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Abstract
Nunierically stable and computationally efficient Power
System Statc Estimation (PSSE) algorithms are designed where:
using Orthogonalization (QR decomposition) approach. ~(z) - Non-linear Equations vector for
They u3e Givens rotations for orthogonalization which zero injections ( p x 1)
z - Measurement vector ( m - p x 1)
enables sparsity exploitation during factorization of large
?: - State vect,or consisting of node
sparse auginent,ecl Ja,cobian. Apriori row and column or- voltages and angles(n x 1)
dering is usiially performed to reduce intermediate a.nd f(z) - Non-linear Equation vector for
and overall fills. Column ordering methods, usually based measurement, vector z ( m - p x 1)
on Minimum Degree .4lgorithm (T\ID.4), have matured. p - Large penalty for enforcing
However, t,heir exists a significa.rit scopc for improving zero injection constraints
the quali t,y of row ordering. This paper introduces a new At each iteration k of PSSE, following linearized Least
row ordering technique for Givens rotat*ionsbased power Square (LS) problem is solved.
system staw est,imators. The proposed row processing
method (IT-4IR) requires a shift, from conventionally used
row orieiited QR decomposition impl6mentation to a col-
umn orierl:.ed QR decomposit,ion implement,ation. It is
demonstrht.rd that, the proposed colur in oriented QR de-
compositio,i algorithm which uses iZ/ID:i for column order-
ing and VP.1IR for row ordering can lead t,o a. milch faster
PSSE. These aspects are justified by simulations on large Where:
power systems.
1 Introduction
PSSE I: rohlem can be formulated as an unconstrained
non-linrar Irast sqiiares problcm: Large sparse LS solver is the heart of a power sgst,enl state
estimator. LS problem (2) can be solved by -+iariousmeth-
PE-104-pWRS-0-08-1998 A paper reammended and approved by ods[l] which include Kornial Equations (NE) a.pproach,
the IEEE Power System Analysis, Computing and Economics QR decomposition approach and method of Petcx and
Committee of the IEEE Power Engineering Society for publication in the ifykinson.
IEEE Transactions on Power Systems. Manuscript submitted May 26,
1997; made available for printing August 14, 1998.
Q R decomposition based PSSE iinplemerltat,ions have
been found to be numerically stable [I] as they use uni-
tjary transformations and satisfactorily handle numerical
ill-conditioning encount,ered in PSSE. However, numerical
stability is obt,ained a.t cost of additional computat,ions.
Unlike NE approach which- directly computes Cholesky
factorization of matrix H T H , QR decomposition involves
elementary rotation operations on matrix H which create
1ow 1 WO
2000 1000
3000 1000
4000 4000
5000 5000
LOO0 6000
7000 7000
06' ' ' ' ' ' " '
0 1000 2000 0 1000 2000 0 low 2000 0 10 20 30 40 M €4 70 80 93 100
nz 33535 nz=32176 nz = 32896 Pacentage 01 mlumns processed
Figure 3: Intermediate sparsity structure for 1044 bus sys- Figure 5 : Number of non zero elements for 319 bus system
tem for COP2 during factorization
Figure 4: Nuniber of non zero elements for 23 bus system Figure 6: Number of non zero elements for 1044 bus S~S-
during factorization tem during factorization
and COP2. For 23, 319 and 104.1 node systems, with 75 various stages of processing for COPl can be explaiIied as
% processing of columns, C O P l has 115.84%, 34.69 % follows:
and 56.62'% more non zeros compared to COP2. Clearly.
COP2 rcquires less flops for obhiriing matrix R. At any Annihilation of an element ( i ,j) by rotation with ele-
stage of processing, better performance of COP2 in com- ment ( j ,j ) introduces non zeros corresponding to union of
parison to COP1 can be attributed to direct on line ef- sparsity structures of rows i and j of active sub matrix.
fort of COP2 to minimize interniediat,e filjs. Approach The new active sub mhtrix is thus less sparse than active
COP2 exploits advantages due to variable pivots. This matrix before rotation. An upper bound on the number
can be contrasted with C O P l which uses fixed pivot strat- of non zeros in intermediate matrices depends upon the
egy with apriori row ordering. Figurcs (4, 5 & 6) show size of active sub matrix and number of rows of matrix
number of non zero elements being rei orded at every 5% R created so far. This upper bound on number of non
processing of columns for 23, 319 and 1044 node systems. zeros in intermediate steps equals product of number uf
For all systems, the curves show a steep increase in non rows and columns of active sub matrix plus number of
zero elements at intermediate steps of COPl as compared non zeros in matrix R ( j x 7 ~ ) . Note that processing of j t h
t,o COP2. The nature of curve of non zero elements at column creates corresponding j t h row of matrix R. Every
842
'I
Upper bound on non zeros for ROP (m-i)*n
;L4
0
Approach2
low 2000
I
3000
t
4000
I
TOO0
Number or columnslrowsprocessed
€090 7wo 8000 x)
Figure 7: Upper bound on non zeros with various ap- Figure 9: Number of intermediate fills for various systems
proaches for 104-1 node system
5.2 COPVsROP
con:secutivc step reduces the size of a.ctive sub matrix by a
row and a column. Thus, upper bound on number of non The anatomy of annihilating an element ( i ,j ) is identical
zeros decrmses from rnn (step 0) at'beginning to nz-R in ROP and COP approaches. However, next non zero to
(step n ) , where nz-R is niiniber of' non zero elements in be eliminated in ROP corresponds to next non zero in row
matrix R. In initial stages of processing, number of non i after annihilation of (i,j ) . In case of COP next non zero
zeros is far less than the corresponding upper bound. As to be annihilated corresponds to a non zero element of col-
processing progresses number of non zeros increases while umn j. In case of COP1, all non zero elements in column
upper bound reduces. A more realistic bound on overall j are annihilated using the fixed pivot, (j,j). While in case
maximum number of non zeros can be obtained from in- of COP2, the choice of non zero to be annihilated and its
tersection of curve of growth of non zeros and curve of pivot corresponds to row pair that introduces least num-
upper bound of non zeros (Figure 7). As maximum num- ber of intermediate fills. Both COP1 and ROP use fixed
ber of non zeros cannot exceed the upper bound discussed pivot strategies. Assuming for simplicity and without loss
earlier, number of non zeros should reach a ,naximum at of generality that, rows in ROP are eliminated in decreas-
some intermediate step and then reduc-e, finally, resulting ing order of row index i.e. row to be eliminated first is
in rnatrix R. numbered last, it can be seen that active sub matrix at z t h
843
step corresponds to first m - i rows with all n columns. per column has to be annihilated. Hence, processing of ad-
Thus the upper bound on number of non zmos in ROP ditional measurement becomes identical to that in ROP.
after i f h step equals ( m - i ) x n. This bound is clearly
larger than (rn - i) x ( n - i) bound (neglecting contribu-
tion of matrix R ) for COP. This suggescs that with similar 7 References
mechanisms (ordering and pivoting strategy) to control
growth of non zeros (intermediate fills), COP approach [l] L. Holten, A. Gjelsvik, F. F. Wu, et al., "Com-
should have better performance than corresponding ROP parison of different methods for state estimation" ,IEEE
approach (see fig 7). In fact, such a behavior is observed Transactions on Power Systems, vo1.3, No.4, Pages:l798-
in simulations in PSSE problems (see Figures 8 and 9) 1806,1988.
where it is observed that C O P l and COP2 outperform [2] Alan George and M. T. Heath, "Solution of sparse lin-
ROP. Actual performance also depends upon overheads ear least squares problems using givens rotations", Linear
involved. In case of COP2, this overhead corresponds to Algebra and its Applications , Vo1.34, pages:69-83,1980
finding the best pair that gives least number of intermedi- [31 N. Vempati, I W Slutsker and W F Tinney, "Enhance-
ate fills. If at a given step, r is the column degree of first ment to givens rotations for power system state estima-
column in active sub matrix then this requiks 'Cz eval- tion" IEEE Transactions on Power Systems, Vo1.6, N0.2.
~
8 Biography
I COP2 I
A. Pandian received his M.Tech. in Computer Engi-
0 200 400 600 800 1000 1200
neering from Mysore University, INDIA an? is presently
System Size (nodes) working for his Ph.D in Indian Institute of Science (IISc),
INDIA. His research interest are in real time state estinia-
Figure 10: Total execution time for various systems tion, sparse matrix computations and sparse optimization
problems.
S. A. Soman received M.E & Ph.D in Electrical En-
gineering from IISc, INDIA. Presently, he is working as
6 Conclusions Faculty at Department of Electrical Engineering, Indian
This paper explored various ways of enhancing the perfor- Institute of Technology, Bombay, INDIA. His research in-
mance of Givens rotations based Power System State Es- terests include power system state estimation, reactive
timator. A strong case was argucd for shiftiog the PSSE power control and optimization, sparse matrix computa-
implementation from ROP approach to COP approach. tions, practical optimization and parallel computing
Column oriented processing permits v(triab1e pivot selec- K. Parthasarathy is Professor at Electrical Engineering
tion which in turn leads to a direct control on growth of Department, IISc, INDIA. His research interests include
intermediate fills (VPAIR ordering). In case an additional computer aided proteaion, control of power systerns and
measurement has to be processed then the original matrix energy management systems.