Power system voltage stability is characterized as being capable of maintaining load voltage magnitudes within specified operating limits under steady state conditions. This presentation deals with the modeling of two standard power systems test cases i.e the Nordic-32 and the Nordic-68, comparing the power flows results obtained from GridCal against PSS/E, finding the respective P-V curves for the two test cases using the continuation power flow under contingencies, and finally proposing a graph-based test statistic which can be used for an imminent voltage instability. The simulations are carried out using an open-source power system software called GridCal and the scripts for this project are written in python.
1. Voltage Stability Analysis using GridCal
by Anmol Dwivedi
April 2020
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 1 / 29
2. Content
Background: Voltage Stability
GridCal: a research oriented power systems software
Goals of this project
Modeling in GridCal
Results for Nordic-32 test case
Results for Nordic-64 test case
Technologies Used
References
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 2 / 29
3. Background
Classification of Voltage Stability
Large Disturbance Voltage Stability
Concerned with the system’s ability to control voltages under faults,
loss of generation etc.
Similar to transient stability analysis, however, voltage stability analysis
require additional detailed models of devices.
Is analyzed by using non-linear time-domain simulations.
Small Disturbance Voltage Stability
Concerned with the system’s ability to control voltages following small
disturbances such as gradual changes in load.
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 3 / 29
4. Important Questions to consider
How close is the system to voltage instability?
How and why does voltage stability occur?
What are the factors that contribute to voltage instability?
What effective measures can be taken to avoid voltage instability?
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 4 / 29
5. Factors Affecting Voltage Stability
Generators and their excitation controls
In generators, AVRs are the most important means of voltage control
in a power system. Under low system voltages, the reactive power
demand on generators may exceed their field/armature current limits
and hence, not maintaining the terminal voltage to be constant.
Load Characteristics
The system voltage attains values governed by the characteristics of
the transmission system and load.
Common reasons for voltage instability
Heavily loaded system
Loss of a heavily loaded line
Generator reaching field current limits
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 5 / 29
6. To summarize the problem
Voltage Stability Analysis
Dynamic Analysis
While it is accurate/useful, it is very time consuming as it require large
number of time domain simulations.
It answers whether the system is stable for any given operating
condition, however, provides no quantitative information like how much
the system is stable.
Static Analysis
Tells us how much the system is stable i.e provides us information
about the stability margin for a given operating point.
Continuation Power Flow (CPF) analysis is one such tool which
remains well conditioned even when the jacobian is singular, making it
a useful tool to determine the shortest path to instability.
This project deals with the CPF analysis for two test cases (i.e Nordic
32 and 64) using an open-source python tool called GridCal.
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 6 / 29
7. GridCal: a research oriented power systems software
An open source power system software for steady state power system
analysis.
Can be used both as a library and GUI (drag and drop).
This project uses GridCal as a library and the scripts are written in
Pycharm.
Offers steady state analysis tools like:
Power Flow computation
Optimal Power Flow computation.
Time series analysis
Continuation Power Flow analysis
GridCal uses an object-oriented approach for all the data and
simulation management, which means that in a given power system,
the generators, buses, branches, shunts etc. are modeled as objects
such that various instances of these objects can be created to
construct a desired power system.
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 7 / 29
8. Goals of this project
To model two specific power system test cases i.e to specifically
model the Nordic-32 system and the Nordic-64 test system by using
GridCal as a library.
Perform voltage stability analysis using the CPF tool offered by
GridCal to find out the stability margin of the two test systems.
To compare the power flows results obtained from GridCal and that
obtained by PSS/E.
Use python tools like networkx and matplotlib to facilitate topological
analysis and visualization of power system test cases.
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 8 / 29
9. Modeling in GridCal
MultiCircuit:
Once the circuit is built, the results of the circuit are passed on to the
specific drivers (like the power flow driver, CPF driver, Voltage
Collapse Driver etc.) in order to perform specifc simulations.
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 9 / 29
10. Modeling in GridCal
Universal Branch Model: Transmission lines, Transformers, DC-Line,
Switch
π model of a branch is considered with variables as R, X, G, B, tap
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 10 / 29
11. Modeling in GridCal
Loads
Can be connected to a specific bus with required P(MW) and
Q(MVar)
GridCal can model both constant PQ loads and constant current
loads.
I have used constant PQ loads for my simulation.
Generators
Can be connected to a specific bus with required Power and Voltage
set point.
Modeled as constant voltages source behind a reactance.
Shunts
Can be connected to a specific bus with required B (MVar)
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 11 / 29
12. Single Line Diagram of the Nordic-32 test case
Diagram form the IEEE PES voltage stability analysis report [3]
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 12 / 29
13. Power Flow results for Nordic-32 using GridCal
Voltage Magnitude Variation in Per Unit (PSS/E results for Nordic - 32)
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 13 / 29
14. Power Flow results for Nordic-32 using GridCal
Voltage Angle Variation in Degrees (PSS/E results for Nordic - 32)
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 14 / 29
15. Networkx Equivalent of Nordic-32
Type: MultiGraph
Number of nodes: 74
Number of edges: 102
Average degree: 2.7568
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 15 / 29
16. Graphical Visualization for Nordic-32 using networkx and
matplotlib
Graph representation without any contingency
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1_LOAD 1041
2_LOAD 1042
3_LOAD 1043
4_LOAD 1044
5_LOAD 1045
11_LOAD 1011
12_LOAD 1012
13_LOAD 1013
22_LOAD 1022
31_LOAD 2031
32_LOAD 2032
41_LOAD 4041
42_LOAD 4042
43_LOAD 4043
46_LOAD 4046
47_LOAD 4047
51_LOAD 4051
61_LOAD 4061
62_LOAD 4062
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71_LOAD 4071
72_LOAD 4072
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by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 16 / 29
17. Graphical Visualization for Nordic-32 using networkx and
matplotlib
Graph representation with contingency (400kV line 4031–4032)
130k
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line 1012_10
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130kVline1013_1014_1130kVline1013_1014_2
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Vline
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1_LOAD 1041
2_LOAD 1042
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11_LOAD 1011
12_LOAD 1012
13_LOAD 1013
22_LOAD 1022
31_LOAD 2031
32_LOAD 2032
41_LOAD 4041
42_LOAD 4042
43_LOAD 4043
46_LOAD 4046
47_LOAD 4047
51_LOAD 4051
61_LOAD 4061
62_LOAD 4062
63_LOAD 4063
71_LOAD 4071
72_LOAD 4072
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by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 17 / 29
18. P-V curves for Nordic-32
Loss of the most heavily loaded transmission line (N-1 contingency)
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 18 / 29
19. P-V curves for Nordic-32
Loss of a lightly loaded transmission line (N-1 contingency)
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 19 / 29
20. Power Flow results for Nordic-64 using GridCal
Voltage Magnitude Variation in Per Unit (PSS/E results for Nordic - 64)
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 20 / 29
21. Power Flow results for Nordic-64 using GridCal
Voltage Angle Variation in Degrees (PSS/E results for Nordic - 64)
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 21 / 29
22. Networkx Equivalent of Nordic-64
Type: MultiGraph
Number of nodes: 66
Number of edges: 111
Average degree: 3.3636
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 22 / 29
23. Graphical Visualization for Nordic-64 using networkx and
matplotlib
Graph representation without any contingency
130k
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DC Termina
l 1
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5101
Tran
sform
er
line
5102
_510
0
Trans
form
er line
5102
_5100
Transfo
rmer
line 5300_5
301
Transfo
rmer
line 5400_54
01
Transformer line 5400_5402
Tran
sform
er line
5500
_550
1
Transfo
rmer
line 5600_5
601
Transformer
line 5603_5602
Transformerline6000_6001
1_BUS 41 L
1_BUS 42 L
1_BUS 43 L
1_BUS 46 L
1_BUS 47 L
BUS 51 L
1_BUS 61 L
1_BUS 62 L
1_BUS 63 L
1_BUS 1011 L
1_BUS 1012 G
1_BUS 1013 G
1_BUS 1014 G
1_BUS 1021 G
1_BUS 1022 G
1_BUS 1041 L
1_BUS 1042 G
1_BUS 1043 G
1_BUS 1044 L
1_BUS 1045 L
2_BUS 2031 L
2_BUS 2032 G
4_BUS 4011 G
4_BUS 4012 G
4_BUS 4021 G
4_BUS 4022
4_BUS 4031 G
4_BUS 4032
4_BUS 4041 G
4_BUS 4042 G
4_BUS 4043
4_BUS 4044
4_BUS 4045 L
4_BUS 4046 L
4_BUS 4047 G
4_BUS 4051 G
4_BUS 4061
4_BUS 4062 G
4_BUS 4063 G
3_BUS 5100 G
4_BUS 5101_NOR
4_BUS 5102
4_BUS 5103
3_BUS 5300 G
4_BUS 5301
3_BUS 5400 G
4_BUS 5401
4_BUS 5402
BUS 5500 G
4_BUS 5501
3_BUS 5600 G
4_BUS 5601
4_BUS 5602
3_BUS 5603
3_BUS 6000 G
4_BUS 6001
3_BUS 6100 G
4_BUS 7100 G
4_BUS 7101 G
4_BUS 7102
4_BUS 7200
4_BUS 7201 G
4_BUS 7203 G
4_BUS 7204 G
4_BUS 7205 G
4_BUS 8500 G
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 23 / 29
24. Graphical Visualization for Nordic-64 using networkx and
matplotlib
Graph representation with contingency (400kV 4031–4032)
130kV
1011_
1013_
1
130kV
1011_
1013_
2
130kV
1012_
1014_
1
130kV
1012_
1014_
2
130kV
1013_10
14_1
130kV
1013_10
14_2
130kV
1021_1
022_1
130kV
1021_1
022_2
130
kV
104
1_10
43_1
130
kV
104
1_10
43_2
130kV
1041_104
5_1
130kV
1041_104
5_2
130kV1042_1044_1130kV1042_1044_2
130kV 1042_1045_1
130kV1043_1044_1130kV1043_1044_2
220kV2031_2032_1220kV2031_2032_2
400kV4011_4012_1
400k
V 4011
_4022
_1
400k
V4011
_710
0_1
400kV 4012_4022_1
400
kV
401
2_71
01_1
400kV
4021_40
32_1
400kV4021_4042
_1
400kV 4022_4031_1400kV 4031_4022_1
400k
V4031
_403
2_1
400kV
4031_40
41_1
400kV
4031_40
41_2
400kV4032_4042_1
400kV
4032_
4044_
1
400kV4041_4044_1
400k
V 4041
_4061
_1
400k
V4041
_510
1_1
400k
V4041
_510
1_2
400kV4042_4043_1
400kV 4042_4044_1
400
kV
404
3_40
44_1
400k
V4043
_404
6_1
400kV
4043_
4047_
1
400
kV
404
4_4
045
_3
400
kV
404
4_4
045
_2
400kV
4045_405
1_1
400kV
4045_405
1_2
400kV
4045_
4062_
1
400kV4046_4047_1
400k
V4061
_406
2_1
400kV4062_4063_1400kV4062_4063_2
400kV4063_8500
_1
300kV 5100_5300_1
300kV5100_5500_1
400kV5101_5501_1
400kV
5102_
5301_
1
400kV5102_6001_1
400
kV
510
2_6
001
_1
300
kV
540
0_55
00_1
300kV5400_6000_
1
300k
V 5400
_610
0_1
400kV
5401_
5501_
1
400k
V5401
_560
2_1
400kV 5401_6001_1
400kV 5402_6001_1
300kV
5500_560
3_1
300kV
5600_
5603_
1
300
kV
560
0_60
00_1
400kV5601_6001_1
300kV 6000_6100_1
400kV
7100_
7101_
1
400kV
7100_7
200_1
400kV
7100_7
200_2
400kV
7101_7
102_1
400k
V 7102
_720
1_1
400kV 7200_7201_1
400kV7200_7205_1
400kV 7201_7203_1
400k
V7203
_7204
_1
400kV 7204_7205_1
DC
Term
inal
1
DC
Term
inal
3
Transformerline1041_41_1
Tran
sform
erline
1042
_42_1
Transform
erline1043_43_
1
Transformerline1046_46_1
Transformer
line 1047_47_1
Trans
forme
r line
1051_
51_1
Transformer line 1061_61_1
Transformer line 1062_62_1
Tran
sfor
mer
line
1063
_63_
1
Trans
forme
r line
1011_
4011_
1
Tran
sfor
mer
line
101
1_40
12_1
Transfo
rmer
line1022_40
22_1
Transformerline1044_4044_2
Transformerline1045_4045_2
Transfo
rmer
line2031_4
031_2
Tran
sform
er line
5100
_510
1
Tran
sfor
mer
line
510
2_51
00
Trans
forme
r line
5102_
5100
Transf
ormer
line
5300_
5301
Transf
ormer
line
5400_5
401
Transformer line 5400_5402
Tran
sfor
mer
line
5500
_550
1
Transform
er line 5600_560
1
Transformer line 5603_5602
Transformerline6000_6001
1_BUS 41 L
1_BUS 42 L
1_BUS 43 L
1_BUS 46 L
1_BUS 47 L
BUS 51 L
1_BUS 61 L
1_BUS 62 L
1_BUS 63 L
1_BUS 1011 L
1_BUS 1012 G
1_BUS 1013 G
1_BUS 1014 G
1_BUS 1021 G
1_BUS 1022 G
1_BUS 1041 L
1_BUS 1042 G
1_BUS 1043 G
1_BUS 1044 L
1_BUS 1045 L
2_BUS 2031 L
2_BUS 2032 G
4_BUS 4011 G
4_BUS 4012 G
4_BUS 4021 G
4_BUS 4022
4_BUS 4031 G
4_BUS 4032
4_BUS 4041 G
4_BUS 4042 G
4_BUS 4043
4_BUS 4044
4_BUS 4045 L
4_BUS 4046 L
4_BUS 4047 G
4_BUS 4051 G
4_BUS 4061
4_BUS 4062 G
4_BUS 4063 G
3_BUS 5100 G
4_BUS 5101_NOR
4_BUS 5102
4_BUS 5103
3_BUS 5300 G
4_BUS 5301
3_BUS 5400 G
4_BUS 5401
4_BUS 5402
BUS 5500 G
4_BUS 5501
3_BUS 5600 G
4_BUS 5601
4_BUS 5602
3_BUS 5603
3_BUS 6000 G
4_BUS 6001
3_BUS 6100 G
4_BUS 7100 G
4_BUS 7101 G
4_BUS 7102
4_BUS 7200
4_BUS 7201 G
4_BUS 7203 G
4_BUS 7204 G 4_BUS 7205 G
4_BUS 8500 G
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 24 / 29
25. P-V curves for Nordic-64
Loss of the most heavily loaded transmission line (N-1 contingency)
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 25 / 29
26. P-V curves for Nordic-64
Loss of a lightly loaded transmission line (N-1 contingency)
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 26 / 29
27. Technologies Used
GridCal (as a library)
Python (scripting)
networkx (Topological analysis and Visualization)
matplotlib (Visualization)
numpy (Calculations)
Pycharm (IDE)
PSS/E (for power flow comparison)
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 27 / 29
28. References
GridCal: a research oriented power systems software.
Lecture series on Power System Dynamics by Prof.M.L.Kothari,
Department of Electrical Engineering, IIT Delhi.
IEEE Power and Energy Society technical report PES-TR19 voltage
stability analysis and security assessment
Joe H. Chow; Juan J. Sanchez-Gasca, ”Steady-State Voltage Stability
Analysis,” in Power System Modeling, Computation, and Control ,
IEEE, 2020, pp.47-85
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 28 / 29
29. Codes for this project
Thank You
by Anmol Dwivedi Voltage Stability Analysis using GridCal April 2020 29 / 29