Topic 1: Basics of Power Systems

ECE5332:CommunicationsandControlforSmart

Spring2012

A.H.MohsenianRad(UofT) NetworkingandDistributedSystems 1
Power Systems

TheFourMainElementsinPowerSystems:

PowerProduction/Generation

PowerTransmission

PowerDistribution

PowerConsumption/Load

Ofcourse,wealsoneedmonitoringandcontrolsystems.

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Power Systems

PowerProduction:

DifferentTypes:

Traditional

Renewable

Capacity,Cost,CarbonEmission

StepupTransformers

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Power Systems

PowerTransmission:

HighVoltage(HV)TransmissionLines

SeveralHundredMiles

SwitchingStations

Transformers

CircuitBreakers

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Power Systems

ThePowerTransmissionGridintheUnitedStates:

www.geni.org

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Power Systems

MajorInterconnectionsintheUnitedStates:

www.geni.org

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Power Systems

PowerDistribution:

MediumVoltage(MV)TransmissionLines(<50kV)

PowerDelivertoLoadLocations

InterfacewithConsumers/Metering

DistributionSubstations

StepDownTransformers

DistributionTransformers

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Power Systems

PowerConsumption:

Industrial

Commercial

Residential

DemandResponse

ControllableLoad

NonControllable

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Power Systems

Generation Transmission Distribution Load

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Power Systems

PowerSystemControl:
DataCollection:Sensors,PMUs,etc.

DecisionMaking:Controllers

Actuators:CircuitBreakers,etc.

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Power Grid Graph Representation
Nodes:Buses
Links:TransmissionLines

Generator

Load

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Power Grid Graph Representation
Nodes:Buses
Links:TransmissionLines Buses (Voltage)

Generator

Load

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Power Grid Graph Representation
Nodes:Buses
Links:TransmissionLines

Generator

Load
TransmissionLines(PowerFlow,Loss)

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Power Grid Graph Representation
Nodes:Buses
Links:TransmissionLines

Generator

Consumers
Load

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Power Grid Graph Representation
Nodes:Buses
Links:TransmissionLines

Generator 10MW 3MW

Load 7MW

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Transmission Line Admittance

Admittanceyisdefinedastheinverseofimpedancez:
z=r+jx (r:Resistance,x:Reactance)

y=g+jb (g:Conductance,b:Susceptance)

y=1/z

Parametergisusuallypositive

Parameterb:

Positive:Capacitor

Negative:Inductor

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Transmission Line Admittance

Forthetransmissionlineconnectingbusi tobusk:
Addmitance:yik

Example:

yik =1 j4(perunit)

Notethat,yii isdenotedbyyi andindicates:

Susceptance foranyshuntelement(capacitor)togroundatbusi.

Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 17
Y-Bus Matrix

Wedefine:

Ybus =[Yij ]where

N
DiagonalElements: Yii yi y
k 1, k i
ik

OffdiagonalElements: Yij yij

NotethatYbas matrixdependsonthepowergridtopology
andtheadmittanceofalltransmissionlines.

Nisthenumberofbussesinthegrid.

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Y-Bus Matrix

Example:Foragridwith4buses,wehave:

y1 y12 y13 y14 y12 y13 y14

y21 y2 y21 y23 y24 y23 y24
Ybus
y31 y32 y3 y31 y32 y34 y34

y41 y42 y43 y4 y41 y42 y43

Afterseparatingtherealandimaginaryparts:

Ybus G j B

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Bus Voltage

LetVi denotethevoltageatbusi:

Notethat,Vi isaphasor,withmagnitude andangle.

Vi Vi i

Inmostoperatingscenarioswehave:

Vi V j i j

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Power Flow Equations

LetSi denotethepowerinjection atbusi:

Si =Pi +jQi

ActivePowerReactivePower

GenerationBus: Pi >0

LoadBus: Pi <0 (negativepowerinjection)

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Power Flow Equations

UsingKirchhofflaws,ACPowerFlowEquations become:

Pk V k V j G kj cos( k j ) B kj sin( k j )
N

j 1

Q k V k V j G kj sin( k j ) B kj cos( k j )
N

j 1

Doweknowallnotationshere?

Ifweknowenoughvariables,wecanobtaintherestof
variablesbysolvingasystemofnonlinearequations.

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Power Flow Equations

TheACPowerFlowEquationsarecomplicatedtosolve.

Next,wetrytosimplifytheequationsinthreesteps.

Step1:Formostnetworks,G<<B.Thus,wesetG=0:

Pk Vk V j Bkj sin( k j )
N

j 1

Qk Vk V j Bkj cos( k j )
N

j 1

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Power Flow Equations

i j 10 to 15
Step2:Formostneighboringbuses:.

Sin ( k j ) k j
Asaresult,wehave:
Cos ( k j ) 1

Pk Vk V j Bkj ( k j )
N

j 1

Qk Vk V j Bkj
N

j 1

Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 24
Power Flow Equations

Step3:Inperunit,|Vi|isverycloseto1.0(0.95to1.05).

Vi V j 1
Asaresult,wehave:.

N
Pk Bkj ( k j )
j 1

Qk Bkj Bkk Bkj bk

N N

j 1 j 1,
jk

Pk hasalinearmodelandQk isalmostfixed.

Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 25
Power Flow Equations

Step3:Inperunit,|Vi|isverycloseto1.0(0.95to1.05).

Vi V j 1
Asaresult,wehave:.
DCPowerFlowEquations
N
Pk Bkj ( k j )
j 1

Qk Bkj Bkk Bkj bk

N N

j 1 j 1,
jk

Pk hasalinearmodelandQk isalmostfixed.

Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 26
Power Flow Equations

Giventhepowerinjectionvalues atallbuses,wecanuse
N
Pk Bkj ( k j )
j 1

toobtainthevoltageangles atallbuses.

LetPij denotethepowerflow frombusi tobusj,wehave:

Pij Bij ( i j )

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Power Flow Equations

Example:Obtainpowerflowvaluesinthefollowinggrid:

P1g 2 pu P2g 2 pu

y12 j10
P2l 1 pu
y14 j10 y13 j10 y23 j10

y34 j10

P4g 1 pu P3l 4 pu

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Power Flow Equations

First,weobtaintheYbusmatrix:

b1 b12 b13 b14 b12 b13 b14

b21 b2 b21 b23 b24 b23 b24
Ybus j
b31 b32 b3 b31 b32 b34 b34

b41 b42 b43 b4 b41 b42 b43

B11 B12 B13 B14

B B22 B23 B24
j jB j 21
B31 B32 B33 B34

B41 B42 B43 B44

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Power Flow Equations

Next,wewritethe(active)powerflowequations:
P1 B12 B13 B14 1 B12 2 B13 3 B14 4
P2 B 21 1 B 21 B 23 B 24 2 B 23 3 B 24 4
P3 B31 1 B32 2 B31 B32 B34 3 B34 4
P4 B 41 1 B 42 2 B 43 3 B 41 B 42 B 43 4

Thiscanbewrittenas:

P1 B12 B13 B14 B12 B13 B14 1

P B21 B21 B23 B24 B23 B24
2 2
P3 B31 B32 B31 B32 B34 B34 3

P4 B41 B42 B43 B41 B42 B43 4

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Power Flow Equations

Fromthelasttwoslides,wefinallyobtain:

1

2
3

4

Therefore,thevoltageanglesareobtainedas:
1
1

2
3

4

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Power Flow Equations

However,thelastmatrixinthepreviousslideissingular!

Therefore,wecannottaketheinverse.

Thesystemofequationswouldhaveinfinitesolutions.

Theproblemisthatthefouranglesarenotindependent.

Whatmattersistheangular/phasedifference.

1 0
Wechooseonebus(e.g.,bus1)asreferencebus:.

Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 32
Power Flow Equations

Weshouldalsoremovethecorrespondingrows/columns:

2 30 10 10 10 1
1 10 20 10 0 1 20 10 0 2
2 4 10 30 10
4 10 10 30 10 3 3
1 0 10 20 4

1 10 0 10 20 4

1
Theangulardifferences(withrespectto):

1
2 20 10 0 1 0.025 2 1 0.025
10 30 10 4 0.15
3 3 1 0.15
4 0 10 20 1 0.025 4 1 0.025

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Power Flow Equations

Finally,thepowerflowvaluesarecalculatedas:
P12 B12 (1 2 ) 10(0 0.025) 0.25
P13 B13 (1 3 ) 10(0 0.15) 1.5
P14 B14 (1 4 ) 10(0 0.025) 0.25
P23 B23 ( 2 3 ) 10(0.025 0.15) 1.25
P34 B34 ( 3 4 ) 10(0.15 0.025) 1.25

P1g 2 pu P2g 2 pu
0.25

P2l 1 pu
0.25 1.5 1.25

1.25
P4g 1 pu P3l 4 pu

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Power Flow Equations

Whatifthegeneratorconnectedtobus1isrenewable?

Whatifthecapacity oftransmissionlink(1,3)is1pu?

Whatifwecanapplydemandresponse toloadbus3?

Whatifoneofthetransmissionlinesfails?

Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 35
Economic Dispatch Problem

Intheexamplewediscussedearlier,wehad:

PowerSupply=PowerLoad

Inparticular,wehad:
P1g P2g P4g P2l P3l

However,generationlevelsandassumedgiven.
P1g , P2g , P4g

Q:Whatifthegeneratorshavedifferentgenerationcosts?

Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 36
Economic Dispatch Problem

Forthermalpowerplants,generationcostisquadratic:

GenerationCost=C(P)=a1 +a2 xP+a3 xP2

Example:agridwiththreepowerplants:

C1(P1)=561+7.92xP1 +0.001562x(P1)2 150MWP1 600MW

C2(P2)=310+7.85xP2 +0.001940x(P2)2 100MWP2 400MW

C3(P3)=78+7.97xP3 +0.004820x(P3)2 50MWP3 200MW

Eachpowerplanthassomeminandmaxgenerationlevels.

Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 37
Economic Dispatch Problem

Forthermalpowerplants,generationcostisquadratic:

GenerationCost=C(P)=a1 +a2 xP+a3 xP2

Example:agridwiththreepowerplants:

C1(P1)=561+7.92xP1 +0.001562x(P1)2 150MWP1 600MW

C2(P2)=310+7.85xP2 +0.001940x(P2)2 100MWP2 400MW

C3(P3)=78+7.97xP3 +0.004820x(P3)2 50MWP3 200MW

Eachpowerplanthassomeminandmaxgenerationlevels.

Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 38
Economic Dispatch Problem

Forthermalpowerplants,generationcostisquadratic:

GenerationCost=C(P)=a1 +a2 xP+a3 xP2

Example:agridwiththreepowerplants:

C1(P1)=561+7.92xP1 +0.001562x(P1)2 150MWP1 600MW

C2(P2)=310+7.85xP2 +0.001940x(P2)2 100MWP2 400MW

C3(P3)=78+7.97xP3 +0.004820x(P3)2 50MWP3 200MW

Eachpowerplanthassomeminandmaxgenerationlevels.

Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 39
Economic Dispatch Problem

Forthermalpowerplants,generationcostisquadratic:

GenerationCost=C(P)=a1 +a2 xP+a3 xP2

Example:agridwiththreepowerplants:

C1(P1)=561+7.92xP1 +0.001562x(P1)2 150MWP1 600MW

C2(P2)=310+7.85xP2 +0.001940x(P2)2 100MWP2 400MW

C3(P3)=78+7.97xP3 +0.004820x(P3)2 50MWP3 200MW

Eachpowerplanthassomeminandmaxgenerationlevels.

Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 40
Economic Dispatch Problem

Forthermalpowerplants,generationcostisquadratic:

GenerationCost=C(P)=a1 +a2 xP+a3 xP2

Example:agridwiththreepowerplants:

C1(P1)=561+7.92xP1 +0.001562x(P1)2 150MWP1 600MW

C2(P2)=310+7.85xP2 +0.001940x(P2)2 100MWP2 400MW

C3(P3)=78+7.97xP3 +0.004820x(P3)2 50MWP3 200MW

Eachpowerplanthassomeminandmaxgenerationlevels.

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Economic Dispatch Problem

WeshouldselectP1,P2,andP3 to:

Meettotalload Pload =850MW

Minimizethetotalcost ofgeneration

EconomicDispatchProblem:
minimize CP1 CP2 CP3
P1 , P2 , P3

subject to 150 P1 600

100 P2 400
50 P3 200
P1 P2 P3 850

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Economic Dispatch Problem

Istheformulatedproblemaconvexprogram?Why?

Convexprogramscanbesolvedefficiently.

AnusefulsoftwareisCVXforMatlab (http://cvxr.com/cvx).

Theoptimal economicdispatchsolution:

P1 =393.2MW

P2 =334.6MW Q:Dotheysatisfyallconstraints?
P3 =122.2MW

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Economic Dispatch Problem

Istheformulatedproblemaconvexprogram?Why?

Convexprogramscanbesolvedefficiently.

AnusefulsoftwareisCVXforMatlab (http://cvxr.com/cvx).

Theoptimal economicdispatchsolution:

P1 =393.2MW

P2 =334.6MW MinimumCost =3916.6+3153.8+1123.9

=8194.3
P3 =122.2MW

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Economic Dispatch Problem

Whatifwehavetosatisfytopologyconstraints?

P1 P2

P13 200 450 MW

P3 400 MW

1
2 20 10 0 P2 450
10 30 10 400
3 P13 B13 (1 3 ) 10 3 20 3 20
4 0 10 20 P3

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Economic Dispatch Problem

Thesame optimalsolutionsarestillvalid:

P1 393.2 MW P2 334.6 MW
156.8

38.1 450 MW 41.4

198.3

160.3
P3 122.2 MW 400 MW

2 15.685
19.830
3 3 20 P13 200
4 3.805

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Economic Dispatch Problem

Thesame optimalsolutionsarestillvalid:

P1 393.2 MW P2 334.6 MW
156.8

38.1 450 MW 41.4

198.3

160.3
Whatif P13 170
P3 122.2 MW 400 MW

2 15.685
19.830
3 3 20 P13 200
4 3.805

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Economic Dispatch Problem

Thentheeconomicdispatchproblembecomes:

minimize CP1 CP2 CP3

P1 , P2 , P3 ,1 , 2 , 3

subject to 150 P1 600

100 P2 400
50 P3 200
P1 P2 P3 850
1
2 20 10 0 P2 450
10 30 10 400
3
4 0 10 20 P3
3 17

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Economic Dispatch Problem

Thentheeconomicdispatchproblembecomes:

minimize CP1 CP2 CP3

P1 , P2 , P3 ,1 , 2 , 3 StillaConvex
Program?
subject to 150 P1 600
100 P2 400
50 P3 200
P1 P2 P3 850
1
2 20 10 0 P2 450
10 30 10 400
3
4 0 10 20 P3
3 17

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Economic Dispatch Problem

Thenewoptimalsolutionsareobtainedas:

P1 280 MW P2 400 MW
110

0 450 MW 60
170

170
P3 170 MW 400 MW

Thetotalgenerationcostbecomes:$8,233.66>$8,194.3

Here,wehadtosacrificecostforimplementation.

Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 50
Economic Dispatch Problem

Thenewoptimalsolutionsareobtainedas:

P1 280 MW P2 400 MW
110

0 450 MW 60
170

170
Whatif P13 150
P3 170 MW 400 MW

Thetotalgenerationcostbecomes:$8,233.66>$8,194.3

Here,wehadtosacrificecostforimplementation.

Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 51
Unit Commitment

EconomicDispatchissolvedafewhoursahead ofoperation.

Ontheotherhand,weneedtodecideaboutthechoiceof
powerplantsthatwewanttoturnon forthenextday.

ThisisdonebysolvingtheUnitCommitment problem.

Weparticularlydecideonwhichslowstarting powerplantswe
shouldturnonduringthenextdaygivenvariousconstraints.

ThemathematicalconceptsaresimilartotheEDproblem.

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References

W. J. Wood and B. F. Wollenberg, Power Generation,

Operation, and Control, John Wiley & Sons, 2nd Ed., 1996.

J. McCalley and L. Tesfatsion, "Power Flow Equations", Lecture

Notes, EE 458, Department of Electrical and Computer
Engineering, Iowa State University, Spring 2010.

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