Electric Power Systems Research 56 (2000) 231 241 www.elsevier.

com/locate/epsr

A method of utilising non-source measurements for harmonic state estimation

Van Long Pham a, Kit Po Wong a,*, Neville Watson b, Jos Arrillaga b
a

Department of EE Engineering, AI and Power System Research Group, The Uni6ersity of Western Australia, Nedlands, WA 6907, Australia b Department of EE Engineering, Power System Research Group, The Uni6ersity of Canterbury, Christchurch, New Zealand Received 6 October 1999; received in revised form 20 March 2000; accepted 22 March 2000

Abstract A power system reduction method is described for use in harmonic state estimation (HSE). The new method uses harmonic measurements at non-harmonic-source buses, such as those of generators, without loads or linear loads, to estimate the system-wide harmonic levels. In general, non-harmonic-source buses are more numerous and accessible, and are also better equipped with measurement instruments than those of remote and non-linear loads. The new solution provides optimal measurement locations thus reducing the monitoring costs attached to harmonic state estimation. The enhanced HSE algorithm has been tested in the New Zealand power system with promising results. 2000 Elsevier Science S.A. All rights reserved.
Keywords: Harmonic state estimation; Observability analysis; Harmonic

1. Introduction To maintain high quality power supply, the system harmonic levels must be measured and kept under control. To assess the harmonic levels without the need to make full system harmonic measurements, a HSE algorithm has been developed [1 4], capable of estimating the system-wide harmonic levels from a few synchronised, partial and asymmetric harmonic measurements. The minimum number of these measurements and their location are determined by observability analysis (OA) [5 8] and the location of the harmonic sources can be identied from the estimated nodal harmonic current injections by the HSE algorithm. The solvability of the HSE algorithm and the accuracy of the estimated harmonic levels depend on the number and location of the harmonic measurements. Generally, harmonic-source buses are those with attached non-linear loads while buses with generators, linear or non-loads do not generate harmonics. Thus, the original OA [6] and HSE algorithms were based on harmonic measurements at only potential harmonic-source (suspicious) buses.
* Corresponding author.

However, harmonic measurement at suspicious buses can be difcult to obtain, as these buses are often inaccessible or lack of monitoring equipment. Moreover, the number of suspicious buses is relatively small and exclusive measurement at these buses does not ensure solvability. Based on harmonic measurements at non-suspicious buses, this paper develops a new approach to the harmonic state estimation problem that ensures system solvability and adds estimation accuracy. A system reduction method is developed to show that measurements at non-suspicious buses are as signicant as that of suspicious buses for system solvability. This method is incorporated into the existing HSE and its OA algorithm is modied to identify an optimal set of harmonic measurements at non-suspicious buses. Furthermore, the new HSE algorithm also makes use of the load demand information at the suspicious buses to improve the accuracy of the system harmonic nodal current estimation. The application studies show that information of load demand at these buses when incorporating into the algorithm increases the accuracy of the HSE.

0378-7796/00/$ - see front matter 2000 Elsevier Science S.A. All rights reserved. PII: S 0 3 7 8 - 7 7 9 6 ( 0 0 ) 0 0 1 2 6 - 7

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2. Harmonic state estimation problem This section gives a summary of the formulation of the HSE problem. More detailed theory can be found in [1] and Refs. therein. In the HSE problem, partial harmonic measurements of nodal voltages, nodal injection currents and line currents, and system data are used to generate a best estimate of the harmonic levels in the power system. Nodal voltages of the whole system are chosen to be state variables as they are independent of each other. When they are found, all the harmonic injection currents, branch currents, line currents and harmonic power ows can be calculated. Measurement values are available measured harmonic nodal voltages and injection currents at selected suspicious nodes, and selected line currents at each harmonic frequency. For each harmonic order n, let VN, IN and IL be the vectors of system harmonic nodal voltages, injection currents and line currents respectively, the system equations are given by IN = YNNVN IL = YLNVN (1) (2)

To obtain accurate results, it is required to transform the under-determined problem into a completely-determined one, where number of unknowns equals the number of measurements. This can be achieved using matrix-partitioning technique based on the harmonic information of the system and available harmonic measurements.

3. A new power system reduction procedure A new procedure for system reduction enabling the use of measurements at non-suspicious nodes for HSE is presented here. The procedure transforms the under-determined system equation in Eq. (3) into a completely-determined one taking in the non-source measurements. The system node set N is partitioned into two subsets of non-source (Vo, Lo) buses and suspicious (Vs, Is) buses, i.e. VN =

 n

Vo , Vs

IN =

n
Io Is Vo Vs

where YNN is the system nodal admittance matrix and YLN is the system line-node admittance matrix. These matrices are obtained from the system conguration, which is represented as an oriented graph with incident matrices representing the system as individual elements connected in a manner of the physical network [1,2]. The set of the system Eqs. (1) and (2) can be transformed into the following form, which relates the measurements to the state variables Z(n) = f[X(n)]+m(n) (3)

n 

Eqs. (1) and (2) can be partitioned into Yos Yss

Io Y = oo Is Yso

IL = [YLo

YLs ]

 n
Vo Vs

n n

(5)

(6)

From Eq. (5) and with Io = 0, the vector of harmonic nodal voltages at non-suspicious nodes derived from
Vo = Yoo 1YosVs

(7)

In Eq. (3), X is the vector of nodal voltages, which are the state variables; Z is the vector of measurements; and n is the harmonic order. The function f() is related to the system topological conguration, system admittance matrix and placement of measurement points. m(n) is the vector of measurement errors produced from system measurement noises due to transducer errors and problems in data communications. The Gaussian noise model is used such that E[m(n)] = 0, E[m(n)m(n)T]= R(n) (4)

Substitution of Vo into Eqs. (5) and (6) gives ( Is = YssVs ( IL = YLsVs where
( Yss = Yss YsoYoo 1Yos ( YLs = YLs YLoYoo 1Yos

(8)

(9)

where E() is an operator of expectation value and R is a weighted matrix. The objective of the HSE algorithm is to estimate accurately the system harmonic nodal voltages using Eq. (3). However, this equation is usually an under-determined equation, which means that the number of nodal voltages is larger than the number of measurements. The results obtained from solving this under-determined problem using state estimation techniques are usually inaccurate [1].

In Eq. (8), the number of unknowns in the HSE problem has been reduced from VN to Vs. Because the number of non-source buses in a system is generally larger than that of suspicious buses, the reduction of the number of unknowns from all bus nodal voltages to that of suspicious buses is signicant. Next the reduced system set in Eq. (8) is partitioned based on the measured and unmeasured values. The non-suspicious bus nodal voltage vector, Vo is subdivided into two subsets of measured and unmeasured values Vom and Vou, respectively. Similarly, the suspicious-bus nodal voltage vector Vs is subdivided into Vsm and Vsu, the

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injection current vector Is into Ism and Isu, and the line current vector IL into ILm and ILu. Eqs. (7) and (8) are then partitioned into

X= Vsu,

 n   n   n 

Vom Yomsm = Vou Yousm

Yomsu Yousu

n n
Vsm Vsu Vsm Vsu Vsm Vsu

mom and E= msm mLm

(17)

(10)

Ism Ysmsm Ysmsu = Isu Ysusm Ysusu

n n n n

(11)

ILm Y YLmsu = Lmsm ILu YLusm YLusu

(12)

To take into account the measurement errors, let V% , V% m, I% m and I% m be real measurement value vecom s s L tors of Vom, Vsm, Ism and ILm with measurement noise vectors mom, msmv, msmi and mLm, respectively, then V% m =Vom + mom o V% m = Vsm +msmv s I% = Ism + msmi sm I% = ILm +mLm Lm ( Vom =YomsuVsu + mom I( sm = YsmsuVsu +msm I( Lm = YLmsuVsu +mLm where ( Vom =V% YomsmV% om sm I( sm = I% YsmsmV% sm sm I( Lm = I% m YLmsmV% m L s and mom = mom Yomsmmsmv msm = msmi Ysmsmmsmv mLm = mLm YLmsmmsmv (16) (15) (14) (13)

Overall, the above reduction process has reduced the number of unknowns in the HSE problem from all system nodal voltages, VN to unmeasured suspicious nodal voltages, Vsu. Voltage measurements at non-suspicious nodes, Vom have been incorporated into the reduced system Eq. (17). The reduced system Eq. (17) has a unique solution or is completely determined when the number of harmonic measurements, which are at either non-suspicious or suspicious nodes, equals to that of the unmeasured suspicious-bus nodal voltages VSU. This, therefore, shows that harmonic voltage measurements at non-suspicious buses are as signicant as that of suspicious buses for ensuring the solvability of the reduced system equation.

4. A new system measurement matrix for OA To ensure the solvability of the system Eq. (17) and the accuracy of the results, the minimum number of measurement and the optimal measurement locations rst need to be determined using OA techniques. The symbolic OA method developed in [6] shows that the system observability can be determined from the system measurement matrix, which relates the suspicious-bus nodal voltages, Vs to the measurement values. The system measurement matrix in [6] however, does not include harmonic nodal voltage measurements at nonsuspicious buses. In this section, a new system measurement matrix is obtained which include non-suspicious bus harmonic nodal voltage measurements. From Eqs. (10)(12), the equation set, which relates Vs to the measurement values are given by Vom Yomsm Ism = Ysmsm ILm YLmsm Yomsu V Ysmsu sm V YLusm su

Substitution of Eq. (13) into Eqs. (10) (12) gives

 n

(18)

In the reduction process from Eq. (8) to Eq. (14), the number of unknowns has been reduced from number of suspicious nodes, Vs to the number of unmeasured suspicious nodes, Vsu. The reduced system Eq. (14), can be written in the following form Z = HX + E where Vom ( Z = I( sm , I( Lm Yomsu H = Ysmsu YLmsu

Thus, the new symbolic OA algorithm uses measurements at suspicious and non-source buses to obtain an optimal set of measurement locations, which ensures the system solvability. The existing OA algorithm can also be modied to search for more convenient nonsource bus measurement locations as optimal harmonic measurement locations for the HSE purpose.

5. Modelling of suspicious loads for HSE Because accurate loading level of potential-harmonicsource loads is not clear before the harmonic

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information is obtained, in [1], the load branch at the suspicious buses are removed when forming the system admittance matrix. To make use available information of load demand at suspicious buses, in this paper the suspicious-bus loads are modelled to include two components: a linear load and a harmonic source. The loading level of the linear-load component is given by the load demand at the bus. The injection level of harmonic-source component is unknown and is estimated by the HSE algorithm. The linearload-component admittance sub-matrices at the suspicious buses are incorporated into the system branch admittance matrix when it is formed for the HSE. The load demand information will be the true loading value if the suspicious-bus load is in fact a linear load. However, if the load is a harmonic source load then the load demand information may not be the true value and some error is expected.

( The solution X is given by ( X = (HTR 1H) 1HTR 1Z and P= (HTR 1H) 1 (26) (25)

If no prior estimate of the harmonic content in the power system is available and all the harmonic measurement instruments being used are of the same type, then R is a unit matrix and ( X = (HTH) 1HTZ P= (HTH) 1 (27) (28)

Eq. (27) gives the best estimate of the suspicious-bus unmeasured harmonic nodal voltages. The algorithm also calculates system-wide harmonic nodal voltages, harmonic nodal current injections, line currents and harmonic power throughout the power system.

6. A state estimation algorithm for harmonic estimation A number of state estimation techniques [9,10] can be used for determining the most accurate solution for Eq. (17). A weighted-least-squared estimation algorithm is selected here given that the harmonic statistical characteristic in a power system is unknown. To obtain the best estimate of X in Eq. (17), Z = HX+ E let X% be a known vector of old state estimate before the measurement Z is made, and M is a known positive matrix given by M = E[(X% X)(X% X)T (19) 7. Application examples

7.1. Test system

The developed algorithm is tested using the 220 kV interconnected transmission network in the South Island of New Zealand. The real system data and system modelling are obtained from references [1113]. Three-phase system modelling is applied to take into account imbalances and couplings among phases at different harmonic frequencies. Fig. 1 shows the threephase diagram of the test network. The system includes eight transmission lines represented by equivalent p models, the three synchronous generators are modelled as shunt branches connected at their terminal nodes and the ve transformers are connected in star-delta. There are a total of 27 nodes, 111 branches and 87 lines. Three loads are connected at bus bars R11B, I33A, T220. The actual harmonic sources are six and 12pulse rectiers at two of these buses. In Fig. 1, these suspicious harmonic source injections are represented by question marks and the linear loading levels are the given load demand at these buses. The remaining system buses are non-source buses. Because three-phase system is used, each bus includes three nodes. Therefore, there are a total of 19 non-source nodes and nine suspicious nodes in the test system.

where E[] is the expectation value, then a weighted least-squares estimator minimises J(X) where J(X) = (Z HX)TR 1(Z HX) +(XX%)TM 1(X X%) ( To nd vector X, which minimises J let (J(X) =0 ((X) X = X ( then ( X = X%+PHTR 1(Z HX%) (22) (20)

(21)

where P is an estimate error covariance matrix and is given by ( ( P = E[(X X%)(X X%) ]= (M If X% is unknown then set
T 1

7.2. Optimal measurement placements

The suspicious-source buses, R110, I33A and T220 geographically far from the utility processing station, are not ideal measurement locations. Moreover, the

+H R

H)

(23) (24)

X% = 0 and M =

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generators at M14A and M14B and their step-up transformers are identical and the harmonic nodal voltages at the bus bars M14A and M14B are the same. Measurements at only one of these two buses are therefore necessary. To obtain a unique solution for this system, the minimum required number of harmonic measurements is 9. These can be measurements of nodal voltages and/or line currents at the identied optimal locations. The symbolic OA algorithm is applied to determine the system observability from a set of measurement locations. The set of measurement locations used for this test is shown in Fig. 1. These measurements are partial, asymmetrical and distant from the suspicious-source buses.

7.3. Test results

It is very expensive and time consuming and sometimes even impossible to obtain the harmonic information for the whole test system by measurements for the validation purpose. System harmonic information from the harmonic penetration software program is considered an accurate approximation of that of the measurements. Therefore the HSE results are validated here using harmonic penetration simulation results. Vigorous testing using the real system for different harmonic levels and harmonic source locations has been carried out to ensure the robustness of the new algorithm. This section shows the results of one of the tests. For comparison, both results obtained from the

Fig. 1. South Island of New Zealand power system. ", measurement points.

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Fig. 2. Nodal voltage magnitude of harmonic simulation.

Fig. 3. Nodal voltage magnitude of harmonic state estimation.

Fig. 4. Nodal voltage phase angle of harmonic simulation.

developed HSE algorithm and the harmonic penetration program are presented. To show the improvement in the accuracy of the HSE results, rst the linear load levels at the suspicious buses are set to zero. Figs. 2 5 show the harmonic

nodal voltage magnitudes and phases obtained by simulation and the state estimation methods, respectively. In the gures, each system bus includes three grid lines, each of which represents one node in the bus. Types of harmonics can be readily identied from the harmonic

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nodal voltage magnitudes. The results show that the estimated harmonic voltages are identical to that of the simulation. Figs. 69 show the nodal injection current magnitudes and phases obtained by simulation and the HSE

methods respectively. The errors of the estimated currents are shown in Figs. 10 and 11. Next the loading levels at the suspicious buses are set to their true values and the harmonic nodal currents are calculated from the nodal voltages using the HSE algorithm. The results

Fig. 5. Nodal voltage phase angle of harmonic state estimation.

Fig. 6. Nodal injection current magnitude of harmonic simulation.

Fig. 7. Nodal injection current magnitude of harmonic estimation for zero suspicious load demand case.

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Fig. 8. Nodal injection current phase of harmonic simulation.

Fig. 9. Nodal injection current phase of harmonic estimation for zero suspicious load demand case.

Fig. 10. Nodal injection current magnitude difference for zero suspicious load demand case.

are shown in Figs. 12 and 13. The estimated nodal currents are now identical to that of the simulation results as seen from the zero difference shown in Figs. 14 and 15. In practice however, only an estimate of the

load demand at source buses is available and some errors are expected from the HSE results. However, the estimated nodal injection currents at the suspicious buses for both the two extreme suspi-

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cious-bus loading cases show that harmonic sources can be identied at T220 and I33A while the load at R11B is a purely passive load. The types of the identied

harmonics also show that the source at T220 is of a twelve-pulse converter while the one at I33A is of a six-pulse converter.

Fig. 11. Nodal injection current phase difference for zero suspicious load demand case.

Fig. 12. Nodal injection current magnitude difference for accurate suspicious load demand case.

Fig. 13. Nodal injection current phase angle of harmonic state estimation for accurate suspicious load demand case.

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Fig. 14. Nodal injection current magnitude of harmonic state estimation for accurate suspicious load demand case.

Fig. 15. Nodal injection current phase difference for accurate suspicious load demand case.

8. Conclusions A new power system reduction procedure has been developed and incorporated into the HSE algorithm to accurately estimate the system-wide harmonic levels using measurements at easily accessible non-source buses in a power system such as generators, non-load and linear-load buses. The application of the new algorithm to a real system has shown that complete harmonic information including system-wide harmonic levels, location and type of harmonic sources can be obtained from a few measurements taken at non-source buses geographically far from the harmonic sources. This new development allows optimal harmonic measurement locations to be selected and increases the HSE solvability for large and complicated systems. It reduces the cost and time in obtaining harmonic measurement data for harmonic state estimation purposes. The new algorithm has the potential application for harmonic monitoring in a deregulation environment. The new algorithm enables individual organisations,

who manage different parts of the network to estimate harmonic levels and identify harmonic sources in other parts of the network using only harmonic measurements obtained from their own part of the system.

Acknowledgements The authors wish to express their gratitude to the Australian Research Council and Western Power for their support. The authors thank Drs S. Chen and Matair for their valuable comments and discussions.

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