1

POWER SYSTEM VOLTAGE

STABI LI TY: A SHORT TUTORI AL
Dr . Mev l udi n Gl av i c
Uni ver si t y of Li ge
El ect r i cal Engi neer i ng and Comput er Sci ence Depar t ment
( The demos i ncl uded and t he mat er i al i n par t ar e pr ovi ded by
Dr . Thi er r y Van Cut sem )
Pow er sy st em st abi l i t y and
vol t age st abi l i t y.
o I s power syst em st abilit y a single problem?
YES!
is t he pr oper t y of a power syst em which enables it t o r emain
in a st at e of equilibr ium under nor mal oper at ing condit ions
and t o r egain an accept able st at e of equilibr ium af t er a
dist ur bance
o What is volt age st abilit y?
volt age inst abilit y st ems fr om t he at t empt of load dynamics t o
rest ore power consumpt ion beyond t he capabilit y of t he
combined t ransmission and generat ion syst em
o What is volt age collapse?
t he pr ocess by which t he sequence of event s accompanying
volt age inst abilit y leads t o a low unaccept able volt age
pr ofile in a significant par t of t he power syst em
( may or may not be t he final out come of volt age inst abilit y)
2
Vol t age st abi l i t y and angl e
st abi l i t y.
o I s t her e clear dist inct ion bet ween angle and volt age
inst abilit y?
NOT ALWAYS!
of t en bot h t ypes of inst abilit ies come t oget her and one may
lead t o ot her
o Dist inct ion bet ween t he t wo t ypes is impor t ant for
under st anding of t he under lying causes of t he pr oblems in
or der t o develop appr opr iat e design and oper at ing
pr ocedur es.
o Dist inct ion is effect ive but t he over all st abilit y of t he
syst em should be kept in mind.
o Solut ions f or one pr oblem should not be at expense of
anot her .
o I t is essent ial t o look at all aspect s of t he st abilit y
phenomena and at each aspect f r om mor e t han one
vi ewpoi nt .
Why Vol t age St abi l i t y i s
mor e and mor e i mpor t ant ?
o Generat ion cent ralized in fewer, larger power
pl ant s:
- fewer volt age cont rolled buses
- longer elect rical dist ances bet ween generat ion
and load
o Ext ensive use of shunt capacit or compensat ion
o Volt age inst abilit y caused by line and generat or
out ages
o Many incident s t hroughout t he world ( France,
Belgium, Sweden, Japan, USA, et c. )
o Operat ion of syst em closer t o it s limit s
3
Mai n r esul t s of t he post - mor t em
anal y si s of 20 i nci dent s
o The init ial event may be due t o a variet y of causes:
- Small gradual changes such as nat ural increase in syst em load,
- Large sudden dist urbances such as loss of a generat ing unit or a
heavily loaded line,
- cascading event s
o The inabilit y of t he syst em t o meet it s react ive demands.
o Volt age collapse generally manifest s it self as a slow decay in v olt age.
o Volt age collapse is st rongly influenced by syst em condit ions and
charact erist ics:
- large dist ances bet ween generat ion and load,
- ULTC act ions,
- Unfavorable load charact erist ics,
- Poor coordinat ion bet ween various cont rol and prot ect ive syst ems
o The volt age collapse may be aggravat ed by excessive use of shunt
capacit or compensat ion.
Vol t age st abi l i t y anal ysi s
o Mechanism of volt age inst abilit y:
- How and why does inst abilit y occur?
- What are t he key cont ribut ing fact ors?
- What are volt age- weak areas?
- How t o improve volt age st abilit y ?
o Proximit y t o volt age inst abilit y:
- How close is t he syst em t o volt age inst abilit y?
{ Closely relat ed issue: volt age ( in) st abilit y indices
( indicat ors) }
4
Vol t age i nst abi l i t y i l l ust r at i on
on a si mpl e syst em.
BUS 1 380.00 0.0 0.0 0.0 0.0 ;
BUS 2 20.00 0.0 0.0 0.0 0.0 ;
BUS 3 380.00 1500.0 300.0 0.0 0.0 ;
LI NE '1- 3' 1 3
0. 79. 8 0. 1350. 1 ;
LI NE '1- 3b' 1 3
0. 79. 8 0. 1350. 1 ;
TRFO ' 2- 3' 2 3 ' '
0. 0 8. 0. 0 104. 0 500. 0 0. 0. 0 0. 0. 1 ;
GENER 1 1 1
1050.0 0.0 1.1 900.0 - 9999. 9999. 1 ;
GENER 2 2 2
300.0 0.0 0.9777 500.0 - 9999. 9999. 1 ;
SLACK 1 ;
GROUP- PV ' 1' 1. ;
GROUP3 ' 2'
2. 1 2. 1 0. 1 0. 0. 50. 0. 0. ;
OXL ' 2'
0. 2. 825 20. 20. ;
LTCDYN ' 4- 3'
20. 10. ;
LOAD( V) * 2. 2. ;
Vol t age i nst abi l i t y i n a si mpl e
syst em model l i ng 1.
Load modeling:

,
_

0
4
0 l
V
V
P P

,
_

0
4
0 l
V
V
Q Q
and including t he shunt :

,
_

0
4
sh 0 tot
V
V
Q Q Q ) (
The load t ap changer :
s 20
in
s 10
ul
[ ]pu 01 1 99 0 . , .

V4
r
V0- V0+
r r
deadband
5
Max i mum del i ver abl e pow er 1.
Thi nki ng on:
Realist ic: maximum deliverable power keeping power fact or const a nt .
*
sys load
Z Z I s not r ealist ic.
For t he simple syst em consider ed:
2
2
23 2
23
2
2
3
2
2
23
2
13
2
3 tot 2
3
2
th
2
13
13
3 th
23 tot
P
X n
V V
X n
1
X
1
V Q
V E
X
1
X
V E
P P

,
_

+ + t (
Max i mum del i ver abl e pow er - 2 .
6
V- Q cur ves.
V- Q cur ve i s a char act er i st i c of bot h
t he net wor k and t he l oad
Q1 and Q2 ar e r eact i ve power mar gi ns
wi t h r espect t o
The l oss of oper at i ng poi nt .
Q3 pr ovi des a measur e of t he Mvar
di st ance t o syst em
Oper abi l i t y.
Ex ampl e 1: l oss of a l i ne w i t h
LTC- cont r ol l ed l oad.
7
Ex ampl e 2: Cor r ect i ve cont r ol s
LTC bl ock i ng.
Ex ampl e 3: Cor r ect i ve cont r ol s
capaci t or sw i t chi ng.
8
Ex ampl e 4: Cor r ect i ve cont r ol s
gener at or vol t age i ncr ease.
Ex ampl e 5: Cor r ect i ve cont r ol s
LTC set - poi nt decr ease.
9
Ex ampl e 6: Cor r ect i ve cont r ol s
l oad sheddi ng.
Fr om dynami c model t o l oad f l ow
Jacobi an .
Power syst em dynamics is nat urally described by
different ial- algebraic equat ions:
) , , (
) , , (

y x g 0
y x f x

&
) , ( z F
0
x

1
]
1

&
or
Assuming Jacobian
) ( g D
y is nonsingular: ) , ( ) ), , ( , ( x s x y x f x
1


&
An equilibrium point :
) , (
0 0
z is defined by:
) , (
0 0
z F
An equilibrium point :
) , (
* *
z where:
) , (
* *
z F D
z Singular bifurcat ion
Point .
I MORTANT: There is direct relat ion bet ween singularit ies of t he power
f low Jacobian and act ual bifurcat ions of t he full dynamical syst em
10
Bey ond or di nar y ( v ani l l a) pow er
f l ow s.
q Dist r ibut ed slack bus.
q Q limit s:
- PV PQ
- Act ive power and Volt age dependent
6 5 4 3
2
2
2
1
a V a P a PV a V a P a Q + + + + +
lim
q Act ive power limit s.
q Expor t f lows.
q Li ne over l oads.
Cont i nuat i on Pow er Fl ow s
Effect ive cont inuat ion met hod, and consequent ly
cont inuat ion power f low, solves t he pr oblem via f our basic
element s:
q Pr edi ct or. I t s purpose is t o find an approximat ion for t he
next solut ion. Usually t angent , first - order polynomial, or
zero order polynomial ( as it is t he case in t his paper)
pr edict or is employed.
q Par amet er i zat i on. Mat hemat ical way of ident if ying each
solut ion on t he solut ion cur ve. Par amet er izat ion augment s
t he syst em of power flow equat ions.
q Cor r ect or. Usually, applicat ion of Newt on met hod t o t he
augment ed syst em of equat ions.
q St ep lengt h cont r ol. Can be done by opt imal fixed st ep
lengt h or by adapt ive st ep lengt h cont r ol.
11
Cont i nuat i on Pow er Fl ow s
Typical nat ural paramet ers of int erest include
t he following:
q The t ot al syst em demand.
q The demand at a given bus or wit hin a given
ar ea.
q The amount of power t ransfer bet ween t wo
ar eas or bet ween t wo buses.
q Some ot her paramet ers such as t he impedance
of a line, et c.
CPF Mat hemat i cal f or mul at i on - 1
0 x f ) , (

,
_

,
_

0
0
0
0
V
V
Q Q
V
V
P P ;
( )
i
0 i
i
0 Li Li Li
V
V
P k 1 P

,
_

+
( )
i
0 i
i
0 Li Li Li
V
V
Q k 1 Q

,
_

n
1 i
0 total Li total
P P P
total Gi 0 Gi Gi
P k P P +
Ti Li
n
1 i
0 total Li Gi 0 Gi i
P P P P k P P
,
_

Ti Li 0 Gi i
Q Q Q Q
12
CPF Mat hemat i cal f or mul at i on - 2
1
1
1
]
1

1
1
]
1

1
1
1
]
1

V
1 kF 1 FF
1 k
L M
N H
rhs
Q
P
1
1
1
1
1
1
]
1

1
1
1
1
1
1
]
1

1
1
1
1
1
1
]
1

2
1
FL
FL
V
0 3 FF
0 2 FF
3 k 1 kF 1 FF
2 k L M
1 k N H
3 rhs
2 rhs
1 rhs
Q
P

Cont inuat ion power flow wit h overload and generat ion re- dispat ch
CPF Ex ampl e usi ng I EEE- 1 1 8
and 39 t est syst ems.
I EEE 39 t est syst em:
- Wit hout limit s 11998. 54 MW
- wit h flow limit s 7245 MW
I EEE 118 t est syst em:
Evolut ion of volt age at t he syst em crit ical
Bus ( bus 95)
13
CPF Ex ampl e usi ng I EEE- 118 t est
syst em.
I EEE 118 t est syst em:
- al l l i mi t s consi der ed
- Wi t hout f l ow l i mi t s max. l oadabal i t y
19250. 38 MW
- Wi t h f l ow l i mi t s max. l oadabi l i t y
10156. 92 MW
Vol t age St abi l i t y I ndi ces
( i ndi cat or s)
Sensit ivit y fact or s:
-Loading mar gin,
-Local load mar gins,
-Reduced det er mi nant ,
-Tangent vect or index,
-Syst em det er minant ,
-React ive power mar gins,
-V/ V
0
index.
0 x f ) , (
d
dx
SF
d
dV
VSF
Singular values and Eigenvalues:

n
1 i
T
i i i
T
v w U W J
W complex mat rix of left eigenvect ors
U complex mat rix of right eigenvect ors
- diagonal mat rix of complex
eigenvect ors
14
Vol t age St abi l i t y I ndi ces
( i ndi cat or s)
V-Q sensi t i vi t i es:
1
]
1

1
]
1

1
]
1

V J J
J J
Q
P
QV Q
PV P

0 P by let t ing:
V J Q
R
wher e:
[ ]
PV
1
P Q QV R
J J J J J



G L
P P
Gj Gj
i i
j i 0
Q dQ
V dV
0 Li Li
>

,
_

,
/
/
Also possible:
G L
P P
Gj
Li
j i 0
dQ
dQ
0 Li Li
>

,
_

,
Vol t age St abi l i t y I ndi ces
( i ndi cat or s)
BPA Volt age St abilit y I ndex:
1
]
1

i i
i i
Q W
Q W
1 100 Index
max
wher e:
i
i
i
Q
Q
W

and can be nor mal i zed as:

i
i
i
Q
Q
W
max
'

Also possible:

R i
Li
R i
Li G li
R
Q
dQ Q d Q
z
) / (
R is a region of t he syst em of part icular int erest
15
Vol t age St abi l i t y I ndi ces ( VI P
vol t age i nst abi l i t y pr edi ct or )
Thev
2
t Thev t
Z 4
I Z V
S
) (

Maximum t r ansf er occur s when:
Thev app
Z Z
I
V
Z
app

Margin can be expressed in MVA:

E
Thev

ZThev
V
Za pp
I
Load
Thevnin equivalent
of system
St at i c v s. Ti me Domai n Met hods
St at ic met hods:
q Capt ure t he loss of a long- t erm equilibrium,
q Based on algebr aic equat ions t hat st em f r om t he
equilibr ium condit ions of long- t er m dynamics,
q Cannot ( easily) account for cont r ols t hat depend on t he
syst em t ime evolut ion
Time domain met hods:
q Higher modeling accur acy,
q Possibilit y t o st udy ot her inst abilit y mechanisms t han t he
loss of equilibrium,
q Higher int er pr et abilit y of r esult s.
16
Appr ox i mat i on of l ong- t er m
equi l i br i um equat i ons by st andar d
l oad f l ow equat i ons
Under volt age cont rol:
- volt age drop effect
Under rot or current limit :
- react ive power out put varies wit h
volt age and act ive power
Const ant volt age
Const ant r eact ive power
- Act ive power imbalance not left t o slack- bus but shared by generat ors
according t o governor/ LFC effect s
- Updat e react ive power capabilit y wit h act ive power out put
generat ors
I f cont rolled by LTC:
- if LTC not limit ed: const ant power
- I f LTC limit ed: consider short - t erm
charact erist ics
Load self- rest orat ion
( consider long- t erm char. )
Ot her cases ( consider short - t er m)
Const ant power
loads
True long- t erm equilibrium
calculat ion
St andard Load flow
Quasi St eady _St at e ( QSS) Long-
Ter m Si mul at i on
Load evolut ion
Generat ors and regulat ors
SVCs
HVDC
I nduct ion mot ors
Long-Term dynamics
Shor t- t erm dynamics replaced
By equilibrium equat ions
) (t w
) , , , , ( w z z y x h z
D C C C
&
Generic model of load self- rest orat .
Secondary volt age cont rol
Load frequency cont rol
Load t ap changers
Overexcit at ion limit ers
Aut omat ically swit ched capacit ors
) ), ( , , , ( ) ( w k z z y x h 1 k z
D C D D
+
17
QSS mai n f eat ur es
qCompr omise bet ween efficiency of st at ic met hods and advant ages
of t ime -domai n met hods,
qAccur at e enough for secur it y analysis,
qAdequat e f or r eal-t ime applicat ions
qFocuses on l ong-t erm dynamics
qCannot deal wit h sever e dist ur bances t o shor t -t erm inst abilit y
( A solut ion: couple t r ansient st abilit y simulat ion and QSS)
qCannot simulat e t he final collapse in cases wher e shor t -t er m
dynamics becomes unst able due t o long-t erm inst abilit y ( usually
not of int er est in secur it y analysis)
qLoss of short -t er m equilibr ium can be det ect ed by QSS met hod
QSS mai n f eat ur es - 2
qEDF ( France) ,
qHydro-Quebec ( Canada) ,
qELI A ( Belgium) ,
qHTSO ( Gr eece)
qCESI , GRTN ( I t aly, wit hin t he OMASES pr oj ect )
Power Ut ilit ies and Companies using ASTRE:
18
Vol t age secur i t y anal ysi s
Cont inuat ion power flow
Opt imizat ion met hods
Time simulat ion coupled wit h
sensit ivit y analysis
Det ermine maximum st ress allowed
for t he syst em ( loadabilit y limit )
Post - cont ingency loadabilit y limit
Secure operat ion limit
Combine cont ingency and st ress
analysis
Sensit ivit y & eigenvect or based
met hods
Opt imal power flow
Prevent ive or correct ive cont rol
Post - cont ingency load flow
Modified load flow
VQ curves
Mult i- t ime- scale simulat ion
QSS long- t erm simulat ion
Evaluat e impact of cont ingencies
MEANS ENDS
Post - cont i ngency l oad f l ow
Evaluat e t he impact of cont ingency by comput ing t he post -cont ingency
l ong-t erm equilibrium,
I n unst able cases wit h no long-t erm equilibrium, any numerical met hod
t r ying t o solve t he equilibr ium equat ions will diver ge
Simple inst abilit y indicat or , but :
qDivergence may be caused by pure numerical problems
qI n t r uly unst able case, following diver gence, we ar e left wit hou t
qI nfor mat ion on t he nat ur e and locat ion of t he pr oblem, r emedies, et c.
19
An ex ampl e of Modi f i ed Load Fl ow
0 y g ) (
y st at e vect or; g power mismat ch vect or
Usual Newt on-Raphson it erat ions ( k= 1,2,) :
solve ) (
1 k
y
y g y g


increment y y y
1 k k
+

Non divergent load flow:
solve
increment
where
*

minimizes


+
i
1 k 2
i
F y y g ) ( ) (
) (
1 k
y
y g y g


y y y
1 k k
+
*

All mismat ches negligible: solved

No solut ion:
The met hod provides a solut ion
wit h minimum mismat ches.
The largest mismat ches point out
t he volt age problem area indicat ing
where power should be inj ect ed
t o rest ore solvabilit y
CAUTI ON: Generat or limit s handling
require great care.
Opt i mi zat i on met hods
Solve: max
0 d p u t s
0
+ ) , ( . .
( Necessary) opt imalit y condit ions:
) , ( d p u w L
0 T
+ +
0
L
0
w
L
0
u
L

- fast er
Wit h respect t o cont inuat ion power flow:
- cannot ( at least easily) incorporat e cont rols t hat depends on t he
syst em pat h bet ween base case and max. loadabilit y ( bifurcat ion)
point s
20
Ex ampl es usi ng QSS si mul at i on:
Nor di c 32 t est syst em.
A sl i ght l y modi f i ed ver si on of a
t est syst em used by CI GRE
Task For ce 38. 02. 08.
Al l t he l oads i n t he syst em
model ed as vol t age dependent
( exponent i al model wi t h 1 f or
act i ve power and 2 f or r eact i ve
power . )
Al l t he l oads, except i n t he
equi val ent ar ea ar e cont r ol l ed
By LTCs .
Al l gener at or s pr ot ect ed by OXL
wi t h f i xed t i me del ay.
Opt i mal l oad sheddi ng: t he t i me
vs. amount i ssue
21
Load sheddi ng: anal y si s pr ocedur e

P
up P
low
Binary search
Sy st em pr ot ect i on schemes
agai nst vol t age col l apse
Exampl e of SPS agai nst vol t age
col l apse i n t he Sout h par t of
Sweden
Recent r esear ch conduct ed at Uni ver si t y of Li ege: Cl osed - l oop SPS ( l oad sheddi ng)
22
Aut omat i c l ear ni ng t echni ques f or
v ol t age secur i t y assessment .
Aut omat i c Lear ni ng mai n st eps.
qBuilding of a large dat a base of pre- analyzed
scenarios ( off - line) .
qApplying AL met hods t o ext ract t he complex
relat ionships bet ween t he at t ribut es and t he
classificat ion or margin ( off- line) .
qOn- line. The obt ained synt het ic informat ion is
very simple and fast t o use.
23
Usef ul l i nk s.
ht t p: / / power . ece. dr exel . edu/ ( f r ee sof t war e, Mat l ab ,)
ht t p: / / t hunder box. uwat er l oo. ca/ ~ cl audi o/ cl audi o. ht ml ( f r ee sof t war e, Mat l ab, C/ C+ + ,
I EEE Repor t on Vol t age st abi l i t y)
www. pser c. wi sc. edu ( usef ul paper s and r epor t s)
ht t p: / / www. engr . wi sc. edu/ ece/ f acul t y/ ( f ol l ow web pages of Pr of . Al var ado, Dobson,
and DeMar co)
www. mont ef i or e. ul g. ac. be
Cont act s: Dr . Mevl udi n Gl avi c ( glavic@mont ef ior e.ul g. ac. be )
Dr . Thi er r y Van Cut sem ( vct @mont ef i or e. ul g. ac. be )