Electrical Power and Energy Systems 29 (2007) 617629

www.elsevier.com/locate/ijepes

Mathematical modeling and analysis of a unied power ow

controller: A comparison of two approaches in power ow
studies and eects of UPFC location
A. Mete Vural
a

a,*,1

, Mehmet Tumay

Department of Electrical and Electronics Engineering, University of Gaziantep, Gaziantep 27310, Turkey
b
Department of Electrical and Electronics Engineering, Cukurova University, Adana 01330, Turkey
Received 6 October 2004; received in revised form 4 August 2006; accepted 5 September 2006

Abstract
This paper is focused on the mathematical modeling of unied power ow controller (UPFC), which is an advanced and versatile
member of exible ac transmission systems (FACTS). The proposed model is for the implementation of the device in conventional NewtonRaphson (NR) power ow algorithm and in power system analysis software package (PSASP). The model, derived from two-voltage
source representation, is presented and analyzed in detail. The model represents a more robust and feasible alternative to others, because
it is able to take operational losses of UPFC into account. A program in Fortran-77 language has been written in order to extend conventional NR algorithm based on proposed model. The model has also been adapted into PSASP by means of user-dened modeling
technique. Dierent computer simulation studies performed on IEEE 14-bus and IEEE 30-bus test systems are presented in the paper
to test and compare the two approaches. A robust and reliable convergence of the power ow studies is guaranteed by implementing
the two approaches with high convergence speeds. UPFC can be theoretically located anywhere along a transmission line. In this respect,
also the eects of UPFC allocation on power system operation have been investigated in detail.
2007 Elsevier Ltd. All rights reserved.
Keywords: Flexible AC transmission systems; Mathematical model; NewtonRaphson power ow algorithm; Power ow analysis; Unied power ow
controller

1. Introduction
Continuous and fast improvement of power electronics
technology has made FACTS as a promising concept for
power system applications during the last decade [1,2].
With the application of FACTS technology, power ow
along the transmission lines can be more exibly controlled
[35]. Along a variety of FACTS devices, UPFC is one of
the more interesting and potentially the most versatile
member of FACTS [6]. It can provide simultaneous and
independent control of important power system parameters; line active power ow, line reactive power ow,
*

Corresponding author.
E-mail address: metevural@hotmail.com (A.M. Vural).
The author is no longer aliated with this institution.

0142-0615/$ - see front matter 2007 Elsevier Ltd. All rights reserved.
doi:10.1016/j.ijepes.2006.09.005

impedance and voltage [79]. Thereby, it oers necessary

functional exibility for the combined application of phase
angle control with controlled series and shunt compensation. The UPFC operation mode can be changed from
one state into another without hardware alterations to
adapt particularly changing system conditions. This feature
makes it a competent device. Computation and control of
power ow for power systems embedded with UPFC
appear to be fundamental for power system analysis and
planning purposes. A mathematical model is required for
investigating the eects of UPFC on power system operation. Power ow studies incorporating UPFC requires an
accurate model in solution algorithms [1013]. From a
summarized literature search, [14] introduces a UPFC
model based on a single, ideal and series voltage source.
Ref. [15] utilizes two ideal voltage sources, one in series

618

A.M. Vural, M. Tumay / Electrical Power and Energy Systems 29 (2007) 617629

is to change a DC input voltage to a symmetrical AC output voltage of desired magnitude, frequency and phase
shift with respect to a selected reference phase. The functions of the coupling transformers are to isolate UPFC
and the transmission line and to match the voltage levels
between the line and the voltage produced by the converters. Series converter inserts a voltage of controllable magnitude and controllable phase angle in series with the
transmission line via series-connected transformer, thereby
provides the control of real and reactive power ow on the
transmission line. The real power injected into the system
by the series branch must be taken from the parallel branch
and transmitted to the series branch over dc link. With this
respect, series branch provides the main function by injecting an ac voltage Vse at system frequency with variable
magnitude, (0 6 Vse 6 Vse max) and phase angle c,
(0 6 c 6 360), in series with the line. During the operation, Vse is added to the AC system terminal voltage Vs,
by the series-connected coupling transformer. Transmission line current IL ows through voltage source, Vse,
resulting in real and reactive power exchange between
UPFC and the power system. Fig. 2 shows conceptual series power injection into system by the series branch. Phase
angle of output voltage of converter 2, c can be chosen
independently of the phase angle of IL; /IL, which means
that output voltage of series branch, Vse can be independently controlled without any restriction. This enables free
owing of real power in either direction between ac termi-

and one in parallel to develop a UPFC steady- state model.

The model suggested in [16] is based upon one ideal, series
voltage source, and one ideal, shunt current source. Refs.
[17,18] provide an injected power model concept for
UPFC. In this model, UPFC is represented by two ideal
voltage sources with series source impedances, connected
in series and parallel with the transmission line, respectively, representing the output voltages of series and shunt
branches of UPFC. However this model is highly suitable
for the representation of UPFC in power ow studies, it
does not take the operation losses into account in which
the proposed method in this study accepts.
2. Operation principles of UPFC
A number of feasible and economical solid-state implementations for UPFC exist, which are considered with
presently available technology [19]. Recent advances in
power electronics area has made it possible to implement
high-power switching devices, such as Gate Turn O Thyristors (GTOs) in FACTS applications [20]. A schematic
diagram of the basic structure of UPFC is shown in
Fig. 1. UPFC device consists of two three-phase switching
converters employing GTOs, a shunt-connected transformer connecting converter 1 to the transmission line in
shunt, a series-connected transformer connecting converter
2 to the transmission line in series and a dc link provided by
a dc storage capacitor. The main function of the converters

Vs

Vr
IL

Transmission Line

Vse

Vsh

3-ph Converter 1
s
s
s
1
3
5

s
4

s
6

s
2

Vdc

s
2

Shunt Branch

3-ph Converter 2
s
s
s
5
3
1
s
6

s
4

Series Branch
VOLTAGES &
PHASES CONTROL
CIRCUITS

Fig. 1. Basic schematic diagram of UPFC.

Vs

Vse

Vs
Vr

IL

V se

Transmission
line

Converter 2

Sseries

Fig. 2. Equivalent circuit of series power injection.

Vr

A.M. Vural, M. Tumay / Electrical Power and Energy Systems 29 (2007) 617629

b
VC
+ VC

V s V0
Vs

Vs

V s VC

V s + VC
IL

d
V

+ V

V se

Vs

V s V

VC

V0

Vs

V s + V
+

V s + V se

Fig. 3. Functional capabilities of UPFC. (a) terminal voltage regulation,

(b) series reactive compensation (c) phase angle shifting (d) multi-function
control mode.

nals of the two converters, as illustrated in Fig. 1. The

shunt converter exchanges a current with the power system;
in this manner it can generate or absorb controllable reactive power and provide shunt reactive power compensation. This arrangement makes UPFC an ideal AC-to-AC
power converter. The DC link capacitor is designed to provide a path for the real power exchange between converters
and also provide a proper DC voltage required by both
converters to control reactive power circulated internally.
Theoretically, if the DC voltage can be kept constant there

should be no current ow into or out of the DC capacitor

in steady-state. Therefore only a small capacitor is needed
in this particular application. It is important to note that
the UPFC conguration drawn in Fig. 1 is a conceptual
circuit. In order to realize a real-life application, multiple
converters and more complex transformer structures are
applied. With this operational exibility, UPFC might be
used for the purposes of terminal voltage regulation, series
compensation, and transmission angle regulation. Fig. 3
depicts the concerned phasor relationships of these operating modes. Terminal voltage regulation is similar to that
obtainable with a transformer tap-changer having innitely
small steps is shown in Fig. 3(a). The series voltage Vse is
injected either in-phase or counter-phase with sendingend voltage Vs. Namely Vse = DVo. Series reactive compensation is shown schematically in Fig. 3(b). The series
voltage Vse is injected either 90 lagging or 90 leading with
the transmission line current IL. In this case Vse = Vc.
The phase shifting is shown schematically in Fig. 3(c).
The series voltage Vse is injected with an angular relationship with respect to Vs so that the desired r phase shift
(leading or lagging) without any change in magnitude is
achieved. In this mode Vse = Vr. In multi-function control mode, the injected series voltage Vse can be controlled
to meet simultaneous terminal voltage regulation, series
compensation, and phase shifting. In this multi-function
mode, Vse = DVo + Vc + Vr. The resulting voltage phasors
can be observed in Fig. 3d.
Generally, injected real power and reactive power by the
series branch to the transmission line may be expressed as
follows.
S series V se I L P series jQseries

S series = jQseries ,max

IL

= 90
Real Power Injection (+)
Reactive Power Injection (-)

Real Power Injection (-)

Reactive Power Injection (-)

S series = Pseries

jQseries

S series = Pseries ,max

IL

Eq. (1) shows the real and reactive power provided by the
series branch, as shown in Fig. 2, where Pseries is the real

Real Power Injection (0)

Reactive Power Injection (-max)

S series = Pseries

619

= 180

jQseries

IL

IL

=0

S series = Pseries ,max

S series = Pseries + jQseries

S series = Pseries + jQseries

Real Power Injection (+)

Reactive Power Injection (+)

Real Power Injection (-)

Reactive Power Injection (+)
IL

= 270

S series = + jQseries ,max

Real Power Injection (0)
Reactive Power Injection (+max)

Fig. 4. Eects of real and reactive power exchange between UPFC and controlled power system under dierent operating conditions.

620

A.M. Vural, M. Tumay / Electrical Power and Energy Systems 29 (2007) 617629

power injected by converter 2 which must be supplied by

converter 1 through the DC link, Qseries is the reactive
power injected by converter 2 itself internally. From the
UPFC structure it can be easily realized that the voltage
sourced converter 2 employed in UPFC must be able to
internally generate or absorb at its AC terminals all the
reactive power demanded in all operating modes of the
UPFC. However, the real power demanded has to be supplied at the DC link. In fact the real power required by converter 2 must be totally provided by converter 1, to keep a
constant DC link voltage. Therefore converter 1 is used primarily to provide both the real power demanded by converter 2 and losses within UPFC. Thus a high
performance control system must be planned to ensure a
smooth real power ow between two converters and to
keep the DC link voltage constant in real life applications.
It should be noted that converter 1 can also generate or absorb reactive power at its AC terminals independently of
the real power it transfers to or absorbs from the converter
2. In this respect, the operating principle of converter 1 is
actually the same as that of an advanced static var compensator, to control bus voltage dynamically. The reactive
power exchange is determined by the amplitude dierence
between converter 1 and AC system voltage, while the real
power exchange is governed by the phase angle between
converter 1 and AC system voltage. Fig. 4 shows the actual
eects of real and reactive power exchange between UPFC
and the compensated power system under dened range of
operating conditions. In fact, these control modes are the
most important functions of UPFC, mainly performed by
the series branch.

Xsh

V i'

The model is developed by replacing voltage source Vse by

a current source Ise parallel with the transmission line as
shown in Fig. 6, where bse = 1/Xse.
I se jbse V se

The current source Ise can be modeled by injection powers

at the two auxiliary buses i and j.
S is V i I se

S js V j I se

Injected powers Sis and Sjs can be simplied according to

the following operations by substituting Eqs. (3) and (4)
into Eq. (5).
S is V i jbse rV i ejc

7
jc

By using Euler Identity, (e = cosc + j sin c), Eq. (7) takes

the form of
S is V i ejc90 bse rV i
S is V

2
i bse rcosc

 90 j sinc  90

By using trigonometric identities, Eq. (9) reduces to

S is rbse V 2i sin c  jrbse V 2i cos c

10

Eq. (10) can be decomposed into its real and imaginary

components,
S is P is jQis ; where
11

Qis rbse V cos c

Xse
Vse

Vi

V se rV i ejc

2
i

A UPFC can be represented by two voltage sources representing fundamental components of output voltage
waveforms of the two converters and impedances being
leakage reactances of the two coupling transformers.
Fig. 5 depicts two voltage-source model of UPFC. System
voltage is taken as reference vector Vi = Vi\0 and
V0i = Vse + Vi. Voltage sources Vse and Vsh are controllable
in both their magnitudes and phase angles. r and c are
respectively the pu magnitude and phase angle of series
voltage source, operating within the following specied
limits given by Eq. (2).

I ij

Vse should be dened as:

P is rbse V 2i sin c

3. UPFC mathematical modeling

busi

0 6 r 6 rmax and 0 6 c 6 2p

IL

12

Similar modications can be applied to Eq. (6), nal equation takes the form of,
S js V i V j bse r sinhi  hj c jV i V j bse r coshi  hj c
13
Eq. (13) can also be decomposed into its real and imaginary parts,
S js P js jQjs ; where
P js V i V j bse r sinhi  hj c
Qjs V i V j bse r coshi  hj c

14
15

busj
Vj

busi
Vi

bse =1/X se

busj
Vj

Vsh
Ise
Fig. 5. Two voltage-source model of UPFC.

Fig. 6. Replacement of series voltage source by a current source.

A.M. Vural, M. Tumay / Electrical Power and Energy Systems 29 (2007) 617629

Based on Eqs. 11,12,14, and 15, power injection model of

the series-connected voltage source can be seen as two
dependent power injections at auxiliary buses i and j as
shown in Fig. 7. In UPFC, shunt branch is used mainly
to provide both the real power, Pseries, which is injected
to the system through the series branch, and the total losses
within the UPFC. The total switching losses of the two
converters is estimated to be about 2% of the power transferred for thyristor based PWM converters [21]. If the
losses are to be included in the real power injection of
the shunt-connected voltage source at bus i, Pshunt is equal
to 1.02 times the injected series real power Pseries through
the series-connected voltage source to the system.
P shunt 1:02P series

16

The apparent power supplied by the series converter is calculated as



V i0  V j

jc
S series V se I ij re V i
17
jX se
Active and reactive power supplied by the series converter
can be calculated from Eq. (17).




S series rejc V i rejc V i V i  V j =jX se
18




jhi c
jhi c
jhi
jhj
=  jX se
rV i e
V ie
 V je
S series rV i e
19
S series jbse r2 V 2i jbse rV 2i ejc  jbse V i V j ejhi hj c
2

2
i

S series jbse r V jbse rV

2
i cos c

20

j sin c

 jbse rV i V j coshi  hj c j sinhi  hj c

21
Final form Eq. (21) takes the form of
S series P series jQseries ; where
P series rbse V i V j sinhi  hj c  rbse V 2i sin c

22

2
i

Qseries rbse V i V j coshi  hj c rbse V cos c

r2 bse V 2i

23

The reactive power delivered or absorbed by converter 1

is not considered in this model, but its eect can be modeled as a separate controllable shunt reactive source. In
this case main function of reactive power is to maintain
the voltage level at bus i within acceptable limits. In view
of the above explanations, Qshunt can be assumed to be 0.
Consequently, UPFC mathematical model is constructed

busi

Vi

busj

X se

from the series-connected voltage source model with the

addition of a power injection equivalent to Pshunt + j0
to bus i, as depicted in Fig. 8. Finally, UPFC mathematical model can be constructed by combining the series
and shunt power injections at both bus i and bus j as
shown in Fig. 9.
The elements of equivalent power injections in Fig. 9
are,
P i;upfc 0:02rbse V 2i Sinc  1:02rbse V i V j Sinhi  hj c 24
P j;upfc rbse V i V j Sinhi  hj c
25
Qi;upfc rbse V 2i Cos c

26

Qj;upfc rbse V i V j Coshi  hj c

27

General nodal power ow equations and linearized power

system model can be expressed in rectangular form by
the following equations:
P f1 V ; h; G; B

28

Q f2 V ; h; G; B
n 

n 
n
H N
DP
Dh

J L
DQ
DV =V

29

Equivalent power injection

of shunt branch at bus i

30

where P and Q are vectors of real and reactive nodal power

injections, which are function of nodal voltages, (V\h),
and network conductances and susceptances, (G and B),
respectively. (DP = Pspe  Pcal) is the real power mismatch
vector and (DQ = Qspe  Qcal) is the reactive power mismatch vector. (DV and Dh) are vectors of incremental
changes in nodal voltages. H, N, J, and L denote the basic
elements in the Jacobian matrix. They corresponds to partial derivatives of the real and the reactive powers with respect to the phase angles and the magnitudes of the nodal
voltages, n is iteration number. Derived injected power
model can be incorporated into a general NR power ow
algorithm by modifying the related elements in the normal
Jacobian matrix and the corresponding power mismatch
equations as well. Since injected powers vary with busbar
voltage amplitudes and phases, the relevant elements of
busi
Vi

busj
Vj

X se

Pshunt + j 0
Equivalent power injection
of shunt branch at bus i
Fig. 8. Equivalent power injection of shunt branch.

Vj
busi
Vi

Pis + jQ is

621

X se

busj
Vj

P js + jQ js

Equivalent power injection

of series branch at bus j

Fig. 7. Equivalent power injection of series branch.

P i,upfc +jQ i,upfc

P j,upfc +jQ j,upfc

Fig. 9. UPFC mathematical model.

622

A.M. Vural, M. Tumay / Electrical Power and Energy Systems 29 (2007) 617629

Jacobian matrix will be modied at each iteration. Based

on Eqs. (24)(27), the following additional elements of
Jacobian matrix ((H = Horg + Hupfc) and for N, J and L
elements) owing to the injections of the UPFC at the buses
i and j can be derived.
For bus i; when i j;
oP i;upfc
H upfc

ii
ohi
oP i;upfc
upfc
N ii V i
oV i
oQ
i;upfc

J upfc
ii
ohi
oQi;upfc
Lupfc
Vi
ii
oV i

31
32
33

4. Implementation
The proposed algorithm for solving power ow problem
embedded with UPFC is implemented by using Fortran-77
language. The program is referred to as unied power ow
controller load ow (UPFCLF). Fig. 10 depicts the ow
diagram of the programming process. Overall procedure
of the proposed algorithm can be summarized as follows:
The input system data includes the basic system data
needed for conventional power ow calculation, i.e., the
number and types of buses, transmission line data, generation and load data, the location of UPFC and the values of
UPFC control parameters (r and c). System admittance

34
START

When i 5 j,
oP i;upfc
ohj
oP i;upfc
N upfc
Vj
ij
oV j
oQi;upfc

J upfc
ij
ohj
oQi;upfc
Vj
Lupfc
ij
oV j

H upfc

ij

35

INPUT
SYSTEM
DATA

36

FORM SYSTEM
ADMITTANCE
MATRIX

37
38

FORM
CONVENTIONAL
JACOBIAN MATRIX

For bus j, when i = j,

oP j;upfc
ohj
oP j;upfc
N upfc
Vj
jj
oV j
oQj;upfc

J upfc
jj
ohj
oQj;upfc
Vj
Lupfc
jj
oV j
H upfc

jj

39
MODIFY JACOBIAN
MATRIX AND
MISMATCH POWER
EQUATIONS

40
41

UPDATE SYSTEM
BUSBAR
VOLTAGES

42

When i 5 j,
oP j;upfc
ohi
oP j;upfc
N upfc
Vi
ji
oV i
oQ
j;upfc

J upfc
ji
ohi
oQj;upfc
Lupfc

ji
oV i

H upfc

ji

43
NO

44

IS THE
CONVERGENCE
ACHIEVED?
YES

45
46

Related power mismatches equations at bus i and bus j

must also be modied as:
DP i P i;G  P i;L P i;upfc  P i;Cal

47

DP j P j;G  P j;L P j;upfc  P j;Cal

DQi Qi;G  Qi;L Qi;upfc  Qi;Cal

48
49

DQj Qj;G  Qj;L Qj;upfc  Qj;Cal

50

OUTPUT LOAD FLOW

INFORMATION.
BUSBAR VOLTAGES.
GENERATIONS.
LINE FLOWS.
TRANSMISSION LOSSES.

STOP
Fig. 10. Flow chart of the proposed power ow algorithm.

A.M. Vural, M. Tumay / Electrical Power and Energy Systems 29 (2007) 617629

matrix and conventional Jacobian matrix is formed due to

incoming of UPFC. At the next step, Jacobian matrix is
modied and power equations (Eqs. (47)(50)) are mismatched. And then busbar voltages are updated at each
iteration. Convergence is checked whether achieved or
not; If no, Jacobian matrix is modied and power equations are mismatched until convergence is achieved. If
yes, power ow results are displayed.
Power system analysis software package (PSASP) [22]
is a commercial software, provides users to create selfdened models of advanced devices such as UPFC. In
order to verify the results of UPFCLF, PSASP has been
utilized for power ow studies on a PC with a Intel Pentium III microprocessor at 650 MHz. UPFC involved
power ow studies in PSASP require the following criteTM

Y=A

TM1

gamma

Y=A

TM3

TM1
TM2

VT1
VT1

ria: User-dened model of UPFC, schematically drawn in

Fig. 11, is developed from UPFC mathematical model
given by Eqs. (24)(27). Operator blocks constituting
Table 1
Blocks building user-dened model and their functions
Name of
block

Function

Y=A

Constant parameter block; input is equal to pre-dened

constant A
Multiplication block; multiplies the two inputs and outputs
the result
Summing block; sums the two inputs and outputs the result
Sine block; takes the sine of input and outputs the result
Cosine block; takes the cosine of input and outputs the
result

AX1 * X2
AX1 + BX2
SIN
COS

b se

pi/180

Y=A

TM2

Y=A

TM8

TM4

AX1*X2

AX1*X2

623

AX1*X2

TM5

TM4

ANGB1
ANGB2

AX1+BX2

AX1+BX2

TM3

TM8

TM7
VT2

TM1
AX1*X2
TM4

TM6

COS

TM7

AX1*X2

TM6

VT1

SIN

AX1*X2

AX1*X2

P j,upfc

AX1*X2

Q j,upfc

AX1*X2

TM6
AX1+BX2

TM3
TM8

AX1*X2

SIN

AX1*X2

TM5
COS

AX1*X2

Q i,upfc

TM5

Fig. 11. Block diagram representation of user-dened model of UPFC in PSASP.

P i,upfc

624

A.M. Vural, M. Tumay / Electrical Power and Energy Systems 29 (2007) 617629

user-dened model and their functions are listed in Table

1. By referring to Fig. 9, UPFC is seen between two
auxiliary PQ buses i and j, so these buses are created
on line where UPFC is considered to be positioned.
Series reactance Xse must be positioned between auxiliary
buses. Transmission line data must also be modied,

depending on the position of UPFC on the line; sending-end side, receiving-end side, or middle-line position.
Three possible UPFC locations in a sample line between
sample buses k and m are schematically drawn in Fig. 12.
Line impedance Zkm is modied according to UPFC
position.

Fig. 12. Possible UPFC locations in a sample line.

B12

B13

B14

L16

L9

L11

L17

L10
B11
L10

Gen.

B1

Syn. C.
L9

L8

B6
L15

L14

B8

L13

L5
Slack
Bus
L1
B2
L1

B9

B10

L7

L2

L6

Tr.

B5

UPFC

L12

Tr.

L5

Syn. C.

B4

L7

B7

L4

Tr.

Gen.
L4

L3
L6

L3

L11

B3
Syn. C.

L2
Fig. 13. IEEE 14-bus test system including UPFC.

A.M. Vural, M. Tumay / Electrical Power and Energy Systems 29 (2007) 617629

than 105 (pu) of the maximum absolute mismatch of

nodal power injection are used in all analyses. First of all
and without any compensation, the electrical system is
studied in order to determine the power ow in each of
the transmission line. This allows having a general idea
about system steady-state operation. Then UPFC is allocated on line L-5, close to bus 2, thought to be near power
generation sections. Dierent UPFC parameters are set to
activate UPFC, the transmitted active and reactive power
of all of the lines has remarkably changed. Table 2 shows
the selected results of power ow studies comparatively
carried out by UPFCLF and PSASP. Comparing power
ow solutions of the system without and with UPFC, it
can be concluded that the proposed two methods developed in this study are ecient on analysis of both power
ow and control parameters of UPFC. Table 3 gives
sample results of UPFCLF and PSASP on the iteration

5. Case studies
In order to investigate the feasibility of the proposed
techniques, UPFC embedded power ow studies on IEEE
14-bus test system [23], shown in Fig. 13, and IEEE 30bus test system [24], shown in Fig. 14, are carried out. It
should be pointed out that the results are taken by the
choice of UPFC parameters, i.e., the control parameters
of UPFC (r, c) are given and UPFC is operated in an
open-loop form. All the results indicate good convergence
and high accuracy achieved by the proposed methods.
5.1. IEEE 14-bus test system
Four dierent case studies on IEEE 14-bus test system
with added-on UPFC are performed using UPFCLF and
PSASP. Flat voltage start and a tolerance of accuracy less

G3

625

G2

L-5

L1

B5
L-8

L-1

G1

B7

B8
G4

L-6

UPFC

L4

B2

L-3

B1

L-9

L5

L-4
L-10

L6

B6

L-2

L-7
L-11

G5

B3

B4
L-12

L-11

G6

L-15

B11

L2

L8

L3

L-13

B9 L7
L-12

B12

B10

L-16

L-23

L-14
L-18

L-22

B17

B16
L12

L-25

L-24

B13

L11

B20

L-15

L15
L-21
L-36

L-37

B21
L-26

L-20
L16

B19

B18
L14

B22

L-29

L18

L-19

L13

L-17

L-28
L-27

B24

L10

L19

B28

B23

L-31

L-30
L17

B27

B26

B15

L-32

B25
L-34

L-36

L-33

L-35

B 29
L20

B 30
L21

Fig. 14. IEEE 30-bus test system including UPFC.

B14
L9

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Table 2
Power ow results of IEEE 14-bus test system without and with UPFC
Case 1: without UPFC
UPFC parameters (r = 0.0, c = 0.0)
Line power ow in pu from bus i to bus j, (Pij + jQij)

Case 2
UPFC parameters (r = 0.05, c = 45.0)
Line power ow in pu from bus i to bus j, (Pij + jQij)

(i  j)
(12)
(15)
(23)
(24)
(25)
(45)

(i  j)
(12)
(15)
(23)
(24)
(25)
(45)

By UPFCLF
1.5523  j0.2301
0.7780  j0.1352
0.7152 + j0.0140
0.5555  j0.1653
0.4187  j0.1930
0.6114  j0.0556

By PSASP
1.5512  j0.2296
0.7774  j0.1363
0.7176 + j0.0132
0.5564  j0.1648
0.4183  j0.1927
0.6114  j0.0556

UPFC Parameters (r = 0.1, c = 90.0)

Line power ow in pu from bus i to bus j, (Pij + jQij)
(i  j)
By UPFCLF
By PSASP
(12)
0.6593 + j0.0051
0.6586 + j0.0045
(15)
0.5228  j0.1309
0.5223  j0.1303
(23)
0.7131 + j0.0138
0.7129 + j0.0136
(24)
0.5502  j0.1894
0.5496  j0.1791
(25)
0.4285  j0.1914
0.4284  j0.1910
(45)
0.6233  j0.0946
0.6234  j0.0944

By UPFCLF
1.2034  j0.1467
0.6992  j0.1767
0.7201 + j0.0156
0.5643  j0.2029
0.0780  j0.0432
0.6047  j0.1593

By PSASP
1.2055  j0.1448
0.7002  j0.1770
0.7190 + j0.0130
0.5665  j0.2031
0.0777  j0.0415
0.6052  j0.1587

UPFC Parameters (r = 0.12, c = 15.0)

Line power ow in pu from bus i to bus j, (Pij + jQij)
(i  j)
By UPFCLF
By PSASP
(122)
1.2377  j0.1534
1.2375  j0.1529
(15)
0.6897  j0.2462
0.6898  j0.2461
(23)
0.6999 + j0.0152
0.7009 + j0.0149
(24)
0.5383  j0.2507
0.5383  j0.2507
(25)
0.1549 + j0.0228
0.1548 + j0.0226
(45)
0.6543  j0.2909
0.6533  j0.2907

Table 3
Calculation performance of UPFCLF and PSASP for IEEE 14-bus test system
Iteration number

Maximum mismatch

UPFC parameters

UPFCLF

PSASP

UPFCLF

PSASP

r (pu)

c (degrees)

6
8
10
11

4
6
7
8

5.0154489E-06
6.3553298E-06
8.0433486E-06
9.9920534E-06

3.0435816E-06
5.0017492E-06
7.0298664E-06
8.7021639E-06

0.0
0.05
0.1
0.12

0.0
45.0
90.0
15.0

number and maximum mismatches in case of dierent

UPFC parameters. Voltage prole of the system under different UPFC schemes can be observed in Fig. 15. Incoming
of UPFC has not changed voltage prole of the system signicantly except at buses 4 and 5. The reason is that during
UPFC operation a series voltage is injected on line L-5 via
UPFC series branch, causing a change in voltage magnitudes at the neighboring buses of UPFC. Although bus 1
and 6 are neighboring to bus 5, their voltage magnitudes
are not eected by UPFC, since bus 1 is actually a PV

Fig. 15. Voltage prole of IEEE 14-bus test system under investigation.

bus and a synchronous condenser is employed at bus 6 providing voltage regulation support. The results taken with
UPFCLF indicate no evidence of impairing merits of the
conventional NR algorithm and its quadratic convergence
characteristic maintains.
5.2. IEEE 30-bus test system
From the results of power ow study performed by
PSASP on IEEE 30-bus test system without UPFC,
uncompensated real and reactive power ows on line L-6
are 0.5555 pu and 0.0155 pu, respectively, while the total
real and reactive transmission losses are 0.1560 pu and
0.0164 pu, respectively. PSASP with UPFC user-dened
model is employed to evaluate the eects of UPFC allocation on steady-state operational characteristics of IEEE 30bus test system. Allowed iteration tolerance is taken as 1E6 in all tasks. Two dierent scenarios are considered in simulation studies.
5.2.1. Scenario A
UPFC device is positioned on line L-6 close to bus 6.
Line L-6 is the controlled line. Eects of UPFC on system
parameters such as; real and reactive power ows on line L6, overall total real and reactive transmission losses of the
system are investigated. During simulations, when a UPFC

A.M. Vural, M. Tumay / Electrical Power and Energy Systems 29 (2007) 617629

627

Fig. 16. Comparative graphical results related with simulation scenario A.

parameter is controlled, another is kept constant. Namely,

while r is controlled, c is kept constant, and vice versa. The
constant values of r and c are 0.1 pu and 90.0, respectively.
Power ow results of each simulation task are graphically
presented in Fig. 16.
5.2.2. Scenario B
A comparative study regarding the eects of UPFC allocation on important power system parameters is carried
out for the two dierent allocations. First position named
as position A is for close to bus 6 location on line L-6,
while second position is named as position B for middle

of line L-6 location. The comparable simulation results are

graphically represented in Fig. 17. The comparison for different UPFC allocations indicates the following results:
There were no signicant changes both on real power ow
and overall transmission real losses in IEEE 30-bus test system when UPFC position is changed on the line. One of the
UPFC parameter (r) is more eective than the other (c) on
the change of reactive power ow. The numerical results
show a 120.81% decrease when UPFC is moved from
position A to B when c is kept constant. But only a
30.91% decrease is obtained with the same position change
when r is kept constant. UPFC position change is also

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A.M. Vural, M. Tumay / Electrical Power and Energy Systems 29 (2007) 617629

Fig. 17. Comparable graphical results related with simulation scenario B.

eective on overall transmission reactive losses that an

approximately 30% decrease is calculated for a change
from position A to B when r or c is kept constant.
6. Conclusions
In this study, an improved UPFC mathematical model
for the implementation of the device in the conventional
NR power ow algorithm and even in commercial software
of power system analysis has been developed from twovoltage source equivalent of UPFC. The most salient fea-

tures of the proposed model are that the model is capable

of taking the losses of UPFC into account and it is highly
suitable for the adaptation into conventional NR algorithm and for user-dened model approach in commercial
software. Numerical computations conrm that the results
obtained by UPFCLF are matched with those of PSASP in
an acceptable tolerance. The user-dened model approach
for UPFC is eective and reliable in terms of computational speed, accuracy and computing resources requirement in commercial software. A UPFC can be
theoretically located anywhere along a transmission line

A.M. Vural, M. Tumay / Electrical Power and Energy Systems 29 (2007) 617629

in a power system. With this respect, the eects of UPFC

allocation on power ow solution have been thoroughly
investigated. The studies on the IEEE 14-bus test system
also show that the incoming of UPFC can disturb system
voltage prole at the neighboring buses signicantly unless
a voltage regulation support at those buses is provided.
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