Full Paper Int. J. of Recent Trends in Engineering and Technology, Vol. 4, No.

3, Nov 2010

An Improved Control Scheme Applied to Static Synchronous Series Compensators for Damping of Oscillations in Multi-Machine Power Systems
Government College of Engineering/Electrical and Electronics Engineering, Bargur, India Email: muralitri1@rediffmail.org 2 Government College of Engineering/Electrical and Electronics Engineering, Tirunelveli, India Email: rajaramgct@rediffmail.com
Abstract Flexible AC Transmission System (FACTS) devices are widely recognized as powerful controllers to improve the dynamic performance. This system allows more efficient utilization of the existing electricity infrastructure. The standard FACTS controllers are linear controllers designed around a specific operating point from a linearized system model with fixed parameters. At other operating points or in the event of a major disturbance, those linear controllers may not guarantee acceptable performance or stability. A novel approach of artificial intelligence (AI) technique called Hybrid Neuro-Fuzzy approach was designed for the external coordinated control of Static Synchronous Series Compensator (SSSC) based damping controllers. The advantage of this approach is that it can handle the nonlinearities, at the same time it is faster than other conventional controllers. ANFIS (Adaptive Neuro-Fuzzy Inference System) was employed for the training of the proposed fuzzy-logic controllers (FLC). Simulation studies were carried out in MATLAB/SIMULINK environment to evaluate the effectiveness of the proposed nonlinear intelligent controllers on multi-machine power systems. Results showed that the proposed Neuro-Fuzzy intelligent control has a satisfactory performance during a three-phase short circuit fault. Index Terms ANFIS, Coordinated control, Damping performance, FACTS, Fuzzy logic, MATLAB/SIMULINK, SSSC, Training of FLC .
1

D.Murali1, Dr.M.Rajaram2

I. INTRODUCTION Power systems are continuously expanded and upgraded to cater the ever-growing power demand. Due to limited energy resources, time and capital required, the present trend is looking for the new techniques for improving the power system performance. The FACTS controllers have the ability to control the interrelated parameters, that govern the operation of transmission system, including series impedance, shunt admittance, current, voltage, phase angle and damping of oscillations at various frequencies below rated value. Furthermore, with increasing power transfer and heavier loading, power systems become gradually more complex to operate and they may become less secure for riding out major power outages [1], [2]. As a result, large power flows with inadequate control may be observed and excessive reactive power and large dynamic swings may be experienced in different parts of the system which will

prevent the transmission interconnections from being fully utilized [3]. Power system exhibits various modes of oscillations due to interaction among various components. Most of the oscillations are due to synchronous generator rotors swinging relative to each other. Stressed power systems are known to exhibit nonlinear behavior. Load changes or faults are the main causes of power oscillations. If the oscillations are not controlled properly, it may lead to a total or partial system outage. If no adequate damping is available, these oscillations may sustain and grow to cause system separation [4-6]. In the past three decades, power system stabilizers (PSSs) have been extensively used to increase the system damping for low frequency oscillations. The power utilities worldwide are currently implementing PSSs as effective excitation controllers to enhance the system stability [7 16]. However, there have been problems experienced with PSSs over the years of operation. Some of these were due to the limited capability of PSS in damping only local and not interarea modes of oscillations. In addition, PSSs can cause great variations in the voltage profile under severe disturbances and they may even result in leading power factor operation and losing system stability [17]. This situation has necessitated a review of the traditional power system concepts and practices to achieve a larger stability margin, greater operating flexibility, and better utilization of existing power systems. A new concept of flexible ac transmission systems (FACTS) brought radical changes in the power system operation and control. A new technique using FACTS devices linked to the improvements in semiconductor technology opened new opportunities for controlling power and enhancing the usable capacity of existing transmission lines. As supplementary functions, damping the interarea modes and enhancing power system stability using FACTS controllers have been extensively studied and investigated. Generally, it is not cost-effective to install FACTS devices for the sole purpose of power system stability enhancement. Some FACTS devices can control both active and reactive power. For power system security enhancement, both the active and reactive powers should be controlled. This can be performed with FACTS devices such as Unified power flow controller (UPFC) and Static synchronous series compensator (SSSC).

2010 ACEEE DOI: 01.IJRTET.04.03.15

Full Paper Int. J. of Recent Trends in Engineering and Technology, Vol. 4, No. 3, Nov 2010 II. STATIC SYNCHRONOUS SERIES COMPENSATOR The SSSC is a power electronic-based synchronous voltage source that generates three phase ac voltages of controllable magnitude and phase angle. This voltage, which is injected in series with the transmission line, is almost in quadrature with the line current and hence emulates an equivalent inductive or capacitive reactance in series with the transmission line. When the series injected voltage leads the line current, it emulates an inductive reactance causing the power flow and the line current to decrease. When the line current leads the injected voltage, it emulates a capacitive reactance thereby enhancing the power flow over the line. The basic schematic diagram of the static synchronous series compensator with its test system is shown in Fig.1. The Voltage-Source Converter (VSC) is the basic building block of many of the modern FACTS devices such as STATCOM (Static synchronous compensator), SSSC, and UPFC. The VSC uses switching gates, that have turn-on and turn-off capability, such as Gate Turn-Off Thyristor (GTO), Insulated Gate Bipolar Transistor (IGBT), MOS Turn-Off Thyristor (MTO) and Insulated Gate-Commutated Thyristor (IGCT). The VSC generates ac voltage from a dc voltage. With a VSC, the magnitude, the phase angle and the frequency of the output voltage can be controlled. It has the capability to transfer power in either direction by just reversing the polarity of the current. The SSSC using a VSC to inject a controllable voltage in quadrature with the line current of a power network, is able to rapidly provide both capacitive and inductive impedance compensation independent of the power line current. Moreover, a SSSC with a suitably designed external damping controller [18-19] can be used to improve the damping of the low frequency power oscillations in a power network. These features make the SSSC an attractive FACTS device for power flow control, power oscillation damping and improving transient stability. An attempt has been made to apply hybrid neuro-fuzzy (HNF) approach for the coordination between the conventional power oscillation damping (POD) controllers for multi-machine power systems. With the The performance of the hybrid neuro-fuzzy controllers is compared with the cases of multi-machine power systems (i).with fuzzy coordinated SSSC controllers, (ii).with SSSC, and (iii).without SSSC respectively. III. POWER SYSTEM MODEL The single line diagram of a two-machine power system with SSSC is shown in Fig.2. It consists of two power generating stations and a 3-phase load at bus B3. The first power generating station has a rating of 2100 MVA [24] and the other one has a rating of 1400 MVA. The 3-phase load of approximately 2200 MW is modeled using a dynamic load model where the active and reactive power absorbed by the load is a function of the system voltage. The generating substation I is connected to this load by two transmission lines L1 and L2. The line L1 is 280 km long and the line L2 is split into two segments of each 150 km length in order to simulate a three-phase fault (using a fault breaker) at the midpoint of the line. The generating substation II is connected to the load by the line L3 of 100 km length. The SSSC is located between the buses B1 and B2. It has a rating of 100 MVA and is capable of injecting upto 10% of the nominal system voltage. This SSSC is a typical three-level PWM converter having a nominal voltage of 40 kV with an equivalent capacitance of 375 F. On the AC side, its total equivalent impedance is 0.16 p.u. on 100 MVA base. This impedance represents the transformer leakage reactance and the phase reactor of the IGBT bridge of actual SSSC. The SSSC injected voltage reference is normally set by a POD (Power oscillation damping) controller. In general, the structure of a simple FACTS POD controller is shown in Fig.3. It involves a transfer function consisting of an amplification block, a washout block and two lead-lag blocks and an output limiter. Commonly, the local signals

Fig. 2 Single line diagram of a two-machine power system with SSSC

Fig. 1 Schematic diagram of SSSC

Fig. 3 The Structure of a simple FACTS POD controller

help of MATLAB, a class of adaptive networks, that are functionally equivalent to fuzzy inference systems, is proposed. The proposed architecture is referred to as ANFIS (Adaptive Neuro-Fuzzy Inference System) [20-23].
2010 ACEEE DOI: 01.IJRTET.04.03.15

Full Paper Int. J. of Recent Trends in Engineering and Technology, Vol. 4, No. 3, Nov 2010 performance of the above mentioned damping controllers deteriorates in multi-machine power systems. The damping performance of the FACTS based damping controllers in multi-machine power systems can be improved by using fuzzy coordinated design [26]. The structure of the proposed fuzzy coordination controller is shown in Fig.5, where the inputs PSSSC1 and PSSSC2 are the active power flows through SSSCs connected between Bus2 and Bus3 and Bus6 and Bus7 respectively. Thus, the conventional damping controllers were tuned by using fuzzy logic controllers. The fuzzy logic controller [27], as shown in Fig.6, comprises of four stages: fuzzification, a knowledge base, decision making and defuzzification. The fuzzification interface converts input data into suitable linguistic values that can be viewed as label fuzzy sets. In this paper, the inputs are fuzzified into three fuzzy sets: B (big), M (medium) and S (small) as shown in Fig.7. The knowledge base comprises knowledge of application domain and attendant control goals by means of set of linguistic control rules. The decision making is the aggregation of output of various control rules that simulate the capability of human decision making. In this paper, the rules are trained using ANFIS technology. Table 1 shows the rule base of the fuzzy logic controller. To obtain a deterministic control action, a defuzzification strategy is required. Defuzzification is a mapping from a space of fuzzy control actions defined over an output universe of discourse into a space of non-fuzzy (crisp) control actions. There are different techniques for defuzzification of fuzzy quantities such as Maximum method, Height method, and Centroid method. Here, Centroid method was used for defuzzification.

Fig. 4 The multi-machine power system configuration

of FACTS devices are always applied for the damping control. The inputs to the POD controller are the voltage at bus B2 and the current flowing in the line L1. The compensator is equipped with a source of energy, which helps in supplying or absorbing active power to or from the transmission line along with the control of reactive power flow. A 3-machine 9-bus interconnected power system model is simulated in this study. There are two SSSCs in the power system, one connected between Bus2 and Bus3 and another connected between Bus6 and Bus7 respectively. The single line diagram of the multimachine power system model is shown in Fig.4. IV. DESIGN METHODOLOGY A. Design of damping controller The damping controller is designed to improve the damping torque. The structure of an SSSC based damping controller is shown in Fig.3. It consists of gain, signal wash-out and phase compensator blocks. The block of signal wash-out is a high pass filter that modifies the SSSC input signal and prevents steady changes in active power. Therefore, TW should have a large value to allow signals associated with active power oscillations to pass unchanged. The value of TW is not critical and may be in the range of 1 to 20 seconds. Here it is assumed to be equal to 10 seconds. Values of controller parameters were kept within specified limits. The parameters of the POD controller were adjusted by trial and error [25]. The POD controller parameters are given in Appendix. B. Design of fuzzy logic coordinated damping controller Most of the FACTS based damping controllers belong to the PI (Proportional + Integral) type and work effectively in single machine system [25]. However, the

Fig. 6 Principle design of fuzzy logic controller

Fig. 7 Membership Function (mf) Fig. 5 SSSC based Fuzzy-Coordination Controller

2010 ACEEE DOI: 01.IJRTET.04.03.15

Full Paper Int. J. of Recent Trends in Engineering and Technology, Vol. 4, No. 3, Nov 2010
TABLE I : Decision table (Rule base) with 3 membership functions for each of the two input signals

V. ANFIS TRAINING In this work, both membership functions and the inference system are optimized using ANFIS technology. A. ANFIS Scheme In this part, the structure of ANFIS for tuning parameters of the fuzzy inference system with two inputs and one output is explained. The scheme of proposed ANFIS structure and its application in a multi-machine power system is shown in Fig.8. It consists of five layers: In layer 1, each node generates membership grades of a linguistic label. In this paper, as shown in Fig7, the triangular membership functions are selected. Parameters in this layer are referred to as premise parameters S1 and they can be trained using the ANFIS learning algorithm. Each node in layer 2 is a fixed node and calculates the firing strength of each rule via multiplication of the incoming signals. Nodes in layer 3 compute the normalized firing strength of each rule. Each node in layer 4 is an adaptive node and in this layer parameters of output are adjusted and the output of the ith node is given by equation (1). f i = i ( pi x + qi y + ri ) (1) where

Hence, an adaptive network was constructed, which is functionally equivalent to a fuzzy logic fault locator. The structure can update the membership functions and rule base parameters. The training procedure is achieved based on the batch learning technique, where the tuning of the fuzzy logic controller is achieved with a back-propagation algorithm using input-output training data set. Considering the computation complexity and the resulting performance, parameters are trained using the gradient descent and the least square estimation (LSE) method. The membership functions of two inputs of controller represent the triangular membership functions for each linguistic set and each input. The number of epochs is determined according to the type of membership function and the number of membership functions and to the accepted error measure, fixed by the user. In the present study, 20 epochs have been taken. Based on the training data set, ANFIS [28-30] automatically generates a firstorder Sugeno fuzzy type, using only 3 triangular MFs and 9 rules. ANFIS automatically trains its fuzzy model 20 epochs. For better results, the number of epochs can be increased. V. SIMULATION RESULTS AND DISCUSSION The two-machine power system model shown in Fig. 2 was simulated in Matlab/Simulink environment for the cases of both with and without SSSC based damping controllers during a three-phase short circuit fault of 200 milliseconds duration at bus B4 and the simulation results are shown in Fig.9 and Fig.10. From the simulation results, it was inferred that in damping power system oscillations the SSSC based damping controller is more effective than the system without damping controllers. Then the SSSC based damping controller was made use of in the three-machine power system model shown in Fig.4. A hybrid neuro-fuzzy coordination controller was designed following the procedure presented in the above section. Sugeno-type fuzzy inference system controller was utilized in the proposed scheme with the parameters inside the fuzzy inference system decided by the neural-network back-propagation method. To verify the performance of the proposed neuro-fuzzy controller, a three phase short circuit fault was applied at Bus 3 in the 3-machine 9-bus power system model shown in Fig.4. The duration of the short circuit fault is 200 milliseconds. The power system model was simulated in Matlab/Simulink environment for the cases of without SSSCs, with SSSCs, with fuzzy coordinated SSSCs, and with neuro-fuzzy coordinated SSSCs. The system dynamic responses are shown in Figs.11-14 for the above mentioned cases. From the Fig.11, it was inferred that a very poor power angle oscillation damping is observed without using SSSC, during a disturbance. From the Figs.12-14, it is clear that the designed neuro-fuzzy controller is robust in its operation and gives a superb damping performance compared with the other three cases. The surface plot of the ANFIS model is shown in Fig.15. The input1 is the reference value of VSe . The input2 is the actual value of 4

is the output of layer 3. ( pi , qi , ri ) are

referred to as the consequent parameter set S2. They can also be trained using ANFIS learning algorithms. The layer 5 has only one node and it calculates the overall output as a summation of all input signals:

f =

i =1

fi

(2)

Fig. 8 Proposed ANFIS structure for multi-machine power system

2010 ACEEE DOI: 01.IJRTET.04.03.15

Full Paper Int. J. of Recent Trends in Engineering and Technology, Vol. 4, No. 3, Nov 2010

VSe . The output1 is the reference value of current from

the PI controller. Besides the simple architecture of the neuro-fuzzy controller, it has the potentiality of implementation in real time environment.

Fig. 12 Damping performance of 3-machine power system with SSSC during a 3-phase short circuit fault of 200 milliseconds duration at Bus 3

Fig. 9 Damping performance of a two-machine power system without SSSC based damping controller during a 3-phase short circuit fault of 200 milliseconds duration at Bus B4

Fig. 13 Damping performance of 3-machine power system with Fuzzycoordinated SSSCs during a 3-phase short circuit fault of 200 milliseconds duration at Bus 3

Fig. 10 Damping performance of two-machine power system with SSSC based damping controller during a 3-phase short circuit fault of 200 milliseconds duration at Bus B4

Fig. 14 Damping performance of 3-machine power system with Neurofuzzy coordinated SSSCs during a 3-phase short circuit fault of 200 milliseconds duration at Bus 3

Fig. 11 Damping performance of 3-machine power system without SSSC during a 3-phase short circuit fault of 200 milliseconds duration at Bus 3

Fig. 15 Surface plot of proposed ANFIS model

2010 ACEEE DOI: 01.IJRTET.04.03.15

Full Paper Int. J. of Recent Trends in Engineering and Technology, Vol. 4, No. 3, Nov 2010 VI. CONCLUSION In this study, Hybrid Neuro-Fuzzy (HNF) approach was employed for the coordination between the damping controllers for SSSC. The effectiveness of the proposed controller in increasing the damping of oscillations was studied on a multi-machine power system. The simulation results validate the robustness of the proposed control scheme. The results have demonstrated that the proposed ANFIS technology can effectively enhance the damping of low frequency oscillations. Moreover, this approach is also simple and easy to be realized in power systems. APPENDIX A POD Controller Parameters : K=1.82, TW =10 sec., T1=T3=0.02 sec., T2=T4=0.15 sec.,Vmax = 0.1, Vmin = -0.1. REFERENCES
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2010 ACEEE DOI: 01.IJRTET.04.03.15