Uni®ed Power Ow Controller (UPFC) Model in The Framework of Interior Point Based Active and Reactive OPF Procedure
Uni®ed Power Ow Controller (UPFC) Model in The Framework of Interior Point Based Active and Reactive OPF Procedure
Uni®ed Power Ow Controller (UPFC) Model in The Framework of Interior Point Based Active and Reactive OPF Procedure
www.elsevier.com/locate/ijepes
Abstract
As the deregulation process of the energy market is taking place, the operation planners are faced with heavily loaded networks and with
greater wheeling demand. Therefore, in order to increase the network ¯exibility, the exploitation of Flexible AC Transmission Systems
(FACTS) devices becomes more and more signi®cant. For this reason, the system operator needs an extension of the traditional Optimal
Power Flow programs capable of managing the models of these new devices.
In this paper, a model of the Uni®ed Power Flow Controller (UPFC) is described and introduced in the framework of an Interior Point
based OPF procedure and once again the good performances of this solver have been demonstrated. Finally, the paper presents some test
cases showing the gains obtainable by the exploitation of UPFC managing wheeling and/or congestion situations. q 2002 Elsevier Science
Ltd. All rights reserved.
Keywords: Uni®ed power ¯ow controller; Transmission systems; Interior point methods
and reactive OPF procedure. Therefore, the proposed OPF wherein N is the number of nodes of the network, Ngter the
procedure supplies the standard state and control network number of thermal generators of the network, Ng the number
variables (active and reactive power productions, voltage of generators of the network, Ntap the number of tap-
magnitudes and phases etc.) as well as the UPFC internal changers of the network and Nc is the number of controlled
variables satisfying their operation limits. Although the connections of the network.
most important task required to UPFC is to redirect the Variables relevant to the controlled current ¯ows on lines
active power ¯ows, their ability to control the voltage also and transformers are `dynamically' considered by the pro-
requires, as suggested, for example in Ref. [8], the adoption cedure. On each iteration of the algorithm, a check is
of the AC coupled active and reactive network model in performed to identify possible violated transit constraints.
order to take into account the in¯uence of the voltages on If the current on a connection is higher than the relevant
the network power ¯ows and losses. thermal limit, the associated constraints from the two sides
The paper is organised as follows: of the connection and the corresponding variables TI are
introduced in the model and controlled.
Section 2 presents the full set of equations that describe The size of the problem is, therefore, a minor one at the
the base coupled active and reactive OPF model. beginning of the solution process and may increase during
Section 3 introduces the adopted UPFC model by the various iterations, following the activation of current
de®ning its internal variables and its impact on the constraints.
power system. This type of procedure guarantees the satisfaction of
Section 4 describes the modi®cations to the base OPF security requirements, making explicit only a small percent-
required to take into account of the UPFC models in the age of current constraints on lines and transformers.
transmission system.
Section 5 presents some test cases showing the advant- 2.2. Objective function
ages that can be obtained by a suitable installation of
UPFC to cope with wheeling or/and congestion situations The objective of the procedure is to supply a feasible
as well as the excellent performance of the interior point operation point for the network while optimising the
method in handling the non-linear constraints introduced adopted operational criterion. In particular, it is realistic to
by the new devices. choose as objective function the total cost of thermal
generators.
From the analytical viewpoint, by assuming a quadratic
cost function for each generator, one must minimise the
2. Formulation of the OPF base problem following objective function:
Ngter
X
Coupled active and reactive power dispatching has been OF
c0i 1 c1i Pi 1 c2i P2i
formulated by making load-¯ow equations explicit as equal- i1
ity constraints, adopting therefore, a sparse type model.
In the following, the corresponding base optimisation wherein c0i ; c1i ; c2i are the cost coef®cients of the i-th
problem in its formulation in terms of variables, objective generator.
function and constraints is described.
2.3. Constraints
2.1. Variables of the problem The constraints of the problem may be grouped as
follows:
These are:
² Equations of nodal balance of active and reactive power
modules and phases of voltages in all nodes (V and q ) (load-¯ow equations) (2 N equality constraints)
(excluding node 1 phase, ®xed at 0), X X
active and reactive powers produced by the thermal TAi; j 1 IAi 0 TRi; j 1 IRi 0 i 1; ¼; N
groups and reactive powers produced by the hydraulic j[ai j[ai
VT1 ; ¼; VTNtap ; TI1 ; ¼; TINc c where TAi, j is the transit of active power on i, j connection,
M.V. Cazzol et al. / Electrical Power and Energy Systems 24 (2002) 431±437 433
positive if from i to j; TRi, j is the transit of reactive power reactive power and the DC voltage by exchanging active
on i, j connection, positive if from i to j; IAi and IRi are power.
the injections of active and reactive power in node i In this model, the losses are neglected, therefore the
(positive if coming out of node i); a i is the set of nodes active power Pu from node j is entirely transferred in to
connected to node i; zi, j is the module of impedance of the node i.
connection i, j; gi, j is the shunt conductance of connection The equations which describe the steady state working
i, j; d i, j is the loss angle of impedance of connection i, j; point and link the internal variables (Vt , Iq , Psh ) to the
yi, j is the module of shunt susceptance of connection i, j; voltage magnitude and phase angle of nodes i and j
and Ki, j is the transformation ratio of the transformer on
Vi ; Vj ; ui ; uj and to the active and reactive injections
connection i, j(Ki;j 1 for the lines).
2Pu ; Qui and
Pu ; Quj are:
² Equations of current transits for security (Nc equality q
constraints) Vt
Vj sin
uj 2 ui 2 1
Vi 2 Vj cos
uj 2 ui 2
1
1 q
TIh p TA2i;j 1 TR2i;j h 1; ¼; Nc
3 Vi
Q Quj P
with: TIh variable relevant to the current transit on the Iq 2 pui 2 p cos
uj 2 ui 1 pu sin
uj 2 ui
2
3 Vi 3V j 3 Vj
connection h between nodes i and j.
² Upper and lower bound constraints on problem variables
2
N 1 Ngter 1 Ng 1 Ntap 1 Nc Vi V
Psh 2Pu 1 Pu cos
uj 2 ui 1 i Quj sin
uj 2 ui
3
Vmin;i # Vi # Vmax;i i 1; ¼; N Vj Vj
Pmin;i # Pi # Pmax;i i 1; ¼; Ngter The ®rst equation derives easily from the following
vector expression: Vj Vi 1 Vt
Qmin;i # Qi # Qmax;i i 1; ¼; Ng The second and the third of the previous equations are
obtained by the explicit formulation of reactive and active
VTmin;i # VTi # VTmax;i i 1; ¼; Ntap power balance equations on i-bus (see Appendix):
Anom (MVA) Vnom (kV) Vtmax (kV) Ashmax (MVA) Pshmax (MW)
Some modi®cations are needed to the OPF formulation
previously described for managing UPFC devices. 2000 400 70 400 200
Table 1
Test cases
Interconnection links Active power ¯ow (MW) Reactive power ¯ow (MVAr) Current ¯ow (A) Maximum current ¯ow (A) Utilisation of the link (%)
Table 4
Active and reactive power ¯ows and currents in interconnection links for maximum wheeling whit UPFC
M.V. Cazzol et al. / Electrical Power and Energy Systems 24 (2002) 431±437
Interconnection links Active power ¯ow (MW) Reactive power ¯ow (MVAr) Current ¯ow (A) Maximum current ¯ow (A) Utilisation of the link (%)
three cases are summarised in Table 2 where Anom and Vnom 6. Conclusions
are the UPFC nominal apparent power and nominal voltage,
Vtmax is the maximum value of the series voltages and Ashmax, An UPFC model has been introduced in the integrated
Pshmax are the maximum values for apparent and active shunt active and reactive OPF procedure and the modi®cations of
powers. the variable and constraint sets have been described. The
The performed tests have shown a very interesting new proposed procedure is able to fully exploit the UPFC
increase of transfer capability of the interconnection lines control capabilities and to automatically handle the
when the UPFC are installed. The same site and size have co-ordination of the UPFC internal control variables with
been used both for `case 1' and for `case 2' while for `case the other control variables of the electrical system, such as
3' a new site has been chosen. The problem of selecting the generator active and reactive power productions. Therefore,
location for UPFC devices in order to face a set of different the procedure allows a more accurate evaluation of the
operative scenarios minimising the investment cost has not UPFC impact on the objective function, on the active and
been considered in this paper, therefore, the location in the reactive power losses and on the voltage levels in different
test cases derives from heuristic considerations on the operation scenarios. Computer simulation results have
different load levels of the interconnection lines. con®rmed the effectiveness of the proposed approach both
The active and reactive power ¯ows on the interconnec- in relieving the load of interconnection lines and in increas-
tion lines mainly affected by the wheeling scenario of the ing the wheeling capability.
`case 3' are described in Table 3 and in Table 4. The
currents (%) in Table 3 show that the wheeling limit is
due to the saturation of the 240 kV line Soverzene±Lienz,
Appendix A. De®nition of the constraints required by
while the link of the same corridor Redipuglia±Divaccia
UPFC devices
contributes to the power transmission only with the 69.1%
of its capability because of the network topology and the
The following considerations are referred to the symbols
power ¯ow control capacity of schedulable generators. This
and diagram presented in Fig. 1 (Section 3).
asset does not fully exploit the transmission capability of
The balance active and reactive power equations on bus i
the 400 kV Redipuglia±Divaccia line and underlines a
are:
bottle-neck in the transmission system.
The advantages obtainable by the installation of an UPFC (
Qsh Qui 1 Quj 1 Qserie
device are described in Table 4, which shows a remarkable
increase in the active power import and a better utilisation of Psh Pui 1 Puj 1 Pserie
the interconnection lines.
In fact the Redipuglia±Divaccia line appears more loaded where:
and the new operation point exhibits more equilibrate power p
¯ows. Pserie 1 iQserie 2 3Vt I pj
A1
The advantage of using UPFC devices in the transmission
system is measured not only by the increase of the real I pj represents the conjugate complex of the current on link
power transfer capability but also by the improvement of j±i, that is the current in the high voltage circuit of the series
the objective function and voltages pro®le with a con- transformer. p
sequent reduction of the active power losses. To evaluate By using the relation, Pu 1 iQuj 3V j I pj , we get:
this improvement, the situation corresponding to the wheel-
ing limit without UPFC for `case 3' has been optimised also P Quj
I pj pu 1 i p
A2
with the UPFC installation. 3Vj 3Vj
The results of this test are presented in Table 5 where the
signi®cant reduction both in the total thermal cost and in the and Eq. (A1) can be reformulated as:
network active losses represents a saving not negligible in
the assessment of the economic advantage obtainable by a Pu V t Q V
proper UPFC installation. Pserie 1 iQserie 2 2 i ui t
A3
Vj Vj
Table 5
Moreover, since V t V j 2 V i , it becomes:
Optimisation results (wheeling 1550 MW) with and without UPFC
Pu
V j 2 V i Qui
V j 2 V i
Case 3 Wheeling 1550 MW Without UPFC With UPFC Pserie 1 iQserie 2 2i
A4
Vj Vj
FO (k£/h) 2,69,99,426 2,66,76,800
Active losses (MW) 868 765
Exploiting the polar notation for the voltages on bus i and
Reactive losses (Mvar) 19,449 14,371
j, by easy algebraic manipulations, the following complex
M.V. Cazzol et al. / Electrical Power and Energy Systems 24 (2002) 431±437 437
If Pu V i Quj Vi
Psh 2Pu 1 cos
qj 2 ui 1 sin
qj 2 ui
A8
Vj Vj
p
Dividing the ®rst equation by 2 3Vi , we can easily
Ish obtain the expression of the shunt compensation Iq taking
into account the following relations:
p p
Psh 1 iQsh 2 3V i I psh 2 3Vi Ish cos
ui 2 w
ϕ p
θi 2 i 3VIsh sin
ui 2 w
A9
I sh I f 1 I q If Ish cos
ui 2 w
Iq
Iq Ish sin
ui 2 w
where I f and I q are the components of I sh de®ned in Fig. 2.
In this way we obtain:
Fig. 2. Components of I sh .
Q P Quj
Iq 2 pui 1 pu sin
qj 2 ui 2 p cos
qj 2 ui
equation is obtained: 3 Vi 3V j 3 Vj
that is the Eq. (2) of Section 3.
P V
Pserie 1 iQserie 2Pu 2 iQuj 1 u i cos
qi 2 uj
Vj
References
PV Quj Vi
1 i u i sin
qi 2 uj 1 i
Vj Vj [1] Ge SY, Chung TS. Optimal active power ¯ow incorporating power
¯ow control needs in ¯exible AC transmission system. IEEE Trans
Quj Vi Power System 1999;14(2):738±44.
cos
qi 2 uj 2 sin
qi 2 uj
A5 [2] Grif®n J, Atanackovic D, Galiana FD. A study of the impact of FACTS
Vj
on the secure-economic operation of power systems. Proceedings of
that is: the 12th PSCC, Dresden, August 1996.
[3] Garzillo A, Innorta M, Migliardi P, Nicola G, Cazzol MV, Ricci M.
8
> Pu Vi Quj Vi Location and sizing of power electronics based equipment for a more
>
> P 2Pu 1 cos
qj 2 ui 1 sin
qj 2 ui ¯exible and intensive use of meshed transmission networks, CIGRE
< serie Vj Vj Symposium, Tours (F), 1997.
>
> Pu Vi Quj Vi [4] Blanchon G, Dodu JC, Renaud A, Bouhtou M. Implementation of a
>
: Qserie 2Quj 2 sin
qj 2 ui 1 cos
qj 2 ui primal±dual interior-point method applied to the planning of reactive
Vj Vj power compensation devices, PSCC, Dresden, 1996.
A6 [5] Wu YC, Debs AS, Marsten RE. A nonlinear programming approach
based on interiorpoint method for Optimal Power Flows, IEEE/NTUA
Using the last equations, the active and reactive power Athens Power Tech Conf, Athens, 1993.
balance equations for the bus i can be rewritten as: [6] Garzillo A, Innorta M, Ricci M. The problem of the active and reactive
8 optimum power dispatching solved by utilising a primal±dual interior
> Pu Vi Quj Vi point method. Int J Electl Power Energy Systems 1998;20(6).
>
> Q Qui 1 Quj 2 Quj 2 sin
qj 2 ui 1 cos
qj 2 ui
< sh Vj Vj [7] Gyugyi L. Solid-state control of electric power in AC transmission
> systems, EECPS-CAPRI±May 1989.
>
> Pu Vi Quj Vi
: Psh Pui 1 Puj 2 Pu 1 cos
qj 2 ui 1 sin
qj 2 ui [8] Keri AJF, Mehraban AS, Lombard X, Elriachy A, Edris AA. Uni®ed
Vj Vj power ¯ow controller (UPFC): modelling and analysis. IEEE Trans
A7 Power Delivery 1999;14(2):648±54.