ECE 530 – Analysis Techniques for
Large-Scale Electrical Systems
Lecture 5: Power Flow Examples,
Power System Operation
Prof. Hao Zhu
Dept. of Electrical and Computer Engineering
University of Illinois at Urbana-Champaign
[email protected]
1
Announcements
•
•
HW1 due 9/11
Some of the material from this lecture is in T.J.
Overbye, “Power System Simulation: Understanding
Small and Large-System Operation,” IEEE Power and
Energy Magazine, 2004; also in M. Crow, G. Gross,
P.W. Sauer, “Power System Basics for Business
Professionals in Our Industry,” IEEE Power and
Energy Magazine, 2003
2
Two Bus Newton-Raphson
Example
For the two bus power system shown below, use the
Newton-Raphson power flow to determine the
voltage magnitude and angle at bus two. Assume
that bus one is the slack and SBase = 100 MVA.
Line Z = 0.1j
One
1.000 pu
0 MW
0 MVR
 2 
x   
 V2 
Two
1.000 pu
200 MW
100 MVR
Ybus
  j10 j10 
 

j
10

j
10


3
Two Bus Example, cont’d
General power balance equations
Pi 
Qi 
n
 Vi Vk (Gik cosik  Bik sin ik )  PGi  PDi
k 1
n
 Vi Vk (Gik sin ik  Bik cosik )  QGi  QDi
k 1
Bus two power balance equations
V2 V1 (10sin  2 )  2.0  0
V2 V1 (10cos 2 )  V2 (10)  1.0  0
2
4
Two Bus Example, cont’d
P2 (x)  V2 (10sin  2 )  2.0  0
Q2 (x)  V2 (10cos 2 )  V2 (10)  1.0  0
2
Now calculate the power flow Jacobian
 P2 (x)
 
2

J ( x) 
 Q 2 (x)
 
2

P2 ( x) 
 V2 2 

Q 2 ( x) 
 V2 2 
10 V2 cos 2
 
10 V2 sin  2
10sin  2

10cos 2  20 V2 
5
Two Bus Example, First Iteration
Set v  0, guess x
(0)
0 
 
1 
Calculate
V2 (10sin  2 )  2.0


f(x )  
 
2
 V2 (10cos 2 )  V2 (10)  1.0 
10sin  2
10 V2 cos 2

(0)
J (x )  


10 V2 sin  2 10cos 2  20 V2 
(0)
1
Solve x
(1)
0  10 0   2.0 
 
 1.0 
1
0
10
  
  
 2.0 
1.0 
 
10 0 
 0 10 


 0.2 
 

0.9


6
Two Bus Example, Next Iterations
0.9(10sin( 0.2))  2.0

 0.212 
f(x )  


2
0.279

0.9(10cos( 0.2))  0.9  10  1.0  
 8.82 1.986 
(1)
J (x )  


1.788
8.199


(1)
1
 0.2   8.82 1.986  0.212 
 0.233
(2)
x 

 





0.9

1.788
8.199
0.279
0.8586

 
 



 0.0145 
 0.236 
(2)
(3)
f(x )  
x
 


0.0190
0.8554




0.0000906 
(3)
f(x )  
Done! V2  0.8554  13.52

 0.0001175 
7
Two Bus Solved Values
Once the voltage angle and magnitude at bus 2 are
known we can calculate all the other system values,
such as the line flows and the generator reactive
power output
200.0 MW
168.3 MVR
One
-200.0 MW
-100.0 MVR
Line Z = 0.1j
1.000 pu
Two
200.0 MW
168.3 MVR
0.855 pu -13.522 Deg
200 MW
100 MVR
PowerWorld Case Name: Bus2_Intro
8
Two Bus Case Low Voltage Solution
This case actually has two solutions! The second
"low voltage" is found by using a low initial guess.
Set v  0, guess x
(0)
 0 


0.25


Calculate
V2 (10sin  2 )  2.0


f(x )  
 
2
 V2 (10 cos  2 )  V2 (10)  1.0 
10sin  2
10 V2 cos  2

(0)
J (x )  


10 V2 sin  2 10 cos  2  20 V2 
(0)
 2 
 0.875


 2.5 0 
 0 5


9
Low Voltage Solution, cont'd
1
 0   2.5 0   2 
 0.8 
Solve x  

 





0.25
0

5

0.875
0.075

 
 



1.462  (2)  1.42 
 0.921
(2)
(3)
f (x )  
x 
x 



0.534
0.2336
0.220






(1)
Low voltage solution
200.0 MW
831.7 MVR
One
-200.0 MW
-100.0 MVR
Line Z = 0.1j
1.000 pu
200.0 MW
831.7 MVR
Two
0.261 pu -49.914 Deg
200 MW
100 MVR
10
Practical Power Flow Software Note
•
Most commercial software packages have built in
defaults to prevent convergence to low voltage
solutions.
– One approach is to automatically change the load model from
constant power to constant current or constant impedance
when the load bus voltage gets too low
– In PowerWorld these defaults can be modified on the Tools,
Simulator Options, Advanced Options page; note you also
need to disable the “Initialize from Flat Start Values” option
– The PowerWorld case Bus2_Intro_Low is set solved to the
low voltage solution
– Initial bus voltages can be set using the Bus Information
Dialog
11
Two Bus Region of Convergence
Slide shows the region of convergence for different initial
guesses of bus 2 angle (x-axis) and magnitude (y-axis)
Red region
converges
to the high
voltage
solution,
while the
yellow region
converges
to the low
voltage
solution
12
Power Flow Fractal Region of
Convergence
•
•
Earliest paper showing fractal power flow regions of
convergence is by C.L DeMarco and T.J. Overbye,
“Low Voltage Power Flow Solutions and Their Role in
Exit Time Bases Security Measures for Voltage
Collapse,” Proc. 27th IEEE CDC, December 1988
A more widely known paper is J.S. Thorp, S.A. Naqavi,
“Load-Flow Fractals Draw Clues to Erratic Behavior,”
IEEE Computer Applications in Power, January 1997
13
PV Buses
•
Since the voltage magnitude at PV buses is fixed
there is no need to explicitly include these voltages
in x or write the reactive power balance equations
– the reactive power output of the generator varies to
maintain the fixed terminal voltage (within limits)
– optionally these variations/equations can be included by
just writing the explicit voltage constraint for the
generator bus
|Vi | – Vi setpoint = 0
14
Three Bus PV Case Example
For this three bus case we have
 2 
x   3 
 
 V2 
 P2 (x)  PG 2  PD 2 
f (x)   P3 (x)  PG 3  PD 3   0


 Q2 (x)  QD 2 
Line Z = 0.1j
0.941 pu
One
170.0 MW
68.2 MVR
1.000 pu
Line Z = 0.1j
Three
Two
Line Z = 0.1j
-7.469 Deg
200 MW
100 MVR
1.000 pu
30 MW
63 MVR
15
Modeling Voltage Dependent Load
So far we've assumed that the load is independent of
the bus voltage (i.e., constant power). However, the
power flow can be easily extended to include voltage
depedence with both the real and reactive load. This
is done by making PDi and Q Di a function of Vi :
n
 Vi Vk (Gik cosik  Bik sin ik )  PGi  PDi ( Vi )  0
k 1
n
 Vi Vk (Gik sin ik  Bik cosik )  QGi  QDi ( Vi )  0
k 1
16
Voltage Dependent Load Example
In previous two bus example now assume the load is
constant impedance, so
P2 (x)  V2 (10sin  2 )  2.0 V2
2
 0
Q2 (x)  V2 (10cos 2 )  V2 (10)  1.0 V2  0
2
2
Now calculate the power flow Jacobian
10 V2 cos 2
J ( x)  
10 V2 sin  2
10sin  2  4.0 V2

10cos 2  20 V2  2.0 V2 
17
Voltage Dependent Load, cont'd
Again set v  0, guess x
(0)
0 
 
1 
Calculate
2


V2 (10sin  2 )  2.0 V2
 2.0 
(0)
f(x )  
  

2
2
1.0 
 V2 (10cos 2 )  V2 (10)  1.0 V2 
10 4 
(0)
J (x )  

0
12


1
Solve x
(1)
0  10 4   2.0 
 
 1.0 
1
0
12
  
  
 0.1667 
 

0.9167


18
Voltage Dependent Load, cont'd
With constant impedance load the MW/Mvar load at
bus 2 varies with the square of the bus 2 voltage
magnitude. This if the voltage level is less than 1.0,
the load is lower than 200/100 MW/Mvar
160.0 MW
120.0 MVR
One
-160.0 MW
-80.0 MVR
Line Z = 0.1j
1.000 pu
160.0 MW
120.0 MVR
0.894 pu
-10.304 Deg
Two
160 MW
80 MVR
PowerWorld Case Name: Bus2_Intro_Z
19
Generator Reactive Power Limits
•
•
•
•
The reactive power output of generators varies to
maintain the terminal voltage; on a real generator
this is done by the exciter
To maintain higher voltages requires more reactive
power
Generators have reactive power limits, which are
dependent upon the generator's MW output
These limits must be considered during the power
flow solution.
20
Generator Reactive Limits, cont'd
•
•
•
During power flow once a solution is obtained check to
make generator reactive power output is within its
limits
If the reactive power is outside of the limits, fix Q at the
max or min value, and resolve treating the generator as
a PQ bus
– this is known as "type-switching"
– also need to check if a PQ generator can again regulate
Rule of thumb: to raise system voltage we need to
supply more vars
21
The N-R Power Flow: 5-bus Example
1
T1
5
T2
800 MVA
4 345/15 kV
Line 3
345 kV
50 mi
345 kV
100 mi
Line 1
400 MVA
15/345 kV
Line 2
400 MVA
15 kV
345 kV
200 mi
3
520 MVA
800 MVA
15 kV
40 Mvar 80 MW
2
280 Mvar
800 MW
Single-line diagram
This five bus example is taken from Chapter 6 of Power
System Analysis and Design by Glover, Sarma, and Overbye,
5th Edition, 2011
22
The N-R Power Flow: 5-bus Example
Type
V
per
unit
1
Swing
2
Load
3
Constant
voltage
4
5
Bus
Table 1.
Bus input
data

degrees
PG
per
unit
QG
per
unit
PL
per
unit
1.0
0


0


0
0
1.05

5.2
Load


Load


Table 2.
Line input data
QL
per
unit
QGmax
per
unit
QGmin
per
unit
0


8.0
2.8



0.8
0.4
4.0
-2.8
0
0
0
0


0
0
0
0


R’
per unit
X’
per unit
G’
per unit
B’
per unit
Maximum
MVA
per unit
2-4
0.0090
0.100
0
1.72
12.0
2-5
0.0045
0.050
0
0.88
12.0
4-5
0.00225
0.025
0
0.44
12.0
Bus-toBus
23
The N-R Power Flow: 5-bus Example
Table 3.
Transformer
input data
R
per
unit
X
per
unit
Gc
per
unit
Bm
per
unit
Maximum
MVA
per unit
Maximum
TAP
Setting
per unit
1-5
0.00150
0.02
0
0
6.0
—
3-4
0.00075
0.01
0
0
10.0
—
Bus-toBus
Bus
Table 4. Input data
and unknowns
Input Data
Unknowns
1
V1 = 1.0, 1 = 0
P1, Q1
2
P2 = PG2-PL2 = -8
Q2 = QG2-QL2 = -2.8
V2, 2
3
V3 = 1.05
P3 = PG3-PL3 = 4.4
Q3, 3
4
P4 = 0, Q4 = 0
V4, 4
5
P5 = 0, Q5 = 0
V5, 5
24
Five Bus Case Ybus
PowerWorld Case Name: Bus5_GSO
25
Ybus Calculation Details
Elements of Ybus connected to bus 2
Y21  Y23  0
Y24 
1
1

 0.89276  j 9.91964 per unit
'
'
R24  jX 24 0.009  j 0.1
Y25 
1
1

 1.78552  j19.83932 per unit
'
'
R25  jX 25 0.0045  j 0.05
'
'
B25
1
1
B24
Y22  '
 '
j
j
'
'
R24  jX 24 R25  jX 25
2
2
 (0.89276  j 9.91964)  (1.78552  j19.83932)  j
1.72
0.88
j
2
2
 2.67828  j 28.4590  28.5847  84.624 per unit
26
Here are the Initial Bus Mismatches
27
And the Initial Power Flow Jacobian
28
And the Hand Calculation Details
P2 (0)  P2  P2 ( x)  P2  V2 (0){Y21V1 cos[ 2 (0)  1 (0)  21]
 Y22V2 cos[  22 ]  Y23V3 cos[ 2 (0)   3 (0)   23 ]
 Y24V4 cos[ 2 (0)   4 (0)  24 ]
 Y25V5 cos[ 2 (0)   5 (0)   25 ]}
 8.0  1.0{28.5847(1.0) cos(84.624)
 9.95972(1.0) cos( 95.143)
 19.9159(1.0) cos( 95.143)}
 8.0  (2.89 104 )  7.99972 per unit
J124 (0)  V2 (0)Y24V4 (0) sin[  2 (0)   4 (0)  24 ]
 (1.0)(9.95972)(1.0) sin[ 95.143]
 9.91964 per unit
29
Five Bus Power System Solved
One
395 MW
114 Mvar
A
MVA
Five
Four
A
MVA
Three
520 MW
A
MVA
337 Mvar
slack
1.000 pu
0.000 Deg
0.974 pu
-4.548 Deg
0.834 pu
-22.406 Deg
A
A
MVA
MVA
1.019 pu
-2.834 Deg
80 MW
40 Mvar
1.050 pu
-0.597 Deg
Two
800 MW
280 Mvar
30
Power System Operations Overview
•
•
•
Goal is to provide an intuitive feel for power system
operation
Emphasis will be on the impact of the transmission
system
Introduce basic power flow concepts through small
system examples
31
Power System Basics
•
•
•
•
All power systems have three major components:
Generation, Load and Transmission/Distribution.
Generation: Creates electric power.
Load: Consumes electric power.
Transmission/Distribution: Transmits electric power
from generation to load.
– Lines/transformers operating at voltages above 100 kV are
usually called the transmission system. The transmission
system is usually networked.
– Lines/transformers operating at voltages below 100 kV are
usually called the distribution system (radial).
32
Metro Chicago Electric Network
33
Small PowerWorld Simulator Case
Load with
green
arrows
indicating
amount
of MW
flow
Bus 2
Bus 1
1.00 PU
204 MW
102 MVR
1.00 PU
106 MW
0 MVR
150 MW AGC ON
116 MVR AVR ON
-14 MW
-34 MW
10 MVR
4 MVR
34 MW
-10 MVR
Home Area
Used
to control
output of
generator
20 MW
-4 MVR
-20 MW
4 MVR
100 MW
Note the
power
balance at
each bus
14 MW
-4 MVR
1.00 PU
Bus 3
102 MW
51 MVR
150 MW AGC ON
37 MVR AVR ON
Direction of arrow is used to indicate
direction of real power (MW) flow
PowerWorld Case: B3NewSlow
34
Basic Power Control
•
•
•
•
•
Opening a circuit breaker causes the power flow to
instantaneously (nearly) change.
No other way to directly control power flow in a
transmission line.
By changing generation we can indirectly change this
flow.
Power flow in transmission line is limited by heating
considerations
Losses (I^2 R) can heat up the line, causing it to sag.
35
Overloaded Transmission Line
36
Interconnected Operation
•
•
Power systems are interconnected across large
distances. For example most of North America east
of the Rockies is one system, with most of Texas
and Quebec being major exceptions
Individual utilities only
own and operate a small
portion of the system;
this paradigm is now
more complex with
the advent of ISOs
37
Balancing Authority (BA) Areas
•
•
•
Transmission lines that join two areas are known as tielines.
The net power out of an area is the sum of the flow on
its tie-lines.
The flow out of an area is equal to
total gen - total load - total losses = tie-flow
38
Area Control Error (ACE)
•
The area control error is the difference between the
actual flow out of an area, and the scheduled flow
– ACE also includes a frequency component that we will
•
•
•
probably consider later in the semester
Ideally the ACE should always be zero
Because the load is constantly changing, each utility (or
ISO) must constantly change its generation to “chase”
the ACE
ACE was originally computed by utilities; increasingly
it is computed by larger organizations such as ISOs
39
Automatic Generation Control
•
•
Most utilities (ISOs) use automatic generation control
(AGC) to automatically change their generation to keep
their ACE close to zero.
Usually the control center calculates ACE based upon
tie-line flows; then the AGC module sends control
signals out to the generators every couple seconds.
40
Three Bus Case on AGC
Bus 2
-40 MW
8 MVR
40 MW
-8 MVR
Bus 1
1.00 PU
266 MW
133 MVR
1.00 PU
101 MW
5 MVR
150 MW AGC ON
166 MVR AVR ON
-39 MW
-77 MW
25 MVR
12 MVR
78 MW
-21 MVR
Home Area
Generation
is automatically
changed to match
change in load
100 MW
39 MW
-11 MVR
Bus 3
1.00 PU
133 MW
67 MVR
250 MW AGC ON
34 MVR AVR ON
Net tie flow is
close to zero
41