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Smart Grid Topic 1 Power Systems PDF
Smart Grid Topic 1 Power Systems PDF
ECE5332:CommunicationsandControlforSmart
Spring2012
A.H.MohsenianRad(UofT) NetworkingandDistributedSystems 1
Power Systems
TheFourMainElementsinPowerSystems:
PowerProduction/Generation
PowerTransmission
PowerDistribution
PowerConsumption/Load
Ofcourse,wealsoneedmonitoringandcontrolsystems.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 2
Power Systems
PowerProduction:
DifferentTypes:
Traditional
Renewable
Capacity,Cost,CarbonEmission
StepupTransformers
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 3
Power Systems
PowerTransmission:
HighVoltage(HV)TransmissionLines
SeveralHundredMiles
SwitchingStations
Transformers
CircuitBreakers
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 4
Power Systems
ThePowerTransmissionGridintheUnitedStates:
www.geni.org
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 5
Power Systems
MajorInterconnectionsintheUnitedStates:
www.geni.org
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 6
Power Systems
PowerDistribution:
MediumVoltage(MV)TransmissionLines(<50kV)
PowerDelivertoLoadLocations
InterfacewithConsumers/Metering
DistributionSubstations
StepDownTransformers
DistributionTransformers
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 7
Power Systems
PowerConsumption:
Industrial
Commercial
Residential
DemandResponse
ControllableLoad
NonControllable
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 8
Power Systems
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 9
Power Systems
PowerSystemControl:
DataCollection:Sensors,PMUs,etc.
DecisionMaking:Controllers
Actuators:CircuitBreakers,etc.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 10
Power Grid Graph Representation
Nodes:Buses
Links:TransmissionLines
Generator
Load
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 11
Power Grid Graph Representation
Nodes:Buses
Links:TransmissionLines Buses (Voltage)
Generator
Load
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 12
Power Grid Graph Representation
Nodes:Buses
Links:TransmissionLines
Generator
Load
TransmissionLines(PowerFlow,Loss)
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 13
Power Grid Graph Representation
Nodes:Buses
Links:TransmissionLines
Generator
Consumers
Load
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 14
Power Grid Graph Representation
Nodes:Buses
Links:TransmissionLines
Load 7MW
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 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
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 16
Transmission Line Admittance
Forthetransmissionlineconnectingbusi tobusk:
Addmitance:yik
Example:
yik =1 j4(perunit)
Susceptance foranyshuntelement(capacitor)togroundatbusi.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 17
Y-Bus Matrix
Wedefine:
NotethatYbas matrixdependsonthepowergridtopology
andtheadmittanceofalltransmissionlines.
Nisthenumberofbussesinthegrid.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 18
Y-Bus Matrix
Example:Foragridwith4buses,wehave:
Afterseparatingtherealandimaginaryparts:
Ybus G j B
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 19
Bus Voltage
LetVi denotethevoltageatbusi:
Vi Vi i
Inmostoperatingscenarioswehave:
Vi V j i j
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 20
Power Flow Equations
Si =Pi +jQi
ActivePowerReactivePower
GenerationBus: Pi >0
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 21
Power Flow Equations
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.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 22
Power Flow Equations
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
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 23
Power Flow Equations
i j 10 to 15
Step2:Formostneighboringbuses:.
Sin ( k j ) k j
Asaresult,wehave:
Cos ( k j ) 1
Pk Vk V j Bkj ( k j )
N
j 1
Qk Vk V j Bkj
N
j 1
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 24
Power Flow Equations
Step3:Inperunit,|Vi|isverycloseto1.0(0.95to1.05).
Vi V j 1
Asaresult,wehave:.
N
Pk Bkj ( k j )
j 1
j 1 j 1,
jk
Pk hasalinearmodelandQk isalmostfixed.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 25
Power Flow Equations
Step3:Inperunit,|Vi|isverycloseto1.0(0.95to1.05).
Vi V j 1
Asaresult,wehave:.
DCPowerFlowEquations
N
Pk Bkj ( k j )
j 1
j 1 j 1,
jk
Pk hasalinearmodelandQk isalmostfixed.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 26
Power Flow Equations
Giventhepowerinjectionvalues atallbuses,wecanuse
N
Pk Bkj ( k j )
j 1
toobtainthevoltageangles atallbuses.
Pij Bij ( i j )
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 27
Power Flow Equations
Example:Obtainpowerflowvaluesinthefollowinggrid:
P1g 2 pu P2g 2 pu
y12 j10
P2l 1 pu
y14 j10 y13 j10 y23 j10
y34 j10
P4g 1 pu P3l 4 pu
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 28
Power Flow Equations
First,weobtaintheYbusmatrix:
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 29
Power Flow Equations
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:
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 30
Power Flow Equations
Fromthelasttwoslides,wefinallyobtain:
1
2
3
4
Therefore,thevoltageanglesareobtainedas:
1
1
2
3
4
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 31
Power Flow Equations
However,thelastmatrixinthepreviousslideissingular!
Therefore,wecannottaketheinverse.
Thesystemofequationswouldhaveinfinitesolutions.
Theproblemisthatthefouranglesarenotindependent.
Whatmattersistheangular/phasedifference.
1 0
Wechooseonebus(e.g.,bus1)asreferencebus:.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 32
Power Flow Equations
Weshouldalsoremovethecorrespondingrows/columns:
2 30 10 10 10 1
1 10 20 10 0 1 20 10 0 2
2 4 10 30 10
4 10 10 30 10 3 3
1 0 10 20 4
1 10 0 10 20 4
1
Theangulardifferences(withrespectto):
1
2 20 10 0 1 0.025 2 1 0.025
10 30 10 4 0.15
3 3 1 0.15
4 0 10 20 1 0.025 4 1 0.025
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 33
Power Flow Equations
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
P1g 2 pu P2g 2 pu
0.25
P2l 1 pu
0.25 1.5 1.25
1.25
P4g 1 pu P3l 4 pu
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 34
Power Flow Equations
Whatifthegeneratorconnectedtobus1isrenewable?
Whatifthecapacity oftransmissionlink(1,3)is1pu?
Whatifwecanapplydemandresponse toloadbus3?
Whatifoneofthetransmissionlinesfails?
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 35
Economic Dispatch Problem
Intheexamplewediscussedearlier,wehad:
PowerSupply=PowerLoad
Inparticular,wehad:
P1g P2g P4g P2l P3l
However,generationlevelsandassumedgiven.
P1g , P2g , P4g
Q:Whatifthegeneratorshavedifferentgenerationcosts?
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 36
Economic Dispatch Problem
Forthermalpowerplants,generationcostisquadratic:
Example:agridwiththreepowerplants:
Eachpowerplanthassomeminandmaxgenerationlevels.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 37
Economic Dispatch Problem
Forthermalpowerplants,generationcostisquadratic:
Example:agridwiththreepowerplants:
Eachpowerplanthassomeminandmaxgenerationlevels.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 38
Economic Dispatch Problem
Forthermalpowerplants,generationcostisquadratic:
Example:agridwiththreepowerplants:
Eachpowerplanthassomeminandmaxgenerationlevels.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 39
Economic Dispatch Problem
Forthermalpowerplants,generationcostisquadratic:
Example:agridwiththreepowerplants:
Eachpowerplanthassomeminandmaxgenerationlevels.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 40
Economic Dispatch Problem
Forthermalpowerplants,generationcostisquadratic:
Example:agridwiththreepowerplants:
Eachpowerplanthassomeminandmaxgenerationlevels.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 41
Economic Dispatch Problem
WeshouldselectP1,P2,andP3 to:
Minimizethetotalcost ofgeneration
EconomicDispatchProblem:
minimize CP1 CP2 CP3
P1 , P2 , P3
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 42
Economic Dispatch Problem
Istheformulatedproblemaconvexprogram?Why?
Convexprogramscanbesolvedefficiently.
AnusefulsoftwareisCVXforMatlab (http://cvxr.com/cvx).
Theoptimal economicdispatchsolution:
P1 =393.2MW
P2 =334.6MW Q:Dotheysatisfyallconstraints?
P3 =122.2MW
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 43
Economic Dispatch Problem
Istheformulatedproblemaconvexprogram?Why?
Convexprogramscanbesolvedefficiently.
AnusefulsoftwareisCVXforMatlab (http://cvxr.com/cvx).
Theoptimal economicdispatchsolution:
P1 =393.2MW
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 44
Economic Dispatch Problem
Whatifwehavetosatisfytopologyconstraints?
P1 P2
P3 400 MW
1
2 20 10 0 P2 450
10 30 10 400
3 P13 B13 (1 3 ) 10 3 20 3 20
4 0 10 20 P3
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 45
Economic Dispatch Problem
Thesame optimalsolutionsarestillvalid:
P1 393.2 MW P2 334.6 MW
156.8
160.3
P3 122.2 MW 400 MW
2 15.685
19.830
3 3 20 P13 200
4 3.805
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 46
Economic Dispatch Problem
Thesame optimalsolutionsarestillvalid:
P1 393.2 MW P2 334.6 MW
156.8
160.3
Whatif P13 170
P3 122.2 MW 400 MW
2 15.685
19.830
3 3 20 P13 200
4 3.805
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 47
Economic Dispatch Problem
Thentheeconomicdispatchproblembecomes:
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 48
Economic Dispatch Problem
Thentheeconomicdispatchproblembecomes:
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 49
Economic Dispatch Problem
Thenewoptimalsolutionsareobtainedas:
P1 280 MW P2 400 MW
110
0 450 MW 60
170
170
P3 170 MW 400 MW
Thetotalgenerationcostbecomes:$8,233.66>$8,194.3
Here,wehadtosacrificecostforimplementation.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 50
Economic Dispatch Problem
Thenewoptimalsolutionsareobtainedas:
P1 280 MW P2 400 MW
110
0 450 MW 60
170
170
Whatif P13 150
P3 170 MW 400 MW
Thetotalgenerationcostbecomes:$8,233.66>$8,194.3
Here,wehadtosacrificecostforimplementation.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 51
Unit Commitment
EconomicDispatchissolvedafewhoursahead ofoperation.
Ontheotherhand,weneedtodecideaboutthechoiceof
powerplantsthatwewanttoturnon forthenextday.
ThisisdonebysolvingtheUnitCommitment problem.
Weparticularlydecideonwhichslowstarting powerplantswe
shouldturnonduringthenextdaygivenvariousconstraints.
ThemathematicalconceptsaresimilartotheEDproblem.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 52
References
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 53