IEEE Transactions on Energy Conversion, Vol. 12, No.

4, December 1997

413

An Adaptive Power System Stabilizer Based on Recurrent Neural Networks

J. He, Student Member O.P. Malik, Fellow, IEEE Department of Electrical and Computer Engineering The University of Calgary Calgary, Alberta, Canada T2N 1N4
Abstract - Application of recurrent neural networks in the design of an adaptive power system stabilizer (PSS) is presented in this paper The architecture of the proposed adaptive PSS has two recurrent neural networks. One functions as a tracker to learn the dynamic characteristics of the power plant and the second one functions as a controller to damp the oscillations caused by the disturbances. In the proposed approach, the weights of the neural networks are updated on-line. Therefore, any new information available during actual control of the plant is considered. Simulation studies show that the artificial neural network ( A N N ) based PSS can provide very good damping over a wide range of operating conditions.

The ANNs do not directly provide the control signal [5]. The structure of the PSS is a conventional PI controller, but its parameters lipand K I are tuned by an ANN. The ANNs are used to replace the conventional PSS (CPSS). The ANNs directly provide control signal to the generator. There are two approaches. In the first approach only one ANN is employed as a controller [6] [7]. An additional controller, designed by another control strategy, is needed to provide the data which is used to train the ANN. In the second approach two ANNs, which act as identifier and controller respectively, are used [8] [9] [lo] [ll]. No additional controller is needed in this case. The ANN and Fuzzy Logic Control are combined to design the controller [12]. Digitalsimulationresults [5] [6] [8] [9] [lo] [ll][12] and laboratory experimental results[7] show that neural networks have a considerable potential in power system stability study. The feedforward Multi-layer Perceptron (MLP) is the most common neural network employed in current research. An adaptive PSS based on Discrete-Time Recurrent Neural Network(DTRNN) is introduced in this paper. In the proposed control system architecture, there are two neural networks which act as identifier and controller respectively. The training of the ANN PSS has two stages: off-line training and on-line update. The on-line updating of the weights allows the PSS to track the operating conditions of the power system and any changes in the system parameters. It is thus not a fixed parameter device and can adapt to changes in system configuration or in operating conditions. The performance of the proposed ANN PSS under various perturbations and operating conditions has been investigated and the results of these studies are described in this paper. 11. DISCRETE-TIME RECURRENT NEURAL NETWORK

Keywords: Power System Stabilizer, Recurrent Neural Network, Adaptive control

I. INTRODUCTION Studies over the past four decades have shown that power system stabilizer (PSS) is a very effective tool to damp the low frequency oscillations in the power system. Since power systems are highly non-linear dynamic systems, design of a PSS which can maintain the desired performance under different operating conditions is a topic of continuing investigation. Recently, new techniques such as artificial neural networks and fuzzy logic have been proposed for the design of a PSS. Artificial neural networks (ANN) have become a useful tool in the control area since the late 1980s [l] [a] . Especially, there has been a growing interest in using recurrent neural networks for modeling and control of nonlinear dynamic systems in the past few years [3] [ 4 ] , since the outputs of the neurons in recurrent neural networks have relation not only with present inputs but also with past inputs or past outputs, i.e. they have dynamic behaviour. Several papers that describe the application of the artificial neural network in the PSS design have been published. The methods used in these papers can be characterized as below:

PE-569-EC-0-02-1997 A paper recommended and approved by the IEEE Energy Development and Power Generation Committee of the IEEE Power Engineering Society for publication in the IEEE Transactions on Energy Conversion. Manuscript submitted August 23, 1996; made available for printing February 10, 1997.

The layout of the Discrete-Time Recurrent Neural Network is shown in Fig.1. The neurons in the DTRNN can be divided into three types, i.e., input neuron, output neuron and hidden neuron. Each input neuron is linked to every output neurcln and hidden neuron in the network. The output neurons and hidden neurons are fully

0885-8969/97/$10.00 0 1997 IEEE

414
Y

input neuron
Controller

hidden neuron

ANN
1

output neuron

X
Fzgure I : Layout of Discrete-Time Recurrent Neural Network
Figure 2: Structure of the control system

connected with each other. Any hidden neuron can be activated to be an output neuron if its output happens to be a desired signal or value. Basically, there are two algorithms for the training of the DTRNN. One approach is called Backpropagatzon Through Time(BTT)[13], and the other is known as Real Time Recurrent Learnzng(RTRL)[14]. Both algorithms are based on the gradient search method. The B T T algorithm has the advantage of simple computation very similar to the Backpropagation algorithm of Feedforward Multi-layer Perceptron. Its weakness is a large memory requirement. For the RTRL, the advantage is that it is more memory efficient than the B T T algorithm. On the other hand, the computational complexity is larger than the B T T algorithm. However, if the size of the DTRNN is not very large (i.e. the total number of output and hidden neurons), the computational complexity can be kept at a reasonable level. In this paper, the RTRL is used to train the recurrent neural network. A brief description of the RTRL learning algorithm is given in Appendix I.

A P e ( k ) is the change of electrical power,

e
e

Uannc(k) is the output control signal,

AwP(IC)is the plant output,
AG(k)= [Aw(k), A w ( k - l), . . ., A w ( k - m ) ] , A $ e ( k ) = [ A P e ( k ) A P e ( k- l ) ,. . . A P e ( k - n ) ] ,
fiannc(k)

e e

[Uannc(k), Uannc(k

- 11,.. ' , U a n n J k

PI1
e

VwLJz(k is ) the gradient of J z ( k )with respect to the weight matrix W, ( k ) ,

a! is the learning rate.

For the neural-controller,

the input

vector is

(AG(k),A p e ( k ) ) . The output is Uannc(k). The performance index of the ANN controller is:

1 Jc(k) = -(AG(k 2

+ 1))2

(3)

The weights of the ANN controller are updated using the equation: 111. DESIGN OF
THE

ANN-PSS

W,(k) = Wc(k - 1) - aVwcJc(k)

(4)

The structure of the proposed controller is shown in Fig.2. It consists of two components: a control neural network to output the appropriate control signal and a tracker identification neural network to emulate the system behaviour. For the neural;trackeJ, the input vector at k-th time step is: ( A w " ( k ) , A P e ( k ) ,Uannc(k)). The output is A G ( k + 1) The performance index of the ANN identifier is :

Since the output of the control neural network has no direct connection to A G ( k l ) , the tracker neural network acts as a bridge to back-propagate AG(k 1) to the control neural network. At this moment, the weights of the

tracker neural network are treated as constant.

The algorithm of the proposed power system stabilizer can be summarized as follows:
e

1 J Z ( k )= - ( A G ( k ) - A U ~ ( ~ ) ) ~ (1) 2
The weights of the ANN tracker are updated using the equation:

At the k-th time step, A w ( k ) ,A P e ( k ) are sampled.

W , ( k ) = Wi(k - 1) - aVw,J,(k)
where:
e

(2)
e

A w ( k ) , A P e ( k ) are used to form input vector of the neural-controller at k-th time step. The output Uannc(k) is calculated. At the same time, the weights of the neural-tracker are updated to minimize the error between w ( k ) a n d i j ( k ) A w ( k ) , A P e ( k ) and Uannc(k) are used to form an input vector for the neural-tracker, and the output A & ' ( k 1) is calculated.

A w ( k ) is the generator speed deviation,

415
0

The weights of the neural-controller are updated to minimize (AG(k l))z

vb

The output of the neural-controller Uannc(k) is calculated again with the same input vector and the new weights calculated in the previous step. The control signal Uannc(ik)is applied to the plant, and to the neural-tracker again to calculate Ab(k 1) for the (k+1)-th time step . IV. NEURAL NETWORK TRAINING

+
AP

Transmission Line

The weights of the ANN controller and identifier are first trained off-line. At the beginning, the following parameters are also decided during off-line training:
(1) m,n,p all are selected as 4. Therefore, the ANN controller and the ANN tracker have 8 and 12 input neurons, respectively.

Figure 3: Structure of the power system

(2) There are 5 and 7 hidden neurons in the ANN controller and the ANN tracker respectively.

and then removed after 5s. The system response in Fig.4 shows that the oscillations are damped very quickly with the ANN PSS.

(3) The weights of the ANN controller and the tracker are set randomly at & 0.03 and f 0.04 respectively.
(4) The rescaling factors of the ANN controller and the tracker are 3.0 and 0.3 respectively. The training data should be collected over the full range of operating conditions that the generator is likely to encounter in operation. For the simulation studies described in this paper, the generator active power output ranging from 0.1 p.u. to 0.8 p.u. and the power factor ranging from 0.8 lead to 0.85 lag were considered. Disturbances, such as & 0.1 p.u. step change in input torque, & 0.03 p.u. step change in voltage reference and a 3 phase shortcircuit fault on the transmission line, were applied. The sampling time was selected 30 ms. When the off-line training is finished, the weights of the ANN controller and the tracker will still be updated during the studies described in the next section. V. SIMULATION STUDIES The performance of the proposed ANN PSS has been investigated on a synchronous generator connected to a constant voltage bus through two parallel transmission lines. The structure of the power system is shown in Fig.3 .The mathematical models and parameters of the generator, AVR, exciter and a conventional PSS are listed in Appendix 11. The CPSS was tuned for the generator operating condition of 0.7 p.u. power, 0.85 power factor lag using the tuning procedure described in [15]. The response of the system with different control schemes is compared.

0.36

ANN PSS

o.22

2 . 0

t
I

time second

Figure 4: Response to a 0.lOp.u. step increase in torque and return

to initial condition. Pe = 0.30pu, p.f.=0.85(lag)

B. Voltage Reference (Change Test

In this test, the initial operating condition is 0.70 p.u. power and 0.85 pf lag. A 0.03 p.u. step increase in exciter reference voltage is applied at t = 1.02s and removed after 5s. The power angle response is shown in Fig.5. It can be seen that the ANN PSS provides a quick, well damped response.

C. Leading Power Factor Test

The behavior of the ANN PSS has been also studied under the leading power factor condition with 0.25 p.u. power and 0.90 pf lead. A 0.10 p.u. change in input torque reference is applied aiJ 1.02s and removed after 5s. The results are shown in Fig.6. With the ANN PSS, the system goes to the new operating point smoothly.

A. Light Load Test

A light load test with the initial condition of 0.3 p.u. power and 0.85 pf lag is conducted. The disturbances are a 0.1 p.u. step increase in torque reference applied at 1.02s

416
0.51 1,

I
'.\

0.49 0.5

t
0.5

A N N PSS

' I

-___-. - . - - - .-

CPSS

N O PSS

' I

041'

J
1 2 3 4 5 6

0.4

10

10

time second

time second

Fzgure 5: Response t o a 0.03p.u. step increase in exciter reference voltage and return t o initial condition. P, = 0.7pu, pf= 0.85 (lag)
05

Figure 7: Response t o a 3 phase short circuit a t the middle of one transmission line disconnected after 0.05s and successful reclosure 3.93s later. Pe = 0.9Opu, p.f.=0.85(lag)
'I;;,

- - _ _ - - CPSS

ANN

PSS 0.08 -

I, I 1 11 I I 11 I I 11 I 111 I I , , I,
111 1 111 I '\
1,

A N N PSS

0.06 0.04 -

- _ _ _ - -CPSS

'

c ?

-0.04 -0.06 -

I I , I

I 1
I

/ I

0 25l

I
1 2

-0.08 -0.1

I I

I
I /

10

time second

I1

Fzgure 6: Response t o a 0.10 p.u. step increase in torque and return to initial condition. Pe = 0.25g.u., pf=O.gO(lead)

Figure 8: Controller output in response t o a 3 phase short circuit a t the middle of one transmission line

D. Transzent Test
With the system operating at 0.90 p.u. power and 0.85 pf lag, a transient test was conducted to study the performance of the proposed ANN PSS. In this test, a three phase to ground short circuit fault was applied at the middle of one transmission line, the faulted line was cleared 50ms later, and then successfully reclosed after 3.93s. The power angle response and controller output are shown in Figs.7 and 8, respectively. It is interesting to note that the output of the ANN PSS is smooth and does not hit the limits. The system with the ANN PSS goes to the new stable state quickly.

of the generator.

F. Weaght Varaatzon
The weights of both the tracker ANN and the controller ANN are updated on-line in the proposed ANN PSS. The variation of the sum of ANN tracker weights squared and the variation of the sum of ANN controller weights squared are shown in Figs. 9 and 10, respectively, for the case of the transient test described above.

E. Dynamzc Stabzlzty Margzn Test

The ANN PSS not only improves the generator's transient behavior, but also enhances its dynamic stability properties. In this test, with the system initially operating at 0.95 p.u. power and 0.90 pf lag, the input torque reference was increased gradually from the initial value. The results for the system without stabilizer (NO PSS), with CPSS, and with ANN PSS given in table 1 show that the ANN PSS helps increase the dynamic stability margin

VI. CONCLUSIONS
An adaptive PSS based on recurrent neural networks is described in this paper. The proposed stabilizer has the

Table 1: Dynamic Stability Limit

I
Max. Power (p .u .) Max. Rotor Angle(rad)

NO PSS 1.787 1.108

I CPSS I
3.050 2.004

1 I

ANN PSS ' I 3.227 2.096

417
1.058,

1.05

1.048

I
0 1 2 3 4 5 6

time second

Figure 9: Tracker weights for the 3 phase short circuit test

0 8675

:
l l
i
1 2
3
4

0.867

0 8661

0 8655

5 6 time second

10

Figure 1 0 : Controller weights for the 3 phase short circuit test

following advantages:
0

The parameters (i.e. the weights of the neural networks) of the controller are updated on-line. Therefore, the controller can track changes in operating conditions. In this control architecture no reference model is needed.

The simulation results show that the proposed PSS has a very good damping ability for different operating conditions and disturbances. The machine settles to the new operating condition with very small overshoot and oscillation. It also improves the dynamic stability properties of the generator. Further studies to test the performance of the proposed controller on a multi-machine system model and experimental studies on a physical model in the laboratory are in progress at present. Preliminary results look encouraging and the results will be reported when the studies have been completed. REFERENCES
[I] Kumpati S. Narendra and Kannan Parthasarathy, Identification and Control of Dynamical Systems Using Neural Net-

works. IEEE Trans. on Neural Networks. Vol.1, No.1, March 1990, pp.4-27 [2] K.J.Hunt, D.Sbarbaro, R.Zbikowski and P.J.Gawthrop, Neural Networks for Control Systems - A Survey. Automatica, Vo1.28, No&, 1992, pp.1083-1112 [3] C.Lee Giles, Gray M Kuhn, and Ronald J. Williams, Dynamir Recurrent Neural Networks: Theory and Applications. IEEE Trans. o n Neural Networks, vo1.5, No.2, March 1994, pp.153-155 [4] P.S.Sastry, G S a n t h a r a m and K.P.Unnikrishnan, Memory Neuron Networks for Identification and Control of Dynamical Systems. I E E E Trans. on Neural Networks, Vo1.5, No.2, March 1994, pp.306-319. [5] Yuan-Yih Hsu, Chao-Rong Chen,Tuning of Power System Stabilizers Using a n Artificial Neural Network, IEEE Trans. on Energy Converszon, Vo1.6, No.4, December 1992, pp.612617. [6] Y.Zhang,G.P.Chen,O.P.Malik and G.S.Hope, An Artificial Neural Network Based Adaptive Power System Stabilizer, IEEE Trans. on Enepgy Converszon, vo1.8, No.1, March 1993 pp.71-77. [7] Y.Zhang, Artifical Neural Network Based PSS, Ph.D. thesis, University of Calgary, Calgary, Alberta, Canada, 1994. [8] Q.H Wu, B.W.Hogg and G.W.Irwin, A neural Network Regulator for Turbogenerators, I E E E Trans. on Neural Networks, vo1.3, No.1, J a n 1992, pp.95-100. [9] T.Kobayashi,A.Yoko:qama and Y .Sekine, Nonlinear Adaptive Control of Synchronous Generator Using Neural Network Based Regulator. Pwc. of ISAP94, Vol.1, pp.55-61. [lo] M.Djukanovic,M.Novicevic, Dj.Dobrijevic, B.Babic, Dejan J.Sobajic, and Yoh-an Pao, Neural-Net Based coordinated Stabilizing Control for the Exciter and Governor Loops of Low Head Hydropower Plants, I E E E Trans. on Energy Converszon, Vol.10, No.4, December 1995. [ll] Young-Moon Park, Myeon-Song Choi, and Kwang Y.Lee, A Neural Network-Based Power System Stabilizer using Power Flow Characteristics, IEEE Trans. on Energy Conversion, Vol.11, No.2, June 1996. [12] A.Hariri and O.P.Malik, A Fuzzy Logic Based Power System Stabilizer with Learning Ability, 1996 IEEE P E S Winter Meeting, paper No. 96 WM-034-9 EC. [13] Paul J . Werbos,Backpropagation Through Time: What It Does and How t o Do It., Proc. of the IEEE, vo1.78, No.10, 1990, pp. 1550-1560 [14] R.J.Williams and D.Zipser, A Learning Algorithm for Continually Running Fully Recurrent Neural Networks. Neural Computatzon Vol.1, 1989, pp.270-280. [15] Y.N.Yu. Electrzc Power System Dynamzcs. Academic Press 1983.

APPENDIX I IRTRL Learning Algorithm

The RTRL learning a,lgorithm is briefly presented below. A more detailed desciription of this algorithm is given in ~41.

(1) Initialize the weights; set all p f j ( t o ) = 0.0;

(2) For all kEU:

0

Sk(t)

= &yI

WklZl(t

- 1);

Y k ( t ) = .fk (,Sk( t ) ) ;

1. the set of input neurons;

U: the set of output and hidden neurons;

e
e

U1. the set

of

output neurons,

Figure 11: AVR And Exciter Model

e Sk(t)'

the net input to the k-th neuron in the set U;

Vstmax

e bzk:

the Kronecker delta. the error of the k-th output neuron;

Figure 12: IEEE Standard P S S l A Power System Stabilizer

e ek(t).
a

d k ( t ) : the desired output of the k-th output neuron;

fk(Sk(t))

= a * t a n h ( s k ( t ) ) ; a: rescaling constant.
5. IEEE standard PSSlA type conventional PSS,
Fig.12.

APPENDIX I1 System Model & Parameters

1. Generator

6. Parameters used in the simulation studies

ra = 0.007 = 0.023 = 1.126 ~ k = d 1.1500 d ' h = 0.0
rkd x,d

r f = 0,00089
z q = 0.743
zmq = 0.626 x k q = 0.625 rt = 0.05

rkq
Zd

= 0.023

= 1.24

X I = 1.33

Rc = 0.0
Tc = 1.0 TB1 = 0.0 T F = 1.0 V ~ M I= N-999
VAMIN

xc

= 0.0

= -999

TB = 10.0 TA = 0.0 K F = 0.05 VIMAX = 999 VRMAX = 7.8

VOEL
T2 7'5

H = 6.0 xt = 0.3 13-c= 0.08 Tcl = 0.0 1t7A = 190.0 TR = 0.04 VAMAX = 999 V R M ~= N-6.7
7'3

V u , , = -999
= -0.00133 'Ti = 0.25 T 4 = 0.08 A1 = 0.0 V s T & f J N= -0.1
a

= 999
= 0.25
= 0.005
T6

b = -0.17

= 0.08
0.1

= 4.85 A2 = 0.0
VsTMAX

I<, = 0.12

All resistances and reactances are in per unit and time constants in seconds.

BIOGRAPHY
2 Transmission network
Vd
'Uq

=
1

ub

ub

sin6 T e i d - x,iq COS6 + r e i q

3. IEEE standard type S T l A AVR and exciter model,

Fig. 11.

He, Jian (S'95) received his B.Sc. and M.Sc. in electrical engineering from Huazhong University of Science and Technology, Wuhan, China, in 1985 and 1988 respectively. Presently, he is working toward his Ph.D degree at the University of Calgary, Canada.

4 Governor transfer function

g=[a+-

b 18 1 sTg

O.P. Malik (M'66-SM'69-F'87) graduated in electrical engineering in 1952, obtained M.E. degree in 1962 and the Ph.D. degree and D.I.C., London, in 1965. From 1952 to 1961 he worked with electrical utilities in India. He is at present a professor at the University of Calgary.