Abstracts -- FACTS device like TCPAR can be used to regulate

the power flow in the tie-lines of interconnected power system.

When TCPAR is equipped with power regulator and frequency-
based stabiliser it can also significantly influence the power flow
in the transient states occurring after power disturbances. In the
case of simple interconnected power system, consisting of two
power systems the control of TCPAR can force a good damping
of both power swings and oscillations of local frequency. In the
case of larger interconnected power system consisting of more
than two power systems the influence of the control of TCPAR on
damping can be more complicated. Strong damping of local
frequency oscillations and power swings in one tie-line may cause
larger oscillations in remote tie-lines and other systems. Hence
using devices like TCPAR as a tool for damping of power swings
and frequency oscillations in a large interconnected power system
must be justified by detailed analysis of power system dynamics.
Index Terms-- flexible AC transmission systems, power system
stability, Automatic Generation Control
I. INTRODUCTION
orldwide transmission systems are undergoing
continuous changes and restructuring. They are
becoming more heavily loaded and are being operated
in ways not originally envisioned. Transmission systems must
be flexible to react to more diverse generation and load
patterns. In addition, the economical utilization of transmission
system assets is of vital importance to enable utilities in
industrialized countries to remain competitive and to survive.
In developing countries, the optimized use of transmission
systems investments is also important to support industry,
create employment and utilize efficiently scarce economic
resources. Classical automatic generation and power control
should be modified in result of deregulation of electric power
energy sector and introduction of market mechanism in power
trade. The restructuring of management and propriety in the
power system sector should be accompanied at least by a
partly decentralized power system control.
Flexible AC Transmission Systems (FACTS) is a technology
that responds to these needs. It significantly alters the way
transmission systems are developed and controlled together
with improvements in asset utilization, system flexibility and
system performance. They are used for the dynamic control of

*
Institute of Power Engineering, Warsaw University of Technology, (e-
mail: desire.rasolomampionona@ien.pw.edu.pl).
voltage, impedance and phase angle of high voltage AC
transmission lines. According to several specialists FACTS
devices can be used as tools in control decentralisation. Those
devices are used in transmission line voltage and power
regulation [2]. Their role in regulation processes of
interconnected power systems is not fully analysed yet.
Introduction of far-reaching changes in power system control
is a problem requiring a very careful analysis. There are some
circumstances, making admit to a certain apprehension that a
full control decentralisation can endanger the power system
security. Any change in power system control, among others
the use of FACTS devices in transmission network should be
preceded by adequate wide studies. Producers and numerous
adherents of FACTS systems demonstrate that FACTS devices
like TCPAR or UPFC can participate in power system control
in a perfect manner, both in steady-state and in transient states
for power post-disturbance swing damping. There is a very
few information about the influence of the use of these devices
on far lower steady-state phenomena accompanying the power
and frequency regulation after a long-term imbalance of tie-
line interchange power. In this paper some results of a research
financed by the Polish SCSR
1
(State Committee for Scientific
Research) are presented. The problem concerning the
coordination of the FACTS devices like TCPAR, used for tie-
line power control in interconnected power systems equipped
with an AGC system is presented in this paper.
II. AN INTERCONNECTED POWER SYSTEM
COMPOSED OF TWO SUBSYSTEMS
In interconnected power systems automatic generation control
is implemented in such a way that each area, or subsystem, has
its own central regulator. As shown in Figure 1, the power
system is in equilibrium if, for each area, the total power
generation P
T
the total power demand P
L
and the net tie-line
interchange power P
tie
satisfy the condition:
0 ) ( = + -
tie L T
P P P (1)
The objectives of each area regulator is to maintain frequency
at the scheduled level (frequency control) and to maintain net

1
The research reported in this paper has been supported by SCSR under
Grant 4 T10B 014 23.
AGC and FACTS Stabilization Device
Coordination in Interconnected
Power System Control
D.D. Rasolomampionona
*
W
0-7803-7967-5/03/$17.00 2003 IEEE
Paper accepted for presentation at 2003 IEEE Bologna Power Tech Conference, June 23th-26th, Bologna, Italy
tie-line interchanges from the given area at the scheduled
values (tie-line control).
P
T
P
L
P
tie
control
area
remainder
control
areas
Fig.1. Power balance of a control area
The regulation is executed by changing the power output of the
turbines in the area through varying P
ref
in their governing
systems. Figure 2 shows a functional diagram of the central
regulator. Frequency is measured in the local low voltage
network and compared with the reference frequency to
produce a signal that is proportional to the frequency deviation
Df. The information on power flows in the tie-lines is sent via
telecommunication lines to the central controller which
compares it with the reference value in order to produce a
signal proportional to the tie-line interchange error DP
tie
.

+
+
S
S
S
DP
f
f
ref
DP
t ie
P
tie
P
tie ref
Df
f
l
R
PI
DP
ref1
DP
ref2
DP
refi
DP
ref N
a
1
a
2
a
i
a
n
ACE DP
ref
Fig. 2 Functional diagram of a central regulator
In the past the central control of frequency and power
interchanges was implemented using large analogue
controllers but this has now been replaced by a central
computer. In normal operating conditions this computer also
performs security assessment analysis and economic dispatch,
i.e. allocation of the generated power among the power plants
in a way that minimises the production cost. Should an
emergency occur the computer may change the allocation of
power in order to prevent system blackout. A detailed
description of these facilities is beyond the scope of this paper.
The DP
ref
signals, resulting from the frequency and tie-line
control, and the P
ref
signals, resulting from the economic
dispatch or emergency control, are transmitted to the power
plants using the same telecommunication links.
The frequency regulation process can be approximately
analysed using a simplified mathematical model, which
considers the dynamics of rotors, turbines and their respective
prime movers [1], [4]. Having regard to this fact and the
derived equations, after introducing the following symbols:
) (s G
T
, ) (s G
RT
, ) (s G
Rf
which are, respectively: the
equivalent transfer functions of turbines, prime movers,
secondary controllers (frequency controllers), the derivation of
the appropriate relations and performance of the adequate
transformations lead to the following block diagram:
+
-
+
-
S
l
1
s
K
I
-
S H
G
T
G
p
p
sT
K
+ 1
primary control
secondary control
( ) s f D
( ) s f D
( ) s P
ref
D
( ) s P
L
D
( ) s P
T
D
( ) s G
p
( ) s f D
Fig. 3. Power system frequency control block diagram [2]
Maintaining a primary regulation margin at the set level is a
centrally co-ordinated service provided by transmission system
operator (TSO). The primary control goal is to automatically
increase/decrease the power of primary control ranked sources
within a few seconds (in the scope of set control margin) in
order to balance frequency deviations. The primary control has
a proportional character and contributes to maintaining a
balance between generation and consumption using a turbine
power or speed regulator. The right part of Fig. 3 represents
the power system with its turbines and prime mover control
(primary regulation). The amplification of the feed-back loop
is indicated by the symbol R. The left part is the frequency
control (secondary regulation). The secondary control goal is
to maintain frequency at the nominal (required) value and
balance with the interconnected systems at the required value.
Secondary control must be harmonised with primary control.
Primary control possibilities are preferred to frequency
deviations, and secondary control is applied when a frequency
deviation persists or in case of a deviation from the agreed
balance.
The relation between the tie-line power
tie
P D and frequency
deviation f D in the interconnected subsystems can be
determined using the model described in [1], [4]. Tie-line
power flow deviations depend on the terminal line voltage
angle and are strictly linked to frequency deviations,
P
P
T
T
P P
L L
tie
A
B
A
A B
B
P
tie
P
System
A
System
B
Fig. 4. Power balance in two interconnected systems
Interconnection may necessitate reinforcement of existing
networks for stability or other reliability considerations. The
reinforcement may be assisted by the deployment of Flexible
AC Transmission System (FACTS) devices and computer-
controlled energy management system (EMS). Flexible AC
Transmission System technologies are aimed to install power
electronic devices at the proper places of the existing AC
systems to improve their steady-state and dynamic behavior
and keep preset power transfer. Generally, the objectives of
FACTS technology are to enhance system controllability and
to increase power transfer limit. Detailed simulation of
possible steady state, dynamic state and transient state
operation must be studied based the proposed interconnection
schemes, taking applications of various FACTS devices into
account.
A. The mathematical model
Tie-line equipped with
TCPAR device
DP
0
0
0
Df
S S S
DP
t ie
DP
t ie
DP
t ie
DP
t ie
S
DP
0
0
0
Df
A A
A
A
A
G s ( )
A
SEE
G s ( )
B
B
B
B
B
SEE
RT T
G s ( ) G s ( )
B B
RT T
G s ( ) G s ( )
S S Rf
A
G s ( )
Rf
B
G s ( )
1
A
A
R
Df
Df
A
A
Df
Df
B
B
1
R
B l
R
B
l
R
A

+
-1
-1
S
y
s
t
e
m

A
S
y
s
t
e
m

B
f f -
f f -
f f -
f f -
+
-
+
+
+
+
+
+
+
-
+
+
-
-
Fig. 5. Block diagram of frequency regulation in a two-area power
system composed of subsystem A and B
In order to set the symbols used in this paper the
corresponding block diagram for an interconnected power
system composed of two subsystems A and B, with AGC
included has been used. ) (
T
s G , ) (
RT
s G are the equivalent
transfer functions of turbines and governors of the same
system. ) (
SEE
s G is the equivalent transfer functions of the
power system and is associated to the rotor dynamics, natural
damping from torques of the generator. R is the droop of the
speed-drop characteristic resulting from the feed-back loop of
the primary control. ) (
Rf
s G is the central regulator transfer
function.
R
l is the setting value of frequency bias factor,
representing the frequency deviation in the frequency
regulation loop of the central regulator. More detailed
information about numerical values, forms and derivations of
different transfer functions is given in [2 - 4].
The right-middle part of the model presented in Fig.5
shows the interconnected system tie-line. If a TCPAR device is
installed on this line the tie-line model should take into
account the TCPAR model and its control. The interchange
power increment
tie
P D is referred to the power reference
setting value.
The model of the interconnected system tie-line is situated
on the right-middle part of the Fig.5. If a TCPAR device is
installed on this line the tie-line model should take into
account the TCPAR model and its control. The interchange
power increment
tie
P D is referred to the power reference
setting value.
The power system model including the TCPAR model can be
obtained from the incremental matrix equation of active power
including the TCPAR equation. The obtained equivalent
system is presented in Fig 6.
N
tie
A
A
P
B
B
tie
P
a
A
{L }
G G
B
b
{L }
TCPAR
Fig. 6. Illustration of the interconnection of two power system areas, with
a TCPAR device installed on the tie-line
The TCPAR device can be replaced by an equivalent reactance
[5] and a transformation ration g b h j + = . The direct
component b of this ratio influences the voltage level control
and the reactive power flow. Similarly the quadrature
component g influences the voltage angle control and the
active power flow. The TCPAR device is much simpler than
UPFC device and controls the quadrature component g only.
Using the node potential method in the power system in Fig. 2,
it can be demonstrated (more detailed in [6]) that the
interchange tie-line active power is given by the following
expression:
d g d cos sin
tie
b b P - = ,
S
=
X
E E
b
B A

(2)
where g is the TCPAR quadrature component,
S
X E E , ,
B A
are the equivalent emfs of both of the subsystems and the
equivalent reactance of the whole transmission system (the
TCPAR device reactance included), respectively. The emfs
arguments are
B A
,d d respectively. In the expression (2) the
angle ) (
B A
d d d - = .
The pre-fault values of the variables at the steady-state are
marked by a hat (^) inserted on the top of the appropriate
symbol. They are, respectively g d ,

tie
P . Differentiating the
expression (1) in the neighbourhood of the given values yields
:
g
g
d
d
g g d d
D

+ D

= D
= =

tie

tie
tie

P P
P (3)
After some simple mathematical transformation the following
expression is obtained
( ) [ ] g d g g D - D + + = D

1
tie tie tie
2
tie
H P H P (4)
where
d
d
g d d

cos

0 ,

tie
tie
b
P
H =

=
= =
(5)
The model corresponding to the expression (4) is shown in
Fig. 7.
+
_
+
S S S
Dg
DP
tie
Dd
A
Dd
Dd
B
Df
A
Df
B
Tie
$
H
tie
1
2
+
$
$
g H
$
$
g P
Tie
2p
s
2p
s
TCPAR
control
model
( )
Fig. 7. Interchange tie-line model with TCPAR device
B. An example of simulation results
For the simulation analysis an interconnected power system
composed of two systems, of which the installed active power
are far different one from another is used. Generation, demand
and interchange line powers are shown in Fig. 4. the symbol
m
T is the mechanical time constant of the generating unit
equivalent circuit,
zw
S is the short-circuit power (which is
needed for computing the equivalent reactance). Typical
parameters of reheat steam-turbine have been considered for
the model. Detailed information about power system data are
in [6]. The system A is much smaller than system B,
nonetheless in the analysed case it exports an amount of active
power of 500MW from the system A. The tie-line voltage is
400kV.
X = 60 W
L
400 kV
500 MW
,,A ,,B
20 500 MW
20 000 MW
99 500 MW
100 000 MW
T
S
= 8 sek
= 7 000 MVA
m
zw
T
S
= 7 sek
= 10 000 MVA
m
zw
TCPAR
Fig. 8. Basic data of both interconnected subsystems
Df
1+T s
f
K
f 1
f n
-
Df
f n
-
MAX
g
min
g
g
P
ref
P
tie
+
+ +
+
_
_
tie
DP
K
P
K
F
S S S
MAX
min
g
g
1
T s
P
Fig. 9. Control system composed of power controller and frequency-based
PSS control
The simulation analysis has been performed using several
models of control units with different input signals. Their
results are presented in [6]. It results from the analysis that,
from the damping of power and frequency swings point of
view, the best performance has been obtained when using a
power regulator with a frequency-based PSS (Fig.9).
A power imbalance in the system A or B has been simulated in
form of a power step change in the SUM node, between the
block diagram of governor-turbine and the equivalent transfer
function of the power system. A few examples of some
simulation results are depicted in Fig. 6-8. The power
unbalance step change was MW 200
A
0
= DP . The thin solid
line time responses represent signals obtained for the model
without TCPAR device. Bolder signals corresponds to signals
obtained when using the power control system with a
frequency-based PSS (Fig. 9). It could be observed (Fig.10-
12) that the TCPAR introduced a full damping of inter-area
swings and power and frequency signals, resulting from the
AGC action are almost aperiodical. This example shows an
excellent coordinated operation TCPAR control system and
AGC in damping power system oscillations occurring during
transient state.
time [s]
0 50 100 150
-20
-15
-10
-5
0
5
x 10
-3
time [s]
f
B


[
m
H
z
]
0 50 100 150
-10
-8
-6
-4
-2
0
x 10
-3
Fig. 10. Time responses of frequency signals after a power imbalance occurs
in the subsystem A
time [s]
P
A
[
M
W
]
0 50 100 150
0
50
100
150
200
time [s]
150 0 50 100 150
0
50
100
150
200
P
B
[
M
W
]
Fig. 11. Time responses of generating power signals after a power
imbalance occurs in the subsystem A
time [s]
0 50 100 150
-300
-250
-200
-150
-100
-50
0
P
T
I
E

[
M
W
]
Fig. 12. Time response of tie-line power after a power imbalance occurs
in the subsystem A
control parameters : 002 , 0
P
= K , s 5
P
= T , 2000
f
= K ,
s 1
f
= T , 1
F
= K , 2 , 0
MAX
+ = g , 2 , 0
MIN
- = g
The attention should be paid to the interconnected system,
on which the TCPAR installed on the tie-line is not able to
control the power flow between subsystem A and B because
the transformation ratio change g results only in changes of
B A
, E E voltage angles. The situation is totally different for an
interconnected power system composed of more than two
subsystem, which results in more than one inter-tie lines. The
TCPAR device installed in one (or more) tie-lines can change
the loads of different lines through change in load flow
between subsystems. However it has no influence in the total
power balance of each subsystem.
III. SIMULATION RESULTS FOR AN
INTERCONNECTED POWER SYSTEM COMPOSED OF
THREE SUBSYSTEMS
Basic data of the three systems are presented in Fig. 13.
The block diagram of this system is built in the same way as
for the two subsystem model presented on Fig. 5, but based on
three subsystems with three different AGC control systems and
three tie-lines. A full presentation of the block diagram can be
found in [6]. Like for the two subsystem case simulation
results have also shown that the best influence on transient
time responses has been obtained when the TCP was equipped
with a power control system with a frequency-based PSS (Fig.
9).
150 km
60 W
,,A
,,B
,,C
100 km
40 W 200 km
80 W
S
X
E
T
= 7 000 MVA
= 39,6
= 440 kV
= 8 s
W
zw
A
A
S
X
E
T
= 7 000 MVA
= 39,6
= 430 kV
= 8 s
W
zw
C
C
500 MW
300 MW
200 MW
20 500 MW
19 700 MW
99 500 MW
100 200 MW
15 000 MW
15 100 MW
m
S
X
E
T
= 10 000 MVA
= 27,7
= 420 kV
= 7 s
W
zw
B
B
m
m
TCPAR
Fig. 13. Basic data of the interconnected power system
composed of three subsystems
During simulation analysis it has been assumed that only
one TCPAR device has been installed in the tie-line between
the subsystems A and B. For instantaneous powers of different
subsystems equal to power reference values this TCPAR can
have an influence upon the loads of the tie-lines A-B and A-C
to balance the total power flowing in those tie-lines. In other
words, the TCPAR can unburden the line A-B at the cost of
line A-C and vice-versa.
During steady-state the influence of TCPAR device depends
on the system, at which the power imbalance has occurred.
If the disturbance in power imbalance occurs in the
subsystem A, instantaneous local frequency deviations of
system A results in very efficient response of the TCPAR
regulator and a very strong damping of power and frequency
swings. This phenomenon is illustrated in Fig. 14, in which it
can be observed that frequency oscillations of all three
subsystems are lower after the TCPAR device has been
installed. Also inter-area power swings have been damped in
such a way that power time responses do not contain typical
inter-area oscillations but low aperiodical power deviations
forced by AGC of different subsystems (Fig. 15-16).
f
A
[
m
H
z
]
time [s]
0 20 40 60 80 100
-15
-10
-5
0
5
time [s]
f
B
[
m
H
z
]
0 20 40 60 80 100
-9
-8
-7
-6
-5
-4
-3
-2
-1
0
time [s]
0 20 40 60 80 100
-15
-10
-5
0
5
Fig. 14. Time responses of frequency signals after a power imbalance occurs
in the subsystem A
If the disturbance in power imbalance occurs in the subsystem
B, power control system with a frequency-based PSS makes
the subsystem A local frequency oscillations strongly damped.
However this situation has no significant influence on
subsystem B and C local frequency oscillation. Additionally
subsystem A local frequency oscillation damping has a
unwanted back effect consisting on stronger power deviation
in other tie-lines, in particular line A-C and B-C.
The same situation takes place when the disturbance in power
imbalance occurs in subsystem C. Power control system with a
frequency-based PSS damps only subsystem A local frequency
oscillations, but has no significant influence on subsystem B
and A local frequency oscillation. Quite strong power swings,
comparable to those of system without TCPAR occurs in all
tie-lines.
P
T
A
[
M
W
]
time [s]
0 20 40 60 80 100
0
50
100
150
200
time [s]
0 20 40 60 80 100
0
20
40
60
80
100
120
140
160
180
P
T
B
[
M
W
]
time [s]
0 20 40 60 80 100
0
5
10
15
20
25
30
35
40
P
T
C
[
M
W
]
Fig. 15. Time responses of generating power signals after a power imbalance
occurs in the subsystem A
time [s]
0 20 40 60 80 100
-180
-160
-140
-120
-100
-80
-60
-40
-20
0
P
W
A
B
[
M
W
]
P
W
B
C
[
M
W
]
time [s]
0 20 40 60 80 100
-20
0
20
40
60
80
100
time [s]
0 20 40 60 80 100
0
20
40
60
80
100
120
P
W
C
A
[
M
W
]
Fig. 16. Time response of tie-line powers after a power imbalance occurs in
the subsystem A
Control parameters 002 , 0
P
= K , s 5
P
= T , 2000
f
= K ,
s 1
f
= T , 1
F
= K , 2 , 0
MAX
+ = g , 2 , 0
MIN
- = g
IV. CONCLUSIONS
The strongest effect of TCPAR action on frequency and power
swing damping is obtained when using power control system
with a frequency-based PSS. When a simulation analysis of a
simple interconnected power system composed with two
subsystems has been performed, a very good damping of
frequency and power swings has been observed. Unfortunately
less optimistic observations results from the analysis of the
interconnected system composed with three (or more)
subsystems. In this case only the damping of system frequency,
of which the frequency is the input of the frequency-based
PSS. However the TCPAR action can enforce the tie-line
interchange power, in particular in tie-lines located relatively
far away from the TCPAR device. For these reasons the use of
TCPAR based on power control system with a frequency-
based PSS in very large interconnected power systems requires
more carefulness and performance of more detailed analysis of
the power system
V. REFERENCES
1. J.Machowski: Elastyczne systemy przesyowe
FACTS. Przegld Elektrotechniczny Nr 7, 2002r.
ISSN 0033-2097
2. L.K.Kirchmayer Economic Control of
Interconnected Systems John Wiley & Sons 1959
3. N.Cohn Control of Generation and Power Flow on
Interconnected Systems John Wiley & Sons, New
York 1971
4. P.Kundur Power System Stability and Control
MacGraw - Hill, Inc. New York, 1993
5. Modeling of power electronics equipment (FACTS)
in load flow and stability programs CIGRE Task
Force 38.01.08, August 1999, Report No 145
6. J.Machowski (and others): Wspdziaanie ARCM
oraz urzdze FACTS w regulacji systemu
elektroenergetycznego w warunkach rynkowych.
(AGC and FACTS Stabilization Device Coordination
for Interconnected Power System Control in Market
Conditions) Grant KBN Nr8T10 B05818, Warszawa
2000-2002.
VI. BIOGRAPHY
Desire Dauphin Rasolomampionona was born
in 1963 in Madagascar. He received his MSc
(1988) and PhD (1994) in Electrical Engineering
from Warsaw University of Technology. He
joined the Warsaw University of Technology
faculty in 1994 at the Power System Protection
Division, Institute of Power Engineering. His
research interests include protection and control
of power system and computer networking