List of Contributors |
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xv | |
Foreword |
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xix | |
Preface |
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xxi | |
1 Introduction: The Role of Wide Area Monitoring Systems in Dynamic Vulnerability Assessment |
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1 | (20) |
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1 | (1) |
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1.2 Power System Vulnerability |
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2 | (3) |
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1.2.1 Vulnerability Assessment |
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2 | (2) |
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1.2.2 Timescale of Power System Actions and Operations |
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4 | (1) |
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1.3 Power System Vulnerability Symptoms |
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5 | (3) |
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1.3.1 Rotor Angle Stability |
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6 | (1) |
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1.3.1.1 Transient Stability |
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6 | (1) |
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1.3.1.2 Oscillatory Stability |
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6 | (1) |
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1.3.2 Short-Term Voltage Stability |
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7 | (1) |
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1.3.3 Short-Term Frequency Stability |
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7 | (1) |
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1.3.4 Post-Contingency Overloads |
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7 | (1) |
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1.4 Synchronized Phasor Measurement Technology |
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8 | (5) |
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1.4.1 Phasor Representation of Sinusoids |
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8 | (1) |
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1.4.2 Synchronized Phasors |
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9 | (1) |
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1.4.3 Phasor Measurement Units (PMUs) |
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9 | (1) |
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1.4.4 Discrete Fourier Transform and Phasor Calculation |
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10 | (1) |
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1.4.5 Wide Area Monitoring Systems |
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10 | (2) |
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1.4.6 WAMPAC Communication Time Delay |
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12 | (1) |
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1.5 The Fundamental Role of WAMS in Dynamic Vulnerability Assessment |
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13 | (3) |
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16 | (1) |
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17 | (4) |
2 Steady-state Security |
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21 | (20) |
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2.1 Power System Reliability Management: A Combination of Reliability Assessment and Reliability Control |
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22 | (9) |
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2.1.1 Reliability Assessment |
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23 | (1) |
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2.1.2 Reliability Control |
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24 | (10) |
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2.1.2.1 Credible and Non-Credible Contingencies |
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25 | (1) |
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2.1.2.2 Operating State of the Power System |
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25 | (3) |
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2.1.2.3 System State Space Representation |
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28 | (3) |
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2.2 Reliability Under Various Timeframes |
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31 | (2) |
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33 | (1) |
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2.4 Reliability and Its Cost as a Function of Uncertainty |
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34 | (3) |
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34 | (1) |
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35 | (1) |
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2.4.3 Minimizing the Sum of Reliability and Interruption Costs |
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36 | (1) |
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37 | (1) |
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38 | (3) |
3 Probabilistic Indicators for the Assessment of Reliability and Security of Future Power Systems |
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41 | (22) |
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41 | (1) |
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3.2 Time Horizons in the Planning and Operation of Power Systems |
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42 | (3) |
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42 | (1) |
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3.2.2 Overlapping and Interaction |
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42 | (1) |
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42 | (3) |
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3.3 Reliability Indicators |
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45 | (4) |
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3.3.1 Security-of-Supply Related Indicators |
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45 | (2) |
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3.3.2 Additional Indicators |
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47 | (2) |
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49 | (4) |
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49 | (1) |
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50 | (1) |
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3.4.3 Reliability Analysis |
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50 | (3) |
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3.4.4 Output: Reliability Indicators |
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53 | (1) |
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3.5 Application Example: EHV Underground Cables |
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53 | (5) |
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54 | (2) |
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3.5.2 Results of Analysis |
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56 | (2) |
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58 | (2) |
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60 | (3) |
4 An Enhanced WAMS-based Power System Oscillation Analysis Approach |
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63 | (32) |
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63 | (2) |
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65 | (6) |
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65 | (1) |
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65 | (1) |
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4.2.3 Hilbert Spectrum and Hilbert Marginal Spectrum |
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66 | (1) |
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67 | (4) |
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4.2.4.1 The Boundary End Effect |
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69 | (1) |
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4.2.4.2 Mode Mixing and Pseudo-IMF Component |
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70 | (1) |
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4.2.4.3 Parameter Identification |
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71 | (1) |
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4.3 The Enhanced HHT Method |
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71 | (10) |
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4.3.1 Data Pre-treatment Processing |
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71 | (4) |
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4.3.1.1 DC Removal Processing |
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72 | (1) |
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4.3.1.2 Digital Band-Pass Filter Algorithm |
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72 | (3) |
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4.3.2 Inhibiting the Boundary End Effect |
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75 | (5) |
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4.3.2.1 The Boundary End Effect Caused by the EMD Algorithm |
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75 | (1) |
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4.3.2.2 Inhibiting the Boundary End Effects Caused by the EMD |
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76 | (1) |
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4.3.2.3 The Boundary End Effect Caused by the Hilbert Transform |
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76 | (3) |
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4.3.2.4 Inhibiting the Boundary End Effect Caused by the HT |
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79 | (1) |
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4.3.3 Parameter Identification |
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80 | (1) |
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4.4 Enhanced HHT Method Evaluation |
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81 | (7) |
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81 | (3) |
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84 | (1) |
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85 | (3) |
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4.5 Application to Real Wide Area Measurements |
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88 | (4) |
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92 | (1) |
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93 | (2) |
5 Pattern Recognition-Based Approach for Dynamic Vulnerability Status Prediction |
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95 | (24) |
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95 | (1) |
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5.2 Post-contingency Dynamic Vulnerability Regions |
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96 | (1) |
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5.3 Recognition of Post-contingency DVRs |
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97 | (12) |
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5.3.1 N-1 Contingency Monte Carlo Simulation |
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98 | (2) |
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5.3.2 Post-contingency Pattern Recognition Method |
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100 | (3) |
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5.3.3 Definition of Data-Time Windows |
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103 | (1) |
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5.3.4 Identification of Post-contingency DVRs-Case Study |
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104 | (5) |
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5.4 Real-Time Vulnerability Status Prediction |
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109 | (6) |
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5.4.1 Support Vector Classifier (SVC) Training |
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112 | (1) |
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5.4.2 SVC Real-Time Implementation |
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113 | (2) |
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115 | (1) |
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115 | (4) |
6 Performance Indicator-Based Real-Time Vulnerability Assessment |
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119 | (30) |
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119 | (1) |
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6.2 Overview of the Proposed Vulnerability Assessment Methodology |
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120 | (2) |
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6.3 Real-Time Area Coherency Identification |
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122 | (3) |
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6.3.1 Associated PMU Coherent Areas |
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122 | (3) |
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6.4 TVFS Vulnerability Performance Indicators |
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125 | (12) |
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6.4.1 Transient Stability Index (TSI) |
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125 | (3) |
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6.4.2 Voltage Deviation Index (VDI) |
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128 | (3) |
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6.4.3 Frequency Deviation Index (FDI) |
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131 | (1) |
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6.4.4 Assessment of TVFS Security Level for the Illustrative Examples |
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131 | (2) |
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6.4.5 Complete TVFS Real-Time Vulnerability Assessment |
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133 | (4) |
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6.5 Slower Phenomena Vulnerability Performance Indicators |
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137 | (8) |
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6.5.1 Oscillatory Index (OSI) |
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137 | (4) |
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6.5.2 Overload Index (OVI) |
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141 | (4) |
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145 | (1) |
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145 | (4) |
7 Challenges Ahead Risk-Based AC Optimal Power Flow Under Uncertainty for Smart Sustainable Power Systems |
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149 | (28) |
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149 | (1) |
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7.2 Conventional (Deterministic) AC Optimal Power Flow (OPF) |
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150 | (8) |
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150 | (1) |
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7.2.2 Abstract Mathematical Formulation of the OPF Problem |
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150 | (1) |
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7.2.3 OPF Solution via Interior-Point Method |
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151 | (3) |
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7.2.3.1 Obtaining the Optimality Conditions In IPM |
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151 | (1) |
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7.2.3.2 The Basic Primal Dual Algorithm |
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152 | (2) |
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7.2.4 Illustrative Example |
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154 | (4) |
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7.2.4.1 Description of the Test System |
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154 | (1) |
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7.2.4.2 Detailed Formulation of the OPF Problem |
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155 | (1) |
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7.2.4.3 Analysis of Various Operating Modes |
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156 | (1) |
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7.2.4.4 Iterative OPF Methodology |
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157 | (1) |
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158 | (4) |
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7.3.1 Motivation and Principle |
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158 | (1) |
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7.3.2 Risk-Based OPF Problem Formulation |
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159 | (1) |
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7.3.3 Illustrative Example |
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160 | (2) |
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7.3.3.1 Detailed Formulation of the RB-OPF Problem |
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160 | (1) |
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7.3.3.2 Numerical Results |
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161 | (1) |
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7.4 OPF Under Uncertainty |
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162 | (7) |
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7.4.1 Motivation and Potential Approaches |
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162 | (1) |
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7.4.2 Robust Optimization Framework |
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162 | (1) |
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7.4.3 Methodology for Solving the R-OPF Problem |
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163 | (1) |
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7.4.4 Illustrative Example |
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164 | (5) |
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7.4.4.1 Detailed Formulation of the Worst Uncertainty Pattern Computation With Respect to a Contingency |
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164 | (2) |
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7.4.4.2 Detailed Formulation of the OPF to Check Feasibility in the Presence of Corrective Actions |
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166 | (1) |
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7.4.4.3 Detailed Formulation of the R-OPF Relaxation |
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166 | (2) |
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7.4.4.4 Numerical Results |
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168 | (1) |
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7.5 Advanced Issues and Outlook |
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169 | (4) |
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169 | (3) |
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7.5.1.1 Overall OPF Solution Methodology |
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169 | (2) |
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7.5.1.2 Core Optimizers: Classical Methods Versus Convex Relaxations |
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171 | (1) |
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7.5.2 Beyond the Scope of Conventional OPF: Risk, Uncertainty, Smarter Sustainable Grid |
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172 | (1) |
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173 | (4) |
8 Modeling Preventive and Corrective Actions Using Linear Formulation |
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177 | (16) |
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177 | (1) |
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8.2 Security Constrained OPF |
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178 | (1) |
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8.3 Available Control Actions in AC Power Systems |
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178 | (2) |
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8.3.1 Generator Redispatch |
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179 | (1) |
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8.3.2 Load Shedding and Demand Side Management |
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179 | (1) |
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8.3.3 Phase Shifting Transformer |
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179 | (1) |
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180 | (1) |
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8.3.5 Reactive Power Management |
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180 | (1) |
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8.3.6 Special Protection Schemes |
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180 | (1) |
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8.4 Linear Implementation of Control Actions in a SCOPF Environment |
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180 | (5) |
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8.4.1 Generator Redispatch |
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181 | (1) |
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8.4.2 Load Shedding and Demand Side Management |
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182 | (1) |
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8.4.3 Phase Shifting Transformer |
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183 | (1) |
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184 | (1) |
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8.5 Case Study of Preventive and Corrective Actions |
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185 | (6) |
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8.5.1 Case Study 1: Generator Redispatch and Load Shedding (CS1) |
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186 | (1) |
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8.5.2 Case Study 2: Generator Redispatch, Load Shedding and PST (CS2) |
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187 | (3) |
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8.5.3 Case Study 3: Generator Redispatch, Load Shedding and Switching (CS3) |
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190 | (1) |
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191 | (1) |
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191 | (2) |
9 Model-based Predictive Control for Damping Electromechanical Oscillations in Power Systems |
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193 | (24) |
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193 | (1) |
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9.2 MPC Basic Theory & Damping Controller Models |
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194 | (4) |
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194 | (2) |
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9.2.2 Damping Controller Models |
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196 | (2) |
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9.3 MPC for Damping Oscillations |
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198 | (6) |
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198 | (1) |
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9.3.2 Mathematical Formulation |
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199 | (1) |
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9.3.3 Proposed Control Schemes |
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200 | (4) |
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200 | (1) |
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9.3.3.2 Decentralized MPC |
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200 | (2) |
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202 | (2) |
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9.4 Test System & Simulation Setting |
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204 | (1) |
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9.5 Performance Analysis of MPC Schemes |
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204 | (9) |
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204 | (5) |
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9.5.1.1 Basic Results in Ideal Conditions |
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204 | (2) |
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9.5.1.2 Results Considering State Estimation Errors |
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206 | (2) |
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9.5.1.3 Consideration of Control Delays |
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208 | (1) |
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209 | (1) |
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209 | (4) |
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9.6 Conclusions and Discussions |
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213 | (1) |
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214 | (3) |
10 Voltage Stability Enhancement by Computational Intelligence Methods |
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217 | (16) |
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217 | (1) |
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10.2 Theoretical Background |
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218 | (5) |
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10.2.1 Voltage Stability Assessment |
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218 | (1) |
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10.2.2 Sensitivity Analysis |
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219 | (1) |
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10.2.3 Optimal Power Flow |
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220 | (1) |
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10.2.4 Artificial Neural Network |
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220 | (1) |
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10.2.5 Ant Colony Optimisation |
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221 | (2) |
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223 | (1) |
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10.4 Example 1: Preventive Measure |
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224 | (2) |
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224 | (1) |
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10.4.2 Simulation Results |
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225 | (1) |
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10.5 Example 2: Corrective Measure |
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226 | (3) |
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226 | (1) |
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10.5.2 Simulation Results |
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227 | (2) |
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229 | (1) |
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230 | (3) |
11 Knowledge-Based Primary and Optimization-Based Secondary Control of Multi-terminal HVDC Grids |
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233 | (18) |
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Mart A.M.M. van der Meijden |
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234 | (1) |
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11.2 Conventional Control Schemes in HV-MTDC Grids |
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234 | (2) |
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11.3 Principles of Fuzzy-Based Control |
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236 | (1) |
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11.4 Implementation of the Knowledge-Based Power-Voltage Droop Control Strategy |
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236 | (6) |
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11.4.1 Control Scheme for Primary and Secondary Power-Voltage Control |
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237 | (1) |
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11.4.2 Input/Output Variables |
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238 | (3) |
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11.4.2.1 Membership Functions and Linguistic Terms |
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239 | (2) |
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11.4.3 Knowledge Base and Inference Engine |
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241 | (1) |
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11.4.4 Defuzzification and Output |
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241 | (1) |
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11.5 Optimization-Based Secondary Control Strategy |
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242 | (3) |
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242 | (2) |
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244 | (1) |
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245 | (2) |
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245 | (1) |
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11.6.2 Constantly Changing Reference Set Points |
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246 | (1) |
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11.6.3 Sudden Disconnection of Wind Farm for Undefined Period |
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246 | (1) |
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11.6.4 Permanent Outage of VSC 3 |
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247 | (1) |
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247 | (1) |
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248 | (3) |
12 Model Based Voltage/Reactive Control in Sustainable Distribution Systems |
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251 | (18) |
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251 | (1) |
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252 | (6) |
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252 | (1) |
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12.2.2 Model Predictive Control |
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253 | (2) |
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255 | (2) |
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12.2.3.1 Definition of Sensitivity |
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255 | (1) |
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12.2.3.2 Computation of Sensitivity |
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255 | (2) |
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257 | (1) |
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12.3 MPC Based Voltage/Reactive Controller-an Example |
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258 | (4) |
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258 | (1) |
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12.3.2 Overall Objective Function of the MPC Based Controller |
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259 | (2) |
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12.3.3 Implementation of the MPC Based Controller |
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261 | (1) |
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262 | (4) |
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12.4.1 Test System and Measurement Deployment |
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262 | (1) |
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12.4.2 Parameter Setup and Algorithm Selection for the Controller |
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263 | (1) |
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12.4.3 Results and Discussion |
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263 | (7) |
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12.4.3.1 Loss Minimization Performance of the Controller |
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263 | (1) |
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12.4.3.2 Voltage Correction Performance of the Controller |
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264 | (2) |
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266 | (1) |
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267 | (2) |
13 Multi-Agent based Approach for Intelligent Control of Reactive Power Injection in Transmission Systems |
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269 | (14) |
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269 | (1) |
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13.2 System Model and Problem Formulation |
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270 | (5) |
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13.2.1 Power System Model |
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270 | (1) |
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13.2.2 Optimal Reactive Control Problem Formulation |
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271 | (1) |
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13.2.3 Multi-Agent Sensitivity Model |
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272 | (3) |
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13.2.3.1 Calculation of the First Layer |
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273 | (1) |
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13.2.3.2 Calculation of the Second Layer |
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273 | (2) |
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13.3 Multi-Agent Based Approach |
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275 | (2) |
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13.3.1 Augmented Lagrange Formulation |
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275 | (1) |
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13.3.2 Implementation Algorithm |
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275 | (2) |
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13.4 Case Studies and Simulation Results |
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277 | (3) |
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277 | (1) |
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13.4.2 Simulation Results |
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277 | (11) |
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13.4.2.1 Performance Comparison Between Multi-Agent Based and Single-Agent Based System |
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278 | (1) |
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13.4.2.2 Impacts of General Parameters on the Proposed Control Scheme's Performance |
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279 | (1) |
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13.4.2.3 Impacts of Multi-Agent Parameters on the Proposed Control Scheme's Performance |
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279 | (1) |
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280 | (1) |
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281 | (2) |
14 Operation of Distribution Systems Within Secure Limits Using Real-Time Model Predictive Control |
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283 | (28) |
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283 | (2) |
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14.2 Basic MPC Principles |
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285 | (1) |
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14.3 Control Problem Formulation |
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285 | (3) |
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14.4 Voltage Correction With Minimum Control Effort |
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288 | (3) |
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14.4.1 Inclusion of LTC Actions as Known Disturbances |
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289 | (1) |
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14.4.2 Problem Formulation |
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290 | (1) |
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14.5 Correction of Voltages and Congestion Management with Minimum Deviation from References |
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291 | (5) |
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292 | (1) |
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292 | (2) |
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294 | (1) |
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14.5.4 Problem Formulation |
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295 | (1) |
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296 | (2) |
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14.7 Simulation Results: Voltage Correction with Minimal Control Effort |
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298 | (4) |
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299 | (1) |
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300 | (2) |
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14.8 Simulation Results: Voltage and/or Congestion Corrections with Minimum Deviation from Reference |
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302 | (4) |
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14.8.1 Scenario C: Mode 1 |
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302 | (2) |
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14.8.2 Scenario D: Modes 1 and 2 Combined |
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304 | (1) |
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14.8.3 Scenario E: Modes 1 and 3 Combined |
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305 | (1) |
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306 | (2) |
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308 | (3) |
15 Enhancement of Transmission System Voltage Stability through Local Control of Distribution Networks |
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311 | (26) |
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311 | (2) |
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15.2 Long-Term Voltage Stability |
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313 | (3) |
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314 | (2) |
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15.3 Impact of Volt-VAR Control on Long-Term Voltage Stability |
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316 | (3) |
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318 | (1) |
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15.4 Test System Description |
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319 | (4) |
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319 | (2) |
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321 | (1) |
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15.4.3 Emergency Detection |
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322 | (1) |
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15.5 Case Studies and Simulation Results |
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323 | (11) |
|
15.5.1 Results in Stable Scenarios |
|
|
323 | (3) |
|
|
323 | (1) |
|
|
324 | (2) |
|
15.5.2 Results in Unstable Scenarios |
|
|
326 | (2) |
|
|
326 | (1) |
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|
326 | (2) |
|
15.5.3 Results with Emergency Support From Distribution |
|
|
328 | (9) |
|
|
328 | (1) |
|
|
329 | (4) |
|
|
333 | (1) |
|
|
334 | (1) |
|
|
334 | (3) |
16 Electric Power Network Splitting Considering Frequency Dynamics and Transmission Overloading Constraints |
|
337 | (24) |
|
|
|
|
337 | (3) |
|
16.1.1 Stage One: Vulnerability Assessment |
|
|
337 | (1) |
|
16.1.2 Stage Two: Islanding Process |
|
|
338 | (2) |
|
16.2 Network Splitting Mechanism |
|
|
340 | (4) |
|
16.2.1 Graph Modeling, Update, and Reduction |
|
|
341 | (1) |
|
16.2.2 Graph Partitioning Procedure |
|
|
342 | (1) |
|
16.2.3 Load Shedding/Generation Tripping Schemes |
|
|
343 | (1) |
|
16.2.4 Tie-Lines Determination |
|
|
344 | (1) |
|
16.3 Power Imbalance Constraint Limits |
|
|
344 | (4) |
|
16.3.1 Reduced Frequency Response Model |
|
|
345 | (2) |
|
16.3.2 Power Imbalance Constraint Limits Determination |
|
|
347 | (1) |
|
16.4 Overload Assessment and Control |
|
|
348 | (1) |
|
|
349 | (7) |
|
16.5.1 Power System Collapse |
|
|
349 | (2) |
|
16.5.2 Application of Proposed Methodology |
|
|
351 | (3) |
|
16.5.3 Performance of Proposed ACIS |
|
|
354 | (2) |
|
16.6 Conclusions and Recommendations |
|
|
356 | (1) |
|
|
357 | (4) |
17 High-Speed Transmission Line Protection Based on Empirical Orthogonal Functions |
|
361 | (28) |
|
|
|
|
361 | (2) |
|
17.2 Empirical Orthogonal Functions |
|
|
363 | (2) |
|
|
363 | (2) |
|
17.3 Applications of EOFs for Transmission Line Protection |
|
|
365 | (4) |
|
|
366 | (1) |
|
17.3.2 Fault Classification |
|
|
367 | (2) |
|
|
368 | (1) |
|
17.3.2.2 Fault Type Surfaces |
|
|
368 | (1) |
|
17.3.2.3 Defining the Fault Type |
|
|
368 | (1) |
|
|
369 | (1) |
|
|
369 | (14) |
|
17.4.1 Transmission Line Model and Simulation |
|
|
369 | (1) |
|
17.4.2 The Power System and Transmission Line |
|
|
370 | (1) |
|
|
370 | (1) |
|
17.4.4 Training Data Matrix |
|
|
370 | (3) |
|
|
372 | (1) |
|
17.4.4.2 Sampling Frequency |
|
|
372 | (1) |
|
17.4.5 Signal Conditioning |
|
|
373 | (1) |
|
17.4.5.1 Superimposed Component |
|
|
373 | (1) |
|
17.4.5.2 Centering the Variables |
|
|
373 | (1) |
|
|
373 | (1) |
|
|
373 | (3) |
|
|
376 | (3) |
|
17.4.7.1 Computing the EOFs |
|
|
376 | (2) |
|
17.4.7.2 Fault Patterns Using EOF |
|
|
378 | (1) |
|
17.4.8 Evaluation of the Protection Scheme |
|
|
379 | (1) |
|
|
379 | (1) |
|
17.4.9 Fault Classification |
|
|
380 | (2) |
|
|
381 | (1) |
|
|
382 | (1) |
|
|
383 | (1) |
|
|
384 | (1) |
|
Study Cases: WECC 9-bus, ATPDraw Models and Parameters |
|
|
384 | (2) |
|
|
386 | (3) |
18 Implementation of a Real Phasor Based Vulnerability Assessment and Control Scheme: The Ecuadorian WAMPAC System |
|
389 | (24) |
|
|
|
|
|
|
389 | (1) |
|
18.2 PMU Location in the Ecuadorian SNI |
|
|
390 | (1) |
|
18.3 Steady-State Angle Stability |
|
|
391 | (4) |
|
18.4 Steady-State Voltage Stability |
|
|
395 | (3) |
|
18.5 Oscillatory Stability |
|
|
398 | (9) |
|
18.5.1 Power System Stabilizer Tuning |
|
|
402 | (5) |
|
18.6 Ecuadorian Special Protection Scheme (SPS) |
|
|
407 | (3) |
|
18.6.1 SPS Operation Analysis |
|
|
409 | (1) |
|
|
410 | (1) |
|
|
410 | (3) |
Index |
|
413 | |