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=
= =
0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
abc
p
a ab ac ab ac
p p p p p
ab b ab bc bc
p p p p p
ac bc c ac bc
p p p p p
B
B B B B B
j B B B B B
B B B B B
=
+ +
+ +
+ +
(2)
0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
abc
q
a ab ac ab ac
q q q q q
ab b ab bc bc
q q q q q
ac bc c ac bc
q q q q q
B
B B B B B
j B B B B B
B B B B B
=
+ +
+ +
+ +
(3)
In equations (1) - (3), the variables are defined as:
ZLine series impedance matrix
YLine series admittance matrix
BLine shunt susceptance matrix
p, q subscripts refer to bus index
a, b, c superscripts refer to phase index, and
0 refers to ground.
Three-phase voltage transformers (PT and CVT) are
connected to buses P and Q in Figure 1. Three-phase
current transformers (CTs) are connected in series at each
terminal of the transmission line. It is also assumed that a
PMU is measuring every secondary voltage and current in the
two-bus system of Figure 1. The current in the transmission
line is I
pq
ubc
and I
qp
ubc
at the two buses, and are measured by
PMUs connected to the current transformers. Similarly
voltages E
p
abc
and E
q
abc
are also assumed to be measured by
the PMUs through the voltage transformers. The relationship
between the network currents and voltages is given by
equations (4):
0 0 0 0 0
0 0 0 0 0
,
abc abc abc abc abc abc abc
pq q pq p p p pq
abc abc abc abc abc abc abc
pq p pq q q q qp
Y E Y E B E I
Y E Y E B E I
= +
= +
B. Measurement Errors
Errors in PMU measurements consist of three parts: (i)
errors introduced by ratio correction factors of the instrument
transformers, (ii) errors caused by the quantization of the A/D
converter, and (iii) errors caused by GPS synchronization
uncertainties [7]. Modern PMUs commonly use 16-bit
Analog-to-Digital (A/D) converters, but in older instruments a
12-bit converter may be used. For a 12-bit A/D converter the
standard deviation of the measured phasor magnitudes errors
in per unit is around 0.825 1u
-5
[4]. For a 16-bit A/D
converter the phasor estimation error is negligible. Phase angle
errors in PMU measurements may be caused by inaccuracy of
time synchronization. When GPS synchronization is lost, the
PMU provides an indication of this fact, and the
corresponding phasor is considered invalid and is rejected at
the source. When GPS synchronization is present, its accuracy
is 1s or better. PMU phase angle errors due to uncertainties
of the order of 1s are less than 0.021 degrees for a 60 Hz
system. In practice the GPS system delivers a more accurate
synchronization, and one may assume the phase angle error to
have a standard deviation of 0.0067 [4], which is 1/3 of the
maximum error. The generic error model of PMU
measurements is given in equation (5).
( )
abc abc abc
x m
diag K X X =
In equation (5), the variables are defined as:
X
ubc
Vector of three-phase phasors (voltages or
currents) in per unit at the input of instrument
transformers.
X
m
ubc
Vector of three-phase phasors in per unit
measured by the PMUs.
K
x
ubc
Vector of overall three-phase transducer Ratio
Correction Factor.
Note that the factors K used in equation (5) are the inverse
of the traditional ratio correction factors, defined as the input
signal divided by the output signal. This is done in order to
simplify the equations used later for estimation of K.
It is clear from the discussion above that relaying accuracy
transducers have 3%-10% ratio magnitude error and 0.5-3
phase angle error and that the transducer errors are the major
source of PMU (or any other) measurement error. In contrast,
the error caused by A/D conversion process and
synchronization process in the PMU is considered negligible.
The current and voltage PMU measurements are related to the
ratio correction factor of instrument transformers as shown in
equations (6):
(1)
(4)
(5)
4
0
0
( )
( )
abc abc abc
e m
abc abc abc
i m
diag K E E
diag K I I
=
=
C. Two-bus System Calibration
The true values of currents and voltages in equation (4) can
be replaced by their measured values using the ratio correction
factors introduced in equation (6),
0
0
( ) ( )
( ) ( )
( ) ( )
( ) ( )
abc abc abc abc abc abc
pq eq qm pq ep pm
abc abc abc abc abc
p ep pm ipq pqm
abc abc abc abc abc abc
pq ep pm pq eq qm
abc abc abc abc abc
q eq qm iqp qpm
Y diag K E Y diag K E
B diag K E diag K I
Y diag K E Y diag K E
B diag K E diag K I
=
+
=
+
It is assumed that the voltage transformer at bus P is a
high accuracy device (e.g. three-phase PTs), and that its RCF
is (1.0+ j0). Using this fact (7) can be re-written as
0
0
( ) ( ) 0
( ) ( ) 0
( )
abc abc abc
pq qm pqm
abc abc abc abc abc
pq qm q qm pqm
abc
eq
abc
ipq
abc
iqp
abc abc
pq p abc
pm abc
pq
Y diag E diag I
Y diag E B diag E I
K
K
K
Y B
diag E
Y
=
Equation (8) represents 6 algebraic equations with 9
unknown ratio correction factors: 3 for voltages at bus Q:
K
cq
ubc
, and 3 each for current transformers at buses P and Q:
K
pq
ubc
and K
qp
ubc
. These equations can be supplemented by
making measurements on the network for different loading
conditions represented by subscripts 1 and 2. Thus the two
sets of measurements corresponding to two loading conditions
are:
(1) (1) (1) ( 2) ( 2) (2)
( ); ( )
abc abc abc abc abc abc
qm pqm qpm qm pqm qpm
E I I E I I
And
(1) (2)
abc abc
p p
E E
Measurements of two loading conditions will result in 12
algebraic equations with 9 unknowns and the unknown ratio
correction factors can be calculated using least-squares
technique on this over-determined set of equations [8]. In
general one may use several measurement sets with different
loading conditions. If n loading conditions are used, there
will be 6n equations with 9 unknowns, which can be solved
as before.
D. Calibration method for a network
The process of generating equations of the type given by (8)
can be easily extended to a general network. A network with
n buses and m lines (with one perfect voltage transformer)
will lead to [6m] equations and [3(n-1)+6m] unknowns. As
before measurements made under multiple loading conditions
will provide sufficient number of equations in order to provide
an over-determined set of equations from which all the
unknown ratio correction factors can be calculated. It should
be noted that the calibrations can only be obtained for buses
and lines where PMUs are connected, and that the
measurement set corresponds to a connected graph.
IV. SIMULATIONS AND RESULTS
This simulation of the three-phase calibration technique
presented in Section III has been applied to Dominion Virginia
Powers (DVPs) 500kV transmission network. One line
diagram of the DVP system is shown in Figure 2.
Figure 2. Dominion Virginia Powers 500 KV one-line diagram
In DVPs 500kV system, PMUs will be installed over the
next few years to allow for complete system observability.
Three-phase current and voltage phasors at the buses and
branches shown by solid lines in Figure 2 are measured
directly by PMUs. Other buses and branches shown by dotted
lines can be indirectly-observed with DVPs PMU
installations. The three-phase high accuracy voltage
transformers which have been calibrated on-site and have
known correction factors are installed at bus 14. Different
measurement sets corresponding to different loading
conditions are created by simulations for the winter season by
varying the loads and generation in the system. Average 24-
hour load variation in the winter season for the DVP system is
shown in Figure 3. The heaviest load is 98% and the lightest
load is 32% of the maximum load.
Figure 3. Average 24-hour load curve in the winter season.
In simulations, three-phase load flow data for each load
scan are assumed to be true values of system measurements.
PMU measurements are obtained by applying the error models
of Section III to the true values. The magnitude and phase
0
0.2
0.4
0.6
0.8
1
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24
L
o
a
d
p
e
r
c
e
n
t
(
%
)
Hour
Average 24-hour load in winter
(7)
(8)
(6)
5
angle of the transducers correction factors were randomly
chosen from a uniform distribution with limits shown in Table
2.
TABLE II. COMPLEX CT AND VT RANGES FOR RCF AND PACF
Voltage transformers Current transformers (rated current)
Ratio Error
Phase Angle Error
(degree)
Ratio Error
Phase Angle Error
(degree)
[0.94,1.06] [-4,4] [0.97,1.03] [-2,2]
Twenty-four hour winter load (light and heavy) scenarios
between 00:00 am to 12:00 noon are used to obtain the CT and
CVT RCFs. The A/D converter and GPS synchronization
errors in PMU measurements have been assumed to be
negligible in the first set of simulations. In a second simulation
run, the errors made in the PMU measurements with error
distribution described in section III (b) are added to the
measurement set used in the first simulation. All magnitude
correction factors are in per unit and angle correction factors
in degrees.
Simulation 1: Errors due to RCF only
In this simulation error source in PMU measurements is the
ratio correction factors of the transducers. Figures 4 and 5
show the difference between assumed magnitude & phase
angle correction factors and estimated correction factors of
CVTs. Calculation were performed in MATLAB using double
precision arithmetic. As noted before three-phase voltage
transformers with MCF of 1.0 and PACF of 0 degrees are
assumed to be located at bus 14. It should be noted that the
errors in estimation of MCFs of CVTs are of the order of 10
-12
per unit as PACFs are of the order of 10
-11
degree. Similar
results are obtained for MCFs and PACFs of current
transformers. The next set of simulations includes PMU errors
as well, and all MCF and PACF errors are shown there for
those simulations.
Figure 4. Three-phase CVTs MCF estimation errors.
Figure 5. Three-phase CVTs PACF estimation errors.
Simulation 2: Errors due to PMUs included
In this simulation PMU measurement errors have been
added to the errors caused by the RCFs of current and voltage
transformers. Figures 6 and 7 show the difference between
estimated MCFs and assumed PACFs of CVTs. Figures 8 and
9 show the difference between assumed MCFs and assumed
PACFs of CTs.
Figure 6. Three-phase CVTs estimated MCF errors when PMU errors are
included.
Figure 7. Three-phase CVTs estimated PACF errors when PMU errors are
included.
Figure 8. Three-phase CTs estimated MCF errors when PMU errors are
included.
Figure 9. Three-phase CTs estimated MCF errors when PMU errors are
included.
It can be seen that errors in CVTs and CTs correction
factors are of the order of 10
-6
and 10
-5
respectively. When
6
PMU errors are included in the measurement process, the
resulting estimates have errors of the order of the PMU
measurement errors.
V. CONCLUSIONS
The method of remotely calibrating three-phase CTs and
VTs using PMU measurements has been proposed in this
paper. This method requires at least one highly accurate,
calibrated voltage transformer that will be used as the
reference for all other transducers. This calibration method can
result in transducer parameters with near zero error for all
three-phases when PMUs errors are assumed negligible.
These advantages of the proposed method above all others
partly comes from the fact that detailed models of instrument
transformers and PMUs are not required, and that the burdens
attached to the transducers do not need to be analyzed. This
calibration method removes the uncertainty of measurement
errors due to transducer errors, and can be scaled for even
higher accuracy if more load conditions are measured. The
error estimation may be performed as often as needed, and the
error can be tracked over time to detect the onset of creeping
degeneration in transducers.
This method will be applied in Dominion Virginia Powers
500kV network, where PMUs will be installed for full
observability. With PMU measurements available, the
proposed method can greatly improve the measurements and
reliability of their WAMS network, as well as of the SCADA
system. Having performed tests on the proposed method by
simulations, it remains to be seen how the method performs
with actual field data. Once the results from field tests become
available, direction for further research on this subject will
become clearer.
VI. ACKNOWLEDGEMENT
The authors gratefully acknowledge the contributions of
James S. Thorp from Virginia Tech, Kevin D. Jones from
Virginia Tech and Matthew Gardner from Dominion Virginia
Power for their work on this document.
VII. REFERENCES
[1] IEEE Standard Requirements for Instrument Transformers, IEEE Std
C57.13-1993, pp, i-73, 2003.
[2] IEEE Standard Requirements for High-accuracy Instrument
Transformers, IEEE Std C57.13.6-2005, pp, i-16, 2005.
[3] M. Zhou, Advanced System Monitoring with Phasor Measurements,
Ph.D. Dissertation, Dept. ECE, Virginia Tech, April, 2008.
[4] M. M. Adibi and R. J. Kafka, Minimization of uncertainties in analog
measurements for use in state estimation, Power Systems, IEEE
Transactions on, vol. 5, pp.902-910,1990.
[5] A. G. Phake, J.S. Thorp, R. F. Nuqui, M. Zhou, Recent Developments
in state estimation with phasor measurements, Power Systems
Conference and Exposition 2009, PSCE '09.
[6] Z. Shan and A. Abur, Combined state estimation and measurement
calibration, Power Systems, IEEE Transactions on, vol. 20, pp.458-465.
[7] A. G. Phadke and J. S. Thorp, Synchronized Phasor Measurements for
Power Systems, (Book), Springer Verlag, 2008.
VIII. BIOGRAPHIES
Zhongyu Wu (S10) received her B.S. degree from
Southeast University, Nanjing, China, in 2008 and
M.S. degree from Virginia Tech, in 2009. She is
currently pursuing the Ph.D. degree from the
Department of Electrical and Computer Engineering,
Virginia Tech, Blacksburg. Her main research
interests are power system wide area measurement,
power system state estimation, power electronic
devices in power system, and power system
protection.
Kyle Thomas (S10) received his B.S. and M.S.
degrees in Electrical Engineering from Virginia Tech,
Blacksburg, in 2009 and 2011, respectively. He is
currently working at Dominion Virginia Power in
Richmond, VA, where he is a power system engineer
involved in transmission system protection studies and
the installation of synchrophasor technology and their
applications.
Rui Sun (S10) received his B.S. degree from
Southeast University, Nanjing, China, in 2007 and
M.S. degree from Clemson University, in 2009,
respectively. He is currently pursuing the Ph.D.
degree from the Department of Electrical and
Computer Engineering, Virginia Polytechnic Institute
and State University, Blacksburg. His main research
interests are power system state estimation and power
system wide area measurement.
Virgilio Centeno (M92SM06) received the M.S.
and Ph.D. degrees in electrical engineering from
Virginia Polytechnic Institute and State University
(Virginia Tech), Blacksburg, in 1988 and 1995,
respectively.
He worked as a Project Engineer at Macrodyne,
Inc., Clifton Park, NY, in the development of phasor
measurement units from 1991 to 1997. He joined the
faculty of Virginia Tech as a Visiting Professor in
the fall of 1997 and became an Assistant Professor in
the fall of 2001. His area of interest is wide area measurement and its
applications.
Arun G. Phadke (LF 2003) is a Research University
Distinguished Professor at Virginia Tech in
Blacksburg, Virginia, USA. His primary research area
is the microcomputer based monitoring, protection,
and control of power systems. He is a co-author of
two books on relaying: Computer Relaying for Power
Systems, and Power System Relaying, and is the editor
of and contributor to the book Handbook of Electrical
Engineering Computations. He is a Fellow of IEEE
and was awarded the IEEE Third Millennium Medal
in 2000, named the Outstanding Power Engineering Educator by the IEEE in
1991, and received the Power Engineering Educator Award of the EEI in
1986. He received the IEEE Herman Halperin Transmission and Distribution
award in 2000. He was the Chairman of the Technical Committee of USNC
CIGRE, and Editor-In-Chief of IEEE Transactions on Power Delivery. Dr.
Phadke was elected to the US National Academy of Engineering in 1993. Dr.
Phadke was awarded Honorary Doctorate by INP Grenoble, France in 2006
and received the Karapetoff award (with S.H. Horowitz) and the Benjamin
Franklin Medal in Electrical Engineering in 2008 (with J.S. Thorp).