Manual for PMU Testing using Doble 6150 Test set, V0.

Standardized Testing of Phasor Measurement Units

Ken Martin I. Introduction
A Phasor Measurement Unit (PMU) is an intelligent electric device (IED) whose principal function is estimating the phasor equivalent for power system voltage and current signals [1]. It also measures system frequency, digital status indications, and in some cases, other point-on-wave analog quantities [2]. A PMU is distinguished from other transducers by using precise timing to determine phase angles relative to a universal timing reference and by the potential quality of its data output. PMUs are also characterized in their operation by making and sending measurements at precise time synchronized intervals. Measurement capability is prescribed and tested relative to these time synchronized intervals. Required measurement capability also includes varying input levels, frequencies, and combined signals. The synchrophasor standard, C37.118 describes measurement requirements. Testing to confirm these requirements is directly or indirectly specified by these requirements.

II.

PMU Technology

A phasor is an equivalent representation of a pure sine wave. A pure sine wave is fully characterized by frequency, magnitude, and phase angle. For a given frequency, representation only requires magnitude and phase angle, two values that can be represented by a complex number. This number can be viewed as a vector in the s-plane (Fig 1) and represented in polar or rectangular coordinates.

+A

0.5

0 -100

-
-0.5

100

200

300

400

A e j

-A

-1

Figure 1. Sine wave with equivalent phasor representation on the complex plane. While this signal model can represent a fixed sinusoid exactly, actual power system signals are far more complex than that. PMU inputs may contain many sinusoidal components, even under normal conditions. Furthermore, the parameters for each of these signal components are continually varying. For these reasons the design of an instrument for phasor measurements must consider the frequency range of signal components to enter and exit the instrument, and how to present appropriate average values for varying phasor parameters.

Manual for PMU Testing using Doble 6150 Test set, V0.5 A. Phasor Measurement Units

There are a variety of methods for estimating phasor equivalents of voltage and current waveforms. The most common method uses time synchronized sampling and a Discrete Fourier Transform (DFT) to estimate a phasor equivalent. Typically, a PMU estimates the phasor value for all three phases and derives a positive sequence equivalent using the symmetrical component transform. Some applications use single phase phasors, and others use negative or zero sequence. Most applications use phasor values as a measure of power system operation, for which positive sequence is the most useful. Figure 2 is a block diagram of a typical PMU process.
60 Hz component

Timing

GPS

DFT Symmetrical Component DFT Transformation

Frequency & Rate-ofChange of Frequency Algorithm

Frequency, dFreq/dt Phasors

DFT
Time synchronized sampling of three phase waveform. 12 samples/cycle (720/sec). Discrete Fourier Transform uses 12 samples for each phasor conversion.

Real Time Data Output Disturbance and transcient detectors, data table storage
Trigger flags

Figure 2. Typical PMU measurement process B. Measurement Issues

PMU testing can be broken into two categories: comparing the measurement with a known standard or reference to see if it meets specific criteria, and characterizing the measurement for comparison with similar or complimentary measurements. The first category includes simple measurements like magnitude or phase angle with a constant input. This category is called steady-state and was originally covered in the 2005 published version of the standard. The second category includes inputs that change in time and thus symbolize the dynamic characteristics of the power system. These include step changes to the inputs and modulation of the input signals. To calculate a phasor equivalent, a waveform must be observed over an interval long enough to measure its characteristics, typically at least a cycle. The interval must be the right length to allow the estimation process to produce a good estimate, which will be a kind of average equivalent over the interval. Different interval lengths as well as different conversion algorithms, filtering, measurement rate, synchronization, and equipment resolution will effect the measurement. These differences will produce different results under various power system conditions. Many of these differences reflect design trade-offs that favor different applications, and no one implementation will best serve all of them.

III.

PMU Tests

The basic test process requires generation of a test signal with specific characteristics, application to the PMU, and comparison of the resulting PMU output with the expected result. This basic methodology is illustrated in Figure 3

Manual for PMU Testing using Doble 6150 Test set, V0.5
below. Creating a mathematical model for a given phasor is straightforward and generating signals that this model can be done precisely. The most challenging element is then creating real signals with high accuracy and with precise time synchronization to play into a PMU. The final part of the process is then recording the PMU measurement and comparing it with the phasor model. Since all signals are defined by precise time alignment, the measured signal and the signal model have to be compared with this time alignment. The basic C37.118 accuracy criterion is 1%; testing should have an accuracy at least 5X better and preferably 10X better. At 60 Hz, a 1% TVE is reached when the time synchronization reaches 26 s; testing to this level requires signal synchronization within at least 5.1 s and preferable within 2.6 s.

Phasor based signal model

Formulas converting phasor model into 3-phase signals

Signal conversion into sampled waveforms (COMTRADE)

Mathematical computer program that can create test files and analyze results (Matlab) Data file PMU under test V&I test signals Signal file Test system, possibly including both a signal generation unit and PC controller

Analysis comparing PMU measurement with signal model

Figure 3. Block diagram of idealized test procedure

A.

Test types and considerations

The tests developed to demonstrate PMU compliance can be categorized into 2 groups: steady-state and dynamic. Steady state tests require that the parameter under test is not changing during the measurement. These include magnitude, phase angle, and frequency measurement. Steady-state also includes tests to confirm rejection of aliased signals and harmonics. Dynamic tests confirm the measurement while the parameter being measured is changing. This category includes modulation of the signal, frequency ramps, and step changes. Steady-state tests confirm the ability of the PMU to accurately report the basic measured parameters correctly. Dynamic measurements demonstrate the PMU ability to follow changes, allowing determination of the measurement bandwidth and response time. These tests are detailed in the following sections. A traditional approach to testing considers each measured parameter such as magnitude, phase angle, and frequency independently comparing each against an error tolerance. This has been done and certainly works. However in an effort to simplify the requirement specifications, the IEEE established Total Vector Error (TVE) criteria which treats the phasor measurement as a vector and compares both magnitude and phase as a single criteria. This is a realistic method since a phasor is a complex number that represents one quantity on the complex plane. Under this criteria performance is measured as the RMS difference between the ideal phasor value for the given AC waveform and that measured by the PMU device. Given a waveform described by the phasor value P = Xr + jXi where Xr is the real component and Xi is the imaginary component at instant t0 and P(t0) = Xr(t0) + j Xi(t0) (2) (1)

Manual for PMU Testing using Doble 6150 Test set, V0.5
is the estimated phasor value for that same instant, the total vector error is

TVE =

(X r (t 0 ) X r )2 + (X i (t 0 ) - X i )2
Xr + X i
2 2

(3)

The phasor equivalent is one complex number and this evaluation method treats it as one value, simplifying the specification of requirements. It may make evaluation more complicated where users evaluate the magnitude and angle measurement accuracy separately. Since the IEEE requirements are well established and widely accepted, they will be the primary evaluation criteria indicated for these tests. The current standard, IEEE C37.118-2005, is being revised. The test categories are being realigned for a better fit with established practice. Some of the current limits are being changed a little. Dynamic performance requirements are being established and verified. Frequency requirements, both steady-state and dynamic, are being added. These changes may be finalized with this document or may not; if not finalized before this document is completed, this will be noted and these requirements will be will be updated accordingly. The standard does not specify single phase, three phase positive sequence or other types of phasors. Balanced three phase is expected to be the most common and is the most important to test, but if the PMU produces single phase measurements, these should be confirmed by these same tests.

B.

Steady-state tests

A PMU device should provide an accurate measurement of the power system at standard signal levels in steady state conditions. The following tests are used to confirm steady-state measurement capability. 1. 2. 3. 4. Phasor magnitude variation of voltage and current over their usable range: o voltage - 10% to 120% of nominal o current 10% to 200% of nominal Phase angle measured phase angle (relative to UTC time) at nominal frequency o both V & I at appropriate intervals from - to + Phasor measurement over range of frequency vary frequency +/- 5 Hz from nominal with constant magnitude and phase angle voltage and current (45-55 or 55-65 Hz). Out of band rejection (using single frequency probing) with voltage and current at nominal amplitude, phase angle, and frequency, add a single frequency signal at 10% of the nominal amplitude. Vary this frequency from 1 Hz to 3 x F0 Hz. When the additive signal frequency is at the Nyquist rate for the reporting rate or higher, the error created by the interfering signal should be less than 1% (rejection of interference). Harmonic rejection same as the interfering signal test above, except that the interfering signal is a harmonic of the fundamental, starting with the 2nd and extending up through the 50th. Phasor magnitude vs. frequency voltage and current with constant magnitude and phase angle, and frequency from 10 to 300 Hz. This is a variation of the fundamental, not an additive signal. This test is an optional test to determine the response characteristic and filtering/tracking algorithms. Phasor magnitude with unbalanced signals three-phase voltage and current with one phase varied in magnitude and phase (one at a time). Perform at 59, 60 and 61 Hz. This is an optional test that is for testing the sequence component derivation (positive, negative, zero). It is not useful for single phase derivations. Measurement noise examine a number of records where magnitude, phase angle, or frequency are constant and compute the point to point deviation. This is not an exact measurement; the maximum peak-

5. 6. 7.

8.

Manual for PMU Testing using Doble 6150 Test set, V0.5
to-peak deviation is probably the easiest to measure and the best indicator of the usability of a measurement. Note: Various tests have been indicated previously such as relative phase angle between signals and phasefrequency but have been eliminated as their functions are covered with the current tests.

C.

Dynamic tests

The PMU should provide a reasonable estimate of the power system during dynamic events. This category includes tests where the parameter being measured is changing. 1. Modulation of the power signal with a sinusoid over a range of modulation frequencies. This test examines PMU response to phase modulation and combined phase/amplitude modulation of the 60 Hz power signal. It determines the passband of signals that can be observed in the measurement. Many variations on the modulation types and combinations including changes in the nominal frequencies can be performed. However, the IEEE standard only requires these two test types. Frequency ramp test. A limited duration, continuous ramp in the fundamental frequency is applied, both positive and negative ramps. Step change tests with steps in both amplitude and phase applied separately. Both positive and negative and steps with a prescribed amplitude are applied.

2. 3.

D.

Test discussion

The list above is the recommended minimum set of tests to use. Steady-state tests 1-5 and dynamic tests 1-3 are required by the synchrophasor standard. Test 6 is informational and provides insight to the user about the PMU performing characteristics. Test 7 is only useful for PMUs that output positive sequence; it confirms the system was implemented correctly. Test 8 demonstrates the operational range, particularly when working with low level signals.

IV.

Test Signal generation

Test signals are generated off line using mathematical simulation and modeling software. Thus any signal that can be modeled can be used for testing. These test signals must accurately represent the required signals and conditions required for demonstrating each PMU characteristic and allow determining the performance. Since most of the tests require testing at a number of points (over a range), the test files are designed to perform the test at a number of points. For example, amplitude response has to be demonstrated over a range so the test file contains a number of amplitude steps, so one test file covers the entire test. In order to synchronize the analysis with the measurement file from the PMU, the steps are done at a given time and then held at a specific value long enough for the PMU to stabilize at that test value. These intervals are called dwells. The analysis program has to synchronize the PMU record with the test file so compares the measurement with the correct theoretical value and during the time where it is stabilized. Test signals are created with a Matlab program written as an m. These are text files written in the Matlab mathematical syntax. A tutorial on Matlab is beyond the scope of this document. The basic process is to open Matlab so the work space is accessible. Run the signal generation file by entering its name in the workspace. It will generate a .mat file which includes the signals, the dwells, the theoretical phasor and other specific information. It places this signal file in the same directory that the m file is located in.

Manual for PMU Testing using Doble 6150 Test set, V0.5
After creating the test signals, they are in a double precision format used by Matlab. The next process is to convert this Matlab signal file to a COMTRADE file. A program called comtradeConvert_r2.m translates the data file into three COMTRADE files: a configuration file (*.cfg), a data file (*.dat), and a header file (*.hdr). COMTRADE .dat file contains the signals including 3 phase voltage, current and usually two Boolean value tracks. These Boolean tracks are an indicator bit that can be mapped into the PMU digital status inputs to coordinate the test with the signal file. These digital status indicators include a startFlag and a sampleFlag. The start flag goes true when the test is started and stays true until the test completes. The sampleFlag goes true at the time when the signal should be stable for making the test. While this method worked well for PMUs that record a digital track, it does not work if they dont. The actual test file states and transitions are more accurately represented in the .mat test file. It was found that it was simpler to start the test record at exactly the same time as the output and locate the transitions from the start of the data file. This works with all PMUs, but does require some ability to start the data recording at a precise time. StreamReader starts data files at a precisely know time that is easy to synchronize with the Doble timed start, so this method is most commonly used now.

A.

Characteristics common to all tests

All test files are 3-phase and balanced unless otherwise stated. If testing a single phase device, the A phase signal should be used. Most tests include one voltage and one current, though some very long ones may only have one due to file size limitations. All tests include 2 seconds of signal output at standard level and phasing at the nominal system frequency. This allows the PMU device to stabilize with a signal as expected. Each file generates signals at a specific nominal frequency, and data sample rate. These are variables set in the signals generation program (file). Since the data is being output as data samples to the PMU measurement input, the PMU reporting rate does not need to be considered. Higher sample rates give a more accurate reproduction of the simulated system but create a larger file size. The output sample rate needs to be a multiple of the system frequency due to the file generation methodology. The step tests are repeated pass tests, so the sample rate has to be carefully coordinated with the system frequency and sample rate. Lower sample rates have narrower performance ranges. These test files generate signals at the widest band for the highest sample rates. Measurements out of the performance band can be eliminated from the results output by the analysis package or simply ignored by the user.

B.
1.

Steady-state tests
Phasor magnitude The file creates balanced three phase signals for both voltage and current at nominal frequency. The steps for each are varied so there are finer steps in the normal range of operation. Steps range from .1 to .01 PU. The signals are held at each level for 1 second. a. voltage - 10% to 120% of nominal b. current 10% to 200% of nominal Phase angle The file creates balanced three phase signals for both voltage and current at nominal frequency. The steps are all in 5 degree increments around the full circle. The signals are held at each level for 2 seconds. a. both V & I from - to + Phasor measurement over operating frequency range of +/- 5 Hz from nominal The file creates balanced three phase signals for both voltage and current at the given frequency. The steps for both are the same each and are varied so there are finer steps in the normal range of operation. Step size ranges from .1 to .5 Hz. a. 50 Hz system - 45-55 Hz range b. 60 Hz system - 55-65 Hz range

2.

3.

Manual for PMU Testing using Doble 6150 Test set, V0.5
4. Out-of-band rejection (using single frequency probing) with voltage and current at nominal amplitude, phase angle, and frequency (F0), add a single frequency signal at 10% of the nominal amplitude. Vary this frequency from 1 Hz to 3 x F0 Hz. When the additive signal frequency is at the Nyquist rate for the reporting rate or higher, the error created by the interfering signal should introduce less than 1% error (showing here a 20 dB rejection of interference). Interfering signals range from 1.5 to 150 or 180 Hz, the dwells are all 1 second, and the step size is all 1 Hz. Harmonic rejection same as the interfering signal test above, except that the interfering signal is a harmonic of the fundamental, starting with the 2nd and extending up through the 50th. The test file generates signals at +/- 1 Hz from nominal to check that the algorithm will reject the harmonics for off nominal system frequency. This additional testing is not required by the standard, and may be omitted from the results during analysis. Phasor magnitude vs. frequency This file creates balanced three phase signals for both voltage and current at a constant magnitude and phase angle, and varies frequency from 10 to 300 Hz. This is a variation of the fundamental, not an additive signal. The frequency steps vary from .1 Hz near the nominal frequency to 2 Hz at the extremes. The dwell at each test frequency is 2 seconds. The analysis output from the test is magnitude vs frequency since the object is to determine the frequency response characteristic of the filtering/tracking algorithms, particularly if frequency tracking is not employed. If frequency tracking is used, this will show the range and accuracy of the tracking. Phasor measurement with unbalanced signals This is done with two separate test files, on of which creates three phase signals unbalanced in magnitude and the other unbalanced in phase. In addition, both sets of tests are performed at nominal frequency and also +/-1 Hz from nominal. Unbalance is achieved by varying one phase while holding the other two at nominal. Signals are generated for both voltage and current at the nominal magnitude and phase angle except for the signals that are varied. The dwells for all tests are 2 sec. a. Amplitude variations are .01 to .5 PU with smaller increments near nominal; range is .8 to 1.15 PU. b. Phase variations are 10 to 180 degrees in increments of 10 degrees. Measurement noise This is not a separate test in itself, but rather an assessment from other tests. The analysis program has the capability to assess measurement noise from a number of tests. It compares statistically point to point variations in measurement during steady-state test conditions. This is useful for determining the accuracy and stability of the PMU input and phasor computation system.

5.

6.

7.

8.

C.
9.

Dynamic tests
Combined amplitude/phase modulation This test examines PMU response to combined phase/amplitude modulation of the nominal power signal. Simulations show that during power system oscillations, both will occur together, so this tests what would actually be observed in a power system. This is a new test and consequently has not been built in a model. However it will draw from currently used amplitude modulation and phase modulation tests. The index for both modulations is .1 PU (10%). The standard requires running the test from .1 to a frequency Fx where this frequency is determined by the reporting rate and fraction depending on the particular class of PMU. The test file will, however, be set to 2X the Nyquist frequency of the highest sample rate that will be tested. This allows the test to be run with any PMU reporting rate and assess the rejection about Nyquist as well as the passband. The length of each dwell is determined by the modulating frequency as a full cycle of the modulation is required to be sure of getting a good measurement. For example, if the modulation frequency is .1 Hz, one cycle is 10 sec and since the

Manual for PMU Testing using Doble 6150 Test set, V0.5
measurement needs to be averaged, the dwell time should be 12-20 sec. Modulation is applied to both voltage and current signals at nominal amplitude and frequency. Phase modulation This test examines PMU response to phase modulation of the nominal power signal. This test facilitates determining the PMU phase measurement bandwidth and the frequency measurement response. The modulation index is .1 PU (10%). The standard requires running the test from .1 to a frequency Fx where this frequency is determined by the reporting rate and fraction depending on the particular class of PMU. The test file will, however, be set to 2X the Nyquist frequency of the highest sample rate that will be tested. This allows the test to be run with any PMU reporting rate and assess the rejection about Nyquist as well as the passband. The length of each dwell is determined by the modulating frequency as a full cycle of the modulation is required to be sure of getting a good measurement. For example, if the modulation frequency is .1 Hz, one cycle is 10 sec and since the measurement needs to be averaged, the dwell time should be 12-20 sec. Modulation is applied to both voltage and current signals at nominal amplitude and frequency. Frequency ramp test. This test uses voltage and current signals at nominal amplitude and phase. It starts each test at nominal frequency and ramps frequency at +/-1 Hz/sec for a time duration that depends on the reporting rate so it does not exceed measurement limits. This is a new test and has not bee implemented yet. Amplitude step change this test starts with amplitude, phase, and frequency at nominal and applies a +/10% steps in amplitude. As implemented, this is a complex test. It has been found it is difficult to characterize the PMU response because it normally reports few data points compared with the speed of the step. It is difficult to see what overshoot, ringing and response speed it has. This test takes advantage of the fact the PMU reports at exactly the same time every time. This test actually applies the step change many times, each time shifted from the last by a specific period of time. This way we can obtain data points at every part of the response curve. To make an accurate plot, each test repetition is shifted back by the amount of its offset, and the data points thus fill in between the other ones. In the end we obtain a fairly full curve of the response. Phase step change this test starts with amplitude, phase, and frequency at nominal and applies a +/- 10% step in phase. The method and description of this is the same as amplitude step test.

10.

11.

12.

13.

V. A.

PMU Test Setup and procedure Initial Test setup

The test system basically consists of a PC, a PMU (DUT), and the Doble 6150 signal generator. The PC hosts Matlab with software for signal generation & data analysis and ProTest which controls the Doble signal output. The data from the PMU can be stored on the PMU, a different auxiliary device, or on the PC using a data storage program. The analysis program currently being used expects to have the PMU data stored in the .dst format which is recorded by StreamReader, a program that will run on a PC. The set-up tasks are; 1. Setup the Doble 6150 with the GPS receiver option. 2. Setup ProTest to operate the Doble 6150. 3. Configure the PMU according to vendor instructions,. 4. Setup PMU data recording, usually using StreamReader on the controller PC. 5. Check that the GPS synchronization is working. The PC to Doble connection is Ethernet using IP protocol. The Doble uses a fixed IP address, so it is probably easiest to set up a private local network. If data output from the PMU is by network, it can be set to the same net. The 6150 connects to the PMU with jumpers sized for the test voltages and currents. See figure 4 below.

Manual for PMU Testing using Doble 6150 Test set, V0.5
If the PMU outputs data in the C37.118 protocol or in another format that StreamReader accepts, StreamReader can be used for the data storage. This is the most convenient since it records data in the dst format which the Matlab processing components access directly. Use the StreamReader configuration instructions for making the connection with the PMU and data recording setup. If data is recorded in a different format, converters are required to change the data to the dst format, or the processing must be modified. The Doble 6150 time synchronizes its output using a GPS receiver. Virtually all PMUs synchronize their measurement using a GPS receiver. Access to a suitable antenna location for the PMU and Doble antennas is essential. The Doble uses a receiver that is built into the antenna, so the antenna cannot be shared with other devices. Some PMUs use a receiver that is separate from the antenna, so that one antenna can be used with several receivers. Some PMUs have a built-in GPS receiver, and some require an external receiver. These setup procedures will have to be resolved on a case by case basis.

Signal & data flow between equipment & modules

PC
GPS antennas Doble ProTest download
test files, control F6150
Test signals in digital form

Doble F6150
Receive test files, output waveforms under PC & GPS timing control

Matlab

Test signals

Formulate tests, create waveforms, convert to COMTRADE

Analyze results: compare DUT output with model, display & record results

V & I signals in analog form

File translator

DUT (PMU)
PC/program
receive & record data (may be internal to PMU
Phasor estimates in digital form

Data files File storage

Receive test signals, output Phasor estimates

Figure 4. Block diagram of signal and data flow between equipment and modules of the equipment Doble ProTest software Load ProTest on a PC per installation instructions. Doble F6150 test set

Manual for PMU Testing using Doble 6150 Test set, V0.5
Connect the power to the AC supply. Connect the PC used for control with Ethernet. Note that the F6150 and the PC must be on the same IP subnet. When the F6150 boots up, it will show the IP address on the front panel. Unless it was otherwise set, assume the subnet mask is 255.255.255.0. Set the PC to the same subnet. Instructions for changing the F6150 IP address are in the manual. Once these are set, you should be able to ping the F6150 from the PC. If not, refer to troubleshooting at the end of this doc or in the F6150 instructions. Connect the GPS antenna via the special cable to the GPS input. Be sure the special GPS power supply is properly hooked up. When the F6150 unit boots up, it will show indications on the front panel that it is finding satellites, synchronizing, or not. Once it has a valid GPS synchronizing signal, it will show the time continuously incrementing on the front panel. Save a record of the connections for future reference. Physical connection with the PMU The physical setup requires connecting voltage and current outputs of the Doble unit to the test unit. If digital indications are used, the setup also requires connecting them with the PMU. Originally digital indications were required to relate the test portions with the phasor model. Newer techniques have been incorporated that eliminate this requirement. However there are some advantages to using the indications, so if they are used, refer to a section at the end of this document. The PMU documentation should provide information for how to connect the V, I, and digital signals. Once all the setup is done and the system is running, it is best to check operation by running a recognizable test such as the amplitude scan to be sure all elements are working correctly.

B.

Test procedure

Procedure summary Using this test method, all tests are setup and run in the same manner. The tests are designed to perform the test functions described in the previous section. The specifics are described below. The process is as follows: 1. Create a signal file for each test using the signal generation programs (Matlab M files). 2. Convert the file into a format that can be accepted by the test set; for the F6150 this is in the C37.111 COMTRADE format. 3. Playback the test signals into the PMU using a precision start time and GPS synchronization. This is essential since the measurement is dependent on the timing. 4. Record the PMU data output in a file format compatible with the analysis software. The analysis was developed around the .dst format developed by BPA and other WECC utilities, but other file types could be adapted. 5. The analysis package compares the data output with the signal input using TVE or other appropriate methods. These results are compared with the required results for pass-fail or other criteria developed by the tester. Load the signals into ProTest ProTest keeps its test signals in a database structure. Follow the Doble procedure for loading playback files in ProTest. Be sure to use the TRANS option for the MACRO. Once the signal file is imported using the import macro, the data will need to be named and scaled. Analog tab Select the Analog tab to see the signal list. From this you can see the general scaling as shown in Table 1 below. The SRC column will be blank and the PT/CT will be accessiblethe rest is grayed out and cannot be changed. The max ampl, units, and all scaling are determined from the data and the config file. The Sec ampl comes from the max ampl and the ratio. The PT/CT ratios and SRC values (highlighted in red) identify the values to be entered or changed.

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Manual for PMU Testing using Doble 6150 Test set, V0.5
Table 1 Number 1 2 3 4 5 6 Channel Name VA VB VC IA IB IC Max ampl 1100.00 1100.00 1100.00 1100.00 1100.00 1100.00 Units V V V A A A PT/CT ratio 1:1 1:1 1:1 1:1 1:1 1:1 Sec ampl 1100.00 1100.00 1100.00 1100.00 1100.00 1100.00 Units V V V A A A SRC VA VB VC I1 I2 I3

The first thing to do is enter the signal names in the source (SRC) column. This identifies the test set signal sources with the test signals. Enter VA, VB, and VC for the voltage channels and I1, I2 and I3 for current channels. If the proper scaling was not included in the CFG file, it must be calculated and entered. Note in the example above the given ratio of 1:1 requires the test set to output 1100 V & A, which it will not do! Provide manual scaling as follows: The full scale is shown on the Wave tab and listed as the Max ampl. This is the scaling of the data in the Comtrade *.dat file and scaled by the ratios in the *.cfg file. This needs to be converted to a secondary unit for playing back into the PMU. Calculate the ratio as follows: Sn = nominal signal value in rms (v or a) K = ratio of the max value of signal compared with the nominal value Sm = maximum signal value in peak Then Sm = K * Sn * sqr(2). Wm = Max ampl signal value in counts shown in table above R = Wm / Sm = Wm / (K * Sn * sqr(2)) Enter this as the PT/CT ratio as Rd:F where Rd = R * F and F is a power of 10. (The ratio must be in integer numbers, so move the decimal of R for the required accuracy and use the power of 10 in the ratio). For example, if the maximum amplitude value is 1100 (the peak on the waveforms), the peak to nominal ratio is 1.2 (120 % of nominal), and the nominal signal voltage should be 70 Vrms, the ratio should be R = 9.25973. The scaling can only be entered as a ratio of integers, so you can enter 925973:100000 or more round to a more reasonable value, such as 926:10 which is an error of less than .03%. Enter this ratio in the proper column. In the Battery section set up the battery output for a constant 125 Vdc output. Select BT for SRC, 0 for High, 0 for Low, and 125 for Ampl. This will configure the battery simulator to produce 125 VDC. In the synchronization section, select either Internal or Satellite. Internal just outputs data from the internal clock and is not synchronized to UTC. It will go any time from the start button. Satellite requires the satellite input to be connected. When start is activated, after the initial system check, a test time box will be displayed showing the instrument time and a start time selection. Set the start time and press ok. Note that it requires at least 15 sec to get set up after Start, so the start time needs to be far enough in advance to finish all the setup. It should be set 30+ sec in advance. Digital tab Select the Digital tab and fill in the SRC column for each digital signal. The naming convention for this field is based on the Doble configuration. To check the F6150 configuration, select Tools>>Configuration. Check that the Predefined Configuration is 4 Voltages and 4 Currents. If not, set it to 4 Voltages and 4 Currents and click OK. The SRC name for a logic output is L1 appended to the corresponding source as shown in table 2. Table 2

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Manual for PMU Testing using Doble 6150 Test set, V0.5
Logic Output 1 2 3 4 5 6 7 8 Source VA VB VC VN I1 I2 I3 IN SRC VAL1 VBL1 VCL1 VNL1 I1L1 I2L1 I3L1 INL1 When running modulation or frequency/amplitude scans: startFlag should output through Logic Output 1, with an SRC of VAL1 sampleFlag should output through Logic Output 2, with an SRC of VBL1.

Other tabs The other tabs are not used for these procedures at this time. Run the test To run, press the RUN button on the toolbar (it looks like a red and yellow sandwich on the tool bar) or hit F12. On the first run, it has to download the file, which can take some seconds. On subsequent runs, it goes quicker, but not instantly. To just run a test file, select internal on the Analog tab. This allows it to run immediately and does not require a satellite signal. For a time synchronized test, the GPS satellite connection is required. Be sure the system is fully synchronized before starting the tests. Once synchronized, the F6150 will show the Time on the display and say UTC or GPS. If satellite is selected, RUN will bring up a time menu that allows setting a time to start the file run. You can change this time after the file has downloaded. It has to check a few things, so when you set a time, be sure to allow at least 20 seconds from setting the time to when the file is to start. Data recording The tests run 2-4 minutes and need to run uninterrupted. StreamReader records 5 minute files by default. They start on the even 5 minute interval. To create tests records that do not have to be synchronized using the digital track, start the test at an even 5 minute interval using the GPS timed start option. The .dst data file format recorded by StreamReader uses a separate scaling file usually referred to as the ini file. This file identifies the PMU and phasor values as well as providing scale and offset values. This is a companion to the .dst data file and is required when processing the phasor data. Refer to PhasorFile and ini scaling file documentation for details. Data analysis All the data analysis is controlled by a GUI that calls the proper data reading, analysis, and plotting routines. It derives data from the dst file, scales it using the ini file, and then derives the phasor model for reference from the .mat file. The GUI runs in the Matlab work space but creates its own workspace once in operation. Once running, it allows the user to select the 3 files and go on to the analysis. All data output is plotted rather than output as tables or P/F criteria. Running the analysis program After opening PhasorPlot_gui.m, the main display screen appears as shown in Figure 5 below. The user must select a disturbance (.dst) file, a Matlab (.mat) data file, and configuration (.ini) file using the Browse buttons or by entering the file name in the text box. Once these three files have been appropriately selected, click on the Convert to Matlab button, which will read the disturbance and configuration files and create a .mat file with all of the data in the disturbance file. If no errors are detected, a dialog box will appear with the message Conversion complete.

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Manual for PMU Testing using Doble 6150 Test set, V0.5
This .mat file will be stored in the same directory as the dst file and will have exactly the same name except that the file extension will be .mat rather than .dst.

Figure 5. GUI interface for analyzing test data This conversion will also enable the second half of the GUI. To plot data, follow these steps: Select a Digital Source. This indicates which PMU measured the digital signals used for testing. Both digitals must be measured by the same PMU, and the correct PMU must be selected to yield substantial results. If the file starts at the same time as the test file (as previously described), the digital signal is not required and the none selection may be used. Select a PMU and a phasor to plot. For phase scans, phase-frequency scans, and phase step tests, select a reference PMU and phasor. If the test does not involve phase angle results, this field will remain disabled to the user, and no value is necessary. Select a data range or sample range. For static tests, all tested data points will appear in the Data Range menu. Choose a minimum and maximum from the list. For dynamic tests (astep, fstep, and pstep), enter a range of samples (Sample Range) for analysis. The minimum field determines the number of pretrigger points those occurring before the input step, while the maximum field determines the number of post-trigger points those occurring after the input step. Therefore, the value entered in the minimum space must be less than -1 and the maximum must be greater than 1. The default sample range is set from 5 to 5 points.

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Manual for PMU Testing using Doble 6150 Test set, V0.5
If running an amplitude scan, enter in a nominal value (in volts or amps). Because the source .mat file supplies data in PU and the disturbance file supplies results in engineering units, the disturbance file amplitudes are divided by the nominal value to make a more relevant comparison. Select a plot type. By default, scatter is selected, but the user may also choose the linear plot option. In the Options button group, select any or all of the three options available: o Plot on log Scale for some tests, selecting this option will plot data in dB o Plot Noise this option will create two new figures, one with noise data for each data point in the original plot, and an additional figure which lists noise statistics including minimum, maximum, and average noise. o Display Statistics statistics from the plotted data, including minimum, maximum, and average error are displayed in the Matlab command window. If necessary, apply a linear correction factor. To do this, click the check box Correct Data, then indicate a slope and intercept. These values are used to generate a series of points in y=mx+b form for each x value in the original data. Each of these points is then added to the original data to produce a plot of corrected data. Click the Plot button to generate plots. At this point, if any user input is missing or incorrect, an error message will be displayed. Otherwise, all requested figures will appear. This also places relevant data into the main Matlab workspace, allowing for further analysis by the user. For more information, see Analysis in the Matlab Workspace. Once plotting is complete, click Exit to close all plots and return to the main Matlab workspace.

Finalizing Analysis Analyzing results is reviewed in the next section.

VI.

Evaluating results

Each utility may set their own limits for performance, or may rely on more general specifications. The IEEE C37.118-2005 includes limits for steady state performance. The revision under development will include dynamic requirements in addition to these. These basic requirements will be repeated here for convenience.

A.

Steady-state compliance

Steady state compliance tests shall be performed by comparing the phasor estimates obtained under steady-state conditions to the corresponding theoretical values of Xr and Xi and calculating total vector error, as defined in equation (2). Steady-state conditions are where Xm, , and of the test signal, and all other influence quantities are fixed for the period of the measurement. (Note that for off-nominal frequencies, the measured phase angle will change even though the test signal phase is constant.)

Table 3 - Influence quantities and allowable error limits for performance Classes P & M Influence quantity Reference condition Range of influence quantity change with respect to reference and maximum allowable TVE in percent (%) for each compliance class Performance class P Performance class M Range TVE (%) Range TVE (%) 1 1 Fp Hz Fm Hz 80 120% rated 1 10 120% rated 1 10 200% rated 1 10 200% rated 1

Signal frequency Signal magnitude Voltage Signal magnitude -

Fnominal 100% rated 100% rated

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Manual for PMU Testing using Doble 6150 Test set, V0.5
Current Phase angle Harmonic distortion Out of band interfering signal, at frequency fi where |fi - f0 | >Fs /2, Fs = phasor reporting rate, f0 = Fnominal Constant angle <0.2% (THD) <0.2% of input signal magnitude radians 1%, any harmonic up to 50th 1.0 % of input signal magnitude 1 1 None radians 10%, any harmonic up to 50th 10 % of input signal magnitude 1 1 1

Table 3A range of operation for classes P & M Fs Fp Fm <1 0 0 1 0.25 0.25 2 0.25 0.25 3 0.5 1.0 4 0.5 1.0 5 0.5 2.0 6 0.5 2.0 10 0.5 4.0 12 0.5 5.0 .>12 0.5 5.0

B.

Dynamic compliance modulation tests

The modulation tests shall be performed with , kx and ka as specified in Table 4. The modulation frequency shall be varied in steps of 0.2 Hz in the range specified in the table. The maximum TVE shall be measured over at least one full cycle of modulation, and must be within the specified limits for Class P and Class M compliance. Table 4. Modulation Test requirements Fs is the phasor reporting rate of the PMU Modulation Level kx = 0.1, ka = 0.1 radian kx = 0, ka = 0.1 radian Reference condition 100% rated signal magnitude, fnominal 100% rated signal magnitude, fnominal TVE requirements for compliance Class P Class M Range Max TVE Range Max TVE Modulation 3% Modulation 3% frequency 0.1 frequency 0.1 to Fs/10 Hz to Fs/6 Hz Modulation 3% Modulation 3% frequency 0.1 frequency 0.1 to Fs/10 Hz to Fs/6 Hz

B.

Dynamic compliance frequency ramp tests

The PMU shall be tested with ramp of frequency applied to balanced three phase input signals (voltages and currents). The ramp rate and duration as well as the response error limits are shown in Table 5. Note that the maximum TVE may be exceeded during the allowed transition time.

Table 5. Frequency Ramp Test requirements Fs is the phasor reporting rate of the PMU

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Manual for PMU Testing using Doble 6150 Test set, V0.5
Test Signal Reference condition Ramp rate (positive & negative ramp) 1.0 Hz/Sec TVE requirements for compliance Performance Ramp Transition time at Class Duration beginning and end (seconds) of ramp (seconds) Class P Fp s* 2/Fs from the start and end time Class M Fm s* 2/Fs from the start and end time Max TVE 1%

Linear frequency ramp

100% rated signal magnitude, & fnominal at start of test

1%

Fp & Fm are values from Table 3A.

D.

Dynamic compliance step tests

Step functions shall be applied and meet the requirements as defined in Table 6. Table 6. Step input test requirements Fs is the phasor reporting rate of PMU Step change specification Amplitude, 10%, kx = 0.1, ka = 0 Angle 10, kx = 0, ka = /18 Reference condition All test conditions nominal at start All test conditions nominal at start TVE requirements for compliance Class P Class M Rise time (s) Response time (s) Rise time (s) Response time (s) 2/Fs 3/Fs 3/Fs 4/Fs

2/Fs

3/Fs

3/Fs

4/Fs

E.

Frequency and rate of change of frequency compliance

Frequency and rate of change of frequency measurement under steady-state conditions shall be tested using test nominal signals and constant frequency but with different frequencies. At each measurement point the frequency shall be held constant long enough before each measurement that all transients due to changing the frequency have settled out (the frequency will be constant during measurement so rate of change of frequency should be 0). Table 7. Steady-state Frequency and Rate of Change of Frequency performance Requirements Reference condition Frequency = f0 (fnominal) 0 radian base angle Error Requirements for compliance Class M Class P Range f0 5 Hz Range f0 0.5 Hz FE RFE FE RFE .006 Hz .02 Hz/s .004 Hz .02 Hz/s

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Manual for PMU Testing using Doble 6150 Test set, V0.5
The PMU shall be tested for frequency and rate of change of frequency measurement performance for the conditions specified in 5.3.3 Dynamic compliance modulation tests and 5.3.4 Dynamic compliance ramp tests. During modulation tests, the true values of frequency and rate of change of frequency for the specified test signals at reporting time tag of nT (where n is an integer and T is the phasor reporting interval) are given respectively by f(nT) = nT0/2 - ka (/2) sin (nT-) f(nT) = - ka (/2) sin (nT-) d/dt[f(nT)] = - ka (2/2) cos (nT-) During ramp tests, the true values of frequency and rate of change of frequency for the specified test signals at reporting time tag of nT are given respectively by f(nT) = (df/dt) (nT) d/dt[f(nT)] = (df/dt) The maximum permissible errors for these measurements are as specified in Table 8. Note that these measurements are scalar valued functions (real), hence the error is measured by the deviation of the measurement from its true value. Table 8. Dynamic Frequency and Rate of Change of Frequency performance Requirements Signal specification Modulation test and Ramp test Reference condition 100% rated signal magnitude. 0 radian base angle Transition time 1/Fs for the start & end of ramp or modulating frequency change Error Requirements for compliance Class P FE RFE .008 Hz .04 Hz/s Class M FE RFE .006 Hz .04 Hz/s

F.

Evaluating compliance results

The utility or test lab may set the performance requirements for their particular needs. In general, the IEEE requirements that are listed above are used for pass-fail of an instrument. However some users may have special requirements based on the needs of a particular application or problem being monitored. In those cases, these tests are general enough they can be used with modified limits to cover most situations. Additional tests may be required, which could be either a modification of these test types or something entirely new. These tests or a variation of these tests have been used since 2005. They have worked well and produce consistent results. Most PMUs will pass the basic measurement tests. Differences largely show up in the filtering and response times. Certainly all results should be examined, but pay special attention to the out-of-band filtering, the step responses, and bandwidth. The IEEE standard C37.118 is being revised as of this writing. Some of the final requirements shown above may change. An update will be provided to this document when available, but be sure to check on the limits before using them as shown here.

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Manual for PMU Testing using Doble 6150 Test set, V0.5 XIX. Bibliography

[1] A. G. Phadke, J. S. Thorpe and M. G. Adamiak, A New Measurement Technique of Tracking Voltage Phasors, Local System Frequency and Rate of Change of Frequency, IEEE Transactions on Power Apparatus and Systems, Vol. PAS-102, No. 5, May 1983. [2] IEEE Std C37.118-2005 IEEE Standard for Synchrophasors for Power Systems, IEEE-SA, 445 Hoes Lane, Piscataway, NJ, March 2006. [4] J. F. Hauer, W. A. Mittelstadt, K. E. Martin, J. W. Burns, and Harry Lee, Integrated Monitor Facilities for the Western Power System: WAMS Analysis in 2005, Interim report of the WECC Disturbance Monitoring Work Group, December 2005. [8] K.E. Martin, Phasor Measurement Using GPS Timing, 1990 BPA Engineering Conference, Portland, OR, March 1990. [9] K.E. Martin, Phasor Measurement System Test, 1992 BPA Engineering Symposium, Vol. 2, pp. 689-704, Portland, OR, April 1992. [10] J. F. Hauer, "Validation of Phasor Calculation in the Macrodyne PMU for California-Oregon Transmission Project Tests of March 1993, IEEE Trans. Power Delivery, vol. 11, pp. 1224-1231, July 1996. [12] K.E. Martin, R. Kwee, Phasor Measurement Unit Performance Tests, Precise Measurements in Power Systems Conference, Sponsored by The Center for Power Engineering, Virginia Tech, Arlington, VA, November 1995. [13] J. F. Hauer, K.E. Martin, H. Lee, Evaluating Dynamic Performance of Phasor Measurement Units: Experience in the Western Power System, Interim Report of the WECC Disturbance Monitoring Work Group, partial draft of August 5, 2005. [14] J. Depablos, V. Centano, A. G. Phadke, M. Ingram, Comparative Testing of Synchronized Phasor Measurement Units, IEEE Power Engineering Society General Meeting, 2004, June 2004, pp 948-954 Vol 1. [15] J. F. Hauer et. al, PMU Performance During Stressed Operating Conditions: Harmonic Effects for OffNominal Frequencies, Working Note for the WECC Disturbance Monitoring Work Group, partial draft of January 16, 2004. Many of these or related documents are available at ftp.bpa.gov/pub/WAMS%20Information/.

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