Dynamic Vulnerability Assessment and Intelligent control for Sustainable Power Systems

List of Contributors xv Foreword xix Preface xxi 1 Introduction: The Role of Wide Area Monitoring Systems in Dynamic Vulnerability Assessment 1 Jaime C. Cepeda and Jose Luis Rueda-Torres 1.1 Introduction 1 1.2 Power System Vulnerability 2 1.2.1 Vulnerability Assessment 2 1.2.2 Timescale of Power System Actions and Operations 4 1.3 Power System Vulnerability Symptoms 5 1.3.1 Rotor Angle Stability 6 1.3.2 Short-Term Voltage Stability 7 1.3.3 Short-Term Frequency Stability 7 1.3.4 Post-Contingency Overloads 7 1.4 Synchronized Phasor Measurement Technology 8 1.4.1 Phasor Representation of Sinusoids 8 1.4.2 Synchronized Phasors 9 1.4.3 Phasor Measurement Units (PMUs) 9 1.4.4 Discrete Fourier Transform and Phasor Calculation 10 1.4.5 Wide Area Monitoring Systems 10 1.4.6 WAMPAC Communication Time Delay 12 1.5 The Fundamental Role of WAMS in Dynamic Vulnerability Assessment 13 1.6 Concluding Remarks 16 2 Steady-state Security 21 Evelyn Heylen, Steven De Boeck, Marten Ovaere, Hakan Ergun, and Dirk Van Hertem 2.1 Power System Reliability Management: A Combination of Reliability Assessment and Reliability Control 22 2.1.1 Reliability Assessment 23 2.1.2 Reliability Control 24 2.2 Reliability Under Various Timeframes 31 2.3 Reliability Criteria 33 2.4 Reliability and Its Cost as a Function of Uncertainty 34 2.4.1 Reliability Costs 34 2.4.2 Interruption Costs 35 2.4.3 Minimizing the Sum of Reliability and Interruption Costs 36 3 Probabilistic Indicators for the Assessment of Reliability and Security of Future Power Systems 41 Bart W. Tuinema, Nikoleta Kandalepa, and Jose Luis Rueda-Torres 3.1 Introduction 41 3.2 Time Horizons in the Planning and Operation of Power Systems 42 3.2.1 Time Horizons 42 3.2.2 Overlapping and Interaction 42 3.2.3 Remedial Actions 42 3.3 Reliability Indicators 45 3.3.1 Security-of-Supply Related Indicators 45 3.3.2 Additional Indicators 47 3.4 Reliability Analysis 49 3.4.1 Input Information 49 3.4.2 Pre-calculations 50 3.4.3 Reliability Analysis 50 3.4.4 Output: Reliability Indicators 53 3.5 Application Example: EHV Underground Cables 53 3.5.1 Input Parameters 54 3.5.2 Results of Analysis 56 4 An Enhanced WAMS-based Power System Oscillation Analysis Approach 63 Qing Liu, Hassan Bevrani, and Yasunori Mitani 4.1 Introduction 63 4.2 HHT Method 65 4.2.1 EMD 65 4.2.2 Hilbert Transform 65 4.2.3 Hilbert Spectrum and Hilbert Marginal Spectrum 66 4.2.4 HHT Issues 67 4.3 The Enhanced HHT Method 71 4.3.1 Data Pre-treatment Processing 71 4.3.2 Inhibiting the Boundary End Effect 75 4.3.3 Parameter Identification 80 4.4 Enhanced HHT Method Evaluation 81 4.4.1 Case I 81 4.4.2 Case II 84 4.4.3 Case III 85 4.5 Application to RealWide Area Measurements 88 5 Pattern Recognition-Based Approach for Dynamic Vulnerability Status Prediction 95 Jaime C. Cepeda, Jose Luis Rueda-Torres, Delia G. Colome, and Istvan Erlich 5.1 Introduction 95 5.2 Post-contingency Dynamic Vulnerability Regions 96 5.3 Recognition of Post-contingency DVRs 97 5.3.1 N-1 Contingency Monte Carlo Simulation 98 5.3.2 Post-contingency Pattern Recognition Method 100 5.3.3 Definition of Data-TimeWindows 103 5.3.4 Identification of Post-contingency DVRs-Case Study 104 5.4 Real-Time Vulnerability Status Prediction 109 5.4.1 Support Vector Classifier (SVC) Training 112 5.4.2 SVC Real-Time Implementation 113 5.5 Concluding Remarks 115 6 Performance Indicator-Based Real-Time Vulnerability Assessment 119 Jaime C. Cepeda, Jose Luis Rueda-Torres, Delia G. Colome, and Istvan Erlich 6.1 Introduction 119 6.2 Overview of the Proposed Vulnerability Assessment Methodology 120 6.3 Real-Time Area Coherency Identification 122 6.3.1 Associated PMU Coherent Areas 122 6.4 TVFS Vulnerability Performance Indicators 125 6.4.1 Transient Stability Index (TSI) 125 6.4.2 Voltage Deviation Index (VDI) 128 6.4.3 Frequency Deviation Index (FDI) 131 6.4.4 Assessment of TVFS Security Level for the Illustrative Examples 131 6.4.5 Complete TVFS Real-Time Vulnerability Assessment 133 6.5 Slower Phenomena Vulnerability Performance Indicators 137 6.5.1 Oscillatory Index (OSI) 137 6.5.2 Overload Index (OVI) 141 6.6 Concluding Remarks 145 7 Challenges Ahead Risk-Based AC Optimal Power Flow Under Uncertainty for Smart Sustainable Power Systems 149 Florin Capitanescu 7.1 Chapter Overview 149 7.2 Conventional (Deterministic) AC Optimal Power Flow (OPF) 150 7.2.1 Introduction 150 7.2.2 Abstract Mathematical Formulation of the OPF Problem 150 7.2.3 OPF Solution via Interior-Point Method 151 7.2.4 Illustrative Example 154 7.3 Risk-Based OPF 158 7.3.1 Motivation and Principle 158 7.3.2 Risk-Based OPF Problem Formulation 159 7.3.3 Illustrative Example 160 7.4 OPF Under Uncertainty 162 7.4.1 Motivation and Potential Approaches 162 7.4.2 Robust Optimization Framework 162 7.4.3 Methodology for Solving the R-OPF Problem 163 7.4.4 Illustrative Example 164 7.5 Advanced Issues and Outlook 169 7.5.1 Conventional OPF 169 7.5.2 Beyond the Scope of Conventional OPF: Risk, Uncertainty, Smarter Sustainable Grid 172 8 Modeling Preventive and Corrective Actions Using Linear Formulation 177 Tom Van Acker and Dirk Van Hertem 8.1 Introduction 177 8.2 Security Constrained OPF 178 8.3 Available Control Actions in AC Power Systems 178 8.3.1 Generator Redispatch 179 8.3.2 Load Shedding and Demand Side Management 179 8.3.3 Phase Shifting Transformer 179 8.3.4 Switching Actions 180 8.3.5 Reactive Power Management 180 8.3.6 Special Protection Schemes 180 8.4 Linear Implementation of Control Actions in a SCOPF Environment 180 8.4.1 Generator Redispatch 181 8.4.2 Load Shedding and Demand Side Management 182 8.4.3 Phase Shifting Transformer 183 8.4.4 Switching 184 8.5 Case Study of Preventive and Corrective Actions 185 8.5.1 Case Study 1: Generator Redispatch and Load Shedding (CS1) 186 8.5.2 Case Study 2: Generator Redispatch, Load Shedding and PST (CS2) 187 8.5.3 Case Study 3: Generator Redispatch, Load Shedding and Switching (CS3) 190 9 Model-based Predictive Control for Damping Electromechanical Oscillations in Power Systems 193 DaWang 9.1 Introduction 193 9.2 MPC BasicTheory & Damping Controller Models 194 9.2.1 What is MPC? 194 9.2.2 Damping Controller Models 196 9.3 MPC for Damping Oscillations 198 9.3.1 Outline of Idea 198 9.3.2 Mathematical Formulation 199 9.3.3 Proposed Control Schemes 200 9.4 Test System & Simulation Setting 204 9.5 Performance Analysis of MPC Schemes 204 9.5.1 Centralized MPC 204 9.5.2 Distributed MPC 209 9.5.3 Hierarchical MPC 209 9.6 Conclusions and Discussions 213 10 Voltage Stability Enhancement by Computational Intelligence Methods 217 Worawat Nakawiro 10.1 Introduction 217 10.2 Theoretical Background 218 10.2.1 Voltage Stability Assessment 218 10.2.2 Sensitivity Analysis 219 10.2.3 Optimal Power Flow 220 10.2.4 Artificial Neural Network 220 10.2.5 Ant Colony Optimisation 221 10.3 Test Power System 223 10.4 Example 1: Preventive Measure 224 10.4.1 Problem Statement 224 10.4.2 Simulation Results 225 10.5 Example 2: Corrective Measure 226 10.5.1 Problem Statement 226 10.5.2 Simulation Results 227 11 Knowledge-Based Primary and Optimization-Based Secondary Control of Multi-terminal HVDCGrids 233 Adedotun J. Agbemuko, Mario Ndreko, Marjan Popov, Jose Luis Rueda-Torres, and Mart A.M.M van der Meijden 11.1 Introduction 234 11.2 Conventional Control Schemes in HV-MTDC Grids 234 11.3 Principles of Fuzzy-Based Control 236 11.4 Implementation of the Knowledge-Based Power-Voltage Droop Control Strategy 236 11.4.1 Control Scheme for Primary and Secondary Power-Voltage Control 237 11.4.2 Input/Output Variables 238 11.4.3 Knowledge Base and Inference Engine 241 11.4.4 Defuzzification and Output 241 11.5 Optimization-Based Secondary Control Strategy 242 11.5.1 Fitness Function 242 11.5.2 Constraints 244 11.6 Simulation Results 245 11.6.1 Set Point Change 245 11.6.2 Constantly Changing Reference Set Points 246 11.6.3 Sudden Disconnection ofWind Farm for Undefined Period 246 11.6.4 Permanent Outage of VSC 3 247 12 Model Based Voltage/Reactive Control in Sustainable Distribution Systems 251 Hoan Van Pham and Sultan Nasiruddin Ahmed 12.1 Introduction 251 12.2 BackgroundTheory 252 12.2.1 Voltage Control 252 12.2.2 Model Predictive Control 253 12.2.3 Model Analysis 255 12.2.4 Implementation 257 12.3 MPC Based Voltage/Reactive Controller - an Example 258 12.3.1 Control Scheme 258 12.3.2 Overall Objective Function of the MPC Based Controller 259 12.3.3 Implementation of the MPC Based Controller 261 12.4 Test Results 262 12.4.1 Test System and Measurement Deployment 262 12.4.2 Parameter Setup and Algorithm Selection for the Controller 263 12.4.3 Results and Discussion 263 12.5 Conclusions 266 13 Multi-Agent based Approach for Intelligent Control of Reactive Power Injection in Transmission Systems 269 Hoan Van Pham and Sultan Nasiruddin Ahmed 13.1 Introduction 269 13.2 System Model and Problem Formulation 270 13.3 Multi-Agent Based Approach 275 13.3.1 Augmented Lagrange Formulation 275 13.3.2 Implementation Algorithm 275 13.4 Case Studies and Simulation Results 277 13.4.1 Case Studies 277 13.4.2 Simulation Results 277 14 Operation of Distribution SystemsWithin Secure Limits Using Real-Time Model Predictive Control 283 Hamid Soleimani Bidgoli, Gustavo Valverde, Petros Aristidou, Mevludin Glavic, and Thierry Van Cutsem 14.1 Introduction 283 14.2 Basic MPC Principles 285 14.3 Control Problem Formulation 285 14.4 Voltage CorrectionWith Minimum Control Effort 288 14.4.1 Inclusion of LTC Actions as Known Disturbances 289 14.4.2 Problem Formulation 290 14.5 Correction of Voltages and Congestion Management with Minimum Deviation from References 291 14.5.4 Problem Formulation 295 14.6 Test System 296 14.7 Simulation Results: Voltage Correction with Minimal Control Effort 298 14.8 Simulation Results: Voltage and/or Congestion Corrections with Minimum Deviation from Reference 302 15 Enhancement of Transmission System Voltage Stability through Local Control of Distribution Networks 311 Gustavo Valverde, Petros Aristidou, and Thierry Van Cutsem 15.1 Introduction 311 15.2 Long-Term Voltage Stability 313 15.2.1 Countermeasures 314 15.3 Impact of Volt-VAR Control on Long-Term Voltage Stability 316 15.3.1 Countermeasures 318 15.4 Test System Description 319 15.4.1 Test System 319 15.4.2 VVC Algorithm 321 15.4.3 Emergency Detection 322 15.5 Case Studies and Simulation Results 323 15.5.1 Results in Stable Scenarios 323 15.5.2 Results in Unstable Scenarios 326 15.5.3 Results with Emergency Support From Distribution 328 16 Electric Power Network Splitting Considering Frequency Dynamics and Transmission Overloading Constraints 337 Nelson Granda and Delia G. Colome 16.1 Introduction 337 16.1.1 Stage One: Vulnerability Assessment 337 16.1.2 Stage Two: Islanding Process 338 16.2 Network Splitting Mechanism 340 16.2.1 Graph Modeling, Update, and Reduction 341 16.2.2 Graph Partitioning Procedure 342 16.2.3 Load Shedding/Generation Tripping Schemes 343 16.2.4 Tie-Lines Determination 344 16.3 Power Imbalance Constraint Limits 344 16.3.1 Reduced Frequency ResponseModel 345 16.3.2 Power Imbalance Constraint Limits Determination 347 16.4 Overload Assessment and Control 348 16.5 Test Results 349 16.5.1 Power System Collapse 349 16.5.2 Application of Proposed Methodology 351 16.5.3 Performance of Proposed ACIS 354 16.6 Conclusions and Recommendations 356 17 High-Speed Transmission Line Protection Based on Empirical Orthogonal Functions 361 Rommel P. Aguilar and Fabian E. Perez-Yauli 17.1 Introduction 361 17.2 Empirical Orthogonal Functions 363 17.2.1 Formulation 363 17.3 Applications of EOFs for Transmission Line Protection 365 17.3.1 Fault Direction 366 17.3.2 Fault Classification 367 17.3.3 Fault Location 369 17.4 Study Case 369 17.4.1 Transmission Line Model and Simulation 369 17.4.2 The Power System and Transmission Line 370 17.4.3 Training Data 370 17.4.4 Training Data Matrix 370 17.4.5 Signal Conditioning 373 17.4.6 Energy Patterns 373 17.4.7 EOF Analysis 376 17.4.8 Evaluation of the Protection Scheme 379 17.4.9 Fault Classification 380 17.4.10 Fault Location 382 17.5 Conclusions 383 Study Cases:WECC 9-bus, ATPDrawModels and Parameters 384 18 Implementation of a Real Phasor Based Vulnerability Assessment and Control Scheme: The Ecuadorian WAMPAC System 389 Pablo X. Verdugo, Jaime C. Cepeda, Aharon B. De La Torre, and Diego E. Echeverria 18.1 Introduction 389 18.2 PMU Location in the Ecuadorian SNI 390 18.3 Steady-State Angle Stability 391 18.4 Steady-State Voltage Stability 395 18.5 Oscillatory Stability 398 18.5.1 Power System Stabilizer Tuning 402 18.6 Ecuadorian Special Protection Scheme (SPS) 407 18.6.1 SPS Operation Analysis 409 18.7 Concluding Remarks 410 Index 413