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Power ow calculations
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Introduction
Outline
1
Introduction Example System representation The load ow problem Solving the problem Gauss-Seidel Newton-Raphson power ow Simplied Newton-Raphson Software State estimation
Power ow calculations
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Introduction
Power ow calculations
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Introduction
Basis for other (e.g. dynamic) calculations Checking whether future situations are valid
Power ow calculations
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Introduction
When is it used?
System planning System operations State estimation Dynamic simulations (basis, rst calculation) ...
Power ow calculations
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Introduction
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450
500
510
520
530
540
550
600
610
620
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640
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Power ow calculations
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Introduction
Example
Example
File: case6 wh.m, from the book computational methods for electric power systems, M. Crow. Bus data
bus 1 2 3 4 5 6 type 3 2 2 1 1 1 Pd 25 15 27.5 0 15 25 Qd 10 5 11 0 9 15 Vm 1.05 1.05 1 1 1 1 Va 0 0 0 0 0 0 Vmax 1.05 1.05 1.05 1.05 1.05 1.05 Vmin 1.05 1.05 0.95 0.95 0.95 0.95
G 1 #1 4 #6
Branch data
#3
line 1 2 3 4 5 6 7 from 1 1 2 2 4 3 5 to 4 6 3 5 6 4 6 R 0.020 0.031 0.006 0.071 0.024 0.075 0.025 X 0.185 0.259 0.025 0.320 0.204 0.067 0.150 B 0.009 0.010 0.000 0.015 0.010 0.000 0.017
#2 #5 #7 6 5 #4 2
Power ow calculations
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Introduction
Example
Example
File: case6 wh.m, from the book computational methods for electric power systems, M. Crow. Bus data
bus 1 2 3 4 5 6 type 3 2 2 1 1 1 Pd 25 15 27.5 0 15 25 Qd 10 5 11 0 9 15 Vm 1.05 1.05 1 1 1 1 Va 0 0 0 0 0 0 Vmax 1.05 1.05 1.05 1.05 1.05 1.05 Vmin 1.05 1.05 0.95 0.95 0.95 0.95
G 1 #1 4 #6
Branch data
#3
line 1 2 3 4 5 6 7 from 1 1 2 2 4 3 5 to 4 6 3 5 6 4 6 R 0.020 0.031 0.006 0.071 0.024 0.075 0.025 X 0.185 0.259 0.025 0.320 0.204 0.067 0.150 B 0.009 0.010 0.000 0.015 0.010 0.000 0.017
#2 #5 #7 6 5 #4 2
Power ow calculations
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System representation
Outline
1
Introduction Example System representation The load ow problem Solving the problem Gauss-Seidel Newton-Raphson power ow Simplied Newton-Raphson Software State estimation
Power ow calculations
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System representation
System representation
Most power systems are three phase AC Normal power ow uses one phase equivalents We only focus on this one today One phase power ow only valid for balanced systems Systems are usually given in per unit values Lines can be represented by a -equivalent
Power ow calculations
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System representation
Per-unit calculations
Normalized representation of the four basic properties: voltage, current, impedance and complex power Of these, two can be chosen independently Normally rated phase voltage and one phase rated power are taken as basis
Upu =
U Ubase
and Spu =
S Sbase
Ibase = Zbase =
or Zbase =
2 Ubase Sbase
Logical values: for a 11.8 kV , 60 MVA machine, Ubasis = 11.8 kV and Sbasis = 60 MVA 3 3 For a 400 kV line, with 100 MVA: Ubase = 400/ 3, Sbase = 100/3 Rbase =
400 3 2
3 100
= 1600
Power ow calculations
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System representation
Per-unit calculations
Normalized representation of the four basic properties: voltage, current, impedance and complex power Of these, two can be chosen independently Normally rated phase voltage and one phase rated power are taken as basis
Upu =
U Ubase
and Spu =
S Sbase
Ibase = Zbase =
or Zbase =
2 Ubase Sbase
Logical values: for a 11.8 kV , 60 MVA machine, Ubasis = 11.8 kV and Sbasis = 60 MVA 3 3 For a 400 kV line, with 100 MVA: Ubase = 400/ 3, Sbase = 100/3 Rbase =
400 3 2
3 100
= 1600
Power ow calculations
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System representation
Example per-unit
kV and Sbasis =
Sbase Ubase
60 3
MVA
60 3 11.83
= 2.9357 kA
11.8 3 60 3 2
2 Ubase Sbase
= 2.3207
Line connecting load: 0, 5 + 1 = 0.21546 + 0.43091 pu Afterwards, calculate using per-unit instead of original values
Power ow calculations
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System representation
Z1
n1 : n2
11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00
1111 0000 1111 0000 1111 0000 1111 0000 1111 0000
Z2
U1
U2
Voltage at both sides of the transformer is dierent dierent basis One of the major advantages of per-unit calculations because of simplication
Power ow calculations
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System representation
Z1
1111 0000 1111 0000 1111 0000 1111 0000 1111 0000
Z2
n1 : n2
11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00
U1
11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00
U2
Voltage at both sides of the transformer is dierent dierent basis One of the major advantages of per-unit calculations because of simplication U2 n2 Z2 = Z2 n1 = Z2 U1 2 2
2 2
Power ow calculations
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System representation
Zp
n1 : n2
11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00 11 00
U1
U2
Voltage at both sides of the transformer is dierent dierent basis One of the major advantages of per-unit calculations because of simplication n2 U2 Z2 = Z2 n1 = Z2 U1 2 2
2 2
Zp = Z1 + Z2
Power ow calculations
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System representation
Zs
U1
U2
Voltage at both sides of the transformer is dierent dierent basis One of the major advantages of per-unit calculations because of simplication n2 U2 Z2 = Z2 n1 = Z2 U1 2 2
2 2
Zp = Z1 + Z2
Z Zs = Zp U2 and Zs (pu) = Zbase s(sec) 2 1 The per-unit impedance is the same on both sides of the transformer can be replaced by one series impedance!
DVH, HE, PGT (KUL/ESAT/ELECTA) Power ow calculations September 19, 2011 9 / 33
U2
System representation
B 2
G 2
-equivalent
Valid for lines up to 240 km All values are normally small Other equivalents exist and are sometimes used in practice Normally, G can be neglected With overhead lines, B can be neglected as well, for cables this is not the case (see chapters on lines and cables)
Power ow calculations
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Outline
1
Introduction Example System representation The load ow problem Solving the problem Gauss-Seidel Newton-Raphson power ow Simplied Newton-Raphson Software State estimation
Power ow calculations
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Power ow calculations
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Power ow calculations
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Power ow calculations
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Power ow calculations
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Power ow calculations
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Power ow calculations
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Incidence matrix
Incidence matrix is written as A0
Power ow calculations
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Incidence matrix
Incidence matrix is written as A0
Some symbols
Ii : Current injected at node i Iij : Current from node i to node j Ui : Potential of node i Eij : Potential dierence (voltage) between nodes i and j Cij : Conductance of the line between nodes i and j
Power ow calculations
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Incidence matrix
Incidence matrix is written as A0
Some symbols
Ii : Current injected at node i Iij : Current from node i to node j Ui : Potential of node i Eij : Potential dierence (voltage) between nodes i and j Cij : Conductance of the line between nodes i and j
Power ow calculations
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Incidence matrix is A0 with one node removed (grounded, reference) Ii is a nodal current injection, Iij is a branch ow T 1 1 0 I12 1 0 I1 1 I13 I2 = 0 1 1 I23 0 1 0 I24 I3 0 0 1 I34 Ui is a nodal voltage/potential, Eij represents a potential drop over line ij The relation between the voltage dierence (e) and line ows (f): Ohms law (take Cij the conductance of i to j) Link on youtube
Power ow calculations
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Incidence matrix is A0 with one node removed (grounded, reference) Ii is a nodal current injection, Iij is a branch ow Ui is a nodal voltage/potential, Eij represents a potential drop over line ij E12 1 1 0 E13 1 0 1 U1 E23 = 0 1 1 U2 E24 0 1 0 U3 E34 0 0 1 The relation between the voltage dierence (e) and line ows (f): Ohms law (take Cij the conductance of i to j) Link on youtube
Power ow calculations
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Incidence matrix is A0 with one node removed (grounded, reference) Ii is a nodal current injection, Iij is a branch ow Ui is a nodal voltage/potential, Eij represents a potential drop over line ij The relation between the voltage dierence (e) and line ows (f): Ohms law (take Cij the conductance of i to j) I12 C12 0 0 0 0 E12 I13 0 C13 0 0 0 E13 I23 = 0 0 C23 0 0 E23 I24 0 0 0 C24 0 E24 I34 0 0 0 0 C34 E34 Link on youtube
Power ow calculations
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Putting it together
AT C A U = I Ybus U = I Ybus is the bus admittance matrix Representation of the entire network by an admittance matrix, a vector of nodal voltages and a vector of nodal current injections Yij = yij (admittance between node i and j) Yii = j yij (sum of the rest of the row + yii , the impedance to the reference)
n
Power ow calculations
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Power ow calculations
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Power ow calculations
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Uc c
Ub b Neutral
Ua a
Power ow calculations
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Voltage of node i to neutral is Ui i Admittance between i and j is yij Current from i to j is Iij The injected current at i is Ii
Ub b Neutral Ua a
Uc c
Ia = Iab + Iac Ia = (Ua Ub ) yab + (Ua Uc ) yac Ia = Ua (yab + yac ) Ub yab Uc yac
Power ow calculations
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(2)
(3) (4)
Ii =
j=1
Yij Uj
i N n
(5) (6)
Si = Ui Ii Above equations form the basis of power ow There are 4 basic quantities for each node in power ow calculations:
Voltage amplitude |U| Voltage angle between the voltage vector and the voltage reference Active power injection, withdrawal at a node Reactive power injection, withdrawal at a node
Power ow calculations
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(7)
Yii =
j=1 n
(8)
(9)
yii is the term to the node that has been grounded In practice: shunt elements
Power ow calculations
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Types of nodes
Three distinct types of nodes (important)
PV bus: A generating source is connected to the bus; the nodal voltage is controlled at a certain magnitude U by injecting or absorbing reactive energy. The generated power PG is set at a specied value. and QG are computed. Constant voltage operation is only possible when the generator is within its reactive energy generation limits. PQ bus: P and Q are the control variables. This is the case when there is only a load connected to the bus or the generator is outside its reactive power limits. Slack (swing) bus: one of the generator busses is chosen to be the slack bus where the nodal voltage magnitude, Uslack , and phase angle slack are specied. This bus is needed to provide a compensation for the electrical losses that are not known in advance. The bus forms a reference for the voltage angle.
Power ow calculations
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Types of nodes
Three distinct types of nodes (important)
PV bus: A generating source is connected to the bus; the nodal voltage is controlled at a certain magnitude U by injecting or absorbing reactive energy. The generated power PG is set at a specied value. and QG are computed. Constant voltage operation is only possible when the generator is within its reactive energy generation limits. PQ bus: P and Q are the control variables. This is the case when there is only a load connected to the bus or the generator is outside its reactive power limits. Slack (swing) bus: one of the generator busses is chosen to be the slack bus where the nodal voltage magnitude, Uslack , and phase angle slack are specied. This bus is needed to provide a compensation for the electrical losses that are not known in advance. The bus forms a reference for the voltage angle.
Types of nodes
Three distinct types of nodes (important)
PV bus: A generating source is connected to the bus; the nodal voltage is controlled at a certain magnitude U by injecting or absorbing reactive energy. The generated power PG is set at a specied value. and QG are computed. Constant voltage operation is only possible when the generator is within its reactive energy generation limits. PQ bus: P and Q are the control variables. This is the case when there is only a load connected to the bus or the generator is outside its reactive power limits. Slack (swing) bus: one of the generator busses is chosen to be the slack bus where the nodal voltage magnitude, Uslack , and phase angle slack are specied. This bus is needed to provide a compensation for the electrical losses that are not known in advance. The bus forms a reference for the voltage angle.
Ii =
n j=1
Yij Uj
i N n and i = nslack
Power ow calculations September 19, 2011 18 / 33
Outline
1
Introduction Example System representation The load ow problem Solving the problem Gauss-Seidel Newton-Raphson power ow Simplied Newton-Raphson Software State estimation
Power ow calculations
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The problem
Known data:
Active power injections in my system at generator nodes Voltages at generator nodes Active and reactive withdrawals (load) at PQ nodes Slack node voltage and angle Impedances (Ybus )
Unknowns:
Rest of P (slack), Q (slack and PV), voltage amplitude (PQ nodes) and voltage angle (all but slack)
Equations
I =Y U S = U I S = U Y U P Q = U Y U
n
Pi Qi = Ui
j=1
DVH, HE, PGT (KUL/ESAT/ELECTA)
Yij Uj
Power ow calculations
Gauss-Seidel
Gauss-Seidel
Algorithm
Ii =
n j=1
(15)
This is solved bus by bus, and solutions of previous calculations are lled in directly i n 1 Si (i+1) (i+1) (i) Ui = Yij Uj Yij Uj (16) (i) Yii U i j=1 j=i+1
j=i j=i
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Gauss-Seidel
Gauss-Seidel
1
S2 U2
Y2j Uj
Subtract solution 2 from solution 1 and divide the result by Y22 to obtain a new value for U2 For busbar 3, calculate I3 =
S3 U3
n j=1 j=3
Y3j Uj
Subtract solution 5 from solution 4 and divide the result by Y33 to obtain a new value for U3 Repeat for all busses Compare latest set of voltages with previous and check tolerance: U(i+1) U(i) < ? If not, go to step 1.
7 8
1 when
Gauss-Seidel
Gauss-Seidel
Ui
(old)
+ Ui
(old)
(old) Ui
(new ) (Ui
(old) Ui )
Power ow calculations
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Gauss-Seidel
Gauss-Seidel
Gauss-Seidel properties
A starting vector must be chosen
Often, the starting voltages are set to 10 pu called Flat start
If the voltages are calculated in block (and not replaced after one has calculated the former one), we call the method the Jacobi method.
The Jacobi method has a slower convergence
Power ow calculations
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Gauss-Seidel
Gauss-Seidel
Gauss-Seidel properties
A starting vector must be chosen
Often, the starting voltages are set to 10 pu called Flat start
If the voltages are calculated in block (and not replaced after one has calculated the former one), we call the method the Jacobi method.
The Jacobi method has a slower convergence
Power ow calculations
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Newton-Raphson power ow
y = f [x(0)]+
x=x(0)
1!
[x x(0)]+
x=x(0)
2!
[x x(0)]2 +. . . (20)
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Newton-Raphson power ow
y = f [x(0)]+
x=x(0)
1!
[x x(0)]+
x=x(0)
2!
[x x(0)]2 +. . . (20)
Power ow calculations
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Newton-Raphson power ow
x=x(0)
1!
[x x(0)]
(20)
1 df dx
x=x(0)
[y f (x(0))]
(21)
Power ow calculations
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Newton-Raphson power ow
f (U, )
(U, ) (U, )0
Power ow calculations
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Newton-Raphson power ow
f (U, )0 f (U, )
(U, ) (U, )0
Power ow calculations
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Newton-Raphson power ow
(U, ) (U, )0
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Newton-Raphson power ow
(U, )1
(U, ) (U, )0
f (U, )1
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Newton-Raphson power ow
f (U, )1
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Newton-Raphson power ow
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Newton-Raphson power ow
= +
(22)
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Newton-Raphson power ow
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Newton-Raphson power ow
Uj
Equivalents
Si = f (Ui ) is equivalent to y = f (x) Ui+1 = Ui + Ji [S f (Ui )] S is here the specied complex power at any busbar f (Ui ) is here the specied complex power at any busbar Si = Ji Ui+1 (27) (26)
You normally know the active and reactive power injections in each node (load and generation) You want to know the complex voltages at the nodes
DVH, HE, PGT (KUL/ESAT/ELECTA) Power ow calculations September 19, 2011 23 / 33
Newton-Raphson power ow
Yij Uj
and
i = 1, . . . , n
Pi = Ui Qi = Ui
(28)
(29)
Pi = Ui
j=1
Uj Yij cos(i j ij )
n
(30)
Qi = Ui
j=1
Uj Yij sin(i j ij )
(31)
Newton-Raphson power ow
scheduled scheduled
Pi, Qi,
calc calc
PQ and PV PQ
(32) (33)
and Qi,
scheduled
Pi, calc and Qi, calc are obtained from the calculation in rectangular or polar coordinates
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Newton-Raphson power ow
N L
(i)
U U
(i)
(35)
J((U,)(i1) )
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Newton-Raphson power ow
(i) (i)
Ui = Ui
(i+1)
Ui
Voltages and angles (i + 1) are updated after each iteration and used for the following step J is the Jacobian, and forms the derivative (tangent, gradient) of the power ow equations P Q U and U simplify the equations and results in fewer U U computations There are n 1 equations for P There are n #pv 1 equations for Q The Jacobian is a square matrix (2 n #pv 2) (2 n #pv 2) The Jacobian is a sparse matrix (Special techniques can be used when numerical calculations are performed)
DVH, HE, PGT (KUL/ESAT/ELECTA) Power ow calculations September 19, 2011 23 / 33
Newton-Raphson power ow
(i) (i)
Ui = Ui
(i+1)
Ui
Voltages and angles (i + 1) are updated after each iteration and used for the following step J is the Jacobian, and forms the derivative (tangent, gradient) of the power ow equations P Q U and U simplify the equations and results in fewer U U computations There are n 1 equations for P Why? There are n #pv 1 equations for Q Why? The Jacobian is a square matrix (2 n #pv 2) (2 n #pv 2) The Jacobian is a sparse matrix (Special techniques can be used when numerical calculations are performed)
DVH, HE, PGT (KUL/ESAT/ELECTA) Power ow calculations September 19, 2011 23 / 33
Newton-Raphson power ow
Power ow calculations
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Newton-Raphson power ow
Pi Ui = Nii = Ui Ui
Qi = Mii = Ui i Qi Ui = Lii = Ui Ui
Notice the symmetry Notice that the o-diagonal elements are also in the diagonal elements M = N for o-diagonal elements
DVH, HE, PGT (KUL/ESAT/ELECTA) Power ow calculations September 19, 2011 23 / 33
Newton-Raphson power ow
Newton-Raphson power ow
Simplications exist
DVH, HE, PGT (KUL/ESAT/ELECTA) Power ow calculations September 19, 2011 23 / 33
Newton-Raphson power ow
(U, ) (U, )0
Power ow calculations
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Newton-Raphson power ow
(U, ) (U, )0
Power ow calculations
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Simplied Newton-Raphson
Decoupled load ow
In a power system with mostly inductive lines, the power ow equations can be decoupled. (ij 90 )
Active power is related to the angle between nodes Reactive power is related to the voltage
P Q
(i)
H M
N L
(i)
U U
(i)
(36)
J((U,)(i1) )
Simplied Newton-Raphson
Decoupled load ow
In a power system with mostly inductive lines, the power ow equations can be decoupled. (ij 90 )
Active power is related to the angle between nodes Reactive power is related to the voltage
P Q
(i)
H 0 0 L
(i)
U U
(i)
(37)
J((U,)(i1) )
Simplied Newton-Raphson
Decoupled load ow
derivative f (U, )0 f (U, )
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Simplied Newton-Raphson
(38) (39)
= [B ] Ui+1
B and B are real, sparse and constant matrices Only series elements are involved (no shunts) If the system has high R/X -ratio, large voltage angle deviations or voltages which seriously dier from 1 pu, convergence problems can arise Slower convergence (more iterations) but each iteration is much faster
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Simplied Newton-Raphson
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Simplied Newton-Raphson
DC load ow
If we consider the system to be lossless (Y = B) And voltages to be around 1.0 pu (U = 0) Voltage angles between busses are small (sin(i j ) (i j ) and cos(i j ) 1) One equation of Newton-Raphson:
n
P = Ui
j=1
(40) (41)
B is real Linear system One calculation, no iterations Easy for optimizations Not correct (approximation)
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Software
Outline
1
Introduction Example System representation The load ow problem Solving the problem Gauss-Seidel Newton-Raphson power ow Simplied Newton-Raphson Software State estimation
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Software
Power ow software
Demos + try at home
Free available (open source)
Matpower (matlab based): http://www.pserc.cornell.edu/matpower/ PSAT (matlab based): http://www.power.uwaterloo.ca/~fmilano/psat.htm InterPSS (Java based): http://www.interpss.org/
Professional software
PSS/E Eurostag DigSilent Powerworld (demo at http://www.powerworld.com/downloads.asp)
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State estimation
Outline
1
Introduction Example System representation The load ow problem Solving the problem Gauss-Seidel Newton-Raphson power ow Simplied Newton-Raphson Software State estimation
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State estimation
State estimation
Known and unknown variables in the real power system
Lines, cables, transformers, location of generation and load all known and constant in time Voltages, currents, actual generation and load (at that moment), position of power switches, tap-changer settings,. . . mostly unknown or variable Measurements:
P, Q: Generation and load, some lines Voltage: |U| every substation. only with PMU (phasor measurement unit) Tap-changer settings Incomplete Measurement errors
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State estimation
State estimation
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State estimation
State estimation
Weighted least-square method
(measurements z, with errors e, h(x) is the true model of the state x) z1 h1 (x1 , x2 , . . . , xn ) e1 z h (x , x , . . . , xn ) e2 z= 2 = 2 1 2 z3 h3 (x1 , x2 , . . . , xn ) + e3 = h(x) + e (42) z4 h4 (x1 , x2 , . . . , xn ) e4 With errors having a zero average, and each independent we get a covariance matrix R: 2 1 0 0 2 0 2 0 R= . (43) . . .. . . . . . . . 2 0 0 n R is the inverse of what we could call the weighting matrix R = inv (W)
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State estimation
State estimation
Solving the state estimation
The expected values are: 1 x1 x2 T = x = H W H HT W z = G1 HT W z ... G xn (44) = G1 HT W (H x + e) x =G x
1
(45) H We
T
(H W H) x + G
G
(46) (47)
= H z x
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State estimation
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State estimation
= = = =
x1 1 x1 8 3 8 x1 1 8 x1
5 8
+ + +
1 8 5 8 1 8 3 8
x2 x2 x2 x2
+ + + +
e1 e2 e3 e4
errors
(48)
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State estimation
Two voltmeters measuring z3 = 6.98 V and z4 = 5.01 V The system equations can be written as: z1 z2 z3 z4
measurements
= = = =
x1 1 x1 8 3 8 x1 1 8 x1
5 8
+ + +
x2 x2 x2 x2
+ + + +
e1 e2 e3 e4
errors
(48)
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State estimation
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State estimation
When the expected error is too high, measurements can/should be disregarded Statistical test are needed to determine when errors are high
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State estimation
When the expected error is too high, measurements can/should be disregarded Statistical test are needed to determine when errors are high The weight matrix also has a serious inuence on the results
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State estimation
State estimator calculates voltage magnitudes and relative phase angles of the system buses Redundancy in input data With errors on all measurement data Non-DC circuit non-linear equations: h = h(x) Iterative solutions (as in the Newton-Raphson method) are needed The principle is the same
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State estimation
References
Power System Analysis; Grainger, John J. and Stevenson, William D., Jr. Computational Mehods for Electric Power Systems; Crow, Mariesa Power System Load Flow Analysis; Powell, Lynn
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