Reactive Power Control in Distribution Systems by using Advanced Techniques

Masoud Aliakbar Golkar K.N. Toosi University of Technology Golkar@eetd.kntu.ac.ir

Abstract---Reactive Power control represents an efficient method of reducing the cost of utility operation. The savings brought about by Var/voltage control does not end at the monetary value the energy saved: the released system capacity can serve to delay a costly expansion and reduce the ageing of components. Var control is to provide appropriate placement of compensation devices to ensure a satisfactory voltage profile while minimizing the power losses and the cost of compensation. A cursory review of trade and scholarly journals reveals that researchers advocate the use of different conventional techniques for reactive power control in distribution systems. Since 1980s,the focus has shifted away from the conventional methodologies which were suited to the fields of control theory, operational research and numerical analysis, to the techniques of artificial intelligence (AI). In this paper the AI methods; expert systems, fuzzy systems, artificial neural networks, evolutionary computing, and tabu search var/voltage control, and hybrid systems for var control in distribution systems are reviewed. Keywords-Var control, voltage control, distribution systems, artificial intelligence, reactive power control

Mahsa Aliakbar Golkar cole Polytechnique de Montral mahsa.golkar@polymtl.ca

The Reactive power (Var) controlled has been studied by different conventional optimization methods. Linear programming methods [2-9], nonlinear programming methods [10,11], mixed integer programming methods [12-15], decomposition techniques [16-17], and dynamic programming method [18] have been used to deal with this problem. In applying these mathematical formulation for the real-word problem some certain assumptions must be made. On the other hand there are many uncertainties in distribution system problems because distribution systems are large, complex, widely distributed systems. The solution of the problem should be optimum globally, whereas the solution sought by mathematical optimization is optimum locally. In some cases, such as ill conditioning and convergence, difficulties have been also observed. These facts make it difficult to deal effectively with many systems problems through strict mathematical formulation alone. Artificial intelligence (AI) techniques, which promise a global optimum solution, or nearly so, have in recent years emerged as a complement tool to mathematical approaches within electrical distribution systems The AI began in 1958,when John McCarthy initiated the issue [19]. Nowadays the main AI used in distribution system applications are those utilizing logic and knowledge representations of expert systems, fuzzy systems, artificial neural networks, and more recently, evolutionary computing. A large number of papers have been published using AI techniques for var control in distribution systems. This work reviews AI methods which are used for var control in electric distribution systems. II. APPROACH AND METHODS A. Reactive Power Control in Distribution Systems One of the most fundamental and important problems in electric distribution systems is reactive power/voltage control. High voltage difference between voltage in different buses in distribution system is the sole indicator of reactive power imbalance in the system. The main problem is that the voltage drop occurs when reactive power flows through the inductive reactance of power lines and when the system is constrained to supply the normal requirements of reactive power. Voltage problem is compounded when reactive power demand increases and is shipped over the already heavily loaded lines.

I. INTRODUCTION Var/voltage control is a very important issue in the operation of electric distribution systems. The load requires reactive power for magnetizing purposes. Reactive power required by the load depending on the nature of the load, which is mainly decided by the magnetic circuit configuration. Reactive power requirement change continuously with the load and voltage level. Voltage control in a distribution system mainly related to the control of var. Reactive power control in addition to control of reactive power in the distribution system may have such advantages as reduction of real power losses and improvement of power factor in the system [1]. Reactive power and voltage control in distribution systems can be achieved by employing reactive power compensation devices such as shunt capacitors, series capacitors, static var compensators, tap changing transformers, and automatic voltage regulators and even now with the new FACTS tools like STATCOMS.

Reactive power control has been looked at as an important issue in distribution systems for many reasons [20].First, the need for most efficient operation of power systems has increased with the price of fuel. For a given distribution of power, the losses in the system can be reduced by minimizing the flow of reactive power. Second, the extension of the power network specially in the distribution level, has been curtailed in general by high interest rates, and in particular cases by right-of-way. In many cases power transmitted through older networks has been increased, requiring the application of reactive power control measures to restore stability margins. Third, voltage is considered as one of the most important parameters of the quality of power supply. Its deviation from the normal value may be harmful and expensive. Reactive power control is an essential tool in maintaining the quality of supply. An extensive amount of research has appeared dealing with reactive power control in power systems. In general, most of this research falls within the following subgroups of the var/voltage control problems. The reactive power planning and operation is an optimization problem of nonlinear, non smooth, and non continuous function [21]. It is one of the most complex problems of power systems because it is requires the simultaneous minimization of real power losses to reduce the operating cost and improve the voltage profile, and the cost of additional reactive power sources [21]. Capacitors are widely installed on Distribution systems for reactive power compensation to improve the voltage profile and to reduce power and energy losses in the system. The extent of these benefits depends upon how the capacitors are placed in the network and how effective the control schemes designed for them are. The general capacitor placement problem consists of determining the optimal number location, types, and sizes of new and existing capacitors and their control schemes, such that objective function (savings associated with the capacitor placement minus the cost of capacitors )is maximized while the load and operation constraints (voltage magnitude, current flow rating, etc)at different load levels are satisfied. B. Artificial intelligence techniques As mentioned, the problem of reactive power control using conventional methods (e.g. , linear programming, nonlinear programming, mixed integer programming, dynamic programming, etc)has been studied and widely reported in the literature, but here remains a large class of problems that elude complete solution in a conventional setting. These problems: Require the use of knowledge bases to store human knowledge; Require operator judgment, particularly in practical solutions; Require experience gained over a period of time; Are characterized by network uncertainty, load variations, and so on.

Some important work on artificial intelligence techniques for reactive power control in distribution systems are reviewed in the following sections.

C. Expert systems (ES) The ES was first broadly researched by Feigenbaum et al. in the early 1970s[19]. ES is a knowledge-based or rule-based system that uses the knowledge and interface procedure to solve problems difficult enough to require human expertise for their solution. The main advantages of ES are [22-26]: It is permanent and consistent It can be easily transferred or reproduced It can be easily documented The main disadvantage of ES is that it suffers from a knowledge bottleneck because it is unable to learn or adopt to new situations. For the past 20 years, so many ES applications have been developed to help plan, analyze, manage, control, and operate various aspects of power generation, transmission, and distribution systems. A survey of ESs in power system was in [27-28].A large number of papers have appeared dealing with reactive power control using ES in distribution systems[29-33]. Applying the technique to distribution systems show that the computational performance is significantly improved by reducing the calculations and eliminating less effective controllers. The proposed approach meets the speed and accuracy requirements for detecting and correcting voltage violations in case of contingences and can be used for on line voltage control problems. In [34] two rule-based techniques were implemented as a tool for voltage control problem in power systems. The first technique determines a set of buses (from a primary distribution systems) on which a particular controller has a significant impact. The second one determines the active power compensators, which are best suited to alleviate voltage variations at a particular bus. Hsu et al.[35] presented the voltage control problem using a combined integer linear programming and ruled-based approach. Integer solutions can be achieved for control variables such as switchable inductors, and capacitors without rounding off the results. D. Artificial Neural Networks (ANN) This algorithm has a starting points which was proposed by Hebb in 1940, which demonstrated how a network of neurons could exhibit learning behavior [36] Neural networks are categorized by their architecture (number of layers), topology (connectivity pattern, feed forward or recurrent, etc.),and learning regime. Most of the applications in the power system use multi-layered feed-forward networks. The main advantages of ANN technology are [37-38]: It is fast. It possesses learning ability It adapts to the data It is robust

 It is appropriate for non linear modeling These advantages suggest the use of ANNs for voltage security monitoring and control. Although the neural network training is generally computationally expensive, it takes negligible time to evaluate voltage stability once the network has been trained. Despite the advantages of ANN methods, there are some significant disadvantages as: Its large dimensionality Selection of the optimum configuration The choice of training methodology The black box representation of ANN(lack of explanation and so decisions are not audible). The fact that results are even if the input data are unreasonable General information on neural network and their applications in power systems is presented in [39-42]. Some researchers [43-47] have applied neural network control for capacitors and tap positions of feeder regulators in electric distribution systems. In [47] the neural network was tested on a radially configured distribution system. Test results show the quite well performance of the ANN under slight and extreme variation of loading conditions. E. Fuzzy Logic Programming (FLP) Fuzzy logic was developed by Lotfi Zadeh in 1964 to address the uncertainty and imprecision that widely exist in engineering problems. The advantages of fuzzy theory are [4849]: Fuzzy sets more accurately represent the operational constraints of power systems Fuzzified constraints are softer than traditional ones A detailed introduction to fuzzy logic and its applications in distribution systems was presented in the references [50-52]. Mamoh [53] presented an overview and literature survey of fuzzy set theory in different areas of power systems. Fuzzy linear and fuzzy dynamic programming was used in [54-57] for reactive power control in distribution systems. Su and Lin [58,59] used fuzzy set theory to formulate the reactive power/voltage control problem. In this modeling, bus voltage violation levels are first translated into fuzzy set notations, and then min-max operation is employed to find a feasible solution that enhances the voltage security. The final solution is obtained using min-operation aimed at further reducing the power losses in the system. The proposed model is better than the expert-based model. A special fuzzy-based reactive power control in distribution was presented in [60]. The capacitor allocation problem in distribution systems was discussed in [61-62]. The fuzzy-expert based capacitor placement problem as discussed in [62]. Has an advantage over other AI-based methods [63-69], as this approach provides a remedy for any lack of or uncertainty in data, whereas other AI methods depend on the quality of the data used.

F. Evolutionary Computing Algorithm (ECA) Evolutionary computing is based on Darwins postulation of the survival of the fittest. An evolutionary computing algorithm begins by initializing a population of candidate solutions to a problem. New solutions are then created by randomly varying those of initial population. All solutions are ensured with respect to how well they address the task. Finally, a selection is applied to weed out those are below par. The process is iterated using the selected set of solutions until a specific criterion s met. The advantages of evolutionary programming are adaptability to change and ability to quickly generate good enough solution. Eas differ from other optimization methods in possessing the following features [21]: ECAs search from a population of points, not a single point. The population can move over hills and across valleys. ECAs can therefore, discover a globally or near globally optimum point. Because the computation for each individual in the population is independent of others, ECAs have inherent parallel computation ability. ECAs use fitness (objective functions) information directly for the search direction, not derivatives or other auxiliary knowledge. ECAs, therefore, can deal with non smooth, non continuous, and non differentiable functions that are the real-life optimization problems. ECAs use probabilistic transition rules, not deterministic ones, to select generation, so they are a kind of stochastic optimization algorithm, which can search a complicated and uncertain area to fund the optimum global. ECAs are more flexible and robust than conventional methods Evolutionary computing algorithm (ECA) can be subdivided into Gas, evolution strategies, evolutionary programming (EP), genetic programming, and simulated annealing (SA). Over 95% of all the papers published on power systems are based on GA [22]. GA and SA are discussed in the following sections. 1) Genetic Algorithm (GA) GA is a global search technique based on the mechanics of natural selection and genetics. It is a general-purpose optimization algorithm that is distinguished from conventional optimization by the use of the concepts of population genetics to guide the optimization search. GA operates on a random population of individuals each representing a solution to the problem at hand. In recent yeas GA has gained popularity for its easy searching process, global optimality, independence of searching space, and probabilistic nature. Instead of point-topoint search, GA searches from population to population [7073]. The advantages of GA over traditional techniques are: GA needs only rough information of the objective function and places no restrictions such as differentiability and convexity on the objective function.

 The method works with a set of solutions from one generation to the next, and not a single solution, thus making it less likely to converge on local minima. The solutions developed are randomly based on the probability rate of genetic operators such as a mutation and crossover; the initial solutions thus would not dictate the search direction of a GA. One disadvantage of GA method is that it requires a tremendous amount of time .An extended bibliography of GA in power systems has been presented in [74]. EP is different from GA in two ways: EP uses the control parameters, not their coding, and the generation selection procedure of EP is mutation and competition, not reproduction, mutation, and crossover. GA emphasizes models of genetic operators, whereas EP emphasizes mutational transformations that maintain behavioral linkage. The encoding and decoding of each solution and the operations of crossover and mutation on binary-coded variables of GA use up a lot of time [21]. The var problem in distribution systems using EP was discussed in [79-82]. 2) Simulated Annealing Simulated annealing techniques based on thermodynamics were originally inspired by the formation of crystals in solids during cooling. The advantages of SA are its general applicability in dealing with arbitrary systems and cost functions, its ability to find an optimal solution, and simplicity of implementation for even complex problems[75-78]. The major drawback of SA is repeated annealing. This method can not tell whether it has found an optimal solution. A GA-based method for solving the capacitor placement problem in distribution system was presented in [63-67]. The objective of the problem is to find number , location, and discrete size of capacitor to be placed in the distribution system in such a way that the total cost for energy loss, including the cost of capacitors, is minimum. A GA-based reactive power optimization technique was presented in [7879]. The proposed method [79] was applied to 51-bus and 214-bus distribution systems to show the feasibility and capability. This method shows good convergence characteristic but is not as fast as sophisticated conventional methods. G. Tabu Search (TS) TS is an iterative improvement procedure that starts from some initial solution and attempts to determine a better solution in a manner of a greatest descent neibourhood search algorithm [84-85]. Basic components of TS are the moves, tabu list, and aspiration level. TS is a meta-heuristic search to solve the global optimization problem, based on multilevel memory management and response exploration. A TS approach capacitor placement problem in radial distribution systems is presented in [86-89]. One of the common drawbacks of the conventional methods is the convergence problem [12]. Compared with SA [76] the

proposed method has the advantages of flexibility, simplicity, and speed. H. Hybrid Systems (HS) Real-life power system problems may neither fit the assumptions of a single AI technique nor be efficiently solved by the strengths and capabilities of a single technique. One approach to deal with these complex real-world problems is to integrate the use of two or more techniques in order to combine their different strengths and overcome each others weakness, to generate hybrid solutions. The hybrid techniques can be developed in variety of ways. Various hybrid systems used in power systems are fuzzy ESs, neural ESs, fuzzy neural network systems, neuro-fuzzy systems, genetic algorithm neural network hybrid systems, and genetic algorithm fuzzy neural network hybrid systems, and genetic algorithm fuzzy hybrid systems [22]. Conventional and AI techniques have also been integrated to form hybrid systems like fuzzy linear programming [54-56] and fuzzy dynamic programming [57], among others. In reference [90] it is suggested to use a complementary methodology of ESs and neural networks to advantage in a hybrid system for voltage collapse monitoring. In this hybrid scheme, the ES carries out high-level monitoring, diagnosis, or planning, whereas the ANN is used to evaluate local problems, which would otherwise involve great analytical complexity. In [91], and [92] a hybrid genetic algorithm-linear programming and hybrid expert system simulated annealing are presented respectively for solving a VAR planning. The objective of these methods is to search the global optimal solution considering both quality and speed at the same time. Various numerical techniques have been employed to solve a complicated VAR planning problem by conventional methods [9,12-16]. Their main disadvantages is that they get stuck at local rather than at global optimal. To circumvent this problem, SA method [75-76] has been applied. A drawback of SA is that it takes more time to find global optimum. In [92] the hybrid expert system simulated annealing technique and the SA techniques are compared and their results show that the time taken to find a global optimum solution by the first method is much less than the SA method. In ref [93] a combination of ANN-fuzzy dynamic programming approach to reactive power study problem in distribution substation is presented. The ANN is designed to reach a primary schedule for capacitor on/off status and load tap changing transformers tap positions. The primary schedule is redefined by fuzzy dynamic programming to reach final schedule. It was concluded that main transformer secondary bus voltage can controlled very satisfactory if the capacitor and tap setting are dispatched according to the final schedule. The main feature of this approach is that it requires less computation time and memory than fuzzy dynamic programming-base techniques [57].

III. CONCLUSIONS A comprehensive review of AI methods; ESs, fuzzy systems, ANN, evolutionary computing, TS , and hybrid system for reactive power control in electrical distribution systems has been presented. Despite remarkable advances in mathematical optimization technology, conventional mathematical methods have yet to fast and reliable real-time applications in distribution systems applications. Considerable afford are required to avoid mathematical traps such as ill-conditioning and convergence difficulties. AI relies heavily on good problem description and extensive domain knowledge. ES, which is a knowledge-based system, suffers from a knowledge bottleneck by having an inability to learn or to adapt to new situations. Knowledge-based systems can enhance the capabilities of a distribution system. Whereas ANN can acquire knowledge through adaptive training and generalization. ANN, fuzzy, and ES suffer from the same requirement of an expert user in their design and implementation. They also suffer from a lack of formal model theory and mathematical rigor and so are vulnerable to the experts degree of knowledge in problem definition. Fuzzy theory, with its realistic description of power system problems, and ANN, with its promise of adaptive training and generalization, both deserve further study. GA, by contrast, access deep knowledge of system problems by wellestablished models. GA has much more potential in power system analysis; it is also the latest entry into the AI fields and is attracting most of the current attention. GA needs to be understood in relation to its computation requirements and convergence properties. The application of hybrid systems in power system problems is a novel development and represents a future trend in power system research. IV. REFERENCES
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