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EE 369POWER SYSTEM ANALYSIS
Lecture 16Economic Dispatch
Tom Overbye and Ross Baldick
1
AnnouncementsRead Chapter 12, concentrating on sections
12.4 and 12.5.Read Chapter 7.Homework 12 is 6.43, 6.48, 6.59, 6.61,
12.19, 12.22, 12.20, 12.24, 12.26, 12.28, 12.29; due Tuesday Nov. 25.
Homework 13 is 12.21, 12.25, 12.27, 7.1, 7.3, 7.4, 7.5, 7.6, 7.9, 7.12, 7.16; due Thursday, December 4.
2
Economic Dispatch: FormulationThe goal of economic dispatch is to determine the
generation dispatch that minimizes the instantaneous operating cost, subject to the constraint that total generation = total load + losses
T1
1
Minimize C ( )
Such that
m
i Gii
m
Gi D Lossesi
C P
P P P
Initially we'll ignore generatorlimits and thelosses
3
Unconstrained MinimizationThis is a minimization problem with a single
equality constraintFor an unconstrained minimization a necessary
(but not sufficient) condition for a minimum is the gradient of the function must be zero,
The gradient generalizes the first derivative for multi-variable problems:
1 2
( ) ( ) ( )( ) , , ,
nx x x
f x f x f xf x
( ) f x 0
4
Minimization with Equality ConstraintWhen the minimization is constrained with an equality
constraint we can solve the problem using the method of Lagrange Multipliers
Key idea is to represent a constrained minimization problem as an unconstrained problem.
That is, for the general problem
minimize ( ) s.t. ( )
We define the Lagrangian L( , ) ( ) ( )
Then a necessary condition for a minimum is the
L ( , ) 0 and L ( , ) 0
T
x λ
f x g x 0
x λ f x λ g x
x λ x λ 5
Economic Dispatch Lagrangian
G1 1
G
For the economic dispatch we have a minimization
constrained with a single equality constraint
L( , ) ( ) ( ) (no losses)
The necessary conditions for a minimum are
L( , )
m m
i Gi D Gii i
Gi
C P P P
dCP
P
P
1
( )0 (for 1 to )
0
i Gi
Gi
m
D Gii
Pi m
dP
P P
6
Economic Dispatch Example
1 2
21 1 1 1
22 2 2 2
1 1
1
What is economic dispatch for a two generator
system 500 MW and
( ) 1000 20 0.01 $/h
( ) 400 15 0.03 $/h
Using the Lagrange multiplier method we know:
( )20 0.0
D G G
G G G
G G G
G
G
P P P
C P P P
C P P P
dC PdP
1
2 22
2
1 2
2 0
( )15 0.06 0
500 0
G
GG
G
G G
P
dC PP
dP
P P
7
Economic Dispatch Example, cont’d
1
2
1 2
1
2
1
2
We therefore need to solve three linear equations
20 0.02 0
15 0.06 0
500 0
0.02 0 1 20
0 0.06 1 15
1 1 0 500
312.5 MW
187.5 MW
26.2 $/MW
G
G
G G
G
G
G
G
P
P
P P
P
P
P
P
h
8
Lambda-Iteration Solution MethodThe direct solution using Lagrange multipliers only
works if no generators are at their limits.Another method is known as lambda-iteration
– the method requires that there to be a unique mapping from a value of lambda (marginal cost) to each generator’s MW output:
– for any choice of lambda (marginal cost), the generators collectively produce a total MW output
– the method then starts with values of lambda below and above the optimal value (corresponding to too little and too much total output), and then iteratively brackets the optimal value.
( ).GiP
9
Lambda-Iteration AlgorithmL H
1 1
H L
M H L
H M
1
L M
Pick and such that
( ) 0 ( ) 0
While Do
( ) / 2
If ( ) 0 Then
Else
End While
m mL H
Gi D Gi Di i
mM
Gi Di
P P P P
P P
10
Lambda-Iteration: Graphical ViewIn the graph shown below for each value of lambda there is a unique PGi for each generator. This relationship is the PGi() function.
11
Lambda-Iteration Example
1 1 1
2 2 2
3 3 3
1 2 3
Consider a three generator system with
( ) 15 0.02 $/MWh
( ) 20 0.01 $/MWh
( ) 18 0.025 $/MWh
and with constraint 1000MW
Rewriting generation as a function of , (
G G
G G
G G
G G G
Gi
IC P P
IC P P
IC P P
P P P
P
G1 G2
G3
),
we have
15 20P ( ) P ( )
0.02 0.0118
P ( )0.025
12
Lambda-Iteration Example, cont’dm
Gi
i=1
m
Gii=1
1
H
1
Pick so P ( ) 1000 0 and
P ( ) 1000 0
Try 20 then (20) 1000
15 20 181000 670 MW
0.02 0.01 0.025
Try 30 then (30) 1000 1230 MW
L L
H
mL
Gii
m
Gii
P
P
13
Lambda-Iteration Example, cont’d
1
1
Pick convergence tolerance 0.05 $/MWh
Then iterate since 0.05
( ) / 2 25
Then since (25) 1000 280 we set 25
Since 25 20 0.05
(25 20) / 2 22.5
(22.5) 1000 195 we set 2
H L
M H L
mH
Gii
M
mL
Gii
P
P
2.514
Lambda-Iteration Example, cont’dH
*
*
1
2
3
Continue iterating until 0.05
The solution value of , , is 23.53 $/MWh
Once is known we can calculate the
23.53 15(23.5) 426 MW
0.0223.53 20
(23.5) 353 MW0.01
23.53 18(23.5)
0.025
L
Gi
G
G
G
P
P
P
P
221 MW
15
Thirty Bus ED ExampleCase is economically dispatched (without considering the incremental impact of the system losses).
16
Generator MW LimitsGenerators have limits on the minimum and
maximum amount of power they can produce
Typically the minimum limit is not zero. Because of varying system economics
usually many generators in a system are operated at their maximum MW limits:Baseload generators are at their maximum
limits except during the off-peak. 17
Lambda-Iteration with Gen Limits
,max
,max
In the lambda-iteration method the limits are taken
into account when calculating ( ) :
if calculated production for
then set ( )
if calculated production for
Gi
Gi Gi
Gi Gi
P
P P
P P
,min
,min
then set ( )Gi Gi
Gi Gi
P P
P P
18
Lambda-Iteration Gen Limit Example
G1 G2
G3
1 2 31
In the previous three generator example assume
the same cost characteristics but also with limits
0 P 300 MW 100 P 500 MW
200 P 600 MW
With limits we get:
(20) 1000 (20) (20) (20) 10m
Gi G G Gi
P P P P
1
00
250 100 200 1000
450 MW (compared to 670MW)
(30) 1000 300 500 480 1000 280 MWm
Gii
P
19
Lambda-Iteration Limit Example,cont’dAgain we continue iterating until the convergence
condition is satisfied.
With limits the final solution of , is 24.43 $/MWh
(compared to 23.53 $/MWh without limits).
Maximum limits will always caus
1
2
3
e to either increase
or remain the same.
Final solution is:
(24.43) 300 MW (at maximum limit)
(24.43) 443 MW
(24.43) 257 MW
G
G
G
P
P
P
20
Back of Envelope Values$/MWhr = fuelcost * heatrate + variable O&MTypical incremental costs can be roughly
approximated:– Typical heatrate for a coal plant is 10, modern combustion
turbine is 10, combined cycle plant is 7 to 8, older combustion turbine 15.
– Fuel costs ($/MBtu) are quite variable, with current values around 2 for coal, 3 for natural gas, 0.5 for nuclear, probably 10 for fuel oil.
– Hydro costs tend to be quite low, but are fuel (water) constrained.
21
Inclusion of Transmission LossesThe losses on the transmission system are a
function of the generation dispatch. In general, using generators closer to the load
results in lower lossesThis impact on losses should be included when
doing the economic dispatchLosses can be included by slightly rewriting the
Lagrangian:
G1 1
L( , ) ( ) ( ) m m
i Gi D L G Gii i
C P P P P P
P
22
Impact of Transmission Losses
G1 1
G
The inclusion of losses then impacts the necessary
conditions for an optimal economic dispatch:
L( , ) ( ) ( ) .
The necessary conditions for a minimum are now:
L( , )
m m
i Gi D L G Gii i
C P P P P P
P
P
1
( ) ( )1 0
( ) 0
i Gi L G
Gi Gi Gi
m
D L G Gii
dC P P PP dP P
P P P P
23
Impact of Transmission Losses
th
( ) ( )Solving for , we get: 1 0
( )1
( )1
Define the penalty factor for the generator
(don't confuse with Lagrangian L!!!)
1
( )1
i Gi L G
Gi Gi
i Gi
GiL G
Gi
i
iL G
Gi
dC P P PdP P
dC PdPP P
P
L i
LP PP
The penalty factorat the slack bus isalways unity!
24
Impact of Transmission Losses
1 1 1 2 2 2
The condition for optimal dispatch with losses is then
( ) ( ) ( )
1. So, if increasing increases
( )1
( )the losses then 0 1.0
This makes generator
G G m m Gm
i GiL G
Gi
L Gi
Gi
L IC P L IC P L IC P
L PP PP
P PL
P
appear to be more expensive
(i.e., it is penalized). Likewise 1.0 makes a generator
appear less expensive. i
i
L
25
Calculation of Penalty FactorsUnfortunately, the analytic calculation of is
somewhat involved. The problem is a small change
in the generation at impacts the flows and hence
the losses throughout the entire system. However,
i
Gi
L
P
using a power flow you can approximate this function
by making a small change to and then seeing how
the losses change:
( ) ( ) 1( )
1
Gi
L G L Gi
L GGi Gi
Gi
P
P P P PL
P PP PP
26
Two Bus Penalty Factor Example
2 2
2 2
( ) ( ) 0.370.0387 0.037
10
0.9627 0.9643
L G L G
G G
P P P P MWP P MW
L L
27
Thirty Bus ED ExampleNow consider losses.Because of the penalty factors the generator incremental costs are no longer identical.
28
Area Supply Curve
0 100 200 300 400Total Area Generation (MW)
0.00
2.50
5.00
7.50
10.00
The area supply curve shows the cost to produce thenext MW of electricity, assuming area is economicallydispatched
Supplycurve forthirty bussystem
29
Economic Dispatch - SummaryEconomic dispatch determines the best way to
minimize the current generator operating costs.The lambda-iteration method is a good approach for
solving the economic dispatch problem:– generator limits are easily handled,– penalty factors are used to consider the impact of losses.
Economic dispatch is not concerned with determining which units to turn on/off (this is the unit commitment problem).
Basic form of economic dispatch ignores the transmission system limitations.
30
Security Constrained EDor Optimal Power Flow
Transmission constraints often limit ability to use lower cost power.
Such limits require deviations from what would otherwise be minimum cost dispatch in order to maintain system “security.”
31
Security Constrained EDor Optimal Power Flow
The goal of a security constrained ED or optimal power flow (OPF) is to determine the “best” way to instantaneously operate a power system, considering transmission limits.
Usually “best” = minimizing operating cost, while keeping flows on transmission below limits.
In three bus case the generation at bus 3 must be limited to avoid overloading the line from bus 3 to bus 2.
32
Security Constrained Dispatch
Bus 2 Bus 1
Bus 3Home Area
Scheduled Transactions
357 MW
179 MVR
194 MW
448 MW 19 MVR
232 MVR
179 MW 89 MVR
1.00 PU
-22 MW 4 MVR
22 MW -4 MVR
-142 MW 49 MVR
145 MW-37 MVR
124 MW-33 MVR
-122 MW
41 MVR
1.00 PU
1.00 PU
0 MW 37 MVR100%
100%
100 MWOFF AGCAVR ON
AGC ONAVR ON
100.0 MW
Need to dispatch to keep line from bus 3 to bus 2 from overloading
33
Multi-Area OperationIn multi-area system, areas with direct
interconnections can transact according to rules:– In Eastern interconnection, in principle, up to
“nominal” thermal interconnection capacity,– In Western interconnection there are more
complicated rulesActual power flows through the entire network
according to the impedance of the transmission lines, and ultimately determine what are acceptable patterns of dispatch.
Economically uncompensated flow through other areas is known as “parallel path” or “loop flows.”
Since ERCOT is one area, all of the flows on AC lines are inside ERCOT and there is no uncompensated flow on AC lines.
34
Seven Bus Case: One-line
Top Area Cost
Left Area Cost Right Area Cost
1
2
3 4
5
6 7
106 MW
168 MW
200 MW 201 MW
110 MW 40 MVR
80 MW 30 MVR
130 MW 40 MVR
40 MW 20 MVR
1.00 PU
1.01 PU
1.04 PU1.04 PU
1.04 PU
0.99 PU1.05 PU
62 MW
-61 MW
44 MW -42 MW -31 MW 31 MW
38 MW
-37 MW
79 MW -77 MW
-32 MW
32 MW-14 MW
-39 MW
40 MW-20 MW 20 MW
40 MW
-40 MW
94 MW
200 MW 0 MVR
200 MW 0 MVR
20 MW -20 MW
AGC ON
AGC ON
AGC ON
AGC ON
AGC ON
8029 $/MWH
4715 $/MWH 4189 $/MWH
Case Hourly Cost 16933 $/MWH
System hasthree areas
Left areahas onebus
Right area has onebus
Top areahas fivebuses
35
No net interchangebetweenAny areas.
Seven Bus Case: Area View
System has40 MW of“Loop Flow”
Actualflowbetweenareas
Loop flow can result in higher losses
Area Losses
Area Losses Area Losses
Top
Left Right
-40.1 MW
0.0 MW
0.0 MW
0.0 MW
40.1 MW
40.1 MW
7.09 MW
0.33 MW 0.65 MW
Scheduledflow
36
Seven Bus - Loop Flow?
Area Losses
Area Losses Area Losses
Top
Left Right
-4.8 MW
0.0 MW
100.0 MW
0.0 MW
104.8 MW
4.8 MW
9.44 MW
-0.00 MW 4.34 MW
100 MW Transactionbetween Left and Right
Transaction has actually decreasedthe loop flow
Note thatTop’s Losses haveincreasedfrom 7.09MW to9.44 MW
37