Function Approximation with Neural Networks for obtaining an operating point sufficiently small signal stable

Carlos Gallardo, Member, I , and Andr!s "osales lectrical ngineering #epartment, Carlos III $ni%ersity of Madrid, &utar'ue (), *+,(( -eganes ./AIN

AbstractThis paper shows a simple approach to obtain an operating point sufficiently small signal stable, using function approximation with neural networks. The idea is to use a neural network to predict systems eigenvalues, taking as input data voltage at buses, generated power, reactive load, and the output data are the eigenvalues. Unstable and Poorly damped modes are identified and then these modes will be damped. The system modifies the parameters until reach a stable operating point. In the case of a stable operating point with a poorly damped oscillatory mode, the ob ective is to increase the damping of that mode. That is, the power system lineari!ation at the operating point is modified. "perator actions such as redispatch, varying load, varying reactive power #voltage$ often modify the operating point to do this% the effect of this is that transients near enough to the operating point will decay more &uickly. 'owever, the analysis does not attempt the more difficult study of large signal transients. The existence of a stable operating point is of course necessary for system security, but there is no guarantee that large signal transients will result in operation at that operating point.

oscillations, where, typically one plant swing against the rest of the system or se%eral generators swing against each other at fre'uencies ranging from ( :; to * :;0 1his work concentrates on inter5area oscillations0 For the abo%e reasons understanding oscillations and arri%ing at defensible and reliable ways to damp predict and control them are %ery important in power systems including wind parks, because wind power production has been increasing during the last two decades, mainly in #enmark, Germany and .pain0 II0 1 .1 .<.1 M

I0 IN1"2#$C1I2N 1he power system may be thought of as a large, nonlinear system with many lightly damped electromechanical modes of oscillation0 If the damping of these modes becomes too small or negati%e, then the resulting oscillations can cause e'uipment damage or malfunction 3(40 Inter5area oscillations are obser%ed as oscillations of real power flow between regions of a power system or groups of generators 3*40 6oltages and currents oscillate with the power swings0 .ufficiently large oscillations can trip, stress or disrupt monitoring de%ices0 In particular, oscillations can cause %oltages to exceed limits causing protecti%e de%ices to trip and forcing e'uipment outages0 1hree ways in which oscillations can arise are7 .pontaneous oscillations, which arise when the mode damping becomes negati%e by a gradual change in system conditions0 2scillations due to a disturbance, outage of a line or generator under unfa%orable conditions can cause oscillations by suddenly reducing damping of a mode, and forced oscillations due to incomplete islanding or pulsating loads 3840 1wo prominent types of subsynchronous oscillations are interarea oscillations, where power system areas swing against each other at fre'uencies ranging from 90( :; to ( :;, and local

1he ,5bus test system shown in Figure ( has been modeled= this system includes 8 generators and ( >ind /ark, and comprises 89 states %ariables0 Models were implemented in the /..? software package0 1he , bus test system is essentially the >.CC system from the text of .auer and /ai 3@4, some adAustment in loading and generation are carried out in order to create a critical case0 1he generators are round rotor with d and ' axis transient and subtransient effects represented0 1he exciters are I type (0 For transient stability simulations, the real and reacti%e power portions of the load are typically modeled as constant current and constant admittance0 1he real power portions of the loads are modeled as B9C constant admittance and @9C constant current= the reacti%e power portions of the loads are modeled as )9C constant admittance and )9C constant current for buses *, ), B and +, 1he load at bus ( is modeled as constant power, acti%e (99C and reacti%e (99C 0

Fig0 (0 ,5bus 1est .ystem

1he modeling of the %ariable5speed wind turbine is depicted in figure *0 1he wind turbine model includes a block which implements an actuator disk model0 Its input %ariables are the wind speed, the mechanical rotor speed and the pitch angle, and its output %ariable is the mechanical power0 &esides, there are a number of additional blocks such as7 A pitch angle controller, a rotor speed controller, wind speed model, and /.. for %ariable5speed wind power con%erter 3)40

e'uation of a generator in per5unit tor'ue as follows7

* :d * I = 1m 1e H # FG r G dt *
>here : is the inertia constant at the synchronous speed

E)D

G , t is time, I is the rotor angle, 1m and 1e are the per5unit

mechanical and electrical tor'ue, respecti%ely, H# is the damping coefficient on the rotor and FGr is the per5unit speed de%iation0 Now, expressing E)D as two5first5order differential e'uations yields7

dF r ( = E1m 1e H # FG r D dt *:
dI = G FG r dt
Fig0 *0 >ind /ower Con%erter Model

EBD EJD

III0

/"2&- M F2"M$-A1I2N

1o model the beha%ior of dynamic systems 3B4, 'uite often a set of n first order nonlinear ordinary differential e'uations are used0 1his set commonly has the form7

2nce the state space system for the power system is written in the general form gi%en by EBD and EJD, the small5signal stability of the system can be calculated and analy;ed 3J40 1he analysis performed follows traditional root5locus Eor root5lociD methods using /..? software package0 First the eigen%alues Ki are calculated for the A5matrix, which are the non5tri%ial solutions of the e'uation

i = f i Ex ( , x * ,0, x n = u ( , u * ,0, u r = tD i = (,*,0, n x

>here n is the order of the system and r is the number of inputs0 If the deri%ati%es of the state %ariables are not explicit functions of the time, e'uation E(D may then be reduced to7

AL = KL
>here L is an nxl %ector0 "earranging E+D to sol%e for K yields7
#etEA5KID M 9 E,D

E+D

E*D 1he n solutions of E,D are the eigen%alues EK(,K*,N, KnD of the nxn matrix A0 1hese eigen%alues may be real or complex >here n is the order of the system, r is the number of inputs and are of the form OPAG0 and x, u and f denote column %ectors of the form7 I60 /"2#$CING AN $N.1A&- CA.

= fEx, uD x

x( u( f( x u f * * * x= u= f = x n u n f n

1he first task is to modify the base case for the , bus system including a >ind /ark, and then compute the eigen%alues of the modified ,5bus power .ystem, represented in figure (0 E8D 1hese eigen%alues are shown in figure 80 2n the other hand, it must fulfill the .panish re'uirements and regulations such as7 a wind park power should not exceed 909) times the short circuit power in the point of common coupling0

1he state %ector x contains the state %ariables of the power

system= the %ector u contains the system inputs and x encompasses the deri%ati%es of the state %ariables with respect to time0 1he e'uation relating the outputs to the inputs and the state %ariable can be written as7
y = gEx, uD
E@D

1he state concept may be illustrated by expressing the swing

Fig0 80 ,5bus base case including >ind /ark

In order to produce an unstable case that has oscillations, parameter %ariations were implemented simultaneously and the eigen%alues computed at each step, figure @0

Fig0 J0 "edispatch %arying acti%e power of >ind /ark0

.econd one7 In practice, the %oltage at a generator bus would be changed by changing the %oltage reference and the %oltage at a load bus could be changed if a de%ice as .tatic 6ar Compensator or .tatic .ynchronous Compensator were installed0 It shows that increasing the %oltage at generator bus 8 will mo%e the unstable eigen%alues to the left0 Figures7 +, , and (90

Fig0 @0 ,5bus unstable case including >ind /ark

At the final step, an eigen%alue K M 90**)QA@0+),8 is located in the right half plane Ethis oscillatory mode also has a complex conAugate eigen%alue at K =90**)) A @0+),8 D0 1his unstable mode indicates oscillatory instability at 90JJ88 :;0 1he obAecti%e of operator action is to suppress oscillation by stabili;ing this unstable mode0 .tarting from the unstable case, two ways to control and damp are analy;ed0 First one7 In order to study the effect of the generation on the eigen%alues, the generation has been modified at the two con%entional plants and also wind park0 It has been found that decreasing generation at bus * and?or bus 8 will mo%e the unstable eigen%alue to the left, but decreasing generation at bus 8 is more effecti%e figures ), B and J0

Fig0 +0 6arying %oltage at bus (, Generator (0

Fig0 ,0 6arying %oltage at bus *, Generator *0

Fig0 )0 "edispatch %arying acti%e power of generator *0 Fig0 (90 6arying %oltage at bus 8, Generator 80

60

F$NC1I2N A//"2RIMA1I2N >I1: N $"AN 1>2"H.

Fig0 B0 "edispatch %arying acti%e power of generator 80

&ackpropagation is currently the most widely used architecture in neural network application0 1his popularity primarily is attributed to the fact that the network is capable of arbitrarily accurate approximation to arbitrary mapping with sufficiently many hidden units0 1his property is summari;ed by the following theorem0 Gi%en S T 9 and any -* function f7 39,(4 R R , there exist a two5layer back5propagation
n m

neural network that can approximate f to within S mean s'uared accuracy, figure ((0

B. Number of training Epochs :idden layer neurons and epochs in neural networks impro%e network performance0 In order to find the optimal structure of the network, heuristic methods ha%e been used0 2n the other hand, network performance is analy;ed through error of test parameters and standard de%iation0 1o know the number of epochs so that the minimum error training is reached, ()9, *99 and )99 epochs were simulated0 1herefore, the number of epochs is )990 1able I shows a comparison of the training %alue0
1A&- I # 1 "MINA1I2N 2F 1: N$M& " 2F /2C:.
Epochs 150 200 500 Training Validation 0,0863 0,1226 0,0761 0,1198 0,0761 0,1198 Test 0,1267 0,1217 0,1217 Stop 151 175 175 Performance 0,0863 0,0667 0,0497

Fig0 ((0 1wo5layer Network

In many practical cases, howe%er, it may not be allowed for the network to ha%e such a large number of units at hidden layer0 >hile speeding up learning of the network has been handled in many works 3,5(94, relati%ely few works are a%ailable regarding the capacity or the impro%ement on the function approximation capability of the network 3((5(*40 In many applications, generally, the weights of connections are implemented in neuro5chip of #./ chip with fixed %alues which is trained o%er a set of example patterns in off5line manner0 And sigmoid function is widely used as an acti%ation function, because it is differentiable and relati%ely easily implemented by electrical components0 A. Stopping Approach 1he stopping approach uses the %alidation error cur%e0 1he neuronal network must stop upgrade the weights in the minimum %alue of the %alidation error cur%e, this to ensure the generali;ation capacity of the network0

C. Determination of the number of neurons in the hidden layer Fi%e simulations were carried out considering the following structures in the hidden layers0 In the table II are summari;ed the obtained results0 1he optimal structure for eigen%alue prediction is 3(*, (99, )9, )@40 1his structure fulfills the minimum test error E90(99)D0 Figure (8 shows the design of the neural network structure0
1A&- II # 1 "MINA1I2N 2F 1: N$M& " 2F :I## N -A< " N $"2N.
Neural Network Training 0,0937 0,1302 0,0598 [ !"$#"!$"$%& 0,0875 0,111 0,0676 0,0413 0,0831 [ !" ##"$#"$%& 0,103 0,0855 0,0761 0,0755 0,1036 [ !"!##" ##"$%& 0,1205 0,1119 Validation 0,0968 0,1139 0,1034 0,0937 0,099 0,0998 0,0907 0,1007 0,1217 0,1093 0,1198 0,1103 0,1043 0,1186 0,1214 Test 0,0822 0,1333 0,1295 0,113 0,1004 0,0865 0,0748 0,1163 0,1106 0,1145 0,1217 0,1455 0,1386 0,1167 0,1094 Average (Test) Time (sec) 0,2672 0,1858 0,3118 0,2352 5,9838 0,498 0,6916 0,4276 0,3188 0,8948 0,9065 0,8047 0,6394 0,5935 3,9999

#"

#" ##$

#" !'%

Fig0 (*0 Neural Network with a training algorithm0

1his approach ensures network con%ergence, and allows eliminating o%er5fitting because back5propagation algorithm is susceptible to this phenomenon0 1he algorithm is schemati;ed in Figure (*0

Fig0 (80 Neural Network .tructure for ,5bus system0

D. Analysis of the neural network performance 2nce the number of epochs and the neural network structure ha%e been established for the neural network, )99 and 3(*, (99, )9, )@4 respecti%ely, due to the random weight initiali;ation0 It is re'uired to analy;e the neural network performance0 1able III shows *9 simulations of the proposed neural network0
1A&- III .IM$-A1I2N. 2F 1: /"2/2. # N $"A- N 1>2"H Fig0 (@0 :istogram of error eigen%alues0

E.

lowcharts Figure () shows the flowcharts for obtaining an operating point sufficiently small signal stable0 1he process consists of the following key steps7 (D Initiali;ation7 data system is sent to the neural network, the input data for the neural network are7 acti%e generator and wind park powers, generator bus %oltages, the %oltage at wind park bus is ( pu, and reacti%e loads at buses (, *, ), B and +0

1he a%erage performance of the neuronal network for the test period is 90(899+ Emean 'uadratic error of the sampleD0 1able I6 shows the absolute errors in the prediction between neural neuronal and real data for J samples0
Fig0 ()0 Flow chart of the proposed design approach0 1A&- I6 2F 1: .AM/- .

A&.2-$1

""2".

After analy;ing the pre%ious samples, it can be concluded that the beha%ior of the network presents an a%erage absolute error of 909B+B0 1he figure (@ by means of a histogram shows the difference between real eigen%alues and predicted eigen%alues 0

*D igen%alue prediction7 As the neural network has been already trained, the system predicts the *J eigen%alues for any operating point0 1he output data of the network are *J eigen%alues di%ided into real and imaginary part0 8D lectromechanical mode identification7 2nce the neural network has predicted the eigen%alues, it is possible to compute the oscillation fre'uency and the damping factor for all eigen%alues0 igen%alues with damping factor less than 8C and fre'uency oscillation in the range between 90* and 90J are selected @D 2bAecti%e function e%aluation7 1he engineering problem consists therefore in the minimi;ation of the power generation0 Mathematically, the problem can then be formulated as a minimi;ation one, where the obAecti%e function consists in the weighted sum of the power generation E(5pAiD/A, subAect to a set of restrictions, Enamely damping of the oscillation modes should be bigger than )C0 /Ai is the participation factor0 )D Control by redispatch7 2nce the participation factor has been calculated for each poorly damped mode of oscillation0 1he generator with the biggest participation decreases its

generated power till mo%e the eigen%alue to the re'uired %alue0 1he process goes on until damped eigen%alues are obtained0 . Comparison of results Figures (B, (J and (+ show the comparison of predicted eigen%alues of the operating point with the proposed neural network and obtained through the software /..? 0

3J4

I0U0 /ere;5Arriaga, G0C 6erghese and F0C0 .chweppe, .electi%e modal analysis with applications to electric power systems, /art I and II, I transactions on power Apparatus and .ystems, %ol0 /A. (9(, no ,, (,+*, pp0 8((J58(8@0 3+4 I /ower .ystem engineering committees igenanalysis and fre'uency domain methods for system dynamic performance, I /ublication ,91:9*,*585/>", (,+,0 3,4 H0 Him, :0 .chattler, 60 6enkatasubramanian, U0 Vaborsky, /0 :irsch, Methods for calculating 2scillations in large power systems, I 1ransactions on power systems, %ol (*, no@, No%ember (,,J, pp0 (B8,5 (B@+0 3(94 ., Abe, W-earning by /arallel Forward /ropagation, W /roc0 IntXl Uoint Conf0 Neural Networks, %ol0 8, pp *)J5*B(, (,,9 3((4 #unford, Nelson, and .chwart;, Uacob 10, -inear 2perators, /art (, 8rd /rinting , wiley Interscience /ublishers, New <ork, (,BB0 3(*4 M0 :agiwara, WNo%el &ack /ropagation Algorithm for "eduction of :idden $nits and acceleration of Con%ergence $sing artificial selection, W/roc0 IntXl Uoint conf0 Neural Networks, %ol (, pp0 B*)5B89, (,,90

Fig0 (B0 Comparison of data5predicting and data5deri%ed of /..? 0

Fig0 (J0 Comparison of data5predicting and data5deri%ed of /..? 0

(arlos )allardo was born in Yuito, cuador, in (,J80 "ecei%ed &. , M0.c in lectrical ngineering, from National /olytechnic E,(,,,D, "ecei%ed M0.c0 in nergy .ystems, from Flensburg $ni%ersity at Germany E9)D, recei%ed M0.c0 lectrical ngineering, from Carlos III $ni%ersity of Madrid at .pain E9JD0 Currently, "ecei%ed the /h0#0 degree in the subAect7 W#amping of inter5 area mode oscillations with high penetration of the /ower .ystem in windZ0 >orked for three years as planning and operation ngineer for National Center for nergy Control0 :a%e been at four $ni%ersities since *999, doing lecturing and doing research in the area of electric power systems /ablo -edesma EMX,)D was born in Madrid, .pain, in (,J90 :e recei%ed the &0.0 and /h0#0 degrees in electrical engineering from 010.0 Ingenieros Industriales de Madrid, in (,,) and *99(, respecti%ely0 :e is an Assistant -ecturer with the #epartment of lectrical ngineering, $ni%ersidad Carlos III de Madrid0 :is working interests are transient stability of power systems with high le%el of wind generation0

Fig0 (+0 Comparison of data5predicting and data5deri%ed of /..? 0

ACHN2>-

#GM N1

1he authors would like to thank 6ictor :inoAosa for his guidance through Artificial Neural Networks0 "
3(4 3*4 384 3@4

F " NC .

3)4 3B4

/0M0 Anderson, A0A0 Fouad, /ower .ystem Control and .tability, Iowa .tate $ni%ersity /ress, Ames Iowa, (,JJ0 I /ower ngineering .ociety .ystem 2scillations working group, inter5area 2scillations in /ower .ystems, I /ublication ,) 1/ (9(, 2ctober (,,@ /0>0 .auer, M0A0 /ai, /ower .ystem #ynamics and .tability, /retince5 :all, nglewood Cliffs NU, (,++0 U0G0 .lootweg, .0>0:0 de :aan, :0 /olinder, >0-0 Hling, Aggregated modelling of wind parks with %ariable5speed wind turbines in power system dynamic simulations, (@th /ower .ystems Computation Conference, .e%illa, *@5*+ Uune *99*0 /0 Hundur, /ower .ystem .tability and Control, McGraw5:ill, N<, (,,8 I /ower ngineering .ociety .ystems oscillations working group, Inter5area 2scillations in /ower .ystems, I /ublication ,)1/ (9(, 2ctober (,,@0