CH2: Component Modeling and System Modeling

(For power flow analysis)

ELEN615 by Professor Garng Huang

2.0 Introduction
Terminal VI relations (focus on steady state)















Question: In homework #3, we study the case when a SVC is installed in the middle line.









We can expand the study to the case when TCSC is installed in the line, does a TCSC's position matter?
Homework #3: Q1: Investigate the impacts of TCSC on loadability.








2.1 Classical transmission line










Figure 1: Black-Box model
2
V
1
V
1
I

Device
2
I
SVC
V
Line 1 Line 2
r
S
2

s
S
2

s
S
1

SVC
r
S
1

Z j
Ze

2
1
Z j
Ze

2
1

G1
1 1
, V
2 2
, V
TCSC
G1
1 1
, V
2 2
, V
X
I dI I +

dV V +
Figure 2: Circuit Equivalent of a classic transmission line
2
I
V
1
V
x
ydx
zdx
2
V
1
I
dx
Bonus question:
How to model an electrical or electronic component?
How to define a device being passive or active?
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l j r z + = : Series impedance per meter.
c j g y + = : Shunt admittance per meter to neutral.
Attention: Low case represented the distributed parameters.
l: The length of the wire.

+ =
=
Vydx ydx dV V dI
Izdx dV
) (

Hence,

=
=
Vy
dx
dI
Iz
dx
dV


yz V yzV
dx
V d
= = =

2 2
2
2


or yz I yzI
dx
I d
= = =

2 2
2
2


Propagation Constant: yz =
If c j y = and l j z = , lc j lc = =
2
; If resistance is considered, will be a complex.
0 ) ( ) ( ) (
2 2 2
2
2
= = V s V L
dx
V d
L
Boundary condition: given ) 0 ( ), 0 ( ); ( ), ( ); ( ), 0 ( I V or l I l V or l V V
) sinh( ) cosh( ) sinh( ) ( ) cosh( ) (
2
) (
2
) ( ) (
2 1 2 1 2 1
2 1 2 1 2 1
x K x K x k k x k k
e e
k k
e e
k k e k e k x V
x x x x
x x



+ = = + + =

+
+
+ = + =

When
2 1 2
, 0 V K V V x = = =
At this case 0 = x ,
2 2 1 2
) cosh( ) sinh( K x K x K z I
dx
dV
= + = =
Hence,
2 2 2 2
I Z I
y
z
yz
z
I
z
K
c

= = = =

, here we define
y
z
Z
c

=
c
Z : Characteristic impedance of the line.
Question: What decides z y, ? (Materials, Geometry of the design,
Bundling? Transposition)

+ =
+ =
) sinh( ) cosh( ) (
) sinh( ) cosh( ) (
2
2
2 2
x
Z
V
x I x I
x I Z x V x V
c
c



When , l x =

+ =
+ =
) sinh( ) cosh(
) sinh( ) cosh(
2
2 1
2 2 1
l
Z
V
l I I
l I Z l V V
c
c




Remark
(

=
(

2
2
1
1
I
V
D C
B A
I
V
,
(

=
D C
B A
T , 1 = = BC AD T ,
(

A C
B D
T
1


Here, ) cosh( ), sinh(
1
), sinh( ), cosh( l D l
Z
C l Z B l A
c
c
= = = =
Homework #4:
Q2: Suppose that both ends of a line are supported by generators, where V are set at 1 p.u., what is the
m
V , the voltage magnitude in the middle of the line? Is it always less than 1?





Lumped circuit equivalent:










-circuit equivalent or T-circuit equivalent?
Why -circuit?
Normally, -circuit was used, because it associates physical values at both ends. [Type a quote from the
document or the summary of an interesting point. You can position the text box anywhere in the document.
Use the Text Box Tools tab to change the formatting of the pull quote text box.]

Why
2
Y
on both shunt branches?
Symmetrical reseason.
At this kind of circuit equivalent:

+ +

+ = +

=
+

+ =

+ + =
2 2 2 2 1 1
2 2 2 2 2 1
)
2
1 ( )
4
1 (
2 2
)
2
1 ( )
2
(
I
Y Z
V
Y
Y I V
Y
V
Y
I
I Z V
Y Z
V
Y
I Z V V

Figure 3. Circuit equivalent of transmission line
Y
2
1
Y
2
1

Z
Bonus Question: Wireless power, from Tesla to cellular phone battery.
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Comparing with the distributed solution!
)
2
1 ( ) cosh( ),
4
1 ( ) sinh(
1
, ) sinh( ,
2
1 ) cosh(
Y Z
l D
Y
Y l
Z
C
Z l Z B
Y Z
l A
c
c

+ = =

+ = =
= =

+ = =




l
l
Z
l
l
zl l
y
z
l Z Z
c

) sinh( ) sinh(
) sinh( ) sinh( = = = =
, Here zl Z = : total
impedance of the line.
Note: If Z Z then
l
l
l = << , 1
) sinh(
, 1

Homework #4:
Q3: Study the approximation errors of circuit equivalent of the transmission line:








Check
2
)
2
tanh(
2 2
l
l
Y Y

,
2 2
, 1
2
)
2
tanh(
, 1
Y Y
then
l
l
l =

<<

.

In practice:
1) Long line (l>150 miles)
2
,
Y
Z

use exact formula.
2) Medium line (50<l<150 miles)
2 2
,
Y Y
Z Z =

=
3) Short line (l<50 miles)
0
2
, =

=
Y
Z Z

HW #3: Q4:For the problem given in HW#1:
2
Y

2
Y

Z
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Is S12=- S21
*
still true for a medium or a long line with shunt capacitors?







Q5: How the frequency impacts on the modeling? Take 50 Hz vs 60Hz as an example. (End of HW#3
assignment).














2.2 Transformers
We consider three types of transformers: Fixed tap transformer, Tap changing under load (TCUL)
transformer, and Phase-shifting transformer

2.2.a Fixed tap transformers
Ideal one: No leakage loss (no leakage flux)
Magnetic core has infinity permeability










a:1
Figure 4.a. Circuit equivalent of transformer
tq
I
p
I
q
t
pq
y
p
q
I
L
+
-
V
1
+
-
v
2
+ v
L
-
S
1
S
2
I
S
3
S
12
S
21
Bonus question:
1) R,L,C circuit is used to represent power lines, however, in the integrated circuit, the
contact line is modeled as RC circuit only until recently current, RLC is starting to be
used, Why?
2) We started with distributed parameter analysis, but ended with lumped models.
When should we use lumped models? When should we use distributed models?

Bonus question: how rare earth material plays a role in power components??
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a
I
I
tq
p
= ( a is the normalized ratio relative to the Ratio used in the base calculations.)
pq q t tq
y E E I ) ( =








Q: How to find A, B, C in terms of
pq
y and a ?
a
E
E
p
t
=
pq q t tq
y E E I ) ( =
a y E E I
pq q t p
) ( =
2
) (
a
y
aE E I
pq
q p p
= (From figure 4.a.)
Similarity, the terminal current
q
I at bus q is:
a
y
E aE y E E I
pq
p q pq t q q
) ( ) ( = = (From figure 4.a)
From figure 4.b,

+ =
+ =
C E A E E I
B E A E E I
q p q q
p q p p
) (
) (

When figure 4.a and figure 4.b are equivalent, they should have the same value for all possible
q p
E E , .
pq
pq pq
p
pq
q p
pq
q p
p
pq
q p
pq
q p
pq pq q
pq pq
p
q p
y
a a a
y
a
y
E
a
y
E E
a
y
aE E
B
B E
a
y
E E
a
y
aE E
y
a
C y C A I
a
y
A
a
y
A I
E E
) 1
1
(
1
) ( ) (
) ( ) (
)
1
1 (
1 , 0
2
2
2
= =

=
+ =
= = + =
= = =
= =


Q: Can we represent ideal transformers in terms of pi circuits in non-per-unit system? (Hint: do we have
and admittance matrix?) Can we represent ideal transformer in per unit systems?
Q: Is the model good for non-per-unit systems (non-converted actual systems)? Why?

2.2.b TCUL (Tap changing under load transformer)
q
I
p
I

A
C B
Figure 4.b. Circuit equivalent of transformer

Every tap of the transformer will be about %
8
5
= a .
a can be equivalently modeled as the old components plus the a component.
Homework #4:
Question1: Find the extra components when a a a +










Question: Transformer is used only in the AC system.
1) Why? Where is it used?
2) How about HVDC?
Questions:
1) Why not begin with DC system, when the system was first built?
2) Why we begin with voltage source?

2.2.c Phase-shifting Transformer








Question:
1) How is it built to achieve phase shifting? (electronic hardware?)
2) Where is the active element coming in?

Assume there is no loss:
jb a E
E
i
i
i E i E
p
s
sq
pr
sq s pr p

= = =
1
*
*
* *

+
+ = =
+
+ =

=
=
jb a
y
E E jb a y E E i
b a
y
E jb a E i
jb a
y
E E i
y E E i
pq
p q pq s q qs
pq
q p pr
pq
q s pr
pq q s sq
) ) (( ) (
) ) ( (
) (
) (
2 2

Now terminal variables
qs pr q p
i i E E , , , are related to each other.
Q: whats the model? -circuit equivalent?
(

(
(
(
(

+
+
+
=
(

q
p
pq
pq
pq pq
q
p
E
E
y
jb a
y
b a
y jb a
b a
y
I
I 2 2 2 2
) (

C
B
A
y
a
a 1
y
a
a
2
1

a
y

r

s

1 : jb a +
pr P
i E ,
Q
E
pq
y
Figure 5. Phase-shift transformer
sq s
i E ,
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If we consider the circuit equivalent showed at figure 4.b. we will get that
(

+
+
=
(

q
p
q
p
E
E
C A A
A B A
I
I


Note:
jb a
y
b a
y jb a
pq pq
+

+
+
2 2
) (
, when 0
pq
y .
It means that Phase-shifting Transformer cannot be modeled as the ABC passive components (as R, L, C
elements) anymore, we need to add voltage dependent current source or current dependant voltage source.

Homework #4:
Question2: Model the phase-shifting Transformer by some active components.









2.3 Generation modeling (steady state)

1) Constant voltage magnitude ( is changing)
2) Constant real power output.
However, in certain cases, the reactive power hits its limit, or the magnitude of the bus has to change, the
bus will change from the PV bus to PQ bus ( V , change).

2.4 Load modeling
1) Constant P,Q (P,Q) bus.
2) Constant load impedance.
*
2
*
L
L
Z
V
EI S = =

3) | | 5 . 5 , 2 , ,
0 0
= = l V Q Q V P P
l
L
l
L

4) Constant current load (Bonus)

2.5 Power (Load) Flow equations












2 2 2 1 1 1
,
G G G G G G
jQ P S jQ P S + = + =
then,
2 2 2 1 1 1
,
D G D G
S S S S S S = =
s
I
C B
A
P P
I E ,
Q Q
I E ,
Figure 6. Power flow equation
sh
Y
sh
Y
2 2 2 D D D
jQ P S + =
1 1 1 D D D
jQ P S + =
sev
Z
G2 G1
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and
( /2 ) 1
sec sec
1
, 1, , ,
j
L L sh
L C
R
Z R jX Z X e tg Y
X X




= + = << = =
At this case, we know:

+ =

+ =

sec
1 2
2
*
2
*
2
sec
2 1
1
*
1
*
1
Z
V V
Y V
V
S
Z
V V
Y V
V
S
sh
sh


Polar representation:
2 1
2
2
1
1 ,
j j
e V V e V V = =

= + + +
= + +
= + +
= +
0 )) ( cos( cos
0 )) ( cos( cos
0 )) ( sin( sin
0 )) ( sin( sin
2 1
2 1
2
2
2
2
2 2
2 1
2 1
2
1
2
1
1 1
2 1
2 1
2
2
2 2
2 1
2 1
2
1
1 1




L L C
D G
L L C
D G
L L
D G
L L
D G
X
V V
X
V
X
V
Q Q
X
V V
X
V
X
V
Q Q
X
V V
X
V
P P
X
V V
X
V
P P


Observations:
1) The equations are algebraic (steady state)
2) Nonlinear (algebraic solution is impossible)
3) The equations relate voltages and power (currents are implicitly suppressed)
4)
C L
X X , are known constant (steady state constant frequency)
5) The equations are derived from Kirchhoff current low.
6) Real power balance equation.
)) cos( 2 (
sin
2 1 2 1
2
2
2
1 2 1 2 1

+ + + = + V V V V
X
P P P P
L
D D G G

Whats the third part of the right equation? Answer: Loss due to transmission lines.
When ) 0 ( , 0 = = R , transmission loss will be zero.
7) Reactive power balance:
C L
D D G G
X
V V
V V V V
X
Q Q Q Q
2
2
2
1
2 1 2 1
2
2
2
1 2 1 2 1
)) cos( 2 (
cos
+
+ + + = +

8) ) , , , ( ) , , , (
2 1 2 1 2 1 2 1
V V Q Q V V P P
L L L L
= =
They depend on some unknown variables.
Q: How to solve a power flow equations?
Example: Can we say: give
2 1 2 1 2 2 1 1
, , , , , , V V find S S S S
D G D G
?
1) It is impossible to know
2 1 2 1
, , ,
G G G G
Q Q P P unless we know
2 1 2 1
, , , V V .
2) The equations are written in angle differences.
Suppose that
2 1
, are solution, then C C + +
2 1
, are also the solution. This implies that we can
have infinitely many solutions. Misconceptions on distributed slack bus and one big generation outage are
discussed.

Bonus question:
1) Can slack bus reactive power hit generation limit and become a PQ bus? Why?
Discuss the difficulty.
2) Can both buses hit the reactive limits and become PQ buses? Why? Discuss the
difficulty



So the power flow formulation problem can be expressed as below:
Assume a know n-bus generator-load configurations, then we can formulate the power flow equations as
follows:
1) Form a Y or Z matrix from -Models.
2) n j V y I t e YV I
j
j ij i
, , 1 . . = = =


3)
* *
[ / V ] . . 1, ,
i i i ij j
j
S YV e t I y V j n = = =

4) The equations are
) ( ) ( ) (
* *

= =
j
j ij i Di Gi Di Gi i
V y V Q Q j P P S
We have 2n equations in real variables.
(Note: We have 2n equations at most we have 2n unknowns to have a meaningful solution)
Problem: Specify 2n components from , V , and
G G
Q P , , (Load is supposedly known.) find all the
line flows.
Q: Which variables to assign?
We have two equations per bus; and , , , V Q P are variables. Totally 4n variables, assign 2n variables,
solve other 2n variables.
Approach 1: Assign Q P, , and solve , V (unknown loss). It is impossible!
Approach 2: Try to approach with physical variables, and devices, categorize into independent and
dependent variables.
1) PV bus (Generator Bus), V P, is specified, all the generators except one (slack bus)
2) PQ bus (all the load bus), Q P, is specified.
3) Angle difference problem: we need a reference bus ( , V is specified), or so called slack bus, which is
a generator bus ( V is specified), and has the capacity to match the loss at the end of solution. (
G G
Q P ,
is used to match the loss). To avoid wasting time, it is safer to pick up a generator bus to which has enough
capacity to cover the loss and maintain the V .
Bus
classification
Previous known variables Unknown variables
D
P
D
Q
G
P
G
Q
V

G
P
G
Q
V

Slack Bus Y Y Y Y Y Y
PV Bus Y Y Y Y Y Y
PQ Bus Y Y Y Y Y Y


Q: Any other ways?
Q: For PV bus, how to specify the V P, ? (Use optimal power flow analysis or economic dispatch.)
Summary:
In power flow analysis, we have power balance equations (n-bus, 2n equations, and 2n variables.)
The problems are:
1) We are unable to pre-assign
G G
Q P ,
) , (
1 1
V P P P
L
n
i
Di
n
i
Gi
+ =

= =

2) Angles are in angle difference: Reference bus.
Q: how can we pre-assign
Gi
P s ? Economic Dispatch (Unit commitment)
( )
int:
Gi
i
Gi Di L
i i
Min C P
Constra P P P

= +

Homework #5:
Q1: If we assign different slack buses for different power flow analysis, are we going to have different
solutions? Why?
Q2: Are the losses different for different slack buses? Why?
Q3: Is non-linearity causing different solutions?
Q4: Give an artificial set of linear equations to demonstrate your argument(s) on questions 1, 2 and 3.
(Hint: DC flows)


2.6 Admittance matrix construction (Y) and impedance matrix construction (Z)
1
, ,

= = = Y Z ZI E YE I

bus
Y Physical interpretation: short circuit driving point and transfer admittance matrix.
(
(
(
(
(
(

(
(
(
(
(
(

=
(
(
(
(
(
(

n
p
nn np n
pn pp p
n p
n
P
E
E
E
y y y
y y y
y y y
I
I
I

1
1
1
1 1 11 1



= =
q
q pq
q
pq p
E y I I
then we know:
q i E
q
p
pq
p i E
p
p
pp
i i
E
I
y
E
I
y
= =
= =
, 0 , 0










q
y
q
y
1
y
p p
I E ,


q
E
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At this case:

= =
=
others and P between ce admit the all
E
I
y
p i E
p
p
pp
i
tan
, 0

q pq
y y =





Example:












(
(
(
(

+ +
+
+ + +
+
=
7 4 3 4 7
4 5 4 5
7 5 7 6 5 2 6
6 6 1
0
0
0 0
y y y y y
y y y y
y y y y y y y
y y y
Y

Q: how a computer constructs a Y matrix? (line by line)
Read 1, 2,
6
) 1 (
11 6
) 1 (
12 6
, , y y y y y = =
Read 1, n, ; ,
1
) 1 (
11
) 2 (
11 1
y y y y + = ,
) 1 (
12
) 2 (
12
y y = the same as before.

Observations:
1) Suppose that all branches to the neutral is zero,
bus
Y becomes singular. infinitely many solutions.
(Does slack bus resolves the issue?)
2) Y is symmetric if no active components are involved (no phase-shifting transformer),
ji ij
y y =
3) Y is a sparse matrix, usually for power system, each bus has less than 15 connections to the other buses.
When n=1000 most of the elements are zero.
Q:
1)How to store Y to save memory? For convenience of the computation Sparse techniquesl.
Reading assignment: Study the sparse techniques.
Focus on 1) storage and extraction; 2) saving on computation.
Book from J erry Heydt.
4) The Y matrix is almost diagonally dominant.

i j
ij ii
y y
How to construct Z matrix?
ZI E = , and
1
= Y Z
7
y
6
y
5
y
4
y
3
y
2
y
1
y
1
2
3
4
Neutral
Transfer open-circuit impedance, note that Z is not necessary sparse.









Bonus question: How to measure real and reactive power? Discuss principles behind
measurements and accuracy issues. (Dynamic situations???)