Development of Real Time Controller of A Single Machine Infinite Bus System With PSS

IPASJ International Journal of Electrical Engineering (IIJEE)
Web Site: http://www.ipasj.org/IIJEE/IIJEE.htm

Email: editoriijee@ipasj.org
ISSN 2321-600X
A Publisher for Research Motivation........
Volume 2, Issue 9, September 2014
Development of Real time controller of a Single

Machine Infinite Bus system with PSS
Mrs.Ami T.Patel1, Mr.Hardik A.Shah2 Prof.S. K.Shah3
1
Research Scholar,
Electrical Engineering Department:
FTE,M.S.University of Baroda,India
2
Research Scholar,
Electrical Engineering Department:
FTE,M.S.University of Baroda,India
3Electrical Engineering Department,FTE,

M.S.University of Baroda,India
ABSTRACT
A real time controller of a Single Machine Infinite Bus power system has been developed in the Matlab/Simulink environment
with code composer studio v3.3 for the Improvement of the transient stability. The real time transient stability simulations are
available on the proposed controller for SMIB power systems. Transient stability has been given much attention by power
system researchers and planners in recent years, and is being regarded as one of the major sources of power system insecurity.
This paper presents the modelling and simulation of a single machine infinite bus (SMIB) system with real time controllers
using MATLAB programming with CCS. The efficiency of the developed controller has been demonstrated through the real
time simulator available with code composer studio to investigate the stabilization control performance for a study SMIB power
system.
Keywords: Controller design, Transient stability, single machine infinite bus (SMIB) system, power system stabilizer
(PSS), Code Composer Studio (CCS).
1. INTRODUCTION
Power system stabilizer (PSS) controller design, methods of combining the PSS with the excitation controller (AVR),
and investigation of many different input signals and the vast field of tuning methodologies are all part of the PSS
topic. This Paper will focus on development of a few of the technologies and approaches, with the goal of making the
case for using this type of controller to solve the low frequency inter-area oscillation problem. The gain settings of these
stabilizers are determined based on the linearized model of the power system around a nominal operating point to
provide optimal performance at this point. Generally, the power systems are highly nonlinear and the operating
conditions can vary over a wide range. Therefore, CPSS performance is degraded whenever the operating point changes
from one to another because of fixed parameters of the stabilizer. The application of a power system stabilizer (PSS) for
improving the stability of power systems has received much attention [3,4,5]. Real time controller for PSS appears to be
the most suitable one, due to its robustness and lower computation burden [6]. The Real time controllers could easily be
constructed using a simple microcomputer (with CCS). The supplementary stabilizing signal is determined using fuzzy
membership. This paper presents a real time nonlinear control of generator excitation. Control signal is given to sum
point of AVR unit shown in figure 1 & will provide sufficient damping torque for synchronous generator unit with
extra enhanced in rise time & settling time & maximum overshoot and finally robustness that makes it much suitable
for interconnected nonlinear synchronous generators.
Fig 1. Conventional system control model
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This paper aims for linearized Phillips-Heffron model of power system installed with Real time controller and
demonstrates the application of the model in analysing the damping effect of this controller and designing a Power
system stabiliser to enhance power system oscillation stability [5].
2. POWER SYSTEM MODEL WITH SMIB.

The controller design for power system stability studies requires suitable mathematical representation so as to include
all significant components of power system [8]. A Single Machine Infinite Bus (SMIB) system shown in Figure 2 is
considered.
Fig 2. Single machine connected to a large system through transmission lines

The synchronous generator is modeled as q-axis component of voltage behind transient reactance and
electromechanical swing equation representing motion of the rotor. The internal voltage equation of the generator is
written as,
Eq=[E
Fd-Eq-(xd-xd)Id]
1
where, Eq is the voltage behind the transient reactance, subscripts d and q represents the direct and quadrature axis of
the machine, Id is the current along the d-axis. xd, xd and Tdo are d-axis synchronous reactance, transient reactance
and open circuit field time constants respectively [9]. Figure 3 shows the basic structure of PSS installed with
conventional control design. The electromechanical swing equation is broken into two first order differential equations
and is written as,
Fig 3. Block diagram Structure of PSS
(3)
where, Pm and Pe are the input and output powers of the generator respectively; M and D the inertia constant and
damping coefficient; b the synchronous speed; and are the rotor angle and speed; The electrical power output is,
(4)
where, Vtd and Vtq are components of generator terminal voltage (Vt) and Iq is current along the q-axis. The IEEE
Type ST1 excitation system is considered in this work. The dynamic model of the excitation system is
where, Vref represents the steady state (reference) value of terminal voltage, KA and TA are the gain constant and time
constant of exciter respectively. Block diagram of linearized Philips Heffron model of SMIB system installed which is
used for this paper.
3. CODE COMPOSER STUDIO

One of Real-Time Workshop build options builds a Code Composer Studio project from the C code generated and,
therefore, all features provided by Code Composer Studio work to help develop the algorithm or application. Once
target-specific executable is downloaded to the hardware and run it, the code runs wholly on the target and the running
process can be accessed only from Code Composer Studio or from MATLAB with two powerful tools: Link for Code
Composer Studio and Real-Time Data Exchange (RTDX) Link for Code Composer Studio lets use MATLAB functions
to communicate with Code Composer Studio and with the information stored in memory and registers on a target. With
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the links, information can be transferred to and from Code Composer Studio and with the embedded objects,
information about data and functions stored on the signal processor can be retrieved. Within the collection of hardware
that Link for Code Composer Studio supports, some features of the link cannot be applied. This features or components
are three Link for Code Composer Studio IDE Lets use objects to create links between CCS IDE MATLAB. Link for
Real-Time Data Exchange Interface Provides a communication pathway between MATLAB and the signal processor.
Embedded Objects Provides Object methods and properties that let access and manipulate information stored in
memory and register on signal processor, or in Code Composer Studio project. Hardware-in-the-Loop Enables to
write functions in MATLAB that exercise functions from project on target processor. From MATLAB, data can be
generated, can be send to target, and a function C can be used to manipulate the data in the hardware. The basic
functionality of CCS with Real time controller is shown in figure 4.
Fig 4. Functional block Diagram of Real time controller
4. CONTROL ACTION AND REAL TIME CONTROLLER DESIGN

The action of a PSS is to extend the angular stability limits of a power system by providing supplemental damping to
the oscillation of synchronous machine rotors through the generator excitation. This damping is provided by a electric
torque applied to the rotor that is in phase with the speed variation. Once the oscillations are damped, the thermal limit
of the tie-lines in the system may then be approached. This supplementary control is very beneficial during line outages
and large power transfers. However, power system instabilities can arise in certain circumstances due to negative
damping effects of the PSS on the rotor. The reason for this is that PSSs are tuned around a steady-state operating
point; their damping effect is only valid for small excursions around this operating point. During severe disturbances, a
PSS may actually cause the generator under its control to lose synchronism in an attempt to control its excitation field.
A lead-lag PSS structure is shown in Figure 5. The output signal of any PSS is a voltage signal, noted here as
VPSS(s), and added as an input signal to the AVR/exciter. For the structure shown in Figure 5, this is given by
Fig 5. Stabilizer Gain & Phase Compensator

This particular controller structure contains a washout block, sTH/(1+sTH), used to reduce the over-response of the
damping during severe events. Since the PSS must produce a component of electrical torque in phase with the speed
deviation, phase lead blocks circuits are used to compensate for the lag (hence, lead-lag) between the PSS output and
the control action, the electrical torque [12]. The number of lead-lag blocks needed depends on the particular system
and the tuning of the PSS. The PSS gain KS is an important factor as the damping provided by the PSS increases in
proportion to an increase in the gain up to a certain critical gain value, after which the damping begins to decrease. All
of the variables of the PSS must be determined for each type of generator separately because of the dependence on the
machine parameters. The power system dynamics also influence the PSS values. The determination of these values is
performed by using real time code composer studio with matlab simulink. The block of PSS is generated with ccs by
obtaining the PIL simulation. The design requirements of PSS on Real time controller are control design specifications.
It is very difficult to transform power system objectives into control design specifications. However the designed Real
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time power system damping controller should satisfy the following stability and performance criteria. a) A minimum
damping ratio should be maintained for critical modes and greater than 0.1 for low frequency modes like inter-area
modes. b) The settling time is the main damping criteria for oscillations in time domain specifications which should be
lower than the desired value.c) The damping action should not deteriorate the system to unacceptable condition and
should maintain the performance and stability of the system. This is because lower the damping the phase margin is
reduced [13].
Design Requirements
Time domain specifications:
Rise Time : 5 sec
Settling Time : 10 sec
% Overshoot : 10
% Rise : 1
% Settling : 5
% Undershoot : 10
Step response bounds from 0 to 15seconds. The main task is to damp out the oscillations in the SMIB system by the
designed Real time Controller for PSS with stabilizer parameters as a constraints with various disturbances. In addition
to that the optimization algorithm should satisfy the above specified requirements for the response of speed, rotor angle
and terminal voltage of the SMIB system. Settling time is considered as a main performance criteria, because, the
damping of oscillations is represented through the reduction of settling time. The following Table 1 shows the main
significant to the settling time, however other design requirements are more or less satisfied depends upon the
optimization algorithm chosen shows the response of speed, rotor angle and terminal voltage of SMIB system with
simplex and pattern search optimization tuned PSS [14]. It is observed that the oscillations are damped out and the
settling time is also reduced to less than 15 seconds. To know the stability condition of SMIB system with tuned PSS
the pole-zero map for the closed loop system from step to speed, rotor angle and terminal voltage for three optimization
algorithm is shown in fig.6,7& 8. From the figure it is infer that the oscillations are damp out quickly and also system
changed from marginal stability condition to stable system [15].
5. RESULTS & DISCUSSION

In order to investigate the performance of single machine infinite bus system has been studied with PSS, without-PSS
and Real time PSS cases are compared with each other. These results are presented for the rotor speed, torque
variations and Angular Position of the system.
0.025
With Real Tim e PSS
0.02
With PSS
0.015
Without PSS
Spe ed, pu
0.01
0.005
0
-0.005
-0.01
-0.015
-0.02
-0.025
0
10
15
20
25
Time, Sec
Fig 6. Comparisons of responses for Rotor Speed variation

The Response shown in fig 6, 7 & 8 respectively depicts that the oscillations are more pronounced when a system is
perturbed without PSS after which it becomes stable. It is taking very large time (more than 25 sec) to settle to steady
value even with 0.05 pu increase in the input value. Therefore, the performance of the system without PSS is analyzed
to find the suitability of the excitation system in removing these oscillations.
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2
With Real Tim e PSS
Torque Variations
With PSS
1.5
Witho ut PSS
0.5
0
0
10
15
Time, Sec
20
25
Fig 7. Comparisons of responses for Torque variation

The variation of angular position and angular speed with time for 0.05 pu increase in torque for negative and positive
value of K5 are shown in Fig 6 and Fig. 8 respectively. The system is coming out to be stable in both the cases;
however, the transients are more with negative K5 whereas the higher angular position is attained with positive K5.
3
With Real Time PSS
With PSS
Angular Position, Rad
2.5
Witho ut PSS
1.5
1
0.5
0
0
10
15
Time, Sec
20
25
Fig 8. Comparisons of responses for Angular Position

As the system is stable with both positive and negative K5, the limitations of without PSS are taken care by applying
power system stabilizer. With Power system stabilizer the rotor mode damping ratio and damping coefficient increases
with increase in exciter gain. It depicts that angular speed and angular position stabilizes to a particular value with very
few oscillations by using real time PSS
Table:1 Data Validation for the Analysis of Transient Stability
Angular Position
Rise
Time
0.331
Peak
Time
6.98
Torque Variations
0.181
0.537
35.5
Speed Changes
0.269
35.2
System
Parameters
W/O
PSS
With PSS
Improved With
Real timePSS
Settling
OverShoot
Time
29.1
9.9
94.5
Angular Position
0.222
0.661
9.4
85.8
Torque Variations
0.213
0.595
9.34
77.7
Speed Changes
0.33
9.68
Angular Position
0.174
0.503
3.8
67.8
Torque Variations
0.152
0.447
3.68
54.1
Speed Changes
0.214
From the simulation we can conclude that real time power system stabilizer we can stabilize our system up to certain
limit and maintain the synchronism between the inter connected area and protect the whole power system from cascade
tripping which is very serious matter. We can also say that only using PSS we cannot maintain stability but in some
cases or condition it is require using other devices to maintain stability. Nowadays static devices are widely use in
system for compensation of reactive power demand and help to maintain system stability in some transient condition.
Also from fig 6, 7 and 8 Angular position which indicate the angle difference between machine and the rotors speed in
p.u. We can clearly see that if there is no PSS than system cant able to sustain stability and become out of step. When
we use PSS system becomes stable but there is low frequency oscillation present. When we use Real time control of PSS
system may stable with no low frequency oscillation. So Real time PSS more accurate compare conventional PSS. From
fig 9, 10 and 11 which shows Rise Time, Peak Time and Settling Time comparisons respectively.The response of the
system for the given disturbance is growing in oscillations, so that the settling time is more than 35 seconds. So a
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Fig 9. Rise Time Comparisons
Fig 10. Peak Time Comparisons
Fig 11. Settling Time Comparisons

controller must be designed to make the system stable and also to improve the damping. When PSS is connected to the
system it improves the stability of the system and the oscillations are reduced. The settling time is reduced less than 25
seconds as observed from graph. Among the different PSS used for in SMIB system the Real Time PSS performs better
in reducing the settling time and maximum overshoot of rotor speed, torque variations and Angular Position is reduced
while satisfying the time domain specifications.
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6. CONCLUSION & SCOPE OF FUTURE IMPLEMENTATION

Control loops of the governor as well as the AVR have a crucial role in power systems control but they have a limited
capability in damping transient state oscillations. Hence, this paper proposes a simple technique for design of Power
System Stabilizer for damping of oscillations using Real time controller developed code composer studio based linear
control design technique. The performance of different PSS is compared, based on the settling time the Real time
controller based PSS performs better than conventional PSS. By this simple Real time controller PSS design technique
the oscillations are damped out quickly and the stability is improved from marginally stable to completely stable
system. Time domain requirements are satisfied with overall improvement in stability. However, this scheme involves
updating controller parameters in real time using a system identifier which can be complicated and expensive. Hence,
the economics of the process is also a constraint. Digital design of the PSS is also possible. Hence, the design of the
Power System Stabilizer has a lot of scope for future research.
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IPASJ International Journal of Electrical Engineering (IIJEE)

Web Site: http://www.ipasj.org/IIJEE/IIJEE.htm

A Publisher for Research Motivation........

Volume 2, Issue 9, September 2014