2004 E E E International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong

Genetic Algorithm Based Design of Power

System Stabilizers
Hu Guo-qiang, Xu Dong-jie, He Ren-mu

Abstract-This paper presents a GA based optimization PSS tuning was described. The modal performance index
scheme for simultaneous coordination of multiple machines used, was based on the energy contained under the
power system damping controllers. The proposed algorithm envelopes of sinusoidal output signal responses, starting
will be applied to tuning of single and multiple power system from given initial conditions. The optimization was
stabilizers. Controller design will be tested on the small and performed with respect to model uncertainties and noise
mid-sized power systems to prove its effectiveness. PSSs will rejections. The method was tested on a four-machine
be designed using MATLAB Control System Toolbox and
power system.
optimized using GAOT toolbox. All models and simulations
will be carried out using MATLAB and SSAT developed by In [2], PSS tuning by means of Genetic Algorithm (GA)
Powertech Labs Inc, Canada. was described. The paper investigated the use of genetic
algorithms for the simultaneous stabilization of
Index Terms--Genetic Algorithms, Small signal stability, multimachine power systems over a wide range of
Power system stabilizer, Design, MATLAB. operating condition via power system stabilizers that have
fixed parameters. The objective function used for GA
optimization was set to maximize the sum of eigenvalue
I. INTRODUCTION dampings for all operating conditions. Two additional
objective functions that allowed some eigenvalues to
B ECAUSE current regulatory and technical constraints
as well as increase in power demand, electric utilities
be shifted to the left-hand side of the vertical line or to
a wedge-shape sector in the complex plane were
are forced to operate power systems closer to their further investigated in [3]. The results obtained in
transient stability limits. Instability problems caused by these papers proved that GA could be a powerful tool for
low frequency inter-area oscillations that arise due to poor robust PSS damping controller design.
interconnections among power systems, are therefore The latest advances in the telecommunication industry
becoming more significant. Increasing the damping of have induced an increasing interest in technologies, such
these modes of oscillation by adequately tuning Power as phasor measurement unit (PMU), that would provide
System Stabilizer (PSS) had been the topic of many a reliable source of wide-area measurements of the
papers. dynamic state of power system. Many researchers are
The early PSS designs were based on a single-machine investigating the proper usage of this information in the
infinite-bus power system model and useful concepts of various areas of power system dynamic performance.
synchronizing and damping torque coefficients for PSS In [4], a hierarchical two level controller design is
design had been introduced. However, the described described. Where the designed PSSs had a speed
procedure considered the PSS design for one machine at a sensitive local loop operating in the usual way, and a
time. Simultaneous coordination of stabilizers for a wide-area measurement based global loop which
multimachine power system was not attempted. The involved a single different frequency signal between
transfer functions of power system stabilizer, which two suitably selected areas[4]. PSSs were tuned via a
nonlinear constrained optimization where performance
consists of washout and low-pass filters, were designed to
index was a modal based function similar to that
achieve a left-shift in important modes of rotor oscillation.
described in [l]. In both cases the remote signal
The extent of left-shift, was determined by the damping
information provided to the damping controller proved to
gains of stabilizers. Coordination among different
be sufficient for the damping of inter-area modes.
controllers was achieved by analyzing the stabilizer Controllers were designed by means of low order Linear
contribution diagram which was constructed for every Matrix Inequalities (LMI) design.
mode under consideration. In this paper, robust tuning of multiple input PSS,
Various constrained optimization techniques were which as an application of a GA technique, is discussed.
applied to the problem of coordinated tuning of GA integrated with the Lyapuno’s parameter optimization
different power system damping controllers. In [l], an method had been widely used, we only discuss GA only
application of nonlinear constrained optimization to for the reason of simplification.
Controllers were designed using Control System Tool-
Hu Guoqiang is with the Department of Electrical Enginecring, box ( distributed with MATLAB ) and GAOT ( Genetic
North China Electric Power University, Beijing, China. (c-mail:
hu-eaglc@l63.com). Algorithm Optimization Toolbox)[S]. All simulations and
Xu Dongjie is with the Departmcnt of Electrical Engineering, North linearized models were obtained using SSAT(Smal1
China Electric Power University, Beijing, China. (e-mail: xudjB263,net).

0-7803-8237-4/0461 7.0002004IEEE
167
2004 E E E Intemational Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DWT2004) April 2004 Hong Kong

Signal Analysis Tool), which developed by Powertech conditions under consideration, by exploring the search
Labs Inc, Canada. SSAT takes advantage of the state-of- space of admissible controller parameters.
the-art in the development of eigenvalue computation Let m be the number of damping controllers in the
techniques and the related numerical analysis. It offers power system under consideration. If a leadlag structure
powerful features for small signal stability analysis of with a washout stage is assumed for every controller the
power systems with comprehensive analysis functions. following equation describes the transfer hnction of the
i -th controller.
WORKPREPARATION
11. TECHNICAL
In this section, a procedure for tuning multiple power
system damping controllers over a range of operating
conditions is described. For every operating condition a i = 1,2......m (8)
linearized model by manes of SSAT is obtained. The The time constant T, in the washout stage is usually kept
problem of selecting the parameters of the controllers that
constant during the optimization, we assumption that
would assure maximum damping performance over the
considered set of operating points is solved via a GAS T, =IO. T2'0.02, T3'3.0 and T4'5.4 for the purpose of
optimization procedure with an eigenvalue based simplification. Parameters to be determined by the CA
performance index. procedure are K i , Ti,
i = I, . . . , m.
A. Model and Control Structure
Equations 1 and 2 describe a linear model of power
Let E q be a vector of damping coefficients cj , j=
system extracted around a certain operating point. . . . , n for the q -th operating condition. Where n is the
I,

i=AJ:+Bu 6-1) total number of modes of the closed loop matrix A,, .
Then, the optimization problem to be solved by the CA is
written in the following form:
The controller is a leadlag type described by:
maxF = min(min(E,)) q = 1,2......I (9)
subject to
V(sj = KCs)yIs) t3)
where K ( s ) is the transfer function of the controller,
~ ( s is) the measurement signal and v ( s ) is the output
signal from the controller which will provide additional
damping by moving modes to the left. Equation 3 can be where 1 is the total number of operating conditions
expressed in the state space form as: under consideration. This problem is generally very hard
X A = A k X k +Eft& (41 to solve with traditional techniques since continuity of the
objective function cannot be established. Also, Hessian
U =CkXL + Dky 45) for this optimization problem cannot be obtained. In the
where x,! is the state vector of the controller. next section this problem is solved using a CA
optimization technique.
Combining Equations 4 and 5 with Equations 1 and 2 a
closed loop system given in Equation 6 is obtained. C. Genetic Algorithms
&& = -&lXcl (61 Genetic Algorithms (CA) are global search techniques

where

system.
x,, =

Let AJ = aJk
LI is the state vector of the closed loop

pJ be the j t h eigenvalue (mode) of

providing a powerful tool for optimization problems by
miming the mechanisms of natural selection and genetics.
These operate on a population of potential solutions
applying the principle of survival of the fittest to produce
better and better approximations to a solution.
Competition among individuals for resources results in
the closed loop matrix A,, , Its coefficient (6, )is defined: the fittest individuals dominating over the weaker ones in
nature. In each generation, a new set of approximations is
CC3 created by selecting the individuals according to their
fj =-
d m ($71 level of fitness in the problem domain and breeding them
together using operators borrowed from natural genetics.
B. Objective Function Thus, the population of solutions is successively
The objective function is derived in the following way. improved with respect to the search objective by replacing
The goal of GAS based optimization procedure is to achie- least fit individuals with new ones (offspring of
individuals from the previous generation), better suited to
ve at least a 5% damping for all modes over all operating
the environment, just as in natural evolution.

168
2004 IEEE Intemational Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DWT2004) April 2004 Hong Kong
GA are different from other optimization and search
procedures in four ways:
1. GA work with a coding of the parameter set, not the
parameters themselves.
2. GA search from a population of points, not a single
point.
3 . GA use payoff information, not derivatives or other
auxiliary knowledge
4. GA use probabilistic transition rules, not deterministic
rules
Individuals in GA are in the form of character strings
that are analogous to the chromosome found in DNA.
Each individual represents a possible solution within a
search space. A number of individuals constitute a
population. The individuals in the population are then
made to go through a process of evolution, in order to
produce a new generation of individuals that is closer to
the optimal solution.
111. IMPLEMENTATION DETAILS AND STUDIES
The one-line diagram of the test system is given in Fig.
1. This two-area power system, which as a benchmark
sys-tem for inter-area oscillations studies, consist of two
generators in each area, connected via a 220 km tie line.
All generators are equipped with simple exciters and have
the same parameters. For the fully symmetric base case no
supplementary damping control is provided. Two system
configurations, with 400 MW of power flowing from area
1 to area 2, grid parameters change somewhat, were
analyzed:
Operating Condition 1 - Two lines between bus 3 and
101
. Operating Condition 2 - A single line between bus 3
and 101
The ability of the system to withstand a loss of a line
after a three phase fault at bus 3, for the two operating
conditions is investigated.
To solve this problem a supplementary damping control
is sought. The following Control Strategies are analyzed:
1) Four PSSs on all generators. PSS controllers are set to
utilize local generator speed measurements.
169
2) Two PSSs on generator 2 and 3. PSS controllers are set
to utilize local generator speed measurements.
3 ) Two PSSs on generator 1 and 4. PSS controllers are set
to utilize local generator speed measurements.
4) Single PSS on generator 2. Difference between local
speed measurement obtained from generator 2 and a
remote speed measurement obtained from generator 3
is used as the controller input.
For the purpose of optimization, routines from GAOT
toolbox were used. In Table I(a) the parameters for GAOT
optimization routines are given. Additional GA operators
were utilized because the real-valued alphabet parameter
encoding was used. The description of these operators and
their properties can be found in [5]. Bounds for parameters
are shown in Table I(b). The gain parameter K ibounds are
system dependent and therefore vary for different control
strategies. Optimization is terminated by the prespecified
number of generations. The best individual of the final
generation is the solution.
TABLE I
GA OPTIMIZATION PROPERTIES
1 1 2 3 1 4
In order to solve the problem described by equations 9
and 10, the GAOT toolbox requires a user to specify a
,
MATLAB evaluation function that describes the optimization
problem. The function is extensively using the Control
System Toolbox. This paper only solve the problem for the
first strategy. The evaluation functions for the other control
strategies were coded in the similar way.
2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong

TABLE I1 Damping (%I

Rad/sl HZ
OPTIMAL PSS FOR THE TWO AREAS SYSTEM i8 999 6 08 2 93

Name PSSl PSS2 PSS3 PSS4 BestDamping

K 99.919 99.185 100 99.982 0.0978
I
T1 I
0
I
0.2457 I
0.0031
I
0.0778 I I
7 54 m

4 40 .- 70
Gen Trandr Functbn
0
I I

(999.2s) (1 +3s)
=-
KPSsl(S)
(1+ 1Os) (1 0.02s)(1 5.4s) + +

121 KPsa
(992.9s) (1+0.25~)(1+3s)
=-
(1+10s) (1+0.02s)(l+5.4s)

+
(1000s) (1 0.003s) (1 + 3s)
1%

00
-1
0
60W -1 4000 -1 2000 -1 OW0 -0 8000 -0 6000 -0 4000 -0 2000
1lS
0
lW0
20

K,,(s) =- Fig.3 Optimized Result

+
(1 1Os) (1 0.02s) (I +
+5.4s)

I I 4
(999.9s) (1+0.08~)(1+3s)
~=m= -
(1+10s) (1+0.02s)(l+5.4s)
The change of parameters are shown in Fig.2 during
the search, optimize results shown in Fig.3. We can see
that minimal damping ratio increases to 9.78 from 6.98 in
mid-procedure.
Optimized controllers were tested by nonlinear
The optimization was performed with the total number simulations of the following contingency. First, a three
of generation set to 40 for all control strategies. phase fault is applied on line 3-101 at time t = 0.15,while
Optimized PSSs parameter and Transfer functions of the power (400MW) is flowing from area 1 to area 2. Then,
obtained controllers are shown in Table I1 and Table Ill the line is opened near the end at t = 0.19s. Finally, the
respectively. line is completely removed at t = 0.2s. It can be observed
that the system is well damped and stabilized in less than
12 seconds, for all control strategies. Therefore, if for any
reason a PSS cannot be installed in the second area the
RadlslE 02 11 59 lo9 339 single PSS strategy can be used as a viable substitution.
0
IV. CONCLUSION
In this paper a genetic algorithm toolbox (GAOT) for
MATLAB was used for implementation of GA based
7.54 I.... . .. . - ...
, I " " " " " 2. r . " ." - .. .... ," .:. - - .~.
" ... . .
" " " ..." . ... .-. 111.
" optimization algorithm for the power system damping
controller design. The proposed algorithm allows
simultaneous tuning of multiple power system damping
controllers in different operating conditions. for the two-
area-four-generator power system, four different control
4.40
strategies based on the PSS damping controllers were
implemented. The obtained results show that the GA
algorithm can be effectively utilized for different types of
controllers using different measurements. SSAT is very
effective tool analyzes the small-signal stabilization problem.
1.26
There are many works to be done in the future, such as
data computation speed, algorithm optimization etc.
0.0

ll5 REFERENCES
[ I ] I. Kamwa, G. Trudel and L. G'erin-Lajoie, "Robust Design and
Fig.2 Parameter During the Search Coordination of Multiple Damping Controllers Using Nonlinear
Constrained Optimization,"lEEE Transacrions on Power Systems, vol.
15, no. 3, pp. 1084- 1092,2000.
[2] Y. L. Abdel-Magid, M. Bettayeb, S. Selim, "Gcnetic Algorithm

170
2004 IEEE International Conference on Electric Utility Deregulation, Restructuring a n d Power Technologies ( D W T 2 0 0 4 ) April 2004 Hong K o n g

Based Simultaneous Eigenvalue Placement of Power Systems,” The

Arabian Joumal for Science andEngineering, vol. 25, no. IC, June 2000.
[3] A. L. B. do Bomfim, G. N. Taranto and D. M. Falc-ao,
“Simultaneous Tuning of Power System Damping Controllers Using
Genetic Algorithms,” IEEE Transactions on Power Systems,
vol. 15, no. 1, pp. 163-169, 2000.
[4] I. Kamwa, R. Grondin and I. H’cbert, “Wide-Area Mcasurement
Based Stabilizing Control of Large Power Systems-A Deccntralized
Hierarhical Approach,” IEEE Transactions on Power $ysrems,vol. 16, no.
I , pp. 136-153, 2001.
[5] C. Houck, J. Joines and M. Kay “A Genetic Algorithm for Function
Optimization: A Matlab Implementation,” NCSU-IE TR 95-05, 1995.

BIOGRAPHIES

Hu Guoqiang was born in China in 1974. He

graduated from power system & Automation
Department of China Agriculturc University in
1996. Now he is a Ph. D.candidatc in North China
Electric Power University in Beijing. His interests
are power system small signal stability analysis
and control.

Xu Dongjie was bom in China, in 1974. He

graduated from Electrical Engineering Department
of North China Electric Powcr University in 1996.
He obtained M.Sc degree from (NCEPU) in 2001.
Now He is working towards his Ph. D.degree. His
research interests are power system dynamics, small
signal stability analysis and control.

He Renmu was born in China, in 1944 She

graduated from power system & Automation
Department of TsingHua University in 1967. She
obtained Ph. D. degree from Lausanne Institute of
Scicnce and Technology (EPFL) in 1984 Now she
is the professor of North China Electnc Power
University in Beijing Her interests are power system
dynamics, simulation veracity, dynamic load
modeling, deregulation, software engineenng, wide area measurement
etc

171