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Electric Power Components and Systems

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Optimal Location of Thyristor-controlled Series Compensators in Power Systems for Increasing Loadability by Genetic Algorithm
A. Y. Abdelaziz , M. A. El-Sharkawy & M. A. Attia
a a a a

Department of Electrical Power and Machines, Faculty of Engineering, Ain Shams University, Cairo, Egypt Version of record first published: 31 Aug 2011

To cite this article: A. Y. Abdelaziz, M. A. El-Sharkawy & M. A. Attia (2011): Optimal Location of Thyristor-controlled Series Compensators in Power Systems for Increasing Loadability by Genetic Algorithm, Electric Power Components and Systems, 39:13, 1373-1387 To link to this article: http://dx.doi.org/10.1080/15325008.2011.584108

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Electric Power Components and Systems, 39:13731387, 2011 Copyright Taylor & Francis Group, LLC ISSN: 1532-5008 print/1532-5016 online DOI: 10.1080/15325008.2011.584108

Optimal Location of Thyristor-controlled Series Compensators in Power Systems for Increasing Loadability by Genetic Algorithm
A. Y. ABDELAZIZ,1 M. A. EL-SHARKAWY,1 and M. A. ATTIA 1
1

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Department of Electrical Power and Machines, Faculty of Engineering, Ain Shams University, Cairo, Egypt
Abstract This article presents an approach to nd the optimal location of thyristorcontrolled series compensators in a power system to improve the loadability of its lines and minimize its total loss. Also the proposed approach aims to nd the optimal number of devices and their optimal compensation levels by using a genetic algorithm taking into consideration the thermal and voltage limits. Examination of the proposed approach is carried out on a modied IEEE 30-bus system. Keywords exible AC transmission systems, genetic algorithms, optimization

1. Introduction
Flexible AC transmission systems (FACTS), in recent years, has become a well-known term for higher controllability in power systems by means of power electronic devices. Several FACTS devices have been introduced for various applications worldwide. Several new types of devices are in the stage of being introduced in practice. In most applications, the controllability is used to avoid cost-intensive or landscape-requiring extensions of power systems, for instance, upgrades or additions of substations and power lines. FACTS devices provide a better adaptation to varying operational conditions and improve the usage of existing installations. The basic applications of FACTS devices are [1] power ow control, increase of transmission capability, voltage control, reactive power compensation, stability improvement, power quality improvement, power conditioning, icker mitigation, and interconnection of renewable and distributed generation and storages.
Received 21 October 2010; accepted 25 March 2011. Address correspondence to Prof. Almoataz Y. Abdelaziz, Department of Electrical Power and Machines, Faculty of Engineering, Ain Shams University, Abdo Basha Square, Abbassia, Cairo, 11517, Egypt. E-mail: almoatazabdelaziz@hotmail.com

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One of these applicationsderegulated power systemssuffers from congestion management problems. They also cannot fully utilize transmission lines due to the excessive power loss that it could cause. Such FACTS devices as thyristor-controlled series compensators (TCSCs) can, by controlling the power ow in the network, help reduce the ows in heavily loaded lines. They can also minimize the power loss of the systems. However, because of the considerable cost of FACTS devices, it is important to minimize their number and obtain their optimal locations in the system. The TCSC is one of the series FACTS devices. It uses an extremely simple main circuit. In this FACTS device, a capacitor is inserted directly in series with the transmission line to be compensated, and a thyristor-controlled inductor is connected directly in parallel with the capacitor; thus, no interfacing equipment, like high voltage transformers, are required. This makes the TCSC much more economic than other competing FACTS technologies [2]. The basic operation of a TCSC can be explained easily from circuit analysis. It consists of a series compensating capacitor shunted by a thyristor-controlled reactor (TCR). A TCR is a variable inductive reactor XL controlled by ring angle . The variation of XL with respect to is given by Eq. (1) [2]: XL ./ XL : (1)

sin 2

The net reactance of the TCR, XL ./, is varied from its minimum value XL to a maximum value of innity. Likewise, the effective reactance of a TCSC starts increasing from the TCR XL value until the occurrence of parallel resonance condition XL ./ D XC ; theoretically, XTCSC is innity. This region is the inductive region. Further, increasing XL ./ gives the capacitive region, which starts decreasing from the innity point to the minimum value of capacitive reactance XC . Thus, impedance characteristics of the TCSC shows that both capacitive and inductive regions are possible through varying ring angle (), as shown in Figure 1 [2].

Figure 1. Impedance versus ring angle characteristic curve [2].

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Figure 2. Model of the TCSC [3].

Also, it can be noted from Figure 1 that 90 < < Ll i m is the inductive region, C l i m < < 180 is the capacitive region, and Ll i m < < C l i m is the resonance region.

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While selecting the inductance, XL should be sufciently smaller than that of the capacitor XC to get both effective inductive and capacitive reactance across the device. If XC is smaller than XL , only the capacitive region is possible in impedance characteristics. In any shunt network, the effective value of reactance follows the lesser reactance present in the branch. Therefore, only one capacitive reactance region will appear. Also, XL should not be equal to the XC value, or else a resonance develops that results in innite impedance, which is not an acceptable condition. Thus, while varying XL (), a condition should not allow XL ./ D XC to occur [2]. In [3], the TCSC may have one of the two possible characteristicscapacitive or inductive, respectively, to decrease or increase the overall reactance of line XL . It is modeled with three ideal switched elements connected in parallel: a capacitor, an inductor, and a simple switch to short-circuit both of them when they are not needed in the circuit. The capacitor and the inductor are variable, and their values are dependent on the reactance and power transfer capability of the line in series with which the device is inserted. In order to avoid resonance, only one of the three elements can be switched at a time. Moreover, in order to avoid overcompensation of the line, the maximum value of the capacitance is xed at 0:8XL . For the inductance, the maximum is 0:2XL . The TCSC model presented in [3] is shown in Figure 2. In [4], the TCSC is a capacitive reactance compensator that consists of a series capacitor bank shunted by a TCR to provide smooth control of the series capacitive reactance. A model of the TCSC presented in [4] is shown in Figure 3. Another TCSC model was used in [5]. According to this model, a variable reactance is inserted in series with the line to be compensated, which is similar to the model used

Figure 3. Model of the TCSC [4].

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in [2]. This model, which is shown in Figure 4, is used in this work, and the reactance is assumed to vary in the range from 0:3XL to 0:7XL . Several research works are carried out to solve the optimal location problem of the TCSC. In [5], Saravanan et al. proposed the application of particle swarm optimization (PSO) to nd the optimal location, settings, type, and number of FACTS devices to minimize their cost of installation and to improve system loadability for single- and multi-type FACTS devices. While nding the optimal location, the thermal limit for the lines and voltage limit for the buses are taken as constraints. Cai et al. [6] proposed optimal choice and allocation of FACTS devices in multimachine power systems using a genetic algorithm (GA). The objective is to achieve the power system economic generation allocation and dispatch in a deregulated electricity market. In [7], implementation of the proposed real GA performed well when used to determine the location and compensation level of the TCSC with the aim of maximizing the total transfer capability (TTC) of the system. Optimization techniques applied in most of these works cannot be accepted as general optimization techniques as they used a xed pre-specied number of FACTS devices (as in [3, 6, 7]); i.e., they have, for example, ve devices to select the location for them, but to be generalized, the number of FACTS should be optimized also. Some other works did not select the proper type or the proper working range of FACTS devices used in the optimization problem. For example, in [8, 9], shunt FACTS devices were used, while the objective was to increase loadability. The proper type in this case is series or (shunt and series) devices. Other works select a range of FACTS devices, which is not a function in line reactance. For example, in [10], the range of the TCSC was taken from 0.05 to 0.05 p.u., which may cause resonance. Thus, the proper working range should be a function of the line reactance to avoid resonance. A power system can, in general, be measured by system loadability and/or system losses at a condition that nodal voltage magnitudes are kept within acceptable limits and thermal constraints of system elements are not violated. According to [3], such an optimization problem can be solved by using heuristic methods such as GAs [11, 12]. It belongs to the category of random search algorithms, which simulate the evolution process based on the theory of survival of the ttest. Chung and Li [13] applied a hybrid GA method to solve optimal power ow (OPF), incorporating FACTS devices. The GA is integrated with conventional OPF to select the best control parameters to minimize the total generation fuel cost and keep the power ows within the security limits.

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Figure 4. TCSC model used in this article [2].

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In [14], FACTS devices were optimally allocated in a power network to achieve an OPF solution. The location of FACTS devices and the setting of their control parameters were optimized by a bacterial swarming algorithm (BSA) to improve the performance of the power network. Two objective functions were simultaneously considered as the indices of the system performance: maximization of system loadability in system security margin and minimization of total generation fuel cost. In [15], the optimal locations of a thyristor-controlled series capacitor and their initial compensation levels were obtained by using mixed-integer programming (MIP). The MIP approach can provide robust performance as well as high computational efciency while solving complex optimal problems. A new planning method is developed based on recently reported line ow equations and basic linearization of binary-continuous products. The objectives of the planning strategy were to improve system loadability, voltage prole in the network, as well as to minimize the investment cost by choosing proper locations and settings of devices. Meziane et al. [16] used ant colony optimization (ACO) to solve the allocation problem involving the selection of electrical devices and the appropriate levels of redundancy to maximize system reliability of series-parallel topology under performance and cost constraints. The major advantage of AI methods is that they are relatively versatile for handling various qualitative constraints. AI methods can nd multiple optimal solutions in a single simulation run, so they are quite suitable in solving multi-objective optimization problems [17]. In this article, an approach to nd the optimal location of the TCSC in the power system to improve the loadability of the lines and minimize the total loss using a GA is presented. The proposed approach aims to nd the optimal number of devices and their optimal compensation levels taking into consideration the thermal and voltage limits. An examination of the proposed approach is carried out on a modied IEEE 30-bus system.

2. Proposed Optimization Technique

The problem is to nd the optimum numbers, locations, and reactances of the TCSCs to be used in the power system. This problem is non-linear and multi-objective. The GA method will be used in this article, and only the values of the objective function are used, which are less likely to get trapped at a local optimum. As shown in the owchart in Figure 5, the selected method is to use two GAs with 30 generations, a tness limit of 0, and other parameters taken as the default values in MATLAB (e.g., population size D 20). The rst GA nds the location and number of TCSC devices by computing the minimum total loss after inserting a TCSC in the system. After location and number of TCSCs are obtained, the other GA obtains the best TCSC rating by computing the total loss. Two optimization techniques using a GA are used to solve the TCSC optimal location problem. First technique: In the rst technique, the objective is to minimize the total losses without taking into consideration limitations on the number of devices; i.e., it is required to minimize the objective function: total system losses D sum of real loss of all system lines: (2)

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Figure 5. Flowchart of the proposed optimization technique.

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Second technique: This technique is the same as the rst, but the number of devices is considered; i.e., it is required to minimize the objective function: total system losses after applying the TCSCs total system losses before applying the TCSCs (3) number of TCSC devices : C total number of locations available for connecting the TCSCs The calculation of total loss is obtained by using MATLAB m-les in MATPOWER [15] to calculate the power ow of the system and compute the sum of real losses. In this article, the reactance of each branch in the MATPOWER case is replaced by a variable reactance function of the value of TCSC reactance added as Eq. (4):

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new reactance D old reactance C XTCSC :

(4)

3. Case Study
The proposed optimization technique was applied to the IEEE nine-bus system given in [18], and the obtained results were compared with the work in [19]. The comparison showed that the proposed optimization technique gave better results than in [19] with fewer numbers of devices. More details of this comparison were presented in [20]. In this article, the modied IEEE 30-bus system is taken as the system under study. A one-line diagram of the system is shown in Figure 6. The data of the system is given in [18]. The system consist of 30 buses, 41 branches, and 6 generators at buses 1, 2, 22, 23, 27, and 13. The system is studied at the outage of the line connecting bus 1 and bus 2 and increasing the load of bus 8 by 50%. This study is carried out for a range of TCSCs from 30% to 70% of the line reactance. The two previous techniques of optimal allocation of TCSC are considered.

4. Simulation Results
After running the program with the 41 locations (number of branches) available for TCSC allocation, the power ow results with and without TCSC show that: line 6-8 power is more than its rated value by 18.5% without any TCSC; after TCSC insertion, the power of line 6-8 returns from 118.5% of its rated value to 97.9% in the case of the rst technique and 98.6% in the case of the second technique; the voltage of bus 8 (minimum voltage of the system) equals 0.944 without any FACTS devices; and after TCSC insertion, the voltage of bus 8 increases to 0.957 in rst technique and 0.958 in second technique; i.e., system stability is increased. Figure 7 shows P % (percentage power) from line 6-8 rated power before and after TCSC insertion. Figure 8 shows the minimum voltage of the system (Vmin ) before and after TCSC insertion. Figure 9 shows total active loss of the system before and after

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Figure 6. Modied IEEE 30-bus system.

TCSC insertion. Table 1 shows the system performance summary before and after TCSC insertion. From the previous analysis, it can be noticed that, although small improvement in system performance after TCSC insertion has been obtained, large numbers of TCSC devices are still used. Therefore, increasing the number of population size is another trial to enhance the performance of the GA in order to minimize the number of devices.

Figure 7. P % (percentage power) from line 6-8, rated.

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Figure 8. Minimum voltage of the system.

Table 2 shows the system performance summary before and after TCSC insertion with increasing the population size to 100. It is noticed that after increasing the population size, the results of the rst technique do not change much, but by using the second technique, the number of devices is reduced from 20 to 11 at the expense of total loss, where it increased from 3.52 MW to 3.85 MW. It is also noticed that the number of devices is still large; thus, by removing the devices that are located on the lines that are far from the line-connecting buses 6 and 8, only two devices are needed in lines 6-7 and 8-28. The results of system performance are given in Table 3. 4.1. Minimum Number of Devices

It is clear from the results in Table 3 that optimization of the total loss is still not obtained. Therefore, a modication to the program has been proposed to make the GA search for only the locations in the line that is out of its rated value and the lines around it (i.e., 8 available locations instead of 41 locations). The eight locations are lines 4-6, 2-6, 7-6,

Figure 9. Total active loss of the system.

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A. Y. Abdelaziz et al. Table 1 System performance summary before and after TCSC insertion First technique after TCSC insertion 207.8 204.2 0.957 8.24 1 0 0.89 3.37 3.58 97.9 21 Second technique after TCSC insertion 207.7 204.2 0.958 7.79 1 0 0.89 3.36 3.52 98.6 20

Without TCSC Actual generation (MW) Load (MW) Vmin (p.u.) Minimum power angle, min ( ) Vmax (p.u.) Maximum power angle, max ( ) Ploss max (MW) Qloss max (MVAr) Total loss (MW) Line 6-8 power as percentage of its rated power Number of devices 208 204.2 0.944 8.05 1 0 0.9 3.41 3.76 118.5

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Note: Values in bold indicate the effect of TCSC insertion on minimum voltage, total losses, and load of the out-of-capacity line.

Table 2 System performance summary before and after TCSC insertion with increasing population size First technique after TCSC insertion with increasing population size to 100 207.7 204.2 0.96 7.55 1 0 0.89 3.36 3.55 98.75 21 Second technique after TCSC insertion with increasing population size to 100 208 204.2 0.95 7.71 1 0 0.9 3.42 3.85 93.5 11

Without TCSC Actual generation (MW) Load (MW) Vmin (p.u.) Minimum power angle, min ( ) Vmax (p.u.) Maximum power angle, max ( ) Ploss max (MW) Qloss max (MVAr) Total loss (MW) Line 6-8 power as percentage of its rated power Number of devices 208 204.2 0.944 8.05 1 0 0.9 3.41 3.76 118.5

Note: Values in bold indicate the effect of TCSC insertion on minimum voltage, total losses, and load of the out-of-capacity line.

Optimal Location of TCSC in Power Systems Using GA Table 3 System performance summary with only two TCSC devices Actual generation (MW) Load (MW) Vmin (p.u.) min ( ) Vmax (p.u.) max ( ) Ploss max (MW) Qloss max (MVAr) Total loss (MW) Number of devices Line 6-8 power D 118.5% of its rated value before insertion of devices

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208 204.2 0.946 8.09 1 0 0.9 3.42 3.81 2 After insertion of TCSC, line 6-8 power D 95.9% from its rated value

6-8, 6-9, 6-10, 6-28, and 8-28; population size will be returned to the default value of the MATLAB. The new proposed objective function must now be minimized: total loss number of devices C : total loss without devices 8 (5)

Also, observation of power limit and voltage limit are considered in the program, but a comparison between Vmin as 0.9 p.u. and 0.95 p.u. is conducted. After running the program with eight available locations for TCSC allocation, as mentioned before, the power ow results with and without TCSC show that: only 3 devices are needed to return system to stability rather than 20 devices in other results; the locations and compensation levels of the three devices are shown Table 4; the power of line 6-8 returned to within its rated value; line 6-8 power from its rated decreases from 118.5% to 98.14% in the case when minimum system voltage

Table 4 Locations and compensation levels of the TCSC devices Compensation level % with minimum number of devices and V > 0:95 (p.u.) 70.00 70.00 62.41 Compensation level % with minimum number of devices and V > 0:9 (p.u.) 70.00 70.00 59.57

From bus 4 6 8

To bus 6 10 28

P% from rated 45.2 9.3 23.1

Xold (p.u.) 0.04 0.56 0.2

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Figure 10. P % (percentage power) from line 6-8 rated power using minimum number of devices.

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is limited to 0.95 p.u. and to 99.63% in the case when minimum system voltage is limited to 0.9 p.u.; the voltage of bus 8 (minimum voltage of the system) was 0.944 p.u. without any FACTS devices, but after TCSC insertion, the voltage of bus 8 increases to 0.95 p.u. in both previous cases of voltage limits. Figure 10 shows P % (percentage power) from line 6-8 rated power after using a minimum number of TCSC devices. Figure 11 shows the minimum voltage of the system (Vmin ) after using a minimum number of TCSC devices. Figure 12 shows total active loss of the system after using a minimum number of TCSC devices. Figure 13 shows TCSC reactance values after using a minimum number of devices. Table 5 shows the nal summary of the results. Table 5 Final summary of the results
First technique after TCSC insertion 207.8 204.2 0.957 Second technique after TCSC insertion 207.7 204.2 0.958 First technique after TCSC insertion, population size D 100 207.7 204.2 0.96 Second technique after TCSC insertion, population size D 100 208 204.2 0.95

TCSC from
0:7XL to 0:3XL

Without TCSC 208 204.2 0.944

Minimum number of devices

V > 0:95

Minimum number of devices

V > 0:9

Actual generation (MW) Load (MW) Vmin (p.u.) P % (percentage power) from rated power of line (6-8) 118.5 min ( ) Vmax (p.u.) max ( ) Ploss max (MW) Qloss max (MVAr) Total loss (MW) Number of devices

207.9 204.2 0.950

207.9 204.2 0.95

97.9 8.05 1 0 0.9 3.41 3.76

98.6 8.24 1 0 0.89 3.37 3.58 21

98.75 7.79 1 0 0.89 3.36 3.52 20

93.5 7.55 1 0 0.89 3.36 3.55 21

98.14 7.71 1 0 0.9 3.42 3.85 11

99.63 7.31 1 0 0.9 3.4 3.717 3

7.31 1 0 0.9 3.4 3.711 3

Note: Values in bold indicate the effect of TCSC insertion on minimum voltage, total losses, and load of the out-ofcapacity line.

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Figure 11. Vmin using minimum number of devices.

Figure 12. Total active loss using minimum number of devices.

Figure 13. TCSC reactance using minimum number of devices.

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5. Conclusions
The obtained results show that the optimum number of TCSC devices to be inserted in a power system in addition to their locations and compensation levels can be found in the presence of constraints on nodal voltage deviations and thermal capability of transmission lines. The obtained results also show that TCSCs can, when optimally sized and selected, improve system stability by increasing the minimum voltage of the system. Optimal locations of the TCSCs can also return the system to its operational limits after exceeding them due to line outages. Finally, proper selection of FACTS devices and their locations can effectively improve the overall system performance.

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