Smart Grid Topic 1 Power Systems

Topic 1: Basics of Power Systems
ECE5332:CommunicationsandControlforSmart
Spring2012
A.H.MohsenianRad(UofT)
NetworkingandDistributedSystems
Power Systems
TheFourMainElementsinPowerSystems:
PowerProduction/Generation
PowerTransmission
PowerDistribution
PowerConsumption/Load
Ofcourse,wealsoneedmonitoringandcontrolsystems.
Dr. Hamed Mohsenian-Rad
Communications and Control in Smart Grid
Texas Tech University
Power Systems
PowerProduction:
DifferentTypes:
Traditional
Renewable
Capacity,Cost,CarbonEmission
StepupTransformers
Power Systems
PowerTransmission:
HighVoltage(HV)TransmissionLines
SeveralHundredMiles
SwitchingStations
Transformers
CircuitBreakers
Power Systems
ThePowerTransmissionGridintheUnitedStates:
www.geni.org
Power Systems
MajorInterconnectionsintheUnitedStates:
www.geni.org
Power Systems
PowerDistribution:
MediumVoltage(MV)TransmissionLines(<50kV)
PowerDelivertoLoadLocations
InterfacewithConsumers/Metering
DistributionSubstations
StepDownTransformers
DistributionTransformers
Power Systems
PowerConsumption:
Industrial
Commercial
Residential
DemandResponse
ControllableLoad
NonControllable
Power Systems
Generation
Transmission
Distribution
Load
Power Systems
PowerSystemControl:
DataCollection:Sensors,PMUs,etc.
DecisionMaking:Controllers
Actuators:CircuitBreakers,etc.
10
Power Grid Graph Representation

Nodes:Buses
Links:TransmissionLines
Generator
Load
11

Nodes:Buses
Buses (Voltage)
Generator
Load
12

Nodes:Buses
Generator
Load
TransmissionLines(PowerFlow,Loss)
13

Nodes:Buses
Load
Consumers
Generator
14

Nodes:Buses
Generator
10MW
3MW
Load 7MW
15
Transmission Line Admittance

Admittanceyisdefinedastheinverseofimpedancez:
z=r+jx
(r:Resistance,x:Reactance)
y=g+jb
(g:Conductance,b:Susceptance)
y=1/z
Parametergisusuallypositive
Parameterb:
Positive:Capacitor
Negative:Inductor
16
Transmission Line Admittance

Forthetransmissionlineconnectingbusi tobusk:
Addmitance:yik
Example:
yik =1 j4(perunit)
Notethat,yii isdenotedbyyi andindicates:
Susceptance foranyshuntelement(capacitor)togroundatbusi.
17
Y-Bus Matrix
Wedefine:
Ybus =[Yij ]where
DiagonalElements:
OffdiagonalElements:
Yii yi
k 1, k i
ik
Yij yij
NotethatYbas matrixdependsonthepowergridtopology
andtheadmittanceofalltransmissionlines.
Nisthenumberofbussesinthegrid.
18
Y-Bus Matrix
Example:Foragridwith4buses,wehave:
Ybus
y1 y12 y13 y14
y21
y31
y41
y12
y2 y21 y23 y24
y13
y23
y32
y42
y3 y31 y32 y34

y43
y14
y24
y34
y4 y41 y42 y43
Afterseparatingtherealandimaginaryparts:
Ybus G j B
19
Bus Voltage
LetVi denotethevoltageatbusi:
Notethat,Vi isaphasor,withmagnitude andangle.
Vi Vi i
Inmostoperatingscenarioswehave:
Vi V j
i j
20
Power Flow Equations

LetSi denotethepowerinjection atbusi:
Si =Pi +jQi
ActivePowerReactivePower
GenerationBus: Pi >0
LoadBus:
Pi <0
(negativepowerinjection)
21

UsingKirchhofflaws,ACPowerFlowEquations become:
Pk V k V j G kj cos( k j ) B kj sin( k j )
N
j 1
Q k V k V j G kj sin( k j ) B kj cos( k j )
N
j 1
Doweknowallnotationshere?
Ifweknowenoughvariables,wecanobtaintherestof
variablesbysolvingasystemofnonlinearequations.
22

TheACPowerFlowEquationsarecomplicatedtosolve.
Next,wetrytosimplifytheequationsinthreesteps.
Step1:Formostnetworks,G<<B.Thus,wesetG=0:
Pk Vk V j Bkj sin( k j )
N
j 1
Qk Vk V j Bkj cos( k j )
N
j 1
23

Step2:Formostneighboringbuses:.
i j 10 to 15
Asaresult,wehave:
Sin ( k j ) k j
Cos ( k j ) 1
Pk Vk V j Bkj ( k j )
N
j 1
Qk Vk V j Bkj
N
j 1
24

Step3:Inperunit,|Vi|isverycloseto1.0(0.95to1.05).
Vi V j 1
Asaresult,wehave:.
N
Pk Bkj ( k j )
j 1
Qk Bkj Bkk Bkj bk

N
j 1
j 1,
jk
Pk hasalinearmodelandQk isalmostfixed.
25

Step3:Inperunit,|Vi|isverycloseto1.0(0.95to1.05).
Vi V j 1
Asaresult,wehave:.
DCPowerFlowEquations
N
Pk Bkj ( k j )
j 1
Qk Bkj Bkk Bkj bk

N
j 1
j 1,
jk
Pk hasalinearmodelandQk isalmostfixed.
26

Giventhepowerinjectionvalues atallbuses,wecanuse
N
Pk Bkj ( k j )
j 1
toobtainthevoltageangles atallbuses.
LetPij denotethepowerflow frombusi tobusj,wehave:

Pij Bij ( i j )
27

Example:Obtainpowerflowvaluesinthefollowinggrid:
P2g 2 pu
P1g 2 pu
y12 j10
y14 j10
y13 j10
P2l 1 pu
y23 j10
y34 j10
P4g 1 pu
P3l 4 pu
28

First,weobtaintheYbusmatrix:
Ybus
b1 b12 b13 b14
b21
j
b31
b41
b12
b2 b21 b23 b24
b32
b42
jB
b13
b23
b3 b31 b32 b34
b43
B11
B
j 21
B31
B41
B12
B22
B32
B42
B13
B23
B33
B43
b14
b24
b34
b4 b41 b42 b43

B14
B24
B34
B44
29

Next,wewritethe(active)powerflowequations:
P1 B12 B13 B14 1 B12 2 B13 3 B14 4
P2 B 21 1 B 21 B 23 B 24 2 B 23 3 B 24 4
P3 B31 1 B32 2 B31 B32 B34 3 B34 4
P4 B 41 1 B 42 2 B 43 3 B 41 B 42 B 43 4
Thiscanbewrittenas:
P1 B12 B13 B14
P
B21
2
P3
B31

B41
P4
B12
B21 B23 B24
B13
B23
B32
B31 B32 B34
B42
B43
1

2
3
B34

B41 B42 B43 4
B14
B24
30

Fromthelasttwoslides,wefinallyobtain:
1

2
3

4
Therefore,thevoltageanglesareobtainedas:
1

2
3

4
31

However,thelastmatrixinthepreviousslideissingular!
Therefore,wecannottaketheinverse.
Thesystemofequationswouldhaveinfinitesolutions.
Theproblemisthatthefouranglesarenotindependent.
Whatmattersistheangular/phasedifference.
1 0
Wechooseonebus(e.g.,bus1)asreferencebus:.
32

Weshouldalsoremovethecorrespondingrows/columns:
2 30 10 10 10 1
1 10 20 10 0
2

4 10 10 30 10 3

1
10
0
10
20
1 20 10 0 2
4 10 30 10

3
1 0 10 20 4
Theangulardifferences(withrespectto):
1
2 20 10 0
10 30 10
3
4 0 10 20
1 0.025
4 0.15

1 0.025
2 1 0.025
3 1 0.15
4 1 0.025
33

Finally,thepowerflowvaluesarecalculatedas:
P12 B12 (1 2 ) 10(0 0.025) 0.25
P13 B13 (1 3 ) 10(0 0.15) 1.5
P14 B14 (1 4 ) 10(0 0.025) 0.25
P23 B23 ( 2 3 ) 10(0.025 0.15) 1.25
P34 B34 ( 3 4 ) 10(0.15 0.025) 1.25
P2g 2 pu
P1g 2 pu
0.25
0.25
P2l 1 pu
1.5
1.25
1.25
P4g 1 pu
P3l 4 pu
34

Whatifthegeneratorconnectedtobus1isrenewable?
Whatifthecapacity oftransmissionlink(1,3)is1pu?
Whatifwecanapplydemandresponse toloadbus3?
Whatifoneofthetransmissionlinesfails?
35
Economic Dispatch Problem

Intheexamplewediscussedearlier,wehad:
PowerSupply=PowerLoad
Inparticular,wehad:
P1g P2g P4g P2l P3l
However,generationlevelsandassumedgiven.
P1g , P2g ,
P4g
Q:Whatifthegeneratorshavedifferentgenerationcosts?
36

Forthermalpowerplants,generationcostisquadratic:
GenerationCost=C(P)=a1 +a2 xP+a3 xP2
Example:agridwiththreepowerplants:
C1(P1)=561+7.92xP1 +0.001562x(P1)2
150MWP1 600MW
C2(P2)=310+7.85xP2 +0.001940x(P2)2
100MWP2 400MW
C3(P3)=78+7.97xP3 +0.004820x(P3)2
50MWP3 200MW
Eachpowerplanthassomeminandmaxgenerationlevels.
37

C1(P1)=561+7.92xP1 +0.001562x(P1)2
150MWP1 600MW
C2(P2)=310+7.85xP2 +0.001940x(P2)2
100MWP2 400MW
C3(P3)=78+7.97xP3 +0.004820x(P3)2
50MWP3 200MW
38

C1(P1)=561+7.92xP1 +0.001562x(P1)2
150MWP1 600MW
C2(P2)=310+7.85xP2 +0.001940x(P2)2
100MWP2 400MW
C3(P3)=78+7.97xP3 +0.004820x(P3)2
50MWP3 200MW
39

C1(P1)=561+7.92xP1 +0.001562x(P1)2
150MWP1 600MW
C2(P2)=310+7.85xP2 +0.001940x(P2)2
100MWP2 400MW
C3(P3)=78+7.97xP3 +0.004820x(P3)2
50MWP3 200MW
40

C1(P1)=561+7.92xP1 +0.001562x(P1)2
150MWP1 600MW
C2(P2)=310+7.85xP2 +0.001940x(P2)2
100MWP2 400MW
C3(P3)=78+7.97xP3 +0.004820x(P3)2
50MWP3 200MW
41

WeshouldselectP1,P2,andP3 to:
Meettotalload Pload =850MW
Minimizethetotalcost ofgeneration
EconomicDispatchProblem:
minimize CP1 CP2 CP3
P1 , P2 , P3
subject to 150 P1 600

100 P2 400
50 P3 200
P1 P2 P3 850
42

Istheformulatedproblemaconvexprogram?Why?
Convexprogramscanbesolvedefficiently.
AnusefulsoftwareisCVXforMatlab (http://cvxr.com/cvx).
Theoptimal economicdispatchsolution:
P1 =393.2MW
P2 =334.6MW
Q:Dotheysatisfyallconstraints?
P3 =122.2MW
43

Istheformulatedproblemaconvexprogram?Why?
Convexprogramscanbesolvedefficiently.
AnusefulsoftwareisCVXforMatlab (http://cvxr.com/cvx).
Theoptimal economicdispatchsolution:
P1 =393.2MW
P2 =334.6MW
MinimumCost =3916.6+3153.8+1123.9
=8194.3
P3 =122.2MW
44

Whatifwehavetosatisfytopologyconstraints?
P2
P1
P13 200
P3
2 20 10 0
10 30 10
3
4 0 10 20
P2 450
400
P3
450 MW
400 MW
P13 B13 (1 3 ) 10 3 20 3 20
45

Thesame optimalsolutionsarestillvalid:
P2 334.6 MW
P1 393.2 MW
156.8
38.1
450 MW 41.4
198.3
160.3
P3 122.2 MW
2 15.685
19.830
3
4 3.805
400 MW
3 20
P13 200
46

Thesame optimalsolutionsarestillvalid:
P2 334.6 MW
P1 393.2 MW
156.8
38.1
Whatif P13 170
160.3
P3 122.2 MW
2 15.685
19.830
3
4 3.805
450 MW 41.4
198.3
400 MW
3 20
P13 200
47

Thentheeconomicdispatchproblembecomes:
P1 , P2 , P3 ,1 , 2 , 3

100 P2 400
50 P3 200
P1 P2 P3 850
2 20 10 0
10 30 10
3
4 0
10 20
3 17
P2 450
400
P3
48

Thentheeconomicdispatchproblembecomes:
StillaConvex
Program?
P1 , P2 , P3 ,1 , 2 , 3

100 P2 400
50 P3 200
P1 P2 P3 850
2 20 10 0
10 30 10
3
4 0
10 20
3 17
P2 450
400
P3
49

Thenewoptimalsolutionsareobtainedas:
P2 400 MW
P1 280 MW
110
0
450 MW 60
170
170
P3 170 MW
400 MW
Thetotalgenerationcostbecomes:$8,233.66>$8,194.3
Here,wehadtosacrificecostforimplementation.
50

Thenewoptimalsolutionsareobtainedas:
P2 400 MW
P1 280 MW
110
0
Whatif P13 150
450 MW 60
170
170
P3 170 MW
400 MW
Thetotalgenerationcostbecomes:$8,233.66>$8,194.3
Here,wehadtosacrificecostforimplementation.
51
Unit Commitment
EconomicDispatchissolvedafewhoursahead ofoperation.
Ontheotherhand,weneedtodecideaboutthechoiceof
powerplantsthatwewanttoturnon forthenextday.
ThisisdonebysolvingtheUnitCommitment problem.
Weparticularlydecideonwhichslowstarting powerplantswe
shouldturnonduringthenextdaygivenvariousconstraints.
ThemathematicalconceptsaresimilartotheEDproblem.
52
References
W. J. Wood and B. F. Wollenberg, Power Generation,
Operation, and Control, John Wiley & Sons, 2nd Ed., 1996.
J. McCalley and L. Tesfatsion, "Power Flow Equations", Lecture
Notes, EE 458, Department of Electrical and Computer
Engineering, Iowa State University, Spring 2010.
53

Smart Grid Topic 1 Power Systems

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Topic 1: Basics of Power Systems

Dr. Hamed Mohsenian-Rad

Communications and Control in Smart Grid

Texas Tech University

Dr. Hamed Mohsenian-Rad

Communications and Control in Smart Grid

Texas Tech University

Dr. Hamed Mohsenian-Rad

Communications and Control in Smart Grid

Texas Tech University

Communications and Control in Smart Grid

Texas Tech University

Communications and Control in Smart Grid

Texas Tech University

Dr. Hamed Mohsenian-Rad

Communications and Control in Smart Grid

Texas Tech University

Communications and Control in Smart Grid

Texas Tech University

Dr. Hamed Mohsenian-Rad

Communications and Control in Smart Grid

Texas Tech University

Dr. Hamed Mohsenian-Rad

Communications and Control in Smart Grid

Texas Tech University

Power Grid Graph Representation

Dr. Hamed Mohsenian-Rad

Communications and Control in Smart Grid

Texas Tech University

Power Grid Graph Representation

Dr. Hamed Mohsenian-Rad

Communications and Control in Smart Grid

Texas Tech University

Power Grid Graph Representation

Dr. Hamed Mohsenian-Rad

Communications and Control in Smart Grid

Texas Tech University

Power Grid Graph Representation

Dr. Hamed Mohsenian-Rad

Communications and Control in Smart Grid

Texas Tech University

Power Grid Graph Representation

Dr. Hamed Mohsenian-Rad

Communications and Control in Smart Grid

Texas Tech University

Transmission Line Admittance

Communications and Control in Smart Grid

Texas Tech University

Transmission Line Admittance

Dr. Hamed Mohsenian-Rad

Communications and Control in Smart Grid

Texas Tech University

Communications and Control in Smart Grid

Texas Tech University

y1 y12 y13 y14

y3 y31 y32 y34

y4 y41 y42 y43

Dr. Hamed Mohsenian-Rad

Communications and Control in Smart Grid

Texas Tech University

Dr. Hamed Mohsenian-Rad

Communications and Control in Smart Grid

Texas Tech University

Power Flow Equations