354M Análisis de Sistemas de

Potencia
Introducción
 Esquema de la clase de hoy
• Visión de la operación de los Sistemas de
Potencia.
• Modelación de los componentes.
• Modelación de redes.
• Solución de redes
 Material de Lectura
• Material de la clase de hoy
Capitulos 9.1-9.3 Matrices de Redes, “Power
Systems Analysis” 2 da edición de A. R.
Bergen y V. Vittal.
• Tutor de Matlab- Algebra lineal
http://www.mathworks.com/help/matlab/linear-algebra.html.
Componentes principales
Escala de tiempo de la operación
Centro de control

VISIÓN DE LOS SISTEMAS DE

POTENCIA
 Componentes Principales
• Three-phase circuit.
• Generation (11 – 36 KV)
• Transmission and
distribution (110 – 765
KV)
• Load (0.12 – 138 KV)
– Industrial customer, 23
– 138 KV
– Commercial customer,
4.16 – 34.5 KV
– Residential customer ,
120 – 240 V
Vc

Va

10
 Generación de Potencia

Fossil-fuel High
(coal/NG), Pressure&
Nuclear, Temp steam
Biomass Or, hot air Prime
Mover-
Turbine
Wind,
Tidal,
Hydro

8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 11

 Conectando un generador a la red

• Four conditions need to be met

before connecting a generator
to
1. the grid:
The three-phase voltage must
have the same frequency as the
grid.
2.
The three-phase voltage must
have the same amplitude at its Grid
terminals as the one of the grid
3. voltage.
The three-phase voltage must
have the same phase sequence
4.
as the grid voltage. Source:
http://www.thermalfluidscentral.org/encyclopedia/index.php/Ge
The three-phase voltage must neration,_Transmission,_and_Distribution_of_Electricity
be in phase with the grid
8/14/2013
voltage. EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 12
 Red de Transmisión y Distribución

Ring (mesh/loop)
network topology

Radial or weakly mesh

network topology Distributed sources are located here!

Source: FUNDAMENTALS OF ELECTRIC

POWER SYSTEMS by Xiao - Ping Zhang

8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen

13
 Carga Eléctrica
• Varies with time • Singapore load in 2007.
– Moment-to-moment
fluctuations
– Hour-to-hour changes
– Daily
– Weekly
– Seasonal
• Base load counts for
almost half of peak
load.
8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 15
 Escala de tiempo de la operación SP
• Power system expansion planning (very long): Ensure long-
term electrical energy supply.
– Capacity planning (<25yrs).
• Operational planning (medium-long): Operate the system
efficiently.
– Fuel management(2-5yrs)
– Maintenance (1m-2yrs)
• Operation control (short): Control the power flows.
– Unit commitment (<1wk).
• Security analysis (real time): Make sure that all equipments
operate under their limits.
– Economic dispatch, loss calculation (<1hr).
– Protection, stability.

8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 16

 Roles de la Tecnologia de Información
Existing information exchange
IT for Future Grid??
Control Center Information Layer
Renewable
Integration Market Layer
AMI, NAN, HAN
Physical Layer
RTUs DG, DSM

SCADA/EMS SCADA/DMS

Generation Transmission Distribution Load

Information needed for various control decisions at different time frame

8/14/2013 17
 Centro de Control
Physical Layer
• Focus on secure and
reliable operation.
• Energy management system
– Network monitoring
– Generation control and
scheduling
– Network analysis and security
control
8013
Market Layer
• Focus on economic
operation.
• Energy trading mechanism
– As a result of deregulation
– Auction-based market
– Improve efficiency
– Competitive market structure
18
 Capa fisica:
Energy Management System

Source: FUNDAMENTALS OF ELECTRIC POWER SYSTEMS by Xiao - Ping Zhang

19
3
 Capa de Mercado:
•
Mecanismo de Transacción
Bilateral Contract
– Direct contract between
consumer and supplier:
Retailer
Industrial consumer,
• Day Ahead Market
– Auctions
– Note that there is no day
ahead market in Singapore.
• Real Time Market
– Balancing market from
auction, Congestion
• management
Ancillary Services Market
– Helps maintaining system
• reliability
Financial Transmission
Right
against risk from Source: http://www.mssl.com.sg/market_frameset.htm
– Allow
congestion cost to hedge
customers
8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 20
 Análisis de Flujo de Potencia
• To check voltage
limits at each bus.
• Avoid transmission
line and generator
overload.
• Maintain system
stability i.e.
stability margin
(angle between
two generators).
Source: www.powerworld.com

8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 21

 Balance de Energía en Tiempo Real

• Energy
• Reserve
– Spinning and non-spinning
reserve.
– Supplemental reserve.

Source: Best Practices in Grid Integration of Variable Wind

Power: Summary of Recent US Case Study Results and
Mitigation Measures

8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 22

 Acto de Balance: Control de frecuencia

Source: Balancing
and Frequency
Control, a
technical
document
prepared by the
NERC resources
subcommittee,
January 2011

8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 23

Sistema de Control y Adquisición de datos (SCADA)

Computer
Systems that
monitor and
control energy
system. The
crucial part of
Energy
Management
System.

Source: ABB

8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 24

 Contenido del Curso
• Análisis en Estado Estacionario
– To understand the physical behavior/flow of
the electricity in the network under normal equilibrium
conditions.
Análisis en Estado Transitorio
• – Analytical tools to understand the physical behavior under

perturbed conditions such as sudden changes in load or

generation or short circuits on transmission lines and how to
bring the system back to normal operation under such abrupt
changes.
Operación Economica
• – Analytical tools to observe the system conditions using a set of
measurements.
Operación Segura
8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 25
Generador
Líneas de transmisión
Transformadores
Cargas

MODELO DE LOS COMPONENTES:

DIAGRAMA DE LOS CIRCUITO EQUIVALENTE
 Generador Operación
• In order for a generator to work, we need two
inputs:-
1. Magnetic field at the rotor.
2. Mechanical power to turn the rotor.

Magnetic Field
Electrical Power
Generator
Mechanical Power

For large generators, we use AC electrical power output and pass it through a rectifier to
create DC currents to supply magnetic field circuit.
8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 27
 Circuito equivalente del generador nerator
• E = Excitation voltage i.e. internal electromotive force(EMF)
voltage caused by an induced magnetic flux in the air-gap.
– The magnetic flux on the rotor is created by a field winding at
the rotor.
• δ = power angle (δ > 0).
• ZG = synchronous impedance, representing flux linkage
losses with a leakage reactance in the air gap and the
armature reaction.
PG  jQG zG i i

E a  +
-
E: Induced voltage
in the air gap
8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 28
 Generadores
• Simple steady-state equivalent circuit.
• Governor controls valve (mechanical power
input) which, as a result, controls constant
power (electrical power output).
• Generator field current (field circuit) controls
constant voltage magnitude.
E a 
+ PGi  jQGi zG
~
-
PDi  jQDi
8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 29
 Modelos de líneasode Transmisión
IS zx IR

Long-Line Model z: Series Impedance (Ω/m)

VS yx VR y: Shunt Admittance (S/m)
:Distributed Model
∆x: distance (m)
x
Simplification
IS Z IR
Medium-Line Z: Series Impedance (Ω) = z∆x
Model: Lumped VS Y/2 Y/2 VR Y: Shunt Admittance (S) = y∆x
Model

Simplification
IS Z IR
Z: Series Impedance (Ω) = z∆x
Short-Line Model VS Y≈0
VR

8/14/213 30
 Modelo LT para análisis en estado estacionario
• Medium-length model (Π-equivalent circuit)
I1 z I2
+ +
y y
V1 V2
2 2
- -

y 1 1 
 I1   2  z  V 
z
I    1
1

 2   y 1  V2 
 
 z 2 z
Z is the series impedance of the line = R + jX (ohm)
Y is the total shunt admittance of the line = -jB (mho), B>0 normally the real part is negligible.
8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 31
 Transformer Model
• Transformer (except phase shifting
transformer)
• Caution: usually the transformer parameter is
given as ‘per unit’. If there is a change of base,
this value needs to be adjusted accordingly.
I1 yp.u. I2

+ +  I1   yp.u.  yp.u.  V1 

V1 V2  I    y yp.u.  V2 
 2   p.u.
- -

8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 32

 Change of Base Valu e
• Manufacturers usually specify equipment impedances in per
unit values together with voltage ratings (V) and apparent
power rating (VA).
• The impedance base values can be found from the ratings of
the equipment.
• Different equipment has different ratings.
• We may need to calculate per unit values on the new basis.
old old
Z p.u.ZB
Z actual  Z p.u. Z B  Z p.u. .u . 
old old new new
ZB Z pnew
Z Bn ew
Review the concept of ‘Per Unit analysis’
8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 33
 A Tap-Changing Transformer
• A tap-changing transformer, y p.u.
I1 I2 I1 a I2
a:1 yp.u.
+ +
+ +
V1 V2 V1 V2
- -
-
-
 y y  1 a   a 1
 y p.u.  2  y p.u.  
 I1   a 2  V1   a   a 
I    y
a
V 
 2   y  2 
 a 
What will happen if the we have phase-shift transformer instead
of a tap-changing transformer?
8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 34
 A Transmission Line with Transformer
• Usually, a transformer is absorbed in transmission
line models. 1
I1 I2
I1 z I2 az
a:1
+ +
+ +
y y V1 V2
V1 V2
2 2 - -
- -
 1 a  1 y  a 1 1 y
 2   2   
 a  z 2a  a z 2
 1 a  1 y 1 1 
    2   V1 
 1   a  z 2a
I 2
az az
I     
 2  1  a  1  1 y 1 V2 
    
 az  a  z 2 az
8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 35
 carga
• Steady-state mode, three types:-
– Constant power (kVA with pf) such as motor load.
PDi  jQDi
– Constant current (A) such as welding machine
with constant current source.
I Di
– Constant impedance (Ohm) such as lighting.

zDi

8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 36

Ecuación de tensión de nudo
Matriz de Admitancia de barra.
Matriz de Admitancia por inspección

MODELAMIENTO DE REDES:
CONECTANDO TODOS LOS COMPONENTES JUNTOS
 Ecuación de tensión de nudo
•
Variables are node
Ip Iq
voltages. z
+ +
• Write current injection y1 y2
Vp Vq
as a function of node
- -
voltage.

V y 
V V p q  1 1
  y1  Vp  Vq  1 1 
 I p   y1  z   Vp 
Ip
 z
p 1
 z z z
V V I    1 1  Vq 
1  1  q   y2  
V y  q p
  Vp   y2  Vq
z
Iq  z
q 2
z  z z
Z = impedance (R+jX) and Y = admittance

8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 38

 0
Matriz de Admitancia de Barra

• Yb u s: Bus admittance matrix

• Matrix form of node voltage equation,
I  Ybu sV Ybus
where I = Vector of injected node current
V = Vector of node voltage
Ip z Iq
 1 1 
 I p   y1  z
+ +
  Vp 
z
Vp y1 y2 Vq I    1 1 Vq 
- -
 q   y2  
 z z

8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 39

 Bus Admittance Matrix by Inspection

• Symmetric matrix:
Ybusk, m  Ybusm, k 

• Diagonal entries:
Ybusk, k  = Sum of the admittance of all components
connected to node i.
• Off-diagonal entries:
Ybu sk, m = Negative of the admittance of all components
connected between node i and j.
Can Y-bus be non-symmetric?  Go back and see phase-shifting transformers
For non-symmetric case, we can’t write Y-bus using inspection.
8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 40
Motivación
Factorización Triangular
Eliminación Gaussiana

SOLUCIÓN DE REDES
 Motivación
• Given Ybus, nodal voltage equation is,
I  Ybu sV
• Our goal is to find node voltage magnitude
and angle.
• Different operating condition leads to
different external sources (current injection).
• Most of the time Y bus remains constant.
• To find ‘V’, (not so) simple Y bus inversion?
8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 43
Solución Numerica de Ecuaciones
Lineales
Matrix inversion is NOT an easy job for a large
• dimension problem.
• Common computationally efficient algorithm:-
– Triangular factorization
Ybus  LU
L is lower triangular matrix
U is upper triangular matrix.
– Applicable to square matrix, not necessarily
symmetric.
– Together with Gaussian elimination

8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 44

 Procedimiento de Solución

• From Ybus  LU ,
I  YbusV  LUV
• First we find,
~
I  LV
Forward substitution
• Then,
~  UV
V
Backward substitution

8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 45

 Lower and Upper Triangular Matrix
1 0 0u11 u12 u13  Work backward to find the
M  LU  l21 1 0 0 u22 u23  l’s and u’s elements
 
l31 l32 1  0 0 u33
From original Y bus
 u11 u12 u13  u11 u12 u13 
M  l21u11 l21u12  u22 l21u13  u23  Y    l21 u22 u23 
   
l31u11 l31u12  l32u22 l31u13  l32u23  u33  
1st iteration
Calculate new value and overwrite
Y21(1) ← Y21(0)/Y11(0)
Y31(1) ← Y31(0)/Y11(0) 2nd iteration
the original Y bus to save memory
Y22(1) ← Y22(0) – [Y21(0)Y12(0)]/Y11(0) Y32(2) ← Y32(1)/Y22(1)
Y23(1) ← Y23(0) – [Y21(0)Y13(0)]/Y11(0) Y33(2) ← Y33(1) – [Y32(1)Y23(1)]/Y22(1)
Y32(1) ← Y32(0) – [Y31(0)Y12(0)]/Y11(0)
Y33(1) ← Y33(0) –
8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen
[Y31(0)Y13(0)]/Y11(0) 46
 Triangular Factorization Algorithm
START, k = 1 Y bus is n x n matrix

Yes
Y
k = k+1
k=n
No
Ykk  0 No
END
Yes
Yik
Yik  i = k+1, …, n When will the algorithm
Ykk
Yik Yki be unstable and how to
Yij  Yij  i, j = k+1, …, n
prevent it?
Ykk
8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 47
 Ill-Conditioned Y bus Matrix
• If Ykk is very small, the algorithm may be unstable.
• This can be fixed by permutations.
• In addition, the computation time depends on number
of non-zero elements, permutations may help to
reduce this number.
•
For more information, read:
– FERNANDO L. ALVARADO, WILLIAM F. TINNEY, and MARK
K. ENNS, “SPARSITY IN LARGE-SCALE NETWORK
COMPUTATION”, Advances in electric Power and Energy
Conversion System Dynamics and Control,” Academic
Press, 1991, C. T. Leondes, editor (with permission).
Corrections 15 Feb 93.

8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 48

 Other Factorization Techniques
• LDU factorization
– Symmetric matrix
– L-lower triangular matrix
– D-diagonal matrix
– U-upper triangular matrix
• Cholesky decomposition (LLT)
– Symmetric matrix
– L-lower triangular matrix
• To name a few…
8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 49
Motivación
Reducción de Kron

REDUCCIÓN DE RED
 Motivación
• Consider a matrix in this example.
1 2

G1 Impedance
Load
 I1   y11 y12 y13 y14 V1 
0 y y22 y23 y24 V 
    21  2

 0   y31 y32 y33 y34 V3 

     G2
 I 4   y41 y42 y43 y44 V4 
3 4

What is the current injection to node 2 and 3?

8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 51
 KRON Reduction
• Eliminate node with zero injection to reduce
the size of Y bus matrix.  y y y y 
 I1   y11 y12 y13 V1   y11  13 31
y12  13 32
 1
I y33 y33  V1 
I    y y22 y23 V2 I     
 2   21    2   y21  y13 y31 y y
y22  23 32  V2 
 0   y32 y33  V3  y33 y33
y31 y32
y31 V3   V1  V2
y33 y33

yik ykj
To eliminate node k: y new
ij
 yij  i,j = I,2, .. ,n,
y kk
8/14/2013 EE5702R Advanced Power System Analysis:: Introduction by P. Jirutitijaroen 52