Your specifications may be too much for any one grass to fill. Warm season grasses such as St. Augustine, Bermuda and Zoysia do lose color in winter. Of these, St. Augustine keeps color best and is the most shade tolerant. However you are a little too far north for St. Augustine. Cool season grasses such as turf type tall fescue will be green in winter and in summer if you water them quite a bit. They take shade well also. You might consider this option keeping in mind that it is not drought tolerant at all.
Otherwise you will need to go with zoysia and just tolerate some winter browning.
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