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Start reading Chapter 6 for lectures 11 and
12.
Homework 10 is: 3.47, 3.49, 3.53, 3.57, 3.61,
6.2, 6.9, 6.13, 6.14, 6.18, 6.19, 6.20; due
November 13. (Use infinity norm and epsilon
= 0.01 for any problems where norm or
stopping criterion not specified.) Turn in to
grader at beginning of LCRA tour.
Read Chapter 12, concentrating on sections
12.4 and 12.5.
Homework 11 is 6.23, 6,25, 6.26, 6.28, 6.29,
6.30 (see figure 6.18 and table 6.9 for
system), 6.31, 6.38, 6.42, 6.46, 6.52, 6.54;
due November 20.
2
j0.05
j0.05
SLoad =1.0+j0.5p.u.
5 j14.95 5 j15
5 j15 5 j14.70
1 S*2
Equation to solve: V2
* Y2 kVk h2 (V ).
Y22 V2 k 1,k 2
Update:
V2( 1)
1 j 0.5
( 5 j15)(1.00)
( )
5 j14.70 (V2 ) *
V2( v )
V2( v )
1.000 j 0.000
0.9622 j 0.0556
1
2
0.9671 j 0.0568
0.9624 j 0.0553
0.9622 j 0.0556
8
Slack Bus
In previous example we specified S2 and V1
and then solved for S1 and V2.
We can not arbitrarily specify S at all buses
because total generation must equal total
load + total losses.
We also need an angle reference bus.
To solve these problems we define one bus
as the slack bus. This bus has a fixed
voltage magnitude and angle, and a
varying real/reactive power injection. In
the previous example, this was bus 1.
10
1 S*i
( v )* YikVk( v )
Yii V
k
1,
k
i
i
Gauss-Seidel Iteration
Immediately use the new voltage estimates:
V2( v 1) h2 (V1 ,V2( v ) ,V3( v ) ,,Vn( v ) ) (bus 1 is slack),
V3( v 1) h3 (V1 ,V2( v 1) ,V3( v ) ,,Vn( v ) )
V4( v 1) h4 (V1 ,V2( v 1) ,V3( v 1) ,V4( v ) ,Vn( v ) )
M
( v 1)
Vn
( v 1)
( v 1)
( v 1)
(v)
hn (V1 ,V2
,V3
,V4
,Vn )
13
( v )
Im Vi YikV is an
k
k 1
estimate of the reactive power injection.
For the Gauss iteration we use the known value
of real power and the estimate of the reactive power:
Hence
(v)
Si
Qi( v )
Pi
(v)
jQi
( v )*
14
( v )*
n
1 Si
( v )* YikVk( v )
Yii V
k
1,
k
( v 1)
In update, set Vi( 1) V%
.
i
( v 1)
But since Vi is specified, replace V%
by Vi .
i
15
Bus 1
(slack bus)
z = 0.02 + j 0.06
V1 = 1.0
Bus 2
j0.05
V2 = 1.05
P2 = 0 MW
16
Im
V2( v )*
( v )
k 1
Y2kVk
( )*
( )*
n
1 S2
1 S2
( )
( )
( )* Y2 kVk
( )* Y21V1
Y22 V2
Y22 V2
k 1,k 2
S2( v )
( v 1)
V%
2
V2( v 1)
17
Accelerated Convergence,
Consider the previouscontd
example: x x 1 0
x ( v 1) x ( v ) (1 x ( v ) x ( v ) )
Matlab code: alpha=1.2;x=x0;x=x+alpha*(1+sqrt(x)-x).
Comparison of results with different values of
1
1.2
1.5 2
0
1
1
1
1
1
2
2.20
2.5
3
2
2.4142
2.5399
2.6217
2.464
3
2.5554
2.6045
2.6179
2.675
4
2.5981
2.6157
2.6180
2.596
5
2.6118
2.6176
2.6180
2.626 21
Gauss-Seidel Advantages
Each iteration is relatively fast
(computational order is proportional
to number of branches + number of
buses in the system).
Relatively easy to program.
22
Gauss-Seidel Disadvantages
Tends to converge relatively slowly,
although this can be improved with
acceleration.
Has tendency to fail to find solutions,
particularly on large systems.
Tends to diverge on cases with negative
branch reactances (common with
compensated lines)
Need to program using complex numbers.
23
Newton-Raphson Algorithm
The second major power flow solution
method is the Newton-Raphson algorithm
Key idea behind Newton-Raphson is to
use sequential linearization
24
Newton-Raphson Method
(scalar)
1. Represent f by a Taylor series about the
current guess x ( ) . Write x for the deviation
from x ( ) :
f (x
(v)
(v)
) f (x
(v)
df ( v )
(v)
)
( x ) x
dx
1 d f (v)
(v)
(
x
)
2 dx 2
Newton-Raphson Method,
contd
2. Approximate f by neglecting all terms
except the first two
df ( v )
f ( x x ) f ( x )
( x ) x ( v )
dx
( )
(v)
df ( v )
x
(x )
f ( x(v) )
dx
x ( v 1) x ( v ) x ( v )
26
Newton-Raphson Example
Use Newton-Raphson to solve f ( x ) 0,
where: f ( x )= x 2 2.
The iterative update is:
x
(v)
x ( v )
df ( v )
(v)
(x )
f (x )
dx
1
(v) 2
((
x
) 2)
( v )
2x
x ( v 1) x ( v ) x ( v )
x
( v 1)
(v)
1
(v) 2
((
x
) 2).
(
v
)
2 x
27
Newton-Raphson Example,
contd
1
(v) 2
x
x
((
x
) 2)
(
v
)
2 x
Matlab code: x=x0; x = x-(1/(2*x))*(x^2-2).
( v 1)
(v)
0
1
x(v )
1
1.5
f ( x(v) )
1
0.25
x ( v )
0.5
0.08333
3
1.41667
6.953 10
1.41422
6.024 106
2.454 10
28
Sequential Linear
Approximations
At each
iteration the
N-R method
uses a linear
approximation
to determine
the next value
Function is f(x) = x2 - 2.
for x
Solutions to f(x) = 0 are points where
f(x) intersects x axis.
29
Newton-Raphson Comments
When close to the solution the error
decreases quite quickly -- method has
what is known as quadratic
convergence:
number of correct significant figures
roughly doubles at each iteration.
Newton-Raphson Comments
Results are dependent upon the
initial guess. What if we had
guessed x(0) = 0, or x(0) = -1?
A solutions region of attraction
(ROA) is the set of initial guesses that
converge to the particular solution.
The ROA is often hard to determine.
31
Multi-Variable NewtonRaphson
Next we generalize to the case where x is an ndimension vector, and f (x) is an n-dimensional
vector function:
x1
x
x 2
M
x
n
f1 ( x)
f 2 ( x)
f n ( x)
f (x)
32
f1
f1
f1 ( x)
( x)x1
( x)x2
x1
x2
f1
( x)xn higher order terms
xn
M
f n
f n
f n ( x x) f n ( x)
( x)x1
( x )x2
x1
x2
f n
( x)xn higher order terms
xn
33
f1 ( x )
f ( x ) f 2 ( x ) f 2 ( x ) L
2
x1
x2
f (x +x )
M
M
O
O
f ( x )
n
f n
f n
(x )
(x) L
x2
x1
higher order terms
f1
(x)
xn
f 2
(x)
xn
M
f n
( x )
xn
x1
x
2
M
x
n
34
Jacobian Matrix
The n by n matrix of partial derivatives is known
as the Jacobian matrix, J (x)
f1 (x) f1 (x) L
x
x2
1
f 2 (x) f 2 (x) L
x2
J (x) x1
M
O
O
f
n ( x) f n ( x) L
x2
x1
f1
(x)
xn
f 2
( x)
xn
M
f n
( x )
xn
35
36
Multi-Variable Example
x1
Solve for x = such that f ( x ) 0 where
x2
2
2
f1 ( x ) 2 x1 x2 8
f 2 ( x ) x12 x22 x1 x2
J (x ) =
f 2 ( x ) f 2 ( x )
x1
x2
37
Multi-variable Example,
contd
4x
2x
J (x ) =
2 x1 x2
x1 2 x2
4 x1
2 x2
x1
Then
x
2
x
x
x
2
2
2
1
2
1
Matlab code: x1=x10; x2=x20;
f1=2*x1^2+x2^2-8;
f2=x1^2-x2^2+x1*x2-4;
J = [4*x1 2*x2; 2*x1+x2 x1-2*x2];
[x1;x2] = [x1;x2]-inv(J)*[f1;f2].
f 1 ( x )
f 2 ( x )
38
Multi-variable Example,
contd
1
(0)
Initial guess x
x
x
(1)
(2)
1
1
4
3
2 5
1 3
2.1
1.3
2.51
1.45
1.8284
1.2122
(2)
0.1556
)
0.0900
39