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where X and p are the state and disturbance vectors,
respectively. A and I are system matrices oI appropriate
dimensions.
Fig.3: Block diagram oI LFC with BES
V OBJECTIVE FUNCTION
Scalar integral perIormance indices have been proved to
be the most meaningIul and convenient measures oI dynamic
perIormances |16,17|. Penalizing only the speed excursions,
an objective Iunction based on the integral square error (ISE)
criterion is considered in this study and is given by
(4)
( ) ( ) ( )
1 2
0
J ACE t ACE t d
=
)
t
This objective Iunction has a characteristic that it
penalizes large errors heavily and low errors lightly. The
Integral square error (ISE) technique is used Ior obtaining the
gain settings oI integral controllers with and without BES
system. The above perIormance index is minimized Ior 10
step load disturbance in area-1 Ior obtaining the optimum
values oI integral gain setting K
I
(Ior two equal area system
K
I1
and K
I2 )
. The search space is large and complex and the
above objective Iunction with many local optima is high-
dimensional. That is why genetic algorithm (GA) is used Ior
Iinding the global optimum oI the above objective Iunction.
VI GENETIC ALGORITHM
Genetic algorithms (GAs), a way to randomly search Ior the
best answer to tough problems were Iirst suggested by John
Holland in his book in 'Natural and ArtiIicial systems |18|.
Over the last Iew years, it is becoming important to solve a
wide range oI search, optimization and machine learning
u
2
1
AF
b1
P -
b1
P +
-
-
-
-
-
b 2
P -
d2
P A
b2
+ P
bes2
AP
2
AF
A
signal 2
1
bes
AP
A
signal 1
1
1
1
S T
t
+
1
1
1
g
ST +
1 1
1
1
1
r r
SK T
ST
r
+
+
1
1
1
p
p
K
ST +
2
1
1
g
ST +
1
1
2
ST
t
+
r2 r2
SK T
1ST
r2
1
2
2
1
p
p
K
ST +
_
BES
1
BES
2
1 2
2 a T
S
12
a
d1
P A
1
1
R
_
_
2
1
R
_
_
_
_
-
u
1
C
b
r
bs
6 6
a
Cosu
0
co
6
X
a
Converter
Battery
E
b
r
bs
C
bp
r
bp
E
bt
r
bs
E
do
r
bs
I
bes
PT/CT
3-Ph
system
Power
TR.
Y/A - Y
Battery
12-Pulse
Bridge
Converter
Control
Scheme
Fig. 1: Schematic description oI a BES
plant.
342 2012 International Conference on Communications, Devices and Intelligent Systems (CODIS)
problems. Here genetic algorithm is used to minimize the
objective Iunction and hence to design the gains oI the integral
controllers.
DiIIerent population sizes (40,50,60,70 & 80) have been
considered and it has been observed that the population size oI
60 is satisIactory. AIter selecting the population size, the
eIIect oI mutation and crossover probabilities were examined.
DiIIerent combination oI mutation probabilities (0.001,0.005
& 0.01) and the crossover probabilities (0.6,0.8,0.9&1.0) were
tested and it was Iound that P
c
1.0 and P
m
0.005 gave the
best perIormance. It is worth mentioning here that the bit size
(gene length) oI each variable is 10(i.e., 10). Detailed
optimization algorithm using GA is given below:
A. Encoding
The design variables are mapped onto a Iixedlength binary
digit string which is constructed over the binary alphabet (0,1),
and is concatenated head-to-tail to Iorm one long string
reIerred to as a chromosome. That is, every string contains all
design variables.
Each design variable is represented by a -bit string. We
have to determine the value oI . It is shown by Lin and
Hajela |19| that
)
c
y y
( log
min
i
max
i
2 i
>
(5)
where y
i
max
upper bound on y
i
, y
i
min
lower bound on y
i
and c the resolution. For example iI c 0.01, y
i
max
60,
y
i
min
20, then
i
_ 11.9658 but bit size must be an integer
and hence, in this case
i
_ 12.
B. Decoding
The physical value oI i-th design variable y
i
is computed
Irom the Iollowing equations:
1 2
) y (y
I y y
i
min
i
max
i
i
min
i i
+ =
(6)
For example, iI c 0.01;
y
i
max
60, y
i
min
20.0 and
i
12, then the bit string 100000000001 is decoded to I
i
2049
and thus y
i
40.014652.
C. Fitness Function
In GAs, the value oI Iitness represents the 'perIormance
which is used to rank the string and the ranking is then used to
determine how to allocate reproductive opportunities. This
means that individuals with higher Iitness value will have
higher probability oI being selected as a parent. Actually the
Iitness` is deIined as non negative Iigure oI merit to be
maximized which is directly associated with the objective
Iunction.
In unconstrained maximization problem, the objective
Iunction can be adopted as the Iitness Iunction:
F J (7)
where F is the Iitness Iunction and J is the objective Iunction.
The unconstrained minimization problem is transIormed to
the Iitness maximization problem according to the Iollowing
equation:
J
K
F =
(8)
where K is a positive constant multiplier. To maximize the
Iitness Iunction is the same as minimizing the objective
Iunction.
D. Algorithm
The complete optimization procedure using GA is given
below:
STEP-1: Form initial binary strings (chromosomes) equal to
population size.
STEP-2: Evaluation oI the Iitness Ior each string is as Iollows:
Convert each binary substring (genes) in a string into a
decimal number and compute the physical value oI design
variables using eqn (6).
Evaluate the objective Iunction J using eqn. (4) by calling
the '4-th order Runge-kutta Subroutine.
Calculate the Iitness, F
J
K
using eqn. (8).
STEP-3: i) Find out the cumulative Iitness oI each string by
adding its Iitness to the Iitness oI the proceeding population
members.
ii) Sum the Iitness oI all population members.
Find the best Iitness string and send it to the solution vector.
STEP-4: Set generation number 1;
STEP-5: For i 1 to i 'population size * Crossover rate.
i) Select two parents Irom population (based on roulette
wheeling method).
ii) PerIorm crossover and hence generate two oIIspring.
iii) Mutate these two oIIspring based on mutation
probability.
STEP-6: Calculate Iitness oI each oIIspring (as in STEP-2
and STEP-3).
STEP-7: Repeat STEPS 5 and 6 till maximum number oI
generation is reached.
In the present work maximum number oI generation is set
to 100.
VII OPTIMIZATION OF GAINS OF INTEGRAL
CONTROLLER
In this case, the optimum gains oI integral controllers (K
I1
and K
I2
) are obtained at nominal loading condition by
minimizing the objective Iunction as given by eqn. (4) using
genetic algorithm (GA). Using GA, the value oI K
I1
0.012;
and K
I2
0.034 are Iound without BES. Similarly, when ACE
Ieedback is used with BES system, the same perIormance
index (Eq. (4)) is minimized Ior 10 step load disturbance in
area-1 Ior obtaining the optimum value oI integral gain setting
with BES system. It was Iound that with BES system K
I1
0.0293; and K
I2
0.0190.
2012 International Conference on Communications, Devices and Intelligent Systems (CODIS) 343
VIII DYNAMIC RESPONSES WITH AND WITHOUT
BES SYSTEM
Battery energy storage system operates in discharging mode
during peak load period and will be in charging mode during
oII peak hours. ThereIore, only discharging mode behavior oI
BES is examined on LFC loop. shows the dynamic
responses Ior 10 step load disturbance in area-1 with and
without BES system considering conventional ACE. From
, it is clearly seen that with the use oI BES system, there
is considerable reduction in peak deviations oI AF
1
, AF
2
, and
AP
tie1
and settling time is very less. also reveals that
BES system has eliminated the tie power oscillations.
0 10 20 30 40 50 60 70 80
-0.12
-0.1
-0.08
-0.06
-0.04
-0.02
0
0.02
0.04
0.06
0 10 20 30 40 50 60 70 80
-0.1
-0.08
-0.06
-0.04
-0.02
0
0.02
0.04
0.06
0 10 20 30 40 50 60 70 80
-10
-8
-6
-4
-2
0
2
4
6
x 10
-3
Responses oI power system with and without BES Ior 10 step load
increase in area 1.(----Without BES, With BES)
IX CONCLUSIONS
A comprehensive mathematical model oI BES system has
been considered Ior investigating the application in load
Irequency control. The controller design problem has been
Iormulated as an optimization problem and the genetic
algorithm (GA) has been used to search Ior diIIerent optimum
settings oI the controller gains. Analysis reveals that the use
oI BES substantially reduces the peak deviations oI Irequency
and tie-line power. It can be concluded that the application oI
BES system to load Irequency control oI interconnected power
system will provide great improvement in system dynamic
perIormance.
X APPENDIX
Data Ior power system |ReI.12|
f60 Hz, Pr1Pr21000 MW, Kp1Kp2120
Hz/pu MW, Tp1Tp220.0 s, Kr1Kr20.5, Tr1 Tr210.0 s
Tg1Tg20.08 s, Tt1Tt20.3 s, R1 R22.4 Hz/pu MW,
B1B20.425 pu MW/Hz. BES (10 MW/40 MW h)
Battery voltage E
do
17552925 V d.c., c
bp
52597 F, r
bp
10
kO, cb1 F, r
b
0.001 O, r
bt
0.0167 O,
r
bs
0.013 O, Xco0.0274 O, I
0
bes
4.426 kA, K
bes
100 kV/pu
MW (ACE Ieedback),
T
bes
0.026 s, u
0
15,
0
25.
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A
F
1
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344 2012 International Conference on Communications, Devices and Intelligent Systems (CODIS)