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Abstract—The transmission grid in Europe is interconnected to Fl,c,t Flow through line l for contingency c at hour t.
guarantee the security of supply and to facilitate the competition φj,t Angle of PST j at hour t.
among different market players, thereby making the system Kl,c,t,j PSDF of line l for contingency c at hour t
highly meshed. It is a challenging task for the transmission
system operators (TSOs) to manage the power flows in their corresponding to PST j.
system, especially in the light of integration of renewable energy Dl,c,t,b PTDF of line l for contingency c at hour t
generation sources into the transmission system. The intermittent corresponding to node b.
nature of such generation sources creates variable power flows Gb GSK for node b.
and loop flows, in turn, questing for installation of controllable
devices to manage these flows. The TSOs are currently installing
such devices to cope with the situation. A proper coordination is I. I NTRODUCTION
needed for the operation of these devices, since they can lead to
adverse effects on power flows in a meshed system. Coordination
among TSOs in Central Western Europe (CWE) is performed,
however, not towards a full system-wide objective, since there is
T RANSMISSION system operators (TSOs) in Europe are
experiencing challenges in both planning and operations
of their power system. Different factors force TSOs to use a
no regulatory framework that exists for such coordination. This
paper focuses on the potential of coordination among TSOs with
completely different approach compared to the situation before
respect to operation of the controllable devices. Two aspects are unbundling [1], [2]. A strong increase in variable renewable
investigated: management of constraints in the system in the day- energy, mainly wind and solar, increased market operations,
ahead scheduling process and wind in-feed optimization. Both thereby creating additional and variable flows and higher un-
approaches are implemented at the Regional Security Center and certainty in energy flows due to variable injections, distant bal-
tested on a high-stress situation in the CWE region. Furthermore,
a case study at the coordination center is performed using actual
ancing actions, and cross-border trading are some of the factors
data for the month of January 2013 to assess the usefulness on to be mentioned among many others. As a result, the power
a longer time period. system is operated closer to its limits, while under higher
Index Terms—Coordination, high-voltage direct current
uncertainty. Increasing control actions are needed, including
(HVDC), phase-shifting transformer (PST), transmission system expensive generation dispatch and renewables curtailment.
operations, uncertainty management. Power flow controlling devices (PFCs), such as phase-
shifting transformers (PSTs) and high-voltage direct current
N OMENCLATURE (HVDC), have gained increasing attention and application in
l Line index. the power system. Several PFCs are installed in the European
t Time index. power system.
b Node index. 1) They give more control options to the TSOs after
Nh Number of hours. unbundling of power systems.
c Contingency index. 2) They help to manage variable energy flows caused
j PST index. by increased cross-border trade and higher intermittent
NP ST Number of PSTs. generation.
Nb Number of nodes. 3) Reliability of supply demanded the need for inter-
connections to different regions and also to different
Manuscript received December 16, 2013; revised May 28, 2014; accepted synchronous zones, thereby requiring TSOs to invest in
July 17, 2014. This work was performed in the framework of the FP7 project
called TWENTIES. HVDC connections.
P. Guha Thakurta, R. Belmans, and D. Van Hertem are with the Electrical 4) Through control, they can offer firm capacity to the
Engineering Department, Division Electa, KU Leuven, 3001 Heverlee, market.
Belgium (e-mail: priyanko.guhathakurta@esat.kuleuven.be; dirk.vanhertem@
esat.kuleuven.be; ronnie.belmans@esat.kuleuven.be). These devices offer a solution which increases transmission
J. Maeght is with the Réseau de Transport d’Électricité (RTE), Paris, France capacity while avoiding the construction of new energy corri-
(e-mail: jean.maeght@rte-france.com). dors, or by using underground direct current (dc) cables. PFCs
Color versions of one or more of the figures in this paper are available
online at http://ieeexplore.ieee.org. allow the system to be operated upto its limits. A significant
Digital Object Identifier 10.1109/TSTE.2014.2341640 number of PFCs, such as PSTs, are installed among different
1949-3029 c 2014 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications standards/publications/rights/index.html for more information.
This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.
TSOs. Before creating coordination centers, their operation In this aspect, a tool has been developed for CORESO, a Re-
used to be mostly done on a TSO basis and not on a system- gional Coordination Service Center in Central Western Europe
wide basis. However, negative consequences of PFC actions (CWE), which supplies daily grid security forecasts and pro-
may exist on neighboring zones as well as negative interactions poses remedial actions when necessary to the control centers of
among PFCs, even during steady state operations. the participating TSOs (which are Belgian TSO-Elia, French
The effect of PFCs on grid operation is well understood. A TSO-RTE, British TSO-National Grid, East German TSO-
Belgian case study is described in [1] for different stages of 50Hertz, and Italian TSO-Terna) to include PST scheduling in
grid management: investment, planning, and scheduling and their operational processes for all time scales (D-2, D-1, and
operations using power flow controlling devices, including intra-day), both for system operations and planning. The devel-
practical aspects. The case study comprises two technologies: oped methodologies, in the form of a prototype, have been rig-
PST and HVDC. In [2], a methodology to include PSTs in orously tested for the whole month of January 2013 with real
the 24 hours day-ahead scheduling process of the TSOs is system data and showed promising results in terms of better
presented. In [3], the necessity of coordination of PFCs in system management and handling uncertainties in the system.
a meshed transmission system is shown. An approach of a However, the developed algorithms are not limited to ap-
coordinated control of multiple PSTs is developed in [4] to plications using PSTs and HVDC but can be applied to
decrease unscheduled flow experienced by a TSO inside an other flexible alternating current transmission system (FACTS)
interconnection. The authors in [5] studied how PSTs can devices [14], including TCSC, SSSC, UPFC, and Sen trans-
be controlled in order to obtain an optimal or near-optimal formers [15].
situation to maximize the total transfer capacity between The paper is organized as follows. The TSOs that belong
zones as an indicator for the degree of coordination of PSTs. to the CWE region are described in Section II. Section III
Analytic expressions are derived in [6] to gain insight in describes power system operations in different time frames.
the operating principles of PSTs in a highly meshed grid. The proposed methodologies for PST coordination to manage
An optimal power flow (OPF) model is proposed in [7] that the system constraints of CWE and handle wind uncertainties
takes the uncertainties of both load and renewable energy are presented in Sections IV and V, respectively. The use
into account. Reference [8] presents an integrated OPF with of the methodologies is tested on the CWE region for the
phase shifter approach to enhance power system security. A month of January 2013. A short summary of that case study
genetic algorithm-based procedure is designed in [9] for the is presented in Section VI. The conclusion in Section VII
topological optimization of a network against parallel flows. In summarizes the main features of the approach.
[10], a methodology for the PST optimization in the security
constrained scheduling applications is presented. Reference II. C URRENT P LACEMENT OF PST S IN CWE
[11] presented a practical model of PST to solve the problems
The CWE region has a key role in the European trans-
of overloads in contingency analysis and minimizing line
mission grid, i.e., the ENTSO-E grid. The TSOs that belong
losses in transmission systems. A novel approach has been
to the CWE region are Amprion GmbH, Creos Luxembourg
proposed in [12] to identify the deviations of power flows
S.A., Elia System Operator S.A., EnBW Transportnetze AG,
which are controlled by multiple PSTs.
RTE EDF Transport, Tennet TSO B.V. (The Netherlands),
The authors in [13] proposed an analysis of dealing with
and Tennet TSO GmbH (Germany). Eight PSTs in this CWE
uncertainty for security management by TSOs in the context
region are considered in this work, the detailed placements of
of day-ahead planning and intraday operation. They proposed
which can be found in [2].
an abstract formalization of this task in the form of a three-
stage decision-making problem under uncertainties in the min-
III. P OWER S YSTEM O PERATIONS IN D IFFERENT
max framework, where the three stages of decision-making
T IME F RAMES
correspond, respectively, to operation planning, preventive
control in operation, and postcontingency emergency control. Power system operation is a term which encompasses an
To the best of our knowledge, no works are done using nodal entire range of activities performed by the different stakehold-
and angular sensitivities in numerical algorithms for coordina- ers. The activities of the operation fall within a time frame of
tion of PSTs to better manage the system in its daily operations several weeks, days or, hours in advance, up to real time. This
and handle wind uncertainty forecasts, demonstrated on a real is shown schematically in Fig. 1.
system. Months to days in advance, the operational planning of the
This paper shows that an increase in coordination among power system focuses on maintenance, long-term generation
TSOs with respect to PST operation indeed helps to manage scheduling, and assessing the grid capacity between zones.
the system in a significantly better way. Suitable method- Closer to actual operations (D-2), the guaranteed available
ologies have been developed to include PST coordination in system capacity between zones is determined and given to
scheduling process of the TSOs in order to handle critical the market. Based on this input, market participants make
contingencies in the system. The developed methodologies are offers to the market. The bids for the actual day come
helpful in daily operations of the power system. This paper in the day before the actual operation (D-1), before gate
also shows that an increase in PST coordination aids in inte- closure. The different system operators perform the day-ahead
grating more renewable energy into the system. This method- congestion forecast (DACF) to determine whether the provided
ology is helpful in planning of the system for the next day. generation schedule can be maintained or whether there are
This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.
adjustments needed. The DACF forecasts the system flows CWE grid data coming from European-wide DACF process.
for each individual hour, while taking “N-1” constraints into DACF files contain the data of the CWE grid (line impedances,
account. The DACF also includes the expected generation admittances of capacitor banks, etc.) and its situation (line
from renewable energy sources. These adjustments can be outages, circuit breaker status, taps of PSTs, etc.) for the
through market actions, or through TSO preventive actions next day. Starting from this grid data, a full ac power flow
such as the control of PFCs. The DACF forms the basis for the is performed with the network analysis tool of CORESO,
security assessment done by the TSO. During the day itself, the called Convergence. The main output of Convergence is the
TSO monitors the grid behavior, which in normal operation base case or reference flows, but Convergence is also able
always differs from the predicted state due to contingencies to compute nodal sensitivities [Power Transfer Distribution
in the system, unforeseen generation shifts (possibly due to Factors (PTDFs)] relative to nodal injections and angular sen-
weather conditions), changes in demand, etc. Furthermore, the sitivities [Phase Shifter Distribution Factors (PSDFs)] relative
system continuously changes its operating state because of the to the angle of PSTs. A selection of the most important lines
numerous variables in the system. If the predictions are close from a reliability perspective, named Critical Branches (CBs),
enough to the actual operation point, the TSO performs its around the area of interest is made. Then they are crossed to a
planned operation. Generators (and other market participants) selection of most impacting outages. Forty-five CBs in CWE
may also trade electricity in intraday, resulting in possible are considered for experimentation. The effect of outage of
changes from the foreseen schedules. Regular energy trade each CB on the other 44 CBs is then considered for generating
and balancing actions occur throughout the day. Larger shifts the “N-1” cases. The list of CBs and outages is made by
from the predicted operating point may occur as well. This can the CORESO operators based on their expertise. For these
happen through large deviations in generation or load (due lines and outages, reference flows and sensitivities are used
to an outage or unforeseen shifts in generation) or through to construct a linear approximation of the flows on the lines
outages in the grid. Such larger shifts can cause the system to when modifying angle of PSTs and nodal injections.
move beyond the secure operating boundaries of the system.
At such occasion, the system operator takes action through IV. C ONSTRAINT M ANAGEMENT
additional preventive actions or even corrective actions.
A. CM With System Margin Optimization (CMMO )
This paper focuses on the time frame between the capacity
allocation and the preventive scheduling of the power system A first approach to manage “N” and “N-1” constraints
in the day-ahead operations. Similar approaches can also be attempts to gain an overall margin of the transmission system
used in the capacity allocation and during intraday or real-time of CWE with the help of installed PSTs, in turn, creating room
operations. to handle more uncertainties in the system. An optimization
The following two sections explain the developed method- problem CMMO has been formulated, the objective of which
ologies and show the simulation results of PST coordination in is to reduce the loading of the maximum loaded line in the
CWE to handle contingencies (Section IV) and to increase re- system, thereby diverting power flows to less loaded lines
newable energy penetration (Section V) in the system. In other and gaining system margin, if possible, by the PSTs. The
words, uncertainty handling with the help of PST coordination optimization is formulated using a linear approximation of
is shown. The input data for all of the simulations are the real flows in order to keep the whole formulation linear.
This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.
min ψt ∀t (1)
s.t.:
N
PST
Fl,c,t = Fl,c,t
ref
+ [Kl,c,t,j × (φj,t − φinit
j,t )] ∀l, c, t (2)
j=1
− Fl,c,t
max
× ψt ≤ Fl,c,t ≤ Fl,c,t
max
× ψt ∀l, c, t (3)
φmin
j,t ≤ φj,t ≤ φmax
j,t ∀j, t (4)
ψt ≥ 0 ∀t. (5)
TABLE I
F ORESEEN C ONSTRAINTS IN DACF FOR J UNE 25, 2012
eliminate the constraints. It is to be mentioned here that no and (11) are same as that of constraints (2) and (4), respec-
optimization for gaining system margin is taken into account. tively. Constraint (10) is different from constraint (3) in the
The tap positions of the PSTs follow that of the previous hour sense that no margin optimization is done in this formulation,
until and unless any constraint is violated. If violated, the PSTs thereby leading to the absence of term ψ in this constraint.
are switched to their corresponding taps determined by the Constraints (7) and (8) are the essence of this optimization.
algorithm to evade the constraint. This is practical from the Constraint (7) makes the change in PST angle of PST j
system operation point of view. between successive hours to be as minimum as possible by
1) Problem Formulation: The formulated optimization the variable γ, which is minimized in the objective function
problem is as follows: (6) over all PSTs in the system, represented by its first term. In
h −1 N
N N
other words, this constraint takes into account the PST angle
PST PST
change if and only if any “N” or “N-1” constraint is violated
min γj,t + W1 × χj,1
φ in the system, or else follows the angle of the previous hour.
t=1 j=1 j=1
Nh N
Constraint (8) makes the PST angle of PST j to remain as
PST
+ W2 × χj,t ∀j, t (6) close as possible to its reference value given in the DACF
t=2 j=1
files, which is minimized in (6) over all PSTs, represented by
its third term. In other words, this constraint checks whether
s.t.:
the PST angles included in the DACF files are feasible or not.
− γj,t ≤ (φj,t − φj,t+1 ) ≤ γj,t ∀j, t (7) The second term in (6) tries to keep the PST angles of all the
− χj,t ≤ (φj,t − φinitj,t ) ≤ χj,t ∀j, t (8) PSTs for the first hour equal to the values in DACF files and
N
PST is heavily penalized.
Fl,c,t = Fl,c,t
ref
+ [Kl,c,t,j × (φj,t − φinit
j,t )] ∀l, c, t (9) 2) Testing the Methodology: The CWE grid data of June
j=1 25, 2012 are considered for this case. Fig. 5 shows the margin
− Fl,c,t
max
≤ Fl,c,t ≤ Fl,c,t
max
∀l, c, t (10) analysis graph for this case, and Fig. 6 shows the zoomed view
of the part of interest.
j,t ≤ φj,t ≤ φj,t
φmin max
∀j, t (11)
The solid line in Fig. 6 corresponds again to the initial, non-
γj,t ≥ 0 ∀j, t (12) coordinated case, with a number of lines loaded above 100%.
χj,t ≥ 0 ∀j, t. (13) The optimization problem is unable to solve all the system
constraints solely with the Belgian PSTs, and the problem
The weight values W1 and W2 are taken to be 25 and 0.01, turned out to be infeasible. In other words, the optimization
respectively, after performing rigorous tests. Constraints (9) problem is unable to find feasible tap positions of the Belgian
This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.
max βt ∀t (14)
Fig. 6. Zoomed view of the margin analysis graph for CMLC .
s.t.:
N
PST
PSTs that can solve all “N” and “N-1” constraints of the Fl,c,t = Fl,c,t
ref
+ Kl,c,t,j × φj,t − φinit
j,t
system. As it is clear from the CMLC analysis, the coordinated j=1
action of all the PSTs in CWE indeed is able to secure the sys- Nb
tem by bringing the system from a negative margin (overload) + [βt × Dl,c,t,b × Gb ] ∀l, c, t (15)
to a zero margin (represented by the dashed line in the figure), b=1
which is the main goal for the extension of the algorithm. − Fl,c,t
max
≤ Fl,c,t ≤ Fl,c,t
max
∀l, c, t (16)
The lower part of Fig. 4 shows the PST tap values that φj,t ≤ φj,t ≤ φmax
min
j,t ∀j, t. (17)
are proposed by the algorithm to evade the constraints. The
initial PST tap values present in the DACF files are not able Equation (14) represents the objective function which max-
to manage these constraints, and the algorithm proposed the imizes wind in-feed (an optimization free variable) into the
necessary tap changes required to alleviate the constraints system. Constraint (15) is same as that of constraint (2)
and brings the line flows within their maximum limits. This except that there is one additional term which represents the
output is closest to the operator behavior and proposes tap additional stress that can be imparted to the system with the
changes between successive hours only when “N” and/or help of a certain injection vector called Generation Shift Key
“N-1” constraints violations are detected. It is evident from the (GSK). GSKs are defined as factors by which the generation is
figure that the “N-1” congestion in Belgium starts at hour 8, increased in some nodes, specifically, at the production park
and the algorithm proposes a tap change from 18 to 15 for the and compensating these increases in other nodes, generally,
Zandvliet PST to solve the congestion. When the congestion at the conventional generation nodes. As such, the GSK can
worsens, the algorithm proposes additional tap changes (from be considered as the effect of the increase of a given energy
15 to 11 at hour 9, from 11 to 10 at hour 13, and from 10 to vector, e.g., wind on the system flows. It is to be noted that
8 at hour 15) to manage the situation until the congestion is the sum of positive GSKs equals “1” and the sum of negative
solved. From hour 15, no congestion is detected, and hence, GSKs equals “−1.” Constraints (16) and (17) remain same as
the algorithm proposes no new tap changes and keeps the tap that of constraints (10) and (11), respectively.
8 setting till the end of the day. The main idea in this formulation is to increase a certain in-
Similarly, the algorithm also proposed some tap changes on jection vector (a certain GSK, made by the CORESO operators
Meeden and Diele PSTs (from 33 to 27 for Diele PSTs and based on their experience) until the system hits its limit(s).
This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.
[12] C.-N. Huang, “Feature analysis of power flows based on the allocations Jean Maeght received the M.S. degree in
of phase-shifting transformers,” IEEE Trans. Power Syst., vol. 18, no. 1, mathematics in 1997 from both Orsay (Paris XI)
pp. 266–272, Feb. 2003. and Toulouse Universities, France. He also success-
[13] P. Panciatici et al., “Security management under uncertainty: From day- fully passed the examination of the French National
ahead planning to intraday operation,” in Proc. iREP Symp. Bulk Power Aggregation of Mathematics in 1996. In 2000, he
Syst. Dyn. Control (iREP), Rio de Janeiro, Brazil, Aug. 2010, pp. 1–8. received the Ph.D. degree in mathematical opti-
[14] N. G. Hingorani and L. Gyugyi, Understanding FACTS: Concepts and mization applied to medical imaging from Toulouse
Technology of Flexible AC Transmission Systems. Hoboken, NJ, USA: University.
Wiley, 2000. After 8 years as a Consultant specializing in ap-
[15] K. K. Sen and M. L. Sen, “Introducing the family of Sen transformers: plications of optimization to various industrial fields,
A set of power flow controlling transformers,” IEEE Trans. Power Del., he joined with the Réseau de Transport d’Électricité
vol. 18, no. 1, pp. 149–157, Jan. 2003. (RTE), the French Transmission System Operator. In the R&D Department,
[16] L. Vanfretti, D. Van Hertem, and J. O. Gjerde, “A smart transmission he is focusing on coordination and optimal power flow methods.
grid for Europe: Challenges in developing grid enabling technologies,”
in Proc. IEEE Power Energy Soc. Gen. Meeting. San Diego, CA, USA,
Jul. 24–29, 2011, pp. 1–8.
[17] ENTSO-E. ENTSO-E grid map [Online]. Available: https://www.entsoe.
eu/publications/ordermaps-and-publications/electronic-grid-maps/Pages/ Ronnie Belmans (S’77–M’84–SM’89–F’05)
default.aspx received the M.Sc. and the Ph.D. degrees in
[18] P. Paterni, S. Vitet, M. Bena, and A. Yokoyama, “Optimal location of electrical engineering from KU Leuven, Leuven,
phase shifters in the French network by genetic algorithms,” IEEE Trans. Belgium, in 1979 and 1984, respectively. He
Power Syst., vol. 14, no. 1, pp. 37–42, Feb. 1999. added a Special Doctorate from KU Leuven and a
[19] N. Srinivasan, K. S. Prakasa Rao, C. S. Indulkar, and S. S. Venkata, “Habilitierung,” from the Rheinisch-Westfaelische
“Online computation of phase shifter distribution factors and lineload Technische Hochschule (RWTH), Aachen, Germany,
alleviation,” IEEE Trans. Power App. Syst., vol. PAS-104, no. 7, in 1989 and 1993, respectively.
pp. 1656–1662, Jul. 1985. Currently, he is a Full Professor with KU
[20] J. Warichet, J. Leonard, J. Rimez, O. Bronckart, and J. Van Hecke, “Grid Leuven, teaching technoeconomical aspects of
implementation and operational use of large phase shifting transformers power systems, electrical energy, and regulatory
in the Belgian HV grid to cope with international network challenges,” affairs, among others. He is a Vice President of the KU Leuven Energy
in Proc. Cigre Sessions, no. C2-207, Paris, France, Aug. 2010. Institute as well as Cofounder and CEO of EnergyVille, a research
[21] U. Hager et al., “Applicability of coordinated power flow control based collaboration in Genk specializing in energy in smart cities and buildings,
on multi-agent systems,” in Proc. iREP Symp. Bulk Power Syst. Dyn. in cooperation with VITO and IMEC, within Belgium. On a global scale,
Control (iREP), Rio de Janeiro, Brazil, Aug. 2010, pp. 1–6. he is an Executive Director of the Global Smart Grids Federation (GSGF).
[22] H. Zhang, “Probabilistic analysis for optimal power flow under uncer- He is also the Honorary Chairman of the Board of Directors of ELIA, the
tainty,” IET Gener Transmiss. Distrib., vol. 4, no. 5, pp. 553–561, May Belgian transmission system operator. His research interests include smart
2010. grids, security of energy supply, and the technoeconomic aspects of the
[23] E. M. Carlini, G. Manduzio, and D. Bonmann, “Power flow control on liberalization of the electricity market.
the italian network by means of phase-shifting transformers,” in Proc.
Cigre Sessions 2006—A2-206, Paris, France, Aug. 2006.
Dirk Van Hertem (S’02–SM’09) was born in 1979,
in Neerpelt, Belgium. He received the M.Eng. degree
from the Katholieke Hogeschool Kempen (KHK),
Geel, Belgium, in 2001. He received the M.Sc. de-
gree in electrical engineering, and the Ph.D. degree
in electrical engineering from KU Leuven, Leuven,
Belgium, in 2003 and 2009, respectively.
He was a Member of the Electric Power Systems
(EPS) group with the Royal Institute of Technology,
Priyanko Guha Thakurta (S’10) received the Stockholm, Sweden, in 2010, where he was the
M.Sc. degree in electrical engineering from KTH, Program Manager for controllable power systems
Stockholm, Sweden, in 2009. Since 2010, he has with the EKC2 Competence Center at KTH, Stockholm, Sweden. Since Spring
been working toward the Ph.D. degree in electrical 2011, he is back at the University of Leuven, Leuven, Belgium, where he is
engineering at KU Leuven, Leuven, Belgium. an Assistant Professor with the Electrical Energy and Computer Architectures
His research interests include effects of flexible (ELECTA) group. His research interests include power system operation and
alternating current transmission system (FACTS) de- control in systems with FACTS and high-voltage direct current (HVDC) and
vices and coordination of power flow controllers in building the transmission system of the future, including offshore grids and
power systems. the supergrid concept.
Dr. Van Hertem is an Active Member of both IEEE [Power and Energy
Society (PES) and Industry Applications Society (IAS)] and Cigré.