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Cascading Line Outage Prevention with Multiple

UPFCs
Hong Tao Ma, Mariesa L.Crow, Senior Member, IEEE, Badrul H. Chowdhury, Senior Member, IEEE,
Adam Lininger

Abstract— Flexible AC Transmission System (FACTS) have independently adjust real power and reactive power to the grid
been recognized to be effective in regulating network power flow [7], [8]. In this study, multiple UPFCs will be controlled to
and enhance system dynamic performance. In this paper, multiple regulate line active power flow so as to prevent line overloads
UPFCs are integrated into a network and controlled according to
following an initiating outage event. This will lead to
the Max Flow algorithm to avoid possible cascading line outage.
The dynamic response of UPFC controllers and generator preventing cascading outages of overloaded lines. Some
performance are investigated with potential cascading critical line control strategies have been published for optimizing power
outage. Cascading blackout prevention is investigated not only for flow in power system, damping power flow oscillation and
steady state power flow overload problem but also for system improving system dynamic performance [9], [10]. This study
dynamic stability problem. Generator performances of speed uses multiple UPFCs equipped with a new control strategy
deviation, angle deviations and bus voltage profile as well as
described in reference [9]. The strategy is meant to manage the
dynamic power flows are shown. A classical generator model is
used in the simulation program. The IEEE 118-bus 20-generator power flows on key lines immediately after a critical line
system is used for testing. A cascading line trip sequence is failure. UPFC placement and the amount of power flow control
expected to be prevented immediately after the first grid on the key lines are pre-determined by a series of max-flow
component outage. simulations [11-12].
Index Terms—Cascading outage, blackout, FACTS, power Optimal FACTS placement, size and the type of FACTS
system dynamic performance, line overload, line security device are complex questions for FACTS application for the
purpose of maximizing total system transfer capacity. A
generic algorithm approach is proposed in [13] to solve the N-1
I. INTRODUCTION security problem with optimal FACTS location, FACTS types
and their rates. The optimal FACTS settings in the power grid
C ASCADING blackouts in power systems is a process, in
which an initial disturbance or component outage
increases the stress on other system components, and then a
are determined by an optimal power flow algorithm
incorporating N-1 security consideration in [14].
series of critical components are subsequently tripped either as In this study, a max flow algorithm is used to achieve
a direct consequence or due to hidden blackouts [1], [2]. desired line flows on certain lines by UPFC controllers after the
Recently cascading blackouts in power systems around the loss of a critical line. This technique is capable of managing the
world underscore the need for researchers to identify power flows such that none of the lines become overloaded in
probability distribution of blackouts and find ways to prevent the N-1 state. The location of the UPFCs and their optimized
potential cascading blackouts [3], [4]. settings are obtained directly from the max-flow algorithm
There is no systematic method for analyzing the risk of [11-12].
cascading blackout considering system dynamic response [5]. These existing UPFC placement and settings for cascading
One possible option for blackout prevention is to develop a outage prevention focuses initially on steady state analysis.
strategy to allow systems keeping their N-1 security state. However, sometimes steady state analysis does not provide the
FACTS controller application is one useful method to reach complete picture of how the system evolves in a cascading
this objective. Instead of looking at overall risk of cascading blackout scenario. In the advanced stages of a blackout,
blackouts in power systems, this paper deals with individual uncontrollable system separation, angle instability and voltage
blackout prevention by multiple UPFC controllers. The IEEE collapse can occur. It is necessary to study system transient
118-bus, 20-generator mid-western US power grid system is stability in more detail with adequate representation of
selected as the test system. synchronous generators and FACTS in the 118 bus test system.
The concept of FACTS was first introduced by NG System dynamic performance is compared for classical
Hingorani in 1988 [6]. Since then, FACTS controller are being generator model and the detailed generator model in [15]. It
increasingly investigated and used in power system to control was reported there that for most transient stability case studies,
power flow, improve system stability, and enhance power the classical model is adequate, This paper emphasizes on
quality. The unified power flow controller (UPFC) is the most investigating system dynamical performance with classical
sophisticated and versatile FACTS device. With the application generator model and dynamic UPFC controller, while trying to
and control of back to back chain link converter, UPFC can prevent cascading line outages. The simulation software

273
978-1-4244-1726-1/07/$25.00 
c 2007 IEEE
MATLAB is used for system modeling and simulation. controllers plays a key role in system stability and blackout
The objective of this study is to bring the system back into events. To emphasize the fast contribution of UPFC controllers,
secure state by applying multiple UPFC controllers when a the generator is modeled in a classical fashion in this study load
potential cascading trigger event is instigated. The outline of tap changing transformers are replaced by fixed transformers.
this paper is as follows: the steady state power flow analysis All loads are assumed to be constant power static loads. The
first introduces ten cascading line outage contingency scenarios system map is shown in the Appendix.
which will finally lead to a system blackout of the 118 bus test Classical generator model neglects the amortisseur effects
system [16]. Then, two solvable scenarios, that is, those with constant mechanical power and constant generator
cascading outages that can be prevented by using steady state internal voltage. The differential algebraic equation (DEA)
techniques, is investigated by dynamic simulations. The UPFC model of classic model is given as equation (1)-(2) :
dynamic model is described in section III. The dynamic
response of the UPFC and generator performance is presented G Z r  Z s (1)
in section IV and V. Finally we draw conclusions and propose
relevant future work. 2H EV
Z r Pm  ( sin(G  T )) (2)
Zs xdp
II. CASCADING BLACKOUTS IDENTIFIED AND UPFC SETTING
Where G is the power angle of generator, Zr is rotor speed,
In the dynamic simulations of cascading outages reported in
this study, we assume that the outages are caused by line Z s is the rated synchronous speed, H is inertia constant, Pm is
overloads and its resulting outage are considered in cascading the mechanical power, E is internal voltage of generator, V is
blackout; load shedding and generator control are not
generator terminal voltage, xdp is transient reactance, T is bus
investigated. The ten critical line trip sequences which
eventually lead to system blackout as presented in [16] and voltage angle.
repeated in Table I are considered for the dynamic simulations. TABLE I
TEN CRITICAL CONTINGENCIES
The tripped line is defined with bus numbers in the table. The
first line is tripped at 0.1s and subsequent lines are tripped at 2s, Case 1st 2nd 3rd 4th 5th 6th
7th line
no. Line Line line line line line
4s, 6s, 8s and 10s.
1 48-49 47-46 45-49 34-43
Similarly, using steady state analysis and only line power 2 64-65 62-67 66-62 56-58 54-56 54-55 56-57
flows considered, refs [11-12] describe the placement of 3 69-70 74-75 70-75 72-24
4 4-5 5 - 11 7-12 3-5 16-17 14-15
UPFCs to achieve maximum performance. A max-flow 5 34-37 35-36 43-44
algorithm is applied to calculate the maximum possible flow 6 5-8 14-15 16-17
between each generation and load. Each contingency is 7 37-38 15-33 19-34 43-44
8 47-69 47-49 46-48 45-49
analyzed separately using a greedy strategy. A FACTS device 9 37-39 37-40 40-42 40-41
is placed on the greatest overloaded line and its capacity is set 10 89-92b 82-83 91-92 100-101 94-100 96-95 96-94
to the value determined by the max-flow algorithm. This
process is repeated for the given contingency until either all the TABLE II
lines operate within their specified flow limits or the maximum TWO SOVLABLE CASE
number of FACTS devices has been placed. Then, the Case UPFC UUPFC Pline before Pline after outage Pset for
algorithm is repeated for the next contingency. For this study, no. NO. location outage if no UPFC UPFC
this method was used to determine the location and settings of Case4 UPFC1 5-11 0.7867 1.3179 (overloaded) 1.158
UPFC2 7-12 0.1775 0.4266 0.2098
multiple UPFCs to prevent two of the ten potential cascading UPFC3 13-15 0.0249 -0.0402 -0.0558
outages. For two solvable cases: 4 and 9 shown in Table II, UPFC4 70-75 -0.0061 -0.009 0.0067
cascading line outage could be prevented by UPFCs regulating
line active power. By regulating the overloaded line directly, Case9 UPFC1 37-40 0.4172 0.7959 (overloaded) 0.6615
UPFC2 65-66 0.1275 0.2118 0.1290
line power flow of every line on the system operates below
active power limits.
The UPFC consist of a combination of a shunt branch
(STATCOM) and a series branch (SSSC) connected through
III. THE 118 BUS TEST SYSTEM MODEL AND UPFC DYNAMIC the dc capacitor as shown in Fig.1. The active and reactive
MODEL
power of the transmission line can be controlled by converter2
Cascading blackout simulations with only steady state power with series connected transformer voltage magnitude and phase
flow calculation cannot capture dynamic response details of a angle controlled by parameter k 2 and D 2 . The bus voltage can
blackout because it doesn’t consider the dynamics of power be controlled by converter1 and the reactive power regulated by
system such as generator trip, load shedding and other dynamic k 1 and D1 . The shunt connected converter provides the active
elements. The dynamic response of generators and UPFC
power drawn by series branch and the losses on UPFC.

274 2007 39th North American Power Symposium (NAPS 2007)


0 V2 (id 2 cosT2  iq2 sinT2 )
V 1‘ T 1 V 2‘ T 2

n
V2 ¦VjY2 j cos(T2 T j  I2 j ) (10)
L s 1 R s1
j 1
C Rdc
0 V2 (id 2 sin T 2  iq 2 cosT 2 )
converter converter
1 2

Ls 2 R s 2 n
 V2 ¦V jY2 j sin(T 2  T j  I2 j )
k1 a1 k2 a2
(11)
j 1
Fig. 1. UPFC diagram Where Zs is the rated synchronous speed, id 1 and iq1 are the
The UPFC dynamic model used in this study is repeated
dq components of the shunt current while id 2 and iq 2 are the
here as follows [17]:
series current components. V1‘T1 , V2‘T 2 are voltages on
1 did 1 k1Vdc w
cos(D1  T1 )  iq1 the two sides of the UPFC. Rs1 , Rs 2 , Ls1 , Ls 2 , Rdc and C are
ws dt Ls1 ws
UPFC device parameters as shown in Fig 1.
Rs1 V
 id 1  1 cos T1 (3) The control strategy described in [7] is implemented in this
Ls1 Ls1 study to control the UPFC active power.

1 diq1 k1Vdc w
sin(D1  T1 )  id 1 IV. DYNAMIC PERFORMANCE WITH TWO UPFC
ws dt Ls1 ws In this section, two UPFCs are applied for cases 9. The
Rs1 V system performance and UPFC response are investigated. The
 iq1  1 sin T1 (4) dynamic response of series branch active power and dc link
Ls1 Ls1 capacitor voltage of two UPFCs are presented. The voltage
1 did 2 k 2Vdc w profiles on UPFC shunt bus sides are also provided. Speed
cos(D 2  T1 )  iq 2 deviations and power angle deviations of the 20 generators in
ws dt Ls 2 ws
the system are also calculated to evaluate system stability.
Rs 2 1
 id 2  (V2 cosT 2  V1 cos T1 ) (5) For case 9, two UPFCs are integrated into line 37-40 and
Ls 2 Ls 2 line 65-66. When line 37-39 is tripped at 0.1s, the line active
powers on UPFC series branch are regulated as Fig. 2. Voltages
1 diq 2 k 2Vdc w
sin(D 2  T1 )  id 2 on the UPFC DC link capacitor and shunt side bus are shown in
ws dt Ls 2 ws Figs. 3 and 4.
Rs 2 1 1

 iq 2  (V2 sin T 2  V1 sin T 2 ) (6) 0.9


without UPFC

Ls 2 Ls 2 0.8

0.7
C d
lineactivepower(pu)

Vdc k1 cos(D1  T1 )id 1  k1 sin(D1  T1 )iq1 0.6 line37-40(UPFC1)

ws dt 0.5

0.4
Vdc
 k 2 cos(D 2  T1 )id 2  k 2 sin(D 2  T1 )iq 2  (7) 0.3
without UPFC

Rdc 0.2
line65-66(UPFC1)

0.1
The power balance equations at bus1 are given by 0 0.1 0.2 0.3 0.4 0.5 0.6
time(second)
0.7 0.8 0.9 1

Fig. 2. Controlled active power on UPFC series branch


0 V1 ((id 1  id 2 ) cosT1  (iq1  iq 2 ) sin T1 ) 1.4

UPFC1
n 1.35

 V1 ¦V jY1 j cos(T1  T j  I1 j ) (8) 1.3

1.25
j 1
1.2
V (pu)

0 V1 ((id 1  id 2 ) sin T1  (iq1  iq 2 ) cosT1 )


1.15
dc

1.1

1.05
n
 V1 ¦V jY1 j sin(T1  T j  I1 j )
1
(9) 0.95
UPFC2

j 1 0.9
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

and at bus2 time(second)

Fig. 3. DC voltage on UPFC capacitor

2007 39th North American Power Symposium (NAPS 2007) 275


1.6
1.03
without UPFC
1.4

1.02
1.2
line 5-11(UPFC1)
1
1.01 bus65

lineactivepower
0.8

1 0.6
(pu)

without UPFC
bus

0.4
V

0.99 line 7-12(UPFC2)


0.2
line 70-75(UPFC4)
0.98 0
bus37 line 13-15(UPFC3)
-0.2
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0.97 time(second)

0.96
Fig. 7. Controlled active power on UPFC series branch
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time(second)

Fig. 4 Bus voltage on UPFC shunt side and the other side bus 1.01

The speed deviation and angle deviation of all 20 generators 1 UPFC2

are shown in Figs. 5 and 6 respectively. 0.99

0.98
UPFC4
0.97
377.6

dc
V
0.96
377.4
0.95
UPFC3
377.2 0.94
(rad/sec)

0.93 UPFC1
377
w

0.92
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
376.8 time(second)

376.6
Fig. 8. DC voltage on the UPFC capacitor

376.4
0 0.1 0.2 0.3 0.4 0.5 0.6
time(second)
0.7 0.8 0.9 1 The locations and settings of four UPFCs are shown in Table II.
Fig. 5 Generator speed variations The dynamic responses of the four UPFCs and generator
performance are shown in Figs. 7-11.
20 1

0.995
0 bus5
0.99

-20 0.985

bus7
0.98
DDelta(deg)

-40
(pu)

0.975
bus
V

-60 bus70
0.97

-80 0.965

bus13
0.96
-100
0.955

-120 0.95
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time(second) time(second)

Fig. 6 Generator angle deviations Fig. 9. Bus voltage on the UPFC shunt side and the other side bus

Based on the above results, we can draw conclusion that,


378
with the proposed scheme, the two UPFC controllers can
regulate line active power to the commanded value 377.5

immediately after the initiating line outage. Any potential line


overload is thus prevented and all generators remain stable and 377
w(rad/sec)

the power grid is N-1 secure.


376.5

376
V. DYNAMIC PERFORMANCE WITH FOUR UPFC
For case 4 with line 4-5 tripped, four UPFCs are needed to 375.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

regulate line active powers. time(second)

Fig. 10. Generator speed variations

276 2007 39th North American Power Symposium (NAPS 2007)


20
[12] A. Armbruster, M. Gosnell, B. McMillin, M. Crow, “Power transmission
10
control using distributed max-flow,” 29th Annual Intl Computer Software
0
and Applications Conf., COMPSAC 2005., Vol. 1, 26-28 July 2005 pp:
-10
256 – 263.
elta(deg)
-20
[13] D. Radu, Y. Besanger, “Blackout Prevention by Optimal Insertion of
-30
FACTS Devices in Power Systems,” 2005 International Conference on
Future Power Systems, Nov. 2005, pp.1 – 6.
DD

-40

-50
[14] G. Gabriela, G. Anderson, “Incorporation of N-1 Security into Optimal
-60
Power Flow for FACTS Control.” IEEE Power Engineering Society
-70
General Meeting, 2006, pp. 683-688.
-80
[15] H.T Ma, B.H. Chowdhury, "Dynamic simulations of cascading failures,”
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time(second) Proceedings of the 38th Annual North American Power Symposium,
Fig. 11. Generators angle deviations 23-25 Oct. 2006
[16] S. Barave, B.H. Chowdhury, “Creating Cascading Failure Scenarios in
Interconnected Power Systems,” Proc. 2006 IEEE PES General Meeting,
Montreal, Quebec, June,2006.
VI. CONCLUSION [17] L. Dong, M.L. Crow, Z. Yang, C. Shen, L. Zhang, S. Atcitty, “A
reconfigurable FACTS system for university laboratories.” IEEE
Dynamic investigations provide an insight into generator Transactions on Power Systems, Vol.19, Issue 1, Feb. 2004 , pp:120 –
performance and UPFC response to prevent cascading line 128.
outages. Therefore, potential blackouts can be prevented. With
the proposed UPFC control strategy and preferred locations BIOGRAPHIES
and settings, the system can avoid further line overloading and Hong Tao Ma received his BS and MS degrees in Electrical Engineering in
possible outages. The system is able to maintain stability even 1999 and 2003 respectively from the Huazhong University of Science &
after a critical line outage that otherwise would have caused a Technology, Wuhan, China. His research interests are in power system
modeling, distributed energy resources, and FACTS.
series of cascaded line trips.
Mariesa L. Crow received her BSE degree from the University of Michigan,
and her Ph.D. degree from the University of Illinois. She is the F. Finley
VII. FUTURE WORK Distinguished Professor of Electrical and Computer Engineering at the
Future work will focus on system dynamic performance University of Missouri-Rolla. Her area of research interests have concentrated
on developing computational methods for dynamic security assessment and the
considering large disturbances such as three phase faults on line application of power electronics in bulk power systems.
and generator trips. More sophisticated UPFC control strategy
Badrul H. Chowdhury obtained his M.S. and Ph.D. degrees in Electrical
should be developed for damping inter-area system power
Engineering from Virginia Tech, Blacksburg, VA in 1983 and 1987
oscillations and further improving the transient stability. respectively. He is currently a Professor in the Electrical & Computer
Engineering department of the University of Missouri-Rolla. From 1987 to
REFERENCES 1998 he was with the University of Wyoming’s Electrical Engineering
department. Dr. Chowdhury’s research interests are in power system modeling,
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IEEE, Vol. 93, Issue 11, Nov. 2005, pp.1942 – 1955. distributed computing and power system simulation.
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2007 39th North American Power Symposium (NAPS 2007) 277


APPENDIX

40 41 42
1 2 117 39
12 59
3 53 54 55 56
11 13
5 4 15 33 34 37
14 63
16 36
6 7 17 18 52 60
19 50 51 58
38
35 61
8 30
113 20 64
57
31 48 46 47
29
43 44 45 49 65
21 67
9 66 62
73 71 69 68
28
32 22 116
72 70 75
10 115 77
114 23 24 74 81
25 118 99
27 76 80 98
78 97
26 79 95
100
106
82 94
85 84 83
96 93 107
104 105
108
87 86 88 89 90 91 92

102 101 103


110
111 109
112

The 118-bus 20-generator test system

278 2007 39th North American Power Symposium (NAPS 2007)