IEEE/PES Power System Stability Subcommittee Special Publication

VOLTAGE STABILITY ASSESSMENT: CONCEPTS, PRACTICES AND TOOLS

FINAL DOCUMENT August 2002

VOLTAGE STABILITY ASSESSMENT: CONCEPTS, PRACTICES AND TOOLS

Editor/Coordinator: Readers: Claudio Canizares (University of Waterloo, Canada) Prabha Kundur (PowerTech, Canada), Venkataramana Ajjarapu (Iowa State University, USA), Gran Andersson (ETH, Switzerland), Hamid Hamadanizadeh (PowerTech, Canada), Carson Taylor (BPA, USA), Niko Hatziarpyriou (National Technical University of Athens, Greece), Alberto Berizzi (Politecnico di Milano, Italy), Jozef Van Hecke (C.P.T.E., Belgium).

Chapter 2 - BASIC THEORETICAL CONCEPTS

Editor/Coordinator: Contributors: Ian Dobson (University of Wisconsin-Madison, USA) Ian Dobson (University of Wisconsin-Madison, USA), Thierry Van Cutsem (University of Lige, Belgium), Costas Vournas (National Technical University of Athens, Greece), Chris DeMarco (University of Wisconsin-Madison, USA), Mani Venkatasubramanian (Washington State University, USA), Tom Overbye (University of Illinois-Urbana, USA), Claudio Canizares (University of Waterloo, Canada).

Chapter 3 - PRACTICES FOR OFF-LINE STUDIES

Editors/Coordinators: Nicholas Miller (General Electric, USA) Venkataramana Ajjarapu (Iowa State University, USA) Contributors: Nicholas Miller (General Electric, USA), Robert Schlueter (University of Michigan, USA), Venkataramana Ajjarapu (Iowa State University, USA), Serge Fortin (HydroQubec, Canada), Thierry Van Cutsem (University of Lige, Belgium), Carson Taylor (BPA, USA), Hamid Hamadanizadeh (PowerTech, Canada), Ian Hiskens (University of Newcastle, Australia), David Hill (University of Sydney, Australia), Claudio Canizares (University of Waterloo, Canada).

Chapter 4 - VOLTAGE STABILITY INDICES

Editor/Coordinator: Contributors: Claudio Caizares (University of Waterloo, Canada) Claudio A. Caizares (University of Waterloo, Canada), Alberto Berizzi (Politecnico di Milano, Italy), Paolo Marannino (University of Pavia, Italy), Naoto Yorino (Hiroshima University, Japan), Kzuyuki Tanaka (CRIEPI, Japan), Ian Dobson (University of Wisconsin-Madison, USA), Robert Schlueter (University of Michigan, USA), Jozef Van Hecke (C.P.T.E., Belgium), Sandro Corsi (CESI, Italy), Pozzi Massimo (CESI, Italy).

Chapter 5 GENERAL PRACTICES AND TOOLS

Editors/Coordinators: Hamid Hamadanizadeh (Powertech, Canada) Farrokh Rahimi (Open Access Consulting, USA). Contributors: Hamid Hamadanizadeh (Powertech, Canada), Farrokh Rahimi (Open Access Consulting, USA), Kip Morison (Powertech, Canada), Thierry Van Cutsem (University of Lige, Belgium), Venkataramana Ajjarapu (Iowa State University, USA), Walter Lachs (University of New South Wales, Australia), Alberto Berizzi (Politecnico di Milano, Italy), Paolo Marannino (University of Pavia, Italy), Damiel French (Siemens, USA), Claudio Caizares (University of Waterloo, Canada).

Contents
1 INTRODUCTION 2 BASIC THEORETICAL CONCEPTS
2.1 DESCRIPTION OF PHYSICAL PHENOMENON 2.1.1 Time Scales 2.1.2 Reactive Power, System Changes and Voltage Collapse 2.1.3 Stability and Voltage Collapse 2.1.4 Cascading Outages and Voltage Collapse 2.1.5 Maintaining Viable Voltage Levels 2.2 BRIEF REMARKS ON THEORY 2.3 POWER SYSTEM MODELS FOR BIFURCATIONS 2.4 SADDLE NODE BIFURCATION & VOLTAGE COLLAPSE 2.4.1 Saddle-node Bifurcation of the Solutions of a Quadratic Equation 2.4.2 Simple Power System Example (Statics) 2.4.3 Simple Power System Example (Dynamics) 2.4.4 Eigenvalues at a Saddle-node Bifurcation 2.4.5 Attributes of Saddle-node Bifurcation 2.4.6 Parameter Space 2.4.7 Many States and Parameters 2.4.8 Modeling Requirements for Saddle-node Bifurcations 2.4.9 Evidence Linking Saddle-node Bifurcations with Voltage Collapse 2.4.10 Common Points of Confusion 2.5 LARGE DISTURBANCES AND LIMITS 2.5.1 Disturbances 2.5.2 Limits 2.6 FAST AND SLOW TIME-SCALES 2.6.1 Time-scale Decomposition 2.6.2 Saddle Node Bifurcation of Fast Dynamics 2.6.3 A Typical Collapse with Large Disturbances and Two Time-scales 2.7 CORRECTIVE ACTIONS 2.7.1 Avoiding Voltage Collapse 2.7.2 Emergency Action During a Slow Dynamic Collapse 2.8 ENERGY FUNCTIONS 2.8.1 Load and Generator Models for Energy Function Analysis 2.8.2 Graphical Illustration of Energy Margin in a Radial Line Example

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2.9 CLASSIFICATION OF INSTABILITY MECHANISMS 2.9.1 Transient Period 2.9.2 Long-term Period 2.10 SIMPLE EXAMPLES OF INSTABILITY MECHANISMS 2.10.1 Small Disturbance Examples 2.10.1.1 Example 1 2.10.1.2 Example 2 2.10.1.3 Example 3 2.10.2 Large Disturbance Examples 2.10.2.1 Example 4 2.10.2.2 Example 5 2.10.3 Corrective Actions in Large Disturbance Examples 2.10.3.1 Example 6 2.10.3.2 Example 7 2.11 A NUMERICAL EXAMPLE 2.11.1 Stability Analysis 2.11.2 Time Domain Analysis 2.11.3 Conclusions 2.12 GLOSSARY OF TERMS 2.13 REFERENCES APPENDIX 2.A HOPF BIFURCATIONS AND OSCILLATIONS 2.A.1 Introduction 2.A.2 Typical Supercritical Hopf Bifurcation 2.A.3 Typical Supercritical Hopf Bifurcation 2.A.4 Hopf Bifurcation in Many Dimensions 2.A.5 Comparison of Hopf with Linear Theory 2.A.6 Attributes of Hopf Bifurcation 2.A.7 Modeling Requirements for Hopf Bifurcation 2.A.8 Applications of Hopf Bifurcation to Power Systems APPENDIX 2.B SINGULARITY INDUCED BIFURCATIONS 2.B.1 Introduction 2.B.2 Differential-algebraic Models 2.B.3 Modeling Issues Near a Singularity Induced Bifurcation 2.B.4 Singularity Induced Bifurcation

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APPENDIX 2.C GLOBAL BIFURCATIONS AND COMPLEX PHENOMENA 2.C.1 Introduction 2.C.2 Four Types of Sustained Phenomena 2.C.3 Steady State Conditions at Stable Equilibria 2.C.4 Sustained Oscillations at Stable Periodic Orbits 2.C.5 Sustained Quasiperiodic Oscillations at Invariant Tori 2.C.6 Sustained Chaotic Oscillations at Strange Attractors 2.C.7 Mechanisms of Chaos in Nonlinear Systems 2.C.8 Transient Chaos

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3 PRACTICES FOR OFF-LINE STUDIES

3.1 TOOLS AND TECHNIQUES 3.1.1 Introduction 3.1.2 Power Flow Analysis 3.1.3 Example: Load Voltage Dependence and Compensation 3.1.4 Quasi-Steady-State Analysis 3.1.5 Transient Stability 3.1.6 Longer Term Analysis 3.1.7 Example: Hydro-Quebec Experience 3.1.8 Summary 3.2 MODELING REQUIREMENTS 3.2.1 Introduction 3.2.2 Extent of System Representation 3.2.3 Load Modeling 3.2.3.1 Load Dynamic Characteristics 3.2.3.2 Dynamic Load Model Forms 3.2.3.3 Example: Demonstration of Effects of Load Modeling for a Large Scale System 3.2.4 Generator Over Excitation Limiter (OEL) 3.2.4.1 Example: Demonstration of Effects of Over Excitation Limiters (OELs) 3.2.4.2 Capturing AVR and OEL Effects in Power Flow Calculations 3.2.5 Under-load Tap-changing Transformers (ULTCs) and Voltage Regulators 3.2.5.1 Example: Demonstration of the Effect of Transformer Tap Range 3.2.6 Mechanically Switched Capacitors (MSC) and Reactors (MSR) 3.2.7 Power Plants and Automatic Generation Control (AGC) 3.2.8 Modeling Experience 3.2.8.1 Example: Voltage Collapse Scenario Loss of Transmission Infeed 3.2.8.2 Modeling Requirements Hydro-Quebec Experience 3.2.9 Conclusions

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3.3 VOLTAGE STABILITY ASSESSMENT 3.3.1 Introduction 3.3.2 Knowledge Development Aspects 3.3.2.1 The Structural Cause of Voltage Collapse 3.3.2.2 A Proximity Measure for Voltage Collapse 3.3.3 Method for Assessing Proximity to Voltage Instability 3.3.4 Methodology for Analysis of Voltage Collapse Outages with no Power Flow Solutions 3.3.4.1 Clogging Voltage Instability 3.3.4.2 Loss of Voltage Control Instability 3.3.5 Summary 3.4 DETERMINATION OF REMEDIAL MEASURES 3.4.1 Shunt Compensation 3.4.1.1 Shunt Capacitors 3.4.1.2 Static Var Compensation 3.4.1.3 Synchronous Condensers 3.4.1.4 STATCOM 3.4.1.5 Distributed vs. Lumped Compensation 3.4.1.6 Hierarchy 3.4.2 Series Compensation 3.4.2.1 Conventional Series Capacitors 3.4.2.2 Thyristor Controlled Series Compensation 3.4.2.3 Unified Power Flow Controller 3.4.3 Undervoltage :Load-shedding 3.5 CASE STUDIES 3.5.1 Hydro-Quebec Example 3.5.2 Published Case Studies 3.6 REFERENCES

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4 VOLTAGE STABILITY INDICES

4.1 REVIEW OF BASIC CONCEPTS 4.2 SAMPLE SYSTEM 4.3 INDICES 4.3.1 Sensitivity Factors 4.3.2 Singular Values and Eigenvalues 4.3.2.1 Singular Values 4.3.2.2 Eigenvalue Decomposition 4.3.3 Second Order Performance Index 4.3.4 Voltage Instability Proximity Index (VIPI) 4.3.5 Loading Margin 4.3.5.1 Direct Methods 4.3.5.2 Continuation Methods (Voltage Profiles) 4.3.6 Loading Margin by Multiple Power Flow Solutions

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4.3.7 4.3.8 4.3.9 4.3.10

Local Load Margins Test Functions Reduced Determinant Tangent Vector Index (TVI)

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4.4 OTHER INDICES 4.4.1 System Determinant 4.4.2 Voltage Controllability Index (VCI) 4.4.3 Center Manifold Based Index 4.4.4 P and Q Angles 4.4.5 Energy Functions 4.4.6 Reactive Power Margins 4.4.7 V/Vo Index 4.4.8 Real-time Index for Secondary and Tertiary Voltage Regulation 4.5 SUMMARY 4.6 REFERENCES

5 GENERAL PRACTICES AND TOOLS

5.1 PRACTICES 5.1.1 Off-line Studies And On-line Studies 5.1.2 Voltage Stability Margins And Criteria 5.1.3 Voltage Stability Assessment 5.1.3.1 PV-Based Margin Computation 5.1.3.2 QV-Based Margin Computation 5.2 ON-LINE VSA FUNCTIONAL REQUIREMENTS 5.2.1 On-line VSA Assessment 5.2.1.1 Contingency Selection and Screening 5.2.1.2 Voltage Security Evaluation 5.2.1.3 Voltage Security Enhancement 5.2.2 General Requirements 5.2.3 Contingency Definition 5.2.4 Contingency Selection 5.2.5 Contingency Screening 5.2.6 Contingency Analysis 5.2.7 Voltage Stability Criteria 5.2.8 Security Monitor 5.2.8.1 Security Monitor Capabilities 5.2.8.2 Direct (Scan Rate) Monitoring

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5.2.9 Security Enhancement 5.2.9.1 On-line Determination of Preventive Actions 5.2.9.2 On-line Determination of Remedial Actions 5.2.10 Modeling and Data Requirements 5.2.10.1 Modeling Requirements 5.2.10.2 VSA Data Requirements 5.2.11 On-line VSA Execution Modes 5.2.11.1 On-line VSA Execution Control Requirements 5.2.11.2 Study-mode Execution Control Requirements 5.2.12 On-line VSA User Requirements 5.2.12.1 General VSA Requirements 5.2.12.2 Operator Requirements 5.2.12.3 Operations Planners/Engineers User Requirements 5.2.12.4 Managers User Requirements 5.2.13 Interface Requirements 5.2.13.1 Consideration of Existing Automated Operating Orders 5.2.13.2 Interface with EMS Functions 5.2.13.3 Interface with EMS Services 5.2.14 Sizing and Performance Requirements 5.2.14.1 Sizing 5.2.14.2 Performance Requirements 5.2.15 Expandability 5.3 TOOLS 5.3.1 ASTRE 5.3.1.1 Applications and Main Function 5.3.1.2 Computational Techniques 5.3.1.3 Features 5.3.1.4 Models 5.3.1.5 Interfaces 5.3.1.6 Computational Environment 5.3.2 AVS 5.3.2.1 Applications and Main Functions 5.3.2.2 Features 5.3.2.3 Method of Use 5.3.2.4 Computational Techniques 5.3.2.5 Interfaces 5.3.2.6 Performance 5.3.3 CPF/EQTP 5.3.3.1 Applications and Main Functions 5.3.3.2 Computational Techniques 5.3.3.3 Features 5.3.3.4 Models 5.3.3.5 Interfaces and Computational Environment 5.3.4 UWPFLOW 5.3.4.1 Applications and Main Functions 5.3.4.2 Computational Techniques

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5.3.4.3 Features 5.3.4.4 Models 5.3.4.5 Interfaces and Computational Environment 5.3.5 VOSTA 5.3.5.1 Applications and Main Functions 5.3.5.2 Computational Techniques 5.3.5.3 Features 5.3.5.4 Models 5.3.5.5 Interfaces and Computational Environment 5.3.6 VSA 5.3.6.1 Application 5.3.6.2 Computational Techniques 5.3.6.3 Features 5.3.6.4 Interfaces 5.3.6.5 Computational Environment 5.3.7 VSAT 5.3.7.1 Application and Main Functions 5.3.7.2 Computational Techniques 5.3.7.3 Features 5.3.7.4 Models 5.3.7.5 Interface 5.3.7.6 Computational Platform 5.4 REFERENCES

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Chapter 1 INTRODUCTION
The current special publication is the result of several years of work by many experts from all around the globe, and was written to explain in great detail a variety of topics associated with voltage stability analysis of power systems, from both theoretical and practical points of view. It follows and expands on the two previous IEEE special publications on the subject [1], [2]; in [1], a basic explanation of the phenomenon of voltage stability in power systems is presented, whereas in [2] various basic voltage stability analysis techniques are discussed in detail. It also builds on and adds to the material presented in the IEEE special publication [3], where various methodologies for determining voltage stability margins are discussed. Thus, based on the level of maturity that the subject has reached since the previous documents were published, the present publication explains in detail basic theoretical and now well-established concepts behind voltage stability analysis in power systems, as well as presenting and discussing various standard procedures and techniques presently used for off-line and on-line voltage stability assessment of power systems, with a minimum use of complex equations to facilitate the understanding of the diverse topics discussed. A large number of theoretical and practical examples are used to illustrate the concepts and methodologies presented in this document. Chapter 2 of this document covers various fundamental concepts regarding stability analysis of nonlinear power systems, concentrating in particular on voltage stability issues. The authors have tried to explain most of the material through words and illustrations, as well as with the help of some simple examples, staying away, on purpose, from lengthy and complex mathematical descriptions. Chapter 3 concentrates on describing the techniques and tools, as well as the related modeling and data requirements used for off-line studies of voltage stability problems in power systems. Several practical examples are used throughout this chapter to illustrate the material presented in the chapter. In Chapter 4, several voltage stability indices used to measure proximity to voltage collapse in off-line as well as on-line applications are described with great detail. A test system is used throughout the whole chapter to depict and compare the various indices. The chapter concludes with a comprehensive comparison of the different indices, and a brief explanation of several other indices that could not be directly applied to the test system.

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Chapter 5 describes a set of guidelines for voltage stability assessment as well as all the functional requirements for an on-line Voltage Stability Assessment (VSA) module of an Energy Management System (EMS). A variety of software tools specifically developed to analyze voltage stability problems in practical models of power systems are also described in this chapter. A rather comprehensive set of references that cover a wide range of issues related to voltage stability analysis of power systems, and that expand on what is presented in [4], can be found in the different chapters that make this document.

REFERENCES
[1] Voltage Stability of Power Systems: Concepts, Analytical Tools and Industry Experience, IEEE Special Publication, 90TH0358-2-PWR, 1990. [2] Suggested Techniques for Voltage Stability Analysis, IEEE Special Publication, 93 TH0620-5-PWR, 1993. [3] Techniques for Power System Stability Limit Search, IEEE Special Publication, TP-138-0, 1999. [4] V. Ajjarapu and B. Lee, Bibliography on Voltage Stability, IEEE Transactions on Power Systems, Vol. 13, February 1998, pp.115-125.

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