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Stability Enhancement of a Power System With a PMSG-Based and a DFIG-Based Offshore Wind Farm Using a SVC With an Adaptive-Network-Based Fuzzy Inference System
Li Wang, Senior Member, IEEE, and Dinh-Nhon Truong
AbstractThis paper presents the stability-improvement results of a synchronous generator (SG)-based one-machine innite-bus system with a permanent-magnet SG (PMSG)-based offshore wind farm (OWF) and a doubly fed induction generator (DFIG)-based OWF using a static VAR compensator (SVC). The operating characteristics of the studied two OWFs are simulated by an equivalent aggregated PMSG driven by an equivalent wind turbine (WT) and an equivalent aggregated DFIG driven by an equivalent WT through an equivalent gearbox, respectively. A damping controller of the SVC is designed by using adaptivenetwork-based fuzzy inference system (ANFIS) to contribute adequate damping characteristics to the dominant modes of the studied SG under various operating conditions. A frequencydomain approach based on a linearized system model using root-loci technique and a time-domain scheme based on a nonlinear system model subject to various disturbances are both utilized to examine the effectiveness of the proposed control scheme. It can be concluded from the simulation results that the proposed SVC joined with the ANFIS damping controller is capable of improving the stability of the studied SG system subject to different disturbances. Index TermsDoubly fed induction generator (DFIG), offshore wind farm (OWF), permanent-magnet synchronous generator (PMSG), stability, static VAR compensator (SVC).

I. I NTRODUCTION TATIC VAR compensators (SVCs) have played important roles in voltage support and stability improvement of power systems for several years due to their simple structures for reactive power compensation. A novel SVC was proposed in [1] to replace xed capacitor compensating devices of a wind farm system, and the voltage level of the studied system was
Manuscript received January 27, 2012; revised March 31, 2012, June 26, 2012, August 10, 2012, and August 26, 2012; accepted September 4, 2012. Date of publication September 27, 2012; date of current version February 28, 2013. This work is supported by National Science of Council (NSC) of Taiwan under Grant NSC 100-3113-P-006-014, Grant NSC 100-3113-E-006-013, and Grant NSC 100-ET-E-006-005-ET. L. Wang is with the Department of Electrical Engineering as well as the Research Center for Energy Technology and Strategy, National Cheng Kung University, Tainan 70101, Taiwan (e-mail: liwang@mail.ncku.edu.tw). D.-N. Truong is with the Department of Electrical Engineering, National Cheng Kung University, Tainan 70101, Taiwan (e-mail: nhontd@yahoo.com). Color versions of one or more of the gures in this paper are available online at http://ieeexplore.ieee.org. Digital Object Identier 10.1109/TIE.2012.2218557

stable through using a voltage feedback control strategy. With a new winding structure, the proposed SVC can improve voltage stability of the studied wind farm connected to the grid [1]. A new topology structure of a SVC, i.e., a low-cost improved thyristor-controlled reactors (TCR) by removing series circuit elements, proposed in [2] was used to correct the unbalanced problems and improve the reliability of power systems. A hybrid SVC presented in [3] was utilized to improve reactive power control capability of wind farms fed to an ac grid in case of low-voltage conditions. For damping subsynchronousresonance oscillations due to torsional interactions as well as induction generator effects, a SVC with a simple voltage regulator was connected to the induction-generator terminals for dynamic reactive power support when the studied system was subjected to a severe fault [4]. A SVC and a thyristorcontrolled series compensator (TCSC) were employed in a single-machine innite-bus system to improve transient voltage stability of an asynchronous wind farm [5]. The SVC was able to offer reactive power to maintain the transient stability while the TCSC was able to promote the terminal voltage and effectively improve low-voltage ride through (LVRT) capability [5]. A SVC was located at the middle point of the tie line to damp out inter-area oscillations occurred in a two-area fourmachine system [6], [7]. Comparing to the performance of a SVC, a static synchronous compensator (STATCOM) gave a larger contribution to transient margin and LVRT capability of squirrel-cage induction generator-based wind farms using both calculations and simulations [8]. However, the main drawbacks of using a STATCOM were larger harmonics injected into systems, higher investment, and operational costs. With the same studied power system in [6] and [7], a STATCOM with fuzzy controller was used to enhance power-system stability [9]. In [9], the fuzzy supplementary controller was designed by using a look-up table method to damp the inter-area power oscillations and enhancing dynamic stability of the interconnected power systems. The fuzzy controller offered better damping performance under changed system operation conditions. The new proposed fuzzy logic (FL) controller replaces the existing PI using the error between the reference voltage and the measured voltage to determine the required susceptance of SVC is used to maintain the voltage bus constant has been proposed in [10].

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However, the drawbacks of the fuzzy inference system were completely based on the knowledge and experience of the designer. Since both FL and articial neural network (ANN) have their relative advantages, a powerful processing tool with both advantages can be obtained by combining them together. The architecture and learning procedure underlying adaptive-network-based fuzzy inference system (ANFIS) was proposed in [11]. This ANFIS incorporated the self-learning ability of ANN with the linguistic expression function of fuzzy inference. By using a hybrid learning procedure, i.e., leastsquare estimation and back-propagation, the proposed ANFIS can construct an input-output mapping based on both human knowledge and stipulated input-output data pairs. In which, human knowledge can be transformed by using Ifthen rules of a fuzzy inference system. Since no standard methods for transforming human knowledge exist, ANFIS can be considered as an effective method for tuning the membership functions to minimize the measured output errors. In addition, ANFIS is also an adaptation and robustness method since it combines the advantages of ANN and FLC. According to the applications of ANFIS to power systems, in [12], both rotor angle stability and system voltage prole were enhanced by using a TCSC-based controller with ANFIS. A SVC with an indirect adaptive FL control was also coordinated with generator excitation system of a multi-machine power system for transient stability enhancement was presented in [13]. In similar elds with this paper, several papers focused on the hybrid system such as a hybrid wind-hydro generation system [13], a hybrid offshore wind farm (OWF) and tidal farm [14], and a hybrid OWF and marine-current farm [15]. The authors of these papers considered a power grid as an innite bus. However, an actual large power system may include many synchronous generators (SGs) whose stability can be affected by new added renewable-energy systems such as an OWF. In order to study the practical performance of actual power systems, the studied system in this paper uses a large equivalent SG connected to the point of common coupling (PCC) for simulating the stability characteristics of an actual power system. The control scheme is proposed in this paper to design a damping controller using an ANFIS [16] to suppress oscillations of the SG system in order to maintain system stable. This paper is organized as below. System conguration and employed models for the studied system containing the integrated two OWFs with SVC are introduced in Section II. The design procedure and design results for the PID controller and the ANFIS controller of the proposed SVC are shown in Section III. Comparative transient responses of the studied system with and without the designed PID damping controller and the ANFIS controller subject to a severe disturbance are described in Section IV. Finally, specic important conclusions of this paper are drawn in Section V. II. C ONFIGURATION OF THE S TUDIED S YSTEM Fig. 1 shows the conguration of the studied SG-based onemachine innite-bus (OMIB) system with a permanent-magnet SG (PMSG)-based OWF, a doubly fed induction generator (DFIG)-based OWF, and a 50-MVAR SVC. The 80-MW

Fig. 1. Conguration of the studied SG-based OMIB system with a PMSGbased OWF, a DFIG-based OWF, and a SVC.

OWF #1 is represented by a large equivalent aggregated PMSG driven by an equivalent aggregated variable-speed wind turbine (WT). The 80-MW OWF #2 is represented by a large equivalent aggregated DFIG driven by an equivalent aggregated variablespeed WT through an equivalent gearbox (GB). The two OWFs are connected to a common ac bus through corresponding connection lines and transformers. The equivalent capacitance Cbus is also connected to the common ac bus that is fed to the PCC of an onshore SG-based OMIB system through a 23/161-kV offshore step-up transformer and undersea cables. The proposed SVC is connected to the PCC for supplying adequate reactive power to maintain voltage prole and to damp oscillations of the SG. The 1230-MVA SG is fed to the PCC through a 15/161-kV step-up transformer. The PCC is connected to a power grid through two parallel transmission lines (TL1 and TL2) [17], [18]. The employed mathematical models of the studied system are described as below. A. WT Model The captured mechanical power (in W) by a WT can be written by Pmw = 1 3 w Arw VW Cpw (w , w ) 2 (1)

where w is the air density (kg/m3 ), Arw is the blade impact area (m2 ), VW is the wind speed (m/s), and Cpw is the

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Fig. 2. Two-inertia reduced-order equivalent mass-spring-damper model of the WT coupled to the rotor shaft of the studied wind PMSG.

dimensionless power coefcient of the WT. The power coefcient of the WT Cpw is given by Cpw (kw , w ) = c1 c2 c7 c5 c 3 w c 4 w c6 exp kw kw (2)

in which 1 1 c9 = 3 kw + c 8 w w + 1 Rbw bw w = VW (3) (4)

where bw is the blade angular speed (rad/s), Rbw is the blade radius (m), w is the tip speed ratio, w is blade pitch angle (degrees), and c1 c9 are the constant coefcients for power coefcient Cpw of the studied WT. The wind speed VW is modeled as the algebraic sum of a base wind speed, a gust wind speed, a ramp wind speed, and a noise wind speed [19]. The power coefcients of the WT can be referred to [20]. The cut-in, rated, and cut-out wind speeds of the studied WT of the PMSG-based OWF #1 (DFIG-based OWF #2) are 3 (4), 13 (14), and 23 (24) m/s, respectively. When wind speed VW is lower than the rated wind speed of the WT (VW rated ), w = 0 . When VW > VW rated , the pitch-angle control system of the WT activates, and the pitch angle of the WT (w ) increases. B. Mass-Spring-Damper Systems for Two OWFs The two-inertia reduced-order equivalent mass-springdamper model of the WT directly coupled to the rotor shaft of the wind PMSG is shown in Fig. 2 [19][21]. Except employed parameters, this model can also be applied to the equivalent mass-spring-damper model of the WT coupled to the rotor shaft of the wind DFIG through an equivalent GB whose effect can be properly included in this model. C. PMSG Model and Control of Power Converters The dq axis equivalent circuit model of the studied wind PMSG can be expressed by [22] vqsw1 = rsw1 iqsw1 + vdsw1 in which qw1 = (Xmqw1 + Xlsw1 )iqsw1 = Xqw1 iqsw1 dw1 = (Xmdw1 + Xlsw1 )idsw1 + Xmdw1 im1 = Xdw1 idsw1 + Xmdw1 im1 (7) (8) p(qw1 ) rw1 + dw1 b b p(dw1 ) rw1 = rsw1 idsw1 + qw1 b b (5) (6)

Fig. 3. Control block diagram of the VSC converter and the VSC inverter of the wind PMSG.

magnetization reactance, Xl is the p.u. leakage reactance, im is the p.u. magnetization current, r is the p.u. rotational speed, b is the p.u. base speed, and subscript w1 denotes the quantities of the studied OWF #1. The input dq axis p.u. voltages of the VSC converter of the PMSG can be expressed by vcond = kmcond Vdc1 and vconq = kmconq Vdc1 , respectively, where Vdc1 is the dc-link voltage, and kmcond and kmconq are the d- and q -axis modulation indices of the VSC converter, respectively. The output dq axis p.u. voltages of the VSC inverter of the PMSG can be written by vinvd = kminv sin(inv )Vdc1 and vinvq = kminv cos(inv )Vdc1 , respectively, where kminv and inv are the modulation index and the phase angle of the VSC inverter, respectively. The fundamental control block diagram of the VSC converter and the VSC inverter of the wind PMSG can be referred to Fig. 3. According to the operation of Fig. 3, it is seen that inv is responsible to control the rotor speed of the wind PMSG (rw1 ) for maximum power extraction, kminv is used to control the output reactive power of the PMSG (Qw1 ), kmcond is employed to control the dclink voltage (Vdc1 ), and kmconq is utilized to control the statorwinding voltage of the PMSG (vsw1 ). D. DFIG Model and Control of Power Converters The one-line diagram of the studied wind DFIG of the OWF #2 was shown in Fig. 1. The stator windings of the wind DFIG are directly connected to the low-voltage side of the 0.69/23-kV step-up transformer while the rotor windings of the DFIG are connected to the same 0.69-kV side through a rotorside converter (RSC), a dc-link, a grid-side converter (GSC), a step-up transformer, and a connection line. For normal operation of a wind DFIG, the input ac-side voltages of the RSC and the GSC can be effectively controlled to achieve the aims of simultaneous output active-power and

where is the p.u. ux linkage, vs is the p.u. stator-winding voltage, is is the p.u. stator-winding current, Xm is the p.u.

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Fig. 4. Control block diagram for the RSC of the studied wind DFIG.

Fig. 6. Control block diagram of the employed SVC including (a) the designed PID damping controller and (b) the designed ANFIS controller.

III. D ESIGN OF A PID DAMPING C ONTROLLER AND AN ANFIS C ONTROLLER FOR THE P ROPOSED SVC
Fig. 5. Control block diagram for the GSC of the studied wind DFIG.

A. Design of a PID Damping Controller for the SVC reactive-power control [23][25]. Fig. 4 shows the control block diagram of the RSC of the studied DFIG, and the operation of the RSC requires iqrw and idrw to follow the varying reference points that are determined by maintaining the output active power and the stator-winding voltage at the setting values, respectively. The required voltage for the RSC (vrw ) is derived by controlling the per-unit q - and d-axis currents of the RSC. The control block diagram of the GSC of the studied wind DFIG is shown in Fig. 5. The per-unit q - and d-axis currents of the GSC, iqgw and idgw , have to track the reference points that are determined by maintaining the dclink voltage Vdc2 at the setting value and keeping the output of the GSC at unity power factor, respectively. The required per-unit voltage of the GSC (vgw ) is derived by controlling the per-unit q - and d-axis currents of the GSC. E. SVC Model The proposed SVC in this paper is for regulating the voltage at its terminals by compensating the proper amount of reactive power delivered to or absorbed from the connected power system. The single-phase equivalent circuit of the SVC with TCR-xed capacitor (TCR-FC) type was shown in Fig. 1 [6][8]. Fig. 6 shows the control block diagram for the equivalent susceptance BL of the studied SVC. When the system voltage is lower than the reference value, the value of BL of the SVC is positive to inject reactive power to the system; when the system voltage is higher than the reference value, the BL of the SVC is negative to absorb reactive power from the power system. The employed system parameters for the models of this paper are listed in Appendix. This section describes the procedure and results to design the PID damping controller of the proposed SVC shown in Fig. 6(a) to achieve stability improvement of the studied SG-based system using a unied approach based on modal control theory. To design a PID damping controller for the proposed SVC in this paper can be refereed to the detailed design procedure listed in [15], and only the important design steps and results are listed as below. The nonlinear system equations developed in the previous section are linearized around a selected nominal operating point to acquire a set of linearized system equations in matrix form of pX = AX + BU + VW Y = CX + DU (9) (10)

where X is the state vector, Y is the output vector, U is the external or compensated input vector, W is the disturbance input vector while A, B, C, and D are all constant matrices of appropriate dimensions. To design the PID damping controller shown in Fig. 6(a), W in (9) and U in (10) can be ignored by setting D = V = 0. The state vector X can be partitioned into ve substate vectors as X = [XWTPMSG , XWTDFIG , XOMIB,XLOCAL,XSVC ]T , where XWTPMSG,XWTDFIG, XOMIB , XLOCAL , and XSVC are referred to the system state vectors of the WT-PMSG system of OWF #1, the WT-DFIG system of OWF #2, the SG-based OMIB system, the local load, and the SVC, respectively. Because wind speed VW seldom reaches the rated wind speed of the WTs of the two OWFs, VW of 12 m/s is properly selected as the nominal operating points for designing the PID SVC damping controller.

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TABLE I E IGENVALUES (rad/s) [DAMPING R ATIOS ] OF THE S TUDIED S YSTEM U NDER N OMINAL O PERATING C ONDITIONS

The eigenvalues of the studied SG-based OMIB system containing the two OWFs without and with the SVC under PSG = 0.9 p.u., VSG = 1.0 p.u., P FSG = 0.9 lagging, and VW = 12 m/s are listed in the third column and the fourth column of Table I, respectively. The eigenvalues 1 16 and 17 38 listed in Table I relate to the modes of the WT-PMSG of OWF #1 and the WT-DFIG of OWF #2, respectively. The eigenvalues 39 58 and 59 61 listed in Table I refer to the modes of the SG-based OMIB system and the SVC, respectively. It is seen that the damping ratio of the mechanical mode (51,52 ) can be slightly improved by the proposed SVC, but the damping ratio of the exciter mode (55,56 ) is slightly reduced by the SVC. The control block diagram of the inductive susceptance BL of the SVC including the PID damping controller was shown in Fig. 6(a). The PID damping controller with a rst-order washout term senses the rotor-speed deviation of the SG ( ) to generate a damping signal Vs in order to improve the damping ratios of both mechanical mode and the exciter mode of the SGbased OMIB system listed in Table I. Hence, the output signal in (10) is Y = and U = Vs is the input vector. The transfer function H (s) of the proposed PID SVC damping controller with a rst-order wash-out term in s domain is given by sTW U(s ) Vs (s ) = = H (s ) = Y(s) (s) 1 + sTW KI + sKD KP + s (11)

derivative gain of the PID damping controller, respectively. Taking the Laplace transformation of (9), (10), an algebraic equation of the closed-loop system containing the PID SVC damping controller can be acquired. The input signal in s domain can be expressed by U(s) = H (s) (s) = H (s)Y(s) = H (s)CX(s). Combining (20) and (21), it yields s X( s ) = { A + B [ H ( s ) C ] } X( s ) . (13) (12)

The characteristic equation of the closed-loop system including the PID damping controller is given by det {sI [A + BH (s)C]} = 0. (14)

When two pairs of the specied mechanical mode and exciter mode (51,52 and 55,56 ) are substituted into (14), the four parameters of the PID controller can be solved. The design results of the PID SVC damping controller are given as below. Prespecied Eigenvalues 51,52 = 2.3 j 9.8 (Mechanical mode) 55,56 = 2.5 j 1.6 (Exciter mode). Parameters of the Designed PID Controller for SVC KP = 1.23, KI = 3.63, KD = 0.16, TW = 0.64 s.

where TW is the time constant of the wash-out term while KP , KI , and KD are the proportional gain, integral gain, and

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Fig. 7. Structure of the proposed ANFIS model.

The system eigenvalues of the studied SG-based OMIB system containing the two OWFs with the proposed SVC joined with the designed PID damping controller are listed in the fth column of Table I. It can be clearly observed that both 51,52 and 55,56 have been exactly positioned on the desired locations on the complex plane. The damping ratios of 51,52 and 55,56 have been increased from 0.055 to 0.228 and from 0.349 to 0.842, respectively. According to the eigenvalue results listed in the fth column of Table I and the four parameters of the designed PID damping controller of the SVC shown above, it can be concluded that the design results are appropriate to the studied system. B. Design of an ANFIS Controller for the SVC The control block diagram of the employed SVC including the designed ANFIS damping controller was shown in Fig. 6(b). The rotor-speed deviation of the SG ( ) and the voltage deviation of PCC (VPCC ) are fed to the ANFIS controller to generate a control signal V s to modulate the inductive susceptance BL of the SVC. To design the ANFIS controller for the SVC, the following basic steps are employed: 1) data generation, 2) rule extraction and membership functions, 3) training and testing, and 4) results. The design procedure and associated results of the ANFIS will not be discussed here, and they can be referred to [10], [11]. The structure of the proposed ANFIS is the Sugeno-type, in which the structure rules are given as follows: If(x1 = Ai ) and (x2 = Bi ) then (fi = pi x1 + qi x2 + ri ) (15)
Fig. 8. Output of training data and control surface of the proposed ANFIS. (a) Output of training data; (b) Control surface.

where x1 and x2 are the inputs while (x1 = ) and (x2 = VPCC ) are used in this paper; Ai and Bi are the fuzzy sets; fi is the output within the fuzzy region specied by the fuzzy rule; pi , qi , and ri are the designed parameters that are determined during the training process; and i is the number of membership functions of each input. Three linguistic variables, i.e., NEG (Negative), ZER (Zero), and POS (Positive), for each input variable and two input variables for the proposed ANFIS are employed in this paper. Hence, nine linguistic variables for the output variable are produced. The structure and control surface of this designed ANFIS model are shown in Figs. 7 and 8, respectively. In Fig. 7, ve layers are presented. In which, each neuron in the rst layer (Inputs) corresponds to a linguistic variable and the output equals the membership function of this linguistic

variable. In the second layer (input membership function), each node multiplies the incoming signals and sends the product out that represents the ring strength (wi ) of a rule. Each node in the third layer (Rules) estimates the ratio (w i ) of the ith rule ring strength to sum of the ring strength of all rules. In the fourth layer (Output membership function), the output is the product of the previously found relative ring strength of the ith rule and the rule fi . The nal layer (Output) computes the overall output as the summation of the incoming signals. The ANFIS is checked by using the ANFIS Editor toolbox in MATLAB. With the type of membership function is Gauss, the number of epochs is 30, and the sample data for training the ANFIS are taken from the transient responses of the studied system with the designed PID controller under the most severe disturbance condition, i.e., a three-phase short-circuit fault at the innite bus. A hybrid learning algorithm, i.e., a mixed least-square and back-propagation scheme, is used for training the proposed ANFIS. The detailed parameters of the proposed ANFIS are: number of nodes = 35, number of linear parameters = 9, number of nonlinear parameters = 12, total number of parameters = 21, number of training data pairs = 1257, and number of fuzzy rules = 9. Fig. 8(a) plots the output of the designed PID controller as the output training data for ANFIS (blue circles) and the response after training the designed ANFIS (red asterisks). It can be observed from this gure that the output signal after training the designed ANFIS (red asterisks) exhibits better damping performance. Fig. 8(b) shows the control surface between the two inputs (SG = and VPCC ) and the corresponding output (Vs ). It is seen from Fig. 8 that the rotor-speed deviation

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Fig. 9. Transient responses of the studied system under a three-phase short-circuit fault. (a) SG ; (b) rSG ; (c) PSG ; (d) QSG ; (e) PW F 1 ; (f) QW F 1 ; (g) PW F 2 ; (h) QW F 2 ; (i) VW F 1 ; (j) VW F 2 ; (k) VPCC ; (l) BL .

of the SG ( ) is varied from 4 103 pu to 6 103 pu and the voltage deviation of PCC (VPCC ) is changed from 0.5 to 0 p.u. while the resultant output signal or damping signal Vs ranges from 0.2 to 0.8 pu. Using the proposed ANFIS with these input/output relationships, the studied system subject to various disturbances can be effectively stabilized. IV. T IME -D OMAIN S IMULATIONS The nonlinear system model developed in Section II is employed in this section to compare the damping characteristics contributed by the proposed SVC joined with the two damping control schemes on stability improvement of the studied system subject to a severe disturbance. It is assumed that the two OWFs are operated under a wind speed of 12 m/s while the SG is operated at PSG = 0.9 pu, VSG = 1.0 pu, and P FSG = 0.9 lagging. Simulation results of the proposed system using MATLAB/ Simulink toolbox are presented and analyzed as below.

Fig. 9 plots the comparative transient responses of the studied system without the proposed SVC (blue lines), with the SVC joined with the designed PID controller (red lines), and with the SVC joined with the proposed ANFIS system (black lines) under a three-phase short-circuit fault at the power grid. The fault is suddenly applied at t = 1 s and is cleared at t = 1.1 s. It is clearly observed from the comparative simulation results that the transient responses of the SG-based OMIB system shown in Fig. 9(a)(d) exhibit good damping performance when the proposed SVC with the designed PID damping controller and the SVC with the ANFIS system are, respectively, included in the system. When the fault is suddenly applied to the studied system, the system responses oscillate for a while, and then reach their steady-state values at around 6, 4, and 3 s when the system is without SVC, with SVC and the PID controller, and with SVC and the ANFIS, respectively. Although the proposed ANFIS system is trained from the transient responses of the studied system with the proposed SVC joined with

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the designed PID controller, the responses of the system with the proposed SVC joined with the ANFIS system give the best damping performance in three cases. In other words, the transient responses of the system with the SVC and the ANFIS reaching their steady-state values are the fastest. The remaining transient responses also have similar features that the proposed SVC joined with the ANFIS system can contribute the best damping characteristics to the studied system in three cases. For example, the active power and reactive power of the PMSGbased OWF #1 shown in Fig. 9(e) and (f) and the active power and reactive power of the DFIG-based OWF #2 shown in Fig. 9(g) and (h) have similar results. Since the SVC is to control the voltage prole of the studied system, the voltages of OWF #1 and OWF #2 shown in Fig. 9(i) and (j) and the voltage of PCC shown in Fig. 9(k) still show the similar results that the SVC with the ANFIS contributes the best damping to the studied system. The studied system with the SVC and the proposed ANFIS only needs about 1.5 s (from 1 to 2.5 s) to reach the steady-state value after the severe fault is cleared (see black line). However, the proposed ANFIS can result in larger variations on BL than the PID controller as shown in Fig. 9(l) when the fault is applied to the studied system. As shown in Fig. 9, the peak values of the studied system with the SVC and the ANFIS are the same as the ones of the studied system with the SVC and the PID controller. This is due to the fact that the training data for ANFIS are generated from the responses of the system with the designed PID controller. The transient results shown in Fig. 9 are convincing the important effectiveness of ANFIS on damping improvement of the studied system since ANFIS is a very powerful approach for building complex and nonlinear relationship between a set of input and output data. Also, in ANFIS, both numerical and linguistic knowledge can be combined into a fuzzy rule base by employing fuzzy methods. By using the error back-propagation algorithm in this study, the fuzzy membership functions can be tuned optimally. Other advantages of the ANFIS include its nonlinear ability, its capacity for fast learning, and its adaptation capability. With the advantages of ANFIS mentioned above, Fig. 8(a) presents the output of the designed PID controller as the training data for the ANFIS (blue circles) and the output response (red asterisks) after training the designed ANFIS. It can be observed from Fig. 8(a) that the output signal of the ANFIS after training (red asterisks) exhibits better damping performance. Thus, the stability of the studied system can be effectively improved and the transient results shown in Fig. 9 are convincing. V. C ONCLUSION This paper has presented the stability improvement of two parallel-operated OWFs connected to a SG-based OMIB system using a SVC joined with a designed PID damping controller and an ANFIS controller. The SVC is proposed and is connected to the PCC of the OMIB system to supply adequate reactive power. A PID damping controller has been designed for the SVC by using a unied approach based on modal control theory to assign the mechanical mode and exciter mode of the

TABLE II S YSTEM PARAMETERS

studied SG. An ANFIS controller has been designed by using the transient-response data of the studied system with the SVC and the PID controller under a three-phase short-circuit fault. Since the mechanical mode and exciter mode of the studied SG dominant the signicant characteristics of the studied system, the proposed SVC joined with the designed PID damping controller has the ability to improve the performance of the studied system. Time-domain simulations of the studied system subject to a three-phase short-circuit fault at the grid have been performed to compare the effectiveness of the proposed SVC joined with the designed PID damping controller and the proposed SVC joined with the designed ANFIS damping controller on suppressing inherent SG oscillations of the studied system and improving system stability. It can be concluded from the simulation results that the proposed SVC joined with the designed ANFIS damping controller offers better damping performance of the studied two OWFs connected to a SG-based power system under a severe disturbance condition. The ANFIS is a nonlinear controller that can face the different operating points of the system. Moreover, the proposed ANFIS is also an adaptation and robustness method since it combines the advantages of ANN and FLC.

A PPENDIX See Table II.

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R EFERENCES
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Li Wang (S87M88SM05) received the Ph.D. degree from the Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan, in 1988. He has been an Associate Professor and a Professor at the Department of Electrical Engineering, National Cheng Kung University, Tainan, in 1988 and 1995, respectively. He was a visiting scholar of the School of Electrical Engineering and Computer Science, Purdue University, West Lafayette, IN, from February 2000 to July 2000, and the School of Electrical Engineering and Computer Science, Washington State University, Pullman, from August 2003 to January 2004. He was a Research Scholar of the Energy Systems Research Center, the University of Texas at Arlington, Arlington, from July 2008 to January 2009. His current research interests include power systems dynamics, power system stability, ac machine analyses, and renewable energy.

Dinh-Nhon Truong was born in Quang nam Province, Vietnam, on December 3, 1979. He received the B.S. and M.S. degrees in electrical and electronics engineering from the University of Technical Education, Ho Chi Minh, Vietnam, in April 2003 and May 2005, respectively. Currently, he is working toward the Ph.D. degree at the Department of Electrical Engineering, National Cheng Kung University, Tainan, Taiwan. He has been a Lecturer in the Department of Electrical and Electronics Engineering, University of Technical Education, Ho Chi Minh, Vietnam, since 2005. His research interests are grid-connected wind power systems, marine-current energy conversion systems, and FACTS devices.