Power System Restoration
Download
Report
Transcript Power System Restoration
COMPREHENSIVE APPROACH TO
POWER SYSTEM SECURITY
COMP
Copyright © P. Kundur
This material should not be used without the author's consent
-0
1539pk
Power System Security
Security of power systems depends on three
factors:
The Physical System
the integrated generation, transmission and
distribution system, and loads
protection and controls
The Business Structures
owning and operating entities
performance and service contracts
The Regulatory Framework
roles and responsibilities of individual entities
well chosen, clearly defined and properly
enforced
COMP - 1
1539pk
Challenges to Secure Operation of
Today's Power Systems
Large complex power systems
thousands of devices requiring harmonious
interplay
Complex modes instability
global problems
different forms of instability:
rotor angle, voltage, frequency
"Deregulated" market environment
many independent entities with diverse
business interests
lack of integrated and inter-regional
planning
power systems can no longer be operated
conservatively within pre-established limits
A comprehensive approach to system security is
required
COMP - 2
1539pk
Comprehensive Approach to System
Security
1. Proper selection, design and application of
power system controls and protective relaying
2. Development and deployment of a good
“defense plan” against extreme contingencies
3. Development of a well documented and
organized plan for rapid and safe restoration of
the power system
4. Use of state-of-the-art techniques for on-line
dynamic security assessment to determine
stability margins and identify any corrective
actions
5. Implementation of a Reliability Management
System (RMS) for setting, monitoring and
enforcing security related standards
6. Development and application of real-time wide
area Monitoring and Control
an emerging technology
7. Widespread use of distributed generation
COMP - 3
1539pk
Power System Controls and
Protective Relaying
COMP - 4
1539pk
Normal State Controls
Generator controls:
excitation controls: AVR, PSS
prime-mover, energy supply system controls
Transmission controls:
voltage regulators
switched reactors/capacitors, SVCs
HVDC and FACTS controls
Secondary/tertiary voltage control:
used by EDF, ENEL
COMP - 5
1539pk
Preventive and Emergency Controls
Preventive Controls
Generation shifting
Increase in VAR reserve
Emergency Controls
Generator tripping
Generation runback/fast valving
Load shedding
Dynamic braking
Transient excitation boosting
HVDC link rapid power ramping
Controlled system separation
Transformer tap-changer blocking
COMP - 6
1539pk
Power System Controls in the New
Environment
Efficient utilization of facilities while ensuring
security:
greater dependence on controls
Successful energy trading (buying, wheeling and
selling of power):
can overwhelm existing controls
need for more sophisticated controls using
advanced technologies
New business structure of owning and operating
entities impacts:
what controls are used
how they are designed and deployed
COMP - 7
1539pk
Implications of Ownership
Industry will comprise corporate entities having
diverse roles and business interests
Physical functioning of the integrated power
system will remain the same
Control of individual equipment should
not to be left to owner’s discretion
be vested with the independent system operator
Specification and design of controls:
part of overall system planning/design
carried out by an independent entity
Otherwise security and overall economy will be
sacrificed:
defeats the very purpose of restructuring
COMP - 8
1539pk
Generator Controls
Essential to recognize the critical role of
generator controls
Use of fast exciters, AVR, PSS and speed
governor should be mandatory
No difficulty in motivating power plant owners to
install controls:
needed to meet local plant needs
enhance plant operability and stability
Financial incentives for controls needed to:
meet global system needs
enhance overall system performance
Many of the existing equipment are old and
outdated
need for upgrading on a prioritized basis
COMP - 9
1539pk
Coordinated Design of Robust
Controls
Increasing use of:
multi-purpose controllers
multiple controllers to solve a common problem
Satisfactory and harmonious performance of
different controllers with overlapping spheres of
influence requires:
coordination and integration
Controller design must consider performance
under all probable conditions:
wide range of conditions encountered during
normal operation
severe system upsets: coordination with
protective systems
Addressed in a recent report by CIGRE
TF38.02.16: “Impact of Interactions among
Power System Controls”
COMP - 10
1539pk
Analytical Techniques for Design of
Normal Controls
Proper design techniques and procedures to
ensure:
utilization of full potential of the controller
no adverse interaction with other controls or
with protective systems
Key design issues:
selection of devices and input signals
robustness
coordination
impact on overall system performance
Complementary use of small-signal analysis and
nonlinear time-domain simulation
cont’d
COMP - 11
1539pk
Analytical Techniques (cont’d)
Small-signal analysis using eigenvalue
techniques provides valuable information
useful in control design:
transfer function residues, participation
factors, frequency response, controllability
and observability
examination of interaction with other
controls
Nonlinear time-domain (short- and long-term)
simulations assist in:
establishing signal limits
assessment of performance during large
disturbances
checking adverse interaction with protective
systems
designing emergency controls
cont’d
COMP - 12
1539pk
Analytical Techniques (cont'd)
Design one controller at a time with all other
relevant devices/controls modelled
Robustness to changing system conditions
achieved by:
considering different operating conditions
using engineering judgement
Robustness to parameter uncertainty
achieved by:
carrying out sensitivity analysis
Alternatively, robust controller design
technique may be used:
for example, H-infinity approach
COMP - 13
1539pk
Improved Protective Relaying
State-of-the-Art protective relaying for
generating units and transmission lines
Adaptive relaying with settings that adapt to the
real-time system states
Replacement of zone 3 and other backup
relaying on important lines with improved
relaying
Improved protection and control at power plants
to minimize unit tripping for voltage and
frequency excursions
Protective relay improvements to prevent
tripping of critical elements on overload
control actions to relieve overload
COMP - 14
1539pk
Defense Plans Against Extreme
Contingencies
COMP - 15
1539pk
Extreme Contingencies (ECs)
Major system disturbances:
result of contingencies more severe than
normal design contingencies
occurrence rare, but impact very high
likely to be experienced more often in the
new environment
Brought about by a combination of events:
multiple outages caused by severe weather
conditions
inadequate design of system and equipment;
equipment malfunction
human error
Examples of major system upsets:
French system, 1978 and 1987
WSCC system, July and August 1996
Brazilian system, March 1999
NE U.S.A. and Ontario, August 2003
Italian System, September 2003
Sweden and Denmark, September 2003
COMP - 16
1539pk
Defense Plans to Minimize Impact of
Extreme Contingencies
Judicious choice of several forms of emergency
controls will provide protection against different
forms of possible disturbances
Key design and implementation issues:
detection
control action
timing
automation and Adaptiveness
side effects on equipment and system
coordination
CIGRE TF 38.02.19 report on "System Protection
Schemes in Power Networks" published in 2001
provides a good summary of emergency controls used
by utilities worldwide, future trends and suggested
design procedures
COMP - 17
1539pk
Steps in the Development of a
Defense Plan
Detailed modeling of power system, including
fast and slow processes triggered by EC’s:
includes wide range of protection and controls
Identification of scenarios of ECs:
based on past experience, knowledge of unique
characteristics of system
probabilistic approach
Simulation and analysis of contingencies:
extended time-domain simulation
Identification of measures to minimize the
causes of ECs:
improved protection/controls;
better coordination
Development of a comprehensive set of
emergency controls to mitigate consequences of
ECs
COMP - 18
1539pk
Guidelines for Design and
Deployment of a Good Defense Plan
Should, as far as possible, provide coverage
against all possible ECs
Simplicity, reliability,and low cost should be
prime considerations
Inadvertent operation of emergency controls
must not severely affect system security
Response-based emergency controls should
generally be preferred:
as opposed to those based on direct detection
of outages
Various emergency controls should be
coordinated:
complement each other
act properly in a complex situation triggering
several controls
Ensure compatibility of defense plans
developed by neighboring utilities
COMP - 19
1539pk
Power System Restoration
COMP - 20
1539pk
Power System Restoration
Even if power systems are designed and
operated in the best possible manner:
impossible to prevent all contingencies which
could cause widespread blackouts
While the physical extent of the blackout is a
concern, the duration is equally important:
detailed restoration plans required
The new competitive environment requires a well
documented and organized plan:
to ensure that the system, with its numerous
independent entities, can be
re-energized safely and quickly
Successful system restoration has been a
challenge for traditional monopolistic
environment:
will be a greater challenge in the new
competitive structure with many owners
COMP - 21
1539pk
Power System Restoration Process
Assessment of the system status and initial
cranking sources
Identification and preparation of restoration
paths to build subsystems
Resynchronization of subsystems and
restoration of loads
COMP - 22
1539pk
Key Issues for System Restoration
Ensuring sufficient black start capability with
due regard to:
generator startup times and loading rates;
governor droop characteristics, and VAr
capability
Maintaining voltages and other key parameters
within acceptable bounds
avoid tripping of critical elements or equipment
damage
Developing a consistent switching strategy
throughout the procedure
Coordinating system protection schemes
Organizing the restoration plan with well defined
roles for each participant
Training all participants in the restoration
procedure
COMP - 23
1539pk
Analytical Tools for Developing
Restoration Plans
Steady-state analysis:
power flow analysis, including examination of
sustained overvoltages; fault level calculation;
harmonic analysis
Quasi steady-state analysis:
operator training simulator, long-term dynamic
simulation
Dynamic analysis:
transient stability (TS) programs for verifying
subsystem resynchronization
extended TS programs for verifying startup of
auxiliaries of power plants, i.e., large induction
motors
ElectroMagnetic Transients Program (EMTP) for
analysis of switching transients
COMP - 24
1539pk
Reliability Management System
COMP - 25
1539pk
Reliability Management System
(RMS)
In the monopolistic structure, power systems were
owned and operated by a few vertically integrated
entities:
planning and operating standards were developed
cooperatively and implemented voluntarily
In the competitive environment, with many new
players, global management of power system
reliability requires a process that is legislated
Roles and responsibilities of individual entities
should be well chosen, clearly defined and properly
coordinated and enforced
For proper functioning of the overall system
a “shared vision” is necessary among all the
entities involved
a good monitoring system for ”standards”
violations
The RMS approach provides a contractual method
of dealing with the many entities of a single
interconnected system:
ensures overall system security through a well
defined and enforceable criteria
COMP - 26
1539pk
Components of Reliability
Management System
A typical Reliability Management System has
four components:
1. Reliability criteria applicable to Control Area
operators
operating reserves, disturbance control,
control performance standards, operating
transfer capability
2. Reliability criteria applicable to generators
requirements for AVR and PSS
“grid codes” for new sources of generation
3. Reliability criteria applicable to transmission
system users
4. Excuse of performance
excused non-compliance, specific excuses
For each component, the reliability system
specifies:
participants, criteria, data reporting, compliance
standard, non-compliance standard, sanctions
COMP - 27
1539pk
On-Line Dynamic Security
Assessment
COMP - 28
1539pk
Dynamic Security Assessment
(DSA)
A challenging task
changing system conditions; complexity and
size of power systems
Historically based on off-line studies
system operated conservatively within
pre-established limits
On-line DSA essential in the new competitive
environment
evaluation of available transfer capability (ATC)
COMP - 29
1539pk
Components of DSA
All forms of system instability must be
addressed
Two categories important for on-line assessment
Transient (angle) stability
Voltage stability
Small-signal (angle) stability
control problem addressed in system
design
on-line assessment important for some
systems
Here we provide a description On-line Voltage
Stability and Transient Stability Tools developed
at Powertech Labs Inc.
COMP - 30
1539pk
On-Line Voltage Stability
Assessment Package
COMP - 31
1539pk
Key Elements of VSA
Interface with EMS; Model Initialization
Contingency screening and selection
Determination of secure operating region
using static analysis
Determination of remedial actions
Fast time-domain simulation
validation and checking
COMP - 32
1539pk
Contingency Selection Module
Impractical to consider every conceivable
contingency
A limited number (typically 20) critical
contingencies determined for detailed studies
Performance Indices based on a few power flow
solutions and reactive reserve not reliable
A fast screening method used:
based on exact margin to voltage collapse and
full power flow solutions
number of power flow solutions 1.2 to 2.0 times
number of contingencies
Supplemented with user-specified contingencies
COMP - 33
1539pk
Fig. 4 Automatic Critical Contingency Selection
COMP - 34
1539pk
Security Computation Module
Engine for voltage stability analysis
static analysis with detailed models
Secure region is defined by a number of
Coordinates (SRCs)
key system parameters: MW generation, area
load, interface transfers, etc.
Voltage stability determined by
existence of powerflow solution
MVAr reserves of key reactive sources
post-contingency voltage decline
Specialized powerflow dispatcher and solver to
quickly search for stability limit
COMP - 35
1539pk
Modelling:
generator capability curves
governor response, economic dispatch, AGC
nonlinear loads
control of ULTCs, switched shunts, etc.
Inputs and Outputs:
Inputs
list of contingencies produced by screening and
ranking (+user defined)
base case powerflow from state estimator
definition of SCRs
voltage security criteria and definition of
parameter of stress
Output
secure region in secure region space
COMP - 36
1539pk
Secure Operating Region
COMP - 37
1539pk
Secure Operating Region
COMP - 38
1539pk
Remedial Measures Module
Determines necessary remedial measures to
ensure sufficient stability margins
expand the secure region
Preventative control actions:
taken prior to a contingency
caps/reactor switching, generation redispatch,
voltage rescheduling
Corrective (emergency) control actions:
applied following a contingency
load shedding, generator runback, transformer
tap changer blocking
Ranking of each remedial measure using
sensitivity analysis
COMP - 39
1539pk
Ranking and Applying Remedial
Measures
Objective is to identify the most effective
remedial measures to give the desired stability
margin
Obtain solved power flow case for the most
severe contingency
gradually introduce the effect of the contingency
bus injection compensation technique
Compute the sensitivities of reactive power (or
bus voltage) to different control measures
rank the remedial measures
Apply controls one at a time in order of ranking
until power flow solves for the most severe
contingency
COMP - 40
1539pk
Expanding the Secure Region:
Remedial Measures
COMP - 41
1539pk
Fast Time-Domain Simulation
Module
Determines the essential dynamic phenomena
without step-by-step numerical integration
when chronology of events significant
for validating the effect of remedial measures
Focuses on the evolution of system dynamic
response driven by slow dynamics
transformer tap changers, field current limiters,
switched caps
Captures the effects of fast dynamics by solving
associated steady state equations
COMP - 42
1539pk
Fig. 3 VSAT Structure
COMP - 43
1539pk
Transient Stability Assessment
Package
COMP - 44
1539pk
Transient Stability Assessment
(TSA)
Time-domain simulations essential
modeling detail and accuracy
Sole dependence on time-domain simulations
has severe limitations
high computational burden
no stability margin/sensitivity information
requires considerable human interaction
Supplementary techniques for speeding up and
automating overall process
Methods available for deriving useful indices
Transient Energy Function (TEF)
Signal Energy Analysis
Extended Equal Area Criterion (EEAC)
COMP - 45
1539pk
Key Elements of TSA
Interface with EMS; Model Initialization
Contingency screening and selection
Simulation engine
detailed modeling
time-domain simulation
speed enhancement
Post-processing of detailed simulation
stability margin index using EEAC
power transfer limit search
remedial measures
damping calculation using PRONY
COMP - 46
1539pk
A Practical Tool for TSA
Overall architecture similar to that of VSA
Time-domain program, with detailed models and
efficient solution techniques, forms simulation
engine
EEAC used for screening contingencies,
computing stability margin, stability limit search,
and early termination of simulation
“Prony analysis” for calculation of damping of
critical modes of oscillation
A powerflow dispatcher and solver for finding
the stability limit
a fully automated process
No modeling compromises;
can handle multi-swing instability
COMP - 47
1539pk
EEAC
Integrates the dynamic response in the
multimachine space, and maps the resultant
trajectory into a set of one-machine-infinitebus planes
by applying complementary cluster center of
inertia (CCCI) transformations
keeps all dynamic information in the
multimachine space
stability analysis can be quantitatively
performed for the image OMIB systems
has the same accuracy and modeling
flexibility
fast, quantitative
COMP - 48
1539pk
EEAC
Loss of transient stability in a power system
always starts in a binary splitting of generators:
critical cluster of generators
rest of the system
At any given
point in the timedomain
trajectory of the
system, the
system can be
visualized as a
one-machineinfinite-bus
(OMIB) system
COMP - 49
1539pk
EEAC
The classical equal area criterion can be
extended to the visual OMIB system
Stability margin of the system is defined as
Ad Aa
100
x
if the system is stable Ad Aa
Ad
A Aa
100 x d
if the system is unstableAa Ad
Aa
Thus, -100 , and
if the system is stable
if the system is unstable
can be used as a stability index
COMP - 50
1539pk
Use of EEAC Theory
Contingency screening
stability margin gives an indication of the
relative severity
Corrective measures for maintaining secure
system operation
critical cluster of generators (CCG) provides
valuable information
Power transfer limit search
stability limit can be determined in four iterations
using stability margin
each iteration involves a detailed simulation and
computation of stability index
COMP - 51
1539pk
Results - Test System
System description
BC Hydro system
1430 buses
186 generators
4 HVDC links
Interface
GMS and PCN output
Base case transfer = 3158
MW
Contingency
Three phase fault at GMS 500
kV bus
Tripping of one of two 500 kV
lines from GMS to WSN
COMP - 52
1539pk
Limit Search Results
COMP - 53
1539pk
Speed Enhancement: Parallel
Processing
Code parallelization
differential equations easily parallelized, but
not network equations
speed-ups limited by serial slowdown effect
up to 7 times speed-up can be achieved with
20-30 processors
not an effective way
Conventional serial computers offer much
faster computational per-CPU
Best approach is to use multiple processors
Perform TS analysis and VS analysis in parallel
For multiple contingencies
perform initialization only once
run contingencies on multiple processors
COMP - 54
1539pk
TSAT Structure
Solved Powerflow
+
Dynamic Data
Transaction
Definitions
Contingency
Screening & Ranking
(EEAC)
Full
Contingency List
Must Run
Contingencies
Powerflow
Dispatcher
Time-Domain
Simulation
Increase
Transfer
Stability
Indices
No
Security Limit?
Yes
Sufficient
Margin?
No
Remedial
Measures
Yes
STOP
Fig. 8 TSAT Structure
COMP - 55
1539pk
Computational Performance of DSA
Target cycle time from capture of state
estimation to completion of security assessment
for all specified transactions:
20 minutes
TSA and VSA functions performed in parallel
distributed processing on separate CPUs
This can be readily achieved with low cost PCs
COMP - 56
1539pk
Example of Computational
Performance of VSAT
Computation times for a 4655 bus, 156
generator system on a 1.7 GHz Pentium 4 PC
with 256 MB memory:
Screening 300 contingencies to select 20 critical
contingencies: 20 secs
Detailed security analysis of base case with 20
critical contingencies: 1.2 secs
One transaction limit search with 20 critical
contingencies: 12 secs
COMP - 57
1539pk
Example of Computational
Performance of TSAT
Computation times for a 4655 bus, 156
generator system on a 1.7 GHz Pentium 4 PC:
Screening 100 contingencies for ranking
10 critical contingencies: 75 secs
Detailed security analysis of 10 contingencies
including 3 second time domain simulations and
stability index calculation: 75 secs
A four-iteration power transfer limit search for
one contingency: 120 secs
Total time for complete power transfer limit
calculation, including screening of 100
contingencies, stability limit search with an
optimal order of 10 contingencies: 5 mins
NOTE: Both TSAT and VSAT have distributed
processing capability, allowing each contingency or
each transfer limit search to be processed in parallel
on separate CPUs
COMP - 58
1539pk
Summary
On-line DSA is a complex problem
It is a challenge to provide comprehensive
analysis with the required
accuracy, speed, and robustness
A practical tool for use with large complex
systems has been built by
drawing on techniques developed over many
years;
enhancement and integration of these
techniques;
use of specialized software designs and
distributed hardware architectures
May be used for real time application, or
previous day to post ATC
COMP - 59
1539pk
New and Emerging Technologies
Real-Time Monitoring and Control
Risk-Based Security Assessment
Intelligent Control
COMP - 60
1539pk
Real-Time Monitoring and
Control
COMP - 61
1539pk
Real-Time Wide Area Monitoring
Advances in communications technology have
made it possible to:
monitor power system over a wide area
remotely control many functions
Wide Area Monitoring:
phasor measurement units (PMUs) provide time
synchronized measurements with an accuracy of
1 microsecond, utilizing Global Position System
(GPS)
PMUs send measured voltage and current
phasors to a Centralized Monitoring System,
typically at 100 millisecond intervals
Data stored and processed for various
applications
Results displayed on a Graphical User Interface
Examples of Wide Area Monitoring Systems:
North American Western Interconnected System's
Wide Area Measurement System (WAMS) project;
BPA, EPRI, DOE as participants
ETRANS Wide Area Monitoring (WAM) project for
the Swiss Power Grid; developed by ABB
COMP - 62
1539pk
Wide Area Monitoring Current
Applications
On-line monitoring of transmission corridors for
loading
Fast detection on critical situations
voltage stability
power system oscillations
transmission overloading
Additional input values of system variables for
state estimator
Disturbance recording
for calibration of power system model
validation of stability analysis software
COMP - 63
1539pk
WAM Potential Future Applications:
Wide Area Emergency Control
Prevention of partial or total blackout of power
systems
trigger emergency controls based on system
response and measurements
Research into the application of "Multisensor
Data Fusion" technology
process data from different monitors and
integrate information
determine nature of impending emergency
make intelligent control decisions in real time
A fast and effective way to predict onset of
emergency conditions and take remedial control
actions
COMP - 64
1539pk
Risk-Based
Dynamic System Assessment
COMP - 65
1539pk
Dynamic Security Assessment
Current Practice
The utility practice has been to use deterministic
approach
build strong systems and operate with large
security margins
overly conservative, but cost could be passed on
to captive customers
The deterministic approach has served the
industry well
high security levels
study effort minimized
In the new environment, with a diversity of new
participants, the deterministic approach not
readily acceptable
need to account for the probabilistic nature of
conditions and events
need to quantify and manage risk
COMP - 66
1539pk
Risk-Based Dynamic Security
Assessment
Examines the probability of power system
becoming unstable and its consequence
Computes indices that measure security level or
degree of exposure to failure
capture all cost consequences
Notion of security posed in a language and form
understood by marketers and financial analysts
Possible with today’s computing and analysis
tools
COMP - 67
1539pk
Intelligent Control
COMP - 68
1539pk
Power System Control
Overall control functions highly distributed
several levels of control
involve complex array of devices
Human operators provide important links at
various levels
acquire and organize information
make decisions requiring a combination of
deductive, inductive, and intuitive reasoning
“Intuitive reasoning” allows quick analysis of
unforeseen and difficult situations and make
corrective decisions
most important skill of an operator
COMP - 69
1539pk
Utilities
OPERATIONS
PLANNING
System Models
Load Forecast
Contingency Lists
Security Criteria
MONITORED
QUANTITIES
Energy Providers
Power Marketers
Off-Line
Security Limits
Transaction Requests
State Estimator
Build Model for
Current System State
Look-up tables of
Security Limits
SYSTEM
CONTROL
CENTER
Automatic
Local
Controls
Controls
CONTROL
DECISIONS
CONTROL
ACTIONS
Generation
Human Controls
Automatic
Local
Controls
Human
Other Control
Centers
Transmission and Distribution
Interconnected
Human Controls
Automatic
Local
Controls
Power Systems
Customers
Human Controls
COMP - 70
1539pk
Intelligent Control of Power
Systems
Future power systems more complex to operate
less structured environment
Current controls do not have
“human-like” intelligence
Add intelligent components to conventional
controls
learn to make decisions quickly
process imprecise information
provide high level of adaptation
Overall control of power systems
utilize both conventional methods and decision
making symbolic methods
intelligent components form higher level of
control
COMP - 71
1539pk
Distributed Generation
COMP - 72
1539pk
Distributed Generation (DG)
Offer significant economic, environmental and
security benefits
Microturbines
small, high speed power plants
operation on natural gas or gas from landfills
Fuel Cells
combines hydrogen with oxygen from air to
generate electricity with water
hydrogen may be supplied from an external
source or generated inside fuel cell by reforming
a hydrocarbon fuel
Not vulnerable to power grid failure due to
system instability or natural calamities !
Protection and controls for DG should be
designed so that units continue to operate when
isolated from the power grid
COMP - 73
1539pk