Available online at www.sciencedirect.

com

ScienceDirect
Procedia Computer Science 57 (2015) 1308 – 1316

3rd International Conference on Recent Trends in Computing 2015 (ICRTC-2015)

Intelligent Controller based SVC for voltage stability

improvement in a Stand-alone wind-diesel-micro hydro
hybrid system
*a
Asit Mohantyb Meera Viswavandyac Sthitapragyan MohantydDillip K Mishra
ac
Research Scholar,CET Bhubaneswar,751003,India
b
Asst Professor,CET Bhubaneswar,751003,India.
d
Asst Professor,EAST Bhubaneswar,754001,India
Abstract
This paper gives a novel idea of application of ANN based SVC controller for voltage stability improvement in an isolated
wind-diesel-micro hydro hybrid system. For detailed analysis a small signal linear model of the hybrid wind- Diesel-micro
hydro model is considered with different loading conditions.The voltage stability analysis has been thoroughly analysed by
a SVC Controller and is further improved by a feed forward neural network with back propagation technique which is
designed to tune the parameters of SVC controller.Detailed stability analysis has been done with different criterias like
bode,nyquist and eigen value synthesis.Simulation result justifies the working of the isolated systems performance which
shows that the system parameters attend steady state value with lesser time and complexities.
© 2015The
© 2015 TheAuthors.
Authors. Published
Published by Elsevier
by Elsevier B.V.is an open access article under the CC BY-NC-ND license
B.V. This
Peer-review under responsibility of organizing committee of the 3rd International Conference on Recent Trends in
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under
Computing 2015responsibility
(ICRTC-2015). of organizing committee of the 3rd International Conference on Recent Trends in Computing 2015
(ICRTC-2015)

Keywords –Isolated Wind-Diesel-micro hydro hybrid system;IG;SVC;ANN Controller

Nomenclature
P,Q Real Reactive power IG K ,K Exciter Gain,Gain Energy loop
IG a v
P Q Real Power, Reactive Power- SG Ta , T , T Exciter ,rising, settling time cnst.
SG SG r s
E ΔE Electromagnetic energy and small ' Direct axis reactance of SG under
M, M change of Energy.(IG) X X
d d steady state and transient
ΔQ Reactive generated by SVC Δα Phase angle -Compensators
SVC
ΔQ Reactive Power - Compensator. ΔE Incremental Change in Internal
COM q Armature Voltage
K K K Gain Constants of Voltage ΔE Change in the Voltage of the Exciter
A, E, F Regulator, Exciter, Stabilizer. fd
ΔV Incremental Change in Voltage η Performance Index
* Corresponding author. Tel.:+91- 9437920530;
E-mail address:asithimansu@gmail.com

1877-0509 © 2015 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of organizing committee of the 3rd International Conference on Recent Trends in Computing 2015 (ICRTC-2015)
doi:10.1016/j.procs.2015.07.440
 Asit Mohanty et al. / Procedia Computer Science 57 (2015) 1308 – 1316 1309

1.Introduction

Standalone hybrid power systems are small power systems located at remote places to cater the local power
demands of those particular places which are situated far away from the main grid. Generally two or more
renewable sources are combined to form a hybrid system where shortage due to one source is compensated by
the other. [1]-[2]. Wind Diesel systems are commonly used as hybrid system in which a diesel generator works
as a backup with a wind turbine to provide power to remote places. Normally Synchronous generators are
preferred as Diesel Generator and SCIG/DFIG/PMIG are preferred in Wind Turbine for an better performance
and for their rugged characteristics [3]-[5].In a wind–diesel-hydro hybrid system consisting of both
synchronous generator and Induction generator, the Induction generator needs reactive power and is mostly
provided by the Synchrous generator. But the supplied reactive power is not sufficient and it creates gap
between the demand and supply of reactive power. This gap leads to problems like voltage fluctuation and
instability Generally capacitor banks are utilised to compensate reactive power in the power system. As
renewable like wind is unpredictable and loads are constantly changing fixed capacitors cannot meet the
challenge to compensate reactive power. [7]-[8].The challenges of power quality issues like voltage instability
and reactive power compensation are generally met by the use of FACTS(Flexible AC Transmission System)
devices [9]-[11].

SVC, STACOM and other FACTS devices are used to compensate the reactive power of the power system.
They are extensively used for voltage and angle stability studies in power system. Management of reactive
power has become an important aspect of hybrid power system and absence of reactive power forces the system
to go through a wide voltage variations and lots of fluctuations. Many a times SVC has been projected as a
reactive power compensating device in several literatures. This work proposes an ANN based SVC Controller
for reactive power management and stability enhancement in a standalone wind diesel hydro hybrid system.
The proposed controller helps in tuning the gains of the PI Controller to enhance the transient stability and
reactive power compensating capability of the system.Numerous problems are easily solved with the
application of ANN controller in power system[12]-[16]. The working of ANN is similar to working of
biological nervous systems. ANN consists of a large number of interconnected processing elements (neurons)
working together to solve a problem. It is designed for a specific application through learning process which
adapts the synaptic connections of the neurons. The main merits of ANN are the relationship between the input
and output data s for an unknown relationship or complex function.
The gains of the PI controller depends upon the type of reactive power load for optimum performance. Due to
the variable nature of the load, the PI gains setting of SVC are adjusted after proper tuning. The paper focuses
the ANN based approach to tune the PI gains of the SVC controller over a wide range of load characteristics.
For the simulation the multi-layer feed-forward ANN tool box of MA TLAB with the error back-propagation
training method is used. The dynamic responses of the hybrid system are shown for 5 % step increase in load
reactive power with and without 5% step increase in input wind power.
This paper discusses a small signal model of wind-diesel-hydro system for analysis of
transient stability and reactive power compensation with introduction of ANN based SVC controller for 5%
load change. Section II describes the whole system and the detailed mathematical model of it. Detailed work
with application of of ANN controller for tuning the gains of PI controller is discussed in section III. Finally the
simulation results with detailed descriptions are represented in section IV and conclusion part in Section V.

II. System Configuraion and its Mathematical Modelling

1310 Asit Mohanty et al. / Procedia Computer Science 57 (2015) 1308 – 1316

The said structure of standalone wind-diesel-hydro hybrid system basically consists of Induction
generator (IG) based wind turbine and small hydro turbine with Synchronous generator (SG) based diesel
engine as backup. The block diagram is clearly depicted in Fig. 1.For a system like this ,the active power is
provided by the Induction generator and Synchronous generator. But for reactive power need of the Induction
generator and Load an SVC with ANN controller is provided. SVCs are considered for reactive power
compensators and voltage stability enhancement.The hybrid system parameters are mentioned in Table.

P I C ontroller Load
'Vref KI
Kk
Reactive power
V ‘0 KP  S VC Kj
Wind IG s 'QL
IG IG 'QIG 'QCOM
Reactive Ke
power 'QSG
'V(s) KV
Wind System
1 sT V
Micro SVC 1
Hydro 0.75 s 1
Kc Kd

Reactive Power Reactive

Power
SG
SG Kb Ka
S aturation
Fuel F unc tion
E xciter sK F
Consumer P I C ontroller 1 sT F SF
Load AVR
Diesel Generator Set 'Vref KI KA KE
KP 
BusBar
s 1 sTA 1 sTE E fd

Fig.1.Block diagram of Wind-diesel-hydro with SVC Fig.2. Transfer Function model with SVC

Fig.2. Small signal transfer function model of Wind-diesel-hydro hybrid system with SVC

The balanced equation of (SG, SVC, IG and LOAD) is expressed ΔQSG + ΔQSVC = ΔQL + ΔQIGW  ΔQIGH (1)
Due to small change in reactive power load ∆Q L, the system terminal voltage varies which affects the reactive
power requirement of other members of the system. The final reactive balance equation is equal to
ΔQ + ΔQ - ΔQ - ΔQ  ΔQ 0 and the value deviates the system output voltage. The System Model
SG SVC L IGW IGH
Equation is governed by the transfer function equation which is given below [14]
ΔV(S) =[ΔQSG(S)+ ΔQCOM(S)- ΔQL(S)- ΔQIGW(S)- ΔQIGH(S)] (2)
Wind Turbine (Induction Generator)
The wind turbine uses an squirrel cage Induction generator.The real and reactive power delivered by the
induction generator are given by
RY 2 ª Xeq 1 º 2
PIG = V and QIG = « + »V (3)
R2 2
Y +Xeq 2 2 XM ¼»
¬« RY + Xeq
­ ½
° Xeq ° 2
The reactive power absorbed by the Induction Generator is given by QIG = ® ¾V
° 2 2
¯ RY +Xeq °
¿
Diesel Engine (Synchronous Generator)
(E'qVcosδ-V2)
For the Diesel system, the modified synchronous generator equation is QSG = (Transient
X'd
Vcosδ E'qcosδ-2V
condition) and for incremental change ΔQSG = ' ' + (4)
X dΔE q X'dΔV

Taking Laplace we get ΔQSG(s) = Ka ΔE'q(s) + KbΔV(s) Where Ka= Vcosδ /X'd and Kb=(E'qcosδ -2V)/X'd
 Asit Mohanty et al. / Procedia Computer Science 57 (2015) 1308 – 1316 1311

SVC Controller:-

The main function of SVC is to provide reactive power required by the load and the Induction generators which
can not be met by the synchronous generator alone.It is a high speed device whose function is to compensate
the reactive power and meet the voltage stability problem. The variable Inductive susceptance BL is a function
23  2D  sin 2D 3
of the Thyristor firing angle D and is equal to BL , d D d 3 , X i = reactance of the fixed
Xi 2
Inductor of the SVC.
When SVC compensates the reactive power QSVC =V²BSVC and the Laplace Transform for a small perturbation
[16]
ΔQ
svc
(s)= K ΔV(s)+ K ΔB
c d svc
(s) (5)

D1
'V (s) Thyristor firing delay Phase sequence x
1
D2 T rans fer
delay F unc tion
'B 'SVC ( s)
x
'Vref (s) D 0  'D d 3 'B (s) 2 D3
O utput

SVC ¦
'D (s)
Activation Function

K KD 1 x
D4
KP  i n T hres hold
s 1 sTD 1 sTd O utput
L ayer
Input
L ayer
3 Dn
d D 0  'D
2 H idden L ayer

Fig 4 Small signal model of Static Var Controller Fig 5- Artificial Neural Network

III. Artificial Neural Network

ANN is basically based upon the neural structure of the brain. It tries to imitate the functioning of the brain. As
we know that brain stores information and ANN provides a new field of computing which involves the creation
of massive parallel networks to solve specific problems. As neurons provide the ability to remember and apply
the previous experiences, ANN works on a similar pattern to achieve high computational rates due to massive
parallelism fault tolerance capability. The controller uses back propagation algorithm for the training process.
III A. Back Propagation Algorithm:
This algorithm is the most popular and widely accepted algorithm.
First step-Initialization--All the weights, threshold levels of the network are randomly distributed in a small
range.
Second step-Activation--Here the actual outputs of the neuron in the hidden layers are calculated.
ª n º
y ( p) sigmoid « ¦ xi ( p ).wij ( p ) Ti » Where n is the number of inputs of the neurons j in the hidden layer.
j «¬i 1 »¼

ªm º
So the actual outputs of the neuron in the outer layer y ( p) sigmoid « ¦ x jk ( p ).wik ( p )Tk »
k «¬i 1 »¼

Third step- Training of weights---The error gradient for the neurons in the output layer is calculated.

G k ( p) y ( p ) ª¬1 yk ( p) º¼ .e ( p) , ek ( p ) y ( p )  y ( p ) And the weight corrections are

k k dk k
1312 Asit Mohanty et al. / Procedia Computer Science 57 (2015) 1308 – 1316

'w
jk
( p) D . y j ( p )G k ( p ) , then the weights at the output neurons are updated

as 'w jk ( p  1) w
jk
( p )  'w
jk
( p)

The error gradient of the hidden layer neurons can be calculated

l
G j ( p) y ( p) ¬ª1 y j ( p )º¼ ¦ G k ( p ) w ( p ) and the weight corrections are 'w ( p) D x ( p)G ( p) , When
j k 1 jk jk i j
updated the weights at the hidden neuron w ( p  1) w ( p)  'w ( p)
jk jk jk

Fourth step-Iteration---An increase of iteration p by one step and the process should be repeated until the
selected error Criterion is Satisfied.
III.B. Training of parameters by ANN

The value of the reactive power load voltage characteristics ( nq ) is used as input of the ANN and the outputs

are the proportional and integral gains k p and ki of SVC controller. The ANN uses the normalised values of

n as input and produces output in normalised way and is converted to actual one. Determination of weights is
q
known as training of the learning process. An input output pairing is first prepared prior to the conducting of
training process. Based on the loading conditions the set is first developed by calculating the desired PI
controller gains. A typical range between 0.0 to 4.0, taking the exponent of load voltage characteristics is
prepared to cover all typical loads of the power system. The network is trained repeatedly till an optimum
agreement between predicted gains and actual gains is achieved. The network is again tested to predict the
actual gain settings of the load model. The performance index K is based on integral square error (ISE) and is
min max
equal to Ki dK dK and by minimising the performance index optimised values of k and k are
p i
i i
min max
determined. 'V is the voltage deviation, subject to the constraints. K
p
dK dK
p p and
min max
K dK dK .The testing of the networks is performed for two typical values of nq , 1.25 and 3.25.
i i i
Table-I - Optimum gain settings of SVC
n Optimum gain settings of SVC for different values of exponent of reactive-load voltage characteristics
q
0.5 1 1.5 2 2.5 3 3.5 4
kp 35 38 41 45 47 49 50 54
ki 4985 5100 5405 5600 5807 6008 6234 6458

.IV. Simulation Results

From the MATLAB based simulation which has been carried out taking an ANN based SVC Controller for
the wind diesel micro hydro hybrid power system the settling points and peak overshoots of different
parameters of the hybrid system are noted..The ANN controller has been utilised for compensating reactive
power and voltage stability of the hybrid system with a step load change of 5%. The variation of all the system
parameters such as small change in reactive power of Synchronous generator, Induction generator, Reactive
 Asit Mohanty et al. / Procedia Computer Science 57 (2015) 1308 – 1316 1313

Power Change of SVC, Variation in firing angle, Variation in terminal voltage, Variation in field excitation,
Variation in armature voltage, and change of armature voltage under transient, etc., as shown in Fig. 6 are

studied for the above mentioned disturbance using traditional PI Controller and the ANN controller.

1.

4 No Controller
SVC(PI) 1
Angle
2 SVC(ANN+PI) QSvc No Controller
0.
0 SVC(PI)
SVC(ANN+PI)
-2
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
0
0 0. 0. 0. 0. 0. 0. 0.
Time(sec) Time(sec)

x 10-3
0.05
5
0
No controller 0
DelV SVC(PI) No controller
-0.05 SVC(ANN+PI) DelQIG SVC(PI)
-5 SVC(ANN+PI)
-0.1
0 0.1 0.2 0.3 0.4 0.5 0. 0.7 -100 0.1 0.2 0.3 0.4 0.5 0.6 0.7
Time(sec)

Fig 6(a-h) Output of Wind Diesel Micro hydro hybrid system using SVC for 5 % load change during transient condition(comparison with
ANN Controller)

0.06
No
0.05
0.04
cont
0.03 oller
0.02
0.01
PI
0

DelV DelEq' Del efd Del QSG

ANN

Figure 7(a)- Maximum deviations Figure

The settling time and peak overshoot in the case of ANN controller is observed to be less as comparison to
traditional PI Controller. Simulation results clearly show the output of ANN Controller is better than the
traditional PI Controller. Furthermore the stability analysis of the hybrid power system is carried out and the
performances are compared based on Bode, Nyquist and circle criterion. Generally Bode plots represent the
frequency plots of the magnitude and phase of the open-loop frequency transfer function where magnitude is
plotted in dB (decibels) and the phase angle in degrees. These plots show the static gains and dynamic roots
which provide informations regarding the phase and gain margins .It also shows the closed-loop frequency
response parameters which are extremely helpful in assessing the transient stability of the WECS. According to
Nyquist stability criterion, a system reaches stable stage if the value of feedback gain k is such that the point -
1/K will not lie on the right half of stability plane (G (s), which is the transfer function of the proposed hybrid
system). The region in right plane as traversed by G (jω) is the Nyquist plot . If n is the number of poles that lie
in the right-half of the s-plane, then there should lie n map layers which leaves behind the roots by traversing a
small circle around each of them in anti-clockwise direction resulting in a larger circle traversed in the
clockwise direction.
1314 Asit Mohanty et al. / Procedia Computer Science 57 (2015) 1308 – 1316

Table-2

Wind-diesel-Micro hydro ANN based Wind-diesel –micro hydro system

Eigenvalue Damping Frequency Eigenvalue Damping Frequency
-3.83e-2 1.00e+00 3.83e-02 -3.83e-02 1.00e+00 3.83e-02
-4.84e+00 1.00e+00 4.84e+00 -4.84e+00 1.00e+00 4.84e+00
-1.18e+1 + 3.06e+1i 3.59e-01 3.28e+01 -1.09e+1 + 3.06e+1i 3.36e-01 3.25e+01
-1.18e+1 - 3.06e+1i 3.59e-01 3.28e+01 -1.09e+1 + 3.06e+1i 3.36e-01 3.25e+01
-4.44e+01 1.00e+00 4.44e+01 -1.18e+1 + 3.06e+1i 3.59e-01 3.28e+01
-1.45e+02 1.00e+00 1.45e+02 -1.18e+1 +3.06e+1i 3.59e-01 3.28e+01
-6.14e+02 1.00e+00 6.14e+02 -4.48e+1 1.00e+00 4.48e+01
-7.96e+04 1.00e+00 7.96e+04 -1.47e+2 1.00e+00 1.47e+02

Bode Diagram Step Response

50 30
0
25 Step response of the system with SVC Controller
20
-50Magnitude System without controller
(dB) 15 Step response of the System without Controller
-System with optimised controller Amplitude
10 Step response of the system with optimised SVC Controller
-
10
270 5
180 System with SVC controller 0
015
Phase
90 (deg) -5
00 -100 0.5 1 1.5 2 2.5 3 3.5 4 4.5
-90 Time (seconds)
1- 1- 1Frequency
0 11 12 (rad/s)
13 14 105 10 6 10 7
02 01 0 0 0 0 0

Fig 8- Stabilty analysis using bode diagram and Step response of the system with 3 configurations

Nyquist Diagram Nyquist and Circle Criterion Diagram

40 0 dB 0.03
0.02
Imaginary Axis
20 Stable k range
0.01 -Inf < k < 61.1363
Imaginary Axis
0 2 dB-2 dB 0
-0.01
-20 -0.02
-0.03 -0.06 -0.04 -0.02 0 0.02 0.04 0.06
-40
-10 0 10 20Real30
Axis 40 50 60 Real Axis

Fig 9- Stabilty analysis Nyquist criterion

V. Conclusion
This paper gives a novel solution for the voltage stability enhancement in the wind-diesel-micro hydro hybrid
system with the incorporation of ANN based SVC controller. Results show the Variation of the system
parameters with variation of load and it is quite evident that the reactive Power compensation of the model has
been achieved .The compensation in case of back propagation based ANN controlled system is better than the

conventional system. The proposed ANN controller based hybrid system shows better results in settling time
 Asit Mohanty et al. / Procedia Computer Science 57 (2015) 1308 – 1316 1315

and overshoot. The ANN Controller shows effective improvement and changes in the output by tuning the
values of KP and Ki than the conventional PI controller and thereby helps in improving the stability of the

system.

Appendix

Table 3- Parameters of wind-diesel hybrid system

System Parameter WindDieselMicro hydro

syst
Wind Capacity (Kilowatt) 150
Diesel Capacity 150
Hydro Capacity 150
Load Capacity 400
Base Power in KVA 400
SYNCHRONOUS GENERATOR INDUCTION GENERATOR
PSG, KW 0.4 PIG,pu in Kilowatts 0.6
QSG in KW 0.2 QIG,pu in KVAR 0.189
Eq( pu) 1.113 PIN,pu in Kilowatts 0.75
Eq’(pu) 0.96 r1=r2(pu) 0.19
V(pu) 1.0 X1=X2(pu) 0.56
Xd,(pu) 1.0
T’do,s 5
LOAD
PL(pu) in KW 1.0
QL(pu) in KVAR 0.75
α in Radian 2.44

References

[1] Hingorani N G,Gyugyi.N.Understanding FACTS Concepts and Technology of Flexible AC Transmission system. IEEE Power
Engineering Society;2000.
[2] Kaldellis J et al.Autonomous energy system for remote island based on renewable energy sources.In proceeding of EWEC ;99
[3] Murthy S S, Mallick O P and Tondon A K.Analysis of self excited Induction generator.IEEE Proceeding. 1982;129.
[4] Padiyar K R.FACTS Controlling in power Transmission system and distribution.New age International Publishers;2008.
[5] Hashemi S,Aghamohammadi MR.Wavelet based feature extraction of voltage profile for online voltage stability assessment using RBF
neural network.International journal of Electrical power and energy system. 2013;49:86-94.
[6] Padiyar K R, Verma RK.Damping torque analysisof static var compensator.IEEE Transaction of power system , 1991;6(2):458-465.
[7] Devraj D,Roselyn j.On line voltage stability assessment using radial basis function network model with reduced input
features.International journal of power and energy system.2011;33-1550-5.
[8] Karami A.Power system transient stability margin estimation using neural networks. IJPES.2011;33(4);983-91.
[9] Riedmiller M, Braum H.A direct adaptive method for faster back propagation learning.IEEE international conference Neural networks
.1993:586-589
[10] Hagan MT, Menhai M.Training feedforward networks with Marquardt algorithm.IEEE Transaction Neural networks.1994:5(6):989.
[11] Jayabharti R , Devarajan N B.ANN based DSPIC controller for reactive power compensation. American journal of applied science.
2007:508-515.
[12] Bansal R C. Automatic reactive power control of autonomous hybrid power system. PhD Thesis ,Center for Energy Studies;2002.
1316 Asit Mohanty et al. / Procedia Computer Science 57 (2015) 1308 – 1316

[13]Hagan M T ,Menhai M. Training feed forward networks with Marquardt algorithm.IEEE Transaction on neural networks. 1999:989-
993.
[14]Mohanty Asit, Viswavandya Meera, Ray Prakash and Patra Sandipan.Stability analysis and reactive power compensation issue in a
microgrid with DFIG based WECS.IJPES;2014.
[15] Bansal R C, Bhatti T S, Kumar V. Reactive power control of Autonomous Wind diesel hybrid power system using ANN.Proceeding
of the Power Engineering Conference;2007.
[16] Juardo Francisco, Jose R Saenz.Neuro fuzzy control of autonomous wind diesel system using biomass.Renewable energy.2002; Vol 2.
[17] Alves A P, Ins fran A H F, Silvira P M da, Torres G Lambert.Neural network for fault location in sub stations.IEEE Transaction on
power delivery. 1996;234-239.
[18] Lu C N, Wu H T, Vemun S.Neural network based short term load forecasting.IEEE Transaction on power system. 1993:336-342.
[19] Mohanty,Asit,Viswavandya,Meera,:Impact of Fuzzy logic based UPFC Controller on voltage stability of a stand-alone hybrid
system,Smart Innovation and Technology,Springer,Vol 33,2014.
[20] Haque S E, Mallick N H and Sephard W.operation of a fixed capacitor Thyristor controlled reactor power factor compensator.IEEE
Transaction of power apparatus and system. 1985; 408-412.