1.

?
(Continuation method)
Local bifurcation point ( )
, system parameter
(Equilibrium) .

x f ( x, p)
0 f ( x, p)

x: ,
p:

?
vs.

Bifurcation
Saddle node

Static

Transcritical

Pitchfork

Stationary point

Dynamic

Homoclinic

Periodic

Torus

Chaos

Hopf bifurcation
Period doubling
Detection: Indirect method

Locally parameterized

- Continuation method
Arc length parameterized

 ?
?
, 90%
SNB .
x

Stable

Stable

x
Stable

Stable

Unstable

Unstable
p

Unstable
Unstable
Saddle Node Bifurcation

Transcritical Bifurcation

Pitchfork Bifurcation

 ?
SNB

Stable

Unstable
Saddle Node Bifurcation

:
.
.
,
.
SNB .
5

 ?
SNB ( )
Im

Stable

Re

SNB

Unstable
p

SNB ,
(-) (+) Im
.
SNB f(x) Jacobian (fx)
Singular. ( 0,
)
6

 ?
SNB Continuation

SNB Jacobian
(Singularity) SNB
.

Stable

Augmented
Jacobian .

SNB

Unstable
p

fx f p
e
k

fx fp ek
Augmented Jacobian .

 ?
(Predictor)
(Corrector)
: Tangent
Initial guess
x

0 f ( x, p)

Predictor

f : Rn Rn

Corrector

Chain Rule

f x dx f p dp 0

SNB

dx
fp 0
dp

Tangent

xi*1 xi
dx
*
dp
pi 1 pi

f x f p dx 0
e dp 1
k

Augmented
Jacobian
8

 ?
: Initial guess

f ( x, p ) 0
x

Predictor

k 0

Corrector

k .

(x,p)

SNB

f ( x* , p * )
f x f p x

e p
0
k

. ek k
.

f ( x, p) x 2 3x 2 p 0
(x0, p0) = (3,0)
= 0.5
= 10-4

1:

(2 x0 3) 2 dx 0

1 dp 1
0
1

dx (2 x0 3) 2 0 0.6667

dp

1
1
.
0000
0
1

x1* x0
dx 3
0.6667 2.6667

* 0.5

dp
0
1
.
0
0
.
5
p
p

1 0

10

f ( x, p) x 2 3x 2 p 0
= 10-4
2:

(2 x1* 3) 2 x f ( x1* , p1* )

p
0
1
0

NR

Mismatch

0.111

0.0023

0.1026510-5

x1 2.6180

0
.
5
p

1
11

f ( x, p) x 2 3x 2 p 0

Bifurcation Diagram (
)

Bifurcation Diagram ?
12



.
:
PV , VQ, FV, YV, GV

Tangent
.
PV

Nose point (Bifurcation

diagram SNB) ,
Nose point
.
13


PV
:

14

Ybus
:

yij: primitive admittance between i and j

Ybus General Form

Ybus (Yii) (self
admittance) , (i)
branch (primitive
admittance) .
(Yij) (i, j)
(-) .
Ybus (sparse) (, 0),
Symmetric.

Shunt () ( p line model) Ybus

.

Yc
(V1 V2 )
I1
V1
Z
2

1
12 j16
0.03 j 0.04

I1
12 j15.9 12 j16 V1
I 12 j16 12 j15.9 V

2
2


From KCL we know at each bus i in an n bus system

KCL, n
the current
I i , must
equal
to
the current

injection,
.
be

( i) .

that flows into the network

I i I Gi I Di

Iik

k 1

Since I = Ybus V we also know

I i I Gi I Di

YikVk

k 1

*
The network
power
injection
is
then
S

V
I
:
i
i i


( )
*

* *
Si
Vi YikVk Vi YikVk
k 1

k 1
This is an equation with complex numbers.
(power
*
Vi I i

Sometimes
we would like
equivalent
set of
real
Balance
equation).
an

.
power equations. These can be derived by defining
Yik

Gik jBik

Vi

Vi e ji Vi i

ik

i k

Recall e j cos j sin

 (
)
n

Si Pi jQi Vi Yik*Vk*
k 1

Vi Vk

k 1

j ik
V
V
e
(Gik jBik )
i k

k 1

(cos ik j sin ik )(Gik jBik )

Resolving
into
the real
and ,
imaginary

Pi
Qi

parts

Vi Vk (Gik cos ik Bik sinik ) PGi PDi

k 1
n

Vi Vk (Gik sin ik Bik cosik ) QGi QDi

k 1

Hybrid


PV

:

21


PV

Tangent

22


PV

Tangent

23


PV
Flow Chart

24


(Continuation power flow)

Tangent
(Weakest buses)
(Weakest branches)
(Weakest generators)

Nose point
Margin

25



Tangent

Set .

Tangent Index
Voltage Instability Proximity

26



New England 39

27



New England 39

28



New England 39



New England 39

Nose point
.
: Nose point
,

30


Margin
Margin enhancement sensitivity
PV
Eigenvalue 0

f ( x, p, l ) 0

At the nose point,

f x dx f p dp f l dl 0

Premultiply VT ()

vT f x dx vT f p dp vT f l dl 0
dl
T
dp
v fl

vT f p

31


Margin
: Nose point p ()
critical

v fp
dl
T
dp
v fl
T


Margin sensitivity
Margin sensitivity .
, X

: VSCOPF MEC (Margin Enhancement

Constraint)

iU S

Pmrg

ui (ui u ) Pmrg
o
i

v f ui
dl
S ui
T
dui
v fl
T

: Required margin enhancement

S ui

: Margin sensitivity

US

: Set of control variables selected

33