Lecture 4: Power Flow: Prof. Tom Overbye Dept. of Electrical and Computer Engineering Texas A&M University
Lecture 4: Power Flow: Prof. Tom Overbye Dept. of Electrical and Computer Engineering Texas A&M University
2
Two Bus Newton-Raphson Example
• For the two bus power system shown below, use
the Newton-Raphson power flow to determine the
voltage magnitude and angle at bus two. Assume
that bus one is the slack and SBase = 100 MVA.
Line Z = 0.1j
0 MW 200 MW
0 MVR 100 MVR
2 j10 j10
x Ybus
V2 j10 j10
3
Two Bus Example, cont’d
General power balance equations
n
Pi Vi Vk (Gik cosik Bik sin ik ) PGi PDi
k 1
n
Qi Vi Vk (Gik sin ik Bik cosik ) QGi QDi
k 1
Bus two power balance equations
V2 V1 (10sin 2 ) 2.0 0
2
V2 V1 (10cos 2 ) V2 (10) 1.0 0
4
Two Bus Example, cont’d
(0) 0
Set v 0, guess x
1
Calculate
(0)
V2 (10sin 2 ) 2.0 2.0
f(x ) 2 1.0
V2 (10cos 2 ) V2 (10) 1.0
(0) 10 V2 cos 2 10sin 2 10 0
J (x ) 0 10
10 V2 sin 2 10cos 2 20 V2
1
(1) 0 10 0 2.0 0.2
Solve x 1.0
1
0 10 0.9
6
Two Bus Example, Next Iterations
200.0 MW 200 MW
168.3 MVR 100 MVR
(0)
V2 (10sin 2 ) 2.0 2
f(x ) 2 0.875
V2 (10cos 2 ) V2 (10) 1.0
(0) 10 V2 cos 2 10sin 2 2.5 0
J (x ) 0 5
10 V2 sin 2 10cos 2 20 V2
9
Low Voltage Solution, cont'd
1
(1) 0 2.5 0 2 0.8
Solve x
0.25 0 5 0.875 0.075
(2) 1.462 (2) 1.42 (3) 0.921
f (x ) x x
0.534 0.2336 0.220
10
Practical Power Flow Software Note
• Most commercial software packages have built in
defaults to prevent convergence to low voltage
solutions.
– One approach is to automatically change the load model from
constant power to constant current or constant impedance
when the load bus voltage gets too low
– In PowerWorld these defaults can be modified on the Tools,
Simulator Options, Advanced Options page; note you also
need to disable the “Initialize from Flat Start Values” option
– The PowerWorld case Bus2_Intro_Low is set solved to the
low voltage solution
– Initial bus voltages can be set using the Bus Information
Dialog
11
Two Bus Region of Convergence
13
PV Buses
• Since the voltage magnitude at PV buses is fixed
there is no need to explicitly include these voltages
in x or write the reactive power balance equations
– the reactive power output of the generator varies to
maintain the fixed terminal voltage (within limits)
– optionally these variations/equations can be included by
just writing the explicit voltage constraint for the
generator bus
|Vi | – Vi setpoint = 0
14
Three Bus PV Case Example
For this three bus case we have
2 P2 (x) PG 2 PD 2
x 3 f (x) P3 (x) PG 3 PD 3 0
V2 Q2 (x) QD 2
Line Z = 0.1j
0.941 pu
One 1.000 pu Two -7.469 Deg
170.0 MW 200 MW
68.2 MVR 100 MVR
Line Z = 0.1j Line Z = 0.1j
Three 1.000 pu
30 MW
63 MVR
15
Modeling Voltage Dependent Load
So far we've assumed that the load is independent of
the bus voltage (i.e., constant power). However, the
power flow can be easily extended to include voltage
depedence with both the real and reactive load. This
is done by making PDi and Q Di a function of Vi :
n
Vi Vk (Gik cosik Bik sin ik ) PGi PDi ( Vi ) 0
k 1
n
Vi Vk (Gik sin ik Bik cosik ) QGi QDi ( Vi ) 0
k 1
16
Voltage Dependent Load Example
In previous two bus example now assume the load is
constant impedance, so
2
P2 (x) V2 (10sin 2 ) 2.0 V2 0
2 2
Q2 (x) V2 (10cos 2 ) V2 (10) 1.0 V2 0
Now calculate the power flow Jacobian
10 V2 cos 2 10sin 2 4.0 V2
J ( x)
10 V2 sin 2 10cos 2 20 V2 2.0 V2
17
Voltage Dependent Load, cont'd
(0) 0
Again set v 0, guess x
1
Calculate
(0)
V2 (10sin 2 ) 2.0 V2
2 2.0
f(x )
V2 (10cos 2 ) V2 2 (10) 1.0 V2 2 1.0
(0) 10 4
J (x )
0 12
1
(1) 0 10 4 2.0 0.1667
Solve x 1.0
1
0 12 0.9167
18
Voltage Dependent Load, cont'd
0.894 pu
One 1.000 pu Two -10.304 Deg
160.0 MW 160 MW
120.0 MVR 80 MVR
19
Generator Reactive Power Limits
• The reactive power output of generators varies to
maintain the terminal voltage; on a real generator
this is done by the exciter
• To maintain higher voltages requires more
reactive power
• Generators have reactive power limits, which are
dependent upon the generator's MW output
• These limits must be considered during the power
flow solution.
20
Generator Reactive Limits, cont'd
• During the power flow once a solution is obtained
there is a check to make sure the generator reactive
power output is within its limits
• If the reactive power is outside of the limits, fix Q
at the max or min value, and resolve treating the
generator as a PQ bus
– this is know as "type-switching"
– also need to check if a PQ generator can again regulate
• Rule of thumb: to raise system voltage we need to
supply more vars
21
The N-R Power Flow: 5-bus Example
T2
800 MVA
1 T1 5 4 345/15 kV 3 520 MVA
Line 3
345
50kV
mi
400 MVA 800 MVA
15 kV 15 kV
400 MVA 345 kV 40 Mvar 80 MW
Line 2
Line 1
345 kV
15/345 kV 100 mi 200 mi
2
280 Mvar 800 MW
Single-line diagram
Maximum
R’ X’ G’ B’ MVA
Bus-to- per unit per unit per unit per unit per unit
Table 2. Bus
Line input data
2-4 0.0090 0.100 0 1.72 12.0
2-5 0.0045 0.050 0 0.88 12.0
4-5 0.00225 0.025 0 0.44 12.0
23
The N-R Power Flow: 5-bus Example
Maximum
R X Gc Bm Maximum TAP
per per per per MVA Setting
Table 3. Bus-to- unit unit unit unit per unit per unit
Transformer Bus
input data 1-5 0.00150 0.02 0 0 6.0 —
3-4 0.00075 0.01 0 0 10.0 —
Bus Input Data Unknowns
1 V1 = 1.0, 1 = 0 P1, Q1
2 P2 = PG2-PL2 = -8 V2, 2
Q2 = QG2-QL2 = -2.8
Table 4. Input data
and unknowns 3 V3 = 1.05 Q3, 3
P3 = PG3-PL3 = 4.4
4 P4 = 0, Q4 = 0 V4, 4
5 P5 = 0, Q5 = 0 V5, 5
24
Five Bus Case Ybus
1 1
Y25 1.78552 j19.83932 per unit
R25 jX 25 0.0045 j 0.05
' '
' '
1 1 B24 B25
Y22 ' ' j j
R24 jX 24 R25 jX 25
' '
2 2
1.72 0.88
(0.89276 j 9.91964) (1.78552 j19.83932) j j
2 2
2.67828 j 28.4590 28.5847 84.624 per unit
26
Initial Bus Mismatches
27
Initial Power Flow Jacobian
28
Hand Calculation Details
MVA MVA
395 MW A
520 MW
MVA
1.000 pu 0.974 pu A A
1.019 pu 80 MW
0.000 Deg -4.548 Deg MV A MVA
-2.834 Deg 40 Mvar
1.050 pu
-0.597 Deg
0.834 pu Two
-22.406 Deg
800 MW
280 Mvar
30
37 Bus Case Example
Aggieland Power and Light A
SLA CK345
45%
MVA
A
77%
MVA
A
0.96 pu HOWDY138
107% A
23%
A
1.03 pu
MVA MVA
A 40%
T EXA S138 102%
MVA
0.94 pu 53 MW
21 Mvar 1.00 pu
MVA
A
29 MW
72% 1.0875 tap 0.0 Mvar 8 Mvar
1.02 pu HOWDY69
100 MW
279.1 MW 30 Mvar
MVA
A
A
27 MW
1.00 pu TEXA S69 0.98 pu BAT T69 68%
MVA 4 Mvar 128%
A MVA
37 MW 41% 0.99 pu NORTHGAT E69 A A
A
14 Mvar
MVA 99% 18%
22% MVA
12MA N69
MVA
MVA A
0.92 pu BONFIRE69
124.4 MW
A 34% 34 MW
WHITE138
120% MVA
0 Mvar
A
MVA
A
78%
20 MW 40% CENT URY69
0.0 Mvar
MVA
MVA
50 MW
A
8 Mvar 31 MW 78% PLUM138
13 Mvar A
0.91 pu WEB138 MVA
86% 0.96 pu
GIGEM69
0.94 pu MVA A A
59 MW 17 Mvar
27 Mvar A
0.94 pu
17 Mvar 75%
MVA WEB69
TREE69 0.94 pu 0.99 pu
0.0 Mvar
0.0 Mvar
0.94 pu
A
A
MVA
0 MW 100 MW
30 Mvar
58%
0.0 Mvar
5 MW FISH69
A
MVA
A 68%
68%
50 MW
MVA
93 MW
A
MVA
0.992 pu A
KYLE138 67%
SPIRIT69 58 Mvar 23% 0.90 pu MVA
1.00 pu
MVA
A
A
23% 39%
A
1.0000 tap
YELL69 35% 35 MW
MVA
MVA MVA
0.0 Mvar A
17%
11 Mvar 0.93 pu A
25 MW 61 MW
110 MW
A MVA
10 Mvar 17 Mvar
90 MW
14% A
0.98 pu
MVA
23% A
MVA 38%
MVA
A
58 MW A
0.94 pu
A
68% 60%
15% 0.0 Mvar 96 MW MVA
BUSH69 17 Mvar 0.0 Mvar MVA
A
MVA
20 Mvar 33%
0.93 pu 0.93 pu MSC69 MVA A
A
45 MW
82% 86% 24 Mvar 60%
MVA MVA MVA
66%
A MVA A
19% 71%
MVA
A
40%
MVA
0.96 pu REED138
70%
A
MVA
MVA
200 MW
A
56%
MVA
1.02 pu
1.00 pu A
71%
MVA
MVA
219 MW
1 .0 2 pu RA Y3 4 5
5 2 M var
System Losses: 11.51 MW A A A
slack
MVA
A
1 .0 3 pu
T IM1 3 8
MVA
MVA
1 .0 0 pu 3 3 MW A
1 .0 3 pu
1 3 Mvar MVA
A
A
1 5 .9 M var 1 8 MW
1 .0 2 pu RA Y6 9
MVA
MVA 5 Mvar 3 7 MW
A
1 7 MW A
1 .0 2 pu T IM6 9 P A I6 9 1 3 Mvar
1 .0 1 pu MVA 3 Mvar MVA
A
2 3 MW 1 .0 1 pu GRO SS6 9 A
A MVA
6 Mvar MVA
FERNA 6 9
MVA A
1 .0 1 pu WO LEN6 9
21 MW
MO RO 1 3 8
A
MVA
MVA
H ISKY6 9 7 Mvar
A
A
4.8 Mvar
1 2 MW MVA
A MVA
5 Mvar 1 9 MW 1 .0 0 pu MVA
8 Mvar A
1 .0 0 pu BO B1 3 8
P ET E6 9 A
MVA DEMA R6 9
1 .0 0 pu A A
MVA
H A NNA H6 9 5 8 MW
MVA MVA
5 1 MW 4 0 Mvar
4 5 MW
1 5 Mvar A
1 .0 2 pu BO B6 9
1 2 Mvar
2 9 .0 M var MVA
UIUC6 9 0 .99 pu
1 4 .3 Mvar
1 .0 0 pu 1 5 7 MW 5 6 MW
1 2.8 Mvar A
4 5 Mvar
A
MVA 1 3 Mvar LYNN1 3 8
A
0 MW
MVA
A 0 Mvar
A
A
MVA
MVA
MVA 58 MW A
1 4 MW
0 .9 9 7 pu BLT 1 3 8 MVA
3 6 M var MVA 1 .0 0 pu 4 M var
0 .9 9 pu A M A NDA 6 9 A
A
A
3 3 MW SH IMKO 6 9 1 .0 2 pu
HO M ER6 9
MVA
MVA A
7 .4 M var
MVA
1 0 Mvar 0.0 Mvar 1 .0 1 pu
BLT 6 9 MVA
A 1 .0 1 pu
1 5 MW
3 Mvar
A
MVA
HA LE6 9
MVA
A 9 2 MW 1.010 pu 1 5 MW
5 Mvar
1 .0 0 pu 1 0 Mvar
MVA
A
A
A
3 6 MW A
1 .0 1 pu
6 0 MW MVA 1 0 Mvar 7 .2 Mvar MVA
MVA
A
A
MVA
1 2 Mvar
1 .0 0 pu 1 .0 0 pu P A T T EN6 9 MVA
2 0.8 Mvar A
MVA
4 5 MW 1 4 MW RO GER6 9
MVA
1 .0 0 pu WEBER6 9 0 Mvar
LA UF6 9 2 Mvar
1 .0 2 pu
2 3 MW
2 2 MW 0 MW
A A
6 Mvar 14 MW A
20 MW 1 5 Mvar 0 Mvar
MVA MVA 3 M var MVA
9 Mvar
1 .0 2 pu JO1 3 8 JO 3 4 5
LA UF1 3 8 1 .0 2 pu SA V OY6 9 3 8 MW
1 .0 0 pu
3 Mvar
1 .0 1 pu BUCKY1 3 8 A
A MVA A
1 5 0 MW
MVA 1 .0 1 pu SA V OY1 3 8 MVA
A A
-0 Mvar
MVA MVA
1 5 0 MW
A
-0 Mvar
MVA
32
Power System Operations Overview
33
Power System Basics
• All power systems have three major components:
Generation, Load and Transmission/Distribution.
• Generation: Creates electric power.
• Load: Consumes electric power.
• Transmission/Distribution: Transmits electric power
from generation to load.
– Lines/transformers operating at voltages above 100 kV are
usually called the transmission system. The transmission
system is usually networked.
– Lines/transformers operating at voltages below 100 kV are
usually called the distribution system (radial).
34
Large System Example: Texas 2000
Bus Synthetic System
indicating 210.8 MW
105.4 Mvar
MVA MVA
slack
1.00 pu
amount A A
115.4 MW
-1.9 Mvar
A A
MVA
10.1 MW
100 MW
AVR ON
flow
10.6 Mvar 3.1 Mvar
121.3 Mvar 10.1 MW
Other Area
MVA MVA
34.5 MW
-3.0 Mvar
-10.0 Mvar
Scheduled Transactions
Note the
1.00 pu
Bus 3
0.0 MW 105.4 MW
Off AGC
150.0 MW
52.7 Mvar
power
Used 39.7 Mvar
AVR ON AGC ON balance at
to control each bus
output of Direction of green arrow is used to indicate
generator direction of real power (MW) flow; the blue
arrows show the reactive power 36
Basic Power Control
• Opening a circuit breaker causes the power flow to
instantaneously (nearly) change.
• No other way to directly control power flow in a
transmission line.
• By changing generation we can indirectly change
this flow.
• Power flow in transmission line is limited by
heating considerations
• Losses (I^2 R) can heat up the line, causing it to
sag.
37
Modeling Consideration – Change
is Not Really Instantaneous!
• The change isn’t really instantaneous because of
propagation delays, which are near the speed of
light; there also wave reflection issues
– This is covered in ECEN 667
Red is the vs end, green the v2 end
38
Transmission Line Limits
• Power flow in transmission line is limited by
heating considerations.
• Losses (I2 R) can heat up the line, causing it to sag.
• Each line has a limit; many utilities use
winter/summer limits.
39
Overloaded Transmission Line
-59.2 MW
151.0 MW AGC OFF 18.8 Mvar A A
97.7 MW
100.0 MW
AVR ON -26.5 Mvar
245.0 Mvar MVA MVA
59.8 MW -96.2 MW Other Area
-16.9 Mvar 31.6 Mvar
Scheduled Transactions Bus 3 1.000 pu
0.0 MW 186.4 MW
Off AGC 93.2 Mvar
150.0 MW AGC OFF
107.9 Mvar AVR ON
40
Interconnected Operation
Balancing Authority (BA) Areas
• North American Eastern and Western grids are
divided into balancing authority areas (BA)
– Often just called an area
• Transmission lines that join two areas are known as
tie-lines.
• The net power out of an area is the sum of the flow
on its tie-lines.
• The flow out of an area is equal to
41
US Balancing Authorities
42
Area Control Error (ACE)
• The area control error is the difference between the
actual flow out of an area, and the scheduled flow
– ACE also includes a frequency component that we will
probably consider later in the semester
• Ideally the ACE should always be zero
• Because the load is constantly changing, each
utility (or ISO) must constantly change its
generation to “chase” the ACE
• ACE was originally computed by utilities;
increasingly it is computed by larger organizations
such as ISOs
43
Automatic Generation Control
• Most utilities (ISOs) use automatic generation
control (AGC) to automatically change their
generation to keep their ACE close to zero.
• Usually the control center calculates ACE based
upon tie-line flows; then the AGC module sends
control signals out to the generators every couple
seconds.
44
Three Bus Case on AGC
Area Name: Home
ACE: -0.0 MW
Home Area MW Load: 330.2 MW
MW Gen: 330.6 MW
-21 MW 21 MW
MW Losses: 0.40 MW
Bus 2 4 Mvar A
-4 Mvar
A
Bus 1
MVA MVA
220 MW
110 Mvar slack
A
A
100 MW
158 MW MVA 2 Mvar
127 Mvar MVA
-41 MW -21 MW
AGC ON
13 Mvar A A
6 Mvar 100 MW
0 Mvar
41 MW MVA MVA
21 MW
Scheduled Transactions -12 Mvar
-6 Mvar Other Area
Bus 3
0.0 MW
Area AGC Status: Part. AGC 173 MW 110 MW
37 Mvar 55 Mvar
AGC ON