2015 5th Nirma University International Conferennce on Engineering (NUiCONE)
Transient stabiilization of SMIB pow
wer system
using sooft computing techniq
que
Rekha
Research Scholar, Electrical Engineerring Dept.
N I T Jamshedpur
Jamshedpur, India
Email: rchy72@gmail.com
Abstract— The paper presents the design of fuuzzy logic controller
(FLC) for enhancing the performance of powerr system under fault
condition. In a power system, several types of fauult may occur which
causes the system to lose stability. The fault conssidered in this paper
is a three phase short circuit fault which occuurred on one of the
transmission line. The objective is to improve thee performance of the
system during and after the fault by using fuuzzy controller. The
performance of different controllers has been compared and it is
found that a better and smoother output is obtained by fuzzy
controller.
Keywords: Fuzzy logic controller (FLC),, direct feedback
linearization (DFL), linear quadratic regulator (LQR).
( discussed in section IV. In seection V, simulation results for
I. INTRODUCTION
In this paper, the problem of transient instabbility is considered
which is occurring for very short duration. Transient
T condition
arises in power system when a sudden fauult occurs. A fault
even lasting for a few seconds, can make thee system unstable.
The disturbances/fault occurring in system may m be of various
types. Common types of faults occurring in system are line to
ground, line to line and three phase short circuit
c fault. Short
circuit fault is the one which affects the stabbility of the power
system. In this paper three phase shortt circuit fault is
considered.
The generator model of power system is essentially non-linear
in nature. The design of controller using lineear control system
theory and linearized model around an opperating point has
been dealt in many previous works. In case of large
disturbance, linearized control techniques are not effective.
Therefore non-linear feedback linearizatioon technique has
been considered [1], [2] which gave better performance than
linear control techniques. The design of a state observer for
uncertain nonlinear system, without the accuurate knowledge of
system nonlinear model, has received mucch attention in the
area of nonlinear system control [3, 4].
In this work an improved conntroller has been
implemented through the excitation loopp. Controller for
synchronous generator is developed baseed on Fuzzy set
theory. The fuzzy logic controller (FLC)) can take speed
deviation, acceleration and changed terminall voltage as inputs.
The controlled output is given to the system through the
excitation loop. A set of logical operation iss performed using
controller inputs and decision table to get the desired
controller output. The performance of the designed
d fuzzy PI
978-1-4799-9991-0/15/$31.00 ©2015 IEEE
A.K
K.Singh
Professor, Electriccal Engineering Dept.
N I T Jaamshedpur
Jamsheddpur, India
Email: aksnittjsr@gmail.com
and PD controller has been compared
c with direct feedback
linearization-linear quadratic (DFL-LQ) controller. In this
paper, DFL technique is used for designing robust nonlinear
excitation controllers.
The layout of the papeer is as follows. In section II the
dynamical model of power syystem is presented wherein the
governing electrical and mecchanical equations have been
discussed. In section III, the theoretical background of the
nonlinear decentralized controll scheme is stated briefly. Fuzzy
based power system stabilizeer and its modeling has been
fuzzy PI and fuzzy PD controller has been presented. Finally
the concluding remarks have beeen given in section VI.
II. DYNAMICAL MODE
EL OF POWER SYSTEM
Linearization of power system
s model with automatic
voltage regulator (AVR) is difficult to carry out, if not
impossible. To solve this problem, a new nonlinear controller
by using DFL technique and robust control theory has been
discussed here to achieve bothh voltage regulation and system
stability enhancement simultanneously
Fig. 1 Power system model
m for SMIB system
Figure. 1 shows the model
m for single machine infinite
bus (SMIB) power system. The model consists of single
synchronous generator conneccted through a transmission line
to a very large network approxximated by an infinite bus. The
actual dynamic response of a synchronous generator in a
practical power system when a fault occurs is very complex. If
we consider the various effectts introduced by different rotor
circuits, then model of synnchronous generator will be
represented by seven nonlineear differential equations. The
abbreviations used for definning the system are given in
appendix. The mechanical andd electrical governing equations
are presented below:
Mechanical equation:
 οߜሶ ሺ‫ݐ‬ሻ ൌ ߱ሺ‫ݐ‬ሻ (1)
߱ሺ‫ݐ‬ሻ ሶ ൌ ି஽ ߱ሺ‫ݐ‬ሻ െ  ఠబ οܲ௘ ሺ‫ݐ‬ሻ (2)
ு ு
Generator Electrical Dynamics:
ଵ
‫ݍܧ‬ƴሶ ሺ‫ݐ‬ሻ ൌ  ሺ‫ܧ‬௙ ሺ‫ݐ‬ሻ െ ‫ܧ‬௤ ሺ‫ݐ‬ሻሻ
்೏೚
Electrical Equations:
௫ ௫ ି௫ ᇱ
‫ܧ‬௤ ሺ‫ݐ‬ሻ ൌ  ೏ೞ ‫ܧ‬௤ᇱ ሺ‫ݐ‬ሻ െ ೏ ೏ ܸ௦ ܿ‫ߜݏ݋‬ሺ‫ݐ‬ሻ
௫೏ೞ ᇱ ௫೏ೞ ᇱ
‫ܧ‬௙ ሺ‫ݐ‬ሻ ൌ ‫ܭ‬௖ ‫ݑ‬௙ ሺ‫ݐ‬ሻ
௏ೞ ா೜ ሺ௧ሻ
ܲ௘ ሺ‫ݐ‬ሻ ൌ  ‫ߜ݊݅ݏ‬ሺ‫ݐ‬ሻ (6)
௫೏ೞ
௏ೞ ௉೐ ሺ௧ሻ
‫ܫ‬௤ ሺ‫ݐ‬ሻ ൌ  ‫ߜ݊݅ݏ‬ሺ‫ݐ‬ሻ ൌ 
௫೏ೞ ௫ೌ೏ ூ೑ ሺ௧ሻ
௏ೞ ௏ೞమ
ܳ௘ ሺ‫ݐ‬ሻ ൌ  ‫ܧ‬௤ ሺ‫ݐ‬ሻܿ‫ߜݏ݋‬ሺ‫ݐ‬ሻ െ 
௫೏ೞ ௫೏ೞ
‫ܧ‬௤ ሺ‫ݐ‬ሻ ൌ ‫ݔ‬௔ௗ ‫ܫ‬௙ ሺ‫ݐ‬ሻ
ଵ ଶ ଶ ሺ‫ݐ‬ሻ ଶ ଶ
ܸሺ‫ݐ‬ሻ ൌ  ൛‫ݔ‬௦ ‫ܧ‬௤ ൅  ܸ௦ ‫ݔ‬ௗ ൅ ʹ‫ݔ‬௦ ‫ݔ‬ௗ ‫ݔ‬ௗ௦ ܲ௘ ሺ‫ݐ‬ሻܿ‫ߜݐ݋‬ሺ‫ݐ‬ሻൟ1/2
௫೏ೞ
(10)
In order to design nonlinear controller, feedback
linearization is often preferred as it presents high performance
and allows tuning the controller through several ways. The
main objective is to design the control input which is the key
feature of the controller. Using nonlinear compensating law
[2], the power system model is linearized about the excitation
loop. After linearization the plant becomes a linearized model.
To do so, we need to express electrical power in terms of state
variables of system. Nonlinear excitation controller has been
developed based on classical third order dynamic generator
model and their simulation results are presented in later
sections. The objective of designing controller is to stabilize
the voltage and damp out the oscillations so that system can be
stabilized faster. Voltage stability is predominantly concerned
with load areas and characteristic, so it is basically a problem
of load stability whereas rotor angle stability is a problem of
generator stability.
III. CONTROLLER DESIGN TECHNIQUES
Recently nonlinear control techniques such as feedback
linearization, Hamiltonian technique, passivity based
approach, singular perturbation and sliding mode control have
been applied to achieve high quality dynamic performance
under large and unexpected contigencies. Inspite of
complexity of nonlinear controller, it has advantage of
increasing the region of stability. Almost all controllers in
operation today are designed using methods derived from
classical control theory, most commonly linear feedback
control. For these methods to work, a reference signal must be
available that specifies the desired state of the environment at
each point in time.
The final value of the generator terminal voltage is
different from its pre-fault steady value as the terminal voltage
(Vt(t)) is nonlinear function of į(t), Pe(t) and system
structure. Therefore any change in the system structure will
cause the voltage to reach another post-fault equilibrium point
if į(t) and Pe(t) are forced to go back to their pre-fault steady
values. Since Vt(t) is a complex nonlinear function of the state
variables and system structure. To solve this problem, a
nonlinear controller based on excitation and fuzzy has been
proposed which can achieve both voltage regulation and
system stability enhancement simultaneously.
(3) A. DFL compensator design
An important requirement of a control system design is that
(4) the closed loop system be robust to un-certainties due to
modeling errors, noise and disturbances. The classical robust
(5) stability measures are gain margin and phase margin defined
with respect to Bode plot of SISO system. Whereas robustness
properties of the LQR design for MIMO system can be studied
(7) by considering the return difference matrix. DFL
compensation through the excitation loop is designed here so
(8)
that network interconnections and system nonlinearities can be
(9) eliminated. The DFL technique offers considerable flexibility
in designing nonlinear controllers.
The linearized model after using the DFL technique is
obtained as below:
οߜሶ ሺ‫ݐ‬ሻ ൌ ߱ሺ‫ݐ‬ሻ (11)
߱ሺ‫ݐ‬ሻሶ ൌ ି஽ ߱ሺ‫ݐ‬ሻ െ  ఠబ οܲ௘ ሺ‫ݐ‬ሻ (12)
ு ு
ሶ ൌെ ଵ ଵ
οܲ௘ ሺ‫ݐ‬ሻ οܲ௘ ሺ‫ݐ‬ሻ+ ‫ݒ‬௙ ሺ‫ݐ‬ሻ (13)
்೏೚ ᇱ ்೏೚ ᇱ
where‫ݒ‬௙ ሺ‫ݐ‬ሻ is the new input and is given by expression as
given in equation (14) below.
‫ݒ‬௙ ሺ‫ݐ‬ሻ ൌ ൣ݇௖ ‫ܫ‬௤ ሺ‫ݐ‬ሻ‫ݑ‬௙ ሺ‫ݐ‬ሻ ൅ ܶௗ௢ ൫‫ݔ‬ௗ െ ‫ݔ‬ௗᇱ ൯‫ܫ‬௤ଶ ሺ‫ݐ‬ሻ߱ሺ‫ݐ‬ሻ ൅
ᇱ ሻܳ ሺ‫ݐ‬ሻ߱ሺ‫ݐ‬ሻ
ሺܶௗ௢ ᇱ ሻ߱ሺ‫ݐ‬ሻ
௘ ൅ ሺܶௗ௢ െ ܲ௠ ൧
(14)
When the parameters in the power system are known, we can
design a DFL control law to linearize the plant. But when a
large sudden fault occurs the reactance of the transmission line
xL changes a lot. This change is treated as parametric
uncertainty. After linearization, we can employ linear control
theory, such as LQ-optimal control theory, to design a
feedback law. The new input ‫ݒ‬௙ ሺ‫ݐ‬ሻ as can be seen from the
equation of ‫ݒ‬௙ ሺ‫ݐ‬ሻis function of variables which can expressed
mathematically as
‫ݒ‬௙ ሺ‫ݐ‬ሻ ൌ ݂ሺߜሺ‫ݐ‬ሻǡ ߱ሺ‫ݐ‬ሻǡ ܲ௘ ሺ‫ݐ‬ሻሻ (15)
Return difference matrix is ‫ ܫ‬൅ ‫ܩ‬௅ொ ሺ‫ݏ‬ሻ, where ‫ܩ‬௅ொ ሺ‫ݏ‬ሻ is the
LQR loop transfer function matrix given by
‫ܩ‬௅ொ ሺ‫ݏ‬ሻ ൌ ‫ܭ‬ሺ‫ ܫݏ‬െ ‫ܣ‬ሻିଵ ‫ܤ‬ (16)
Transient solutions in LQR depends upon Q and R. The closed
loop Eigen values of the LQR design depend upon the
matrices Q and R. The choice of R affects the closed loop
poles.
B. Simulation data
The parameters of SMIB power system taken for
simulation study are as given below:
xd= 1.863, xd’ = 0.257, xT= 0.127
Tdo’ = 6.9, xL= 0.4853, H = 4, D = 5,
Kc = 1, xad= 1.712, w0 = 314.159
The physical limit of excitation voltage is taken as -3 ”
Kcuf ” 6
Operating point of the power system used in simulation
are:
 Power angle =47o , 79o; Pmo=0.45 and 0.9 p.u, Vto=1.0 IV. FUZZY BASED POWER SYSTEM STABILIZER
p.u Controller which uses fuzzy logic as its novel approach is
For carrying out the simulation work, different types of fault called Fuzzy logic controller (FLC). Fuzzy logic systems have
considered are: been widely and successfully applied to control [5],
Case 1: Permanent fault classification [6] and modeling problems and in a considerable
(i) The system is in pre-fault stage. number of applications [7]. A fuzzy model is a set of fuzzy
(ii) Fault occurred at 0.1 s. rules and the associated membership functions (MFs) that
(iii) Fault removed by opening breaker of faulted line at t maps inputs to outputs. Fuzzy rules and membership functions
= 0.25 s. (MFs) are either provided by human experts or learned from
(iv) The system is in post fault stage. sample data. The construction of FLC based on the
Case 2: Temporary fault appropriate expert Knowledge Base (KB) can be quick and
effective. It relies on trial and error rather than guided
(i) The system is on pre-fault stage
approach. The optimal design and timing of Fuzzy logic
(ii) Fault occurred at 0.1 s. controllers is one of the optimization problems, which can be
(iii) Fault removed by opening breaker at t=0.25 s. solved by evolutionary computations approaches such as
(iv) Transmission lines are restored at t = 1.4 s. Genetic Algorithm (GA), Simulated Annealing (SA)
(v) The system is in post fault stage. algorithm, Particle Swarm Optimization (PSO) algorithm. To
improve the robustness of the nonlinear fuzzy logic controller
applied for power system control, a number of method such as
C. Simulation results for DFL-LQ controller
robust control, variable structure, adaptive nonlinear control
and stochastic model based feedback linearizing control are
The simulation result for the DFL-LQ controller has been
used [9-11].Fuzzy logic control has emerged as one of the
obtained through m-file coding of matlab.
most active and effective approaches [8] to control the
The results obtained through this are taken as reference for
complex system such as power system. Figure 2 shows a
comparing with proposed controller.
closed loop system where the fuzzy controller has been
Figure 2(a) and 2 (b) shows the result for terminal voltage and
implemented. Adaptive control for nonlinear systems [7] with
power angle in case of DFL-LQ controller.
parametric uncertainities has received a lot of attention over
the past few decades.
Figure 3 shows the stages of fuzzy controller design. It mainly
consists of blocks like fuzzification, defuzzification, inference
mechanism and rule base [11].
To the fuzzy controller, two inputs namely error and change in
error are fed. For the problem taken the two inputs are
identified as speed and change in speed and the single fuzzy
output is taken as controlled input which is given to the
system.

e(t)
D
F Inference OUTPUT
Fig. 2(a). Power angle response for different initial angles ef
uz Mechanism
INPUT uz u(t)
zif
zif
ic
Ħ(t) ic
at
at
io
io
n Rule Base n

Fig. 3. Stages in design of Fuzzy controller

For implementing fuzzy PI or PD controller, two inputs and

one output are taken. The linguistic variables used here are
listed as: NB, NS, ZO, PS, PB. For simplification in
Fig. 2(b). Terminal voltage response for different initial angles implementing, triangular membership functions (M.F’s) are
taken. Figure 4 presents the distribution of linguistic variables
in universe of discourse.

Fig. 4. Triangular M.F for two inputs and one output

Once the membership functions are designed, the rule base is

constructed based on system performance and heuristic Fig.5. Surface view for the rule base designed
knowledge of the system. The rule base used for implementing
the fuzzy controller is given in Table 1. The surface view for A. Modeling of fuzzy controller
the rulebase designed in table 1 has been presented in figure 5.
Modeling of system using fuzzy logic controller has been
The main simulation model has been shown in figure 6, which
presented in Fig. 6(a), (b) and (c). Fig. 6(a) shows the main
consists of different subsystems for pre-fault, fault and post-
model consisting of switches so that transition can take place
fault cases of power system undergoing sudden fault
from one stage to another. In the switches provision is there to
condition. The type of fault considered is a three phase short
mention the time for switching from one stage to another. Fig.
circuit fault occurring on one of the transmission line. The
6(b) shows the subsystem for pre-fault condition with the
value of the parameters calculated for fault and post fault
subsystem of fuzzy controller in it. The subsystem fuzzy
power system model depends on the location of fault. While
controller has been presented in Fig. 6(c), which consists of
using conventional controller, the controller parameters are
FLC block along with gains for inputs and output.
dependent on the location of fault. The need is to design a
controller which will be location independent. Keeping this in
view, controller is designed in such a way that the output of Out1

the fuzzy controller is fed to the system as modified input Out2

In1 Out3
which will enhance the system performance during fault and Out4 Scope
after fault condition. Out5
Sub_Fpre
TABLE 1. FUZZY RULE BASE Out1 Clock1
Out2
Change_speed ĺ 1 In1 Out3
Change_change NB NS ZO PS PB
Out4
Out5 Switch Scope2
Constant
in speedĻ
Sub_Ffault
NB NB NB NS NS ZO Out1
Out2

NS NB NS NS ZO PS In1 Out3
Out4
Out5 Switch1
ZO NS NS ZO PS PS Scope1
Sub_Fpost
Clock2
PS NS ZO PS PS PB

PB ZO PS PS PB PB

Fig .6(a). Main simulation model for SMIB power system

 terminal voltage
delta0 Gain2 .45
1 Vt
Pe
-K- Constant1 Scope5 Scope2
Out1
Gain3

1 -K- Scope
-K- s
Sum of
Sum of Integrator1
Gain Elements2 Sum of
Product Elements4 Elements3
1 -T-
2
In1
Goto1 Gain5 Integrator Out2
1
-K-
s
Integrator2
In1 Out1
1
5
s
Out5 Power_cal_sub

delta_P delta3
3 Out3
Fuzzy controller delta Goto

acceleration
Out1
speed

fuzzy_O
delta1 1
4 Out4 z
Unit Delay
Fig. 7(b). Response for fuzzy PD controller

Fig. 6(b). Pre-fault subsystem block of the Main model The comparative analysis for the two controllers has been
carried out by considering the terminal voltage which is one of
Fuzzy Logic
the parameter for controlling. Table 2 shows the comparative
Control ler
wi th Rul eviewer study for different controllers.
1 1
accelerati on 1 1
Gain1
Gain
Gai n3
Out1 TABLE 2: COMPARISION OF DIFFERENT CONTROLLERS
2 2
speed Types of controller
Parameters DFL-LQ Fuzzy PI Fuzzy PD
controller controller controller
Rise time (tr) 0.25 sec 0.25 sec 0.25 sec

Fig. 6(c). Fuzzy controller subsystem block of fig. 6(b) Settling time (ts) 1.5 sec 7 sec 6 sec

V. SIMULATION RESULTS Overshoot (Mp) 5% 2% Not present

The parameters assumed for simulation are already given Steady state error 0 1% 0
in section III B. For simulation, case 1 type of fault is (ess)

considered in which fault occurred at 0.1 sec and removed

after 0.25 sec by disconnecting the faulted line and restoring From Table 2, it is observed that the terminal voltage response
the system. For the models discussed in previous section, for PI controller is better than that for PD controller, but due to
simulation has been carried out by designing fuzzy PI and derivative action steady state value is achieved in PD
fuzzy PD controller. The results obtained for the two controller. Overall it is observed that the system response is
controllers have been shown in fig. 7(a) and 7(b) resp. faster in case of PD controller. Further modification in results
are expected by using more accurate rule-base, membership
function so that more rules may be fired and better post-fault
condition can be obtained.

VI. CONCLUSION

The performance of proposed fuzzy controller is compared

with conventional controller. Fuzzy logic based controller has
been discussed in this paper as an alternative to the
conventional controller as it is able to maintain better system
parameters over the conventional in addition to maintaining
the transient stability. The simulation results shown in section
V shows the responses for PI fuzzy controller and PD fuzzy
controller. It has been observed that the proposed controller is
Fig. 7(a). Response for fuzzy PI controller able to maintain the system stability under transient condition
when a three phase short circuit type of fault has occurred in
the power system. In further work, better result for PI and
PD controller could be achieved by optimizing rule-base
and shape of membership functions by using genetic
algorithm so that system could stabilize faster.
APPENDIX
οߜሺ‫ݐ‬ሻ ൌ ߜሺ‫ݐ‬ሻ െ ߜ 0
ߜሺ‫ݐ‬ሻ ൌpower angle of the generator
ߜ 0 = power angle of the generator at the operating point;
Ȧ(t) = the relative speed of the generator
οܲ݁ ൌ ܲ݁ሺ‫ݐ‬ሻ െ ܲ݉
Pm= mechanical input power
Pe= active electric power delivered by the generator;
Ȧ0 = synchronous machine speed; Ȧ0 = 2ʌf0
D= per unit damping constant
H = per unit inertia constant
Eq’(t) = the transient emf in the quadrature axis
Ef(t) = the equivalent emf in the excitation coil;
Tdo= the direct axis transient short circuit time;
Qe(t) = the reactive power
If(t) = the excitation current
Iq(t) = the quadrature axis current;
Vt(t) = the generator terminal voltage;
Kc= the gain of the excitation amplifier;
uf(t)= the input of the SCR amplifier of the generator
ଵ
‫ݔ‬ௗ௦ ൌ ‫ ்ݔ‬൅ ‫ݔ‬௅ ൅ ‫ݔ‬ௗ ;
ଶ
ଵ power components and systems, 10/2012.
‫ݔ‬Ԣௗ௦ ൌ ‫ ்ݔ‬൅ ‫ݔ‬௅ ൅ ‫ݔ‬ௗ Ԣ;
ଶ
‫ = ்ݔ‬reactance of the transformer
‫ݔ‬ௗ = direct axis reactance
ଵ Energy Systems, 2012, pp. 54-62
‫ݔ‬௅ = the reactance of transmission line;‫ݔ‬௦ ൌ ‫ ்ݔ‬൅ ‫ݔ‬௅
ଶ
‫ݔ‬௘ௗ = the mutual reactance between the excitation coil and the
stator coil;
Vs = the infinite bus voltage;
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