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709
World Academy of Science, Engineering and Technology 52 2009
wmax − wmin iB
XB
w = wmax − iteration (3)
iter _ max iE
VSC-E VSC-B
Where, iter_max is the maximum number of iterations and
iteration is the current number of iteration. The Eq. (3) XE
B. Iteration Particle Swarm Optimization Fig. 2 SMIB power system equipped with UPFC
In this paper, a new index named, Iteration Best, is
incorporated in Eq. (1) to enrich the searching behavior, In order to study the effect of the UPFC for enhancing the
solution quality and to avoid being trapped into local small signal stability of the power system dynamic model of
optimum, IPSO technique is proposed, Eq. (4) shows the new the UPFC is required. Therefore, the UPFC can be modeled as
form of Eq. (1): [5-7]:
vid = w × vid + c1 × rand ( ) × ( Pid − xid ) ⎡ m E cos δ E v dc ⎤
(4) ⎡v Etd ⎤ ⎡ 0 − x E ⎤ ⎡i Ed ⎤ ⎢ 2 ⎥ (5)
+ c2 × rand ( ) × ( Pgd − xid ) + c3 × rand () × ( I b− xid ) ⎢v ⎥ = ⎢ ⎥ ⎢i ⎥ + ⎢ m sin δ v ⎥
x
⎣ Etq ⎦ ⎣ E 0 ⎦ ⎣ Eq ⎦ ⎢ E E dc
⎥
⎣ 2 ⎦
Where, Ib is the best value of the fitness function that has ⎡ mB cos δ B vdc ⎤
been obtained by any particle in any iteration and c3 shows the ⎡vBtd ⎤ ⎡ 0 − xB ⎤ ⎡iBd ⎤ ⎢ ⎥ (6)
2
weighting of the stochastic acceleration terms that pull each ⎢v ⎥ = ⎢ ⎥ ⎢i ⎥ + ⎢ m sin δ v ⎥
⎣ Btq ⎦ ⎣ B x 0 ⎦ ⎣ Bq ⎦ ⎢ B B dc
⎥
particle toward Ib [14]. Figure 1 shows the flowchart of the
⎣ 2 ⎦
proposed IPSO algorithm.
3mE ⎡ Ed ⎤ 3mB
i ⎡iBd ⎤
vdc = [cos δ E sin δ E ]⎢ ⎥ + [cos δ B sin δ B ]⎢ ⎥ (7)
4Cdc ⎣iEq ⎦ 4Cdc ⎣iBq ⎦
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World Academy of Science, Engineering and Technology 52 2009
Where, vEt, iE, vBt, and iB are the excitation voltage, in order to damping controller design. The speed deviation Δω
excitation current, boosting voltage, and boosting current, is considered as the input to the damping controller. The
respectively; Cdc and vdc are the DC link capacitance and structure of UPFC based damping controller is shown in Fig.
voltage. The nonlinear model of the SMIB system is described 4. This controller may be considered as a lead-lag
by [8, 9]: compensator [3]. However, an electrical torque in phase with
.
the speed deviation is to be produced in order to improve
δ = ω 0 (ω − 1) (8) damping of the system oscillations. It comprises gain block,
.
ω = ( Pm − Pe − DΔω ) / M (9) signal-washout block and lead-lag compensator. To acquire an
.
optimal combination, this paper employs IPSO [14] to
E q′ = (− E q + E fd ) / Tdo′ (10) improve optimization synthesis and find the global optimum
. value of fitness function. To increase the system damping to
E fd = (− E fd + K a (Vref − Vt )) / Ta (11) electromechanical modes, an eigenvalue-based objective
function is considered as follows:
A linear dynamic model is obtained by linearizing the
nonlinear model round an operating condition. The linearized J = max(real (λ )) (20)
model of power system is given as follows:
Δδ = ω0 Δω (12) Where, real (λi) is the real part of the ith electromechanical
Δω = (−ΔPe − DΔω ) / M mode eigenvalue, respectively. In the optimization process, it
(13) is aimed to minimize J in order to shift the poorly damped
•
Δ E q/ = (−ΔE q + ΔE fd ) / Tdo/ (14) eigenvalues to the left in s-plane.
(15) U ref KS U
ΔE = ( K ( Δv − Δv ) − ΔE ) / T
fd A ref fd A 1 + STS
Δvdc = K 7 Δδ + K 8 ΔE q/ − K 9 Δvdc + K ce Δm E (16)
+ K cδe Δδ E + K cb Δm B + K cδb Δδ B Δω
STW ⎛ 1 + ST1 ⎞⎛ 1 + ST3 ⎞
Δ Pe = K 1 Δ δ + K 2 Δ E + K pd Δ v dc + K pe Δ m E
/ K ⎜⎜ ⎟⎟⎜⎜ ⎟⎟
q (17) 1 + STW ⎝ 1 + ST2 ⎠⎝ 1 + ST4 ⎠
+ K p δ e Δ δ E + K pb Δ m B + K p δ b Δ δ B
Fig. 4. UPFC with lead-lag controller
Δ E q/ = K 4 Δ δ + K 3 Δ E q/ + K qd Δ v dc + K qe Δ m E (18)
+ K qδe Δ δ E + K qb Δ m B + K qδb Δ δ B The design problem can be formulated as the following
constrained optimization problem, where the constraints are
Δ V t = K 5 Δ δ + K 6 Δ E + K vd Δ v dc + K ve Δ m E
/
the controller parameters bounds [1]:
q
(19)
+ K v δ e Δ δ E + K vb Δ m B + K v δ b Δ δ B Minimize J Subject to:
K min ≤ K ≤ K max
K1, K2…K9, Kpu ,Kqu and Kvu are linearization constants. The T1min ≤ T1 ≤ T1max
block diagram of the linearized dynamic model of the SMIB
power system with UPFC is shown in Fig. 3.
T2min ≤ T2 ≤ T2max (21)
T3min ≤ T3 ≤ T3max
T4min ≤ T4 ≤ T4max
K1
Typical ranges of the optimized parameters are [0.01-100]
ΔPm
+ +
ΔPe +
1 w0
for K and [0.01-1] for T1, T2, T3 and T4. The proposed
+ −
Ms + D s approach employs IPSO and CPSO to solve this optimization
+
problem and search for an optimal set of controller parameters.
K pu K2 K4 K5 K pd
In this work, in order to acquire better performance, number of
K6 particle, particle size, number of iteration, c1, c2, and c is
1 −
+ Ka − − Vref
+ chosen as 20, 5, 50, 2, 2 and 1, respectively. Also, the inertia
K 3 + sTd′ 0
− −
1 + sTa − − weight, w, is linearly decreasing from 0.9 to 0.4. The final
K qu K qd K vu K vd
values of the optimized parameters are given in Table I.
K8
+ ΔVdc TABLE I
U + 1
K cu OPTIMAL PARAMETERS OF THE CONTROLLER
s + K9
+
K7 Controller δE based controller mB based controller
Fig. 3. Modified Heffron–Phillips transfer function model. parameters IPSO CPSO IPSO CPSO
K 96.11 84.21 93.56 89.00
IV. UPFC BASED DAMPING CONTROLLER DESIGN T1 0.4988 0.0661 0.1721 0.3275
T2 0.5652 0.0177 0.2111 0.1465
T3 0.6661 0.2609 0.7566 0.9457
The damping controller is designed to produce an electrical T4 0.5348 0.1998 0.2423 0.5003
torque in phase with the speed deviation according to phase
compensation method. In this paper δE and mB are modulated
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World Academy of Science, Engineering and Technology 52 2009
V. SIMULATION RESULTS
15
x 10
-3
A. Eigenvalue Analysis
10
Speed deviation
The system eigenvalues with and without the proposed
controllers at nominal condition are given in Table II. It is
5
clear that the open loop system is unstable, whereas the
proposed controllers stabilize the system. It is obvious that the
electromechanical mode eigenvalues have been shifted to the 0
left in s-plane and the system damping with the proposed
method greatly improved and enhanced. -5
0 2 4 6
(b) Time (sec)
TABLE II -3
SYSTEM EIGENVALUES WITH AND WITHOUT CONTROLLER 15
x 10
(NOMINAL CONDITION)
mB based
Type of Algorithm Without controller δE based controller
controller 10
Speed deviation
-1.0024 ± i3.205 -1.4908 ± i2.3581
0.16615 ± i4.5031 -3.3757, -2.7444, -6.6615 ± i2.4349
CPSO 5
-3.2531, -96.582 -95.5 -2.1011, -3.168,
-76.731, -6.8716 -96.976
-1.7172 ± i2.7264 -1.4816 ± i1.9317 0
0.16615 ± i4.5031 -1.7946 ± i0.11839 -4.2656 ± i5.275
IPSO
-3.2531, -96.582 -2.5852, -6.7389, -5.460, -2.3978,
-96.5 -96.847 -5
0 2 4 6
(c) Time (sec)
B. Nonlinear Time Domain Simulation Fig. 5 Dynamic responses for Δω at (a) nominal (b) light (c) heavy
In any power system, the operating load varies over a wide loading conditions; Solid (IPSO based δE controller) and Dashed
range. It is extremely important to investigate the variation of (PSO based δE controller).
the loading condition on the dynamic performance of the
system. The operating conditions are considered as:
1
12 Fig. 6 Dynamic responses at nominal loading (a) ΔPe and (b) (Δδ);
Speed deviation
-4
0 2 4 6
(a) Time (sec)
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World Academy of Science, Engineering and Technology 52 2009
0.02
VI. CONCLUSIONS
The iteration particle swarm optimization algorithm has been
successfully applied to the optimal design of UPFC based
Speed deviation
0.01
APPENDIX
The nominal parameters of the system are listed in Table III.
0
TABLE III
SYSTEM PARAMETERS
-0.01
0 2 4 6 ′ = 5.044 s
M = 8 MJ/MVA Tdo X d = 1pu
Time (sec) Generator
(b) X q = 0.6p.u X d′ = 0.3pu D=0
0.02
Excitation system K a = 25 Ta = 0.05s
Transformers X = 0.1 pu X = 0 . 1 pu
Speed deviation
T SDT
0.01
DC link parameter VDC = 1 pu C DC
= 1 pu
STATCOM parameter C = 0.25 ϕ = 52D
0 Ks = 1 Ts = 0.05
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-0.01
0 2 4 6
(c) Time (sec)
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Fig. 7 Dynamic responses for Δω at (a) nominal (b) light (c) heavy based approach of power system stability enhancement with unified
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Energy System, Vol. 29, 2007, pp. 251-259.
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-0.5
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