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Article history:
Received 2 December 2008
Received in revised form 15 February 2011
Accepted 1 June 2011
Available online 2 July 2011
Keywords:
Particle swarm optimization
Heuristic
Optimal power ow
PC cluster system
Parallel processing
a b s t r a c t
In recent studies, PSO algorithm is applied to solve OPF problem. However, population based optimization method requires higher computing time to nd optimal point. This shortcoming is overcome by a
straightforward parallelization of PSO algorithm. The developed parallel PSO algorithm is implemented
on a PC-cluster system with 8 Intel Pentium IV 2 GHz processors. The proposed approach has been tested
on the test systems. The results showed that computing time of parallelized PSO algorithm can be
reduced by parallel processing without losing the quality of solution.
2011 Elsevier Ltd. All rights reserved.
1. Introduction
Optimal Power Flow (OPF) is a useful tool in planning and operation of a power system. The OPF problem can be described as the
optimal allocation of power system controls to satisfy the specic
objective function such as fuel cost, power loss, and bus voltage
deviation. The control variables include the generator real powers,
the generator bus voltages, the tap ratios of transformer and the
reactive power generations of VAR sources. Therefore, the OPF
problem is a large-scale highly constrained nonlinear non-convex
optimization problem [1]. Recently, many heuristic optimization
methods in [24] to overcome the limitations of the mathematical
programming approaches have been investigated. Particle Swarm
Optimization (PSO) is a newly proposed population based heuristic
optimization algorithm [5]. Compared with other heuristic optimization methods, PSO has comparable or even superior search performance for some hard optimization problems in real power
systems [68]. However, population based optimal research methods such as GA, EP and PSO require relatively higher computing
time than conventional optimization techniques. In parallel processing, problems are divided into several sub problems, and allocated to each processor. This can reduce computing time and
enhance computation efciency [9]. In this paper, parallel PSO
algorithm is proposed to improve the computing time and also
Corresponding author. Tel.: +82 55 280 1336; fax: +82 55 280 1339.
E-mail address: jykim@keri.re.kr (J.-Y. Kim).
0142-0615/$ - see front matter 2011 Elsevier Ltd. All rights reserved.
doi:10.1016/j.ijepes.2011.06.026
PC-cluster system is developed to implement parallel PSO algorithm. To verify the usefulness of the proposed algorithm, parallel
PSO algorithm has been tested and compared with standard PSO
algorithm having with single processor. The standard IEEE 30 and
118-bus power systems have been employed to carry out the simulation study.
2. Optimal power ow problem formulation
The OPF problem can be formulated as a constrained optimization problem as follows:
Minimize f x; u
subject to gx; u 0
hx; u 6 0
1
2
3
Min f Pgi
Ng
X
ai bi P gi ci P2gi
i1
where f(Pgi) is the total fuel cost ($/h) of all generators; Pgi is the
active power output generated by the ith generator; ai, bi, ci are fuel
cost coefcients; and Ng is the total number of generators. The
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J.-Y. Kim et al. / Electrical Power and Energy Systems 33 (2011) 14571461
Pgi Pdi V i
Nb
X
V j Y ij coshi hj uij 0 i 1; . . . ; Ng
j1
Q gi Q di V i
Nb
X
V j Y ij sinhi hj uij 0 i 1; . . . ; Ng
j1
where Pgi and Qgi are the active and reactive power generations at
bus i; Pdi and Qdi are the active and reactive power demands at
bus i; Vi and Vj are the voltage magnitude at bus i and j respectively;
hi and hj are the voltage angles at buses i and j respectively; uij is the
admittance angle; Yij is the admittance magnitude; and Nb is the total number of buses.
The OPF inequality constraints, h(x, u), represent limits of control variables and state variables. The system operation constraints
consist of the transmission line loadings, load bus voltages, reactive power generations of generator, and active power generation
of slack generator. These variables should be within the set lower
and upper limits.
Si 6 Si 6 Smax
i
i 1; 2; . . . ; Nl
V min
6 V i 6 V max
i
i
i 1; 2; . . . ; Nb
max
Q min
gi 6 Q gi 6 Q gi
i 1; 2; . . . ; Ng
max
Pmin
gs 6 P gs 6 P gs
7
8
9
10
Pmin
gi
6 Pgi 6
Pmax
gi
i 1; 2; . . . ; Ng 1
max
V min
gi 6 V gi 6 V gi
t min
6 t i 6 t max
i
i
min
shi
6 shi 6
i 1; 2; . . . ; Ng
i 1; 2; . . . ; Nt
max
shi
i 1; 2; . . . ; Nsh
11
12
13
14
v i xv i c1 r1 pi xi c2 r2 pg xi
15
16
xi xi v i
17
The population size is one of the key factors that will affect the
search performance of the PSO algorithm for seeking the optimal
solution. The larger population size can guarantee the higher
chance of obtaining the optimal solution. However, it is obvious
that more computing time is needed. To reduce the computing
time with same quality of solution, parallel PSO algorithm is proposed and paralleled by the PC cluster system. The most important
issue of parallelizing PSO algorithm is exchange model of evolution
information. Different ways will result in different performances.
The proposed conguration is a kind of parallel algorithm based
on coarse grain model, in which the population is divided into
some sub-populations evolving independently.
Each sub-population exchanges require information only between two neighboring sub-populations connected by arrowed
lines as shown in Fig. 2. Each sub-population is allocated in each
processor that involves in parallel computing. With each processor
that can communicate with the neighboring sub-populations, the
best solution of each processor is transferred to the neighboring
processors by migration operation every generation. The owchart
J.-Y. Kim et al. / Electrical Power and Energy Systems 33 (2011) 14571461
1459
Table 1
Specication of PC cluster system.
Item
Specication
CPU
Mother board
Chipset
RAM
HDD
NIC
Network switch
Operating system
MPI library
Compiler
where Pgi is the active power output of the ith generator, Vgi the
voltage magnitude of the ith generator bus, ti the transformer tap
ratios of the ith transformer, shi the no. of bank of the ith shunt
capacitor and p is the no. of position vector.
In the evaluation procedures of PSO, tness value can be obtained by the following equations. As shown in Eq. (18), tness is
composed of fuel cost of the generator and several constraints for
the power system operations.
J.-Y. Kim et al. / Electrical Power and Energy Systems 33 (2011) 14571461
Fitness PNg
i1 F i P gi
PN c
j1
18
xj Penj
where Fi(Pgi) is the fuel cost function of the ith generator, xj the
coefcient of the jth constraint, Penj the penalty function of the
jth constraint, Ng the no. of generators, Nc the no. of constraints
and a is the constant value.
4. Test results
Two test systems, IEEE 30 and 118-bus systems are used to verify the proposed algorithm with emphasis on the validity of the
calculation results and the effectiveness of the proposed algorithm.
The simulation parameters of PSO algorithm are listed in Table 2.
4.1. IEEE 30-bus system
Table 3
Minimum solution found by Parallel PSO-OPF in IEEE 30-bus system.
Parallel PSO-OPF solution
P1
P2
P5
P8
P11
P13
t412
t69
sh10
sh12
sh15
sh20
177.13
48.82
21.40
21.30
11.82
12.00
1.096
0.908
0.034
0.0302
0.0293
0.0455
V1
V2
V5
V8
V11
V13
t610
t2827
sh21
sh23
sh24
1.08
1.06
1.03
1.03
1.07
1.05
0.984
0.982
0.0484
0.0370
0.05
Table 4
Summary of searching performance in IEEE 30-bus system.
The IEEE 30-bus system has a total of 24 control variables as follows: ve unit active power outputs, six generator-bus voltage
magnitudes, four transformer-tap settings, and nine shunt capacitors. Transformers are in-phase transformers with assumed tapping range of 0.91.1 pu and shunt capacitors are in the range of
00.05 pu. The lower voltage magnitude limits at all buses are
0.95 pu, and the upper limits are 1.1 pu for generator buses and
1.05 pu for the remaining buses including the reference bus.
The best cost of PSO algorithm with single processor gives
800.68 $/h, and proposed parallel PSO algorithm with eight processors gives 800.64 $/h. Both of algorithms show almost same quality
solution which is less than the 804.8 $/h reported in [11]. OPF solution found by parallel PSO and corresponding control variables setting are described in Table 3. More detail searching performance of
parallel PSO is presented in Table 4. The computing times for standard and parallel PSO algorithm with eight processors are 8.03 s
and 1.73 s respectively.
To show the effects of the parallel operation by the PC clustering, speedup is evaluated. Speedup is described below:
Method
Processor number
Cost ($/h)
Ref. [10]
PSO
Parallel PSO
1
1
8
804.8
800.68
800.64
8.03
1.73
5
4
Speed up
1460
3
2
1
0
No. of processors
Fig. 4. Speed up according to the processor number in IEEE 30-bus system.
speedup (Sp)
Sp
T
Tp
19
Table 5
Minimum solution found by PSO-OPF in IEEE 118-bus system.
Table 2
Simulation parameters.
Parameter
Value
Max iteration
Population
C1
C2
w
50
60
2.0
2.0
0.90.4
290.00
328.88
210.00
241.60
241.61
237.97
195.00
210.01
345.77
315.00
336.16
315.00
230.34
265.00
V1
V10
V12
V25
V26
V49
V59
V61
V65
V66
V80
V89
V100
V103
1.09
1.09
1.07
1.10
1.10
1.07
1.06
1.08
1.01
1.10
1.08
1.10
1.10
1.09
J.-Y. Kim et al. / Electrical Power and Energy Systems 33 (2011) 14571461
Table 6
Summary of searching performance in IEEE 118-bus system.
Method
Processor number
Cost ($/h)
Ref. [11]
PSO
Parallel PSO
1
1
8
17860.09
17560.4
17554.0
1362.26
169.0
Speed up
developed. To verify the performance of the proposed method, parallel PSO algorithm is tested on an IEEE 30 and 118-bus systems.
For repeated evaluating tness function during evolution process,
it needs lots of computing cost by calculating load ow. Therefore,
proposed parallel PSO algorithm can divide the population into
several sub populations to share the burden of calculating the load
ow. As a result, computing time of parallel PSO algorithm can be
further improved.
References
10
6
4
2
0
1461
No. of processors
Fig. 5. Speed up according to the processor number in IEEE 118-bus system.
lowered because there exists overhead when communication executed between processors.
5. Conclusions
In these days, many heuristic optimization methods such as GA,
EP and PSO are developed and applied to OPF problem. However,
heuristic optimization methods require relatively higher computing time which is one of the major obstacles on dealing with the
on-line OPF. In this paper, parallel PSO algorithm based on PCcluster system is proposed and applied to the OPF problem. For
parallel computing, a PC cluster system consisting of 8 PCs is also
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