Introduction to PSAT

:
A toolbox for Education and Research in Electric Power Engineering
Luigi Vanfretti
vanfrl@rpi.edu
Rensselaer Polytechnic Institute
ECSE Department
Fall 2006
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 1 / 94
Outline I
1
Motivation
Acknowledgment
Main goals of this presentation
Note
2
The Power System Analysis Toolbox (PSAT)
PSAT Basics
Available Models and Routines in the PSAT
Power System Model
Power Flow
Bifurcation Analysis
Optimal Power Flow
Small Signal Stability
Time Domain Simulations
Case Studies
PSAT Routines
GAMS and UWPFLOW Interfaces
3
The PSAT as an Educational and Research Tool
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 2 / 94
Outline II
PSAT in learning, education and research
Summary of the main subjects discussed in this talk
Thanks!
References
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 3 / 94
Motivation Acknowledgment
Acknowledgment
Many, many thanks!
This talk is mostly based on the course Power System Analysis in
an Electricity Markets Environment lectured by Dr. Federico
Milano [1] of the University of Castilla-La Mancha, Spain; the
PSAT Documentation [2], the PSAT Version 1.3.4 [3] and in [4, 5].
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 4 / 94
Motivation Main goals of this presentation
Main Goals of this presentation
PSAT in your everyday life: an Educational and Research Tool
To give a broad view of the PSAT and it’s capabilities
To demonstrate the use of some of the routines and models which
are currently in the PSAT
To show the capabilities of the PSAT through examples
To present the use of the PSAT as a tool suitable of education and
research
To encourage YOU to use the PSAT as an everyday tool!
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 5 / 94
Motivation Note
Note
This presentation was elaborated using previous PSAT (Power
System Analysis Toolbox) versions (older than 2.0).
Even thought most of the contents of this presentation still apply
for version 2.0., there might be differences with the latest
distribution.
... therefore, complaints will be sent to /dev/null
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 6 / 94
The Power System Analysis Toolbox (PSAT)
PSAT 1.3.4
Power Analysis Toolbox
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 7 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
What is the PSAT? I
Power system analysis and control at your fingertips!
PSAT is an open code Matlab based toolbox for electric power
system analysis and control.
PSAT can handle a wide variety of Power Systems: from small
scale educational networks to medium size realistic power
systems.
PSAT is also GNU Octave compatible in it’s command line version.
Being PSAT and open code software it is suitable for research
since it allows to modify the existing models/routines and/or to
include new models/routines.
The GUIs and Simulink library make it easy to use, thus, it’s
adequate for educational purposes such as teaching and self
study; besides being free!
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 8 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
What is the PSAT? II
Power system analysis and control at your fingertips!
PSAT makes a full use of Matlab vectorized computations and
sparse matrix functions, this gives an optimal performance.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 9 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
Structure of the PSAT
Scheme of the PSAT
Synoptic scheme
The figure presents the synoptic scheme of the PSAT. It
can be observed that the Power Flow algorithm is used as
the PSAT kernel, thus, this routine is needed to initialize
the dynamic models for:
1 CPF (Continuation Power Flow)
2 OPF (Optimal Power Flow)
3 SSS (Small Signal Stability)
4 TDA (Time Domain Simulations)
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 10 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
PSAT Features
Available Routines in the PSAT
PSAT has a wide number of available routines, such as:
Power Flow
Bifurcation Analysis (i.e. Continuation Power Flow)
Optimal Power Flow
SSS (Small Signal Stability Analysis)
Time Domain Simulations
Phasor measurement unit (PMU) Placement
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 11 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
PSAT Features
Available Models in the PSAT
PSAT also has a broad number of static and dynamic models in
order to perform thorough power system analysis:
Power Flow Data
Market Data
Switches
Measurements
Loads
Machines
Controls
Regulating Transformers
FACTS: SVCs, TCSCs, SSSCs, UPFCs
Wind Turbines
Other Models
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 12 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
PSAT Features
PSAT’s Additional Tools
Tools:
In addition to the mathematical algorithms and
models available, the PSAT also provides a variety of
tools:
1 User friendly graphical user interfaces
2 A Simulink library useful to built one-line
network diagrams
3 Data file conversion to and from other
formats
4 User defined model editor and installer
5 Command line version
Due to the current limitation of GNU/Octave not all
the tools are available for use in this platform.
Available Tools in Matlab and GNU/Octave
Function Matlab GNU/Octave
Continuation power flow yes yes
Optimal power flow yes yes
Small signal stability analysis yes yes
Time domain simulation yes yes
GUIs and Simulink library yes no
Data format conversion yes yes
User defined models yes no
Command line usage yes yes
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 13 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
PSAT Features
Main GUI
Main GUI Features
Once the PSAT is launched by typing »
psat in the Matlab Command Window the
Main GUI will be launched. By typing the
above command all the required structures
required by the toolbox are created.
This GUI provides easy access to all the
tools of the PSAT. This GUI provides also the
possibility of assigning the main settings,
such as: No. of iterations of the NR methods,
system base values, etc.
Moreover, PSAT does not rely in this GUIs
and uses global variables to store the setting
parameters of the routines and data for the
models. Thus, allowing the PSAT to run in
the command line version.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 14 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
PSAT Features
Data Format Conversion (DFC) Features
DFC Features
Both the DFC tool and the UDMs tool are
aimed to promote contributions from the
users, to enhance research capabilities and
to ensure portability.
The DFC functions are handled by means of
a user friendly GUI (Matlab only)
The DFC functions allow data file conversion
from commonly used power system analysis
commercial and research/educational
formats to the PSAT and IEEE CDF formats.
Currently, the PSAT can convert the data files
of many programs, such as: IEEE CDF,
CYME, MatPower, PST, EPRI WECC,
SPP/E, PSAP, Eurostag, EPRI BPA,
Tsinghua University, INPTC1 (Enel), VST,
Simpow, Neplan, DigSilent, PowerWorld,
PET and GE.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 15 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
PSAT Features I
UDM (User Defined Models) GUI
User Defined Models (UDM) Features
Both the DFC tool and the UDMs tool are aimed to promote contributions from the users, to enhance research
capabilities and to ensure portability.
The main aim of the UDM tool is to extend the capabilities of PSAT and assist end users with little programming
capabilities to build and set up their own models.
The UDM is only available in Matlab platforms since it makes use of the Symbolic Math Toolbox of Matlab.
The first step is to introduce the variables and the system of Differential-Algebraic-Equations that describe the new model
in the GUI of the UDM.
PSAT then automatically compiles the equations, computes the symbolic expression of the Jacobian matrices and writes
a Matlab function file for the new component.
The user can save the model definition and/or install the model in PSAT.
The UDM also has a Model Uninstaller, thus, when the model is not longer needed it can be safely uninstalled.
This tool is at an early stage, but it’s conception ensures remarkable future capabilities.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 16 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
PSAT Features II
UDM (User Defined Models) GUI
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 17 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
PSAT Features
Simulink Library
Simulink Library Features
PSAT provides a Simulink graphical model library that enables the user to
draw one-line network diagrams using pictorial blocks.
The PMC (Physical Model Component) library of PSAT provides a complete
set of Simulink blocks for network design, which are grouped as follows:
connections,power flow data, OPF & CPF data, faults & breakers,
measurements, loads, machines, controls, regulating transformers, FACTS,
wind turbines, other models, and sub-transmission equivalent areas
respectively.
The PSAT is Matlab based and the Simulink environment is used only as a
graphical tool.
Thus, running time domain simulations from the Simulink model menus
produces no effect, since no Simulink dynamic model is associated with PSAT
blocks.
Simulink network models built with the PCM library are read by PSAT to
exploit the network topology and extract component data.
An advantage of this approach is that the PSAT can run on GNU/Octave,
which doesn’t provide a Simulink environment.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 18 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
PSAT Features
Simulink Library
Displaying Results in
Simulink Models
After solving the power flow, there are many
ways in which the results can be visualized.
The PCM allows to display results such as
the bus voltage magnitude and angle, and
the power flow values within the Simulink
model of the system.
This is done through a user friendly GUI.
This GUI also allows to export the Simulink
models to EPS (Encapsulated Post Script)
files.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 19 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
PSAT Features
Command Line Usage
The command line version of PSAT is an adequate option when
using the available routines (such as power flow) inside user
defined routines.
Thus, this allows the user to custom made routines that not rely on
the PSAT GUI’s, making it flexible and adequate for research.
This feature allows using PSAT in the following conditions:
If is not possible or slow to visualize the graphic environment
When the user needs to write scripts that include the use of PSAT
routines within custom made programs
When running PSAT on GNU/Octave, which currently does not
provide a Simulink-like environment.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 20 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
PSAT Features
Interface with GAMS
PGI (PSAT-GAMS Interface)
PSAT provides a graphical interface with GAMS
(Generalized Algebra Modeling System) with the following
purposes:
To set up large scale power system test cases
To solve OPF problems
To visualize results by means of a user friendly
GUI.
Also, the PGI has several improvements in comparison
with the interface presented in [7]:
The PGI is platform independent
The PGI has a user friendly GUI
The PGI does not require the user to have
knowledge of Matlab or GAMS programming.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 21 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
PSAT Features
Interface with GAMS
PSAT-GAMS Interface Gui
In order to make friendly the use of
the interface between the PSAT
and GAMS a GUI is used to
perform the following tasks:
Select the market clearing
model
Set the market model
parameters
Display the results from
GAMS
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 22 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
PSAT Features
Interface with GAMS
Details of the use of the PGI:
The first step is producing the data that describes the power
system, this can be done by creating an on-line diagram with the
Simulink library, writing a data file with the appropiate data format
or loading a predefined model from the PSAT test cases.
Next, the power flow routine must be runt in order to store all the
initial values and useful results.
After running the power flow, the PSAT-GAMS interface can be
opened to run the GAMS solver.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 23 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
PSAT Features
Interface with GAMS
Internal functioning of the PGI:
The system information is translated to a GAMS file named:
psatdata.gms.
The user settings as market clearing model, and global variables as the
number of bus are written to the file psatglobs.gms.
Once this data files have been written, GAMS is launched and the
market clearing mechanism is solved.
The routine fm
g
ams.gms used for solving the market procedures was
designed to be general and without any limits except those derived from
the GAMS solver and the computer memory.
The output of the results from GAMS are stored in the file psatsol.m
which is sent to Matlab in order to visualize the results and to perform
further analysis with PSAT routines or custom user code.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 24 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
PSAT Features
Interface with GAMS
Market Clearing Mechanisms Models
Currently, the PGI provides five optimization problems:
Simple Auction
Simplified market clearing mechanism
Standard Optimal Power Flow (OPF)
Voltage Stability Constrained Optimal Power Flow (VSC-OPF)
Maximization of the maximum loading condition
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 25 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
PSAT Features
Interface with UWPFLOW
UWPFLOW Interface Features)
UWPFLOW is a "commercial-grade" continuation power
flow program, that can be used to research static
voltage stability phenomena in detailed
AC-HVDC-FACTS power system models. As PSAT, is
open code and of free distribution, it can downloaded
from: http : //thunderbox.uwaterloo.ca/
UWPFLOW consists of a set of C functions and libraries
designed for voltage stability analysis of power systems,
including voltage dependent loads, HVDC, FACTS and
secondary voltage control.
The UWPFLOW can be installed in Linux, Unix and
Windows platforms; the installation in Windows is not
straight forward, nevertheless, help is provided in the
documentation and PSAT Forum.
The UWPFLOW-PSAT Interface comes with an GUI.
This GUI allows the user to set the desired settings and
then run the UWPFLOW routines.
This GUI also can be used to generate the command
line used by UWPFLOW.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 26 / 94
The Power System Analysis Toolbox (PSAT) PSAT Basics
PSAT Forum
Get Help and Report Bugs
Features of the PSAT Forum
Currently, there is a PSAT Forum at:
http : //groups.yahoo.com/groups/psatforum
This Forum is used also as a mail list and data
repository.
The member list of the Forum keeps growing, currently
there are 540 members.
You can use this Forum to report bus, ask questions
related to the PSAT; to download the latest PSAT
distribution, data files, and to make your own
contributions!
Figure: August 16, 2005
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 27 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines
PSAT Routines
As pointed out earlier, the PSAT has the following available routines:
Power Flow
Bifurcation Analysis (Continuation Power Flow)
Optimal Power Flow
SSS (Small Signal Stability Analysis)
Time Domain Simulations
Phasor measurement unit (PMU) Placement
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 28 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines
Static and Dynamic Models Available in the PSAT
As pointed out earlier, the PSAT has the following static and dynamic
models in order to do thorough power system analysis:
Power Flow Data
Market Data
Switches
Measurements
Loads
Machines
Controls
Regulating Transformers
FACTS: SVCs, TCSCs, SSSCs, UPFCs
Wind Turbines
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 29 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines
Static and Dynamic Models Available in the PSAT
Other Models: synchronous machine dynamic shaft,
sub-synchronous resonance model, solid oxide fuel cell, and
sub-transmission area equivalents
Each of the models mentioned have an explications in the PSAT
Documentation [2], since the aim of this talk to give a broad view of
the PSAT, these models will not be discussed in detail.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 30 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines I
Power System Model
The power system model is formed by a system of Differential
Algebraic Equations (DAE):
˙
x = f (x, y, p)
0 = g (x, y, p)
(1)
where x are state variables, y are the algebraic variables, p are the
independent variables, f are differential equations, and g are algebraic
equations. PSAT makes use of (1) in all the algorithms (routines)
mentioned earlier.
The algebraic equations g are obtained from the sum of all the active
and reactive power injections in each bus:
g (x, y, p) =
¸
g
p
g
q

=
¸
g
pm
g
qm


¸
c∈C
m
¸
g
pc
g
qc

∀m
∈ M (2)
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 31 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines II
Power System Model
where g
p
m and g
q
m are the power flows in the transmission lines, M is
the set of network buses, C
m
and

g
T
pc
g
T
qc

T
are the set and the
power injections of the power system components connected at bus m,
respectively.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 32 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines III
Power System Model
One of the most important characteristics of PSAT is that is
component-oriented, this means that any component is defined
independently of the rest of the program as a set of nonlinear
differential-algebraic equations:
˙
x
c
= f
c
(x
c
, y
c
, p
c
)
P
c
= g
pc
(x
c
, y
c
, p
c
)
Q
c
= g
qc
(x
c
, y
c
, p
c
)
(3)
where x
c
are the component state variables; y
c
the algebraic variables
such as the voltage V and the angle θ at the buses where the element
is connected; and p
c
are independent variables.
Afterwards, the differential equations f of (1) are built
concatenating f
c
of each of the components of the Power System.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 33 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines IV
Power System Model
The equations presented in (3) simultaneously with the Jacobian
matrices are defined in a function which is used for static and
dynamic analysis by means of a structure, which contains data,
parameters and the interconnection & grid topology.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 34 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines V
Power System Model
As an example of the above mentioned, let us consider the
mathematical model of an AVR. The PSAT has three types of
models for different kinds of AVRs, for this example, we can
consider a very simple AVR that can be modeled and simulated by
the AVR Type III model provided by PSAT.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 35 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines VI
Power System Model
The differential Algebraic Equations of the model are the following
[2]:
˙
v
m
=
(V−v
m
)
T
r
˙
v
r
=
µ
0

1−
T
1
T
2

(v
ref
−v
m
)−v
r
T
2
˙
v
f
=

v
r

0
T
1
T
2
(v
ref
−v
m
)+v
f 0

V
V
0
−v
f
T
2
(4)
The next slide presents two tables. The first presents the
parameters for the AVR Type III, the other presents all the fields of
the structure Exc.con that defines the AVRs inside the PSAT.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 36 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines VII
Power System Model
Exciter Type III Data Format (Exc.con)
Column Variable Description Unit
1 - Generator number internal
2 3 Exciter type internal
3 v
f
max
Maximum field voltage p.u.
4 v
f
min
Minimum field voltage p.u.
5 µ
0
Regulator gain s
6 T
2
Regulator pole s
7 T
1
Regulator zero p.u.
8 v
f
0
Field voltage offset p.u.
9 V
0
Bus voltage offset -
10 - not used -
11 T
r
Measurement time constant s
Fields of the Exc.con structure
1 con : data chart of the Exc components.
2 n : total number of AVRs.
3 syn : generator numbers.
4 vrif : reference voltage v
ref
.
5 vrif0 : reference voltage v
ref
0
initial value.
6 vr1 : indexes of state variable v
r1
.
7 vr2 : indexes of state variable v
r2
.
8 vr3 : indexes of state variable v
r3
.
9 vm : indexes of state variable v
m
.
10 vf : indexes of state variable v
f
.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 37 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines I
Power Flow
PSAT provides several options to solve power flow, namely:
Newton-Raphson method
Fast Decoupled Power Flow (XB and BX)
Power Flow with a distributed slack bus model
The theory of these methods, in which PSAT bases the models and
routines, are presented in [16, 25, 26].
The distributed slack bus model power flow is a feature which it’s only
available in PSAT among other Matlab based power system programs.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 38 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines II
Power Flow
The power flow problem is formulated as (1) with zero first time
derivatives
˙
x:
0 = f (x, y, p)
0 = g (x, y, p)
(5)
Differential equations are included in 5; some dynamic components as
synchronous machines are initialized after the power flow analysis, this
is due to the fact that the user does not know the input parameters of
it’s dynamic model. Other models, such as load tap changers, can be
included in the power flow as one typically knows the input parameters
of the dynamic model.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 39 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines III
Power Flow
The distributed slack bus model is based in the concept of generalized power centers and consists in distributing losses
among all generators, the theory behind this method is presented in [26].
The loss distribution among the generators is obtained by rewriting the active powers P
G
of the slack bus and PV
generator as following:
P
G
= (1 + k
G
γ) P
G
0
(6)
where P
G
0
are the desired generator active powers, k
G
is scalar variable which distributes power losses among all
generators and γ are the participation factors of the generators to the total losses.
k
G
is an unknown insofar as losses are unknown.
If (6) can be written for all the generators, k
G
is balanced by the phase reference equation.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 40 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines I
Bifurcation Analysis - Continuation Power Flow (CPF)
The PSAT includes a CPF function which is a novelty among the Matlab-based packages for power system analysis.
The CPF algorithm consists in a predictor step which computes a normalized tangent vector and a corrector step that can
be obtained either by means of a local parametrization or a perpendicular intersection.
The theory behind the method is presented in [24]
The images below present the method to obtain the predictor by means of a tangent and by means of local
parametrization.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 41 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines II
Bifurcation Analysis - Continuation Power Flow (CPF)
The CPF problem is defined based on 1:
0 = f (x, y, λ)
0 = g (x, y, λ)
(7)
Where λ is the loading parameter, which is used to vary the base
case generation and load powers, P
G
0
, P
L
0
and Q
L
0
respectively:
P
G
= (λ + γk
G
) P
G
0
[P
L
, Q
L
] = λ

P
L
0
, Q
L
0

(8)
The PSAT also provides Direct Methods (DM) for computing
Saddle-Node Bifurcation (SNB) points and Limit-Induced
Bifurcation (LIB) points; this option will not be discussed here.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 42 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines I
Optimal Power Flow (OPF)
The Optimal Power Flow (OPF) is defined as a nonlinear
constrained optimization problem. PSAT uses the Interior Point
Method (IPM) with a Mehrotra’s predictor-corrector method to
solve the OPF problem.
PSAT is the only Matlab-based program that provides an IPM
algorithm to solve OPF based market clearing mechanisms.
PSAT also provides several objective functions:
the maximization of the social benefit
the maximization of the distance to the maximum loading condition
A multi-objective approach
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 43 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines II
Optimal Power Flow (OPF)
Here it will only be discussed the "standard" OPF which uses the
maximization of the social as objective function.
Nevertheless, it should be noted that it the VSC (Voltage Stability
Constrained) OPF that maximizes the distance to the maximum
loading condition and the multi-objective approach are also
available to perform analysis in the psat
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 44 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines III
Optimal Power Flow (OPF)
Standard OPF Model
The standard OPF commonly has the goal of maximizing the
social benefit. The modes is represented in PSAT as follows:
Minimize
(y,p)
F (p)
Subject to g (y, p) = 0
h
min
≤ h (y) ≤ h
max
p
min
≤ p ≤ p
max
(9)
where g and y are defined as in 1, the control variables p are the
power demand and supply bids P
D
and P
S
, while F and h are the
inequality constraints, respectively.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 45 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines IV
Optimal Power Flow (OPF)
The goal is to maximize the social benefit, thus, the objective
function F is defined as:
F = −

¸
i
C
D
i

P
D
i


¸
i
C
S
i

P
S
i

(10)
where C
S
and C
D
are quadratic functions of supply and demand
bids, respectively.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 46 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines V
Optimal Power Flow (OPF)
The physical and security limits h included in PSAT are similar to
what is used in [12], and take into account the following limits:
Transmission line thermal limits
Transmission line power flow limits
Transmission line power flow limits
Voltage security limits
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 47 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines I
Small Signal Stability (SSS)
PSAT is also capable of performing SSS analysis, it has the option to
perform both dynamic analysis and QV sensitivity analysis.
PSAT is able to compute and plot the eigenvalues and the participation
factors of the system, once the power flow has been performed.
The eigenvalues are computed in the dynamic analysis from the state
matrix of the dynamic system, for the QV sensitivity analysis they are
computed from the Jacobian matrix
A remarkable feature of this options is that the eigenvalues are
computed using analytical Jacobian matrices, ensuring high precision
results.
Here, it will only be discussed the Dynamic Analysis, but it should be
noted that the routine to perform QV sensitivity analysis is also available.
Dynamic Analysis
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 48 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines II
Small Signal Stability (SSS)
The Jacobian matrix A
C
of a dynamic system is defined by
linearizing 5 around an operation point:
¸

˙
x
0

=
¸
F
x
F
y
G
x
J
LFV
¸
∆x
∆y

= [A
C
]
¸
∆x
∆y

(11)
where F
x
= ∇
x
f , F
y
= ∇
y
f , G
x
= ∇
x
g and J
LFV
= ∇
y
g.
Then the state matrix A
S
is obtained by eliminating ∇
y
, and
implicitly assuming that J
LFV
is non-singular:
A
S
= F
x
−F
y
J
−1
LFV
G
x
(12)
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 49 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines III
Small Signal Stability (SSS)
The computation of all eigenvalues can be a lengthy process if the
dynamic order of the system is high. Thus, PSAT is able to
compute a reduced number of eigenvalues based on sparse
matrix properties and eigenvalue relative values (i.e. larges or
smallest magnitude, etc.)
PSAT also computes the participation factors using right and left
eigenvector matrices, as proposed in [16]
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 50 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines I
Time Domain Simulations
PSAT also provides the option to perform time domain simulations.
For this it uses two different integration methods (Trapezoidal rule
and backward Euler) to solve 1 together using the SI
(Simultaneous-implicit) method, this is also an option only
available in PSAT among other Matlab-based packages for power
system analysis.
The SI method is more stable than the partitioned-explicit method
which solves the differential equations and the algebraic equations
separately as presented in [16].
PSAT is able to introduce common disturbances by means of
embedded functions. This embedded functions are useful to
simulate common perturbations for transient analysis such as
faults and breaker operations.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 51 / 94
The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT
PSAT Models & Routines II
Time Domain Simulations
Step perturbations can be obtained by changing parameter or
variable values after completing the power flow.
Any other disturbance can be defined through a custom made
perturbation function, this functions can modify and include any
global structure of the system.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 52 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Case Studies
An overview of the capabilities of PSAT through examples!
In this section an overview of the available routines of PSAT is
presented through examples based in small scale power systems. The
routines discussed here are the following:
Power Flow
Bifurcation Analysis
OPF
SSS
Time Domain Simulations
Moreover, due to the fact that the available interfaces with GAMS and
UWPFLOW expand the capabilities of PSAT to solve Optimal Power
Flow and Continuation Power Flow problems, a simple example on the
use of each of this interfaces is given.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 53 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Power Flow I
Power Flow Example
4 bus system
Let us now solve a power
flow example from [27].
The images present the
one-line diagram of the
system and data from [27]
The power system consists
of four buses with PV and
PQ generators.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 54 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Power Flow II
Power Flow Example
Building the system in PSAT
The Simulink model library
can be used to reproduce
the same one-line diagram
from [27].
The images shows the
resulting diagram created
with the Simulink library.
After loading the case and
running the power flow
routine, the results can be
visualized in different ways.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 55 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Power Flow III
Power Flow Example
The results can be viewed with the Static Report GUI, as depicted
in the image below.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 56 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Power Flow IV
Power Flow Example
The Static Report GUI also allows to view the results in a
graphical manner by plotting the results of each field in individual
graphics as depicted in the image below.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 57 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Power Flow V
Power Flow Example
The PSAT can also produce a detailed report and export it to
L
A
T
E
X, Excel or plain ASCII files. The following tables, exported to
a L
A
T
E
Xfile, show the power flow solution for the system.
Table: Network statistics
Buses: 4.00000
Lines: 4.00000
Generators: 2.00000
Loads: 4.00000
Table: Solution statistics
Number of iterations: 3.00000
Maximum p mismatch [mw] 0.00000
Maximum q mismatch [mvar] 0.00000
Table: Power flow results
Bus V Phase P gen Q gen P load Q load
[kv] [rad] [mw] [mvar] [mw] [mvar]
Abedul 230.00000 0.00000 186.80318 114.53962 50.00000 30.99000
Arce 234.60000 0.02657 318.00000 181.38862 80.00000 49.58000
Olmo 225.95685 −0.01704 0.00000 0.00000 170.00000 105.35000
Pino 222.87705 −0.03269 0.00000 0.00000 200.00000 123.94000
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 58 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Power Flow VI
Power Flow Example
Table: Line flows
From bus To bus Line P flow Q flow P loss Q loss
[mw] [mvar] [mw] [mvar]
Abedul Olmo 1.00000 38.70012 22.29678 0.22677 −8.93757
Pino Arce 2.00000 −102.92301 −60.33156 1.83502 −3.44370
Abedul Pino 3.00000 98.10306 61.25283 1.02607 −2.35561
Arce Olmo 4.00000 133.24197 74.92076 1.71533 0.80512
Table: Line flows
From bus To bus Line P flow Q flow P loss Q loss
[mw] [mvar] [mw] [mvar]
Olmo Abedul 1.00000 −38.47336 −31.23436 0.22677 −8.93757
Arce Pino 2.00000 104.75803 56.88786 1.83502 −3.44370
Pino Abedul 3.00000 −97.07699 −63.60844 1.02607 −2.35561
Olmo Arce 4.00000 −131.52664 −74.11564 1.71533 0.80512
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 59 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Power Flow VII
Power Flow Example
Table: Total generation
Real power [mw] 504.80318
Reactive power [mvar] 295.92823
Table: Total load
Real power [mw] 500.00000
Reactive power [mvar] 309.86000
Table: Total shunt
Real power [mw] 0.00000
Reactive power (ind) [mvar] 0.00000
Reactive power (cap) [mvar] 0.00000
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 60 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Power Flow VIII
Power Flow Example
Table: Total losses
Real power [mw] 4.80318
Reactive power [mvar] −13.93177
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 61 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Bifurcation Analysis I
Continuation Power Flow Example
IEEE 14 Bus System
The CPF can be computed
using the CPF routine in
PSAT.
In this example we will
compute the CPF for the
IEEE 14 bus case.
The Simulink model for this
case is presented in the
figure. Note that this data
file is available with the
current PSAT distribution.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 62 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Bifurcation Analysis II
Continuation Power Flow Example
IEEE 14 Bus System
The graph on the right presents the nose
curves of the voltage magnitude at bus 12,
bus 13 and bus 14.
Also, the PSAT is also capable of computing
the N −1 Contingency analysis which is
based in the CPF.
The following tables illustrate the results of
the N −1 contingency analysis for the
14-bus test system. The output is organized
in four columns
The first column depicts the transmission line
or transformer while the second one shows
for which line outage it has been found the
minimum power in that line.
The last two columns depict the actual power
flow and the power flow limit, respectively, in
the transmission line or transformer.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 63 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Bifurcation Analysis III
Continuation Power Flow Example
Table: Power flow limits (1)
line line pij pij max
outage [p.u.] [p.u.]
2-5 3-4 0.41710 0.54883
6-12 1-5 0.08037 0.09970
12-13 5-6 0.01857 0.02231
6-13 1-5 0.18272 0.22162
6-11 2-5 0.08180 0.10049
11-10 6-11 0.04565 0.05683
9-10 2-4 0.04487 0.05405
9-14 4-9 0.08719 0.10655
14-13 1-2 0.06371 0.07546
7-9 1-5 0.27203 0.37929
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 64 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Bifurcation Analysis IV
Continuation Power Flow Example
Table: Power flow limits (2)
line line pij pij max
outage [p.u.] [p.u.]
1-2 5-6 1.57122 1.94547
3-2 5-6 0.73462 0.92663
3-4 7-9 0.23472 0.31835
1-5 7-9 0.75460 1.01484
5-4 3-4 0.60190 0.78458
2-4 5-6 0.55939 0.72114
5-6 1-5 0.45689 0.55747
4-9 1-5 0.15504 0.21438
4-7 1-5 0.27203 0.37929
8-7 1-5 0.00000 0.00000
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 65 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Optimal Power Flow I
OPF Example
6 Bus Test Case
Let us now perform an OPF
routine calculation.
The example, in this case, is the
6 bus test case available in the
current PSAT distribution that
appear in the image.
The standard OPF results with
Active power limits appear in the
following tables, note that not all
the results from the routine are
presented due to space
restrictions.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 66 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Optimal Power Flow II
OPF Example
Table: Network statistics
Buses: 6.00000
Lines: 11.00000
Generators: 3.00000
Loads: 3.00000
Supplies: 3.00000
Demands: 3.00000
Table: Solution statistics
Objective function [$/h]: −121.64928
Active limits: 8.00000
Number of iterations: 13.00000
Barrier parameter: 0.00000
Variable mismatch: 0.00000
Power flow equation mismatch: 0.00000
Objective function mismatch: 0.00000
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 67 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Optimal Power Flow III
OPF Example
Table: Power supplies
Bus Mu min Ps min Ps Ps max Mu max
[mw] [mw] [mw]
Bus1 0.65773 0.00100 0.00100 20.00000 0.00000
Bus2 0.00000 0.00100 24.99999 25.00000 0.17662
Bus3 0.00000 0.00100 20.00000 20.00000 2.09680
Table: Power demands
Bus Mu min Pd min Pd Pd max Mu max
[mw] [mw] [mw]
Bus4 0.00000 0.00100 25.00000 25.00000 2.30396
Bus5 0.00000 0.00100 10.00000 10.00000 0.42491
Bus6 0.00000 0.00100 8.06936 20.00000 0.00000
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 68 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Optimal Power Flow IV
OPF Example
Table: Reactive powers
Bus Mu min Qg min Qg Qg max Mu max
[mvar] [mvar] [mvar]
Bus2 0.00000 −150.00000 76.20599 150.00000 0.00000
Bus1 0.00000 −150.00000 44.62333 150.00000 0.00000
Bus3 0.00000 −150.00000 72.08442 150.00000 0.00000
Table: Voltages
Bus Mu min V min V V max Mu max Phase
[p.u.] [p.u.] [p.u.] [rad]
Bus1 0.00000 0.90000 1.10000 1.10000 1.36003 0.01405
Bus2 0.00000 0.90000 1.10000 1.10000 0.69913 0.00000
Bus3 0.00000 0.90000 1.10000 1.10000 0.29865 −0.02463
Bus4 0.00000 0.90000 1.02114 1.10000 0.00000 −0.05066
Bus5 0.00000 0.90000 1.01295 1.10000 0.00000 −0.07318
Bus6 0.00000 0.90000 1.04035 1.10000 0.00000 −0.06760
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 69 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Optimal Power Flow V
OPF Example
Table: Power flow
Bus P Q Rho p Rho q Ncp Pay
[mw] [mvar] [$/mwh] [$/mvarh] [$/mwh] [$/h]
Bus1 90.00100 44.62332 9.02037 0.00000 −0.04872 −812.00000
Bus2 164.87536 76.20598 8.98048 0.00000 0.00000 −1481.00000
Bus3 80.00000 72.08440 9.14550 0.00000 0.07648 −732.00000
Bus4 −115.00000 −76.66499 9.56297 0.39306 0.20737 1100.00000
Bus5 −109.99999 −76.99999 9.65348 0.40762 0.29043 1062.00000
Bus6 −98.06933 −62.68975 9.42843 0.21472 0.23945 925.00000
Table: Totals
Total losses [mw]: 11.80700
Bid losses [mw] 11.80700
Total demand [mw]: 43.06936
Ttl [mw]: 323.06936
Imo pay [$/h]: 62.12194
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 70 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Small Signal Stability I
SSS Example
WSCC 9 Bus System
Now we will address a small signal stability example.
For this example we will simulate the WSCC 9 Bus
System presented in [22]
The Simulink network used to simulate the system is
presented in the image. This model is available in the
PSAT distribution.
The following figures, and the small signal stability
report depict the eigenvalue analysis for the WSCC
9-bus test system and have been generated with the
Eigenvalue Analysis interface. The results of the
detailed report are not presented here due to space
limitations.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 71 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Small Signal Stability II
SSS Example
Figure: S-domain Eigenvalue Analysis Figure: Z-domain Eigenvalue Analysis
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 72 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Small Signal Stability III
SSS Example
Table: State matrix eigenvalues (1)
Eigevalue Most associated states Real part Imag. part Frequency
Eig as 1 Omega_syn_2, delta_syn_2 0.33825 0.88207 0.14039
Eig as 2 Omega_syn_2, delta_syn_2 0.33825 −0.88207 0.14039
Eig as 3 Delta_syn_1, omega_syn_1 −0.04559 0.97483 0.15515
Eig as 4 Omega_syn_1, delta_syn_1 −0.04559 −0.97483 0.15515
Eig as 5 Vr1_exc_2, vf_exc_2 0.11928 0.51904 0.08261
Eig as 6 Vr1_exc_2, vf_exc_2 0.11928 −0.51904 0.08261
Eig as 7 Vr1_exc_3, vf_exc_3 0.10297 0.53025 0.08439
Eig as 8 Vr1_exc_3, vf_exc_3 0.10297 −0.53025 0.08439
Eig as 9 Vr1_exc_1, vf_exc_1 0.11253 0.52758 0.08397
Eig as 10 Vr1_exc_1, vf_exc_1 0.11253 −0.52758 0.08397
Eig as 11 E1d_syn_1 −0.21238 0.00000 0.00000
Eig as 12 E1d_syn_2 −0.40303 0.00000 0.00000
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 73 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Small Signal Stability IV
SSS Example
Table: State matrix eigenvalues (2)
Eigevalue Most associated states Real part Imag. part Frequency
Eig as 13 E1q_syn_3, vr2_exc_3 −0.85684 0.26655 0.04242
Eig as 14 E1q_syn_3, vr2_exc_3 −0.85684 −0.26655 0.04242
Eig as 15 E1q_syn_3, e1q_syn_1 −0.88164 0.16504 0.02627
Eig as 16 E1q_syn_3, e1q_syn_1 −0.88164 −0.16504 0.02627
Eig as 17 E1q_syn_2, vr2_exc_1 −0.89257 0.11161 0.01776
Eig as 18 E1q_syn_2, vr2_exc_1 −0.89257 −0.11161 0.01776
Eig as 19 Delta_syn_3 −1.00000 0.00000 0.00000
Eig as 20 Omega_syn_3 −1.00000 0.00000 0.00000
Eig as 21 Vm_exc_3 0.98413 0.00000 0.00000
Eig as 22 Vm_exc_3 0.98413 0.00000 0.00000
Eig as 23 Vm_exc_1 0.98413 0.00000 0.00000
Eig as 24 E1d_syn_3 −0.42529 0.00000 0.00000
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 74 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Small Signal Stability V
SSS Example
Table: Participation factors (euclidean norm) (1)
Delta_syn_1 Omega_syn_1 E1q_syn_1 E1d_syn_1 Delta_syn_2
Eig as 1 0.08515 0.08515 0.00541 0.00557 0.38073
Eig as 2 0.08515 0.08515 0.00541 0.00557 0.38073
Eig as 3 0.30863 0.30863 0.01439 0.00623 0.04895
Eig as 4 0.30863 0.30863 0.01439 0.00623 0.04895
Eig as 5 0.00099 0.00099 0.01352 0.00162 0.00037
Eig as 6 0.00099 0.00099 0.01352 0.00162 0.00037
Eig as 7 0.00012 0.00012 0.00222 0.00117 0.00035
Eig as 8 0.00012 0.00012 0.00222 0.00117 0.00035
Eig as 9 0.00004 0.00004 0.00170 0.00058 0.00133
Eig as 10 0.00004 0.00004 0.00170 0.00058 0.00133
Eig as 11 0.00756 0.00756 0.00728 0.48124 0.01199
Eig as 12 0.00105 0.00105 0.00090 0.44933 0.00518
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 75 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Small Signal Stability VI
SSS Example
Table: Participation factors (euclidean norm) (2)
Delta_syn_1 Omega_syn_1 E1q_syn_1 E1d_syn_1 Delta_syn_2
Eig as 13 0.00079 0.00079 0.16025 0.01101 0.00046
Eig as 14 0.00079 0.00079 0.16025 0.01101 0.00046
Eig as 15 0.00082 0.00082 0.18937 0.00949 0.00021
Eig as 16 0.00082 0.00082 0.18937 0.00949 0.00021
Eig as 17 0.00066 0.00066 0.13694 0.00901 0.00145
Eig as 18 0.00066 0.00066 0.13694 0.00901 0.00145
Eig as 19 0.09334 0.09334 0.00000 0.00000 0.04432
Eig as 20 0.09334 0.09334 0.00000 0.00000 0.04432
Eig as 21 0.00000 0.00000 0.00000 0.00000 0.00000
Eig as 22 0.00000 0.00000 0.00000 0.00000 0.00000
Eig as 23 0.00000 0.00000 0.00000 0.00000 0.00000
Eig as 24 0.00000 0.00000 0.00000 0.00000 0.00000
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 76 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Time Domain Simulations
Disturbance Example
WSCC 9 Bus System
In this example we will perform a time domain
simulation with PSAT.
For this example we will simulate the WSCC 9 Bus
System presented in [22]
The Simulink network used to simulate the system is
presented in the image. This model is available in the
PSAT distribution.
The system will be subject to a disturbance, in this case,
the speed of of one of the generators is changes to 0.95
p.u.; this is done after the power flow has been
calculated as following:
DAE.x(Syn.omega(2)) = 0.95
After this, the time domain simulation can be performed.
The results due to the perturbation are presented in the
next figure.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 77 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
Figure: Results of the time domain simulation.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 78 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
GAMS Interface I
Clearing Mechanisms - Electricity Markets Example
Simple Auction Example
Let us now consider the use of the PSAT-GRAMS
Interface (PGI)
In this example we will compute the results of a single
period simple auction.
The Simulink network used to simulate the system is
presented in the image. This model is available in the
PSAT distribution.
Once the network has been loaded and power flow has
been performed, one is able to run the PGI and set the
appropiate values for the maket model.
Afterwards, the market problem can be solved by GAMS
within PSAT.
The ouput file generated by the PGI, that shows the
results of solving the single period simple auction, is
presented in the next figures.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 78 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
GAMS Interface II
Clearing Mechanisms - Electricity Markets Example
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 79 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
UWPFLOW I
Continuation Power Flow Example
6 Bus Test System
In this final example we will perform CPF with the
UWPFLOW-PSAT Interace.
For this example we will simulate the some 6 Bus Test
System used in the OPF example.
The Simulink network used to simulate the system is
presented in the image. This model is available in the
PSAT distribution.
After computing the power flow, the UWPFLOW-PSAT
Interface can be initialized
After this, CPF can be performed. The results of the
CPF routine are presented in the next figure.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 80 / 94
The Power System Analysis Toolbox (PSAT) Case Studies
UWPFLOW II
Continuation Power Flow Example
Figure: Results of CPF using the UWPFLOW-PSAT Interface
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 81 / 94
The PSAT as an Educational and Research Tool PSAT in learning, education and research
PSAT as a learning & teaching tool
PSAT can be effectively be used in teaching. The GUIs and the
Simulink graphical network environment are user friendly and self
explaining, this will enable the students to focus in interpreting the
results rather than in learning to use a package or program their
own routines.
Learning can be enhaced through the use of What if? examples.
This is possible to do in PSAT because is easy to change the
network topology, physical component model parameters and/or
algorithms.
PSAT can also be widely used for self study. You can reproduce
the results given in your text books and in technical papers, thus,
enhancing your learning experience.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 82 / 94
The PSAT as an Educational and Research Tool PSAT in learning, education and research
PSAT as a research environment
PSAT is an excellent ally to do research. Since PSAT is open
source, it is possible to modify or/and add new component models
or routines.
Also, you can use the command line version of PSAT to build your
custom made code and solve particular problems, without relying
in the GUIs.
PSAT has been used and it’s been used by many people to do
their thesis and scientific research.
It’s a good idea that you consider to use PSAT as a research tool
to do your thesis or research; and maybe even share your custom
made code and results with the rest of the user’s of the PSAT
worldwide!!!
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 83 / 94
Summary Summary of the main subjects discussed in this talk
Summary I
An overview of PSAT was given in order to demostrate it’s main
features, available routines, models and additional tools.
A broad number of examples were presented in order to show the
capabilities of the PSAT and it’s interfaces.
The PSAT was presented as a learing, teaching, self study and
research tool; and you were encouraged to use PSAT as an
everyday tool.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 84 / 94
Summary Thanks!
Thank you for your attention! I
Are you ready to start using the the PSAT?
To download the PSAT...
Please, feel free to dowload
the latest verion of the PSAT
here:
http://thunderbox.uwaterloo.ca/ fmilano
Also, we would like to hear
from you in the PSAT Forum:
http://groups.yahoo.com/groups/psatforum
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 85 / 94
Summary References
References I
For further reading
The references have been divided in several categories:
References on the PSAT
References on Power System Operation, Control and Electricity
Markets
References on Power System Control and Stability
References on Power System Analysis
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 86 / 94
Appendix References
Power System Analysis Toolbox I
References
[1] F. Milano, F. Milano Website. http://thunderbox.uwaterloo.ca/ fmilano
[2] F. Milano, Power System Analysis Toolbox version 1.3.4.
Documentation. http://thunderbox.uwaterloo.ca/ fmilano
[3] F. Milano, PSAT Version 1.3.4. http://thunderbox.uwaterloo.ca/ fmilano
[4] F. Milano, "An Open Source Power System Analysis Toolbox", IEEE
Transactions on Power Systems, vol. 20, no. 3, August 2005.
[5] F. Milano, "A Graphical and Open Source Matlab-GAMS interface for
Electricity Market Models", Noveno Congreso Hispano-Luso de
Ingeniería Eléctrica, 29 June - 2 July, Marbella, Spain.
[6] F. Milano, PSAT Forum. http://groups.yahoo.com/groups/psatforum
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 87 / 94
Appendix References
Power System Analysis Toolbox II
References
[7] M. C. Ferris, "Matlab and GAMS: Interfacing Optimization and
Visualization Software", Computer Sciences Department, University of
Winsconsin-Madison, Aug. 1999.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 88 / 94
Appendix References
Power System Operation, Control and Electricity
Markets I
References
[8] Narayan S. Rau, Optimization Principles: Practical Applications to the
Operation and Markets of the Electric Power Industry. USA: IEEE
Press - Wiley Interscience, 2003.
[9] James A. Momoh, Electric Power System Applications of Optimization.
New York: Marcel Dekker, 2001.
[10] Allen Wood and Bruce Wollenberg, Power generation operation and
control. USA: John Wiley & Sons, 1996.
[11] M. Shahidehpour, Mantenance Scheduling in Restructured Power
Systems. Mssachusets: Kluwer Academic Publishers, 2000.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 89 / 94
Appendix References
Power System Operation, Control and Electricity
Markets II
References
[12] K. Xie, H.-H. Song, J. stonham, Erkeng Yu, and Guangyi Liu,
"Decomposition Model and Interior Point Methods for Optimal Spot
Pricing of Electricity in Deregulation Enviorments", IEEE Transactions
on Power Systems, vol. 15, no. 1, pp. 39-50, Feb. 2000.
[13] F. Milano, C. A. Cañizares, and M. Invernizzi, "Multiobjective
Optimization for Pricing Sytem security in Electricity Markets", IEEE
Transactions on Power Systems, vol. 18, no. 2, pp. 596-604, May 2003.
[14] Reliability Test System Task Force of the Application of Probability
Methods Subcommitee, "The IEEE Reliability Test System - 1996",
IEEE Transactions on Power Systems, vol. 18, no. 1, pp. 42-47, Feb.
2003.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 90 / 94
Appendix References
Power System Control and Stability I
References
[15] Jan Machowski et. al., Power system dynamics and stability. West
Sussex: John Wiley & Sons, 1998.
[16] Peter Sauer and M.A. Pai, Power system dynamics and stability. USA:
Prentice Hall, 1998.
[17] M.A. Pai, Power system stability: analysis by the direct method of
lyapunov. USA: North-Holland Publishing Company, 1981.
[18] Thierry Van Cutsem and Costas Vournas, Voltage stability of electric
power systems. London: Kluwer International, 1998.
[19] Graham Rogers, Power system oscillations. USA: Kluwer Academic
Publishers, 1999.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 91 / 94
Appendix References
Power System Control and Stability II
References
[20] E. Gómez et. al., Análisis y operación de sistemas de energía
eléctrica. Madrid: McGraw-Hill, 2002.
[21] P. Kundur, Power system stability and control. USA: McGraw-Hill,
1994.
[22] P.M. Anderson and A.A. Fouad, Power system control and stability.
USA: IEEE Press, 2003.
[23] G. K. Morison, B. Gao, and P. Kundur, "Voltage Stability Analysis
using Static and Dynamic Approaches", IEEE Transactions on Power
Systems, vol. 8, no. 3, pp. 1159-1171, Aug. 1993.
[24] C. A. Cañizares (Editor), "Voltage Stability Assessment: Concepts,
Practices and Tools", IEEE/PES Power System Stability
Subcommitteee, Final Document, Tech. Rep., Aug. 2002.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 92 / 94
Appendix References
Power System Analysis I
References
[25] R. A. M. van Amerogen, "A General-Purpose Version of the Fast
Decoupled Loadflow", IEEE Transactions on Power Systems, vol. 4,
no. 2, pp. 760-770, May. 1989.
[26] W. R. Barcelo and W. W. Lemmon, "Standardized Sensitivity
Coefficients for Power System Networks", IEEE Transactions on Power
Systems, vol. 3, no. 4, pp. 1591-1599, Nov. 1988.
[27] J. Grainger and W. D. Stevenson Jr, Power System Analysis. USA:
McGraw-Hill, 1994.
[28] A. Bergen and Vijay Vittal, Power system analysis. USA: Prentice
Hall, 2000.
[29] I.J. Nagrath and D.P. Kothari, Modern power system analysis. India:
Tata McGraw-Hill, 2003.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 93 / 94
Appendix References
Power System Analysis II
References
[30] H. Saadat, Power system analysis. USA: McGraw-Hill Higher
Education, 2002.
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 94 / 94

Outline I
1

Motivation Acknowledgment Main goals of this presentation Note The Power System Analysis Toolbox (PSAT) PSAT Basics Available Models and Routines in the PSAT
Power System Model Power Flow Bifurcation Analysis Optimal Power Flow Small Signal Stability Time Domain Simulations

2

Case Studies
PSAT Routines GAMS and UWPFLOW Interfaces
3

The PSAT as an Educational and Research Tool
Introduction to PSAT

Luigi Vanfretti, vanfrl@rpi.edu (RPI)

Fall 2006

2 / 94

Outline II
PSAT in learning, education and research Summary of the main subjects discussed in this talk Thanks! References

Luigi Vanfretti, vanfrl@rpi.edu (RPI)

Introduction to PSAT

Fall 2006

3 / 94

5].4 [3] and in [4. the PSAT Version 1. many thanks! This talk is mostly based on the course Power System Analysis in an Electricity Markets Environment lectured by Dr. Spain. the PSAT Documentation [2].edu (RPI) Introduction to PSAT Fall 2006 4 / 94 . vanfrl@rpi. Federico Milano [1] of the University of Castilla-La Mancha.3.Motivation Acknowledgment Acknowledgment Many. Luigi Vanfretti.

edu (RPI) Introduction to PSAT Fall 2006 5 / 94 .Motivation Main goals of this presentation Main Goals of this presentation PSAT in your everyday life: an Educational and Research Tool To give a broad view of the PSAT and it’s capabilities To demonstrate the use of some of the routines and models which are currently in the PSAT To show the capabilities of the PSAT through examples To present the use of the PSAT as a tool suitable of education and research To encourage YOU to use the PSAT as an everyday tool! Luigi Vanfretti. vanfrl@rpi.

there might be differences with the latest distribution.Motivation Note Note This presentation was elaborated using previous PSAT (Power System Analysis Toolbox) versions (older than 2. complaints will be sent to /dev/null Luigi Vanfretti. ..edu (RPI) Introduction to PSAT Fall 2006 6 / 94 ..0. vanfrl@rpi. therefore.. Even thought most of the contents of this presentation still apply for version 2.0).

4 Power Analysis Toolbox Luigi Vanfretti. vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 7 / 94 .The Power System Analysis Toolbox (PSAT) PSAT 1.3.

thus.edu (RPI) Introduction to PSAT Fall 2006 8 / 94 . Being PSAT and open code software it is suitable for research since it allows to modify the existing models/routines and/or to include new models/routines. The GUIs and Simulink library make it easy to use. besides being free! Luigi Vanfretti.The Power System Analysis Toolbox (PSAT) PSAT Basics What is the PSAT? I Power system analysis and control at your fingertips! PSAT is an open code Matlab based toolbox for electric power system analysis and control. vanfrl@rpi. PSAT can handle a wide variety of Power Systems: from small scale educational networks to medium size realistic power systems. PSAT is also GNU Octave compatible in it’s command line version. it’s adequate for educational purposes such as teaching and self study.

this gives an optimal performance.The Power System Analysis Toolbox (PSAT) PSAT Basics What is the PSAT? II Power system analysis and control at your fingertips! PSAT makes a full use of Matlab vectorized computations and sparse matrix functions.edu (RPI) Introduction to PSAT Fall 2006 9 / 94 . vanfrl@rpi. Luigi Vanfretti.

this routine is needed to initialize the dynamic models for: 1 2 3 4 CPF (Continuation Power Flow) OPF (Optimal Power Flow) SSS (Small Signal Stability) TDA (Time Domain Simulations) Luigi Vanfretti. vanfrl@rpi.The Power System Analysis Toolbox (PSAT) PSAT Basics Structure of the PSAT Scheme of the PSAT Synoptic scheme The figure presents the synoptic scheme of the PSAT.edu (RPI) Introduction to PSAT Fall 2006 10 / 94 . It can be observed that the Power Flow algorithm is used as the PSAT kernel. thus.

e. Continuation Power Flow) Optimal Power Flow SSS (Small Signal Stability Analysis) Time Domain Simulations Phasor measurement unit (PMU) Placement Luigi Vanfretti. such as: Power Flow Bifurcation Analysis (i.edu (RPI) Introduction to PSAT Fall 2006 11 / 94 . vanfrl@rpi.The Power System Analysis Toolbox (PSAT) PSAT Basics PSAT Features Available Routines in the PSAT PSAT has a wide number of available routines.

edu (RPI) Introduction to PSAT Fall 2006 12 / 94 . TCSCs.The Power System Analysis Toolbox (PSAT) PSAT Basics PSAT Features Available Models in the PSAT PSAT also has a broad number of static and dynamic models in order to perform thorough power system analysis: Power Flow Data Market Data Switches Measurements Loads Machines Controls Regulating Transformers FACTS: SVCs. vanfrl@rpi. SSSCs. UPFCs Wind Turbines Other Models Luigi Vanfretti.

The Power System Analysis Toolbox (PSAT) PSAT Basics PSAT Features PSAT’s Additional Tools Tools: In addition to the mathematical algorithms and models available.edu (RPI) Introduction to PSAT Fall 2006 13 / 94 . the PSAT also provides a variety of tools: 1 2 3 4 5 User friendly graphical user interfaces A Simulink library useful to built one-line network diagrams Data file conversion to and from other formats User defined model editor and installer Command line version Available Tools in Matlab and GNU/Octave Function Continuation power flow Optimal power flow Small signal stability analysis Time domain simulation GUIs and Simulink library Data format conversion User defined models Command line usage Matlab yes yes yes yes yes yes yes yes GNU/Octave yes yes yes yes no yes no yes Due to the current limitation of GNU/Octave not all the tools are available for use in this platform. Luigi Vanfretti. vanfrl@rpi.

PSAT does not rely in this GUIs and uses global variables to store the setting parameters of the routines and data for the models. vanfrl@rpi. This GUI provides easy access to all the tools of the PSAT.edu (RPI) Introduction to PSAT Fall 2006 14 / 94 . such as: No. of iterations of the NR methods. allowing the PSAT to run in the command line version. Moreover. Thus. etc. By typing the above command all the required structures required by the toolbox are created. This GUI provides also the possibility of assigning the main settings. Luigi Vanfretti.The Power System Analysis Toolbox (PSAT) PSAT Basics PSAT Features Main GUI Main GUI Features Once the PSAT is launched by typing » psat in the Matlab Command Window the Main GUI will be launched. system base values.

The Power System Analysis Toolbox (PSAT) PSAT Basics PSAT Features Data Format Conversion (DFC) Features DFC Features Both the DFC tool and the UDMs tool are aimed to promote contributions from the users. the PSAT can convert the data files of many programs. CYME. MatPower. vanfrl@rpi. PowerWorld. Luigi Vanfretti.edu (RPI) Introduction to PSAT Fall 2006 15 / 94 . PSAP. Currently. EPRI WECC. INPTC1 (Enel). PST. to enhance research capabilities and to ensure portability. Simpow. VST. Tsinghua University. EPRI BPA. such as: IEEE CDF. Eurostag. SPP/E. PET and GE. The DFC functions are handled by means of a user friendly GUI (Matlab only) The DFC functions allow data file conversion from commonly used power system analysis commercial and research/educational formats to the PSAT and IEEE CDF formats. Neplan. DigSilent.

thus.edu (RPI) Introduction to PSAT Fall 2006 16 / 94 . The UDM also has a Model Uninstaller. The UDM is only available in Matlab platforms since it makes use of the Symbolic Math Toolbox of Matlab. This tool is at an early stage. to enhance research capabilities and to ensure portability. PSAT then automatically compiles the equations. vanfrl@rpi. but it’s conception ensures remarkable future capabilities. Luigi Vanfretti. when the model is not longer needed it can be safely uninstalled. computes the symbolic expression of the Jacobian matrices and writes a Matlab function file for the new component. The user can save the model definition and/or install the model in PSAT. The main aim of the UDM tool is to extend the capabilities of PSAT and assist end users with little programming capabilities to build and set up their own models. The first step is to introduce the variables and the system of Differential-Algebraic-Equations that describe the new model in the GUI of the UDM.The Power System Analysis Toolbox (PSAT) PSAT Basics PSAT Features I UDM (User Defined Models) GUI User Defined Models (UDM) Features Both the DFC tool and the UDMs tool are aimed to promote contributions from the users.

vanfrl@rpi.The Power System Analysis Toolbox (PSAT) PSAT Basics PSAT Features II UDM (User Defined Models) GUI Luigi Vanfretti.edu (RPI) Introduction to PSAT Fall 2006 17 / 94 .

faults & breakers. Thus.The Power System Analysis Toolbox (PSAT) PSAT Basics PSAT Features Simulink Library Simulink Library Features PSAT provides a Simulink graphical model library that enables the user to draw one-line network diagrams using pictorial blocks. An advantage of this approach is that the PSAT can run on GNU/Octave. and sub-transmission equivalent areas respectively. other models. The PSAT is Matlab based and the Simulink environment is used only as a graphical tool. measurements. machines. controls. FACTS. OPF & CPF data. Luigi Vanfretti. vanfrl@rpi. Simulink network models built with the PCM library are read by PSAT to exploit the network topology and extract component data. The PMC (Physical Model Component) library of PSAT provides a complete set of Simulink blocks for network design. since no Simulink dynamic model is associated with PSAT blocks. which doesn’t provide a Simulink environment.power flow data. loads. running time domain simulations from the Simulink model menus produces no effect. wind turbines.edu (RPI) Introduction to PSAT Fall 2006 18 / 94 . which are grouped as follows: connections. regulating transformers.

The Power System Analysis Toolbox (PSAT) PSAT Basics PSAT Features Simulink Library Displaying Results in Simulink Models After solving the power flow. This is done through a user friendly GUI. This GUI also allows to export the Simulink models to EPS (Encapsulated Post Script) files. vanfrl@rpi. Luigi Vanfretti. there are many ways in which the results can be visualized. and the power flow values within the Simulink model of the system. The PCM allows to display results such as the bus voltage magnitude and angle.edu (RPI) Introduction to PSAT Fall 2006 19 / 94 .

which currently does not provide a Simulink-like environment. this allows the user to custom made routines that not rely on the PSAT GUI’s.edu (RPI) Introduction to PSAT Fall 2006 20 / 94 . vanfrl@rpi. Luigi Vanfretti. This feature allows using PSAT in the following conditions: If is not possible or slow to visualize the graphic environment When the user needs to write scripts that include the use of PSAT routines within custom made programs When running PSAT on GNU/Octave. making it flexible and adequate for research.The Power System Analysis Toolbox (PSAT) PSAT Basics PSAT Features Command Line Usage The command line version of PSAT is an adequate option when using the available routines (such as power flow) inside user defined routines. Thus.

edu (RPI) Introduction to PSAT Fall 2006 21 / 94 . vanfrl@rpi. Luigi Vanfretti. Also.The Power System Analysis Toolbox (PSAT) PSAT Basics PSAT Features Interface with GAMS PGI (PSAT-GAMS Interface) PSAT provides a graphical interface with GAMS (Generalized Algebra Modeling System) with the following purposes: To set up large scale power system test cases To solve OPF problems To visualize results by means of a user friendly GUI. the PGI has several improvements in comparison with the interface presented in [7]: The PGI is platform independent The PGI has a user friendly GUI The PGI does not require the user to have knowledge of Matlab or GAMS programming.

edu (RPI) Introduction to PSAT Fall 2006 22 / 94 .The Power System Analysis Toolbox (PSAT) PSAT Basics PSAT Features Interface with GAMS PSAT-GAMS Interface Gui In order to make friendly the use of the interface between the PSAT and GAMS a GUI is used to perform the following tasks: Select the market clearing model Set the market model parameters Display the results from GAMS Luigi Vanfretti. vanfrl@rpi.

The Power System Analysis Toolbox (PSAT) PSAT Basics PSAT Features Interface with GAMS Details of the use of the PGI: The first step is producing the data that describes the power system. this can be done by creating an on-line diagram with the Simulink library. Luigi Vanfretti. the power flow routine must be runt in order to store all the initial values and useful results. vanfrl@rpi. the PSAT-GAMS interface can be opened to run the GAMS solver. Next. writing a data file with the appropiate data format or loading a predefined model from the PSAT test cases. After running the power flow.edu (RPI) Introduction to PSAT Fall 2006 23 / 94 .

Luigi Vanfretti.gms.edu (RPI) Introduction to PSAT Fall 2006 24 / 94 . The user settings as market clearing model. GAMS is launched and the market clearing mechanism is solved.gms used for solving the market procedures was designed to be general and without any limits except those derived from the GAMS solver and the computer memory. The routine fmg ams.The Power System Analysis Toolbox (PSAT) PSAT Basics PSAT Features Interface with GAMS Internal functioning of the PGI: The system information is translated to a GAMS file named: psatdata. and global variables as the number of bus are written to the file psatglobs.gms.m which is sent to Matlab in order to visualize the results and to perform further analysis with PSAT routines or custom user code. vanfrl@rpi. Once this data files have been written. The output of the results from GAMS are stored in the file psatsol.

The Power System Analysis Toolbox (PSAT) PSAT Basics PSAT Features Interface with GAMS Market Clearing Mechanisms Models Currently. vanfrl@rpi. the PGI provides five optimization problems: Simple Auction Simplified market clearing mechanism Standard Optimal Power Flow (OPF) Voltage Stability Constrained Optimal Power Flow (VSC-OPF) Maximization of the maximum loading condition Luigi Vanfretti.edu (RPI) Introduction to PSAT Fall 2006 25 / 94 .

The Power System Analysis Toolbox (PSAT)

PSAT Basics

PSAT Features
Interface with UWPFLOW

UWPFLOW Interface Features)
UWPFLOW is a "commercial-grade" continuation power flow program, that can be used to research static voltage stability phenomena in detailed AC-HVDC-FACTS power system models. As PSAT, is open code and of free distribution, it can downloaded from: http : //thunderbox.uwaterloo.ca/ UWPFLOW consists of a set of C functions and libraries designed for voltage stability analysis of power systems, including voltage dependent loads, HVDC, FACTS and secondary voltage control. The UWPFLOW can be installed in Linux, Unix and Windows platforms; the installation in Windows is not straight forward, nevertheless, help is provided in the documentation and PSAT Forum. The UWPFLOW-PSAT Interface comes with an GUI. This GUI allows the user to set the desired settings and then run the UWPFLOW routines. This GUI also can be used to generate the command line used by UWPFLOW.

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The Power System Analysis Toolbox (PSAT)

PSAT Basics

PSAT Forum
Get Help and Report Bugs

Features of the PSAT Forum
Currently, there is a PSAT Forum at: http : //groups.yahoo.com/groups/psatforum This Forum is used also as a mail list and data repository. The member list of the Forum keeps growing, currently there are 540 members. You can use this Forum to report bus, ask questions related to the PSAT; to download the latest PSAT distribution, data files, and to make your own contributions!

Figure: August 16, 2005
Luigi Vanfretti, vanfrl@rpi.edu (RPI) Introduction to PSAT

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The Power System Analysis Toolbox (PSAT)

Available Models and Routines in the PSAT

PSAT Models & Routines
PSAT Routines

As pointed out earlier, the PSAT has the following available routines: Power Flow Bifurcation Analysis (Continuation Power Flow) Optimal Power Flow SSS (Small Signal Stability Analysis) Time Domain Simulations Phasor measurement unit (PMU) Placement

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SSSCs. UPFCs Wind Turbines Luigi Vanfretti.edu (RPI) Introduction to PSAT Fall 2006 29 / 94 .The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines Static and Dynamic Models Available in the PSAT As pointed out earlier. vanfrl@rpi. TCSCs. the PSAT has the following static and dynamic models in order to do thorough power system analysis: Power Flow Data Market Data Switches Measurements Loads Machines Controls Regulating Transformers FACTS: SVCs.

vanfrl@rpi. and sub-transmission area equivalents Each of the models mentioned have an explications in the PSAT Documentation [2]. sub-synchronous resonance model.edu (RPI) Introduction to PSAT Fall 2006 30 / 94 . since the aim of this talk to give a broad view of the PSAT. Luigi Vanfretti.The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines Static and Dynamic Models Available in the PSAT Other Models: synchronous machine dynamic shaft. these models will not be discussed in detail. solid oxide fuel cell.

PSAT makes use of (1) in all the algorithms (routines) mentioned earlier. and g are algebraic equations.The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines I Power System Model The power system model is formed by a system of Differential Algebraic Equations (DAE): ˙ x = f (x. y . p) (1) where x are state variables. y .edu (RPI) gp gq = gpm gqm − c∈Cm gpc gqc ∀m ∈ M Fall 2006 (2) 31 / 94 Introduction to PSAT . f are differential equations. y . vanfrl@rpi. p are the independent variables. p) 0 = g (x. p) = Luigi Vanfretti. The algebraic equations g are obtained from the sum of all the active and reactive power injections in each bus: g (x. y are the algebraic variables.

M is T T the set of network buses. Cm and gpc gqc are the set and the power injections of the power system components connected at bus m. T Luigi Vanfretti.The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines II Power System Model where gp m and gq m are the power flows in the transmission lines. respectively. vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 32 / 94 .

edu (RPI) Introduction to PSAT Fall 2006 33 / 94 . yc . yc . pc ) (3) where xc are the component state variables. pc ) Qc = gqc (xc . vanfrl@rpi. pc ) Pc = gpc (xc . Luigi Vanfretti.The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines III Power System Model One of the most important characteristics of PSAT is that is component-oriented. yc the algebraic variables such as the voltage V and the angle θ at the buses where the element is connected. and pc are independent variables. this means that any component is defined independently of the rest of the program as a set of nonlinear differential-algebraic equations: ˙ xc = fc (xc . the differential equations f of (1) are built concatenating fc of each of the components of the Power System. yc . Afterwards.

vanfrl@rpi. Luigi Vanfretti. parameters and the interconnection & grid topology.The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines IV Power System Model The equations presented in (3) simultaneously with the Jacobian matrices are defined in a function which is used for static and dynamic analysis by means of a structure. which contains data.edu (RPI) Introduction to PSAT Fall 2006 34 / 94 .

we can consider a very simple AVR that can be modeled and simulated by the AVR Type III model provided by PSAT.edu (RPI) Introduction to PSAT Fall 2006 35 / 94 . The PSAT has three types of models for different kinds of AVRs. Luigi Vanfretti. vanfrl@rpi.The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines V Power System Model As an example of the above mentioned. let us consider the mathematical model of an AVR. for this example.

con that defines the AVRs inside the PSAT. the other presents all the fields of the structure Exc. Luigi Vanfretti. The first presents the parameters for the AVR Type III.The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines VI Power System Model The differential Algebraic Equations of the model are the following [2]: (V −vm ) ˙ vm = Tr ˙ vr ˙ vf = = µ0 1− T1 (vref −vm )−vr 2 T T2 T vr +µ0 T1 (vref −vm )+vf 0 2 T2 (4) V −vf V0 The next slide presents two tables. vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 36 / 94 .

10 vf : indexes of state variable vf . p.u. vrif : reference voltage vref .edu (RPI) Introduction to PSAT Fall 2006 37 / 94 .u. p.The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines VII Power System Model Exciter Type III Data Format (Exc. vm : indexes of state variable vm . s Fields of the Exc. vr2 : indexes of state variable vr2 . vr3 : indexes of state variable vr3 . vanfrl@rpi.u. syn : generator numbers.con) Column 1 2 3 4 5 6 7 8 9 10 11 Variable 3 vfmax vf min µ0 T2 T1 vf 0 V0 Tr Description Generator number Exciter type Maximum field voltage Minimum field voltage Regulator gain Regulator pole Regulator zero Field voltage offset Bus voltage offset not used Measurement time constant Unit internal internal p. vrif0 : reference voltage vref initial value. 0 vr1 : indexes of state variable vr1 . Luigi Vanfretti. n : total number of AVRs. s s p.u.con structure 1 2 3 4 5 6 7 8 9 con : data chart of the Exc components.

The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines I Power Flow PSAT provides several options to solve power flow. The distributed slack bus model power flow is a feature which it’s only available in PSAT among other Matlab based power system programs. in which PSAT bases the models and routines.edu (RPI) Introduction to PSAT Fall 2006 38 / 94 . 26]. are presented in [16. vanfrl@rpi. namely: Newton-Raphson method Fast Decoupled Power Flow (XB and BX) Power Flow with a distributed slack bus model The theory of these methods. 25. Luigi Vanfretti.

this is due to the fact that the user does not know the input parameters of it’s dynamic model.The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines II Power Flow The power flow problem is formulated as (1) with zero first time ˙ derivatives x: 0 = f (x. some dynamic components as synchronous machines are initialized after the power flow analysis. p) 0 = g (x. p) (5) Differential equations are included in 5. Luigi Vanfretti. y . y .edu (RPI) Introduction to PSAT Fall 2006 39 / 94 . Other models. can be included in the power flow as one typically knows the input parameters of the dynamic model. such as load tap changers. vanfrl@rpi.

kG is scalar variable which distributes power losses among all 0 generators and γ are the participation factors of the generators to the total losses.The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines III Power Flow The distributed slack bus model is based in the concept of generalized power centers and consists in distributing losses among all generators. The loss distribution among the generators is obtained by rewriting the active powers PG of the slack bus and PV generator as following: PG = (1 + kG γ) PG 0 (6) where PG are the desired generator active powers. kG is balanced by the phase reference equation.edu (RPI) Introduction to PSAT Fall 2006 40 / 94 . vanfrl@rpi. If (6) can be written for all the generators. the theory behind this method is presented in [26]. kG is an unknown insofar as losses are unknown. Luigi Vanfretti.

edu (RPI) Introduction to PSAT Fall 2006 41 / 94 . Luigi Vanfretti.Continuation Power Flow (CPF) The PSAT includes a CPF function which is a novelty among the Matlab-based packages for power system analysis. The CPF algorithm consists in a predictor step which computes a normalized tangent vector and a corrector step that can be obtained either by means of a local parametrization or a perpendicular intersection. The theory behind the method is presented in [24] The images below present the method to obtain the predictor by means of a tangent and by means of local parametrization. vanfrl@rpi.The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines I Bifurcation Analysis .

Continuation Power Flow (CPF) The CPF problem is defined based on 1: 0 = f (x. this option will not be discussed here. PG0 . λ) 0 = g (x. QL0 The PSAT also provides Direct Methods (DM) for computing Saddle-Node Bifurcation (SNB) points and Limit-Induced Bifurcation (LIB) points.edu (RPI) Introduction to PSAT 42 / 94 . Fall 2006 (8) Luigi Vanfretti. which is used to vary the base case generation and load powers. vanfrl@rpi. y . λ) (7) Where λ is the loading parameter. PL0 and QL0 respectively: PG = (λ + γkG ) PG0 [PL . QL ] = λ PL0 .The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines II Bifurcation Analysis . y .

PSAT uses the Interior Point Method (IPM) with a Mehrotra’s predictor-corrector method to solve the OPF problem.edu (RPI) Introduction to PSAT Fall 2006 43 / 94 .The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines I Optimal Power Flow (OPF) The Optimal Power Flow (OPF) is defined as a nonlinear constrained optimization problem. PSAT is the only Matlab-based program that provides an IPM algorithm to solve OPF based market clearing mechanisms. PSAT also provides several objective functions: the maximization of the social benefit the maximization of the distance to the maximum loading condition A multi-objective approach Luigi Vanfretti. vanfrl@rpi.

The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines II Optimal Power Flow (OPF) Here it will only be discussed the "standard" OPF which uses the maximization of the social as objective function. vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 44 / 94 . Nevertheless. it should be noted that it the VSC (Voltage Stability Constrained) OPF that maximizes the distance to the maximum loading condition and the multi-objective approach are also available to perform analysis in the psat Luigi Vanfretti.

The Power System Analysis Toolbox (PSAT)

Available Models and Routines in the PSAT

PSAT Models & Routines III
Optimal Power Flow (OPF)

Standard OPF Model The standard OPF commonly has the goal of maximizing the social benefit. The modes is represented in PSAT as follows: Minimize(y ,p) F (p) Subject to g (y , p) = 0 hmin ≤ h (y ) ≤ hmax pmin ≤ p ≤ pmax

(9)

where g and y are defined as in 1, the control variables p are the power demand and supply bids PD and PS , while F and h are the inequality constraints, respectively.

Luigi Vanfretti, vanfrl@rpi.edu (RPI)

Introduction to PSAT

Fall 2006

45 / 94

The Power System Analysis Toolbox (PSAT)

Available Models and Routines in the PSAT

PSAT Models & Routines IV
Optimal Power Flow (OPF)

The goal is to maximize the social benefit, thus, the objective function F is defined as: F =−
i

CDi PDi −
i

CSi PSi

(10)

where CS and CD are quadratic functions of supply and demand bids, respectively.

Luigi Vanfretti, vanfrl@rpi.edu (RPI)

Introduction to PSAT

Fall 2006

46 / 94

The Power System Analysis Toolbox (PSAT)

Available Models and Routines in the PSAT

PSAT Models & Routines V
Optimal Power Flow (OPF)

The physical and security limits h included in PSAT are similar to what is used in [12], and take into account the following limits:
Transmission line thermal limits Transmission line power flow limits Transmission line power flow limits Voltage security limits

Luigi Vanfretti, vanfrl@rpi.edu (RPI)

Introduction to PSAT

Fall 2006

47 / 94

once the power flow has been performed. it has the option to perform both dynamic analysis and QV sensitivity analysis. vanfrl@rpi. for the QV sensitivity analysis they are computed from the Jacobian matrix A remarkable feature of this options is that the eigenvalues are computed using analytical Jacobian matrices. Dynamic Analysis Luigi Vanfretti. PSAT is able to compute and plot the eigenvalues and the participation factors of the system. The eigenvalues are computed in the dynamic analysis from the state matrix of the dynamic system. it will only be discussed the Dynamic Analysis.The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines I Small Signal Stability (SSS) PSAT is also capable of performing SSS analysis. ensuring high precision results. but it should be noted that the routine to perform QV sensitivity analysis is also available.edu (RPI) Introduction to PSAT Fall 2006 48 / 94 . Here.

edu (RPI) Introduction to PSAT Fall 2006 49 / 94 .The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines II Small Signal Stability (SSS) The Jacobian matrix AC of a dynamic system is defined by linearizing 5 around an operation point: ˙ ∆x 0 where Fx = xf. = Fx Gx Fy JLFV yf. y. (11) Fy = Gx = and JLFV = Then the state matrix AS is obtained by eliminating implicitly assuming that JLFV is non-singular: −1 AS = Fx − Fy JLFV Gx and (12) Luigi Vanfretti. vanfrl@rpi. ∆x ∆y xg = [AC ] ∆x ∆y y g.

etc.The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines III Small Signal Stability (SSS) The computation of all eigenvalues can be a lengthy process if the dynamic order of the system is high. as proposed in [16] Luigi Vanfretti.) PSAT also computes the participation factors using right and left eigenvector matrices. vanfrl@rpi.e. larges or smallest magnitude. Thus. PSAT is able to compute a reduced number of eigenvalues based on sparse matrix properties and eigenvalue relative values (i.edu (RPI) Introduction to PSAT Fall 2006 50 / 94 .

edu (RPI) Introduction to PSAT Fall 2006 51 / 94 . For this it uses two different integration methods (Trapezoidal rule and backward Euler) to solve 1 together using the SI (Simultaneous-implicit) method. this is also an option only available in PSAT among other Matlab-based packages for power system analysis.The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines I Time Domain Simulations PSAT also provides the option to perform time domain simulations. The SI method is more stable than the partitioned-explicit method which solves the differential equations and the algebraic equations separately as presented in [16]. vanfrl@rpi. This embedded functions are useful to simulate common perturbations for transient analysis such as faults and breaker operations. PSAT is able to introduce common disturbances by means of embedded functions. Luigi Vanfretti.

this functions can modify and include any global structure of the system. Luigi Vanfretti. Any other disturbance can be defined through a custom made perturbation function.edu (RPI) Introduction to PSAT Fall 2006 52 / 94 . vanfrl@rpi.The Power System Analysis Toolbox (PSAT) Available Models and Routines in the PSAT PSAT Models & Routines II Time Domain Simulations Step perturbations can be obtained by changing parameter or variable values after completing the power flow.

a simple example on the use of each of this interfaces is given.The Power System Analysis Toolbox (PSAT) Case Studies Case Studies An overview of the capabilities of PSAT through examples! In this section an overview of the available routines of PSAT is presented through examples based in small scale power systems. The routines discussed here are the following: Power Flow Bifurcation Analysis OPF SSS Time Domain Simulations Moreover. Luigi Vanfretti. due to the fact that the available interfaces with GAMS and UWPFLOW expand the capabilities of PSAT to solve Optimal Power Flow and Continuation Power Flow problems.edu (RPI) Introduction to PSAT Fall 2006 53 / 94 . vanfrl@rpi.

The Power System Analysis Toolbox (PSAT) Case Studies Power Flow I Power Flow Example 4 bus system Let us now solve a power flow example from [27]. The images present the one-line diagram of the system and data from [27] The power system consists of four buses with PV and PQ generators. vanfrl@rpi. Luigi Vanfretti.edu (RPI) Introduction to PSAT Fall 2006 54 / 94 .

the results can be visualized in different ways. vanfrl@rpi.The Power System Analysis Toolbox (PSAT) Case Studies Power Flow II Power Flow Example Building the system in PSAT The Simulink model library can be used to reproduce the same one-line diagram from [27]. Luigi Vanfretti. The images shows the resulting diagram created with the Simulink library. After loading the case and running the power flow routine.edu (RPI) Introduction to PSAT Fall 2006 55 / 94 .

as depicted in the image below. vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 56 / 94 . Luigi Vanfretti.The Power System Analysis Toolbox (PSAT) Case Studies Power Flow III Power Flow Example The results can be viewed with the Static Report GUI.

edu (RPI) Introduction to PSAT Fall 2006 57 / 94 . Luigi Vanfretti.The Power System Analysis Toolbox (PSAT) Case Studies Power Flow IV Power Flow Example The Static Report GUI also allows to view the results in a graphical manner by plotting the results of each field in individual graphics as depicted in the image below. vanfrl@rpi.

01704 −0.60000 225.95685 222.87705 Phase [rad] 0.00000 Q load [mvar] 30.00000 170.00000 Table: Power flow results Bus Abedul Arce Olmo Pino V [kv] 230.00000 0.53962 181.00000 0.00000 0. Excel or plain ASCII files.94000 Luigi Vanfretti.38862 0.58000 105.00000 200. show the power flow solution for the system. Table: Network statistics Buses: Lines: Generators: Loads: 4.00000 0.00000 2.00000 0.00000 0.35000 123.The Power System Analysis Toolbox (PSAT) Case Studies Power Flow V Power Flow Example The PSAT can also produce a detailed report and export it to A LTEX.00000 Table: Solution statistics Number of iterations: Maximum p mismatch [mw] Maximum q mismatch [mvar] 3.03269 P gen [mw] 186.80318 318.99000 49.02657 −0.00000 80.00000 P load [mw] 50.00000 234.edu (RPI) Introduction to PSAT Fall 2006 58 / 94 .00000 Q gen [mvar] 114. The following tables. exported to A a LTEXfile.00000 4. vanfrl@rpi.00000 4.

80512 Luigi Vanfretti.02607 1.29678 −60.44370 −2.00000 4.11564 P loss [mw] 0.52664 Q flow [mvar] −31.00000 P flow [mw] −38.93757 −3.edu (RPI) Introduction to PSAT Fall 2006 59 / 94 .44370 −2.47336 104.93757 −3.35561 0.22677 1.00000 2.00000 3.33156 61. vanfrl@rpi.83502 1.00000 4.75803 −97.71533 Q loss [mvar] −8.23436 56.07699 −131.60844 −74.88786 −63.92076 P loss [mw] 0.80512 Table: Line flows From bus Olmo Arce Pino Olmo To bus Abedul Pino Abedul Arce Line 1.The Power System Analysis Toolbox (PSAT) Case Studies Power Flow VI Power Flow Example Table: Line flows From bus Abedul Pino Abedul Arce To bus Olmo Arce Pino Olmo Line 1.70012 −102.02607 1.00000 P flow [mw] 38.25283 74.35561 0.10306 133.83502 1.22677 1.24197 Q flow [mvar] 22.00000 3.71533 Q loss [mvar] −8.92301 98.00000 2.

00000 0.edu (RPI) Introduction to PSAT Fall 2006 60 / 94 .86000 Table: Total shunt Real power [mw] Reactive power (ind) [mvar] Reactive power (cap) [mvar] 0.The Power System Analysis Toolbox (PSAT) Case Studies Power Flow VII Power Flow Example Table: Total generation Real power [mw] Reactive power [mvar] 504.00000 0.80318 295. vanfrl@rpi.00000 Luigi Vanfretti.00000 309.92823 Table: Total load Real power [mw] Reactive power [mvar] 500.

The Power System Analysis Toolbox (PSAT) Case Studies Power Flow VIII Power Flow Example Table: Total losses Real power [mw] Reactive power [mvar] 4.edu (RPI) Introduction to PSAT Fall 2006 61 / 94 .93177 Luigi Vanfretti.80318 −13. vanfrl@rpi.

The Simulink model for this case is presented in the figure. Note that this data file is available with the current PSAT distribution. In this example we will compute the CPF for the IEEE 14 bus case.The Power System Analysis Toolbox (PSAT) Case Studies Bifurcation Analysis I Continuation Power Flow Example IEEE 14 Bus System The CPF can be computed using the CPF routine in PSAT. vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 62 / 94 . Luigi Vanfretti.

edu (RPI) Introduction to PSAT Fall 2006 63 / 94 . Also. respectively. the PSAT is also capable of computing the N − 1 Contingency analysis which is based in the CPF. The last two columns depict the actual power flow and the power flow limit. bus 13 and bus 14. The following tables illustrate the results of the N − 1 contingency analysis for the 14-bus test system.The Power System Analysis Toolbox (PSAT) Case Studies Bifurcation Analysis II Continuation Power Flow Example IEEE 14 Bus System The graph on the right presents the nose curves of the voltage magnitude at bus 12. in the transmission line or transformer. vanfrl@rpi. Luigi Vanfretti. The output is organized in four columns The first column depicts the transmission line or transformer while the second one shows for which line outage it has been found the minimum power in that line.

08180 0.07546 0.54883 0.04565 0.10049 0.05683 0. vanfrl@rpi.u.edu (RPI) Introduction to PSAT Fall 2006 64 / 94 .01857 0.08037 0.04487 0.27203 pij max [p.The Power System Analysis Toolbox (PSAT) Case Studies Bifurcation Analysis III Continuation Power Flow Example Table: Power flow limits (1) line 2-5 6-12 12-13 6-13 6-11 11-10 9-10 9-14 14-13 7-9 line outage 3-4 1-5 5-6 1-5 2-5 6-11 2-4 4-9 1-2 1-5 pij [p.09970 0.05405 0.22162 0.06371 0.02231 0.18272 0.41710 0.10655 0.] 0.u.08719 0.37929 Luigi Vanfretti.] 0.

55939 0.78458 0.75460 0.u.72114 0.00000 pij max [p.45689 0.21438 0.01484 0.37929 0.The Power System Analysis Toolbox (PSAT) Case Studies Bifurcation Analysis IV Continuation Power Flow Example Table: Power flow limits (2) line 1-2 3-2 3-4 1-5 5-4 2-4 5-6 4-9 4-7 8-7 line outage 5-6 5-6 7-9 7-9 3-4 5-6 1-5 1-5 1-5 1-5 pij [p.60190 0.92663 0.73462 0.15504 0.27203 0.00000 Luigi Vanfretti.55747 0.] 1. vanfrl@rpi.94547 0.31835 1.u.] 1.edu (RPI) Introduction to PSAT Fall 2006 65 / 94 .57122 0.23472 0.

note that not all the results from the routine are presented due to space restrictions. vanfrl@rpi. The standard OPF results with Active power limits appear in the following tables. is the 6 bus test case available in the current PSAT distribution that appear in the image. The example. in this case. Luigi Vanfretti.The Power System Analysis Toolbox (PSAT) Case Studies Optimal Power Flow I OPF Example 6 Bus Test Case Let us now perform an OPF routine calculation.edu (RPI) Introduction to PSAT Fall 2006 66 / 94 .

00000 3.64928 8.The Power System Analysis Toolbox (PSAT) Case Studies Optimal Power Flow II OPF Example Table: Network statistics Buses: Lines: Generators: Loads: Supplies: Demands: 6.00000 0.00000 0.00000 11.00000 3.00000 3.00000 0.00000 3.00000 13.00000 Luigi Vanfretti.edu (RPI) Introduction to PSAT Fall 2006 67 / 94 .00000 Table: Solution statistics Objective function [$/h]: Active limits: Number of iterations: Barrier parameter: Variable mismatch: Power flow equation mismatch: Objective function mismatch: −121.00000 0. vanfrl@rpi.

17662 2. vanfrl@rpi.00000 0.00000 20.00100 0.00000 Luigi Vanfretti.00100 24.65773 0.00100 Ps [mw] 0.00000 8.00000 Ps max [mw] 20.00100 Pd [mw] 25.00000 0.09680 Table: Power demands Bus Bus4 Bus5 Bus6 Mu min 0.00000 25.00100 0.00000 Mu max 2.00000 10.00100 0.00100 0.00000 20.42491 0.00000 Ps min [mw] 0.00000 0.The Power System Analysis Toolbox (PSAT) Case Studies Optimal Power Flow III OPF Example Table: Power supplies Bus Bus1 Bus2 Bus3 Mu min 0.00000 0.30396 0.00000 Pd min [mw] 0.edu (RPI) Introduction to PSAT Fall 2006 68 / 94 .06936 Pd max [mw] 25.99999 20.00000 10.00000 Mu max 0.

01295 1.00000 0.00000 150.edu (RPI) Introduction to PSAT Fall 2006 69 / 94 .62333 72.00000 −0.00000 150.00000 V min [p.00000 −150.00000 0.10000 1.00000 Mu max 0.00000 −150.u.00000 0.10000 1.10000 1.90000 0.00000 0.00000 0.01405 0. vanfrl@rpi.10000 1.02114 1.90000 0.10000 1.08442 Qg max [mvar] 150.00000 0.00000 Table: Voltages Bus Bus1 Bus2 Bus3 Bus4 Bus5 Bus6 Mu min 0.90000 0.04035 V max [p.90000 0.07318 −0.05066 −0.90000 0.00000 Qg [mvar] 76.] 1.06760 Luigi Vanfretti.u.00000 0.36003 0.10000 Mu max 1.00000 0.] 0.The Power System Analysis Toolbox (PSAT) Case Studies Optimal Power Flow IV OPF Example Table: Reactive powers Bus Bus2 Bus1 Bus3 Mu min 0.10000 1.00000 Phase [rad] 0.00000 Qg min [mvar] −150.00000 0.69913 0.] 1.90000 V [p.00000 0.02463 −0.10000 1.20599 44.00000 0.u.10000 1.29865 0.

29043 0.62332 76.98048 9.00000 1062.80700 11.40762 0.21472 Ncp [$/mwh] −0.02037 8.20737 0.42843 Rho q [$/mvarh] 0.04872 0.00000 0.80700 43.07648 0.00000 0.00100 164.00000 −115.00000 −109.00000 Table: Totals Total losses [mw]: Bid losses [mw] Total demand [mw]: Ttl [mw]: Imo pay [$/h]: 11.99999 −98.08440 −76. vanfrl@rpi.12194 Luigi Vanfretti.65348 9.06933 Q [mvar] 44.87536 80.66499 −76.14550 9.23945 Pay [$/h] −812.00000 1100.00000 0.00000 −1481.00000 0.06936 62.edu (RPI) Introduction to PSAT Fall 2006 70 / 94 .20598 72.39306 0.99999 −62.00000 925.The Power System Analysis Toolbox (PSAT) Case Studies Optimal Power Flow V OPF Example Table: Power flow Bus Bus1 Bus2 Bus3 Bus4 Bus5 Bus6 P [mw] 90.06936 323.68975 Rho p [$/mwh] 9.00000 −732.56297 9.

The following figures.The Power System Analysis Toolbox (PSAT) Case Studies Small Signal Stability I SSS Example WSCC 9 Bus System Now we will address a small signal stability example. Luigi Vanfretti. and the small signal stability report depict the eigenvalue analysis for the WSCC 9-bus test system and have been generated with the Eigenvalue Analysis interface.edu (RPI) Introduction to PSAT Fall 2006 71 / 94 . This model is available in the PSAT distribution. For this example we will simulate the WSCC 9 Bus System presented in [22] The Simulink network used to simulate the system is presented in the image. The results of the detailed report are not presented here due to space limitations. vanfrl@rpi.

vanfrl@rpi.The Power System Analysis Toolbox (PSAT) Case Studies Small Signal Stability II SSS Example Figure: S-domain Eigenvalue Analysis Figure: Z-domain Eigenvalue Analysis Luigi Vanfretti.edu (RPI) Introduction to PSAT Fall 2006 72 / 94 .

part 0.04559 −0.11253 −0.edu (RPI) Introduction to PSAT Fall 2006 73 / 94 .97483 0.21238 −0.14039 0.11928 0. delta_syn_2 Omega_syn_2.97483 −0. vf_exc_1 Vr1_exc_1.08439 0.14039 0.08261 0. vf_exc_1 E1d_syn_1 E1d_syn_2 Real part 0. vf_exc_2 Vr1_exc_3.15515 0.40303 Imag.33825 −0.53025 −0.88207 −0. delta_syn_1 Vr1_exc_2.11928 0. vanfrl@rpi.08397 0. vf_exc_3 Vr1_exc_3.15515 0.33825 0.10297 0.08261 0.52758 0.10297 0.08397 0.00000 0.00000 0.53025 0.88207 0. delta_syn_2 Delta_syn_1.00000 Luigi Vanfretti.The Power System Analysis Toolbox (PSAT) Case Studies Small Signal Stability III SSS Example Table: State matrix eigenvalues (1) Eigevalue Eig as 1 Eig as 2 Eig as 3 Eig as 4 Eig as 5 Eig as 6 Eig as 7 Eig as 8 Eig as 9 Eig as 10 Eig as 11 Eig as 12 Most associated states Omega_syn_2.52758 −0. omega_syn_1 Omega_syn_1.51904 0.11253 0. vf_exc_2 Vr1_exc_2.08439 0. vf_exc_3 Vr1_exc_1.00000 Frequency 0.51904 −0.04559 0.

00000 −1.11161 0.00000 Luigi Vanfretti.00000 0.98413 −0.00000 0.The Power System Analysis Toolbox (PSAT) Case Studies Small Signal Stability IV SSS Example Table: State matrix eigenvalues (2) Eigevalue Eig as 13 Eig as 14 Eig as 15 Eig as 16 Eig as 17 Eig as 18 Eig as 19 Eig as 20 Eig as 21 Eig as 22 Eig as 23 Eig as 24 Most associated states E1q_syn_3.00000 0.89257 −1.16504 0.85684 −0.00000 0. vanfrl@rpi.88164 −0.42529 Imag.26655 −0.00000 0.00000 0. vr2_exc_3 E1q_syn_3.26655 0.00000 0. vr2_exc_1 Delta_syn_3 Omega_syn_3 Vm_exc_3 Vm_exc_3 Vm_exc_1 E1d_syn_3 Real part −0.00000 Frequency 0.02627 0.11161 −0. e1q_syn_1 E1q_syn_3.edu (RPI) Introduction to PSAT Fall 2006 74 / 94 .89257 −0.04242 0.98413 0.01776 0.02627 0. part 0.04242 0. e1q_syn_1 E1q_syn_2.00000 0.88164 −0. vr2_exc_1 E1q_syn_2.01776 0.00000 0.98413 0.00000 0. vr2_exc_3 E1q_syn_3.85684 −0.00000 0.16504 −0.

00099 0.00012 0.00004 0.00037 0.00105 Omega_syn_1 0.00133 0.44933 Delta_syn_2 0.00037 0.00004 0.00035 0.00162 0.00557 0.The Power System Analysis Toolbox (PSAT) Case Studies Small Signal Stability V SSS Example Table: Participation factors (euclidean norm) (1) Delta_syn_1 Eig as 1 Eig as 2 Eig as 3 Eig as 4 Eig as 5 Eig as 6 Eig as 7 Eig as 8 Eig as 9 Eig as 10 Eig as 11 Eig as 12 0.38073 0.00099 0.00756 0.30863 0.00623 0.00012 0.00117 0.00756 0.00012 0.04895 0.00058 0.01352 0.00117 0.08515 0.00090 E1d_syn_1 0.00004 0.01199 0.00162 0.08515 0.01439 0. vanfrl@rpi.00058 0.00105 E1q_syn_1 0.00133 0.08515 0.00541 0.00170 0.00099 0.48124 0.00222 0.00012 0.00004 0.00170 0.30863 0.00222 0.01352 0.00099 0.00623 0.00035 0.01439 0.04895 0.00518 Luigi Vanfretti.00557 0.30863 0.00541 0.30863 0.38073 0.00728 0.08515 0.edu (RPI) Introduction to PSAT Fall 2006 75 / 94 .

13694 0.13694 0.00949 0.00000 0.00079 0.00949 0.00046 0.00000 0.00000 0.00145 0.00000 0.00000 0.09334 0.00000 0.00000 0.01101 0.00000 Delta_syn_2 0.00000 0.00000 0.00079 0.18937 0.00000 Omega_syn_1 0.09334 0.00000 Luigi Vanfretti.00000 0.00000 0.01101 0.00000 0.00000 0.00066 0.00079 0.00021 0.00000 0.00082 0.00066 0.00901 0.16025 0.00066 0.00000 0.00082 0.00000 0.00046 0.00000 0. vanfrl@rpi.04432 0.00021 0.00079 0.09334 0.00066 0.The Power System Analysis Toolbox (PSAT) Case Studies Small Signal Stability VI SSS Example Table: Participation factors (euclidean norm) (2) Delta_syn_1 Eig as 13 Eig as 14 Eig as 15 Eig as 16 Eig as 17 Eig as 18 Eig as 19 Eig as 20 Eig as 21 Eig as 22 Eig as 23 Eig as 24 0.16025 0.00000 E1d_syn_1 0.18937 0.00145 0.00000 0.edu (RPI) Introduction to PSAT Fall 2006 76 / 94 .00901 0.09334 0.04432 0.00000 0.00082 0.00082 0.00000 E1q_syn_1 0.

Luigi Vanfretti. The system will be subject to a disturbance.omega(2)) = 0. vanfrl@rpi. this is done after the power flow has been calculated as following: DAE. in this case. This model is available in the PSAT distribution.95 After this.x(Syn. the speed of of one of the generators is changes to 0.95 p.The Power System Analysis Toolbox (PSAT) Case Studies Time Domain Simulations Disturbance Example WSCC 9 Bus System In this example we will perform a time domain simulation with PSAT.u. the time domain simulation can be performed.edu (RPI) Introduction to PSAT Fall 2006 77 / 94 . The results due to the perturbation are presented in the next figure.. For this example we will simulate the WSCC 9 Bus System presented in [22] The Simulink network used to simulate the system is presented in the image.

vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 78 / 94 . Luigi Vanfretti.The Power System Analysis Toolbox (PSAT) Case Studies Figure: Results of the time domain simulation.

The ouput file generated by the PGI.The Power System Analysis Toolbox (PSAT) Case Studies GAMS Interface I Clearing Mechanisms . is presented in the next figures. Once the network has been loaded and power flow has been performed. vanfrl@rpi. the market problem can be solved by GAMS within PSAT. that shows the results of solving the single period simple auction.Electricity Markets Example Simple Auction Example Let us now consider the use of the PSAT-GRAMS Interface (PGI) In this example we will compute the results of a single period simple auction. Afterwards. one is able to run the PGI and set the appropiate values for the maket model. This model is available in the PSAT distribution. The Simulink network used to simulate the system is presented in the image.edu (RPI) Introduction to PSAT Fall 2006 78 / 94 . Luigi Vanfretti.

edu (RPI) Introduction to PSAT Fall 2006 79 / 94 .Electricity Markets Example Luigi Vanfretti. vanfrl@rpi.The Power System Analysis Toolbox (PSAT) Case Studies GAMS Interface II Clearing Mechanisms .

For this example we will simulate the some 6 Bus Test System used in the OPF example. Luigi Vanfretti. the UWPFLOW-PSAT Interface can be initialized After this. This model is available in the PSAT distribution. The Simulink network used to simulate the system is presented in the image. vanfrl@rpi. After computing the power flow.edu (RPI) Introduction to PSAT Fall 2006 80 / 94 . The results of the CPF routine are presented in the next figure. CPF can be performed.The Power System Analysis Toolbox (PSAT) Case Studies UWPFLOW I Continuation Power Flow Example 6 Bus Test System In this final example we will perform CPF with the UWPFLOW-PSAT Interace.

vanfrl@rpi.edu (RPI) Introduction to PSAT Fall 2006 81 / 94 .The Power System Analysis Toolbox (PSAT) Case Studies UWPFLOW II Continuation Power Flow Example Figure: Results of CPF using the UWPFLOW-PSAT Interface Luigi Vanfretti.

thus. education and research PSAT as a learning & teaching tool PSAT can be effectively be used in teaching.The PSAT as an Educational and Research Tool PSAT in learning. This is possible to do in PSAT because is easy to change the network topology. enhancing your learning experience. vanfrl@rpi. The GUIs and the Simulink graphical network environment are user friendly and self explaining. Luigi Vanfretti. physical component model parameters and/or algorithms. this will enable the students to focus in interpreting the results rather than in learning to use a package or program their own routines.edu (RPI) Introduction to PSAT Fall 2006 82 / 94 . PSAT can also be widely used for self study. Learning can be enhaced through the use of What if? examples. You can reproduce the results given in your text books and in technical papers.

without relying in the GUIs. education and research PSAT as a research environment PSAT is an excellent ally to do research. it is possible to modify or/and add new component models or routines.The PSAT as an Educational and Research Tool PSAT in learning. Also. PSAT has been used and it’s been used by many people to do their thesis and scientific research. you can use the command line version of PSAT to build your custom made code and solve particular problems.edu (RPI) Introduction to PSAT Fall 2006 83 / 94 . It’s a good idea that you consider to use PSAT as a research tool to do your thesis or research. and maybe even share your custom made code and results with the rest of the user’s of the PSAT worldwide!!! Luigi Vanfretti. Since PSAT is open source. vanfrl@rpi.

vanfrl@rpi. models and additional tools.edu (RPI) Introduction to PSAT Fall 2006 84 / 94 . The PSAT was presented as a learing. available routines. and you were encouraged to use PSAT as an everyday tool. Luigi Vanfretti.Summary Summary of the main subjects discussed in this talk Summary I An overview of PSAT was given in order to demostrate it’s main features. self study and research tool. teaching. A broad number of examples were presented in order to show the capabilities of the PSAT and it’s interfaces.

Summary Thanks! Thank you for your attention! I Are you ready to start using the the PSAT? To download the PSAT.edu (RPI) Introduction to PSAT Fall 2006 85 / 94 . vanfrl@rpi.ca/ fmilano Also..uwaterloo. we would like to hear from you in the PSAT Forum: http://groups.com/groups/psatforum Luigi Vanfretti.. Please.yahoo. feel free to dowload the latest verion of the PSAT here: http://thunderbox.

Summary References References I For further reading The references have been divided in several categories: References on the PSAT References on Power System Operation.edu (RPI) Introduction to PSAT Fall 2006 86 / 94 . vanfrl@rpi. Control and Electricity Markets References on Power System Control and Stability References on Power System Analysis Luigi Vanfretti.

20.Appendix References Power System Analysis Toolbox I References 1] F. http://groups. Documentation. August 2005. Milano. vol.2 July. "A Graphical and Open Source Matlab-GAMS interface for Electricity Market Models". http://thunderbox. 6] F. Milano. Spain. Milano. Marbella.4. PSAT Version 1. Milano. Milano.uwaterloo. Noveno Congreso Hispano-Luso de Ingeniería Eléctrica. 29 June . vanfrl@rpi.uwaterloo. Power System Analysis Toolbox version 1. PSAT Forum.edu (RPI) Introduction to PSAT 87 / 94 . no.3. http://thunderbox.yahoo. 5] F. "An Open Source Power System Analysis Toolbox".uwaterloo.4. Milano Website.ca/ fmilano 3] F. http://thunderbox. F. 3.ca/ fmilano 4] F.com/groups/psatforum Fall 2006 Luigi Vanfretti.ca/ fmilano 2] F. Milano.3. IEEE Transactions on Power Systems.

Luigi Vanfretti. Aug. Computer Sciences Department. Ferris. "Matlab and GAMS: Interfacing Optimization and Visualization Software".Appendix References Power System Analysis Toolbox II References 7] M. vanfrl@rpi. 1999. C. University of Winsconsin-Madison.edu (RPI) Introduction to PSAT Fall 2006 88 / 94 .

vanfrl@rpi. USA: IEEE Press . Electric Power System Applications of Optimization.Wiley Interscience. 10] Allen Wood and Bruce Wollenberg. 9] James A. 2003. 2001. 1996. Control and Electricity Markets I References 8] Narayan S.Appendix References Power System Operation. New York: Marcel Dekker. Momoh. Optimization Principles: Practical Applications to the Operation and Markets of the Electric Power Industry. 2000. Mantenance Scheduling in Restructured Power Systems. USA: John Wiley & Sons. Power generation operation and control.edu (RPI) Introduction to PSAT Fall 2006 89 / 94 . 11] M. Luigi Vanfretti. Mssachusets: Kluwer Academic Publishers. Rau. Shahidehpour.

stonham. and Guangyi Liu. and M. IEEE Transactions on Power Systems. A. Cañizares. pp.Appendix References Power System Operation. J. vol.1996". 1. C. 18. vol. Invernizzi.edu (RPI) Introduction to PSAT Fall 2006 90 / 94 . pp. 2. H. Feb. no. 2000. no. 2003. pp. May 2003. "Decomposition Model and Interior Point Methods for Optimal Spot Pricing of Electricity in Deregulation Enviorments". "Multiobjective Optimization for Pricing Sytem security in Electricity Markets". Xie. 13] F. 596-604. IEEE Transactions on Power Systems. 18. no. IEEE Transactions on Power Systems. Luigi Vanfretti. 39-50. 15. Milano. Feb. vanfrl@rpi. Control and Electricity Markets II References 12] K. "The IEEE Reliability Test System .-H. 14] Reliability Test System Task Force of the Application of Probability Methods Subcommitee. vol. 42-47. 1. Song. Erkeng Yu.

vanfrl@rpi. Power system dynamics and stability. 1998. Pai.A. West Sussex: John Wiley & Sons..A. 16] Peter Sauer and M. Pai. 17] M. 1981.edu (RPI) Introduction to PSAT Fall 2006 91 / 94 . 1998. USA: Kluwer Academic Publishers. USA: North-Holland Publishing Company. 18] Thierry Van Cutsem and Costas Vournas. 1999. Power system oscillations. Voltage stability of electric power systems. 19] Graham Rogers. al. Luigi Vanfretti.Appendix References Power System Control and Stability I References 15] Jan Machowski et. Power system stability: analysis by the direct method of lyapunov. USA: Prentice Hall. 1998. Power system dynamics and stability. London: Kluwer International.

Anderson and A. Kundur. 23] G.M. 1993. IEEE Transactions on Power Systems. K. 21] P. 3.Appendix References Power System Control and Stability II References 20] E. 1159-1171. "Voltage Stability Analysis using Static and Dynamic Approaches". pp. 24] C. Aug. B. Morison. 1994. 22] P.. vol. Final Document. Practices and Tools". Kundur. Aug. Rep. Cañizares (Editor). "Voltage Stability Assessment: Concepts. 8. A. 2002. Fouad. Power system stability and control. USA: IEEE Press. Gómez et. 2003. Análisis y operación de sistemas de energía eléctrica. 2002. no. al. Luigi Vanfretti. USA: McGraw-Hill.edu (RPI) Introduction to PSAT Fall 2006 92 / 94 . Power system control and stability. and P. vanfrl@rpi..A. Madrid: McGraw-Hill. Tech. Gao. IEEE/PES Power System Stability Subcommitteee.

vol. 2. pp. "A General-Purpose Version of the Fast Decoupled Loadflow". van Amerogen. India: Tata McGraw-Hill. Luigi Vanfretti. Power System Analysis. vanfrl@rpi. 1994.P. R. Nov. 4. USA: McGraw-Hill. A. Nagrath and D. Power system analysis. USA: Prentice Hall. 1989.J. May. 4. 26] W.edu (RPI) Introduction to PSAT Fall 2006 93 / 94 . Stevenson Jr. 1988. 29] I.Appendix References Power System Analysis I References 25] R. Grainger and W. no. D. 2000. Bergen and Vijay Vittal. Modern power system analysis. 3. no. 760-770. W. M. vol. Barcelo and W. Lemmon. 27] J. Kothari. pp. 2003. IEEE Transactions on Power Systems. "Standardized Sensitivity Coefficients for Power System Networks". 1591-1599. IEEE Transactions on Power Systems. 28] A.

USA: McGraw-Hill Higher Education. Saadat. Luigi Vanfretti. vanfrl@rpi. Power system analysis.edu (RPI) Introduction to PSAT Fall 2006 94 / 94 .Appendix References Power System Analysis II References 30] H. 2002.

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