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New Tools for Analysing Power System Dynamics

Ian A. Hiskens Department of Electrical and Computer Engineering University of Wisconsin - Madison (With support from many talented people.)

PSerc Research Tele-Seminar March 2, 2004

PSERC

Two main themes

Dealing with parameter uncertainty How much condence is there in load model parameters? Generator parameters? Simulation is too time-consuming to repeat studies for multiple parameter sets. Inverse problems What does this mean? Trajectory sensitivities form a common link between these two areas.

Inverse problems
Direct problem:
input x process K model output ?

Inverse problem (system identication):

input x process ? model output y

Inverse problem (causation):

input ? process K model output y

Inverse problems (continued)

Power system context Identication problems Load models and parameters Generator parameters What controller parameters ensure appropriate fault-recovery dynamics? What load changes maintain dynamic security? Under what conditions could a fault induce incidental protection operation? Protection operation caused by post-fault transients.

Trajectory sensitivities

Let (t; ) describe the trajectory (ow), at time t, due to parameters . Determined by simulation. The corresponding trajectory sensitivities are (t; ) Characteristics of sensitivities : Quantify the change in a trajectory due to a small change in parameters. Can be computed eciently, as a by-product of simulating the nominal trajectory. Well dened for nonlinear non-smooth systems. Provide gradient information that underlies Newton-type algorithms (shooting methods).
(t; ).

Trajectory approximation
Taylor series expansion of the ow gives, (t; + ) = (t; ) + (t; )
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Example: Generator eld voltage.

Field voltage, Efd (pu)

1 Actual computed trajectory, tcl=0.23 sec, Efdmax=5.8 0 Approximate perturbed trajectory, tcl=0.21 sec, Efdmax=5.0 Actual perturbed trajectory (for comparison) 1 0 0.2 0.4 0.6 0.8 1 Time (sec) 1.2 1.4 1.6 1.8 2

Error bounds
Many system parameters are not known precisely, but are better described by probability distributions. Select parameter sets using a Monte-Carlo process. Form an approximate trajectory for each set.
1.2

Nominal trajectory Terminal voltage (pu) 0.8 Error bound 0.6

0.4

0.2

0.2

0.4

0.6

0.8

1 Time (sec)

1.2

1.4

1.6

1.8

Parameter estimation

Desire a systematic approach to: Determine which parameters are well conditioned (identiable). Estimate those parameters Algorithm: Minimize the nonlinear least-squares cost 1 J () = 2
m

(tk ; ) ms(tk )
k=1

via the Gauss-Newton iterative scheme (j )T (j )j+1 = (j )T (j ) ms j+1 = j j+1 j+1

Parameter estimation (continued)

Nordel example
450

Bus 12 voltage, V

12

(kV)

400

350 Measured Initial parameter values Estimated parameter values

300

5 Time (s)

10

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Performance specication (grazing)

Trajectory is tangential to a performance boundary.

Parameter values g + Boundary

x+ xg

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Performance specication (continued)

Example: Generator eld control. What value of Ef d,max ensures voltage does not overshoot abnormally following a fault?
Vref Vt 1 1+sTR + Efdmax 1+sTC 1+sTB Efdmin KA 1+sTA Efd

VPSS
Vmax Vmin

1+sT1 1+sT2

sTw 1+sTw

KPSS

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Performance specication (continued)

Terminal voltage constrained below 1.2 pu during initial transient.

1.3 Hypersurface b(x,y): V 1.2=0 1.2
t

1.1

1 Terminal voltage, V (pu)

0.9

0.8

0.7

Initial parameter value Grazing parameter value

0.6

0.5

0.4

0.3

0.2

0.4

0.6

0.8

1 Time (sec)

1.2

1.4

1.6

1.8

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Performance specication (continued)

Example: Distance protection. How far can load be increased before a fault disturbance induces incidental protection operation?
Initial trajectory 1.2 Grazing trajectory

b(x,y)=0

0.8

0.6 X 0.4 a 0.2 c

2 2

a1

b2 b
1

0.2

0.4 0.2 0 0.2 0.4 0.6 0.8 R 1 1.2 1.4 1.6 1.8

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Performance specication (continued)

Example: Distance protection with timing. Replace conditions enforcing tangential contact by conditions specifying time inside mho characteristic.
Initial trajectory 1.2 Timeconstraint trajectory

b(x,y)=0

0.8

0.6 X 0.4 a 0.2 c2 0 b2 c

1

b 0.2

0.4 0.2 0 0.2 0.4 0.6 0.8 R 1 1.2 1.4 1.6 1.8

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Performance specication (continued)

Initial, grazing, and time-constraint cases.
3 Initial trajectory 2.5 Grazing trajectory Timeconstraint trajectory

1.5 b(x,y)

0.5

0 =0.3 s 0.5 0 0.2 0.4 0.6 0.8 Time (s) 1 1.2 1.4 1.6 1.8 2

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Dynamic embedded optimization

Minimize the cost J () = (tf ; ), , tf +

tf

(t; ), , t dt
t0

where (t; ) satises the dynamic model. Closely related to optimal control, but optimizing over nite dimensional design parameters. Some technical issues arise for hybrid (switched) systems if event order changes.

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Dynamic embedded optimization (continued)

Example: AVR/PSS tuning What values of PSS output limits give best damping?
Vref Vt 1 1+sTR + Efdmax 1+sTC 1+sTB Efdmin KA 1+sTA Efd

VPSS
Vmax Vmin

1+sT1 1+sT2

sTw 1+sTw

KPSS

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Dynamic embedded optimization (continued)

Optimization adjusted the lower PSS limit from -0.1 to -0.33 pu. Noticable damping improvement.
2.5

Generator angle, (rad)

1.5

0.5

Initial limit values Optimal limit values

0.5

1.5

2.5 Time (sec)

3.5

4.5

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Conclusions

Parameter uncertainty is unavoidable in power systems, and should be considered in decision making. This is computationally feasible using rst-order approximations of trajectories. Many analysis and design processes are eectively inverse problems. Such problems can be solved using gradient-based iterative algorithms. In both cases, ecient computation of trajectory sensitivities underlies practical algorithms.

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Extra Material

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Simulation model

Dierential Algebraic Impulsive Switched (DAIS) model x = f (x, y) x+ = hi (x , y ),

x = f (x, y) +
i=1

(yr,i ) hi (x, y) x
s

yr,i = 0

0 = g(x, y) g (0) (x, y) +

j=1

g (j) (x, y)

where g (j) (x, y) g (j) (x, y) = g (j+) (x, y)

ys,j < 0 ys,j > 0

j = 1, ..., s

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Trajectory sensitivity computation

Smooth sections of trajectories evolve according to x = f (x, y) 0 = g(x, y) Dierentiating with respect to x0 gives f x = (t)x + x g (t)x + 0= x Initial conditions x (t0 ) = I f (t)y y g (t)y y

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Trajectory sensitivities at events

At an event (at time ), sensitivities evolve according to jump conditions, x ( + ) = x ( ) f + f
Nominal trajectory Perturbed trajectory

x0

x0 f x( ) + x x x( ) + x0 + f x( + )

Triggering hypersurface

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Grazing and time-constraint formulation

For simplicity, the ODE form of equations is presented rather than the DAE form.

Grazing (tg ; ) xg = 0 b(xg ) = 0 bx (xg )f (xg ) = 0

Time constraint (t1 ; ) x1 = 0 (t2 ; ) x2 = 0 b(x1 ) = 0 b(x2 ) = 0 t1 t2 spec = 0