Construction of a Phasor Measurement Unit (PMU) for Power System Applications
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Construction of a Phasor Measurement Unit (PMU) for Power System Applications By Onisokonikumen Valiant Sampson A Thesis submitted to the Faculty of Graduate Studies of The University of Manitoba in partial fulfillment of the requirements for the degree of Master of Science Department of Electrical and Computer Engineering University of Manitoba Winnipeg, Manitoba, Canada Copyright © 2015 by Onisokonikumen Valiant Sampson Abstract The role played by phasor measurement units (PMU) in power grid monitoring systems today showcases the importance and usefulness of this device. There is a significant challenge regarding the design and implementation of PMUs today. This challenge stems from the closed source philosophy employed by commercial PMU vendors who strongly protect their hardware and software designs keeping it away from researchers. This philosophy has motivated a number of researchers to develop their own PMU devices. This thesis presents the design and implementation of a PMU device utilizing off-the- shelf components to estimate power system parameters such as voltage magnitude, phase angle and frequency with key design information extracted from the OpenPMU group and the IEEE C37.118-2011 standard. The functionality of the PMU was tested by performing important power system experiments which compared measured result of voltage magnitude, phase angle and frequency of a balanced three phase signal from a rapid prototyping system with estimated results from PMU. The conducted experiments confirmed that the PMU could estimate voltage magnitude, phase angle and frequency approximately equivalent to the measured quantities of the input signal. i Acknowledgements I would like to express my heart felt gratitude to Prof. Aniruddha Gole, for his immense contribution and guidance throughout this research. It has been a privilege to work under you as a master’s student. I would also like to acknowledge the contribution of Dr. Tomas Yebra Vega, Erwin Dirks who offered suggestions as well as technical support when needed. Lastly, I would like to thank my family for their continuous words of encouragement and the Niger Delta Development Commission (NDDC) Nigeria for partly funding my program. ii Dedication To my beloved family. iii Table of Contents Abstract ....................................................................................................................................... i Acknowledgements ................................................................................................................... ii Dedication ................................................................................................................................. iii Table of Contents ..................................................................................................................... iv List of Figures: ........................................................................................................................ vii List of Tables: ........................................................................................................................... ix List of Abbreviations: ............................................................................................................... xi Chapter 1: Introduction .......................................................................................................... 1 1.1 Background ....................................................................................................................... 1 1.2 Phasor Measurement Unit (PMU) .................................................................................... 2 1.3 Application of PMU in Power Systems ............................................................................ 5 1.3.1 State Estimation ............................................................................................................. 5 1.3.2 Oscillation Detection and Control ................................................................................. 6 1.3.3 Voltage Stability Monitoring and Control ..................................................................... 6 1.3.4 Protection of Power Systems ......................................................................................... 7 Chapter 2: The IEEE Synchrophasor Standard ................................................................ 10 2.1 The IEEE 1344-1995 Synchrophasor Standard .............................................................. 10 2.2 The IEEE C37.118-2005 Synchrophasor Standard ........................................................ 15 2.3 The IEEE C37.118-2011 Synchrophasor Standard ........................................................ 23 iv 2.4 GridTRAK PMU ............................................................................................................ 32 2.5 DTU-PMU ...................................................................................................................... 32 2.6 The openPDC ................................................................................................................. 34 2.7 The openPMU ................................................................................................................ 36 Chapter 3: Design and Implementation of PMU ................................................................ 42 3.1 PMU Design Philosophy ................................................................................................ 43 3.2 Design Challenge ............................................................................................................ 44 3.3 Design Specification ....................................................................................................... 45 3.3.1 PMU (Hardware) Architecture ................................................................................ 45 3.3.1.1 Circuit Design/ Software Selection ...................................................................... 47 3.3.1.2 Data Acquisition System ...................................................................................... 53 3.3.1.3 Time Synchronization .......................................................................................... 54 3.4 Analysis system .............................................................................................................. 55 Chapter 4: Hardware Testing and Analysis of Results ...................................................... 57 4.1 Test Challenges .............................................................................................................. 57 4.2 Experiment 1: Accuracy of Voltage Monitoring ............................................................ 58 4.3 Experiment 2: Accuracy of Phase Measurement ............................................................ 61 4.4 Measurement evaluation and compliance ...................................................................... 62 4.5 Results and analysis ........................................................................................................ 64 4.5.1 Experiment 1: Accuracy of Voltage Monitoring ......................................................... 64 v 4.5.2 Experiment 2: Accuracy of Phase Measurement ......................................................... 69 Chapter 5: Conclusion and Future Work ........................................................................... 73 5.1 Contributions .................................................................................................................. 73 5.2 Conclusion ...................................................................................................................... 75 5.3 Recommended Future work ........................................................................................... 75 References .............................................................................................................................. 77 Appendix ................................................................................................................................ 79 vi List of Figures: Figure 1-1 Block Diagram of PMU ........................................................................................... 4 Figure 2- 1 Convention for phasor representation [14] ........................................................... 12 Figure 2-2 Data frame configuration [14] ............................................................................... 13 Figure 2-3 Header frame organization [14] ............................................................................. 14 Figure 2-4 Configuration frame organization [14] .................................................................. 14 Figure 2-5 Received command frame organization [14] ......................................................... 14 Figure 2- 6 Convention for synchrophasor representation [15] .............................................. 16 Figure 2-7 A sinusoid with period of T [15] ........................................................................... 17 Figure 2-8 The DTU PC-based PMU [12] .............................................................................. 33 Figure 2-9 Technical diagram of openPDC [18] ..................................................................... 35 Figure 2-10 Schematic diagram of the OpenPMU [5] ............................................................ 36 Figure 2- 11 Schematic of measurement system [19] ............................................................. 38 Figure 2-12 Waveform captured by NI-DAQ [19]