published_or_final_version / abstract / Electrical and Electronic Engineering / Doctoral / Doctor of Philosophy

<p>Today’s electrical transmission & distribution systems, are facing a number of challenges related to changing environmental, technical and business factors. Among these factors are, increased environmental restrictions leading to higher share of production from renewable and uncontrollable sources as well as local environmental concerns regarding construction of new transmission and distribution lines. The re-regulation of the electricity market has created a dynamic environment in which multiple organizations have to coordinate and cooperate in the operation and control of the power system. Finally, the high rate of devel-opment within the ICT field is creating many new opportunities for power system opera-tion and control, thanks to introduction of new technologies for measurement, communi-cation and automation.</p><p>As a result of these factors, Wide Area Monitoring and Control (WAMC) systems have been proposed. WAMC systems utilize new ICT based technologies to offer more accurate and timely data on the state of the power system. WAMC systems utilize Phasor Measure-ment Units (PMUs) that have higher data rates and are time synchronised using, GPS satel-lites. This allows synchronized observation of the dynamics of the power system, making it possible to manage the system at a more efficient and responsive level and apply wide area control and protection schemes. The success WAMC systems, on the other hand, are largely dependent on the performance of the Information and Communication Technology (ICT) infrastructure that would support them.</p><p>This thesis investigates the requirements on, and suitability of the ICT systems that support WAMC systems. This was done by identifying WAMC applications and the elicitation of their requirements. Furthermore, a set of simulation projects were carried out to determine the communication system characteristics such as delay and the impact of this delay on the WAMC system.</p><p>This thesis has several contributions. First, it provides summary and analysis of WAMC application priorities and requirements in the Nordic region. Secondly it provides simula-tion based comparison and evaluation of communication paradigms for WAMC systems. The research documented in this thesis addresses these paradigms by providing a compari-son and evaluation through simulation. Thirdly, the thesis provides insight to the possible sources of delay in WAMC architecture and the impact of these delays on data quality specifically data incompleteness. This provides insight on what applications are important to practitioners and what is the expected performance of these applications, as seen from the power system control and operation point of view.</p>

Petroleum Development Oman (PDO) and Oman Electricity Transmission Company (OETC) are running the main 132kV power transmission grids in the Sultanate of Oman. In the year 2001, PDO and OETC grids were interconnected with a 132kV Over head transmission line linking Nahada 132kV substation at PDO's side to Nizwa 132kV sub-station at OETC's side. Since then the power exchange between PDO and OETC is driven by the natural impedances of the system and the frequency and power exchange is controlled by manually re-dispatching the generators. In light of the daily load profile and the forecasted Gulf Cooperation Council (GCC) states electrical interconnection, it is a great challenge for PDO and OETC grids operators to maintain the existing operation philosophy. The objective of this research is to investigate Automatic Generation Control (AGC) technology as a candidate to control the grid frequency and the power exchange between PDO and OETC grid. For this purpose, a dynamic power system model has been developed to represent PDO-OETC interconnected power system. The model has been validated using recorded data from the field which has warranted the requirement of refining the model. Novel approaches have been followed during the course of the model refining process which have reduced the modelling error to an acceptable limit. The refined model has then been used to assess the performance of different AGC control topologies. The recommended control topologies have been further improved using sophisticated control techniques like Linear Quadratic Regulator (LQR) and Fuzzy Logic (FL). Hybrid Fuzzy Logic Proportional Integral Derivative (FLPID) AGC controller has produced outstanding results. The FLPID AGC controller parameters have then been optimised using Multidimensional Unconstrained Nonlinear Minimization function (fminsearch) and Particle Swarm Optimisation (PSO) method. The PSO has been proved to be much superior to fminsearch function. The robustness of the LQR, the fminsearch optimized FLPID and the PSO FLPID optimized AGC controllers has been assessed. The LQR robustness found to be slightly better than the FLPID technique. However the FLPID supercedes the LQR due to the limited number of field feedback signals in comparison to the LQR. Finally, a qualitative assessment of the benefits of the ongoing GCC interconnection project on PDO and OETC has been done through modelling approach. The results proved that the GCC interconnection will bring considerable benefits to PDO and OETC but the interconnection capacity between PDO and OETC needs to be enhanced. However, the application of AGC on PDO and OETC will alleviate the PDO-OETC interconnection capacity enhancement imposed by the GCC interconnection.

The future electricity grid is likely to be increasingly complex and uncertain due to the introduction of new technologies in the grid, the increased use of control and communication infrastructure, and the uncertain political climate. In recent years, the transactive energy market framework has emerged as the key framework for future electricity market design in the electricity grid. However, most of the work done in this area has focused on developing retail level transactive energy markets. There seems to be an underlying assumption that wholesale electricity markets are ready to support any retail market design. In this dissertation, we focus on designing wholesale electricity markets that can better support transactive retail market. On the highest level, this dissertation contributes towards developing tools and models for future electricity market designs. A particular focus is placed on the relationship between wholesale markets and investment planning. Part I of this dissertation uses relatively simple models and case studies to evaluate key impediments to flexible transmission operation. In doing so, we identify several potential areas of concern in wholesale market designs: 1. There is a lack of consideration of demand flexibility both in the long-run and in the short-run 2. There is a disconnect between operational practices and investment planning 3. There is a need to rethink forward markets to better manage resource adequacy under long-term uncertainties 4. There is a need for more robust modeling tools for wholesale market design In Part II and Part III of this dissertation, we make use of mathematical decomposition and agent-based simulations to tackle these concerns. Part II of this dissertation uses Benders Decomposition and Lagrangian Decomposition to spatially and temporally decompose a power system and operation problem with active participation of flexible loads. In doing so, we are able to not only improve the computational efficiency of the problem, but also gain various insights on market structure and pricing. In particular, the decomposition suggests the need for a coordinated investment market and forward energy market to bridge the disconnect between operational practices and investment planning. Part III of this dissertation combines agent-based modeling with state-machine based modeling to test various spot, forward, and investment market designs, including the coordinated investment market and forward energy market proposed in Part II of this dissertation. In addition, we test a forward energy market design where 75% of load is required to be purchased in a 2-year-ahead forward market and various transmission cost recovery strategies. We demonstrate how the different market designs result in different investment decisions, winners, and losers. The market insights lead to further policy recommendations and open questions. Overall, this dissertation takes initial steps towards demonstrating how mathematical decomposition and agent-based simulations can be used as part of a larger market design toolbox to gain insights into different market designs and rules for the future electricity grid. In addition, this dissertation identifies market design ideas for further studies, particularly in the design of forward markets and investment cost recovery mechanisms.

The global market for photovoltaics (PV) has increased rapidly: during 2014, 44 times more was installed than in 2004, partly due to a price reduction of 60-70% during the same time period. Economic support schemes that were needed to make PV competitive on the electricity market have gradually decreased and self-consumption of PV electricity is becoming more interesting internationally from an economic perspective. This licentiate thesis investigates self-consumption of residential PV electricity and how more PV power can be allowed in and injected into a distribution grid. A model was developed for PV panels in various orientations and showed a better relative load matching with east-west-oriented compared to south-oriented PV panels. However, the yearly electricity production for the east-west-system decreased, which resulted in less self-consumed electricity. Alternatives for self-consumption of PV electricity and reduced feed-in power in a community of detached houses were investigated. The self-consumption increased more with shared batteries than with individual batteries with identical total storage capacity. A 50% reduction in feed-in power leads to losses below 10% due to PV power curtailment. Methodologies for overvoltage prevention in a distribution grid with a high share of PV power production were developed. Simulations with a case with 42% of the yearly electricity demand from PV showed promising results for preventing overvoltage using centralized battery storage and PV power curtailment. These results show potential for increasing the self-consumption of residential PV electricity with storage and to reduce stress on a distribution grid with storage and power curtailment. Increased self-consumption with storage is however not profitable in Sweden today, and 42% of the electricity from PV is far more than the actual contribution of 0.06% to the total electricity production in Sweden in 2014.

Master of Science / Department of Electrical and Computer Engineering / Anil Pahwa / In Afghanistan, electricity is mostly generated by hydroelectric, diesel and natural gas generators. A significant amount of electricity also is imported from neighboring countries. Accessibility of electricity is mostly limited to the capital and main towns. The government of Afghanistan and other development organizations, such as The United States Agency for International Development (USAID) and Deutsche Gesellschaft für Internationale Zusammenarbeit (German Agency for International Cooperation “GIZ”), are striving to develop accessibility of electricity to remote communities by supporting the local population of people to enhance living conditions. Although some of these remote communities are served by local diesel fuel generators for just a couple of hours during the night, still most communities do not have access to electricity and they are using wood and kerosene as major sources of energy in cooking, heating and lighting. For those remote communities who are served by local diesel fuel generators, the cost of electricity is much higher than from the national grid. On the other hand, grid extensions are too expensive and, in some cases, impossible for such communities because of the geographical features of Afghanistan. Afghanistan is a mountainous country which receives a significant amount of snow during the winter and once it melts the water runs into rivers, lakes and streams. Therefore mostly it does not face any shortage of running water during the year. Also Afghanistan has plentiful wind and solar energy. Therefore, small hydro-power, wind turbine and solar energy are attractive renewable energy sources for remote communities. The development of such a hybrid power system is a complex process and technical expertise is essential in design and construction phases. The main challenges are the high cost of civil works and equipment, technical expertise for design and construction and encouragement of local people for the support of the project. This report will give an insight into design, cost-effectiveness and feasibility of the system using HOMER in order to encourage private investors and local community people to take advantage of this potential available in Afghanistan and be convinced of the sustainability for investments in micro-hydropower, wind and solar.

This thesis proposes a novel algorithm to optimize multi-modal, nonlinear, black-box objective functions for electric power system design using an electromagnetic transients (EMT) simulator. The algorithm discovers multiple local optimal solutions for a given complex power system, and then generates accurate surrogate models of an objective function around each discovered local optimal solution. These surrogate models represent the local behaviour of the objective function that can be used in the subsequent stages of sensitivity analyses. Using surrogate models instead of intensive transient simulation during sensitivity analysis reduces computational intensity and simulation time. This makes the proposed algorithm particularly suited for optimization of computationally expensive black-box functions. The stages of the algorithm can be implemented independently and hence the computations can be done in parallel. Therefore, the algorithm is implemented in a parallel environment to gain significant speed-up in the design of electric power systems. Comparative studies in terms of objective function evaluation and computation time are provided. Using several multi-modal benchmark objective functions, the superiority of the proposed algorithm compared to other recently developed algorithms is demonstrated. Additionally, the application of the algorithm in the design process of complex electric power system demonstrated through several examples. The case studies show that the parallelized algorithm provides computational savings up to 39 times compared to the conventional sequential approach. / May 2016

Power system fault detection is conventionally achieved using current and potential measurements. An alternate and unconventional form of protective relaying is feasible using rigid bus conductor motion as the means of detection. The research presented focuses on the detection of power system faults using visual displacement of conductor spans. Substation rigid bus conductor motion is modeled using dual spring-mass systems for accurate representation of conductor response to electromagnetic forces generated during system faults. Bundled rigid conductors have advantages including detection independent of system load currents and improved ability to detect polyphase and single phase faults. The dynamic motion of the conductors during the fault is optically monitored with a laser detection system. Timeovercurrent characteristics are derived for the application of fault detection. The response time of the conductor detector system is slower than conventional relays due to the natural frequencies of the conductor span limiting the speed of its displacement. This response time makes the fault detection system using conductor displacement an ideal candidate for a backup relay in power system protection schemes.

The matrix-inversion-lemma based recursive least squares (RLS) approach is of a recursive form and free of matrix inversion, and has excellent performance regarding computation and memory in solving the classic least-squares (LS) problem. It is important to generalize RLS for generalized LS (GLS) problem. It is also of value to develop an efficient initialization for any RLS algorithm. In Chapter 2, we develop a unified RLS procedure to solve the unconstrained/linear-equality (LE) constrained GLS. We also show that the LE constraint is in essence a set of special error-free observations and further consider the GLS with implicit LE constraint in observations (ILE-constrained GLS). Chapter 3 treats the RLS initialization-related issues, including rank check, a convenient method to compute the involved matrix inverse/pseudoinverse, and resolution of underdetermined systems. Based on auxiliary-observations, the RLS recursion can start from the first real observation and possible LE constraints are also imposed recursively. The rank of the system is checked implicitly. If the rank is deficient, a set of refined non-redundant observations is determined alternatively. In Chapter 4, base on [Li07], we show that the linear minimum mean square error (LMMSE) estimator, as well as the optimal Kalman filter (KF) considering various correlations, can be calculated from solving an equivalent GLS using the unified RLS. In Chapters 5 & 6, an approach of joint state-and-parameter estimation (JSPE) in power system monitored by synchrophasors is adopted, where the original nonlinear parameter problem is reformulated as two loosely-coupled linear subproblems: state tracking and parameter tracking. Chapter 5 deals with the state tracking which determines the voltages in JSPE, where dynamic behavior of voltages under possible abrupt changes is studied. Chapter 6 focuses on the subproblem of parameter tracking in JSPE, where a new prediction model for parameters with moving means is introduced. Adaptive filters are developed for the above two subproblems, respectively, and both filters are based on the optimal KF accounting for various correlations. Simulations indicate that the proposed approach yields accurate parameter estimates and improves the accuracy of the state estimation, compared with existing methods.

The purpose of this dissertation is to analyze dynamic behavior of a stressed power system and to correlate the dynamic responses to a near future system voltage abnormality. It is postulated that the dynamic response of a stressed power system in a short period of time-in seconds-contains sufficient information that will allow prediction of voltage abnormality in future time-in minutes. The PSSE dynamics simulator is used to study the dynamics of the IEEE 39 Bus equivalent test system. To correlate dynamic behavior to system voltage abnormality, this research utilizes two different pattern recognition methods one being algorithmic method known as Regularized Least Square Classification (RLSC) pattern recognition and the other being a statistical method known as Classification and Regression Tree (CART). Dynamics of a stressed test system is captured by introducing numerous contingencies, by driving the system to the point of abnormal operation, and by identifying those simulated contingencies that cause system voltage abnormality. Normal and abnormal voltage cases are simulated using the PSSE dynamics tool. The results of simulation from PSSE dynamics will be divided into two sets of training and testing set data. Each of the two sets of data includes both normal and abnormal voltage cases that are used for development and validation of a discriminator. This research uses stressed system simulation results to train two RLSC and CART pattern recognition models using the training set obtained from the dynamic simulation data. After the training phase, the trained pattern recognition algorithm will be validated using the remainder of data obtained from simulation of the stressed system. This process will determine the prominent features and parameters in the process of classification of normal and abnormal voltage cases from dynamic simulation data. Each of the algorithmic or statistical pattern recognition methods have their advantages and disadvantages and it is the intention of this dissertation to use them only to find correlations between the dynamic behavior of a stressed system in response to severe contingencies and the outcome of the system behavior in a few minutes into the future.