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A Breaker-Oriented, Three-Phase IEEE 24-Substation Test System

Q. Binh Dam, Member, IEEE, A. P. Sakis Meliopoulos, Fellow, IEEE, Gerald Thomas Heydt, Fellow, IEEE, and Anjan Bose, Fellow, IEEE

AbstractAccurate bus-oriented, three-phase modeling of power systems is desirable for advanced applications and has become practical due to increased computational capability. To assist research activities in this area, this paper presents a benchmark three-phase test system. The proposed system is based on the 24-bus IEEE Reliability Test System that has been converted into a 24-substation, breaker-oriented, three-phase model. The model is available in electronic form at the site: http://pscal.ece.gatech.edu/testsys/. The proposed model is intended for use in research for three-phase power ow analysis, reliability analysis, fault analysis, transient stability, evaluation of fault currents through specic breakers, risk assessment of breaker failures, and other applications. Index TermsBus-breaker arrangements, circuit breaker, fault analysis, IEEE Reliability Test System, substation.

I. INTRODUCTION HE IEEE Reliability Test System (RTS) was developed by the IEEE Reliability subcommittee and publicized in 1978. The purpose of this system is to provide a benchmark system for testing reliability methods. The benchmark system complements other IEEE standardized systems, which have offered engineers and researchers common test-beds on which to test their algorithms [1]. Over the years, the reliability test system has been used for testing reliability methods and also for a variety of other analysis methods. The original RTS was a 24-bus system; more recently, a 96-bus system has also been developed [2]. Recent interest in analysis methods that are based on more detailed models of power systems has generated the need for a test system that will support these efforts. For example, three-phase models are being used for state estimators, improved fault analysis, three-phase power ow, and other. In addition, concerns about breaker adequacy as fault currents increase have generated the need for fault analysis methods that provide individual breaker fault currents,

Manuscript received February 24, 2009; revised July 02, 2009. First published November 03, 2009; current version published January 20, 2010. This work was supported in part by a grant from the Power System Engineering Research Center (PSERC) and in part by the NSF-I/URC program, award number 0080012. Paper no. TPWRS-00095-2009. Q. B. Dam and A. P. S. Meliopoulos are with the Georgia Institute of Technology, Atlanta, GA 30332-0250 USA (e-mail: qbdam@gatech.edu; sakis.m@gatech.edu). G. T. Heydt is with Arizona State University, Tempe, AZ 85287 USA (e-mail: Heydt@asu.edu). A. Bose is with Washington State University, Pullman, WA 99163 USA (e-mail: bose@eecs.wsu.edu). Color versions of one or more of the gures in this paper are available online at http://ieeexplore.ieee.org. Digital Object Identier 10.1109/TPWRS.2009.2031838

that is, fault analysis with models that explicitly represent the location of the breakers and determine the exact fault current through specic breakers. Similarly, it is desirable to quantify the effects of breaker topology and relaying schemes on system reliability, which leads to the need of a breaker-oriented model. As these methods develop, it will be expedient to have a benchmark system for testing and comparing proposed methods. The signicance of the detailed model approach is to accommodate realistic circuit breaker congurations that accurately mimic actual system performance in the eld. This paper proposes a breaker-oriented, three-phase model of the original IEEE 24-bus RTS with a complete specication of all related data. Specically, while the model retains most of the parameters of the original RTS, substation information and three-phase models that were not present in the original paper are now an integral part of the test system. Substation topologies were introduced in the 1996 revision of the RTS [2] but received little emphasis at that time. The purpose of this paper is to 1) re-emphasize the importance of the substation model by converting each bus of the 24-bus RTS into a substation and making the substation congurations an integral part of the test system and 2) convert the system model into a three-phase model. The proposed substation conguration for each bus of the original IEEE 24-bus RTS is arbitrary but retains the basic characteristics of the original test system; for example, a generation bus will have a breaker conguration, a step up transformer arrangement, and unit models that are typical of such systems and have the same parameters as the original system. Moreover, each transmission line in the original IEEE 24-bus RTS is replaced with a physically based, three-phase transmission line with parameters that closely match the sequence parameters of the original system. Other modications include updated fuel costs to reect recent trends in the energy markets. The proposed breaker-oriented, three-phase RTS is intended for use by researchers to test proposed algorithms for advanced power system analysis and to allow the power systems community to have a common test system for comparative studies. II. MOTIVATION A. Realistic Network Models to Investigate Contemporary Power Systems Issues Present electric power networks were designed many decades ago to meet the energy demand of that timebasically, to provide electric power to their customers and assist each other under emergency conditions to maximize reliability of supply. Generating units are constantly being added to the network to feed steadily increasing loads and expand power markets on

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Fig. 1. Example bus-oriented system model. Fig. 3. Compromise between equation coupling versus modeling error between (a) a three-phase circuit and (b) its equivalent sequence network.

Fig. 2. Breaker-oriented model of system in Fig. 1.

their way to deregulation. A major side effect of generation capacity growth is the increase of fault currents [3]. Devices designed decades ago to reliably meet the demand at that time must now operate at levels that may be above their design limits. The appearance of both synchronous generator-based distributed generation as well as inverter-based distributed generation lowers the effective driving point impedance at nearby system buses and thereby raises the fault duty. This, in turn, generates a major issue related to the safe operation of circuit breakers, because their ability to clear faults above their design limits is compromised. Increased fault currents also have implications on protection coordination. Reliability is at stake, since circuit breakers are the last barrier to protect other parts of a circuit or a network against faults [4]. Besides, studies conrmed that most system outages involve circuit breakers failures [5]. In particular, the majority of multiple common mode outages are caused by breaker failures, and the lack of situation awareness can result from erroneous assumptions about circuit breaker status. These concerns can be addressed with detailed models and advanced analysis methods that utilize a breaker-oriented, three-phase model. B. Circuit Breaker Modeling Issues in Bus-Oriented Systems An illustration of the difference between the bus-oriented and the proposed breaker-oriented network modeling approaches is shown in Figs. 1 and 2. In most analysis methods, circuit breakers are replaced by closed or open circuits depending on breaker status, resulting in a bus-oriented model as shown in Fig. 1. Fault currents through individual breakers cannot be computed using bus-oriented models, unless breakers are in series with lines, transformers, generators, or other devices.

Bus-oriented models are not suitable to check the adequacy or interrupting capability of individual substation breakers against expected fault currents [6]. The impact of distributed resources on fault currents is analyzed in other publications [3], [7], but the lack of information about circuit breaker arrangements prevents such analyses from relating to circuit breaker ratings. Breaker-oriented models have also proven essential in state estimation applications. State estimation aims at determining bus voltages based on a redundant set of measurements. Many measurements are on CTs and PTs on the two sides of breakers. With bus-oriented models, measurements on the two sides of breakers must be converted to equivalent measurements on buses or lines. In addition, changes in breaker status may change the bus-oriented model in real time (many times, we refer to this process as splitting the bus) [8], [9]. The use of breaker-oriented models allows state estimators to detect split buses or erroneous assumptions about system topology. A test system model with breaker arrangements has been proposed for instructional purposes [10]; however, its limited size of six buses does not permit the same range of analyses as a system of the size of the 24-bus system. Finally, while circuit breaker arrangements are provided as a supplement of RTS-96, substation breakers have not been systematically integrated in network models because of the limited computational power available at that time. This obstacle is no longer relevant, and the authors believe that including the substation arrangements in network models improves modeling accuracy, and enable many advanced applications. The benets of detailed models of substations and breaker arrangements outweigh the computational requirements. C. Accuracy Issues of Symmetrical Components Traditional power system models utilize equivalent models based on symmetrical components. Symmetrical components transform phase variables into positive, negative, and zero sequence components. The underlying assumption is that power systems are perfectly symmetric and operating under balanced voltages and currents. Power ow computations and fault studies are simpler with symmetrical components rather than full three-phase models. This simplicity comes from the decoupling of the equations involving mutual impedances (Fig. 3). In balanced sinusoidal operation, it is also sufcient to solve the positive sequence equivalent circuit only. This

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simplicity has led most power system applications, such as power ow and state estimation, to use single-phase analysis using positive sequence equivalent circuits. In reality, power systems are nearly, but not perfectly, symmetric, and they operate at slightly unbalanced conditions. For instance, untransposed transmission lines are asymmetric and cannot be accurately modeled with a positive sequence circuit alone. As a result, symmetrical components introduce systematic errors in per-phase variables of about 4% to 6% [11]. As industry demands more accurate power system models, the systematic symmetrical component modeling approach must be reconsidered. D. Power Systems Physical Models The proposed three-phase models for the benchmark test system are based on physically based three-phase models. Physical models of transmission lines are constructed based on parameters such as the type and arrangement of phase conductors and neutral (shield) wires, tower geometry, line length, and soil resistivity. The proposed models for synchronous generators are single-axis three-phase models to minimize complexity. These models are derived from the sub-transient, transient and synchronous positive, negative, and zero sequence parameters of the generators. The proposed three-phase models for transformers are linear models that are derived from positive, negative, and zero sequence parameters of the transformers. Two winding three-phase or multi-winding three-phase transformers can be represented. The overall approach results in a physically based model that has the following general form: (1) The three-phase, physical models allow the computation of voltages and currents at each phase with high delity. Another advantage is that since the neutral, grounding, neutral/shield wires are explicitly modeled and they are an integral part of the model, the neutral voltage (ground potential rise) and the current distribution in neutrals and grounds are computed for the conditions of specic applications [12]. It is important to note that equivalent sequence models may still be derived from the physical model by simply assuming that the voltage of all neutrals is zero and applying the symmetrical transformation. The resulting symmetrical models (positive, negative, and zero sequence models) will be an approximation of the three-phase model. The proposed three-phase, breaker-oriented network model is more accurate than the usual models we use for power system analysis. We will refer to it as the high-delity model. III. PROPOSED 24-SUBSTATION RELIABILITY TEST SYSTEMSIMILARITIES, DIFFERENCESM AND IMPROVEMENTS TO THE ORIGINAL IEEE 24-BUS SYSTEM The proposed breaker-oriented, three-phase system is derived from the IEEE 24-bus reliability test system that was rst published in 1979 and updated in 1996. The following
Fig. 4. Breaker-oriented model of Substation 230.

procedure was employed to develop the breaker-oriented, three-phase model: 1) each power line has been replaced with a three-phase, physically based model with positive sequence parameters approximately equal to the line parameters in the original system, 2) each bus of the original 24 RTS has been replaced with a substation with a specic breaker arrangement (ring, breaker and a half, etc.), 3) each generator has been replaced with a generator and a step-up transformer and appropriate breaker arrangement, 4) physical underground cables have been selected with sequence parameters approximately equal to the original cable parameters, and 5) each transformer has been replaced with a three-phase transformer with approximately the same sequence parameters as in the original system. In addition, some parameters of various components have been modied to better reect present conditionsthese are mainly production cost parameters for generators. A. Buses and Substations The original 24-bus RTS [1] consists of simplied representation of generator buses and load buses. This simplied, busoriented model of the network does not model the substations and how the different lines are connected to each other. The 1996 version of the system [2] touches upon this issue. Specically, each bus is replaced by a substation with the topology of the breaker arrangements made explicit. Although breaker arrangements are optional in RTS-96, the proposed 24-substation system explicitly includes these arrangements. The goal is to turn the explicit modeling of substation topologies into a systematic approach. As an example, consider bus 23 of the original 24-bus system. This bus has three generators and four circuits. The bus is replaced with a substation of a specic breaker arrangement as illustrated in Fig. 4. A ring bus scheme has been selected for this substation according to the suggested layout in RTS-96 [2] and each generator is connected to the system via a step-up transformer. Note that the arrangement shown in Fig. 4 is a typical design. To make the overall model interesting and more realistic, we have selected a mix of substation bus arrangements, such as

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Fig. 5. Example of a three-phase, synchronous generator model with power, reliability, and fuel cost parameters.

breaker and a half, ring buses, double breaker, etc. Therefore, the substations in the proposed test system have different reliability levels. A summary of substation topologies found in the proposed test system is provided in Fig. 8, Appendix A. The complete model is posted on the web site (the link is given in the abstract) and it is available to anyone wishing to experiment with this model. B. Generating Units The generating unit ratings and fuels are the same as in the original data of the 24-bus IEEE RTS. Generator transient reactances and quadratic cost coefcients are provided in Table III, Appendix A. This section details the changes of interest for network analysis. 1) Generator Transient Reactance : As an addition to the original 24-bus RTS, additional parameters for the internal model of the generators are provided. The most important parameters for network fault and stability analysis are the transient reactances. The generator transient impedances are typical: 18% for positive sequence, 19% for negative sequence, and 9% for zero sequence. Specic impedance values for each generator are available on the website. 2) Fuel Costs: Updated fuel costs have been used in the cost model of the generators to reect recent prices in the energy market. The costs listed in Table I are estimates for the U.S. [1], [13], [14]. The operating costs of each generator per hour are modeled with a quadratic function of the power : (2) The quadratic cost comes from two different contributions: 1) operating and maintenance (O&M) costs and 2) fuel costs. The O&M linear cost coefcients provided in [1] are expressed in $/MW/year. We provide the same coefcients and (in $/h and $/MWh, respectively): (3)

Fig. 6. Example of line model: (a) physically based line model; (b) pi-equivalent sequence network (for comparison with existing models only).

Quadratic fuel costs for one plant are computed from the provided measurements of power output and heat consumption in the original IEEE 24-bus RTS as follows. 1) Let be a 1-column, -row vector representing the heat consumed by the plant (in MBtu/h) for reference output power levels. The RTS-79 data provides four heat-power pairs, and thus, . 2) If the specied power levels are (expressed in MW), let the matrix be

. . .

. . .

. . .

(4)

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Fig. 7. Modied IEEE 24-substation reliability test system network.

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Fig. 8. Typical bus arrangements.

TABLE I GENERATOR FUEL COSTS

must be multiplied by the 5) The coefcients , , and price of fuel (in $/MBtu) to obtain a cost per hour (resp. per MWh, and per MW per MWh). 6) The expression for the cost coefcients , , and is

TABLE II SUBSTATION DATA

3) Let

, with

in MBtu/h,

in MBtu/MWh,

and in MBtu/MW/MWh. These are the precursors to the coefcients of the energy cost function. Then the product is the amount of caloric energy needed to operate the plant for one hour. 4) The least square approximation of the product above gives as a result:

(6) The heat consumption data from the original IEEE 24-bus RTS were used to obtain the quadratic fuel consumption data listed in table via the above-described procedure. Recent energy data show that energy sources such as natural gas and renewable sources were not used in 1979. These energy sources today represent a non-negligible fraction of the production and therefore should be included in future test systems. Generation technology also has evolved for traditional energy sources, and the efciency of thermal generators has been improved. Updates to generator data from the original IEEE 24-bus RTS may be necessary to reect this evolution. For consistency, however, the proposed test system keeps the generator data as close as possible to the original data for the 24-bus system. Detailed characteristics of the generating units used in the proposed 24-substation test system are shown in Table III in Appendix A with the necessary data to model the generators (see Fig. 5). The same data can be found in the generator document on the website given in the abstract. C. Transmission Lines The original IEEE RTS system represents each transmission line with a single-phase, positive sequence circuit. In the proposed test system, these circuits have been replaced with a physical model of transmission lines that account for the lengths, phase conductor types and sizes, shield wire types and sizes, and tower congurations. The parameters have been selected in such

(5)

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TABLE III GENERATOR DATA BY PLANT TYPE

a way that the equivalent positive sequence model of each line is close to the positive sequence model of the same line in the original 24-bus RTS. The procedure to derive sequence parameters from physical line properties is available in the literature (e.g., [15]). An example of a physical transmission line model with its equivalent sequence parameters is shown in Fig. 6. Note that the physical parameters presented in Fig. 6 are not specic to a particular computer program and may be obtained from utilities. The positive sequence model of this line is compared to the positive sequence impedances of the same line in the original RTS. For this line, the 24-bus RTS lists a positive sequence series impedance of or . The equivalent positive sequence impedance of the three-phase, physical model is . The physical based model is fully described with the equation: (1), where for the line . Note that the admittance matrix completely denes the asymmetric model of the line. For convenience and standardization, the dening data for the 24-substation system include the admittance matrix for each circuit in the system. The details of the transmission line parameters are given in Table IV in Appendix A as well as in the corresponding document on the website given in the abstract. D. Voltage Correction Devices The proposed test system includes voltage correction devices, i.e., capacitors and reactors. The ratings of voltage correction devices have been so selected as to enable improved voltage proles across the network. In addition, all voltage correction devices are assumed to be wye-connected and grounded. The ratings of the voltage correction devices can be found on the website.

E. Loads Loads have been converted to three-phase models with ratings identical to the loads dened in the original IEEE 24-bus RTS. Load data are available on the website. IV. CONCLUSIONS A 24-substation, three-phase, breaker-oriented system is proposed as a benchmark system for advanced three-phase analysis procedures. The proposed system has been derived from the 24-bus IEEE Reliability Test System with appropriate conversion of models and additions so that a 24-substation, breaker-oriented, three-phase model has emerged. Each bus in the original model has been replaced by a substation containing an explicit bus arrangement and connection scheme of transmission lines, loads, transformers, and generators. The substation models are now an integral part of the network model. The proposed implementation also uses a representation of transmission lines based on physical parameters and contains updated fuel costs that reect current prices in the energy market. A keyword-oriented data le of the proposed 24-substation test system is available for download on the website. We selected the keyword orientation so that anyone can develop a lter program to read the data without the need for additional documentation. A sample computer program that reads the provided key-oriented data le is posted on the website at http://pscal.ece. gatech.edu/testsys/. The source code of this sample program is also available to help researchers extract data from the provided key-oriented le. In addition, the authors are currently working on converting the keyword oriented data le into the Common Information Model (CIM) format [16].

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TABLE IV TRANSMISSION LINE DATA

The breaker-oriented, three-phase model adds a new level of detail in network models while retaining the merits of the original IEEE 24-bus RTS. With a model that includes substations and their bus-breaker arrangements, new analysis methods can be developed that are more realistic than the present methodologies. We hope that the proposed test system will help the development of more sophisticated and realistic methodologies of the usual power system analysis problems. APPENDIX PROPOSED IEEE 24-SUBSTATION RELIABILITY TEST SYSTEM This appendix describes the proposed 24-Substation ThreePhase Test System in general terms. A general layout of the

system is illustrated in Fig. 7. The original 24-bus system has been modied by converting all the buses to substations with specic breaker arrangements. There are 195 circuit breakers in this system. Examples of basic breaker arrangements are provided in Fig. 8. The topology of each substation in the proposed network is derived from the standard bus arrangements shown in Fig. 8. Table II provides the specic selections made for each substation in the proposed test system. Table III provides a summary of the generator data. Table IV provides a summary of the transmission lines data. The substation arrangements provide a more realistic model to study the reliability of the system or perform a number of other important analysis procedures such as fault analysis and

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transient stability. The complete substation bus arrangements are posted on the website given in the abstract. REFERENCES [1] IEEE RTS Task Force of the APM Subcommittee, IEEE reliability test system, IEEE Trans. Power App. Syst., vol. 98, no. 6, pp. 20472054, Nov./Dec. 1979. [2] IEEE RTS Task Force of the APM Subcommittee, IEEE reliability test system-96, IEEE Trans. Power Syst., vol. 14, no. 3, pp. 10101020, Aug. 1999. [3] N. Nimpitiwan, G. T. Heydt, J. Blevins, and A. B. Cummings, Potential economic impact of fault currents contributed by distributed generation, in Proc. 2005 IEEE Power Eng. Soc. General Meeting, San Francisco, CA, Jun. 2005, pp. 678683. [4] R. D. Garzon, High Voltage Circuit Breakers, Design and Applications, 2nd ed. New York: Marcel Dekker, 2002. [5] D. P. Ross, G. V. Welch, and H. L. Willis, Sensitivity of system reliability to component aging in metropolitan, urban, and rural areas, in Proc. 2001 IEEE Transmission and Distribution Conf. and Expo., Atlanta, GA, 2001. [6] T. C. Nguyen, S. Chan, R. Bailey, and T. Nguyen, Auto-check circuit breaker interrupting capabilities, IEEE Comput. Appl. Power, vol. 15, no. 1, pp. 2428, Jan. 2002. [7] N. Nimpitiwan and G. Heydt, Fault current allocation by the least squares method, IEEE Trans. Power Syst., vol. 20, no. 4, pp. 21482150, Nov. 2005. [8] A. Abur, H. Kim, and M. Celik, Identifying the unknown circuit breaker statuses in power networks, IEEE Trans. Power Syst., vol. 10, no. 4, pp. 20292037, Nov. 1995. [9] F. Wu and W.-H. Liu, Detection of topology errors by state estimation, IEEE Trans. Power Syst., vol. 4, no. 1, pp. 176183, Feb. 1989. [10] R. Billinton and S. Jonnavithula, A test system for teaching overall power system reliability assessment, IEEE Trans. Power Syst., vol. 11, no. 4, pp. 16701676, Nov. 1996. [11] A. P. Meliopoulos, B. Fardanesh, and S. Zelingher, Power system state estimation: Modeling error effects and impact on system operation, in Proc. 34th Hawaii Int. Conf. System Sciences, Maui, HI, Jan. 2001, pp. 682690. [12] G. J. Cokkinides and A. P. S. Meliopoulos, Transmission line modeling with explicit grounding representation, Elect. Power Syst. Res., vol. 14, no. 2, pp. 109119, Apr. 1988. [13] Monthly Energy Review, US Energy Information Agency (EIA), 2005, sec. 9.10. [14] IEEE tutorial on reliability, in Proc. IEEE Power Eng. Soc. General Meeting, Feb. 2005. [15] A. P. Meliopoulos, Power Systems Grounding and Transients. New York: Marcel Dekker, 1988. [16] Common Information Model, Electric Power Research Institute Std. CIM10, Nov. 2001.
Q. Binh Dam (S05M09) is from Paris, France. He received the E.E. diploma in 2003 from the National Polytechnic Institute of Toulouse, Toulouse, France, and the M.S.E.E. and Ph.D. degrees from the Georgia Institute of Technology, Atlanta, in 2003 and 2009, respectively. His research interests include circuit breaker reliability analysis and its applications to power systems operation and relaying. He has also interests in new tools and methodologies for testing protective relays.

A. P. Sakis Meliopoulos (M76SM83F93) was born in Katerini, Greece, in 1949. He received the M.E. and E.E. diploma from the National Technical University of Athens, Athens, Greece, in 1972, and the M.S.E.E. and Ph.D. degrees from the Georgia Institute of Technology, Atlanta, in 1974 and 1976, respectively. In 1971, he worked for Western Electric in Atlanta. In 1976, he joined the Faculty of Electrical Engineering, Georgia Institute of Technology, where he is presently a Georgia Power Distinguished Professor. He is active in teaching and research in the general areas of modeling, analysis, and control of power systems. He has made signicant contributions to power system grounding, harmonics, and reliability assessment of power systems. He is the author of the books Power Systems Grounding and Transients (New York: Marcel Dekker, 1988) and Lightning and Overvoltage Protection, Section 27, Standard Handbook for Electrical Engineers (New York: McGraw Hill, 1993). He holds three patents and he has published over 220 technical papers. Dr. Meliopoulos received the IEEE Richard Kaufman Award in 2005. He is the Chairman of the Georgia Tech Protective Relaying Conference and a member of Sigma Xi.

Gerald Thomas Heydt (S62M64SM80F91) is from Las Vegas, NV. He received the Ph.D. degree in electrical engineering from Purdue University, West Lafayette, IN. His industrial experience is with the Commonwealth Edison Company, Chicago, IL, and E. G. & G., Mercury, NV. He is presently the Director of a Power Engineering Center Program at Arizona State University, Tempe, where he is a Regents Professor. Dr. Heydt is a member of the National Academy of Engineering.

Anjan Bose (M68SM77F89) is the Distinguished Professor of Power Engineering at Washington State University, Pullman. He has consulted on power system operation for numerous companies and governments all over the world. Prof. Bose has over 35 years of experience in the power industry and academe. His pioneering work in developing and implementing real-time analysis software for power grid control centers was cited in his election to Fellow of the IEEE. His work in the development of real time simulators, which are used around the world for training grid operators, was cited in his election to the National Academy of Engineering. He was also recognized by the IEEE with their Outstanding Power Engineering Educator Award, the Third Millennium Medal and the Herman Halperin Electric Transmission & Distribution Award.