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Abstract: In a companion paper the concept of system many factors: type, location and severity of the disturbance,
vulnerability is introduced as a new framework for power and on the "robustness" of the post disturbance network. In
system dynamic security assessment. Using the TEF method other words, stability analysis involves analysis of complex
of transient stability analysis, the energy margin AV is used patterns of system behavior. This is the motivation for
as an indicator of the level of security, and its sensitivity to applying the artificial neural network technique for dynamic
a changing system parameter p (aAV/Jp) as indicator of its security assessment of a stability-limited system.
trend with changing system conditions. These two indicators
are combined to determine the degree of system vulnerability In a companion paper [2] the concept of system
to contingent disturbances in a stability-limited power vulnerability is presented as a new framework for power
system. Thresholds for acceptable levels of the security system dynamic security assessment. This new concept
indicator and its trend are related to the stability limits of a combines the level of security and its trend with system
critical system parameter (plant generation limits). Operating condition (or with a critical system parameter) into one
practices and policies are used to determine these thresholds. indicator of dynamic security called "system vulnerability."
Using the transient energy function (TEF) method [3] as the
In this paper the artificial neural networks ( A N N s ) tool for transient stability analysis, the level of security is
technique is applied to the concept of system vulnerability indicated by the transient energy margin (AV), and its trend
within the recently developed framework, for fast pattern with a changing system parameter p is indicated by the
recognition and classification of system dynamic security sensitivity of the energy margin to changes in that parameter
status. A suitable topology for the neural network is (dAV/Jp). Vulnerability assessment depends on the values
developed, and the appropriate training method and input of AV and dAV/ap. While a very low (or negative) value of
and output signals are selected. AV, indicating critically stable (or unstable) condition may be
considered unacceptable, a relatively high positive value of
The procedure developed is successfully applied to the AV does not necessarily represent a secure condition, if the
IEEE 50-generator test system. Data previously obtained by trend in critical system parameters is such that under
heuristic techniques are used for training the ANN. expected changing system conditions the system may become
insecure. System vulnerability offers a framework for
Kev Words: Artificial neural networks, system security, assessing the system dynamic security according to the levels
system vulnerability, dynamic security assessment, transient of both AV and dAV/@.
stability.
The procedure for implementing the framework for
1. INTRODUCTION dynamic security assessment through the concept of system
vulnerability is by establishing thresholds for acceptable
In recent years artificial neural networks (ANN) have levels of the security indicator (AV) and its trend (dAV/Jp),
been proposed as an alternative method for solving certain and relating these thresholds to the stability limits of a
difficult power system problems where the conventional critical system parameter. In the work reported upon in this
techniques have not achieved the desired speed, accuracy, or paper the critical system parameter is the plant generation
efficiency [l]. An ANN is taught by example as opposed, for limits.
example, to an expert system which is taught by rules. ANN
methodology allows complex relationships between an initial The ANN technique is used for fast pattern recognition
state and a final state to be determined by an iterative and classification of dynamic system security status. The
mathematical algorithm, instead of by experts. topology of the proposed neural network, the method of
training, and the selection of the output and input signals are
In a stability-limited power system, security discussed. The multi-layered perceptron with back
determination requires analysis of the dynamic system propagation algorithm is chosen as our ANN since it has
behavior under prescribed sequences of events, known as been effective in solving many practical problems [4].
contingencies. These contingencies; which the power system
must withstand are specified by the reliability councils under The proposed technique is successfully applied to the
the jurisdiction of which the power system is operated. The IEEE 50-generator test system.
outcome of the system dynamic analysis will depend on
2. ARTIFICIAL NEURAL NETWORK MODEL
93 WM 183-4 PWRS A paper recommended and approved 2.1 Basic Elements
by the IEEE Power System Engineering Committee of
the IEEE Power Engineering Society for presentation
at the IEEE/PES 1993 Winter Meeting, Columbus, OH, In general the ANNs require three main functions [4-51:
January 31 - February 5, 1993. Manuscript submitted (1) an organized topology of interconnected processing
August 24, 1992; made available for printing elements, (2) a suitable training or learning algorithm, and (3)
November 4 , 1992. a method of recalling information. The following elements
are key to the ANN operation.
Architecture: (3)
1-1
where 6" and rim are the desired and computed outputs of
the i" node in the output layer.
A
(6)
2.2 The Lavered Perceptron Model
where f is given by (2). The derivative of E"' with respect to
wii ( P ) is given by
layer
outpu1 aE" =
- as(#) au,(Q
aE" - 1-(7)
aqt) asl(#) a q ) amu([)
Defining 6,(P ) by
In the T I 3 method the UEE' is the "controllingunstable equilibrium point" for the specific disturbance (e.g., fault) under investigation. The potential energy
at that point gives the value of the critical energy against which the system transient energy at the end of the disturbance is compared for stability assessment
At the UEP,the severely disturbed generators (also caned critical generators) have UEP angles greater than 90'. For many systems and for most operating
conditions only a small number of generators have advanced UEP angles; this situation is usually called "plant mode." In some heavily loaded, or stressed,
amditions the distur4ance (if severe enough) may lead to separation of a large number of generators from the system; in this system condition a large number
of generam will have advanced UEP angles.
528
Table 1. UEP Angles (Stressed Case) Table 2. Energy Margin Sensitivity (aAV/ap)
Station A Generation Station A Generation
= 2 x 1300 M W = 2 x 13OO M W
6 12 1 2 10 25 61 63 7 6 12 1 2 10 25 61 63
\ Riir
Station A
Generation
n
in Table 3.
0
Table 3. Results of Training the ANN via the Training Times
0
Station A Generation = 2 x 700 MW
* 1 = Vulnerable
Vulnerability Status I 0 = Not Vulnerable
l 7 1.o 0.604214
0.600523
0.860502
0.859243
0.942520
output of less than 0.2 is considered 0.0, and an output equal
to or greater than 0.8 is considered 1.0, the results in Table 5
show that the ANN output correctly predicts the system
vulnerability in all but one of the cases. For Station A
0.104742 0.046341 0.028891 generation of 2 x 700 M W and a fault at bus 7, the ANN
0.103040 0.046147 output is 0.773662 instead of 2 0.8. The value of 0.773662
indicates that the classification lies close to the border
0.0 0.103020 0.046145 0.028814 between the two classes. It is possible that with additional
1 1 0 I 0.0 I 0.103084 0.046151 training data, which is "close" to this particular case, that the
ANN could be trained to classify this data point correctly
1 25 1 0.0 I 0.103274 I 0.046168 I 0.028833 1 (see below).
61 0.0 0.102697 0.046124 0.028770
0.0 0.028765
4.4.2 Different training and test sets
63 0.102684 0.046123
33 0.0 0.107041 0.047050 0.028716 In this series of tests the 63 training data pairs are
divided into two sets: a training set and a test set. The idea
The results in Table 3 show that as we increase the is to test the ANN'S ability to classify data which it had not
training times we get better training results and when the seen before.
training times N=180 we get the correct classification, i.e., an
a) Training set:
output of 2 0.8 when the desired output is 1.0, and 5 0.2
In this set Station A generation is scheduled at: 1400,
when the desired output is 0.0.
1600,2000,2200, and 2600 MW respectively; thus this
4.4 ANN Training Results set includes 45 data pairs.
b) Test set:
There are seven operating conditions and nine
contingencies (faults) used in the training and testing In this set Station A generation is scheduled at: 1800
procedure. Thus, a total of 63 pairs of training data are used. and 2400 MW; thus this set includes 18 data pairs.
1 1 1:: 1 0.874138
0.010753
0.010753
1 1.o
1:; I 0.874137
0.010753
0.010753
/I :JC 1 0.874138
0.010835
0.010754
1 :3: I 0.874138
0.023517
0.017382
1
-
Table 6. ANN Results Different Training & Test Sets
Training Times N=lZOOO
-
Training Set Station A Generation
Location
(bus no.) 2 x 700MW 2 x 800MW 2xlOOOMW 2 x 1100 MW 2X1300Mw
Desired ANN Desired ANN Desired ANN DesiFed ANN Desired ANN
Output Output Output Output Output Output Output Output Output Output
0.003377 0.003377
53 1
5. DISCUSSION AND CONCLUSIONS References
In this paper the artificial neural networks (ANNs) [l] El-Sharkawi, M. A., et al. "Neural Networks and Their
technique is applied to the concept of system vulnerability Application to Power Engineering," Control and Dynamic
within the recently developed framework, for fast pattern Systems 41, Academic Press, 1991.
recognition and classification of system dynamic security
status. A suitable topology for the neural network, based on [2] Fouad, A. A., Zhou Qin, and V. Vittal. "System Vulnerability
the multi-layered perceptron, is developed; and an as a Concept to Assess Power System Dynamic Security."
appropriate training method based on the back propagation Submitted to the Power Engineering Society of IEEE; in the
algorithm, is used. The input signals for the ANN are the review process.
energy margin AV and the UEP angles for the advanced
generators; the latter are used instead of the energy margin [3] Fouad, A. A., and V. Vittal. Pwer System Transient Stability
Analysis Using the Transient Energy Function Method. Prentice
sensitivities to reduce the computation burden. The ANN Hall, 1992.
output is the vulnerability status: 1for vulnerable, and 0 for
nonvulnerable. For the training set the output information, [4] Sipson, P. K. Artpcial Neural Systems. Pergamon Press,
obtained by the technique developed in [2], is provided. New York, 1990.
The proposed ANN technique is applied to the IEEE 50- [5] Lippman, R. P. "An Introduction to Computing with Neural
generator test system. Seven operating conditions, ranging Nets." IEEE ASSP Magazine, April 1987 4-22.
from unstressed to very stressed network conditions, and
nine fault locations were analyzed. In all the cases the [6] Zhou, Qin. "Sensitivity and UEP Analysis of the Transient
correct vulnerability classification is obtained, even for Energy Function Method." Proceedings of the First Midwest
previously unseen cases. Hectro-Technology Conference, Ames, Iowa, April 10-11,19923-
6.
In the work reported upon in this paper the emphasis
[;1 Vittal, V. 'Transient Stability Test Systems for Direct Stability
has been on investigating whether the complex dynamic Methods." IEEE Committee Report, I E E E Transactions On
behavior of a stability-limited power system can be captured, PWRS (Feb. 1992): 37-42.
for classification purposes, by the ANN technique. No
attempt was made to optimize the performance of a given [8] Neural Works Professional 11; Neural Ware, Inc., Pittsburgh,
architecture as exhibited in such factors as the number of Penn., 1989 (a) Neural Computing, (b) User's Guide.
layers, number of nodes per layer, number of training times
required, etc. In addition, the authors have not explored
whether in the presence of more than one changing system
parameter (i.e., in addition to the change in generation) other Biography
ANN architecture, or ANN'S (e.g., the BoltzmaM machine)
may be more suited to the problem at hand. These questions Oin Zhou: is currently working on his Ph.D. in the Department of
will be addressed in future investigations. Electrical Engineering and Computer Engineering at Iowa State
University. He received his B.S. in 1983and his M.S. in 1986 from
From the results presented in this paper the following Tsinghua University, Beijing, People's Republic of China. From
conclusions can be made. 1986 to 1989 he was a Lecturer of Electrical Engineering at
Tsinghua University. Research areas include power system
1. The multi-layered perceptron with back propagation security assessment and the application of Artificial Neural
algorithm is successful in correctly classifying the Networks in power systems. He is a member of Tau Beta Pi
complex patterns of system dynamic security and Honor Society.
vulnerability based on the TEF method of transient
stability analysis. Jennifer Davidson: (M 89) is an Assistant Professor in the
Department of Electrical Engineering and Computer Engineering
at Iowa State University. Dr. Davidson received her B.A. degree
2. There is good correlation between the UEP angles of in Physics from Mount Holyoke College, and her M.S. and Ph.D.
the advanced generators and energy margin degrees in Mathematics from the University of Florida. Her
sensitivities. Thus, the use of the U E P angles as input research interests include image processing, image algebra, neural
signals to the ANN has been successful in reducing networks, and computer vision.
the computation burden, without sacrificing the
accuracy of the results. Abdel-Aziz A. Fouad: Professor of the Electrical Engineering and
Computer Engineering Department at Iowa State University,
3. The data presented seem to indicate that the prospect received the B.S. degree in Electrical Engineering (1950) at the
for ANN use in on-line power system dynamic University of Cairo; M.S. (1953) from the University of Iowa; and
security and vulnerability assessment is quite realistic. Ph.D. (1956) from Iowa State University. He is a Fellow of the
Institute of Electrical and Electronics Engineers; and is the 1990
Acknowledgment Anson Marston Distinguished Professor of Engineering at Iowa
State University.
This work was supported in part by the Iowa State
University Electric Power Research Center.
532
DISCUSSION QIN ZHOU, JENNIFER DAVIDSON, and A. A. FOUAD We wish
to thank the discussors for their interest in the paper, and for the
points they raised. We would like to offer the following comments
DILEEP K. JAIN, D.P. Kothari (Centre for in response.
Energy Studies, IIT Delhi, India) and P.S.
Satsangi (Electrical Engineering Deptt., IIT Regarding Neural Works Professional 11, it takes input data
Delhi, India); We are happy to note between -9999 and +9999; and !&aftware accepts the numeric
application of artificial neural networks to inputs as given, i.e., without normalization. The UEP values used
power system disciplines. While working on a
comprehensive model of urban energy system,
as input are (coincidently) given in radians. The angles > 1.57
we noticed that the large volume of outputs radians (> 90') represent critical or severely disturbed generators;
generated from our system dynamics model similarly generators with angles < 1.57 are not severely disturbed.
could be utilised to develop an intelligent We could (and if it is more desirable would) use angles in degrees
quick-response model through use of instead.
artificial neural networks. Our ANN model
also uses the multi-layered perceptron with Concerning the discussors' second question, we wish to point out
back-propagation learning algorithm. Actual that the activation function for the ANN is a sigmoid function. It
values of all input and output variables were maps all the real numbers onto a range strictly between 0 and 1.
normalized to be within 0 and 1. We observed We are interested in an output which is classified near either end
following behaviour with ANN simulations:(l) of the 0/1 scale. The 2 0.8 and 5 0.2 were chosen empirically based
ANN results were, in some cases, three to on previous experience with this ANN model.
four times of actual outputs when the later
had their values close to 0 or 1 . ( 2 ) Host of
the ANN results varied by 5-10% when actual
The discussors seem to think that our use of the UEP angles instead
outputs were in the range of 0 . 1 5 to 0 . 8 5 . of the actual sensitivity information was based on ANN design
Like econometric models, we feel that one can considerations. Actually this choice was made because of the
not prove the existance of any causality relative ease with which UEP angles are obtained in the TEF
between input dnd output variables based on method of transient stability analysis. Our experience with the TEF
successful matching of actual outputs with method shows that the UEP angle information gives comparable
ANN outputs. indication of the relative stress to the system to that given by the
energy margin sensitivity, which involves a great deal more
In the light of above observations, we would computations. This relative degree of stress is implied in the
like to seek clarifications on the following system vulnerability concept.
issues: ( 1 ) since many input values lie
within + 3 , what range of whole numbers is Finally we wish to stress that in the work reported upon in the
acceptable to Neural Works Professional I 1 ?, paper the authors have primarily attempted to demonstrate a
(2) in case the desired output has to be
exact near 0 or 1 (instead of >0.8 and < 0 . 2 ) , concept. No attempt was made to optimize the ANN parameters
is it possible to achieve that ? If yes, how or architecture.
much additional time is needed ?, ( 3 ) from
the ANN results, how could the authors claim Manuscript received March 29,1993.
that UEP angles are better suited than
sensitivity of energy margin. This conclusion
seems to be made outside of ANN analysis.