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Smart Grid Topic 1 Power Systems
Smart Grid Topic 1 Power Systems
Smart Grid Topic 1 Power Systems
ECE 5332: Communications and Control for Smart
Spring 2012
A.H. Mohsenian‐Rad (U of T) Networking and Distributed Systems 1
Power Systems
• The Four Main Elements in Power Systems:
Power Production / Generation
Power Transmission
Power Distribution
Power Consumption / Load
• Of course, we also need monitoring and control systems.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 2
Power Systems
• Power Production:
Different Types:
Traditional
Renewable
Capacity, Cost, Carbon Emission
Step‐up Transformers
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 3
Power Systems
• Power Transmission:
High Voltage (HV) Transmission Lines
Several Hundred Miles
Switching Stations
Transformers
Circuit Breakers
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 4
Power Systems
• The Power Transmission Grid in the United States:
www.geni.org
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 5
Power Systems
• Major Inter‐connections in the United States:
www.geni.org
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 6
Power Systems
• Power Distribution:
Medium Voltage (MV) Transmission Lines (< 50 kV)
Power Deliver to Load Locations
Interface with Consumers / Metering
Distribution Sub‐stations
Step‐Down Transformers
Distribution Transformers
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 7
Power Systems
• Power Consumption:
Industrial
Commercial
Residential
Demand Response
Controllable Load
Non‐Controllable
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 8
Power Systems
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 9
Power Systems
• Power System Control:
Data Collection: Sensors, PMUs, etc.
Decision Making: Controllers
Actuators: Circuit Breakers, etc.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 10
Power Grid Graph Representation
Nodes: Buses
Links: Transmission Lines
Generator
Load
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 11
Power Grid Graph Representation
Nodes: Buses
Links: Transmission Lines Buses (Voltage)
Generator
Load
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 12
Power Grid Graph Representation
Nodes: Buses
Links: Transmission Lines
Generator
Load
Transmission Lines (Power Flow, Loss)
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 13
Power Grid Graph Representation
Nodes: Buses
Links: Transmission Lines
Generator
Consumers
Load
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 14
Power Grid Graph Representation
Nodes: Buses
Links: Transmission Lines
Load 7 MW
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 15
Transmission Line Admittance
• Admittance y is defined as the inverse of impedance z:
z = r + j x (r: Resistance, x: Reactance)
y = g + j b (g: Conductance, b: Susceptance)
y = 1 / z
Parameter g is usually positive
Parameter b:
Positive: Capacitor
Negative: Inductor
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 16
Transmission Line Admittance
• For the transmission line connecting bus i to bus k:
Addmitance: yik
Example:
Susceptance for any shunt element (capacitor) to ground at bus i.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 17
Y-Bus Matrix
• We define:
Note that Ybas matrix depends on the power grid topology
and the admittance of all transmission lines.
N is the number of busses in the grid.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 18
Y-Bus Matrix
• Example: For a grid with 4‐buses, we have:
• After separating the real and imaginary parts:
Ybus G j B
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 19
Bus Voltage
• Let Vi denote the voltage at bus i:
Vi Vi i
• In most operating scenarios we have:
Vi V j i j
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 20
Power Flow Equations
Si = Pi + j Qi
Active Power Reactive Power
• Generation Bus: Pi > 0
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 21
Power Flow Equations
• Using Kirchhoff laws, AC Power Flow Equations become:
Pk V k V j G kj cos( k j ) B kj sin( k j )
N
j 1
Q k V k V j G kj sin( k j ) B kj cos( k j )
N
j 1
• Do we know all notations here?
• If we know enough variables, we can obtain the rest of
variables by solving a system of nonlinear equations.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 22
Power Flow Equations
• The AC Power Flow Equations are complicated to solve.
• Next, we try to simplify the equations in three steps.
• Step 1: For most networks, G << B. Thus, we set G = 0:
Pk Vk V j Bkj sin( k j )
N
j 1
Qk Vk V j Bkj cos( k j )
N
j 1
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 23
Power Flow Equations
i j 10 to 15
• Step 2: For most neighboring buses: .
Sin ( k j ) k j
• As a result, we have:
Cos ( k j ) 1
Pk Vk V j Bkj ( k j )
N
j 1
Qk Vk V j Bkj
N
j 1
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 24
Power Flow Equations
• Step 3: In per‐unit, |Vi| is very close to 1.0 (0.95 to 1.05).
Vi V j 1
• As a result, we have: .
N
Pk Bkj ( k j )
j 1
j 1 j 1,
jk
• Pk has a linear model and Qk is almost fixed.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 25
Power Flow Equations
• Step 3: In per‐unit, |Vi| is very close to 1.0 (0.95 to 1.05).
Vi V j 1
• As a result, we have: .
DC Power Flow Equations
N
Pk Bkj ( k j )
j 1
j 1 j 1,
jk
• Pk has a linear model and Qk is almost fixed.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 26
Power Flow Equations
• Given the power injection values at all buses, we can use
N
Pk Bkj ( k j )
j 1
to obtain the voltage angles at all buses.
Pij Bij ( i j )
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 27
Power Flow Equations
• Example: Obtain power flow values in the following grid:
P1g 2 pu P2g 2 pu
y12 j10
P2l 1 pu
y14 j10 y13 j10 y23 j10
y34 j10
P4g 1 pu P3l 4 pu
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 28
Power Flow Equations
• First, we obtain the Y‐bus matrix:
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 29
Power Flow Equations
• Next, we write the (active) power flow equations:
P1 B12 B13 B14 1 B12 2 B13 3 B14 4
P2 B 21 1 B 21 B 23 B 24 2 B 23 3 B 24 4
P3 B31 1 B32 2 B31 B32 B34 3 B34 4
P4 B 41 1 B 42 2 B 43 3 B 41 B 42 B 43 4
• This can be written as:
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 30
Power Flow Equations
• From the last two slides, we finally obtain:
1
2
3
4
• Therefore, the voltage angles are obtained as:
1
1
2
3
4
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 31
Power Flow Equations
• However, the last matrix in the previous slide is singular!
• Therefore, we cannot take the inverse.
• The system of equations would have infinite solutions.
• The problem is that the four angles are not independent.
• What matters is the angular/phase difference.
1 0
• We choose one bus (e.g., bus 1) as reference bus: .
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 32
Power Flow Equations
• We should also remove the corresponding rows/columns:
2 30 10 10 10 1
1 10 20 10 0 1 20 10 0 2
2 4 10 30 10
4 10 10 30 10 3 3
1 0 10 20 4
1 10 0 10 20 4
1
• The angular differences (with respect to ):
1
2 20 10 0 1 0.025 2 1 0.025
10 30 10 4 0.15
3 3 1 0.15
4 0 10 20 1 0.025 4 1 0.025
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 33
Power Flow Equations
• Finally, the power flow values are calculated as:
P12 B12 (1 2 ) 10(0 0.025) 0.25
P13 B13 (1 3 ) 10(0 0.15) 1.5
P14 B14 (1 4 ) 10(0 0.025) 0.25
P23 B23 ( 2 3 ) 10(0.025 0.15) 1.25
P34 B34 ( 3 4 ) 10(0.15 0.025) 1.25
P1g 2 pu P2g 2 pu
0.25
P2l 1 pu
0.25 1.5 1.25
1.25
P4g 1 pu P3l 4 pu
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 34
Power Flow Equations
• What if the generator connected to bus 1 is renewable?
• What if the capacity of transmission link (1,3) is 1 pu?
• What if we can apply demand response to load bus 3?
• What if one of the transmission lines fails?
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 35
Economic Dispatch Problem
• In the example we discussed earlier, we had:
Power Supply = Power Load
• In particular, we had:
P1g P2g P4g P2l P3l
• However, generation levels and assumed given.
P1g , P2g , P4g
• Q: What if the generators have different generation costs?
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 36
Economic Dispatch Problem
• For thermal power plants, generation cost is quadratic:
• Example: a grid with three power plants:
• Each power plant has some min and max generation levels.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 37
Economic Dispatch Problem
• For thermal power plants, generation cost is quadratic:
• Example: a grid with three power plants:
• Each power plant has some min and max generation levels.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 38
Economic Dispatch Problem
• For thermal power plants, generation cost is quadratic:
• Example: a grid with three power plants:
• Each power plant has some min and max generation levels.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 39
Economic Dispatch Problem
• For thermal power plants, generation cost is quadratic:
• Example: a grid with three power plants:
• Each power plant has some min and max generation levels.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 40
Economic Dispatch Problem
• For thermal power plants, generation cost is quadratic:
• Example: a grid with three power plants:
• Each power plant has some min and max generation levels.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 41
Economic Dispatch Problem
• We should select P1, P2, and P3 to:
• Minimize the total cost of generation
• Economic Dispatch Problem:
minimize CP1 CP2 CP3
P1 , P2 , P3
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 42
Economic Dispatch Problem
• Is the formulated problem a convex program? Why?
• Convex programs can be solved efficiently.
• An useful software is CVX for Matlab (http://cvxr.com/cvx).
• The optimal economic dispatch solution:
P1 = 393.2 MW
P2 = 334.6 MW Q: Do they satisfy all constraints?
P3 = 122.2 MW
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 43
Economic Dispatch Problem
• Is the formulated problem a convex program? Why?
• Convex programs can be solved efficiently.
• An useful software is CVX for Matlab (http://cvxr.com/cvx).
• The optimal economic dispatch solution:
P1 = 393.2 MW
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 44
Economic Dispatch Problem
• What if we have to satisfy topology constraints?
P1 P2
P3 400 MW
1
2 20 10 0 P2 450
10 30 10 400
3 P13 B13 (1 3 ) 10 3 20 3 20
4 0 10 20 P3
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 45
Economic Dispatch Problem
• The same optimal solutions are still valid:
P1 393.2 MW P2 334.6 MW
156.8
160.3
P3 122.2 MW 400 MW
2 15.685
19.830
3 3 20 P13 200
4 3.805
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 46
Economic Dispatch Problem
• The same optimal solutions are still valid:
P1 393.2 MW P2 334.6 MW
156.8
160.3
What if P13 170
P3 122.2 MW 400 MW
2 15.685
19.830
3 3 20 P13 200
4 3.805
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 47
Economic Dispatch Problem
• Then the economic dispatch problem becomes:
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 48
Economic Dispatch Problem
• Then the economic dispatch problem becomes:
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 49
Economic Dispatch Problem
• The new optimal solutions are obtained as:
P1 280 MW P2 400 MW
110
0 450 MW 60
170
170
P3 170 MW 400 MW
• The total generation cost becomes: $8,233.66 > $8,194.3
• Here, we had to sacrifice “cost” for “implementation”.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 50
Economic Dispatch Problem
• The new optimal solutions are obtained as:
P1 280 MW P2 400 MW
110
0 450 MW 60
170
170
What if P13 150
P3 170 MW 400 MW
• The total generation cost becomes: $8,233.66 > $8,194.3
• Here, we had to sacrifice “cost” for “implementation”.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 51
Unit Commitment
• Economic Dispatch is solved a few hours ahead of operation.
• On the other hand, we need to decide about the choice of
power plants that we want to turn on for the next day.
• This is done by solving the Unit Commitment problem.
• We particularly decide on which slow‐starting power plants we
should turn on during the next day given various constraints.
• The mathematical concepts are similar to the E‐D problem.
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 52
References
Dr. Hamed Mohsenian-Rad Communications and Control in Smart Grid Texas Tech University 53