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Proceedings of 2017 IEEE

International Conference on Mechatronics and Automation


August 6 - 9, Takamatsu, Japan

Review Analysis of Voltage Stability in Power System


Youjie Ma, Shaofeng Lv, Xuesong Zhou and Zhiqiang Gao
Key Research Laboratory for Control Theory & Applications in Complicated Systems

Tianjin University of Technology

391 Binshui Road, Xiqing District, Tianjin, China

lvshaofenglsf@126.com

Abstract - According to the research on voltage stability of 1996, etc [1], [2]. As a result, the research of voltage stability
power system at home and abroad, the definition and classification has gradually entered the field of power industry and
of power system voltage stability are summarized and compared,
and then analyzed from two aspects of static and dynamic voltage academia. Before 1990s, the research of voltage stability
instability mechanism. In this paper, power system voltage stability mainly focused on static voltage stability. With the deepening
analysis methods are summarized as static voltage stability analysis of research, people gradually realize that the essence of
and dynamic voltage stability analysis, and the present research voltage stability is a dynamic problem, which is closely
situation of the two kinds of analysis methods is analyzed and
reviewed. Finally, the future development trend is prospected
related to the dynamic characteristics of many components in
power system.

II. THE DEFINITION OF VOLTAGE STABILITY


Index Terms - Power system. Voltage stability. Static voltage
analysis. Dynamic voltage analysis. A. The Definition and Classification of Power System
Voltage Stability (DL755-2001)
Guidelines for the security and stability of power system
I. INTRODUCTION
in our country (DL755-2001) and The State Guide security
In recent years, with the development of power system and stability of power system calculation rules [3], [4], power
from the integrated generation and transmission system to an system voltage stability is that the system voltage can maintain
open and competitive environment, increased the uncertainty or recover to be allowed within the scope of voltage after
and insecurity of the power system planning and operation, power system get to small or large disturbance, it is not occur
voltage security has become one of the main factors which voltage collapse.
limit the power transmission. Power system is a complex
large-scale nonlinear dynamic system, and its stability has According to the size of the disturbance, voltage stability
been an important issue in power system planning and can be divided into static voltage stability and large
operation. Before the voltage collapse accident, it is mainly disturbance voltage stability. Static voltage stability refers to
concerned with the problem of power angle stability, and to the system voltage can maintain or recover to be allowed
study the power angle stability is relatively mature, the within the scope of voltage after the system get to the small
mechanism of this problem has been clear and consistent disturbance, it is not occur voltage collapse. It mainly used to
understanding, and then a complete set of analytic methods define voltage static stability reserve in the system normal
and control measures are developed and applied to the actual operation and accident.Large disturbance voltage stability
power system. including the transient voltage stability, dynamic voltage
stability and long-term voltage stability, it is that the power
In the 1940s, the Soviet Union scholar Malkovich first system is not occur voltage collapse after the system get to a
noticed the problem of voltage stability and put forward the large disturbance.
voltage stability criterion, but by the end of 1970s to early 80s
began to study this problem as a special problem.The reason is B. The Definition and Classification of Power System
that some of the world's large power grid have occurred in Voltage Stability in IEEE/CIGRE
voltage collapse accident to cause the power grid collapsed, In 2004, IEEE/GIGRE joint working group report which
including French power grid accident in 1978, the Swedish gave the definition of voltage stability[5], Power system under
Power Grid Accident in 1983, the Tokyo power outage in 198 the given initial operation state after disturbance, all bus of the
and the United States in the western power grid blackout in

978-1-5090-6759-6/17/$31.00 ©2017 IEEE 7


system can maintain a stable voltage, it depends on the load to In Fig.2, the reactive voltage characteristics of the load
maintain or restore balance between load supply and demand. side are presented. Figure: QL is reactive power voltage
characteristic of load, QG is reactive and voltage
According to the nature of the disturbance, voltage
stability can be divided into small disturbance voltage stability characteristics of power, Q = QG − QL ,A and B are the
and large disturbance voltage stability in the report. Small intersection of QG and QL , which are the equilibrium point. As
disturbance voltage stability refers to the system can maintain the equilibrium point analysis in A, it have a micro voltage
ability of voltage stability after the system suffers small drop ΔV . ΔQG > ΔQL , that is the system has a certain
disturbance such as system load increases. It is affected that reactive power margin in small disturbance. The A point
load characteristic as well as within the given time continuous voltage is stable, conversely, A point voltage is instability.
and discontinuous control effects. Large disturbance voltage
stability refers to all bus of the system can maintain ability of
voltage stability after system suffers large disturbance such as
QG
system failure, cutting machine and line fault.It is determined
by the interaction of system and load characteristic as well as QL

between continuous and discontinuous control and protection.


To judge big disturbance voltage stability, it is necessary to Q

take into account for nonlinear response characteristic of


power system for some time. The research of time from
several seconds or minutes. Fig. 2 Reactive voltage static characteristic curve

III. MECHANISM OF VOLTAGE INSTABILITY In a multi-machine system, its application is conditional.


Voltage instability and voltage collapse phenomenon is Only without considering the change of system frequency and
considered a steady of state instability [6]. Deepen the lack of reactive power low voltage generator system relative
phase angle is very small, which is impossible when the
understanding of the problem of voltage stability is reflected
available angle stability criterion. At the same time, the
in the understanding of the mechanism of voltage instability.
criterion can not consider the mutual influence of each load
The researchers worked a lot of research in the mechanism point. However,the angle instability and voltage instability of
interpretation of static and dynamic voltage instability the actual system are mutually influence each other, it is
difficult to determine which lead to undermine the stability of
A. Static Mechanism Explanation of Voltage Instability
the system in many cases. And the load of system is the
Voltage stability is considered as a static problem at first, interaction. Therefore, this criterion cannot be directly applied
so the voltage instability mechanism is explained from the to multi-machine system. In view of the shortage of dQ dU ,
static point of view. For example, the former Soviet Union some scholars put forward the criterion that is dP dU .
scholar Malkovich put forward the first voltage stability Finally, using P-U curve and Q-U curve to explain the
criterion dQ dU [7]. It is presented as research object in a mechanism of voltage instability.
single load infinite system (Fig.1). The proposed criterion is B. Dynamic Mechanism Explanation of Voltage Instability
based on the following ideas: as the ratio x r of the system, so
With the development of the research on voltage stability,
the voltage level of the power system is mainly affected by the
the dynamic instability mechanism is brought into being
reactive power. At the same time, due to the induction motor
which is considering the dynamic effect of the generator and
load is the most important component of the load, the stability
its regulating system, the load and other dynamic components.
of the induction motor is used to study the voltage stability.
Many scholars study the voltage stability of the system
E jX Ur from the point of view of load stability, In [8] author has put
forward to the dynamic load equivalent admittance as state
variables for the voltage instability mechanism analysis of
small disturbance according to the characteristics of induction
motor equivalent admittance cannot change. In [9] author has
S = P +jQ
believed that the voltage instability may be caused by the
active power provided by the system to the load, which may
Fig. 1 Single supply and single load wiring diagram not be supported need for the active power on load. It may
also be caused by reactive power shortage.

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Although the dynamic nature of voltage stability has been The continuation power flow method has four basic steps:
recognized, the understanding of the mechanism of voltage prediction, correction, parameterization and step control. As
collapse is not completely unified. Some theories, including shown in Fig.3, through constant prediction and correction, the
energy function, central flow and bifurcation theory, have collapse point of voltage stability is obtained. In [16] author
some limitations in the explanation of the mechanism of has proposed an improved continuation power flow method
voltage collapse. Therefore,the research on the mechanism of that the PQ decomposition method is used to solve the power
voltage collapse still needs the efforts of scientific researchers flow, the prediction process is simulated by using the
and the research methods and theories will be further Lagrange two interpolation technique, and the local parameter
improved. method is used to solve the correction equation.

IV. RESEARCH METHODS OF VOLTAGE STABILITY


So far, according to used the different model, research
methods of voltage stability can be roughly divided into two
types, which are a static method based on power flow
calculation and a dynamic method based on differential
equations.

A. Static Voltage Stability Analysis Method


Many of the current on voltage stability are analyzed Fig. 3 Solving process of continuous power flow method
based on the power flow equation or through flow equation is
modified. On the one hand,people generally believe that the 3) Singular Value Decomposition Method: The critical
voltage stability is whether exist a feasible solution, the point of voltage stability, from the physical point of view, is
voltage stability limit is the critical power flow solution. On that the system reaches the maximum power transfer point,and
the other hand, static analysis can be given the voltage from a mathematical point of view, it is the singular point of
stability margin and the state variable sensitivity information the Jacobi matrix of the power flow equation. When the
for monitoring and adjusting the system. The existing mature system load is close to the limit state, the trend of Jacobi
analysis methods include sensitivity analysis matrix is close to singular. Therefore, the minimum singular
method,continuation power flow method, singular value value reflecting Jacobi singular degree, the trend of Jacobi
decomposition method and so on. matrix of the minimum singular value as the voltage stability
index is used to reflect the current working state which is close
1) Sensitivity Analysis Method: Sensitivity method is to the critical working state degree. In [19] author has
used to evaluate the static voltage stability based on the proposed that with a reactive power/voltage operation mode
sensitivity matrix derived from the power flow equation. corresponding to each feature value of reduction Jacobi
Sensitivity parameters are determined by the relative matrix, a relative measure of the voltage stability of the
relationship between the state variables and the control current state can be used to indicate by the modulus value of
variables. The commonly used sensitivity: Sensitivity of load
the eigenvalue.
node voltage to active or reactive power ( dUL dPL , dUL dQL );
Sensitivity of generator reactive power to active or reactive 4) Method Review: Static voltage stability analysis
load ( dQg dPL , dQg dQL ); Sensitivity of load node voltage to method has been developed relatively mature, and its
generator node voltage ( dUL dUg ). When the sensitivity calculation is much smaller than the dynamic analysis method.
coefficient increases, the power system tends to be unstable. Although the voltage stability problem is a dynamic problem,
Based on the sensitivity parameter values of the system, it it can be regarded as a static problem in some cases. Static
control the static voltage stability is proposed in [12]. In [13], analysis methods have many applications in the evaluation and
the application of sensitivity parameters is extended from prediction of voltage stability. Singular value decomposition
single machine load to multi machine power system. method is based on the linearized power flow equation, but the
Jacobi matrix of the power flow equation has a high degree of
2) Continuation Power flow Method: Because of multiple nonlinearity. When the generator reactive power arrives at its
solutions of the power flow equation is closely related to the limit, it will lead to the change of the minimum eigenvalue. So
stability of the system voltage, the continuation power flow it is very difficult to evaluate the degree of voltage stability
method is used to overcome the problem of convergence near objectively. When the system is close to the critical state, it is
the limit of stable operation by continuously updating the of great significance to linearize the power flow Jacobi matrix
power flow equation. This is an effective method to calculate of the nonlinear element. The physical concept of the
the voltage stability limit. sensitivity method is simple and clear, the amount of data
needed is small, and it has a good application in judging the

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weak point of the system voltage stability and evaluating the By analyzing the eigenvalues of the coefficient matrix J ,
stability of the system. However, for complex systems, the we can judge the small disturbance stability of the system.
linear characteristic of the sensitivity index is not good, and it
The influence of small disturbance voltage stability of the
can not reflect the critical state of the system. The continuous
power flow method can effectively calculate the critical system in the parameters of generator excitation system, shunt
capacitor bank and compensator (static var compensator,
voltage stability point, provide a useful theoretical support for
the research and the limit of voltage stability. But, in the face SVC) is studied by [20]. In [21] author has analyzed that the
influence of OLTC and load dynamic characteristics on the
of increasingly complex power system, continuous power flow
method has many shortcomings, such as large amount of small disturbance voltage stability of the system and it
calculation, high time consuming, not suitable for online presents the small disturbance voltage stability region in the
state space. It can be seen from the paper that the dynamic
application, etc.
characteristics of the integrated load have a very important
B. Dynamic Voltage Stability Analysis Method impact on the voltage stability of the system. Therefore,
accurate load models and parameters should be used in the
With the deepening of the research, the dynamic nature of actual system.
voltage stability is concerned. In order to explain the
mechanism of voltage instability fundamentally,the dynamic 2) Time Domain Simulation Method: Time domain
model of power system must be established. Studying on the simulation analysis is the most powerful method to study the
physical essence of voltage collapse by various dynamic dynamic mechanism and process of voltage stability and to
analysis methods. Only by mastering the correct theory of check the correctness of other voltage stability analysis
voltage instability mechanism, the system can avoid the methods.It is suitable for any power system dynamic model.
occurrence of voltage collapse accidents. At present, the At present, there are still some difficulties in the study of time
dynamic analysis methods of voltage stability mainly include domain simulation of voltage stability, including the
small signal analysis method, bifurcation analysis method and processing of time frame, the applicability of load model and
time domain simulation method, etc. the generalization of the conclusion. In [24] author has
proposed that based on the theory of network loss sensitivity, a
1) Small Signal Analysis Method: The small signal two order index (integrated network loss sensitivity index) is
analysis method is based on the linear differential equation, constructed. It can be applied to on-line analysis and control of
which is only suitable for the case of small disturbance. The voltage stability. The load modeling itself is one of the
main difficulty lies in the establishment of the main difficulties in the study of voltage stability. Different load
components of the system and correlation dynamic model. At models will get different conclusions in the simulation study.
present, the small signal analysis has been used study to the At present, researchers have put forward many models, but
influence of the voltage stability in on load tap changing there is still much controversy.It need to be further studied.
transformer (OLTC), generator and its excitation control
system and load model, etc. The differential algebraic 3) Bifurcation Analysis Method: Bifurcation theory is
equation of the system: widely used to describe the properties and changes of the
trajectory structure of a dynamic system with parameter
x =F ( x, y , p ) variations. When this change occurs, the bifurcation is called,
(1) and the parameter value is called the bifurcation value. Local
0=G ( x, y, p )
bifurcation theory can be used to determine the characteristics
In the formula: x is a system state variable; y is an of the static solution when the parameter changes, P-V and
algebraic variable; p is a parameter variable.
Q-V curves belong to the static analysis method. Bifurcation
indicates dynamic instability, and the description of
The formula (1) is linearized at the equilibrium point. bifurcation is an accurate method for describing bifurcation
points. At the bifurcation point, the system parameter changes
Δx =AΔx +BΔy
lead to instability. The existence and uniqueness of the
0=CΔx +DΔy (2) solution cannot be guaranteed when the bifurcation occurs.
The bifurcation theory of nonlinear dynamic analysis for
The algebraic variable Δy of the formula (2) is eliminated,and voltage stability is related to static stability and dynamic
the standard state equation can be obtained as follows: stability to a certain extent. There are many types of
Δx =J Δx bifurcation bifurcation theory, such as saddle node bifurcation,
J =A − BD −1C (3) Hopf bifurcation, etc [25]. In [27] author has summarized that
calculation and application of Hopf bifurcation in the power
system.

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4) Energy function Method: The energy function method the foundation for future research on dynamic voltage
uses the Lyapunov direct method to evaluate the stability of stability.
the system described by nonlinear differential equations. The
method provides a quantitative measure of the system voltage VI. CONCLUSIONS
stability by using an energy function, which clearly shows the Power system voltage stability has been one of the hot
distance between the current operating point of the system and issues in recent years. After a lot of research efforts, a lot of
the point of occurrence of the voltage collapse. In [28] author research results have been obtained. There are many methods
has constructed energy function, energy function method is to analyze the voltage stability, the researchers have studied
applied in voltage stability analysis, but in the system, load is the voltage stability from different angles, although many
simplified static model, without considering the dynamic progresses have been made, there are still many difficulties to
characteristics of the important role of load on voltage be solved. In this paper, summarizing the research results so
stability, its effectiveness remains to be tested. Since there are far, with the introduction of new mathematical tools and
many factors affecting the voltage stability problem, and the computational methods, the theory, model and analysis
description of the load dynamics, such as the dynamics of the methods of voltage stability will gradually mature.
load, is not perfect, so it is difficult to construct a proper
energy function. The problem of voltage stability is the basis of a subject
in the research field of the power system stability, The voltage
V. PROBLEMS IN VOLTAGE STABILITY STUDY instability is often not isolated. In the analysis of voltage
The static voltage stability research method is mainly stability, power angle stability and frequency stability are also
based on the power flow equation, which has made great considered. The whole theoretical system of the study of
progress. But no matter what kind of method,its physical power system stability has not been established, so the
essence is to limit the running state of power network research of stability power system is a long way to go.
transmission power as the critical point of voltage instability, With the development of voltage stability research, the
the difference lies in the different features to seize the criterion important role of dynamic characteristics of composite load in
limit of operation state as the system is running in the limit voltage instability has become a common consensus.
state. Although the static analysis method plays an important Composite load, due to complex, random variable,
role in obtaining the limit operation state of the power grid and geographical dispersion and nonlinear characteristics, often
guiding the production scheduling, it can not reveal the adopts approximate simplified model in the actual simulation,
physical essence and instability mechanism of voltage stability which greatly affects the reliability of voltage stability
problem. analysis results. Therefore, established accurate and practical
Voltage stability is essentially a dynamic problem, only load model will greatly promote the development of voltage
through dynamic analysis,the dynamic factors can reflect the stability analysis.
influence of dynamic factors on voltage stability. The ACKNOWLEDGMENT
difficulty of dynamic analysis is to establish a simple and
dynamic model including the main components of the system The authors would like to thank the reviewers for their
and the load model. The general trend of the research on very helpful comments and suggestions which have improved
dynamic voltage stability is to improve the accuracy of voltage the presentation of the paper. The work of Shaofeng Lv was
stability. Although a lot of progress has been achieved,it is not supported by the National Natural Science Foundation of
mature. Because of some description of influencing the China (50877053) and Tianjin Natural Science Foundation of
dynamic characteristics of the power system main components China (09JCYBJC07100).
are not completed, it makes the study of dynamic voltage
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