Parallel Evolutionary Programming For Optimal Power Flow: H. Lo, C. Y. D. H. M. K. P. Wong
Parallel Evolutionary Programming For Optimal Power Flow: H. Lo, C. Y. D. H. M. K. P. Wong
         Absrruct--This paper proposes a parallel evolutionary               OPF problem for searching the global optimum solution.
     programming (EP) approach for solving the optimal power                    The EP technique is a stochastic optimization method
     flow (OPF) problem. The parallel EP-OPF approach is less                which uses the mechanics of evolution to search for
     sensitive to the choice of starting points and types of                 optimal solution to a given problem. A population of
     generator cost curves. The developed algorithm is
                                                                             candidate solutions is evolved toward the global optimum
     implemented on a Beowulf cluster with 31 Intel Pentium IV
     2.66GHz processors which are arranged in master-slave                   through the use of a mutation operator and competition
     structure. The proposed approach has been tested on the                 scheme. The EP technique is capable of incorporating
     IEEE 30- and 118-bus systems. Computational speedup and                 new constraints arising from open access, non-convex
     performance of the master-slave topology is then compared               solution surfaces and FACTS devices. It is also
     to those of the sequential EP approach.                                 particularly suitable to non-monotonic solution surfaces
                                                                             where many local minima may exist.
       Index Terms-Evolutionary Programming, Optimization,
     Optimal Power Flow.                                                        In our previous paper [6], an EP-based OPF solution
                                                                             algorithm (EP-OPF) has been developed, which is capable
                          I. INTRODUCTION                                    of determining the global optimal solution to the OPF
                                                                             problem for a range of constraints and objective functions.
           PTIMAL power flow (OPF) provides a means for
      0    minimizing the cost of power system operation so as
     to meet the load demand under various operational
                                                                             The problems of the starting-point sensitivities and
                                                                             linearisation of non-convex generator cost curves are
                                                                             overcome by the developed serial EP-OPF algorithm in
     constraints. Solving the OPF problem is of paramount
                                                                             [6]. To improve the speed of the computation, this paper
     importance in power system operation under the de-
                                                                             reports work on the development of a parallel form of the
     regulated environment of the electricity industry. It is a
                                                                             previous EP-OPF algorithm and its implementation on a
     highly constrained and large dimensional nonlinear
                                                                             Beowulf computer cluster with 31 Intel Pentium IV
     optimization problem, which is difficult to solve.
                                                                             2.66GHz processors. The computational speedup and
        Previously, various approaches such as, linear
                                                                             performance of the parallel algorithm is then investigated
     programming [ 11, nonlinear programming [2] and interior
                                                                             using the IEEE 30- and 118-bus systems under the
     point method [3], have been employed to solve the OPF
                                                                             master-slave structure.
     problem. These methods rely on convex and continuous
                                                                                The organization of the paper is as follows: A brief
     input/output generator curves to obtain the global
                                                                             review of the OPF problem is given in Section 11. Section
     optimum solution, and as such, these curves must be
                                                                             111 addresses the general scheme of the EP-OPF for
     approximated by continuous and monotonic functions.
                                                                             solving the OPF problem. Implementation of the parallel
     However, the OPF problem is in general non-convex, and
                                                                             EP-OPF on the Beowulf cluster is stated in Section IV.
     hence, these simplifying assumptions will lead to sub-
                                                                             Section V presents the performance of the proposed
     optimal solutions. The degree of non-convexity is further
                                                                             parallel algorithm under the IEEE 30- and 118-bus
     increased with the inclusion of FACTS devices on the
                                                                             systems. Finally, Section VI concludes the paper.
     network or the consideration of valve-point loading
     effects of thermal generators [4, 51.
                                                                                                     FLOWPROBLEM
                                                                                                 POWER
                                                                                       11. OPTIMAL
        Besides, classical optimization methods are highly
     sensitive to starting points and frequently converge to                     The OPF problem was introduced in the early 1960s
     local optimum solutions or diverge completely due to the                and has grown into a powerful tool for power system
     non-monotonic solution surface. Hence, evolutionary                     operation and planning. The OPF seeks to determine the
     programming (EP) technique [6] has been applied to the                  optimal control parameter settings to minimize a desired
                                                                             objective function J; while satisfying numerous
                                                                             operational constraints [7]. For optimal active- and
        This work was supported by the Faculty of Enginecring and            reactive-power dispatch, the objective function J; can be
     Department of Electrical Engineering, The Hong Kong Polytechnic         the total generation cost. Voltage profile optimization or
     University.
        The authors are with the Computational Intelligence Applications     minimization of active power loss may also be the
     Research Laboratory (CIARLab), Department of Electrical Enginecring,    objective. Mathematically, the objective is a function of
     The Hong Kong Polytechnic Univcrsity, Hung Horn, Kowloon, Hong          system control and dependent variables and can be written
     Kong.     (e-mail:  eechlo@polyu.edu.hk;   eecychun@polyu.edu.hk;
     eenguyen@polyu.edu.hk; cekpwong@polyu.cdu.hk).                          as:
          0-7803-8237-4/04/$17.0002004IEEE
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                           PROGRAMMING
            111. EVOLUTIONARY       BASEDOPF
                                                                                             w     Mutate Population
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         VPj = K,<v~
                   -1.0)~
                        if                   vj > vj""    or vi <   vyin(6)               Assuming the upper limit of an individual's slack node
                                                                                       active power generation is exceeded, and that the slack
                 !U                       otherwise
                                                                                       unit is unit 1. Then, the total available capacity of
                                                                                                  U      iotherwise
                                                                                                           ffi' f r
                                                                                       where is the fitness of individual i; fr is the fitness of
     of an individual are assigned previously using the
                                                                                       opponent r; and nj is the result of a tournament between
     standard mutation as stated in (8). The sum of these
                                                                                       individual i and the randomly chosen opponent r. If the
     assigned loadings is then compared to the total generation
                                                                                       population size is k, the k highest scoring individuals are
     found from the previous loadflow of that individual. If the
                                                                                       selected to form the resultant population in the next
     difference between them is within the operating limits of
                                                                                       generation.
     the slack unit, the mutated individual is accepted.
     Otherwise, the process is repeated for another four
                                                                                             IV. PARALLEL
                                                                                                        EP-OPF ALGORITHM
                                                                                                                       ANDITS
     attempts. If within these attempts a feasible mutated                                             IMPLEMENTATION
     individual is not obtained, the constrained mutation is
     employed to share the excessive generation of the slack                              The population size is one of the factors that will affect
     unit among the remaining generators. The constrained                              the performance of the EP-OPF algorithm for seeking the
     mutation forces the satisfaction of the slack node's active                       optimal solution. If a large population size is used, the
     power generation constraint as follows.                                           chance of obtaining the optimal solution by mutation and
                                                                                       competition is high. It is obvious that more computing
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      time is then required. To improve the computation speed                 be controllable. For both test cases, quadratic generation
      while maintaining the same quality of solution, the                     cost curves have the form, cj = ai + biq + ciq2 . The
      parallel EP-OPF algorithm is implemented.
                                                                               performance of the parallel EP-OPF was compared with
         The basis of the proposed parallel EP-OPF algorithm is
                                                                               the sequential EP-OPF proposed in [6].
      to divide the initial population into several sub-
                                                                                  The parallel EP-OPF algorithm was executed on a
      populations. Since the size of sub-populations should be
                                                                               Beowulf cluster consisting of 31 Intel-Pentium IV 2.66
      smaller than the initial population, the computation time
                                                                               GHz processors, which are connected through a Gigabit
      will be reduced. A Beowulf cluster is arranged in master-
                                                                               Ethernet switch. In the two test cases, one processor was
      slave structure and the message passing interface (MPI)
                                                                               assigned as the master node and the remaining thirty
      protocol in C language is used [lo] to implement the
                                                                               processors as slaves. Hence a total of 31 processors were
      parallel EP-OPF program.
                                                                               used in the computation. The specific settings for both the
         Fig. 2 depicts the Beowulf cluster configuration for the
                                                                               sequential and parallel EP-OPF algorithms and system
      master-slave parallel EP-OPF topology. In this topology,
                                                                               data are summarized in the Appendix.
      a single master processor is employed to coordinate m
      slave processors. The master processor performs the                     A. IEEE 30-bus Test Case
      tournament competition for selecting the fittest                           The standard IEEE 30-bus loading was used and the
      individuals among the sub-populations from the slave                    quadratic generation cost curve from [ 121 were
      processors, which perform mutation and fitness evaluation.              sumniarized in Table I. For the sequential EP-OPF, the
      The parallel EP-OPF procedure can be described as                       average cost of solution obtained was $803.45 with the
      follows.                                                                minimum being $802.91 and maximum of $804.03. For
               Master processor randomly initializes the whole                the parallel EP-OPF, the average cost of solution obtained
               population of individuals.                                     was $803.33 with the minimum being $802.51 and
               Master processor divides the whole population                  maximum of $804.28. The average execution times for
               among m slaves and then sends the sub-                         sequential and parallel EP-OPF were 55.14s and 5.02s
               populations to each slave processor.                           respectively, with a computational speedup of 10.98 for
               After receiving the sub-populations, the slave                 the parallel EP-OPF.      The solution details for the
               processors execute mutation and fitness evaluation             minimum cost were provided in Table 11. The voltage
               independently. Then, each slave processor sends                profile of the minimum cost solution for the parallel EP-
               its result back to the master.                                 OPF is shown in Fig. 3.
               After gathering the sub-populations from each
               slave, the tournament competition scheme is                                            TABLE I
               conducted by the master so as to select the highest                 GENERATOR
                                                                                           DATAAND COST COEFFICIENTS FOR THE IEEE 3o-BUS
               scoring individuals from the parent (master) and
               mutated (slaves) populations to form a resultant
               population in the next generation.
               The stopping rule is checked. If it is not satisfied,                                                                1.75     0.01750
               return to step 2.                                                                            -15             0.00    1.00 0.06250
                                                                                           IO      35       -15       60    0.00    3.25 0.00834
                                                                                   11      10      30       -10       50    0.00    3.00 0.02500
                                     Master                                   I    13      12      40       -15       60    0.00    3.00 0.025001
                                                                                                            TABLE I1
                                                                               MINIMUMSOLUTION FOUND BY EP-OPF        IN THE IEEE 3o-BlJS TESTCASE
                                                                                        Sequential EP-OPF         I        Parallel EP-OPF             I
Slave 1 Slave 2
                               V. CASESTUDIES
         The proposed parallel EP-OPF algorithm has been                          In this case, solutions from the sequential and parallel
      applied to the OPF problem in the IEEE 30-bus system                     EP-OPF were similar but the execution time of the
      and then the IEEE 118-bus system [ 111. The objective                    parallel algorithm was much faster since the work was
      function to be minimized is the total system active power                divided among 30 slaves. From [12], a solution of
      generation cost, permitting all generators' active power                 $802.40 was reported which violated the slack node lower
      generations, voltage magnitudes and transformer taps to                  Q-limit slightly by approximately 1.7MVAr. However,
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"7 ................
                                                                                                                               TABLE IV
                                                                                                            RESULTS R\I THE IEEE 30- AND 1 18-BUS SYSTEMS
                                                 Generation
                                                                                                            Processor Run                          cost ($)
                                                                                                 Method     Number     Time    Speedup       Min.     Max.        Ave.
      Fig. 4. Convergence of the parallel EP-OPF in the IEEE 30-bus system.
                                                                                               IEEE 30-bus System
     B. IEEE II8-bzrs Test Case                                                                Sequential
                                                                                                EP-OPF       I         55.14      1         802.91   804.03      803.45
        The proposed parallel EP-OPF algorithm was further                                       Parallel
     tested on the lEEE 118-bus system with 54 generators.                                      EP-OPF         31      5.02     10.98       802.51   804.28      803.33
     Although a solution could be obtained, the speed of
                                                                                               IEEE 118-bus Svstcm
     convergence was very slow and at most of the time, the                                    Sequential
     solution was unable to converge. It was due to the large                                   EP-OPF       1     4692.5         1         1125.00 1131.38      1129.06
     search space where most of the solutions were infeasible.                                  Parallel
     The infeasibility was due to a large power flow along the                                  EP-OPF      31     394.87       11.88       1122.92 1132.53      1128.98
     corridor of the power system, which surpassed generators
     reactive power and PQ node voltage limits.                                                                         VI. CONCLUSIONS
        The search space can be reduced by reducing the                                           A parallel evolutionary programming-based optimal
     number of generators. In this case, 10 generators were                                    power flow (EP-OPF) algorithm has been established
     selected. The selected generators were allowed to mutate                                  based on the sequential EP-OPF reported in [6]. The
     during the EP searching process. Since the search space                                   parallel EP-OPF algorithm has been successhlly and
     was significantly reduced, the convergence for optimal                                    effectively implemented on the Beowulf cluster arranged
     solution was greatly improved.                                                            in master-slave structure. The performance of the
        For the sequential EP-OPF, the average cost of                                         proposed parallel EP-OPF algorithm has been
     solution obtained was $1 129.06 with the minimum being                                    demonstrated by its application to the IEEE 30- and 118-
     $1 125.00 and maximum of $1 131.38. For the parallel EP-                                  bus systems with quadratic generation cost curve. The
     OPF, the average cost of solution obtained was $1 128.98                                  algorithm has accurately and reliably converged to the
     with the minimum being $1122.92 and maximum of                                            global optimum solution in each case, and the quality of
     $1 132.53. The average execution times for sequential and                                 the solution is comparable to the sequential counterpart. A
     parallel EP-OPF were 4692.5s and 394.87s respectively,                                    faster execution time is yielded for the parallel EP-OPF
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      algorithm as computation loads have been divided among                              K. P. Wong, and Y. W. Wong, “Genetic and genetickimulated-
                                                                                          annealing approaches to economic dispatch”, IEEE Proc., Gen.
      the slaves. Hence, a large search space can be handled                              Trans. BDistrib., vol. 141,110. 5 , pp. 507-513, 1994.
      effectively by the parallel EP-OPF algorithm. A method                              IEEE Committee Report: “Present practices in the economic
      has also been developed to effectively initializing the                             operation of power systems”, IEEE Trans., PAS-90, pp. 1768-1775,
      population of the large 118-bus test case. While further                            1986.
                                                                                          J. Yuryevich, and K. P. Wong, “Evolutionary programming based
      work can be performed to enhance the computational                                  optimal power flow algorithm”, IEEE Trans. on Power Systems,
      speed more, the proposed algorithm can also be extended                             vol. 14, no. 4, pp. 1245-1250, Nov. 1999.
      to include environmental and fuel constraints.                                      H. W. Dommel, and W. F. Tinney, “Optimal power flow solutions”,
                                                                                          IEEE Trans. (Power App.& Syst.), vol. PAS-87, pp. 1866-1876,
                                                                                          Oct. 1968.
                                 VII. APPENDIX                                            K. P. Wong, and J. Yuryevich, “Evolutionary-programming-based
                                                                                          algorithm for environmentally constrained economic dispatch”,
      System data: For both the IEEE 30- and IEEE 118-bus                                 IEEE Truns. on Power Systems, vol. 13, pp. 301-306, Jan. 1998.
      systems, the lower voltage magnitude limits for all buses                           K. P. Wong, J. Yuryevich, and An Li, “Evolutionary programming
      is 0.95 p.u. while the upper limit is 1.05 p.u. for slack                           based method for evaluation of power flow”, In Proc. Genetic and
      node and all load nodes, and 1.1 p.u. for all generation                                     ,     .
                                                                                          Evolutionarv Comoutation Conference. DD. 1756-1761. Jul. 1999.
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