Power System

Operation and Control

Reference:
POWER GENERATION,OPERATION, AND CONTROL
Allen J. Wood
Session 2.
Summary
 Economic Dispatch with Generator Limits

The power output of any generator should not exceed its rating nor be below
the value for stable boiler operation.
 Generators have a minimum and maximum real power output limits.
The problem is to find the real power generation for each plant such that cost
are minimized, subject to:
 Meeting load-demand equality constraints
 Constrained by the generator limits- inequality constraints.
 Example 1

• Neglecting system losses and generator limits, find the optimal dispatch and
the total cost in $⁄ℎ𝑟𝑟 for the three generators and the given load demand.
𝐶𝐶1 = 500 + 5.3𝑃𝑃1 + 0.004𝑃𝑃12 𝑆𝑆⁄𝑀𝑀𝑀𝑀𝑀𝑀𝑀
8.5 − 5.3
𝐶𝐶2 = 400 + 5.5𝑃𝑃1 + 0.006𝑃𝑃22 𝑃𝑃1 = = 400𝑀𝑀𝑀𝑀
𝐶𝐶3 = 200 + 5.8𝑃𝑃3 + 0.009𝑃𝑃32 2 0.004
𝜆𝜆 − 𝛽𝛽𝑖𝑖 8.5 − 5.5
𝑃𝑃𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷 = 800𝑀𝑀𝑀𝑀 𝑃𝑃𝑖𝑖 = ⇒ 𝑃𝑃2 = = 250𝑀𝑀𝑀𝑀
2𝛾𝛾𝑖𝑖 2 0.006
8.5 − 5.8
𝑛𝑛𝑔𝑔𝑔𝑔𝑔𝑔
𝛽𝛽𝑖𝑖 𝑃𝑃3 = = 150𝑀𝑀𝑀𝑀
𝑃𝑃𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷 + � 5.3 5.5 5.8 2 0.009
2𝛾𝛾𝑖𝑖 800 + + +
𝜆𝜆 = 𝑖𝑖=1
= 0.008 0.012 0.018
𝑛𝑛𝑔𝑔𝑔𝑔𝑔𝑔 1 1 1
1 + + 𝑃𝑃𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷 = 800 = 400 + 250 + 150
� 0.008 0.012 0.018
𝑖𝑖=1 2𝛾𝛾𝑖𝑖
= 8.5 𝑆𝑆⁄𝑀𝑀𝑀𝑀𝑀𝑀𝑀
 Example 2

• Find the economic dispatch for following system:

PD = PG1 + PG 2 = 500 MW
C1 ( PG1 ) =1000 + 20 PG1 + 0.01PG21
C2 ( PG 2 ) =400 + 15 PG 2 + 0.03PG22
• By using the Lagrange multiplier method we have:
𝑑𝑑𝐶𝐶1 𝑃𝑃𝐺𝐺1 0.02 0 −1 𝑃𝑃𝐺𝐺1 −20
= 𝜆𝜆 → 20 + 0.02𝑃𝑃𝐺𝐺1 = 𝜆𝜆 0 0.06 −1 𝑃𝑃𝐺𝐺2 = −15
𝑑𝑑𝑃𝑃𝐺𝐺1
−1 −1 0 𝜆𝜆 −500
𝑑𝑑𝐶𝐶2 𝑃𝑃𝐺𝐺2 𝑃𝑃𝐺𝐺1 312.5𝑀𝑀𝑀𝑀
= 𝜆𝜆 → 15 + 0.06𝑃𝑃𝐺𝐺2 = 𝜆𝜆
𝑑𝑑𝑃𝑃𝐺𝐺2 𝑃𝑃𝐺𝐺2 = 187.5𝑀𝑀𝑀𝑀
500 − 𝑃𝑃𝐺𝐺1 − 𝑃𝑃𝐺𝐺2 = 0 𝜆𝜆 26.2 𝑆𝑆⁄𝑀𝑀𝑀𝑀𝑀
 Example 3

Input-Output Curve Min-Max Output Unit type Fuel Cost

𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀 150 ≤ 𝑃𝑃1 ≤ 600𝑀𝑀𝑀𝑀 Coal-fired steam unit 1.1

$
𝐻𝐻1 𝑴𝑴𝑴𝑴𝑴𝑴𝑴𝑴
ℎ
= 510 + 7.2𝑃𝑃1 + 0.00142𝑃𝑃12

𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀 100 ≤ 𝑃𝑃2 ≤ 400𝑀𝑀𝑀𝑀 Oil-fired steam unit 1

$
𝐻𝐻2 𝑴𝑴𝑴𝑴𝑴𝑴𝑴𝑴
ℎ
= 310 + 7.85𝑃𝑃2 + 0.00194𝑃𝑃22
𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀 50 ≤ 𝑃𝑃3 ≤ 200𝑀𝑀𝑀𝑀 Oil-fired steam unit 1
$
𝐻𝐻3 𝑴𝑴𝑴𝑴𝑴𝑴𝑴𝑴
ℎ
= 78 + 7.97𝑃𝑃3 + 0.00482𝑃𝑃32
 Determine the economic operating point for these three units when
delivering a total of 850 MW. Before this problem can be solved, the fuel
cost of each unit must be specified. Let the following fuel costs be in
effect.

𝐹𝐹1 𝑃𝑃1 = 𝐻𝐻1 (𝑃𝑃1 ) × 1.1 = 561 + 7.92𝑃𝑃1 + 0.001562𝑃𝑃12

𝐹𝐹2 𝑃𝑃2 = 𝐻𝐻2 (𝑃𝑃2 ) × 1.0 = 310 + 7.85𝑃𝑃2 + 0.00194𝑃𝑃22
𝐹𝐹3 𝑃𝑃3 = 𝐻𝐻3 (𝑃𝑃3 ) × 1.0 = 78 + 7.97𝑃𝑃3 + 0.00482𝑃𝑃32
𝑑𝑑𝐹𝐹1
= 7.92 + 0.003124𝑃𝑃1 = 𝜆𝜆
𝑑𝑑𝑃𝑃1
• The conditions for an optimum dispatch are: 𝑑𝑑𝐹𝐹2
= 7.85 + 0.00388𝑃𝑃2 = 𝜆𝜆
𝑑𝑑𝑃𝑃2
𝑑𝑑𝐹𝐹3
= 7.97 + 0.00964𝑃𝑃3 = 𝜆𝜆
𝑑𝑑𝑃𝑃3
𝑃𝑃1 + 𝑃𝑃2 + 𝑃𝑃3 = 850𝑀𝑀𝑀𝑀
• Solving for λ, one obtains:

λ = 9.148
150𝑀𝑀𝑀𝑀 ≤ 𝑃𝑃 ≤ 600𝑀𝑀𝑀𝑀
P1 = 393.2 MW
P2 = 334.6 MW 100𝑀𝑀𝑀𝑀 ≤ 𝑃𝑃 ≤ 400𝑀𝑀𝑀𝑀

P3 = 122.2 MW 50𝑀𝑀𝑀𝑀 ≤ 𝑃𝑃 ≤ 200𝑀𝑀𝑀𝑀

• Note that all constraints are met; that is, each unit is within its high and low
limit and the total output when summed over all three units meets the desired
850 MW total.
 Example 4
• Suppose the price of coal decreased to 0.9$⁄𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀 . The fuel cost function for unit
1:
F1 ( P1 ) =459 + 6.48 P1 + 0.00128 P12 𝜆𝜆 = 8.284 𝑆𝑆⁄𝑀𝑀𝑀𝑀𝑀
𝑃𝑃1 = 704.6𝑀𝑀𝑀𝑀
𝑃𝑃2 = 111.8𝑀𝑀𝑀𝑀
• If one goes about the solution exactly as done here, the results are: 𝑃𝑃3 = 32.6𝑀𝑀𝑀𝑀
• This solution meets the constraint requiring total generation to equal 850MW.
• But units 1 and 3 are not within limit.
Suppose unit 1 is set to its maximum output and unit 3 to its minimum output. The dispatch becomes

𝑃𝑃1 = 600𝑀𝑀𝑀𝑀
𝑃𝑃2 = 200𝑀𝑀𝑀𝑀
𝑃𝑃3 = 50𝑀𝑀𝑀𝑀

According to the Kuhn-Tucker conditions:

𝑑𝑑𝐶𝐶𝑖𝑖
= 𝜆𝜆 ← 𝑃𝑃𝑖𝑖 min < 𝑃𝑃𝑖𝑖 < 𝑃𝑃𝑖𝑖 max
𝑑𝑑𝑃𝑃𝑖𝑖 We see that λ must equal the incremental cost of
𝑑𝑑𝐶𝐶𝑖𝑖 unit 2 since it is not at either limit. Then
≤ 𝜆𝜆 ← 𝑃𝑃𝑖𝑖 = 𝑃𝑃𝑖𝑖 max
𝑑𝑑𝑃𝑃𝑖𝑖
𝑑𝑑𝐹𝐹2
𝑑𝑑𝐶𝐶𝑖𝑖 𝜆𝜆 = � = 8.626 𝑆𝑆⁄𝑀𝑀𝑀𝑀𝑀
≥ 𝜆𝜆 ← 𝑃𝑃𝑖𝑖 = 𝑃𝑃𝑖𝑖 min 𝑑𝑑𝑃𝑃2 𝑃𝑃
𝑑𝑑𝑃𝑃𝑖𝑖 2 =200
Calculate the incremental cost for units 1 and 3 to see if they meet the Kuhn-Tucker conditions:

𝑑𝑑𝐹𝐹1
� = 8.016 𝑆𝑆⁄𝑀𝑀𝑀𝑀𝑀
𝑑𝑑𝑃𝑃1 𝑃𝑃
1 =600
𝑑𝑑𝐹𝐹3
� = 8.452 𝑆𝑆⁄𝑀𝑀𝑀𝑀𝑀
𝑑𝑑𝑃𝑃3 𝑃𝑃
3 =50

The incremental cost for units 1 is less than λ, so unit 1 should be at its maximum. However, the
incremental cost for unit 3 is not greater than λ, so unit 3 should not be forced to its minimum. Thus,
to find the optimal dispatch, allow the incremental cost at units 2 and 3 to equal λ as follows.
𝑑𝑑𝐹𝐹2
= 7.85 + 0.00388𝑃𝑃2 = 𝜆𝜆
𝑑𝑑𝑃𝑃2 Which result in:
𝑃𝑃 = 187.1𝑀𝑀𝑀𝑀
𝑑𝑑𝐹𝐹3 𝜆𝜆 = 8.576 𝑆𝑆⁄𝑀𝑀𝑀𝑀𝑀 � 2
= 7.97 + 0.00964𝑃𝑃3 = 𝜆𝜆 𝑃𝑃3 = 62.9𝑀𝑀𝑀𝑀
𝑑𝑑𝑃𝑃3
𝑃𝑃2 + 𝑃𝑃3 = 850 − 𝑃𝑃1 = 250𝑀𝑀𝑀𝑀
Note that this dispatch meets the Kuhn-Tucker conditions:

dF1
= 8.016 S/ MWh
dP1 P1 = 600 MW

Which is less than λ,while

𝑑𝑑𝐹𝐹2 𝑑𝑑𝐹𝐹3
𝑎𝑎𝑎𝑎𝑎𝑎
𝑑𝑑𝑃𝑃2 𝑑𝑑𝑃𝑃3
Both equal λ.
 Example 5
• Neglecting system losses, find the optimal dispatch and the total cost in
$⁄ℎ𝑟𝑟 for the 3 generators and the given load demand and generation limits
𝐶𝐶1 = 500 + 5.3𝑃𝑃1 + 0.004𝑃𝑃12 , 200 ≤ 𝑃𝑃1 ≤ 450
𝐶𝐶2 = 400 + 5.5𝑃𝑃2 + 0.006𝑃𝑃22 , 150 ≤ 𝑃𝑃2 ≤ 350
𝐶𝐶3 = 200 + 5.8𝑃𝑃3 + 0.009𝑃𝑃32 , 100 ≤ 𝑃𝑃3 ≤ 225
𝑃𝑃𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷 = 975𝑀𝑀𝑀𝑀 𝑛𝑛𝑔𝑔𝑔𝑔𝑔𝑔
𝛽𝛽𝑖𝑖 5.3 5.5 5.8
𝑃𝑃𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷 + � 975 + + +
𝑖𝑖=1 2𝛾𝛾 𝑖𝑖 0.008 0.012 0.018
𝜆𝜆 = 𝑛𝑛𝑔𝑔𝑔𝑔𝑔𝑔 =
1 1 1 1
� + +
𝑖𝑖=1 2𝛾𝛾𝑖𝑖
0.008 0.012 0.018
= 𝑆𝑆 9.163⁄𝑀𝑀𝑀𝑀𝑀
 9.16 − 5.3 Upper limit violated
𝑃𝑃1 = = 483𝑀𝑀𝑀𝑀 P1=450MW
2 0.004
𝜆𝜆 − 𝛽𝛽𝑖𝑖 9.16 − 5.5 Solve the dispatch
𝑃𝑃𝑖𝑖 = , 𝑃𝑃2 = = 305𝑀𝑀𝑀𝑀 problem with two
2𝛾𝛾𝑖𝑖 2 0.006 generators:
9.16 − 5.8 P2+P3=525MW
𝑃𝑃3 = = 187𝑀𝑀𝑀𝑀
2 0.009
𝑃𝑃𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷 = 450 + 315 + 210 = 975𝑀𝑀𝑀𝑀

𝜆𝜆 = 9.4 𝑆𝑆⁄𝑀𝑀𝑀𝑀𝑀
𝑃𝑃2 = 315𝑀𝑀𝑀𝑀
𝑃𝑃3 = 210𝑀𝑀𝑀𝑀
THE LAMBDA-ITERATION
METHOD
It is a graphical technique to track the optimal
incremental cost to meet the load demand. It is
one of the best and efficient method to solve ED
problem.
The chart shows the block diagram of the lambda-
iteration method of solution for the all-thermal,
dispatching problem-neglecting losses. We can
approach the solution to this problem by
considering a graphical technique for solving the
problem and then extending this into the area of
computer algorithms.
Suppose we have a three-machine system and
wish to find the optimum economic operating
point.

Flow chart of lambda iteration method

 Lambda-Iteration method
One approach would be to plot the incremental cost
characteristics for each of these three units on the same
graph, such as sketched in Figure.
We could assume an incremental cost rate (λ) and find
the power outputs of each of the three units for this
value of incremental cost.
Of course, our first estimate will be incorrect. If we have
assumed the value of incremental cost such that the total
power output is too low, we must increase the λ value
and try another solution. With two solutions, we can
extrapolate (or interpolate) the two solutions to get
closer to the desired value of total received power.
By keeping track of the total demand versus the
incremental cost, we can rapidly find the desired
operating point. If we wished, we could manufacture a
whole series of tables that would show the total power
supplied for different
incremental cost levels and combinations of units.
This same procedure can be adopted for a computer
implementation.
This procedure is an iterative type of computation, and
we must establish stopping rules. Two general forms of
stopping rules seem appropriate for this application. The
first is shown in flow chart and is essentially a rule based
on finding the proper operating point within a specified
tolerance. The other, not shown ,involves counting the
number of times through the iterative loop and stopping
when a maximum number is exceeded.
The lambda-iteration procedure converges very rapidly
for this particular type of optimization problem.