2004 IEEE Intemational Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004)April 2004 Hong Kong

Development of Adaptive UPFC Supplementary

Fuzzy Controller
for Power Svstem Stabilitv Enhancement J J
T. S. Chung, Senior Member, IEEE, Xiaodong Yang, D. Z. Fang and C. Y. Chung

Abstract-- In this paper, a Fuzzy Logic supplementary
controller with gain-varied characteristic is developed for
Unified Power Flow Controller (UPFC). The attractive
feature of the controller is that the gain factor can be
adaptively tuned in the control process according to the
damping effect. The fuzzy-logic controller is mainly
equipped with two fuzzy-logic units with one to switch the
UPFC modulation and the other to adjust the gain factors
adaptively. Simulation results validate that the proposed
UPFC controller can provide good performance for different
operating conditions of power system. By comparison, it can
be seen that the proposed gain-variable adaptive UPFC
controller is more effective in damping power oscillation
than a gain-fixed counterpart and the drawback of fuzzy-
logic control schemes with constant gain factor is
successfully overcome.
Index Terms-- UPFC, Fuzzy logic control, Variable gain,
Dynamic stability
I. INTRODUCTION
gain-varied characteristic is developed. The attractive
feature of the controller is that the gain factor can be
adaptively tuned in the control process according to the
damping effect. In the control scheme, the tie line active
power is utilized as the input and the output damping
signals are sent both to series and shunt PI regulators in
the main control system of UPFC. A basic UPFC model
considering its DC capacitor dynamics is adopted and the
PI regulators used in the main control system are
presented. The UPFC series element control is used to
modulate active power in the AC transmission link, and
the shunt control is for regulating the UPFC bus voltage
as well as keeping the DC link capacitor voltage constant.
The fuzzy-logic controller is mainly equipped with two
fuzzy-logic units, FLU1 and FLU2, with the former to
switch the UPFC modulation and the later to adjust the
gain factors adaptively. In FLU1, the deviation of line
power and its integral are utilized to estimate the state in
the phasehpeed plane [6] and to switch the damping

A s one of the most versatile FACTS devices, unified

power flow controller (UPFC) can provide
simultaneous real time control to both bus voltage and
control in a smooth way. The output signals are sent to
the main control system of UPFC to modulate the
reference power and reference voltage, respectively.
transmission power and can be used to enhance system Simulation results on the 10-generator New England
stability [ 11. Because of the distinguished advantages of power system are reported to show that the gain-varied
fuzzy logic control, UPFC fuzzy logic damping control adaptive controller is more effective in damping power
has been studied actively [2-4]. In most fuzzy control oscillation than a gain-fixed counterpart. The satisfactory
schemes, constant control gain factor determined at a performance of the controller under different operating
specific operating condition for a particular disturbance is conditions is also validated by case studies.
usually adopted. One disadvantage of the constant gain
factor schemes is that the controller designed under a
certain scenario might become less effective for other 11. UPFC ANDITS CONTROL
SCHEME
disturbances or under other operation conditions due to
excessive and unnecessary control action [ 5 ] . It is of
significance to develop schemes with variable gain factors
for improving the control performance.
In this paper, a fuzzy logic controller for UPFC with
UPFC

T. S . Chung is with the Departmcnt of Electrical Enginccring, The Control Svstem

Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong of UPFC
(e-mail: cclschuni~~pol~u.cdu.hk).
Xiaodong Yang is with Tianjin University, Tianjin, 300072 China (e-
Supplementaly
mail: joyxd@hotmail.com). Damping Control
D. Z. Fang is with the Departmcnt of Electrical Engineering, The
Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong
(c-mail: eedzfang@polyu.edu.hk). Fig.1. The schematic diagram of the UPFC and its control system
C. Y . Chung is with the Departmcnt of Electrical Enginccring, The
Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong
(e-mail: C.Y.Chuiig~~iiict.polyu.cdu.hk).

0-7803-8237-4/04/$17.0002004IEEE
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2004 IEEE Intemational Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong

scheme, the supplementary control is applied both to the

shunt element through modulation of the voltage
reference and to the series element by modulation of
power reference.

III.UPFC DAMPING
CONTROL
SCHEME

The basic configuration of the proposed controller is

shown in Fig. 3, where blocks Wand I stand for washout
' dVDC
--
- (4 -',Is, filter and integrator. FLU1 and FLU2 are two fuzzy logic
dt 'VDC.
units.
n V -V
PI =Re[p1(-)*]
JXn
v, + v, - vj
Pz = Re[$,( 1'1
jXT,
I I
VI =- m , V D C
zero-crossinr
To maincontrol
VB

G,4

Fig. 3. Block diagram of thc UPFC adaptive damping controller

(In (I), (f)*denotes the conjugate complex of )

The connection between the master and supplementary A . Fzrzzy Logic Unit I
damping controls is also shown in Fig.1. In the main As shown in Fig.3, the controller utilizes power
control system, the UPFC series element control is used to deviation, D, , and its integral, I,, , to obtain the
modulate the AC active power PL , and the shunt control phaselspeed state by:
is for maintaining the DC link capacitor voltage, V,, ,
constant along with the bus voltage regulation.
where KDpis a positive scaling factor to coordinate the
relative magnitudes of D, and I,. The following two
h z z y rules are used to switch the damping control:
Rule 1: when B E ( 0 , ~ ), the output damping signal
should be positive to increase the line power flow.
(a)Power flow control Rule 2: when BE(-z,O) , the output damping signal
should be negative to decrease the line power flow.

(b)Controlof nodc voltage (c)Control of capacitor voltage

Fig. 2. Diagram of the main control of UPFC

More details about the UPFC main control is shown in I

Fig.2, where all controllers in UPFC main control system -7T -77-1 2 0 n12 ?r
take the Proportional plus Integral (PI) control law. The @(rad )
UPFC paramaters can be found in Appendix A. It is Fig. 4. Mcmbership functions of p,(B) and pu,(@)
noticed that input signals, Pdampand Vdainp, come from
Fig. 4 shows the membership functions of ~ ~ (and
6 )
the supplementary damping control. As shown in Fig.3, p,(B) . The output modulating signal of the
the input signal to the UPFC supplementary control is the
line power measured at UPFC terminal which reflects the supplementary UPFC controller is evaluated by:
system oscillation. In the proposed UPFC control

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2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong
where K is a gain factor adaptively tuned which is
presented in the next subsection.
B. Fuzzy-logic Unit 2
FLU2 regulates signal G at sampling times when ZDp
reaches its zero crossing to produce a new K for FLU1.
Denote the magnitudes of D, and G at each zero crossing
of I , as ... , and
...DP,r,DP,,+I
-.-G,,G,+]
respectively. At these sampling times, FLU2 uses
GI, D,., ,Dp,l+l(i = I,2.. .) as input and produces G,+I. The
procedure to calculate the output of FLU2, called process
of fuzzy-logic tuning, is summarized as follows:
Step 1) Fuzzification
First, G,, D,,, DP,r+l
are normalized to [0,1] by scaling
factors KG and K p , respectively. For D, and G, fuzzy
partitions with a linguistic variable associated with each
set are considered as follows:
D, : ( A I : large (L), Az: medium (M), Aj: small (S))
G : (BI: large (L), Bz: medium (w,
B3: small (S), B4:
zero (Z)1.
The membership functions for the fuzzy sets can be
found in Appendix B.
Step 2) Inference
TABLE I
FUZZY CONTROLRULES
(L, M, S and Z are for Largc, Medium, Small and Zero)
A set of control rules shown in Table I is constructed
beforehand based on the following reasoning :
1) If the previous control action does damp the
oscillation effectively however the oscillation remains
large, then retain the previous G; otherwise decrease G
appropriately,
2) If the effect of the previous control is not obvious and
the present amplitude of oscillation remains large, G
should be increased. On the other hand, if the present
oscillation is weak G should be either retained or
reduced.
The general application of the rules is in the form of
“IF premise THEN consequence”. For example, the rule
cell marked by ‘ *’ means: IF (( Dp,iis S) and ( Dp,i+lis S)
and ( Gi is 2)) THEN ( Gi+, is Z). In the inference
process, the rules in Table I are divided into four groups
according to their consequences. For each rule, the
lowest one of the three antecedents’ membership grades is
defined as the rule’s “Degree of Firing (DOF)”. The
maximum DOF in each group is chosen as
... ,
pus;(i=1,2,3,4), which is the composite membership
degree of the output fuzzy set Bi.
Step 3) Defuzzification
The defuzzified output U is evaluated by
(4)
where WJ is a weight initially equaling to the
corresponding xJ shown in Appendix and will be tuned
during the control process. As shown in Fig.2, the gain
factor, K , , is produced by
K = Gt+IDP.,+l (5)
To avoid inaccurate fuzzy sets classification, the
scaling factors KG , K p and the weights W, should be
regulated according to the current magnitudes of D, and
G, especially when D , and G become very small.
Therefore the DOF of the rule marked by ‘*’ is utilized as
a criterion of the diminution of D, and G. If this DOF
becomes higher than others in the ith operation of FLU2,
the KG, K p and W, (j=1,2,3,4) are tuned using Equations
,K ,
(6)-(8). The new KG,,+] r+l and WJ,,+l
will take effect
in next (i.e. the i+l‘h)operation of FLU2.
KG,r+l =I‘ / ‘ (6)
KP.r+l = l/DP,r+* (7)
wJ,l+l = wJ,, ’K G 1 f KG.r+l (8)
It can be seen that the tuning of G always uses its
previous value as input. Hence a small initial gain, G I , is
required to start the control process. It is also to be noted
that the tuning of G is only performed when ZDp(k)
reaches its zero crossing, hence the computation burden
added by FLU2 is not heavy.
IV. SIMULATION
The proposed control scheme has been tested on the
10-generator New England power system [7] with a
UPFC installed on line 40-16. In the study, two operating
conditions with different power flow directions in line 40-
17 and line16-15 are used to test the performance of the
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2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 H o n g Kong

proposed fuzzy controller. Table I1 lists the different 1. 25

loading conditions of the two operating conditions. The
" I
load data of other buses can be found in [7]. 0.75
h
W
- 0. $5
6 0.25
- 0
-0.25
0 2 .I 6 8 10 12 14 16

4.5

-2
- 3
1.5
h
0
-1.5
0 2 4 A 8 IO 12 14 I6
0.12 I I

Fig. 5 . The 10-generator New England power system

TABLE I1
OPERATING
CONDITIONS(values in MW) 0 2 4 (5 8 10 12 14 16
line line load load load load Time(s)
Condition Fig. 6 . Simulation result of Disturbance 1
40-17 16-15 bus8 bus39 bus21 bus23
(a) 194 300 522 1104 274 247
(b) -175 -28 322 604 774 447

The following 4 disturbances are simulated in case 25 Without UPFC Control With Gain-vaned
studies:
Disturbance 1: In Condition (a), a 3-phase short circuit of
0.1 seconds duration occurs at bus 21 (Fig. 6),
Disturbance 2: In Condition (a), a 3-phase short circuit
occurs at bus 17 and cleared in 0.1 seconds by tripping Controller ,
' ' ' ' ' ' ' With
' Gaiyfixed
'
line 3-1 8 (Fig. 7), -0.25
0 2 6 8

v,,
Disturbance 3: In Condition (b), a 3-phase short circuit 4 10 12 14 16
-1.5
occurs at bus 7 and cleared in 0.14 seconds by tripping
3. 5
line 7-8 (Fig. 8), ? 2, 5
Disturbance 4: In Condition (b), a 3-phase short circuit of 2
-
2 I. 5
0.12 seconds duration occurs at bus 28 (Fig. 9). a
0. n
For each disturbance, three cases are considered: (i) ", ,Coqtroller , , , , , , , ,)
I I

-
-0.5 ' '
without UPFC control, (ii) with a gain-fixed UF'FC fuzzy
logic damping controller and (iii) with the proposed 0 . 12

l, tl
adaptive UPFC hzzy logic damping controller. The gain- 0.1
fixed UPFC fuzzy logic controller uses a fixed G,,, in (5) 2 0 08
v

g. . 0. 06
to calculate the gain factor K,,, . Disturbance 1 is used as
0. 04
the base disturbance for tuning the gain factor G. By trail 0 02 ; ,
and error, Gi+l ~ 3 . 0is set for the gain-fixed UPFC 0 2 4 h s IO 12 14 16
Time(s)
controller and G I=3.0 is also adopted as the initial value Fig. 7. Simulation result of Disturbance 2
for the gain-varied controller. The performance of the
proposed adaptive controller is compared with the other
two cases in Figs. 6-9.

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2004 IEEE International Conference o n Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong K o n g

0. 7 5 gain-fixed one especially during the amplitudes of the

0. ,5 oscillation becoming small.
h
a 0.25
. s o V. CONCLUSION
y 0.25
U
A UPFC fuzzy damping controller is developed with
L
o -0.5 technique of adaptive gain factor adjustment. Simulation
-0.75 results show that: 1) The proposed controller is effective
in damping power oscillation for different operating
3 conditions. 2) The drawback of fixed gain schemes, the
?
damping effect becomes less effective due to unnecessary
iP o control action, is overcome by the adaptive control
v
a” technique. The performance of the controllers validates
.-3 that the technique of adaptive gain factor adjustment is of
significance in developing new FACTS supplementary
-6 damping controllers.
0 2 4 6 8 10 12 14 16
I I VI. APPENDIX

A. Parameters of UPFC and its control system (VB =

345KV)
nl=0.05,nz =0.25,& =0.0025,X~~ =0.05, C=0.5,
V~,-~~f=34.5KV, Kpl =25,K11=I,Kpz =I,Klz=lO,
0 2 4 6 8 10 12 14 16 Kp3 =I,Kr;l ‘15,Kpd =2,K14 =IO,
Time(s)
Fig. 8. Simulation result o f Disturbance 3
B. Parameters of the membershipfunctions
The membership functions for the fuzzy sets of G,‘ are:
0. 7
1 Without UPFC Control With Gain-varied I PBj (XI = expr - (-
x-x.
)*I j=1,2,3,4 (9)
0. 5
2
n

v
0.3
Oi

q 0. 1 L(0.33, 0.9), M(0.33, OS),

with the parameters (o,,~,):
c
Ga-0. 1 S(0.25,0.25), Z(0.33,0.05).
-0. 3 The membership functions for the fuzzy sets of Db,,
0 2 4 6 8 10 12 14 16
’ LWithout UPFC With Gain-varied
and DL,,+,
are:
3 Control A Controller r\
I o x < a,

PAj (XI =
1I
( x - a j ) / ( b i - a j ) a j < x < b,i
( X - c j ) / ( b i - c j ) bj < x < c j
0 x >cj
j = 1,2,3 (10)

: L(0.5, 1.0, lS), M(O.0,

with the parameters (aj,bj,cj)
0.5).
0.5,1.0), S(-0.5,0.0,

0 2 4 6 8 10 12
Time(s)
Fig. 9. Simulation result o f Disturbance 4
For Disturbance 1, the base disturbance for tuning
parameters in the gain-fixed controller, both the gain-
fixed and the gain-varied controller yield good
performance shown in Fig. 6. For other disturbances, the
results evidently demonstrate that the proposed gain-
varied SVC adaptive controller is more effective than the
VII. REFERENCES
[ I ] 2. Y. Huang, Y. X. Ni, et al., “Application o f Unified Power Flow
1.1 lti Controller in Interconnected Powcr Systems-Modeling, Interfacc,
Control Strategy, and Case Study”, IEEE Trans. Power Svstem
,~01.15(2), pp.817-824,2000.
[2] S . Mishra, p. K. Dash and g. Panda. “TS-fuzzy controller for UPFC
in a multimachine power system”. IEE Proc. Gener. Transm.
Distrib., 147. (I), pp. 15-22, 2000.
[3] Schoder, Karl; Hasanovic, Azra; Feliachi, Ali. Power system
damping using fuzzy controlled unificd power flow controller.
Proceedings of the IEEE Power Engineering Society Transmission
and Distribution Confcrcnce, v 2, WINTER MEETING, pp. 617-
622,2001.
[4] Limyingcharoen S., et al., “Fuzzy logic based UPFC for transient
stability improvement”. IEE Proc. Gener. Transm. Distrib., ~01.145.
(3), pp. 225-232, 1998.

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2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong

[5] T. Hiyama, W.Hubbi, T.H Ortmeyer, ‘‘Fuzzy logic control scheme

with variable gain for static VAR compensator to enhance power
system stability,” IEEE Truns. Power System, 14 (I), pp. 186.191,
1999.
[6] T. Hiyama, M. Mishiro and H. Kihara, “Fuzzy Logic Switching of
Thyristor Controlled Braking Resistor Considering Coodination
with UPFC,” IEEE Truns. Power Deliveiy. vol. 10, pp.2020-2026,
Oct. 1990.
[7] R.W. DeMello, et al, “Coherency based Dynamic Equivalents for
Transicnt Stability Studies,” Final Report on EPRI Project. RP,
pp.90-411, 1974.

VIII. BIOGRAPHIES
T. S. Chung received his B.Sc. M.Sc. and Ph.D. degrees from University
Hong Kong, Imperial College of Science and Technology, UK and
University of Strathclyde, UK, respectively. He is Professor in
Departmcnt of Electrical Enginccring, The Hong Kong Polytechnic
University since 1999. His research intercsts are in power system
security analysis, stability control, state estimation, AI and optimization.

Yang Xiaodong received the M. Eng. Degree from Tianjin University,

China in 2002. He is Ph.D. candidate of Tianjin University, China. His
research interests are in power system transient stability control.

D. Z. Fang received the M. Eng. Degree from Tianjin University, China

in 1981 and Ph.D. degrees from Thc Hong Kong Polytechnic University
in 1995. He joined the faculty of Tianjin University, China in 1981 and
has bccn Professor there since 1999. His rcsearch interests are in power
system analysis, transient stability and control.

C. Y . Chung (M’01) received his B.Eng. (with first class honors) in

1995 and Ph.D. in Electrical Engineering from the Hong Kong
Polytechnic University in 1999. he was a Reasearch Fellow in the
Electrical Engineering Dcpartment in University of Alberta, Edmonton,
AB, Canada, and Powcrtech Labs Inc., Surrey, BC, Canada, and is now a
lecturer in the Hong Kong Polytechnic University His rcscarch interests
include clcctricity rcstructuring, control applications, system modeling
and analysis.

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