International Journal of Electronics, Circuits and Systems Volume 1 Number 1

Thyristor Controlled Series Compensator-based Controller Design Employing Genetic Algorithm: A Comparative Study
Sidhartha Panda and N. P. Padhy
resonance (SSR); damping the power oscillation; and enhancing transient stability [4]-[11]. Most of the literatures on TCSC are based on small disturbance analysis that requires linearization of the system involved. However, liner methods cannot properly capture complex dynamics of the system, especially during major disturbances. This presents difficulties for tuning the TCSC controller in that, the controllers tuned to provide desired performance at small signal condition do not guarantee acceptable performance in the event of major disturbances. Despite significant strides in the development of advanced control schemes over the past two decades, the conventional lead-lag (LL) structure controller as well as the classical proportional-integral-derivative (PID) controller and its variants, remain the controllers of choice in many industrial applications. These controller structures remain an engineers preferred choice because of their structural simplicity, reliability, and the favorable ratio between performance and cost. Beyond these benefits, these controllers also offer simplified dynamic modeling, lower user-skill requirements, and minimal development effort, which are issues of substantial importance to engineering practice [12]-[13]. The problem of FACTS controller parameter tuning is a complex exercise. A number of conventional techniques have been reported in the literature pertaining to design problems of conventional power system stabilizers namely: the eigenvalue assignment, mathematical programming, gradient procedure for optimization and also the modern control theory. Unfortunately, the conventional techniques are time consuming as they are iterative and require heavy computation burden and slow convergence. In addition, the search process is susceptible to be trapped in local minima and the solution obtained may not be optimal [14]. Genetic algorithm (GA) is becoming popular for solving the optimization problems in different fields of application, mainly because of its robustness in finding an optimal solution and ability to provide a near-optimal solution close to a global minimum. Unlike strict mathematical methods, the GA does not require the condition that the variables in the optimization problem be continuous and different; it only requires that the problem to be solved can be computed. GA employs search procedures based on the mechanics of natural selection and survival of the fittest. The GAs, which use a multiple-point instead of a single-point search and work with the coded structure of variables instead of the actual variables, require

AbstractIn this paper, genetic algorithm (GA) opmization

technique is applied to design a Thyristor Controlled Series Compensator (TCSC)-based controller to enhance the power system stability. Two types of controller structures, namely a lead-lag (LL) and a proportional-integral-derivative (PID) are considered. Further, for the optimization of proposed controller parameters, two objective functions namely Integral Square Error (ISE) and Integral of Timemultiplied Absolute value of the Error (ITAE) are considered. The design problem of the proposed controller is formulated as an optimization problem and GA is employed to search for optimal controller parameters. A detailed analysis on the selection of objective function and controller structure on the effectiveness of the TCSC controller is carried out and simulation results are presented. The dynamic performances of both the LL and PID structured TCSCcontroller are analyzed and compared under various disturbance conditions. It is observed that lead-lag structured TCSC controller where the controller parameters are optimized using ITAE as objective function, gives the best system response compared to all other alternatives.

KeywordsGenetic algorithm, ISE, ITAE, lead-lag controller, PID controller, power system stability, thyristor controlled series compensator.

ECENT development of power electronics introduces the use of flexible ac transmission system (FACTS) devices in power systems. FACTS devices are capable of controlling the network condition in a very fast manner and this feature of FACTS can be exploited to improve the stability of a power system [1]. The detailed explanations about the FACTS controllers are well documented in the literature and can be found in [2][3]. Thyristor Controlled Series Compensator (TCSC) is one of the important members of FACTS family that is increasingly applied with long transmission lines by the utilities in modern power systems. It can have various roles in the operation and control of power systems, such as scheduling power flow; decreasing unsymmetrical components; reducing net loss; providing voltage support; limiting short-circuit currents; mitigating subsynchronous

I. INTRODUCTION

Sidhartha Panda is a research scholar in the Department of Electrical Engineering, Indian Institute of Technology, Roorkee, Uttaranchal, 247667, India. (e-mail: speeddee@iitr.ernet.in, panda_sidhartha@rediffmail.com). N.P.Padhy is Associate professor in the Department of Electrical Engineering, IIT, Roorkee India.(e-mail:, nppeefee@iitr.ernet.in)

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International Journal of Electronics, Circuits and Systems Volume 1 Number 1

only the objective function, thereby making searching for a global optimum simple [15]. The GA as an optimization technique has advantage as it adapts to irregular search space unlike other conventional techniques. The advantage of using GA is evident, as it finds its application in a number of papers for optimization problems. Therefore, in the present work GA is employed to search the optimal controller parameters. In this paper, a comprehensive assessment of the effects of TCSC-based damping controller has been carried out. Two types of TCSC-based controller structure namely a lead-lag (LL) and a proportional-integral-derivative (PID) structure are considered. The design problem of the proposed controllers is transformed into an optimization problem. The design objective is to improve the stability of a single-machineinfinite-bus (SMIB) power system, subjected to severe disturbances. Further, for the optimization purpose, two objective functions namely Integral Square Error (ISE) and Integral of Time-multiplied Absolute value of the Error (ITAE) are considered. GA-based optimal tuning algorithm is used to optimally tune the parameters of these controllers for minimizations of ISE and ITAE. The proposed controllers have been applied, tested and compared on a weakly connected power system. The dynamic performances of both the LL and PID structured TCSC-controller are analyzed at different loading conditions and under various disturbance condition. This paper is organized as follows. In Section II, the modeling of power system under study, which is a SMIB power system with a TCSC, is presented. The proposed controller structures and problem formulation are described in Section III. A short overview of GA is presented in Section IV. Simulation results are provided and discussed in Section V and conclusions are given in Section VI II. MODELING THE POWER SYSTEM WITH TCSC A. Thyristor Controlled Series Compensator (TCSC) TCSC is one of the most important and best known series FACTS controllers. It has been in use for many years to increase line power transfer as well as to enhance system stability. The basic module of a TCSC is shown in Fig.1. It consists of three components: capacitor banks C, bypass inductor L and bidirectional thyristors T1 and T2. The firing angles of the thyristors are controlled to adjust the TCSC reactance in accordance with a system control algorithm,
iS

normally in response to some system parameter variations. According to the variation of the thyristor firing angle ( ) or conduction angle ( ), this process can be modelled as a fast switch between corresponding reactance offered to the power system. Assuming that the total current passing through the TCSC is sinusoidal; the equivalent reactance at the fundamental frequency can be represented as a variable reactance XTCSC. There exists a steady-state relationship between and the reactance XTCSC. This relationship can be described by the following equation [3]:
X TCSC ( ) = + XC
2 4XC 2 XC

( + sin )

( XC X P ) ( k 2 1)

cos 2 ( / 2 ) [ k tan( k / 2 ) tan( / 2 )

(XC XP )

(1) where,
X C = Nominal reactance of the fixed capacitor C. X P = Inductive reactance of inductor L connected in parallel with C.

= 2( ) , the conduction angle of TCSC controller.

k= X C / X P , the compensation ratio.

Since the relationship between and the equivalent fundamental frequency reactance offered by TCSC, X TCSC ( ) is a unique-valued function, the TCSC is modeled here as a variable capacitive reactance within the operating region defined by the limits imposed by . Thus XTCSCmin XTCSC XTCSCmax, with XTCSCmax = XTCSC (min) and XTCSCmin = XTCSC(1800) = XC. In this paper, the controller is assumed to operate only in the capacitive region, i.e., min > r where r corresponds to the resonant point, as the inductive region associated with 900 < < r induces high harmonics that cannot be properly modeled in stability studies.
B. Power System Under Study The SMIB power system with TCSC (shown in Fig. 2), is considered in this study. The generator has a local load of admittance Y = G + jB and the transmission line has impedance of Z = R + jX.
VT Z=R+jX I VB

iC

C
T1

iS

TCSC

iL

L
T2

Y=G+jB

Fig. 1 Basic module of a TCSC

Fig. 2 Single-machine infinite-bus power system with TCSC

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International Journal of Electronics, Circuits and Systems Volume 1 Number 1

In the figure VT and VB are the generator terminal and infinite bus voltage respectively. The generator is represented by the third-order model comprising of the electromechanical swing equation and the generator internal voltage equation. The state equations may be written as [16]:

Pe = E q' i q + ( X q X d ' ) i d i q
E q' = E fd E q' ( X d X d ' i d Tdo'

(16)

(17)

= [Pm Pe D( 1 )] M = b ( 1 )
VT = v d + jv q I = i d + ji q

(2) (3) (4) (5)

VT = ( X q i q ) 2 + ( E q' X d i d ) 2

(18)

Here, E fd is the field voltage; T do' is the open circuit field time constant; X d and X d ' are the d-axis reactance and the d-axis transient reactance of the generator respectively. The IEEE Type-ST1 excitation system is considered in this work. It can be described as:
E fd = K A ( V ref VT ) E fd

where, Pm and Pe are the input and output powers of the generator respectively; M and D are the inertia constant and damping coefficient respectively; b is the synchronous speed; VT is the terminal voltage; I is the current, and are the rotor angle and speed respectively. The d- and q-axis components of armature current, I can be calculated as:
i d Yd ' V B = Eq 2 i q Yq Ze X 1 sin R2 X 2 R1 cos

TA

(19)

where, KA and TA are the gain and time constant of the excitation system; V ref is the reference voltage. III. THE PROPOSED APPROACH

(6)

A. Structure of the LL and PID Controller

Max.

with,
2 Yd = ( C 1 X 1 C 2 R 2 ) Z e
2 Yq = ( C1 R1 + C 2 X 2 ) Z e

0
(7) (8) (9) (10) (11) (12) (13) (14) (15)

0 +

1 1 + sTTCSC
Min.
1 + sT 1 1 + sT 2

X TCSC ( )
Output

1 + sT 3 1 + sT 4

sT W 1 + sT W

KS

Input

C1 = 1 + RG XB C 2 = RB + XG
2 Z e = R1 R2 + X 1 X 2

Fig. 3 Lead-lag structure of TCSC-based controller

Proportional KP Max.

Input

+
1/sKi Integral KD

R1 = R C 2 X d ' R 2 = R C 2 X q
X 1 = X Eff + C 1 X q X 2 = X Eff + C1 X d ' X Eff = X XTCSC ( )

+ +

0 +

1 1 + sTTCSC

X TCSC ( )
Output

du dt

Min.

Derivative

Fig. 4 PID structure of TCSC-based controller

The generator power Pe , the internal voltage E q' and the terminal voltage VT can be expressed as:

The LL and PID structures of TCSC-based damping controller, to modulate the reactance offered by the TCSC, X TCSC ( ) are shown in Figs. 3 and 4 respectively. The input signal of the proposed controllers is the speed deviation (), and the output signal is the reactance offered by the TCSC, X TCSC ( ) .

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International Journal of Electronics, Circuits and Systems Volume 1 Number 1

The LL controller consists of a gain block with gain KS, a signal washout block and two-stage phase compensation blocks. The signal washout block serves as a high-pass filter, with the time constant TW, high enough to allow signals associated with oscillations in input signal to pass unchanged. From the viewpoint of the washout function, the value of TW is not critical and may be in the range of 1 to 20 seconds [17]. The phase compensation block (time constants T1, T2 and T3, T4) provides the appropriate phase-lead characteristics to compensate for the phase lag between input and the output signals. The proportional, integral and derivative parameters of the PID controller are KP, Ki and KD respectively. In the Figs. 3 and 4, 0 represents the initial conduction angle as desired by the power flow control loop. The steady state power flow loop acts quite slowly in practice and hence, in the present study, 0 is assumed to be constant during large disturbance transient period.

IV. OVERVIEW OF GENETIC ALGORITHM (GA) GA has been used for optimizing the parameters of the control system that are complex and difficult to solve by conventional optimisation methods. GA maintains a set of candidate solutions called population and repeatedly modifies them. At each step, the GA selects individuals from the current population to be parents and uses them to produce the children for the next generation. Candidate solutions are usually represented as strings of fixed length, called chromosomes. A fitness or objective function is used to reflect the goodness of each member of the population. Given a random initial population, GA operates in cycles called generations, as follows: Each member of the population is evaluated using a fitness function. The population undergoes reproduction in a number of iterations. One or more parents are chosen stochastically, but strings with higher fitness values have higher probability of contributing an offspring. Genetic operators, such as crossover and mutation, are applied to parents to produce offspring. The offspring are inserted into the population and the process is repeated. The computational flow chart of the GA optimization approach followed in the present paper is shown in Fig. 5.
Start

B. Problem Formulation In case of LL controller, the washout time constants TW and the time constants T2 , T4 are usually prespecified. In the present study, TW =10s and T2 = T4 = 0.1 s are used. The controller gain KS and the time constants T1 and T3 are to be determined. In case of PID controller, the parameters KP , Ki and KD are to determined. During steady state conditions and 0 are constant. During dynamic conditions, conduction angle ( ) and hence X TCSC ( ) is modulated to improve power system stability. The desired value of compensation is obtained through the change in the conduction angle ( ), according to the variation in . The effective conduction angle during dynamic conditions is given by:

Specify the parameters for GA

= 0 +

(20)

Generate initial population Gen.=1 Time-domain simulation

C. Objective Function In this paper, two different objective functions are considered for optimization of LL and PID controller parameters. First is ISE and second is ITAE. These are defined as follows:
ISE = e 2 (t ) dt
0 t sim 0 t sim

Find the fittness of each individual in the current population Gen.=Gen.+1 Gen. > Max. Gen.? Yes No Stop

(21)

ITAE = t | e (t )| dt

(22)

Apply GA operators: selection,crossover and mutation

where, e is the error signal and t sim is the time range of simulation. In ISE, only error is considered and therefore no importance is given to time. But for the power system stability problems, it is required that settling time should be less and also oscillations should die out soon. To this end in ITAE, while performing integration, time is multiplied with error so that oscillations die out sooner. In the present paper, speed deviation following a disturbance is taken as the error signal

Fig. 5 Flowchart of the genetic algorithm

Tuning a controller parameter can be viewed as an optimization problem in multi-modal space as many settings of the controller could be yielding good performance. Traditional method of tuning doesnt guarantee optimal parameters and in most cases the tuned parameters needs improvement through trial and error. In GA based method, the tuning process is associated with an optimality concept through the defined objective function and the time domain

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International Journal of Electronics, Circuits and Systems Volume 1 Number 1

simulation. The designer has the freedom to explicitly specify the required performance objectives in terms of time domain bounds on the closed loop responses. Hence the GA methods yield optimal parameters and the method is free from the curse of local optimality. In view of the above, the proposed approach employs GA to solve this optimization problem and search for optimal set of TCSC-based damping controller parameters. V. RESULTS AND DISCUSSIONS
A. Application of GA Optimization Technique In order to optimally tune the parameters of the TCSCbased controller, as well as to assess its performance and robustness under wide range of operating conditions with various fault disturbances and fault clearing sequences, the MATLAB/SIMULINK model of the example power system shown in Fig. 2 is developed using equations (2)(19). For objective function calculation nominal operating condition is

unknowns. For the very first execution of the programme, a wider solution space can be given and after getting the solution one can shorten the solution space nearer to the values obtained in the previous iteration. Optimisation is terminated by the prespecified number of generations. The best individual of the final generation is the solution.
B. Lead-lag Controller The lead-lag structure shown in Fig. 3 is first considered as the TCSC-based controller. The controller parameters are optimized considering both the objective functions ISE and ITAE. The optimized parameters are shown in Table II. Figs. 6 and 7 show the convergence rate of ISE and ITAE respectively with the number of generations. It may be noted that the higher converged values of ITAE is due to multiplication of time factor as indicated in equations (21) and (22), and it doesnt in any way ascertain a poor response. The actual response must be observed through the plots, as discussed later.
4 3.9 x 10
-7

considered with P = 0.9 pu and = 51.8 . The objective function is evaluated for each individual by simulating the system dynamic model considering a three-phase fault at the generator terminal busbar at t = 1.0 sec. For the purpose of optimisation of equations (21) and (22), routines from GA toolbox were used. The fitness function comes from time-domain simulation of power system model. Using each set of controllers parameters, the time-domain simulation is performed and the fitness value is determined. Good solutions are selected, and by means of the GA operators, new and better solutions are achieved. This procedure continues until a desired termination criterion is achieved. Although the chances of GA giving a local optimal solution are very few, sometimes getting a suboptimal solution is also possible. While applying GA, a number of parameters are required to be specified. An appropriate choice of these parameters affects the speed of convergence of the algorithm. For different problems, it is possible that the same parameters for GA do not give the best solution, and so these can be changed according to the situation.
TABLE I PARAMETERS USED IN GENETIC ALGORITHM Parameter Value/Type
e 0

Convergence of ISE

3.8 3.7 3.6 3.5 3.4 3.3 3.2 0 50 100 150 200

Generations

Fig. 6 Convergence rate of ISE (lead-lag)

0.055

Convergence of ITAE

0.05

0.045

Maximum generations Population size Type of selection Type of crossover Type of mutation Termination method

200 50 Normal geometric [0 0.08] Arithmetic [2] Nonuniform [2 200 3] Maximum generation

0.04

0.035

0.03

50

100

150

200

Generations

In Table I the parameters for GA optimization routines are given. The description of these operators and their properties can be found in reference [18]. One more important point that affects the optimal solution more or less is the range for

Fig. 7 Convergence rate of ITAE (lead-lag) The electromechanical eigenvalues without and with the lead-lag structured TCSC controller for the two obtained optimized parameters settings (for ISE & ITAE) are shown in

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International Journal of Electronics, Circuits and Systems Volume 1 Number 1

Table III. It is clear that the open loop system without TCSC controller is just stable and power system oscillations are poorly damped as electromechanical mode of the eigenvalues lie just left of the line in s-plane (s = -0.0795). System stability and the damping characteristics are greatly improved as the electromechanical mode eigenvalue significantly shift to the left of the line in s-plane by application of lead-structured TCSC controller, optimized for ISE and ITAE. It is also clear that ITAE outperform the ISE as the shift in electromechanical mode eigenvalue to the left of the line in the s-plane is more (s = - 5.9189) for ITAE than that (s = - 4.4279) for ISE.
TABLE II OPTIMIZED LEAD- LAG CONTROLLER PARAMETERS USING ISE AND ITAE

75 70 65 60 NC ISE IT AE

(deg)

55 50 45 40 35 30 0 1 2 3 4 5 6

Parameters/ Objective function ITAE ISE

KS 115.6823 86.621
TABLE III

T1 0.1135 0.1556

T3 0.0146 0.0392

Time (sec)
Fig. 8 Power angle response without and with control (ISE & ITAE) under 100 ms three-phase fault disturbance (lead-lag)
0.01

ELECTROMECHANICAL EIGENVALUES WITH LEAD-LAG STRUCTURED TCSC CONTROLLER OPTIMIZED USING ISE AND ITAE

NC ISE IT AE

Without controller -0.0795 7.6831i

-4.4279 1.6382i

-5.9189 13.6873i

(pu)

With lead-lad structured TCSC controller ISE ITAE

0.005

In order to verify the effectiveness of the proposed TCSC controller optimized using ISE and ITAE, simulation studies are carried out. A three-phase, self-clearing fault of 100 ms duration is applied at the generator terminal busbar at t = 1 s. The original system is restored upon the fault clearance. The system power angle response for the above contingency is shown in Fig. 8. In the Fig. 8, the response without the controller is shown with the dotted line with the legend NC; and the responses with TCSC controller optimized using ISE and ITAE are shown with dotted line and solid line with legends ISE and ITAE respectively. It is clear from the Fig. 8 that, without controller even though the system is stable, power system oscillations are poorly damped. It is also clear that, proposed TCSC controller significantly suppresses the first swing in the power angle and provides good damping characteristics to low frequency oscillations by stabilizing the system much faster. Further, it is also obvious from Fig. 8 that, the performance of TCSC controller is better when the objective function used is ITAE as compared with ISE. Figs. 9-12 show the responses of speed deviation, terminal voltage, electrical power output of generator and the reactance offered by the TCSC response for the above contingency. It can be observed from these results that, when ISE is used as objective function oscillations remain for longer time. In ITAE, however, we get improved damping with lower settling time.

-0.005

-0.01 0 1 2 3 4 5 6

Time (sec.)
Fig. 9 Speed deviation response without and with control (ISE & ITAE) under 100 ms three-phase fault disturbance (lead-lag)

1.005

VT (pu)

0.995 NC ISE 0.99 0 1 2 3 4 5 IT AE 6

Time (sec)
Fig. 10 Terminal voltage response without and with control (ISE & ITAE) under 100 ms three-phase fault disturbance (lead-lag)

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International Journal of Electronics, Circuits and Systems Volume 1 Number 1

1.6 1.4 1.2 1 NC ISE IT AE

x 10 2

-3

0.8 0.6 0.4 0.2 0 0 1 2 3 4 5 6

(pu)

Pe (pu)

-1 NC -2 0 1 2 3 4 5 ISE IT AE 6

Time (sec)

Time (sec)
Fig. 14 Speed deviation response without and with control (ISE & ITAE) for 1 pu step increase in mechanical power input (lead-lag)
x 10
-3

Fig. 11 Generator electrical power output without and with control (ISE & ITAE) under 100 ms three-phase fault disturbance (lead-lag)
0.48 0.46 0.44 0.42 NC ISE IT AE

1.5 1 0.5

XTCSC (pu)

0.4 0.38 0.36 0.34 0.32 0.3 0 1 2 3 4 5 6

VT (pu)

0 -0.5 -1 -1.5 -2 -2.5 1 2 3 4 5 NC ISE IT AE 6

Time (sec)

Time (sec)

Fig. 12 Variation of reactance offered by TCSC without and with control (ISE & ITAE) under 100 ms three-phase fault disturbance (lead-lag)
60

Fig. 15 Terminal voltage response without and with control (ISE & ITAE) for 1 pu step increase in mechanical power input (lead-lag)

1.1

NC ISE IT AE

1.05

Pe (pu)
NC ISE IT AE 0 1 2 3 4 5 6

58

(deg)

56

0.95

54
0.9 0 1 2 3 4 5 6

52

Time (sec)

Time (sec) Fig. 13 Power angle response without and with control (ISE & ITAE) for 1 pu step increase in mechanical power input (lead-lag)

Fig. 16 Generator electrical power output response without and with control (ISE & ITAE) for 1 pu step increase in mechanical power input (lead-lag)

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International Journal of Electronics, Circuits and Systems Volume 1 Number 1

0.38 0.37

NC ISE IT AE

TABLE IV OPTIMIZED PID CONTROLLER PARAMETERS USING ITAE

XTCSC (pu)

0.36 0.35 0.34 0.33 0 1 2 3 4 5 6

Parameters/ Objective function ITAE

KP 72.8996

Ki 0.6627

KD 0.0364

Time (sec) Fig. 17 Variation of reactance offered by TCSC without and with control (ISE & ITAE) for 1 pu step increase in mechanical power input (lead-lag)

The performance of PID and lead-lag structured TCSC controller optimized using ITAE as objective function, are compared by applying a severe disturbance. A three-phase fault is applied at the generator terminal busbar at t =1 s. and removed after 100 ms. The original system is restored upon the fault clearance. Figs. 19-23 show the system response for the above contingency with PID and lead-lag structured TCSC controller. In the Figs.19-23, the response with PID structured TCSC controller are shown in dotted line with legend PID and the response with lead-lad structured TCSC controller are shown in solid line with legend Lead-lag.
65 PID Lead-lag 60

(deg)

The effectiveness of the proposed controllers is also tested for a disturbance in mechanical power input. The input mechanical power is increased by a step of 0.1 pu at t=1 sec. Figs. 13-17 show the responses of power angle, speed deviation, terminal voltage deviation, generator electrical power output and reactance offered by the TCSC respectively for the above contingency. The figure illustrates the advantage of using ITAE over ISE as the objective function.
C. PID Controller As we have seen that ITAE is better objective function than ISE; therefore the parameters of the PID controller (shown in Fig. 4) are optimized using ITAE as objective function. The optimized parameters are shown in Table IV. Fig. 18 shows the convergence rate of ITAE with the number of generations for a PID structured TCSC controller. Comparison of converged values of ITAE for lead-lag and PID (shown in Figs. 7 and 18) shows that, in case of lead-lag structured TCSC controller, ITAE converges to a lower value than that of PID structure. So lead-lad structure should give a better response compared to the PID structure.
0.088 0.086

55

50

45

40

Time (sec)
Fig. 19 Power angle response with PID and Lead-lag structure TCSC controller under 100 ms three-phase fault disturbance (ITAE)
x 10 10
-3

PID Lead-lag

Convergence of ITAE

0.082 0.08 0.078 0.076 0.074 0.072

(pu)

0.084

-5

0
0 50 100 150 200

Generations Fig. 18. Convergence rate of ITAE (PID)

Time (sec) Fig. 20 Speed deviation response with PID and Lead-lag structure TCSC controller under 100 ms three-phase fault disturbance (ITAE)

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International Journal of Electronics, Circuits and Systems Volume 1 Number 1

1.006 1.004 1.002 1 PID Lead-lag

0.998 0.996 0.994 0.992 0.99 0 1 2 3 4 5 6

For completeness, the performance of PID and lead-lag structured TCSC controller optimized using objective function ITAE are compared for a step disturbance in mechanical power input. The input mechanical power is decreased by a step of 0.1 pu at t=1 sec. Figs. 24-27 show the responses of power angle, speed deviation, terminal voltage deviation, generator electrical power output respectively for the above contingency. These Figs. confirm that lead-lag structured TCSC controller provides better response than PID structured TCSC controller.
52 51 50 49 PID Lead-lag

VT (pu)

Time (sec)

(deg)

Fig. 21 Terminal voltage response with PID and Lead-lag structure TCSC controller under 100 ms three-phase fault disturbance (ITAE)
1.6 1.4 1.2 1 PID Lead-lag

48 47 46 45 44 0 2 4 6 8

Pe (pu)

0.8 0.6 0.4 0.2 0 0 1 2 3 4 5 6

Time (sec) Fig. 24 Power angle response with PID and Lead-lag structure TCSC controller for 1 pu step decrease in mechanical power input (ITAE)
x 10 1 0.5
-3

PID Lead-lag

Time (sec)

(pu)

Fig. 22 Generator electrical power output with PID and Lead-lag structure TCSC controller under 100 ms three-phase fault disturbance (ITAE)

0 -0.5 -1

PID 0.45 Lead-lag

-1.5 -2 0 2 4 6 8

XTCSC (pu)

0.4

Time (sec)
Fig. 25 Speed deviation response with PID and Lead-lag structure TCSC controller for 1 pu step decrease in mechanical power input (ITAE)

0.35

VI. CONCLUSION In this study, a comparative study of TCSC controller design by genetic algorithm for power system stability enhancement is presented and discussed. Different controller structures, namely a lead-lag (LL) and a proportional-integralderivative (PID) and objective functions namely Integral Square Error (ISE) and Integral of Time-multiplied Absolute value of the Error (ITAE) are considered and the performance of the proposed controllers are compared and analysed. The

0.3 0 1 2 3 4 5 6

Time (sec) Fig. 23 Variation of reactance offered by TCSC with PID and Leadlag structure TCSC controller under 100 ms three-phase fault disturbance (ITAE)

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International Journal of Electronics, Circuits and Systems Volume 1 Number 1

controllers are tested on the example power system under various large and small disturbances. Simulation results reveal that ITAE is a better objective function than ISE for optimization problems concerning TCSC controller design. Further, it is observed that lead-lag structured TCSC controller where the controller parameters are optimized using ITAE as objective function, gives the best system response compared to all other alternatives.
x 10 12 10
-4

REFERENCES
[1] [2] [3] [4] [5] N. G. Hingorani and L. Gyugyi, Understanding FACTS: Concepts and Technology of Flexible AC Transmission System. IEEE Press. 2000. Y. H.Song and T.A. Johns, Flexible AC Transmission Systems (FACTS), IEE. London 2000 R. M Mathur and R. K. Verma, Thyristor-based FACTS Controllers for Electrical Transmission Systems, IEEE press, Piscataway, 2002. P. Mattavelli, G. C. Verghese and A. M. Stankovitctt, Phasor dynamics of Thyristor-Controlled series capacitor systems, IEEE Trans. Power Systs., vol-12, pp. 12591267. 1997. B. H Li, Q. H. Wu, D. R. Turner, P. Y. Wang and X.X Zhou, Modeling of TCSC dynamics for control and analysis of power system stability, Electrical Power & Energy Systs., Vol-22, pp. 4349. 2000. L Fan, A. Feliachi and K. Schoder, Selection and design of A TCSC control signal in damping power system inter-area oscillations for multiple operating conditions. Electrical Power & Energy Systs., vol62, pp. 127-137, 2002. A. D Del Rosso, C. A Canizares and V.M. Dona, A study of TCSC controller design for power system stability improvement, IEEE Trans. Power Systs., vol-18, pp. 1487-1496. 2003. S. Panda, R.N.Patel and N.P.Padhy, Power System Stability Improvement by TCSC Controller Employing a Multi-Objective Genetic Algorithm Approach, International Journal of Intelligent Technology, Vol. 1, No. 4, pp. 266-273, 2006. S. Panda, N.P.Padhy and R.N.Patel, Modelling, simulation and optimal tuning of TCSC controller, International Journal of Simulation Modelling, Vol. 6, No. 1, pp. 37-48, 2007. S. Panda, N.P.Padhy and R.N.Patel, Genetically Optimized TCSC Controller for Transient Stability Improvement, International Journal of Computer, Information and Systems Science and Engineering, Vol. 1, No. 1, pp. 19-25, 2007. Available: http://www.control-innovation.com/ Y.L. Abdel-Magid and M.A. Abido, Coordinated design of a PSS and a SVC-based controller to enhance power system stability, Electrical Power & Energy Syst, Vol. 25, pp. 695-704, 2003. Y.L. Abdel-Magid and M.A.Abido, Robust coordinated design of excitation and TCSC-based stabilizers using genetic algorithms, International Journal of Electrical Power & Energy Systems, Vol. 69, No. 2-3, pp. 129-141, 2004. D. E. Goldberg, Genetic Algorithms in Search, Optimization and Machine Learning. Addison-Wesley, 1989. Yao-Nan Yu, Power System Dynamics, Academic press Inc., London, 1983. P. Kundur, Power System Stability and Control. New York: McGrawHill, 1994. C. Houck, J. Joines and M. Kay, A genetic algorithm for function optimization: A MTLAM implementation. NCSU-IE, TR 9509. 1995. Available: http://www.ise.ncsu.edu/mirage/GAToolBox/gaot

PID Lead-lag

[6]

VT (pu)

8 6 4 2 0 1 2 3 4 5 6 7 8

[7] [8] [9] [10] [11]

Time (sec)
Fig. 26 Terminal voltage deviation response with PID and Lead-lag structure TCSC controller for 1 pu step decrease in mechanical power input (ITAE)
0.9 0.88 0.86 PID Lead-lag

[12] [13] [14]

[15] [16] [17] [18]

Pe (pu)

0.84 0.82 0.8 0.78 0.76 0.74 0 2 4 6 8

Time (sec)
Fig. 27 Generator electrical power output with PID and Lead-lag structure TCSC controller for 1 pu step decrease in mechanical power input (ITAE)

Sidhartha Panda received the M.E. degree in Power Systems Engineering from University College of Engineering, Burla, Sambalpur University, India in 2001. Currently, he is a Research Scholar in Electrical Engineering Department of Indian Institute of Technology Roorkee, India. He was an Associate Professor in the Department of Electrical and Electronics Engineering, VITAM College of Engineering, Andhra Pradesh, India and Lecturer in the Department of Electrical Engineering, SMIT, Orissa, India. His areas of research include power system transient stability, power system dynamic stability, FACTS, optimization techniques, distributed generation and wind energy. Narayana Prasad Padhy was born in India and received his Degree (Electrical Engineering), Masters Degree (Power Systems Engineering) with Distinction and Ph.D., Degree (Power Systems Engineering) in the year 1990, 1993 and 1997 respectively in India. Then he has joined the Department of Electrical Engineering, Indian Institute of Technology (IIT) India, as a Lecturer, Assistant Professor and Associate Professor during 1998, 2001 and 2006 respectively. Presently he is working as a Associate Professor in the Department of Electrical Engineering, Indian Institute of Technology (IIT) India. He has visited the Department of Electronics and Electrical Engineering, University of Bath, UK under Boyscast Fellowship during 200506 . His area of research interest is mainly Power System Privatization, Restructuring and Deregulation, Transmission and Distribution network charging, Artificial Intelligence Applications to Power System and FACTS.

APPENDIX System data: All data are in pu unless specified otherwise. Generator: H = 4.0 s., D = 0, Xd=1.0, Xq=0.6, Xd =0.3, Tdo = 5.044, f=50, Ra=0, Pe= 1.0, Qe=0.303, 0=60.620. Exciter :( IEEE Type ST1): KA=200, TA=0.04 s. Transmission line and Transformer: (XL = 0.7, XT = 0.1) = 0. 0 + j0.7 TCSC Controller: XTCSC0 = 0. 245, 0=156.040, XC=0.21, XP=0.0525

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