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ABSTRACT
In this paper power-system stability enhancement by simultaneous tuning of Power System Stabilizer (PSS) and Static
Compensator (STATCOM) based damping controllers is thoroughly investigated. The power system stabilizer (PSS) input
signal can be either speed deviation or active power Pa are considered for the proposed analysis. The design problem of
the proposed controller is formulated as an optimization problem, and MOL algorithm is employed to search for the optimal
controller parameters. The performance of the proposed coordinated control of based PSS with based STATCOM is
Pa
Keywords- MOL Algorithm, STATCOM, Power System Stabilizer, Multi Machine Power System
1.INTRODUCTION
Power system stability and security are important factor for power system operation [1, 2]. The low frequency
oscillations in the range of 0.1-2 Hz observed in large power systems and their connection, which has poor damping in
a power system. The Power System Stabilizers (PSS) has been widely used for damping oscillations and increasing the
stability of power system. However, PSS may not be able to provide the required damping in modern complex power
systems. Generally, it is important to recognize that machine power parameters changes with loading, making the
machine behavior quite different at different operating conditions. Hence, PSS should provide some degree of
robustness to the variation in system parameters, loading condition and configurations. H Optimization techniques
have been applied to robust PSS design problem [3]. However, the order of the H based stabilizer is as high as that of
the plant. This gives rise to complex structure of such stabilizers which reduces their applicability. A comprehensive
analysis of the effects of the different conventional PSS parameters on the dynamic performance of the power system
was presented in [4]. It is shown that the conventional PSS provide satisfactory damping over a wide range of system
loading conditions [5]. Although PSS provide supplementary feedback stabilizing signals, they suffer a drawback of
being liable to cause great variations in the voltage profile. The recent advances in power electronic technologies have
made the application of FACTS devices very popular in power systems. Most FACTS devices are installed on
transmission lines far away from any generator and their purposes are mainly for reasons other than increasing the
damping of low frequency oscillations. A supplementary controller may be designed for each FACTS device to increase
the damping of certain electromechanical oscillatory modes (inter-area modes), while meeting the primary goal of the
device. Since electronic devices are not directly involved with electromechanical oscillations and the generator signals
are not available locally, the damping controller design is not as straightforward as those of the PSS.
The interaction among PSS and FACTS based controllers may enhance or degrade the damping of certain modes of
rotors oscillating modes. To improve overall system performance, many researches were made on the coordination
between PSS sand FACTS power oscillation damping controllers [6-12].Also, the controllers should provide some
degree of robustness to the variations loading conditions, and configurations as the machine parameters change with
operating conditions. A set of controller parameters which stabilize the system under ascertain operating condition may
no longer yield satisfactory results when there is a drastic change in power system operating conditions and
configurations [13].The problem of PSS and FACTS controllers parameter tuning is a complex exercise as
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uncoordinated local control of FACTS devices and PSS may cause destabilizing interactions. In this Paper, the
coordinated design of PSS and STATCOM controller is presented. The large numbers of conventional techniques have
been reported in the literature pertaining to design problems of lead-lag (LL) controller structure namely the eigenvalue
assignment, mathematical programming, gradient procedure for optimization, and also the modern control theory.
Unfortunately, the conventional techniques are time consuming as they are iterative and require heavy computation
burden and slow convergence. In addition, the search process is susceptible to be trapped in local minima, and the
solution obtained may not be optimal. Many optimizing liaisons (MOL) algorithm is the simplified form of particle
swarm optimization (PSO) algorithm. PSO algorithm was first developed in 1995 by Kennedy and Eberhart [14].In this
paper MOL algorithm used to find out the optimal controller parameter.
Generator Bus-1
I
PSS
VT
Bus-2
T1
Bus-3
Tr. line
PL
PL1
VSTATCOM
VB
T2
Shunt
FACTS
Devices
Load
STATCOM
Input
signal
KS
sTW
1 sTW
Delay
Gain
Block
Washout
Block
1 sT1S
1 sT2S
1 sT3S
1 sT4S
Two stage
lead-lag Block
max
VSTATCOM
_ ref
VSTATCOM
+
Output
min
V STATCOM
__ ref
VSTATCOM _ ref
Page 10
sTWP
K PS
1 sT2 P
1 sT4 P
1 sTWP
Input
Output
min
Gain
VS
Washout
Two-stage
block
block
lead-lag block
Figure3. Structure of power system stabilizer
C . Objective function
The washout function the value of washout time constant is not very critical and may be in the range 1 to 20 s [14].In
the present analysis, wash out time constant TW = TWP =10s are used. The gains ( K PS and K S ) and the time constants
( T1S ,
T2 S , T3S , T4 S , T1P , T2 P , T3P , T4P ) are to be determined in lead-lag controllers and the time constants( T1P ,
T2P , T3P , T4 P
) are to be determined . It is worth mentioning that the PSS and STATCOM-based controllers are
designed to damp the power system oscillations after a disturbance. In the present study, an integral time absolute error
of the speed deviation is taken as the objective function. The objective function is expressed as:
t t sim
(1)
| | t dt
t 0
t sim is the time range of the simulation.For objective function calculation, the
time-domain simulation of the power system model is carried out for the simulation period. It is aimed to minimize this
objective function in order to improve the system response in terms of the settling time and overshoots. The problem
constraints are the STATCOM controller parameter bounds. Therefore, the design problem can be formulated as
optimization problem
Minimize J
(2)
Subject to
Ki
where
min
Ki Ki
max
, Ti
min
Ti Ti
max
K imin and K imax are the lower and upper bounds of all the controllers (STATCOM and PSS) and Ti min and
Ti max are the lower and upper bounds of the time constants of all the controllers.
f : n .
Let X be the position of a particle and V be its velocity. Both the initial velocity and position of the particle
are chosen randomly and updated iteratively. The formula for updating the velocity of the particle is given by [15].
V wV P RP ( P X ) G RG (G X )
(3)
In the above formula w is a user defined behavioural parameter termed as inertia weight which controls the
Page 11
P and G are weighted by the stochastic variables RP , RG ~ U (0,1) . P , G are the user defined behavioural
parameters. Velocity is added with the current position of the particle to move to another new position in the search
space.
X X V
(4)
After updating a particle's position, limitations are imposed on the distance covered by the particle in a single step so
that the particle can move from one search space to another in a single step. The steps involved in PSO algorithm are
as follows [13]:
a. Initialize randomly the positions and velocities of each particle.
b. Update the position and velocity of each particle.
c. Update the personal and global best.
d. Find the velocity of a new particle using equation (3).
e. Using equation (4) move the particle to a new position.
f. Enforce search-space boundaries.
f ( X ) f ( P)
g. Update the particles best position, if
h. The above steps are repeated for the swarms best position (G ) .
The MOL algorithm is similar to PSO algorithm but the difference is that in MOL algorithm the particle is updated
randomly where as in PSO algorithm the particle is updated iteratively over the entire swarm. This simplified version
V w V G RG (G X )
(5)
Where w is inertia weight and RG ~ U (0,1) is a stochastic variable weighted by the user defined behavioral
parameter G . The particles current position is denoted by X and updated using equation (4) as before. G represents
entire swarm's best known position.
KS /
K PS
T1S /
T2 S /
T1P
PSS
71.2714
based
STATCOM
based PSS
T2 P
T3S /
T3 P
T4 S /
T4 P
1.1820
1.7718
2.3952
1.2649
15.2534
1.9747
0.5917
0.5865
1.1623
PSS
0.7451
2.2308
0.6073
0.3249
0.5634
based
STATCOM
17.5013
0.7184
2.3188
0.1292
-based
Pa -based
1.4821
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A.Comparison of
Loading condition
Nominal
P in pu
0.85
0 (deg.)
Light
0.5
29.33
Heavy
60.3
51.51
(pu)
0.005
-0.005
no control
-0.01
case-1
case-2
Time (sec)
(degree)
60
50
40
30
20
no control
10
case-1
2
case-2
3
Time (sec)
Page 13
-3
(pu)
x 10
0
no control
case-1
case-2
-5
Time (sec)
45
40
(degree)
35
30
25
20
no control
case-1
15
case-2
10
Time (sec)
x 10
no control
case-1
case-2
(pu)
2
1
0
-1
-2
-3
Time (sec)
case-1
case-2
(degree)
70
65
60
55
50
0.5
1.5
2.5
3.5
4.5
Time (sec)
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G2
BUS5
T2
BUS1
L1
L1
LOAD2
G1
L1
L1
T1
BUS3
L3
G3
LOAD1
T3
LOAD4
STATCOM
LOAD3
-based
STATCOM
-based
PSS1
-based
PSS2
-based
PSS3
-based
STATCOM
P -based
PSS1
P -based
PSS2
P -based
PSS3
KS /
T1S /
T2 S /
T3S /
T4 S /
K PS
T1P
T2 P
T3P
T4 P
98.7935
0.4269
0.6452
0.9926
0.1859
34.2051
1.0066
2.4571
1.0061
1.5521
7.7193
0.9540
0.4037
1.8955
2.1779
17.5395
1.7142
0.7361
1.3270
2.0812
81.4726
2.2646
0.3183
2.2835
1.5813
4.8779
0.6970
1.3677
2.3938
2.4123
7.8815
2.4265
2.3930
1.2140
2.0009
7.0952
1.0550
2.2894
1.9807
2.3988
( |
| | I |) t dt
(6)
Where I and L are the speed deviations of inter-area and local modes of oscillations respectively and tsim is the
time range of the simulation. The same approach as explained for SMIB case is followed to optimize the STATCOM
Pa based PSS with based PSS damping controller parameters for three-machine case. The best among the 20
runs for both the input signals are shown in Table III.
t0
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Simulations results
Case-1: Three phase self clearing fault:
Here a 3-phase fault is applied near bus 1 at t = 1 sec and it continues for 5 cycles. In these Figs. 11 &12, the response
without control is shown with dotted line with legend no control; and responses with the signals for based
STATCOM with Pa based PSS is shown with dashed line with legend case-1 and the same for based PSS with
based STATCOM is shown with solid line with legend case-2 respectively. It is clear from Fig. 11 &12 that interarea and local modes of oscillations are highly oscillatory in the absence of STATCOM-based damping controller and
PSS. But the proposed controller significantly improves the power system stability by damping these oscillations with
both case-1 and case-2. However, case-2 based coordinated controller to be a better than case-1 based coordinated
controller as the power system oscillations are quickly damped out with case-1 based coordinated controller.
-3
2-3 (pu)
x 10
2
0
no control
-2
case-1
case-2
-4
10
12
Time (sec)
-3
no control
1-2 (pu)
case-1
case-2
1
0
-1
-2
0
10
12
Time (sec)
Figure12. Inter area mode of oscillation for self clearing three phase fault disturbance
Case-2- Line outage disturbance
To show the robustness of the proposed approach, another disturbance is considered. The transmission line between bus
5 and bus 1 is tripped at t=1.0 sec and reclosed after 5 cycles. The system response is shown in Figs.13 & 14 from
which it is clear that case-2 coordinated control to be a better choice than case-1 coordinated control for stability
improvement.
-3
x 10
2-3(pu)
2
0
no control
-2
case-1
case-2
-4
0
10
12
Time (sec)
Figure 13.Local mode of oscillation for line outage disturbance
Page 16
x 10
-3
1-3 (pu)
1
0
-1
no control
case-1
-2
case-2
-3
10
12
Time (sec)
x 10
4
2-3(pu)
2
0
no control
-2
case-1
case-2
-4
0
10
12
Time (sec)
1-2 (pu)
x 10
1
0
no control
-1
case-1
case-2
-2
10
12
Time (sec)
6.CONCLUSION
In this analysis, the proposed MOL optimization technique has been employed for the coordinated design of PSS with
STATCOM based controllers. Two input signal based
PSS and Pa based PSS are considered. Coordinated design of based PSS controller with based
STATCOM controller is compared with coordinated design of Pa based PSS and based STATCOM controllers
for different loading condition and disturbance. It is observed that based PSS with based STATCOM
controller gives better system response than Pa based PSS with based STATCOM controllers from power
system stability point of view for both SMIB and multi machine power system .
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