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Published in IET Generation, Transmission & Distribution Received on 24th January 2012 doi: 10.1049/iet-gtd.2012.0054

ISSN 1751-8687

Power system stability assessment during restoration based on a wide area measurement system
S. Nourizadeh1 M.J. Karimi1 A.M. Ranjbar1 A. Shirani2
1 2

Department of Electrical Engineering, Sharif University of Technology, Tehran 11365-8639, Iran Monenco Iran Consulting Engineers E-mail: nourizadeh@ee.sharif.edu

Abstract: Online power system stability assessment during restoration has not been strongly addressed yet. The introduction of wide area measurement systems (WAMS), however, made it possible to monitor the stability online. This study technically presents a detailed analysis of stability during restoration using WAMS. The power system build-up strategy is used as the restoration approach, based on which the early and the last stages of restoration are to divide the power system into islands and interconnect them, respectively. In fact, the practical use of WAMS at the early stages of restoration provides precise determination of generators loading steps. Moreover, unication of phase angle references at different islands and presentation of tie line energising priority list are signicant benets of WAMS at the last stages of restoration. The New England 39-bus power system is used to demonstrate the proposed algorithm and verify the results. The proposed method is also applied on the IEEE 118-bus system as a large-scale power system to prove its capability in practical systems.

Introduction

The problem of power system restoration after a partial or complete blackout, almost as old as the power industry itself, is complex, delicate and time-consuming [1]. The combinatorial analysis of proper restoration planning that involves a variety of restrictions and conditions, requires operators judgment and comprehensive power system studies [2 4]. The introduction of wide area measurement systems (WAMS) using phasor measurement units (PMU) led to online control of power systems [5 9]. Furthermore, the occurrence of major blackouts revealed the value of data provided by PMUs [6]. Nowadays, synchronised parameter measurements and fast data communication result in the wide area control of power systems [7]. An introduction to PMU and WAMS technology as well as a detailed discussion of utilising them for improved monitoring, protection and control of power networks are notably presented in [6]. An invaluable review and a highlevel study about WAMS-related activities and practices in several countries are also presented in [8]. Along with the high-speed measurement of power system variables, one of the major benets of WAMS is the evaluation of the network-wide reference phase angle, based on which the phase angle of all the power system variables can be assessed precisely. In this paper, an in-depth study of power system stability in the course of the restoration is presented. Power system buildup strategy, one of the powerful techniques for restoration planning [1 3], is regarded as the basis for this research. This strategy can be broken down into two main sections:
IET Gener. Transm. Distrib., 2012, Vol. 6, Iss. 11, pp. 11711179 doi: 10.1049/iet-gtd.2012.0054

the early and last stages. During the early stages, the power system is organised as disconnected subsystems, namely islands. These islands are comprised of black start generator (BSG), non-black start generator (NBSG), transmission lines, load blocks and so on. Alternatively, the last stages of restoration are made up of the interconnection of the disconnected islands to establish the bulk power system (BPS). This paper deals with both the early and the last stages of restoration. The purpose of this paper is to present a decision-making process on restoration timing, generators loading optimisation routines and frequency control at independent islands, so that all the islands would be stable and ready to be interconnected. Likewise, islands interconnection planning strategy is also included in this paper. At the early stages of restoration, BSG start-up procedure, remote cracking of NBSG and load pickup are the critical decisions to be made. Thereupon, the electrical frequency and rotor angle oscillations besides the voltage magnitude analysis are exploited to assess the applicability of the restoration plan. The utilisation of WAMS provides the operator with a precise estimation of parameters of load and generation models. In fact, such a precise estimation cannot be simply achieved without using WAMS. In the last stages of restoration, power systems are arranged as disconnected islands. The major complexity in interconnection of these islands is how to dene a reference phase angle in order to synchronise them. The PMUs installed within a subsystem can measure/estimate their generator bus voltages and phase angles. These measurements
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can be time stamped and transferred to the control centre where the generators displacement angles are calculated. These calculated values can then be compared with each other to determine their acceleration trend so as to assess the stability of a subsystem. However, the stability of a subsystem does not guarantee post-interconnection stability. It means the process has to be repeated after two or more subsystems have been interconnected. In this paper, BSG of each island, playing the role of the slack bus, is accepted as the reference phase angle. It is, however, strictly essential to calculate phase differences of these so-called reference phase angles towards a unique reference which is almost chosen as one of the islands slack buses. The previous generations of power system monitoring technologies using RMS measurements failed to evaluate phase angle differences; on the contrary, WAMS, precisely performing phasor analysis over the whole power system, is extremely effective to estimate phase angle difference across disconnected islands. As an essential constraint of restoration, a tie line cannot be properly energised if the phase angle difference among its buses standing phase angles (SPA) is big. Hence, ignoring this issue may disturb the whole restoration routine. After all, in order to interconnect the islands, SPA across the tie lines should be exactly controlled. The New England 39-bus and the IEEE 118-bus power systems, respectively, organised as four and eight islands, are the chosen simulation test systems of this research. Since there is an appropriate set of PMUs installed at these systems, the resulting islands are completely observable. The constraint of the preparation of sufcient load along with the minimum power generation limits is satised as well. Power system stability issues during restoration of the New England 39-bus system and the IEEE 118-bus system are analysed. The simulation results reveal the remarkable applicability of the proposed approach; the results are comprehensively evaluated and in order to investigate the impact of the WAMS data on the results, three cases on the New England 39-bus power system are studied. These case studies are associated with investigation into the generator loading schedule, evaluation of the energising tie lines without reference phase angle unication at disconnected islands and prioritisation of energising tie lines. Considering the results of these case studies and compared with the current methods and practices, the advantages of the proposed method in the paper can be discussed. The rest of this paper is organised as follows: A brief description of the problem under investigation is presented in Section 2; the test systems, based on whom the applicability of the presented approach is evaluated, are also introduced in this section. Sections 3 and 4 describe application of WAMS in determination of loading steps and islands interconnections, respectively. Finally, conclusions drawn from the simulation results and analysis of three case studies are presented in Section 5. up approaches [2]. Build-down strategy is to re-energise the network before generators resynchronisation, and buildup strategy is to restore separated parts, so-called islands, and then interconnect them mutually. In many systems, the latter, namely parallel restoration is more advantageous because of a remarkable reduction in restoration time and black-out costs. This paper presents a systematic method for online analysis of stability issues during restoration based on WAMS. Characteristics of the problem are as follows: The stability can be referred to steady-state stability while the power system is gradually being built up, transient stability as initiated by likely faults or sudden changes in power system or instability because of exceeding the minimum excitation levels (high voltages, large charging currents and ample reactive power). This paper considers the power system transient stability as well as the small signal stability assessment as the power system stability constraint. The proper timing to energise the transmission lines, appropriate generators start-up and increase of the generation are accomplished considering this constraint. Similarly, islands interconnection planning at the last stages of restoration is also achieved meeting this constraint. Online stability assessment is obtained owing to power system parameters estimation using WAMS data. Generators are modelled as a constant internal voltage source behind a reactance. All the parameters are estimated applying the least square error tting method to the swing equation of a multi-machine system. Some modications, made on the 39-bus New England and the IEEE 118-bus power systems, resulted in the test system of this research [10]. These modications are as follows: The New England 39-bus power system is divided into four islands as shown in Fig. 1. Thirteen PMUs are placed at buses 2, 6, 9, 12, 14, 17, 22, 23, 29, 32, 33, 34 and 37. All the islands are observable, each of which contains the active load more than minimum power generation to ensure its stability. The steam turbine generators are assumed to be connected to buses 32, 34 and 39. Furthermore, there are four gas turbine generators which are located at buses 30,

Problem description

Power system restoration is the procedure of restoring generators, transmission lines and loads in minimum time without causing damage to power system equipment and customers. There are different strategies for restoration of a power system, two of which are build-down and build1172 & The Institution of Engineering and Technology 2012

Fig. 1 New England 39-bus power system

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Table 1
Island no. 1 2 3 4 5 6 7 8 Buses allocated to islands of the IEEE 118- bus power system Bus no. 1, 3, 4, 5, 6, 8, 9, 10 and 11 2, 7, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 113, 114, 115 and 117 42, 44, 45, 46, 47, 48, 49, 50, 51, 52 and 53 33, 34, 35, 36, 37, 38, 39, 40, 41, 43, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66 and 67 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 82, 116 and 118 79, 80, 81, 96, 97, 98 and 99 83, 84, 85, 86, 87, 88, 89, 90, 91 and 92 93, 94, 95, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111 and 112 Slack bus 10 25 49 61 69 80 89 100

31, 35 and 38, and the hydropower generators are also supposed to be at buses 33, 36 and 37. In addition, the generators located at buses 30, 33, 36 and 37 are assumed to be BSG (slack buses of the islands). The total inertia constants of islands 1 4 are 13.56, 12.16, 6.03 and 17.9 s, respectively. The IEEE 118-bus system is partitioned as eight islands, based on whom, the restoration will be executed. The buses allocated to these islands are presented in Table 1. Considering 32 PMUs, allocated at buses 3, 5, 9, 12, 15, 17, 21, 23, 28, 30, 34, 37, 40, 45, 49, 52, 56, 62, 64, 68, 71, 75, 77, 80, 85, 86, 91, 95, 101, 105, 110 and 114, the islands are observable. The model of automatic voltage regulator (AVR) and turbine governors, and also inertia constants of the generators of the New England 39-bus power are presented in the Appendix. The parameters of IEEE Modied AC1 Excitation System, the parameters of steam, gas and hydropower turbine governors and the inertia constants of the generators are presented in Appendix Tables 5 9.

For each generator, a set of terminal voltage phasors and injected active and reactive power are known from PMU measurements. Equation (1) is the basis of synchronous generators parameter estimation. Consider m set of measurements provided by a PMU device placed in the terminal of a generator; There are 2 m non-linear equations like (1) in which Pe , Q and V are known and there are m + 2 unknowns (E, X and m values for d). It should be noted that E and X are assumed to be the same for the whole m set of measurements. The swing equation of each generator is as follows [12] 2H d2 d K dd = Pm D Pe vs dt2 vs dt (2)

Determining loading steps using WAMS

Unknown parameters in the swing equation are H, KD and Pm and these parameters need to be estimated. Known parameters are vs and Pe . Finally, the mechanical power of the generator is assumed to be constant. Throughout the restoration, load modelling is accomplished because of WAMS data [11] Pl,i = P0,i Vi V0,i
ai

Within the early stages of restoration, in which there are not many online power generators, subsystems are prone to be unstable. Improper monitoring and control, especially within such stages, will prolong the overall process of restoration. Based on the build-up strategy, the early stages of restoration are to organise independent islands. This section presents an approach based on which the power system stability issues during the early stages of restoration are analysed. This approach offers precise and rapid convergence of the calculation of the generators loading steps using static load modelling [11]. The single machine equivalent of the power system using PMU is exploited for generators modelling as well; the values of generators internal voltage, reactance and rotor phase angle are estimated using PMU measurements. The inertia and damping constants as well as mechanical power can be obtained by a least squares error tting method, of which a detailed formulation can be found in [12, 13], on the swing equation of a multi-machine system. Using PMU data (voltage V and active and reactive power Pe and Q), generators internal voltage E, reactance X and m values of rotor phase angles d (considering m set of measurements) are estimated. Based on the classical representation of synchronous generators, the associated active and reactive power can be presented as follows [12] EV sin (d), X V (E cos (d) V ) X

(1 + bi (v vs ))

(3)

where V0,i is the nominal voltage, P0,i is the nominal load and vs is the synchronous frequency. Vi , Pl,i and v are the voltage, load and frequency of the samples recorded by WAMS, respectively. ai and bi , load model parameters, can be determined from PMU measurements taken at (at least) three different samples. i is the index of load buses. Linearisation of the load model and its vector representation yield (4) DPl,i = P0,i ai Vi Vi V0,i
ai

(1 + bi (v vs ))
ai

DVi + P0,i

Vi V0,i

bi Dv

(4)

DPL = ADV + BDv where A is a diagonal matrix, and B is a vector. Combining the swing equation [12] as well as (3) and (4), the model can be restated as an ordinary differential equation (ODE) dDx = Aode Dx + Bode Dd dt (5)

Pe =

Q=

(1)

where x is the dynamic state vector and Dx x 2 x0 . In

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Table 2
GRA restart BSG energise a bus rom a generator/bus/line connect tie line crank an NBSG from a bus synchronise between buses/lines pick up load Total time to complete GRAs [14] Time, min 15 5 25 15 20 10

Table 3
system

Restoration schedule of the New England 39-bus

line Island 1 time line time line time line time line time line time line time line time line time line time line time (min) (min) (min) (min) (min) (min) (min) (min) (min) (min) (min)

30-2 20 9-8 55 2-3 150 33-19 20 16-15 75 10-32 105 13-12 180 36-23 20 36-24 80 37-25 20 26-28 130

2-1 25 8-7 70 19-16 25 15-14 90 16-17 110 14-4 180 23-22 35 25-26 35 29-28 180

1-39 30 7-6 85 19-20 40 14-13 95 17-18 130 22-35 40 26-29 50

39-9 50 6-31 90 20-34 45 13-10 100 17-27 130 22-21 80 29-38 55

respectively. For the New England 39-bus system, the loading steps are assumed to be 40 MW, which is supposed to be the total load of a subtransmission transformer. After 200 min restoration start-up, all the islands are organised; however, island 3 reaches its nal state earlier than the other islands (at 170 min). The total loads of islands 1 4 are 1200, 1160, 840 and 880 MW, respectively. In addition, this loading schedule results in 4080 MW demand at the whole power system. In order to validate the results of this loading schedule, more precisely, the dynamic response of island 4 is shown in Figs. 3 5. These gures, respectively, illustrate electrical power generation, electrical frequency and oscillations of the rotor angles of generators 37 and 38. It is noteworthy that generator 37 is believed to be the slack bus of island 4, so its rotor angle is constant. All things considered, it can be concluded that: Compatible with the load pickup schedule, Fig. 2, power generation is increased and there is also no operational problem. The minimum steady-state frequency is more than 0.97 pu which is acceptable. After generator 38 start-up and its interconnection with the transmission system, the electrical frequency of generators 37 and 38 would be the same. 170 min after start-up of the whole process, the rotor angle of generator 38 becomes greater than that of generator 37; this issue has its roots in power dispatch between these generators. Before generator 38 start-up, only one load step increase (40 MW) occurs at each step; 90 min after start-up of the whole process, two load steps (80 MW) are taken at each step; then 130 min after restoration start-up, the loading steps are again changed to 40 MW. As a result, it is supposed that further loading will be added up after establishment of the BPS.

Island 2

Island 3

Island 4

addition, x0 is the state vector value at the point of linearisation. Dd represents a disturbance input namely load pickup or active power mismatch. Table 2 represents the total time to complete different generic restoration actions (GRA) [14]. Derived from the data given in this table, the restoration and loading schedules of islands 1 4 are shown in Table 3 and Fig. 2,

Islands interconnection

This section analyses the power system stability issues at the last stages of restoration using WAMS. Two issues are investigated: rstly, unifying of the phase angle references in the disconnected islands; then, reaching a priority list to energise tie lines. Since, in two disconnected but synchronised subsystems, the difference phase angle across

Fig. 2 Loading sequence at different buses of the New England 39-bus system
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Fig. 3 Power generation (MW) at island 4 of the New England 39-bus system

Fig. 4 Electrical frequency oscillations at island 4 of the New England 39-bus system

Fig. 5 Rotor angle oscillations at island 4 of the New England 39-bus system

the tie lines is relatively small, the greatest importance during the phase angle reference unication process is rooted in its rst stages when the subsystems have not yet been properly synchronised. It is noteworthy that the maximum phase angle difference across the entire IEEE 118-bus system is 2 18.198, that is, with the reference bus #69 at 0.008, phase angle at bus #37 is 2 18.198, but during the restoration of this power system, neglecting the issue of phase angle differences at disconnected subsystems can result in the failure of the whole process of restoration. This trouble is put into detailed analysis and assessment in this section. During the last stages of restoration, independent subsystems, namely islands which should be integrated in order to establish the BPS, are not interconnected. In this case, the voltage phasors at different islands have no reference to be synchronised. It is really important to estimate phase angle differences among the islands using WAMS. To put it briey, WAMS can play a great role in resolving this problem. Actually, before the restoration process, a power ow study should be carried out in order to calculate the phase angle differences among the slack buses of the adjacent islands which are then served as indicators to set
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slack generators phase angles. Major assumptions during this study include setting of the parameters of PV, PQ and slack buses, as well as availability analysis of transmission system conguration. The setting of the parameters should be done dependent on both the most probable state of generators at the end of islands organisation stage where the transmission lines planned to be in service, and the tie lines which will be energised earlier than the BPS establishment. It is noteworthy that, there is a great limitation for modelling and simulation of phase angle differences among the disconnected islands, but during power system operation, this phase angle difference can be easily calculated using direct measurement of PMUs at different islands. In order to overcome the complexity of this simulation, considering tie lines, which are energised at the rst steps of islands interconnection, and generators output prior to carrying out the interconnection, a power ow analysis is done. During the restoration process, the actual phase angle differences will be evaluated carrying out a state estimation over actual WAMS data and this power ow study can be avoided. The priority to energise tie lines is rooted in the SPA across them. Tie lines including smaller SPAs will be energised sooner than those with greater ones. It is noteworthy that
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after closing the rst tie lines, SPA difference across the other tie lines will be changed. It is seen that since after establishment of the rst interconnections and synchronising the subsystems, there will be a smoother phase angle prole throughout the power system. As a witness, after establishment of the IEEE 118-bus system, the maximum phase angle difference across the entire system will decrease to 18.198. Hence, the priority list is not updated after carrying out the interconnections. After SPA analysis, if SPA across a tie line which is planned to be energised is more than the predetermined threshold, the SPA reduction module will be consequently called. In accordance with the pratice of the power system operators, if SPA reduction is required at the point of interconnections, generators and voltage regulators either in one or both of the subsystems can remove the excessive differences. The role of PMUs in SPA reduction is to provide the power system operator with the reference phase angle difference at different islands; it is noteworthy after synchronisation is achieved, that there is no difference between the reference phase angles of the adjacent islands. Owing to the simulation results of the New England 39-bus power system presented in Section 3, at the end of the island organisation stage (200 min), all the islands are stable and ready to be interconnected. Therefore islands 1 and 4 as well as 2 and 3 are interconnected to form two subsystems at this time, both of which are made up of ve generators; the total inertia constants of these subsystems are 31.46 and 18.19 s, respectively. Compared with the slack bus of island 1, the relative phase angle differences of islands 2 4 are 28.848, 25.638 and 35.88, respectively. The establishment plan of the transmission system is as follows: Tie lines 21-16, 24-16 and 25-2 are energised at the rst step of the islands interconnection process (200 min). Afterwards, the power system grows up to two subsystems instead of four, islands 1 and 4 as well as 2 and 3 are interconnected. Energising tie lines 4-5, 3-4, 6-11, 3-18 and 26-27 at 210, 220, 240, 260 and 270 min, integrates the subsystems to a BPS. In addition, branches 8-5, 5-6, 11-12 and 11-10 are energised at 220, 230, 250 and 260 min, correspondingly, which lead to complete transmission system integration. However, energising tie line 3-18 is deferred because of the transient stability constraint. In order to evaluate the simulation results, tie line 2-25 is chosen for a more detailed analysis. Fig. 6 shows the active power ow through tie line 2-25 integrating islands 1 4. According to Fig. 6, showing operational dynamics of tie line 2-25 during the period of 200 280 min, it should be noted that at 220, 260 and 270 min throughout energising transmission lines 3-4, 3-18 and 26-27, power ow through tie line 2-25 experiences some changes. The strongest change is chiey associated with energising transmission lines 3-4 which drastically changes the power ow of the transmission system. Furthermore, energising the aforementioned transmission lines at 230, 240 and 250 min creates some changes in the power ow of this tie line as well as the voltage difference across it. These changes are not as severe as the aforesaid ones. Actually, changes in the system conguration also affect the RMS voltage of these buses. Fig. 7 shows changes of the voltage RMS values of buses 2 and 25 of the New England 39-bus system as a result of restoration execution. These changes are in remarkable accordance with those of the power ow (Fig. 6). Fig. 8 illustrates the electrical frequency variations at generators 31, 33, 36 and 37 which are located in different islands. This gure is to show the process of frequency adaptation throughout the power system. For example, taking the rst step of islands interconnection leads to the frequency adaptation of islands 1 and 4 as well as islands 2 and 3 (200 min). The nal step of islands integration, which results in creation of the BPS (220 min), causes frequency adaptation throughout the whole power system.

Fig. 6 Active power ow through tie line 2-25 of the New England 39-bus system

Fig. 7 Voltage RMS values of buses 2 and 25 of the New England 39-bus system
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Fig. 8 Electrical frequency oscillations at generators 31, 33, 36 and 37 of the New England 39-bus system Table 4
From 6 11 51 11 78 15 92 82 1 92 40 30 50 68 53 65 41 8 82 Energising tie lines of the IEEE 118-bus power system To 7 12 58 13 79 33 102 96 2 100 42 38 57 81 54 68 42 30 83 Energising at, min 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18

In order to verify the proposed method, more simulation results on islands interconnection for the IEEE 118-bus power system are presented and discussed. The sequence of energising tie lines of this system is presented in Table 4.

It should be noted that this sequence was determined considering the SPA across the tie lines. Derived from the simulation results, the relative phase angle differences between the slack buses of island 1 and islands 2 8 are 0.498, 0.558, 2.378, 2.58, 1.668, 1.648, 4.718, respectively. These differences are smaller than those presented for the New England 39-bus system. This issue results in great promotion in the speed of the energising tie line. It is noteworthy that the slack buses of island 1 8 are 10, 25, 49, 61, 69, 80, 89 and 100. During the process of the network-wide phase angle reference unication, these differences are applied on the analysis of SPA difference for tie lines, that is, transmission lines that have the responsibility to interconnect the disconnected islands. As presented in this table, tie lines encountering a small SPA such as 6-7, 11-12, 51-58, 11-13 and 78-79 are energised at the rst steps of islands interconnection; contrarily and rooted in the excessive SPA difference between the buses, energising tie lines such as 92-94, 49-69, 47-69, 98-100 and 77-80 which are deferred to the last steps of islands integration. In comparison with the BPS establishment timing schedule for the New England 39-bus power system, the IEEE 118-bus establishment is of a remarkable straightforwardness; not only does the IEEE 118-bus power system include a greater total number of transmission lines, but also its power generators are of a smaller power generation capacity.

Fig. 9 Rotor angle oscillations during the PBS establishment (the IEEE 118-bus power system)
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The power system dynamic response to this PBS establishment plan is shown in Fig. 9. This gure shows the rotor angle oscillations of generators 100, 69 and 89 compared with the reference phase angle (generator 10); generator 69 experiences rotor angle oscillations at 4, 13, 15, 17 and 18 min; rotor angle oscillations of generator 100 occur at 6, 9, 18, 20, 27, 29, 31 and 35 min; also, at 18, 20, 27, 29, 31 and 35 min after start-up of islands integration, there are rotor angle oscillations in generator 89. The zero-point of the axis is the starting point of the islands interconnection; at this point, the total power generation, load and transmission system loss are 2862.12, 2825.30 and 36.81 MW, respectively. It is remarkable that the total generation capacity and load of this system are 7240 and 3733 MW, respectively. In other words, the system is restored by up to about 40 and 75% of the total generation capacity and load, respectively. Together with energising tie lines 6-7, 51-58 and 78-79, islands 1 and 2, 3 and 4 and also 5 and 6, are integrated at 0, 2 and 4 min, respectively; energising tie line 15-33 at 5 min, interconnects islands 1 4; islands 7 and 8, are interconnected at 6 min after energising tie line 92-102. At this point in time, there are three subsystems in the IEEE 118-bus power system namely, islands 1 4, islands 5 and 6, and nally, islands 7 and 8. Energising tie line 40-42 leads to integration of islands 1 6 at 10 min. As the nal point for establishment of the BPS, at 18 min, tie line 82-83 is energised. Since generators 69, 89 and 100 are located at islands 5, 7 and 8, considering Fig. 9, there are remarkable rotor angle oscillations at 4, 6, 13, 15, 18, 20 and 27; these oscillations are, respectively, results of energising tie lines 78-79 (integrating islands 5 and 6), 92-102 (integrating islands 7 and 8), 68-81 (islands 5 and 6), 68-65 (islands 4 and 5), 82-83 (islands 5 and 7), 99-100 (islands 6 and 8) and 95-96 (islands 6 and 8). As is revealed, from the power system stability and control points of view, there is no operational problem during the restoration. Applicability of WAMS is examined by performing sensitivity analyses on the New England 39-bus power system: In order to investigate the loading schedule, the loading steps are increased so that the power system loses stability. It is included that, at island 4, considering the proposed parameters for the AVR and turbine governors, loading steps greater than 46 MW will result in power system transient instability. In order to analyse energising tie lines without reference phase angle unication at different islands, tie line 2-25 is chosen for detailed analysis; based on WAMS data and as it was presented earlier, reference phase angles in islands 1 and 4 are of 35.88 difference. Energising tie line 2-25 along with ignoring this phase angle difference will result in a strong shock in power system stability. Also, improper prioritisation of energising tie lines will result in failure of the restoration process. It means before fulllment of energising tie lines and islands interconnection step, SPA across the tie lines which are planned to be energised should be analysed. Moreover, frequency and voltage difference across the tie lines are the other parameters which should be evaluated precisely. As stated in Section 4 energising tie line 3-18 is deferred to 260 min. Energising this transmission line at earlier steps will result in power system transient instability. As a large-scale power system, the IEEE 118-bus system was selected for more analysis in order to verify the ability of the proposed process for PBS establishment. As was shown in Section 4, since SPA across buses of power system is a good indicator for active power ow prole and its operational issues, for example, transient stability, power system frequency oscillations and so on its consideration in the process of decision making about the system integration plan will robustly reduce the operational problems of restoration. The net results of the presented approach will lead to a great promotion in power system restoration methodologies using WAMS.

Conclusions

Power system stability issues during restoration were analysed in this paper. Online stability assessment was achieved dependent on power system variables estimation using WAMS data. Two conditions for stability issues were assessed according to the restoration planning method, which was matched with the build-up strategy; the rst one contained the early stages of restoration in which generator start-up and load pick up were studied; the last stages of restoration, in which independent islands interconnection and BPS establishment were evaluated, are included in the second condition. These conditions are analysed on the New England 39-bus and the IEEE 118- bus power systems. Proper load and generation modelling which brings about accurate power system control, is the major effect of WAMS in stability assessment during restoration. Considering the last stages, unication of the reference phase angles at different islands can be highlighted as the great advantage of WAMS. The New England 39-bus power system was chosen as the simulation test system. The rst step of restoration was nished 200 min after restoration start-up. BPS establishment plan was started immediately after the establishment of the islands. At rst, the adjacent islands were interconnected in order to create two greater subsystems. After 70 min of establishment of the disconnected islands, the BPS is set up.
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References

1 Adibi, M.M., Kafka, R.J.: Power system restoration issues, IEE Comput. Appl. Power, 1991, 4, (2), pp. 1924 2 Lindenmeyer, D., Dommel, H.W., Adibi, M.M.: Power system restoration a bibliographical survey, Electr. Power Energy Syst., 2001, 23, pp. 219227 3 Adibi, M., Fink, L.H.: Power system restoration planning, IEEE Trans. Power Syst., 1994, 9, (1), pp. 2228 4 IEEE Committee Report: Special considerations in power system restoration, IEEE Trans. Power Syst., 1992, 7, (4), pp. 1419 1427 5 Phadke, A.G., Thorp, J.S.: Synchronized phasor measurements and their applications (Springer, 2008) 6 De La Ree, J., Centeno, V., Thorp, J.S., Phadke, A.G.: Synchronized phasor measurement applications in power systems, IEEE Trans. Smart Grid, 2010, 1, (1), pp. 2027 7 Bose, A.: Smart transmission grid applications and their supporting infrastructure, IEEE Trans. Smart Grid, 2010, 1, (1), pp. 11 19 8 Phadke, A.G., de Moraes, R.M.: The wide world of wide-area measurement, IEEE Power Energy Mag., 2008, 6, (5), pp. 52 65 9 Kamwa, I., Beland, J., Trudel, G., Grondin, R., Lafond, C., McNabb, D.: Wide-area monitoring and control at Hydro-Quebec: past, present and future. IEEE Power Engineering Society General Meeting, Montreal, 2006 10 Nezam-Sarmadi, S.A., Dobakhshari, A.S., Azizi, S., Ranjbar, A.M.: A sectionalizing method in power system restoration based on WAMS, IEEE Trans. Smart Grid, 2011, 2, (1), pp. 190197 IET Gener. Transm. Distrib., 2012, Vol. 6, Iss. 11, pp. 11711179 doi: 10.1049/iet-gtd.2012.0054

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11 Larsson, M.: An adaptive predictive approach to emergency frequency control in electric power systems. Proc. 44th IEEE Conf. Decision and Control, and the European Control Conf. 2005, Seville, Spain, 1215 December 2005 12 Kundur, P.: Power system stability and control, power system engineering series (McGraw-Hill, New York, 1994) 13 Nourizadeh, S., Yari, V., Ranjbar, A.M.: Frequency monitoring and control during power system restoration based on wide area measurement system, Math. Probl. Eng., 2011, article id 489841 14 Development and Evaluation of System Restoration Strategies from a Blackout, Final Project Report, Power Systems Engineering Research Center, PSERC Publication 0908, September 2009

Appendix

The model of AVR of the generators is the standard IEEE modied AC1 model [12]. The parameters of the model are
Table 5
No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 Tr Tb Tc Ka Ta Te Kf Tf Kc Kd Ke E1 Se1 E2 Se2 Vmin Vmax Parameters of IEEE modied AC1 excitation system Parameter description, unit measurement delay, s lter delay time, s lter derivative time constant, s controller gain, pu controller time constant, s exciter time constant, s stabilisation path gain, pu stabilisation path delay time, s exciter current compensation factor, pu exciter current derivative factor, pu exciter constant, pu saturation factor 1, pu saturation factor 2, pu saturation factor 3, pu saturation factor 4, pu controller minimum output pu controller maximum output, pu Setting 0.025 0.1 0.1 0.1172 0.02 0.35 0.0069 0.1 0.1 0.2 0.1 3.13 1.73 4.18 0.4 2 36.3 41.7

demonstrated in Table 5. The turbine governor models for steam turbines, gas turbine, and hydropower generators are given in Tables 6 8, respectively. The inertia constants of the generators are also presented in Table 9.
Table 8
# 1 2 3 4 5 6 7 8 9 10 11 12 13 14 R R Tr Tf Tg Tw At Pturb Dturb qnl Gmin Qnl Velm Gmax Parameters of Hydropower Turbine Governor Parameter description, unit permanent droop, pu temporary droop, pu governor time constant s lter time constant s servo time constant s water starting time s turbine gain pu turbine rated power MW frictional losses factor pu no load ow pu minimum gate limit, pu no load ow, pu gate velocity limit, pu maximum gate limit, pu Setting 0.04 0.5 8.0408 0.05 0.5 0.496 1.15 0.0 0.0 0.08 0.0 0.0 0.2 0.2

Table 6
No. 1 2 3 4 5 6 7 8 9

Parameters of Steam Turbine Governor Parameter description, unit T3 T2 At Dt Pturb R T1 Vmin Vmax turbine delay time constant, s turbine derivative time constant, s turbine power coefcient, pu frictional losses factor, pu turbine rated power, MW controller droop, pu Governor time constant, s minimum gate limit, pu maximum gate limit, pu Setting 0.2 0.2 0.1 0.2 0.0 0.05 0.1 0.5079 0.838

Table 9
Bus # 39 31 32 33 34 35 36 37 38 30

Inertia constants of the generators Generator G1 G2 G3 G4 G5 G6 G7 G8 G9 G10 Capacity, MW 572.9 650 632 508 650 560 540 830 1000 250 Inertia constant, s 2.64 6.15 2.62 3.39 6.15 2.64 3.39 9.5 8.4 4.77

Table 7
# 1 2 3 4 5 6 7 8 9 10

Parameters of Gas Turbine Governor Parameter description, unit Setting 0.047 0.4 0.1 0.3 0.1 0.2 0.0 0.0 0.0 0.1

R T1 T2 T3 AT Kt Dturb Pturb Vmin Vmax

speed droop, pu controller time constant, s actuator time constant, s compressor time constant, s ambient temperature load limit, pu turbine factor, pu frictional losses factor, pu turbine rated power, MW controller minimum output, pu controller maximum output, pu

IET Gener. Transm. Distrib., 2012, Vol. 6, Iss. 11, pp. 11711179 doi: 10.1049/iet-gtd.2012.0054

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