Sie sind auf Seite 1von 38

ENGR 103

Computer-Aided Analysis Tools for Engineers


Department of Electrical Engineering
The City College of The City University of New
York (CCNY)
Spring 2014
Session 5
Project
Non Linear EquationsNumerical Analysis

Dr. Nidal Khrais



y
4
y
3
y
1
y
2
I
4
I
3
I
2
I
1
4 3
2
1
y
34
y
23
y
13
y
12
Kirchoffs Current Law (KCL) requires that each of the current injections be
equal to the sum of the currents flowing out of the bus and into the lines
connecting the bus to other buses, or to the ground. Therefore, recalling
Ohms Law, I=V/Z=VY, the current injected into bus 1 may be written as:
I
1
=(V
1
-V
2
)y
12
+ (V
1
-V
3
)y
13
+ V
1
y
1

To be complete, we may also consider that bus 1 is connected to
bus 4 through an infinite impedance, which implies that the
corresponding admittance y
14
is zero. The advantage to doing this
is that it allows us to consider that bus 1 could be connected to any
bus in the network. Then, we have:
I
1
=(V
1
-V
2
)y
12
+ (V
1
-V
3
)y
13
+ (V
1
-V
4
)y
14
+ V
1
y
1


Note that the current contribution of the term containing y14 is
zero since y14 is zero. Rearranging , we have:


I
1
= V
1
(

y
1
+ y
12
+ y
13
+ y
14
) + V
2
(-y
12
)+ V
3
(-y
13
) + V
4
(-y
14
)

Similarly, we may develop the current injections at buses 2, 3,
and 4 as:
I
2
= V
1
(-y
21
) + V
2
(

y
2
+ y
21
+ y
23
+ y
24
) + V
3
(-y
23
) + V
4
(-y
24
)

I
3
= V
1
(-y
31
)+ V
2
(-y
32
) + V
3
(

y
3
+ y
31
+ y
32
+ y
34
) + V
4
(-y
34
)

I
4
= V
1
(-y
41
)+ V
2
(-y
42
) + V
3
(-y
34
)+ V
4
(

y
4
+ y
41
+ y
42
+ y
43
)

where we recognize that the admittance of the circuit from bus k to
bus i is the same as the admittance from bus i to bus k, i.e., y
ki
=y
ik

current injections are linear functions of the nodal voltages.
Therefore, we may write these equations in a more compact form
using matrices according to:
(
(
(
(

(
(
(
(

+ + +
+ + +
+ + +
+ + +
=
(
(
(
(

4
3
2
1
43 42 41 4 43 42 41
34 34 32 31 3 32 31
24 23 24 23 21 2 21
14 13 12 14 13 12 1
4
3
2
1
V
V
V
V
y y y y y y y
y y y y y y y
y y y y y y y
y y y y y y y
I
I
I
I
(
(
(
(

+ + +
+ + +
+ + +
+ + +
=
43 42 41 4 43 42 41
34 34 32 31 3 32 31
24 23 24 23 21 2 21
14 13 12 14 13 12 1
y y y y y y y
y y y y y y y
y y y y y y y
y y y y y y y
Y
Denoting the element in row i, column j, as Y
ij
, we rewrite as:

(
(
(
(

=
44 43 42 41
34 33 32 31
24 23 22 21
14 13 12 11
Y Y Y Y
Y Y Y Y
Y Y Y Y
Y Y Y Y
Y
where the terms Y
ij
are not admittances but rather
elements of the admittance matrix. Therefore, eq.
becomes:
(
(
(
(

(
(
(
(

=
(
(
(
(

4
3
2
1
44 43 42 41
34 33 32 31
24 23 22 21
14 13 12 11
4
3
2
1
V
V
V
V
Y Y Y Y
Y Y Y Y
Y Y Y Y
Y Y Y Y
I
I
I
I
(
(
(
(

=
(
(
(
(

=
4
3
2
1
4
3
2
1
,
I
I
I
I
I
V
V
V
V
V
Defining the vectors V and I, we may write in compact form:


V Y I =
several observations about the admittance matrix
1) The matrix is symmetric, i.e., Y
ij
=Y
ji
.

2) A diagonal element Y
ii
is obtained as the sum of admittances
for all branches connected to bus i,
i.e.,

= =
+ =
N
i k k
ik i ii
y y Y
, 1
3) The off-diagonal elements are the negative of the admittances
connecting buses i and j, i.e., Y
ij
=-y
ji
.
iQ P VI S + = =
*
2 4 24 3 23 2 22 1 21
I V Y V Y V Y V Y = + + +
Relationship between real Power and Reactive power
supplied to the system at bus i and the current
injected into the system at that bus:
where Vi is the voltage at the bus; Ii* - complex conjugate
of the current injected at the bus; Pi and Qi are real and
reactive powers. Therefore,
i i i i
I V jQ P
*
=
Given that:
j
n
j
ij i
j ij i i i
bus
V Y I
V Y V Y V Y I
I V Y

=
=
+ + + =
=
1
2 2 1 1
......
Therefore:
i i i i
I V jQ P
slide previous from
*
: _ _
=
Non Linear Equations-Numerical Analysis
There are 4 variables that are associated with each bus:
o P
o Q
o V
o
Meanwhile, there are two power flow equations
associated with each bus.
In a power flow study, two of the four variables are
defined an the other two are unknown.
That way, we have the same number of equations as
the number of unknown.
The known and unknown variables depend on the
type of bus.
Bus Types
1)Load Bus PQ Bus:
a-Active Power P is known
b-Reactive Power Q is known
c-voltage magnitude |v| is unknown
D- voltage angle is unknown

2) Generator Bus (Voltage Bus) PV Bus:
a-P is known
b-|V| is known
c-Voltage angle is unknown
d-Q is unknown.


3) Slack Bus: choose a reference bus (must be
A generator bus) . Assume :
|V| = 1.0
= 0
o
o
o
Mechanical Power
P: Electrical
Power
|V|
Generator Excitation
Field Current
Electric Generator/
Generator Bus
o
Q & are unknown
Note that the power flow equations are non-linear, thus
cannot be solved analytically. A numerical iterative
algorithm is required to solve such equations. A standard
procedure follows:
1.Create a bus admittance matrix Ybus for the power
system;
2.Make an initial estimate for the voltages (both
magnitude and phase angle) at each bus in the system;
3.Substitute in the power flow equations and determine
the deviations from the solution.
4.Update the estimated voltages based on some
commonly known numerical algorithms (e.g., Gauss-
Seidel, Newton-Raphson).
5.Repeat the above process until the deviations from the
solution are minimal.
The power flow Analysis equations
I V Y
bus
=
(
(
(
(

(
(
(
(

=
(
(
(
(

4
3
2
1
44 43 42 41
34 33 32 31
24 23 22 21
14 13 12 11
4
3
2
1
V
V
V
V
Y Y Y Y
Y Y Y Y
Y Y Y Y
Y Y Y Y
I
I
I
I
2 4 24 3 23 2 22 1 21
I V Y V Y V Y V Y = + + +
The current injected at bus 2 can be found as:

*
2
2 2
2
2
2 2
*
2
2 2
*
2 2
V
jQ P
I
V
jQ P
I
jQ P I V

=
+
=
+ =
)] ( [
1
)] ( [
1
)] ( [
1
: _ _
)] ( [
1
: _ _
) 1 (
3 43
) 1 (
2 42
) 0 (
1 41
) 0 *(
4
4 4
44
) 1 (
4
) 0 (
4 34
) 1 (
2 32
) 0 (
1 31
) 0 *(
3
3 3
33
) 1 (
3
) 0 (
4 24
) 0 (
3 23
) 0 (
1 21
) 0 *(
2
2 2
22
) 1 (
2
4 24 3 23 1 21
*
2
2 2
22
2
2
*
2
2 2
4 24 3 23 2 22 1 21 2
V Y V Y V Y
V
jQ P
Y
V
V Y V Y V Y
V
jQ P
Y
V
V Y V Y V Y
V
jQ P
Y
V
iteration one after
V Y V Y V Y
V
jQ P
Y
V
V for solving
V
jQ P
V Y V Y V Y V Y I
+ +

=
+ +

=
+ +

=
+ +

= + + + =
(Assume V1 is a slack bus:
|V1| = 1.0 ; = 0) o
Gauss-Seidel Method
This method is also known as the method of successive
displacements. Consider the nonlinear equation
f (x) = 0 . Re-write the equation in different form:
x = g( x) . We assume x(0) is an initial "guess" of the
solution, then "refine" the solution using:

If this process is convergent, then the successive
solutions approach a value which is declared as
the solution. Thus if at some step k +1 we have:
where is the desired "accuracy",
Example: Use the Gauss-Seidel method to obtain
the roots of the equation:
1) First using analytical solution:
Roots:
4.0000
1.0000 + 0.0000i
1.0000 - 0.0000i
Note the double
root at x = 1
2) Using Gauss-Seidel Technique: First the equation is
expressed in a different form thus:


Next the process is generalized for n equations in n
variables:
Solving for one variable from each equation, the system
of equations car be represented as follows:
First a starting solution is assumed to be:
Now there are two ways to proceed:
Acceleration factor:
An acceleration factor can be used as before, thus at
each step upgrade the estimate as
Follows:




Clearly if = 1 then the iteration is the same as
before. Usually but not much
larger than unity.
o
o
1 > o
Newton-Raphson Method
Consider the Taylor-series expansion of the function f(x)
about a value x = xo:


Using only the first two terms of the expansion, a first
approximation to the root of the equation f(x) = 0
can be obtained from:
... ) )( ! 2 / ) (
' '
( ) )( (
'
) ( ) (
2
0 0 0 0 0
+ + + = x x x f x x x f x f x f
Such approximation is given by:
The Newton-Raphson method consists in obtaining
improved values of the approximate root through the
recurrent application of equation above. For example, the
second and third approximations to that root will be given
by:
This iterative procedure can be generalized by writing
the following equation, where i represents the iteration
number:
After each iteration the program should check to see if
the convergence condition, below, is satisfied:
c < + | ) ( ) 1 ( |
i i
x f x f
The figure below illustrates the way in which the solution is found by using the
Newton-Raphson method.
At x = x0, the equation f(x) = 0 f(xo)+f'(xo)(x1 -xo) represents a straight line
tangent to the curve y = f(x). The tangent line intersects the x-axis
(i.e., y =f(x) = 0) at the point x1 as given by x1 = xo - f(xo)/f'(xo).

At x = x1, the equation f(x) = 0 f(x1)+f'(x1)(x2 x1) represents a straight line
tangent to the curve y = f(x). The tangent line intersects the x-axis
(i.e., y =f(x) = 0) at the point x2 as given by x2 = x1 - f(x1)/f'(x1).


The Newton-Raphson method converges relatively fast for
most functions regardless of the initial value chosen. The
main disadvantage is that you need to know not only the
function f(x), but also its derivative, f'(x), in order to
achieve a solution.

Example: find the solution for f(x) = 0 using 3 as the initial
estimate where f(x) is shown below:
Note: Analytical solution gives:



16227766 . 3 10 = = x
10 0 ) (
2
= = x x f
The Project:
1) Given the following simple power system that has 4
busses, 5 transmission lines, 1 generator, and 3 loads.
iQ P VI S
I V Y
bus
+ = =
=
*
2) given that the corresponding is shown below:
bus
Y
pu Q
pu P
pu Q
pu P
pu Q
pu P
15 . 0
2 . 0
05 . 0
1 . 0
2 . 0
3 . 0
4
4
3
3
2
2
=
=
=
=
=
=
3) Given the following power values in per unit (pu) at the load buses 2, 3, 4 are:

Find the node (bus) voltages using:
1) Gauss iteration
2) Gauss-Seidel iteration
3) Gauss-Seidel using an acceleration factor = 1.6
4) Using Newton-Raphson Method
5) For each method, draw the flowchart
6) For each method, write the pseudocode


o
Example:
Continue
Continue

Das könnte Ihnen auch gefallen