RK20 Power Flow Sparse

Lecture 20 Power Engineering - Egill Benedikt Hreinsson 1
Sparse Matrices in Power Flow

Calculations
Sparse Matrices?
Any matrix that has a high proportion of its

elements equal to zero is a sparse matrix.
•Most large matrices that arise

in engineering applications are
sparse.
The Sparsity of a Matrix - A definition
A sparse matrix: A matrix, where most of the elements

are zero, but a few are different from zero
A full matrix: A matrix, where all the elements are non-

zero
The sparsity = Number of elements =0

⋅ 100 %
of a matrix Total number of elements
Why and What Are Sparse Matrices in
Power Systems?
• Matrices in power systems are often very large and very sparse!
• A large matrix: is for instance of dimension 100x100,
1000x1000 or 10000x10000!
• A sparse matrix: A matrix where, for instance, 99% of the
elements are zero, but 1% are different from zero.
• Examples of these matrices are the Ybus matrix and the Jacobi-
matrix, which both are used in power flow calculations.
Ybus Matrix Composition

• The diagonal elements of the Ybus
We review the rule for matrix consist of the sum of the (series and
building the Ybus matrix: shunt) admittances connected to the bus in
question
⎡ y11 y12 y1n ⎤ • These elements are always
⎢y y ⎥ present!
y1n ⎥ • The off-diagonal elements of the Ybus
Ybus = ⎢ 21 22
matrix consist of the negative value of the
⎢ ⎥ series admittances connecting the 2 buses
⎢ ⎥ in question. These elements will be zero
when no direct connection is between
⎣ y n1 y n 2 ynn ⎦
buses. (The Ybus matrix is very sparse!)
• These elements are present
only when there is a link (a line
γ ik or transformer)
yik = yik e
The Sparsity of a Matrix: Example 1:

An example: Assume, in an electrical power system, each bus is on the
average connected to 1.5 other buses. Further assume that we have a 100 bus
system. We get a 100 by 100 matrix with 100 · 100 elements.
With the above assumption in the Ybus matrix there are 100 diagonal elements ≠ 0 and
150 elements above the diagonal and 150 elements below the diagonal ≠ 0. The
sparsity of this matrix will therefore be:
100 ⋅ 100 − 150 − 150 − 100

Sparsity = 100 ⋅ 100
Sparsity = 96,0 %
We can say that the matrix is 4% full.
The Sparsity of a Matrix: Example 2:
Similarly for a 1000 bus system we get a matrix with 1000 · 1000 elements. We
have for the same assumption of how each bus is interconnected for the Ybus matrix 1000
diagonal elements ≠ 0 and 1500 elements above the diagonal and 1500 elements
below the diagonal ≠ 0. The sparsity of this matrix will be:
1000 ⋅1000 − 1500 − 1500 − 1000

Sparsity = 1000 ⋅1000
Sparsity = 99, 6%
We can perhaps say that the matrix is 0,4% full.

The Sparsity of the Jacobi-Matrix

The J1 sub-matrix : The J3 sub-matrix
∂Pi n
∂Qi
= − ∑ Vi Vk yik ⋅ sin (δ i − δ k − γ ik ) Vi V j yij ⋅ cos (δ i − δ j − γ ij )
n
∂δ i k =1, k ≠ i ∂δ i
= ∑
j =1, j ≠ i
∂Pi ∂Qi
= Vi Vk yik ⋅ sin (δ i − δ k − γ ik ) i≠k = − Vi Vk yik ⋅ cos (δ i − δ k − γ ik ) k ≠i
∂δ k ∂δ k
The J2 sub-matrix : The J4 sub-matrix :

∂Pi ∂Qi
= 2 Vi yii ⋅ cos ( −γ ii ) + ∑ V j yij ⋅ cos (δ i − δ j − γ ij ) = 2 Vi yii ⋅ sin ( −γ ii ) + ∑ V j yij ⋅ sin (δ i − δ j − γ ij )
n n
∂ Vi j =1, j ≠ i ∂ Vi j =1, j ≠ i
∂Pi ∂Qi
= Vi yik ⋅ cos (δ i − δ k − γ ik ) k ≠i = Vi yik ⋅ sin (δ i − δ k − γ ik )
∂ Vk k ≠i
∂ Vk
The elements of Ybus are also in the Jacobi matrices

Conclusion: If Ybus is a sparse matrix, the Jacobi matrix is also sparse
Random Sparse Matrices

A Random Sparse Matrix
Sparse matrices can

be of different nature
IEEE TEST systems

• IEEE test systems are standardized power systems to test
research theories in power system analysis
• We will look at different sparse Ybus matrices for different
IEEE test systems along with their one-line diagram:
– 14 bus
– 30 bus
– 57 bus
– 118 bus
– 300 bus
• These test systems can be found at:
– http://www.ee.washington.edu/research/pstca/
– (http://www.pserc.cornell.edu/matpower/)
IEEE 14 BUS
TEST CASE
0
10
150 5 10 15
nz = 54
Use the SPY function in Matlab
IEEE 30 BUS TEST

CASE
5
10
15
20
25
30
0 5 10 15 20 25 30
nz = 112
Use the “SPY” function in Matlab to obtain the graphical

representation of the sparse matrix
IEEE 57 BUS TEST
CASE
0
10
20
30
40
50
0 10 20 30 40 50
nz = 213
Use the SPY function in Matlab

Sparsity 93%
IEEE 118 bus test system

0
20 (Ybus)
40
60
80
100
0 20 40 60 80 100
nz = 476
IEEE 300 bus test system
0
(Ybus)
50
100
150
200
See details for the one-line 250
diagrams for the 300 bus system

on the following slides 300
0 50 100 150 200 250 300
nz = 1118
300 bus IEEE test system (1) one line diagram

300 bus IEEE test

system (2)
one line diagram
300 bus IEEE test system (3) one line diagram

Sparsity structure of a 108 bus Icelandic
system Ybus matrix
0
10
20
30
40
50
60
70
80
90
100
0 10 20 30 40 50 60 70 80 90 100
nz = 346
Solutions to the power system problem with
sparse matrices
• For large systems (and power systems are
large) we need to exploit the sparsity of the
system matrices
• Therefore solutions to power flow problem with Newton’s method
involves solution to a set of linear equations rather than direct
inversion of matrices
• We use Gauss elimination as a standard set of solving large
linear systems of equations where we exploit simultaneously the
sparsity structure of the system matrix (Jacobi)
Sparse Matrices and Solutions to Sets of Linear
Equations in Power Systems
⎡ a1,1 a1,2 a1, n ⎤ ⎡ x1 ⎤ ⎡ b1 ⎤
⎢a a2,2 ⎥
a2, n ⎥ ⎢ x2 ⎥ ⎢b2 ⎥
⎢ 2,1 ⋅⎢ ⎥ = ⎢ ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢⎣ an ,1 an ,2 an , n ⎥⎦ ⎢⎣ xn ⎥⎦ ⎢⎣bn ⎥⎦
To solve: Find a vector of

unknown x-es. Other quantities
are known or the a-s and b-s are
known
Matrix Notation in Linear Equations
A⋅x = b
⎡ a1,1 a1,2 a1,n ⎤ ⎡ x1 ⎤ ⎡ b1 ⎤
⎢a a2,n ⎥⎥ ⎢x ⎥ ⎢b ⎥
⎢ 2,1 a2,2
A= x = ⎢ 2⎥ b = ⎢ 2⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢⎣ an ,1 an ,2 an ,n ⎥⎦ ⎣ xn ⎦ ⎣ bn ⎦
A is a known matrix
x is a vector with unknown
variables. b is a known vector.
Solution methods for linear equations based on
numerical analysis
Direct methods
Gaussian elimination
Gauss-Jordan elimination
LU factorization
Cholesky factorization
Iterative methods
Jacobi iterations
Gauss-Seidel iteration
Solutions to a Set of Linear Equations

• If we can transform the matrix to a triangular form,
it is possible to solve the equations
• “Elementary Operations” can be carried out
without changing the solution
• Examples of “Elementary Operation”:
– Multiply rows (equations) with a constant
– Add rows (equations) to each other
• This is the Gauss elimination method
Solutions to Linear Equations in Power Systems. A
Special Case (triangular form)

Assume for a moment that a matrix has the
special triangular form case -- The matrix, A is
triangular with all zeros below the diagonal:
⎡a1,1 a1, 2 a1,n ⎤ ⎡ x1 ⎤ ⎡ b1 ⎤

⎢0 a2 , 2 ⎥
a2 , n ⎥ ⎢ x ⎥ ⎢b ⎥
⎢ ⋅⎢ 2⎥ = ⎢ 2⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣0 0 an , n ⎦ ⎣ xn ⎦ ⎣bn ⎦
Solution method: Back substitution

Back Substitution
⎡ a1,1 a1,2 a1, n ⎤ ⎡ x1 ⎤ ⎡ b1 ⎤
⎢0 a2, n ⎥⎥ ⎢ x2 ⎥ ⎢b2 ⎥
⎢ a2,2 an − 2,n − 2 xn − 2 + an − 2,n −1 xn −1 + an − 2,n xn = bn − 2
⋅⎢ ⎥ = ⎢ ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥ bn − 2 − an − 2,n xn − an − 2,n −1 xn −1
⎢⎣ 0 0 an , n ⎥⎦ ⎢⎣ xn ⎥⎦ ⎢⎣bn ⎥⎦ xn − 2 =
an − 2 , n − 2
The 3rd line from
an ,n xn = bn The last line n the end
xn =
bn bk − ∑a
j = k +1
k, j xj
an , n The second last line xk =
ak , k
an −1,n −1 xn −1 + an −1,n xn = bn −1
b1 − a1, 2 x2 − a1,3 x3 − … − a1,n xn
bn −1 − an −1,n xn x1 =
xn −1 = a1,1
an −1,n −1
Solution method
• How do we get any matrix to a triangular form?
• Transform the matrix by Gauss elimination to a lower
triangular form matrix
• Solve such a matrix by back substitution
• We have already checked out back

substitution. Let us look at Gauss
elimination!!
st
Gaussian Elimination (1 step)
The original matrix: ⎡ a1,1 a1,2 a1,3 a1, n ⎤
⎢a a2,2 a2,3 a2, n ⎥⎥
⎢ 2,1
⎢ a3,1 a3,2 a3,3 ⎥
⎢ ⎥
Multiply the 1st row a2,1 ⎢ ⎥
with a2,1/a1,1 and ⎢ an ,1 an , n ⎥⎥⎦
a1,1 ⎢⎣ an ,2 an ,3
subtract from the 2nd row
⎡ a1,1 a1,2 a1,3 a1, n ⎤
⎢ a2,1 a2,1 a2,1 ⎥
Multiply the 1st row ⎢0 a2,2 − ⋅ a1,2 a2,3 − ⋅ a1,3 a2, n − ⋅ a1, n ⎥
⎢ a1,1 a1,1 a1,1 ⎥
with a3,1/a1,1 and ⎢ ⎥
⎢ a3,1 a3,1 a ⎥
subtract from the 3rd row ⎢0 a3,2 −
a1,1
⋅ a1,2 a3,3 −
a1,1
⋅ a1,3 a3, n − 3,1 ⋅ a1, n ⎥
a1,1
⎢ ⎥
⎢ ⎥
⎢ ⎥
Multiply the 1st row ⎢0 ⋅ a1, n ⎥⎥
an ,1 an ,1 an ,1
⎢ an ,2 − ⋅ a1,2 an ,3 − ⋅ a1,3 an , n −
with an,1/a1,1 and ⎣⎢
a1,1 a1,1 a1,1 ⎥⎦
subtract from the last row
Gaussian Elimination (2nd step)
⎛ a1,1 a1,2 a1,3 a1, n ⎞

⎜ (1) (1) (1) ⎟
⎜ 0 a 2,2 a 2,3 a2, n ⎟
The matrix after the ⎜ ⎟
1st step: ⎜ ⎟
⎜ 0 an −1, n ⎟
(1) (1) (1)
a n −1,2 a n −1,3
The 1st column ⎜⎜ 0 a (1)
a (1) (1) ⎟
an , n ⎟⎠
is with zeros ⎝ n ,2 n ,3
except at the top row

nd
The matrix after the 1st step:
⎡ a1,2 a1,2 a1,3 a1, n ⎤
Now the 2nd row plays the same role⎢ ⎢ 0
(1)
a2,2 (1)
a2,3 a2,(1)n ⎥
⎥
⎢ ⎥
as the 1st row before: ⎢
⎢ 0 an(1)−1,2 an(1)−1,3 an(1)−1, n ⎥
⎥
⎢ 0 an(1),2 an(1),3 an(1), n ⎥⎥⎦
⎢⎣
Multiply the 2nd row
with a3(1, 2)
(1) ⎛ a1,1 a1,2 a1,3 a1, n ⎞
a 2, 2 ⎜ (1) (1) ⎟
⎜ 0 a2,2 a2,3 a2,(1)n ⎟
and subtract from ⎜ (1) (1) ⎟
a3,2 a3,2
the 3rd row ⎜ 0 0 a (1)
− ⋅ a2,3
(1) (1) ⎟
a3, n − (1) ⋅ a2, n
(1)
⎜ ⎟
3,3 (1)
a 2,2 a2,2
⎜ ⎟
Multiply(1the 2 nd row ⎜ ⎟
⎜ an(1),2 an(1),2 (1) ⎟
an , )2
with (1) ⎜ 0 0 a (1)
− ⋅ a2,3
(1)
an , n − (1) ⋅ a2, n ⎟
(1)
⎜ ⎟
n ,3 (1)
a a2,2
a2 , 2 ⎝ 2,2
⎠
and subtract from
the last row
rd
The matrix after the

2nd step:
The 1st column with ⎛ a1,2 a1,2 a1,3 a1, n ⎞
⎜ (1) ⎟
zeros except at the top ⎜ 0
(1)
a2,2 (1)
a2,3 a2, n ⎟
⎜ ⎟
⎜ ⎟
⎜ 0 an(2)−1,3 an −1, n ⎟
(2)
0
The 2nd column with ⎜⎜ 0 0 an(2),3 an(2), n ⎟⎟⎠
⎝
zeros, except in the
2 top rows
Gauss-Elimination Transforms the Matrix to the
Following Form :
⎛ 1 a12′ a1′n ⎞ ⎡ x1 ⎤ ⎡b1′ ⎤
⎜ ⎟⎢ ⎥ ⎢ ′⎥
U⋅x = G ⎜0 1 ′
a2 n ⎟ ⎢ x2 ⎥ ⎢b2 ⎥
=
⎜ ⎟⎢ ⎥ ⎢ ⎥
⎜⎜ ⎟⎟ ⎢ ⎥ ⎢ ⎥
⎝0 0 1 ⎠ ⎢⎣ xn ⎥⎦ ⎢⎣bn′ ⎥⎦
This matrix is U or an “upper” or “unit upper”
triangular matrix. The elements are calculated with
iteration, where each step is an “elementary operation”. It
is possible to solve the equation with a simple “back
substitution”. It is found by dividing each row with the
diagonal element
Gaussian Elimination
• After n-1 steps the matrix has

become triangular!
• Computer time grows fast with the matrix size
(increasing n)
• Computer time grows in proportion to n3, if the
matrix is not sparse
• We can obtain a “1” on the diagonal by dividing by
the diagonal element in each step

RK20 Power Flow Sparse

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Lecture 20 Power Engineering - Egill Benedikt Hreinsson 1

Sparse Matrices in Power Flow

Any matrix that has a high proportion of its

•Most large matrices that arise

The Sparsity of a Matrix - A definition

A sparse matrix: A matrix, where most of the elements

A full matrix: A matrix, where all the elements are non-

The sparsity = Number of elements =0

Ybus Matrix Composition

The Sparsity of a Matrix: Example 1:

100 ⋅ 100 − 150 − 150 − 100

The Sparsity of a Matrix: Example 2:

1000 ⋅1000 − 1500 − 1500 − 1000

We can perhaps say that the matrix is 0,4% full.

The Sparsity of the Jacobi-Matrix

The J2 sub-matrix : The J4 sub-matrix :

The elements of Ybus are also in the Jacobi matrices

Random Sparse Matrices

Sparse matrices can

IEEE TEST systems

IEEE 30 BUS TEST

Use the “SPY” function in Matlab to obtain the graphical

Use the SPY function in Matlab

IEEE 118 bus test system

IEEE 300 bus test system

See details for the one-line 250

diagrams for the 300 bus system

300 bus IEEE test system (1) one line diagram

300 bus IEEE test

300 bus IEEE test system (3) one line diagram

To solve: Find a vector of

Matrix Notation in Linear Equations

Solutions to a Set of Linear Equations

Special Case (triangular form)

⎡a1,1 a1, 2 a1,n ⎤ ⎡ x1 ⎤ ⎡ b1 ⎤

Solution method: Back substitution

• We have already checked out back

Gaussian Elimination (2nd step)

⎛ a1,1 a1,2 a1,3 a1, n ⎞

except at the top row

The matrix after the

• After n-1 steps the matrix has

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