Smart Grid Topic 1 Power Systems PDF

Topic 1: Basics of Power Systems
ECE 5332: Communications and Control for Smart
Spring 2012
A.H. Mohsenian‐Rad (U of T) Networking and Distributed Systems 1
Power Systems
• The Four Main Elements in Power Systems:
 Power Production / Generation
 Power Transmission
 Power Distribution
 Power Consumption / Load
• Of course, we also need monitoring and control systems.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 2
Power Systems
• Power Production:
 Different Types:
 Traditional
 Renewable
 Capacity, Cost, Carbon Emission
 Step‐up Transformers
Power Systems
• Power Transmission:
 High Voltage (HV) Transmission Lines
 Several Hundred Miles
 Switching Stations
 Transformers
 Circuit Breakers
Power Systems
• The Power Transmission Grid in the United States:
www.geni.org
Power Systems
• Major Inter‐connections in the United States:
www.geni.org
Power Systems
• Power Distribution:
 Medium Voltage (MV) Transmission Lines (< 50 kV)
 Power Deliver to Load Locations
 Interface with Consumers / Metering
 Distribution Sub‐stations
 Step‐Down Transformers
 Distribution Transformers
Power Systems
• Power Consumption:
 Industrial
 Commercial
 Residential
 Demand Response
 Controllable Load
 Non‐Controllable
Power Systems
Generation Transmission Distribution Load
Power Systems
• Power System Control:
 Data Collection: Sensors, PMUs, etc.
 Decision Making: Controllers
 Actuators: Circuit Breakers, etc.
Power Grid Graph Representation
Nodes: Buses
Links: Transmission Lines
Generator
Load
Nodes: Buses
Links: Transmission Lines Buses (Voltage)
Generator
Load
Nodes: Buses
Generator
Load
Transmission Lines (Power Flow, Loss)
Nodes: Buses
Generator
Consumers
Load
Nodes: Buses
Generator 10 MW 3 MW
Load 7 MW
Transmission Line Admittance
• Admittance y is defined as the inverse of impedance z:
 z = r + j x (r: Resistance, x: Reactance)
 y = g + j b (g: Conductance, b: Susceptance)
 y = 1 / z
 Parameter g is usually positive
 Parameter b:
 Positive: Capacitor
 Negative: Inductor
Transmission Line Admittance
• For the transmission line connecting bus i to bus k:
 Addmitance: yik
 Example:
yik = 1 – j 4 (per unit)
 Note that, yii is denoted by yi and indicates:
 Susceptance for any shunt element (capacitor) to ground at bus i.
Y-Bus Matrix
• We define:
 Ybus = [ Yij ] where

N
 Diagonal Elements: Yii  yi  y
k 1, k  i
ik
 Off‐diagonal Elements: Yij   yij
 Note that Ybas matrix depends on the power grid topology
and the admittance of all transmission lines.
 N is the number of busses in the grid.
Y-Bus Matrix
• Example: For a grid with 4‐buses, we have:
 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 
• After separating the real and imaginary parts:
Ybus  G  j B
Bus Voltage
• Let Vi denote the voltage at bus i:
• Note that, Vi is a phasor, with magnitude and angle.
Vi  Vi  i
• In most operating scenarios we have:
Vi  V j i   j
Power Flow Equations
• Let Si denote the power injection at bus i:
Si = Pi + j Qi
Active Power Reactive Power
• Generation Bus: Pi > 0
• Load Bus: Pi < 0 (negative power injection)
• Using Kirchhoff laws, AC Power Flow Equations 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
• Do we know all notations here?
• If we know enough variables, we can obtain the rest of
variables by solving a system of nonlinear equations.
• The AC Power Flow Equations are complicated to solve.
• Next, we try to simplify the equations in three steps.
• Step 1: For most networks, G << B. Thus, we set G = 0:
Pk   Vk V j Bkj sin( k   j ) 
N
j 1
Qk   Vk V j  Bkj cos( k   j ) 
N
j 1
 i   j  10 to 15
• Step 2: For most neighboring buses: .
Sin ( k   j )   k   j
• As a result, we have: 
Cos ( k   j )  1
Pk   Vk V j Bkj ( k   j ) 
N
j 1
Qk   Vk V j  Bkj 
N
j 1
• Step 3: In per‐unit, |Vi| is very close to 1.0 (0.95 to 1.05).
Vi V j  1
• As a result, we have: .
N
Pk   Bkj ( k   j )
j 1
Qk    Bkj    Bkk   Bkj  bk

N N
j 1 j 1,
jk
• Pk has a linear model and Qk is almost fixed.
• Step 3: In per‐unit, |Vi| is very close to 1.0 (0.95 to 1.05).
Vi V j  1
• As a result, we have: .
DC Power Flow Equations
N
Pk   Bkj ( k   j )
j 1
Qk    Bkj    Bkk   Bkj  bk

N N
j 1 j 1,
jk
• Pk has a linear model and Qk is almost fixed.
• Given the power injection values at all buses, we can use
N
Pk   Bkj ( k   j )
j 1
to obtain the voltage angles at all buses.
• Let Pij denote the power flow from bus i to bus j, we have:
Pij  Bij ( i   j )
• Example: Obtain power flow values in the following grid:
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
• First, we obtain the Y‐bus matrix:
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 
• Next, we write the (active) power flow equations:
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
• This can be written as:
 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 
• From the last two slides, we finally obtain:
    1 
     
   2 
     3 
    
     4 
• Therefore, the voltage angles are obtained as:
1
1     
     
 2     
 3     
     
 4     
• However, the last matrix in the previous slide is singular!
• Therefore, we cannot take the inverse.
• The system of equations would have infinite solutions.
• The problem is that the four angles are not independent.
• What matters is the angular/phase difference.
1  0
• We choose one bus (e.g., bus 1) as reference bus: .
• We should also remove the corresponding rows/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
• The angular differences (with respect to ):
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
• Finally, the power flow values are calculated as:
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
• What if the generator connected to bus 1 is renewable?
• What if the capacity of transmission link (1,3) is 1 pu?
• What if we can apply demand response to load bus 3?
• What if one of the transmission lines fails?
Economic Dispatch Problem
• In the example we discussed earlier, we had:
Power Supply = Power Load
• In particular, we had:
P1g  P2g  P4g  P2l  P3l
• However, generation levels and assumed given.
P1g , P2g , P4g
• Q: What if the generators have different generation costs?
• For thermal power plants, generation cost is quadratic:
Generation Cost = C(P) = a1 + a2 x P + a3 x P2
• Example: a grid with three power plants:
C1(P1) = 561 + 7.92 x P1 + 0.001562 x (P1)2 150 MW ≤ P1 ≤ 600 MW
C2(P2) = 310 + 7.85 x P2 + 0.001940 x (P2)2 100 MW ≤ P2 ≤ 400 MW

C3(P3) = 78 + 7.97 x P3 + 0.004820 x (P3)2 50 MW ≤ P3 ≤ 200 MW
• Each power plant has some min and max generation levels.
C1(P1) = 561 + 7.92 x P1 + 0.001562 x (P1)2 150 MW ≤ P1 ≤ 600 MW
C2(P2) = 310 + 7.85 x P2 + 0.001940 x (P2)2 100 MW ≤ P2 ≤ 400 MW

C3(P3) = 78 + 7.97 x P3 + 0.004820 x (P3)2 50 MW ≤ P3 ≤ 200 MW
C1(P1) = 561 + 7.92 x P1 + 0.001562 x (P1)2 150 MW ≤ P1 ≤ 600 MW
C2(P2) = 310 + 7.85 x P2 + 0.001940 x (P2)2 100 MW ≤ P2 ≤ 400 MW

C3(P3) = 78 + 7.97 x P3 + 0.004820 x (P3)2 50 MW ≤ P3 ≤ 200 MW
C1(P1) = 561 + 7.92 x P1 + 0.001562 x (P1)2 150 MW ≤ P1 ≤ 600 MW
C2(P2) = 310 + 7.85 x P2 + 0.001940 x (P2)2 100 MW ≤ P2 ≤ 400 MW

C3(P3) = 78 + 7.97 x P3 + 0.004820 x (P3)2 50 MW ≤ P3 ≤ 200 MW
C1(P1) = 561 + 7.92 x P1 + 0.001562 x (P1)2 150 MW ≤ P1 ≤ 600 MW
C2(P2) = 310 + 7.85 x P2 + 0.001940 x (P2)2 100 MW ≤ P2 ≤ 400 MW

C3(P3) = 78 + 7.97 x P3 + 0.004820 x (P3)2 50 MW ≤ P3 ≤ 200 MW
• We should select P1, P2, and P3 to:
• Meet total load Pload = 850 MW
• Minimize the total cost of generation
• Economic Dispatch Problem:
minimize CP1   CP2   CP3 
P1 , P2 , P3
subject to 150  P1  600

100  P2  400
50  P3  200
P1  P2  P3  850
• Is the formulated problem a convex program? Why?
• Convex programs can be solved efficiently.
• An useful software is CVX for Matlab (http://cvxr.com/cvx).
• The optimal economic dispatch solution:
P1 = 393.2 MW
P2 = 334.6 MW Q: Do they satisfy all constraints?
P3 = 122.2 MW
• Is the formulated problem a convex program? Why?
• Convex programs can be solved efficiently.
• An useful software is CVX for Matlab (http://cvxr.com/cvx).
• The optimal economic dispatch solution:
P1 = 393.2 MW
P2 = 334.6 MW Minimum Cost = 3916.6 + 3153.8 + 1123.9

= 8194.3
P3 = 122.2 MW
• What if we have to satisfy topology constraints?
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 
• The same optimal solutions are still valid:
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 
• The same optimal solutions are still valid:
P1  393.2 MW P2  334.6 MW
156.8
38.1 450 MW 41.4

198.3
160.3
What if P13  170
P3  122.2 MW 400 MW
 2   15.685
    19.830
 3    3  20 P13  200
 4    3.805 
• Then the economic dispatch problem becomes:

P1 , P2 , P3 ,1 ,  2 ,  3

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
• Then the economic dispatch problem becomes:

P1 , P2 , P3 ,1 ,  2 ,  3 Still a Convex
Program?
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
• The new optimal solutions are obtained as:
P1  280 MW P2  400 MW
110
0 450 MW 60
170
170
P3  170 MW 400 MW
• The total generation cost becomes: $8,233.66 > $8,194.3
• Here, we had to sacrifice “cost” for “implementation”.
• The new optimal solutions are obtained as:
P1  280 MW P2  400 MW
110
0 450 MW 60
170
170
What if P13  150
P3  170 MW 400 MW
• The total generation cost becomes: $8,233.66 > $8,194.3
• Here, we had to sacrifice “cost” for “implementation”.
Unit Commitment
• Economic Dispatch is solved a few hours ahead of operation.
• On the other hand, we need to decide about the choice of
power plants that we want to turn on for the next day.
• This is done by solving the Unit Commitment problem.
• We particularly decide on which slow‐starting power plants we
should turn on during the next day given various constraints.
• The mathematical concepts are similar to the E‐D problem.
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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Topic 1: Basics of Power Systems

Generation Transmission Distribution Load

Generator 10 MW 3 MW

yik = 1 – j 4 (per unit)

 Note that, yii is denoted by yi and indicates:

 Ybus = [ Yij ] where

 Off‐diagonal Elements: Yij   yij

 y1  y12  y13  y14  y12  y13  y14 

• Note that, Vi is a phasor, with magnitude and angle.

• Let Si denote the power injection at bus i:

• Load Bus: Pi < 0 (negative power injection)

Qk    Bkj    Bkk   Bkj  bk

Qk    Bkj    Bkk   Bkj  bk

• Let Pij denote the power flow from bus i to bus j, we have:

b1  b12  b13  b14  b12  b13  b14 

   B11 B12 B13 B14 

 P1   B12  B13  B14  B12  B13  B14  1 

Generation Cost = C(P) = a1 + a2 x P + a3 x P2

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

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

Generation Cost = C(P) = a1 + a2 x P + a3 x P2

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

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

Generation Cost = C(P) = a1 + a2 x P + a3 x P2

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

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

Generation Cost = C(P) = a1 + a2 x P + a3 x P2

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

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

Generation Cost = C(P) = a1 + a2 x P + a3 x P2

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

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

• Meet total load Pload = 850 MW

subject to 150  P1  600

P2 = 334.6 MW Minimum Cost = 3916.6 + 3153.8 + 1123.9

P13  200 450 MW

38.1 450 MW 41.4

38.1 450 MW 41.4

minimize CP1   CP2   CP3 

subject to 150  P1  600

minimize CP1   CP2   CP3 

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

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

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