Strathprints Institutional RepositoryContributors to recent and forthcoming work Andrew Roscoe,...
Transcript of Strathprints Institutional RepositoryContributors to recent and forthcoming work Andrew Roscoe,...
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Strathprints Institutional Repository
Roscoe, Andrew (2014) Adaptive-window PMU algorithms using cascaded boxcar filters to meet and exceed C37.118.1(a) requirements. In: Synchrophasor estimation processes for Phasor Measurement Units: algorithms and metrological characterisation, 2014-12-09 - 2014-12-09, École Polytechnique Fédérale de Lausanne. ,
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Adaptive-window PMU algorithms using
cascaded boxcar filters to meet and exceed
C37.118.1(a) requirements
Dr. Andrew Roscoe
Workshop on “Synchrophasor estimation processes for Phasor Measurement
Units: algorithms and metrological characterisation”
Swiss Federal Institute of Technology of Lausanne (EPFL).
December 9th 2014, Lausanne, Switzerland
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Contributors to recent and
forthcoming work
Andrew Roscoe,
University of Strathclyde
Bill Dickerson,
Arbiter Systems
Ken Martin,
Chair, IEEE Synchrophasor Working Group
Steven Blair,
University of Strathclyde
ENG52 Researcher
http://personal.strath.ac.uk/steven.m.blair/
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C37.118.1a-2014
IEC/IEEE 60255-118-1
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General PMU architecture
(single phase section)
Analogue
filtering ADC
X
X
FIR filter
FIR filter
+
+ j
Time
Synchronised
to UTC
Quadrature
oscillator
cos(2ヾfTt) -sin(2ヾfTt)
Tuned frequency fT
f0 = Nominal frequency (Hz)
f = Actual fundamental frequency (Hz)
fT = Tuned frequency (Hz)
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Fixed-filter PMU architecture
(single phase section)
Analogue
filtering ADC
X
X
FIR filter
FIR filter
+
+ j
Time
Synchronised
to UTC
Quadrature
oscillator
cos(2ヾfTt) -sin(2ヾfTt)
Tuned frequency fT=f0
f0 = Nominal frequency (Hz)
f = Actual fundamental frequency (Hz)
fT = Tuned frequency (Hz)
fT=f0
f f (f-f0 ≈ 0) , (f+f0 ≈ 2f0)
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Frequency-tracking PMU architecture
(single phase section)
Analogue
filtering ADC
X
X
FIR filter
FIR filter
+
+ j
Time
Synchronised
to UTC
Quadrature
oscillator
cos(2ヾfTt) -sin(2ヾfTt)
Tuned frequency fT=f
f0 = Nominal frequency (Hz)
f = Actual fundamental frequency (Hz)
fT = Tuned frequency (Hz)
fT=f
f f (f-fT=0) , (f+fT=2f)
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Reference vs. Tracking filter example
f0=50, Reporting rate 50 Hz
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The effect of modulation in the
bandwidth test
(1+0j)
0.9 1.1
0.1 pu amplitude modulation
0.1 rad phase modulation
M
TVEfF
Limit
M 1
1.0
03.01MfF
7.0MfF
F(fM) > -3.098 dB
tfjtfj MM eM
eM
V 22
22
tfj
M
tfj
MMeasMM e
MfFe
MfFV
22
22
VVTVE Meas
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Reference vs. Tracking filter example
f0=50, Reporting rate 50 Hz
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Bandwidth test – TVE
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Bandwidth testing
F & ROCOF
performance
limits
Error requirements for Compliance
P Class M Class
Reporting Rate
FS (Hz) Fr (Hz) Max FE Max RFE Fr (Hz) Max FE Max RFE
10 1 0.03 0.6 2 0.12 2.3
12 1.2 0.04 0.8 2.4 0.14 3.3
15 1.5 0.05 1.3 3 0.18 5.1
20 2 0.06 2.3 4 0.24 9.0
25 2 0.06 2.3 5 0.30 14
30 2 0.06 2.3 5 0.30 14
50 2 0.06 2.3 5 0.30 14
60 2 0.06 2.3 5 0.30 14
Formulas min(FS/10,2) 0.03 *Fr 0.18*ヾ*Fr 2 min(Fs/5,5) 0.06 *Fr 0.18*ヾ*Fr 2
C37.118.1a-2014
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Bandwidth test – Frequency Error (FE)
& ROCOF ERROR (RFE)
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Reference vs. Tracking filter example
f0=50, Reporting rate FS=50 Hz
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Reference vs. Tracking filter example
f0=50, Reporting rate 50 Hz
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Frequency error during OOB testing
(1+0j)
Interharmonic at 2ヾfIH
Radius AF(fIH-fT)
• where A=0.1 pu
• F(fIH-fT) is filter gain at (fIH-fT)
• Deviation rotates at 2ヾ∙(fIH-f)
(1- AF(fIH-fT))
Trajectory speed
at closest approach
2ヾ∙(fIH-f) ∙ AF(fIH-fT)
Frequency deviation にヾ ゲ (fIH−f) ゲ AF(fIH−fT)にヾ ゲ (1− AF(fIH−fT))
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Determining the required filter Mask
for OOB testing
繋 血彫張 伐 血脹 隼 繋継陳銚掴畦 ゲ 血彫張 伐 血
Minimum separation
of the interharmonic
from the tuned
(heterodyne) frequency.
Sets the width of the mask.
Maximum separation
of the interharmonic
from the
fundamental frequency, when 血彫張 伐 血脹 is minimum,
sets the gain (attenuation)
Required at the “closest” mask point.
Frequency deviation にヾ ゲ (fIH−f) ゲ AF(fIH−fT)にヾ ゲ (1− AF(fIH−fT))
Frequency deviation にヾ ゲ (fIH−f) ゲ AF(fIH−fT)にヾ ゲ (1− AF(fIH−fT))
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Out-of-Band testing, f=f0
All algorithms
f0 = Nominal frequency (Hz)
f = Actual fundamental frequency (Hz)
fT = Tuned frequency (Hz)
Frequency in filter = ( fIH - fT )
Frequency
f = fT = f0
血待 髪 繋聴に 血待 伐 繋聴に
Minimum ( fIH - fT ) = 血待 髪 庁縄態 伐 血待 噺 庁縄態
Minimum fIH (upper) = 血待 髪 庁縄態
Maximum ( fIH - f ) = 血待 髪 庁縄態 伐 血待 噺 庁縄態
Mask width is “normal” 庁縄態 and ( fIH - f ) tracks exactly with ( fIH - fT ).
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Out-of-Band testing, f=f0-庁縄態待
Fixed-filter algorithm
f0 = Nominal frequency (Hz)
f = Actual fundamental frequency (Hz)
fT = Tuned frequency (Hz)
Frequency in filter = ( fIH - fT )
Frequency
fT = f0
血待 髪 繋聴に 血待 伐 繋聴に
Minimum ( fIH - fT ) = 血待 髪 庁縄態 伐 血待 噺 庁縄態
Minimum fIH (upper) = 血待 髪 庁縄態
Maximum ( fIH - f) = 血待 髪 庁縄態 伐 (f0−庁縄態待 ) 噺 な┻な 庁縄態
f =f0-庁縄態待
Mask width is “normal” 庁縄態 but gain needs to be reduced by にど ゲ 健剣訣 怠怠┻怠 = 0.83 dB,
at the closest frequency, from what you might expect.
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Out-of-Band testing, f=f0+庁縄態待
Frequency-tracking algorithm
f0 = Nominal frequency (Hz)
f = Actual fundamental frequency (Hz)
fT = Tuned frequency (Hz)
Frequency in filter = ( fIH - fT )
Frequency
f0
血待 髪 繋聴に 血待 伐 繋聴に
Minimum ( fIH - fT ) = 血待 髪 庁縄態 伐 血待 髪 庁縄態待 噺 ど┻ひ 庁縄態
Minimum fIH (upper) = 血待 髪 庁縄態
Maximum ( fIH - f) = 血待 髪 庁縄態 伐 (f0+庁縄態待 ) 噺 ど┻ひ 庁縄態 f =fT=f0+
庁縄態待
Mask frequency width is reduced by 10% from 庁縄態 but gain can be にど ゲ 健剣訣 怠待┻苔 = 0.92 dB higher,
at the closest frequency, from what you might expect.
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Simplified OOB requirements and
examples, f0=50 Hz, FS=50 Hz
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Simplified OOB requirements and
examples, f0=50 Hz, FS=50 Hz
f0 = 50 Hz
FS = 50 Hz
0.92 dB
0.83 dB
14.8% narrower
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Cascaded boxcar filters,
f0=50 Hz, FS=50 Hz
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Boxcar filter properties
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Cascaded boxcar filters example,
f0=50 Hz, FS=50 Hz
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Cascaded boxcar filters example,
f0=50 Hz, FS=50 Hz
O
O
O O
O
O
O Primary filter zeros
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Cascaded boxcar filters example,
f0=50 Hz, FS=50 Hz
O
O
O O
O
O
O
O Primary filter zeros
O Frequency filter
Additional zeros
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Cascaded boxcar filters example,
f0=50 Hz, FS=50 Hz
O
O
O O
O
O
O
O
O
O
O O O O
O O
O
O
O
O
O
O
O Primary filter zeros
O Frequency filter
Additional zeros
O “Harmonic” zeros
O Frequency filter
“harmonic” zeros
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Cascaded boxcar filters example,
f0=50 Hz, FS=50 Hz
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Cascaded boxcar filters example,
f0=50 Hz, FS=50 Hz
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Cascaded boxcar filters example,
f0=50 Hz, FS=50 Hz
1 1 2 2½ 2 1½ 1
Primary filter
10 cycles, ~200ms at f=50 Hz
Latency ~5 cycles, ~100ms at f=50 Hz Additional
Frequency (and ROCOF)
filtering
Response time
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Example software architecture
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Code execution speed
• 30-60たs Typical execution time per frame for M class PMU (Motorola MVME5500). Supports >10kHz reporting.
• Calculation rate does NOT increase for longer-window (lower reporting rate) devices, as long as the NUMBER of cascaded boxcar filter sections is kept constant.
– But fast-access memory requirement does (服 Window length).
• Can easily be extended to “Harmonic PMU” applications. – # Calculations expand 服N harmonics, memory expands 服N
harmonics and 服 Window length
呑 Compare with 椴 Least Squares and 惇TFT敦 algorithms, # calculations proportional to
window length
椴 FFT algorithms for harmonic PMUs, # calculations proportional to (window length)*log(window length)
椴 Kalman filter methods, # calculations proportional to the number of filter zeros squared (matrix multiplications).
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Non-standard tests and real-world conditions
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Unfinished work - Increased fault tolerance for frequency
and ROCOF - 27th August 2013 example – P class
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Unfinished work - Increased fault tolerance for frequency
and ROCOF - 27th August 2013 example – P class
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Unfinished work - Increased fault tolerance for frequency
and ROCOF - 27th August 2013 example – P class
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Future considerations/work:
• Implement in hardware!
• Continuing input to standards development.
• Accurate revenue metering.
• Synchronised Power Quality assessment and PQ “metering”! • Combinations of adaptive and fixed boxcars to provide
“Uniform Aggregated Weighting” (Welch’s method) via repeated windows at fixed (i.e. 20ms) intervals, while also providing adaptive-zero-placement for off-nominal frequency.
• Integrating PMU algorithms within HVDC controllers?
• Aggregation of PMU ROCOF data across a geographically wide network to determine “system ROCOF” and required “inertial” responses.
– “Enhanced Frequency Control Capability (EFCC)” with National Grid, Alstom, Belectric, Centrica, Flextricity & University of Manchester.
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