[IEEE Energy Society General Meeting (PES) - Calgary, Canada (2009.07.26-2009.07.30)] 2009 IEEE...
Transcript of [IEEE Energy Society General Meeting (PES) - Calgary, Canada (2009.07.26-2009.07.30)] 2009 IEEE...
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Abstract--This paper presents a Newton Raphson current
equation for the solution of power flow analysis in microgrid, comprising 2n current injection equations and m active power equations written in polar coordinates. The reactive power mismatch of PV bus is introduced as new state variable, which leads to a simple procedure for converting bus model between PV bus and PQ bus. In conversion process, the submatrix Y* is retained, and only few rows and columns are added or deleted. The proposed method is also applied to other occasions where the polar coordinates are adopted. Moreover, the models of microsources suitable for power flow analysis are summarized according to their operating characteristics.
Index Terms-- Current Injections, Power Flow, Polar Coordi-nates, Microgrid, Microsources.
I. INTRODUCTION
he Consortium for Electric Reliability Technology Solutions (CERTS) is pioneering the concept of the
CERTS Microgrid as "an aggregation of loads and microsources operating as a single system providing both power and heat. The majority of the microsources must be power electronic based to provide the required flexibility to insure operation as a single aggregated system" [1].
The microsources, the small scale distributed energy resources (DER of < 500kW), integrated into electricity distribution systems with power electronic interface, mainly include wind energy systems, photovoltaic systems, full cells, micro-turbines and battery energy storage systems.
The conventional distribution systems, whether radial type systems or network type systems, are generally designed to operate without any generation at load demand sides. The introduction of microsources on the distribution systems can bring significant influence on the flow of power and voltage conditions at customers and utility equipment [2]. Traditional generations are classified as PQ, PV or slack bus for the flow power analysis. The models of microsources, adopted in power flow analysis, are determined in accordance with the operating characteristics of various microsources. Several traditional power flow analysis methods for distribution systems are invalid by reason of neglecting the microsources
Yanping Zhang is with the School of Electrical Engineering, Southeast
University, Nanjing 210096, China. (E-mail: [email protected]). Yuping Lu is with the School of Electrical Engineering, Southeast
University, Nanjing 210096, China. (E-mail: [email protected]).
operating characteristics or lacking of the capability of solving systems including PV bus.
Distributed generators are treated as constant PQ or PV buses and storage systems are regarded as constant current buses but for purposes of the load flow the PQ model is adequate in [3]. The special models of distributed generators are not explicit. An improved PQ model and an RX model of wind farms are proposed under the assumption of wind energy generation by means of asynchronous machines in [4].
In recent years, some current injection methods for power flow analysis have been proposed to solve the power flow problem [5]-[6]. In [5], the use of the set of 2n current inject-ion equation is proposed, written in rectangular coordinates. A dependent variable QΔ is introduced for each PV bus
together with an additional voltage equation imposing the constraint of zero deviations in the bus voltage. Furthermore, except for PV buses, the Jacobian matrix has the elements of the (2 x 2) off-diagonal blocks equal to those of the nodal admittance matrix expanded into real and imaginary coordinates. The elements of the (2 x 2) diagonal blocks need be updated at each iteration according to the bus load model.
Another current equation power flow method is proposed in [6], in which the key idea is to solve an augmented system in which both bus voltages and current injections appear as state variables, and both power and current mismatches are zeroed. Instead of combining the nodal equations and the bus constraints into a single set of two nonlinear equations, the Newton’s method is applied to the two primitive sets of equations.
The current equations of the above-mentioned papers are expressed in rectangular coordinates or in a mix of polar and rectangular coordinates. Nevertheless, a variety of tools based on polar coordinates have been widely applied for power system analysis, such as power system dynamics analysis and state estimation. Furthermore, the operating data of power grid can been collected only in amplitude and phase format. Thus, in some occasions, power flow method based on polar coordinates is more suitable.
In this paper, the Newton’s method is applied to solve an augmented system based on polar coordinates, in which both bus voltage magnitudes and angles appear as state variables. Moreover, a new state variable, reactive mismatch QΔ , is
introduced for each PV bus. Active power mismatch equations, also expressed in polar coordinates, are imposed as the constraint for PV buses. When the state variables QΔ are
A Novel Newton Current Equation Method on Power Flow Analysis in Microgrid
Yanping Zhang and Yuping Lu, Senior Member, IEEE
T
978-1-4244-4241-6/09/$25.00 ©2009 IEEE
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employed, this is convenient for converting bus model between PV bus and PQ bus In addition, the models of microsources suitable for power flow analysis are considered according to the their operating characteristics.
II. SUMMARY OF MODELING MICROSOURCE
The following three generation technologies are used for distributed generation systems: synchronous generator, asynchronous generator and power electronic interface [7]. Synchronous generators are typically utilized if the generator capacity exceeds a few MW. Asynchronous generators, with or without converter, are commonly used for wind energy system. Power electronic converters are used in photovoltaic systems, full cells, micro-turbines and battery energy storage systems. Owing to the small capacity of microsources, asynchronous generation and power electronic interface technologies are applied in microgrid.
On the assumption that a generated active power and a power factor are given, wind energy systems can be modeled as PQ buses, the reactive power of which can be calculated by (1) [4]:
)1(22
2 PV
X
XX
XXVQ
mc
mc +−=
Where: V is voltage, P is the active power, X is sum of the stator and rotor leakage reactances, Xc is the reactance of the capacitors bank, Xm is the excitation reactance.
Fuel cell, as a high efficient and environmentally friendly renewable energy source is made up of the fuel processing unit, the fuel cell stack and the power conditioning unit. A grid-connected model of proton-exchange-membrane (PEM) fuel cell power plant (FCPP) is proposed in Fig.1 [8]. The output voltage and the output power as a function of the modulation index and the phase angle are given as followings:
)2(δ∠= cellac mVV
)3(sin δX
VmVP scell
ac =
( )
)4(cos2
X
VmVmVQ scellcell δ−=
Fig. 1. FCPP, inverter and grid-connection diagram
Where: Vac is AC output voltage of the inverter, m is inverter modulation index, δ is phase angle of the AC voltage, Pac is AC output power from the inverter, X is reactance of the line connecting the fuel cell to the load, Vs is grid voltage and Q is reactive output power from the inverter.
The reactive power and AC output voltage can be
controlled by the modulation index m, and the active power can be controlled by phase angle of the AC voltage. The control principles are similar to those used in the reactive and active control of conventional generators. In conventional synchrono-us, the active output power is controlled by changing in steam input and rotor speed; moreover, the reactive and generator terminal voltage are controlled by controlling the excitation voltage. Thus, the fuel cell is treated as a PV bus for power flow analysis. It is worth noting that it would to be treated as a PQ bus when the reactive power of the inverter exceeds its limits. The output reactive of fuel cell is fixed at the violated limit.
A large scaled photovoltaic system acts as a voltage source by using the voltage control device. At the moment, the active power is determined by photovoltaic system model and the voltage magnitude is specified. Thus, it can be treated as a PV bus. For most small scaled photovoltaic systems, using the current control devices can be treated as PQ buses. In this condition, the current to be output by the power converter unit (PCU) is controlled to match a reference value from the grid providing a high power factor (PF). Most commercially available units specify an output power factor close to 1 under normal conditions and no lower than 0.9 [9].
Micro-turbines consist of the generator, air compressor, and turbine mounted on air bearings. Because the rotating shaft of the generator turns between 15,000 and 90,000 revolutions per minute, the generator provides a high frequency AC voltage source (angular frequencies up to 10, 000 rad/sec) [10]. For this reason, a power electronic interface is required between the micro-turbines and the AC loads. The power electronic interface can guarantee that the output power frequency AC voltage fixes at a given value. Thus, micro-turbines are treated as PV buses in power flow analysis.
For photovoltaic systems and micro-turbines, when their reactive outputs extend beyond their limits, they are needed to switch PQ buses.
III. CURRENT INJECTION POWER FLOW
A. Basic Equations
The current mismatch expressed in terms of the voltage polar coordinates for a given bus k is:
)5()(
1* ∑
=−−=Δ
n
iiki
k
spk
spk
k EYE
jQPI
Where:
{ }nk ,,1L= : n is the total number of buses;
spk
spk QP , :net scheduled active and reactive power at bus k.
)sin(cos kkkj
kk jVeVE k θθθ +== : complex voltage
phasor at bus k .
)sin(cos*kkk
jkk jVeVE k θθθ −== − : complex conju-
gate voltage phasor at bus k.
3
kkV θ, :voltage magnitude and angle at bus K.
kikiki jBGY += : thik ),( element of nodal admittance
matrix.
)6()()( kLkGsp
k PPP −=
)7()()( kLkGspk QQQ −=
The effect of voltage level on the system loads is represent-ed by polynomial equations, as follows:
)8()( 20)( kpkppkkL VcVbaPP ++=
)9()( 20)( kqkqqkkL VcVbaQQ ++=
Where:
kk QP 00 , : constant power components of load at bus k
)10(1=++ ppp cba
)11(1=++ qqq cba
Equation (5) defines the current injection mismatches corresponding to the system buss, which can be expressed in terms of its real and imaginary parts as follows:
)12()sincos(
sincos)Re(
1∑
=
−
−+=Δ
n
iiikiiki
k
kspkk
spk
k
VBG
V
QPI
θθ
θθ
)13()cossin(
cossin)Im(
1∑
=
+
−−=Δ
n
iiikiiki
k
kspkk
spk
k
VBG
V
QPI
θθ
θθ
And written as follows :
)14(sin
cos
sin
cos1)Im(
)Re(
1i
i
in
i kiki
kiki
k
k
spk
spk
spk
spk
kk
k
VGB
BG
PQ
QP
VI
I
×⎥⎦
⎤⎢⎣
⎡×⎥
⎦
⎤⎢⎣
⎡ −
−⎥⎦
⎤⎢⎣
⎡×⎥
⎦
⎤⎢⎣
⎡
−×=⎥
⎦
⎤⎢⎣
⎡
ΔΔ
∑= θ
θ
θθ
Equation (14) is expanded in Taylor series with respect to
( )spk
spk QPV ,,,θ and the nonlinear terms are neglected,
which yields
⎥⎦
⎤⎢⎣
⎡
ΔΔ
×⎥⎦
⎤⎢⎣
⎡
−×+
Δ×⎥⎦
⎤⎢⎣
⎡×⎥
⎦
⎤⎢⎣
⎡ −−
Δ×⎥⎦
⎤⎢⎣
⎡×⎥
⎦
⎤⎢⎣
⎡
−×−
Δ××⎥⎦
⎤⎢⎣
⎡−×⎥
⎦
⎤⎢⎣
⎡ −−
Δ×⎥⎦
⎤⎢⎣
⎡−×⎥
⎦
⎤⎢⎣
⎡
−×=⎥
⎦
⎤⎢⎣
⎡
ΔΔ
∑
∑
=
=
spk
spk
kk
kk
k
ii
in
i kiki
kiki
kk
k
spk
spk
spk
spk
k
iii
in
i kiki
kiki
kk
k
spk
spk
spk
spk
kk
k
Q
P
V
VGB
BG
VPQ
QP
V
VGB
BG
PQ
QP
VI
I
θθθθ
θθ
θθ
θθθ
θθθ
cossin
sincos1
sin
cos
)15(sin
cos1
cos
sin
cos
sin1)Im(
)Re(
1
2
1
Where:
spk
spk QP ΔΔ , :net scheduled active and reactive power
mismatch at bus k .
B. Equation for PQ Buses
In the case of a PQ bus k , because the net scheduled
active and reactive power spkP , sp
kQ remains unchanged, that
is
)16(0
0⎥⎦
⎤⎢⎣
⎡
=Δ=Δ
spk
spk
Q
P
Thus, to apply Newton’s solution algorithm, considering all system buses as being of the PQ type, Equation (15) can be written as follows:
)17(
)Im(
)Re(
)Im(
)Re(
)Im(
)Re(
1
1
***1
***1
*1
*1
*11
1
1
⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢
⎣
⎡
ΔΔ
ΔΔ
ΔΔ
×
⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
=
⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢
⎣
⎡
ΔΔ
ΔΔ
ΔΔ
n
n
k
k
nnnkn
knkkk
nk
n
n
k
k
V
V
V
YYY
YYY
YYY
I
I
I
I
I
I
θ
θ
θ
M
M
LL
MMMMM
LL
MMMM
LL
M
M
The diagonal and off-diagonal elements in (17) are 22× blocks and have the following composition:
)18(*⎥⎦
⎤⎢⎣
⎡=
kiki
kikiki LJ
NHY
Where:
)sincos(1
)cossin(
ksp
kkspk
k
kkkkkkkkk
PQV
BGVH
θθ
θθ
−+
+×=
4
)()cossin( ikBGVH ikiikiiki ≠+= θθ
)sincos(1
)sincos(
2 kspkk
spk
k
kkkkkkkk
QPV
BGN
θθ
θθ
+−
−−=
)()sincos( ikBGN ikiikiki ≠−−= θθ
)sincos(1
)sincos(
kspkk
spk
k
kkkkkkkkk
QPV
BGVJ
θθ
θθ
++
−×−=
)()sincos( ikBGVJ ikiikiiki ≠−×−= θθ
)cossin(1
)sincos(
2 kspkk
spk
k
kkkkkkkk
QPV
GBL
θθ
θθ
−−
+−=
)()sincos( ikGBL ikiikiki ≠+−= θθ
Equation (17) can be written in compact form:
)19()Im(
)Re(⎥⎦
⎤⎢⎣
⎡
ΔΔ
×⎥⎦
⎤⎢⎣
⎡=⎥
⎦
⎤⎢⎣
⎡
ΔΔ
VLJ
NH
I
I θ
C. Representation of PV Buses
In the case of a PV bus k , only the net scheduled active
power spkP maintains invariable, the reactive power mismatch
spkQΔ becomes a dependent variable of (15). This is,
)20(0
0⎥⎦
⎤⎢⎣
⎡
≠Δ=Δ
spk
spk
Q
P
A single active power mismatch equation, expressed in terms of the voltage Polar coordinates, is introduced as an additional linearized equality constraint:
)21(0=⎥⎦
⎤⎢⎣
⎡
ΔΔ
×=ΔV
MP kical
k
θ
Where:
[ ]**kikiki RFM =
[ ]knkkki FFFF L21* =
[ ]knkkki RRRR L21* =
)()cossin( ikBGVVF kiijkikiikki ≠−−= θθ
∑≠=
−=n
kii
kiijkikiikkk BGVVF1
)cossin( θθ
)()sincos( ikBGVVR kiijkikiikki ≠+−= θθ
0=kkR
Equation (15) and (21) are combined to revise the Newton’s power mismatches formulation of the PV type at bus k :
)22(0
)Im(
)Re(
1
1
1
***1
⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢
⎣
⎡
ΔΔΔ
ΔΔ
ΔΔ
×⎥⎦
⎤⎢⎣
⎡=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
ΔΔΔ
spk
n
n
k
k
knkkk
kknkkk
calk
k
k
QV
V
V
MMM
KYYY
PI
I
θ
θ
θ
M
M
LL
LL
In (22), kK is a 12 × block and expressed in the
following composition:
)23(cos
sin
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
−=
k
k
k
k
k
V
VK θ
θ
The proposed Newton’s algorithm, for both PQ buses and PV buses, is given by (24). Bus k , of the PV model, is connected to the tow PQ buses i and j :
)24(0
0
)Im(
)Re()Im(
)Re()Im(
)Re(
***
***
***
⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢
⎣
⎡
Δ
Δ
ΔΔΔΔΔ
×
⎥⎥⎥⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢⎢⎢⎢
⎣
⎡
=
⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢
⎣
⎡
Δ
Δ
ΔΔΔΔΔ
M
M
M
MMMMMMM
LMLL
LMLMMML
LLL
LLL
LLL
MMMMMMM
M
M
M
spk
j
j
k
k
i
i
kjkkki
jjjkji
kkjkkki
ijikii
calk
j
j
k
k
i
i
Q
V
V
V
MMM
YYY
KYYY
YYY
P
I
II
II
I
θ
θ
θ
Equation (24) also can be written in following form:
)25(0
)Im(
)Re( *
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
ΔΔΔ
×⎥⎦
⎤⎢⎣
⎡=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
ΔΔΔ
spk
cal QV
M
KY
PI
I θ
Generally, for a system of n buses including one slack bus and having m PV buses, there are ( )22 −n current mismatch
equations and m active power mismatch equations in (25). There are no equations for the slack bus. The matrix dimension of nonzero submatrices within the Jacobian matrix is )1(2)1(2 −×− nn , mn ×− )1(2 and )1(2 −× nm , respectively.
The current mismatches in (25) given by (12) and (13), and the active mismatch at PV bus k is computed by (26):
5
)26()sincos(1∑
=
+−=Δn
ikikikikiik
spk
calk BGVVPP θθ
At a genetic iteration ( )1+h , the voltage corrections are
solved and applied to the bus voltages, and the net scheduled reactive power spQ concerning PV buses are updated
following (31):
( )( ) ( )( ) ( )( ))27(
1 hspk
hspk
hspk QQQ Δ+=+
D. Bus Type Conversion
During the course of iteration, when a PV bus’s reactive power extends beyond its limits, it is fixed at the violated limit and its voltage magnitude is relaxed. Thus, the PV bus has been converted to a PQ bus, bus with specified active and reactive power. Later, during the iteration, if the bus voltage shows tendency to return and the reactive power again falls within the limits, the bus will be switched back from PQ to PV. In conversion process, only the rows and columns in terms of K and M within the Jacobian matrix are deleted (PV buses are converted to PQ buses) or added (PQ buses are
converted to PV buses), and the submatrix *Y is retained.
IV. ITERATIVE ALGORITHM
Step 1) Assemble the nodal admittance matrixY . Step 2) Initialize the iteration counter 0=h ; Initialize all
state variables ( )hV , ( )hθ for all system buses; Initialize
all state variables ( )0=Δ hsp
kQ for all PV buses.
Step 3) Calculate the current injection mismatches (Equation (12), (13)) and calculate the active power mismatches for all PV buses (Equation (27))
Step 4) If { } ε≤ΔΔΔ calPII ),Im(),Re(max goto step8; else,
goto step 5. Step 5) Assemble the Jacobian matrix. Step 6) Solve the system of (25). Step 7) Update all the state variables using (27) and following
equations;
( ) ( ) ( )hhh θθθ Δ+=+1
( ) ( ) ( )hhh VVV Δ+=+1
Increment the iteration counter 1+= hh ; Return step 3.
Step 8) Print the results. Due to high R/X ratio of some distribution systems which
causes the Jacobian Matrix to be ill conditioned, the convergence performance of the Newton method is deteriora-ted. To guarantee better convergence rate of the proposed method, the weight iterative of improvement method [11] is applied in step 6.
V. EXPERIMENTAL APPLICATIONS
The proposed method has been coded in C++ using the sparse storage techniques, and compared with the
conventional NR method and the back/forward sweep method [12] in polar coordinates. The test cases are 30 buses [13], 69 buses [14], and a practical distribution system whose size is 173 buses. There are no PV buses in those systems.
A. Convergence rate analysis TABLE I
CONVERGENCE COMPARISON
Cases NR
Method Back/Forward Sweep Method
Proposed Method
30 Buses 4 3 4 69 Buses 4 4 4 173 Buses 5 4 5
Table I compares the number of iterations required to
achieve convergence when the iteration convergence threshold is 10-5 pu. From Table I, in the case of all PQ buses, it is seen that the proposed method is as robust as the back/forward sweep method and the conventional NR method.
B. Number of PV Buses
Table II illustrates the number of iterations in three cases, in which the microsources are installed in the 30 buses system. In case 1, there is only a microsource, a fuel cell power plant treated as PV bus at bus 9. In cases 2, bus 5 is allowed to be a PV bus as well. And in case 3, we install micro-turbine at bus 22 treated as a PV bus, additionally. The iterations don’t increase with the number of PV buss.
TABLE II ITERATION NUMBER WITH PV BUS NUMBER
Cases PV Bus Number
Iteration number
Case 1 1 4 Case 2 2 4 Case 3 3 4
C. PV Bus Converted to PQ Bus
In the 30 buses system, a full cell system is installed at bus 9. Its output active power equals to 0.32 pu, and its output reactive power ranges from 0 pu to 0.16 pu. Due to grid-connected by using the power electronic interface, bus 9 is treated as a PV bus. In first iteration, the output reactive power of bus 9 QΔ reaches 4.928195 pu. If we don’t convert
bus 9 from PV bus to PQ bus, the final output reactive power equals to 5.67556 pu. The result exceeds its limit. The results of voltage and output reactive power before and after converting bus type are listed in table III. It is worthy of note that the PV bus reactive power can be expediently obtained in terms of the reactive power mismatch QΔ instead of the
reactive power calculation. TABLE III
RESULTS BEFORE AND AFTER CONVERSION
Before
conversion After
conversion Voltage magnitude 1 0.85507
Voltage angle -0.17709 -0.02051 Reactive power 5.67556 0.16
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CONCLUSIONS
In this paper, the models of microsources within distribution system analysis are discussed according to their operating characteristics. Wind energy systems and small scaled photo-voltaic systems can be modeled as PQ buses. Moreover, photovoltaic systems and micro-turbines with power electronic interface can be modeled as PV buses.
In addition, this paper presents an alternative method to solve the load flow for microgrid. The reactive power mismatch of each PV bus is introducing as new state variable, which is convenient for converting bus model between PV bus
and PQ bus. In conversion process, the submatrix *Y is retained. Only the rows and columns in terms of K and M within the Jacobian matrix are deleted (PV buses are converted to PQ buses) or added (PQ buses are converted to PV buses). As a result of introducing the dependent variable QΔ , the dimension of the Jacobian matrix increases.
Due to the high-sparseness of the elements of the augmented parts concerning PV buses, the incremental requirements for storage and computation in the iterative process are not obvious after using sparse storage technique. The proposed method is also applied to other occasions where the polar coordinates are adopted.
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VII. BIOGRAPHIES
Yanping Zhang was born in Nanjing, Jiangsu province, China, in 1974. He graduated from school of Electrical Engineering , Southeast University and received B.S. degree in 2000. Now he is pursing Ph. D. degree in Southeast University. His current research interest is distributed generation of electric power and microgrid technology. His E-mail is [email protected] Yuping Lu was born in Danyang, China, in Oct, 1962. He was received the Ph.D. degree in electrical engineering from the City University, UK in 2003. He is working as a professor in Southeast University of China. His research interests are power system protection, especially digital relaying of generator-transformer unit, and protection and control technique in distribution system with DGs.