2004 IEEE Intemational Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong

Kong

ANew Method for Generation Shedding and

Load Shedding in Power System Emergency
Control
Yong Min, Kaiyuan Hou, Ruiqi Zhang, Qiang Tu

Abstract-A new method for seeking the scheme of In order to solve these two problems, it is necessary to
generation shedding (GS) and load shedding (LS) in the know the stability region and stability boundary of the
emergency control of power system is proposed in this paper. power systems clearly. However, up to now it is
The method is based on the topological and dynamic impossible to accurately determine the stability region and
characterization of stability boundary of nonlinear dynamic
stability boundary of the multi-machine power systems.
system. The validity of control strategies is determined by
the projection of the displacement of equilibrium points on So there are no precise indexes and mathematic models
the direction of the vertical vector of stability boundary. available for power system transient stability control.
Furthermore, basing on a power system model considering In this paper, a feasible index for determining the
angle stability and frequency variability, the relation validity of control strategies is presented. On the
between GS/LS strategies and parameters can be established. assumption that the stability boundary of the CUEP
Finally, the linearization techniques are used in searching
(controlling unstable equilibrium point) will not change
for G S L S scheme to reduce the calculating burden. The
simulation results prove that the method has practicable suddenly when the parameters change within a given
feasibility for the online construction of emergency control range, the validity of control strategies can be determined
strategies. by the projection of the displacement of the CUEP on the
direction of the vertical vector of stability boundary.
Index Terms- Nonlinear Dynamic System, Stability Furthermore, a power system model considering angle
Boundary, Emergency Control, Load Shedding. stability and frequency variability is adopted in this paper.
Basing on such a power system model, the relation
I. INTRODUCTION
between GS/LS strategies and parameters can be

S ecurity is one of the most important subjects in established. Thus, according to the proposed theory in this
traditional power system operation. In new market paper, the relation between GS/LS strategies and
environment, it is undergoing great changes, such as displacement of the CUEPs is easily derived. So a
larger capacity of power transmission over longer distance, mathematic model of power system emergency control
operation closer to security limit, more uncertainty factors, (GS/LS strategies) is established.
and so on. Therefore, in such a market environment, Finally, an algorithm based on linearization techniques
security stability analysis and control in power system is used to search for GS/LS scheme. So the calculating
encounter many challenges. burden is reduced greatly on the premise of calculation
Generation shedding and load shedding are effective accuracy. The method had practicable feasibility for the
emergency control measures to maintain transient stability online construction of emergency control strategies.
of the power systems. From the point of view of the
theory of nonlinear dynamic system, its target is to solve 11. THEINDEX FOR TRANSIENT STABILITY CONTROL
two problems: one is that the control measures must Consider the following nonlinear autonomous dynamic
maintain the transient stability of the system, namely the
system
initial state must lie in the stability region of the new
system after the emergency control; the other is that the 2
= F ( X ,P ) (2-1)
stable equilibrium point of the new system must be an where X is an n-dimensional state vector and P is the
acceptable steady-state, namely the rotor angle, voltages, control input. The vector field F is
frequency and line and equipment loadings must be
.c'
within applicable limits. Let X: be a hyperbolic equilibrium point. Its stable
and unstable manifolds, w'(X,") and W"(Xi), are
Yong Min is with Department of Electrical Engineering, Tsinghua defined as follows:
University (e-mail: tnin?;ongC$mail .tsin3liua.cdu.cii).
Kaiyuan Hou is with Department of Electrical Engineering, Tsinghua W"(X,S)= {XE R "

If+_
University (e-mail: hkyO 1~~mnils.tsin~llua.cdu.cn).
Ruiqi Zhang is with Department of Electrical Engineering, Tsinghua
University (e-mail: zhangrqOl @mnils.tsinghua.edu.cn). W u ( X i )= (XE R" lim @ ( t , X )= Xi}
Qiang Tu is with China Heilongjiang Electric Supply Company.

0-7803-8237-4/04/$17.0002004IEEE
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2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong

where @ ( t , X )is the trajectory through point x. The unstable index I , is the projection of the vector
If x,” is a stable equilibrium point, difference xop- x,, on the vertical vector TJ+ .
A ( X , ” )= ws(x,”)
is defined as the stability region Furthermore, we define the validity indexes I,,
surrounding Xi. (Generator Shedding Index) and I,, (Load Shedding
Under some undegenerate condition, the stability Index) :

region A ( X , ” )is the union of stable manifolds of all IGS = (xGEPNew - xCUEP 9 7’ ) (2-4)
unstable equilibrium points xlu ( i = 1,2,... ) on the
IL.5 = (xLEPNew - xCUEP 9 q+) (2-5)
stability boundary ’I.
where XGEpNew
and xLEpNew
are the CUEPs of the new
It is well known that the CUEP x,, relative to a
systems after Generation shedding and load shedding
fault is determined by the exit point, which is the point of separately.
intersection of the fault-on trajectory and the stability These indexes reflect the changes of the stability region
boundary [3. ‘I. So the stable manifold through x,,
is and stability boundary when the GSILS control measures
the stability boundary relative to the fault, it takes the take place.
form It is declared that if the control measures make the
CUEP become another unstable equilibrium point and the
f ( x x,C U E P ) = (2-2) angle difference of the two vertical vectors is larger than
If x,, is a type-one equilibrium point, only one of 90 degrees, I,, and I,, will not reflect the changes of
the eigenvalues of the Jacobian matrix J = [dF/ax] the stability region and stability boundary correctly.
%JEP
However, the simulation results prove that it is almost
has positive real part. Obviously this eigenvalue is a impossible to happen in most large power systems.
positive real number. If we denote it by 4 and its
eigenvector by ql , ql is the vertical vector of the 111. THEMATHEMATIC
MODELING
FOR TRANSIENT
STABILITY
CONTROL
stability boundary through X c , . Actually both 7, and
Consider generation shedding and load shedding as
- 11, are the vertical vector of the stability boundary control measures, a physical description for transient
f ( x ,xcUEp)
= 0 . Here we define the vertical vector
stability control is given as follows:
Object: min Total Quantity of GS and LS;
qt according to the process of the fault-on trajectory Constraints : Operation Constraint;
passing through f ( x ,xcUEp)= 0 . If the process is Stability Constraint;
The Maximum Quantity of GS and LS.
f ( x x,c m p ) < 0 + 0 + j.(x,x c u E p ) > 0 7 The corresponding mathematic description is as follows:
the vertical vector 7’ = V I , whereas qf = -VI . 1. Operation constraint: the initial state xop
must lie in
After the fault is cleared, if the initial state still lies the stability region of the new system, namely
outside the stability region of the post-fault system, the
control measures (including Generation Shedding and
(xcuEPNew - x,, r7+ 12 cs, (3-1)
Load Shedding) must be adopted to make the stability where XcuEpNew
is the CUEP of the new system, and
region of the new system cover the initial state. Because
the nonlinear autonomous dynamic systems have the local
c, is the coefficient of stable guarantee.
structured stability in the neighborhood of the hyperbolic 2. Stability Constraint: the stable equilibrium point of the
equilibrium points [’,‘I, we can assume that the stability new system xsEpNew
must be an acceptable steady-
boundary will not change suddenly when the parameters state, namely the rotor angle, voltages, frequency and
change within a given range. So the change of the stability line and equipment loadings must be within applicable
boundary caused by the control measures can be reflected limits.
by the displacement of equilibrium points on the direction
Let kh.xLs,, be the maximum allowable quantity of
of the vertical vector of stability boundary.
Firstly, we define the unstable index I , load shedding at the load bus Lk, and NLk be the
actual quantity of load shedding at the load level j. QLk,i
‘US = (xop - xCUEP 7’) (2-3)
is the weighted coefficient. At the same time, Let
Where xopis the initial state of the post-fault system.
MaxGS,, be the maximum allowable quantity of
(a,h ) denotes the inner product of vector a and b .

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2004 E E E International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRF'T2004) April 2004 Hong Kong

generation shedding at the generator bus Gk , and NGk,j d6i

-=
ai
be the actual quantity of generation shedding at the dt
generation level j. QGk,jis the weighted coefficient. So da, - 1
the transient stability control can be described as follows:
---
dt Mi
(Pmi- ei - Di * ai)
Object:

Lk j Gk j
Constraints:
(xCUEPNew c,;
-xop,77+)2 j=l

where x,,,,,,,, is an acceptable steady-state ;

C..
I/
= E i * E j * B , , D=
, Ei*Ej.G,.
Using one machine as reference, and let
NLk,jI MaxLS,, , NGk,,I MaxGS,, .
j i -
Di = zi ( i = 1,2,..-,n ) and 6, = Si - 6, , equation (4-
Furthermore, equation (3-1) can be written as
(xCUEPNew - xCUEP 7 ?7+ >
According to equation (2-4) and (2-5), let
(IUS + ' S G )
I,,
(3-2)
be the
Mi
1) can be transformed into the follows:
dei
-=a; -an
generator shedding index at the bus Gk , and I,,,, be
dt
the load shedding index at Lk . So equation (3-2) can be
approximately rewritten as
EIGSGk 'CILSLk '('US +'SG) (3-3)
Gk Lk

In order to calculate I , and I,, , it is necessary to

solve the equilibrium points of the nonlinear equations, where Qmi= P . Qmn= -
Pmn
namely
Mi M n
F ( X ,P ) = 0 (3-4)
Because its time-consuming calculation is not
practicable, an acceptable linearization method is given as
follows:
The partial derivative of equation (3-4) is
dF i?X 3F
-.- +-=O (3-5)
ax 3~ a~
Such that

linearizing the above equation, we have

EP
.E.U
=-Jib,,
aP
where JJaco= is Jacobian matrix

XSEP.
rl -11

STABILITY CONTROL OF A POWER

IV. TRANSIENT
SYSTEM MODEL

A. The Power System Model Such that

Consider the following classical power system model
JJaco [o
= Jo
n
- (4-3)

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2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DWT2004) ApriI 2004 Hong Kong

From the above equation, we can calculate the vertical According to equation (2-5), we have
vector vi. ' L S Lk = (MLS Lk 9 q+) (4- 11)

B. The Calculationof 1, where AX,,,, is the change of the equilibrium points

Consider the following cases: one is fast valving

caused by load shedding at load bus Lk .
control to decrease the output of generators; the other is D. The Frequency Limit at Stable Equilibrium Point
removing some generators from the power system. Considering the characteristic of , let

I
For the first case, it does not change the other
parameters, we have J-'
Jaco
=
[ Jl(n-l,x(n-l,

J3 J2
J4nxn
, such that the elements

of J4nxn
are the same in one row. According to equation
(4-5) and (4-lo), we have
64
=&y WZ =..a= hxm" (4- 12)
It implies that the rotate speed changes of all generation
Such that
are the same with the displacement of stable equilibrium
AX = -J;lc, .[ G(Mm
0
1
] (4-5)
points.
According to the stability constraint, for the new stable
equilibrium point, the absolute values of 0 must be
For the second case, it needs to calculate the network smaller than the given value. Therefore, the frequency
parameters again, we have limit at stable equilibrium point can be transformed to
AX -J 1 , .AF (4-6) examine the two d ~ )with the maximum absolute values.
According to equation (2-4), we have
V. NUMERICAL
EXAMPLES
IGSGk = ( m G S G k 7 q +> (4-7)
where AXGsGkis the change of the equilibrium points
caused by generation shedding at generator bus Gk .

C. The Calculationof I,, Lk G2 @

Let the quantity of load shedding be MLk+ jAQLk at

Bta=i0.0367 Bn=jO.O43
the load busLk , we have
-- Eo
= AG+jAB
\1 PL3
= (z, + hLk)-'
Y, Z,(:,Lk) Z,(Lk,:) Y,
* Bcd=jo.0211 0 .O 17tjO .O 92
Bn=jO.Olg
- jAQLk
where AyLk= @ : : $ jO.0576
uik
1
2, = Y;' = [ Z D J , AzLk= - (4-8) Fig.1 WSCC 4-machine power system
AY Lk Consider the following WSCC 4-machine power
e,,= 0 , we have
Due to
--".=[
dF
dP L(AG,AB)
-
0 1
-
(4-9)
system shown in fig. 1, and the corresponding parameters
are shown in Tab. 1 and Tab.2.
The three-phase short circuit faults are applied to the
system. The fault locations are at the generator buses and
1 " load buses of the line ends. The BCU method [7,81 is used
where L~(AG, AB)= -- . [AC, .si& - ej) to find the CUEPs. The simulation is carried out through
Mi MATLAB 6.1 on a PIV-1.7G 256DDRAM PC machine.
+AD, -ej)j , AC, = E -~ E .AB,
~ , The simulation results are shown in Tab.3.
The simulation results show that all control measures
AD, = Ei * E j-AG,. are able to maintain the stability of the power system. The
Such that calculations only consume very short times so that it has
practicable significance for the online construction of
emergency control strategies.

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2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004)April 2004 Hong Kong

Generator Rating Capacity Rating Voltage Power factor Damping

Number MVA KV xd' Hg 6) A=- D
.M_
G1 209.5 18 0.90 0.1198 6.40 0.50
G2 209.5 18 0.90 0.1196 6.40 0.40
G3 138.8 13.8 0.85 0.1813 3.01 0.60
G4 247.5 I6 5 1 .oo 0.0608 23.64 1.oo

Tab.2 Load mode of 4-machine system

Bus 1 Bus 2 Bus 3 Bus 4 Bus 5 Bus 8 Bus 10
Load Mode P V P V P V V 0 p Q P Q P Q
Mode 1 1.6 1.03 1.6 1.04 1.0 1.04 1.03 0 2.2 1.0 2.0 0.55 2.1 0.40
Mode2 1.4 1.03 1.4 1.04 0.8 1.04 1.03 0 2.0 0.6 1.8 0.4 1.8 0.4
Weighted Coefficient 10 9 9 6 50 70 100
Tab.3 Results of GS/LS scheme in 4-machine system
Critial Actwal Generation Shedding Load Shedding
Fault Cleared Consumed Control
Location L,ine Clearing Clearing (Generator (Load Bus Number:
Time Results
Time (s) Time (s) "dJer: Quantity) Quantity)
6 5-6 0.17-0.18 0.22 G1: -0.7457 @:-0.6305 - 0.28661 0.3510 Stable
i 5 5 5-6 0.23-0.24 0.32 G1: -1.0794 @:-1.2778 - 0.58081 0.3500 Stable
a
z 9 5-9 0.27-0.28 0.30 G3: -0.9000 @:-1.0445 - 0.28721 0.3400 Stable
7 5-7 0.25-0.26 0.29 G2: -0.9449 @:-0.8862 - 0.40281 0.3480 Stable
@:-1.8000 - 0.5400i
6 5-6 0.23-0.24 0.3 1 G1: -1.2600 0.3500 Stable
@:-0.4388 - 0.0975
5 5 5-6 0.29-0.30 0.35 G1: -0.8657 @:-0.6226 - 0.18681 0.3610 Stable
E 9 5-9 0.33-0.34 0.35 G3: -0.6557 @:-0.2295 - 0.06881 0.3500 Stable
G1: -0.1349 @:-1.8000 - 0.5400i
7 5-7 0.29-0.30 0.35 o,3510 Stable
G2: -1.2600 @:-0.8805 - 0.19571
powcr system, IEEE Trans. on Automatic Control, Vo1.33, No.1,
January 1988, pp. 4-14.
VI. CONCLUSION H. D. Chiang, M. W. Hirsch and F. F. Wu, Stability region of
A new method for seeking the scheme of generation nonlinear autonomous dynamical system, IEEE Trans. on Automat.
shedding (GS) and load shedding (LS) in the emergency Contr., Vol.AC-33, No. 1. January 1988, pp.16-27.
A. H. El-Abiad and K. Nagappan, Transient Stability Region of
control of power system is proposed in this paper. The Multi-machine Power Systems, KEEE Trans. PAS, Vol. 85, No.2,
validity of control strategies can be determined by the February 1966, pp.169-179.
projection of the displacement of equilibrium points on T. Athay, R. Podmore and S . Virmani, A Practical Method for the
Direct Analysis of Transient Stability, IEEE Trans. On PAS, Vol.
the direction of the vertical vector of stability boundary. PAS-98, No.2, MarcWApril 1976, pp. 573-584.
Based on a power system model considering angle Jacob Palis, Jr. and Welington de Melo, Geometric Theory of
stability and frequency variability, a mathematic model of Dynamical Systems: An Introduction. Press of Shanghai Jiaotong
Univ., 1986.
power system emergency control (GS/LS strategies) is
Weijiang Zhang, Shengrong Yang, The Dynamic Analysis of The
established. Nonlinear Dynamic Systems, Shanghai Jiaotong University
On the premise of calculation accuracy, the Press, 1996, pp.47.
linearization techniques can be used in searching for H. D. Chiang, F. F. Wu and Braviu P. Varaiya, A BCU Method for
Direct Analysis of Power' System Transient Stability, IEEE Trans.
GS/LS scheme to reduce the calculating burden. The On Power Systems, Vo1.9, No.3, August 1994, 1194-1208.
simulation results prove that the method has practicable H. D. Chiang and Chia-Chi Chu, Theoretical Foundation of the
feasibility for the online construction of emergency BCU Method for Direct Stability Analysis of Network-Rcduction
Power System Models with Small Transfer Conductance, IEEE
control strategies. Trans. On Circuits and Systems-I: Fundamental Theory and
It is pointed out that whether the method proposed in Applications, Vo1.42, No.5, May 1995,252-265
this paper can be put into practice mainly depends on
finding the CUEP correctly, which is one of the most VIII. BIOGRAPHIES
important problems to be solved in the large power
systems. In this paper, the BCU method is adopted to find Yong Min was bom in Hubei province, in China, in 1963. He received
the CUEP. Ph. D. in elcctrical engineering from Tsinghua University. He is
currently a professor of the Department of Electrical Engineering in
Tsinghua University. His rcscarch interests are in Power System Security,
VII. REFERENCES Stability and Control.
[I] J. Zaborzsky, G. Huang, B. Zheng, and T. C. Leung, On thc phasc- Kaiyuan Hou was bom in Jilin province, in China, in 1973. He is
portrait of a class of large nonlinear dynamic systcms such as the currently a Ph. D. candidate in electrical engineering in Tsinghua

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2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong

University. His rcscarch interests arc in Power System Stability and

Control.
Ruiqi Zhang was bom in Gansu province, in China, in 1979. He
received M. S. degree in electrical engineering from Tsinghua University
His research interests are in Power System Stability and Control.

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