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Lecture 5 - State Estimation

State estimation is a process that estimates the voltage magnitudes and phase angles at each bus in a power system network based on redundant measurements. It is needed because direct measurements are imperfect and not available everywhere in the network. State estimators use measurements of voltages, power flows, and currents as inputs and provide estimated states as outputs. The most common criterion used is weighted least squares. State estimation helps clean up measurement errors and provides a complete picture of system conditions.

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65 views16 pages

Lecture 5 - State Estimation

State estimation is a process that estimates the voltage magnitudes and phase angles at each bus in a power system network based on redundant measurements. It is needed because direct measurements are imperfect and not available everywhere in the network. State estimators use measurements of voltages, power flows, and currents as inputs and provide estimated states as outputs. The most common criterion used is weighted least squares. State estimation helps clean up measurement errors and provides a complete picture of system conditions.

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Gaylethunder007
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© © All Rights Reserved
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54

State Estimation

55
State Estimation
• The concept of state estimation for power system
parameters was first suggested by Fred Schweppe in
1968.
• State estimation is used to clean up errors in
measurements and estimate the system state.
• State estimation techniques are widely used in
transmission systems where redundant measurements
are available.
• For distribution systems, a large number of pseudo
measurements from load estimates and load forecasts
have to be used as inputs to the distribution state
estimator.

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What is state estimation?
• State Estimation: It is a process of assigning a
value to an unknown system state variable
based on measurements from that system
according to some criteria.

• Most commonly used criterion for State


Estimator in Power System is the Weighted
Least Square Criteria.

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What is state estimation…
• State Variables: The complete “solution” of the power
system is known if all voltages and angles are identified at
each bus. These quantities are the “state variables” of the
system.
• Why estimation is needed?
– Measurements aren’t perfect.
– Meters aren’t everywhere.
• Estimator Inputs:
– voltage magnitude and powers (active/reactive), ampere flow
quantities etc.
• Estimator Output:
– System voltage and phase angles, recognizing that there are errors in the
measured quantities and that they may be redundant measurements.

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State Estimation Functions
1. Measurement pre-filtering
– discard measurements that are
clearly wrong (e.g. negative
voltage, out of range power
flows)
2. Topology processor
– electrical network model is
built.
3. Observability analysis
– Enough measurements for
entire system or part of it
(islands)?
4. State estimation
– Returns Optimal network states
5. Bad data processor
– Detects non-Gaussian errors in
measurements and network
parameters
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Static State Estimation
• The set of phasors representing the complex
bus voltages of a power system is defined as
the static state of that system.
• It is inherently assumed that the network
topology along with the network parameters
are known and are excluded from this
definition of the state.

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Objective of State Estimation
The objective of Static State Estimation is to:
Estimate the complex bus voltage phasors (the
states) at every bus in a given power system.

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Measurement Types for State
Estimation
• Real and reactive power flows at terminal buses.
• Net real and reactive power injections at system buses.
• Voltage magnitudes measured at system buses
• Current magnitudes measured at the terminal buses of
lines or transformers.
Following quantities are not measured but used as input to
estimator:
• Virtual measurements that are known due to network
constraints e.g. net zero power injections at buses with no
load or generation.
• Pseudo measurements e.g. forecasted loads, scheduled
generations

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Mathematical Model:
• Consider vector z containing the set of
measurements that can be expressed in terms
of the system states

Noise/error

Nonlinear function relating


measurements measurements and state variables
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State Estimation: A Simple Example

• The relationship between supplying and


receiving side voltage is:
• Let the true values of network parameters are:
and
• Let voltage at bus 2 is measured as
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State Estimation: A Simple Example …

• The true value of x cannot be determined, but can be


estimated.
• Assume that the estimated value of x is and the
estimated value of measurement errors are r (residual)

• State estimation can be described as optimization


problem which minimizes the function of
measurement residuals .
Weights
No. of
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measurements
State Estimation Methods
1. Weighted least square (WLS) estimators:

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Algorithm

67
State Estimation Methods …
• Weighted least absolute value (WLAV)
estimators

• Robust State Estimators


– state estimator should be robust to the presence of
errors and bad data in the pseudo measurements
– The measurement configuration (type, location,
accuracy of measurements) also has a large impact on
the quality of the estimates.
– A good design of ρ(ri) will be able to provide the
robustness required.
• iteratively reweighted least square estimation method
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