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Abstract - In recent years time stamps of the Global Po- dent power producers which do not contribute anything to
sitioning System can be utilized for precise time synchroniza- the LFC. In the circumstances, dynamics of the frequency
tion at different remote locations. By the time synchroniza- oscillation and its control become not only interesting but
tion and information technology, it becomes available to exe- also important issue for power system engineers to keep
cute synchronized measurements of large power system. Au- the power system reliability.
thors have constructed an online global monitoring system of
However, it used to be difficult for most of researchers
the Western Japan 60Hz power system.
to observe the dynamics of a whole power system be-
This paper investigates dynamic characteristics of fre-
quency oscillation after a disturbance based on measure- cause of difficulties in measuring system variables syn-
ment results. First, by observing the frequency oscillations chronously at appropriate points which are distant from
at each point and phase differences among them, global be- each other. In recent years time stamps of the Global Posi-
haviors of the power system are investigated. It is consid- tioning System (GPS) can be utilized for precise time syn-
ered how power flow varied in the power system just after chronization at different locations even if the measurement
the disturbance. Secondly, transient behaviors are studied point is far from the other. Based on the time synchro-
in detail through the Wavelet analysis. Some interesting in- nizing method and recursive Discrete Fourier Transform
teractions among the local power systems can be observed (DFT) algorithm, time synchronized voltage phasor mea-
and system performances originated from a Load Frequency surement technologies have been developed [1, 2]. In the
Control (LFC) can be extracted. Finally, frequency varia-
circumstances, useful application studies have just started
tion characteristics by the LFC are studied on a plane of fre-
all over the world [3, 4].
quency deviation versus phase difference. Then the stiffness
and controlled behaviors of the power system are carefully Authors have constructed an online global monitoring
considered. system of the Western Japan 60Hz power system [5, 6]
From these analyses, it is confirmed that the multiple based on the time synchronized phasor measurement tech-
synchronized phasor measurement system has a great pos- niques. In the system, seven Phasor Measurement Units
sibility to investigate the global power system in an easy way. (PMUs) [7], which can accumulate time sequential data of
the voltage phasors synchronously using the time stamps
Keywords - Global Positioning System, Intercon- of GPS, are located at seven universities, respectively. The
nected power systems, Phase measurement, Load fre- universities are in large cities and each of them belongs
quency control, Synchronization, Time-frequency anal- to the demand area supplied by the different major elec-
ysis, Wavelet transform. tric power company. The PMU uses an outlet on the
wall of laboratory for single-phase terminal voltage mea-
surement. Additionally, the PMUs have a network inter-
1 INTRODUCTION
face for remote access via Internet. The universities are
equipped with campus information networks and intercon-
W ESTERN Japan 60Hz power system is a longitudi-
nal and huge power system which consists of six
major electric power companies interconnected with each
nected with each other, so the accumulated data are auto-
matically collected in data servers by utilizing the well-
other by high-voltage ac or dc transmission lines. Due formed campus information network. Therefore it be-
to its longitudinal structure the power system is known comes easy for us to study the power system dynamics by
to have some significant long term oscillation modes. As the global monitoring. Authors now continue the multiple
concerns frequency oscillation characteristics, the power phasor measurement in the power system.
system may indicate some interesting dynamics because This paper investigates dynamic characteristics of fre-
of a situation surrounding Load Frequency Control (LFC). quency oscillation after a disturbance based on the multi-
First, the all six companies in the power system have re- ple synchronized phasor measurement. The phasor mea-
cently adopted Tie-line Bias Control (TBC) for increas- surement provides relations between phase differences
ing importance of tie-line power flow regulation. Sec- and frequency deviations.
ondly, the system dynamics are also affected by indepen- First, by observing the relations, global behaviors of
on the time stamps of GPS. As the PMU uses the time V̇ = vk sin kθ + j vk cos kθ , (1)
M
stamps of GPS, the time synchronization among PMUs k=1 k=1
located at distant place can be easily accomplished. where vk is sequential data of the instantaneous voltage of
In order to continue the synchronized phasor measure- 100V outlet measured through A/D transformer, M is the
ment even if an interruption or a voltage sag occurs at the number of times for sampling of the voltage and θ is the
outlet, each PMU has an Uninterruptible Power Supply sampling angle. In the case of this apparatus, M = 96 and
-0.10
The PMU corrects its internal clock by the time stamps 0.05
0.00 Osaka Univ.
of GPS. A time error of the clock is guaranteed within 1 -0.05
µs. In this case, phase angle δ of the terminal voltage at -0.10
the outlet on the wall is used as measured data. An error 0.05
Hiroshima Univ.
0.00
of phase angle is guaranteed less than 0.1 deg. The ac- -0.05
curacy of time and phase angle is enough to analyze the -0.10
12degrees
synchronization and the interconnected power system op-
erated properly, too. The fact corresponds with the press
release by the electric power company.
Univ. of Tokushima
Variations of phase difference between each university 12degrees
tions which originate from local load variations around the -4x10
-3 Osaka Univ. NIT
Hiroshima Univ.
100V outlet for measurement by the PMU are also elimi-
nated. 604 606 608 610 612
time [sec]
614 616 618 620
The waveforms of frequency oscillation as results of Figure 5: Enlarged waveforms shown in Fig. 4.
Wavelet analysis are very similar with each other. This is
why the interconnected power system could keep its syn- 5 SYSTEM BEHAVIORS ON
chronization before and after the disturbance. To inves- FREQUENCY-PHASE ANGLE PLOT
tigate in detail, the results are displayed in Fig. 4 as the
differences between them and the waveform at the Uni- 5.1 Relations between Frequency Deviation and Power
versity of Tokushima. The system behaviors are divided Flow Deviation
into following four stages. In this subsection, the relations between frequency de-
The first stage is a transient mode. It starts at 600sec, viation and power flow deviation on a tie-line is reviewed
when the accident occurred, and continued until 603sec. by a two-areas interconnected power system model shown
The second stage following the transient mode begins in Fig. 6.
at 603sec and continues until 620sec. The waveforms frequency deviation : ∆f = f – f0
around this stage are picked up and shown in Fig. 5. It
can be seen that the frequencies at the six universities os-
power system A power system B
cillates with forming two groups. One is a western group
which includes Miyazaki Univ., KIT, Hiroshima Univ. and
Osaka Univ., and the other is an eastern group, NIT and power flow change : ∆PT = PT – P0
Fukui Univ. It is interesting that the local systems except Figure 6: Two-areas interconnected power system model.
Shikoku system were divided into the western and east-
ern group, and they oscillated to opposite direction with The system frequency is assumed to be f [Hz] in both
periods of about two seconds. The other oscillating com- area A and B, f0 [Hz] is a nominal frequency of the system,
ponents which have more long period can be also seen in ∆f [Hz] is a frequency deviation, PT [MW] is a power
the waveforms. This oscillating components lasted to next flow on the tie-line and its deviation from an initial value
stage. P0 is ∆PT . Then the frequency deviation ∆f and the tie-
The third stage is from 620sec to around 650sec. On line power flow deviation ∆PT are written as
this stage, synchronized oscillations with periods of 8.9sec ∆RA + ∆RB
can be clearly seen in Fig. 4, and this oscillations contin- , ∆f = − (4)
KP
ued from the second stage. This oscillating mode with the KA PA ∆RB + KB PB ∆RA
long period is that the five local systems oscillate against ∆PT = , (5)
KP
Shikoku system including the University of Tokushima. where ∆RA and ∆RB are the area control error, that is,
Finally, the fourth stage begins at around 650sec. On the control error of active power for area A and B, respec-
this stage, frequency oscillations have been converged to tively. As the LFC employed in the Western Japan 60Hz
zero value, that is, the all local systems including Shikoku power system is based on the TBC, each system behaves
system attained synchronization. to reduce the area control error.
From these considerations, it can be summarized that It is proved by the reference [8] that a plot of prob-
the transient behaviors are observed by Wavelet analysis, ability density g(∆PT , ∆f ) shows a shape of concentric
and system behaviors from around 650sec should be con- circle or ellipse when distributions of ∆RA and ∆RB are
sidered for investigation of LFC dynamics. normal distributions.
0.01
Western Universities
5.2 Possibility of Studies on Relations between Fre-
Miyazaki Univ., KIT, Hiroshima Univ. Osaka Univ. quency and Power Flow by the Phasor Measurement
frequency deviations [Hz]
System
0.00
The method described above is useful for considering
characteristics of an interconnected power system, but it
requires the actual value of the frequency deviation ∆f
Eastern Universities
NIT, Fukui Univ.
and the tie-line power flow deviation ∆PT . Although the
-0.01 former can be calculated by the PMU, the latter can be
600 620 640 660 680
time [sec] hardly obtained, especially for a personal research. How-
Figure 4: Behaviors of the local system derived by Wavelet analysis. ever, the phase difference between two points can be cal-
2000
Examples of plot are shown in Figs. 7 and 9, which are
Number of data
depicted from measurement from 8:50 to 9:10 on Wednes- 1500
0.05
A part of this work was financially supported by
0.00 Grants-in-Aid for Scientific Research of the Japan Soci-
-0.05
ety for the Promotion of Science, Japan (No. 14350145)
-0.10
REFERENCES
-0.15
103 104 105 106 107 108 109 110 [1] A. G. Phadke, “Synchronized Phasor Measure-
phase difference δHT [deg] ments,” IEEE Computer Applications in Power, vol.
Figure 11: ∆f − δ plot between Hiroshima University and the Univer- 6, pp.10-15, Apr. 1993.
sity of Tokushima when the disturbance occurred.
0.10
[2] A. G. Phadke, “Synchronized Phasor Measurements
frequency deviation ∆f [Hz]