Systems and methods for controlling electrical grid resources
The present invention relates to PMU-based control systems for dampening inter-area oscillations in large-scale interconnected power systems or grids to protect against a catastrophic blackout. The control systems receive phasor measurements from two or more locations on an AC transmission line and generates a power control command to a power resource on the grid.
1. A damping controller system, comprising:
a damping controller that comprises a real-time control module that receives two or more phasor measurements from two or more corresponding locations on an AC transmission line in an electrical grid; and a control gain module that amplifies a power command to a value that is appropriate to be injected into the electrical grid at a location where an energy resource is tied to the electrical grid;
wherein the real-time control module comprises a summation function that compares the two or more phasor measurements to construct a frequency difference signal that serves as feedback information to the real-time control module; and
wherein the damping controller further comprises a watchdog circuit that generates the power command to the energy resource connected to the electrical grid in response to the two or more phasor measurements.
2. The controller of claim 1 , further comprising:
an asynchronous control platform that monitors the electrical grid for a behavior that would warrant the controller to be disarmed from issuing the power command due to possible conflicts with the behavior.
3. The controller of claim 1 , wherein the behavior is a transient event.
4. The controller of claim 1 , wherein the damping controller further comprises a real-time supervisor that receives a reference time that is used to time-synchronize the two or more phasor measurements obtained from multiple locations to a common reference value.
5. The controller of claim 1 , wherein the power command comprises a power increase or power decrease command to one or more power generators on the electrical grid.
6. The controller of claim 1 , further comprising:
a watchdog circuit that monitors hardware of the real time controller using a heartbeat signal to ensure that the hardware is functioning properly.
7. The controller of claim 1 , further comprising:
two or more phasor measurement units that provide the corresponding two or more phase angle measurements.
8. A method of damping oscillations in an electrical grid, comprising:
taking two or more phase angle measurements at two or more corresponding locations on an AC transmission line in the electrical grid;
determining a power command from the two or more phase angle measurements, the power command sent by a real-time feedback control module;
sending the power command to an energy resource;
adjusting power to or from the energy resource and the electrical grid in response to the power command; and
wherein a supervisor module will not use the power command sent by a real-time feedback control module due to information obtained from a watchdog circuit or an asynchronous control platform or a real-time supervisor or operator indicating that grid conditions exist that warrant not using an output from the real-time feedback control module pending further notice from the supervisor module.
9. The method of claim 8 , further comprising:
wherein the two or more phase angle measurements comprise two or more corresponding time stamps and comparing the two or more corresponding time stamps to ensure that the two or more phase angle measurements used in the real-time feedback control module are time-aligned to the same time instant.
10. The method of claim 8 , wherein the power command is selected from a group consisting of a power increase and power decrease command.
11. The method of claim 8 , wherein the energy resource is selected from a group consisting of a power generator, a power load and a DC to AC power facility.
12. A damping controller, comprising:
a real-time control module that receives two or more phasor measurements from two or more corresponding locations on an AC transmission line in an electrical grid; and
an asynchronous control platform that monitors the electrical grid for a behavior, that would warrant the damping controller to be disarmed from issuing a power command due to possible conflicts with the behavior;
wherein the damping controller compares the two or more phasor measurements to construct a difference signal that serves as feedback information to the damping controller; and
wherein the real-time control module generates a power command that is sent to a supervisor module that is then sent to an energy resource connected to the electrical grid provided that the supervisor module does not disarm the real-time control module.
13. A controller, comprising:
a real-time control module that receives two or more phasor measurements from two or more corresponding locations on an AC transmission line in an electrical grid; and
a watchdog circuit that monitors hardware of the real-time control module using a heartbeat signal to ensure that the hardware is functioning properly;
wherein the real-time control module compares the two or more phasor measurements to construct a difference signal that serves as feedback information to the real-time control module; and
wherein the real-time control module generates a power command to an energy resource connected to the electrical grid in response to the two or more phasor measurements.