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Yogesh Kumar Thesis PDF
Yogesh Kumar Thesis PDF
entitled
by
Yogesh Kumar
Submitted to the Graduate Faculty as partial fulfillment of the requirements for the
_________________________________________
Dr. Srinivasa Vemuru, Committee Chair
_________________________________________
Dr. Vijay Devabhaktuni, Committee Co-Chair
_________________________________________
Dr. Mansoor Alam, Committee Member
_________________________________________
Dr. Raghav Khanna, Committee Member
_________________________________________
Dr. Richard Molyet, Committee Member
_________________________________________
Dr. Patricia R. Komuniecki, Dean
College of Graduate Studies
December 2015
Copyright 2015, Yogesh Kumar
This document is copyrighted material. Under copyright law, no parts of this document
may be reproduced without the expressed permission of the author
An Abstract of
by
Yogesh Kumar
Submitted to the Graduate Faculty as partial fulfillment of the requirements for the
Master of Science Degree in Electrical Engineering
December 2015
The trends in the energy generation as well as consumptions are increasing steadily
all over the globe due to growing population and remarkable industrialization. Declining
traditional fossil fuel energy resources combined with carbon emissions restrictions and
environmental protection policies are compelling countries to reduce their fossil fuel
combustions. Therefore in the power system, the focus is shifting towards utilizing
However, introduction of renewable energy sources into the existing power systems
is not easy; the integration of these resources brings up major technical, economic and
social challenges. These challenges have led researchers to identify best suitable solutions
for stable and economical operations of the grid. It is neither practical nor efficient for
power engineers and researchers to analyze physical systems on the field by collecting data
and examining the behaviour. Alternatively, modeling the physical systems using
computational tools and simulating them for various possible conditions provide greater
iii
This thesis evaluates the suitability of the computational tools available for power
system analysis from the point of view of their suitability and usage to user specific
requirements. The thesis puts more emphasis on the modules of these tools which support
renewable energy system modeling. Four software tools namely, NEPLAN, PowerWorld,
PSAT and MATPOWER have been chosen to perform static, fault and dynamic analyses
of IEEE power system test cases. In addition, the load flow results for wind energy systems
integrated with IEEE 9-bus and IEEE 14-bus systems are presented. The simulation results
of standard test systems as well as the renewable integrated systems show the compatibility
among the commercial and open source software studied in this study.
iv
“Dedicated to my late grandparents Shimra and Yadram Tulfi Singh, and Kaila and
Chunni Lall”.
v
Acknowledgements
My highest gratitude goes to my advisors Dr. Srinivasa Vemuru and Dr. Vijay
Kumar Devabhaktuni who helped guide and supported me through the completion of this
work. I would also like to thank Dr. Mansoor Alam, Dr. Richard Molyet and Dr. Raghav
financial support and assistantships. I would also like to express my deepest gratitude to
ET department chair Dr. Allen Duncan and Dr. William Ted Evans.
I would like to thank Dr. Jordan Ringenberg, Dr. Soma Shekara Depuru, Dr.
Yazdan Javaid Ahmad, Praveen Damacharla, Abhishek Sahu, colleagues and friends who
Finally, I would like to thank my parents, sisters and younger brother for their love
and affection.
vi
Table of Content
Acknowledgements .......................................................................................................... vi
1 Introduction…. .......................................................................................................1
vii
3 Power System Analyses and Simulations ............................................................30
viii
4.4 Wind Power Output Equation ..........................................................................77
References .........................................................................................................................92
ix
List of Tables
2.1 List of available major power system analysis software tools ...............................11
3.2 Comparison of obtained bus voltage magnitudes for IEEE 9-bus system .............36
3.4 Comparison of obtained bus voltage magnitudes for IEEE 14-bus system ...........39
3.6 Comparison of obtained bus voltage magnitudes for IEEE 39-bus system ...........43
3.8 Number of iterations and time taken to compute by each tool ..............................45
3.10 System bus voltage magnitudes and angles for three phase fault ..........................48
x
3.11 Three phase fault current magnitudes and angles for different simulation tool ....49
3.12 Fault current magnitudes and phase for three phase fault at different buses .........51
3.13 Bus voltages at each bus under three phase faults for PowerWorld ......................52
3.16 Simulation time taken by each tool for IEEE 14-bus system ................................64
4.1 Major technical issues and causes due to the RES grid integration .......................73
xi
List of Figures
1-2 Modern power grid intelligently deploying DERs and renewables .........................5
3-3 Effect of iterative method on number of iterations and simulation time ...............34
3-6 Bus voltage phase angles for all four tools ............................................................37
3-9 Bus voltage phase angles for IEEE 14-bus system ................................................40
3-12 Bus voltage phase angles for New England 39-bus system ...................................47
xii
3-15 IEEE 14-bus system with a three phase fault.........................................................50
3-16 Bus voltages at each bus under fault at different locations for PowerWorld .........51
3-17 Basic dynamic phenomena in power system and their time frames ......................53
3-21 Active power at each machine for Anderson-Farmer model during fault .............56
3-22 Reactive power at each machine for Anderson-Farmer model during fault ..........57
3-39 Rotor speeds of machines in IEEE 14-bus system under 3-phase fault .................65
3-30 Rotor angles of machines in IEEE 14-bus system under 3-phase fault .................66
4-3 Different energy storage technologies for RES power systems .............................76
4-6 Bus voltage profile of IEEE 9-bus system with wind turbine ...............................80
xiii
4-7 Bus voltage phase with wind turbine connected ....................................................81
4-8 Active power flow in IEEE 9-bus system with wind turbine ................................81
4-9 Reactive power flow in IEEE 9-bus system with wind turbine .............................82
4-11 Bus voltage profile of IEEE 14-bus system with wind turbine .............................83
4-13 Active power flow in IEEE 14-bus system with wind turbine ..............................84
4-14 Reactive power flow in IEEE 9-bus system with wind turbine .............................85
xiv
List of Abbreviations
AC ..............................Alternative Current
AVR ...........................Automatic Voltage Regulator
CO2.............................Carbon Dioxide
CPF ............................Continuous Power Flow
PF ...............................Power Flow
PSAT ..........................Power System Analysis Toolbox
PSS .............................Power System Stabilizer
xv
List of Symbols
ρ..................................Air density
xvi
Chapter 1
Introduction
industrial development is putting power industry on great pressure of increasing the power
combustion of fossil fuels to meet the energy generation needs. Continuing adding new
generation capacity while keeping carbon dioxide (CO2) emission at minimum level
increased energy needs can be taken care by adding more renewable energy sources (RES)
This chapter discusses the motivations and objectives of this study followed by a
Modern power systems are very complex and larger in nature which contain
thousands of buses. Analyzing a system with so many nodes is beyond human capacity,
and therefore highly sophisticated computer programs are required to analyze, design and
1
operate modern power systems. The increased energy demand requires the integration of
renewable energy resources into these existing electric networks making them even more
wind, solar, hydro, and geothermal and other renewables introduces technical challenges
of stable and reliable operations due to intermittent nature of the renewables as well as
It is essential to simulate the real world phenomena that impact the power systems
and analyze the potential problems in order to find optimum solutions for power systems
before its physical realization. Understanding and finding optimal solutions in the
presence of these obstacles require simulation of multiple scenarios that can occur, and
apply the solution that suits best for the specific situations. Currently, there are a wide
range of commercial as well as open source computational tools to choose from; however,
most of them have been developed for specific purposes. There is limited comparative
knowledge available about the effectiveness of such tools in different scenarios [2].
Motivated by these challenges, this thesis seeks to investigate some of the widely
resource analyses. The main goal of this thesis is to evaluate available commercial and
open-source power system tools from the perspective of user’s requirements. NEPLAN,
PowerWorld, PSAT and MATPOWER are selected for this study. NEPLAN and
PowerWorld are widely used commercially whereas PSAT and MATPOWER are popular
among researchers, educators and university students. All four tools are analyzed and
validated for various power system studies and results are compared with published
benchmark results. In order to analyze renewable energy modeling capabilities of the tools,
2
wind power generation resources are modeled using all four tools and compared.
Then underlined theoretical foundations are analyzed and validated through simulation
results. Finally, simulated and standard results are compared to each other and used to
judge the suitability of the selected tools for renewable as well as conventional power
systems.
transmission and distribution of electricity as can be seen below in Figure 1-1. The
generating stations, typically thermal, nuclear and hydro generators, have voltage levels
level suitable for long distance transmissions. At transmission level, the power system
connects with grid and also supplies power to very large consumers1 at sub transmission
level. The distribution network can be divided into primary and secondary levels with
step-down transformers used to lower the voltage levels. Primary distribution usually
power to residential customers. The voltage levels at different sections of electric power
networks are listed in Table 1.1. Transmission voltage level varies in different regions but
it is typically in the range of 115 kV to 500 kV in most of the countries, whereas most of
1Typically in a power system, large consumers are big manufacturing facilities such as steel manufacturing plants, and
petroleum refineries, etc. and usually gets power at sub-transmission levels.
2 Medium-large consumers are commercial buildings, business complexes etc. whereas schools, offices, households etc
3
Table 1.1: Standard AC electrical power system voltage levels [3].
Power
Generation
Network
Level
Distribution
Level
Figure 1-1: Structure of a basic electric power system, illustrating all the levels.
turbine generators which include coal, natural gas, and petroleum plants. However,
4
network of modern power systems incorporate RES as well as conventional sources of
electricity. This change requires more intelligent sensing and control with integration of
systems commonly known as smart grid (shown in Figure 1-2), focus on Distributed
Generation (DG)/ Distributed Energy Resources (DER) unlike the conventional centralized
generation. Main contributors of the distributed generations come from the five major
renewable resources namely wind, solar, small-hydro, biomass and geothermal energy. As
stated earlier, integration of these DGs adds significant technical complication to the grid
analysis that requires using more complex computational models and simulations.
Figure 1-2: Modern power grid intelligently deploying DERs and renewable.
5
Therefore, as the future power systems are transforming towards more reliable,
controlled, efficient and flexible networks, the need of developing and validating more
sophisticated and robust computational tools used starting from planning, controlling and
The following publications motivated by this thesis have already been published
and the contributions to the area of power system studies and renewable energy systems
computational software tools including the tools selected for analysis and simulations,
about different types of analyses, and simulation results based on case studies using
selected software. Chapter 4 focuses on renewable distributed energy resources and impact
of wind RES using load flow studies. Finally the conclusion and possible extensions to this
6
Chapter 2
This chapter discusses the need and challenges of modeling and simulation software
tools for power system. After being more or less unchanged for over six decades the power
grid, large and highly complex in nature, is undergoing vast physical and conceptual
changes. This transformation of the power grids has introduced many new challenges [4].
predict the system behavior. However, when it comes to the electric power systems, which
are inherently large in size, this approach is neither practical nor feasible. Therefore,
measurement data collected from physical power systems must be fused with
computational tools to simulate the potential behavior of the future or modified system.
Computer simulations are backbone for present day operation of electric grids and play a
critical role in all phases starting from initial planning to reliable operation. The advances
in modeling and simulation tools are facilitating power grid experts to predict occurrence
phase of the grid, computer simulations are used to identify all possible contingencies to
ensure power can be delivered efficiently and reliably with addressing factors such as
7
power systems components that trade accuracy with computational cost is also a factor
prospective users in selecting appropriate one for their projects [5]. In this chapter a
comparative study of some of major software tools in the subject area is presented. First,
major commercial and open-source tools are discussed following by a review of tools
systems can be traced back as early as 1950s. The computational methods for power
systems evolved with the progress of computer technology for the past six decades. Figure
2-1 illustrates the development of such tools over the past half-century [6]. Since the
development of first program, the field has flourished exponentially and modern day
computational tools for power system have attained whole new levels in terms of
computational capabilities, functionalities and speed. The first well known application in
the area was load flow analysis developed by J. B. Ward and H. W. Hale in the year 1956
[7]. However, scaled physical models and analog computers were in use for power systems.
For example, large AC network analyzers and static models were used for load flow study.
These network analyzers were extensively used to model and study AC power systems
Figure 2-2 shows the steps involved in the development of computation tools. In
general, any power system simulation process starts with defining the system which
8
Functionality, computational
Internet and
Transient Deregulation/ Cloud
Stability and Control/ computing
Capability, Speed
EMPT Renewable /Market/ Technologies
Demand Analysis
Voltage Stability/
Load Flow/
Power Quality/
Short Circuit
Harmonic
Analysis
Optimal Analysis
AC Power Power Flow
Network System State
Analyzer
Estimation
The next important step is defining the system components that need to be modeled. Further
steps include model formulation, data collection, translation of model into a programing
Figure 2-2: Basic steps involve in the simulation process and development of a
computational tool.
Due to complexity of power systems, the additional components that need to be addressed
The progress in computer hardware as well as software technology over the past
few decades has allowed power system professionals to develop efficient computational
modeling and simulation tools. These tools serve two purposes: provide better control and
9
operation of the power systems, and bring realistic experience to power system engineering
Most of the available power system simulation (PSS) tools can broadly be divided
in three categories: proprietary tools, free tools, and open source software tools, as detailed
following.
i) Proprietary Tools: These are the tools that are typically developed by eminent power
system research institutions or by electric utility companies and industries. They are well
designed and highly efficient comprehensive packages that are well maintained and tested
by the providers. These tools require licenses before using them and do not allow for
changes to the source code. A detailed study of these tools is provided in section 2.2.1.
ii) Free PSS Software Tools: These tools are provided by developers at no cost and
available to use free by everyone without purchasing any license. Mostly developed by
iii) Open Source Software (OSS): This is a subcategory of free software; OSS tools are
10
A combined term for ii) and iii) is given as Free Open Source Software (FOSS). A
3. Some details about available FOSS tools’ functionalities, capabilities and suitability are
given in Section 2.2.2. Besides, above discussed classifications of the tools, they can also
be categorized as off-line and online tools, based on the hardware and software
requirements [11].
discussion of the subject matter has been presented in [12] and [13]. Some of the remarks
providers are trying to develop internet and cloud based versions. Web based
PSCAD provides a free full functional version to the prospective users with the
Table 2.1: List of available major power system analysis software tools.
Demo/Ed.
Tool Vendor/ Developer Web Address
Version
NEPLAN [17] NEPLAN AG/ BCP Inc. http://www.neplan.ch
PowerWorld [18] PowerWorld Corp./ http://www.powerworld.com
University of Illinois
SKM [19] SKM Systems Analysis Inc. http://www.skm.com
ETAP [12] [20] Operation Technology Inc. http://etap.com
11
CYME [12] [21] CYME International http://www.cyme.com
PSCAD [13] [22] Minitoba HVDC Research – https://hvdc.ca/
Center
PSS/E [13] [23] Siemens http://w3.siemens.com/smartgrid/g
lobal/en/
Among all the software listed in the table, we have selected NEPLAN, PowerWorld, SKM,
12
a) NEPLAN: NEPLAN provides analysis, planning, optimization and simulation of
electric networks. We have worked with this software in this thesis, and from our
experience, it is a complete package for power system engineering. The GUI of the
software is very user-friendly and covers all three aspects of power systems, namely
generation, transmission and distribution. NEPLAN provides a vast model library for
thousands of network elements. It uses advance algorithms for dynamic simulations and
supports real time simulations of the models created in Matlab or Simulink directly.
Besides traditional networks, it also supports smart grid and renewable energy models.
It has vast model libraries which cover elements of motors, relays, turbines,
other words, user can develop an element in Matlab/Simulink and can simulate it
NEPLAN has very effective import/export interface. The user can read, write, add
and delete NEPLAN data using programs written in C/C++ programming languages.
b) PowerWorld: PowerWorld was primarily developed for solving Power Flow (PF) and
Optimal Power Flow (OPF) problems by Prof. Thomas Overbye with a group of power
system researchers at the University of Illinois, and later PowerWorld Corporation. This
power system simulator has a variety of tools to model transmission planning, power
market, system operations, and power system training and education. PowerWorld
simulator is user-friendly and has highly interactive software package for high voltage
power system operation, and is capable of effectively solving load flow analysis of systems
13
up to 250,000 buses [18] [34]. A few of unique features of this software tool are given
below.
This simulator has nice visual nature that allows users to understand and analyze the
power systems very easily. Even, a user with little knowledge of the subject area can
It allows simulations in snapshot mode plus over the period of time simulations [35].
c) SKM: SKM was originally developed as a primary power system tool known as
Distribution Analysis for Power Planning, Evaluation and Reporting (DAPPER). DAPPER
is a complete package of modules for three phase power system design and analysis. It has
a long list of calculation modules and can perform demand load analysis, voltage drop
calculations, motor starting, extensive fault analysis, demand load analysis and load
schedule documentations. Besides these major functions, it also allows transformer, feeder
and raceway sizing [19]. The main features include the following.
It is good tool to design and analyze new power system before constructing it
physically
It has a broad set of library models with thousands of unique models of protection
equipment.
It has templates for components and parts of power system that can be used to save
time in creating a model, and users can define their own symbols and annotations in
14
d) ETAP: Electrical Transient Analyzer Program (ETAP) is one of the fully-functional
software packages for the design, simulation, and analysis of generation, transmission,
distribution, and industrial power systems. ETAP has great simulation modules for power
shedding, energy management, cost analysis, and load management. The best features of
ETAP has nice data exchange, interfaces and geographical information system
(GIS) facilities.
ETAP Real-time has turned the classical data acquisition systems used for power
e) CYME: CYMDIST is an effectual power system tool that has basic modules of analysis
system. The network forecaster, advance project manager, energy profile manager,
reliability assessment, secondary grid networks analysis, geographic overlay and several
other add-ons modules have greatly enhanced the computational capabilities of this tool
[21].
15
2.2.2 Free Open Source Software Tools
As described above, FOSS is a term used to represent the free and open source
software tools. Although the commercial software tools for power system provide
comprehensive full-functional simulation packages they are complicated to use and do not
share source code. Source codes are necessary to understand the architecture and allow
researcher to make the tools more efficient and powerful. FOSS allow researchers to test
Free/Libre tools in general provide a great deal of advantages to the related fields
[36]. While most of these tools get developed at research institutes and universities with
limited functionality initially, other researchers and developers from all over the globe
contribute to enhance the features over a period of time due to access of source code. For
example, MATPOWER’s functionality has been increased after the transient stability
analysis and time domain simulation tool called MatDyn has been added to it. MatDyn is
source converters (VSC) high voltage direct current (HVDC) power systems [38]. Some
of the major features and advantages of FOSS tools are described below
1) Continuous development: Researchers from all over the world contribute in the further
developments to any FOSS in order to make such programs more reliable and
functional. InterPSS power engineering software tool is the best example of that kind
of collective community development. FOSS projects can expand at rapid rate because
16
2) Flexibility: These tools are most flexible in every aspect. Users have choice to customize
it as per their choice and as per their needs, and have privileges to redistribute and
modify [41].
4) Provides virtual power engineering laboratory: The flexibility to use and redistribution
provide a virtual laboratory and work space for the power system engineering students
and researchers as these tools can be downloaded and installed anywhere, anytime for
no cost without any restrictions. On the other hand, proprietary tools allow the usage
on a particular server or system. Again, many of such tools have initiated to develop
4) Economical: They are available for no cost. Therefore, students and researchers get most
such as MATLAB, Modelica, and Mathematica. The source code is usually simple to
these tools have a few modules intended for only specific kind of analyses and often do not
provide complete package unlike commercial software [45]. From the list given in Table
2.2, one can see that MATLAB programming language is used by most power system
engineering researchers. The fact can be bolstered by the available majority of MATLAB
based software tools such as Power System Toolbox (PST), Power System Analysis
17
Table 2.2: List of available FOSS tools for power system engineering.
18
THYME [51] C++ Oak Ridge National http://web.ornl.gov/~1qn/thyme/docs/
Laboratory, USA
Among all of above listed FOSS tools, PSAT and MATPOWER are quite popular
among the researchers and educators. A more detailed review of these two tools along with
source power system analysis and simulation tool. The typical simulations that users can
perform using PSAT are PF, OPF, Continuous Power Flow (CPF), Small-signal Stability
Analysis (SSA) and time-domain (TD) simulations. For the optimum performance, PSAT
takes advantages of the efficient inherent features of Matlab programming language such
as vectorization and sparse matrix functions. Unlike other Matlab based tools, it
accommodates interfaces with UWPFLOW and GAMS tools. The easy interface with other
PSS tools makes PSAT widely used among all FOSS tools available for power systems.
PSAT has Simulink library for network design, and supports data conversions and user
defined models. It also supports wind turbine models for renewable energy systems,
synchronous machines and controls, regulating transformers, FACTS and fuel cells [10].
3 PST is a free tool however it does not share source code with users.
19
PSAT has data conversion facility, Data Format Conversion (DFC) that can convert
data files from all widely used other PSS formats such as IEEE, EPRI, CYME,
MATPOWER, PSS/E, PSAP, PTI and PST to and from the PSAT data format.
The MATLAB written functions and programs for components and simulations are
PSAT allows modeling of wind energy systems, phase measurement units (PMU)
It allows the simulation results to be obtained in the form of static report (text
package which solves power flow and OPF problems. It focuses to provide a simulation tool
by keeping code very simple, easy to understand and to modify. MATPOWER provides
data format as Matlab M-files and can incorporate users own codes and modules to add-up
to the computational capabilities [48]. As discussed earlier MatDyn and MatACDC share
same philosophy with MATPOWER and therefore, can be integrated with it successfully.
and time-domain analyses rather than merely restrict to steady state simulations of
ii) MatACDC: This program focuses on power flow simulations of HVDC power
20
After integration of MatDyn and MatACDC, the functional capabilities of MATPOWER
have increased enormously. The leading features of this tool can be described below.
MATPOWER does not have any GUI but has robust and efficient algorithms to
This tool was designed with the intention to keep it as simple as possible and hence,
the script is extremely simple and can be modified with great ease.
From above discussions it is clear that a lot of tools are freely available that share
their source codes with users. None of the available tools provide complete package for
power system simulations except PSAT. Popular tools and their simulation capabilities are
listed in the Table 2.3 and from the table it is clear that most of the FOSS for power systems
Table 2.3: Popular FOSS tools and their functional capabilities [10] [53] [57] [58].
PSAT
MATPOWER
MatDyn
MatACDC
DOME
PST
VST
InterPSS
PCFLO
UWPFLOW
Another conclusion that can be drawn from the table is that the OFSS tools still lack fault
analysis capabilities. At the time, PSAT seems to be more or less a complete package that
21
has facility of modeling renewable energy with the available library for wind turbine
models.
emerging global energy and environment related issues [59]. To efficiently realize the true
meaningful analyses require computational tools to model optimized systems [60]. Till
date, numerous studies have been published for comparative analysis of available tools.
Some of the major works and emphasis of their effort are listed in Table 2.4. This section
further investigates into the area and reviews some of popular available computational tools
for the development and integration of renewable energy systems in to utility grids.
Table 2.4: Recent major studies and researches conducted in the area of renewable
systems modeling and computational tools.
S. Sinha and S.S 2014 Study of current status of and capabilities of different [61]
Chandel software are with the limitations, availability and areas
of further research
Arribas et al. 2011 Survey of PV and renewable hybrid system tools based [62]
on license policies, availability, features, applications
and limitations including with guidelines and
recommendations
H. L. Lam et al. 2011 The study has briefly discussed popular integration, [60]
modeling and optimization tools for energy efficient
and pollution reduction technologies
D. Markovic et al. 2011 This work presented a survey of RES tools with an [63]
emphasis on economic and environmental aspects
while discussing input and output variables
22
H. Ibrahim et al. 2011 Study presented design and simulation models of the [64]
hybrid RES systems for remote and rural area
electrification
D. Connolly et al. 2010 In this study presented comprehensive review of 37 [65]
major RES integration tools to find out the best
suitable tool under multiple objectives. The research
concluded that there is lack of tools that can address all
issues.
W. Zhou et al. 2010 Review simulation and optimization technologies for [66]
hybrid solar–wind energy systems including with
listing merits and demerits of three popular RES
software tools
M. Faraji-Zonooz 2009 Detailed study of MARKAL energy tool for RES [67]
et al.
J. L. Bernal- 2009 Major researches in the area of simulation and [68]
Agustín optimization techniques for hybrid renewable systems
including with the comparison of existing tools are
presented
R. Segurado et al. 2009 Study of EMINENT energy tool including with [69]
comparison of five popular RES tools CO2DB,
MARKAL, IKARUS, E3database, and Synopsis has
been presented
H. Lund et al. 2007 Two RES software tools EnergyPLAN and H2RES are [70]
compared
F. Urban et al. 2007 A broad analysis of 12 RES software tools for energy- [71]
systems especially for developing countries including
MiniCAM, LEAP, RETScreen, MESSAGE,
MiniCAM, and MARKAL is presented. The study
concluded that at present time none of the tool
adequately address all the issues related to energy and
economies
S. Jebaraj et al. 2006 This study broadly compared a large variety of energy [72]
tools addressing supply–demand optimization,
forecasting, neural-network, and emissions models.
C. Cormio at al. 2003 Comprehensive review of energy flow optimization [73]
model (EFOM)
S. C. Morris et al. 2002 NEMS and MARKAL-MACOR are compared in [74]
detailed including with simulation results
D. Turcotte, M. 2001 Classification of popular tools for renewable energy [75]
Ross and F. into categories of pre-feasibility, simulation, sizing and
Sheriff open architecture
23
Currently, there is a wide range of RES simulation and modeling tools available
that are RES technology specific as listed in Table 2.5. As concluded by D. Connolly, H.
Lund et al. in [65], despite large number tools, no energy tool addresses all issues related
to integrating renewable energy. Therefore, there is a need of universal tools that can be
24
SOLSIM [64] Windows Fachhochschule Konstanz, Germany Not available
This section has been included with an intention of facilitating prospective users
choose a software tool that can best serve their purpose. A comparative review of four
popular hybrid renewable systems tools HOMER, RETScreen, HOGA and HYBRIDS is
given below.
25
a) HOMER: Hybrid Optimization Model for Electric Renewables (HOMER) is frequently
used most popular software tool for hybrid energy systems. It was developed by National
environment and is best suitable for optimization and sensitivity analyses. It is a windows-
based software and developed using visual C++. HOMER has functionality to show
simulation results in tabular as well as in the form of graphs which can facilitate users to
compare various RES system configurations and help them to estimate the economic and
based on Visual Basic and C languages as well as on Excel spreadsheets. RETScreen can be
alone systems [84]. It has a database of global solar irradiation and temperature database
for more than 6000 ground stations and can link to NASA climate data too [84].
Economica
PV Wind Diesel Storage Bio Hydro Thermal
Tools l/Technical
system system Generator Device energy System Systems
Analysis
HOMER
RETScreen
HOGA
HYBRIDS
26
c) HOGA: It is a hybrid renewable system optimization program. The optimization is
objective optimization of the variables. Hybrid systems of PV, batteries storage, wind
turbines, fuel cells, hydraulic turbine, AC generator, electrolyzers, H2 tank, rectifier, and
inverter can be optimized using HOGA. It allows AC, DC, and hydrogen loads and
simulates the systems with one hour of intervals. Genetic algorithm and sensitive analysis
potentials of RES for a specific configuration determine and evaluate net present cost based
economic essence. Only one configuration at a time can be simulated and need average
daily load and environmental data. The tool is generally not designed to optimize the
systems [61].
HOGA Robust genetic algorithm and sensitive analysis Limited analysis capability of free
Can be mono as well multi objective optimization Version
Available net metering system allow users to buy Limited to Simulate up to average
and sell electricity daily load of 10 kWh
HYBRIDS Comprehensive optimization variables Only simulate one configuration at
require higher level knowledge of system a time
configurations
27
Analysis capabilities of all four above discussed tools are given in Table 2.6 and
their merits and major limitations are enlisted in Table 2.7. Careful observation proves
2.4 Conclusion
In the chapter, popular power system engineering software tools available for
commercial use as well as free open-source software for research are presented and
discussed. Most of the currently available proprietary tools provide complete simulation
packages for every level of power system starting from planning to the operations. Despite
their completeness, these tools almost never have developed with the intention of the
usage in academic environment. Nonetheless, almost all of the commercial purpose PSS
tools provide demo/trial versions for no cost and educational versions for reduced prices.
On the other hand, the open-source free software packages for PSS are more often
incomplete but easily available to everyone. The flexibility and freedom of use of such
tools have made them more popular among power system engineering educators and
researchers. Among FOSS for power system engineering, the tools developed with
MATLAB programming environment are more popular. The reason behind it might be
integration with MATLAB Simulink. For a complete free open-source software concept,
the programming environment must also be open-source or free. For example, Matlab
based FOSS are free to download and allow modifications but to run these tools
28
In the field of power system simulations, there is still scope for improvements; the
major improvement need to achieve is the lack of a standard data format among the
available power system tools. In other words, the data transport between software needs
to improve. However, most of the tools providers are working towards providing the
common data format so that the model created in one tool can also work in other PSS
tools. Also many of commercial tools have very complicated user interfaces and require
lot of expertise to properly use them. Other improvements might be related to graphical
Most of FOSS tools do not have fault analysis and renewable energy modeling
capabilities at this time. This leaves a huge void but at the same time gives great
opportunities for the power system researchers to fill this gap. The current trends in the
developments of PSS tools are the cloud-based technology. Many popular state-of-art
power system software tools have already started providing the internet and cloud-based
software versions that can be accessed from any corner of the world.
different hybrid RES tools is available which are diverse in terms of their geographical
usage, the technologies and the objectives. Despite a high availability of such tools, most
of them still lack the analysis capabilities and there is an urgency of a universal tool that
29
Chapter 3
This chapter will discuss and analyze the steady state, fault and dynamic stability
operation of standard bus systems. Standard circuits provide a common data set to facilitate
researchers to verify the correctness of their computational methods and programs. The
purpose of this study is to compare different power simulation software tools and in
particular a mix of open-source tools against commercial tools. From the variety of tools
that are available, four tools NEPLAN, PowerWorld, PSAT and MATPOWER are selected
to carry out different analyses on test circuits. IEEE 9-bus, IEEE 14-bus and IEEE 39-bus
systems are used to compare for load flow analysis whereas the fault analysis is carried out
on Ward-Hale and IEEE 14-bus systems. Finally, dynamic simulations are performed on
Anderson-Farmer 9-bus and IEEE 14-bus systems. The results are compared with results
from earlier publications. Therefore, all the errors and conclusions are not from real
measured data.
In the first case, IEEE 9-bus test system is analyzed for load flow and the second
case study is based on a 14-bus system. Finally, load flow results of IEEE New England-
39 bus system are presented. The results obtained are compared against published standard
30
results for each case. Previously standard IEEE benchmark test cases have been studied for
load flow. Power system test cases archive of the University of Washington provides power
system data for standard test cases [100]. Similarly, the University of Illinois at Urbana-
Champaign provides IEEE test cases models for PowerWorld simulator [101]. Section
3.1.1 describes basic load flow equations. The simulation results of load flow study cases
Load flow study, a most common and important analysis for power system,
calculates sinusoidal steady state of system voltage, generated and absorbed reactive and
active power and power losses. Load flow study usually uses one-line diagram and per unit
(pu) notation. The main objective of load flow is to find out voltage magnitude of each bus
and its angle when the power generators and loads are predefined. Buses are the nodes
where two or more lines connected. Buses can be classified into three types based on the
four quantities of interest namely active and reactive power, voltage magnitude and phase
angle associated with them. All three buses are described as below:
Load bus (P-Q bus): In a P-Q bus active and reactive powers are known, and voltage
and phase are the unknown quantities. About 80% buses in any electrical power system
Voltage Controlled bus/ generator bus (P-V bus): Active power and bus voltage are
known at these buses whereas reactive power and phase angle need to be calculated.
These buses have a generator connected to them. Reactive power, Q, and voltage phase
Slack or Swing bus: The injected power at generator buses is taken as positive and as
31
negative at load buses. The system losses are unknown prior to any load flow solution.
Therefore, a generator bus, usually called as reference or slack bus provides required
active and reactive powers to supply for these losses. The known and unknown quantities
Vi
Table 3.1: Classification of buses in
power system. yi1 V1
yi2 V2
Known Unknown G
Bus Type yi3 V3
Quantities Quantities
yin Vn
Slack bus |V|, δ P, Q
|V|, δ
yi0
Generator P, Q
busbus
Load P, |V| Q, δ
π-model and impedances are converted to per unit admittances for a particular MVA base
as shown in Figure 3-1. By applying Kirchhoff’s current law at any ith bus we have,
n n
I i Vi yij - yijV j j i (3.2)
j 0 j 1
Pi - jQi
Ii (3.4)
Vi*
32
n n
Pi - jQi
Ii I i Vi ij yijV j
y - j i (3.5)
Vi* j 0 j 1
using simple analytical approaches. Solutions for these equations can be achieved by
iterative methods. A common solution scheme typically have four steps: 1) Determination
of bus admittance matrix YBUS; 2) Making an initial guess of voltage magnitudes as well as
angles at each bus; 3) Calculate the deviation by substituting the guessed values; 4) Update
estimated voltages by using iterative numerical methods; 5) Repeat the steps until the
A variety of new and optimized methods and algorithms are available to solve load
Decoupled and Gauss-Seidel are commonly used to solve load flow equations. Some of the
power flows solving methods are depicted in Figure 3-2. For iterative methods, a mismatch
Figure 3-2: Widely used methods to solve load flow problems [102].
between known and unknown bus quantities, known as tolerance, is needed to stop
computation. That value is chosen as 0.001 in this study. For better performance of
computational tools, it is recommended to keep a minimal tolerance value. Each tool offers
33
a flexibility to choose a user defined tolerance value. From the study, we have observed
that varying the tolerance value has minimal effect on load flow results in all selected tools.
To examine how simulation results can get affected by the type of methods selected
for load flow studies, we have used IEEE 9-bus test case for different load flow methods
in PSAT. The time and number of iterations to converge at solution were different for
different methods as can be seen from Figure 3-3. In all of the methods, trapezoidal rule
0.2
0.15
Time (s)
0.1
0.05
0
NR Method XB FD BX FD Runge-Kutta Iwamoto
25
Number of Iterations
20
15
10
0
NR Method XB FD BX FD Runge-Kutta Iwamoto
----------------------------------Itretive Methods----------------------------------
Figure 3-3: Number of iterations and time taken by different iterative methods to
converge at solution for IEEE 9-bus systems in PSAT.
Two of the fundamental characteristics of power flow algorithms are speed (time) and rate
of convergence. In this case, convergence time and number of iterations are the minimum
when NR method is used. Hence, we can say that NR method converges faster due to less
34
3.1.2 IEEE 9-Bus System Case Study
In this section a 9-bus test system is considered for load flow studies. This test
contains 3 generators, 9 buses, and 3 loads [101] as shown in Figure 3-4. The IEEE 9-bus
Bus-8
Bus-7 Bus-3
G-2 G-3
Bus-2 Bus-9
Bus-5 Bus-6
Bus-4
Bus-1
G-1
The results for the load flow are obtained with the selected tools along with the
standard results from [103]. The simulation results for bus voltages and angles are shown
in Figures 3-5 and Figure 3-6 as well as are listed in Table 3.2 and Table 3.3. The second
column of Table 3.2 presents the results from [103], while columns 3-6 present the bus
respectively. Columns 7-10 present the percentage deviations of the results from the four
tools from standard results from [103]. For this system, 9th bus shows maximum percentage
35
Table 3.2: Comparison of obtained bus voltage magnitudes for IEEE 9-bus system.
The percentage error averaged over all nine buses is presented in the last row of
Table 3.2. For this particular study case MATPOWER has a maximum deviation of 3.184%
while PSAT has minimum deviation of 0.054% and converged to the solution in 0.076
second. Table 3.3 present similar results for phase angle for the 9-bus system. For the phase
angles of node voltages, PowerWorld exhibited maximum deviation from standard results
Table 3.3: Comparison of phase angles obtained from available software with reference
results for IEEE 9-bus system.
36
1.04 Standard NEPLAN PowerWorld MATPOWER PSAT
1 2 3 4 5 6 7 8 9
Bus
The average absolute error of all nine buses for phase angles was 0.23 for
PowerWorld and it was 0.17 for MATPOWER. However, MATPOWER simulation time
was the fastest with the simulation converging to the solution in 0.05 second with four
iterations. For the 9-bus system, PSAT followed by NEPLAN demonstrated most accurate
results for both voltage magnitudes as well as phase angles, although they took four and
-5
1 2 3 4 Bus 5 6 7 8 9
Figure 3-6: Bus voltage phase angles for all four tools.
37
3.1.3 IEEE 14-Bus System Case Study
This section presents the simulation results for load flow study of the IEEE 14-bus
system using all above mentioned power system simulation tools. The test system
represents a portion of American Electric Power System (in Midwestern US) as shown in
Figure 3-7 [100]. The system has two generators, three synchronous condensers, 14 buses
and 11 loads. The system data for this bus system is given in appendix A.2. All load flow
results for the test system obtained by the tools using Newton’s method are compared with
the standard results published in [104]. The load flow results for this case are shown in
Table 3.4 and Table 3.5 for bus voltage magnitudes and bus voltage phases respectively.
The percentage differences in the per-unit voltages of the all buses are given in the last four
columns of Table 3.4. Errors averaged over all fourteen buses are listed in last row of the
Bus-13
Bus-14
Bus-12
Bus-11
Bus-10
Bus-9
Bus-6
C
C
Bus-7 Bus-8
Bus-5
G-1 Bus-4
Bus-1
Bus-2
Bus-3
G-2
C
Table 3.4. With 0.007% of average error for voltage magnitudes, MATPOWER proved to
be more accurate and it took two iterations to converge on the solution. NEPLAN has an
38
Table 3.4: Comparison of obtained bus voltage magnitudes for IEEE 14-bus system.
Pictorial representations of the data listed in the tables are also shown in Figures 3-8 and
Figure 3-9. It is clearly visible from the figures that PowerWorld deviated more for the
1
Standard
NEP LAN
0.99 P owerWorld
MAT POWER
Voltage magnitude (p.u)
P SAT
0.98
0.97
0.96
0.95
1 2 4 6 8 10 12 14
Bus
voltage magnitudes with maximum errors at buses 9 and 10, whereas PSAT deviated more
from the standard results for phase angles. Similarly, in the case of bus phase angles
39
Standard
0 NEP LAN
P owerWorld
MAT POWER
-10
-15
-20
2 4 6 Bus 8 10 12 14
Figure: 3-9: Bus voltage phase angles for IEEE 14-bus system.
all tools gave accurate results. For IEEE 14-bus case PSAT has average absolute error of
1.735 degrees while having the maximum difference error of 5.61 degrees at 3nd bus. PSAT
took four iterations to converge to the solution within 0.071 seconds of simulation time.
Table 3.5: Comparison of phase angles obtained from available software with
reference results for IEEE 14-bus system.
40
3.1.4 IEEE New England 39-Bus System Study Case
machines. Bus 30 is reference bus and provides active and reactive power to balance out
the initial power losses in the system. Figure 3-10 shows a one-line representation of the
power system as described in “Energy Function Analysis for Power System Stability” by
Figure 3-10: IEEE New England 39-bus power system. This figure is representing the
one-line diagram of the system as modeled in PowerWorld simulator.
Load flow analysis was carried out on the system using all the four above-
mentioned power system software tools with the same convergence tolerance of 0.001, and
41
Newton-Raphson method was used in all of the tools for solving the load flow equations.
The results for bus voltage magnitudes and phase angles are listed in the Tables 3.6 and
Table 3.7. In both the tables, the first column represents the standard results as taken from
[106].
Load flow results for the bus voltage magnitudes, as listed in the given tables show
that buses 4−14 exhibit maximum deviations from the benchmark results for PowerWorld
and PSAT. PowerWorld has a maximum percentage error of 6.361% at 5th bus and PSAT
has a maximum error of 5.848% at bus 12. This behavior can be visualized from Figure 3-
11 for the voltage magnitudes. The percentage errors averaged over all 39 buses is the
maximum for PSAT with 2.801% followed by PowerWorld with 1.914%. NEPLAN has
smallest deviation and MATPOWER shows 0.096% of average deviation. The bus voltage
magnitudes at buses 29−39 have small deviation for all four tools.
1.14
Standard
1.12 NEPLAN
PowerWorld
1.1 MATPOWER
Voltage magnitude (p.u)
PSAT
1.08
1.06
1.04
1.02
0.98
0 4 8 12 16 20 24 28 32 36 40
Bus
Figure: 3-11: Bus voltage magnitudes for IEEE New England 39-bus system.
42
Table 3.6: Comparison of obtained bus voltage magnitude of the IEEE New England
39-bus system.
43
Table 3.7: Comparison of obtained bus angles for load flow analysis of the IEEE
New England 39-bus system.
44
10
Standard
7.5
NEP LAN
5 P owerWorld
Voltage phase (Degree) MAT POWER
2.5 P SAT
0
-2.5
-5
-7.5
-10
-12.5
-15
0 5 10 15 20 25 30 35 40
Bus
Figure 3-12: Bus voltage phase angles for IEEE New England 39-bus system
Table 3.8: Number of iterations and time taken to compute by each tool.
IEEE New
WSCC 9-Bus IEEE 14-Bus
Tools Parameters England 39-Bus
System System
System
MATPOWER PowerWorld NEPLAN
No. of Iterations 6 5 6
Convergence
― ― ―
Time (s)
No. of Iterations 1 4 4
Convergence
0.04 0.058 0.062
Time (s)
No. of Iterations 4 2 5
Convergence
0.07 0.02 0.06
Time (s)
No. of Iterations 4 4 3
PSAT
Convergence
0.44 0.49 0.09
Time (s)
Analyzing the phase angles results for 39-bus system, listed in Table 3.7, it is
observed that the results obtained from NEPLAN, PSAT and PowerWorld are fairly close
to benchmark results. NEPLAN has the least absolute difference of 0.02 averaged over all
45
the buses followed by PSAT with 0.29. From Figure 3-12 it can also be noticed that the
maximum deviation for phase angles are for MATPOWER. From the Table 3.8, it can be
observed that despite having more deviation from the benchmark results, MATPOWER
converged quickly to the solution and took less time in all three cases. The reason behind
it might be its simplicity and having less nested loops used in the Matlab source code.
This section presents study of the power system operation during abnormal
conditions due to faults occurred within the system. Ward-Hale 6-bus and IEEE 14-bus
systems are considered for fault study. In a very broad term, a fault is characterized by the
flow of substantial current through a low resistive path created by the fault. These current
surges can cause massive equipment damage that ultimately leads to interruption in the
power supply for long durations. Moreover, these faults increase risk of serious human
casualties, deaths and fire hazards. Extreme weather conditions such as lighting strike, high
speed winds and heavy rains are major causes of such faults.
and unbalanced (unsymmetrical) faults. Table 3.9 shows the type of faults and their
46
There are many commercial software tools for short circuits analysis to calculate
fault currents and voltages during abnormal power system conditions. The fault analysis is
Further, the fault analysis is mandatory for some of other power system studies such as
transient stability and voltage sag analyses [107]. Figure 3-13 depicts all for above
mentioned faults. Here a, b and c are subscripts for all three phases.
a a
b b
c c
(a) (b)
a a
b b
c c
(c) (d)
This section discusses the Ward and Hale system for fault analysis and calculates
system voltages and currents under faulty conditions. The results obtained from the
software tools are compared with the results published by P M Anderson in [104]. The
system considered for fault study is shown in Figure 3-14. NEPLAN, PowerWorld and
PSAT support fault analysis, however PSAT does not give fault current directly therefore
the results are not presented for PSAT. The study has presented simulation results for three
phase symmetrical fault (L-L-L) fault at bus-4. The results obtained with NEPLAN and
PowerWorld are listed in Table 3.10. Columns 2 and 3 of the table shows the standard
voltage magnitudes and angles when a three phase short circuit fault has occurred at 4th bus
47
whereas columns 4-5 and columns 6-7 show the same for NEPLAN and PowerWorld. The
last four columns of the table show percentage deviation of the voltage magnitudes and
absolute difference of the angles from the standard results obtained from [104].
Figure 3-14: Ward-Hale 6-node system. The one-line diagram shown in figure is
modeled in PowerWorld simulator.
By examining the last four columns of the result table, we can conclude that the
results obtained by NEPLAN as well as PowerWorld are close to standard results. The
maximum error for the voltage magnitude is 0.01% for NEPLAN whereas it is 0.13% for
PowerWorld.
Table 3.10: System bus voltage magnitudes and angles when a three phase fault occurred
at bus 4 as obtained with simulation tools.
Abs. Angle
Standard NEPLAN PowerWorld % Mag. Difference
Bus Difference
No. Mag Angle Mag Angle Mag Angle ∆ ∆
% NEP % PW
(p.u) (Deg) (p.u) (Deg) (p.u) (Deg) NEP PW
1 0.708 -2.30 0.708 -2.30 0.707 -2.31 0.01 0.13 0.00 0.01
2 ̅ ̅ 0.526 15.81 0.489 25.67 ̅ ̅ ̅ ̅
3 0.075 26.80 0.075 26.76 0.075 26.66 0.00 0.13 0.04 0.14
4 0.000 0.00 0.000 0.00 0.000 0.00 0.00 0.00 0.00 0.00
5 ̅ ̅ 0.264 23.82 0.264 21.17 ̅ ̅ ̅ ̅
6 0.403 -2.60 0.403 -2.61 0.403 -2.62 0.00 0.00 0.01 0.02
48
Similarly, the fault current magnitudes in per unit and angles in degree are listed in
Table 3.11. The percentage deviation of the current magnitude from the standard results is
Table 3.11: Three phase fault currents magnitudes and angles for different simulation tools.
Similarly, the magnitude deviation for PowerWorld is 4.92% at line 1-4 for this
case. The average percentage differences in the magnitudes are 1.195% and 3.574% for
NEPLAN and PowerWorld, respectively. Overall, the results are close enough to the
This section presents the analysis of IEEE 14-bus system under a three phase fault.
The test system is modeled in NEPLAN and PowerWorld. PSAT supports time domain
simulations under three phase balanced faults but it does not show fault current directly.
To obtain fault currents using PSAT, one needs to write a Matlab program using admittance
matrix created by initial load flow studies. On the other hand, MATPOWER does not
support fault analysis; therefore, the simulation results from MATPOWER are not included
in this section. In MATPOWER, under fault conditions the resulting low impedance draws
49
very low voltage. Hence, the iterative techniques used in MATPOWER to solve steady
Bus-13 Bus-14
Bus-12
Bus-11
Bus-10
Bus-9
Bus-6
C
C
Bus-7 Bus-8
Bus-5
G-1 Bus-4
Bus-1
Fault at
bus 2
G-2
Bus-2
Bus-3
C
Figure 3-15: IEEE 14-bus system with three phase faults at bus 2.
The simulations are carried out for three phase faults located at different buses to
see the variations in fault currents and angles. The obtained results are compared with the
results published in [108]. As discussed in section 3.1.3, this system has 2 generators and
three synchronous condensers. The system with three phase faults at each bus is analyzed,
as shown in above Figure 3-15. Note that all the faults are applied independently. The first
column of Table 3.12 shows the location of bus where the fault occurs. Columns two, three
and four give corresponding three phase fault currents. The last two columns of the table
show the percentage difference between the standard results published in [108] and
50
Table 3.12: Fault current magnitudes in per unit and phase in degree for three phase
faults occurred at different buses.
1
Bus-1
Bus-2
0.9 Bus-3
Bus-4
Bus-5
0.8 Bus-6
Bus-7
Bus-8
0.7 Bus-9
Bus-10
Bus-11
Bus Voltage (p.u)
0.6 Bus-12
Bus-13
Bus-14
0.5
0.4
0.3
0.2
0.1
0
1 2 3 4 5 6 7 8 9 10 11 12 13 14
Faulted Bus Number
Figure 3-16: Bus voltages at each bus when faults occurred at different buses. The voltages
are obtained from PowerWorld for three phase faults occurred at from bus 1
to bus 14 independently. The values are for phase A, because of balanced
fault, the value of voltages is same for all three phases.
51
Table 3.13: Bus voltages in per unit for each bus under three phase faults as obtained
using PowerWorld.
From the table, it is evident that the results for both the tools are very close to
standard results with the average percentage error remains within 1.68. Figure 3-16 depicts
the voltages at each bus when the three phase fault applied to the all 14 buses
maintain their synchronism after being subjected to an abnormal condition. The system
becomes unstable if it loses the synchronism. The time range for transients in power system
52
second to several seconds. Whereas, thermodynamic phenomenon can remains from
Thermodynamic
Phenomena
Electro-mechanical
Phenomena
Electro-magnetic Phenomena
Wave Phenomena
10−7 10−6 10−5 10−4 10−3 10−2 10−1 1 10 102 103 104 105
Figure 3-17: Basic dynamic phenomena in power system and time frames [109].
synchronism among the various machines within the system is not easy. The stability can
be divided as static, dynamic and transient stabilities. Stability studies are of extremely
importance for future power system planning. Figure 3-18 shows classification of the
Power System
Stability
Figure 3-18: Stabilities in electric power system and time scale [109].
53
Dynamic analysis of such large power systems require sophisticated computational
software tools, efficient enough to predict approximate behavior. In this section Anderson-
Farmer 9-bus and IEEE 14-bus systems are analyzed for dynamic simulations.
In this subsection, the 9-bus test system proposed by P. Andersen and Dick Farmer
[110] is analyzed for transient stability under a three phase fault condition. The system
comprises of three areas, four generators, and five loads and a switched shunt capacitor
connected at bus-7 as shown in Figure 3-19. Bus-4 acts as the swing bus for this system.
Individual MVA ratings of all four synchronous machines and the control components,
Power System Stabilizer (PSS), Automatic Voltage Regulators (AVR) and Turbine
Governor (TG) connected to them are listed in Table 3.14. Line and dynamic data of the
system, and the data for PSS, AVR, TG, and switched shunt capacitor are given in appendix
A.4 [111].
Area 2 Area 3
G-1 G-4
Area 1
Bus-5 Bus-9 Bus-4
Bus-1
Bus-2 Bus-6
G-2 G-3
54
Generator 1 2 3 4
The transient stability is analyzed when a three phase fault to ground is applied on
bus-6 at 0.1 second with solid ground for duration of 0.066 second. The simulations are
carried out with NEPLAN, PowerWorld and PSAT with 100 MVA system base, 20
dynamic iterations and for 10 seconds of time. Newton-Raphson method is used for load
Figure 3-20: Rotor speeds of all four synchronous machines in per unit as obtained using
NEPLAN PowerWorld and PSAT.
55
The tolerance used for the calculations is taken as 0.0001. The bus voltages, rotor
speed, and rotor angles are obtained during and after the occurrence of fault, to analyze the
stability. Figure 3-20 shows the simulation results of rotor speeds of all four generators in
terms of per unit frequency. The base of the rotor frequency is 60 Hz. From the results we
can observe that the rotor of machine-2 and machine-3 has more fluctuations around base
From the results of rotor speeds it can be observed that the rotors tend to become
stable after the removal of the fault. The rotor frequency plots obtained using all three tools
are close to each other. However, the results are more diverted at machine-1 and machine-
4 for PSAT.
Figure 3-21: Plots shows the active power at all four machines during fault as obtained
from NEPLAN, PSAT and PowerWorld.
56
Similarly, the active and reactive powers at each machine are given in Figure 3-21
and Figure 3-22 respectively. Active power plots show that power dropped down to almost
zero at machine-2 during fault. The results for active powers are almost same with all tools
except that the PowerWorld shows more deviation for active power at machine-3 and
PSAT at machine-4. Nevertheless, the results are as expected in all three software tools.
The magnitudes of voltage at each bus were obtained during the fault and plotted
in Figure 3-23. By carefully analyzing the plots, the magnitudes at faulted bus-6 and the
nearby bus-7, dropped drastically during fault. The magnitude has fallen to almost zero at
57
(a)
(b)
(c)
Figure 3-23: Drop in magnitudes of bus voltage due to fault as obtained form (a) NEPLAN,
(b) PowerWorld and (c) PSAT.
bus 6 whereas; it went down to 40% for bus-7. Once the fault cleared at 0.166 second, the
voltage magnitudes returned back to their normal values. The results from all three tools
were as expected. The simulation time taken by the each software is listed in Table 3.15.
58
Table 3.15: Simulations time taken by each tool.
IEEE 14-bus system as given in [100] is analyzed for dynamic stability under
MATPOWER does not have function to perform dynamic analysis. However, the
simulations can be carried out using the extension tool of MATPOWER known as MatDyn.
The integrated tool of MATPOWER and MatDyn can be used to perform dynamic analysis
voltage regulator, load and generator are given in Tables A.2-A5 in appendix A.2. In this
section, the test system is analyzed for two kinds of dynamic perturbations. The first case
occurs when line 2-4 gets opened due to the tripping circuit breaker at the near end of bus
2. In the second case the system is analyzed when a three phase fault occurred at line 2-4.
The system behavior was analyzed when line 2-4 get opened at the end close to
bus-2 at 1.0 second. Similar to the case studied in previous section, data for rotor
frequencies and rotor angles of all generators and bus voltage magnitudes was obtained
The simulations were carried out for 5 seconds with 100 MVA system base and 60
Hz frequency. Figure 3-25 shows the rotor speeds as a function of time. By scrutinizing
59
the plots for rotor speeds precisely, it can be seen that the rotor of generator 2 starts to
Bus-13
Bus-14
Bus-11
Bus-12
Bus-10
Bus-9
Bus-6
G-6
G-8
Bus-7 Bus-8
Bus-5
G-1
Bus-4
Bus-1
CB
Bus-2
Bus-3
G-2
G-3
Figure 3-24: IEEE 14-bus test system showing the open circuit breaker at line 2-4.
Because of the opening of the power line, the loads which were getting some
machine-2 decreased and hence, the rotor started rotating at faster speed. At the same time,
the system loads started getting more power from remaining generators, and therefore due
to increased load demands, all other machines’ rotors started rotate at slower speeds.
Turbine governors of all the generating machines sense the change in speed and initiated
60
Figure 3-25: Generator rotor speeds
(frequencies) in per unit
as obtained from
NEPLAN, PSAT and
PowerWorld. The base
frequency is taken as 60
Hz.
That behavior can be noticed from the plots as the speed of generator 2 started
decrease and the rotor speeds of remaining generators 1, 3, 6 and 8 also started increase
after approximately 0.25 seconds after opening of the power line. The simulation results of
all three tools exhibit the expected dynamic behavior. Figure 3-26 shows the plots of load
angles. As a result of unbalanced load demands at each generator, the load angles started
to increase. From the plots, system seems to be unbalanced for rotor angles as they continue
to increase.
61
Figure 3-26: Rotor angle deviation of each
machine as achieved from
NEPLAN, PSAT and
PowerWorld.
Figure 3-27: Graph illustrated active and reactive power at machine-2 as obtained by
NEPLAN, PSAT and PowerWorld.
62
(a)
(b)
(c)
Figure 3-28: Magnitudes of bus voltage at each bus after tripping the CB at line 2-4 as
achieved from (a) NEPLAN, (b) PowerWorld and (c) PSAT.
As the line got opened near bus-2, the active power generated by machine-2,
dropped down instantly at 1.0 s and then increasingly fluctuated as shown in Figure 3-27.
Ultimately it becomes constant with respect to time with slight fluctuations. On the other
63
hand, the reactive power fluctuated and decreased at this machine. From the plots one can
observed that the results are almost similar for all three tools.
Figure 3-28 illustrates the magnitude of each bus voltage during the dynamic
behavior. The magnitudes dipped down at all buses as can be observed from the given
plots. Results for NEPLAN and PSAT almost resemble each other, whereas the results
from obtained from PowerWorld have minor deviations when compared with other two.
However, the results from all three tools exhibited approximate dynamic characteristic of
the system.
Table 3.16: Simulation time taken by each tool for IEEE 14-bus system.
The simulation times for each tool are listed in Table 3.16. The deviations in the simulation
results achieved by PowerWorld might be due to the quick convergence of load flow
solutions as it took lesser time than other two. Due to quick load flow solutions, the initial
conditions for dynamic simulations for PowerWorld might have been a bit different and
that explains the difference among the results of PowerWorld, NEPLAN and PSAT.
In this case, a three phase fault is occurred on line 2-4 at 1.0 second. All parameters
64
Figure 3-29: Plots illustrates rotor speed
deviations of all machines
when a three phase fault
occurred on line 2-4 as
obtained by NEPLAN,
PSAT and PowerWorld.
The simulation results attained using NEPLAN, PowerWorld and PSAT are
presented. A similar study has been presented in [112] using Dynamic Commutation for
Power System (DCPS). Figure 3-29 and 3-30 show the rotor speed in per unit and rotor
angle in radians for NEPLAN, PowerWorld and PSAT respectively. From the simulation
results it can be seen that the system tends to be unstable after the fault.
65
Figure 3-30: Rotor angle deviations of
all machines under a three
phase fault on line 2-4, as
obtained from NEPLAN,
PSAT and PowerWorld.
The results from all software tools show similar characteristics during dynamic
behavior of the system. From Figure 3-29 we can conclude that the rotors of generator 1
and generator 2 start rotating at higher speed and continue to increase the speed, whereas
generators 3, 6 and 8 start rotating at lower speed due to unbalanced load sharing due to
the fault. The same pattern can be seen in voltage magnitudes shown in Figure 3-31. As
the voltage at bus-2 starts fluctuating with a pu value of zero, the magnitude of bus-1 starts
66
(b)
(b)
(c)
Figure 3-31: Bus voltage magnitudes from a) NEPLAN, b) PowerWorld and c) PSAT.
67
3.4 Conclusion
The chapter presented the simulation results for power flow, fault analysis and
software tools. The results obtained with all tools in each case were compared with the
standard published results. The main objective of this chapter was to compare the
functionality of commercial software tools for PSS with free open sources software tools.
To serve the purpose, two tools from each category were selected. All of the selected tools
gave fairly accurate results for the study cases we have done. FOSS still needs to add
dynamic analysis modules. MATPOWER does not have source code to simulate any kind
of fault analysis at the time; however, it is possible to perform some of the dynamic analysis
However, these tests cases are not enough to draw any concrete conclusion. The
choice of considering a software tool for power system engineering studies is highly
objective specific. Nevertheless, for load flow analysis, MATPOWER have robust
algorithms, whereas PSAT can be a good fit for time domain analyses. NEPLAN is most
suitable for dynamic and renewable systems modeling and PowerWorld can be convenient
68
Chapter 4
In this chapter, major technical challenges that occur during grid integration of RES
with the electric grid are discussed followed by the modeling of wind DER. A quick
description of energy storage system (ESS) for RES energy systems is also presented.
Finally, the load flow simulations of IEEE 9-bus and IEEE 14-bus systems with added
According to the International Energy Agency, in 2009, 1.3 billion people from
developing countries lived without electricity. The use of small off-grid wind turbines can
be very helpful for rural electrification [113]. Renewable energy-based long term
sustainable development can help reduce reliance on crude oil and coal and therefore can
enhance economic and social growth, political stability, and national security [114].
Realizing the importance of development of RESs, most of developing countries has started
adding capacity from renewable energy projects at nearly twice the rate of developed
countries. Growth of such resources in China, Brazil and South Africa combined has
69
The development and prosperity of any nation relies on energy security, better
economic growth and environment protection. When the quality of life improves, the
energy demand rises. As new economies such as China, India and Brazil are emerging,
they need more energy to compel their development [116]. Some of major benefits of
adopting more RES can be seen in Figure 4-1 and discussed as below,
and the group of petroleum rich countries known as Organization of the Petroleum
manipulating the crude oil prices. RES will not only provide energy to the countries
that lack in petroleum but also make them more independent from world politics
[117].
More energy
Independancy
National Political
Security
Social
70
Public health benefits: Adopting a large portion of RES for energy requirements
can reduce poisonous gases and can help in cleaning the environment. According
due to air pollution related diseases. By improving quality of air, significant public
in the US, every 250 MW of additional wind power creates more than 1000 new
jobs [119].
Although renewables are clean and potential sources of power, they have some
economical, technical, social, and environmental challenges. Some of the major challenges
i) Visual Impacts: The degree of visual disturbance caused by wind turbines varies from
person to person based on individual perception. However, adverse visual and wind turbine
syndrome impacts can be avoided by selecting turbine sites far from residential areas [120].
ii) Rehabilitation of people: Large hydro power plants require large tracts of land resulting
places.
iii) Disturbance to bio-diversity: Many fauna and flora might get disturbed during the
construction and operation of large hydro wind and geothermal power plants.
71
iv) High cost per MW installed capacity: Some of RES power systems have very high start-
30 Accident
Blade 150 Fatality
25 Fire
Injury
Structure
Accident causes
Ice
20
Recorded Cases
100
15
10
50
5
0
0
2000 2005 2010 2015 2000 2005 2010 2015
Year Year
Figure: 4-2: Graphs showing wind turbines accidents, major causes and human
causalities in UK4.
v) Accidents and human causalities: Human operators, workers during construction and
operation come across the accidents related to wind turbines, hydro and geothermal power.
Intermittent nature of major RES technologies, especially wind and solar, introduce
operational challenges to grid integration. For example, wind power output can be anything
between zero and its rated capacity, depending upon wind conditions. Similarly, power
output of solar power system is zero during the night and approaches its rated capacity
4
The data of accidents were recorded only for cases that have been reported. However, according to a report published
in The Telegraph in 2011, indicates that there have been approximately 1500 accidents between 2006 and 2011. [Source:
Caithness Wind Farm Information Forum].
5
Major causes of wind turbine accidents are blades failures followed by fire caught up by the turbine. Other
causes of fire are lightning strikes, electrical equipment malfunctioning and hot surface ignition due to some
of highly flammable material (hydraulic oil and plastics).
72
Table 4.1: Major technical issues and causes due integration [121] [122].
Need of more reactive Requirement of more reactive power Induction generators and
power injection in to injector placements. power electronic devices
system
High penetration levels of RES can put the grid under potential risks related to
power quality, system stability and voltage regulation if certain technical conditions are
not taken care. The issues arise during and after grid integration of RES power systems
can be explained under two broad categories: 1) technical challenges and 2) non-technical
challenges. A detailed discussion of wind and solar technologies from the stand point of
73
grid integration challenges is presented in following subsection. Some major technical
These are issues related to power quality and system reliability and must be taken
care under standard conditions to ensure that the field equipment and appliances of
i) Voltage fluctuations: Voltage fluctuations are swings in supply voltage levels and must
not deviate from a specified standard range know as nominal voltage. These voltage
loads such as dimming of lights and inability to start induction motor loads are normally
observed when the voltage fluctuates by more than 10% the nominal voltage. The severity
ii) Frequency fluctuations: Due to large gap in demand and power supply, the system
frequency will vary. The intermittence nature of RES technologies enhances the frequency
iii) Power Fluctuations: Power output fluctuations occur more often in RES distributed
generation. These fluctuations can be for a few seconds or could be for longer periods.
Power fluctuations for a shorter time create power quality problems such as light flicker
iv) Harmonics: Currents or voltages having frequencies that are integer multiples of the
fundamental supply power frequency are known as harmonics. Large power electronic
74
devices and converters used in RES power systems are main cause of harmonics in an
based lights are major problems arise due to harmonics in power supply.
These technical problems of voltage and frequency fluctuations and harmonics can
be taken care with some power system schemes. Voltage fluctuation, power fluctuations
and frequency fluctuations can be eliminated by incorporating energy storage system (ESS)
with RES power systems in the integrated grid. The details of ESS are presented in section
5.2. Problems related to harmonics can be solved by means of voltage source inverters and
Need of larger transmission networks to connect with grid if the RESs are
available at remote locations. For example, off-shore wind power systems require
Most of the issues can be handled effectively with good planning, prudent government
policies, and standards combined with more research and development in RES
technologies.
75
4.3 Energy Storage technologies in RES
Due to intermittency in the output power of major RES they rarely can match the
sudden change in load conditions and result in either a surplus or a shortage of generated
power. Therefore, these systems do not contribute to the frequency stability [124]. To
overcome the frequency and/or voltage stabilities and for a reliable operation of integrated
RES power systems, adequate Energy Storage System (ESS) is required. ESS has ability
to provide power during peak demands, and hence maintains system stability. During times
HI-TES FES
NiMh Metal Air ZnBr SMES
PbSb
NaS
Liquid
Figure 4-3: Different energy storage technologies for RES power systems [125] [126].
advanced the RES systems to harness their benefits. There are various ESS technologies
that exist based on the type of energy schemes. These schemes include mechanical, electro-
chemical, chemical, electromagnetic, and thermal form of energy storage [127] [125] as
76
4.4 Wind Power Output Equation
Wind power output depends on wind speed and air mass. If a wind with volume m,
speed v, and air density ρ is flowing through an area of interest A then kinetic energy of the
Area = A
1 2
E
Wind
mv (4.1)
2
1 2
P mv (4.2)
2
dm
Where, m . From fluid mechanics, the mass flow rate of wind can be defined as,
dt
dm
Av (4.3)
dt
Therefore, from equation 4.2 and equation 4.3, the power can be expressed as,
1
P Av 3 (4.4)
2
From the expression of wind power, it can be observed that the power generated by wind
turbine is proportional to cube of wind speed. In 1919, German physicist Albert Betz
16
concluded that none of wind turbines can convert more than or 59.3% of the kinetic
27
energy of the wind into mechanical energy. That limit in the power is known as the Betz
Limit or Betz' Law. Therefore, according to Betz’ limit, theoretical maximum power
77
efficiency of any design of wind turbine cannot exceed 0.59 (59%) and called as the power
In this section, IEEE 14-bus and IEEE 9-bus test systems with added wind energy
resources are analyzed for load flow. The simulations are carried out using NEPLAN,
PowerWorld, MATPOWER and PSAT software tools. The results obtained from all four
software are compared against each other. The objective of the study is to compare different
PSS tools by analyzing power flows, bus voltages, and power losses in the systems. The
other motivation is to find the suitable bus to place wind turbine for maximum system
stability. The method to model a wind RES varies in different software tools. A short
a) Modelling in NEPLAN: This tool supports modeling of renewable energy systems. The
tool allows entering wind turbine models in three different ways: 1) by using predefined
standard dynamic models, 2) by using user defined models with function blocks, and 3) by
using DLL files. DLL files are user defined models written in form of equations and
modeled in MATLAB. The controllers in the dynamic models for wind systems can be
entered in same way. NEPLAN includes several renewable energy modeling examples
including wind, photovoltaic and battery storage which provide great help for the users
[128].
b) Modelling in PowerWorld: For the load flow study, wind turbine can be represented as
generators with fixed active and reactive powers. However, PowerWorld simulator
facilitates the wind turbine models for dynamic simulations also. In this study, the wind
78
turbine is modeled as generator supplying fixed active power and consuming fixed reactive
power [129].
c) Modelling in MATPOWER: MATPOWER does not support dynamic analysis at this time.
Since the objective of this study is the load flow analysis, the wind turbine is considered as
regular generator with fixed active and reactive powers and zero operating cost. To serve
the purpose, the wind park is modeled as P-Q bus in MATPOWER with the load connected
to the bus consuming negative active power and positive reactive power [130].
d) Modelling in PSAT: PSAT has a library that allows users to model wind RES very
easily. There are all four types of wind turbines models and wind is modeled with Weibull,
composite and Mexican hat distributions. Users can also use measured wind data as input
to the model.
The behavior of the nine bus system is tested with a wind turbine connected at bus
6. The wind turbine is best to be placed at the strong bus for better system stability. In the
system, a constant speed wind turbine with capacity of 25 MVA and 0.5 kV is considered.
10th bus in the system is representing a wind RES system connected to the test system with
a step-up power transformer as shown in Figure 4-5. The system is modeled in all four
software tools for load flow analysis. Total power delivered to the system from wind park
is 50 MW which falls below 20% of wind capacity penetration level. This level is more or
less considered as optimal and beyond this level a number technical issues arise. The
system base of 100 MVA and Newton-Raphson method are used for all the calculations.
Voltage profile for the given system is shown in Figure 4-6. Voltage magnitude is high at
79
generator buses 1, 2 and 3. The voltage is less at bus 10 where the wind turbine is
connected. This problem occurs mostly at the startup of the turbines as they draw large
reactive currents during starting. The starting current usually exceeds the machine rating
Bus-7 Bus-3
G-2 G-3
Bus-8 Bus-9
Bus-2
Bus-5 Bus-6
Bus-4
Bus-1
G-1
Wind Park
Bus-10
Figure 4-5: Modified IEEE 9-bus system with wind turbine connected at bus 6. Bus 10
in the system represents the wind park.
Results for bus voltages attained using NEPLAN, PowerWorld and PSAT are almost
similar and their average deviations from 1 pu magnitudes are 0.01969, 0.01963 and
0.03164 respectively.
Figure 4-6: Bus voltage profiles of the system with integration of wind turbine. The graph
is showing a voltage dip on the RES bus 10 whereas the voltages are high on
synchronous generators buses 1, 2 and 3.
80
Whereas, the results from MATPOWER are also fairly close with a slight lesser magnitude
at each bus. The total deviation from 1 pu is averaged 0.00906 for MATPOWER. Similarly
Figure 4-7: Bus voltage phase with wind turbine integrated with the base system.
From the graph of voltage angles, it can be seen that except for MATPOWER all tools gave
identical results. The maximum difference in the angles for the MATPOWER is observed
Figure 4-8: Active power flow for IEEE 9-bus with wind turbine connected at 10th bus
as obtained by all four software tools.
81
Figure 4-9: Reactive power flow for IEEE 9-bus with wind turbine connected at bus 10.
Real power flow (PG-PL) and reactive power flow (QG-QL) are shown in Figure 4-
8 and Figure 4-9 respectively. For both the powers, all four tools gave similar results. The
power is high at buses 2, 3, 5, 6 and 10. (QG-QL) are higher at buses 1, 2, 3 and 10.
A similar study has been carried out on a modified IEEE 14-bus system with wind
RES. The system is modified to add an extra bus-15 where the wind park is connected.
This extra bus is connected to bus-4 with a power transformer. Again, the wind park
consists of one constant speed wind turbine of 3.8 kV and 100 MVA rating. The wind park
10 is modeled in all four selected software tools for load flow studies. To run the load flow
simulations, Newton-Raphson method with 100 MVA system base is used. The wind
turbine must be connected to strong buses for better system stability. Therefore, the
82
Bus-13
Bus-14
Bus-11
Bus-12
Bus-10
Bus-9
Bus-6
G-6
G-8
Bus-7 Bus-8
Bus-5
G-1
Bus-4
Bus-1
Bus-2
Bus-3
G-2
Wind Park
G-3 Bus-15
Figure 4-10: Modified IEEE 14-bus system with wind RES connected at bus 15.
Voltage magnitudes profile of the system is illustrated in Figure 4-11. In the base system,
buses 1, 2, 3, 6 and 8 have synchronous generators. The impact of the generator buses can
be noticed in form of voltage rises at these five buses. The impact of wind turbine at bus
Figure 4-11: Bus voltage magnitudes at each bus as obtained from all four software tools.
83
The results are almost same for bus voltage magnitudes for all buses except bus 15
whereas PSAT results were slightly deviated from rest of the tools at buses 2-14. The
PSAT are 0.031, 0.0219, 0.0472 and 0.0317 respectively. With a deviation of 0.1884 pu
at RES bus (bus-15) MATPOWER voltage magnitude has more deviation from reference
level of 1 pu.
Figure 4-12: Voltage phase at each bus as obtained from all four software tools.
Figure 4-13: Active power flow for modified IEEE 14-bus system with wind RES.
84
Analyzing the voltage angles from Figure 4-12, it can be observed that for
NEPLAN the angles have more deviation from results from other tools. For the RES bus,
the angle value deviated more for MATPOWER. Angle values obtained from PowerWorld
Figure 5-14: Reactive power flow for IEEE 14-bus system with wind RES.
Graphs for PG-PL and QG-QL are shown in Figure 4-13 and Figure 4-14. By
inspecting the graph of active power, we can note the maximum power are at buses 1, 3, 4,
9 and 15. For real power every tool gave similar results for all buses except bus 1 and bus
15. For reactive power, the results deviated for all tools at bus 2, 3 and 4. MATPOWER
exhibited more deviations in the reactive power with the maximum deviation from others
at 4th bus.
Section 5.5.2 is carried out. The system model in PSAT (Figure 5-15) is used. Time domain
simulations were performed for 20 seconds. The dynamic analysis is completed only with
85
one tool just to demonstrate how it works, and other tools are not considered because
16
15
Wind Speed [m/s]
14
13
12
11
10
0 2 4 6 8 10 12 14 16 18 20
Ttime [s]
86
A doubly fed induction generator (DFIG) type wind turbine with Weibull
distribution wind profile with an average wind speed of 15 meter/ second is connected at
RES wind bus 15. The RES bus is further integrated with the system at bus 4. Wind profile
From visualization of the system voltages in Figure 4-17, it is evident that the voltage
magnitudes peaked at bus 8. The reason is because of the RES bus connected at this bus.
Figure 4-18 depicts plots for synchronous generator rotor speeds and rotor angles. The
speeds of all generators started deviated between 0.998 and 1.0015 pu and finally settled
down around 1 pu (60 Hz.). Similarly, after some fluctuations all the rotor angles become
constant with time. Therefore from this dynamic behavior, we can conclude that the system
87
1.002 1.2
Gen-1
Gen-1
Gen-2
Gen-2 1
1.0015 Gen-3
Gen-3
Gen-4
Gen-4
0.8 Gen-5
Gen-5
1.001
0.6
1.0005
Rotor Speed (pu.)
0.999
-0.2
0.9985
-0.4
0.998
-0.6
0.9975 -0.8
0 5 10 15 20 0 5 10 15 20
Time (s) Time (s)
4.7 Conclusion
In this chapter the challenges in grid integration of renewable DER have discussed
different type of ESS. Later, impacts of wind RES systems on integration with IEEE 9-bus
and IEEE 14-bus system have been assessed using load flow studies. The effect on the
voltage profiles in both the cases with wind turbines are analyzed with the objective of
comparison of all four software tools. By scrutinizing all the results, the conclusion can be
drawn that all the tools gave similar results. The maximum deviations in the results were
for MATPOWER which can be justified as the tool does not have sophisticated modules
88
Chapter 5
power system engineering software tools based on case studies with an emphasis on
renewable energy systems. The thesis broadly divided in three sections. The first section
covers the study of available power system computational tools and the simulations of basic
analysis using selected four tools. The second section has presented a comprehensive
evaluation of importance of renewable energy and current status. Finally, the last section
Based on the present research and results obtained, the thesis can be summarized
as following,
1) Computational tools and simulations in the field of power system engineering have
ample opportunities the improvement, especially in the section of user interface and
need for a standardized data format so that users have flexibility in usage of
different tools.
89
2) Majority of commercially available tools have very complicated GUI and it is very
hard to understand them for an average user without having an expertise in power
system. Therefore, GUI and even graphical representation and plotting utilities
3) A study and evaluation of free open source software tools available for PSS reveals
lack of their fault and dynamic simulation capabilities. Not only most of FOSS tools
do not support fault and dynamic analyses but also they lag behind when it comes
4) To have a leading edge in world politically, the nations that lack petroleum sources
5) Based on the case studies presented in chapter 3 we can say that FOSS PSS gave
reasonably accurate results when compared with standard results as well as results
obtained by commercially used software tools. Currently, most of the tools are
objective specific and the choice of a best fit tool depends upon what the users
6) Finally, from the results presented in chapter 4 it can be concluded that the power
system stability increases if the distributed renewable energy resources are placed
at strong buses. Also, other results show that the wind turbine spatially distributed
7) Storage devices technologies and better renewable energy forecasting tools are
required for highly reliable RES integrated power grids. These two technologies in
RES systems not only will help reducing the intermittency but also can reduce cost
90
5.2 Future Works
In view of the major findings of this study, a few areas of further development and
Further extension of the study cases: The study can further extended to the test
power systems with large number of buses in order to imitate them in more realistic
way as practical power systems are more complex in nature. Other analyses such
as harmonic, motor starting and power factor correction can also be completed and
compared against standard results. Again, dynamic studies can be performed using
similar way as MatDyn and MatACDC. After adding the module, results can be
can be developed for MATPOWER and similar open source free software for
91
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101
Appendix A
The data for the standard test power systems are given as below.
102
The system data for IEEE 14-bus system is given in Tables A.2-A5
Exciter
Bus No. 1 2 3 6 8
KA 200 20 20 20 20
TA 0.02 0.02 0.02 0.02 0.02
TB 0 0 0 0 0
Tc 0 0 0 0 0
VRmax 7.32 4.38 4.38 6.81 6.81
VRmin 0 0 0 1.395 1.395
KE 1 1 1 1 1
TE 0.19 1.98 1.98 0.7 0.7
KF 0.0012 0.001 0.001 0.001 0.001
TF 1 1 1 1 1
Machine
Bus no. 1 2 3 6 8
MVA 615 60 60 25 25
xl (p.u.) 0.2396 0 0 0.134 0.134
ra (p.u.) 0 0.0031 0.0031 0.0014 0.0041
xd (p.u.) 0.8979 1.05 1.05 1.25 1.25
x′d (p.u.) 0.2995 0.185 0.185 0.232 0.232
x′′d (p.u.) 0.23 0.13 0.13 0.12 0.12
T′do 7.4 6.1 6.1 4.75 4.75
T′′do 0.03 0.04 0.04 0.06 0.06
xq (p.u.) 0.646 0.98 0.98 1.22 1.22
x′q (p.u.) 0.646 0.36 0.36 0.715 0.715
x′′q (p.u.) 0.4 0.13 0.13 0.12 0.12
T′qo 0 0.3 0.3 1.5 1.5
T′′qo 0.033 0.099 0.099 0.21 0.21
H 5.148 6.54 6.54 5.06 5.06
D 2 2 2 2 2
103
P Q P Q Q Q
Bus
Bus No. Generated Generated Load Load Generated Generated
Type
(pu) (pu) (pu) (pu) max. (pu) min. (pu)
1 2.32 0 0 0 2 10 -10
2 0.4 -0.424 0.217 0.127 1 0.5 -0.4
3 0 0 0.942 0.19 2 0.4 0
4 0 0 0.478 0 3 0 0
5 0 0 0.076 0.016 3 0 0
6 0 0 0.112 0.075 2 0.24 -0.06
7 0 0 0 0 3 0 0
8 0 0 0 0 2 0.24 -0.06
9 0 0 0.295 0.166 3 0 0
10 0 0 0.09 0.058 3 0 0
11 0 0 0.035 0.018 3 0 0
12 0 0 0.061 0.016 3 0 0
13 0 0 0.135 0.058 3 0 0
14 0 0 0.149 0.05 3 0 0
Half line
Line Impedance (p.u)
From charging
Line No. To Bus MVA
Bus susceptance
Resistance Reactance
(p.u.)
1 1 2 0.01938 0.05917 0.0264 120
2 1 5 0.05403 0.22304 0.0219 65
3 2 3 0.04699 0.19797 0.0187 36
4 2 4 0.05811 0.17632 0.0246 65
5 2 5 0.05695 0.17388 0.017 50
6 3 4 0.06701 0.17103 0.0173 65
7 4 5 0.01335 0.04211 0.0064 45
8 4 7 0 0.20912 0 55
9 4 9 0 0.55618 0 32
10 5 6 0 0.25202 0 45
11 6 11 0.09498 0.1989 0 18
12 6 12 0.12291 0.25581 0 32
13 6 13 0.06615 0.13027 0 32
14 7 8 0 0.17615 0 32
15 7 9 0 0.11001 0 32
16 9 10 0.03181 0.0845 0 32
17 9 14 0.12711 0.27038 0 32
18 10 11 0.08205 0.19207 0 12
19 12 13 0.22092 0.19988 0 12
20 13 14 0.17093 0.34802 0 12
104
A.3 IEEE 39-Bus Data
105
39 23 36 0.0005 0.0272 0
40 25 26 0.0032 0.0323 0.531
41 25 37 0.0006 0.0232 0
42 26 27 0.0014 0.0147 0.2396
43 26 28 0.0043 0.0474 0.7802
44 26 29 0.0057 0.0625 1.029
45 28 29 0.0014 0.0151 0.249
46 29 38 0.0008 0.0156 0
Anderson-Farmer system data of exciters, turbine governors, and PSS as well as line,
Machine Machine
2 3
No. 1 2 No.
TR 0.04 0.04 K 200 200
KA 100 100 T1 1 1
TA 0.4 0.4 T2 0.06 0.06
TB 3 3 T3 4 4
TC 1 1 T4 0.006 0.006
Vset point 1.03 1.02 VEmax 4 4
VEmin ‒4.0 ‒4.0
Vset point 1.05 1.032
Machine
2 3 Switch
Bus no. Bus Switch
R X in time
K 15 20 no. in time
service
TW 10 10 7 1.00e+05 ‒0.123457 0 inf
T1 0.1 0.1
T2 0.01 0.01
T3 0.12 0.12
T4 0.01 0.01
VPSS max 0.1 0.1
VPSS min ‒0.1 ‒0.1
106
Table A.10: Line data. Table A.11: Generator data.
From To Machine
Bus Bus R (pu) XL (pu) Bc (pu) No. 2 3
1 5 0 0.0002 MVA 1300 4400
ra 1.4615e‒4 7.0455e‒5
2 6 0 0.0066 xd (p.u.) 0.16792 0.038636
3 8 0 0.002 x′d (p.u.) 0.031769 0.005568
4 9 0 0.000143 x′′d (p.u.) 0.026077 0.004205
T′do 5.69 5.9
5 6 0.003226 0.020851 1.449019 T′′do 0.041 0.033
5 7 0.003618 0.024241 1.767004 xq (p.u.) 0.16592 0.037273
6 7 0.003618 0.024241 1.767004 x′q (p.u.) 0.098846 0.008636
x′′q (p.u.) 0.025538 0.004205
7 8 0.003226 0.069502 1.449019
T′qo 1.5 0.54
8 9 0.003226 0.069502 1.449019 T′′qo 0.144 0.076
xl 0.018923 0.0025
M =2H 0.18221 0.92437
D 0.068967 0.23343
Machine
No. 1 4
M = 2H 7.3784 14.5945
D 3.1831 3.7136
ra 7.6667e‒6 1.4286e‒6
xd 0.003517 0.002557
107