S.C.

Srivastava, Professor
Departmentof Electrical Engineering
Indian Institute of Technology Kanpur
Email: [email protected]
SC Srivastava / IITK WAMCS QIP course 10 May 2019 1
General Introduction
 The size and complexity of the system has increased.
 A.C. transmission systems at 1100/1200 kV.
 Generating unit sizes have gone upto 800/1000 MW.
 HVDC links (+/- 500/800 kV) are in operation for back to back and long
distance power transfer.

 Concerns to its operators:

 Maintaining security, reliability, quality and stability of power system
 Ensuring economic operation. ( Monopoly-Market based operation)
 Leading to use of large number of sensors, DSP, PE devices,
communication networks and IT enabled services ( Large CPS)

 Computer aided monitoring & dispatching

 SCADA (Supervisory Control and Data Acquisition) based Energy
Management System (EMS)and Distribution Automation System (DMS).
 Wide Area Monitoring and Control Systems (WAMCS) using synchrophasors.

SC Srivastava / IITK WAMCS QIP course 10 May 2019 2

Power System Stability Consideration
for
Classification

Physical
Rotor Angle Frequency Voltage Nature/ Main
Stability Stability Stability System
Parameter

Small-Signal Transient Large- Small-

Stability Disturbance Disturbance Size of
Stability
Voltage Stability Voltage Stability Disturbance

Short Term Short Long

Term Term
Time
Short Long Span
Term Term

P. Kundur, J. Paserba, V. Ajjarapu, G. Andersson, A. Bose, C. Canizares, N. Hatziargyriou, D. Hill, A. Stankovic, C. Taylor,
T. V. Cutsem, and V. Vittal, "Definition and classification of power system stability IEEE/CIGRE joint task force on
stability terms and definitions," IEEE Transactions on Power Systems, vol. 19, no. 3, pp. 1387-1401, Aug. 2004.
3
SCADA EMS System+
(Typical Architecture in India)
NLDC

ERLDC WRLDC NRLDC SRLDC NERLDC

SLDC SLDC SLDC

SUB LDC SUB LDC SUB LDC

RTU RTU RTU

+ Wide area monitoring system since 1960s

SC Srivastava / IITK WAMCS QIP course 10 May 2019 4
Components of SCADA EMS

• Remote Terminal Units – Intelligent units to collect data from field,

convert these to suitable form ( through A/D or D/A converters,
Transducers etc.), communicate the data to Control Center.
• Communication Networks or Data Transmission Networks –
PLCC, Microwave Telemetry Link, Dialup Network, Fiber Optics etc.
• Computer Systems & Man Machine Interface- at Control Center
• Software:
1. Operating system software for Data base management & MMI
2. Communication Software
3. Application Software (to perform advance functions of EMS)

Problems with SCADA based WAMS:

• Data time skewed. Data scan rate upto 10 sec.
• Only magnitude measurements and phasors through state
estimation-time extensive.

SC Srivastava / IITK WAMCS QIP course 10 May 2019 5

Advance Functions of Energy Management System
• Supervisory Control & Data Acquisition (SCADA) functions
• System Monitoring and Alarm Functions
• State Estimation
• On line Load Flow
• Economic Load Dispatch
• Optimal Power Flow ( including Optimal Reactive Power
Dispatch)
• Security Monitoring and Control
• Automatic Generation Control
• Unit Commitment
• Load Forecasting
• Log Report Generation ( Periodic & Event logs), etc.

A program scheduler may invoke various Application

programs at fixed intervals. 6
A Typical Synchrophasor based WAMCS Architecture
PDC SUPER PDC
GPS

PDC
PMU PMU

PHASOR DATA APPLICATION

CONCENTRATOR SOFTWARE

PMU PMU

SYSTEM CONTROL CENTER

MONITORING
CONTROL
DATABASE
Recommended PMU reporting rates (frames/sec): as per IEEE std. 37.118
System frequency 50 Hz : 10 25 50
System frequency 60 Hz : 10 12 15 20 30 60
(New standard also encourages fps of 100, 120 or less than 10, if required
for a specific application) 7
Few Major Black-out Events across the World
(Ref. http://en.wikipedia.org/wiki/List_of_power_outages)
Event Millions of Location Date
people
affected
July 2012 India blackout 620 India 30–31 July 2012
2014 Bangladesh blackout 150 Bangladesh 1 Nov 2014
2005 Java-Bali blackout 100 Indonesia 18 Aug 2005
1999 Southern Brazil blackout 97 Brazil 11 March 1999
2009 Brazil and Paraguay 87 Brazil, Paraguay 10–11 Nov 2009
blackout
Northeast blackout of 2003 55 United States, 14–15 Aug 2003
Canada
2003 Italy blackout 55 Italy, Switzerland, 28 Sep 2003
Austria, Slovenia,
Croatia
Northeast blackout of 1965 30 United States, 9 Nov 1965
Canada
SC Srivastava / IITK WAMCS QIP course 10 May 2019 8
August 14, 2003 North-East Blackout in US, Canada

RTO/ISO in USA
SC Srivastava / IITK WAMCS QIP course 10 May 2019 9
Reliability Coordinators in Midwest

SC Srivastava / IITK WAMCS QIP course 10 May 2019 10

2003 US Blackout: Few Events
https://en.wikipedia.org/wiki/Northeast_blackout_of_2003
 12:15 p.m. Incorrect telemetry data renders inoperative the state estimator,
operated by the Indiana-based MISO. An operator corrects the telemetry
problem but forgets to restart the monitoring tool.
 2:02 p.m. The first of several 345 kV overhead transmission lines in northeast
Ohio fails due to contact with a tree in Walton Hills, Ohio
 2:14 p.m. An alarm system fails at FirstEnergy's control room, not repaired.
 3:05 p.m. A 345 kV transmission line known as the Chamberlin-Harding line
sags into a tree and trips in Parma, south of Cleveland.
 3:32 p.m. Power shifted onto another 345 kV line, the Hanna-Juniper
interconnection, causes it to sag into a tree, bringing it offline as well. While
MISO and FirstEnergy controllers concentrate on understanding the failures,
they fail to inform system controllers in nearby states.
 3:39 p.m. A FirstEnergy 138 kV line trips in northern Ohio.
 4:05:57 p.m. The Sammis-Star 345 kV line trips due to undervoltage and
overcurrent interpreted as a short circuit. Later analysis suggests that the
blackout could have been averted prior to this failure by cutting 1.5 GW of
load in the Cleveland–Akron area.
SC Srivastava / IITK WAMCS QIP course 10 May 2019 11
 4:09:02 p.m. Voltage sags deeply as Ohio draws 2 GW of power from
Michigan.
 4:10:34 p.m. Many transmission lines trip out, first in Michigan and then in
Ohio, blocking the eastward flow of power around the south shore through
Erie, Pennsylvania and into the Buffalo, New York area.
 4:10:38 p.m. Cleveland separates from the Pennsylvania grid after a series of
line and generator trip.
 4:10:40 p.m. Flow flips to 2 GW eastward from Michigan through Ontario (a
net reversal of 5.7 GW of power), then reverses back westward again within
a half second.
 4:10:43 p.m. International connections between the United States and
Canada start to fail.
 4:10:45 p.m. Northwestern Ontario separates from the east The first Ontario
power plants go offline
 4:10:46 p.m. New York separates from the New England grid.
 4:10:50 p.m. Ontario separates from the western New York grid, cascaded
separation and tripping happens.
 4:13 p.m. End of cascading failure. 256 power plants are off-line, 85% of
which went offline after the grid separations occurred, most due to the
action of automatic protective controls. 12
Blackout Root Cause : FE Situational Awareness &
Vegetation Management
 FE did not ensure a reliable system after contingencies
occurred because it did not have an effective contingency
analysis capability
 FE did not have effective procedures to ensure operators
were aware of the status of critical monitoring tools
 FE did not have effective procedures to test monitoring
tools after repairs
 FE did not have additional high level monitoring tools after
alarm system failed
 FE did not adequately manage tree growth in its
transmission rights of way

SC Srivastava / IITK WAMCS QIP course 10 May 2019 13

Blackout Cause: Reliability Coordinator Diagnostics

 MISO’s state estimator failed due to a data error.

 MISO’s flowgate monitoring tool didn’t have real-time
line information to detect growing overloads
 MISO operators couldn’t easily link breaker status to line
status to understand changing conditions.
 PJM and MISO ineffective procedures and wide grid
visibility to coordinate problems affecting their common
boundaries

SC Srivastava / IITK WAMCS QIP course 10 May 2019 14

Grid Disturbances in India
on 30th & 31st July 2012
Enquiry Committee report
posted at
http://www.cercind.gov.in/2012/orders/
Final_Report_Grid_Disturbance.pdf

Loss of load: 36000 and 48000 MW

SC Srivastava / IITK WAMCS QIP course 10 May 2019 15

Antecedent Conditions on 30th July 2012
Frequency
NR NEW Grid- 49.68 Hz
Over-drawal : 1755 MW
NER
Mh’garh

Schd : 2220 MW Schd : 1192 MW

592 MW Schd : -33 MW
Actual : 2044 MW Actual : 3123 MW
Mundra Actual : 95 MW

WR Schd: 278 MW ER
Under-drawal Over-drawal
Actual : 2654 MW : 446 MW
: 2343 MW
Schd : 832 MW Schd : 835 MW Loss of load: 36000
Actual : 975 MW Actual : 962 MW
MW and 48000 MW
SCADA
Snapshot SR
Time 02:30 Hrs
16
SC Srivastava / IITK WAMCS QIP course 10 May 2019
Inter-regional lines under outage on 30th July 2012
Gorakhpur NER

Bongoigaon
NR
Bhinmal
Kankroli

Fatehpur
Auraiya

Salakat
Morak
Kota

Agra
Balia

i
HVDC
Vindh.

Birpara
Binaguri
Malanpur

Gwalior
Badod
Mahalgaon
Zerda

Gaya
Sipat Ranch
i
Raigarh
Rourkela ER
WR Sterlite
Raigarh
Budhipadar
Korba

HVDC To SR HVDC HVDC

Bhadrawati Talcher Kolar Gazuwaka
SC Srivastava / IITK WAMCS QIP course 10 May 2019 17
Center of angular Separation on
30th July 2012

SC Srivastava / IITK WAMCS QIP course 10 May 2019 18

PMU plots on 30th July 2012. The trippings at ~2:33:15 due to
large angular separation – correlates with DRs and WAFMS

Balia-Biharsharif
Balia-Patna
Grkpr-Muzzpr.

SC Srivastava / IITK WAMCS QIP course 10 May 2019 19

Antecedent Conditions on 31st July 2012
NR Frequency
NEW Grid-49.84 NER
Over-drawal : 2432 MW Hz
Mh’garh

Schd : 740 MW Schd : 850 MW

432 MW Schedule: -21 MW
Actual : 2044 MW
Mundra Actual : 1978 MW
Actual : 150 MW
WR Schd : 73 MW ER
Under-drawal Over-drawal
Actual : 1822 MW : 720 MW
: 2987 MW
Schd : 830 MW Schd : 894 MW
Actual : 830 MW Actual : 900 MW

SCADA
Snapshot
SR Time 12:57 Hrs
20
SC Srivastava / IITK WAMCS QIP course 10 May 2019
Inter-regional lines under outage on 31st July 2012
Gorakhpur NER

Bongoigaon
NR
Bhinmal
Kankroli

Fatehpur
Auraiya

Salakat
Morak
Kota

Agra
Balia

i
HVDC
Vindh.

Birpara
Binaguri
Malanpur

Gwalior
Badod
Mahalgaon
Zerda

Gaya
Sipat Ranch
i
Raigarh
Rourkela ER
WR Sterlite
Raigarh
Budhipadar
Korba

HVDC HVDC HVDC

Bhadrawati
To SR Talcher Kolar Gazuwaka

SC Srivastava / IITK WAMCS QIP course 10 May 2019 21

Separation on 31st July 2012

SC Srivastava / IITK WAMCS QIP course 10 May 2019 22

PMU Plots

Jabalpur, Bhadrawati, Raipur

Gwal-Bina

SC Srivastava / IITK WAMCS QIP course 10 May 2019 23

Important Observations
Few Major Causes of the Grid Disturbances:
• Lack of Situational Awareness and real time monitoring tools
• Early security assessment/warning system.
• Unintended operation of Protection/ Improper coordination of
Control Actions
• Lack of enough reactive compensation
• Human error & Grid Indiscipline
Few Remedial Measures:
• Wide area monitoring & control. PGCIL-URTDMS Project
(http://www.cea.nic.in/reports/powersystems/sppa/scm/allindia/agenda_note/1st.pdf )
• Ensuring activation of all emergency controls and protection
• Smart grid - Proper automation, information flow and data
management.
• Regulatory changes to strengthen system security and operation.

SC Srivastava / IITK WAMCS QIP course 10 May 2019 24

Roadmap of WAMCPS Deployment in India

➢ Pilot projects in all regions already in place.

➢ Integrate the pilot project PMUs with the National plan.
➢ Unified Real Time Dynamic Measurement System
(URTDMS) being implemented.
➢ About 1700 PMUs are planned, to be placed at all the
400 kV and above voltage buses and major generating
plant buses. Analytics being developed by IIT Bombay.
➢ Few analytics to be implemented in the first phase
include; Line parameter estimation, Oscillation
monitoring, Distance relays’ vulnerability analysis,
Linear/dynamic state estimation, CT/CVT calibration,
Supervision of zone-3 distance protection.

SC Srivastava / IITK WAMCS QIP course 10 May 2019 25

Some Research Work on Synchrophasor based
WAMCPS carried out at IIT Kanpur
• Phasor Assisted State Estimation
• Dynamic Phasor Estimation
• Machine Rotor Angle Estimation for Transient Stability
• Critical Mode Identification for Small Signal Stability
• Synchrophasor based Voltage Stability Assessment
• Wide Area Measurement based Adaptive Distance Protection
• Network based Wide Area Damping Control
• Optimal Frequency and Voltage stability based load shedding
• Load, Transmission Line and Generator Model Parameter
Estimation.
• On Line Tuning of Power system Stabilizers
• Testing in WAMS Lab using RTDS

SC Srivastava / IITK WAMCS QIP course 10 May 2019 26

Modified TLS-ESPRIT+ based Low Frequency Mode
Identification*

+ Total Least Squares Estimation of

Signal Parameters via Rotational
Invariance Technique (TLS-ESPIRIT)

*P. Tripathy, S. C. Srivastava, and S. N. Singh, “A Modified TLS-ESPRIT-Based Method for Low-Frequency Mode Identification in Power Systems Utilizing
Synchrophasor Measurements", IEEE Transactions on Power Systems, vol. 26, no. 2, May 2011, pp. 719-727.

SC Srivastava / IITK WAMCS QIP course 10 May 2019 27

Test Cases
Test signals corresponding to inter-Area modes
The test signal, considered for simulations had a small signal
oscillation* of 0.4 Hz, having attenuation factor -0.07, amplitude
set to unity with an initial phase of 60 degree.

Two area test system assuming the availability of power signals

from PMUs (Ref: Kundur’s book)

Probing test data of the Western Electricity Coordination Council

(WECC) system (obtained from BPA site)

PMU data obtained on Northern Grid system (source: POSOCO)

SC Srivastava / IITK WAMCS QIP course 10 May 2019 28

Test Signal corresponding to Inter- Area
Oscillations with SNR 30 dB

29
Test Signal corresponding to Inter- Area
Oscillations with SNR 30 dB

SC Srivastava / IITK WAMCS QIP course 10 May 2019 30

Improved Voltage Instability Monitoring Index*
Improved Voltage Instability Monitoring Index (IVIMI) :
VDRi CVDi
IVIMIi = w1 (i )  + w2 (i ) 
VDR max CVD max
VDR – Voltage Deviation from its Reference
CVD – Consecutive Voltage Deviation (Rate of
Voltage Deviation)
ISVIMI i = max( IVIMI ip ) p all the load buses set
• ISVIMI i is system wide voltage instability index at instant-i.
• Based on voltage deviation and rate of voltage change.
• Rate of change of voltage reflects the dynamic variation.
* Sodhi, R., Srivastava, S.C., Singh, S.N., "A Simple Scheme for Wide Area Detection of Impending Voltage Instability," IEEE
Trans. on Smart Grid, vol.3, no.2, pp.818-827, June 2012.
*Ch. V. V. S. Bhaskara Reddy, S. C. Srivastava and Saikat Chakrabarti, “An improved Static Voltage Stability Index using
Synchrophasor Measurements for Early Detection of Impending Voltage Instability,” National Power Systems
Conference (NPSC), IIT (BHU), Varanasi, India, December 12‐14, 2012.
Voltage Stability Risk Index (VSRI)#
1 N
1. Calculate the Moving Average vj =  vi
N i =1
vi − v j
2. Calculate the % diversity of the ith measurement d i =  100
vj

 N

1  i =1 (d i + d ( i −1) )t 
3. Calculate the Risk Index zj =
N 2 
 

where, Vi= voltage measurement at ith interval

Vj=moving average of jth window,
N=length of the moving window,
dj=diversity of th ith measurement for the jth window
Zj = VSRI of the jth window.

# Kim, et al., “System an method for calculating real-time voltage stability risk index in power system using
time series data,” Patent No. US007236898B2, Dt. Jun. 26,2007.

SC Srivastava / IITK WAMCS QIP course 10 May 2019

Simulation Results
NRPG 246 bus Indian test system
i. Slow increase of load

156
1.2 158
174

1.1

1
VOLTAGE in PU

0.9

0.8

0.7

0 50 100 150 200 250 300

TIME in sec.

Fig: Critical bus voltages for load increase.

SC Srivastava / IITK WAMCS QIP course 10 May 2019

4

Fig: IVIMI plot for

load increase. 1

VIMI
(195 s early prediction)
0

-1

-2 156
158
174
-3
0 50 100 150 200 250 300
TIME in sec.

0.5

156
158
174

0
VSRI

-0.5

Fig.: VSRI plot for

load increase.
-1
0 50 100 150 200 250 300
Time in Sec.

SC Srivastava / IITK WAMCS QIP course 10 May 2019

ii. A line outage and simultaneous load increase
1
156
158
0.95 174

0.9

0.85
VOLTAGE in PU

0.8
Fig: Critical bus voltages
0.75 for line outage
0.7

0.65

0 50 100 150 200 250 300

TIME in sec.

1.6

1.4

1.2

1
Fig: IVIMI plot for
load increase.
VIMI

0.8
(170 s early prediction)
0.6
156
158
0.4 174

0.2

0
0 50 100 150 200 250 300
TIME in sec.

SC Srivastava / IITK WAMCS QIP course 10 May 2019

Distance Relay Protection

Reactance

Resistance

➢ Power system events that cause the impedance

trajectories to enter into tripping zones, under no-
fault situations, cause system security concerns.
SC Srivastava / IITK WAMCS QIP course 10 May 2019 36
Unintended Operation of Distance Relays
➢ Due to impedance trajectory encroachment into
relay tripping zone.
➢ System events which, sometimes, lead to distance
relay operation
➢ Dynamic
• Power Swings - Blinders and Timer blocking
scheme
• Voltage Instability
➢ Static
• Load encroachment
➢ Operation under Zone-3 has been observed to result in
cascading failures of power systems.
SC Srivastava / IITK WAMCS QIP course 10 May 2019 37
A Method* using SVM to avoid Unintended
Operation of Distance Relays
➢ Relay Ranking Index
▪Ratio of normalized apparent impedance of the relay to
branch loss sensitivity used to rank the relays in terms of its
vulnerability to Power Swings and Voltage Instability.

➢Fault and Disturbance Classifiers

▪Two support vector machines used, SVM-1 for
distinguishing between fault and no fault condition, and
SVM-2 for classifying the no fault disturbance in ‘Voltage
Instability’ or ‘Power Swing.

*Seethalekshmi K., S.N. Singh and S.C. Srivastava, “A Classification Approach Using Support Vector
Machines to Prevent Distance Relay Mal-operation under Power Swing and Voltage Instability”, IEEE
Transactions on Power Delivery, Vol. 27, No. 3, July 2012, pp. 1124-1133.

SC Srivastava / IITK WAMCS QIP course 10 May 2019 38

Critical Relays’ Identification
➢ Normalized Apparent Impedance for a relay, Rij in line i-j

Vi
Zr =  Z line
ij
(V i − V j )
Z r 3ij

where, V i and V j are the sending and receiving end voltages of the
line i-j and Z r 3ij is the impedance corresponding to third zone setting
of the relay. Z line is the impedance of the line.
➢ Branch loss sensitivity: 
S = SV + S + S  + S
2 2
V i
2
j i
2
j

ij ij ij ij ij

h 
where, S ijV =
i
, S ij = h , and h = Ploss + jQloss in line i − j
i

Vi  i
Zrij
➢ Relay Ranking Index RRI ij =
Sij

SC Srivastava / IITK WAMCS QIP course 10 May 2019 39

Proposed Classification Strategy
Relay impedance measurement unit 1= Relay pick-up
V Digital distance relay block 0= Reset
for sampling & DFT based 1= Trip
i
phasor calculation 0= Block

SVM-1 ➢SVM-1 classifier

Feature vector (Fault Label ‘0’ for fault condition
classifier) Label ‘1’ for other situations

Inputs  Vs ,  s , I s , Ps , Qs  1= Enable SVM-2

0= Disable SVM-2

Feature vector SVM-2

(Disturbance classifier)

Inputs  Vs , I s , Ps , Qloss  1= Power swing

-1= Voltage instability

SC Srivastava / IITK WAMCS QIP course 10 May 2019 40

Simulation Studies
WSCC 9-bus System

Bus 2 Bus 7 Bus 8 Bus 9 Bus 3

Bus 5 Bus 6

Bus 4

Bus 1

SC Srivastava / IITK WAMCS QIP course 10 May 2019 41

Step-1: Identification of Critical Relays
Relay No. Normalized Apparent Branch Loss Relay Ranking Relay Ranking
Impedance Sensitivity Index

R5-7 0.0994 2.5031 0.0339 1

R7-5 0.1025 2.4308 0.0360 2
R6-9 0.1201 1.6859 0.0608 3
R9-6 0.1226 1.6534 0.0632 4
R8-7 0.5456 2.1443 0.2171 5
R7-8 0.5513 2.1232 0.2215 6
R5-4 0.5643 1.4612 0.3294 7
R4-5 0.5804 1.4376 0.3444 8
R8-9 0.7929 0.7515 0.9001 9
R9-8 0.8056 0.7440 0.9237 10
R6-4 0.9881 0.8614 0.9786 11
R4-6 1.0000 0.8531 1.0000 12
SC Srivastava / IITK WAMCS QIP course 10 May 2019 42
Simulation of Power Swing Scenario
Bus 2 Bus 7 Bus 8 Bus 9 Bus 3
tclg=0.3 sec

Rf=0.01

Bus 5 Bus 6

Bus 4

Bus 1

SC Srivastava / IITK WAMCS QIP course 10 May 2019 43

Classification by SVM-1
200 300

100 200

Voltage (p.u.)
Voltage (p.u.)

100
0
0
-100
-100
-200
4.5 5 5.5 6 6.5 -200
Time (s) 5 6 7
Time (s)
Fast Swing Slow Swing
1 1

Predicted label (SVM-1)

Predicted label (SVM-1)

0.8 0.8

0.6 0.6

0.4
0.4
0.2
0.2
0
0
4.5 5 5.5 6 6.5 7
4.5 5 5.5 6 6.5 Time (s)
Time (s)
Classification label by SVM-1 Classification label by SVM-1
SC Srivastava / IITK WAMCS QIP course 10 May 2019 44
Performance of SVM-1 (Fault Classifier)
140
Voltage at the relay location (bus-7)

Predicted label (SVM-1)

120
0.8

100 0.6

80 0.4

0.2
60
 0
40
2 4 6 8 10 12 14 16 18 2 4 6 8 10 12 14 16 18
Time (s) Time (s)

Voltage unstable case Classifier output

SVM-1 Comparison with ANFIS* Scheme

Scheme Classification accuracy (%) Testing accuracy (%)
ANFIS based classifier 80.02 75.83
SVM based proposed classifier 98.85 96.18

Accuracy of SVM-2 classifier in WSCC 9-bus system

Cases Training accuracy Testing accuracy (%)
(%)
32 100 96.71
* H. K. Zadeh and Z. Li, “A novel power swing blocking scheme using adaptive neuro-fuzzy inference system, “Electric
Power Systems Research, vol. 78, pp 1138-1146, 2008. 45
Avoiding Relay Unintended Operation
Using Phasor Derivatives
Proposed Methodology:
• Logarithm of the singular values of the Hankel matrix formed from
the Measurement data used for model order estimation.
• Second order Taylor series extended TLS-ESPRIT used for accurate
dynamic phasor estimation*.
• Taylor’s second order approximation used to estimate first and
second derivatives of the phasor amplitude and phase derivatives.
• Deviation in the derivative values used to distinguish between fault
and no fault conditions**.
* P. Banerjee and S. C. Srivastava, “An Effective Dynamic Current Phasor Estimator for Synchrophasor
Measurements,” IEEE Transactions on Instrumentation and Measurements, vol.64, no.3, Mar. 2015, pp. 625-637.

** Paramarshi Banerjee, Improved Estimation of Dynamic Phasors, and their Applications in Distance Protection &
Stability Assessment, Ph.D. Thesis, IIT Kanpur, January 2015.
SC Srivastava / IITK WAMCS QIP course 10 May 2019 46
Proposed Approach for Relay Blocking
• The predicted and the accurate phasor at the present time
Pˆk = Xˆ b(0), k e jb,k , Pk = X b(0), k e jb,k
ˆ(0) (0)

•The vector deviation of the predicted phasor as a percentage

of the amplitude at the fifth previous data window is given by
(Re(Pˆk ) − Re(Pk )) 2 + (Im(Pˆk ) − Im(Pk )) 2
%E = (0)
 100
X b, k − 5

•Corresponding values for the voltage and the current phasors

are denoted as 𝐸_𝑉 and 𝐸_𝐼, respectively.
•The Relay Blocking (RB) signal is high and releases the relay
for operation when 𝐸_𝑉 and 𝐸_𝐼 are simultaneously greater
than 15% (experimentally established).

SC Srivastava / IITK WAMCS QIP course 10 May 2019 47

Performance Evaluation
▪ The proposed algorithm for generating RB signal should remain low for
power swings and voltage instability but high for faults .
▪ The test cases considered in WSCC 9 bus system are
• A:Unstable swing;
• B:Fault during unstable swing;
• C:Fault during stable swing;
• D:Voltage Instability;
• E:Fault during voltage instability;
▪ The test cases considered in NE-39 bus system are
• F:Unstable swing;
• G:2 cases of fault during unstable swing;
• H:Stable swing;
• I:Fault during stable swing;
• J:Voltage Instability;
• K:Fault during voltage instability;
SC Srivastava / IITK WAMCS QIP course 10 May 2019 48
Case B: Fault during unstable swing in WSCC 9 bus system

Voltage and current at bus 8 in WSCC 9 bus system for fault during unstable power swing.

RB at bus 8 in WSCC 9 bus system for fault during unstable power swing.
SC Srivastava / IITK WAMCS QIP course 10 May 2019 49
Case D: Voltage Instability in WSCC 9 bus system

Voltage at bus 7 in WSCC 9 bus system for fault during voltage instability.

RB at bus 7 in WSCC 9 bus system during voltage instability

SC Srivastava / IITK WAMCS QIP course 10 May 2019 50

Local Stabilizing Control: Power System Stabilizers
▪ It provides damping to the
Governor
Transmission Line oscillations in the range of
(Power System Network) 0.2Hz-3 Hz, by modulating
Gen generator field excitation.

Turbine ▪ The input signal can be rotor
speed or frequency or line
Exciter
power flow power deviation.
PSS Voltage
Regulator
Major Problems
▪ Robustness towards multiple
Vt
operating conditions and
topology-needs retuning.
▪ Lack of global observation.
Limiter
PSS ▪ Coordination of multiple
Washout Lead-Lag Compensator
Gain controllers
Input Output
sTw
KPSS T(s)
1 + sTw

SC Srivastava / IITK WAMCS QIP course 10 May 2019 51

Centralized Wide Area Damping Controller
Δω1
Y1 +
PMU-1 G-1 Exciter AVR-1 CPSS-1
+ VS1
delay τ 1_ca
Δω 2 delay τ 1_sc

Y2 +
PMU-2 G-2 Exciter AVR-2 CPSS-2
POWER + VS 2
delay τ 2_ca WADC delay τ 2_sc
SYSTEM
Δω N
YK + delay τ K_sc
PMU-K G-N Exciter AVR-N CPSS-N
+ VS N
delayτ N_ca

➢ A two-loop framework of a wide-area stability control system.

➢ The Wide-Area Damping Controller (WADC) in the higher level receives remote
signals, Y1 Y2 YK  from few pre-selected PMUs located in a wide-
geographical area in the network & provides additional supplementary damping
signals, VS1 VS2 VS N to some of the pre-decided generators/FACTS devices
SC Srivastava / IITK WAMCS QIP course 10 May 2019 52
Issues with Wide-Area Damping Controller
Some of the major issues:
❑ The choice of the control I/O
signals
❑ Control law or algorithm
❑ Latency in communication
network
❑ Packet Loss
❑ Packet Disorder
❑ Channel Bandwidth
❑ Communication Failure
SC Srivastava / IITK WAMCS QIP course 10 May 2019 53
Wide-Area TS Fuzzy Output Feedback Controller with
Input/Output Signal Selection
➢ Coherency based approach* for input/output signal selection

• Data transformed into orthogonal space to make correlated variables

uncorrelated by applying Principal Component Analysis (PCA).

• Self-Organizing Map (SOM) for final data clustering. For clustering data,
few critical line contingencies were considered.

➢ Producing better damping effect to the critical inter-area modes of

oscillations. TS-Fuzzy Controller (WATSF) was applied**. Results
compared with existing H2/H∞ Controller (called as WARDC)+.

* B.P. Padhy, S.C. Srivastava, and N.K. Verma, "A Coherency-Based Approach for Signal Selection for Wide Area Stabilizing
Control in Power Systems", IEEE Syst. Journal, vol.7, no.4, pp.807-816, Dec. 2013.
**B.P. Padhy, S. C. Srivastava, and N. K. Verma, “Robust Wide-Area TS Fuzzy Output Feedback Controller for Enhancement of
Stability in Multimachine Power System”, IEEE Systems Journal, vol.6, no.3, pp.426,435, Sept. 2012.
+ Y. Zhang and A. Bose, "Design of Wide-Area Damping Controllers for Inter area Oscillations," IEEE Transactions on Power
Systems, vol. 23, no. 3, pp. 1136-1143, Nov. 2008.

SC Srivastava / IITK WAMCS QIP course 10 May 2019 54

Implementation of the proposed method
Dynamic Contingency Index (39-bus system)
Line Outage Index Value
Contingency Dynamic contingency
L
28− 29
1.2463 index is defined
L 1.2073
1−39 ξI -ξ
sys J sys
L 1.1953 DCI =
1− 2 J ξI
sys
L 0.3666
2 − 25
L
16 − 21 0.1280

Dynamic Contingency Index (68-bus system)

Line Outage Index Value
Contingency
L
1− 2 0.096
L
8−9 0.064
L
2 − 25 0.058
L
21− 22 0.039
L
16 − 21 0.0374 55
G1
1.002 G2
G3
1.0015 G4
G5
Gen-Speed in P.U.

1.001
G6
1.0005 G7
G8
1 G9
G10
0.9995
G11
0.999 G12
G13
0.9985 G14
G15
2600 2800 3000 3200
Samples G16

Gen Speed of 68-bus system for line L1-2 outage –Data used
as input to the signal selection algorithm

SC Srivastava / IITK WAMCS QIP course 10 May 2019 56

Signal Selection for 39-Bus and 68-Bus Systems

Type. Pole vector Geometric Proposed

39-bus New England

approach approach approach

System

Generators G1, G5, G7, G9 G3, G7, G8, G9 G3, G5, G9,
G10
Power L(8-9), L(1-2), L(9-39), L(16-17), L(17-27), L(16-
Flow L(2-3), L(14-15), L(2-3), L(2-25), 19), L(9-39),
In Lines L(3-18) L(4-5) L(2-25), L(8-9)
Generators G11, G12, G13, G3, G9, G10, G1, G3, G5, G9,
England New
York System
68-bus New

G14, G15, G16 G13, G14, G16 G13, G15

Power L(36-37), L(50- L(1-2), L(42-52), L(36-37),
Flow 52), L(40-41), L(1-47), L(33-38), L(1-2), L(9-30),
In Lines L(34-36), L(1-30), L(26-27), L(9-30) L(50-52),
L(9-36) L(9-36), L(4-5)

SC Srivastava / IITK WAMCS QIP course 10 May 2019 57

2 25 26 28 29
41 40 48 47
53 60 61
66 1 G
G G
G G9
G1 G8 27 24
G14 31 30
21
62
46 32 3 18 17
G
G10 16
63
G 15 19
G11 22
42
38 56
9 14 58
67 20 G
49 G
G 33
G4
G15 G6
57
34 4 23
51 36
G
8 12 G5
59
64
35 7 5 11 13 G
G
G7
G12
45
37 6 10
50
44 65 54 55
43
G G G
52
G13 G2 G3
39
68
G
G16

WADC

New England and New York Interconnected 68-bus system showing

selected input and output signals with the proposed method 58
Comparative Results (68-bus system)
-3 With only PSS
x 10 With poledir
3-phase fault
Speed Div W7 (pu)

With geometric
2 With proposed WARDC
With proposed WATSF

-2

30 32 34 36 38 40 42
Time (sec) With only PSS
With poledir
200 Load outage With geometric
 P9_39(MW)

With proposed WARDC

With proposed WATSF
100

-100
50 52 54 56 58 60 62 64 66 68 70
Time (sec)
Speed deviation of Gen 7 and power deviation in line 9-39 due to
3-Φ fault and load outage (68-bus system)

SC Srivastava / IITK WAMCS QIP course 10 May 2019 59

Network Delay & Packet drop Compensation*
➢ A New Time Delay Compensation (TDC) technique with packet
drop has been proposed.
➢ The network latency considered in the application of
synchrophasor assisted wide area control for the Static Var
Compensator (SVC).
➢ The power oscillation modes are estimated online by Modified
Extended Kalman Filter (MEKF) approach.
➢ Delay has been compensated by predicting the dynamics of the
delayed measurement signal.
➢ The performance of the proposed delay compensation scheme has
been tested on 39-bus and 68- bus systems.
➢ An insertion sort algorithm has been used for chronological
sequence restoration of the data in case of packet disorder.
* Bibhu P. Padhy, S.C. Srivastava and Nishchal K. Verma, “A Network Delay Compensation Technique for Wide-Area SVC
Damping Controller in Power System,” IEEE PES Transmission & Distribution Conference & Exposition, Chicago, USA,
April 14-17, 2014. 60
Proposed Network Architecture
Satellite Remote
Location
GPS Other
NB
Clock PMUs Buffer1
• • • m1 (KT - τ 1 )

rr

rr

Communication
S1 (t) m1 (KT) •••
Sensor1 PMU1 PDC1

Network
Buffer2
• • •
m 2 (KT - τ 2 )

rr

rr
Power S 2 (t) m2 (KT) •••
Sensor2 PMU 2 PDC2

•••
System •••
• • •
mn (KT - τ n )
Buffern

rr

rr
Sn (t) mn (KT) •••
Sensorn PMU n PDCn

Sdcn moden yn
Delay Compensatorn EKFn NPDCn

• • •
Τdn
•••

Vs M
Sdc 2 mode 2 y2
WADC U Delay Compensator2 EKF2 NPDC2
X Td2
Sdc1 mode1 y1
Delay Compensator1 EKF1 NPDC1
Td1
Satellite
Logic To
Time Stamp of Calculate Time
Incoming Data Packets Delay GPS Clock
Control Center

SC Srivastava / IITK WAMCS QIP course 10 May 2019 61

Time Delay Compensation (TDC) Scheme GPS Clock
TGPS
Extract the Time Tstamp
Logic to Calculate
Stamp Time Time Delay

Td
TDC

φk ,ωk , λ k ,ζ k S dc (kTs ) =
MEKF
e(λ k -ζk Td )sin(φk - ωk Td )

yj • • • yk • • • y3 y1 Sdc (kTs )

Network Buffer Buffer WADC

TOP
Incoming Vs
Data
Power
System

The delay compensated signal can be represented as

N
= e
N
S dc , k = yk +Td 
xi ,3,k +Td − xi ,4,k −Td xi ,4,k )
= .sin( xi ,2, k + i , k + Td xi ,2, k )
Ts (ln A
Ts .sin( xi ,1, k +Td Ts ) e i ,k

i =1N i =1

= e
( i ,k −Td i ,k )
.sin(i , k + Td i , k )
i =1

SC Srivastava / IITK WAMCS QIP course 10 May 2019 62

39 Bus Test System
 The input/output signal selection using the coherency approach.
 The remote input signals to the WADC are P16-19 , P1-39 and P26-27

G8 PMU 3
26 28 29
G
G10 27 38
37
PMU 1 G G G9
30 25
2 TSC TCR Output
18 PMU 2
1 SVC
24
3 17
G1 G 16 G
G6
39 15
4 35
14
5 21 22
6 12 19 23
31 11 13
7 20 36
33
G G G7
8 10 G G4
G2 34
9
G G5
32
G3 G

Input 1 Input 2
t 1 (t ) WADC t 2 (t )
Input 3

SC Srivastava / IITK WAMCS QIP course 10 May 2019 63

Implementation Results
 A random input delay of maximum value 1sec has been created in
the input channel-1(P16-19 ) , 400 ms in the input channel-2( P1-39),
and zero delay created in channel-3( P26-27) as this is a local signal
 Packet drop probability is considered as 4%
Test Cases:
 A 3-phase fault was applied at bus-16 and bus-26 for 70ms.
 A load outage at bus-16 and 28
 3-phase fault at bus- 4 followed by L 4-14 outage
 Bus connecting 21-22 line contingency

SC Srivastava / IITK WAMCS QIP course 10 May 2019 64

Simulation Results
1
(1-  )

0.5

0
10 15 20 25 30 35

0.4
Time(Seconds) (A) 1 (A) Packet drop (B)
Random time delay (C)
Delay(Sec)
Packet

0.38
Tracking of PMU signal
10 15 20 25 30 35
Time(Seconds) (B)
 P 1 6 _ 1 9 (p.u.)

25 Delayed Signal PMU Output Predicted Signal

15
5
-5
-15
-25
10 15 20 25 30 35
Time(Seconds) (C)
-3
x 10
W4-W1 (P.U.)

4 Without WADC With Phasor Approach

2
0
2. (A) 3-phase fault at
-2 bus- 26 for 70ms (B) a 3-
-4
9 11 13 15 17 19 21 23 25 27 29 31 33 35 phase fault at bus- 16 for
Time(Seconds) (A)
x 10
-3
70ms
5 Without WADC With Phasor Approach
W4-W1 (P.U.)

-5
9 11 13 15 17 19 21 23 25 27 29 31 33 35 65
Time(Seconds) (B)
Hardware Lab Setup used for Real-Time
Simulation of WADC+
Satellite

GPS clock

SEL PMU PMUs

Omicron
Arbiter PMU
Amplifiers

Desktop PC 3-phase
with RSCAD voltage and
current
Router signal

+ Addressing Ethernet
• Optimal input/output Based LAN
selection RTDS Control
• Robust Control signal
• Time delay compensation
• Packet drop and packet NI PCI 6704
disorder compensation MATLAB as IPDC as Client
DAQ Card
Server

SC Srivastava / IITK WAMCS QIP course 10 May 2019 66

WADC Simulation and Validation on RTDS
0.57

0.56
Delay

0.55

0.54

0.53

0.52
29 33 37 41 45 49 53
Time(Seconds)

Delay with time for a 3 phase fault at bus-27 (39 bus NE system)
No WADC
1
Only Simulation
HIL Simulation

0.5
W9-W1 (P.U.)

-0.5

-1

29 33 37 41 45 49 53
Time(Seconds)

Oscillations in the speed deviation of the generator

SC Srivastava / IITK WAMCS QIP course 10 May 2019 67
Conclusions
 Synchrophasor based WAMCP system will form an
important component of Smart Grid. It offers new paradigm
of real time security monitoring and control.
 Large number of PMUs are being deployed in the
transmission grid at strategic locations in various countries.
 The successful implementation of WAMPC requires
development of suitable application tools.
 PMUs must be embedded with proper dynamic phasor
estimation algorithm, complying with the IEEE standards.
 It can be effectively utilized for better situational awareness
monitoring impending system instability, and improving
inter-area mode damping, important to avoid major
disturbances.
SC Srivastava / IITK WAMCS QIP course 10 May 2019 68
Thank
You

SC Srivastava / IITK WAMCS QIP course 10 May 2019 69