2016 IEEE 8th International Power Electronics and Motion Control Conference (IPEMC-ECCE Asia)

A Dynamic Programming based Method for

Optimizing Power System Restoration with High
Wind Power Penetration
Rui Hu, Weihao Hu, Pengfei Li, Chi Su, Zhe Chen
Department of Energy Technology
Aalborg University
Aalborg, Denmark
rhu@et.aau.dk, pli@et.aau.dk, whu@et.aau.dk

Abstract—Power system restoration is very significant for the
operation reliability. Although a totally blackout in today’s
power system rarely happens, the operators still have to make the
restoration strategies in advance by using their experience or
some strategy supportive systems. Nowadays, as distribution
energy resources are integrated increasingly, the traditional grid
codes, operation rules, and protection strategies have been
modified to accommodate them gradually. Among these
renewable energy technologies, wind energy conversion system is
the most promising one due to its technical features and relatively
low cost. Thus, many countries are increasing the wind power
penetration in their power system step by step, such as Denmark,
Spain and Germany. The incremental wind power penetration
brings a lot of new issues in operation and programming. The
power system sometimes will operate close to its stable limits.
Once the blackout happens, a well-designed restoration strategy
is significant. This paper focuses on how to ameliorate the power
system restoration procedures to adapt the high wind power
penetration and how to take full advantages of the wind power
plants during the restoration. In this paper, the possibility to
exploit the stochastic wind power during restoration was
discussed, and a Dynamic Programming (DP) method was
proposed to make wind power contribute in the restoration
rationally as far as possible. In this paper, the method is tested
and verified by a modified IEEE 30 Buses System. The testing
system was modified by replacing traditional generators with
wind farms to create a high wind penetration system.
Keywords—power system restoration; wind power; Dynamic
Programing; unserved load
I. INTRODUCTION
Accommodation of renewable resources has already
brought new challenges for traditional power system operation.
The power system restoration strategy is also challenged
without exception. The newly drafted power system restoration
strategies should take the influences of renewable energy into
consideration. Among all the renewable energy technologies,
wind power energy conversion technology is the most
promising one in current stage. Its reliability, economic effects,
and technical maturity have made it prevail in the utilization of
renewable resources [1]. Countries like Denmark, Germany,
Spain, etc. are ceaselessly increasing the wind power
penetration in their power system according to the well-known
2020 projects. However, the increasing penetration and the
decreasing of traditional generators make it a higher possibility
that the power system will operate close to its stable limits.
From the aspects of power system restoration, the black start
units (BSU) and system reserve will be reduced. As the wind
resource is stochastic, the wind farms are connected to the
system after the system has been restored to enough stiffness
when the penetration is relatively low. And the restoration
strategies are made previously according to the off-line
calculations and the experience of the operators. Currently, the
power system with relatively high wind power penetration
usually has strong HVAC or HVDC connections with outside
power systems, like Danish power system [2]. These
connections can provide strong support when severe
contingencies occur. However, this pattern will be challenged
when continuously extending the utilization of wind power.
Especially when meeting the ambitious 2020 targets, the
previous restoration strategy may cause an unacceptable
unserved energy because a lot of loads are powered by wind
farms. The power system must be restored to the state that able
to accommodate the large scale wind farms at first. Then, the
most of the loads can be picked up gradually. Fortunately, with
the improvement in wind power forecast and load forecast,
more and more tools can be used compositely in rationally
exploiting wind power during restoration.
Many references have already made the explorations to
address the restoration issues in the near future. For instance,
DP based method was used in [3] to optimize the restoration of
distribution system. Paper [4] proposed an innovative
restoration strategy which used the flexibility provided by the
HVDC connected wind farms.
This paper proposed a dynamic programming method to
address the aforementioned issues. With the powerful tools of
wind power forecast, wind power plants was reasonably
utilized during the restoration period to lessen the unserved
energy. The concept of unserved energy is shown in Fig. 1.
The method was tested and verified in a modified IEEE 30
Buses System. The original system was remade into a system
with high wind power penetration. The pick-up sequence of
generation units and loads will be generated by the proposed

978-1-5090-1210-7/16/$31.00 ©2016 IEEE

978-1-5090-1210-7/16/$31.00 ©2016 IEEE

 2016 IEEE 8th International Power Electronics and Motion Control Conference (IPEMC-ECCE Asia)
method as a reference for system operators. Whilst, how to
deploy and use the method practically was discussed as well.
II. ISSUES OF THE POWER SYSTEM RESTORATION WITH
HIGH WIND PENETRATION
During these decades, the Wind Energy Conversion (WEC)
technologies have continuously upgraded. The conversion
system has evolved from fixed-speed type which has high
requirements of reactive power into the variable-speed type.
The variable-speed WEC system can control the active power
and reactive power independently, and this ability is not only
important for ancillary services, but also very significant for
power system restoration. Many countries such as Germany
and Spain are replacing or renovating the fixed-speed wind
farms with variable-speed wind turbine systems like DFIG or
PMSG [5]. Due to this trend, the wind farms based on variable-
speed wind turbines are adopted in this paper.
Load Level (MW)
Unserved
Energy
t0 t1 t2 tn Time
Fig. 1 The unserved energy of the system during the restoration.
Output of the
Wind Farm (MW)
WF1
P1,t1
WF2
WF3
t0 t1 t2 t3 Time
Fig.2 The simplified scenario when wind power participates the restoration.
Besides, when implementing a power system with high or
extra-high wind power penetration, the geographical diversity
[6] must be utilized well enough. This means that in system
level with a large geographic area, although the output of
several wind farms could be zero because of storm or lack of
wind, there are always other available wind farms. Namely, the
total output of wind power can be filtered by the geographic
effect in system level. The wind farms thereby provide
relatively stable output totally. In this paper, the studied system
is assumed to have this kind of effect to simulate a large power
system with high wind power penetration in a spacious
geographic area.
More importantly, because of the stochastic features of the
introduced wind power, simply connecting the wind farm with
maximum output at each stage may not bring a global
optimized solution. This principle can be illustrated by Fig. 2.
Meanwhile, the traditional strategy used in low wind power
penetration system may cause an unacceptable restoration time.
Fig. 2 illustrated a simplified scenario for the issue. The
strategy which can be used in traditional power system when
without wind power forecast tools chooses connecting the
generation units with maximum available output at the
corresponding stage. Suppose that t0 is the time for strategy to
determine which wind farm should be connected, then, WF1
should be connected because it has the maximum output at that
time. However at the next decision time t1, the output of WF1
falls to P1,t1. The falling output of the wind farm limits the
ability of picking up loads in the next stage. In this condition, if
the wind outputs are like the curves in Fig. 2, the connection
sequence WF3, WF2, WF1 will be the better solution. This
issue is addressed in this paper by rationally modelling the
problem and using DB based method.
A. Objective Function
The objectives of the restoration procedure could be
diverse. The restoration strategy could aim at reducing the time
on restoring key feeders, diminishing the power line losses, or
the time on picking up a given percentage of loads. This paper
mainly focused on minimizing the unserved energy considering
the effects of large scale of wind power from a system view. It
is a more synthetic way to evaluate the restoration strategy. In
practical use, these objective functions can be combined with
different weights according to different considerations.
Different customers may have different requirements for the
power reliability, thus, the loads are usually picked up
according to certain priority. This requirement was reflected by
the weights of the loads in this paper.
From the above description, it is shown that the wind power
forecasting tools is significant for the optimal restoration of this
kind of system if wind farms are designed to participate the
restoration. The estimated restoring time could be tens of
minutes or even several hours in a large scale system, hence,
the short-term or very short-term wind power forecasting [7]
could be employed to obtain a better result. The unserved
energy could be reduced further and more precise spinning
reserve could be used to filter the fluctuations of wind power.
After introducing the wind power tools, the restoration issue
can be solved by DP technology because the operator has to
make decision at each restoration stage, and the result of each
decision is predictable to some extent [8]. Meanwhile the start-
up sequence and the reduced unserved energy can form a
weighted directed graph. The objective function can be
described by the following equation:
n
Min ( Eunserved ) = Min [ g ( X i , μ ( X i ), X i +1 )] (1)
i =0
i m
g ( X i , μ ( X i ), X i +1 ) = ( Pload −  Prestored
k
) × ti (2)
k =0 j =0
,j
 2016 IEEE 8th International Power Electronics and Motion Control Conference (IPEMC-ECCE Asia)

 0 Pc1,1  0  0  These functionalities will affect the practical output used for
P  picking up unserved loads. Thus, the amount of the margins of
0  0  0
Xi =   wind farms for providing ancillary services should be taken
c 2, 2

      0 into account. The pick-up capacity will also be constrained by

  these margins.
 0 0  Pci , m  0 
Where the Eunserved is the total unserved energy; X i ID of The BSU
represents for the system state at stage i and Pc1,1 means the
valid capacity to pick up loads provided by the connected
Stage 1 WF1 WF2 WF3 WF4
generation unit at stage i ; μ ( X i ) is the adopted strategy at stage
i ; g function is used to calculate the unserved energy when
Weight 1
choose the strategy μ ( X i ) at stage i and the system transits to
the state X i +1 . Pload is the capacity of the lost loads and Stage 2 WF1 WF2 WF3 WF4
i th
Prestored , j is the capacity of k restored load at stage.
Weight 2
B. Constrains
The proposed objective function is also constrained by the Stage 3 WF1 WF2 WF3 WF4
following factors:
Weight 3
1. Frequency deviation limits: The deviations in
frequency should lie in a tolerated range. To avoid large Stage 4 WF1 WF2 WF3 WF4
deviations in frequency, some electric utility companies limit
the load pick-up to 5% of the synchronized generation [3] at Stage of the
one time. Thus, the frequency limit can be determined by Restoration
calculating the output limits of the generators. When the power
system has high wind power penetration, in order to avoid Fig 3. The generated weighted directed graph.
violating these limits, the wind turbines usually operate in
deloaded state to participate primary frequency regulation. The
III. THE DYNAMIC PROGRAMMING TECHNOLOGY BASED
output of the wind farms which are ready for primary
RESTORATION ALGORITHM
frequency regulation is usually less than in Maximum Power
Point Tracking (MPPT) state. The energy is stored in the rotor In this paper, the optimized sequence is found by DP
as kinetic. It will be released according to the droop rate of technology as a weighted directed graph can be employed to
frequency deviation response when the wind farm are model and summarize this issue. To simplify it, the estimated
responding to the frequency deviation. The response of wind time for restoration will be separated into many small segments
farms to the voltage deviation is designed in the same way. As discretely by the smallest wind power forecast time span. Then,
a result, the energy reserved for frequency regulation by wind the restoration time for stage X i , namely ti will be composed
farms should be excluded when calculating how many loads of serval time segments according to wind power forecast and
could be picked up. constrains. A weighted directed graph like in Fig. 3 will be
2. Power balance limits: the generated power of the generated when finding the best sequence. The weights
system should be equal to the consumed power and the losses. represent for the capacity of corresponding reduced unserved
loads. According to the Bellman’s principle of optimality, the
3. Stability limits: The power generated from the BSU expression of the optimized unserved energy can be recursively
should be limited by their capacity. The strategy should also defined as:
guarantee the magnitudes and degrees of the voltages in the
system stay in the secure range. The stability and thermal limits Min [ Eunserved ( X n )] = Min [ Eunserved ( X n −1 ) + g ( X n −1 , μ ( X n −1 ), X n )] (3)
of the transmission lines should not be violated either. In order Consequently, the algorithm complexity is abated than
to check these stability limits, load flow calculation is using other searching methods by using more memories. Then
employed in this paper. Due to the independent active and in each stage, the strategy will determine how many loads
reactive power control ability, the DIFG based wind farms are should be picked up according to their priority and the
regarded as PQ nodes in power flow calculation [10]. The load aforementioned constrains of the system. The input from the
flow calculation was performed in each stage when the output wind power forecasting tools are just the errors and the outputs
of the wind farms is reduced to some degree or a large amount of the wind farms. The method use these information to
of load is picked up. calculate the actual pick-up ability of the system. If the
Besides, the errors of wind power forecast must be taken calculation of the state transition cost is centralized in one
into consideration in the restoration of the studied system. A computer, it may be really time consuming when the system is
spinning reserve requirement is used to deal with wind in large scale. However, it can be well settled by deploying the
uncertainty [11]. So, the reserves of the rest synchronous calculation into a paralleled computing system that has
generators in the system are determined by them somehow. As numbers of PCs, because the calculation of each path is
mentioned before, the wind farms based on variable-speed independent from others. Thus, it is possible for the consumed
wind turbines could operate under deloaded state to provide time of this method to lie within the operational real-time span.
primary frequency or voltage support [9] during the restoration.

978-1-5090-1210-7/16/$31.00©2016 European Union

 2016 IEEE 8th International Power Electronics and Motion Control Conference (IPEMC-ECCE Asia)

Begin Three synchronous generators on Bus 13, Bus 2 and Bus 5 are
replaced by 90 MW wind farms based on DFIG respectively. A
Input new wind farm based on DFIG is added on Bus 7. The wind
Data
power forecast curves in 56 minutes are shown in figure 5.
They are generated and calculated randomly according to the
Stage Division & Weibull distribution of the wind and the time span is 8 minutes.
Margin Exclude current
Computation state in stage i Then the proposed strategy and the strategy mentioned in
Section II was performed. The latter strategy chooses the
generation unit with maximum output to pick up at each stage.
Ersvi =Min(E(stgi-1)
+ g(stgi)) Load flow calculation is employed to identify whether the
Accept current
Limits stability constrains will be violated in each stage.
sequence in stage
Violated?
i
Pick up loads in
Stage i

Load Flow
Caculation

i = 0?

Output
data

End

Fig 3. The procedure of the DP based restoration method

Fig 5. Wind power forecast curves of the wind farms.
WF1 G2 WF5 WF7 G8
90 MW Fossil-fuel
192 MW
90 WM 90 WM Hydro
192MW
The hydro power plant G8 and G11 are connected at first as
traditional BSUs. Then Load 7 and Load 29 are picked up after
B1 B2
L2 L7 L8 the connection of these two hydro units. Then the proposed
B5 B7 B8 method selects the sequence of WF7, WF5, WF1, and WF13 in
WF13 B3 B4 B6 B28
each stage respectively. The latter strategy chooses the
90MW
L3
sequence of WF1, WF7, WF5 and WF13 according to the wind
B11 B9
B29
power forecast after excluding the margins aforementioned in
B13 L29
Section II. In order to guarantee that no limits are violated in
G11
B12
Hydro B27 the dynamic procedure or during the wind power fluctuation,
L14 192 MW
the validity of the strategy is checked by phasor method in
B14
B15
L16
B16
L17
B17 B10 time-domain from stage 3 to stage 7. The variety of wind speed
L19 L20
B22
B30 L30
during the wind power forecast span is simulated by randomly
L18
B18 B19 B20
L9
B21
inserting fluctuation from -8% to 8% percent of the forecast
L15 L26 wind power into the wind farm input signals. The load flow
B15 B24
L24
B25 B26 and time domain simulation results of the sequence generated
by proposed method indicate that the outputs of the hydro
power plants lie in a rational range for ancillary services and no
Fig 4. The modified IEEE 30 buses system for simulation constrains are violated during power dispatch in each stage.
The procedure diagram of this method is shown in Fig. 3.
The equation (3) is coded and called recursively as core
function. After choosing the generation unit to connect in
corresponding stage, the loads will be picked up according to
the priority, capacity and distances. If the generated sequence
violated the limits, the loads which has already been picked up
or the connected generation united will be excluded from the
solution sets.

IV. COMPUTATION RESULTS AND COMPARISON

OUTCOMES
The proposed method was tested and verified by a modified
IEEE 30 Bus System Model in Matlab/Simulink. The studied
system is shown in Fig. 3. The original data about the loads and Fig 6. Active power, reactive power, voltage and frequency of the generators
parameters of transmission lines in this IEEE 30 Bus testing in stage 3, wind farm 7 is connected.
system can be found in the Appendix C of reference [12].
 2016 IEEE 8th International Power Electronics and Motion Control Conference (IPEMC-ECCE Asia)

The load states in each stage is listed in Table I to Table V.

The strategy has picked up the unserved loads as far as possible
and the load demands are basically satisfied.

TABLE I. LOAD STATES IN STAGE 3

Voltage
ID Voltage (pu) P (pu) Q (pu)
Angle (deg)
L21 0.9960 -1.06 10.23 7.08
L29 1.0360 -1.49 2.42 0.96
L3 1.0050 -29.97 24.50 11.60
L7 1.0080 -29.21 23.41 23.41

Fig 7. Active power, reactive power, voltage and frequency of the generators TABLE II. LOAD STATES IN STAGE 4
in stage 4, wind farm 5 is connected.
Voltage
ID Voltage (pu) P (pu) Q (pu)
Angle (deg)
L12 0.9847 -3.53 10.86 7.27
L17 0.9885 -2.96 8.79 5.67
L21 0.9893 -2.93 17.31 10.96
L29 1.0310 -3.99 2.40 1.20
L4 1.0002 -30.82 7.60 1.60
L5 1.0037 -32.94 94.90 19.14
L7 1.0069 -31.99 23.12 11.05

TABLE III. LOAD STATES IN STAGE 5

Voltage
ID Voltage (pu) P (pu) Q (pu)
Angle (deg)
Fig 8. Active power, reactive power, voltage and frequency of the generators L12 0.9726 -2.78 10.59 7.09
in stage 5, wind farm 1 is connected. L14 0.9688 -3.46 5.82 1.50
L15 0.9722 -3.31 7.75 2.36
L16 0.9732 -2.89 3.31 7.75
L17 0.9782 -2.66 8.61 5.55
L18 0.9760 -3.20 3.05 0.86
L21 0.9799 -2.66 16.80 10.75
L29 1.0011 -4.51 2.41 0.90
L3 1.0010 -29.17 2.40 1.20
L30 0.9904 -5.40 10.40 1.86
L4 0.9967 -29.52 7.55 1.59
L5 0.9997 -28.50 94.15 18.99
L7 1.0045 -28.15 23 11.00
L8 0.9908 -29.71 29.45 29.45

Fig 9. Active power, reactive power, voltage and frequency of the generators TABLE IV. LOAD STATES IN STAGE 6
in stage 6, wind farm 13 is connected.
Voltage
ID Voltage (pu) P (pu) Q (pu)
Angle (deg)
L10 0.9784 -3.22 5.61 1.94
L12 0.9825 -2.99 10.81 7.24
L14 0.9762 -4.01 5.91 1.52
L15 0.9730 -4.02 7.76 2.37
L16 0.9770 -3.43 3.34 1.72
L17 0.9764 -3.51 8.58 5.53
L18 0.9664 -4.52 2.99 0.84
L19 0.9643 -4.58 8.83 3.16
L2 0.9887 -32.15 21.21 12.41
L20 0.9685 -4.30 2.06 0.66
L21 0.9749 -3.74 16.63 10.65
L23 0.9719 -4.23 3.02 1.51
Fig 10. Active power, reactive power, voltage and frequency of the generators
in stage 7. L26 0.9701 -5.72 3.29 2.16
L29 0.9838 -6.89 2.32 0.87
L3 0.9896 -30.20 2.35 1.18
 2016 IEEE 8th International Power Electronics and Motion Control Conference (IPEMC-ECCE Asia)

L30 0.9734 -7.78 10.04 1.80 wind farms based on variable speed in power system
L4 0.9877 -30.29 7.41 1.56 restoration has already been discussed in other previous work.
L5 0.9878 -32.17 91.91 18.54 This paper mainly focused on reducing the unserved energy
L7 0.9990 -30.84 22.75 10.88 during the restoration of the power system with high or extra-
L8 0.9784 -32.50 28.72 28.72 high wind power penetration. A method based on DP was
proposed to find the optimal picking-up sequence of
TABLE V. LOAD STATES IN STAGE 7 generators, wind farms and loads with consideration of the
Voltage
stochastic feature of wind. The method aims at minimizing the
ID Voltage (pu)
Angle (deg)
P (pu) Q (pu) unserved energy during the blackout from a system viewpoint.
Comparison between the proposed method and the normal
L10 0.9945 -2.75 5.74 1.98
method was conducted. The outcomes shows that the proposed
L12 1.0083 -1.58 11.39 7.63
method could reduce more unserved loads than normal way.
L14 1.0002 -2.75 6.20 1.60
Time-domain simulations were employed and verified that the
L15 0.9932 -2.82 8.09 2.47
pick-up choices didn’t violate the stability limits in the study
L16 0.9962 -2.32 3.47 1.79
case. Due to the paralleled computing features of DP
L17 0.9896 -2.72 8.81 5.68
methodology, the practical use of the proposed method was
L18 0.9831 -3.51 3.09 0.87
discussed, and the objective function in this paper can be
L19 0.9791 -3.68 9.11 3.26
combined with other objectives through weights. This work
L2 1.0438 -30.17 23.64 13.84
shows that with stochastic factors in generation units, new
L20 0.9822 -3.47 2.12 0.68
ways on how to connect the BSUs and pick up loads optimally
L21 0.9844 -3.11 16.96 10.85 could be found, and by utilizing the forecast tools, the proposed
L23 0.9848 -3.4 3.10 1.55 method has the potential to lessen the unserved energy during
L24 0.9816 -3.79 8.38 6.46 the restoration.
L26 0.9883 -4.87 3.42 2.25
L29 1.0113 -5.82 2.45 0.92
L3 1.0326 -30.42 2.56 1.28
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