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I. I NTRODUCTION
Power systems today are colossal networks of interconnected power apparatus often spanning large geographical
areas. With the growing trend in facilitating additional interconnections to neighbouring systems, the size and complexity
of these networks will likely continue to increase, and thus,
bring challenges for planning, operations and control of these
networks. Hence, reduced-order models of power systems are
desirable for many applications and studies, particularly for
fast and cost-efficient stability analysis. Research on power
system model reduction is extensive, and some methodologies
focusing on specific applications have been implemented in
software for automated model reduction. Generally speaking,
model reduction of large power networks, typically known
as Power System Dynamic Equivalencing [1], has the main
aim of providing a system equivalent model able to reproduce
the aggregated steady-state [2] and dynamic characteristics
of the full-order network [3], while at the same time being
compatible with the available computation tools for power
system analysis [4], [5].
Model reduction techniques are often developed for specific
applications such as: steady-state power flow for security
assessment [6], small-signal stability analysis [7], transient
stability [8], [9], network equivalents for electromagnetic
transient studies [10], and control design applications [11]. In
these applications the power system is divided into an internal
C. Sturk and H. Sandberg are with the Department of Automatic Control,
School of Electrical Engineering, KTH, Royal Institute of Technology, SE100 44 Stockholm, Sweden. E-mails: {chsturk, hsan}@kth.se. C. Sturk and H.
Sandberg are supported in part by the Swedish Research Council under Grant
2007-6350 and Grant 2009-4565, and the Swedish Foundation for Strategic
Research.
L. Vanfretti is with the Electric Power Systems Division, School of
Electrical Engineering, Royal Institute of Technology (KTH), Teknikringen
33, SE-100 44, Stockholm, Sweden. E-mail: luigiv@kth.se. L. Vanfretti is
supported by the STandUP for Energy collaboration initiative and the KTH
School of Electrical Engineering.
F. Milano is with the Department of Electrical Engineering, University of Castilla - La Mancha, 13071 - Ciudad Real, Spain. E-mail: Federico.Milano@uclm.es.
V1studyy ,
study
study
dy
1
Tie-Line 1
V1extt ,
e
ext
1
Study
Area V2studyy ,
study
study
dy
2
Tie-Line 2
V2extt ,
e
ext
2
Vnstudyy ,
study
study
dy
n
Tie-Line n
Vnextt ,
e
ext
n
External
E
Area
Fig. 1. The power system is divided into a study area and an external area,
which is to be reduced.
The interface between the systems is defined by their n tielines and buses. Given that the network with N buses has an
admittance matrix Y = G + jB, every bus satisfies the two
power equations
N
X
Pi = Vi2 Gii +
Vi Vj Bij sin(i j )
j=1;j6=i
N
X
Vi Vj Gij cos(i j )
j=1;j6=i
N
X
Qi = Vi2 Bii +
Vi Vj Gij sin(i j )
j=1;j6=i
N
X
Vi Vj Bij cos(i j )
(1)
j=1;j6=i
G(s) =
G1 (s)
0
..
Gq (s)
=:
AG
CG
BG
DG
(2)
BN,2
DF .
N (s) =
DK
(3)
We want to find a reduced order system that approximates the
N
mapping from uN
1 to y1 defined by the lower linear linear
fractional transformation
E(s)
H(s)
F (s)
K(s)
AN
=: CN,1
CN,2
BN,1
DE
DH
y1N
N (s )
y2N
u2N
G (s )
uG
u1N
yG
1 G(s)H(s) =
F
l (N, G) := E(s) + F (s) (I G(s)K(s))
AN + BN,2 LDG CN,2
BN,2 LCG
BN,1 + BN,2 LDG DH
BG M DH
BG M CN,2
AG + BG M DK CG
CN,1 + DF DG M CN,2
DF LCG
DE + DF DG M DH
A
B
, L := I DG DK 1 , M := I DK DG 1 ,
=:
C
D
Q=
P =
QN
QTN G
PN
PNT G
QN G
QG
PN G
PG
. . . Q1q
..
..
.
.
Qq
(7)
. . . P1q
..
..
.
.
Pq
(8)
P1
..
, PG = .
T
P1q
where
T = diag(TN , T1 , ..., Tq ), TN RnN nN , Tk Rnk nk ,
and nN and nk are the order of system N and Gk respectively.
Having made a coordinate transformation, either truncation
or singular perturbation is used calculate the reduced order
i of the subsystems in G. To this end the structured
systems G
Hankel singular values can guide the choice of which states
to retain as explained below.
The strength of the structured model reduction algorithm
is that the block-diagonal elements of the Gramians defined
by (6) tell us how reachable and observable the states of the
subsystems are when we control the global input signal uN
1 and
observe the global output signal y2N (Fig. 2). More precisely,
the following holds [25]:
If all states excepts the ones in subsystem k are zero at time
zero, then
ky1N (t)k2[0,] = xk (0)T Qk xk (0).
(11)
uN
1 L2 (,0)
T 1
2
kuN
1 (t)k[,0] = (xk ) Pk xk ,
(12)
x(0)X
k
Xk
Q1
..
, QG = .
QT1q
Tx
= x,
(10)
(4)
with the constraint that the interconnecting network N is
retained, i.e. the objective is to find the reduced order system
such that
G
k
(5)
kFl (N, G) Fl N, G
AP + P AT + BB T = 0,
(9)
OF
P OWER
(14)
(15)
and
N
N
x N = f N (xN , xN
alg , u1 , u2 )
N
N
N
N
N
0 = g (x , xalg , u1 , u2 )
(16)
x G
0
x N
0
AN
11
AN
21
AG
11
AG
21
AG
12
AG
22
AN
12
AN
22
xG
xG
alg
xN
xN
alg
N
B11
+
N
B21
B1G
B2G
N
B12
N
B22
x G
yG
and
1
N N
N
N
x N = (AN
11 A12 A22 A21 )x
h
i N
u1
N
N N 1
N
N N 1
+ (B11 A12 A22 B21 ) (B12 A12 A22 B22 )
uN
2
y1N
N
y2
0
+
0
0
N 1
N N
N N
=
A22
(AN
xN + B21
u1 + B22
u2 )
N
21
M N
I
u1
0
uN
2
(18)
We can note that the system N has one input signal uN
1
and one output signal y1N apart from the input/output pair that
defines its interconnection with the external area G. These
are the exogenous inputs and the global outputs and they will
be elaborated upon in Subsection IV-A.
3. Model reduction
With G and N on the form (17) and (18) the state space
equations for the interconnected system is readily found
by using (4) for which the reachability and observability
Gramians can be calculated with (6). Selecting the submatrices
PG and QG from the matrices (8) and (7) a change of
coordinates for the system G can be found and guided by the
structured Hankel singular values (9) the model order can be
selected.
4. Nonlinear model
With the system G being reduced to
AG BG
G(s)
=
CG DG
it can be reconnect to the non-linear description of the study
area yielding the reduced interconnected system
uG
G G
G
G
G
G G
G G
(AG
11 A12 A22 A21 )x + (B1 A12 A22 B2 )u
1
G G
G G
(17)
M G AG
22 (A21 x + B2 u )
x G = AG xG + BG uG
G
G
uN
= CG
x + DG
u
2 = yG
uN
1
uN
2
N
N
x N = f N (xN , xN
alg , u1 , u2 )
N
N
0 = g N (xN , xN
alg , u1 , u2 )
G
N
N
u = y2 = MN xalg .
A. Algorithm preferences
G
G G
G G
xG
alg = A22 (A21 x + B2 u )
1
N
N N
N N
N N
xN
alg = A22 (A21 x + B21 u1 + B22 u2 ).
A. Model
The system that will be used to demonstrate the structured
model reduction algorithm is the WSCC 3-machine, 9-bus system (Fig. 3) [33] with a connected infinite bus. We will choose
the study area N to be defined by the generator connected to
bus 1 and the buses 1, 4, 5 and 6, whereas the external area
G is selected to be composed of the generators connected to
buses 2 and 3 respectively as well as the remaining buses. The
synchronous machines are modeled as fourth order systems
with connected AVRs of the standard IEEE model 1. The
DAEs for each machine are
B. Required assumptions
The structured model reduction algorithm, which is based on
balanced truncation, require that the interconnected system is
asymptotically stable, since the reachability and observability
Gramians will not be well defined otherwise. A power system
with only synchronous generators and loads will however
always have an eigenvalue at the origin as long as no reference
for the voltage phase angles is chosen. There are a number of
different approaches that can be taken to accommodate for
this. One way is to simply fix one of the generators to be the
reference in a similar manner to the selection of a slack bus
in the power flow problem [30].
Another possibility that may arise is that the power system
in question contains an infinite bus that models an inert system
which dynamics are unknown or simply disregarded. This
could for instance be a neighboring country connected by a tieline. If this is the case, the system will not have an eigenvalue
at the origin and the Gramians are well defined.
A third option would be to choose a reference angle to
remove the zero eigenvalue, do the model reduction and then
revert the system to one without a reference. This procedure
might however yield unstable dynamics since the reduced
system will have an eigenvalue in the proximity of the origin,
and if it is not being paid attention to, it might end up in the
right half plane.
V. A LGORITHM
DEMONSTRATION
b ( 1)
e0q
e0
=
=
=
0 =
(pm pe D( 1)) /M
0
e0q (xd x0d )id + vf /Td0
0
e0d + (xq x0q )iq /Tq0
vq + ra iq e0q + x0d id
0 =
0 =
vd + ra id e0d x0q iq
vd + v sin( )
0 =
0 =
vq + v cos( )
pe + (vq + ra iq )iq + (vd + ra id )id ,
v r1
vr
v r2
v f
(v vm )/Tr
Kf
vf vr1 /Ta
Ka vref vm vr2
Tf
vf + vr2 /Tf
Tf
(vf (Ke + Se (vf )) vr ) /Te
with
Se (vf ) = Ae eBe |vf |
The different machines of the power system are connected
through transmission lines. Each bus satisfies the algebraic
equations (1) and thereby interconnect the generators.
B. Results
To evaluate the structured model order reduction algorithm
it will be compared with ordinary balanced truncation applied
to the external system G. We will introduce a perturbation
in the internal generator angle of generator 1 to determine
the reduced order models ability to capture the transients
10
7
2
Gen 2
G
5
Gen 3
1.0258
Structured reduction
Balanced truncation
Full system
1.0257
Gen 1
1.0256
Fig. 3.
V7
1.0255
1.0254
15
time [s]
20
25
30
0.067
Structured reduction
Balanced trunctation
Full system
0.066
0.065
0.064
0.062
0
1,j
10
0.063
10
10
10
15
time [s]
20
25
30
10
10
15
j
Fig. 4.
scale.
10
10
1.0253
0
1.0257
Structured reduction
Balanced truncation
Full system
1.0256
1.0255
1.0254
0
Fig. 7.
10
15
time [s]
25
30
0.066
Structured reduction
Balanced trunctation
Full system
0.065
20
0.064
0.063
0.062
0
Fig. 8.
10
15
time [s]
20
25
30
[30] P. Kundur, Power system stability and control, N. Balu and M. Lauby,
Eds. McGraw-Hill New York, 1994.
[31] F. Milano, An Open Source Power System Analysis Toolbox, vol. 20,
no. 3, pp. 11991206, Aug. 2005.
[32] J. Machowski, J. Bialek, and J. Bumby, Power system dynamics: stability
and control. John Wiley & Sons Inc, 2008.
[33] P. Anderson, A. Fouad, I. of Electrical, and E. Engineers, Power system
control and stability. Iowa State University Press, 1986.