CALIFORNIA STATE UNIVERSITY, NORTHRIDGE

POWER SYSTEM VOLTAGE STABILITY ANALYSIS AND

ASSESSMENT USING ARTIFICIAL NEURAL NETWORK

A graduate project submitted in partial fulfillment of the requirements

For the degree of Master of Science in
Electrical Engineering

By

Rohan Shetty

December 2014
The graduate project of Rohan Shetty is approved:

Dr. Ali Amini Date

Prof. Benjamin Mallard Date

Prof. Bruno Osorno, Chair Date

California State University, Northridge

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 ACKNOWLEDGEMENT

I express my deepest gratitude and special thanks to Prof. Bruno Osorno for being
extremely patient and supportive all the while I was working on such a complex and
interesting topic like Neural Networks. I am very glad to present Power System Voltage
Stability Analysis and Assessment using Artificial Neural Networks towards the partial
fulfillment of the requirements for the degree of Master of Science in Electrical
Engineering.

Also, I would like to thank Dr. Ali Amini and Prof. Benjamin Mallard for supporting me
in completing this project and acknowledging my efforts.

Lastly, I am extremely happy and fortunate to find constant support and motivation from
my family and friends during the entire course of my Master’s degree.

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 TABLE OF CONTENTS

Signature Page ii

Acknowledgement iii

List of Figures v

List of Tables vi

Abstract vii

1. INTRODUCTION 1

1.1 Introduction to Voltage Instability 1

1.2 Introduction to Artificial Neural Network 2

1.3 ANN Design and Architecture 4

1.4 Neural Network Algorithm 4

2. ANALYTICAL METHODOLOGY 6

2.1 Modal Analysis Method 6

2.2 Derivation of Voltage Stability Index 6

3. ANN BASED APPROACH 8

3.1 ANN Architecture 8

3.2 Learning Algorithm 8

3.3 Training and Testing 9

4. APPLICATION AND TEST PARAMETERS 10

4.1 IEEE 14-Bus System 10

5. CONCLUSION 14

BIBLIOGRAPHY 15

APPENDIX A 16

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 LIST OF FIGURES

Figure 1.1 A Biological Neuron 2

Figure 1.2 Basic layers of ANN 3

Figure 1.3 Basic three-layer architecture of feed forward ANN 4

Figure 3.1 Neural Network Architecture 8

Figure 3.2 IEEE 14-Bus System 9

Figure 4.1 Simulink Model 10

Figure 4.2 Neural Network Sub-system 11

Figure 4.3 Neural Network Transfer Function 11

Figure 4.4 L-Index Plots 12

Figure 4.5 Performance Comparison 12

Figure 4.6 Three-phase MVA at Bus 1 13

Figure 4.7 Three-phase MVA at Bus 14 14

Figure A.1 Neural Network Training Toolbox 17

Figure A.2 Regression plot 18

Figure A.3 Performance plot 18

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 LIST OF TABLES

Table 1.1 List of ANN algorithms 5

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 ABSTRACT

POWER SYSTEM VOLTAGE STABILITY ANALYSIS AND ASSESSMENT USING

ARTIFICIAL NEURAL NETWORK

By

Rohan Shetty

Master of Science in Electrical Engineering

Electrical power systems in any part of the world are expected to deliver continuous,

uninterrupted and reliable power to the consumers irrespective of the geographical and

weather conditions throughout the year. But they are affected by various factors causing

problems such as power loss, voltage fluctuation, blackouts, etc. Many modern power

systems are regularly facing problems due to voltage instability which is a threat for a

reliable and secure operation. The protection of power systems is hugely dependent on

the use of the wide range of distance relays based on electromechanical, solid-state and

digital electronics technologies. In my study, an Artificial Neural Network (ANN) model

is used along with Continuation Power Flow methods to assess the voltage stability of a

power system. The Modal Analysis Method is first implemented to identify the most

vulnerable load buses of the power system. Hundreds of loading patterns are generated by

varying the real and reactive power. With the help of the input patterns and the target

outputs, an appropriate ANN is trained and thereafter it is tested with a new set of loading

patterns. The proposed method is applied to the IEEE 14 bus test system and the trained

ANN provides results for all the vulnerable load buses of the power system.

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 1. INTRODUCTION

1.1 Introduction to Voltage Instability

The phenomenon of voltage instability has been a persistent problem for the past few
decades in modern power systems all over the world. It is considered as one of the major
concern in the planning, reliable operation and security of electrical power systems. The
ability of a power system to maintain operational voltages at all the buses under nominal
operating conditions even when subjected to disturbances is termed as Voltage Stability.
A system exhibits voltage instability and results in voltage collapse when there is a
change in system operating condition, abrupt fluctuation in load demand and external
disturbances. Voltage instability is widely seen in heavily loaded power systems that are
invariably required to operate at the optimum reactive power limits of the transmission
network. A good power system needs to provide adequate reactive support in case of
system instability due to heavy reactive power flowing through the transmission lines.

The current scenario of the restructured power systems requires the use of FACT devices
and compensators to extract the maximum capacity of the network. This hampers the
anticipation of voltage instability by observing the system voltage profile. The system
operator fails to receive well-timed indications from the SCADA systems and the
automatic protective systems trips the network before any action is taken. “Therefore, it
is necessary to have a fast method to evaluate static voltage stability comprehensively by
examining and quantifying the production, transmission and consumption of the reactive
power on a system wide basis and relate this to the voltage stability margins at the
vulnerable load buses [3].”

The voltage stability analysis and assessment is performed by various techniques but the
most widely used method is the Modal Analysis Method. The key advantage of using this
method is that we can identify the most vulnerable load buses of a given power system.
But the drawback of this method is that the computation required is very expensive and it
fails to account the effects of high reactive power sources in the system.

As mentioned above, the problem of voltage instability occurs when the reactive power
sources of the system fails to meet the reactive power demands. Thus, the QV and PV
curves of a system are used for the voltage stability analysis. “Using suitable parameters
like the reactive power loading margins, nose point from the QV curves and the operating
points for selected load buses of the system, the Voltage Collapse Proximity Indicator
(VCPI) is obtained [6].”

Since an extensive amount of computation is required for the above analytical methods,
they are used in conjunction with Artificial Neural Network (ANN). Using ANN helps to
overcome the computational difficulties and also gives extremely close matching results
compared to the analytical methods. “An ANN can be designed and trained with the input
and output loading patterns of the selected system so as to obtain reactive power margins
at the output for all the identified vulnerable load buses before the voltage collapses [2].”

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1.2 Introduction to Artificial Neural Network

The phenomenon of Artificial Neural Networks (ANN) is associated with various fields
of science like mathematics, neurosciences, statistics, physics, computer science and
engineering. “Neural networks find applications in such diverse fields as modeling, time
series analysis, pattern recognition, signal processing and control by virtue of an
important property: the ability to learn from input data with or without a teacher [8].”

The human brain is a good example of an intelligent and complex system with a dense
network of neurons that work in tandem making decisions in nanoseconds. The biological
structure of the brain, left-hand side and right-hand side, are capable of performing
deductive reasoning of if-then rules and inductive reasoning of intuitions or pattern
recognition respectively. Today’s intelligent systems are modeled on this capability of the
human brain to solve nonlinear complex problems in various engineering fields. ANN is
one such intelligent system.

Figure 1.1: A Biological Neuron [10]

The development of ANN was motivated by looking at the functioning of the human
brain. The human brain works as a complex system which learns every minute with
electrochemical processes occurring continuously due to external stimuli. So, in a way,
our brain gets trained by absorbing the various and recurrent experiences and reacts to a
testing condition. The methodology of using ANN in power systems is developed in
reference to the extensive and dense network of neurons present in the human brain.
There are millions of neurons and trillion connections in the human brain. Due to the
presence of neurons, the human brain performs functions at a very high speed and
processes information and decision making effectively [8]. It is a set of elementary
neurons that are usually connected in biologically inspired architectures and organized in
several layers [7].

An ANN consists of a collection of arithmetic computing units connected together in a

network of interconnected layers. The most basic model of ANN is shown in the Figure
1.2 below.

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 Figure 1.2: Basic layers of ANN [11]

There are a number of connections at the input side each having a specific weight that
specifies the influence between two neurons. The weights determine the behavior of the
network similar to a computer program. In the hidden layer, all the inputs are first
summed up and then passed through different types of logic functions to produce the
output of the neuron.

The multilayer perceptron (MLP) model is extensively used out of the wide range of
ANN architectures available. The input layer, hidden layer and the output layer are
stacked in a feed-forward pattern. The input layer acquires the input through its nodes
and feeds into the hidden layer which has the non-linear transfer functions. The nature of
the problem that is to be processed defines the number of neurons or nodes in the output
and hidden layer. Usually the MLP network requires one output and hidden layer.

As seen in figure 1.3 for the feed-forward ANN, the neurons in each of the input layer are
interconnected and they are subjected with the excitation signals. Multiple weights and
biases are attached to each neuron and the ANN is trained by adjusting these weights
according to the specific training set. The learning curve of the ANN depends on the
repetitive adjustments in the node weights for an input and hence we require training data
set for its training.

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 Figure 1.3: Basic three-layer architecture of feed forward ANN [9]

The input set to the ANN is 𝑥1 , 𝑥2 , 𝑥3 ..... 𝑥𝑗 and the transfer functions in the hidden layer
computes the data and provides result to the output layer.

The different types of ANN used are:

1. Supervised artificial neural networks, e.g.; the multilayer perceptron (MLP) and
the finite impulse response artificial neural network (FIRANN)
2. Massively parallel interconnected artificial neural networks, e.g.; the Hopfield net
(HN)
3. Unsupervised artificial neural networks, e.g.; the Kohonen net (KN)

1.3 ANN Design and Architecture

The basic segments of the ANN architecture are the input layer, hidden layer and the
output layer. The “dotprod” function available in the ANN toolbox is used to tune the
weights and biases of the neurons, whereas, the adaptation which changes both the
weights and biases is implemented using the “adaptwb” function.
The toolbox functions required are:
 Neural network architecture and types
 Training functions
 Activation functions
 Learning functions
 Initialization functions
 Performance functions

1.4 Neural Network Algorithm

In order to utilize neural networks, it is critical to train them for the specific application.
The weights and biases can be finely tuned by using the training and learning functions

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which are nothing but basic mathematical algorithms. These algorithms are not problem
specific and they vary depending on various factors like the complexity of the problem,
accuracy required, strength of the training data set and the number of weights and biases.
Different algorithms are used for pattern recognition and function approximation.
“The following table lists the algorithms that are tested and the acronyms used to identify
them:”[16]

Acronym Algorithm Description

LM trainlm Levenberg-Marquardt
BFG trainbfg BFGS Quasi-Newton
RP trainrp Resilient Backpropagation
SCG trainscg Scaled Conjugate Gradient
CGB traincgb Conjugate Gradient with
Powell/Beale Restarts
CGF traincgf Fletcher-Powell Conjugate
Gradient
CGP traincgp Polak-Ribiére Conjugate
Gradient
OSS trainoss One Step Secant
GDX traingdx Variable Learning Rate
Backpropagation
Table 1.1: List of ANN algorithms

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 2. ANALYTICAL METHODOLOGY
2.1 Modal Analysis Method
The foremost step in voltage stability assessment is to identify the most vulnerable bus in
the power system and this can be done by implementing the Modal Analysis method. A
large number of loading patterns are generated by varying the real and reactive power
loadings of the system and the program is run to identify all the vulnerable load buses.
The bus with the recurring high value is termed as the most vulnerable load bus. The
modal analysis method also provides the target input and output patterns which are
required to train the neural network.

2.2 Derivation of Voltage Stability Index

By using the improved distribution load flow technique [15], the voltage stability index
can be mathematically formulated from the voltage equation. Consider a line connecting
the bus i to i+1,

𝑃𝐿𝑖 , 𝑄𝐿𝑖 𝑃𝐿𝑖+1 , 𝑄𝐿𝑖+1

“The voltage equation is given as:-

𝑉𝑖+1 4 + 𝑉𝑖+1 2 [2(𝑃𝑖+1 𝑟𝑖 + 𝑄𝑖+1 𝑥𝑖 ) − 𝑉𝑖 2 ]+𝑃𝑖+1 2 + 𝑄𝑖+1 2 𝑟𝑖 2 + 𝑥𝑖 2 = 0 (1)

Where,

𝑃𝑖 ,𝑄𝑖 = Real and reactive power injection at bus i

𝑉𝑖 = Voltage at bus i

𝑟𝑖 , 𝑥𝑖 = resistance and reactance of line connecting bus i and i+1

By simplifying the above quadratic equation we get,

8𝑃𝑖+1 𝑄𝑖+1 𝑟𝑖 𝑥𝑖 − 4𝑉𝑖 2 (𝑃𝑖+1 𝑟𝑖 + 𝑄𝑖+1 𝑥𝑖 ) + 𝑉𝑖 4 − 4(𝑃𝑖+1 2 𝑥𝑖 2 + 𝑄𝑖+1 2 𝑥𝑖 2 ) ≥ 0 (2)

Equation (2) is further simplified to,
4[𝑉𝑖 2 (𝑃𝑖+1 𝑟𝑖 +𝑄𝑖+1 𝑥𝑖 )+(𝑃𝑖+1 𝑥𝑖 −𝑄𝑖+1 𝑟𝑖 )2 ]
≤1 (3)
𝑉𝑖 4

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Thus, the voltage stability index can be given as,
4[𝑉𝑖 2 (𝑃𝑖+1 𝑟𝑖 +𝑄𝑖+1 𝑥𝑖 )+(𝑃𝑖+1 𝑥𝑖 −𝑄𝑖+1 𝑟𝑖 )2 ]
𝐿= (4)
𝑉𝑖 4

From the power flow equations,

𝑉𝑖 𝑉𝑖+1 cos(𝜃𝑖 − 𝜃𝑖+1 ) − 𝑉𝑖+1 2 = (𝑃𝑖+1 𝑟𝑖 + 𝑄𝑖+1 𝑥𝑖 ) (5)

𝑉𝑖 𝑉𝑖+1 sin(𝜃𝑖 − 𝜃𝑖+1 ) = (𝑃𝑖+1 𝑥𝑖 − 𝑄𝑖+1 𝑟𝑖 ) (6)

By substituting equations (5) and (6) in equation (4) we get,

4[𝑉𝑖 𝑉𝑖+1 𝑐𝑜𝑠(𝜃𝑖 −𝜃𝑖+1 )−𝑉𝑖+1 2 cos(𝜃𝑖 −𝜃𝑖+1 )2 ]
𝐿= (7)
𝑉𝑖 2

Further, we make use of the Thevenin’s equivalent circuit at the load bus to derive the
voltage stability index. The Thevenin’s equivalent circuit comprises of the open circuit
voltage at the bus called as the Thevenin voltage, the equivalent impedance of the
connected load and the Thevenin impedance across the load bus [15]. Now by applying
equation (7) to the Thevenin’s equivalent circuit we get,
4[𝑉𝑜 𝑉𝐿 𝑐𝑜𝑠(𝜃𝑜 −𝜃𝐿 )−𝑉𝐿 2 cos(𝜃𝑜 −𝜃𝐿 )2 ]
𝐿= (8)
𝑉𝑜 2

The voltage stability index needs to be less than unity so as to maintain voltage stability.
If this value goes above 1.0, then the bus voltage becomes imaginary as per equation (3)
indicating a voltage collapse in the power system.
The simplified voltage stability index is thus given as,
4(𝑉𝑜 𝑉𝐿 −𝑉𝐿 2 )
𝐿= (9)
𝑉𝑜 2

Where,
𝐿 = Voltage Stability Index,

𝑉𝑜 = No load voltage,

𝑉𝐿 = Load voltage.
For any power system network to remain sustained in a stable voltage condition, the
index value L should always be less than 1.0 for any load bus. If this value reaches 1.0
for any load bus, then the network approaches a state of voltage collapse.” [15]

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 3. ANN BASED APPROACH
The next step for the voltage stability assessment is implementing the Artificial Neural
Network (ANN). A suitable type of network along with multiple learning and training
algorithm is used for the application. The ANN is developed according to the following
three vital steps:-
1. ANN Architecture
2. Learning Algorithm
3. Training and testing

3.1 ANN Architecture

The selection of the ANN architecture depends on the type of neural network that is to be
used. We use a multilayer feed-forward type of neural network which consists of one
input layer, one hidden layer and one output layer. Each layer requires the sigmoid
activation function. Within each layer, there are multiple training functions for each of
the neuron which process as per the set biases and weights. For a specific system, a
suitable ANN architecture can be obtained by trying various combinations of training
functions in the three layers and the number of neurons in each of the layers. The
architecture of the developed ANN is shown below in figure 3.1.

Figure 3.1: Neural Network Architecture [15]

3.2 Learning Algorithm

The ANN is developed using the MATLAB Neural Network toolbox. This toolbox has a
wide range of training and learning algorithms that can be used according to the required
application. For the multilayer feed-forward network, we use the error back propagation
algorithm to train and process the network with a set of input and target outputs. In this
algorithm, if the weights in each neuron is adjusted (increased or decreased), then the

8
error between the target output and the actual output is reduced effectively. The neural
network computes the error derivative and calculates the error changes as and when the
weights are adjusted.

3.3 Training and Testing

The neural network is successfully trained by subjecting it with a problem or a process

repetitively resulting in very low errors after each iteration. Selecting crucial training
parameters affects the learning ability and the accuracy of the network. A total of 300
input and output patterns are generated wherein, 250 patterns are used for training the
network and the rest are used for the testing. The network is repeatedly subjected with
these patterns until a very small Mean Squared Error (MSE) is achieved. The transfer
functions that are used for the neurons in the network are TANSIG and PURELIN, the
training function is TRAINLM and the error function is MSE.

The test system uses an IEEE 14 bus system which comprises of 2 generators, 3
synchronous compensators and 20 lines. The single-line diagram for the modified 14-bus
system is shown below in figure 3.2.

Figure 3.2: IEEE 14-Bus System [15]

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 4. APPLICATION AND TEST PARAMETERS

4.1 IEEE 14-Bus System

The IEEE 14 bus system was implemented using the MATLAB Simulink tool. Two
swing type generators are connected to bus 1 and bus 2 through three-phase transformers.
Three synchronous compensators are connected to bus 3, bus 6 and bus 8. They help in
regulating the voltage and improving the power factor. Three-phase RLC load is
connected to all the buses except the buses 1 and 8.

Figure 4.1: Simulink Model

As seen from the Simulink model, two Power System Stabilizers are connected at bus 6
and 14. The neural networks are embedded in the stabilizers as a sub-system. Each neural

10
network consists of three nodes in the hidden layer. The transfer functions TANSIG and
PURELIN are applied in these nodes.

Figure 4.2: Neural Network Subsystem

Figure 4.3: Neural Network Transfer Function

Two different neural network architectures were trained to determine the most closest to
the actual voltage stability index. Back-propagation Neural Network (BPNN) and
Genetic Algorithm Neural Network (GANN) were trained and plotted along with the
actual values of voltage stability index for all the 14 buses as shown below in figure 4.4
and 4.5.

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 Figure 4.4: L-Index plots

Figure 4.5: Performance Comparison

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Figure 4.6: Three-phase MVA at Bus 1

Figure 4.7: Three-phase MVA at Bus 14

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 5. CONCLUSION

The voltage stability analysis and assessment using ANN was documented. The neural
network with the back propagation error architecture was developed using the MATLAB
neural network toolbox and it was applied to the IEEE 14-bus test system. It was
observed that the selected neural network was efficient enough in calculating the voltage
stability L-index for the vulnerable load buses. Additionally, the L-index value from the
ANN was very close to the actual L-index from the analytical method, thus giving low
error values.

The use of neural networks proves to be very beneficial in computing complex power
system processes in comparison to the expensive and extensive analytical methods. The
ANN can also be applied to real-time voltage monitoring and voltage stability margin
prediction and also in various other aspects of power system protection.

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 BIBLIOGRAPHY
1. V. R. Dinavahi, S. C. Srivastava, “ANN based voltage stability margin
prediction”, Power Engineering Society Summer Meeting, 2001, Vol. 2, pages
1275-1280, July 2001.
2. R. Balasubramanium, Rhythm Singh, “Power system voltage stability analysis
using ANN and continuation power flow methods”, Intelligent System
Application to Power system, 2011, pages 1-7, September 2011.
3. R. Balasubramanium, BhavikSuthar, “Application of an ANN based voltage
stability assessment tool to restructured power systems”, Bulk power systems
dynamics and control, 2007, pages 1-8, August 2007.
4. R. Balasubramanium, BhavikSuthar, “A novel ANN based method for online
voltage stability assessment”, Intelligent System Application to Power system,
2011, pages 1-6, November 2007.
5. R. A. Schlueter, “A voltage stability security assessment method”, IEEE Trans.
Power System, Vol. 13, pages 1423-1438, Nov 1998.
6. C. W. Taylor, “Power system voltage stability”, New York, Mc-Graw-Hill, 1994
7. Cichoki A, Unbehauen R., “Neural networks for Optimizing and signal
processing”, John Wiley & sons, Inc., New York, 1993.
8. Haykin S. “Neural networks: A comprehensive foundation”, Macmillan Collage
Publishing Company, Inc., New York, 1994.
9. Rajveer Singh, “Fault detection of electric power transmission line by using
neural network”, IJETAE, Vol 2, Issue 12, Dec 2012.
10. Retrieved on April 11, 2014www.neuralpower.com/technology
11. Retrieved on April 11,
2014http://en.wikipedia.org/wiki/User:Mariam_Hovhannisyan
12. Hiroyuki Mori, “Fuzzy Neural Network Application for Power Systems”, Power
engineering society winter meeting, 2000, IEEE, Vol 2, pages 1284-1288.
13. Jen Hao-Teng, “Power Flow and Loss Allocation for deregulated transmission
systems”, Electrical Power and Energy Systems, vol 27, no.4, pages 327-333, Jan.
2005.
14. Hadi Saadat, “Power System Analysis”, McGraw Hill, 1996.
15. O.P.Rahi, Amit Yadav, Hasmat Malik, Abdul Azeem, Bhupesh K, “Power
System Voltage Stability Assessment through Artificial Neural Network”,
International Conference on Communication Technology and System Design,
2011.
16. MATLAB Neural Network toolbox, User’s guide, Math Work, Inc.
17. Retrieved on November 12,2014 www.neuralnetworksanddeeplearning.com

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 APPENDIX A

The Neural Network Toolbox that is present in all versions of MATLAB has an extensive
collection of functions, systems, functional blocks and applications that can be used to
train, assess, model and evaluate complex nonlinear systems in areas of power systems,
control systems, computer science, mathematics and statistics and physics. This tool
works in conjunction with the analytical approach and provides very fast and accurate
results. Using this tool we can develop, train, process and simulate a neural network for
any given system.
The toolbox consists of various networks that can be selected according to the system
under execution. These networks are part of the Neural Network Architecture and form
the basis of the simulation. The different networks are: feed-forward, radial basis,
dynamic and learning vector quantization. There are multiple algorithms within these
networks that comprises of training and learning functions which can be used to adjust
the weights and biases of the network. The network can be trained with the input values
and getting the desired output closest to the target values.
A sample MATLAB code is implemented to illustrate the working of the Neural Network
Toolbox.
MATLAB Code:-
a = rand(1,1000);
b = rand(1,1000);
c = rand(1,1000);
n = rand(1,1000);
y = a*5+b.*c+7*c+n;
I = [a;b;c];
T = y;
R = [0 1;0 1;0 1];
S = [5 1];
net = newff([0 1;0 1;0 1],[4 1],{'tansig','purelin'});
nte = train(net,I,T);
T1 = sim(net,I);
plot(1:1000,T,1:1000,T1);
scatter(T,T1);

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The training function in the algorithm is “TRAINLM” and the transfer functions are
“TANSIG” and “PURELIN”. When the “nte = train(net,I,T)” function is run, the Neural
Network Training (nntraintool) dialog box appears which shows the algorithm that is
used and also the training parameters.

Figure A.1: Neural Network Training Toolbox

As seen from the above figure, we can make changes in the weights and biases in the
hidden layers of the network, control the training and get different plots regarding the
performance, training state and regression of the network. The code is executed as soon
as the function is called and the network starts getting trained until it is stopped by the
user. Here, the network training was stopped after it reached 166 iterations and the plots
for performance and regression were plotted as shown below.

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Figure A.2: Regression plot

Figure A.3: Performance plot

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