Loop Power Flow Control to Minimize Power Losses
and Augment Voltage Stability
Y. Mitani, Member, IEEE G. Matushiro, Non-member
Department of Electrical Engineering, Faculty of Engineering
Graduate School of Osaka University
2-1 Yamadaoka Suita 5650871 Osaka, Japan
Abstract-This paper presents a method to optimize power
flows in a power system with loop structure by controlling
the line reactance, which realizes the augmentation of volt-
age stability as well as the minimization of power transmis-
sion losses. A series variable reactance is capable of control-
ling the power flow directly, when it is installed in a looped
power system. First, the object function for loss minimiza-
tion is formulated as a quadratic function of a closed-path
power flow, by which the optimal solution is systematically
derived. The optimal state is achieved by several combina-
tions of series capacitors installed in some of lines among
the closed-path. Thus, series capacitors can be properly as-
signed so as to augment the voltage stability by enhancing
the bus voltage with the critical P-V characteristics. The
proposed method should be an effective tool for the power
traffic control in a deregulated power system with multilat-
eral power transactions since the optimal solution is system-
atically obtained for a given power flow condition.
Keywords- FACTS, Power flow control, Loss minimiza-
tion, Variable reactance, Voltage stability
I. INTRODUCTION
The electric energy industry has been regulated through
national or municipal governors. Presently, open trans-
mission access is a new legal requirement within the elec-
tric power industry since the deregulation is an inevitable
outcome of a free market society that thrives on competi-
tion. In such a circumstance power system dynamic perfor-
mances more and more occupy the interest of power sys-
tem engineers. As a result, FACTS technology is being
prompted as a means to extend the capacity of existing
power transmission networks without adding new trans-
mission lines [l].FACTS introduces new degree of freedom
into the operation of power systems [2], [3]. This extra
flexibility permits the independent adjustment of certain
system variables such as power flows. This paper describes
a loss minimizing control by a FACTS device which is ca-
pable of controlling the line power flow arbitrarily. In ad-
dition it is expected that the control simultaneously results
0-7803-4403-0/98/$10.000 1998 IEEE 719
K. Tsuji, Member, IEEE
in augmentation of voltage stability.
The planning and the scheduling of power systems
are determined based on the estimated values from past
records, weather forecast, economic situation and so on. In
power systems operated on the free market mechanisms,
however, there may be increasingly many uncertainties
since each demand contracts its own independent power
producers (IPPs) according to its economical satisfaction.
Therefore, it becomes important to control power flows in
the power system appropriately along to the demand vari-
ation.
In this paper a simple method to determine the location
of variable reactance units and their amounts by formu-
lating the control capability of line power flows and the
minimization of losses as a function of line power flows.
There are several studies on the optimal power flow con-
trol by series controllers such as a phase shifter and their
effectiveness has been confirmed in several cases [4], [5],
[SI, [7], where sensitivity coefficients of series reactance or
phase shifting for all line power flows are numerically eval-
uated. The optimal solution is looked for iteratively using
the coefficients recalculated at every iteration.
This paper formulates an increment of loop power flow
as the quadratic form used for the optimal calculation. The
increment of loop power flow is evaluated first as the loss
minimum solution. Then, the assignment of reactance in
the loop satisfying the power increment is applied to im-
proving the voltage stability of power system. As stated in
[SI the voltage stability margin is evaluated for each load
bus. The assignment of the series reactance is determined
in such a way to enhance the buses with critical voltage
stability. The significant advantage in the loss minimizing
control of this paper over the results presented so far is that
the method is systematic in seeking the optimal solution
and the loss minimization is associated with the evaluation
of the location of variable reactance unit for the augmen-
tation of voltage stability of power system. Some numeri-
cal examples demonstrate the significance of the proposed
method.
11. FORMULATION
OF LOSS MINIMIZATION
Here, a method to systematically derive the solution for
loss minimization by variable reactance in a general loop
system is proposed. The looped subsystem in Fig-l is com-
posed of ml nodes and ml tie lines, where the numbers
surrounded by symbols 0 and 0denote the tie line num-
ber and the node number, respectively.

Fig. 1. A closed path composed by ml nodes and ml branches.
P, z + l , i = 1 , 2 , - .. ,ml is the tie line power flow from the
+
node i to i 1, where the number ml + 1 is identically
regarded as the number "1". The control object here is to
adjust the loop power flow by installing a variable reactance
in series with a transmission line. It is assumed that the
summation of power flow from the outside of loop, gener-
ator power and negative value of load power consumption,
which is defined by P,, is 5ot changed by the power flow
control in the loop, that is, Pt, i = 1 , 2 , . . . , ml are regarded
as constant in the following calculation.
Using the dc power flow calculation, the line loss L, i+l
+
between nodes i - (i 1) approximately yields
where V , is the voltage of nodes i and i+l is the resistance
of line i - (i + 1). As a result, the total power transmission
losses are approximated by
Mote that the function of total loss is composed of the sum-
mation of Pt3 square forms, which is convenient for the
optimal calculation.
Here, suppose that a reactance A x is located in series
with the tie line between bus k and IC + 1 to minimize the
value of L (see Fig l ) , where A x is positive in case of series
inductance and negative in case of series capacitance. Let
the power increment in the loop be defined by A P as it is
shown in Fig.1, then the total line loss is expressed by
(3)
720
where P, ,+I 0 is the tie line power before the variable re-
actance is applied to the system. Assuming that the mag-
nitudes of bus voltage are not changed by the variable re-
actance, then the solution of A P for the loss minimization
are obtained from the equation
that is,
As a result of control the line power flows and the phases
of bus voltage are changed. Let these values be expressed
with a superscript * such as P:i+l and e:, then
On the other hand, 0:,i = 1 , 2 , . . . , m l are expressed by
the relation that
+
while the reactance of the line k - (k 1) including the
variable impedance A x is represented by
By adding (7) Vj, the value of 0; is obtained. Then,
the required A x for the loss minimization is calculated in
(8).
Occasionally, more than two reactance units might be
distributedly located in the loop. In such a case, once cer-
+
tain sets of reactance in (7) for the line h - ( h l ) , h # k
and for other lines, if any, are given, then the value of Ax
as the optimal solution is calculated in (8).
The method to obtain the optimal solution for a single
loop system has been presented above. The discussion for
the single loop system is easily extended to the system with
several closed paths. The number of independent closed
paths 1 is counted from the relation
1 = n - m + 1, (9)
where n is the number of nodes and m is the number of
lines. If one reactance unit for each closed path is installed,
the optimal solution can be obtained in the same manner
by solving a set of simultaneous equations derived from the
series of partial differential equations similar to (4).
 OF Loss
111. EXAMPLE MINIMIZATION
The procedure for calculating the series reactance
amount to minimize the power transmission loss is demon-
strated using the simple power system with a single loop
connection shown in Fig. 2.
.PL ~3.0
PY.0
+Loss 0 initial value
Fig. 2. A model power system composed only by a closed path.
The system has 3 nodes (n = 3) and 3 lines ( m = 3),
+
therefore, the number of closed-path 1 is n - m 1 = 1. By
adjusting one reactance among three lines, the loop power
flow can be controlled. The voltage of transmission system
is 154 [kV]. The value of each line impedance is shown in
Fig.2 as a 154 [kV] and 100 [MVA] base. The initial line
power flows are P12 o = 0.43334[Pu], P23 o = 1.39843[Pu]
and Pi3 0 = 1.65036[Pu], each of which is represented as
an averaged value between the power flowing into and out
from the line since there is a transmission loss in each line. Fig. 3. Variation of power transmission loss for different values of
The total power transmission loss is 9.943 [MW] before
applying the variable series reactance.
The loss equation is represented by
L = r12(P12 o + AP)2/(V~V2)
f T23(p23 0 +Ap)2/(v2%)
+ r13(p31 0 + AP)2/(V3V1)i
where P31 0 = -Pi3 0. The optimal solution
given by
The solution of A P is -0.59281pu1, which can be re-
alized by the variable series reactance of line 1-2 with
0x12 = -1.1086[Pu], line 2-3 with Ax23 = 0.2169[pu] or
line 1-3 with Ax13 = -O.O78O[pu]. The reactance installed
in series with the line 2-3 is inductive, while the others are
capacitive. Whether the series reactance is inductive or
capacitive generally depends on the relation between the
direction of A P and the direction of line power flow. For
example, the direction of power flow in line 1-3 coincides
with the direction of AP. In this case the variable reac-
tance should be capacitive to increase the line power flow.
The case of line 1-2 seems to be an exception. Here, it
should be noted that the amount of initial power transac-
tion on line 1-2 is small and that the direction of power flow
is changed by the series capacitance. Accordingly, after the
change of power flow direction, the rule stated above holds
good. Thus, once the value of A P is calculated, whether
variable reactance in each line is inductive or capacitive is
estimated correctly. Here, it is observed that the capaci-
tance installed in series with line 1-2 is much larger than
the line reactance, which should not be a feasible solution.
In order to verify the results the total loss is evaluated by
changing each line reactance step by step, which is carried
out by the ac power flow calculation. The result is shown
in Fig. 3 in cases that the reactance of lines 2-3 and 1-3
are changed, respectively.
... .,. ... ... .
..........
. #
. . . . . . .
: U A t = 0 . 2 1 ? [pu] j
I . .
variable reactance in series with line 2-3 and in series with line
1-3, respectively.
It is confirmed that the loss minimum solution are cor-
rectly calculated by the proposed method. Note that the
minimum value of loss is slightly different from each other,
although the minimum solution anticipated by the pro-
posed method, is independent of the location of variable
reactance, which is caused by the approximation error in
(1).
IV. AUGMENTATION OF VOLTAGE STABILITY
As shown in the example of loss minimization in the pre-
vious section, every line in the closed-path is available as a
location of variable reactance as long as the reactance is not
too large. The best location can be selected by evaluating
another factor; for example, the system stabilities. Here,
the criteria to enhance the voltage stability is evaluated.
The voltage stability margin at each load bus can be eval-
uated by the method presented in [8]. In this paper every
possible variable reactance satisfying the loss minimization
can be obtained, whose effectiveness on the augmentation
of voltage stability is evaluated through the variation of
voltage stability margin [8]. Thus, the best location to en-
hance the weakest bus is determined.
Fig. 4 shows the variations of P-V curve when the 0.217
[pu] inductance is installed in series with line 2-3 and when
the 0.078 [pu] capacitance is installed in series with line 1-3,
respectively in the power system of Fig.2. In these cases all
generation power and load demand are changed with the
721
same rate represented by K . It is demonstrated that the 3-4 at 0.037 [pu] to enhance the voltage stability of bus
series capacitance gains the voltage stability while the se- 4 at the same time with preserving the condition of loss
ries inductance loses the voltage stability as it is generally minimization.
stated. Thus, after the location and the amount of series The voltage stability is evaluated in the P-V curve shown
capacitance to achieve the loss minimization is evaluated, in Fig.6, where all the generator power and the load de-
the assignment of series capacitance is determined by eval- mand are changed at the same rate represented by K .
uating the voltage stability margin at each load bus so as The maximum value of static voltage stability has been
to augment the stability of bus with the minimum stability increased about 50 [%].
margin.
-onginal stak
--
- -installation of capacitance in line 1-2
-
- original state installahon of capacitance lines 1-2 and 3 4
i

---installation of capacitance in line 1-3

installation of inductance in lie 2-3
1.2. , , , , I . . . , , , , , , I , , , . , , , , , ,

-
a
0.8
0.6

33 0.4

0.2
0
- 0 . 2 " " ' " ~ " ' ' ' " ' " ' " ' ~
0 1 2 3 4 5
K
Fig. 6 . Comparison of P-V curves for different assignment of series
capacitance; total transmission loss is same in both capacitance
Fig. 4. Comparison of P-V curves for different locations of vari-
able reactance; total transmission loss is same in both reactance assignment case.
installation cases.
The dynamic performances of model system has been
simulated. The loads at buses 2 and 4 are represented by
v. NUMERICALEXAMPLE an induction motor model. The load demand at the critical
First, the proposed method is illustrated using a single- bus is increased with an amount of 0.5 jO.O5[pu] power +
loop model power system with two load buses and two gen- at t=1.0 [s] as a disturbance. Fig.7 shows the voltage dy-
erator buses shown in Fig.5. namics at buses 2 and 4 when the series capacitance is not
installed, which shows that the voltage becomes unstable
due t o the instability of bus 2 when K = 1.14. The system
with 0.089 [pu] series capacitance in line 1-2 keeps the volt-
age stability when K is less than 1.36 (see Fig. 8). Note
that the instability is due to not bus 2 but bus 4. The sys-
0.0077 tem with distributed series capacitance of 0.066 [pu] in line
1-2 and 0.037 [pu] in line 3-4 is most effectively stabilized,
which is stable when K is less than 1.56 (see Fig.9). Both
buses 2 and 4 lose the voltage stability almost at the same
time, which implies that the the stability margin at bus
Fig. 5. A model power system composed of single loop transmission
lines with two generator buses and two load buses. 2 is almost same as that at bus 4 as it is expected in the
process of capacitance assignment.
Next, the power system model shown in Fig.10 is used
The procedure to obtain the loss minimum A P is the t o demonstrate the proposed method, which has been used
same as that for the system in Fig.2. The calculated value in the studies t o minimize the power transmission loss by a
of A P is 0.824 [pu], where the defined direction of A P is phase shifter control [6], [7]. The initial total power trans-
shown in Fig.5. The series capacitance t o satisfy the power mission loss is 5.71 IMVV].
increment is 0.089 [pu] of line 1-2 or 0.266 [pu] of line 3-4, The number of nodes TI = 5 and the number of lines m =
which decrease the power transmission loss from 0.315 [pu] 7. Therefore, the number of closed-paths 1 = m-n+ 1 = 3.
to 0.283 [pu]. On the other hand, the bus with the min- The increments of three loop power flows are defined as
imum voltage stability margin is bus 2. The capacitance APl,AP2 and AP3 shown in Fig. 11.
installed in series with line 1-2 is more effective for the volt- The equation of loss is represented by
age stability of bus 2. Thus, the capacitance of 0.089 [pu]
is installed in series with line 1-2. As a result, however, the
bus with the minimum voltage stability margin has been
moved to bus 4. Here, two divided units of capacitance is
installed in series with line 1-2 at 0.066 [pu] and with line

7 22
 0.45+j0.15 0.4+j0.05

>
0 2 4 6 8 l$me[sj2 14
(a) K=1.12

O.wO.3

Fig. 10. A model power system with branches belonging to plural

closed paths.
0 2 4 6 8 l(+e[sj
2 14
(b) K=1.14

Fig. 7. Dynamic performances of bus voltages without series reac-

tance at K = 1.12 and at K = 1.14.

p12 0

1
0.95
0.9 t
0 2 4 6 8 1 0 1 2 1 4
(a) K=1.34 time [SI
1 ~ 1 1 1 1 / 1 , 1 , , 1 / / 1 ~ , , , 1 / , , 1 1 / 1
Fig. 11. Setting of power flow increment in each closed path.
^.
0.95 ............. ............. ..................: ..... ..........1I.. .............

(b) K=l.36

8. Dynamic performances of bus voltages with a series capaci- The loss minimum solution is obtained by solving the
tance installed in line 1-2 at K = 1.34 and a t K = 1.36. third-order simultaneous equation
aL aL aL
= 0, -= o , -- - 0.
a AP I aAP2 a AP3
Accordingly, the solution set that AP, = 0.0357, AP2 =
0.0940, AP3 = -0.2595, is derived. For example, s u p
pose that variable reactance units are installed in lines
0 2 4 6 8 10 12 14 1-2, 2-3 and 2-5. The solution set is given as A212 =
(a) K=1.54 time [SI
-O.O86[Pu], Ax23 = 0.394[pzL] and Ax25 = 0.561. As a
, , I , , , , , I , , , / ,
result of the control, the total power transmission loss is
c
....... ........................................
reduced to 4.73 [MW].
Next, the combination of variable reactance to augment
the voltage stability is evaluated. By evaluating the direc-
-;0 . 0 - ............................................... tion of the loop power increments and the direction of each
0.75 ...........i................................... line power flow, the lines with which series capacitance is
0.71," 1 1 installed in series, can be selected. In case of the model
0 2 4 6 8 10 12 14
time [SI power system in Fig.10 they are line 1-2 , line 2-4 and
(b) K=1.56
line 4-5. To avoid too much capacitor compensation the
Fig. 9. Dynamic performances of bus voltages with series capaci- amount of capacitor is limited to 70 % of line reactance.
tances installed in lines 1-2 and 3-4at K = 1.54 and at K = 1.56. In this case the series inductance installed in other lines
should be assigned to satisfy the loss minimum power flows.

723
The combination of variable reactance units in this case is
Ax12 =z -0.0026, Ax24 = -0.1229, Ax45 = -0.1680 (70 %
compensation for the line reactance) and Ax25 = 0.0814.
The voltage stability is compared in the P-V plain with
the case that Ax12 = -O.O861pU],Ax23 = 0.394[pu] and
Ax25 = 0.561. The results are shown in Fig. 12, which
demonstrates that the loss minimization mainly realized
with the combination of series capacitance, augments the
voltage stability significantly.
-original state
-installation of reactance in lines 1-2.2-3 and 2-5
1.2
. .
.., ...................
......-,
.. ,,. ...
.. . .
-0.2 ~ ~ " " " ' ' ' " ' " ' ' " " ' " " ' ' ' ' ~ " ' ~ ~
0 1 2 3
Fig. 12. Comparison of P-V curves for different reactance installa-
tions.
VI. CONCLUSIONS
This paper presents a method to systematically calculate
the amount of line reactance to obtain the power transmis-
sion loss minimization and simultaneously to assign the
reactance for augmentation of the voltage stability. The
solution is first obtained as the incremental loop power.
The optimal solution for the incremental loop power t o
minimize the transmission loss is easily obtained since the
loss is represented by a quadratic function of transmission
power. Then, the assignment of line reactance can be de-
termined for improving the voltage stability. Numerical
results demonstrate the significant effectiveness on the loss
reduction and the voltage stability augmentation.
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... ... . .. . ..
. . . .
4 K 5 6 7 8
Yasunori Mitani is Associate Professor of Electrical Engineering at
Osaka University, Japan, He obtained the Dr. of Engineering degree
from Osaka University in 1986. He was a Visting Research Asso-
ciate at the university of California, Berkeley from 1994 to 1999. His
research interests are in the area of analysis and control of power sys-
tems, especillay application of power electronics into pswer systems.
Goichi Matsushiro is a master course student of Electrical Engi-
neering at Osaka University, Japaq. He obtaiqed the @S degree of
Engineering from Osaka University in 1998. His research intersts are
in the area, of control of power systems.
Kiichiro Tsuji is Professor of Electrical Engineering at Osaka Uni-
versity. He obtained the Ph.D. degree in systems engineering from
Graduate School of Engineering, Case Wesfern Reserve University,
Cleveland, OH, in 1973. His research interests are in the areas of
analysis, planning and evaluation of urban energy systems and in the
areas of control and analysis of electrical power systems.
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