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PAT: A Power Analysis Toolbox for MATLAB/Simulink
, Ali Feliachi, Senior Member, IEEE, and Azra Hasanovic Karl Schoder, Amer Hasanovic

IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 18, NO. 1, FEBRUARY 2003

AbstractA power system simulation environment in MATLAB/Simulink is presented in this paper. The developed power analysis toolbox (PAT) is a very flexible and modular tool for load flow, transient, and small-signal analysis of electric power systems. Standard power system component models and a wide range of flexible ac transmission systems (FACTS) devices are included. Its data structure and block library have been tested to confirm its applicability to small-to-medium-sized power systems. Its advantages over an existing commercial package are given. Index TermsMATLAB, PAT, simulation, Simulink, transient stability.

I. INTRODUCTION

ITH THE RECENT deregulation and increase in the demand, maintaining the power system stability is becoming evermore difficult. In order to operate power systems effectively, without reduction in the system security and quality of supply, even in the case of contingency conditions such as loss of transmission lines and/or generating units, which will most probably occur at a higher frequency under deregulation and/or restructuring, new control strategies need to be implemented. New equipment and control devices, such as flexible ac transmission systems (FACTS) [1], are sought to enhance stability and reliability of the system. Also, neural networks, fuzzy logic, and other soft computing technologies are increasingly used to answer control challenges. Before implementing any novel technology, it is essential to validate these new control schema through simulation within an environment that allows accurate modeling of all power systems components. This environment also has to be modular enough to allow frequent additions of new components without compromising the overall speed of simulation or its accuracy. Traditional tools for power system simulation such as PSS/E [2], Eurostag [3], and PSAPAC [4], require coding in conventional programming languages and are optimized for speed and efficiency. However, implementation of new components, especially soft computing ones, within these packages can be very difficult and error prone. In the last decade, MATLAB [5] became, de facto, the standard tool for flexible technical computing. MATLAB

Manuscript received September 26, 2001; revised April 18, 2002. This work was supported by the National Science Foundation under Grant ECS-9870041 and a DOE/EPSCoR WV state Implementation Award. , and A. Feliachi are with the Lane Department K. Schoder, Am. Hasanovic of Computer Science and Electrical Engineering, West Virginia University, Morgantown, 26506-6109 USA. is with American Electric Power, Columbus, OH, 43230 USA. A. Hasanovic Digital Object Identifier 10.1109/TPWRS.2002.807117

incorporates a large number of domain specific toolboxes such as fuzzy logic toolbox, neural network toolbox, control toolbox, real-time workshop, etc., and Simulink [6], an interactive tool for modeling, simulating, and analyzing dynamic systems. Simulink offers a set of tools that can be used to build systems from the library of built-in blocks. It also allows creation of custom blocks that can incorporate C/C++, Fortran, or MATLAB code. These features make MATLAB/Simulink an attractive choice for power systems-related research. A number of papers addressed the issue of power system simulation in MATLAB/Simulink. Using the real-time workshop, the authors in [7] have demonstrated real-time simulation of a four-machine power system in the Simulink environment. Mahseredjian and Alvarado have developed MatEMTP [8], a set of m-files that can perform Electromagnetic Transient Program (EMTP)-type simulations in the MATLAB environment. In [9], Allen et al. described an object-oriented approach. The problem with this approach is that Simulink was not designed to handle noncausal modeling (i.e., model ports in Simulink must have either output or input role specified). If these ports are connected in an object-oriented fashion, algebraic loops are created within the model. The current Simulink solvers resolve algebraic loops iteratively, decreasing the speed of simulation while having a negative impact on simulation stability. These limitations make this approach impractical for larger systems. There exist two commercial toolboxes that allow power system simulation in MATLAB, namely the power system toolbox [10] (PST) and power system blockset [11]. The latter targets the three-phase power system simulation and, therefore, is not appropriate for large-scale transient stability analysis. The PST is a set of MATLAB m-files that can be used to perform power flow and stability studies. PST does not offer graphical user interface (GUI) and cannot be used within the Simulink environment; addition of new components is time consuming and requires a good understanding of the toolboxs internal structure. PST provides a single predictor-corrector solver that supports vectorized computation. However, Simulink offers 12 continuous time-domain solvers that outperform PST solver in terms of features and speed of computation. Due to the drawbacks of the mentioned environments and lack of some features that were required for an ongoing research conducted at West Virginia Universitys Advanced Power Engineering Research Center (APERC), a power analysis toolbox (PAT) was developed. PAT incorporates most features and dynamic models that are provided by PST. Additionally, PAT includes some FACTS device models that are not part of PST distribution. Significant improvements, in terms of speed and modularity, were obtained by extensively using features that

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Fig. 1. PAT modules.

were introduced in Simulink V4.1, such as complex number and matrix signal propagation. PATs main features are fast transient simulations; automatic generation of linearized models; addition of new components by using Simulinks GUI; simple interface with other MATLAB/Simulink toolboxes; possibility to generate C-code for real-time simulations using real-time workshop. This paper is organized as follows: overview of PAT data structure and modules is presented in Section II. Section III demonstrates some simulation and analysis of a 16-generator, 68-bus system which is a representation of the New England/ New York interconnected system. Also, the implementation of a fuzzy damping controller for a UPFC in the two-area-four-generator system used to improve transient stability is presented. Speed comparison of PAT with PST is presented in Section IV. II. SIMULATION ENVIRONMENT Modules that constitute the structure of PAT are shown in Fig. 1. By combining the functionality of these modules, the toolbox can perform the following tasks: load flow; transient stability; small-signal analysis. The following sections describe these modules and their interaction. But first, preprocessing and PATs data structure are presented. A. Preprocessor Before any computations can be performed, a data file that describes the power system must be read and processed. Currently, PAT supports a modified PST data format that includes FACTS devices and their controls. As a result of the preprocessing, a MATLAB structure object, shown in Fig. 2, is obtained. B. PAT Data Structure The PAT data structure is designed to hierarchically organize the vast amounts of data necessary to describe the power system components. The three top-most levels of the hierarchy are shown in Fig. 2 (from left to right). Starting with the abstract layer that stores the information of power systems components, the tree expands
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Fig. 2. PAT data structure.

Fig. 3.

Power system model in Simulink.

down to the fields that hold information on specific devices and their parameters. The data structure supports simple access to specific fields, and offers enough flexibility to be extended by the user to accommodate new components. The expandability is a major requirement for todays power system analysis and simulation software due to the steadily growing number of power electronics devices implemented in power systems. C. Load Flow The load-flow module extracts the power system information stored in the PAT data structure and solves the load-flow problem using a NewtonRaphson algorithm. The output from this module is the PAT data structure appended with the fields that contain the load-flow solution as well as computed internal steady-state quantities of the dynamic devices and their controls. This information is used to initialize the transient module. Elements included at the current development stage are generators, slack buses, PI-lines, constant PQ-loads, under load tap changers (ULTCs), and various FACTS devices [e.g., static var compensator (SVC), thyristor-controlled series capacitor (TCSC), static synchronous compensator (STATCOM), static synchronous series compensator (SSSC), unified power-flow controller (UPFC)], and their controls. The load flow of a power system that includes FACTS devices is solved with respect to the desired control modes and reference values. The possible control modes include fixed compensation mode as well as constant power-flow and voltage-control modes.

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Fig. 4.

New England/New York interconnected system.

D. Transient Stability Analysis The transient module targets the balanced-power system transient studies and is organized as a Simulink-Block library. It allows the user to build a case file via a drag-and-drop feature provided by Simulink. Each block in the PAT library models one type of device (e.g., subtransient machine model, UPFC model etc.). Additionally, each block is vectorized, meaning that the user needs to add only one block to the Simulink MDL-case file to represent a number of devices of the same type. For example, if there are detailed machines and classical machines (EM) in a case study one subtransient block and one EM-block will be used from the PAT library to perform the simulation. The internals of each block have been modeled by Simulink built-in blocks and/or MATLAB-S functions. Through the utilization of Simulinks ability to propagate complex vectors as signals between blocks, a great improvement in simulation speed has been achieved. To properly initialize the time-domain simulation, the transient analysis module requires consistent steady-state conditions as found by the load-flow module and a switching file describing switching sequence and disturbance scenarios (e.g., type of fault, loss of line/load/generating unit, opening/reclosure of the faulted line, etc.). Simulink is based on a set of differential equation solvers, ranging from simple fixed step (integration) to variable time step solvers that can handle stiff systems. These solvers are able to handle traditional power system elements (e.g., generators, excitation systems, PSSs, etc.). Furthermore, they can cope with the numerical problems introduced by devices with small time constants, such as FACTS devices. Many power system elements have discrete and/or dynamic states (e.g., switches, digital controls, saturation limits, etc.); therefore, they require a simulation environment that is capable of handling hybrid models. Simulinks solvers have built-in zero-crossing detection algorithms that properly adjust the simulation time step to detect discontinuities and automatically reinitialize the simulation.
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The problem of incorporating dynamics of FACTS devices and nonconforming loads into the network solution has been solved in the following way. Due to the lack of explicit analytical expressions for the injected currents at the FACTS bus(es), the actual influence of FACTS devices has to be found using an iterative approach at each time step of the simulation. Algorithms based on a fixed-point and Newtons method [10], [12] have been implemented as PAT blocks (see bus interface block in Fig. 5) and can be placed into the mdl-case study file via drag-and-drop. Elements of varying impedance (i.e., SVC and TCSC) are interfaced via their admittance valuesSTATCOM, SSSC, and UPFC are interfaced as voltage sources, and nonconforming loads as current sources.

E. Small-Signal Analysis Though the power system is a highly nonlinear system, a wealth of information is obtained from the linearized model around an operating point. The eigenstructure of the system, in particular, can be used to analyze properties of the system, assess its stability, select control signals, and site the controllers or design controllers using the rich tools of linear control systems. For example, parameters for power system damping controllers are often found by applying various linear control design procedures. Therefore, it was important to choose a simulation environment that guarantees the ability to linearize the dynamic power system model at the desired operating point, and offers the use of well-established linear analysis and synthesis tools. The built-in capabilities of the MATLAB/Simulink environment are used to determine the state-space representation of the power system and to perform eigenvalue analysis. Additionally, optional toolboxes, such as robust control toolbox, LMI control toolbox, -analysis and synthesis toolbox or control system toolbox, can be used to design linear controllers.

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Fig. 5.

Power system and UPFCs modeled in Simulink.

III. CASE STUDIES The functionality of PAT is illustrated using two systems. One of these is a well-known two-area four-generator system [13] to illustrate usage of PAT in designing a UPFC fuzzy damping controller [14], and the New England/New York interconnected system to illustrate the other modules of PAT. A. New England/New York System The single line diagram of the system, for which two cases are presented, is shown in Fig. 4. The first case study is the system as found in [13]. In the second case, three UPFCs were added on three heavily loaded tie-lines (line 12, line 89, and line 4142). To ensure stability of the system, each generator was equipped with a simple exciter and PSS. Simulink representations of these systems are shown in Figs. 3 and 5. Numbers that appear on each connection represent the width of vector signal being propagated. Simulink automatically adjusts these values according to the information stored in PATs data structure. Any signal can be monitored while the simulation is running by connecting one of the blocks from the Sinks-library. Additionally, for the purpose of further analysis and/or plot generation, signals can be stored in MATLABs workspace. To find the FACTS devices bus voltages, an iterative procedure is required. The FACTS devices interface is shown in Fig. 5. The interfacing block takes the generator internal voltages and the interfacing quantities of the FACTS devices as inputs. In case of the UPFC, the injected shunt and series voltages with respect to one of its buses are taken as input signals. The output of the FACTS devices interfacing block is used together with the generator voltages to determine the network current solutions. The same simulation scenario is investigated for both case ms, a three-phase fault is applied on studies. At time the line between buses 29 and 28, the near end of the line is ms, and the line is completely removed at opened at ms. The speed response of the generator closest to the three-phase fault location is shown in Fig. 6. To be able
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Fig. 6. Comparing speed of generator closest to the fault location (solidsystem with UPFC; dashedsystem without UPFCs).

to estimate possible improvements in transient stability, the response of the test system with three UPFCs installed is given in the same figure. These are only the preliminary results of using FACTS devices to enhance the overall controllability and stability of power systems. Control schemes and parameter tuning are not investigated further in this paper. Voltage magnitude profile of the faulted bus 29 and its two closest neighbors (buses 28 and 61), during the first two seconds of simulation, are shown in Fig. 7. It can be seen that the ODE solver accurately adjusts the time steps taken at the time of fault application (100 ms), opening of faulted line side (190 ms), and removing the fault entirely by opening the remote end (200 ms). The UPFC close to the faulted area of the power system helps to stabilize the bus voltages. Linear representations of the two test systems are obtained within the linearization module of PAT. Signals to be used as inputs and outputs during the linearization procedure can be specified by connecting Simulink in and outports at the desired locations. Part of the eigenvalue plot for the linearized power systems with and without the UPFCs installed is given in Fig. 8. The state space representations of both systems containing 222

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Fig. 7. Comparing bus voltages close to fault location with (solid) and without (dashed) UPFCs.

Fig. 9. Relative machine angle between two areas (dashedwithout UPFC, solidwith UPFC, dash-dottedUPFC with fuzzy damping control). TABLE I SIMULATION TIME FOR PST AND PAT WITHOUT UPFCS FOR A TRANSIENT PERIOD OF 10 s

Fig. 8. Comparing eigenvalues with ( ) and without ( ) UPFCs.

and 207 continuous states, respectively, have been verified via comparison of simulations of the linear and nonlinear systems using small disturbances. B. Two-Area System Since this system is widely available in the literature, its single line diagram is omitted. In [14], the authors have used fuzzy control to design a UPFC damping controller. Fig. 9 compares the response of the system without UPFC, with UPFC, as well as the system with UPFC and fuzzy damping controller. The fuzzy damping controller measures the active line power flow at the UPFC site and augments the reference signal for the active line power flow as controlled by the UPFC. The improved transient stability due to the fuzzy damping scheme can be observed. Also, a reduced first swing stability in case of applying a UPFC without fuzzy damping control is noticeable. IV. PERFORMANCE EVALUATION To evaluate the performance of PAT comparisons with the PST, on-the-test systems with and without UPFCs have been
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TABLE II SIMULATION TIME PAT WITH UPFCS FOR A TRANSIENT PERIOD OF 10 s

performed. Very promising results with speed ratio up to 20 : 1 in favor of PAT were achieved. To obtain raw performance measurement, all displays that get refreshed during the simulation run-time were disabled in both toolboxes. Environment used for the benchmarking purpose consisted of Pentium IV-based PC running MATLAB/Simulink 6.0 under Windows 2000. Table I shows the simulation time required for the power system without UPFCs in PST and PAT using different ODE solvers and time step settings. The simulation outputs produced with different solver settings were identical in terms of system

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behavior and accuracy. The time setting for the varying time step solvers should be interpreted as the maximum time step allowed. Table II gives the time required to simulate the test system with UPFCs included. The implicit interface block for dynamic loads and FACTS devices introduces an algebraic loop in Simulink model that needs to be solved iteratively. Hence, a significant increase in simulation time is recorded. Extremely small time steps are required to maintain the numerical stability of simulation when fixed step size solvers are used. Therefore, results obtained with these solvers are omitted from the table. Further comparisons with different modeling approaches such as EMTPs detailed three-phase analysis have not been attempted. Electromagnetic transients and switching events of high frequency are not in the scope of PAT. V. CONCLUSION A power system simulation environment in MATLAB/ Simulink is presented in this paper. The developed PAT is a very flexible and modular tool for load flow, transient, and small-signal analysis of electric power systems. Standard power system component models and a wide range of FACTS devices are included. Its data structure and block library have been tested to confirm its applicability to small-to-medium-sized power systems. Its advantages over existing commercial packages are given. The software presented complements existing commercial packages such as PST and it has been demonstrated on test systems that it is faster and has more FACTS device models. Two systems have been given to illustrate the capabilities of PAT. The first test system is the New England/New York power system and illustrates basic features of the toolbox, such as speed of simulation, interfacing of FACTS devices, and extraction of linearized model around an operating point. The second system is the well-known two-area system and demonstrates the implementation of fuzzy-logic-based damping controller for the UPFC within the simulation environment. This software library has not been released to the public at this time. REFERENCES
[1] N. G. Hingorani and L. Gyugyi, Understanding FACTS. Piscataway, NJ: IEEE Press, 2000. [2] PSS/E, Power system simulator for engineering, Power Technologies Inc., Schenectady, NY, 2001. [3] EUROSTAG, Software for the simulation of power system dynamics, Tractebel Energy Engineering, Brussels, Belgium, 2001. [4] PSAPAC, The power system analysis package, Powertech Labs Inc., Vancouver, BC, Canada, 2001. [5] MATLAB, High-performance numeric computation and visualization software, The Mathworks Inc., Natick, MA, 2001.

[6] Simulink, Dynamic system simulation software, The Mathworks Inc., 2001. [7] T. Hiyama and A. Ueno, Development of real time power system simulator in MATLAB/Simulink environment, in Proc. IEEE Power Eng. Soc. Summer Meeting, Seattle, WA, July 1620, 2000. [8] J. Mahseredjian and F. Alvarado, Creating an electromagnetic transient program in MATLAB: MatEMTP, IEEE Trans. Power Delivery, vol. 12, pp. 380388, Jan. 1997. , Interactive [9] E. Allen, N. LaWhite, Y. Yoon, J. Chapman, and M. Ilic object-oriented simulation of interconnected power systems using simulink, IEEE Trans. Educ., vol. 44, pp. 8795, Feb. 2001. [10] J. Chow, Power system toolbox 2.0, in Cherry Tree Scientific Software, Colborne, ON, Canada, 2000. [11] Hydro-Quebec and TEQSIM International, Power system blockset for use with Simulink, The Mathworks Inc., Natick, MA, 2001. , and A. Feliachi, Load-flow and dynamic [12] K. Schoder, A. Hasanovic model of the Unified Power Flow Controller (UPFC) within the Power System Toolbox (PST), in Proc. IEEE Midwest Symp. Circuits Syst., Lansing, MI, August 811, 2000. [13] R. Graham, Power System Oscillation, M. A. Pai, Ed. Norwell, MA: Kluwer, 2000. , and A. Feliachi, Power system damping [14] K. Schoder, A. Hasanovic using fuzzy controlled unified power flow controller, in Proc. IEEE Power Eng. Soc. Winter Meeting, Columbus, OH, 2001.

Karl Schoder received the M.S.E.E. (Dipl.-Ing. der Elektrotechnik) degree from Vienna University of Technology, Vienna, Austria, in 1997, and the Ph.D. degree from the Department of Computer Science and Electrical Engineering at West Virginia University, Morgantown, in 2002. Currently, he is a visiting Research Assistant Professor at West Virginia University.

was born in Tuzla, Bosnia-Herzegovina, in 1976. He received Amer Hasanovic the B.S. degree from the University of Tuzla, Bosnia-Herzegovina, in 1999, and the M.S. degree in electrical engineering from West Virginia University, Morgantown, in 2001. He is currently pursuing the Ph.D. degree at West Virginia University, Morgantown. Currently, he is a Graduate Research Assistant at West Virginia University.

Ali Feliachi (SM86) received the Diplme dIngnieur en electrotechnique degree from Ecole Nationale Polytechnique of Algiers, Algeria, in 1976, and the M.S. and Ph.D. degrees in electrical engineering from Georgia Institute of Technology, Atlanta, in 1979 and 1983, respectively. Currently, he is full Professor and the holder of the Electric Power Systems Chair endowed position at West Virginia University, Morgantown. He has been a faculty member in the Lane Department of Computer Science and Electrical Engineering at West Virginia University since 1984.

received the electrical engineering degree from the UniverAzra Hasanovic sity of Tuzla, Bosnia-Herzegovina, in 1997, and the M.S.E.E. degree from West Virginia University, Morgantown, in 2000. Currently, she is with AEP Transmission Planning/System Dynamics Analysis Group, Columbus, OH.

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