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MODELING OF THE GENERALIZED UNIFIED POWER FLOW


CONTROLLER (GUPFC) IN A NONLINEAR INTERIOR POINT OPF
X.-P.Zhang E. Handschin M. Yao
University of Warwick University of Dortmund Alstom ESCA
UK GERMANY USA

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Modeling of the Generalized Unified Contents


Power Flow Controller (GUPFC)
in a Nonlinear Interior Point OPF Introduction

A Mathematical Model of The Generalized


X.-P. Zhang E. Handschin M. Yao Unified Power Flow Controller (GUPFC)
University of Warwick University of Dortmund Alstom ESCA
UK GERMANY USA Nonlinear Interior Point OPF

IEEE PICA 2001 Numerical Examples


SYDNEY, AUSTRALIA
20 - 24 MAY 2001
Conclusions

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~

3 4
Convertible Static Compensator
The Development of FACTS
(CSC) Family
~ ~ ~ ~~

I
, Converter Based FACTS Devices ’ Interline Power Flow Controller (IPFC)
Combining two series converters by a common DC link
STATic synchronous COMpensator (STATCOM)
Static Synchronous Series Compensator (SSSC)
Generalized Unified Power Flow Controller
Unified Power Flow Controller (UPFC) (GUPFC)
Development of the concepts of IPFC and UPFC
Latest Generation of FACTS Devices
Combining one shunt converter and at least two
Convertible Static Compensator (CSC) Family- series converters together by a common DC link

More strong control capability than that of UPFC

0-7803-6681-6/01/$10.00 02001 IEEE 283


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5 t
The Road of Optimal Power Flow
Outline of the Objectives
(OPF)
The general OPF concept, formulation, and
Solution 1960s Establishing a mathematical model of the
GUPFC for power flow and optimal power flow
LP based OPF with security constraints in 1978
study
QP based O P F in 1984
OPF Solution by Newton's method in 1984 Implementation of the GUPFC model in a
nonlinear interior point OPF
Interior point methods for LP based OPF in 1992
Nonlinear interior point methods for OPF in Management of transmission networks
1994

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a
A Mathematical Model of GUPFC A Mathematical Model of GUPFC
Iperational Principle of the GUPFC with Three Converters The Equivalent Circuit of the GWFC

pi+

I
Vseik vk

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1c
Nonlinear Interior Point OPF:
An Introduction
The difficulty of Newton's method: identifying
active/binding inequality constraints

The basic principles of nonlinear interior point


methods for OPF (Three blocks):
-Lagrange's method for optimization with equalities
-Fiacco & McCormick's barrier method (1968)for
optimization with inequalities
-Newton's method for solving nonlinear
equationshnconstrained optimization

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1
Nonlinear lnterior Point OPF: Eliminating the Inequality Constraints by
Formulation E'iacco & iWlcCormick's Barrier Method
Nh Nh
Objective : min f ( x j
Objective: min U(x) -p ln(sli ) - p C ln(sui )
Subject to : i=O i= 0
g(xj = 0
kmi" 2 h ( x ) 2 "h Subject to:
where x = [Osh,Vsk, &e, Vse,V , 8,T , Pg, Qg]*
A: gW=O .
7d: h(x)- sl - hmln = 0
g(xj - equality constraints such as power flow equations,
operating and control coiitraints of the GUPFC. m: h(x)+su-h"ax = O
p,sl,su > 0
k(x) - all inequality constraints such simple bounds of variable
and thermal constraints. x = [~h,Vsh,~e,Vse,V,B,T,Pg,Q~]T

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Lagrange's Method for
KKT First Order Conditions
Optimizationwith Equalities
V,L, = V f ( x )- Vg(x)T 2 - Vh(X)T d - V h ( x ) T m= 0
L, =f(x) - ,uXIn( sl) - ,uXIn( s u ) VAL,= - g ( x ) = 0
V,IL, = -(h(x) - sz - hmin) = 0
-AT&>
VmL, = -(h(x) + su - h" )=0
- TlT (h(x)- sz - hmin ) 8 , L, = ue+S1 *nl=
0
V, L, = pe - Su * n u = 0
- m T ( h ( x )+ su - hmax )
where S1 = diag(sZ,), Su = diag(su,),
where A, d,m are lagrangian mutipliers
nZ = diag (XI,), n u = diag (m,)

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1
Newton's Method for Solving Solution Procedure of the
Nonlinear Equations Nonlinear Interior Point OPF
The KKT first order conditions (nonlinear Step 0 Iteration count K = 0, p= p0 and initialize the OPF
equations) by Newton's method * Step 1 If KKT conditions are satisfied & Complementary
The Newton equation like A-v=b, where A is very gap is less than a tolerance, output results
Otherwise go to step 2
sparse matrix,y=@ z-4 Amt,Ax, A A )
Step 2 Form and solve Newton equation
Exphcitly ehmmatmgdrl drufiom Newton's equabon
Step 3 Update Newton solution x = x + 0 9995 *a*Ax a
Exphcitly ehmmatmg all variables of the GUPFC from the is a scalar constant, which can be determined by
Newton equabon the nonnegative condition S1+ a*AS1 >0,
The Reduced Newton equation has similar 4X 4 Su+a*ASu>O
block structure as that of Newton OPF Step 4 Compute complementary gap
developed by D. Sun et al - Sparse Matrix Step 5 Determine barrier parameter p
Techniques Step 6 K=K+l, go to step 1

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Initialization of the Nonlinear Numerical Examples
Interior Point OPF IEEE 30 bus svstem
’ Initialization o f the state variables excluding
those o f the GUPFC: flat start or middle points
between up and lower bounds, etc. The Number of
GUPFC
Methods are avadable m public references The Total Number of
Coutrol Objectives by
’ Initialization o f the state variables of the GUPFC
GUPFC Controllable Active and
With bus voltages given by flat start values orland specified Reactive Power Flow

I
values, analyhcal solutions for m b a l values of the state The T o t 4 Number of
vanables can be found Controllable Bus
.
Such an mibalizabon for the GUPFC vanables is very important
to mprove the convergence charactensbc of the algorithm
Voltage by GUPFC
The Number of
Iterations
12 13 1 13 14

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2(
Numerical Examples
Conclusions
A mathematical model of the Generalized Unified Power
.. .. Flow Controller (GUPFC) suitable for power flow and
It The Number of G W F C 1 2 3 optimal power flow study is established.
The Total Number of ‘ 5 12 17 The model with one shunt converter and two or more series
Coutrol Objectives by converters is implemented in a nonlinear interior point OPF.
GUPFC
__
The Total Number of
i

2 P Flow 5 P Flow
- 7 P Flow
Further more analytical solutions for the initial values of the
Controllable Active and 2Q Flow SQ Flow 7 Q Flow GUPFC are derived. With these starting points, the OPF can
Reactive Power Flow converge rapidly.
The Total Number of 1 2 3 Numerical results based on the IEEE 30 bus system and 118
Controllable Bus bus system with various GUPFC devices demonstrate the
Voltage
~.
by GUPFC _______ _.-- .. .
.
~ ~

feasibility as well as the effectiveness of the GUPFC model


The Number of 13 13 13 13
Iterations established and the OPF method proposed.

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Conclusions
Clearly, the GUPFC can construct a multi-terminal (at least
3-terminals) Sub-network, which can control active and
reactive power flows for a group of lines and selected bus
voltage. T h s has significantly extended the voltage and
power flow control capability of the independent
STATCOM or SSSC or UPFC.
’ The strong control capability of the GUPFC with
controlling bus voltage and multi-line power flows offers a
great potential in solving many of the problems facing the
electric utilities in a competitive environment. OPF with the
GUPFC devices would be a very useful tool to operate, plan
and manage power systems efficiently.

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