A.

New Method of Network Reconfiguration for Service Restoration in Shipboard Power Systems
Karen,. L. Butler N.D.R. Sarrnal V. Rajendra Prasad
Member, IEEE Member, IEEE
Power System Automation Laboratory
Department of Electrical Engineering
Texas A&M University
College Station, TX-77843-3 128, USA
( On Sabbatical Leave flom CMC Limited, INDIA. )
Abstrack The electric power systems of ships supply energy to
sophkticated systems for weapons, communications,navigation and
operaticm.Circuit breakers(CBs)and fuses are provided at different
locations in order to remove faulted loads, generators or distribution
systems from unfaulted portions of the system. These faults could be
due to material causalities of individual loads or cables or due to
widespread system fault due to battle damage. Because of the faults
and after isolating the fault, there are unfaulted sections which are left
without supply. It is required to quickly restore supply to these
unfaultcd sections of the shipboard power systems. This paper presents
a new method to reconfigure the network to restore service to unfaulted
sections of the system. The problem is formulated as a modification of
the fixed charge network flow problem. The proposed method is
illustrated using different case studies.
Keywords: Shlpborrrd Power Systems, Reconfiguration, Service
Restoration, Network Flow Method.
L INTRODUCTION
Shipboard Power Systems (SPS) consist of generators which are
connected in ring configuration through generator switchboards
[1]. Elus tie circuit breakers interconnect the generator
switchboards which allow for the transfer of power ffom one
switchboard to another. Load centers and some loads are
supplied from generator switchboards. Load centers in turn
supply power to power panels to which different loads are
connected. Feeders supplying power to load centers, power
panels, and loads are radial in nature. For vital loads, two
sources of power (normal and alternate) are provided ffom
separate sources via automatic bus transfers (ABTs) or manual
bus transfers (MBTs). Further, vital loads are isolated ffom non-
vital loads to accommodate load shedding during an electrical
system causality.
Department of Industrial Engineering
Texas A&M University
College Station, TX-77843-3 131, USA
Circuit breakers(CBs) and fises are provided at different
locations in order to remove faulted loads, generators or
distribution systems from unfaulted portions of the system,
These faults could be due to material causalities of individual
loads or cables or due to widespread system fault due to battle
damage. Because of the faults and after isolating the fault, there
are unfaulted sections which are left without supply. It is
required to quickly restore supply to these unfaulted sections of
the SPS. This is accomplished by changing the configuration of
the system by opening andlor closing some switches
(CBs/MBTs/ABTs) to restore supply to maximum load in the
unfaulted section of SPS to continue the present mission.
While reconfiguring the network for service restoration it is also
important to maintain the radial nature of the system, for ease of
fault location and isolation and coordination of the protective
devices. Another important factor to be considered while
reconfiguring the network is to ensure that the capacities of the
generators, circuit breakers and cables are not violated.
In the literature there are several papers [2-11] discussing this
problem for utility systems. Most of the methods are based on
heuristic search techniques. Some of the methods are based on
graph theory [9- 11]. However, SPS have different
configurations when compared to utility systems[ 1]. There are
no papers publicly available in the literature which address the
problem of service restoration for SPS. In this paper a new and
simple method is proposed to solve this problem for SPS.
Though the existing methods available for utility systems can be
implemented for SPS, in this paper, it is attempted to solve the
problem in a simpler way which is more suitable to SPS. The
problem is formulated as a modification of Fixed Charge
NeWork Flow problem [12]. The proposed method does not
require any load flow/power flow analysis to veri~ the current
capacity and voltage constraints. It would directly suggest the
reconfigured network which restores maximum load satisfying
the constraints and also ensuring the radiality condition. The
method is illustrated with various case studies. The paper is
organized as follows: Section 2 presents the mathematical
problem formulation. This is illustrated using various case
studies in section 3. Conclusions are given in section 4.
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II. MATHEMATICAL PROBLEM FORMULATION
Consider a small shipboard power system (SPS) as shown in
Fig. 1. This system consists of two generators each supplying a
load center. Some loads are connected to the load center directly
and some via ABTM13Ts. The loads connected via ABT/MBT
have an alternate supply. Graphical representation of this
system is shown in Fig, 2. In Fig. 2, ABT/MBT is represented
with two switches as shown in Fig. 3. Since supply should be
from only one source (in radial systems), only one of these
switches is in a closed position at a given time. The edges in
dotted line indicate alternate paths. The switches in open and
close position are depicted as J and + respectively.
Whenever there is a fault on any of the edges, and after it is
isolated, there would be no supply to the loads on the path which
are beyond the faulted edge. Supply has to be restored to most of
these affected loads, by closing some of the switches which are
open. This has to be done while satis@g the capacity and
voltage constraint and ensuring the radiality condition. Voltage
constraints are not handled in the present work.
For example, if there is a fault on cable (edge 15) connecting
load 1A (at node 17) and after it is isolate~ there would be no
power to the load L4 at node 17 (as can be seen from in Fig. 1).
Power has to be restored to this load without any capacity
violations. Also the radiality configuration has to be maintained.
Also it is possible that there are several simultaneous faults
affecting several loads. In such cases supply has to be restored to
maximum load satis~ing the constraints.
The mathematical formulation of this problem is explained in
the following section.
A. Problem formulation:
The problem is now formulated as a modification of the fwed
charge Network Flow Problem [2].
Let Vrepresent the set of nodes and E represent set of edges in
the network. Let C=represent the capaci~ of the edge a. Let
D = {D,,D2,...,D~}represent the set of load nodes in the network.
The set {KE} represents the network under consideration. Let Ec
represent the set of edges which are in closed position.
Therefore, the set E.= (E - E=) represents the set of open edges
in the network. After the fault there are some edges which are
faulty and some which are not faulty. Let Ep~ represent the set of
edges which are not faulty. Now the set of edges which are
available for the restoration of power to all load points given in
D is given by A = -& u ( E - Ec) and the network would be
represented by the set {W}.
Q
%=. &
Load
cater
J
T
~> 4
: G
Altmlat. ; 7 ~ ~ti
a b : MBT
18 : Li
LOadi i
:L4
17 t ;3 20
z
- Normal
Load
L3
,Tg,
bad
inter
>10 21
Generator
>9
Bus-tie
swik++mard
6
breaker
G
Fig, 1. ExampleSystem1
m
20
m
10
EIl
&
L4 s
. . . . . .J
14
Fig. 2. Graphicalrepresentationof
ExampleSystem 1 (Fig. 1)

Load
Load
Fig. 3. Modeling of ABTM4BT
At a node i, let Ii represent the set of edges, through which
currents flows into the node, and Oi the set of edges with
current flowing out of the node. Let Li represent the load current
at node i.
Zi ={(r, i)e A\re V}; (1)
where (r, i ) represents the directed edge from node r to i
Similarly,
@
Oi ={(i, r)e Alre V}; (2) i
0<
where (i, r) represents the directed edge fi-omnode i to r
Let X_,be the flow in edge a. Let Y. be defined as follows:
Y,= 1, if current flows through edge a
= O, otherwise.
To restore service through reconfiguration, some of the edges of
EOhave to be closed.
0-7803-5515-6/99/$10.00 (c) 1999 IEEE
Now, tlhemathematical formulation of the problem is as follows:
Obiective Function :
k
Minimize
x
Li (3)
i=l
k
It maybe noted that ~ Li is the total load supplied at load
i=1
nodes D,, Dz, ....D&
Constraints:
.
1.
2.
3.
4.
At any source node i, the sum of the flows going out of the
source node should be less than the total capacity of the
respective source node Ci :

< Ci (4)
aCOi
At any node i, (except source node) sum of flows into the
node should be equal to sum of the flows coming out of the
node:
2.1
2.2
At a load node Di
tiGZi ZiEOi
At any other intermediate node i
(5)
(6)
a= Ii aGOi
The flow in an edge should be less than or equal to the
capacity of the edge:
x,< ~ci fori~ A (7)
The system should be radial: This implies that at any node i
there should be only one edge feeding that node.
z
Ya=l (8)
a~Ii
If this problem [presented in Equations (3)-(8)] is solved, it will
ensure that the restored network would restore supply power to
as much load as possible and also all the capacity constraints are
satisfied. Further, this would also ensure radlality condition.
This is illustrated in the following section.
11[.ILLUSTRATION OF THE PROPOSED METHOD
The proposed method is illustrated with the example system
shown in Fig. 1. Fig 2. represents the graphical representation of
Fig. 1. It can be seen that all generators are connected in ring
configuration. When all the generators are in operation, fault on
any of the components in ring may not affect supply to any load.
All components below the generator switchboards are operated
in radial configuration and fault on any of these components
would interrupt power supply to some loads. Hence for the
purpose of service restoration problem, faults on the components
in ring configuration need not be studied. Hence the network can
be modified by merging all the generator switchboards and bus-
tie breakers.
Thus the example system shown in Fig. 2 will be modified as
shown in Fig. 4 by merging the nodes corresponding to the
generator switchboards connected in ring. In Fig. 4, node 21
represents the new node after merging all the generator
switchboards and bus-tie-breakers ( nodes 2,19,20,11). Node 22
represents the new source node whose capacity is equal to the
sum of the capacities of generators 1 and 2 (nodes 1 and 10).
Accordingly, the capacity of edge 22 is equal to the capacity of
source node 22. This system will be studied for the purpose of
reconfiguration for service restoration. It is assumed that some
of the loads(L1, Lz and LJ can be varied ftom zero amps to 20
amps. Such loads represent lump loads consisting of several
individual loads. Load LJ is assumed to be a f~ed load of 20
amps which represents loads like motors. This assumption helps
to demonstrate the effectiveness of the proposed model which
will restore as much load as possible for a given fault condition.
In case of load Lg, if it is supplied it will take 20 amps. Whereas
the other loads can be varied from O to 20 amps. In order to
facilitate modeling of the loads as discussed above, a O-1integer
variable (zi) is associated with each load and loads are expressed
as follows in the problem formulation:
L1-z1*20 <O;
L2 -22$20< O;
L3 - z3*20 = O;
L4 - z4*20 < O;
This will ensure that optimal values of loads can be maximum of
20 amps in case of Ll, L2 and L~, whereas the optimal value of
L, can be either Oor 20 amps.
u
Fi~ 4.Gmphkal representation ofexample system 1 after
merging components in the ring configuration
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Also it is assumed that values of impedance of all the edges is
0.01 except those representing switches which is assumed to be
equal to zero. Also it is assumed that the capacity of each edge is
80 amps.
Various case studies are presented below to illustrate the
effectiveness of the proposed method.
CASE 1: Initially, the system without any faults is studied.
Based on the explanation given earlier the system is modeled as
follows:
Objective Function :
Maximize L1+L2+L3+L4;
Subject to :
Source node constraint;
X22 -100 so;
Load details;
1.1- 21*2O< O; L2 - 22*2O< O; L3 -z3*20 = O; L4 - z4*20 < O;
Load node constraints;
x7+x8 -L1=O; x3- L2=O; x11- L3=O; X16+ X17- L4=O;
Intermediate node constraints;
.&~-fi-xlo=O; fl-x3 -x4-x5=(); X5-X6=(3; X6-X7=13;
x4-x18=O; x18 -x17=O; x1O-x11 -x12-x14=0 ; x14- x15=O;
Xl~ - x16 O; x12 - x13 =0; x13 -x8= O;
Edge capacity constraints;
x2 - SO*Y2< O; x3 - 80*y3 < O; x4 - 80*y4 <O; x5 - 80*y5 <O;
x6 - 80*y6 s O; x7 - 80*y7 <O; x8 - 80*y8 < O; x1O- 80*y10 < O;
x11 -80*y11 <0; x12- 80*y12 <O; x13 - 80*y13 sO;
x14- 80*y14s O; x15 - 80*y15 <0; x16 -80*y16s O;
X1(7- 80*y17 <O; x18 - 80*y18 <O;
RadiWy constraints;
y7+y8<l; y17+y16<l;
Initial configuration details;
y2=l; y3=l; y4=l; y5=l; y6=l; y7=l; ylO=l; yll=l; y12=l;
y14=l; y15=l; y16=l;
It may be noted that the variables Xi (i.e., Flows) should be
positive and the variables Yi and Zi should be O-1 integer
variables, In most of the optimization packages these need not
be indicated explicitly as constraints.
Solution :
The solution obtained using art optimization software package
LINGO is as follows:
Optimal values of the variables ( only non-zero values are given
below)
Total load =80 ZllllpS.
L1=20, L2= 20, L3=20, L4=20, zl=l, z2=1, z3= 1,z4=I,
x22=g0, x7=20,x3 =20, xII=20, x16= 20,x2= 40, X1O=4O,
x5= 20<, x6= 20, x14= 20, x15= 20
y2= l,:y3 =1, y4= 1, y5= 1, y6= 1>y7= 1, ylO=l, yll= 1, y12=1,
y14=l, y15= l,y16= 1
This solution gives the values of flows in the edges satis~ing
the capacity constraints and supplying as much load as possible.
It can be easily verified that the values of flows are the same as
obtained by a power flow analysis.
CASE 1.2: Let the capacity of edge 11 which is feeding the load
L3 be modified (reduced) to 10 amps. This is done by changing
the respective capacity constraint as : xll-lo*yllso
The optimization solution to this problem with the above
constraint would give the optimal values of the load as L1 =
20, L2 = 20, L3 = O, L4 = 20. It can be seen that since the
load L3 is 20 amps and the capacity of edge 11 is less than 20
amps, this load cannot be fed. Accordingly the value of L3 =0.
(It may be noted that L3 could be either Oor 20 amps).
Thus it can be seen that the proposed modeling/formulation will
supply as much load as possible satisfying the constraints.
CASE 2: In this case it is assumed that there are some faults on
some components in the system. Proposed model should restore
maximum load satisfying the constraints. This is illustrated in
this case.
Simulation of fault : A fault on any component (edge) is
simulated in the model by equating the respective flow variable
(Xi) and O-1variable ( status variable Y,) to zero. Also the status
of switches at the affected load(s) (which are constrained to be
closed in the initial configuration) are now removed from the
constraints. This will allow the exploration of alternate paths for
restoration.
Consider that there is a fault on Circuit Breaker (CB) (edge 14)
feeding the load L4 (at node 17). Because of this fault, the load
L4 will be affected and left without supply. This case is modeled
as follows:
Since the fault is on component 14, X14 and Y14 are now made
equal to zero (indicating that this component is not available).
Also the affected load due to this fault is L4 (at node 17). The
switch at this load, Y16, is now removed from the constraints. It
may be noted that initially (unfaulted case) Y16 =1. The other
constraints are same as in CASE 1. Formulating the problem as
explained with these modifications would result in the following
optimal solution:
Total load=80 amps
L1=20, L2= 20, L3=20, L4= 20, 21=1,22=1,23=1, 24=1,
x22= 80, x7= 20,x3 =20, x11=20, x17= 20,x2= 60, x1O= 20, x4=20,
X5= 20, X6= 20, x6=20, X18=2Ll
y2= 1, y3 =1, y4= 1, y5 = 1, y6= 1, y7= 1, ylO=l, yll= 1, y12=1,
y15= 1, y17=l, y18= 1
It may be noted that it suggests that switch 17 has to be closed
(Y17=1) to restore service to the affected load L4 (at node 17)
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and all[ the loads can be fed satistjing current and voltage
constraints.
Case 3: Consider a case wherein there is fault on a component
which would affect a load which has no alternate path. In such a
case service cannot be restored to that affected load until the
fault is repaired. In shipboard power systems such loads are non-
vital loads. This case is illustrated as follows.
Assume that there is fault on CB (edge 3) supplying load L2 (at
node 4) and on the cable (edge 6) connecting the load L1 (at
node 8). Fault on component 3 would affect the load L2 (at node
4) which has no alternate paths. Fault on component 6 would
affect IIoadL1 (at node 8) which has alternate paths. Faults on
components are modeled as explained in the previous case.
When the faults are modeled as explained earlier and after
solving the optimization problem, it could be seen that the
optimal value of yl 3 =1 indicating that switches 13 has to be
closed to restore supply to load L4 and load L2 cannot be
restored since there is no alternate path for it.
Various cases have been studied on this system with proposed
methoci and all results obtained were as expected.
IV. CONCLUSIONS
A new and simple method of reconfiguration for service
restoration in shipboard power systems is presented. The
problem is formulated as the Fixed charge Network flow
problem. The proposed method restores as much as load
possible satis~ing the capacity constraints directly. The faults in
the network can easily modeled. The proposed method does not
require any load flow/power flow analysis to verify the current
constraints. It would directly suggest the reconfigured network
which satisfies the capacity constraints. Different case studies
presented illustrate the effectiveness of the proposed method.
Voltage constraints are being included in fiture work.
V. ACKNOWLEDMENTS
The authors acknowledge the OffIce of Naval Research for the
support of this project through grant NOOO14-96-1-0523.
[1]
[2]
[3]
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Karen L. Butler is an assistant professor in the department of electrical
engineering at Texas A&M University. She received the B.S. degree from
Southern University -- Baton Rouge in 1985, the M.S. degree from the
University of Texas at Austin in 1987, and the Ph.D. degree horn Howard
University in 1994, all in electrical engineering. In 1988-1989, Dr. Butler was a
Member of Technical Staff at Hughes Akcratl Co. in Culver City, California.
Her research focuses on the areas of computer and intelligent systems
applications in power, power distribution automation, and modeling and
simulation of vehicles and power systems. Dr. Butler is a member of IEEE,
IEEE Power Engineering Society (PES), and the Louisiana Engineering
Socieiy. She is a registered professional engineer in the State of Louisian%
Texas, and Mksissippi.
N.D.R. Sarma obtained his B.Tech (Electrical) and M.Tech (Power Systems)
degrees from Regional Engineering College, Warangal, India in 1983 and 1986
respectively and Ph.D. from Indkm Institute of Technology, Delhi, India in
1995. From 1992 to September 1997 he was with the R&D Dkision of CMC
Limited, Hyderabad, India. Since October, 1997 he is on Sabbatical leave from
CMC and is presently workkig as a Post Doctoral Research Associate at Texas
A&M Universi~, College Station, Texas, USA. Hk areas of interest include
Load Dispatch and Dk.tribution Automation Systems for power utilities. He is a
member of IEEE and IEEE Power Engineering Society.
V. Rajendra Prasad received B.S (Mathematics) and M.S (Statistics) from
Andhra University, Waltair, India in 1974 and 1977 respectively and Ph.D from
Indian Statistical Institute (1S1),Calcutt~ India in 1985. He served as tenured
faculty of SQC and OR Division of 1S1during 1986-96. Since 1996 he has been
working as Visiting Scientist in the Department of Industrisd Engineering at
Texas A&M University, College Station. Dr. Prasad provides consulting
services to manufacturing industries on mathematical modeling of probIems in
engineering, process control and system design. His research interest are system
reliability optimization, stochastic modeIs and mathematical programming. He
is a member of INFORMS and life member of Operations Research Society of
India and National Institute for Quality and Reliability (India).
0-7803-5515-6/99/$10.00 (c) 1999 IEEE