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Optimal Power Flow Incorporating FACTSDevices- Bibliography and Survey
Abdel-Moamen M. A Narayana Prasad Padhy
Absfracz- In the present day scenario private powerproducers an? increasing rapidly to meet the increase demanddue to heavily loaded customers. In this above process, theexisting transmission lines are over loaded and lead to unstablesystem. Overloading may also due to transfer of cheap powerh m generator bus to load bus. New transmission lines orFACTS devices on the existing transmission system caneliminate transmission over loading, but FACTS devices arepreferred in the modem power systems based on it s overallperformanceFor last two decades researchers developed new algorithmsand models lor power flow and optimal power flow
incorporating FACTS devices so tha t cheap power canhe madeavailable to the customers without violating system stability.Still research is in progress to meet the present day congestionmanagement problem with help of FACTS devices efficiently.The purpose of t h is survey is to collect information from theprevious literatures and to support researchers in the above Geldto carry out further research. Therefor+ the authors presented acomplete bibliography and survey on the area of optimal powerflow incorporating FACTS devices up to date.
Index Terms- Optimal Power Flow, FACTS device$I. ~ O D L J C I ' I O NT ,possibility of operating the power system at thermnimal cost while satisfying specified transmissionconstraints and security constraints is one of main currentissues in stretching transmission capacity by the use ofcontrollable flexible AC transmission system (FACTS). Theconventional OP F program must undergo some changes suchas inclusion of new control variables belonging to FACTSdevices and the corresponding load flow solutions to dealwith the above said problem.The objective of an Optimal Power Flow (OPF) algorithmis to find the steady-state operation point of a generation-transmission system, which minimizes a pre-specified cost
function and meets a set of operational and/or securityconstraints. For optimal active and reactive power dispatchthe objective function that is total generation cost and otherobjectives may include minimization of transmission lossesA b d e l - M m n M. A and N a ~ a y mrasad Padhy. are with the Depamrmnt
of lectrical Eng ineering, Indian lnstifuteof Technology, Rmrkee - 241667,h d i a ([email protected] [email protected] )
and voltage level optimization. In case of active power OPF,the m ain conventional control variables are MW generationsbased on minimum generation cost. If some predefinedtransmission line powq flows are controlled at specifiedvalues, it may cost h igher with the generation schedule. OP Falgorithms are among the tools present in many EnergyManagement Systems (EMS) and their usefulness isincreasingly being recognized by power utilities due toincreased presence of independent power producerscombined with deregulation of the power industry. Hencethere is an urgent need for optimal and sophisticated powerflow control i.e., solution to OPF incorporating FACTSdevices.The Flexible AC Transmission System (FACTS) is atransmission system which use reliable high-speed thyristorbased high-speed controllable elements such as SVC, TCSC,and UPFC etc. are designed based on state of the artdevelopments in power semiconductor devices. Issuesinclude increased utilization of existing facilities such assecure system operation at higher power transfers acrossexisting transmission lines which are limited by stabilityconstraints, the development of control designs for FACTSdevices, and determination of functional performancerequirements for FACTS components.The reactive power compensation of AC transmissionsystems using fixed series or shunt capacitors can solve so meof the above problems associated with AC networks.However the slow nature of control using mechanicalswitches (circuit breaker) and limits on the frequency ofswitching imply that faster dynamic controls are required toovercome the above mentioned problems. Hammons andLim [53] resented a review literature, which addresses theapplication of FACTS, concepts for the improvement ofpower system utilization and performance. Recentdevelopments involving deregulation and restructuring of thepower industry is feasible only if the operation of ACtransmission systems is made flexible by introducing FACTSdevices and the analysis of OPF tool must incorporateFACTS devices. Therefore, a complete bibliography andsurvey on OP F with FACTS have been discussed andpresented in this paper.
0-7803-81 10-6/03/$17.00 0200 3 IEEE 669
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n. GENERALONCEaS OF FACTS DEVICESFlexible AC Transmission System (FACTS) is atechnology-based concept that can provide a full dynamiccontrol over active and reactive power flow on transmissionsystems based on the key control variables such as
transmission line impedance, phase angle and voltage. Italso provides the needed corrections of transmissionfunctionality in order to fully utilize existing transmissionsystem and therefore, minimizing the gap between thestability and thermal levels.The concept of FACTS and FACTS controllers was firstdefined by Hingorani, 1988 [58]-[601 they are high powerelectronics devices used to control the power flow andenhance stability, have become, not only common words inthe power industry, but they have started replacing manymechanical control devices. They are certainly playing animportant and a major role in the operation and control ofmodem power systems.Static VAR Compensator (SVC) is an important FACTSdevice already widely in operation. It can be considered as afirst generation FACTS controller and uses Thyristorcontrollers. It is a shunt reactive compensation controllerconsisting of a combination of fixed capacitor or Thyristor-switched capacitor in conjunction with Thyristor-controlledreactor (FC-TCR) [6,20,35,48]. SVC has been in operationfor approximately 30 years.Thyristor controlled series compensator (TCSC) is asecond-generation FACTS controller, which control theeffective line reactance by connecting a variable reactance inseries with line. The variable reactance is obtained using FC-TCR combination with mechanically switched capacitorsections in series [ I , 20,33,75, 80, 113, 1501.Static synchronous series compensator (SSSC) is a solidstate voltage source inverter, injects an almost sinusoidalvoltage, of variable magnitude, in series with a transmissionline. This injected voltage is almost in quadrature with theline current [52,87, 1231.Static synchronous compensators (STATCOMs) are GTO(gate tum-off type thyristor) based SVCs. Compared withconventional SVCs they do not require large inductive andcapacitive components to provide inductive or capacitivereactive power to high voltage transmission systems. Anadditional advantage is the higher reactive output at lowsystem voltages where a STATCOM can be considered as acurrent source independent from the system voltage.
STATCOMs have been in operation for approximately 5years [52,901.Gyugyi [50-51]explained the basic sm ct ur e of the unifiedpower flow controller (W F C ) concept, where he presentedthat the UPFC consists of two controllable elements, avoltage source, inserted in series with the line. And a currentsource, connected in shunt with the line. Both the magnitudeand the angle of inserted voltage are controllable parameters,
whereas only the magnitude of the current is controllableparameters [8, 2,34, 100-112, 1221.III. GENERALE V E W OF OPTIMALPOWER FLOW
The optimal power flow (OPF) is important software inthe energy management system (EMS). OPF was born in1962 [14] and took a long time to become a successfulalgorithm that could be applied in every days use.Over the last three decades, many successful OPFtechniques have been developed such as, the generalizedreduced gradient method [3 , 221, linear programmingsolution [4, 1291, quadratic programming [7 , 91, 1141, theNewton method [13, 37, 83, 1301, the P-Q decompositionapproach [124], the Interior Point Method (IPM) [82-141],Genetic Algorithm (GA) [16, 116, 1341, EvolutionaryProgramming [72, 1481 etc. After obtaining !he O PFsolution, the implementation of the optimal control variahleswill bring the system to the optimum state.
Carpentier [15] has presented an interesting classificat.ionof OP F algorithms based on their solution structure, and thencompared the numerical results from the best-knownprograms of each group and compared the performances ofnumerous commercial optimal power flow progr:unsavailable in 1985, based on a wide range of solutionmethodologies. The author draws many valid conclusionsfrom the analysis, also distinguishing between solutionmethodologies and the state of their implemen tations.An excellent literature survey of the different techniqueshas been found in the paper by Huneault and Galieanapublished in 1991 [@I. Though it does not discuss theinterior point method (IFM), it does include and discussedreferences over 150 papers on optimal power flow. Momoh
et al. [91-921, presented a review of selected optimal powerflow literature up to 1993. They described all solutions usingnonlinear, quadratic programming, Newton. linearprogramming, and interior point methods. These abovemethods that are capable of handling constraints includingtransmission line flow limits can be upgraded byincorporating FACTS devices constraints into the problem.Perhaps the existing algorithms are usually confined tospecific power systems cases that d o not offer great freedomin objective functions or the types of constraints that may beused. Hence It is important to select more general andreliable algorithms, which are capable of dealing newconstraints arising from F ACT S devicesIV. O P ~ M A L OWER FLOW INCORP~RATTNGACTS DEVICES
Various algorithms have been reported to solve powerflow and optimal power flow (OPF) for power systemsequipment with various FACTS devices. New controlvariables and control objective equations are usually addedin conventional power flow equations. Several papers havebeen published in dealing with OPF incorporating FACTS
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devices or power flow controls.Taranto et al. [I331 have proposed a decompositionmethod for representing FACTS devices in optimal powerflow (OPF) model. The proposed approach was fustproposed to solve the optimal active power flow dispatchproblem incorporating FACTS devices. This methodology isbased on mathematical decomposition and networkcompensation techniques. A linearzed network model (DCpower flow) was used. This method can deal with therepresentation of series compensators and phase shifters, butthis method did not consider the specified line flowconstraints.Noroozian and Anderson [98] have proposed a methodfor solving the power flow control problem incorporatingFACTS devices based on decomposition and locallymeasurable variables. This method can be used for series-connected FACTS devices to damp power swing. However,this method did not combine the OPF problem with thepower flow control problem; hence the solution probablymay not be the overall optimal solution.Gyugyi et aL[49] proposed UPFC for control both thetransmission real power and independently, the reactivepower flows at the sending and the receiving end of thetransmission lines. The UPFC provides flexibility for ACpower transmission control and therefore it automaticallycounteract power oscillations and can adept almostinstantaneously to new P and Q demands to enhance thetransient behavior of the system and optimize itsperformance under transmission contingency conditions.Hiyama, ef al. [611, presented an application of a fuzzylogic control scheme for TCSC module to enhance overallstability of electric power systems and also to increase themaximum power transmission through the existing ACtransmission lines. Galiana et al. [38-391 proposed tosystematically evaluate the impact of FACTS on the steadystate .behavior of pow er systems through the concept ofgeneralized security regions and through scalar measure ofthese regions obtained from optimal power flow (OPF)simulation. Nabavi and Iravani [94] proposed a way tohandle LJPFC with power flow algorithms by removing theUPFC and assigning the ends of UP FC by the P-Q bus or P-V bus.Noroozian et aL[99-101] have dealed with optimal powerflow(0PF) control in electric power system by using ofunified power flow controller(UPFC), thyristor controlledseries capacitor (TCSC), and thyristor controlled phaseshifter transformer (TCPS ). The capability of LJPFC in OP Fapplication was demonstrated and compared with that of aphase shifting transformer (PST). The proposed control lawwas tested on the 300-bus, 60 machine of Nordel system.Goth am and H eydt U471 presented the mod eling of FACT Sdevices for power flow studies and the role of that modelingin the study of FACTS devices. Also they proposed asimultaneous method to solve the combined set of power
flow equation and FAC TS control equations.Ge and Ch ung L42-431 des cribed. a method to inco rporatethe power flow control needs of FACTS in studying theoptimal active power flow problem. They used the linearized(DC) etwork model [3] and three types of FACTS devices(TCSC, TCPS and UPFC) were considered. The proposedmethod w as tested on the 30-bus, IEEE test system.Dusan [23] presented that FACTS controller canessentially improve long-distance ac transmission. Thistechnology has been extended by a large number of furtherFACTS elements, which can be effectively used for loadflow control in power system. Edris et al. [25-271, havedemonstrated the development and implementation ofFAC TS technology at transmission locations in the US. heinstalled FACTS controllers have provided new possibilitiesand unprecedented flexibility aiming at maximizing theutilization of transmission assets efficiently and reliability.Chung et al. [I71 represented an optimal active OP F withFACTS devices by a load-equivalent model. The proposed
method was tested on the 5 and 30-bus. IEEE est system.Fuerte et al. [34-371 proposed sim ultaneous methods to solvethe combined set of power flow equations and FACTScontrol equations. These methods are robust, but it is timeconsuming to rewrite existing programs and it is not easy toestimate the initial values of the FACTS control variables.Billinton et al. [11-12] presented power system reliabilityenhancement using a thyristor controlled series capacitorAmbriz-Perez et al. [5-6] solved the OPF incorporatingUPFC using Newtons method, leading to highly robustiterative solutions. Padhy et al. [1021 have presented a newhybrid model for OPF incorporating FACTS devices toovercome the classical optimal power flow algo rithm . In theproposed model load demands, generation outputs, and costof generation are treated as fuzzy variables.h nd Ahur [80-81] presented a systematic procedure toplace and operate TCSCS in a power system. First theSingle Contingency Sensitivity (SCS) criterion for a givenbranch flow is defined. This criterion is then used to developa branchs prioritizing index in order to rank branches forpossible placement of TCSCS. Finally, optimal settings forTCSC parameters are determined for importantcontingencies. IEEE 14-bus test system was used todemonstrate the proposed approach.Fang and Ngan [30-31] presented the optimal location ofunified power flow controllers using the method of
augmented Lagrange multipliers. Chung and Li [I61presented an improved genetic algorithm (GA) to solveoptimal power flow (OPF) problems in power system withflexible AC transmission systems (FACTS). Two types ofFACTS devices are considered. Thyristor controlled phaseshifter (TCPS) and thyiistor controlled series compensator(TCSC) are used to control power flow. In the solutionprocess, GA coupled with full AC power flow, selects thebest regulation to minimize the total generation fuel cost and
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IX. BIOGRAPHIES
include power system er
Abdel-Moameo M. Abdel-Rahim received theB. Sc. degree and the M. Sc. degree in ElectricalEngi-g from Assuit University, Egypt in 1991and 1998. respectively. He joined Aswan HighInstitute of Energy as an k&mt Lecturer,Aswan, Egypt in 1993. He is currently wakingtowards the Ph.D. degree at the depvtment ofElectrical Engineering, Indian Instihdt ofTechnology. Rwrk ee, Ind ia. His research interestsmomics , Optimal Power Flow (OPF) and FACTS
Narayana Prasad Paaby obtained his Degreein Electrical Engineering and M astels in PowerSystem Engineering with Distinction in 1990an d 1993, respectively. In 1997, he obtained hisPh.D. degree in Electrical Engineering fromARna University, Chennai, India. He joinedBula lnstimte of Technology & Science(B1TS)asan Assism1 Professor, Elechical EngineeringD e p m n t in 1997. He is presently w o r h g as
, Assistant Professor in the DeparuMnt ofElecoical Engineering. Indian Institute of Technology, Rmrkee. He taughtc a m e in Basic Elecmcal Engineering, Power System d ArtificialIntelligence. His field of interest is Power System Privatization. Resmcolringand Deregulation, Artificial intelligence Applications to Power SystemOperation and Optimization Problem , FACTS.
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