2018 International Conference on Power Energy, Environment and Intelligent Control (PEEIC)

G. L. Bajaj Inst. of Technology and Management Greater Noida, U. P., India, Apr 13-14, 2018

Fuzzy Theory Based Distributed Power Flow

Conditioner to Enhance Power System Dynamic
Stability
Uday Kishan Renduchintala, Chengzong Pang, SatyaVeera Pavan Kumar Maddukuri, Visvakumar Aravinthan
Department of EECS, Wichita State University, Wichita, KS, USA
uxrenduchintala@shockers.wichita.edu, chengzong.pang@wichita.edu,
sxmaddukuri@shockers.wichita.edu,visvakumar.aravinthan@wichita.edu

Abstract—This paper discusses about improving power
system stability by employing a Fuzzy Theory based Distributive
Power Flow Conditioner (DPFC). The goal of the work presented
in this paper is to design an oscillation damping controller aiming
at oscillations which has low frequency, thereby embellishing the
dynamic stability of a power system. As a derivative of Unified
Power Flow Conditioner (UPFC), this device consists of shunt
and series controllers that can be installed in a transmission line
between the two electrical areas. Single Machine Infinite Bus
(SMIB) system is considered for analysis, by employing PI
controlled DPFC and Fuzzy controlled DPFC. The complete case
study is presented based on MATLAB/Simulink environment by
using OPAL-RT 5600 Real-time digital Simulator. The
significance of the results are better stability and constant power
supply. Case study results showcase the validation of proposed
model to improve the system stability by damping the power
oscillations.
Index Terms—Power system dynamics, oscillation damping,
Power system stability, Distributed control, Flexible AC
transmission systems, Fuzzy Logic.
I. INTRODUCTION
The rise in power demand is growing rapidly these days
and the expansion in transmission, generation is confined with
constrained environmental conditions and insufficient
availability of resources. Power Systems these days are much
more loaded than ever before. This leads to a crucial need of
operating power systems within their stability limits.
Furthermore, interconnection between several power systems
bring about oscillations of low frequency but may keep
increasing in magnitude. Without properly damping, these
oscillations will eventualize the power system to fall out of
synchronism.
The advancements in power electronic section has
capacitated the operation of Voltage Source Inverters (VSI)
and Current Source Inverters (CSI) at both transmission and
distribution systems. A cluster combination of VSI and CSI
based systems lead to so many transformative devices such as
Static Synchronous Compensator (STATCOM), Dynamic
Voltage Restorer (DVR) and Unified Power Flow Conditioner
(UPFC) which made FACTS devices more prominent.
Effective utilizations of these FACTS devices for voltage
control, power flow and stability concerns have been addressed
in the literary works [1-3]. As an instance, DVR is utilized to
improve power quality [4-6]. Voltage sags and swell affect the
sensitive equipment connected to the load and introduce
harmonics [7-8]. To further improve power quality and
diminish the interruptions STATCOM and UPFC are
considered in [9-11]. For the similar power quality problems in
transmission and distribution systems, power electronic devices
with different configurations are considered [12-13]. A novel
inverter based on Neuro-Fuzzy technique for harmonics
analysis is proposed[11].
Among the aforementioned FACTS devices UPFC stands
out because of its unique nature to simultaneously control
various parameters of the power system such as the line
impedance, bus voltage. UPFC is considered impressive for
damping power system oscillations recently. A similar device
was identified and named as Distributed Power Flow
Controller (DPFC), which is a direct derivative from UPFC
with noteworthy modifications with respect to the application
point of view. Recently enormous interest has been developed
and witnessed in applying fuzzy logic as a control technique in
many engineering fields. In this article, the application of
DPFC with fuzzy controlling technique, in the field of power
system dynamics is introduced. The proposed concept proves
to be an effective solution for dynamic stability improvement
by damping oscillations which largely influence the rotor speed
and rotor angle of SMIB system. The UPFC is a combination
of two AC to DC inverters which are VSIs, where one VSI is
connected in series to the bus through a transformer and the
other VSI is connected in parallel. The two independent VSIs
are connected via a DC link capacitor. The units of the UPFC
administers high rating voltages and currents ensuing the
increase in total cost of the system. Also, the whole system will
be subjected to influence if a breakdown occurs in any of the
inverter, due to the dc interlink connection.
This article is arranged as: Section II articulates the
configuration and motivation for DPFC. The actual controlling
technique needed for the device proposed and its application to
the dynamic stability scenario are discussed in Section III.
Section IV demonstrates the results and discusses case study
for various scenarios. Conclusions for this work are presented
in Section V followed by a list of reference.

978-1-5386-2341-1/18/$31.00 ©2018 IEEE

 II. MOTIVATION FOR PROPOSEDDEVICE - DPFC
The inclination for the design of DPFC from UPFC has
raised in order to reduce cost while increasing the stability of
the power system. Two techniques are practiced on the UPFC
to trim cost and to boost stability of the system. Removing the
dc interlink between the series VSI and shunt VSI of the
UPFC is the first step, followed by distributing the three-phase
series inverters into several single-phase series inverters
through the line as shown in Fig 1. With the accomplishment
of these two steps, the new customized device is now ready to
take inputs from the proposed controller [4].
UPFC Remove DC Spread Series
DPFC
interlink Inverters
Fig.1. Disposition of DPFC
The shunt inverter is comparable to a STATCOM and
spreading of series inverters cultivates the distributed FACTS
approach where each series inverter can be identified to a
DVR. The basic configuration is shown in Fig. 2, which
depicts the blueprint mentioned in Fig. 1. The possibility of
exchanging active and reactive power between the ac
terminals of series and shunt inverters is up through the
transmission line, there by retaining the similar control
capability of an UPFC. And to enhance this feature further, the
series inverter is transformed into several low rating inverters,
thereby improving stability and diminishing cost at a shot.
Fig.2. Basic configuration of DPFC
Instead of one high rated controller DPFC employs many low
rated controllers [11]. These controllers are single-phase in
structure there by reducing the need of high voltage isolations
between phase to phase. These units can be easily adapted to
any voltage level during transmission, since the supporting
phase-ground isolation is not required. The comprehensive
power rating of all inverters are comparatively very small
when compared to one high rated inverter. Hence the cost in
making the device will considerably decrease due to the
reduced voltage isolation and reduced component rating of the
series inverter. With these noteworthy modifications, a new
controlling technique was implemented to the one of the
controllers to reach further levels in terms of stability and
reliability of the power system network. The proposed design
of the controller has been implemented and tested under
different operating conditions for a single machine infinite bus
system. So, in the coming section the actual control structure
in order to reach the mentioned prospects is discussed in
detail.
III. PROPOSED CONTROL STRATEGYOF DPFC
The control strategy of DPFC which regulates the whole
power system network is weighed as the key element in the
design process. And depending upon the placement of DPFC in
the given power system network, the control strategies and
algorithms do vary. As an instance, it can be installed in a
meshed grid system, where DPFC is exercised to afford
backing the voltage and regulating the power flow in the
network. At another instance, it can be installed on an
interconnected system in order to provide damping to the
power oscillations, thereby improving the dynamic stability of
the power system. In this article, interest is on application of
DPFC on the latter scenario, where the power system is
interconnected and stability issue is concerned. The
composition of DPFC is as shown in Fig.2, and consists of
multiple series inverters and a shunt inverter. So, it is necessary
to have two types of controlling circuits to regulate these
inverters.
A. Shunt Controlling Circuit
The shunt inverter receives commands from shunt
controlling circuit. Fig.3, shows the block diagram for
controlling circuit which is fed to the shunt invereter.
Modulation index ‘m’ and ‘α’ are considered as the control
inputs for shunt inverter, where ‘α’ is the angle of voltage
injected corresponding to the phase angle of bus to which the
controller is connected. The whole idea of selecting these
parameters as inputs is to regulate active and reactive power to
the shunt inverter.
Fig.3. Diagram of Shunt controller
B. Series Controlling Circuit
Since the series inverters are spread across, each series
inverter has its own separate controlling circuit. Each controller
will keep up the capacitor dc voltage of the inverter to which it
is attached. Here ‘β’ is titled for the angle of voltage injected
corresponding to the phase angle of bus to which the controller
is connected. And ‘γ’ is overlap angle which controls the
amplitude of series injected voltage, as showcased in Fig. 4,
which are the control inputs to the series inverter. The same
strategy is applied to all the controllers of the series inverters.
 1. Smaller steady state error with faster dynamics
especially when applied in closed loop control systems.
2. PI controllers handles large disturbances and noises
very effectively during operation.
2) Fuzzy Logic Controller:
Fuzzy Logic controller has been successfully applied in
various control systems in recent times due to its simple in
structure. It is similar to human being feelings and inference
process. It utilizes human experience to design a controller
based on fuzzy rules. The fuzzy controller logic associated is
not point-to-point, but is a range-to-point or range-to-range.
Fig. 4. Control Structure of Series Inverter
The fuzzy set is described in this range is called as a
By taking bus voltage VB as reference, the injected voltages membership function, which establishes a relationship between
for series and shunt inverters per phase are given by the fuzzy rules and fuzzy variables. A crisp input is ‘fuzzified’ and
equations (1) and (2). associated with membership functions based on its value.
Fuzzy Inference System (FIS),simulates human decisions
‫ ݐ݊ݑ݄ݏݒ‬ൌ  ݇ͳ ൈ ݉ ൈ ܸ݀ܿ ൈ •‹ሺ߱‫ ݐ‬൅ ߙሻ (1) which are fuzzy rules by performing approximate reasoning.
‫ ݏ݁݅ݎ݁ݏݒ‬ൌ ݇ʹ ൈ ܸ݀ܿ ൈ •‹ሺߛȀʹሻ ൈ •‹ሺ߱‫ ݐ‬൅ ߙሻ (2) FIS will now combine membership functions based on the
fuzzy rules to derive fuzzy output. And Defuzzification process
Therefore, the required DC voltage can be formulated with the is used to convert fuzzy values which are obtained from FIS
help of the following (3) to (6) equations, into crisp values. Among all the defuzzication methods
ܲ݀ܿ ൌ  ܲܽܿ ‫ ݐ݊ݑ݄ݏ‬൅ ܲܽܿ ‫ݏ݁݅ݎ݁ݏ‬ (3) centroid method is used due to its proven accuracy. This
process calculates each associated output and puts them into a
ܸ݀ܿ ൈ ‫ ݐ݊ݑ݄ݏ ܿ݀ܫ‬൅  ܸ݀ܿ ൈ ‫ݏ݁݅ݎ݁ݏ ܿ݀ܫ‬ table. And picks up the appropriate value based on the
ൌ ሺ‫ ݐ݊ݑ݄ݏݒ‬ൈ  ݅‫ ݐ݊ݑ݄ݏ‬ሻ ൅ ሺ‫ ݏ݁݅ݎ݁ݏݒ‬ൈ ݅‫ ݏ݁݅ݎ݁ݏ‬ሻ(4) application.
ܲܽܿ
‫ ܿ݀ܫ‬ൌ (5)
ܸ݀ܿ 
ͳ
ܸ݀ܿ ൌ ‫ ݐ݀ ܿ݀݅ ׬‬൅ ‫ ܿݒ‬ሺͲሻ(6)
‫ܥ‬

Thus, the DC voltage value can be obtained, by getting the

instantaneous values of both voltages and currents of both the
series and shunt inverters. The generated signals from the
described controlling circuits are routed to the PWM units.
These units generates pulses for switches, in the interest of
getting the desired series and shunt voltages to accomplish the
prescribed control objectives. Keeping in mind, the end goal to
improve the control over circuit in a more precise manner, it is
pretty much apparent to integrate new techniques to these Fig.5. Block Diagram of Fuzzy Based Power Oscillations Damping Controller
circuits. In this direction more and more research has been
conducted in view of evolutionary techniques. The basic PI Because of its inherent nature to address sensitive control
controller is the first one to apply over series inverter, to systems, it will be very much useful to apply this methodology
provide damping to the oscillations, which will improve the to the current interconnected power system. This will help
overall stability of the system. To better the performance of providing damping to the power oscillations generated in the
damping an auxiliary controller is added to the reference of system, which the block diagram is shown in Fig. 5. Let us
active power flow controller as shown in fig. 4. So, it’s a pre discuss, how the PI and Fuzzy Logic control strategies are
requisite to have an idea on controllers of different types which improving the damping of oscillations in the following section.
will play an important role in providing damping to the
different kinds of oscillations generated in the system [11]. In IV. SIMULATIONRESULTS
this article, the test system is verified with two types of The proposed device is put into action to enhance the
damping controllers, one is the conventional PI controller, and stability of a synchronous generator, connected to the load bus
the other is Fuzzy controller. of a SMIB. The performance of the DPFC equipped with PI
1) PI Controller: control and Fuzzy control is evaluated in two separate cases.
According to the fig. 1 OPAL-RT Real-Time Simulator is
The PI controller is a special case of PID controller, in
connected. This simulator provides high real-time simulation
which the derivative of the error is not used. However, the
for power system with high speed and accuracy [14]. The
output signal responds in correspondence with the proportional
control circuits are a combination of both analog and digital
and integral of error signal. The advantages with this
using MATLAB/Simulink. The oscillations occurring at rotor
configuration are [11]:
angle and rotor speed are selected as point of interest. A three
phase fault in a SMIB is created and the oscillations are
observed at aforesaid points considering different cases. Fig. 6,
shows the Rotor speed oscillations occurring in the test system
when the proposed device is not connected, which sets a
negative effect on the stability of the system.

Fig. 9. Rotor Angle of SMIB system with DPFC and PI Controlled DPFC

The results as shown in Fig. 8 and Fig. 9, it can be observed

Fig.6. Rotor Speed of SMIB system without DPFC
Fig. 7, shows the simulation result for oscillations affecting the
rotor angle during the created fault condition when no
controller is connected.
that the oscillations of both rotor speed and rotor angle are
considerably decreased because of the damping provided by
the PI controller. Things got much better when PI controller is
replaced by the fuzzy based DPFC and the outcome can be
noticed by looking at Fig. 10 and Fig. 11. The proposed fuzzy
controller is successful in damping the oscillations of both
rotor speed and rotor angle of the synchronous generator
connected to an infinite bus system.

Fig.7. Rotor Angle of SMIB system without DPFC

Things changed, when the proposed device DPFC is

encompassed in the power system network. A considerable
decrease in the oscillation period can be observed in fig. 8 and
fig. 9. Fig.10. Rotor Speed of SMIB system with DPFC and Fuzzy Controlled DPFC

Fuzzy based DPFC provides better damping compared to a PI

controller in reducing the magnitude of the oscillations at a
short span of time.

Fig.8. Rotor Speed of SMIB system with DPFC and PI Controlled DPFC

And the clearing time of fault was decreased further, when PI

controller is incorporated along with the DPFC to the test
power system. The fault clearing time was reduced from 0.006
sec to 0.004 sec due to the response of PI controller over the
DPFC.
Fig. 11. Rotor Angle of SMIB system with DPFC and Fuzzy Controlled
The fault clearing time was reduced further when compared to
that of the PI controlled DPFC. It was reduced from 0.006 sec
to 0.003 sec. Even a small amount of change in time impacts
the stability of the system in a much bigger way.
Fig. 12. Rotor Speed of SMIB system with DPFC, PI Controlled DPFC and
Fuzzy Controlled DPFC
The performances of the rotor angle, rotor speed deviations of
a synchronous generator connected to an infinite bus system
are compared in fig. 12 and fig. 13 for a three phase fault. The
idea is show and compare the waveforms in a single frame.
Fig. 12 and fig. 13 depicts the power system oscillations when
the system is experimented with different proposed controllers.
Fig. 13. Rotor Angle of SMIB system with DPFC, PI Controlled DPFC and
Fuzzy Controlled DPFC
This study clearly out speaks the stabilizing capabilities of
DPFC, particularly the restoration of rotor speed and rotor
angle to a pre-disturbance value. A comparison study of the
test system responses for an intentionally created 3-phase fault
at infinite bus is shown in Fig. 10 and fig .11. The oscillations
in both rotor speed and rotor angle are exceptionally
influenced by the damping behavior for fuzzy based DPFC
compared to a PI controller. This is possible because of the
nonlinear control of bus voltage by fuzzy controller for
stabilizing the synchronous generator.
V. CONCLUSIONS
This paper presents a new controller to improve power
system dynamic stability. This is achieved by damping the
power oscillations of rotor speed and rotor angle of a
synchronous generator connected to an infinite bus. Based on
the analysis presented in this paper, the following conclusions
can be drawn:
x The proposed controller was put into action under three
different cases and results were analyzed. The DPFC is
configured by designing control circuits.
x A fuzzy theory based DPFC power oscillation damping
controller with dynamic stability and power flow control
features has been proposed and verified by means of
digital simulations.
x The DPFC damping controller runs well in multiple
contingency cases which are commonly used to study
inter-area oscillations.
x As compared to other devices the Fuzzy based DPFC
inverter effectively controls and enhances the dynamics
power system.
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