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Voltage stability improvement by demand response

Conference Paper · November 2017

DOI: 10.1109/TENCON.2017.8228215

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 Proc. of the 2017 IEEE Region 10 Conference (TENCON), Malaysia, November 5-8, 2017

Voltage Stability Improvement

by Demand Response
Mitsuki Sagara
Ryuto Shigenobu
Oludamilare Bode Adewuyi
Atsushi Yona
Tomonobu Senjyu
Department of Electrical
and Electronics Engineering
University of the Ryukyus
Okinawa, Japan 903-0213
Email: g125574.s@gmail.com
Mir Sayed Shah Danish
Kabul University, Graduate School
of Engineering, Energy
Engineering Department
Kabul University, Jamal Mina,
3rd District, 1003, Kabul, Afghanistan
Email: mdanish@ku.edu.af
Toshihisa Funabashi
Institute of Materials and Systems
for Sustainability (IMaSS)
Nagoya University
Nagoya, Japan 464-8603
Email: funabashi@imass.nagoya-u.ac.jp

Abstract—In the future, the limit of power transmission
handling capability of power systems will be violated due to the
pursuit of economic benefit and increase penetration of renewable
energy resources. Hence, the likelihood of voltage instability
and system’s risk of experiencing voltage collapse has increased.
The voltage stability analysis remains a major concern in the
operation of modern power systems. So far, the voltage stability
analysis has been carried out using various methods. In this study,
we propose a method to improve the voltage stability of power
system by applying demand response, DR to control the active
power of each load bus based on the voltage stability index. The
approach showed credible Voltage stability improvement of all
the transmission lines in the power system, thereby maximizing
the capacity of the available transmission lines. We have also been
able to achieve cooperative control of the power system between
the customer and the distribution company by applying the DR
at each load bus, with each load bus representing individual
customer.
I. I NTRODUCTION
Based on the result of the Paris Agreement that was issued
last year, there is going to be a significant change in the
world’s energy mix. Currently, our society and economy
depend mostly on fossil fuels; therefore countries around the
world have started to shift to a society and economy that is
not permeated with greenhouse gases (decarbonized society).
Based on this, the introduction of renewable energy in each
country continues to spread more and more. In Japan, the
liberalization of the electric power market has begun, and it is
expected that the effects of the operation will be efficiently
felt in the Japanese electric power system in the nearest
future[1]−[7]. As a result, it is expected that many power lines
of the electric power system will be operated near the limit
of the transmission capability, and the possibility of rapid
voltage reduction and voltage collapse is expected to increase.
Therefore, the voltage stability analysis is a main study area
towards achieving a stable operation of the electric power
system[8]−[16] . Voltage stability analysis has been carried out
by various methods so far. In most of the conventional
methods, voltage stability index approximation by varying
either the active power only or the reactive power only have
been performed extensively. However, it is observed that
voltage stability analysis can be performed more accurately by
considering both active power and reactive power variation at
the same time. In such circumstances, a novel approach known
as critical boundary index, CBI can physically calculate the
voltage stability index as a measure of the distance between
a present operating point and the closest point of collapse
(instability). To achieve voltage stability analysis, information
on the active and reactive power flow along the transmission
lines are used simultaneously. In many cases, power has been
compensated by storage batteries connected to the power sys-
tem. In previous study, the authors have studied the possibility
of achieving improved voltage stability with optimal active and
reactive power compensation. However, the introduction of
storage batteries is expensive and can be against the economic
integrity of the power system at a point in the system’s
complexity. In the conventional power supply system, the
supply-demand balance of electric power is usually matched
by changing the system’s operation from the supply side
according to the demand. On the other hand, a new strategy
by which the consumers are enticed to change the amount of
their demand in order to achieve the supply-demand balance
of electric power is called demand response (DR). Demand
response can be used to improve power system stability. For
example, DR is already used to provide frequency control for
improving frequency stability of existing power systems. By
implementing demand response, it is considered that both elec-
tric power companies and customers are mutually benefiting.
Furthermore, by reducing power consumption, we can also
contribute to reducing greenhouse gas emissions[17]−[19] .
In this study, we propose a method to improve the voltage
stability of power system by applying DR to control the active
power towards achieving a better voltage stability index. The
approach was able to maximize the loading capacity of the

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 Proc. of the 2017 IEEE Region 10 Conference (TENCON), Malaysia, November 5-8, 2017

available transmission facilities as shown by the improvements Sending end Pk+jQk Receiving end
on their respective voltage stability index. The Optimization rlk + jxlk
techniques employed in this work is the particle swarm Vl δ l Vk δk
optimization (PSO)[20]−[23] . In particle swarm optimization
method, since each particle can operate in parallel, there is a Fig. 1. Transmission line model.
possibility that a solution search can be performed efficiently.
Also, since the gradient information of the objective function
is not used for the solution search, it can be applied to the
objective function which can not be differentiated. Compared 1
with other metaheuristic methods, the particle group opti-
mization method is suitable for solution search of continuous
objective function. One important feature of the particle swarm
optimization is its ability to explore the global solution in ΔQlk
0.5 Unstable
many cases. In this work, we have also been able to achieve a
cooperative control of supply - demand balance of the power ΔPlk

Q[pu]
system by applying the DR for each load bus (customer). The
maximum amount of DR incentive at all the load bus in the
power system is set as a constraint. From the result, it is shown 0
that there is an improvement in the voltage stability of the
power system. Stable
II. VOLTAGE STAGILITY ANALYSIS
-0.5
First, we analyze voltage stability between a simple two bus 0.5 1
-0.5 0
system shown in Fig. 1. If the transmitting end terminal voltage P[pu]
is Vk , the receiving terminal voltage is Vl , the active power
sent to the power system receiving side is Pk , and the reactive Fig. 2. P-Q characteristics.
power is Qk , the power flow equation in the power system of

the two buses is expressed by the following equation.  2
Vl2 2 + x2 ) (P 2 + Q2 )
A= rlk Pk + xlk Qk − − (rlk lk k k
2
Vl  δl − Vk  δk
Pk − jQk = (Vk  δk )∗ (1)
rlk + jxlk There is a limit to the power that can be transmitted, and
the power at that time is called the stable limit power, and
When it is transformed into a complex number and orga-
the voltage is called the stable limit voltage. The stability
nized, it becomes the following expression.
limit condition of the voltage is obtained by setting the Alk
(Pk rlk − xlk Qk ) + j(Pk xlk − rlk Qk ) = term of the equation (5) to zero as shown from the following
expression:
Vl Vk cos(δl − δk ) + jVl Vk sin(δl − δk ) − Vk2 (2)
 2
Since the imaginary parts are equal, the following equation is Vl2   
rlk Pk + xlk Qk − 2 + x2
− rlk lk
Pk2 + Q2k =0 (6)
obtained. 2

Pk xlk − rlk Qk = jVl Vk sin(δl − δk ) (3)


Vk2 ± x2lk Vl4 + rlk
2 V 4 − 4x2 r V 2 P − 4r3 V 2 P
l lk lk l k lk l k
Solving for from equations (2) and (3) yields the Qk = 2
following equation. 2rlk
Vl2 2xlk rlk Pk − xlk Vl2
Vk2 = −(rlk Pk + xlk Qk − ) +
2 2
2rlk
(7)

 2 The P - Q characteristic shown in Fig. 2 describes the
V2
± rlk Pk + xlk Qk − l 2 + x2 ) (P 2 + Q2 )
− (rlk lk k k (4) voltage stability limit as obtained by equation (3). (P, Q) -
2 V characteristic which is the relationship between Pk , Qk and
Here, considering that Vk > 0, the receiving end voltage Vk Vl at the voltage stability limit voltage can be expressed by
is given by the following equation. the equations (5) and (6).

V2 III. VOLTAGE STABILITY INDEX EVALUATION
Vk = −(rlk Pk + xlk Qk − l ) ± A (5)
2 From Figure 3, we obtain the voltage instability point
C(X, Y ) on the surface of the plot of equation (7) with respect

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 Proc. of the 2017 IEEE Region 10 Conference (TENCON), Malaysia, November 5-8, 2017

to the current operating point K(Po , Qo ) using Lagrange’s LOAD LOAD

G
undetermined multiplier method as shown.
V1=1.06 0 V3=V3 θ3 Bus 3 V4=V4 θ4 Bus 4
 2
V2 Bus 1 Line 5
C(X, Y ) = rlk Pk + xlk Qk − l Line 2
2
 2 2
 2 2

− rlk + xlk Pk + Qk = 0 (8) Line 1 Line 7
Line 3
The shortest distance between current operating point K and
voltage instability point C is f (X, Y ). The minimum value of Line 4
f 2 is;
Bus 2 θ5
f 2 = (X − Po )2 + (Y − Qo )2 V2=1 θ2 V5=V5
(9)
Line 6 Bus 5
The following equation is obtained by the Lagrangian unde-
LOAD G LOAD
termined multiplier method.
F (X, Y, λ) = f 2 (X, Y ) − λC(X, Y ) (10) Fig. 3. Power system model.

F (X, Y, λ) = (X − Po )2 + (Y − Qo )2
  A. Objective function
Vl2 2  2 2
 2 2

−λ rlk X + xlk Y − ) − rlk + xlk X + Y (11) In this work, the particle swam optimization (PSO) was used
2
to achieve maximization of the rate of improvement of the
Partial differentiation of the above equation for X, Y, λ yields transmission line voltage stability index in the entire power
the following equation. system. The objective function is shown in the following
 

Vl2 equation.
2X − 2Po − 2λ rlk X + xlk Y − rlk
2 j
 2   CBIit
+2λ rlk + x2lk X = 0 (12) CBIIR = ji=1 (17)
i=1 CBIi0
 

Vl2 here, CBIIR represents the voltage stability improvement

2Y − 2Qo − 2λ rlk X + xlk Y − xlk rate, CBIit represents the voltage stability index of each
2
 2   transmission line at the demand response time t, and CBIi0
+2λ rlk + x2lk Y = 0 (13) represents the voltage stability index of each transmission line
 2 when demand response is not performed.
Vl2 2
− rlk X + xlk Y − + (rlk + x2lk )(X 2 + Y 2 ) = 0 (14)
2 B. Constraint
We obtain the values of X, Y, λ by simultaneously solving In doing a demand response, the apparent power allowable
equations (4.13) to (4.15), so that the shortest voltage insta- for each bus is determined first. Then, the respective values
bility point from the operating point is obtained. Assuming of the active power and reactive power are determined using
that the shortest distance from the current operating point of the system’s power factor. The relationship between the real,
the transmission line between the bus l and k to the stable reactive and apparent powers is shown by the formula given
limit curved surface is Plk , Qlk , the voltage stability evaluation below:
index (CBI: Critical Boundary Index) can be evaluated by the 
following formula[24]: SDR = PDR 2 + QDR 2 (18)

CBIlk = ΔPlk 2 + ΔQlk 2 (15) In addition, it was assumed that the improvement rate does
where l is the transmitting end bus number and k is the not decrease with respect to the voltage stability index CBI
receiving end bus number. Therefore, the voltage stability of when the voltage stability index CBI at the demand response
the transmission line is measured by the value of the voltage t amount is the demand response amount t − 1 for the entire
stability index, CBI. As the index approaches zero, the voltage power system.
stability deteriorates.
The optimization problem for the voltage stability index
evaluation were modeled from the previous section and are CBIt > CBIt−1 (19)
described below;
Finally, we simulate the power system model using the
 stability analysis and the stability evaluation index described
CBIlk = Plk 2 + Qlk 2 (16) in sections II and III.

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 Proc. of the 2017 IEEE Region 10 Conference (TENCON), Malaysia, November 5-8, 2017

1.02 1.10

rate of CBI[pu]
rate of CBI[pu] 1.08

Improvement
Improvement
1.015
1.06
1.01
1.04
1.005 1.02
1 1
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
DR value [pu] DR value [pu]

Fig. 4. CBI improvement rate in power system (Case 1). Fig. 7. CBI improvement rate in power system (Case 2).

2
2 1.8 Line6
Line6
1.8

CBI[pu]
1.6
CBI[pu]

1.6 1.4 Line3

1.4 Line3 1.2
1.2 Line4
Line4 1 Line7
1 Line7 Line2
Line2 0.8
0.8 0 5 10 15 20 25 30 35 40
0 5 10 15 20 25 30 35 40 DR value [pu]
DR value [pu]
Fig. 8. CBI of transmission lines (Case 2).
Fig. 5. CBI of transmission lines (Case 1).
Bus Voltage [pu] 1.1
40 Bus1
1.05
DR value [pu]

30 Bus2
20 1 Bus3
Bus5 Bus4
10 0.95
0 5 10 15 20 25 30 35 40
0 DR value [pu]
0 5 10 15 20 25 30 35 40
DR value [pu]
Fig. 9. Each bus voltage (Case 2).
Fig. 6. Demand response value of bus 5 (Case 1).

response amount of each load bus in the electric power system

IV. SIMULATION
A. Simulation condition
The power system model used in this paper is shown in Fig.
3. Here, IEEE 5 Bus System is used, and 100 MW is taken as
the reference capacity. Also, as simulation condition, except
for the transmisson lines with voltage stability index (CBI)
value of 2.0 pu or more, each load bus undergoes demand
response and the improvement rate of the voltage stability
index of the power transmission line is maximized along the
entire power system model by performing optimization using
the particle swarm optimization (PSO) algorithm. Demand
response amount of apparent power in the entire power system
was set to 0 pu to 40 pu. For each load bus, the amount of
demand response to be allowed is decided by optimizing the
demand response of active power and reactive power so that
the voltage stability improvement rate becomes the maximum
among the resulting apparent power. Moreover, the demand
is limited to be half the value of each load.
B. Simulation results
This simulation was carried out using the above-described
conditions and the power system model. Case 1 assumes
demand response only for active power variation, and Case
2 assumes demand response in which both active and reactive
power are simultaneously varied. Fig. 4 shows the voltage
stability improvement rate in Case1 with the voltage stability
of the transmission line that is 2.0 pu or more excluded. Fig.
5 shows the voltage stability index (CBI) of each transmission
line in Case 1. Fig. 6 shows each bus voltagein Case 1. Fig.
7 shows the voltage stability improvement rate in Case2 with
the voltage stability of the transmission line that is 2.0 pu or
more excluded. Fig. 8 shows the voltage stability index (CBI)
of each transmission line in Case 2. Fig. 9 shows each bus
voltage in Case 2. It is understood that the voltage of the bus
5 in Case1 and Case 2 is the lowest since the demand response
amount is 0 pu. Fig. 10 shows the total demand response

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 Proc. of the 2017 IEEE Region 10 Conference (TENCON), Malaysia, November 5-8, 2017

40 20

reactive power [pu]

Each DR value [pu]
Apparent power
30 Reactive power 15

DR value of
Active power
20 10

10 5

0 0
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
DR value [pu] DR value of active power [pu]

Fig. 10. Demand response value in power system (Case 2). Fig. 13. Demand response value in power system (Case 2).

40
active power [pu]

system by demand response. Simulation results confirmed that

Each DR value of

30 the voltage stability index (CBI) of each transmission line can

20 Bus5 be improved by introducing demand response strategy at the
load buses. Moreover, not only active power but also reactive
10 power could be further improved by Demand response. In
0
the future, we plan to improve voltage stability by demand
0 5 10 15 20 25 30 35 40 response in larger electric power system.
DR value [pu]

Fig. 11. Each demand response value of active power (Case 2). R EFERENCES

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