Recent Advances In Renewable Energy Sources And Control-2015, VSSUT

Enhancement of Dynamic Stability of An

SMIB Using Fuzzy Logic Based Power
System Stabilizer
K.RAJASEKHAR CHOWDARY1,B.Rohit2,K.S.C.Bharadwaj3,G.Padma4,A.Veerraju5.
1

(Asst. professor Department of Electrical and Electronics Engineering, Lendi Institute Of

Engineering and Technology , Jonnada , Vizianagaram-535005).
Mailid:rajasekhar_kadiyala29@yahoo.com
2,3,4,5
(U.G Student Department of Electrical and Electronics Engineering, Lendi Institute Of
Engineering and Technology , Jonnada , Vizianagaram-535005,JNTUK).
ABSTRACT: The problem of damping low frequency
oscillations in the range of 0.2 3 Hz observed in
power systems has been the major concern these days.
These low frequencies are mainly caused by a heavy
power transmission on weak transmission lines and
fast acting exciters with high gain values. The exciter,
also known as the automatic voltage regulator (AVR),
helps to improve the system voltage during faults
conditions. However, the AVR adversely reduces the
damping of the system causing oscillations. These
oscillations limit the power transmission capability of
a network and, sometimes, even cause a loss of
synchronism and an eventual breakdown of the entire
system.

In this paper a design of an optimal fuzzy

Proportional Integral derivative (PID) power
system stabilizer for single machine infinite bus
power system (SMIB) is presented. The aim of the
control is to enhance the stability and to improve
the dynamic response of the SMIB operating at
different conditions. Error and change in error of
the synchronous machines are chosen as input
signals to the fuzzy controllers and voltage as the
output signal. These variables take significant
effects on damping of the generator shaft
mechanical oscillations. The inference mechanism
of the fuzzy PID controller is represented by (7x7)
decision table. Simulation results of Fuzzy PID
power system stabilizer are compared with
Conventional Power System Stabilizer (CPSS) and
Fuzzy power system stabilizer in order to show
effectiveness of the proposed controller.The system
used is Single Machine Infinite Bus (SMIB) system
which is modelled using state space analysis and its
dynamic response is analyzed both for system
without pss and with pss using Simulink/Matlab

Index Terms: Power system; rotor angle

stability; Convectional controller; Adaptive
control,Automatic Voltage regulator, Power

System Stabilizer, fuzzy logic control, PID

stabilizer,synchronous generator,

I. INTRODUCTION
A power system is a structural
arrangement of Generators, transmission lines, and
distributed systems. Generating stations and a
distribution system are interconnected through
transmission lines, which also connect one power
system to another.
The commercial use of electricity had
started in late 1870s. The first complete Electric
power system comprising: a Generator, Cable,
Fuse, meter and loads; was built by Thomas Edison
in 1882 was a DC system. By 1886, the limitations
of DC systems had been increased apparent. They
could deliver power only a short distance from the
Generation.
"Power system stability is the ability of an
electrical power system, for given operating
conditions, to regain its state of operating
equilibrium after being subjected to a physical
disturbance, with the system variables bounded, so
that the entire system remains intact and the service
remains uninterrupted".
The tendency of a power system to
develop restoring forces equal to or greater than
disturbing forces to maintain the state of
equilibrium is known as Stability. Stability of an
AC power system is denoted by its capability to
recover from planned and random electrical
disturbances like switching operations, faults, and
variation in the load demand etc. The disturbance
can
divide
into
two
categories:
a)Small
b)Large
A small disturbance is one which the system
dynamics can be analyzed from linearized

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Recent Advances In Renewable Energy Sources And Control-2015, VSSUT

E = (K3/1+K3Td0S) EFD - (K3K4/1+K3Td0S)

equations. The small changes in the load or

generation can be termed as small disturbances.
The power system is a highly non linear
system whose dynamic response is influenced by a
wide array of devices with different response rates
and characteristics. The dynamics of a power
system are characterized by its basic features are as
follows:
1. Synchronous tie exhibits the typical behavior
that as a power transformer is gradually
increased a maximum limit is increased beyond
which the system cannot stay in synchronism,
i.e., fall out step.
2. The system is basically a spring-inertia
oscillatory system with inertia on the mechanical
side and spring action provided by the
synchronous tie where in power transfer is
proportional to sin .

B. Electrical Torque Equation:

Where
K1 = Klv { Eqa0[Resin( 0 )+(xd+xe)cos( 0)]+ Iq0(xq - xd)[(xq+xe) sin ( 0 ) - Re cos ( 0 )]}
K2= Kl{ Iq0 [ Re2 + (xq+xe)2 ] + Eqa0 Re }
The linearised swing equation is Tj =T
- T
Tj = 2H r

3. Because of power transfer being proportional to

sin , the equation determining system dynamics
is nonlinear for disturbance causing large
variations in angle . Stability phenomenon
peculiar to non-linear systems as distinguished
from linear systems is therefore exhibited by
power
systems.

C. Terminal Voltage Equation:

II. SINGLE MACHINE CONNECTED
TO AN INFINITEBUS

V =(vd0/vt0)v
V =K5

Consider a single machine system shown in

neglecting damper windings both in the d and q
axes. Also the armature resistance of the machine
is neglected and the excitation system represented
by a single time constant system is shown

+ (vq0/vt0)v

+ K6E

Where K5 ={(Klv xdvq0/vt0) [ Re cos ( 0 )(xq+xe) sin ( 0 )]-(Klv xqvd0/vt0)[ (xd+xe)cos( 0)+
Resin( 0 )]}
K6= { (vq0/vt0) [1 - Klxd (xq+xe)] - (vd0/vt0)
KlxqRe }

A.Voltage Equation:
Where,Kl = 1 / [Re2 + (xq+xe) (xd + xe)]
EFD=[1 / K3 + Td0S] E + K4
1 / K3 = 1 + [Kl (xd xd) (xq + xe)]
K4=
0

v Kl (xd xd) [(xq + xe) sin (

)]

) - Re cos

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Recent Advances In Renewable Energy Sources And Control-2015, VSSUT

D. Dynamic model of SMIB:

In the development of a dynamic model for a
single machine power system (classical stability
model), the following assumptions are usually
made:
i.Mechanical power input remain constant
during the power period of transient.
ii.Damping or asynchronous power is
negligible.
iii.The synchronous machines can be
represented by a constant voltage source
behind a transient reactance.
iv. The mechanical angle of the synchronous
machine rotor coincides with the electrical
phase angle of the voltage behind the
transient reactance.
v. If a local load is fed at the terminal
voltage of the machine, it can be represented
by a constant impedence to neutral.

maintaining almost constant terminal voltage.

These components can be analog or digital
depending on the complexity, viability, and
operating conditions. The final aim of the
Excitation system is to reduce swings due to
transient rotor angle instability and to maintain a
Constant voltage.

A. Automatic Voltage Regulator:

The automatic voltage regulators (AVR)
are found extremely suitable (in comparison to
ammortisseur winding and governor controls)
for the regulation of generated voltage through
excitation control. But extensive use of AVR has
detrimental effect on the dynamic stability or
steady state stability of the power system as
oscillations of low frequencies (typically in the
range of 0.2 to 3 Hz) persist in the power system
for a long period and sometimes affect the power
transfer capabilities of the system.

B. Power System Stabilizer:

E. Exciter Model:
The basic function of an excitation system is to
provide direct current to the Synchronous machine
field winding which will contribute in regulating
the terminal voltage (Vt). The excitation system
model can be represented by a single time constant
system as shown in Fig. 3.6

Lowfrequency oscillations are a common

problem in large power systems. A power system
stabilizer (PSS) can provide a supplementary
control signal to the excitation system and/or the
speed governor system of the electric generating
unit to damp these oscillations. The basic operation
of PSS is to apply a signal to the excitation system
that creates damping torque which is in phase with
the rotor oscillations.
The power system stabilizer takes input
from the filter outputs of the rotor speed variables
and gives a stable output to the voltage regulator.
The PSS acts as a damper to the oscillation of the
synchronous machine rotor due to unstable
operating condition. It does this task by taking rotor
speed as input (with the swings in the rotor) and
feeding a stabilized output to the voltage regulator.

i. PSS Input Signals:

III. Excitation System:

A modern excitation system contains
components like automatic voltage regulators
(AVR), Power system stabilizers (PSS), and filters,
which help in stabilizing the system and

Using various input parameters such as

speed,electrical power, rotor frequency several PSS
models have been designed. Among those some are
depicted below.

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Recent Advances In Renewable Energy Sources And Control-2015, VSSUT

ii. Speed as Input:

A power system stabilizer utilizing shaft
speed as an input must compensate for the lags in
the transfer function to produce a component of
torque in phase with speed changes so as to
increase damping of the rotor oscillations.

iii. Power as Input:

The use of accelerating power as an input
signal to the power system stabilizer has received
considerable attention due to its low level torsional
interaction. By utilizing heavily filtered speed
signal the effects of mechanical power changes can
be minimized. The power as input is mostly
suitable for closed loop characteristic of electrical
power feedback.

iv. Frequency as Input:

The sensitivity of the frequency signal to
the rotor input increases in comparison to speed as
input as the external transmission system becomes
weaker which tend to offset the reduction in gain
from stabilizer output to electrical torque, that is
apparent from the input signal sensitivity factor
concept.

unchanged. Without it, steady changes in speed

would modify the terminal voltage. It allows the
PSS to respond only to changes in speed. From the
viewpoint of the washout function, the value of Tw
is not critical and may be in the range of 1 to 20
seconds.

iii. Stabilizer Gain:

Kstab determines the amount of damping
introduced by the PSS. Ideally, the gain should be
set at a value corresponding to maximum damping;
however, it is often limited by other considerations.

C.FUZZY LOGIC CONTROLLER

Fuzzy logic is a problem-solving control
system methodology that lends itself to implementation
in the system ranging from simple, small, embedded
micro-controllers to large, networked, multi-channel PC
or workstation-based data acquisition and control
systems. It can be implemented in hardware, software,
or a combination of both. The process of fuzzy
inference involves membership functions, logical
operations and IF-THEN rules.

Components of PSS:
Power system Stabilizer consists of three
blocks as shown in the fig 4.2. They are Phase
compensation, Washout block and Stabilizer Gain.

i. Phase Compensation:
This block provides the appropriate phaselead characteristics to compensate for the phase lag
between the exciter input and the generator
electrical (air-gap) torque. Normally, the frequency
range of interest is 0.1 to 2.0 Hz, and the phase-lead
network should provide compensation over this
entire frequency range.

In this study, the generator speed

deviation,
, and the acceleration deviation,
,
are chosen as the FLC inputs. Each input and
output fuzzy variables of FLC is mapped into seven
linguistic fuzzy sets varying from Negative Large
(NL) to Positive Large (PL).
Each fuzzy set is defined by a triangular
membership function to form a set of seven
normalized
and
symmetrically
triangular
membership functions for each fuzzy variable. The
input gains K1, K2 and the output gain K3, shown in
fig 5.1, are used to fine tune the FLC.

ii. Signal Washout:

This block serves as a high-pass filter,
with the time constant Tw high enough to allow
signals associated with oscillations in r to pass

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Recent Advances In Renewable Energy Sources And Control-2015, VSSUT

CASE STUDIES:
Case3: Simulation of SMIB with Fuzzy
Case 1: Simultion of SMIB System

control

Output of SMIB System

Simulation of SMIB with Fuzzy control

Case2: Simulation of SMIB with CPSS

Comparison of SMIB, CPSS and FUZZY:

Comparison of voltage Stability in the case

of SMIB, CPSS & FUZZY control

Output of SMIB with CPSS

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Recent Advances In Renewable Energy Sources And Control-2015, VSSUT

input signals to the fuzzy controller and

voltage as the output signal. FLPSS shows
Case4: Simulation of SMIB with FuzzyPid control

the better control performance than CPSS

in terms of settling time and damping
effect. Therefore, it can be observed that
the performance of FLPSS is better than
CPSS.It is observed that the fuzzy PID
(Fig 6.10) controller has an excellent
response with small oscillations, while the
fuzzy (6.6) and CPSS (6.4) response shows
a ripple and some oscillations before
reaching the steady state operating point. It
is also observed that a good performance
of the fuzzy control in contrast to the
CPSS

for the excitation control of

synchronous machines could be achieved.

REFERENCES

Output of SMIB with FUZZY-PID controlle

Conclusion
The
performed

Project
in

the

is

completely

Matlab/Simulink

environment. The fuzzy logic based power

system stabilizer is introduced by taking

speed deviation and change of speed
deviation of synchronous generator as the

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