal conditions, or for a fault outside of
the protected zone, currents are equal. Therefore the currents
in the current transformers secondaries are also equal and no
current flows through the current relay. If a fault develops
inside of the protected zone, both side currents are no longer
equal. Therefore there is a current flowing through the
current relay.
IV.

(@
,

IMPLEMENTATION OF VIRTUAL PROTECTION SYSTEM IN


POWER SYSTEM TEST-BED

All mentioned functions are implemented in LabVIEW


environment as a generic relay model. This relay can be
operated by real-time data and at the speed of communication
system. In the laboratory test system, the relay speed will be
as fast as DAQ's speed used to gather data from the
secondary side of PTs and CTs. Fig. 8 represents the front
panel of this digital generic relay for testing the idea of
virtual protection system. Technically, all available relays
model can be implemented by their own functions and
characteristics as a library inside the VPS database system.
Hence, the system designer can add the VPS model of any

, FlU --

Switch Sutus

1nqyLIihr*'l'
flvride""'-lIit:r
(ClIAII""" ___

t.-'_I

-"...
At.'"-n
.. ....,.. ...

ON

"""'

..

Fig. 8. Front panel of digital generic relay in normal condition


Active Power

... 0s;-

..

>

<tl

---,
200-1____
0-

-200-

Single
Phase SC

-400-,
10:38:35.04

Reactive Plot

10:40:17.0

Time (sec)

750-,....-----:-

.. -;:..

,....--Relay
Trip

500l-_____...J \

250-

0-,
10:38:34.97

Frequency Plot

10:40:16.9

Time (sec)

60.3,....---60.2:

59.8:

59.7,
10:38:36.06

Time (sec)

,
10:40:17.06

Fig. 9. Single-phase fault at motor terminal and relay tripping action

978-1-4244-9500-9/11/$26.00 2011 IEEE

Page 6 of 7

The currents and voltages are changing during this fault


and cause the considerable changes in active and reactive
powers. The generic relay will trip this situation by its own
available functions which are visible in Fig. 10. In another
case one of the phases of the induction motor has been
disconnected in two stages: relay is not active and when it is
active. Figs. 11 and 12 show this situation at powers and
frequency calculated in PMU and the relay front panel to
detect this fault and disconnect it.

"Co

..

K,.

I
I
I
I
I
l.Ouut.JUtl
.

tr.iiIi\
FIU""''''''

Switch Sutus

*-,,'-dIl.abor""J
--
c.,..,..CJD11M ..... _

Wf.-r,..
.<-......
foooIk

...... ...,

....uJ)
...
......
1/nIMti

Fig. 12. Generic relay tripping action for single phase outage of motor

FIU""'-'

SwUch Sutus:

l.-'''''_
.............
A(_n...
a:1AM
"""' ..

l'*J7S)'WIIIIMh""""....,.
f.....
c.".....eJOlI ... ...- __

Fig. 10. Generic relay tripping action for single phase to ground fault
Active Power

.
t:

<

500-

Phase
disconnection

-50-,
00:12:27.07

Reactive Plot

ii

r------,d"'ls"'coccnn,..::-=-c;=-=-

150---Relay Trip
100----....,'-----..J

600 -

Phase
Connection

Relay is active

Relay is not active

Time (sec)

00:14:09.0

Time (sec)

00:14:06.0

400-f------.
200..
"'

"i:'
"'

0-,
00:12:24.02

'--_--1

58.75:,
00:12:21.89

00:14:02.89

Time (sec)

Fig. I I. Single-phase outage for motor and relay tripping action

These two cases are two applicable tests that we can carry
out at lab scale for testing the generic relay model which is
developed for wide area monitoring and protection schemes.
Beside of implementing the idea of Virtual Protection
System, educational features of this relay for students and
researches who are working on real-time aspects of power
system protection functions and coordination concepts in a
realistic power system test-bed is clear. Fig. 13 shows the
application of this VPS for power system wide area
monitoring, protection and control system. By developing the
VPS system we can achieve following applications in wide
area monitoring, protection and control of power system:
The VPS can be used in wide area protection system to
monitor system status for abnormalities such as
over/under voltage, overloads of equipments and any
other condition that the system may have enough time
for detecting upcoming protection system events. For
example, when the loadings of a power line increases,
the VPS can indicate the system moving condition to the
fault situation which will be disconnected from the line
by the available protection relays. Hence, by setting the
virtual protection relay under the settings of physical
relay, the control scheme can retrieve the normal status
by properly controlling the action, that in this case may
be the changing system topology or power dispatching in
the overall power system. Therefore, depending on the
system alarms in a control center, the self-healing
strategies can maintain the system continuous operation
with appropriate control schemes.
The VPS can be used for cascading failures detection
and applying proper remedies on the power system. If
after a disturbance, one or more components overload
and hence fail, the equilibrium of the load flow will
consequently change and the load will then be

978-1-4244-9500-9/11/$26.00 2011 IEEE

Page 7 of 7

Power System

.. . ..

...

...
.

.. ..

.
....

I""""--"'"

... . .. ..
.. .

Wide Area Monitoring, Protection and Control


Fig. 13. Using generic relay for system wide area monitoring, protection and control

redistributed on other normal components, which makes


the additional load transfer to other elements. Thus a
cascading failure is triggered by the overload failures,
and finally brings the network's collapse and a large
blackout. The PMUs data can be used to follow phase
angle of each bus in order to detect system failures
which may cause cascade events. In this process, we
need to detect upcoming fault by network data and
analyses network reaction to this outage by some
algorithms like State Estimation, N-I Contingency, Fault
calculation, OPF and etc. Therefore, the online
calculation software will be used to estimate system
states after any circumstance in order to apply self
healing reaction.
The VPS can be used for applying online setting of
protection devices. The protection coordination settings
in large area network are completely dependent on the
topology and system status which are varying frequently.
For example application of distributed generation which
their generation depends on energy availability like
photovoltaic and wind power, may cause different
optimal settings for relays connected to the same
network. The VPS will detect the system status and will
run protection coordination software to achieve proper
settings for relays. Finally it will apply new settings by
real-time softwares and communication networks to
selected system protection devices.
V.

CONCLUSION

In this research the Virtual Protection System has been


proposed for wide area system protection. This system is
used to control power system in a manner to heal any
abnormal conditions that may cause damage, outage and
perhaps blackout. The VPS is developed as generic digital
relay with variety of protection functions uses PMUs current
and voltage outputs to simulate power system behavior in a
virtual environment. This gives us some information about

upcoming faults or system states moving to abnormal


situation. Proper control action for self-healing can be
developed in control system to maintain system stable
condition with minimum outages. The small power system
test-bed is developed to test some events and verification of
the VPS idea in large power system. Applications of VPS is
discussed for modem power system for predicting upcoming
events, detecting blackout and cascade events, and applying
online settings to protective relays.
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[2]

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Protection, DPSP,

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