Application of FACTS Technology in Modern

AGC Connected Power System

Research Proposal

NATIONAL INSTITUTE OF TECHNOLOGY SRINAGAR

Department of Electrical Engineering
Under the guidance of
Dr. M D Mufti
S Zahid Nabi Dar
PhD/FOE/02/13

Abstract
Flexible Alternating current transmission systems (FACTS) technology is opening up
opportunities for controlling power and enhancing usable capacity of present as well as new and
upgraded lines. FACTS technology functions by controlling the parameters governing operation of
power transmission such as voltage, current, phase angle and series as well as shunt reactance. A wellchosen FACTS controller can overcome the specific limitations of a designated transmission line or a
corridor. FACTS controllers are broadly classified as series and shunt compensator.
In applications for controlling the current/power flow and damping oscillations, the series
controller for a given MVA size is several times more powerful than the shunt controller. In our work
we will incorporate, Thyristor Controlled Phase Angle Regulator (TCPAR) adjusted by thyristor
switches to provide a rapidly variable phase angle.
A decentralized control based on Adaptive Neural Fuzzy Inference System (ANFIS) for
positioning of TCPAR systems in power systems with high wind penetration will be implemented.
Effects on power system stability frequency deviation and power oscillation damping would be
analyzed.

Introduction
Worldwide transmission systems are heavily loaded. The optimized use of transmission systems
investment is important to support social industry, create employment and efficiently utilize scarce
resources. Flexible Alternating Current Transmission System (FACTS) caters to these needs. It
significantly alters the way transmission systems are developed and controlled along with improvements
in system flexibility, asset utilization and system performance. FACTS devices are classified as shunt
and series devices depending on the way these devices are connected. Thyristor Controlled Phase Angle
Regulator (TCPAR) and Unified Power Flow Controllers (UPFC) are series FACTS devices. Reactive
Power compensators, energy storage devices and braking resistors are shunt FACTS devices.
In this work we will be dealing with TCPAR. It has been established that FACTS devices like TCPAR
or UPFC can participate in the power system control in perfect manner, both in steady and transient
states for post power disturbance swing damping. There is little information available regarding the
influence of the use of these devices on slow dynamic system responses accompanying the power and
frequency regulation after a long term imbalance of tie-line interchange power. New FACTS based
devices may be used for the compensation of sudden load change devices.

Literature Survey
Researchers have used SMES (Superconducting Magnetic Energy Storage) devices in order to
suppress frequency deviations through tie-line power regulation [1]. Also a case of using SSSC (Static
Synchronous Series Compensator) for frequency regulation is noted [2]. Thyristor Controlled Phase
Shifter (TCPS) is expected to be an effective apparatus for tie-line power flow control of an
interconnected power system. So far only few papers [3-6] related to TCPS applications in the load
frequency control have been published. The problem of the interconnection exchange was analyzed first
by Elgerd [7, 8] and a critical review of application of modern control theory to AGC (Automatic
Generation Control) by Carpenter [9]. Many components of power systems are nonlinear. Operating
point of a power system may change often during a daily cycle. However if the time horizon to be
analyzed does not exceed a few minutes, then linear models are used. FACTS devices affect power
interchanges and dynamics of secondary control. Proper control algorithm and parameter selection at
regulator of series FACTS devices leads to stable control of frequency and tie line interchange process.
The above stated will be discussed with the help of Thyristor Controlled Phase Angle Regulator
(TCPAR), which acts as a fast phase shifting transformer from power system consideration. Thyristor
Tap Changer can neither generate nor absorb reactive power. AC voltage source supplies or absorbs the
requisite reactive power in case of TCPAR.
FACTS concept uses circuit reactance, voltage and phase angle as controls to redistribute line
flow and regulate nodal voltage. Due to physical constraints of above mentioned parameters most of the
high voltage transmission lines are operating far below their thermal rating through use of above
controls. FACTS enable line loading to increase flexibility to their thermal limits. FACTS control can
increase the capacity of individual corridors to about 80%.
From Jian Xu et al [10], it is seen that a coordinated frequency control scheme of wind turbines
saturable reactors and generator bus voltages are to be researched

thoroughly. By taking these

conditions into account the system operating conditions will be further improved. The power distribution
among the Microgrids is usually achieved in a centralized way. In this method, the distribution of power
is based on central controller which sends out reference signals through communication links.

From the above discussion we can conclude that the existing schemes of TCPAR adopted in power
systems have following shortcomings:(a) Most of these approaches use a linear model. Their design and implementation is therefore
strictly applicable only in the vicinity of the chosen operating point .Any change in system
configuration, (e.g. a generator or a line outage) changes the operating point and renders the
chosen control scheme ineffective.
(b) The Lyapunov based method is difficult to apply successfully in a practical power system. They
have a strong stochastic component which introduces a significant element of uncertainty in the
final control design. Also it gives no information about the sighting of the FACTS device.

(c) WAMS (Wide Area Measurement Systems) based centralized control requires extensive and
reliable communication links. The expenditure is prohibitively high, and this approach cannot be
adopted for deregulated power system.
Our approach revolves around the adoption of the Supervisory Adaptive Control Scheme to
the power system .This control strategy allows us to go for a decentralized control of the power
flows by the different players, each in his own separate control area. The cost is expected to be
modest as the use of extensive and expensive communication channels and circuitry are avoided.
The reliability is also expected to be enhanced as the operation cannot be compromised by the
failure of weak communication links.

Schematic diagram of a TCPAR is shown in fig 1.1. An integral type regulator with negative
feedback is placed in the main control path. The Task of regulator is regulating real power flow in line
where the FACTS device is installed. Reference value is supplied from supervisory control system. A
supplementary control loop devoted to damping of power swings and improving stability is shown in the
lower part of the diagram.
Integrator

+
-
Gain

Controlled variable

Primary
Control

+
Measured variable

Supplementary control
Fig. 1.1 Power ow controller installed in a tie-line of an interconnected power system

Saturation

Motivation for the Work

Motivation for the work surveyed is to derive state variable control using a nonlinear system
model. Changes in operating conditions and network parameters are taken care of by such a design.
Estimation of all state variables (rotor angles and speed deviation of all generators) requires Wide Area
Measurements (WAM) and extended communication links. To avoid WAM control based method, local
measurement is preferred.
Optimal control limitations:

Standard optimal control uses a linearized model.

Valid only for a given operating point.

Robustness of such system is limited within this range.

Control based on linearized system model is in question when system operating conditions
change due to line or generator outages.

Moreover stressed power systems are known to exhibit nonlinear behaviour.

4 Problem Formulation

(a)

(b)
(c)

0)

(d)

Fig1.2 Stages of developing an incremental model of a transmission line with a phase shifting transformer
(a) one-line diagram (b) admittance model with transmission ratio (c) incremental model (d) phasor diagram

Fig 1.2 illustrates the stages of developing a model of a phase shifting transformer installed in a tie line.
A booster voltage which is in quadrature with supply is injected in the transmission line using a booster
transformer.

Where is the controlled variable

The variable h

corresponds to the mutual synchronizing power for the line ab calculated

neglecting the booster transformer. h

corresponds to the synchronizing power when the

booster transformer is taken into account .From above equations we have :-

P =h

- h

This describes the incremental model of the transmission line. There is an equivalent transmission line
between nodes a & b. A change in the flow in that line corresponds to the change in voltage angles at
both sides. Nodal power injection corresponds to regulation of the quadrature transformation ratio
(t).The power injections in nodes a and b are +h .The main aim is how ( ) should be changed.
So that control of a given phase shifting transformer improves damping of oscillations and see effects on
frequency deviation and stability of the system [11].

L
b
H

(t)

...

Network

(a)

- h

-+h

- h
b
+h

(b)

(c)

Fig 1.3 Stages of developing the incremental model (a) admittance model with a phase shifting transformer
(b ) incremental model (c) incremental model after elimination of nodes L

Present day power systems undergo significant transformations. Increasing requirements for technical
economic and social environmental issues making single technology inadequate. It is necessary to build
a new power system generation with possible energy sources which can be a single source of power
from a few kW up to more than 10kW, as well as large power plants with a capacity of 1000MW. From
the previous research of Desire et al [12], it was found that when generating source is composed totally
of conventional thermal units it is worth noting that change of structure of one sub system has an impact
on the quality of the frequency control in the other sub systems operating synchronously. It can be seen
that performance index (PI) is highest for systems having individual subsystems largely saturated with
wind generation.
Wind farms are very unstable source of power .Wind energy used in wind turbines is not subject
to control .Wind farms output varies mainly with change in wind speed. There are two modes for
locally consuming wind power .One is grid parallel mode ,in which wind power is connected to local
grid, which in turn is connected to regional grid. Support from regional power grid results in smooth
operation and control when wind power is consumed in this mode. Other is isolated power system with
significant penetration of wind power [13].
The AGC should control the frequency in response to load and generation changes by opening
(closing) the turbine valves TCSC and STATCOM can be used to change the power transfer capability
in transmission lines and controlling acceleration torque in synchronous generators. The amount of
power change after a disturbance is unknown. The droop control based on power system frequency
deviation and power electronic based converters, Distributed Energy Resources (DERs) can control the
disturbance and change their active power [14-17].
A central controller can be implemented to manage DERs benefit of the centralized control is. In
that the error signal is based on the injected power at point of common coupling and the implemented
control can minimize transient error [18-20]. Shortcomings of this method are communication delay and
wide area data acquisition system to be used. While decentralized controllers need not communicate
delays, they can act rapidly based on local measurements. But uncertainty of generation in different
conditions may weaken the performance of the system. An Adaptive Neuro Fuzzy Inference System
(ANFIS) is proposed to overcome the short comings. Most important benefit of ANFIS is considering
uncertainty of system in the controller design. These controllers are trained by neural networks based on

centralized controller of the previous part. Using the deviation of frequency, controller can predict the
future behaviour of the frequency and adjust the output control signal properly.
A hybrid wind coal power system can be kept stable by adjusting the outputs of coal-fired
generators to respond to fluctuations of wind power during steady state. Thermal power plants offer two
forms of storage. Kinetic energy storage from the turbine alternator shaft system and virtual storage
from the speed governor system. From Luo et.al [21] it was seen that perturbation wind power to
thermal plants is independent of transmission distances. Perturbation frequency deviations are identical
at every thermal generation plant .We propose to use devices like TCPAR for large wind penetration
with automatic generation control for a relatively large power system and see the effect on
stability and power oscillation damping and frequency deviation.

Approach
1. Literature survey
A thorough literature survey was carried out where most of the papers stressed on
heterogeneous power system. Many authors have suggested the use of conventional power
system in cooperation with systems with high wind penetration. After analyzing and taking
the literature into consideration it was concluded that very little work has been done over
years regarding inclusion of series FACTS device into the power systems with high
penetration of wind.

2. Modelling of heterogeneous power system with incorporation of TCPAR

This scheme consists of three sub systems:(a) A three area power systems with generators and load frequency controller of its own is to
be developed in Matlab environment.
(b) An incremental model of TCPAR with state space analysis is to be developed and
interconnected to the system.

Simulation tests of the proposed supplementary control of TCPAR installed in tie-lines have been done .For a
Test System with 10 Generators 31 nodes, 38 branches .It has been divided into three subsystems each of them
being a control area with its own load frequency controller .Control areas are connected as show in figure below

A
L

L
L

b
b
B

Fig 1.4 A three area test system with tie-lines L , L , L

Simulation Results

Active TCPARs controlled with use of the proposed method. Quickly damp out the inter area
oscillations and the frequency variation is much smoother the thick line frequency responses for area A
and area C is similar When TCPARs are not active in all tie-line the inter area power swings are
observable (the thin line). Active TCPARs quickly damp out the inter area oscillations and the dynamic
response is almost a periodic thick line.

(c) Wind energy conversion systems (WECS)

In WECS a variable speed wind turbine will be modelled for different wind condtions.To
make the wind speed adjustable, the wind turbine generator is normally connected to the
utility grid through a power conversion system. The converter system enables the control of
the wind speed. The main advantages of variable-speed turbine include increase in wind
energy output, improved power quality and reduced mechanical stress.

3. Controller Design for Modulating TCPARs Parameters

A heterogeneous power system with high penetration of wind is to be installed with a
series FACTS device viz TCPARs at various point of interconnections and analyzed. We will
follow a decentralized control mechanism which would avoid extensive communication link.
Control based on local measurement would be used. Designing of adaptive controllers for
optimum positioning of TCPARs and effect on stability and power oscillation damping and
frequency deviation would be analyzed.

Computer Simulation
In order to verify the physical behaviour of the system, the scheme would be implemented in a
simulation environment. Through precise computer simulation the above work could be incorporated for
real operating conditions in order to verify the performance of the system.

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