Power System Security Improvement Using the Unified Power Flow Controller (UPFC)

A. Kazemi, H. A. Shayanfar, A. Rabiee, and J. Aghaie

analytically and the proposed operation algorithm based on the sensitivity vector finds the proper points which reduce the security index. Two other indices related to security are assessed after determination of the operating points of UPFCs by the suggested algorithm. II. STEADY STATE UPFC MODEL In order to study the effects of a UPFC in the steady state power system, it is essential to use a UPFC model for load flow calculation. Two types of UPFC models are represented in the papers. One is a coupled model [4] and the other is a decoupled model [1], [5], and [6]. In the first type a UPFC is modeled with a voltage source series with an impedance in the transmission line. In the second type a UPFC is modeled with two separated buses. The first type is more difficult compared with the second one and the modification of the Jacobean matrix of system should be applied if it is used. On the other hand the decoupled model can be easily used in conventional power flow methods without changing the Jacobean matrix of the system. In this paper the decoupled model, as shown in Fig. 1, is used for power flow study.

Abstract--This paper presents an algorithm to find the operating point of UPFCs for the enhancement of system security level. The proposed algorithm minimizes the security index iteratively. The security index indicates the overload level of transmission lines. The sensitivity indicating the change of the index due to the changes in the UPFC real power output is calculated. In each iteration, according to this sensitivity, the proposed algorithm finds a new UPFC operating point to reduce the index or increase the security margin. Also two other indices related to system security level are examined after the UPFCs operating points determination. The proposed algorithm is verified by IEEE 14 bus network. The results show that the power flow congestion can be relieved and the security margin increased both in overloaded or faulted condition by applying the suggested operating algorithm to UPFCs. Index Terms-Flexible AC Transmission System (FACTS), Operation Algorithm, Security Index, Unified Power Flow Controller (UPFC).

S power system transfer increases, the operation of power system becomes gradually more complex and consequently the power system would be less secure. To meet the increasing power system demand with existing transmission lines, the application of FACTS devices becomes an alternative. Flexible AC Transmission System (FACTS) improves the stability of power systems both with its fast control characteristics and continuous compensating capability [1]. FACTS devices can enable a line to carry its flow close to rating capacity and a bus to maintain its voltage of desired level and consequently can improve the power system security in contingency condition. FACTS devices can be categorized into three types, such as series compensators for controlling line flows, shunt compensators for controlling bus voltages and combined series-shunt compensators [1-8]. UPFC can be employed in order to control both line flows and bus voltages simultaneously. The security index related to lines flow is considered and minimized by an iterative method. For minimization, the sensitivity vector of the index is derived
The authors are with the Center of Excellence for Power System Automation and Operation, Department of Electrical Engineering, Iran University of Science and Technology (IUST), Narmak 16846, Tehran, Iran, (e-mails: kazemi@iust.ac.ir, hashayanfar@yahoo.com, rabiee@iust.ac.ir, j_aghaei@yahoo.com )

I. INTRODUCTION

Pij + jQij
BUS i

Pij + jQij
BUS j

Pu 1 + jQ u 1

Pu 2 + jQu 2

UPFC
Fig. 1. The decoupled model of UPFC.

A UPFC controls the power flow in the transmission line where it is installed. In order to identify the UPFC in load flow study, it is represented by variables Pu 1 , Qu1 , Pu2 , Qu2 . If the UPFC is assumed to be lossless, the real power flow Pij that flows from bus i to bus j can be written as: Pij = Pu 1 (1)

Although a UPFC can control the power flow but cannot generate the real power. So equation (2) should be considered in the model. Pu 1 + Pu 2 = 0 (2) The values of Qu 1 , Qu2 , can be set to an arbitrary value within the capacity of UPFC to maintain the bus voltage. In the same way if multiple UPFCs are installed in the power

0-7803-9525-5/06/$20.00 2006 IEEE.

system, the control variables for the kth installed UPFC are shown as follows:
u U U U UPFC k th p kl QK 1 PK 2 Q K 2

pij =

ViV j X ij

sin ij

(6)

(3)

So that:
Pku1 + Pku2 = 0

where Vi ,V j : the voltage magnitudes of bus i and bus j

X ij : reactance of line between bus i and bus j

ij : voltage phase difference between bus i and bus j

so equation (5) can be written as:

It is assumed that the UPFCs are installed in the middle of lines [2] and have the ability to change the capacity of the lines ultimately to 0.5 times of their initial capacity. III. SECURITY INDEX For the power system security assessment, the following J can be used to indicate the severity of each contingency.

vi v j sin ij J = Alax i j , j i xij pij

(7)

As the change of bus voltage magnitude is usually smaller than the change of sin ij , it can be assumed that the change of index over the change of voltage magnitude is small enough and is negligible. So the partial derivative of the index over the kth UPFC real power will be as follows:
j J ij = u u pk ij p k

pk J = wk p Max k k

(4)

where, k : transmission line number wk : weighing factor

pk : real power flow in the

(8)

k th line

Max pk : maximum real power flow in the k th line

where Pku : real power flow of the k th UPFC From equation (7) and (8) equation (9) is derived.
ViV j J sinij cosij ij = 2 u u Afax pk pk i j , j i X ij pij
2

The index J would be a small value when the total real power distributed evenly in relation to the power flow capacity of each line in the system. And the index would increase as the number of overload lines increases. Therefore it can be said that if the index increases, the system security margin will decrease. Consequently the index J can be used to indicate the security level of the operating system. IV. UPFC OPERATION TO IMPROVE THE SYSTEM SECURITY LEVEL If the weighting factors for all lines are assumed to 1, the index becomes as follows:

(9)

ij is the voltage phase difference between buses i and j, the

following equation is obtained:

ij p
u k

i j u u pk pk

(10)

Combining equations (9) and (10) gives the following equation.

ViVj J sinij cosij i j = 2 u u Max u pk i j, ji XijP ij pk pk
2

pij J = aiax i i , j =1 pij

where i , j : bus numbers

(5)

(11)

Pij : real power flow in the line between bus i and j pkMax : maximum real power flow in the line between bus i and

Each UPFC should satisfy equation (1) and (2) individually. Therefore the partial derivative over the real power flow of k th UPFC is:
u u i i pk pk 1 2 = u + ui = ui ui u u u pk pk 1 pk pk 2 pk pk1 pk 2

j
The real power flow can be expressed as:

(12)

and similarly for bus j we have:

 j p
u k

u u j pk j pk j j 1 2 + = u u u u u u pk 1 pk pk 2 pk pk1 pk 2

(13)

Combining equation (11), (12) and (13) gives the sensitivity of the index over the kth UPFC real power as follows:

maximize the system security level. The algorithm is shown in Fig. 2. Two other security indices are assessed after finding the operating points of UPFCs with the proposed algorithm. They are identified as:
n Tk J MVA = wk T max k =1 k

ViVj J sinij cos ij P 2 = u Max p k i j , ji Xij p ij P i i j j = p u p u p u + p u k2 k1 k2 k1

2n

(20)

(14)

where: Tk : apparent power flow in branch k

T
max k

: overload limit of branch k

The power flow study yields all of the information required to i calculate the value of sensitivity. Namely terms can be u pk obtained from the inverse of the system Jacobean matrix. i Obviously the value of for slack bus (when bus i is u pk slack bus) is equal to zero. If n UPFCs are installed in the system, n sensitivities from the UPFCs form the gradient as follows.

wk : weighting factor

n : number of branches
And the other security index is:
2 J V = bm ( vm v ref m ) m

(21)

J J = u p1

J u p2

J u pn

where: m : number of load buses bm : weighting factor

vm : voltage magnitude at bus m
v ref m : reference voltage magnitude at bus m

(15)

Using the Marquardt method, the approximate Hessian is obtained as:

H = J T J

(16)

This Hessian can be modified as:

Hm = H + I

(17)

where: : a constant I: an identity matrix, same dimension with H The direction vector S with the mentioned Hessian matrix would be as follow:
1 S = H m J

(18)
Fig. 2. The UPFCs operation algorithm.

Finally the direction vector leads the new UPFCs operating point or the real power outputs of UPFCs as:

[p

u 1

u m p2 K pn

T new

u u m = p1 p2 K pn

T old

+s

(19)

When the bus voltages have a value close to desired level, J v would be a small value. There is a relationship between the values of J v and the system security level. Conceptually, the system will be more secure when value of J v decreases. These two indices will be studied in the case study.

Using the above procedure this method finds the optimum UPFCs operating points which minimize the index or

V. CASE STUDY To verify the proposed algorithm, the modified IEEE14 bus network shown in Fig. 3 is considered. This system is compensated voltage magnitude of buses equal to 1 pu is achieved. In the normal system operation, the line connecting bus 1 and bus 2 (line 1-2) carries 1.3 pu real power and consequently is overloaded. On the other hand line 1-8 carries 0.6 pu real power. To improve the system severe condition by using the mentioned algorithm a UPFC is installed in the midpoint of line 1-8. The UPFC operation leads to decrease the real power of line 1-2 to 0.9 pu and thereby the real power value of line 1-8 increases nearly to 1 pu. The installed UPFC relieves the over load of line 1-2. However both lines 1-2 and 1-8 are still congested. This situation is inevitable and will be unchanged unless a new transmission line is installed between buses 1 and 2. Table I shows the results of both before and after UPFC installation in system normal operation. The voltage profile of network is shown in Fig. 4.

The operation of the algorithm is studied in the system with a line fault. In this case it is supposed that line 2-9 is removed due to a line fault. Two scenarios are considered. In the first one, the system is improved by installing just one UPFC in the mid point of line 2-3. This case makes sense but the line 8-9 will be overloaded (approximately 1.2 pu). So in the second scenario, besides the installed UPFC in the first scenario, another UPFC is installed in line 8-9 to share the line heavy load with the other lines. The results are shown in Table II and III. The voltage profiles of system for two scenarios are shown in Fig. 5 and 6 respectively. It should be mentioned that in both normal and fault conditions according to the proposed algorithm, the UPFCs operation makes all three security indices to decrease.
1.1 1.05 1 0.95 0.9 0.85 0.8 1 3 5 7 9 11 13
Bus Number Voltage Magnitude (pu)

Without UPFC With UPFC

Fig. 5. Voltage profile of the system before and after UPFC installation in the midpoint of lines 2-3 ( the first scenario).

1.1 1.05 1 0.95 0.9 0.85 0.8 1 3 5 7 9 11 13

Bus Number

Voltage Magnitude (pu)

Without UPFC With UPFC

Fig. 3. IEEE 14-bus Network. TABLE I THE VALUES OF SECURITY INDICES IN SYSTEM IN NORMAL OPERATION UPFC Overloaded Jp J MVA JV operation Lines -0.27 10.69 8.62 11.83 9.65 0.073 0.069 Line 1-2 --

Fig. 6. Voltage profile of the system before and after UPFC installation in the midpoint of lines 2-3 and 8-9 (the second scenario). TABLE II THE VALUES OF SECURITY INDICES IN SYSTEM WITH LINE FAULT- THE
FIRST SCENARIO

UPFCs operation --

Jp
14.2 11.29

J MVA
15.89 12.92

JV
0.174 0.154

Overloaded Lines Line 1-2 Line 2-3 --

Voltage Magnitude (pu)

1.1 1.05 1 0.95 0.9 1 3 5 7 9 11 13

Bus Number Without UPFC With UPFC

-0.35

TABLE III THE VALUES OF SECURITY INDICES IN SYSTEM WITH LINE FAULT-THE SECOND
SCENARIO

UPFCs operation --0.33, -0.19

Jp
14.2 10.7

J MVA
15.89 11.36

JV
0.174 0.165

Overloaded Lines Line 1-2 Line 2-3 --

Fig. 4. Voltage profile of the system before and after UPFC installation in the midpoint of line 1-8.

VI. CONCLUSION When multiple UPFCs are installed in the system, an operation algorithm that finds the proper points of all UPFCs is necessary. In this paper an algorithm is presented to find the operating point of UPFC. The proposed algorithm enhances the security level of power system. The proposed algorithm is tested on IEEE 14 bus network in both normal and fault conditions. From the satisfactory results it is concluded that the performance of UPFCs in the operating points determined by the proposed algorithm not only cause to decrease the index related to real power flow of lines but also decrease the security indices related to apparent power flow of lines and magnitude of buses voltage. Also from the case study it can observed that the security margin of system increase more as the number of installed UPFC in the system become more. This situation should study from the economical point of view. VII. REFERENCES
[1] [2] S. H. Kim, J. U. Lim, S. II. Moon, "Enhancement of power system security level through the power control of UPFC", IEEE con, 2000, pp. 38-43. B. T. Oooi, M. Kazerani, R. Marceau, Z. Wolanski, F. D. Galiana, D. McGillis, G. Joos, "Mid-point siting of FACTS devices in transmission lines", IEEE Trans. On power delivery, Vol. 12, No. 4, October 1997, pp. 1717-1722. Nabavi-Niaki, M. R. Iravani, "Steady state and dynamic models of unified power flow controller(UPFC) for power system studies", IEEE Trans. on power delivery, Vol. 11, No. 4, November 1996. M. Noroozian, L. Angquist, M. Ghandhari, G. Andersson, "Use of UPFC for optimal power flow control", IEEE Trans. on power delivery, Vol. 12, No. 4, October 1997, pp. 1629-1634. T. H. Kim, J. Ch. Seo, J. U. Lim, S. Moon, J. K. Park, B. M. Han, "A Decoupled unified power flow controller model for power flow considering limit resolution", IEEE 1998, pp. 1190-1195. J. U. Lim, S. I. Moon, "An operation scheme of UPFC's considering operation objective and states", IEEE 2002, pp. 610-615. D. J. Gotham, G. T. Heydt, "Power flow control and power flow studies for systems with FACTS devices", IEEE Tras on power systems, Vol. 13, No. 1, February 1998, pp. 60-65. C. R. Fuerte-Esquivel, E. Acha, and H. Ambriz-Perez, "A Comprehensive Newton-Raphson UPFC Model for the Quadratic Power Flow Solution of Practical power networks", IEEE Trans on power systems, Vol. 15, No. 1, February 2000, pp. 102-109.

VIII. BIOGRAPHIES
Ahad Kazemi received the B.S. and M.S.E. degrees in Electrical Engineering in 1974 and 1979 from Oklahoma State University, USA, in 1981. Currently, He is a Associated Professor at Electrical Engineering Department of IUST, Tehran, Iran. His research interests are in the power system analysis, reactive power control and FACTS devices. He is a member of Iranian Association of Electrical and Electronic Engineers (IAEEE) and IEEE. Heidar Ali Shayanfar received the B.S. and M.S.E. degrees in Electrical Engineering in 1973 and 1979 and the PhD degree in Electrical Engineering from Michigan State University, U.S.A., in 1981. Currently, He is a Full Professor at Electrical Engineering Department of IUST, Tehran, Iran. His research interests are in the application of Artificial Intelligence to power system control design, dynamic load modeling, power system observability studies and voltage collapse. He is a member of Iranian Association of Electrical and Electronic Engineers (IAEEE) and IEEE.

[3] [4] [5] [6] [7] [8]

Abdoorreza Rabiee received the B.S. and M.S.E. degrees in Electrical Engineering in 2002 and 2004 from Shahid Chamran University and Iran University of Science and Technology (IUST), respectively and currently he is PhD student in IUST. His research interests are in the application of FACTS devices, power markets and power distribution systems.

Jamshid Aghaei received the B.S. and M.S.E. degrees in Electrical Engineering in 2003 and 2005 from Power and Water Institute of Technology (PWIT) and Iran University of Science and Technology (IUST), respectively and currently he is PhD student in IUST. His research interests are in the application of FACTS devices and power markets. He is a member of Iranian Association of Electrical and Electronic Engineers (IAEEE).