Professional Documents
Culture Documents
Research Article
Multivariable Time Series Prediction for the Icing Process on
Overhead Power Transmission Line
Peng Li,1,2,3 Na Zhao,1 Donghua Zhou,2 Min Cao,3 Jingjie Li,1 and Xinling Shi1
1
1. Introduction
With rapid societal and economic development, human
beings have come to rely more and more on all kinds of energy
sources, but especially on electric power. Consequently, reliability, maintainability, and safety requirements have become
more and more important for electric power plants and
grids. In recent years, global greenhouse effects have resulted
in atrocious weather events, including freezes, windstorms,
severe thunderstorms, fog, floods, and mudslides. These
events have threatened the safety of power grid systems. In
the Southern of China, most notably in Yunnan, Guizhou,
Sichuan, Chongqing, and Hunan, frozen disasters occur
frequently in winter; overhead power lines pass through high
altitude and low latitude areas across complex landscapes and
through changing climates, such as the Qinling Mountains,
the Hengduan Mountains, and the Wumeng Mountains.
During the winter months, these are areas where cold air
from the North meets warm, humid air from Southern, and
under special micrometeorology conditions, water will ice
Safety diagnosis,
prediction, and
decision-making for
maintenance
Object
Maintenance
Power grid
State
Detecting
Monitoring
system
installed near the transmission line. This method is convenient but imprecise when measuring the load of line icing.
Huang and Sun [3] and Yang et al. [4] presented a mechanical
model that has advantages in timely and exact estimates for
the load of lines icing, but the instruments for sampling the
force data are expensive. This method is unable to forecast
the icing status; it can only display the real-time status of the
icing process. The Glouba model [5] and the edge of image
extraction model [6] succeed in practice; they can estimate
the icing load at a low cost, but their precision is less than the
mechanical model and they are also unable to forecast icing
status.
As shown in Figure 1, it is obvious that decision-making
based on a predictive status for maintenance is better than
one based on a current status, because the predictive control
has the advantage of reducing unsafe factors in advance,
compared to a simple feedback control loop. Therefore, if the
transmission lines icing status has been predicted and unsafe
parts of it have been assessed, the departments of power grid
maintenance can actively optimize a schedule to deice the
lines.
Consequently, it is imperative to find methods to predict
the icing threat of power grid using meteorology information,
forecasted by the weather bureau.
In the area of research focused on predicting the icing
process, an experiment model [7] and a statistical analysis
model [8] based on micrometeorology parameters predicted
icing loads using certain micrometeorology parameters, such
as the environmental temperature, humidity, wind velocity and direction, rainfall, and snowfall. The Makkonen
model [9] is based on a thermodynamic mechanism, but
its variables, such as the content of liquid state water and
a distributing dripping parameter, can be obtained in a
laboratory but are difficult to measure at local monitoring
points along a transmission line; so it is not generally suitable
for the icing process.
Even though the mathematical models above have been
obtained, they are founded in special conditions, either by
statistical analysis methods or thermodynamic mechanisms,
and are not robust enough to withstand if the environment
changes, because the micrometeorology conditions are different in each instance when lines ice over, for example, in
Temperature ( C)
20
0
20
Humidity (%)
100
50
0
20
10
0
Wind direction ( )
400
200
0
Sunlight (W/m2 )
2000
1000
0
2500
3000
() = 2 () 1 () 2 () 3 () () ()
0
+ 0 ,
(2)
(0 (4 () /9.8) + 02 )
2
+ 0 ,
where 0 is the weight of ice per unit length for the transmission line at initial time 0 and is the average density of the
ice.
Using formula (2), (3) is deduced
() = (30
2000
() =
1500
1000
500
(1)
4 ()
+ 02 )
9.8
(3)
1 () 2 () 3 () () () .
If defining () = 1 ()2 ()3 ()() (), as the
sampling period and assuming = 1, then the state equation
of the icing process is shown as the following formula:
() = ( ( 1) , ( 1))
= 1, 2, . . . , .
(4)
2
5
0
1
0
1
0
1
0
1
0
1
(9)
(10)
( + ) = 7 ( ()) .
Therefore, the mapping for ( + ) and () can be
described as the following formula:
( + ) = 1 ( ()) .
2.2.1. Phase-Space Reconstruction of Multivarious Time Serious for Icing Process. According to Takens embedding theorem [23] for chaos time series modeling, a time series can
be defined as { }=1 , where is the length of the time series,
which can be reconstructed from a -dimensional phase
space, described by the following formula:
x () = [ () , ( ) , . . . , ( ( 1) )] ,
(7)
where is known as the embedding dimension of reconstructed phase space and is the delay constant. Because
the power transmission line icing is a multivariate time
series described by formula (6), according to the phase-space
reconstruction model shown as formula (7), the time series
prediction model of power transmission line icing can be
found as the following formula:
() = [ () , ( 1 ) , . . . , ( (1 1) 1 ) ,
() , ( 2 ) , . . . , ( (2 1) 2 ) ,
0
1
(11)
() , ( 3 ) , . . . , ( (3 1) 3 ) ,
() , ( 4 ) , . . . , ( (4 1) 4 ) ,
( 10) , () , () , () , (12)
(), ( 5 ) , . . . , ( (5 1) 5 ) ,
() , () , ()) .
() , ( 6 ) , . . . , ( (6 1) 6 ) ,
() , ( 7 ) , . . . , ( (7 1) 7 )] ,
(8)
1 ( ())] ,
min = [ ( + )
=1
(13)
Pretreatment
Forecast data of
meteorological
BPNN or SVM
(modeling)
Adjust related
weight or factor
BPNN or SVM
(established)
More than the setting training
steps or the average of whole
No
Prediction icing
load
Fuzzy reasoning
Rated load of
tower
Yes
Results of
prediction for
Stop training
icing threat
(a) Modeling
(b) Prediction
1000
500
0
300
200
100
0
600
400
200
0
500
1000
1500
2000
2500
3000
1000
800
Icing load (kg)
600
400
200
0
200
10
15
20
25
30
35
40
Prediction value
Actual value
Error
the error variance will be less than 30% of the max icing
load. This is available prediction information for power grid
department to use against icing disasters.
If we do predict using the ARIMA model, it is obvious
that the error variances will be greater than in the model we
have shown in this paper. The results can be found in Table 2.
Similarly, if we predict the second serious icing process as
Figure 2 shows, where the number of training data is 109 from
January 10th to 12th in 2010, the number of prediction data is
41 on January 12th in 2010. Results are shown in Figure 6 and
Table 3.
1000
1000
800
800
Icing load (kg)
600
400
200
0
200
600
400
200
0
200
10
15
20
25
30
35
40
45
Prediction value
Actual value
Error
400
50
100
150
Prediction value
Actual value
Error
1
2
3
4
5
6
Prediction length
Standard deviation
(multivariable prediction 71.2 93.5 135.8 178.9 266.6 324.7
based on BPNN)
Standard deviation (single
variable prediction based 126.3 133.3 171.1 229.9 317.2 356.8
on ARIMA)
processes are all less than in the same process and can be
obtained if we compare Table 3 to Table 4.
3.3. Icing Load Prediction in Different Icing Process. As shown
in Figure 2, we have selected the full process of the first
serious icing as the training input data, which is also shown
in Figure 4. The training process involves three phases,
including inexistence, rising, and shelling (melting). Unlike
Section 3.2, the shelling phase is used to train the BPNN. The
number of training data is 310 from December 17th to 20th in
2009, the maximal setting steps of training are 1000, the error
value of set point is 0.01, and the earning rate parameter is 0.1.
The second serious icing process is used to make predictions. The number of predictions is 150 from January 10th
to 12th in 2010, which is shown in Figure 2. The results of
simulation are as shown in Figure 7.
In Figure 7, the trend of change for the icing process is
predicted more accurately, because the error in the shelling
phase is less than found in Figure 6. The error variance of
prediction is 71.2 kg, which is about 10% of max icing load
in this process.
This is similar to Section 3.2 in that the prediction error
variances will rise rapidly if prediction length increases, as
shown in Table 4. If 5, the error variance will be more
than 30% of the max icing load.
If we perform a prediction using ARIMA model, it is
evident that the error variances are greater than found in
the model with the multivariable time series. On the other
hand, the error variances that were predicted in the different
8
for diagnosing the safety of power transmission line [32], the
integrality and sufficiency of history data is very necessary for
prediction of it.
(2) The Precision of Prediction Model Is Related to the Length
of Prediction. If Prediction Length Were Short, the Prediction
Error Would Be Small. According to the information theory
[33] that the correlativity would increase if the time distance
decreases. This means the value of the icing load at time
is correlative to the value at time , and the correlativity
would decrease if increased.
As the results of Tables 24 show, when increases, the
prediction error will also increase. If < 5, the error variance
will be less than 30% of max icing load. That means if the
prediction length is less than two hours, it will be helpful
for power grid departments to take actions in advance for
potential icing disasters along the Tao-Luo-Xiong Line. But if
the length of prediction is more than two hours, the method
about deep learning [34] maybe is a good choice.
(3) The Precision of the Prediction Model Based on a DataDriven, Multivariable Time Series Is Better Than One Based
on a Single Variable Time Series. According to Takens
embedding principle [23], if time delay and embedding
dimensions are suitable, the results of a prediction based on
a single variable time series would be satisfactory. However,
there exist some uncertainty and immaturity in the single
variable time series; so we cannot confirm that the phase
space adequately describes the process of a complex dynamics
system. Multivariable time series are comprised of more
dynamic information than a single variable.
As the analysis of Section 2.1 shows, the icing process
along the transmission line is complex and decided by multimeteorological factors. Therefore, if only based on a single
variable time series, such as the ARIMA model, it could not
describe the icing process exactly. The results of Tables 24
also indicate the analysis above.
4. Conclusions
The transmission line icing is a nonlinear and high dimension
process. The advantage of using an automatic monitoring
system for power transmission lines is that a large amount
of process data is available to diagnose. Because complex line
icing processes cannot be easily represented using accurate
mathematical models, a data-driven method must be considered. After analyzing the Makkonen model of the icing
process, we determined that the line icing is a multivariate
time series process.
Consequently, in this paper a model based on multivariable time series has been presented to predict the icing
load of the transmission line. In this model, time effects
of micrometeorology parameters for the icing process were
analyzed, and the phase-space reconstruction theory and
machine learning methods were applied, which utilized the
historic multivariable time series data to establish the model.
As the characteristic of fitfulness in line icing, the simulations
were carried out during the same icing process or different
process for testing the precision and robustness of the model.
Conflict of Interests
The authors declare that there is no conflict of interests
regarding the publication of this paper.
Acknowledgments
This paper was supported by the National High Technology
Research and Development Program (863 Program) of
China under Grant no. 2011AA05A120, the National Natural Science Foundation of China (NSFC) under Grant no.
61364024, and the 5th Training Program for the Key Young
Teachers of Yunnan University.
References
[1] H. Hou, X. Yin, Q. Chen, D. You, G. Tong, and D. Shao, Review
on the wide area blackout of 500 kV main power grid in some
areas of south china in 2008 snow disaster, Automation of
Electric Power Systems, vol. 32, no. 11, pp. 1215, 2008.
[2] K. Savadjiev and M. Farzaneh, Analysis and interpretation of
icing rate meter and load cell measurements on the Mt.Belair
icing site, in Proceedings of the 9th International Offshore Polar
Engineering Conference, vol. 2, pp. 607611, Brest, France, 1999.
[3] X. B. Huang and Q. D. Sun, Mechanical analysis on transmission line conductor icing and application of online monitoring
system, Automation of Electric Power Systems, vol. 13, no. 14, pp.
98101, 2007.
[4] L. Yang, Y. Hao, W. Li et al., A mechanical calculation model
for on-line icing-monitoring system of overhead transmission
lines, Proceedings of the Chinese Society of Electrical Engineering, vol. 30, no. 19, pp. 100105, 2010.
[5] Y. Xu and R. G. Bosisio, Goubau ice sensor transitions for
electric power lines, Sensing and Imaging, vol. 10, no. 1-2, pp.
3140, 2009.
[6] I. Y. H. Gu, U. Sistiaga, M. Sonja et al., Automatic surveillance
and analysis of snow and ice coverage on electrical insulators
of power transmission lines, in Proceedings of the International
Conference (ICCVG 08), vol. 5337 of Lecture Notes in Computer
Science, pp. 368379, Springer, 2008.
[7] Y. Sakamoto, Snow accretion on overhead wires, Philosophical
Transactions of the Royal Society A, vol. 358, no. 1776, pp. 2941
2970, 2000.
[8] M. Farzaneh and K. Savadjiev, Statistical analysis of field data
for precipitation icing accretion on overhead power lines, IEEE
Transactions on Power Delivery, vol. 20, no. 2, pp. 10801087,
2005.
[9] L. Makkonen, Modeling power line icing in freezing precipitation, Atmospheric Research, vol. 46, no. 1-2, pp. 131142, 1998.
[10] X. Wu, L. Li, and X. M. Rui, Icing load accretion prognosis
for power transmission line with modified hidden semi-Markov
[11]
[12]
[13]
[14]
[15]
[16]
[17]
[18]
[19]
[20]
[21]
[22]
[23]
[24]
[25]
[26]
[27]
9
[28] H. Tsukimoto, Extracting rules from trained neural networks,
IEEE Transactions on Neural Networks, vol. 11, no. 2, pp. 377
389, 2000.
[29] V. N. Vapnik, The Nature of Statistical Learning Theory, Springer,
Berlin, Germany, 1998.
[30] Z. Y. Hu, Y. K. Bao, and T. Xiong, Electricity load forecasting
using support vector regression with memetic algorithms, The
Scientific World Journal, vol. 2013, Article ID 292575, 10 pages,
2013.
[31] R. A. Johnson, Applied Multivariate Statistical Analysis, Prentice-Hall, New York, NY, USA, 1988.
[32] L. E. Kollar, M. Farzaneh, and P. van Dyke, Modeling ice
shedding propagation on transmission lines with or without
interphase spacers, IEEE Transactions on Power Delivery, vol.
28, no. 1, pp. 261267, 2013.
[33] J. A. van der Lubbe, Information Theory, Cambridge University
Press, Cambridge, UK, 1997.
[34] J. Schmidhuber, Deep learning in neural networks: an
overview, Tech. Rep., University of Lugano & SUPS I, Manno,
Switzerland, 2014.
International Journal of
Rotating
Machinery
The Scientific
World Journal
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
Journal of
Robotics
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
Advances in
Mechanical
Engineering
Journal of
Sensors
Volume 2014
Volume 2014
Engineering
Volume 2014
Journal of
International Journal of
Chemical Engineering
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
Volume 2014
Distributed
Sensor Networks
Hindawi Publishing Corporation
http://www.hindawi.com
Advances in
Civil Engineering
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
Volume 2014
VLSI Design
Advances in
OptoElectronics
Modelling &
Simulation
in Engineering
International Journal of
Navigation and
Observation
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
Volume 2014
Advances in
Volume 2014
Volume 2014
Journal of
Control Science
and Engineering
Volume 2014
International Journal of
Journal of
Antennas and
Propagation
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
Volume 2014
Volume 2014