IEEE-32331
Comparison of Fuzzy and PI controller based SSSC
for damping of Sub Synchronous Resonance
G.Maheswaran
Associate Professor
Department of Electrical and Electronics Engineering
Saveetha Engineering College
Chennai,India
mageshdeepakkumar@gmail.com
Abstract- The flexible alternating current transmission
system (FACTS), a new technology based on power electronics
can be used to improve controllability, stability, and power
transfer capability of AC transmission systems. In this paper
SSSC damps or decrease Sub Synchronous Resonance in the
power system caused during fault or at disconnection of fault. PI
or Fuzzy Logic Controller along with an additional controller
such as Sub Synchronous Supplementary Damping Controller is
used to the damp the Sub Synchronous Resonance oscillations.
Here Voltage Source Converter acts as an SSSC FACTS device.
Digital simulations are performed in the MATLAB/Simulink
environment to provide comprehensive understanding of the
issue. Simulation studies validate the effective performance of
the designed controllers at several test conditions.
Keywords: SSR; SSSC; FACTS; PI Controller; fuzzy logic
controller; SSDC; Parks Transformation.
I. INTRODUCTION
The main importance in a power system operation are its
security and stability, so a control system designed should
maintain its frequency and voltage at a fixed level against any
kind of disturbance such as a sudden increase in load, a
generator being out of circuit, or failure of a transmission line
due to various factors such as human faults, technical defects of
equipments, natural disasters, due to malfunction of some
advanced power electronics devices and compensators etc.
Conventional and easier methods to damp or reduce the effects
in power system are the use of capacitor banks connecting in
series in the transmission line. But the drawback in the use of
series capacitance lead to risk of interaction between power
transmission lines and generator knows as Sub Synchronous
Resonance (SSR) effect[1].Many techniques have been
implemented in order to damp or suppress the resonance. The
first thing is controlling of excitation system of the generator
which is the conventional method, and the second thing is by
using the FACTS devices. The recent developments in power
electronics have resulted in the effective usage of FACTS
devices in power transmission systems. FACTS damping
Veltech Multitech Dr.Rangarajan Dr.Sakunthala Engineering College,
Avadi, Chennai (Sponsors)
International Conference on Science, Engineering and Management Research (ICSEMR 2014)
978-1-4799-7613-3/14/$31.00 2014 IEEE
K.Siddappa Naidu
Professor
Department of Electrical and Electronics Engineering
Vel Tech Group of Institutions
Chennai,India
controllers forms an alternative effective solutions [2] to
the major power flow related problems that occur in power
system by controlling the power flow along the transmission
lines and improving power oscillations damping [3]. The usage
of these controllers increases the flexibility of the power flow
operation by providing more options to the power system
operators. Recent FACTS controllers are nowadays designed
in such a way that they overcome the limitations of the present
mechanically controlled power systems and enhance power
flow. Fuzzy logic controller used here will control the DC
voltage (Vdc) and SSDC will damp the Sub Synchronous
Oscillations. In this paper a SSSC along with SSDC is
connected to the transmission line to damp SSR [4]. The VSC
here acts a SSSC. The effectiveness of the proposed controllers
is compared under three different operating condition cases.
The first case is based on the increase of mechanical power and
the second case is tested with disconnection of a transmission
line and third case test is done by creation/ injection of three
phase fault in the system. The simulation work is carried out in
MATLAB/Simulation software. A detailed comparison of the
effectiveness of two controllers at various operating condition
is done.
II. SYSTEM MODEL
A Single Machine Infinite Bus System(SMIB) along with
series compensator as shown in Fig.1 is the system model
considered for our study. The system has a synchronous
generator connected to an infinite bus having two transmission
lines in parallel. In the considered study system one of the
transmission line is compensated by a series capacitor [5, 6]. A
600 MVA turbine-generator is connected to an infinite bus,
with the rated line voltage of 500KV, while the rated frequency
is 60Hz. The SSSC is designed by a combination of one 6
IGBT (Voltage source Converter) based on Pulse Width
Modulation (PWM) technique along with a filter and step-
down transformer. The shaft system as shown in Fig.2 consists
of four masses: the generator (G) and rotating Exciter (EX),
low pressure turbine (LP), and a high pressure turbine (HP).
All the masses are mechanically connected to each other by
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elastic shaft. The complete mechanical and electrical
information for the study system are demonstrated in [7].
Fig. 1. . IEEE Bench Mark System along with SSSC.
EX GE LP H
CC P Va=Vm *Sinwt
Fig. 2. . Model of the turbinegenerator system.
III. SYSTEM CONTROL OF SSSC
An SSSC is the most effective series compensated FACTS
device used in the power transmission lines to damp the
oscillations, to reduce the resonance, to compensate the
reactive power and to compensate voltage unbalances. Fig.3
shows the control circuit of SSSC based on the fuzzy logic
controller along with a SSDC. There are two controller
implemented in the circuit ,Fuzzy Logic Controller is used to
control the DC link voltage(Vdc) and the other controller is PI
controller which is used to control the voltage Vq (3). The
generator rotor speed deviation(w) consists of resonance of
torsional modes. So if the rotor speed deviation is controlled,
then in parallel the resonance is also controlled or
compensated. The Fig.3 shows how the current from the
system is connected to Phase Locked Loop(PLL) to obtain wt
for creation of direct and quadrature axis components[8]. The
line currents and voltages are converted to the direct axis
current(Id ) ,quadrature axis current(Iq ) and voltages of V1q
and V2q respectively. The q-axis components are subtracted
from each other to get Vq*..The Vq* obained is further
compared with Vqref and this signal is fed to PI controller to
obtain the Vq con. The w is fed to the SSDC having a time
constant of 10sec and the gain value of the derivative Kd is
considered as 0.839. The DC Voltage is taken from the series
converter capacitor and the reference Vdc of 500KV taken is
compared with the actual Vdc. The error so obtained is fed to
PI Controller /Fuzzy Logic Controller [9]. Vdcon and Vqcon
thus obtained are converted into three phase system using
inverse Parks Transformation(2-3) so as to generate the
required PWM signals to the SSSC.
Fig. 3. Block diagram of power flow control of the SSSC along with SSDC
Vb=Vm *Sin(wt+120)
Vc=Vm*Sin(wt-120) (1)
The parks transformation can be represented as
Vd=2/3*[Va* sin(wt)+Vb*sin(wt-120)
+Vc*sin(wt+120)] (2)
Vq=2/3*[Va*cos(wt)+Vb*cos(wt-120)
+Vc*cos(wt+120)] (3)
IV. FUZZY LOGIC CONTROLLER
The Fuzzy Logic Controller (FLC) introduced by Lotfi
Zadeh is a soft computing technique, specially for dealing with
uncertainty data used in mathematical application. It provides a
technique to deal with imprecision and information granularity.
The fuzzy theory provides a mechanism for representing
linguistic constructs such as many low medium often
few. In general, the fuzzy logic provides an inference
structure that enables appropriate human reasoning capabilities.
In fuzzy logic numerical variables are converted into linguistic
variables therefore mathematical modelling of the system is
not required. The fuzzy logic control in our study does the
function of controlling the inverter action. FLC incorporates a
 IEEE-32331
simple rule based IF X AND Y THEN Z approach to solve
complicated problems thereby reducing the complexity attained
during modelling of a mathematical system.
Fig. 4. . Block diagram of proposed control system.
A. Error Calculation
The error rate is found by taking the difference between
supply voltage data and the reference voltage data.
B. Fuzzification
Fuzzification is fuzzy logic theory means the process where
the input quantities are converted to fuzzy set by mapping with
membership functions. This fuzzification unit here transforms
the numeric input variable measurements into the fuzzy set
(linguistic) variable that is a clearly defined boundary, without
a crisp value. The error and error rate measured here are
declared has linguistic variables like negative small (NM),
negative big (NB), negative medium (NM), zero (Z), positive
small (PS), positive medium (PM) and positive big (PB)
characterized by membership functions as given in Fig 5.
Fig. 5. Membership functions for inputs and output.
C. Decision Making
The fuzzy controller considered here uses Mamdani
inference method to obtain the relationship between the input
variable and output variable [11]. The table I here shows the set
of rules for fuzzy controller. There are 49 rules for fuzzy
controller. The result of a rule is obtained by max-
min inference method The output membership function for
each rule is given by the Min (minimum) operator.The output
is generated from the fuzzy sets and fuzzy logic operations by
evaluating all the rules. A simple if-then rule is defined here for
our easier understanding from the table I. If error is Z and error
rate is Z then output is Z.
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D. Defuzzification
It is the process of converting the controller outputs fuzzy
set to real control (analog) signals.This process is done because
the fuzzy results generated cannot be used as such to our
applications, hence we convert the by defuzzification process.
Centroid method is used for defuzzification in the present
studies. The control signal is represented by equation (4).
E. Signal Processing
The outputs of FLC process are the control signals that are
used in generation of switching signals for the PWM inverter
by comparing with a carrier signal.
V.SIMULATIONS AND RESULTS
The simulation tests are carried out for three cases:
Case1. Increase in Mechanical Power
In this case the mechanical power is decreased by 10% at t
t=0.5sec and disconnected at t=1sec. the compensated
operating conditions are set to 55% and power=0.85 pu and
Vt=1pu. Fig 6(a),6(b) and fig 7(a), 7(b) shows the generator
rotor speed deviation and the torque of the generator with
fuzzy and pi controllers respectively. We can indicate from the
figures that fuzzy logic controller is able to compensate/ damp
the oscillations more quickly than a PI controller.
 IEEE-32331
Fig. 6(a). Rotor Speed Deviation (Fuzzy)
Fig. 6(b).Rotor Speed Deviation(Pi controller)
Fig. 7(a). Generator Torque disturbance (fuzzy)
Fig. 7(b. Generator Torque disturbance(Pi Controller)
Case2: Disconnection of the line 2
In this case the transmission line 2 is disconnected at t=1sec
and reconnected at 4sec at the operating conditions of 55% ,P
is 0.9pu and Vt is 0.95pu.Fig 8(a), Fig 8(b), Fig 9(a), fig 9(b)
shows the rotor speed deviation and generator torque under the
disconnection of line with fuzzy and PI controller.
Fig.8(a). Rotor Speed Deviation (Fuzzy)
Fig.8(b). Rotor Speed Deviation (Pi controller)
Fig. 9(a). Generator Torque disturbance (Fuzzy)
Fig. 9(b). Generator Torque disturbance (Pi Controller)
Case3: Three line to ground Fault
In this case the performance is analysed under large
disturbance such as three line to ground fault in the SSSC
connected transmission line. The fault is injected at the initial
state and the compensation and the lines operating conditions
are 55% and power=0.95pu at Vt=1.05 pu. Fig 10(a), Fig
10(b), Fig 11(a), Fig 11(b) shows the generator rotor speed
deviation and generator torque respectively with fuzzy and pi
controller. We can absorb from this simulation result that,
SSSC with Fuzzy Logic Controller along with SSDC is able to
damp the oscillations more quickly when compared to a PI
controller implemented one.
Fig.10(a). Rotor Speed Deviation (Fuzzy)
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[2] N.G. Hingorani, L. Gyugyi, Understanding FACTS: Concepts and
technology of flexible ac transmission system, Wiley- IEEE Press, NY,
2000.
[3] Seyed Mohammad Hasan HOSSEINI, Hadi SAMADZADEH,Javad
OLAMAEI, Murtaza FARSADI, SSR mitigation with SSSC thanks to
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[4] S. Limyingcharone, U. D. Annakkage, and N. C. Pahalawaththa,
Fig.10(b). Rotor Speed Deviation (Pi Controller) Fuzzy logic based unified power flow controllers for transient stability
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[7] Jang-Ceol So,P. Sun IL Mooneun, Jong-Woong Choe, Design of a
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compensated system, Power Engineering Society Winter Meeting, 2001
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[8] I. Nagarimoo, Application of static synchronous series compensator
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Fig. 11(b). Generator Torque disturbance (Pi Controller) 1654, Jul. 2008.

CONCLUSION
This paper investigated the comparison between PI and
Fuzzy Logic based controlle of SSSC in a single machine
infinite bus power system to damp sub synchronous resonance.
The Matlab/Simulation is carried out on IEEE second bench
mark system. The simple signal(w) is chosen as the input of
the SSDC. This signal considered contains all the torsional
modes so that the SSSC along with the proposed SSDC can
improve the stability of system. The SSSC is used as a voltage
source in series with a fixed capacitor and this prevents the sub
synchronous oscillations that may be caused by conventional
fixed capacitor. The effectiveness of the system is tested with
small disturbance as well as with large disturbance. During all
the test conditions, we have observed that Fuzzy Logic
Controller is able to damp the oscillations more quickly than PI
controller. Further analysis on the proposed controller can be
done in a wind power plant integrated power system or with a
ANFIS controller.

REFERENCES
[1] H. Barati, Application of Static Synchronous Series Compensator to
damp Sub Synchronous Resonance, International conference on Power
Electronics , Drives and Energy System.PEDES06.