Electrical Power and Energy Systems 75 (2016) 289–302

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Electrical Power and Energy Systems

journal homepage: www.elsevier.com/locate/ijepes

Quasi oppositional harmony search algorithm based controller tuning

for load frequency control of multi-source multi-area power system
G. Shankar, V. Mukherjee ⇑
Department of Electrical Engineering, Indian School of Mines, Dhanbad, Jharkhand, India

a r t i c l e i n f o a b s t r a c t

Article history: This paper deals with the load frequency control (LFC) study of single-area and interconnected two-area
Received 31 July 2014 power system having diversified power sources. The two areas considered in the present study are identi-
Received in revised form 17 September cal. Each area is having thermal, hydro and gas based power plants. Split-shaft model of gas turbine is
2015
used in the present work as one of the diversified generating unit for the purpose of LFC study.
Accepted 19 September 2015
Optimal gains of the classical controllers (like integral controller, proportional–integral controller and pro
portional–integral–derivative (PID) controller, one installed at a time in the studied models) are obtained
by using a novel music-inspired metaheuristic harmony search algorithm (HSA) which incorporates
Keywords:
AC–DC tie lines
quasi opposition based learning technique for memory initialization and also for generation jumping.
Harmony search algorithm Single-area power system with diverse power sources is considered and its optimal transient perfor-
Load frequency control mances are obtained and compared for step load perturbation. The same approach is further extended
Multi-source power system to two-area interconnected power system consisting of diverse power sources with nominal values of
Quasi opposition learning area input parameters. The performance of PID controller is found to be the best one for the studied
power system models. It is also revealed that the performance of the interconnected two-area power
system with AC–DC tie line is better in comparison to AC tie line.
Ó 2015 Elsevier Ltd. All rights reserved.

Introduction which does preliminary adjustment to frequency following load

General
Operation and control of today’s power system have become
more complex with its increase in size due to regular addition of
more and more new electric utilities to meet the increasing load
demand [1]. Following inadequate control over supply and
demand, the world has witnessed some worst blackouts in the
recent past. And, in most of the cases, unsatisfactory performances
of load frequency and voltage control are found to be the main
causes. Among these two, load frequency control (LFC) plays a
pivotal role in keeping present complex power network with diver-
sified multi-source generations in the state of synchronism. LFC
helps in regulating the real power output from generating units
(GUs) in interconnected power systems following a change in
system frequency and tie line power exchanges within prescribed
limits due to the occurrence of sudden load perturbation and
abnormal conditions anywhere in the network. LFC, mainly,
consists of two control loops. The first one is primary control loop
⇑ Corresponding author. Tel.: +91 0326 2235644; fax: +91 0326 2296563.
E-mail addresses: gauri1983@gmail.com (G. Shankar), vivek_agamani@yahoo.
com (V. Mukherjee).
disturbances and allows GUs to share loads as per their individual
speed regulation parameter. The other one is the supplementary
control loop (also referred as reset control loop) which does fine
adjustment to make any deviation in frequency from its nominal
value, if present, back to zero [2].
Due to inherent technological and economical advantages, high
voltage DC (HVDC) transmission lines have been widely used in
parallel with AC transmission lines. Particularly, in interconnected
power system network, HVDC link in parallel to AC link improves
the overall dynamic response and system stability margins. It
safeguards against unnecessarily tripping of GUs owing to large
disturbances, limits fault current level and checks transmission of
disturbances from one area to another one(s) [3].
Literature survey
In past few decades, exhaustive attempts have been made by
the researchers to realize supplementary control using classical
controller such as integral (I) controller, proportional–integral
(PI) controller, integral–derivative controller, proportional–inte
gral–derivative (PID) controller and integral–double–derivative
controller [4–6]. Saikia et al. in [6] have presented a comparison
between these controllers to establish the supremacy of one

http://dx.doi.org/10.1016/j.ijepes.2015.09.011
0142-0615/Ó 2015 Elsevier Ltd. All rights reserved.
290 G. Shankar, V. Mukherjee / Electrical Power and Energy Systems 75 (2016) 289–302
controller over the others in case of multi-area interconnected
thermal power system. Mohanty et al., in [7], have made similar
attempt by comparing the performances of I, PI and PID controllers
for LFC study of multi-source multi-area interconnected power
system.
Literature survey review reveals that most of the LFC study has
been carried out for multi-area power system considering combi-
nation of only thermal and hydro GUs [7–12]. Only few works have
been reported in the recent literature considering the most practi-
cal scenario of diversified multi-source power generation combina-
tion such as power generation received from thermal, hydro and
gas turbine (GT) based GUs (GTGUs) [3,7,13]. It has been also
observed that most of the reported research papers have used sim-
plified single-shaft model of the GT as proposed by Rowen in [14].
Zainuddin and Jovanovic [15] have used GAST model of split-shaft
GT with knowledge-based intelligent LFC study to restore fre-
quency in a multiple-units single-area power system following
load disturbances. Recently, GT based power generations have
gained considerable attentions of researchers across the globe
owing to their quick start capability and easy controllability which
may be useful for efficient peak shaving. Also, GTs are reliable, effi-
cient, less polluting and have minimum maintenance requirements
[16]. A comprehensive review and comparative performance anal-
ysis of different GT models have been presented in [16]. It is
observed from the literature survey that most of the authors have
considered linearized model of single-shaft heavy duty GT for
analyzing impact of LFC for stable operation of interconnected
power system. Comparatively, very less attention has been paid
on the use of split-shaft model of GT for LFC study. Yet, more such
studies with split-shaft GT based GU, as one of the power source,
need to be explored. Therefore, GAST model of GT has been used
as one the diversified GU present in the work.
Motivation of the present work
In the recent years, optimization techniques such as differential
evolution (DE) [7], genetic algorithm (GA) [8], particle swarm opti-
mization (PSO) [17], bacterial foraging optimization [18], cuckoo
search [19] algorithm, artificial bee colony [20] algorithm, artificial
neural network (ANN) [21] and fuzzy logic (FL) [22] have been used
by the researchers to obtain optimal gain(s) of the classical
controllers for efficient performance of LFC in single-area or
multi-area interconnected power system.
Round the globe researchers are, constantly, working in search
of new nature-inspired metaheuristic algorithms for solving real
world complex optimization problems. Harmony search algorithm
(HSA) is one of the latest addition in this endeavor attempted by
Geem et al. [23]. This is one of the most efficient combinatorial
optimization algorithm also. HSA is a music inspired metaheuristic
algorithm which replicates musician capability in searching for a
perfect state of harmony. Mathematically, it is easier in implemen-
tation as it has no derivative-term and takes an account of all the
existing solution vectors for generating new solution vectors. It is
quick in identifying the better performance regions of solution
space within a reasonable time frame which strengthens its
selection for solving various types of engineering optimization
problems. In the recent years, a few variants of HSA have been
proposed by different researchers for obtaining better solution
vector(s) and faster convergence rate as compared to the basic
HSA. A concept of dynamically tuning of its key parameters has
been presented in improved HSA (IHSA) by Mahdavi et al. [24].
Oram and Mahdavi in [25] have proposed a global best HSA by
assimilating the concept of swarm intelligence. Pan et al. [26] have
presented a self-adaptive global best HSA. Chatterjee et al. in [27]
have blended the concept of opposition based learning (OBL) in
HSA for solving combined economic and emission dispatch
problems of power system. Rahnamayan et al., in [28], have imple-
mented quasi oppositional based learning (QOBL) for population
initialization and generation jumping in DE and it has been proved
that QOBL is better than OBL in obtaining optimized solution(s).
HSA being one of the best metaheuristic search algorithm of its
kind, the HSA with QOBL is proposed in the present work, to accel-
erate the optimization capability of the basic HSA reported in [23]
and is termed as quasi oppositional HSA (QOHSA). Thus, the main
motivation of the present work comes from the utilization of this
novel algorithm for LFC study of single-area and two-area inter-
connected multi-source power system in presence of AC or DC link.
Contribution of the present work
The main contributions of the present work are given below.
(a) LFC study of single-area and two-area interconnected power
system with split-shaft model of GT, as a diversified source
of power generation, is presented in this paper.
(b) Optimal LFC performance of single-area power system is
analyzed for step load perturbation (SLP) under the action
of different classical controllers such as I, PI and PID.
(c) Comparative performance analysis of these three classical
controllers for the studied power system models is made.
(d) Optimal LFC performance study of two-area interconnected
power system, with and without DC tie link in parallel to
AC link, under the action of classical controllers (such as I,
PI and PID) for simultaneous SLP in both the areas is carried
out.
(e) The effectiveness of the proposed QOHSA in tuning the gain
(s) of these classical controllers for LFC study is presented.
(f) The suitability of DC link in parallel to AC link towards the
dynamic performance and stability analysis is explored.
Layout of the paper
The rest of the paper is organized as follows. In section ‘System
investigated and adopted control strategy’, investigated power sys-
tem model and adopted control strategies are presented. Mathe-
matical problem formulation is done in section ‘Mathematical
problem formulation’. Traditional HSA is discussed in section
‘Background of HSA’. In section ‘Proposed QOHSA’, proposed
QOHSA is presented. The simulation results are presented and dis-
cussed in section ‘Simulation results and discussions’. Finally, con-
clusions of the present work are drawn in section ‘Conclusion’.
System investigated and adopted control strategy
Separate studies on LFC of a realistic single-area and two-area
with multi-source power GUs have been considered in the present
work. Multi-sources in the presents work include thermal GU
(TGU) with reheat turbine, hydro GU (HGU) and GTGU. The transfer
function models of the single-area and two-area interconnected
power systems for LFC study is presented as Figs. 1 and 2, respec-
tively. A brief detail on the modeling of TGU, HGU and GTGU, as
used in single-area and two-area interconnected power systems,
are presented in next three sub-sections followed by modeling of
G. Shankar, V. Mukherjee / Electrical Power and Energy Systems 75 (2016) 289–302 291

Fig. 1. Transfer function model of single-area multi-source power system.

Fig. 2. Transfer function model of two-area multi-source power system.

292 G. Shankar, V. Mukherjee / Electrical Power and Energy Systems 75 (2016) 289–302

single-area and two-area interconnected power system models, in shaft GTGU where the generator is connected via a gearbox to a
order. Afterwards, adopted control strategy follows. power turbine [14,29].
In single-shaft design configuration, both the inlet air compres-
TGU with reheat turbine sor and the generator are mounted on the same shaft which rotates
at higher speeds, typically, in the range of 50,000–120,000 rpm. In
In steam turbine (ST) as prime mover, stored energy of high this configuration, electrical power is generated at very high
pressure and high temperature steam is converted into kinetic frequency and the generated electrical power is available to
energy which is, eventually, converted into electrical energy by the consumer at nominal frequency by using power electronic
the generator. The ST control is accomplished via governor- interface system [14]. On the other hand, split-shaft GTs use two
controlled valves. In general, ST consists of two or more series cou- turbines. One is used to drive the air compressor while the other
pled turbine sections of reheat or non-reheat type. In the present is to drive the generator via a gear box. The gear box is used to
study, ST with reheat unit is used whose simplified transfer reduce the speed to 3600 rpm and, thus, making it conducive to
function model, relating changes in turbine output power (DP mt ) directly accommodate a conventional generator without any
corresponding to change in gate valve position (Dxt ), is given by requirement of power electronic interface. GAST model is the most
(1) (refer Fig. 1) commonly used model to study the dynamic performance of


 split-shaft GT. It represents a simple model and also it is Western
1 1 þ sK r T r
DPmt ðsÞ ¼ Dxt ðsÞ ð1Þ System Coordinating Council (WSCC) compliant [30]. Transfer
1 þ sT t 1 þ sT r function model describing how the GT power output changes
where K r is the ST reheat constant, T r is the ST reheat time constant (DPmg ) in response to a change in gate valve position (Dxg ) and
(in s) and T t is the ST time constant (in s). It may be noted that Dxt is DF is given by (5) (refer Fig. 1)
the result of speed governor action which is expressed by (2) (refer

1
Fig. 1) DPmg ðsÞ ¼ Dxg ðsÞ  Dtur DFðsÞ ð5Þ
1 þ sT 2



1 DFðsÞ
Dxt ðsÞ ¼ DP tref ðsÞ  ð2Þ where T 2 is the fuel time lag constant (in s) of the fuel system block
1 þ sT sg Rt and Dtur is the turbine damping (in p.u.).
where Rt is the speed regulation parameter (in Hz/p.u. MW), T sg is Expression for the fuel valve gate opening (with the maximum
the speed governor time constant (in s), DP tref is the reference set and the minimum opening limit being FOV max and FOV min , respec-
power (in p.u.) for TGU and DF is the deviation in nominal fre- tively) is the function of the minimum of the two signals coming
quency (in p.u.) of generator. out of low value gate (LVG) (refer Fig. 1) and is given by (6)

 

1 DFðsÞ
HGU Dxg ðsÞ ¼ min DPgref ðsÞ  ;
1 þ sT 1 Rg



DP fsb ðsÞ
Hydraulic turbine based prime mover converts the kinetic  Lmax þ K T Lmax  ð6Þ
1 þ sT 3
energy of water into mechanical energy and, finally, it is converted
into electrical energy using generator. Though speed governing where Rg is the speed regulation parameter (in Hz/p.u. MW), T 1 is
mechanism for both ST and hydraulic turbine is based on speed- the fuel time lag constants (in s) of the fuel opening valve block,
droop characteristics, in addition to that hydraulic turbine requires T 3 is the load limiter time constant (in s) of the exhaust temperature
transient droop compensation for stable speed control perfor- block, DPfsb is the output (in p.u.) from fuel system block having
mance. Transfer function model describing how the hydraulic time constant T 2 (in s), K T is temperature control loop gain and
turbine power output (DP mh ) changes in response to a change in Lmax is the load limit. In this model, DPgref is the reference set power
gate valve position (Dxh ) is given by (3) (refer Fig. 1) for GTGU.


1  sT w
DPmh ðsÞ ¼ Dxh ðsÞ ð3Þ Modeling of single-area power system
1 þ 0:5sT w
where T w is the nominal starting time of water (in s). Transfer function model of the single-area power system for LFC
Hydraulic turbine needs transient droop compensation for study is developed by using TGU, HGU and GTGU and is presented
control of gate valve position. A linear approximation of the speed in Fig. 1. In the model shown in Fig. 1, K t ; K h and K g represents
governor with transient droop in hydraulic turbine is given by (4) participation factors from TGU, HGU and GTGU, respectively.
(refer Fig. 1) Following a small SLP (DPL ) in p.u., the total change in net power



 generation (DPG (p.u.)) is given by (7) and (8)
1 1 þ sT rs DFðsÞ
Dxh ðsÞ ¼ DP href ðsÞ  ð4Þ
1 þ sT gh 1 þ sT rh Rg DPG ðsÞ ¼ DPGt ðsÞ þ DPGh ðsÞ þ DPGg ðsÞ ð7Þ

where Rg is the permanent speed droop (in Hz/p.u. MW), T gh ; T rs and DPG ðsÞ ¼ K t DPmt ðsÞ þ K h DPmh ðsÞ þ K g DP mg ðsÞ ð8Þ
T rh are the hydro turbine speed governor main servo time constant
(in s), reset time constant (in s) and transient droop time constant where K t þ K h þ K g ¼ 1
(in s), respectively. In (4), DPhref is the reference set power for HGU. Deviation in frequency following small change in load is given
by (9)
GTGU

K ps
DFðsÞ ¼ ðDPG ðsÞ  DP L ðsÞÞ ð9Þ
1 þ sT ps
In general, GTGUs are multi-fueled generating system consist-
ing of speed governor, valve positioner, fuel system and combuster where K ps is the power system gain and T ps is the power system
along with associated necessary control mechanism. In the litera- time constant (in s).
ture, two types of heavy duty GT are, mainly, reported. One of them All the parameter of the studied single-area power system
is very high speed, single-shaft GTGU where generator and turbine configuration are included in appendix ‘Parameters of single-area
are mounted on the same shaft while the other one is the split- power system model [7,30]’.
 G. Shankar, V. Mukherjee / Electrical Power and Energy Systems 75 (2016) 289–302
Modeling of two-area interconnected power system
Single-area model of Fig. 1, is extended to form two-area multi-
source interconnected power system network and its transfer
function model for realizing the LFC study is presented in Fig. 2.
In the presented model, both the areas are taken as identical. In
Fig. 2, a flag (Z) is used to represent the two different models of
the studied two-area studied power system of the present work.
The value of Z equal to 0 represents the model in Fig. 2 as two-
area interconnected power system with only AC tie line whereas
the value of Z equal to unity represents the model as two-area
interconnected power system with AC–DC tie link. From Fig. 2,
for simultaneous small SLP in both the areas, the total power
generated for area-1 and area-2 is given by (10), (11)
DPGi ðsÞ ¼ DP Gti ðsÞ þ DPGhi ðsÞ þ DPGgi ðsÞ
DPGi ðsÞ ¼ K ti DPmti ðsÞ þ K hi DPmhi ðsÞ þ K gi DPmgi ðsÞ
where K ti þ K hi þ K gi ¼ 1. Here, i = 1 and 2 are used to represent
area-1 and area-2, respectively.
For small SLP, the change in power flow in AC tie line (DPTie AC )
and DC tie line (DP Tie DC ) are given by (12) and (13), respectively,
2pT 12
DPTie AC ðsÞ ¼ ðDF 1 ðsÞ  DF 2 ðsÞÞ
s


K dc
DPTie DC ðsÞ ¼ ðDF 1 ðsÞ  DF 2 ðsÞÞ
1 þ sT dc
where T 12 is tie line synchronizing coefficient, K dc and T dc are the
gain and the time constant (in s) of DC link, respectively, and DF 1
and DF 2 are frequency deviation (p.u.) of area-1 and area-2,
respectively.
The change in tie line power (DP Tie ), the area control error of
area-1 (ACE1 ) and that of area-2 (ACE2 ) are given by (14)–(16),
respectively.
DPTie ðsÞ ¼ DPTie þ Z  DP Tie
AC ðsÞ DC ðsÞ
DACE1 ðsÞ ¼ B1 DF 1 ðsÞ þ ðDPTie AC þ Z  ðDP Tie DC ÞÞ
DACE2 ðsÞ ¼ B2 DF 2 ðsÞ þ ða12  DPTie AC ðsÞ þ Z  ðDP Tie
where a12 is the area capacity ratio, B1 and B2 are the frequency bias
constants of area-1 and area-2, respectively. The values of all the
parameters of the studied models are taken from [7,30] and are pre-
sented in appendix ‘Parameters of two-area power system model
[7,30]’. The studied systems are modeled in MATLAB–SIMULINKÒ
software.
Adopted control strategy
PID controller is one of the most, commonly, used conventional
controller in the process industries owing to its inherent character-
istics [31,32]. It can be easily realized, implemented and delivers
the best performances even in dynamically changing conditions
of the process industries. First component of the PID controller is
the proportional controller whose output is proportional to the
current error value. However, this retains steady-state error in
the output though it reduces rise time. Tuning theory and indus-
trial practices indicates that the proportional action contributes
the maximum output change in PID controller. Second component
is the integral controller whose output is proportional to the accu-
mulated error. Integral action accelerates the process output to
match with the set point and, thus, eliminates the steady-state
error to zero which occurs with proportional controller. However,
this worsens the transient response of the system. Third compo-
nent is the derivative controller which gives output proportional
293
to the rate of change of error. The derivative action increases the
dynamic stability by reducing overshoots and improving overall
transient performances. Therefore, PID controllers are used where
stability and fast response is a matter of concern. However, PI
controller is also one the most opted controller by the process
industries where fast response is not a requirement, when the sys-
tem has large transport delay and encounters large disturbances
and noise in the system process [7]. Citing the above advantages,
PID controllers have been the utmost choice of the researchers
and the process industries round the globe. In view of the above,
the authors of the present work are attempting to consider conven-
tional classic controllers like I, PI and PID for realizing LFC study of
both single- and two-area interconnected power system with
diversified power sources, considering one at a time.
ð10Þ
Mathematical problem formulation
ð11Þ
Selection of proper objective function is the most pertinent step
in using any heuristic optimization algorithm to tune the controller
gains for getting optimal performance from the plant (or process)
in terms of the maximum overshoot (osh ), maximum undershoot
(ush ), rise time, settling time (t s ) and steady-state error. As surfaced
in the literature, many authors have considered integral of time
ð12Þ multiplied absolute error (ITAE), integral of square error (ISE), inte-
gral of time multiplied squared error (ITSE) and integral absolute
error (IAE) as performance criteria in their respective domain of
ð13Þ optimization problem. Among these, ISE and ITAE have been better
choice by the researchers as compared to ITSE and IAE [7].
In the view of above, ISE is chosen as the objective function for
tuning the parameters of different configuration of the controllers
by using QOHSA. Two different objective functions (termed as
figure of demerits (FODs)) are formulated separately for optimal
performance analysis of the studied single-area and two-area
power system models.
FOD for single-area with multi-source power system
ð14Þ
ð15Þ For the studied single-area multi-source power system model
shown in Fig. 1, the chosen FOD is defined by (17)
DC ðsÞÞÞ ð16Þ Z t sim
FOD1 ¼ DF 2 ðtÞdt ð17Þ
0
where t sim is the time duration of simulation (in s).
FOD for two-area with multi-source power system
For the studied two-area multi-source power system model
shown in Fig. 2, the chosen FOD is defined by (18).
Z t sim
FOD2 ¼ ðDF 21 ðtÞ þ DF 22 ðtÞ þ DP2Tie ðtÞÞdt ð18Þ
0
Mathematical optimization problem and constraints
In the present work, mathematical optimization problem for
the studied single-area and two-area multi-source power system
models may be stated as in (19) and (20),
Minimize fFOD1 or FOD2 g ð19Þ
subject to the constraints stated by (20)
Kcmin
i 6 Kc 6 Kcmax
i ð20Þ
where Kci is the ith tunable parameter of the specific controller
(either I or PI or PID) with Kcmin
i and Kcmax
i being their minimum
and maximum limit, respectively. In the present work, Kcmin
i and
294 G. Shankar, V. Mukherjee / Electrical Power and Energy Systems 75 (2016) 289–302

Kcmax
i are taken as 0.01 and 10, respectively, for each tunable param- max
ubi are the lower and the upper limits of the decision variable
eters of the specific controller. xi , respectively. The HSA parameters that are required to solve the
optimization problem are also specified in this step. These are
Measure of performance HMCR, PAR and harmony memory size (HMS) which refers to a
number of solution vectors in HM, the distance bandwidth (BW)
The performance indices like IAE and ISTE may be defined (21) and the number of improvisations (NI). The NI also refers to the total
and (22), respectively. number of fitness function evaluations (NFFEs) and it may also be
Z t sim considered as a stopping criterion.
IAE ¼ ðjDF 1 j þ jDF 2 j þ jDP Tie jÞdt ð21Þ
0
Step 2: Initialization of the HM
Z t sim In this step, a set of randomly generated solutions vectors in the
ITSE ¼ tðDF 21 ðtÞ þ DF 22 ðtÞ þ DP2Tie ðtÞÞdt ð22Þ form of HM matrix as shown in (24) of size HMS are stored to a
0
memory location indicated as HM. Each row of the HM matrix rep-
The performance indices defined in (21) and (22) are calculated resents a randomly generated unique harmony vector of decision
at the end of the developed program to give an insight of the variables.
dynamic performance offered by the proposed QOHSA. It is to be 2 3
x11 x12    x1d
noted here that the IAE and ITSE (define in (21) and (22), in order)
6 2 7
are pertaining to two-area power system model, however, this may 6 x1 x22    x2d 7
6 7
be defined for single-area power system model while considering HM ¼ 6
6. .. .. ..
7
7 ð24Þ
DF 2 ¼ 0, DP Tie ¼ 0 and DF 1 ¼ DF. 6 .. . . . 7
4 5
xHMS
1 xHMS
2    xHMS
d
Background of HSA

The HSA is a kind of metaheuristic algorithm (developed by Step 3: Improvisation of a new harmony from the HM
Geem et al.) which, mathematically, maps musician effort to The process of generating a new harmony vector X new ¼
 new new
improvise pitches of their instruments in search of pleasing har- x1 ; x2 ; . . . ; xnew
d is called improvisation and it is governed by
mony [23]. In HSA, the solution vector is analogous to the harmony three rules viz. (a) a memory consideration, (b) a pitch adjustment
in music and global search schemes are analogous to the musicians and (c) a random selection. Firstly, a uniform random number r 1 is
improvisation [33]. HSA is a powerful optimization tool because of generated in the range [0, 1]. If r 1 is less than HMCR, the decision
its ability to discover the high performance regions of the solution variable xnew
i is generated by the memory consideration. Otherwise,
space in reasonable time [34]. xnew
i is obtained by a random selection (i.e., random re-initialization
between the search bounds). In the memory consideration, xnew i is
Basic HSA selected from any harmony vector j in ½j ¼ 1; 2; . . . ; d. Secondly,
each decision variable xnew i will undergo a pitch adjustment with
HSA employs stochastic random search process which is based a probability of PAR if it is updated by the memory consideration.
on harmony memory consideration rate (HMCR) and pitch adjust- The pitch adjustment rule is given by (25)
ment rate (PAR). Hence, requirement of any derivative information,
like other metaheuristic optimizations algorithms, is not necessary xnew
i ¼ xnew
i  r 3  BW ð25Þ
for generating a new population of decision variables in search of where r 3 is a uniform random number between 0 and 1.
an optima. Apart from this, initial guess for decision variable is also
not necessary in this algorithm. These inherent advantages makes Step 4: Updating the HM
HSA a mathematically simple, faster and easily implementable If the generated new harmony vector X new is better in
i
optimization algorithm [23,27]. Steps for implementing basic comparison to the worst harmony vector (evaluated based on their
HSA are enumerated below [33,34]. corresponding fitness function value) in the HM, then the worst
harmony will be replaced by X new
i .
Step 1. Initialize identified optimization problem and algorithm
parameters. Step 5: Checking of stopping criterion
Step 2. Initialize the harmony memory (HM). In this step, if the stopping criterion, i.e., maximum NI is
Step 3. Improvise new harmony from the HM. satisfied then execution of the HSA will stop. Otherwise, Step 3
Step 4. Update the HM. and Step 4 are repeated again in search of new harmony.
Step 5. Repeat Steps 3 and 4 until stopping criterion is met. The flowchart of the basic HSA is presented in Fig. 3.

The above steps are further illustrated in next five subsections. Variants of HSA

Step 1: Initialize identified optimization problem and algorithm Mahdavi et al., in [24], have proposed a method to improve the
parameters performance of basic HSA by, dynamically, adjusting the values of
Identification of problem and the declaration of the different its key parameters like PAR and BW during each generation using
parameters involved in an algorithm are the first step in any opti- (26) and (27), respectively,
mization technique. In general, the problem for optimization is
defined by (23) as:
PARmax  PARmin
min max PARðgnÞ ¼ PARmin þ  gn ð26Þ
Minimize f ðxÞ; subject to xi 2 ½lbi ubi ; i ¼ 1; 2; . . . . . . ; d NI
ð23Þ 0
min  1
BW
ln BW max

Here, f ðxÞ is the objective function, X ¼ ½x1 ; x2 ; . . . . . . ; xd  is the set of BWðgnÞ ¼ BW max exp @  gnA ð27Þ
min
NI
decision variables, d is the number of decision variables, lbi and
 G. Shankar, V. Mukherjee / Electrical Power and Energy Systems 75 (2016) 289–302
Fig. 3. Flowchart of basic HSA.
where PARðgnÞ is the pitch adjustment rate in the current genera-
tion ðgnÞ; PARmin and PARmax are the minimum and the maximum
adjustment rate, respectively, BWðgnÞ is the distance bandwidth
at generation ðgnÞ; BW min and BW max are the minimum and the
maximum bandwidths, respectively.
On the other hand, these parameters are taken as constant in
conventional HSA. Literature survey reveals that IHSA has been,
successfully, applied in solving complex engineering optimization
problems and the numerical results reveals that the IHSA can find
a better solution vector in comparison to traditional HSA and other
metaheuristic optimization technique [35,36].
Proposed QOHSA
HSA with OBL
Evolutionary or stochastic nature of the computational process
involved in almost all population-based optimization algorithms,
makes it inevitable either to trap in local optima or to have long
convergence time in finding optimal solution(s). It is observed that
in population-based algorithms that distance of initial guess of
decision variables from its optimal values appears to be a decisive
factor in determining their convergence rate. Hence, with an aim to
295
boost faster convergence rate of existing metaheuristic optimiza-
tion algorithms, Tizhoosh [37] has proposed OBL in population ini-
tialization. Generally, a random guess to the solution in these is
made due to absence of a priori information about the exact solu-
tions. In these circumstances, OBL increases the probability of
starting the algorithm with a closer (fitter) solution by simultane-
ously making a choice between the guessed and its corresponding
opposite solution for accelerated convergence profile. Shaw et al.,
in [38], have proposed OBL based gravitational search algorithm
for solving optimal reactive power dispatch problem. Numerical
results presented in the literatures reveal that closer solutions
were obtained in comparison to their traditional variants in many
of the optimization algorithm employing OBL.
HSA with QOBL
Definition of quasi-opposite number
The quasi-opposite number ðQOX 0 Þ is represented as a number
between center c of the one-dimensional search space and the
opposite number ðOX 0 Þ. It is, mathematically, expressed as in (28)


lb þ ub
QOX 0 ¼ rand ; lb þ ub  OX 0 ð28Þ
2
296 G. Shankar, V. Mukherjee / Electrical Power and Energy Systems 75 (2016) 289–302

where OX 0 is given in terms original number ðX 0 Þ as stated in (29). X new ¼ X ai;j ; % a 2 ð1; 2; . . . ; HMSÞ
i;j
OX 0 ¼ lb þ ub  X 0 ð29Þ if ðr3 < PARðgnÞÞ then
X new
i;j ¼ X newi;j  r 4  BWðgnÞ; % r 2 ; r3 ; r4 2 ½0; 1
Definition of quasi-opposite point end if
Based on the concept of quasi-opposite number, the else
x
quasi-opposite point QOX p0;i ¼ ðQOX 0;1 ; QOX 0;2 ; . . . ; QOX 0;d Þ 2 R for X new
i;j ¼ lbi;j þ r5  ðubi;j  lbi;j Þ; % r5 2 ½0; 1
d-dimensional search space may be defined by (30). end else

 end if
lbi þ ubi end for
QOX p0;i ¼ rand ; lbi þ ubi  OX p0;i ; i ¼ 1; 2; . . . ; d ð30Þ
2 end for
Step 5 Update the HM as X worst ¼ X new if f ðX new Þ < f ðX worst Þ
QOHSA Step 6 Quasi-opposition based generation jumping
Based on the concept of QOBL, a new version of HSA termed as if ðr6 < J r Þ % r 6 2 ½0; 1; J r : Jumping rate
QOHSA, is presented in [39]. In the present work, QOHSA has been for (i ¼ 0; i < HMS; i þ þ)
employed to obtain optimal performance of the studied LFC of the for (j ¼ 0; j < n; j þ þ)
single-area and the two-area power system model. The pseudo- OX i;j ¼ lbi;j ðgnÞ þ ubi;j ðgnÞ  X i;j ;
code of the proposed QOHSA is presented in Algorithm 1. % lbi;j ðgnÞ: minimum value of jth variable of ith
parameter in the current generation (gn)
Algorithm 1. Pseudo code for the proposed QOHSA % ubi;j ðgnÞ: maximum value of jth variable of ith
parameter in the current generation (gn)

Step 1 Set the parameters HMS, HMCR; PARmin ; PARmax , Mi;j ¼ lbi;j ðgnÞ þ ubi;j ðgnÞ =2;
BW min ; BW max , and NI. if (X i;j < Mi;j )
Step 2 Initialize the HM with X 0i;j . QOX 0i;j ¼ M i;j þ ðOX 0i;j  M i;j Þ  r 7 ; %
Step 3 % Quasi-oppositional HM initialization r7 2 ½0; 1
for ði ¼ 0; i < HMS; i þ þÞ end if
for ðj ¼ 0; j < d; j þ þÞ else
OX 0i;j ¼ lbi;j þ ubi;j  X 0i;j ; % OX 0 : Opposite of QOX 0i;j ¼ OX 0i;j þ ðM i;j  OX 0i;j Þ  r7 ;
initial X 0 end else
M i;j ¼ ðlbi;j þ ubi;j Þ=2; end for
if (OX 0i;j < Mi;j ) end for
end if
QOX 0i;j ¼ M i;j þ ðOX 0i;j  M i;j Þ  r 1 ; % r 1 2 ½0; 1
Select HMS fittest HM from the set of fX i;j ; QOX i;j g as
end if
current HM.
else
% End of quasi-oppositional generation jumping.
QOX 0i;j ¼ OX 0i;j þ ðM i;j  OX 0i;j Þ  r 1 ;
If NI is completed, return the best harmony vector X best
end else
in the HM; otherwise go back to Step 4.
end for
end for
% End of quasi-oppositional HM initialization.
Select HMS fittest individuals from set of fX 0i;j ; QOX 0i;j g Simulation results and discussions
as initial HM; HM being the matrix of fittest X vectors
QOHSA has been employed to tune the different gains of the
Step 4 Improvise a new harmony X new as follows:
controller incorporated in the model presented in Figs. 1 and 2.
Update PARðgnÞ and BWðgnÞ.
The considered controllers are I, PI or PID. The modeling of the pre-
for (i ¼ 0; i < HMS; i þ þ)
sent work is done using MATLAB/SIMULINKÒ and the code for the
for (j ¼ 0; j < d; j þ þÞ) proposed QOHSA is realized using MATLAB software. The model
if ðr 2 < HMCRÞ then parameters, as used in the present work, are presented in Appendix

Table 1
Optimized controller gains, transient response profiles of frequency deviation, FOD and performance indices for single-area power system.

Sl. no. Controller type Controller located at Optimized controller gains Transient performance profile FOD Performance
indices
K p (-ve) K i (-ve) K d (-ve) ush (103) (p.u.) osh ( 103) (p.u.) ts (s) ISE IAE ITSE

1 I TGU – 0.3050 – 65.50 54.8000 51.2 0.0625 1.8473 0.3831

HGU – 0.0881 –
GTGU – 0.1316 –
2 PI TGU 5.9990 1.1918 – 18.10 3.2873 25.3 0.0013 0.1496 0.0027
HGU 0.0010 1.4290 –
GTGU 5.7516 1.9869 –
3 PID TGU 5.8948 5.6905 5.9528 4.92 1.5537 15.1 0.0005 0.1445 0.0014
HGU 3.1569 0.4866 0.0057
GTGU 5.4600 3.9689 2.9975

An entry ‘–’ means not applicable.

 G. Shankar, V. Mukherjee / Electrical Power and Energy Systems 75 (2016) 289–302 297

Fig. 4. Comparative frequency deviation response profiles of single-area power

system under the action of different controllers with 1% SLP at t = 0 s.
Section. The best chosen values of the parameters used for QOHSA
are taken as the same for both single-area and two-area power
system and these are: HMS = 60, HMCR = 0.4, PARmin = 0.45,
PARmax = 0.98, BW min = 0.00005, BW max = 50, NFFEs = 100 and
jumping rate (J r ) = 0.4 The simulation time, tsim is taken as 100 s
for each run of the algorithm. Results obtained for the single-
area and the two-area multi-source interconnected power system
are presented and discussed below. Results of interest are bold
faced in the respective tables.
Single-area multi-source power system
Model of single-area presented in Fig. 1, is simulated for three
different cases by considering one of the conventional controllers
Fig. 5. Comparative convergence profiles of FOD for single-area power system
under the action of different controllers with 1% SLP at t = 0 s.
among I, PI and PID present at a time and the proposed QOHSA
has been employed to tune their gain(s) in each case. Under the
action of I/PI/PID controller with 1% SLP at t = 0 s of the studied
single-area multi-source power system model, QOHSA optimized
controller gains for each controller type located at TGU, HGU and
GTGU are presented in Table 1. The transient response profile of
frequency deviation in terms of ush (p.u.), osh (p.u.) and ts (s) are
included in this table along with FOD and the two performance
indices like IAE and ITSE. Comparative frequency deviation (p.u.)
response profiles of this studied single-area power system model
under the action of I/PI/PID controller for the specified SLP is pre-
sented in Fig. 4. It is observed from Table 1 and Fig. 4 that the
QOHSA tuned PID controller gains offers better results in terms

Table 2
Optimized controller gains, FOD and performance indices for two-area power system with AC link only.

Sl. no. Input parameters Controller type Controller located at Optimized controller gains FOD Performance
indices
Area-1 Area-2
K p (-ve) K i (-ve) K d (-ve) K p (-ve) K i (-ve) K d (-ve) ISE IAE ITSE

1 T ps = 10 s I TGU – 1.0000 – – 0.2447 – 0.0493 1.2947 0.1941

T 12 = 0.0549 HGU – 0.0204 – – 0.0011 –
B = 0.275 GTGU – 0.0713 – – 0.0252 –
PI TGU 1.0000 1.0000 – 0.9593 0.0040 – 0.0287 1.2144 0.1378
HGU 0.0086 0.6960 – 0.0015 0.3921 –
GTGU 0.7308 0.7208 – 0.8326 0.4483 –
PID TGU 9.0000 8.8989 8.6209 8.9239 7.4810 8.9994 0.0022 0.3057 0.0071
HGU 3.9556 2.9919 0.7512 6.4089 0.2079 0.9832
GTGU 3.4936 2.6190 5.6804 3.5155 4.0702 5.0596
2 T ps = 20 s I TGU – 0.6203 – – 0.0485 – 0.0526 2.4263 0.4771
T 12 = 0.0866 HGU – 0.3853 – – 0.0010 –
B = 0.425 GTGU – 0.0136 – – 0.2411 –
PI TGU 0.9905 0.0129 – 0.9336 0.1829 – 0.0299 1.8052 0.3126
HGU 0.0010 0.6059 – 0.0013 0.5464 –
GTGU 0.8229 0.1520 – 0.8596 0.0304 –
PID TGU 9.0000 8.9417 7.6014 8.8070 3.2300 8.8450 0.0011 0.2242 0.0033
HGU 8.7853 4.0370 0.4068 4.2037 6.1073 2.8519
GTGU 1.3619 7.9264 4.9536 8.1085 1.5310 1.8411
3 T ps = 30 s I TGU – 0.9940 – – 0.3480 – 0.0446 1.5167 0.2536
T 12 = 0.0231 HGU – 1.0000 – – 0.0010 –
B = 0.125 GTGU – 1.0000 – – 0.0486 –
PI TGU 0.9284 0.9836 – 0.9991 0.2128 – 0.0378 1.3852 0.2109
HGU 0.0024 0.9703 – 0.0756 0.1024 –
GTGU 0.4089 0.9171 – 0.8225 0.7600 –
PID TGU 8.3178 8.8686 9.0000 8.4413 1.7789 8.5558 0.0071 0.6726 0.0313
HGU 1.7161 7.6299 5.2530 1.1491 2.1662 4.6093
GTGU 4.9632 8.7652 2.9710 3.3819 1.8561 8.2649
298 G. Shankar, V. Mukherjee / Electrical Power and Energy Systems 75 (2016) 289–302
of transient response. The values of ush ; osh and ts are found to be
4.92  103 p.u., 1.5537  103 p.u. and 15.1 s, respectively under
the action of PID controller and these are less as compared to those
obtained with I and PI controllers. Table 1 helps to note that the
values of FOD, IAE and ITSE are less for PID controlled power sys-
tem model as compared to I/PI controlled power system model.
Comparison of convergence profile of FOD values with these three
controllers is shown in Fig. 5. This figure also shows that the con-
vergence of FOD value under the PID controller action is found to
be the best among the three controller considered.
Fig. 6. Comparative response profiles of two-area power system under the action of
different controllers with simultaneous 1% SLP at t = 0 s in both the areas without
DC link of (a) DF 1 (b) DF 2 and (c) DP Tie .
Two-area multi-source interconnected power system
In this case, two different scenarios have been considered. In the
first scenario, simulation of interconnected power system is done
with only AC tie line while in the other scenario AC–DC tie line
has been considered. Similar to that of single-area model, the
model presented in Fig. 2 is simulated for the three different types
of conventional classical controllers such as I, PI and PID (one being
present at a time), and QOHSA has been employed to tune their dif-
ferent tunable gains(s) in each case under varying nominal input
parameters such as T ps ; T 12 ; B1 and B2 . Here, B1 and B2 are taken
as equal and is denoted as B. Results obtained in each scenario
are discussed below.
Scenario 1: With AC tie link only
In this scenario, two-area multi-source interconnected power
system with only AC tie line, as shown in Fig. 2, is considered. In
this scenario, the value of flag (Z) is set to zero. The dynamic
performances of the LFC with 1% SLP in both the areas under the
action of different types of conventional classical controllers are
analyzed. In this scenario, the values of the tunable parameters
and the performance indices under varying nominal input param-
eters (like T ps ; T 12 and B) and controller types are presented in
Table 2. This table includes QOHSA based optimized controller
gains installed at different GUs along with the obtained values of
FOD, IAE and ITSE. From this table (for different input parameters),
it may be noticed that the values of FOD (ISE), IAE and ITSE are the
minimal for PID controlled power system configuration which
indicates that under the action of PID controller, better dynamic
response may be achieved as compared to either I or PI controller.
The comparative frequency and the tie line power deviation pro-
files of this scenario (corresponding to T ps = 30 s, T 12 = 0.0231 and
B = 0.125) are presented in Fig. 6. It may be observed from Fig. 6
that the PID controller gives better transient response as compared
to the other types of controllers. Under the action of PID con-
trollers, the values of ush ; osh and ts pertaining to the frequency
deviation in area-1 (Fig. 6(a)) are observed to be 0.0182 p.u.,
1.93  103 p.u. and 33 s, respectively, while those in area-2
(Fig. 6(b)), are found to be 0.022 p.u., 5.45  103 p.u. and 31 s,
respectively. It may be seen that the profile of deviation in tie line
power exchanges between two areas under the action of PID
controller is the best in terms of transient response. The values
of ush ; osh and t s from the profile of tie line power deviation
Fig. 7. Comparative convergence profiles of FOD for two-area power system under
the action of different controllers with simultaneous 1% SLP at t = 0 s in both the
areas without DC link.
 G. Shankar, V. Mukherjee / Electrical Power and Energy Systems 75 (2016) 289–302 299

Table 3
Optimized controller gains, FOD and performances indices for two-area power system with AC–DC link.

Sl. no. Input parameters Controller type Controller located at Optimized controller gains FOD Performance
indices
Area-1 Area-2
K p (-ve) K i (-ve) K d (-ve) K p (-ve) K i (-ve) K d (-ve) ISE ( 103) IAE ITSE

1 T ps = 10 s I TGU – 9.9901 – – 9.9979 – 0.7246 0.1795 0.0022

T 12 = 0.0549 HGU – 0.0095 – – 0.0036 –
B = 0.275 GTGU – 9.6742 – – 0.2955 –
PI TGU 9.9993 9.8972 – 8.6315 9.7137 – 0.6819 0.1145 0.0015
HGU 0.0354 0.7783 – 6.2864 3.3039 –
GTGU 8.6502 7.3495 – 9.7689 1.0178 –
PID TGU 9.9998 9.2526 10.000 9.5090 9.0840 8.1406 0.5915 0.1028 0.0012
HGU 2.4181 2.3170 0.8593 9.6245 9.1110 0.0010
GTGU 2.5602 8.9580 4.2090 4.4244 5.0096 7.5505
2 T ps = 20 s I TGU – 9.9996 – – 9.9995 – 0.9836 0.2237 0.0035
T 12 = 0.0866 HGU – 0.1340 – – 0.0013 –
B = 0.425 GTGU – 9.8540 – – 0.3560 –
PI TGU 9.9976 10.000 – 10.000 9.2045 – 0.8399 0.1567 0.0023
HGU 0.0738 6.4894 – 0.7560 2.3053 –
GTGU 9.9819 7.6250 – 4.4633 4.3371 –
PID TGU 10.000 10.000 9.3746 8.9654 9.8759 9.4938 0.7871 0.1463 0.0020
HGU 7.7457 3.3028 0.1849 4.9901 8.5043 0.0629
GTGU 7.5082 2.0720 9.8036 5.3092 0.7617 3.2402
3 T ps = 30 s I TGU – 9.9993 – – 9.9829 – 8.9581 0.7401 0.0072
T 12 = 0.0231 HGU – 0.0118 – – 0.0012 –
B = 0.125 GTGU – 6.5080 – – 0.0828 –
PI TGU 10.000 10.000 – 9.8372 9.5266 – 1.1473 0.1286 0.0015
HGU 3.8722 9.7137 – 9.1005 0.6049 –
GTGU 7.5880 9.4549 – 7.6450 0.8435 –
PID TGU 7.8362 9.8396 0.0010 9.9176 9.8946 0.0591 0.4221 0.0416 0.0005
HGU 6.6047 0.7514 0.2082 7.8811 9.9424 0.2384
GTGU 7.7071 8.9790 1.5893 7.2682 0.5396 4.9540

An entry ‘–’ means not applicable.

(Fig. 6(c)) may be noted as 6.809  104 p.u., 1.662  103 p.u. and
29 s, respectively. A comparative convergence profile of FOD, as
obtained under the action of different controller, is portrayed in
Fig. 7. This figure shows that convergence profile of FOD under
PID controller action is the best and yields the minimum FOD value
of 7.1  103. Hence, under the action of PID controller there is
improvement in the magnitude of ush ; osh and ts in the transient
responses of DF 1 ; DF 2 and DPTie following chosen disturbances for
this scenario.
Scenario 2: With AC–DC tie links
Two-area multi-source interconnected power system with AC–
DC tie lines, as shown in Fig. 2, is considered in this scenario. Sim-
ilar to Scenario 1, in this scenario too the dynamic performances of
the LFC with 1% SLP in both the areas under the action of different
types of conventional controllers are analyzed. The values of the
optimized controller gains, the FOD and the performance indices
like IAE and ITSE under varying nominal input parameters and dif-
ferent controller types are presented in Table 3. It may be noted
that the proposed QOHSA based optimized controller gains for
any input parameters yield lower FOD, IAE and ITSE values for
PID controlled network model as compared to the other types of
controller. This indicates that the transient responses of PID con-
trolled model are better as compared to I/PI type of controller.
With this chosen SLP and under the action of different types of con-
trollers (I, PI and PID), the comparative frequency and the tie line
power deviation profiles of this scenario are presented in Fig. 8 cor-
responding to T ps = 30 s, T 12 = 0.0231 and B = 0.125. It may be
noticed from this figure that the PID controlled power system
model offers better transient response as compared to the other
two types of controllers. In case of PID controlled model, ush ; osh
and t s offers values of frequency deviation in area-1 (Fig. 8(a)) as
5.498  103 p.u., 8.878  104 p.u. and 19 s, respectively, while
those in area-2 (Fig. 8(b)) are found to be 4.933  103 p.u.,
7.761  104 p.u. and 19 s, respectively. In this scenario, the profile
of deviation in tie line power exchanges between the two areas
(Fig. 8(c)) under the action of PID controller is the best one in terms
of transient response. The values of ush ; osh and t s from the profile
tie line power deviation (Fig. 8(c)) may be noted as
1.619  104 p.u., 1.437  104 p.u. and 18 s, respectively. A com-
parative convergence profile of FOD values, as obtained under
the action of different controller, is presented in Fig. 9. This figure
shows that convergence mobility of FOD under PID controller is the
best one and yields minimum value of 4.22  104.
Comparison between the responses with and without DC link
Under the action of PID controller (being found to be the best
one as per the discussions presented in the preceding two sub-
sections), the comparative with and without DC link dynamic
response for T ps = 30 s, T 12 = 0.0231 and B = 0.125 of Tables 2 and
3 of two-area interconnected power system, are analyzed. Compar-
ative analysis between Tables 2 and 3 for a particular nominal
input parameters (like T ps ; T 12 and B) and particular controller con-
figuration reveals that the transient response of the studied power
system model with the DC link is improved as the values of FOD
(ISE), IAE and ITSE are lesser when DC link is included in the con-
figuration. The comparative frequency and the tie line power devi-
ation profiles of the two-area interconnected power system with
DC link and without DC link are presented in Fig. 10. From
Fig. 10, it may be observed that the dynamic responses in the pro-
files of DF 1 ; DF 2 and DPTie get improved with AC–DC links as com-
pared to the presence of AC link only. From the profiles of DF 1 ,
presented in Fig. 10(a), the values of ush ; osh and t s are improved
by 69.8%, 54% and 42.5%, respectively, with the presence of DC link.
300 G. Shankar, V. Mukherjee / Electrical Power and Energy Systems 75 (2016) 289–302

Fig. 9. Comparative convergence profiles of FOD for two-area power system under
the action of different controllers with simultaneous 1% SLP at t = 0 s in both the
areas with DC link.

Fig. 8. Comparative response profiles of two-area power system under the action of
different controllers with simultaneous 1% SLP at t = 0 s in both the areas with DC
link of (a) DF 1 (b) DF 2 and (c)DP Tie .

From the profiles of DF 2 (refer Fig. 10(b)), it may be noticed that the
values of ush ; osh and t s are improved by 77.6%, 85.77% and 38.7%,
respectively, in presence of DC link. An improvement of 76.22%,
91.14% and 37.93% are noticed in the values of ush ; osh and ts ,
respectively, in the profile of DPTie from Fig. 10(c) while considering
DC link in the studied model. The comparative convergence pro-
files of FOD, as obtained in these two comparative cases are dis- Fig. 10. Comparative with and without DC link response profiles of two-area power
played in Fig. 11. The final values of FOD appear to be improved system under the action of PID controller with simultaneous 1% SLP at t = 0 s in both
by 94.02%, in the presence of DC link as compared to AC link only. the areas of (a) DF 1 (b) DF 2 and (c) DP Tie .
 G. Shankar, V. Mukherjee / Electrical Power and Energy Systems 75 (2016) 289–302
Fig. 11. Comparative with and without DC link convergence profiles of FOD for
two-area power system under the action of PID controller with simultaneous 1% SLP
at t = 0 s in both the areas.
Conclusion
In the present work, LFC study of single-area and two-area
interconnected power system incorporating split-shaft model of
GTGU as one of the diversified power source has been presented.
The LFC study of the studied test systems is carried out following
SLP and under the action of different classical controllers such as
I, PI and PID. The gain(s) of these controllers are tuned using a
novel QOHSA for realizing optimal dynamic performance and for
the purpose of LFC study. Results obtained shows that performance
of the PID controller is found to be the best one as compared to
either I or PI controller both in case of single-area and two-area
interconnected power systems. In case of two-area interconnected
system, LFC with only AC link and with AC–DC links have been con-
sidered for different values of nominal input parameters. Also, it
has been shown that the presence of DC link in parallel to AC links
improves the overall dynamic performance and the stability mar-
gin of the two-area interconnected power system.
Appendix
Parameters of single-area power system model [7,30]
Rt ¼ Rh ¼ Rg ¼ 2:4 Hz/p.u. MW, T sg ¼ 0:08 s, T t ¼ 0:3 s, T r ¼ 10 s,
K r ¼ 0:3; T w ¼ 1 s, T rs ¼ 5 s, T rh ¼ 28:75 s, T gh ¼ 0:2 s, T 1 ¼ 1:5 s,
T 2 ¼ 1:5 s, T 3 ¼ 3 s, Lmax ¼ 1, K T ¼ 1, FOV min ¼ 0:02, FOV max ¼ 1,
Dtur ¼ 0, K ps ¼ 68:9566, T ps ¼ 11:49 s, K t ¼ 0:543478, K h ¼
0:326084, K g ¼ 0:130438.
Parameters of two-area power system model [7,30]
B1 ¼ B2 ¼ B ¼ 0:4312 p.u. MW/Hz, Rt ¼ Rh ¼ Rg ¼ 2:4 Hz/p.u.
MW, T sg ¼ 0:08 s, T t ¼ 0:3 s, T r ¼ 10 s, K r ¼ 0:3, T w ¼ 1 s, T rs ¼ 5 s,
T rh ¼ 28:75 s, T gh ¼ 0:2 s, T 1 ¼ 1:5 s, T 2 ¼ 1:5 s, T 3 ¼ 3 s, Lmax ¼ 1,
K T ¼ 1, FOV min ¼ 0:02, FOV max ¼ 1, Dtur ¼ 0, K ps ¼ 68:9566, T ps ¼
11:49 s, T 12 ¼ 0:0433, a12 ¼ 1, K t ¼ 0:543478, K h ¼ 0:326084,
K g ¼ 0:130438, K dc ¼ 1, T dc ¼ 0:2 s.
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