European Journal of Scientific Research

ISSN 1450-216X Vol.49 No.1 (2011), pp.110-119

EuroJournals Publishing, Inc. 2011
http://www.eurojournals.com/ejsr.htm

Intelligent Controller in Transient Stability Analysis of

Static Synchronous Series Compensator
S. Padma
Department of Electrical and Electronics Engg
Sona College of Technology, Salem-5 Tamilnadu, India
E-mail: swanisha@gmail.com
Tel: +91-9942584848; Fax: +91-427-4099888
M. Rajaram
Department of Electrical and Electronics Engg
Govt. College of Engg. Tirunelveli, India
R. Lakshmipathi
Department of Electrical and Electronics Engg
St. Peters Engineering College, Chennai, India
S. Madhubalan
Department of Electrical and Electronics Engg
Sona College of Technology, Salem, India
Abstract
Transient stability studies are the most popular dynamic studies. Their main
objective is to determine the synchronous generators ability to maintain stability after the
occurrence of a fault or following a major change in the network such as the loss of an
important generator or a large load. The power system network is becoming more and more
complex to utilize the transmission and distribution system in an efficient manner. FACTS
devices such as STATCOM, SSSC and IPFC are in increasing usage. The main variables to
be controlled in the power system for efficient operation are the voltage, phase angle and
impedance. A SSSC is a series connected converter based FACTS control which can
provide a series reactive power compensation for a transmission system. This paper
proposes a comparative analysis of the PI and fuzzy logic control of SSSC for power
oscillation damping and rotor oscillation damping following a three phase to ground fault.
Keywords: Flexible AC Transmission Systems, Fuzzy Logic Control, PI control, Power
oscillation damping, Voltage Source Inverter

1. Introduction
The electrical power network grows with enormous complexity. In such a complex network with the
conventional control mechanisms, there is a lack of controllability of the active and reactive power
flows in energized networks. In a complex interconnected ac transmission system, the power flow finds
many paths on its way from the source to load. In such networks a load flow study must be performed

Intelligent Controller in Transient Stability Analysis of Static

Synchronous Series Compensator

111

to find the active and reactive power flows on all the times. Its impedance and voltages at the terminals
determine the flow of active and reactive powers on the line. Even though we obtain the reliability of
power supply, no control exists on line loading. By adding shunt and series elements, the line
impedances may be altered. Since the parameters of the transmission lines of the complex network
cannot be altered, the series and shunt connected FACTS devices help in altering the line parameters
and the efficiency of the network is increased [1]. The applications of FACTS devices to improve
system damping against both dynamic and transient stability have been reported in the literature [2][3]. Simultaneous real and reactive power control has also been proposed in the literature [4]-[6].
Designing a controller for the non-linear systems, to achieve the adaptiveness is an emerging
field of interest in the research area. Several control methods have been proposed. Initially, owing to
their simplicity, conventional control techniques like PI and PID control laws were proposed. The
voltage source inverter for SSSC is initially devised with 3 level inverters, then 6pulse, 12 pulse, 24
pulse and 48 pulse [7] inverters were designed for the purpose to use in SSSC. The SSSC as a series
compensator has two ways of controlling the magnitude of the compensation, which are the constant
quadrature voltage (Vq) mode and constant reactance mode (Xq). In the Xq mode the voltage injected
by SSSC is proportional to the line current and in Vq mode the injected voltage of the SSSC is a
constant that is in quadrature to the line current [8], [9].
The lack of intelligence, learning, and adaptation capability in the control methods discussed in
general control scheme, reveal the need of continuous expert intervention for the control of non-linear
systems. Takagi-Sugeno fuzzy model with parameter uncertainties to approximate the non linear
systems was suggested in the literature [10]. The power system stability of a single machine infinite
bus system with SVC using fuzzy set theory was discussed [11]. For transient stability studies, Genetic
algorithm based tuning methods [6] were proposed for the SSSC in the literature. This paper presents
an analysis of an intelligent controller with fuzzy logic for SSSC in a multi area system.

2. Modelling of Static Synchronous Series Compensator (SSSC)

The conventional series capacitor provides a voltage across it even though it includes a capacitive
reactance in series with the transmission line. The concept of SSSC is, the same voltage can be
provided by a voltage source. The basic model of the series compensator with a voltage source is
shown in figure 1.
Figure 1: Basic model of the series compensation with a voltage source

The above basic model is obtained with the help of a series FACTS device called static
synchronous series compensator (SSSC). It consists of a voltage-sourced converter and a transformer
connected in series with a transmission line. The SSSC injects a voltage of variable magnitude in
quadrature with the line current, thereby emulating an inductive or capacitive reactance. This emulated
variable reactance in series with the line can then influence the transmitted electric power. The injected
voltage is given by the equation,
Vq = -jkXI
(1)
where,
Vq is the injected compensating voltage phasor,

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S. Padma, M. Rajaram, R. Lakshmipathi and S. Madhubalan

I is the line current,

Xc is the reactance of series capacitor,
X line reactance and
k=Xc/X = degree of compensation.
If V1 and V2 are the sending and receiving end voltages and Vq the injected voltage, the basic
equation for the transmission line with voltage source as an SSSC is given by,
di
(2)
L
+ Ri = V 1 Vq V 2
dt

Where, L and R are the resistance and inductance of the line

A multi-pulse inverter can be used for the injection of the voltage [12], [13]. In the proposed
work a 48 pulse voltage source inverter (VSI) is used. With 48 pulse VSI, AC filters are not required.
Ideal switches and zigzag phase shifting transformers are used to build a GTO type VSI. The inverter
consists of four 3-phase, 3-level inverters and four phase shifting transformers. Such a configuration is
harmonic neutralized. The DC bus is connected to the four 3-phase inverters. The four voltages
generated by the inverters are applied to secondary windings of four zigzag phase shifting
transformers. The four transformers primary windings are connected in series and the converter pulse
patterns are phase shifted so that the four voltage fundamental components sum in phase on the
primary side. The phase shifts produced by secondary delta connections (-30 degrees) and by the
primary zigzag connections (+7.5 degrees for transformers 1Y and 1D, and -7.5 degrees for
transformers 2Y and 2D) allow neutralizing harmonics up to 45th harmonic. Figure 2 shows the Matlab
/ Simulink model for the 48 pulse Voltage Source Inverter.
Figure 2: 48-pulse voltage source inverter

Intelligent Controller in Transient Stability Analysis of Static

Synchronous Series Compensator

113

A multi-area system is taken as the test system for analysis and is shown in figure 3. In the test
system the SSSC located in series with line L1 between buses 1 and 2. It has a rating of 100MVA and
is capable of injecting up to 10% of the nominal system voltage.
Figure 3: Single line diagram of the test system

3. Control Scheme for SSSC

The main function of the SSSC is to dynamically control the power flow over the transmission line.
The control scheme proposed by [8]-[14] is based on the line impedance control mode in which the
SSSC compensating voltage is derived by multiplying the current amplitude with the desired
compensating reactance Xqref. Since it is difficult to predict Xqref under varying network contingencies,
the voltage control mode is considered in the proposed scheme. This controller is modified to operate
the static synchronous series compensator in the automatic power flow control mode. In this mode, the
reference inputs to the controller are reference powers P and Q, which are to be maintained in the
transmission line despite system changes. Using dq transformation the line voltage and the current are
converted to corresponding d and q axis components. The power references are converted to current
references using the equations (3) and (4). From the current references the firing pulses are calculated.
I dref = ( P Vd + Q Vq ) /(Vd2 + Vq2 )
(3)

I qref = ( P Vq + Q Vd ) /(Vd2 + Vq2 )

(4)
where, Idref and Iqref are the reference currents calculated from the d and q axis voltages Vd and Vq. The
Matlab / simulink model for the generation of firing pulses is shown in figure 4.
Figure 4: Matlab Simulink model for the generation of firing pulses.

4. Fuzzy Logic Control for SSSC

Fuzzy logic control has gained very much interest in recent years. A numbers of successful
applications have been reported and these applications of the fuzzy control have often produced results
superior to those of classical control. This increased popularity of the fuzzy control can be attributed to
the fact that fuzzy logic systems provide a powerful vehicle that allows engineers to incorporate human
reasoning in the control algorithm. The fuzzy logic system design is not based on the mathematical
model of process. The fuzzy controllers designed using fuzzy logic implements human reasoning that

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S. Padma, M. Rajaram, R. Lakshmipathi and S. Madhubalan

has been programmed into membership functions, fuzzy rules and rule interpretation. The PI controller
is mostly used in industry due to its simple control structure, easy to design and low cost. However, PI
type controller fails when the controlled object is highly non linear and uncertain [15]. To deal with the
non linearity, fuzzy logic controller is replaced in the place of PI controller. The fuzzy logic controller
involves four main stages: fuzzification, rule base, inference mechanism and defuzzification. The
structure of the fuzzy logic controller is shown in figure 5.
Figure 5: Structure of the fuzzy logic controller

The error and change in error are taken as the inputs to the fuzzifier. Triangular membership
functions are used for the inputs and the output. The universe of discourse for both the inputs is divided
into seven partitions (NL - Negative Large, NM - Negative Medium, NS - Negative Small, Z - Zero,
PS - Positive Small, PM - Positive Medium, PL - Positive Large). The output is the voltage and again
the universe of discourse is divided into seven partitions. The details of the partitions for the inputs and
the output are shown in fig. 6. Heuristic methods are used in the formation of rule base. The rule base
is of the form If input1 is {} and input 2 is {} then output is {}.
Figure 6: Membership functions for the inputs 1 and 2 (a & b) and the output (c).

(a)

(b)

(c)

Intelligent Controller in Transient Stability Analysis of Static

Synchronous Series Compensator
Table I:
2
1
NL
NM
NS
Z
PS
PM
PL

115

Fuzzy Associative Memory Table (Fam Table)

PL

PM

PS

NS

NM

NL

Z
PS
PM
PM
PL
PL
PL

NS
Z
PS
PM
PM
PL
PL

NM
NS
Z
PS
PS
PM
PL

NL
NM
NS
Z
PS
PM
PL

NL
NL
NM
NS
Z
PS
PM

NL
NL
NM
NM
NS
Z
PS

NL
NL
NL
NM
NM
NS
Z

The rule base is given in the FAM table shown in table - I. The inference mechanism depending
on the inputs evaluates output surface based on the rule base. In this paper Mamdani type of fuzzy
inference system is used. The centroid method of defuzzification is used to obtain the crisp output.

5. Simulation Results and Discussions

The PI and fuzzy controls are applied for the test system. Case (a) is discussed for the PI control for
48-pulse inverter based SSSC and case (b) is discussed for the fuzzy control for 48-pulse inverter based
SSSC and are simulated using MATLAB/Simulink to analyze its operation. A three phase fault is
created to study the performance of the controllers. The fault is created in the line 2 near the SSSC at
0.1s and it is cleared at 0.2s.
Figures 7 and 8 show the power flow through the transmission line for cases (a) and (b)
respectively. The overshoot is reduced in the case of fuzzy controller compared to the PI controller.
Figures 9 and 10 show the injected voltage from the SSSC for cases (a) and (b) respectively.
Figure 7: Power flow through the transmission line for case (a)
1000

800

600

400

200
0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

Figure 8: Power flow through the transmission line for case (b)
800

700

600

500

400

300

200

100
0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

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S. Padma, M. Rajaram, R. Lakshmipathi and S. Madhubalan

Figure 9: Magnitude of injected voltage for case (a)
0.1
0.08
0.06
0.04
0.02
0
-0.02
0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

Figure 10: Magnitude of injected voltage for case (b)

0.1
0.08
0.06
0.04
0.02
0
-0.02
0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

Figures 11 and 12 show the power output from the generator 1 for cases (a) and (b) and 13 and
14 for generator 2 for cases (a) and (b) respectively. Again the oscillations are lesser for case (b)
compared to case (a). The load angles at generators 1 and 2 for cases (a) and (b) are shown in figures
15, 16, 17 and 18 respectively. The oscillations and settling are good for cases (b) compared to (a).
Figure 11: Power output from generator 1 for case (a)
1.5

0.5

-0.5
0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

Figure 12: Power output from generator 1 for case (b)

1.4
1.2
1
0.8
0.6
0.4
0.2
0
-0.2
-0.4
-0.6
0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

Intelligent Controller in Transient Stability Analysis of Static

Synchronous Series Compensator

117

Figure 13: Power output from generator 2 for case (a)

1.5

0.5

-0.5
0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

Figure 14: Power output from generator 2 for case (b)

1.4
1.2
1
0.8
0.6
0.4
0.2
0
-0.2
-0.4
0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

Figure 15: Load angle at generator 1 for case (a)

100

50

-50

-100
0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

Figure 16: Load angle at generator 1 for case (b)

100
80
60
40
20
0
-20
-40
-60
-80
-100
0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

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S. Padma, M. Rajaram, R. Lakshmipathi and S. Madhubalan

Figure 17: Load angle at generator 2 for case (a)
100

50

-50

-100
0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

Figure 18: Load angle at generator 2 for case (b)

100
80
60
40
20
0
-20
-40
-60
-80
-100
0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

6. Conclusion
The dynamic performance of SSSC is analyzed with PI and fuzzy controllers using Matlab/Simulink,
where the SSSC is connected to a multi-area power system. The SSSC is realized with 48 pulse
inverter and it generates symmetrical output voltages of desired magnitude and phase angle with very
low harmonic components. It is inferred from the results that the fuzzy controller performs effectively
compared to conventional PI controller for the SSSC in order to maintain the real power flow over the
transmission line to follow the set reference values under a transient disturbances condition. The
oscillation damping and settling time are improved for the case of fuzzy controller in all the waveforms
shown.

Intelligent Controller in Transient Stability Analysis of Static

Synchronous Series Compensator

119

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