FACTS BASED CONTROLLER FOR

INTERCONNECTED HYDROTHERMAL
POWER SYSTEM
Ravi Shankar,
*
Kalyan Chatterjee, T.K. Chatterjee
Department of Electrical Engineering, ISM, Dhanbad, India - 826004
kalyanbit@yahoo.co.in, ravi060173@gmail.com
Abstract:
This research paper introduce the FACTS based decentralized controller for load frequency control of two area
interconnected hydrothermal power system considering the combined effect of RFB ( Redox Flow Batteries )
and TCPS ( Thyristor Control Phase Shifter ) as a FACTS device which is incorporated with tie-line power flow
of the given system. The proposed controller is design using genetic algorithm based integral controller in which
Integral Square Error (ISE) criterion is consider for the optimization of the system error. This proposed
controller is implemented into the two area interconnected hydrothermal power system and its different
performance is studies with and without RFB and TCPS control scheme. This studies revels that the proposed
controller gives better transient responses and helps in better stabilizing frequency response as well as improve
the tie line power flow of the system.

Keywords: TCPS, genetic algorithm, RFB, ISE (integral square error), reheat turbine, AGC (Automatic
Generation Control).
1. INTRODUCTION
A power system has different control area which characterized by frequency deviation or oscillation of the
different group of generating unit. The most important factors is to eliminate the mismatch between generation
and load demand, and control area are interconnected through tie lines for providing contractual exchange of
power under normal operating conditions. Also the electrical power system include more complexity and
different nonlinear parameter and hence required more interconnection between power system so that to
maintain more reliable power supply in all situations including in emergencies cases via sharing the spinning
reserve capacities. A numerous study has been performed for interconnected power system [3-12]. Since we
know that various load like testing plant nuclear fusion, steel factories, heavy industries etc. increases
significantly and these load causes serious frequency oscillation and thus mismatch between net interchanged tie
line power flows. Therefore, it is very important to implement the frequency and net interchanged tie line power
control scheme to the power system, and hence it becomes one of the most important factors. In the present days
or in present scenario a competition is open among the different electrical power Generation, Transmission and
Distribution companies in all aspects to provide the more reliable service and provide the electricity in a
efficient way. So the better performance control strategy play a vital role to keep the frequency deviation and net
interchanged tie line power flow within prescribed normal limit and also to minimize power loss becomes a
important and major factor to the power system. Thus a descriptive study of AGC of interconnected power
system with diverse source of power system [1] is studied. Again a lot of investigation has been done on AGC
for large interconnected power system. ACE accomplished the aim to keep the frequency & net interchanged
within desired value. Feedback of the area control error (ACE) is the linear combination of frequency deviation
error & tie line interchanged power error [2]. The dynamics and characteristic of the thermal and hydro unit is
quite different from each other because we use water as the sources in hydro unit whereas steam for the thermal
unit as a producing source of electrical energy in the interconnected power system. In recent some days there is
a tremendous development of electronics devises takes place which enhanced and improve the concepts of
stability and control of the power system dynamics. This development leads to introduce the wide uses and
application of flexible alternating current transmission (FACTS) devices in the tie line of the power system
Which ensure the improvement of the different transient performance, more reliable power supply and also the
high speed operation of these devices in the power system which enhanced the quality and stability of the
electrical power system. One such facts devices is used here thyristor control phase shifter (TCPS) which
change the relative phase angle between the system voltage and thus can be able to regulate the real power of
the system and able to stabilize the frequency oscillation ultimately enhanced the power system stability[12-15].
Ravi Shankar et al. / International Journal of Engineering Science and Technology (IJEST)
ISSN : 0975-5462 Vol. 4 No.04 April 2012 1776
So, here a study & implementation of the combination of TCPS and RFB in AGC of interconnected power
system has been performed, to improve the performance of power system parameters. The developed model [27-
29] of rechargeable batteries like redox flow batteries are not aged by frequent charging and discharging cycle
and also frequent quick response like superconducting magnetic energy storage device (SMES) and better
transient performance during overload. In this paper we develop the control scheme which includes the effect of
TCPS and RFB incorporated with the tie line power flow. The integral gain setting of the integral controller is
optimize using genetic algorithms optimization method using integral square error (ISE) as the objective
function of the given interconnected hydrothermal power system. Complete paper can classified as :

a) Brief study and analysis of individual as well as combined effect of the RFB and TCPS as a FACTS
device which is installed into the tie line power flow of the given system and its combined effects on
the dynamics on the stability and different parameters of the interconnected hydrothermal power
system.
b) To develop the linearized model of the interconnected hydrothermal power system which including the
effects of the RFB and TCPS devices.
c) Optimization of the integral gain setting via genetic algorithms optimization method using the ISE as
the objective function of the given interconnected hydrothermal power system.
2. DYNAMIC MODELING FOR TWO AREA INTERCONNECTED HYDROTHERMAL POWER
SYSTEM WITH TCPS AND RFB
The following equations describe the dynamic modeling of the interconnected power system.
For thermal unit, following relation hold for given block diagram of the control area

=
1
I
P1
|-
1
+ K
P1
(P
m1
- P
1
- P
tic1
)] (1)
P
g1

=
1
I
g
[-P
g1
+ P
c1
-
1
R
1

1
(2)
P
g12

=
1
I
t
(-P
g12
+ P
g1
) (3)
P
tic12

= 2nI
12
u
(
1
-
2
) (4)
P
m1

= [
1
I
r
P
m1
+ P
g12
(1 - K
r
) [
1
I
r
+ P
g1
[
1
I
r
(5)
Again in the similar manner, we can described the hydro unit dynamic modelling as

=
1
I
P2
|-
2
+ K
P2
(P
tic12
+ P
m2
+ P
2
)] (6)
P
g2

=
1
I
1
j-P
g2
+ [P
c2
-
1
R
2
[ (7)
P
g21

= j
P
g2
I
2
[1 -
I
R
I
1
+
P
c2
I
R
I
1
I
2
-
I
R
I
1
I
2
R
2
-
P
g21
I
2
[ (8)

P
m2

=
u.SP
m2
I
w
+ u.SP
g2
]
1
I
w
-
1
I
2
[1 -
I
R
I
1
-
u.SI
R
P
C2
I
1
I
2
-
u.SP
g21
I
2
-
u.SI
w
I
1
I
2
R
2
(9)


Ravi Shankar et al. / International Journal of Engineering Science and Technology (IJEST)
ISSN : 0975-5462 Vol. 4 No.04 April 2012 1777


And

P
c1
= -K
11
](P
tic1
+ B
1

1
)Jt (10)
P
c2
= -K
12
](P
tic2
+ B
2

2
)Jt (11)
The state space equations of the interconnected power system is given as
x = Ax + Bu + J (12)
y = cx (13)

Where, A is system matrix, B is input matrix and
is disturbance distribution matrix and also C is output matrix, X is state vector, u is the control vector and d is
the disturbance vector. Hence system state space equations of the given interconnected power system is given,
where, A is equal to

Figure 1. Complete block-diagram of hydrothermal interconnected power system with FACTS device
Ravi Shankar et al. / International Journal of Engineering Science and Technology (IJEST)
ISSN : 0975-5462 Vol. 4 No.04 April 2012 1778
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
l
-1
I
p1
K
p1
I
p1
u u u
K
p1
I
p1
u u u u
u
1
I
r
_
1
I
r
-
K
r
I
r
]
K
r
I
r
u u u u u u
u u
-1
I
t
1
I
t
u u u u u u
-1
R
1
I
g
u u
-1
I
g
u u u u u u
K

I
ps
u u u
-1
I
ps
u u u u u
2nI
12
+
I
12
K

I
ps
u u u
I
12
I
ps
u -2nI
12
u u u
u u u u u
-o
12
K
p2
I
p2
-1
I
p2
K
p2
I
p2
u u
u u u u u u u
u.S
I
w
u.SI
g
I
2
_
u.S
I
w
-
u.S
I
2
-
u.SI
g
I
2
]
u u u u u u u u
-1
I
2
_
1
I
2
-
I
R
I
1
I
2
]
u u u u u u u u u
-1
I
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1


B = _
K
]b1
K
p1
1
p`
u u
-1
1
g
u u u u u u
u u u u u u K
]b2
K
p2
1
p2
u
1
R
1
1
1
2
1
1
1
_
1


= _
-K
p1
1
p1
u u u u u u u u u
u u u u u u
K
p2
1
p2
-0.51
g
1
1
1
2
1
g
-1
R
1
1
1
2
R
2
-1
1
1
R
2
_
1
and

x = |
1
P
m1
P
g12
P
g1
P
tc

2
P
m2
P
g21
P
g2
]
1

3. MODELING OF REDOX FLOW BATTERIES


Figure 2. Block-diagram of redox flow battery


Ravi Shankar et al. / International Journal of Engineering Science and Technology (IJEST)
ISSN : 0975-5462 Vol. 4 No.04 April 2012 1779

Figure3. Reduced block-diagram of redox flow battery

Since RFB (Redox Flow Battery) gives fast response and outstanding performance during the overload of the
power system. When the charging cycle period becomes shorter than its efficiency will significantly increase
and improves [27-29].
RFB helps in secondary control of the power system. So, hunting will not occur due to response delay. ACE is
acting as the controlling signal to the redox flow batteries. So, in this way RFB gives the controlling element to
the load frequency control and significantly helping the quality of the power system flow of the interconnected
power system.
4. DESIGN PROCEDURE FOR INTEGRAL CONTROLLER USING TCPS
In the present scenario, due to very fast and rapid development of electronic device or equipment which support
the concepts of the conventional controller in a very efficient way which lead to raise the new concepts of the
control design and analysis in the power system. One such device is thyristor control phase shifter (TCPS)
which change the relative phase angle between the system voltage and thus the real power flow can be
maintained and eliminate the frequency deviation and finally enhance the power system stability [20].
In the above figure two interconnected power system block diagram is shown. A TCPS is installed in series
with tie line and area 1 represent the thermal unit and area 2 represent the hydro unit of the power system and
they are interconnected via tie-line. Resistance of the tie-line is neglected and reactance of the tie-line is
considered.


Figure 4. Block-diagram of two area interconnected hydrothermal power system with TCPS installed in series with Tie-line

Without TCPS, the incremental tie-line power flow from area1 to area 2 can be expressed as

P
tic12
u
=
2nI
12
u
s
|
1
-
2
| (14)
The current following through area1 to area 2 is

i
12
= _
|I
1
|L(o
1
+)-|I
2
|Lo
2
]x
12
_ (15)
From fig (17), we can write as,

P
tic12
- ]
tic12
= |I
1
|L - (o
1
+ ) _
|I
1
|L(o
1
+)-|I
2
|Lo
2
]x
12
_ (16)

Separating real and imaginary part, we get
P
tic12
=
|I
1
||I
2
|
x
12
{sin(o
1
- o
2
+ )] (17)
Ravi Shankar et al. / International Journal of Engineering Science and Technology (IJEST)
ISSN : 0975-5462 Vol. 4 No.04 April 2012 1780
P
tic12
=
|I
1
||I
2
|
x
12
{sin(o
1
- o
2
+ )] cos(o
1
u
- o
2
u
+
u
) (18)
For very small change we can also write as

P
tic12
=
|I
1
||I
2
|
x
12
{sin(o
1
- o
2
+ )] cos(o
1
u
- o
2
u
+
u
) (19)
Let
I
12
=
|I
1
||I
2
|
x
12
cos(o
1
u
- o
2
u
+
u
) (20)
Thus eqn. (21) reduced as,

P
tic12
= I
12
(o
1
- o
2
+ ) (21)
P
tic12
= I
12
(o
1
- o
2
) + I
12
(22)
As we know that,

1
= 2 ]f
1
ut (23)
and
o
2
= 2n ]
2
Jt (24)
From equn. (22), (23) and (24)

P
tic12
= 2nI
12
(]
1
Jt -]
2
Jt) + I
12
(25)
Also, the Laplace transform of equn. (25)

P
tic12
(s) =
2nI
12
s
|F
1
(s) - F
2
(s)] + I
12
(s) (26)
Tie-line power flow can be controlled by TCPS,hence, its phase shifter angle can be described as

(s) =
K
q
(1+s1
TCPS
)
crror
1
(s) (27)
And finally we get the net tie-line power flow of the system as

P
tc12
(s) =
2n1
12
s
|F
1
(s) -F
2
(s)] +I
12
K
q
(1+s1
TCPS
)
crror
1
(s) (28)
5. GENETIC ALGORITHM AND ITS APPLICATION
Genetic algorithm is used to optimize the objective function of the given system which is mainly based on the
search technique through natural selection and genetics of the system [3],[19] and [21]. Since this technique
generally converge to global optima over conventional technique because it search the best point from the
randomly generated population of point. Its operation is probabilistic transition in nature and their different tools
and operators are as follows.

5.1 Objective function
The objective function is to minimization the performance index which is the linear combination of the two area
deviation of frequency multiplied by their respective bias constant and net tie-line power flow & of course, these
variation are weighted together by a single variable know a ACE (area control error) of the respective power
units i.e. differ for hydro &thermal units. So fitness function to be minimized in this research paper is

[ = ] (
1
2
+
2
2
+ P
tc12
2
)Jt
t
0
(29)

5.2 Reproduction
Selection is the process of selecting the population from the current population which will survive for the next
generation population for next process of the Genetic Algorithms. In this paper we select the Roullete Wheel
Ravi Shankar et al. / International Journal of Engineering Science and Technology (IJEST)
ISSN : 0975-5462 Vol. 4 No.04 April 2012 1781
selection process for the selection or reproduction of the next generation population. The brief study has been
performed in past some decade [16], [17], [18].
5.3 Crossover
Crossover is also known as recombination of the population or reshuffled the selected population. Here, we
select two random selected population & then we choose random site & interchanged the individual
Chromosomes with each other and finally produced the new off spring, and we proceed for next process. The
performed analysis is studied [18].
5.4 Mutation
In this process, we select the individual bit randomly and interchanged with 0 or 1and it gives some
variations in information of the population, although its probability rate is quite small as compare to crossover
probability rate. The mutation and its application has been analyzed [18].

5.6 Structure of Genetic Algorithms


Figure 5. Block-diagram of the genetic-algorithm

6. RESULT AND DISCUSSION
The proposed design based on FACTS device, in which the combination of TCPS and RFB based control
scheme has been implemented for given hydrothermal power system of a two interconnected area. The system is
simulated in MATLAB SIMULATION TOOLBOX. The input data and nomenclatures used in this paper is
given in the Appendix & Nomenclatures section. The performance of the proposed controller in this paper
has been studied for the different load change of 0.01pu to 0.05pu and different performance graph of the
controller for 0.01p.u. load change has been demonstrated for given two area interconnected hydrothermal
power system and its frequency deviation graphs, net Tie Line power flow deviations, generator mechanical
power deviations and input control signal deviation graph of thermal and hydro unit against the time is given
below from the figure (6) to figure (12) with and without the FACTS based control strategy to the given
interconnected power system model consider respectively. For finding out the TCPS and RFB controller
parameters and corresponding integral gains of the controller, ISE (Integral Square Error) and Genetic
Algorithms Optimization technique is considered. The value of integral gains & objective function for the given
hydrothermal power system is given below in the table (1) considering with & without proposed controller
which comprise the better stability, improve different transient parameters as well as less cost function. So the
proposed control scheme for the two area hydrothermal power system bring back to frequency deviation as well
as net Tie-Line power flow deviation to zero at all the load changes. The following figures shows the frequency
deviations, net Tie-Line power flow deviations , mechanical power flow deviation of thermal & hydro unit,
input control signal with time when the load change of 0.01pu and hence demonstrate the performance of the
controller of the controller using the proposed control scheme to the given interconnected power system.


Ravi Shankar et al. / International Journal of Engineering Science and Technology (IJEST)
ISSN : 0975-5462 Vol. 4 No.04 April 2012 1782

Figure 9. Generator mechanical power flow deviation graph of

hydro unit subjected to load change of 0.01pu considering with
and without proposed controller

Figure 8.. Net tie-line power flow deviation graph of

interconnected power system subjected to load change of
0.01pu considering with and without proposed controller

Figure 6. Frequency deviation graph of thermal unit subjected to

load change of 0.01pu with and without proposed controller

Figure 7. Frequency deviation graph of hydro unit subjected to load

change of 0.01pu with and without proposed controller

Figure. 11.Control input deviation (ACE) of the thermal unit

subjected to load change of 0.01pu considering with and
without proposed controller

Figure 10. Generator mechanical power flow deviation

graph of thermal unit subjected to load change of 0.01pu
considering with and without proposed controller
0 10 20 30 40 50 60 70 80
-5
0
5
10
15
20
x 10
-3
Time in sec.--->
g
e
n
e
r
a
t
o
r

m
e
c
h
a
n
i
c
a
l

p
o
w
e
r

f
l
o
w
-
-
-
>


with proposed controller
without proposed controller
0 10 20 30 40 50 60 70 80
-1
-0.5
0
0.5
1
1.5
2
2.5
3
3.5
x 10
-3
Time in sec--->
N
e
t

t
i
e
-
l
i
n
e

d
e
v
i
a
t
i
o
n
-
-
-
>


without proposed controller
with proposed contoller
0 20 40 60 80
-0.05
-0.04
-0.03
-0.02
-0.01
0
0.01
0.02
Time in sec.--->
F
r
e
q
u
e
n
c
y

d
e
v
i
a
t
i
o
n

(
H
z
)
-
-
-
>


with proposed controller
without proposed controller
0 10 20 30 40 50 60 70 80
-0.06
-0.05
-0.04
-0.03
-0.02
-0.01
0
0.01
0.02
Time in sec.--->
F
r
e
q
u
e
n
c
y

d
e
v
i
a
t
i
o
n

(
H
z
)
-
-
-
>


with proposed controller
Without proposed controller
0 20 40 60 80
-6
-4
-2
0
2
4
x 10
-3
Time in sec--->
c
o
n
t
r
o
l

i
n
p
u
t
-
-
-
>


without proposed controller
with proposed controller
0 20 40 60 80
0
0.005
0.01
0.015
0.02
Time in sec--->
g
e
n
e
r
a
t
o
r

m
e
c
h
a
n
i
c
a
l

p
o
w
e
r

f
l
o
w
-
-
-
>


without proposed controller
with proposed controller
Ravi Shankar et al. / International Journal of Engineering Science and Technology (IJEST)
ISSN : 0975-5462 Vol. 4 No.04 April 2012 1783
Table 1: Comparison of the system integral gain and system ISE error of the interconnected power system






7. CONCLUSION
In this paper, we have proposed a FACTS device using the combination of TCPS and RFB control scheme for
two area interconnected hydrothermal power system. The basic idea behind this controller is to incorporate the
proposed FACTS device with Tie-line and by using Genetic Algorithms based optimization technique
corresponding integral gain is obtained. Simulation result demonstrated that, the proposed control strategy
ensuring the transient improvement as well as improve the tie-line power flow after different load change
conditions.

APPENDIX AND NOMENCLATURES
The system parameter values and nomenclatures used in this paper or in the power system model is given as
P
R1
= P
R2
= 12uu Hw, K
P1
= K
P2
= 12u Ezpu, I
P1
= I
P2
= 2u scc., I
t
= u.S scc., K
r
= u.S scc.,
1
R
= u.416, I
1
= 41.6 scc., I
2
= u.S1S scc., I
w
= 1 scc., I
R
= S scc., I
12
= u.u866 scc., R
1
= R
2
=
2.4
Ez
pu
. Hw,
1
=
2
= 8.SS 1u
-S
pu HwEz, I
PS
= u.1 scc., B
1
= B
2
= u.4249 pu HwEz, K

=
1.S roJEz,
mox
= 1u
u
,
min
= -1u
u
, K
rbi
= 1.8, I
Ji
= u, I
r
= u
I
P1
= Time constant of power system in thermal unit, I
P2
= Time constant of power system in hydro unit
K
P1
= Gain constant of power system in thermal unit, K
P2
= Gain constant of power system in hydro unit
K

= Gain constant of TCPS in the given system, I

Ps
= Time constant of TCPS in thermal unit
Figure 12. Control input deviation (ACE) of the hydro unit subjected to load change
of 0.01pu considering with and without proposed controller.
With Proposed Control Strategy Without Proposed Control Strategy
ISE = 0.0010 ISE = 2.6347e+003
K
I1
= 0.8408 K
I1
= 0.0151
K
I2
= 0.9322 K
I2
= 0.1177
0 20 40 60 80
-0.05
-0.04
-0.03
-0.02
-0.01
0
0.01
Time in sec--->
c
o
n
t
r
o
l

i
n
p
u
t
-
-
-
>


with proposed controller
without proposed contoller
Ravi Shankar et al. / International Journal of Engineering Science and Technology (IJEST)
ISSN : 0975-5462 Vol. 4 No.04 April 2012 1784
B
1
= Frequency bias constant in thermal unit of the given power system, B
2
= Frequency bias constant in
thermal unit of the given power system, I
w
= Water starting time constant of the power system in hydro unit,

1
= Damping coefficient of the thermal power system,
2
= Damping coefficient of the hydro-power system
K
r
= Gain-coefficient of reheat turbine thermal unit, I
r
= Time constant of reheat turbine thermal unit,
AP
m1
= Net mechanical power of thermal unit, AP
m2
= Net mechanical power of hydro-unit
AP
1
= Load change in the thermal unit, AP
2
= Load change in the hydro- unit, AP
g1
= Governor output in
the thermal unit, AP
g12
= Turbine output in the thermal unit, AP
g2
= Governor output in the hydro-unit,
AP
g21
= Turbine output in the hydro- unit, K
I1
= Integral gain constant of the thermal unit, K
I2
= Integral gain
constant of the hydro- unit, I
g
= Time constant of turbine of their respective units, A
1
= Frequency deviation
in the thermal unit, A
2
= Frequency deviation in the hydro-unit, AP
tic12
= Net tie-line power flow deviation in
the given power system model, = TCPS phase shifter angle.
ACKNOWLEDGMENTS
The authors sincerely acknowledge the financial support provided by the ISM, Dhanbad, INDIA for carrying out
the present work.
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