Journal of International Council on Electrical Engineering Vol. 1, No. 3, pp.

247~251, 2011 247

State Estimation of Electric Power Systems with FACTS and HVDC Devices
Byoung-Ho Kim *, Hongrae Kim and Young-Hyun Moon **
Abstract In this study, the state estimation of electric power systems which contain FACTS and HVDC devices is investigated. A detailed steady-state model for the Unified Power Flow Controller (UPFC), the most general power flow controller, is formulated and implemented. The model is specified by the steadystate model parameters, such as voltage magnitudes and phase angles for the parallel and the series branches, and reactances associated with the parallel and the series transformers. The DC side HVDC bus net injections are assumed to be measured and error-free for the state estimation of HVDC. In order to include the new devices in the system, formulations of the state estimation algorithm are modified. Simulations of the test system are presented to demonstrate the use of the developed program. Test results show that the developed solution algorithms and formulations for the FACTS and HVDC devices are valid and effective. Keywords: State Estimation, FACTS, HVDC, UPFC

1. Introduction
Power electronics devices such as FACTS and HVDC have been used as power flow controllers in electric power systems. The HVDC device is used for long-distance power transmission or connection between two AC power systems having different frequencies. It is also used for synchronizing AC power produced by renewable energy sources and for linking the mainland with the island [1]. Recently, the construction of new generators or transmission lines has not been an easy task because of economic and environmental problems, as well as regionalism. Such as problems can be resolved maximizing the use of the existing transmission systems within the restricted stability margin. FACTS devices can relieve the loads on congested transmission lines or be used to optimize system resources. If the FACTS devices are installed in the existing transmission system, the transmission capacity of the system can be increased without construction of additional generators or transmission lines. Also, their use in a power system can contribute to increase the reliability of the system. Many studies have mentioned the importance of state
Corresponding Author: Dept. of Electronic Information Engineering, SoonChunHyang University, Korea (hongkim@sch.ac.kr) * Dept. of Electronic Information Engineering, SoonChunHyang University, Korea (podol3@sch.ac.kr) ** Dept. of Electrical and Electronics Engineering, Yonsei University, Korea (moon@yonsei.ac.kr) Received: January 27, 2011; Accepted: June 14, 2011

estimation in electric power systems [2]-[5]. In order to De accurately implement the state estimation algorithm for the networks that include devices such as FACTS and HVDC, those devices should be considered in the mathematical models and equations for the state estimation problem. In this study, the state estimation of electrical power systems that contain HVDC and FACTS devices is investigated. Steady-state models for the UPFC and HVDC are formulated and implemented.

2. UPFC Model
UPFC is the most popular and general device among many FACTS devices. It enables independent control of the voltage magnitude, the real and reactive power flow along a given transmission line [6]. As shown in Fig. 1, the steadystate model of UPFC consists of two voltage sources. One is a series voltage source, Vs, and the other is a shunt voltage source, Vp. In Fig. 1, the UPFC device is assumed to be connected at bus k to control the flow in the line connecting buses k and m and the voltage at bus k. Bus t, between bus k and bus m, is a temporary bus used during the state estimation process. The series and parallel voltage sources have magnitudes, VS and VP , and phase angles, S and P , respectively. The parameters

X S and X P represent the source

reactances for the series and shunt voltage sources, respectively. The parameter (R+jX) represents the

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impedance of the transmission line in which UPFC is installed. Presumably, these steady-state parameters can be obtained from the power system.

The power flow from bus k to bus m can be written as equation (5). The power injections at intermediate bus t and bus k can be calculated using equations (6) and (7), respectively.

S km _ new = S km _ old + ( I P I S )*Vk

S t _ new = S t _ old + I S Vt
*

(5) (6) (7)

S k _ new = S k _ old + ( I P I S )*Vk

Fig. 1. Steady-State Model of UPFC. The Thevenin voltage sources in Fig. 1 can be converted into the Norton equivalent current sources as shown in Fig. 2. The formulations, which are related to the power flow of UPFC, are presented. The respective series and parallel compensator currents are:

In order to include the new device in the system, formulations of the state estimation algorithm are modified. Jacobian elements corresponding to the flows and injections that are incident to the buses of UPFC are modified, while no change is needed for the Jacobian measurement of the partial derivatives of the Norton current injections.

3. HVDC Model
During the state estimation process, HVDC lines are not explicitly modeled. Instead, they are removed from the system model. It is assumed that there are no loads or generations available at the HVDC substation. The net injections at the terminal buses of the HVDC lines are defined by the incoming flows due to the HVDC lines. For the state estimation of HVDC, it is assumed that the DC side HVDC bus net injections are measured and errorfree, so that the quantities internal to the HVDC lines can be solved after the state estimation converges. The state estimator models the HVDC lines as net injections of which the values are measured. The DC side network parameters (resistance) and the transformer ratios linking the terminal buses to the internal AC buses are assumed to be given. Fig. 3 shows an example of the HVDC system having double poles. KEPCO is operating the same kind of HVDC system as that in Fig. 3 between Jeju Island and the Korean peninsula.

V IS = S jX S IP = VP jX P

(1) (2)

The injection currents in buses k and m, which are supplied by UPFC, are:

Ik = IS IP = VS S VP P jX S jX P VS S jX S
(3)

I m = I S =
(4)

Fig. 2. Equivalent Norton Source Model of UPFC.

Fig. 3. Diagram of a Double Pole HVDC System.

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Once the state estimation converges, the net power injections at the HVDC terminal buses are estimated and stored. These are then used to back solve for the internal DC quantities. State estimation provides the bus voltage estimates for the two AC buses on each side, as well as the total net injection from the AC bus into the HVDC line transformers. For the state estimation of HVDC, calculations for one pole are performed as follows:

The HVDC lines connect two AC systems, having five buses each. A UPFC device is installed on the line 2-5 at the bus 2 terminal. Measurements for state estimation are given in Tables 3 and 4. Parameters of UPFC and HVDC devices are summarized in Tables 3 and 4, respectively. Table 1. Voltage and Bus Injection Measurements Measured Voltage Voltage Bus 1.0600 11 1.0587 12 1.0283 15 Measured Injection Power P Bus 3.11324 1 -0.70000 5 -1.30000 12 -0.80000 15

Q = tan FR P FR Vdc1 = k1 tap1 VFR cos( )

1

(8) (9) (10) (11) (12)

Bus 1 2 5 Bus 1 5 12 15

Voltage 1.0156 1.0450 0.9914 Q -0.61549 -0.15000 1.32265 -0.20000

3 2 k1 = 0.995 P I dc = FR Vdc1

Vdc 2 = Vdc1 I dc Rdc

Table 2. Line Power Flow Measurements where, V FR : voltage magnitude of the AC terminal bus,

PFR , QFR : real and reactive power injections at

the AC terminal bus, Vdc , I dc , Rdc : DC voltage, current, and resistance, respectively.

4. Simulation Results
The proposed state estimation algorithm has been carried out to the test system, as shown in Fig. 4. This test system consists of ten buses, ten branches, and two HVDC lines.

Line 1-2 1-5 2-5 11-12 11-15 12-15 2-3 2-4 13-11 14-11

Measured Power Flow P 2.43543 0.67781 0.04590 1.59576 0.59261 0.23180 1.14020 1.14060 1.09420 1.09390

Q -0.62038 0.00485 0.15067 -0.95394 -0.01998 0.22946 0.00272 0.00270 0.00040 0.00039

Fig. 4. Ten-Bus Test system.

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Table 3. Parameters of the UPFC Device From Bus 2 To Bus 5

Table 7. Estimated Line power Flow

VS
0.05

S
-3.0

VP
1.02

P
-12.0

XS
0.25

XP
0.20

Table 4. Parameters of the HVDC Device From Bus 3 4 To Bus 13 14 Tap1 0.9 0.9 Tap2 0.8 0.8 Rdc 0.02 0.02

State estimation provides the bus voltage estimates for the two AC buses on each side, as well as the total net injection from the AC bus into the HVDC line transformers. Simulation results are summarized in Tables 5, 6, and 7. Table 5 compares the estimated states of the system with a UPFC to those of the system without a UPFC. In the case of the system with a UPFC, the voltage phasor for the intermediate bus 16 is also estimated. Calculated DC voltages of converters and inverters at each pole are summarized in Table 6. Figure 5 shows the change in line power flows in the line 2-5 due to the effect of UPFC installation. Table 5. Estimated Voltage Magnitudes and Phase Angles Without UPFC Bus Voltage Phase 1 1.0600 0.00 2 1.0587 -7.97 3 1.0587 -7.97 4 1.0587 -7.97 5 1.0283 -7.88 11 1.0156 0.00 12 1.0450 -6.08 13 1.0156 0.00 14 1.0156 0.00 15 0.9914 -7.53 The temporary bus With UPFC Voltage 1.0143 1.0137 1.0137 1.0137 0.9844 1.0156 1.0450 1.0156 1.0156 0.9914 1.0204

No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

Line 1-2 2-1 1-5 5-1 2-5 5-2 11-12 12-11 11-15 15-11 12-15 15-12 2-3 3-2 2-4 4-2 13-11 11-13 14-11 11-14

P 2.46519 -2.31695 0.68242 -0.65793 -0.03750 0.33599 1.59577 -1.53179 0.59261 -0.57421 0.23180 -0.22579 1.14020 -1.14020 1.14060 -1.14060 1.09420 -1.09420 1.09390 -1.09390

Q -0.61532 0.92195 -0.00332 0.05525 -0.20770 0.15141 -0.95392 1.09321 -0.01998 0.04638 0.22945 -0.24638 0.00272 -0.00272 0.00270 -0.00270 0.00040 -0.00040 0.00039 -0.00039

Bus 1 2 3 4 5 11 12 13 14 15 16

Phase 0.00 -8.70 -8.70 -8.70 -8.70 0.00 -6.08 0.00 0.00 -7.53 -8.95

Fig. 5. Comparison of Estimated Power Flows.

5. Conclusions
HVDC and FACTS models for state estimation are proposed in this paper. The formulation of an algorithm for the state estimation of electrical power systems containing HVDC and UPFC devices is also presented. Simulations with the ten-bus test system are performed, and the results are provided to illustrate the performance of the program. The estimator is shown to be a useful tool for calculating the states of power systems with HVDC and UPFC devices.

Table 6. Estimated Voltages and Currents HVDC Lines Pole 1 2 Voltage 1.15600 1.13628 1.15618 1.13645 Line 1 2 Current 0.98633 0.98652

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References
[1] Chan-Ki Kim et al., HVDC Transmission, John Wiley & Sons Inc., 2009. [2] A. Monticelli and A. Garcia, Fast Decoupled State Estimator, IEEE Trans. on Power Systems, Vol.5, No.2, pp.556-564, 1990. [3] A. Abur and M. Celik, A Fast Algorithm for the Weighted Least Absolute Value State Estimation, IEEE Trans. on Power Systems, Vol.6, pp. 1-8, 1992. [4] A. Abur and A. Exposito, Power System State Estimation, Marcel Dekker, Inc., 2004. [5] A. Monticelli, State Estimation in Electric Power Systems : A Generalized Approach, Kluwer Academic Publishers, 1999. [6] A. Nabavi-Niaki and M. Iravani, Steady-State and Dynamic Models of Unified Power Flow Controller(UPFC) for Power System Studies, IEEE Trans. on Power Systems, vol. 11, pp. 1937-1943, 1996. [7] J. Arrillaga, et al., Computer Modeling of Electrical Power Systems, John Wiley & Sons, 1983.

Byoung-Ho Kim received B.S. and M.S. degrees from Soonchunhyang university, Korea, in 2007 and 2009, respectively. He is currently studing for Ph.D. degree from Soonchunhyang university.

Hongrae Kim received B.S. and M.S. degrees from Yonsei university, Korea, in 1986 and 1989, respectively. He received his Ph.D. degree in Electical Engineering from Texas A&M university, College Station, Texas in 1995.

Young-Hyun Moon received B.S. and M.S. degrees from Seoul National university, Korea, in 1975 and 1978, respectively. He received his Ph.D. degree in Oregon state university, Oregon in 1983.