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Science Insights: An International Journal

Universal Research Publications. All rights reserved

ISSN 22773835

Original Article Intelligent Control of Unified Power Flow Controller for Stability Enhancement of Transmission Systems
R.Vasudha1, S.Thirumalaiah2, A.Mallikarjun3 and G. Kishor4 Received 03 June 2012; accepted 14 July 2012 Abstract This paper presents a novel development of a fuzzy logic controlled power system using UPFCs to damp the oscillations in FACTS. Oscillations in power systems have to be taken a serious note of when the fault takes place in any part of the system; else this might lead to the instability mode & shutting down of the power system. Artificial Intelligence methods such as Fuzzy logic schemes are considered to design UPFC supplementary stabilizer controller. In order to keep the advantages of the existing Fuzzy-PI controller and to improve the UPFC performance, a hybrid fuzzy coordination based controller can be used ahead of a UPFC based PI controller to increase the system dynamical performance. This paper investigates the proposed controller for many types of faults in power system. Simulations are carried out in MATLAB software. 2011 Universal Research Publications. All rights reserved Key words: Flexible AC transmission systems, unified power flow controller, damping power system oscillations, FuzzyPI Controller. I INTRODUCTION The rapid development of the high-power electronics industry has made Flexible AC Transmission System (FACTS) devices viable and attractive for utility applications. FACTS devices have been shown to be effective in controlling power flow and damping power system oscillations. In recent years, new types of FACTS devices have been investigated that may be used to increase power system operation flexibility and controllability, to enhance system stability and to achieve better utilization of existing power systems (Hingorani and Gyugyi, 2000). UPFC is one of the most complex FACTS devices in a power system today. It is primarily used for independent control of real and reactive power in transmission lines for flexible, reliable and economic operation and loading of power systems. Until recently all three parameters that affect real and reactive power flows on the line, that is, line impedance, voltage magnitudes at the terminals of the line, and power angle, were controlled separately using either mechanical or other FACTS devices. But UPFC allows simultaneous or independent control of all these three parameters, with possible switching from one control scheme to another in real time. Also, the UPFC can be used for voltage support and transient stability improvement by damping of low frequency power system oscillations (Gyugyi, 1995, 1992; Bhowmick et al., 2008;Jiang et al., 2010; Faried and Billinton, 2009). Low Frequency Oscillations (LFO) in electric power system occur frequently due to disturbances such as changes in loading conditions or a loss of a transmission line or a generating unit. These oscillations need to be controlled to maintain system stability. Many in the past have presented lead-Lag type UPFC stabilizer controllers (Zarghami et al., 2010; Guo and Crow, 2009; Tambey and Kothari, 2003; Wang, 1999). They are designed for a specific operating condition using linearized models. More advanced control schemes such as ParticleSwarm Optimization method (Al-Awami, 2007), Fuzzy logic (Taher et al., 2008; Eldamaty, 2005) and genetic algorithms (Taher and Hematti, 2008) offer better dynamic performances than fixed parameter controllers.

Figi1. A Single MachineInfinte Bus Power System Installed With UPFC in one of the lines. The objective of this paper is to investigate the ability of artificial intelligence methods such as Genetic algorithms (GA) and Fuzzy logic for UPFC supplementary damping controller design. A Sigel Machine Infinite Bus

Science Insights: An International Journal 2012; 2(2): 9-14

(SMIB) power system installed with a UPFC is considered as case study. In GA case, the classical damping controller like Power system stabilizer (PSS) is considered and an optimal control scheme based Genetic Algorithms method is used for tuning the parameters of this controller. In Fuzzy logic case, a UPFC damping controller design using Fuzzy logic scheme based on the Mamdani inference engine using the center of Gravity method to find the controller output is presented here. The advantages of the proposed methods are their feasibility and simplicity. Different load conditions are considered to show effectiveness of the proposed methods and also comparing the performance of these two methods. Simulation results show the validity of proposed methods in LFO damping. II. SYSTEM UNDER STUDY: FUZZY CONTROLLED UPFC: UPFC is a combination of a shunt controller (STATCOM) and a series controller (SSSC) interconnected through a common DC bus. The shunt converter or STATCOM, operates in two modes, namely V AR control and Automatic Voltage Control mode. In V AR control mode, the reactive current reference is determined by the inductive or capacitive V AR demand. The feedback signals are obtained from current transformers, typically located on the bushings of the coupling transformer. In Automatic Voltage Control mode the reactive current reference is determined by the output of the feedback voltage controller. The basic block diagram of the shunt converter controller is as shown below in Fig.2. Fig 3.Block Diagram Of Series VSC Controller SYSTEM UNDER STUDY Figure 1 shows a SMIB power system installed with UPFC (Hingorani and Gyugyi, 2000). The UPFC is installed in one of the two parallel transmission lines. The static excitation system, model type IEEE ST1A, has been considered. The UPFC is assumed to be based on Pulse Width Modulation (PWM) converters. DYNAMIC MODEL OF THE SYSTEM WITH UPFC Non-linear dynamic model A non-linear dynamic model of the system is derived by disregarding the resistances of all components of the system (generator, transformers, transmission lines and converters), and the transients of the transmission lines and transformers of the UPFC (Nabavi-Niaki and Iravani, 1996; Wang, 2000). The nonlinear dynamic model of the system installed with UPFC is given as Equation (1).

Fig 2. Block Diagram Of Shunt VSC controller The series converter can operate either in power flow control (automatic mode) or in manual voltage injection mode. In power control mode, the measured active power and reactive power are compared with reference values to produce P and Q errors. The P error and the Q error are used by two PI regulators to compute respectively the V q and V d components of voltage to be synthesized by the VSc. (V q in quadrature with Vlcontrols active power and Vd in phase with VI controls reactive power). In manual voltage injection mode, regulators are not used. The reference values of injected voltage V dref and V qref are used to synthesize the converter voltage. The basic block diagram of the series converter controller is as shown below in Fig.3. Science Insights: An International Journal 2012; 2(2): 9-14

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Linear dynamic model A linear dynamic model is obtained by linearizing the nonlinear dynamic model around nominal operating condition. The linearised model of the system is given as Equation (3).

UPFC CONTROLLERS In this research two strategies are considered for UPFC control problem. They are as follows: 1) DC-voltage regulator. 2) Power system oscillation-damping controller DC-voltage regulator In UPFC, The output real power of the shunt converter must be equal to the input real power of the series converter or vice versa. In order to maintain the power balance between the two converters, a DC-voltage regulator is incorporated. DC-voltage is regulated by modulating the phase angle of the shunt converter voltage. Figure 4 shows the structure of DC-voltage regulator. In this research the parameters of DC-voltage regulator are considered as follow: Kdi=39.5 and Kdp=6.54

The model has numerous constants denoted by Kij. These constants are function of the system parameters and the initial operating condition. Equation (4). Where: _mB: Deviation in pulse width modulation index mB of series inverter. By controlling mB, the magnitude of seriesinjected voltage can be controlled. __B: Deviation in phase angle of series injected voltage. _mE: Deviation in pulse width modulation index mE of shunt inverter. By controlling mE, the output voltage of the shunt converter is controlled. __E: Deviation in phase angle of the shunt inverter voltage. The series and shunt converters are controlled in a coordinated manner to ensure that the real power output of the shunt converter is equal to the power input to the series converter. The fact that the DC-voltage remains constant ensures that this equality is maintained.It should be noted that Kpu , Kqu , Kvu and Kcu in Figure 2 are the row vectors and defined as follows

Fig 4. DC-Voltage Regulator Stabilizer design A stabilizer controller is provided to improve damping of power system oscillations. This stabilizer may be considered as a lead-lag compensator. However an electrical torque in phase with the speed deviation should be produced to improve damping of power system oscillations.

Fig 5.The Structure Of Stabilizer Controller FUZZY LOGIC In literature, several mechanisms are used in UPFC models to control the power flow. A novel fuzzy inference system is proposed in this paper. The capability of UPFC in controlling the power flow and the effectiveness of fuzzy controllers in performance of UPFC in the power transmission line are examined. The input to the Fuzzy controller is the error signal and the rate of error signal. The error signal is calculated from the difference between the source voltage value and the reference value obtained from PLL. The error rate signal is the difference between the variation of error at current sampling and its previous sampling. These signals of supply voltage for each phase are measured and converted into per unit (pu) value. The heart of the fuzzy system is a knowledge base, consisting of the so called fuzzy IF-THEN rules. These rules are defined by taking help from expert's experience and knowledge about the system behavior. The performance of the system is improved by the correct combinations of these rules. The FLC [4] consists of three stages: the fuzzificatIon, rule execution, and defuzzification.

Dynamic model in state-space form The dynamic model of the system in state-space is given as (5)

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Fig 6. Structure Of FLC FUZZY BASED UPFC STABILIZER CONTROLLER Figure 5 shows the structure of Fuzzy controller block. This controller is a nonlinear PI-type Fuzzy controller with two inputs and one output. The four control parameters of the UPFC (mE, _E, mB, _B) can be modulated to produce the damping torque. In this paper mE is considered as output. The speed deviation is considered as input to the stabilizer controller. In Figure 5 the inputs are the frequency deviation (X1) and its rate of changes (X2), which are filtered by washout blocks to eliminate the dc component and output (y) is sent to the main controller for magnitude of shunt-injected voltage modulation. Though the Fuzzy controller accepts these inputs, it has to convert them into fuzzified inputs before the rules can be evaluated and fired. To accomplish this, one of the most important blocks in the whole Fuzzy controllers should be built and it is the Knowledge Base. It consists of two more blocks namely the Data Base and the Rule Base (Rajase and Vijay, 2007). Fuzzy controller parameters In this paper the membership function for input variables and output variable of the fuzzy controller are considered as Table 2. Also triangular membership functions are used as membership functions for the input and output variables. The Figure 6 shows this in detail indicating the range of the variable. The Fuzzy rules which are used in this paper are listed in Table 3. The Defuzzification method followed in this study is the Center of Area Method or Gravity method (Rajase and Vijay, 2007). Fig 8. Membership functions of input and output Table: Fuzzy Rule Bases

III.SYSTEM MODELING & SIMULATION RESULTS The two-area system presented in [K. Phorang, et al., 2002] shown in Figure 6 is considered in this study. The system has a UPFC installed between bus-2 and bus-3. It is considered that a 3-phase symmetrical short-circuit fault of 300 mill-seconds duration occurs at bus-3. The system is simulated in Matlab/Simulink environment and the corresponding graphs are shown . it is inferred that without a UPFC, the oscillations in generator rotor angle of Area-1 (Generator 1 and Generator 2) and Area-2 (Generator 3 and Generator 4) increase and the settling time for the oscillations is found to be high. However, it can be seen that with a UPFC, the oscillations in generator rotor angle of Area-1and Area-2 decrease and the settling time for the oscillations is found to be slightly low. Hence, the transient stability of the two-area power system is improvedUPFC

Fig.7. The structure of Fuzzy supplementary stabilizer. Science Insights: An International Journal 2012; 2(2): 9-14

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Fig. ??????????????? CONCLUSION A nonlinear variable gain fuzzy PI controller for UPFC has been proposed. Various faults are investigated in this paper and modes of oscillation system in each case are obtained. Obtained results show that the most oscillation is occurred following three phase fault; however the controller is able to damp all oscillation for every kind of faults .A Single Machine Infinite Bus power system installed with a UPFC with various load conditions has been assumed to demonstrate the methods. Simulation results demonstrated that the designed stabilizer controllers capable to guarantee the robust stability and robust performance under a different load conditions. REFERENCES 1. Fig.??????????????? 2. Al-Awami A (2007). A Particle-Swarm based approach of power system stability enhancement with UPFC. Electrical Power Energy Syst., 29: 251-259. Bhowmick S, Das B, Kumar N (2008). An indirect UPFC model to enhance reusability of Newton power-flow codes. IEEE Trans. Power Deliv., 23(4): 20792088. Eldamaty AA, Faried SO, Aboreshaid A (2005). Damping power system oscillation using a Fuzzy logic based Unified Power Flow Controller. IEEE CCGEI, 1(1): 1950-1953. Faried SO, Billinton R (2009). Probabilistic technique for sizing FACTS devices for steady-state voltage profile enhancement. IET Generation Transm. Distrbution, 3(4): 385392.Guo J, Crow ML (2009). An improved UPFC control for oscillation damping. IEEE Trans. Power Syst., 25(1): 288 296.Dizdarevic,2001, Unied Power Flow Controller in Alleviation of Voltage Stability Problem. Ph. D. Thesis, University of Zagreb, Faculty of electrical engineering and computing,. Fouad A.A. and V. Vittal, 1992, Power System Analysis Using the Transeint Energy Function Methods, Prentice Hall, Englewood Cliffs , New Jersey 07632.Hassan Barati,et al. 2009,

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Source of support: Nil; Conflict of interest: None declared

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Science Insights: An International Journal 2012; 2(2): 9-14