ISSN 10683712, Russian Electrical Engineering, 2014, Vol. 85, No. 12, pp. 777–784. © Allerton Press, Inc.

, 2014.

Improving the Transient StabilityConstrained Optimal Power Flow

with Thyristor Controlled Series Compensators1
ThanhLong Duonga, b, *, Yao JianGanga, and VietAnh Truongc
a
Department of Electrical Engineering, Hunan University, Changsha, Hunan, 41082 China
b
Department of Electrical Engineering, Industrial University of Hochiminh City, 70000 Vietnam
cDepartment of Electrical Engineering, University of Technical Education Hochiminh City, 70000 Vietnam

*email: thanhlong802003@yahoo.com
Received November 14, 2014

Abstract—Due to the rapid increase of electricity demand and the deregulation of electricity markets, power
systems tend to operate closer to stability boundaries. The scheme of preventive control should bring in a
tradeoff between economics and security, which are often the two major inconsistent requirements for the
daily operation of many power systems in the world. Optimal power flow (OPF) is a powerful tool to weaken
the conflict between economy and security, but the main obstacle faced is that, the complexity involved for
OPF with transient stability constraints is several orders of magnitude higher than that of conventional OPF
with merely static constraints. Therefore, consideration of Transient Stability Constraints in Optimal Power
Flow (OPF) problems is becoming more and more imperative. FACTS devices such as Thyristor Controlled
Series Compensator (TCSC) can be very effective to power system security in case of a contingency. In this
paper, we concentrate on the improving transient stabilityconstrained optimal power flow to against single
contingencies via the use of TCSC. Study results on IEEE 30bus system have proved the effectiveness of
using TCSC to improve transient stabilityconstrained optimal power flow (TSCOPF).

Keywords: power system security, TCSC, transient stability, OPF, TSCOPF

DOI: 10.3103/S1068371214120165

1
1. INTRODUCTION
The present day power systems are facing many
challenges in terms of system operation to obtain eco
nomic benefit and security. Various factors, such as
environmental, rightofway and cost constraints have
limited the expansion of the transmission networks.
Utilities try to maximize the utilization of the existing
transmission asset that may, some times, lead to inse
cure operation of the system. Hence, power system
security has become one of the most important issues
in the electricity market operation [1]. Better market
and system operating conditions may be achieved
when system security and economy are better
accounted. Solution of this problem is known as Secu
rity Constrained Optimal Power Flow (SCOPF).
The SCOPF is an extension of the Optimal Power
Flow (OPF) problem which is used to obtain an eco
nomical operation of the system while considering not
only normal operating limits, but also violations that
would occur during contingencies. The SCOPF
changes the system precontingency operating point
so that the total operating cost is minimized, and at the
same time no security limit is violated if contingencies
occur. Although the SCOPF are still challenges related
1 The article is published in the original.
to computations, it is expected that the SCOPF will
eventually become a standard tool in the electricity
industry [2].
Various approaches to approximate this region in
OPF models have been proposed. For example, in [3]
has proposed an algorithm for solving SCOPF prob
lem through the application of evolutionary program
ming (EP). A new robust differential evolution algo
rithm for SCOPF considering detailed generator
model is presented in [4]. Florin Capitanescu and
Louis Wehenkel et al. [5] has proposed a new iterative
approach to the corrective SCOPF Problem. [6] has
presented a approach to solve an optimal power flow
problem with embedded security constraints repre
sented by a mixture of continuous and discrete control
variables, where the major aim is to minimize the total
operating cost, taking into account both operating
security constraints and system capacity requirements.
In [7] has proposed of DC SCOPF approximation to
improve iterative AC SCOPF Algorithms. A novel
approach to pricing the system security by paralleliz
ing the security constrained optimal power flow
(SCOPF) based marketclearing model is presented
in [8].
The use of a security constrained in OPF is increas
ingly necessary in today’s stressed power system,

777
778 THANHLONG DUONG et al.
Bus i –jXs Bus j
Rij + jXij
Fig. 1. Model of transmission line with TCSC.
which operate under market rules. Therefore, Tran
sient Stability Constrained OPF (TSCOPF) to guar
antee an appropriate security level has become an
attractive research topic recently. Transient stability is
the ability of power system to maintain synchronous
operation of machines when it is subject to a set of
credible contingencies. Transient stability testing for
the optimal solution obtained from the OPF has to be
performed under all the credible disturbances to
ensure the system stability performance. With
TSCOPF, optimal operating state where the power
system remains stable after certain contingencies can
be obtained.
However, TSCOPF is a nonlinear optimization
problem with both algebraic and differential equa
tions, which is difficult to be solved even for small
power systems. There have been a number of papers
proposed in the literature for incorporating transient
stability constraints in the OPF in the context of eco
nomic dispatch. Singh and David have proposed a
transient energy function based redispatch method in
[9] where the generators are redispatched if the stabil
ity margin of power system, calculated is inadequate.
The redispatch was also made sensitive to price sig
nals so that the competing generators had an input to
the redispatch. In [10–12], the authors convert the
original TSCOPF into an optimization problem via a
constraint transcription based on functional transfor
mation techniques. This approach seems to be a
promising method to solve large systems. A new
approach to formulate and solve the TSCOPF prob
lem in the initial operating state based on the SIngle
Machine Equivalent (SIME) method has proposed in
[13]. In [14], the authors convert the power system
transient stability model into an algebraic set of equa
tions for each time step of the timedomain simula
tion. This set of algebraic equations is introduced in
the OPF as transient stability constraints. The size of
the resulting problem is typically large. Ref. [15] has
proposed the OPF with transient stability constraints
(OTS) problem using functional transformation tech
niques by converting the infinite dimensional OTS
into a finite dimensional optimization problem. In
[16], based on SIME the transient stability is con
strained by limiting the corresponding unstable OMIB
trajectory no larger than a critical OMIB trajectory at
one specific integration time step. In [17] the multi
machine dynamics are replaced by the corresponding
OMIB swing equation, and the discretization is then
applied for solution.
RUSSIAN ELECTRICAL ENGINEERING
Rapid development of selfcommutated semicon
ductor devices has made it possible to design power
electronic equipment. This equipment is well known
as flexible ac transmission system (FACTS) [18].
FACTS devices such as Thyristor Controlled Series
Compensator (TCSC) can be very effective to power
system security in case of a contingency. The objective
of FACTS devices is to control power flow so that it
flows through the designated routes, increase trans
mission line capability to its maximum thermal limit,
and improve the security of transmission system with
minimal infrastructure investment and environmental
impact. The studies for solving such problems can be
found in the literature. Ref. [19] has presented a
method for the modal synthesis of the control of an
electrical power system with FACTS devices. The
control is intended for damping the variation of power
flow. The task of minimizing the undesirable interac
tion of FACTS devices in electric mains has been exam
ined in [20]. In [21] has been presented the decentral
ized synthesis of stabilizing controllers based on FACTS
devices in an integrated electrical power system (IEPS),
which secures minimum energy consumption for con
trol. In this paper, we concentrate on improving tran
sient stabilityconstrained optimal power flow to
against single contingencies via the use of TCSC. Study
results on IEEE 30bus system have proved the effec
tiveness of using TCSC to improve transient stability
constrained optimal power flow (TSCOPF).
2. STATIC MODELING OF TCSC
The effect of TCSC on the network can be seen as
a controllable reactance inserted in the related trans
mission line [22]. Series capacitive compensation
works by reducing the effective series impedance of the
transmission line by canceling part of the inductive
reactance. Hence the power transferred is increased.
The model of the network with TCSC is shown in
Fig. 1. The maximum compensation by TCSC is lim
ited to 70% of the reactance of the uncompensated
line where TCSC is located. A new line reactance
(Xnew) is given as follows
X new = X ij – X s , X new = ( 1 – K )X ij .
Where K = Xs/Xij is the degree of series compensa
tion and Xij is the line reactance between busi and
busj.
The power flow equations of the line with a new
reactance can be derived as follows
2
P ij = V i G ij – V i V j ( G ij cos δ ij + B ij sin δ ij ), (1)
2
Q ij = – V i B ij – V i V j ( G ij sin δ ij – B ij cos δ ij ), (2)
2
P ji = V j G ij – V i V j ( G ij cos δ ij – B ij sin δ ij ), (3)
2
Q ji = – V j B ij + V i V j ( G ij sin δ ij + B ij cos δ ij ). (4)
Vol. 85 No. 12 2014
 IMPROVING THE TRANSIENT STABILITYCONSTRAINED OPTIMAL POWER FLOW 779

Where δij is the voltage angle difference between bus i 3.2.1. Conventional OPF constraints
and bus j —Power balance equation
R ij X new Pi(V, δ) + Pdi – Pgi = 0, i = 1,…, Nb, (8)
G ij = 
 and B ij = 
2 .
2
R ij + X new
2 2
R ij + X ij Qi(V, δ) + Qdi – Qgi = 0, i = 1,…, Nb. (9)
—Power generation limit
min max
3. TSCOPF PROBLEM FORMULATION P gi ≤ P gi ≤ P gi , i = 1, …, N g , (10)
3.1. OPF Formulation min max
Q gi ≤ Q gi ≤ Q gi , i = 1, …, N g . (11)
The OPF is a constrained optimization problem
that requires minimization of an objective function. —Bus voltage limits
One of the possible objectives of OPF is the minimiza min max
tion of the power generation cost subject to the satis Vi ≤ V i ≤ V i , i = 1, …, N b . (12)
faction of the generation and load balance in the trans —Apparent line flow limit
mission network as well as the operational limits and
constraints of the generators and the transformers S1 ≥ S1, max, 1 = 1,…, N1. (13)
[23]. The OPF is generally expressed in mathematical Where Pgi, Qgi are the active and reactive power
form as: generation at busi: Pdi, Qdi the active and reactive
min f(x, u). (5) power demand at bus i: Vi the voltage magnitude at bus i:
Vi, min and Vi, max the minimum and maximum voltage
Subject to limits; Pgi, min and Pgi, max are the minimum and maxi
g(x, u) = 0, h(x, u) ≥ 0. (6) mum limits of real power generation: Nb the total
number of buses, Ng is the total number of generation
Where f(x, u) is the objective function. The equal buses: Sl the apparent power flow in transmission line
ity constraints (6) are the power flow equations, while connecting nodes i and j, and Sl, max is its maximum
the inequality constraints are due to various limita limit.
tions. The limitations include lower and upper limits 3.2.2. Transient stability constraints. The transient
on generator real and reactive powers limits on voltage stability problem in a power system is described by a
magnitudes, line and transformer maximum currents, set of differentialalgebraic equations [24], which
and sets of possible transformer taps position and could be solved by timedomain simulation. The swing
shunt admittances. The vector of independent vari equation set for ith generator is
ables u is given by the active powers of the generators,
·
the voltages of the PV nodes and transformer tap set δi = ωi – ω0 , (14)
tings. The vector of dependent variables x is given by
the voltages of PQ nodes, argument of PV nodes volt M i ω· i = ω 0 ( P mi – P ei – D i ω i ), i = 1, 2…NG. (15)
ages and reactive power generation.
Where
δi: rotor angle of ith generator
3.2. Objective Function ωi: rotor speed of ith generator
Transientstability constrained OPF can be mathe Di: damping constant of ith generator
matically considered as a conventional OPF with Pmi: mechanical input power of ith generator
additional inequality constraints imposed by the rotor
angle limits [14]. The power flow solution should not Pei: electrical output power of ith generator
only meet the steadystate constraints imposed by the ω0: synchronous speed.
conventional OPF problem but also the dynamic con For simplicity the criterion for transient stability is
straints imposed on the rotor angles during the tran defined as the rotor angle deviation with respect to the
sient period under study for a given set of contingen centre of inertia (COI), and hence the inequality con
cies. An objective function and all related constraints straints of transient stability are formulated as
for TSCOPF are described as follows.
δ i – δ COI max ≤ δ max . (16)
min ∑ C (P
i ∈ Ng
i gi ). (7) Where |i – COI|max corresponds to the maximum
rotor angle deviation of ith generator from COI, and
2 δmax is the maximum allowable rotor angle deviation.
Where Ci(Pgi) = aP gi + bPgi + c is the bid curve of The setting of δmax is often based on operational expe
ith generator; a, b and c are cost coefficients for the rience. Most utilities would have it set to 100°–120° to
generator. allow the system to have sufficient stability margin.

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780 THANHLONG DUONG et al.

G6 3.3. Formulation of TSCOPF

According to Sections 3.2, the TSCOPF problem
29
27 28
has now been formulated:
25
Minimize (7)
30
26 Subject to (8)–(13)
23 24 (15) and (16)
G5
15 19
18
4. CASE STUDY AND DISCUSSIONS
17 20
21
The proposed method is applied to IEEE30 bus
14 16 power system. The IEEE 30bus system consists of 41
22 lines and six generators. The line and bus data are
13 12 10 available in [25, 26]. The single line diagram of the sys
G4 tem is shown in Fig. 2. The total load for the operating
11 9 condition considered is 283.4 MW and 126.2 MVAR.
G3
1 8 The total fuel cost obtained from the MatPower pack
4 6
3 age [26], which is considered as the base case without
TCSC 7 transientstability constraints. A three phase to ground
G1 fault at bus 2 and cleared by tripping line 2–5 at 0.3 s.
2 5 Power System Toolbox [27] is used to perform time
domain transientstability simulations for determin
G2 ing the variation of the generator angles.
From table (row 2) it was observed that, when tran
sientstability constraints were not considered (case1),
Fig. 2. IEEE 30bus system oneline diagram. the fuel cost was obtained optimal 984.34 $/h. How
ever with this generation schedule, it was found that
system transient stability was lost following the fault
Here, δmax is set to 100°, and the position of COI is disturbance at bus 2 as shown in Fig 3. Clearly the net
defined as work cannot be operated in this way since security of
NG
the network was violated. In order to secure operation
of the power system, TSCOPF must therefore be con
∑M δ i i sidered (case2). From table (row 3) it can be seen
δ COI = 
i=1 . (17) that, to achieve transient stability (case2), there is
N G substantial change in the generation schedule to meet
∑M i
the transient stability constraints as compared with the
generation schedule in case1 (row 2). The active
i=1
power loading of generator 2 is reduced from 80 MW
Where Mi is the moment of inertia of ith generator. (case1) to 60 MW (case2) while generator 1, 3, 4, 5

Optimization results for IEEE 30bus system

Pg1 Pg2 Pg3 Pg4 Pg5 Pg6 Fuel

Case
(MW) (MW) (MW) (MW) (MW) (MW) cost, $/h

Case 1: generation schedule without transient 65.00 80.00 35.53 28.74 26.11 55.00 984.34
stability constraints

Case 2: generation schedule with transient stability 78.00 60.00 40.00 30.68 27.02 55.00 998.43
constraints

Case 3: generation schedule (MW) without tran 71.03 85.00 39.99 29.57 27.12 55.00 1066.07
sient stability constraints, and without TCSC
installation

Case 4: generation schedule (MW) with transient 78.28 77.00 40.00 30.50 27.14 55.00 1070.08
stability constraints and TCSC installation
in line 2–6 (XTCSC = –0.08 pu).

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 IMPROVING THE TRANSIENT STABILITYCONSTRAINED OPTIMAL POWER FLOW 781

Phase angle difference (fault cleared at 0.3 s)

150

100

50
Delta, deg

–50

–100
0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0
t, s

Fig. 3. Relative rotor angles for fault at bus 2 (case 1).

Phase angle difference (fault cleared at 0.3 s)

100

80

60

40
Delta, deg

20

–20

–40

–60

–80
0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0
t, s

Fig. 4. Relative rotor angles for fault at bus 2 (case 2).

increases from 65, 35.53, 28.74 and 26.11 MW (case1)
to 78, 40, 30.68, and 27.02 MW (case2) respectively.
A consequence of satisfying the transient stability con
straints is that of increasing fuel cost from 984.34 $/h
(case1) to 998.43 $/h (case2) as shown in table (col
umn 8) and Fig. 4.
The study in case 2 shows that, when the load
demand is specified, the system without TCSC can
operate with transient stability being maintained for
the fault disturbances considered but fuel cost is
increased. In order to investigate the contribution of
the TCSC for minimum generation cost and remain

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782 THANHLONG DUONG et al.

Phase angle difference (fault cleared at 0.3 s)

150

100

50
Delta, deg

–50

–100
0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0
t, s

Fig. 5. Relative rotor angles for fault at bus 2 (case 3).

Phase angle difference (fault cleared at 0.3 s)

100
80

60
40

20
Delta, deg

–20

–40
–60

–80
–100
0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0
t, s
Fig. 6. Relative rotor angles for fault at bus 2 (case 4).

transiently stable of power system following the fault
disturbances considered, the load demand used in
cases 1 and 2 is modified, and now has the total value
of 299.2 MW (active power at bus 5 is increased from
94.2 MW to 110 MW). The description of the two fur
ther cases 3 and 4 together with the dispatch solutions
and system transient stability assessments is given in
table (row 4, 5).
It can be seen from table (row 4) and Fig. 5 that, at
this point in load demand, system transient stability is
lost following the fault disturbance at bus 2. An
attempt was made to reschedule the generation based

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 IMPROVING THE TRANSIENT STABILITYCONSTRAINED OPTIMAL POWER FLOW
on solving an OPF with transient stability constraints
for system without TCSC. However, this solution was
not still obtained. In this case, in order to maintain the
transient stability, a TCSC is installed near bus 2 and in
series with the transmission line between bus 2 and
bus 6. In the initial, the level (K) of series compensa
tion will be set equal to 1%. If the transient stability
violations are not eliminated under the optimal power
flow scenario, the compensation level of TCSC is
increased as K = K + 1% and perform optimal power
flow solution till all the violations are eliminated.
Simulation results base on OPF with transient sta
bility constraints and TCSC installation in line 2–6 is
given in table (row 5) and Fig. 6. From Fig. 6 it can be
observed that, system transient stability is obtained
following the fault disturbance at bus 2. These simula
tion results demonstrate the effectiveness of TCSC in
improving system operation. Proper use of TCSC gives
better results in terms of OPF solution and also
ensures system transient stability following the fault
disturbance, therefore enhancing the system dynamic
security.
5. CONCLUSIONS
The development of the modern power system has
led to an increasing complexity in the study of power
systems, and also presents new challenges to power
system stability, and in particular, to the aspects of
transient stability. Transient stability control plays a
significant role in ensuring the stable operation of
power systems in the event of large disturbances and
faults, and is thus a significant area of research.
Although the base OPF provides a dispatch that
respects the physical and operational limitations, it
did not guarantee the transient stability of the system
after the fault has been cleared. Incorporating the
transient stability constraints into the OPF to limit the
value of the rotor angle allowed us to ensure that the
system would be transiently stable following the fault.
This paper investigates the improvement of tran
sient stability with OPF using TCSC which is an effec
tive FACTS device capable of controlling the active
power flows in a transmission line by controlling
appropriately its series parameters. Simulations are
carried out in Matlab environment with TCSC to ana
lyze the effects of TCSC on transient stability perfor
mance of the system. The transient stability of the sys
tem is compared with and without the presence of
TCSC in the system. The simulation results demon
strate the effectiveness of the proposed TCSC on tran
sient stability improvement with OPF.
ACKNOWLEDGMENTS
The support for this research under Chinese
National Science Foundation Grant (no. 51277059) is
gratefully acknowledged.
RUSSIAN ELECTRICAL ENGINEERING Vol. 85 No. 12
783
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