MODELLING OF VSC-BASED HVDC SYSTEMS

FOR NEWTON’S OPF ALGORITHM

PHASE-II

A THESIS

Submitted by

KRISHNAMRAJU MALADI

in partial fulfillment for the award of the degree

of
MASTER OF ENGINEERING
in
POWER SYSTEMS ENGINEERING

ANNA UNIVERSITY
CHENNAI 600 025

MAY 2010
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BONAFIDE CERTIFICATE

Certified that this thesis titled “INCORPORATION OF VSC-BASED

HVDC SYSTEMS IN NEWTON OPF ALGORITHM” is the bonafide work of

Mr. KRISHNAMRAJU MALADI (200831128), who carried out the research under

our supervision. Certified further, that to the best of our knowledge the work

reported herein does not form part of any other thesis or dissertation on the basis of

which a degree or award was conferred on an earlier occasion on this or any other

candidate.

Dr. M.R.MOHAN Dr. P.SOMASUNDARAM

Head of the Department Guide & Asst.Professor
Department of Electrical and Power Systems Engineering
Electronics Engineering Division
College of Engineering College of Engineering
Anna University Anna University
Chennai - 600 025. Chennai - 600 025.
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ABSTRACT

This thesis presents the model of a voltage source converter - high

voltage direct current (VSC-HVDC) suitable for optimal power flow (OPF)

solutions using Newton’s algorithm. The VSC-HVDC’s ability to provide

independent control of the converters ac voltage magnitudes and phase angles

relative to the system voltage, which allows the use of separate active and reactive

power control loops for system regulation, is well represented by the model. In this

new development in Newton OPF, the VSC-HVDC system equations are

incorporated directly into the matrix for a unified optimal solution in a single frame-

of-reference. The multipliers method is used to handle all inequality constraints of

variables, leading to highly efficient OPF solutions of constrained power networks.

The solution approach does not require structural changes in the linearised system of

equations during the iterative process using Newton’s method. The effectiveness of

the VSC-HVDC model and its proposed implementation in Newton OPF is

demonstrated by means of sample system.

Date:
Place:
(KRISHNAMRAJU MALADI)
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ACKNOWLEDGEMENT

The initiation and the rudimentary concept of project are ascribable to my

guide Dr. P. SOMASUNDARAM, Asst.Professor, Power System Engineering
Division, without whose invaluable guideline, patient and constant encouragement
nothing would have been materialized. I owe my gratitude to him.

I thank Dr. M.R. MOHAN, Head of the Department, Department of

Electrical and Electronics Engineering for her kind support and amenities provided
to complete my work in time.

My sincere thanks to Dr. R.P. KUMIDINI DEVI, Asst.Professor, Power

system Engineering Division, for constructive discussions throughout the duration of
my project work.

I thank Dr.V.SENTHILKUMAR, Asst.Professor and Mrs.V.GOMATHI,

Lecturer, Power system Engineering Division, for their encouragement throughout
this project work.

I am obliged to the faculty, research scholars and office staff of Power

system Engineering Division for their encouragement and support round the clock.
With great pleasure, I express a large measure of my gratitude to my parents, sister
and friends for their moral prop up and encouragement.

(KRISHNAMRAJU MALADI )
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TABLE OF CONTENTS

CHAPTER NO TITLE PAGE NO

ABSTRACT (TAMIL) iii

ABSTRACT (ENGLISH) iv
LIST OF TABLES viii
LIST OF FIGURES ix
LIST OF SYMBOLS x
NOMENCLATURE xi

1 INTRODUCTION 1
1.1 GENERAL 1
1.2 LITERATURE SURVEY 2
1.3 OBJECTIVE OF THE THESIS 3
1.4 ORGANISATION OF THE THESIS 4

2 OVERVIEWVIEW OPTIMAL POWER

FLOW PROBLEM 5
2.1 INTRODUCTION 5
2.1.1 Problem statement 5
2.1.2 Development of Lagrangian, gradient and
Hessian 6
2.1.3 Application of inequality constraints 8
2.1.4 Solution method 8

2.2 APPLICATION OF NEWTON’S METHOD TO OPF

2.2.1 The objective function 10
2.2.2 Equality constraints 11
2.2.3 Inequality constraints 12
2.2.4 Soft constraints by using penalty
Functions 14
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CHAPTER NO TITLE PAGE NO

2.2.5 Summary of optimal power flow problem 15

2.2.6 Solution of the optimal power flow 17

2.3 CONCLUSION 18

3 VSC-HVDC SYSTEM MODEL 19

3.1 INTRODUCTION 19
3.2 VSC-HVDC MODEL 19
3.3 POWERFLOW EQUATIONS 21
3.4 CONTROL MODES 22
3.5 CONCLUSION 24

4 VSC-HVDC OPF FORMULATION 25

4.1 INTRODUCTION 25
4.2 CONTROL EQUALITY CONSTRAINTS 25
4.2 CONTROL INEQUALITY CONSTRAINTS 28
4.4 GENERAL LAGRANGE FUNCTION 29
4.5 LINEARIZED SYSTEM OF EQUATIONS 29
4.6 CONCLUSION 31

5 SIMULATION RESULTS

5.1 INTRODUCTION 32
5.2 11 NODE NETWORK 32

6 CONCLUSION
6.1 SUMMARY OF THE THESIS 36
6.2 SCOPE FOR FUTURE WORK 36
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APPENDIX-A ECONOMIC INTERPRETATION OF THE

LAGRANGE MULTIPLIERS 37

APPENDIX D 11 BUS DATA 40

REFERENCES 43
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LIST OF TABLES

TABLE NO. TITLE PAGE NO.

B.1 IEEE 11bus data

B.2 line data

B.4 generator data

B.5 generator cost data

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LIST OF FIGURES

FIGURE NO. TITLE PAGE NO.

2.1 Newton's Method Flowchart

2.2 Multiarea System with Scheduled Interchanges

2.3 Penalty Function for Bus Voltage

2.4 Penalty Function for Line MVA Flow Limit

3.1 VSC-HVDC transmission link

3.2 Equivalent circuit of the VSC-HVDC transmission link.

5.1 IEEE two-area system with a BtB VSC-HVDC system

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LIST OF SYMBOLS

Throughout this thesis, variables that do not have a subscript next to

them may be considered vectors or matrices, while all variables that refer to a scalar

will have a subscript next to them.

Vk Magnitude of voltage at bus k.

k Angle of voltage at bus k.

tkm Transformer tap ratio between buses k and m.

km Transformer phase shift between buses k and m.

PGk he real power generated at bus k.

bkm Element of the imaginary part of the network admittance

matrix.

gkm Element of the real part of network admittance matrix.

ykm Magnitude of an element of the network admittance matrix.

km Phasor angle of an element of the network admittance matrix.

Pk Real power injection at bus k.

Qk Reactive power injection at bus k.

Pkm The real power flow from bus k to bus m.

Qkm The reactive power flow from bus k to bus m.

Skm The MVA flow from bus k to bus m.

Pint The real power interchange for an area.

Psched The scheduled real power interchanges for an area.

f() The objective function.

g() Equality constraints.

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h() Inequality constraints.

L() The Lagrange function or Lagrangian.

H() The Hessian of the Lagrangian.

L() The gradient of the Lagrangian.

ai, bi, and ci, Coefficients for the quadratic cost curve of a generator

Xmax Signifies a maximum bound on a variable.

Xmin Signifies a minimum bound on a variable.

In general, this is a Lagrange multiplier for an equality constraint.

In general, this is a Lagrange multiplier for an inequality constraint.

List of Lagrange multipliers

Pk `For Pk, the real power injection at bus k.

Qk For Qk, the reactive power injection at bus k.

viset For generator voltage set point.

int For generator voltage set point.

Skm For MVA constraint on line from bus k to m.

PGih for generator maximum power output constraint at bus i.

PGil for generator minimum power output constraint at bus i.

Vih for maximum bus voltage constraint at bus i.

V il for minimum bus voltage constraint at bus i.

tkm max For maximum transformer tap ratio constraint .

tkm min For minimum transformer tap ratio constraint.

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km max For maximum transformer phase shift constraint.

km min For minimum transformer phase shift constraint