Optimal

Ki-Seen
Dept. of Electrical

Placement of Phasor Measurement with GPS Receiver

Joong-Rin Shin
Seoul, Korea
Korea Railroad

Units

Cho

Seung Ho Hyun
Research Inst., Anvang Citv, Korea ._. shhyun @ krri.re.kr

Engineering, Konkuk University, jrs~in@ kk;cc.konkuk.ac.kr

Abstract
This paper presents a study on optimal placement of Phasor Meammnent Unik@MU) with Global Positioning System(GR3) receivem formoreaccuratemonitoring a powersystem.The optimal of PMU Ptacement(OPP)problem k+ in gener@ tripas a combinatorialoptimizationproblem snbjeeted to the observabtity constraints the studiedpowersysterqwhicheomumesmnehtimeto of solve Thrveapproaeh~ in thispaper,areproposedaimingat mdueiug computational urdenin OPPproblems. b ~i Modified%ndated AnneaEr@MSA) eth~ is pm Conventionalimulatedannealingmethedis slightlymodifiedin settiag s the iubialtempemtureand in coolingprocedureto considerthe enrrent state of solution sets. fkcon~ Direct Combination(DC)method is snggwkdusinga simplebut veryeffective heuristicruk Whenseleeting test and neighboringsolution~ this heuristicrule is used to select mast et%etive m the observabtitysenm And the last one is Tabu sets Search(TS)meth~ m wbieb the heuristicruleused in DC methodis alsousedto redumthe warehingspaceseffectively. Sngg6ted optimization methodsareappli@ in thispaper,to solve OPP problemsin IEEE 14, 30 and 57 bus system The simulation resultsshowthattheproposedmethodscanfmdtheoptimalsolutionsin an effkientmanner. Key Words : Phmor MeasurementUnib&MU), Optimal Pbasor Pkement(OPP) pmblerq Modified Sited Annealir@MSAJ DCombination(DC) ethod,Tabu Seareh(TS)method. m

how many PMUS should be implemented to a power system with smallest cost and with kwgest degree of observability, saying Optimal PMLJ Plaeement(OPP). In the Baldwins pionecxing work[4], an OPP problem was solved by use of simulated annealing methcd, which is apt to he suffered fi-om exeessive calculation burden if applied to a large power system. Furthermore, if a fault occurs in a bus with PMU equip@, the observability may be broken. Many interesting works have been qmted, each of which has its own advantages and shortcornings[4,6,9, 10]. In this paper, three optimization schemes are prop+ to obtain OPP solutions with less calculation effort and with higher robustness level. In the fimt step, in chapter 2, the OPP problem is fonnrdated. Then, the state estimation concept is reviewed in case PMUs with GPS are used and observability check scheme descriked by which the constraint is checked in optimization procedne. From chapter three to five, three optimization algorithms are proposed, modified simulated annealing, direct combination and tabu search algorithm, respectively. In chapter 6, these algorithms are applied to OPP problems in IEEE 14-bus, 30bus and 57-bns systems. The Performances are illustrated and compared with that of a conventional method, which shows the proposed schemes find the solutions more efficiently. IL PROBL~ FORMULATION

I. INTRODUCTION
It is a prerequisite, for an efficient and accurate control, to know exact vahres of state variables of the controlled system. However, unfortunately, the exact state variables cannot be obtained in an electrical pwer system, because of its complexity in its stmchrre and largeness in its scale. Recently, GPS, abbreviation of Global Positioning System, is paid great attention among many engineering areas including power system control and monitoring[12,3]. It is beeause the time difference due to a long distance can be overcome to a considerable degree of accuracy in syucbmnimtion by use of the GPS. In other words, many problems arisen fkom the largeness of a power system can be settled by use of GPS down. Reeently, a Phasor Measurement Unit(PMU) equipped with a GPS is widely applied in power system monitoring and state estimation problems. Since a GPS provides neghgible synchronization error, the interests are concentmted on where and

2.1 Objective finctions The OPP problem is to determine the minimum number and the optimal kxation of PMUS awning observability and redundancy. In the observability sense, it is reasonable that the minimum number of unobservable bus means maximum degree of observability. The redundancy is considered to the degux of maintaining observability under the contingency on one PMU bus. These concepts are formulated to objective functions as follows;

where g(p,$ is the number of unobservablebuses,p is the numberof PMUs and S is the PMU allocation sec.

l=m:[m:n(p
(1)

J2 =
s.t.

Observability(S(p)) 1 =

; {

R(s(p))

(2)

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where Observability(S)s an observability measure of the set S, i which is defiened to be O if S in unobservable and to be 1 if observable. R is the redundancy measure. 2.2 Observability d Phasor Estimation Model The observability of a system can be decided through either Jacobian matrix analysis or topological analysis.In this paper, incidence matrix is used for observability analysis, which is based on topological sense. It is kecause this methcd is a much faster and convenient way than matrix analysis[5,6,7]. Now, lets consider a simple way how we can make out the observability of a power system. Siice a PMU equipped with a GPS measures the state variables of a power system in a precisely synchronized manner, the synchronization error due to the long distance between measuring devices is smaUenough to be ignoti. Therefore, it can be supposed that the measurement error in a measuring device is caused by its own accuracy range, which is neglected, in this paper, for convenience. Then, we can obtain some of the state vectom unmeasured with simple algebraic calculations. Suppose there are nv buses and n, transmission lines whose voltage or current phasors are measured. Then, the measured variable vector can be represented as;

I ~ti , .....................i ....... I

~vw+a ....................... ............... \:

.............................

..........

...............

..\\..... . \ 1 ~+

% /1 ...........[..... ..
.
.
/ /

................ ......

t COVCWWd the usrrsnt pkscemm set

--- .-

Fig. 1. Example of Levels of measurement

z= [Zv z,]

(3)

11 ,1
Yxc

-1

VM Vc

(5)

where, Zv and Z, are the voltage and the cummt pha.sorswhose dimensions are nv x 1 and n, x 1, respectively. There is a relation between the PMU-equi@ bus and its adjacent bus as follows;

For a mm-injection bus, the pseudo-measurement level can be extended as follows;

where, VM is the voltagephasor vector measured through PMUS and V=is the voltage phasor vector of the neighkaing buses. Lets define a set whose elements are the buses connected to one specific bus as the Minimal Adjacent Cut Set(MACS) of that bus. Then the dimension of Yc is the same as the number of elements in MACSS of PMU-buses. Y,. and Y,c represent the admittance matrices of the PMU buses and their neighborhoods respectively. It is convenient to classify tie buses, from the meaning devices view poin~ into seveml level$ the buses with PMUS are defined to be in measurement level, the buses comected dkctly to the buses in measurement level are defined to be in pseudo measurement level. The state variables can be expressed by using (4) by simple matrix inversion. However, in case any of the state variables of a bus is calcukitcd by two or more PMUS, the admittance mati is not invertable. In this case, the pseudo-invene matrix is used to compute the state variables as given in (5).

where PZV is the pseudo-voltage phasor of MACS around the zero injection bus and VMAis the voltage phasor of MACS, which has the same value as PZV . And Vz is the voltage phasor of the mo injection bus. YW and YZCrepresent the admittance matrix of zero injection bus and its adjacent buses respectively. In sho~ by implementing a PMU on a bus, the state variables can be calculated almost exactly to pseudo measurement level. Furthermore, this can be extended to zero injection level, saying extended pseudo measurement level. This means that the observability can be much impmved and that the state variables can be easily estimated. The observability is checked in a simple way. FirsL define values to the buses according to their measurement levels, e.g. 3 for measurement level and 5 for pseudo mea,mement level and others. Then add this values to the element of the incident matrix for every EMUs. Finally, we can guess how many PMUS contribute to estimate the state variables of a bus or line concerned. This is a very simple and powerful methcd to identify the observability and redundancy in the topological sense. In this section, the optimization problem was defined and the observability checking scheme was introduced. The proposed optimization methods will lx described in the next three sections.

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III. MODIFIED SIMULATRD ANNEALING(MSA) METHOD Simulated annealing method is a very famous way to find solutions in many kinds of optimization problems. However, in spite of its ability to find the global solution in most cases, thcxe is a week point: it may need too much time in finding solutions. Thats why many efforts have been placed on reducing calculation time. In this paper, three rncdtications were made on conventional SA methcxi. FirsL in setting the initial tenqmmne, the unobservable buses are considered as the variance of the temperature function as follows.

in the initial solution set are N and K respectively. Now, consider the case a test set is to Ee constructed with M PMUS, then, the total number of test sets is ~ C(K.M, addition, the neighbor solution . In sets can be obtained by simple calculation as (N M ) X M . Then, the number of possible solutions is; x{(N-M)x Kc (K-M) M}. (lo)

Among them+ the effective selection can be made by the following n.de, as mentioned abovq
q

When mnoving a PMU from a bus, consider the bus having least branches timt. When adding a PMU to a bu+ consider the bus having most branches first.

TO== log(P)

(7)
This heuristic rule enables early termination of each searching step with the detived solution sets satisfying observability condition.

where o, is the variance of numbers of unobservable buses. If o, is bigger, which means that it is far horn the optimal point, the energy variation between transient should be larger. P is the probability of taking the solution of the previous step. Second, the cooling schedule is derived as a sigmoid function.

V. TABU SEARCH(TS) METHOD

TS method is another search method to find the optimal solution[8]. The concept of TS methcd is to use experiences and oblivion of human beings. It is clear that the performances will be much improvd if we can use the data that we have experienced before. These data sets, more precisely the solution sets consideti in the pmious steps, are preserved in, so called, the tabu lists in TS algorithm. Once a solution vector is put to the tabu list it will never lx considered aftenvads, because we have calculated the values of objective function with them and we remember it The length of taboo list, i.e. the duration of memory is also an impn-tant factor affecting the performance of this algorithm. Too shofi memory length implies slow convergence due to duplicated search. If it is too long, it may diverge because there is too few possible solutions remained. The length of tabu list is determined through trial and error in this paper The heuristic seamh used in DC method is added, in this paper, to speed up the convergence. It was shown that this simple rule reduces calculation time considerably. In addition, some solutions in tabu list can be selected again, which is possible by defining aspiration criteria[9,10]. The stop criterion is defined such that a solution from which the number of PMUS does not decrease anymore, at the same time, the redundancy is not improved. Since the most possible solution sets are considered with tit priority by the heuristic rule, tbe iteration number has no meaning in stopping criterion.

T~+l=

1 (1+ exp(-0.5xcr2))

x T.

(8)

where Oz is the variance of the objective function variation in a is specific temperature. In (8), it clear that the temperature deaase becomes larger as cr, becomes small. Since small cr, implies that it is near steady state, it is needed to speed up the convergence. he third modification is that in constructing anew test sec the number of PMUs are selected form different rules according to the previous solutions by following rule;

Num.of

PMU in TestSet Mid(upper,lower), kmw}]

=~[Mean{
mt

In a conventional stndy[4], the number of PMUS in new test set is determined by multiplying a coefficient existing from 0.85 to 0.95 to the number of previous solution. In this paper, the variation of PMU nurnkr decreases as the number of PMUS decreases, which shows excellent acceleration effect in many cases. IV. DIRECT COMBINATION METHOD

The DC method is proposed to avoid time consuming feature of random search, such as SA method, by adding heuristic rides, in this paper. The observability can be highly guaranteed if we consider the buses in the order of the numbers of branches connected to them when we conshuct the test solution set. Moreover, in selecting the neighboring solution se~ which is a step to move one PMU fkom a bus to another among the test solution set, it can be shown to be effkctive if we consider a bus with smaller number of branches first. This heuristic and simple idea makes it possible to reduce the search space drastically compared with SA method. Suppose the total number of buses and total number of PMUS

VI. CASE S~Y The proposed appmches are applied to the OPP problems on IEEE 14 bus, 30 bus and 57 bus systems. The initial states m derived considering zero injexlion buses. Three different methcds yielded same results in each power system.

6.1 Setting the initial condition In geneml, how to set the initial condition is of great imptance
because the

optimization result or performance time is seriously dependent on it. The initial conditions, in this pqxr, are selected as

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,- ., 1011OWS; i) Chcose a bus with the largest number of branches connected and put a PMU. ii) Identify measurable area including psettd~ or extended pseudomeasttrable level. iii)If the sum of measurable areas does not cover whole the studied network, do i) for the unobservable buses. If it does, end the procedure There is no limit on the number of PMUs in setting the initial condition. The above mentioned method provides considerably advantageous starting points

The ptqxxed methods aR applied to the OPP problems in IEEE st&&t-d power systems to show their effectiveness. Simulation results show that the proposed algorithms fmd the solutions in much smaller search spaces than previous works. The Mure works should include the consideration of loss of&@ affect of severe faults and changes in topology of the studied power system.

APPENDIX: SIMULATION REXJIXS

6.2 Simulation resuhs q EEE 14 bus svstem

There is only one zero injection bus, bus 7, which was taken into consideration in setting initial PMU allocation as mentioned above. In start, there are 5 PMUS, however, after optimizadon procedure completed, it is shown that only 3 PMUS are needed with the observability condition satisfied. An interesting thing is that the objective fitnction .J1which is to trtinimim the unobservable buses with minimum number of PMU and J? which maximi= redundancy nuder given observability condition has given rise to the same tesuks as given in the figure below. The redundancy of this system is 2. . IEEE 30 bus svstem The results are basically similar to those of IEEE 14 bus system. The number of PMUs is reduced from 11to 7. The redundancy is 5. . IEEE 57 bus svstem There ate 15 zero-injextion buses in this power system. Even if the result of each proposed method is different tim one another, each solution has the same nttmker of PMUS and the same degree of mdttndancy. Initially 16 PMUS are needed, which is reduced to 13 PMUS after the optimization. The simulation results are given in figure Al, A2, and A3 in Appendix.

(a) Initial PMU placement

(b) Opti PMU placement Fig. Al. Optimal PMU allocation in IEEE 14 bus system.

6.3Analysis of solutions As predicted, the numbers of PMUs, in each studied system as

the solution sets are the same from one method to another. However, the calculation times are not. In table 1, the number of search spaces in the proposed methods and in a conventional method[4]. The number of searching spaces has close relations to the performance time needed in the optimization ptwedttre. Even a glance can reveal that the proposed methcds improve dliciency very much. The results are tabulated in table Al in Appendix.

(a) Initial PMU placement

23

VII. CONCLUSIONS

In this paper three methods for OPP problems are suggested. i) Modified Sitrtulated Attnealing(IvISA) methcd in which the current state can be considered to speed up the convergence. ii)Direct Combination(DC) method using a simple heuristic rule in order to reduce the searching spaces with observability guaranteed.
iii)Tabu Search(TS) method to xcxiuce the search space with the same rule as used in DC method applied.

j%!!
14 19 ... 20 22 16 . .. 17 0 21 13 o 9.,, 3 4 . . . . . . . . . . . . . . . . .. . . . . ~ . . ~8 , ~. , . . . ..-b ,,,/...

Q- -G 25

(b) mtima PMU placement Fig. A2. Optimal PMU allocation in IEEE 30 bus system.

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(a) Initial PMU placement

K+?q

:~(.* 9 ~A

4 .......... --

3706 @:

Systems, Vol. 5, pp. 1001-1009, August 1990 [6] E.D.Crainic et al, Power Network Observability The assessment of the Measurement System Strength, IEEE Transactions on Power systems, Vol. 5, No. 4, pp.1267-1285, November 1990 [7] G.R.Krumpholz, K.A.Clements, and P.W.Davis, Power System Observability : A practical algorithm using network tqmlogy, fEJ3E Transactions on Power Apparatus and System+Vol. PAS-99, pp. 1534-1542, Jdy/April 1980 [8] F&l Glover and Manuel LagttnA 1997, T&u search Kluwer Academic Publishers, pp. 1-91. [9] Hiroyuki Mori, Yasuyttki Sone, Tabu Search Based Meter Placement for Topological Observability in Power System State Estimation, Puxeedings of the 1999 IEEE Transmission and Distribution Conference, Vol.1, pp.172-177, 1999.4.11 [lO]Hiroyttki Men, Osamu Matsuzaki, A Tabu Search Based Approach to Meter Placement in Static State Estimation, Intelligent System Application to Power Systems(ISAP99), pp.365-369, April 4-8, 1999, Rio de Janeiro, Brazil BIOGRAPHIES Ki-Seen Cho was born in Kwangju, Korea,
on January 26, 1968. He received the B.E. and M .S. degrees in Electrical Engineering from the Konkuk University, Korea, in 1995 and 1998 respectively. He is currently working toward his Ph.D. degree in Electrical Engineering from Konkuk University. His research interests include power system analysis, pow er system monitoring, and application of synchronized phasor measurements based on GPS.

::~+,a (b) optimal PMU placement Fig. A3. Optimal PMU allocation in IEEE 57 bus system. Table Al. Comparison of numbers of search spaces. 14-bus 30-bus 57-bus

Method Baldwin[4] (K=O.002X30) MSA

Dc

KX3(IC9 KX57G5 KX,4C4 ............ .......----.60.6 1,200 I 200 35 REFERENCES I 858.429 17,010 9,680 300 I 1.3234E12 94,500 23,760 337 I

Proposed TS

[1] Zhang Wentao, aiu Yufeng, Zheng Xujnn, Wu Ye, The Implementation of Synchronized Phasor Measurement and Its Applications in Power system, Proceedings of the International Conference on Electrical Engineering, vol. 1, PP.139-143, 1996 [2] Robert O. BttrnelLJr.,Marc M. Butts, Patrick S. Sterlirm Power System Applications for Phasor Measurement Units, IEEE Computer Applications in Power, VO1.7,No.1, pp.8-13, January 1994 [3] A.G. Phadke, Synchronized Phasor Measurements in Power Systems, IEEE Computer Applications in Power, VO1.6, o. 2, pp. N 10-15, April 1993 [4] TL.Baldwin, L.Mili, M.B.Boisen, R.Adap~ Power System Observability With Minimal Phasor Measurement Placement, JEEE Transaction on Power Systems, Vol. 8, pp. 707-715, May 1993 [5] Rong-Liang, A Fast Integer Algorithm For Observability Analysis Using Network Topology, IEEE Transaction on Power

Joong-Rin Shin was born in Seoul, Korea, on September 10, 1949. He received the B.E., M .S., and Ph.D. in Electrical Engineering from the Seoul National University, Korea, in 1977, 1984, and 1989 respectively. Since 1990, he has been with the Department of Electrical Engineering, Konkuk University in Seoul, Korea, where currently is a professor. His major research field is power system system analysis, power planning and reliability evaluation, and power system engineering education tools. Seuug-Ho Hyun was born in Seoul, Korea, in 1962. He received the B.E., M.S., and
Ph.D. degrees in Electrical Engineering from the Seoul National University, Korea, in 1991, 1993, and 1996 respectively. Since 1996, be has been working in Korea Railroad Research Institute, as a principle researcher and systems engineer. His major research field is power intelligence control, system control and systems engineer of a large scale systems tike power systems and high speed Train systems.

ACKNOWLEDGME~ This work was suppmted by No. 97-O1O1QO1-3 from the Korea Science and Engineering Foundation.

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