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A New Approach to Economic Dispatching Using Load Bus Elimination Techniques

Jawad Talaq
a

University of Bahrain Department of Electrical Engineering P.O. Box 32038, Bahrain Version of record first published: 30 Nov 2010.

To cite this article: Jawad Talaq (2000): A New Approach to Economic Dispatching Using Load Bus Elimination Techniques, Electric Machines & Power Systems, 28:8, 723-734 To link to this article: http://dx.doi.org/10.1080/07313560050082712

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Electric Machines and Power Systems, 28:723734, 2000 C opyright s c 2000 Taylor & Francis 0731-356X / 00 $12.00 + .00

A New A pproach to Economic Dispatching Using Load Bus Elimination Techniques

JAWAD TALAQ
University of Bahrain Department of Electrical Engineering P.O. Box 32038, Bahrain

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This paper presents a new technique to solving the economic dispatch problem based on a reduced order model of the original system. Loads are rst modeled by their appropriate voltage-dependent models as load admittances. Load admittances are then added to the bus admittance matrix and their respective buses are eliminated. The obtained model is a reduced model of the original system. The admittance matrix is of the same order as the number of voltagecontrolled buses in the system. The variables of the reduced model are the voltage-controlled buses angles and active power generations. Newton Raphson method is used to calculate the angles and active generations of the reduced model while minimizing the operational cost. Load bus voltages and angles of the original system are then calculated by a direct method and load admittances are modi ed. The process is repeated until convergence is achieved. The simulation is carried out on IEEE 118 bus test system. A comparison between the new approach and the penalty factors method has been made. It is shown that operational cost is improved and solution time is signi cantly reduced when compared to the penalty factors method of economic dispatch.

Introduction

Economic dispatch is used in real time to allocate the total generation produced among all units in the power system in such a way as to minimize the operational cost. The equal incremental cost criterion for economic dispatch was rst implemented by utilities due to its simplicity when transmission losses are neglected. With the developments of power systems, transmission losses could not be ignored and had to be included in the power balance equation. Transmission losses could have been modeled as a constant percentage of total system demand and the equal incremental cost criterion still could be implemented; however, transmission losses depend on the allocation of generation among units, and the treatment of losses in the power balance equation needed to be improved. This led researchers to nd suitable transmission loss models, and therefore the B-coe cients method had emerged. From then, researchers concentrated in nding methods that can be implemented in real time and still meet the required accuracy in modeling transmission losses and penalty factors of units. References [15] review recent advances in classic economic dispatch. The optimal power ow is an exact formulation of the network active and reactive power mismatches at all buses, and hence led researchers to
Manuscript received in nal form October 7, 1999. Address correspondence to Jawad Talaq.

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further investigate the possibility of real time implementation. Reference [6] contains a survey of the optimal power ow literature. Now, optimal power ow is used in power system planning, and researchers are going on for further improvement that hopefully it can replace the economic dispatch in real time implementation. Until then, however, utilities still will rely on the classical economic dispatch for its simplicity, and further developments that can improve both operational cost and solution time should be encouraged.

T he Equal Incremental Cost Criterion

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Traditionally, active power generation is distributed among all generators in such a way as to minimize the total operational cost of all generators in the power system while meeting system demand and transmission losses. The Lagrangian function formulated in this case is: ! X X ( 1) L= C i + PD + PL o s s Pi ,
i i

where

2 3 C i = a0i + a1i P i + a2i P i + a3i Pi

( 2)

is a function of third order representing operational cost of generator i, Pi is the active generation of unit i, P L o s s is the transmission losses, P D is the total system demand, and is the Lagrangian multiplier associated with the power balance equation. If transmission losses are ignored, then the familiar equal incremental cost criterion for minimum operational cost is obtained: @C i @C j = = . @P i @P j

( 3)

T he Penalty Factors M ethod

If transmission losses are included in equation ( 1), then the following criterion is obtained: @C i @C j ( 4) P Fi = P Fj = , @P i @P j where P F i = 1=(1 @PL o s s =@P i )

( 5)

is the penalty factor of unit i. Transmission losses may be related to active generation through the familiar B-coe cients as follows:
T PL o s s = P BP + B 0 P + B 00 ,

( 6)

where P is the active power generation vector, B is a square matrix, B 0 is a row vector, and B 00 is a constant. The B-coe cients are functions of the operating point of the power system but may be assumed constant for a certain range of operating points. Several methods

A New Approach to Economic Dispatching

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have been proposed to nd the B-coe cients by several authors. One of these is the one described in [3]: (I* ZI), (7) PL o s s = Re aV where Z is the bus impedance matrix and I is the bus current injection vector. Simplifying equation (7) yields PL o s s =
N X N X i= 1 j = 1

[D ij (P i P j + Q i Q j ) + C ij (Q i P j

P i Q j )],

(8)

where P i and Q i are active and reactive power injections at bus i, and N is the total number of buses in the system:

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D ij = R ij cos(ij )=Vi Vj , C ij = R ij sin(ij )=Vi Vj .

(9) (10)

R ij in equations (9) and (10) are elements of the real part of the impedance matrix. ~ 0, Furthermore, if we assume that bus angle di erences are small, i.e., sinij = then the following simpli ed equation is obtained [3]: @P L o s s =@Pi = 2
N X j=1

D ij P i .

(11)

T he Proposed Technique

Load modeling has been applied to the power ow solutions [78]. Bus elimination technique [8] has been applied to the power ow solution without considering the economic dispatch problem. The aim here is to apply load modeling and load bus elimination techniques to the economic dispatch problem and treat transmission losses as an exact model. Consider both active and reactive power of loads as exponentially voltage dependent models having the following forms: PL = P0V a , Q L = Q 0 V b,
* SL = PL + j Q L ,

(12) (13) (14)

where P0 is the active power speci ed at nominal voltage. Q 0 is the reactive power speci ed at nominal voltage. a is the voltage dependent exponential constant of active power model. b is the voltage dependent exponential constant of reactive power model. Also we have This yields YL =
* * 2 S L = V I L = YL V .

(15)

1 [P 0 V a V2

j Q 0 V b ].

(16)

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Equation (16) represents the load admittance model. The exponential constants of the load model usually are determined from eld tests. The algorithm is capable of handling di erent values of exponential constants for the di erent buses; however, three special cases may be obtained from equation (16): 1. Constant admittance load model (a = b = 2 .0): YL = (P 0 j Q0 )

2. Constant complex power model (a = b = 0 .0) : YL = 1 (P 0 V2 j Q0)

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3. Constant current model (a = b = 1 .0): YL = 1 (P 0 V j Q0)

The admittance matrix is modi ed by adding the load admittances to the diagonal elements that belong to load buses. The load buses are then eliminated to obtain a reduced model as follows:
" "

IL IG 0 IG

# #

= =

" "

Y L0 Y LG YGL YG Y L Y LG YGL YG

#" #"

VL VG VL VG

# #

, ,

(17) (18)

where Y L = Y L0 + Y d

(19)

and Y d is a diagonal matrix containing the load admittance models described by equation (16). Solving equation (18) yields VL = and IG = Y R V G , where YR = YG Y G L Y L 1 Y LG Y L 1 Y LG V G

(20) (21) (22)

is an admittance matrix of the same order as the number of voltage-controlled buses (NG ). The complex power injections of the reduced model are
* * * S G i = VG i I G i = VG i
N G X j= 1

VG j Yij ,

(23)

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727

where Yij are the elements of the reduced bus admittance matrix Y R and N G is the number of the voltage-controlled buses in the system. This yields the active power mismatches of the voltage-controlled buses D P i = Vi
N G X j= 1

Vj [G ij cos(ij ) + B ij sin(ij ) ]

Pi .

(24)

The augmented Lagrangian function is formulated as follows: L=

N G X i= 1

Ci +

NG X i= 1

pi D Pi +

X1 s (P 2 i i

P i lim ) ,

(25)

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where C i is the operational cost of unit i as de ned in equation (2) and pi is a Lagrangian multiplier associated with the active power mismatch of unit i. The last term of equation (25) is the sum of quadratic penalty functions imposed on active generation of units that exceed their maximum or minimum power limits and si is the penalty factor corresponding to each penalty function. The penalty factors, s i , for the violating units are increased with iterations until variables are within acceptable tolerances. If a violating unit goes back to its operational range, its s i value is set to zero. The reactive power mismatches need not be included in the Lagrangian function if they do not violate their limits; however, reactive generations of units are tested for violations, and if one violates a limit, then the reactive generation is set to the limit and the voltage is released. Usually, in power ow solutions, PV buses are converted to PQ buses if they violate their reactive generation limits. This technique is not implemented here because active generation of units that violate their reactive generation should still remain dispatchable. Instead, the reactive power mismatch of the violated unit is introduced to the Lagrangian function together with its Lagrangian multiplier. This adds two variables to the Lagrangian function: the voltage and the Lagrangian multiplier associated with the reactive power mismatch. Taking the rst and second derivatives of the Lagrangian function with respect to the variables and applying Newton Raphson method yields the following matrix equations: f=
"

W D x,
#T

(26) (27)
,

D x = [D , D p, D P ]T , f= @L @L @L , , @ @p @P JT 0 1

(28) (29)

where f is a vector representing the rst derivatives of the Lagrangian function, D x is the incremental variables vector, and W is the Jacobian matrix. Submatrix H contains the second derivatives of the Lagrangian function with respect to angles, and submatrix J contains the rst derivatives of the active power mismatches with

H W = 4J 0

3 0 1 5, IIC

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Figure 1. Flow chart of the proposed algorithm.

respect to angles. IIC is a diagonal submatrix containing the second derivatives of the operational cost functions. T denotes the transpose: H= J= IIC = @2 ( D P ) , @2 @( D P ) , @ @2 C . @P 2

(30) (31) (32)

Equation (26) is solved for D x using Newtons method. Once voltage-controlled bus angles are computed, equation (20) is solved for load bus voltages and angles. Load admittances are recalculated using equation (16), and Y L of equation (22) is modi ed using equation (19). Equation (26) is solved again, and the process is repeated until convergence is achieved. A ow chart describing the implementation of the proposed algorithm is shown in Figure 1.

Results of Simulation

The proposed algorithm has been tested on IEEE 118 bus test system using UNIXbased Mips Millennium Computer System. A comparison between the equal incremental cost criterion, the penalty factors method, and the proposed method has been made for three di erent exponential constants of load modeling. IEEE 118

A New Approach to Economic Dispatching

729

bus test system consists of 54 voltage-controlled buses, of which 18 are dispatchable generators. The proposed technique consists of major and minor iterations. A major iteration refers to the loop in which loads are modeled, eliminated, and the system is reduced. A minor iteration refers to each Newtons iteration of the reduced model. In the proposed technique, operational cost is minimized while power mismatches are satis ed. This means that transmission losses are exactly modeled compared to the approximate models used for the penalty method. This fact assures least operational cost solutions for the proposed technique compared to the penalty method, even with more updates of the B-coe cients. Following are the four categories of simulation that have been compared with the proposed technique for each load modeling case:

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1. The equal incremental cost criterion without losses: Transmission losses are neglected in the power balance equation. System demand assumed constant and units are dispatched followed by a normal power ow. The process consists of only one major iteration. 2. The equal incremental cost criterion with losses: First, transmission losses are neglected and units are dispatched, assuming constant system demand, followed by a normal power ow. This is the rst major iteration. System demand and transmission losses obtained from the rst major iteration are used in the power balance equation, and units are redispatched followed by another power ow. This is the second major iteration. 3. The penalty factors method (two iterations): First, units are dispatched according to the equal incremental cost criterion and, assuming constant system demand, followed by a normal power ow. This is the rst major iteration. B-coe cients are calculated and units are redispatched through the penalty factors method followed by another power ow. This is the second major iteration. The process is repeated for another major iteration by updating the B-coe cients, system demand, and transmission losses. 4. The penalty factors method (three iterations): Same as in 3 above with another extra update of the B-coe cients, system demand, and transmission losses. Operating cost, solution time, and iteration counts are shown in Table 1. Output generation for the three cases, the constant complex power demand, the constant current demand, and the constant load admittance demand are shown in Tables 2, 3, and 4. The operational cost for the constant complex power case of the equal incremental cost criterion is taken as basis for the comparison as shown in Table 1. Using the proposed approach, operational cost has been reduced to 0.978824 pu (2.12%) instead of 0.980297 pu (1.97% ) when the penalty factors method is used with two iterations. The solution time has been considerably reduced to 9.70 seconds instead of 31.80 seconds, which is just comparable to the ordinary equal incremental cost criterion (8.40 seconds). Operational cost may be further reduced using the penalty factors method with more iterations to values comparable with that obtained by the proposed method, but this will be on the expense of solution time. This is obvious from Table 1, as operational cost has been reduced to 0.978881 pu (2.11% ), when the penalty factors method is used with three iterations but solution time increased to 47.20 seconds. The iteration counts shown in Table 1 refer to the required

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Table 1 IEEE 118 bus test system operating cost, solution time iteration counts Constant current load case Operating cost (pu) Iter. counts 6 6,4 6,4,5 6,4,5,3 8.4 6,3,3,2,2 0.993750 0.993872 0.975325 0.974109 0.974061 51.4 35.0 15.7 9.8 Sol. time ( sec ) Operating cost (pu) 0.987985 0.988191 0.970686 0.969634 0.969594 Constant admittance load case Sol. time ( sec ) 11.4 18.9 37.8 54.7 4.0 Iter. counts 6 6,4 6,4,5 6,4,5,4 6

Constant complex power load case Iter. counts 6 6,4 6,4,4 6,4,4,3 6,3,3,2,2,2,2

Operating cost (pu)

Sol. time (sec)

Talaq

1.000000

8.4

1.000012

12.7

0.980297

31.8

Equal incremental cost (no losses) Equal incremental cost (with losses) Penalty factors method (two iterations) Penalty factors method (three iterations) Proposed approach

0.978881

47.2

0.978824

9.7

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Table 2 IEEE 118 bus test system economic dispatch results for the constant complex power load case Penalty factors method Proposed approach Output (pu) A New Approach to Economic Dispatching 2.515780 3.000000 2.919261 2.887783 1.665509 2.907532 1.861620 3.000000 0.501174 2.731307 0.548163 2.497523 1.976541 0.746670 3.000000 1.575372 2.513478 0.630012 37.468353 0.785838 36.68 0.788353 37.477726 0.7977263 731

Equal incremental cost

( no losses)
Output ( pu) 2.491929 3.000000 2.898995 1.905124 1.703315 2.964136 1.869217 3.000000 0.566501 2.845772 0.594663 2.625525 2.137909 0.753693 3.000000 1.775624 2.646669 0.686765 37.465838 0.979561 0.993083 1.008289 1.000000 0.978853 0.945336 0.915163 0.949162 0.929570 0.936016 0.940489 0.939073 0.921830 1.042669 1.000179 0.960674 0.998249 1.006544 2.425627 3.000000 2.859776 2.807982 1.685921 2.927559 1.863007 3.000000 0.530774 2.773667 0.564251 2.537073 2.020119 0.737510 3.000000 1.556930 2.536044 0.642112 0.980862 0.992414 1.008374 1.000000 0.977559 0.944105 0.913247 0.947706 0.928873 0.936635 0.940274 0.940169 0.925968 1.040614 1.007192 0.966464 1.000830 1.007069 Penalty factor Output (pu) Penalty factor

(with losses)

(two iterations)

(three iterations)

Gen no

Output (pu)

Output (pu)

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18

2.648308 3.000000 3.000000 4.724726 1.818647 2.237294 1.182206 3.000000 0.000000 2.060386 0.198770 1.864411 1.300752 2.637294 3.000000 1.516013 3.000000 1.215920

2.789004 3.000000 3.000000 3.018913 1.931203 2.462407 1.276003 3.000000 0.000000 2.236255 0.361094 2.052006 1.431632 2.862407 3.000000 1.724451 3.000000 1.338265

Total output ( pu)

38.404727

38.423640

Losses (pu)

1.724727

1.743640

Total load (pu)

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732

Table 3 IEEE 118 bus test system economic dispatch results for the constant current load case Penalty factors method Proposed approach Output (pu)

Equal incremental cost

(no losses)
Output (pu) Penalty factor Output (pu) Penalty factor

(with losses)

(two iterations)

(three iterations)

Gen no

Output ( pu)

Output ( pu)

Talaq

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 37.288197 0.755894 36.512304 37.294667 0.780144 36.514522

2.648308 3.000000 3.000000 4.506134 1.818647 2.237294 1.182206 3.000000 0.000000 2.060386 0.198770 1.864411 1.300752 2.637294 3.000000 1.516013 3.000000 1.215920

2.771172 3.000000 3.000000 3.014110 1.916938 2.433876 1.264115 3.000000 0.000000 2.213966 0.288125 2.028230 1.415044 2.833876 3.000000 1.698033 3.000000 1.322759

2.480031 3.000000 2.891147 1.938106 1.693776 2.945675 1.860466 3.000000 0.553624 2.828636 0.585584 2.606553 2.116378 0.736971 3.000000 1.740770 2.629004 0.681477

0.979685 0.993097 1.008247 1.000000 0.978977 0.945412 0.915298 0.949074 0.929654 0.936200 0.940612 0.939289 0.922487 1.042752 1.000916 0.961432 0.998497 1.006333

2.413588 3.000000 2.852101 2.799179 1.676291 2.910642 1.854993 3.000000 0.519818 2.759700 0.556641 2.521934 2.004543 0.728309 3.000000 1.534594 2.524167 0.638166

0.980996 0.992396 1.008321 1.000000 0.977689 0.944129 0.913326 0.947559 0.928864 0.936686 0.940290 0.940232 0.926302 1.040387 1.007248 0.966757 1.000808 1.006763

2.502934 3.000000 2.910766 2.874410 1.655924 2.890394 1.853963 3.000000 0.490652 2.717809 0.540652 2.483118 1.962918 0.737329 3.000000 1.554360 2.502359 0.626485 37.304076 0.789341 36.514735

Total output (pu)

38.186134

38.200244

Losses (pu)

1.705317

1.726982

Total load (pu)

36.480817

36.473262

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Table 4 IEEE 118 bus test system economic dispatch results for the constant admittance load case Penalty factors method Proposed approach Output (pu) A New Approach to Economic Dispatching 2.490715 3.000000 2.902705 2.861717 1.647095 2.874375 1.846782 3.000000 0.480749 2.705114 0.533597 2.469567 1.950152 0.728589 3.000000 1.534761 2.491959 0.623178 37.122172 0.766963 36.355209 37.131633 0.772540 36.359093 37.141055 0.781589 36.359466 733

Equal incremental cost

(no losses)
Output (pu) 2.468611 3.000000 2.883650 1.966801 1.684980 2.928447 1.852280 3.000000 0.541589 2.812663 0.577113 2.588889 2.096512 0.722288 3.000000 1.708939 2.612813 0.676597 0.979806 0.993111 1.008208 1.000000 0.979073 0.945471 0.915414 0.948981 0.929722 0.936360 0.940715 0.939476 0.923077 1.042779 1.001548 0.962103 0.998701 1.006120 2.462075 3.000000 2.844777 2.790022 1.667481 2.894889 1.847502 3.000000 0.509556 2.746629 0.549524 2.507786 1.990097 0.719733 3.000000 1.513945 2.513128 0.634488 0.981126 0.992387 1.008272 1.000000 0.977788 0.944140 0.913389 0.947413 0.928848 0.936725 0.940295 0.940282 0.926598 1.040164 1.007282 0.967014 1.000775 1.006467 Penalty factor Output (pu) Penalty factor

(with losses)

(two iterations)

(three iterations)

Gen no

Output ( pu)

Output ( pu)

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18

2.648308 3.000000 3.000000 4.302682 1.818647 2.237294 1.182206 3.000000 0.000000 2.060386 0.198770 1.864411 1.300752 2.637294 3.000000 1.516013 3.000000 1.215920

2.754576 3.000000 3.000000 3.010645 1.903661 2.407321 1.253050 3.000000 0.000000 2.193220 0.276055 2.006101 1.399605 2.807321 3.000000 1.673446 3.000000 1.308327

Total output (pu)

37.982682

37.993328

Losses (pu)

1.688615

1.711393

Total load (pu)

36.294067

36.281930

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Newtons iterations for each major iteration. For the constant complex power case, it took seven major iterations for the proposed approach solution. The required Newtons iterations for this case are 6, 3, 3, 2, 2, 2, and 2. For the constant current load model, the reduction in operational cost is 0.974061 (2.59%) compared to 0.975325 (2.46% ) of the penalty factors method. The solution time has also been considerably reduced. For the constant admittance load model case, the solution time, as expected, is lowest (4.0 seconds) because there is no need for updating load admittances as they are constants.

Conclusions

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A new technique to solving the economic dispatch problem has been proposed. The technique uses a reduced order model of the original system. The reduced order model is obtained by eliminating all load buses from the system after being modeled appropriately. The variables of the model are the voltage-controlled buses angles and active generation. The e ect of di erent load modeling on generator active generation and operational cost has been studied. A comparison between the proposed technique and the classic economic dispatch has been made. Results of the simulation on IEEE 118 bus test system shows that improvement in operational cost and solution time is achieved by using the proposed technique.

References
[1] Happ, H. H., 1977, Optimal Power Dispatch: A Comprehensive Survey, IEEE Trans. [2] Aoki, K., and Satoh, T., 1984, New Algorithms for Classic Economic Dispatch, IEEE [3] Wenyuan, L., 1985, An On-Line Economic Power Dispatch Method W ith Security, [4] Lin, C. E., Hong, Y. Y., and Chuko, C. C., 1987, Real-Time Economic Dispatch, [5] Chowdhury, B. H., and Rahman, S., 1990, A Review of Recent Advances in Economic [6] Huneault, M., and Galiana, F. D., 1991, A Survey of the Optimal Power Flow Liter[7] El-Hawary, M. E., and Dias, L. G., 1987, Incorporation of Load Models in Load Flow [8] Talaq, J. H., 1995, Modeling and Elimination of Load Buses in Power Flow Solutions,
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