396 IEEE Transactions on Power Systems, Vol. 4, No.

2, May 1989

A NOVEL APPROACH TO DYNAMIC LOAD MODELLING

Ma Da-Qiang Ju Ping

Department of Electrical Engineering

Zhejiang University
.
Hangzhou, P .R China

ABSTRACT induction machines which make up the major

part of the load in most cases. Therefore,
In this paper a new approach is proposed for there have been developed two approaches for
dynamically modelling of eletric power loads the aggregation of induction motors. The
in which the parameters of the equivalent first one which may be termed " theoretical
single-unit model are estimated with aggregation " as proposed in C47 requires the
constrained non-linear recursive filter parameters of all individual loads and
(CNLRF) based on the data obtained from field transmission and distribution lines being
tests. No prior knowledge of the values of known,. but this information is usually
individual load parameters nor the iterative unavailable in practice, so the second one
solution of the state equations is required. termed the identification aggregation " is
I'

more favorable. Several identification

Key Words Power system, Electric load, Dynamic aggregation methods have been proposed C5-73.
model, Parameter estimation, Recursive filter. They are based on the least square parameter
estimation algorithm and require iterative
INTRODUCTION solution of the state equations.

The active and reactive power drawn by In this paper an improved method of
electric loads in a power system depend on the identification aggregation is suggested for
voltage and frequency at the bus where the the dynamic load model in which the parameters
loads are connect.ed. The importance to of the equivalent single-unit load are
simulate the load behavior in power system identified without resorting.to the iterative
studies, especially in transient studies, has solution of the state equations based on the
long been recognized C1-33. As it. is not input (voltage and frequency) and output
feasible to represent numerous individual (active and reavtive power or current ) data
loads separately at bulk supply points, to obtained from field test. The proposed method
aggregate different kinds of loads of has proved to be satisfactory for applying it
different characterics and to represent them to an industrial plant.
in the form of equivalent models are generally
accepted measures. CNLRF APPROACH TO DYNAMIC LOAD MODELLING

The dynamic processes exhibited by the loads Assume that the load group could be aggregated
take place in rotating machines, especially in and represented by a single-unit model, which
could be determined according to the nature
and composition of the load group:

Xe = F(Xe, Ue, Ue, Z e , 2 s ) (1)

88 SM 674-4 A paper recommended and approved
by the IEEE Power System Engineering Committee of
the IEEE Power Engineering Society for presentation
at the IEEE/PES 1988 Summer Meeting, Portland,
Ye = G(Xe, Ue, Ze, 2 s ) 12)
Oregon, July 24 - 29, 1988. Manuscript submitted
January 26, 1988; made available for printing Xe e R~ --- state vector
June 23, 1988.
Ue E R' --- input vector, such as
0885-8950/89/05W-0396$01.WO1989 IEEE
 397

Ue = c V, f 1 bo = 1
V is the voltage Ho = T
f is the frequency bp = -trLARp-i7 / p
m
Ye E: R --- output vector, such as R p = ARp-I + bpI
Ye = c ~ z p ,lzq I = Ep = C L H p - i H t RpHI + bpD
Izp is the active current P = 1, 2, ......, n
Izq is the reactive current
1
Ze R --- independent parameter Where, 1,is a unity matrix. It is obvious
vector to be estimated that bp and Ep are dependent on Ze, and
Zs R m --- dependant parameter vector Y(k-i), U(k-i) are known from the field tests.
So ( 7 ) can be rewritten in another form:
The disturbance to be applied to the load
group is assumed to be small, the state
equations can thus be discretized and
linearized as foll.ows: In order to estimate Ze with state
estimator, similar t o [RI, we take Ze as the
X(k) = AX(k-1) + BU(k-1) + HU(k) (3) special state which satisfy:

Y(k) = CX(k) + DU(k) (4)

and where, d(k) is assumed to be the white-noise

X(k) = Xe(k) - Xo with:

Y(k) = Ye(k) - Yo

U(k) = Ue(k) - Uo 1, if k=P

S(k-) =
where, Xo, Yo and Uo are the steady-state 0. if k=4
values which satisfy:
and ECy3 is the expected value of y.
This means that the parameters are almost
YO = G(Xo, Uo, Ze, Zs) (6) const,ant in the observed transient process.

In the steady-state constraints, Uo and Yo are Linearizing 9) around t.he estimated value
*
known. Xo, Zs and thus A , B, C, D, H are Ze(k), we get
dependent on Ze.

The Extended Kalman Filter (EKF) has been

applied to the simultaneous estimations of
parameters and states C B I . But the known data
for load modelling are so few that it is (12)
difficult to do s o . In order to estimate Ze
without the estimation of state vector, we
transforme state model (3), (4) into
input/output (I/O) form C91: Applying Kalman Filter LE3 to the system
described by (10) and ( l l ) , we have a CNLRF
n
approach to the parameter estimation of
Y.(k) = - C b p Y(k-p) + &Ep U(k--p) ( 7 )
P=l P.1 equivalent load model as shown in figure 1.
where, bp is a scalar quantity, Ep is a In the figure, a(k) is a coefficient to
matrix, both of them can be calculated control the tracking speed and is usually
recursively as follows: taken as a fixed value.
398

( 3 ) it is recursive and thus can be

conveniently used;
(4) it has no steady-state error because of
the steady-state constrains.

Y(k), U(k) APPLICATION TO EQUIVALENT INDUCTION MOTOR

k=l,. ,N
I
..
1
I k=k+l
The method proposed above may be adaptable to
any type of composite loads. As an
I
1 illustration, let's apply it to the case of
Calculate ?(k) and induction motor loads.
T(k)= ay/ aze
1 The load group composed of a large number of
Variance Predictor induction motors is to be represented by an
W ( k 1 k-1)=a( k)W( k-1) +Q ( k) equivalent induction motor in parallel with a
I static load as shown in figure 2 . The
Calculate Amplifying Matrix equivalent circuit of the aggregated load is
Ffk)=W(kl k-l)TTk)E( k)-i given in figure 3 , in which the induction
8 (k)=R(k)+T(k 1W ( k I k-1 )Tik) motor is modelled with the reduced third order
1
Variance Estimator
model where the stator transients are
neglected. The static load is taken to be a
W(k)=Cl-F(k)T(k)3W(k(k-l) constant impedance, it is not difficult to
c extend this representation to the normal
I Parameter Estimator exponential form.

Fig. 1. Parameter Estimation

Fig- 2. Equivalent system
The convergence criteria used here are:

(11 1 1 Y(k) - ^Y(k) I ( < Cy (13)

(2) trCW(k)3/trCWo3 ( Cw (14)

where, Cy and Cw are given positive constants,

they are far less than 1, trCW(k)3 is the
trace of matrix W(k). The CNLRF approach
proposed above has following characteristics:
Fig. 3 . Equivalent circuit
(1) it needs no prior knowledge of the
individual load; If the stator transients are neglected, the
( 2 ) it needs no iterative solution of dynamic behavior of the induction motor can be
the state equations; simulated by the equations as follows C13:
3
 399

where Izp and Izq are the total active and

Tdo' E' = ' - E ' + j(Xs - XS')~
reactive currents. Discretizing the state
equation (16) and (21) with:
+ jSE' Tdo' (15)

J S = Te - Tm (16) X = CX(k)-X(k-l)3/h, t(k-1) ,< t ( t(k)

and we get:
S = W - f (17)

V = iZl + (r + jxst)f (18)

Te = Re(E' ?)/f (19)

where
Tm = Tmo + Mm AS (20) A = C Aij 3, i,j = 1,2,3

where All = 1 - hCl+Bm(Xs-Xs')3/Tdo'

Tdo' - - - time constant of rotor circuit Bm = Xs'/(r2 + XS'Z )

internal voltage
A12 = hCWo-fo-Gm(Xs-Xs')/Tdo'
machine current
t-c sistance
Gm = r/(r2 + X S ' ~)
reactance
transient reactance
A13 = h(1qo-BmVo)
inertia constant
slip
A21 = - A12, A22 = All
per unit speed
frequency of the applied
A23 = -h(Ipo-GmVol
power source
applied voltage
A31 = h(Vo-ZrIpo)/J. A32 = -h(2rIqo)/J
electrical torque
mechanical torque
A33 = 1 - W / J
torque coefficient
- B = C Bij 3, i=1,2,3; j=1,2
To reduce the linearizing error, we choose I
as the state variable. State equations(l5)is
B11 = hCGm/Tdo'-Bm(Wo-fo)I - Gm
then transformed into:

B21 = hCBrn/Tdo'+Gm(Wo-f0)3 - Bm
= -CCl+j(Xs-Xs')/(r+jXsJ)3/Tdo'-jSIf

+ C~/Tdo'-jSij+ij3/(r+jXs') (21) B31 = hIpo/J

Let Bi2 = 0, i=1,2,3

V = v/o' , f = IP - jIq
H = C H ij 3, i=l,2,3; j=1,2

H11 = Gm, H12 = - A12

Y = C AIzp, AIzq I T
H21 = Bm, " 2 2 = - A23
U = C AV, A f j7
H31 = 0, H23 = - hTeo/(foJ)
400

of rotating machines, consisting principlly of

c = motors of various sizes. Static capacitors
are used for power factor improvement.

In order to facilitate the estimation of the The load responses were recorded during sudden
parameters, we choose: voltage dip as shown in figure 4. Only a
little change in frequency was observed during
Ze = C Zei 7, i=1, .... ,7 the disturbance. The pre-data used for
parameter'estimation are given in table 1.
zs = c z s j 3 , j=1,2 The estimation error is shown in figure 4(b),
the trace of variance matrix is given in
where figure 4(c), and these two figures illustrate
Zel=l/Tdo', Ze2=Xs-XsS,Ze3=Gm the fast convergence characteritics of the
CNLRF method. The parameters for the assumed
Ze4=Bm, Ze5 =1/J, Ze6=Tmo, Ze7=Mm equivalent model (as shown in figure 3) are
obtained on the basis of the measured data and
and are listed in table 2.
Zsl=Gs, Zs2=Bs
The re'corded voltage is then considered to be
In this way, A, B and H are dependent on Ze an input to the developed model. The
only and D is dependent on Z S OnlYr c is simulated active and reactive current are
independent of both Ze and ZS. Correspondin9 plotted in figure 4(d) and 4(e) for comparison
to (5) and ( 6 ) , the SteadY-State constraints with those measured from the field tests and
on Zs and Xo are as follows: those simulated by the model developed by the
least square (LS) method C57. From these
L1 Ipo + L2 Iqo + L3 vo = 0 figures, it is clear, therefore, that the
results simulated by the nonlinear composite
-L2 Ipo + L1 Iqo + L4 VO = 0 model developed in this paper are very close
to those recorded from field tests while the
IPO vo - (IPO' + Iqo2)r = m o linearized model exhibits larger error in the
case of bigger voltage dips. Figure 4(e) show
IZPO = I PO + GsVo that the model developed Sy CNLRF method is
more accurate than that developed by the LS
Izqo = I qo iBsVo
method. On the other hand, the LS method
requires iterative solution of the state
where, L1 = -Cl+Brn(Xs-Xs')3/Tdo' equations and some other equations, but the
CNLRF method needs to solve them only once.
L2 = So - Gm(Xs-Xs')/Tdo' Therefore, the CNLRF method takes less
computational time than the LS method does.
L3 = GmlTdo' - BmSo
CONCLUSIONS
L4 = Bm/Tdo' + GmSo
A novel approach has been proposed for
By using these formulae and the CNLRF method, physically based load modelling. This
the parameters can be estimated recursively. approach needs no priok knowledge of the
parameters of the load elements nor the
CASE STUDY iterative solution of the state equations.
 401

Table 1. Pre-data for estimation

1.10
1-
0.80
0.0 0.2 0.4 0.6 0.8 I.0 t(Sec.1

0.6 i

Table 2. Estimated parameters

tb)

t
Iz I P . U . 1

t 0.9

o'6 I

Fig. 4. Dynamic Responses of the Load

measured results
-..- results with LS method
-.- linearized model of this paper
---- nonlinear model of this paper
402

The case studies show that the model developed Ct13 Graham Goodwin, Kwai Sanq S i n ,
by this approach not only satisfactorily "Adaptive filtering predict.ion and
reproduces the terminal behavior of the load control", Prerrtice Hall, Inc., Enqlewood
group under fault conditions but also matches Cliffs, Chapter 7, 1984.
the steady-state behavior before the fault and
after the voltasc recovery.

ACKNOWLEDGEMENTS

Support f o r this work has come from the

National Natural Science Foundation of China
(NSFC). The authors are grateful to Prof.
Han Zhen-Xiang, Prof. Feng Chuen-Bo, Prof.
Jian Bo-Den and our colleagues for the helpful
discussion and kindly encouragement.
REFERENCES
C13 D. S. Brereton, et al., "Reprentation
of induction-motor loads during power
system stability studies", AIEE Trans.,
vol. 76, part 3 , pp.451-460. Aug. 1957.
C23 S . B. Crary, "Steady-state stability of
composite systems", AIEE Trans., ~01.53,
part 3, pp. 1809-1814, 1934.
c33 C. Concordia, S. Ihara, "Load represen-
tation in power system stability
studies", IEEE Trans., vol. PAS-101,
NO. 4, pp. 969-977, 1982.
c43 F. Iliceto, A. Capasso, "Dynamic equi-
valents of asychronous motor loads in
system stability studies, IEEE Winter
Meeting, 1974, Paper No. T 74 117-8.
Ma Da-Qianq was born in Oct. 1923 in China.
He graduated from Chekiang ( Z h r jiang)
University in 1946. Since qraduation, he has
been with the E. E. Department. of t h i s
university.
For nearly 40 years, hi.: main activities have
centered around teaching and research work in
the field of "Electric Power System Control
and Stability" and "Transient Frocess Analysis
of Electrical Machines and Power System".
Since 1978. he has been the director of
post-graduate students f o r M.Sc. degree and
Ph.D. degree.
His papers and works published and the books
he translated from English as well as Russian
are reqarded as excellent.
Ju Ping was born in Aug. 1962 in China. He
received the B.Sc. and M:Sc. degrees in
electrical engineering from Nanjing Institute
of Technology in 1982 and 1985 respectively.
He shall receives Ph.D. degree from Zhejiang
University in 1988.

c57 S. A . Y. Sabir, D. C. Lee, "Dynamic

load model derived from data acquired
during system transients", IEEE Trans.,
vol. PAS-101, No.9, pp. 3365-3372, 1982.

C63 Gill G. Richards, Owen T. Tan, "Induc-

tion motor load aggregation or transient
stability studies by constrained para-
meter estimation", TEEE Summer Meeting,
1979, Paper No. A 79 482-1.

[:73 K. P. Wonq, et al., "l3ynamic load model

synthesis", IEE Proc., ~01.132,part c ,
N0.4, pp. 179-188, 1985.