Optimized POD In Coordination With UPFC For Damping Of Power System Oscillations

S. N. Dhurvey
Dept. of Electrical Engg, G.H. Raisoni College of Engineering, Nagpur, India sonal_nd2000@yahoo.co.in

Dr.V. K. Chandrakar
HoD, Dept. of Electrical Engg, G.H. Raisoni College of Engineering, Nagpur, India vc_vkc@yahoo.co.in frequency oscillations has been examined by using a controllability index. Tambey et al [4] have presented effective control signal analysis. However, optimized POD parameters using NCD Blockset is not included. Dhurvey et al [5] has addressed the effective control signals for SMIB system by simultaneous coordination of UPFC and POD. However they have not optimized the parameters. In view of above, the main objectives of this paper are to improve the dynamic performance of the system by using the UPFC in coordination with Optimized POD parameters by using NCD Blockset. II.SYSTEM MODEL System considered for analysis is a single-machine infinitebus (SMIB) power system installed with a UPFC in one of the two transmission lines which consists of an excitation transformer (ET), a boosting transformer (BT), two threephase Gate Turn Off (GTO) based voltage source converters (VSCs) and a DC link capacitor is shown in Fig.1. Control signals for VSC-E are modulation index of the shunt converter (mE) and phase angle of the shunt-converter voltage (E) for VSC-B are modulation index of series converter (mB) and phase angle of the injected voltage(B).The static excitation system, model type IEEE-ST1 A has been considered. The UPFC is assumed to be based on pulse width modulation (PWM) converters [3,4]. The nominal loading condition and system parameters are given in Appendix-A. III. UNIFIED POWER FLOW CONTROLLER UPFC consists of two voltage source converters. These backto-back converters, labeled as VSC-E and VSC-B are operated from a common dc link provided by a dc storage capacitor. This arrangement functions as an ideal ac-to-ac power converter in which the real power can freely flow in either direction between the ac terminals of the two converters, and each converter can independently generate (or absorb) reactive power at its own ac output terminal. The real power output of the shunt converter must be equal to the real power output of the series converter or vice versa. In order to maintain the power balance between the two converters, a DC-voltage regulator is incorporated. DC-voltage is regulated by modulating the phase angle of the shunt-converter voltage. This configuration comprising two transmission lines, permits the control of real and reactive power flow through a line.

Abstract- This paper presents the effective control signals of Unified Power Flow Controller (UPFC) for damping of oscillations with Power Oscillation Damping Controller (POD) in Linearized Modified Phillips Heffron Model of Single Machine Infinite Bus System (SMIB). The POD parameters are optimized by using Nonlinear Control Design Blockset (NCD). The result indicate the significant improvement in damping of oscillations. Eigen value analysis validate the performance of various damping controllers.

I.

INTRODUCTION

In a stability-constrained power system scenario, there has been a continuous effort to develop new techniques and tools to get better insight into the system behavior for sudden disturbances. With the development of Flexible AC Transmission Systems (FACTS) which is an umbrella title used for incorporating the emerging power engineering technologies [1,2], the search for an accurate and reliable analyzing tool has gained importance. Oscillation Stability analysis and control has been an important subject in power system research and applications. However, Flexible AC Transmission System (FACTS) devices provides solution for this problem. These devices further improve the dynamic performance of the power system in coordination with damping controllers. They can improve system operation because they allow for more accurate control of the power flow, and better and faster control of voltage and system stability. As a result one of their applications is the damping of power system oscillations, which recently has been attracting the interest of many researchers.[1-5]. Power System Stabilizers are added to excitation systems to enhance the damping of an electric power system during low frequency oscillation. However, this paper presents POD for damping of power system oscillations. The Unified Power Flow Controller (UPFC) is a FACTS device whose primary function is to control real and reactive power flow in the line, voltage and current at the UPFC bus. This is achieved by regulating the controllable parameters of the system: line impedance, phase angle and voltage magnitude. Its secondary function is to improve transient stability and the damping of oscillations etc. Recently, several researchers have developed steady state and dynamic models of UPFC. Wang [3] have proposed a control strategy in which the relative effectiveness of UPFC control signals in damping low

V t

It XtE

V0

It1 IB XT XB
VSC-E

V b VB V0 XBV
3 Infinite Bus

Kpu = K pe Kp e K pb K pb

(10)

Generator 1

IE XE

K qu = K qe K q e K qb K q b

(11) (12)

Vdc

VSC-B

Kvu = [ Kve Kv e K vb Kv b ]
K cu = [ K ce K c e K cb K c b ]

(13)

mE E

mB

The dynamic model of the system in state-space form is obtained from the transfer-function model as:
X = AX + Bu

Fig. 1: Single Machine Infinite Bus System (SMIB) power system installed with an Unified power Flow Controller (UPFC) in one of the lines

(14)
1 q T

A linear dynamic model of UPFC is obtained by linearizing the non-linear model around an operating condition as shown below:
=

( Pm Pe D )
M

(1) (2)

Eq =

( E

+ E fd )
1 do

K1 M K A = 14 T do Ka K5 T a K7

X = E E fd Vdc 0 0 0 0 0
0 0 0 0 K2 M K3 1 Td0 Ka K6 Ta K8 0 1 1 Tdo 1 Ta 0 Kpd M Kqd 1 Tdo KK a vd Ta K9

(15)

(16)

(3) (4)

E fd =

E fd + K a ( Vref Vt ) Ta
1 q

Vdc = K 7 + K 8 E K 9 Vdc + K ce m E + K c e E + K cb m B + K c b B

(5) (6) (7) (8)

P = K1 + K2E + Kpe mE + Kp eE + Kpb mB + KpbB + Kpd Vdc e

1 q
1 Eq = K4 + K3Eq + Kqe mE + Kq e E + Kqb mB + Kq b B + Kqd Vdc

0 0 0 0 K Kpe Kpb K pb pe M M M M K Kqe Kqb K qb qe B= M M M M KK KK KK KK a ve a ve a vb a vb Ta Ta Ta Ta K Kce Kcb Kcb ce

(17)

V = K5 + K6E + KvemE + KveE + KvbmB + KvbB + KvdVdc t

1 q

IV. COORDINATED TUNING OF UPFC AND POD In this section, coordinated tuning of Unified Power Flow Controller and Power Oscillation Damping Controller is suggested for damping of oscillations. In Fig.2, a Power Oscillation Damping controller is shown which is provided to improve the damping of power system oscillations [5]. The Power Oscillation Damping controller may be considered as comprising gain KDC, wash out block and lag-lead compensator. The parameters of the lead-lag compensator are chosen so as to compensate for the phase shift between the control signal and the resulting electrical power deviation. The gain setting of the damping controller is chosen so as to achieve the desired damping ratio of the electromechanical mode. Optimum parameters for the damping controllers are given in Appendix-A. The Unified Power Flow Controller controllable signals (mE, E , mB and B) can be modulated in order to produce a damping torque. Controllability indices for the different Unified Power Flow Controller controllable parameters are given in Appendix-A. The washout circuit as shown in Fig.2 is provided to eliminate steady-state bias in the output of Power Oscillation Damping Controller (POD). The T must be chosen in the range of 10 to 20. The power-

Fig.2 shows the modified Phillips-Heffron model of the SMIB system with UPFC installed [4]. The modified PhillipsHeffron model has 28 constants as apposed to 6 constants in the Phillips-Heffron model. These constants are functions of the system parameters and the initial operating condition. The value of the constants of the model are given in Appendix A. The control vector u is defined as follows:
u = [ mB mE B E ]
T

(9)

where, mB - deviation in pulse width modulation index mB of series converter. By controlling mB the magnitude of seriesinjected voltage can be controlled, B deviation in phase angle of the injected voltage, mE deviation in pulse width modulation index mE of the shunt converter. By controlling mE, the output voltage of the shunt converter is controlled, E deviation in phase angle of the shunt-converter voltage It may be noted that Kpu, Kqu, Kcu, Kvu are the row vectors defined below:

flow controller as shown in Fig.3 regulates the power flow on this line where Kpp and Kpi are the proportional and integral gain settings of the power-flow controller.
K1
1 Ms + D

+ +

P e
-

P m
+

+ +

K6

0 s
K4 K5 Kpd
+ -

KDC
K pu
sT 1 + sT

K2

to evaluate the performance of various parameters used in controllers. In the place of speed, rotor angle variation can be also used. The optimization starts with the pre-selected initial values of the feed back gains. Then the nonlinear algorithm is used iteratively to adjust the parameters , until the objective function (21) is minimized . These parameters so determined are the optimal setting of the parameters used as feedback gains. The flow chart of the parameter optimization is shown in Fig.4. The proposed optimization algorithm is realized in a single machine infinite bus system.
Begin NCD simulation

Vref
+

E1 q

1 1 K3 + sTdo
-

Ka 1 + sTa
-

Kvu

1 + sT1 1 + sT2

(t , x )

K8
+

Kqu

Kqd

Kvd

Initialization Initial value of Xo Constrained Nonlinear Parameter Optimization Fmincon[....] Optimized Parameters Set X

Kcu
Power Oscillation Damping Controller

+ +

1 s + K9

Vdc

Calculate objective function f(x)

K7

Validate constraints

Fig.2: Modified Phillps-Heffron model of Single Machine infinite Bus system with Unified Power Flow Controller and Power Oscillation Damping Controller
P
e 2

End

Fig.4: Flow chart of the parameters optimisation

-

Pe 2 ( r e f

)
+

K pp +

K pi S

mB

VI. SIMULATION RESULTS A. Small Signal Stability Analysis With Damping Coefficient, D=4 Digital Simulation has been carried out with Modified Phillips Heffron model in MATLAB environment. Independent damping signals, Power Oscillation Damping Controller with Unified Power Flow Controller has been demonstrated. The simulation result of the Modified Phillips Heffron model with four different input control signals under 30% of variation in mechanical power input is considered for analysis. 1). Dynamic performance of the system with control signal mB Result shown in Fig.5 shows the response of the UPFC series converter control signal mB and POD. Result indicates that first peak of speed deviation and settling time has been significantly reduced by applying optimized POD parameters. Table 1 shows the eigen value analysis of UPFC with coordinated tuning of control signal mB, POD in which all the eigen values lies on negative part of real axis which indicates that system is stable. 2). Dynamic performance of the system with control signal mE From Fig.6 it is clear that POD Controller performed well with settling time 0.25 sec. Also, in the coordinated action of mE and POD, when the value proportional and integral setting are optimized, transient response is significantly improved and hence gives the better result. Table 2 shows the eigen

Fig. 3: Structure of power flow controller

V. OPTIMIZATION OF PARAMETERS USING NONLINEAR CONTROL DESIGN (NCD) BLOCK SET Various optimization techniques are available in literature for parameter optimization. However, trial and error method for parameters selection is very time consuming and less accurate whereas available optimization tool offers better result. The nonlinear control design block set in MATLAB uses the optimization tool box and it provides the simple approach to optimize model for given target output under define constraints and the define time intervals. The aim of the parameter optimization is to achieve optimal performance. This objective can be formulated as follows [8]:
Min f(x) s.t.A(x)=0 B(x)0 (18) (19) (20)

where f(x) is objective function, x are the parameters of the controllers. A(x) are the equality functions and B(x) are the inequality functions. Particularly B(x) indicates the restriction of the parameters (i.e Kpp, Kpi etc.) The objective function in the simulation is defined as:
t1

f (x) =

(t , x ) d t
0

(21)

where, (t, x) is the speed and the time range of the simulation . (t, x) changes by changing the parameters of x. The M file programme is employed to initialize NCD Block,

value analysis for UPFC with control signal mE and coordinated tuning of control signal mE, POD. 3). Dynamic performance of the system with control signal B From Fig. 7 it can be inferred that with coordinated tuning of UPFC and POD, system is stable with settling time 0.2 sec. Also, in the coordinated action of B and POD, when the value proportional and integral setting are optimized, transient response is significantly improved. This observation is verified by eigen value analysis of system as shown in Table 3.
0.1 0.0 8 0.0 6 0.0 4 a

Table2: Eigen value analysis of linearized SMIB system Control signal mE -10.583344.0284i -0.0000 -0.0341 -1.05772.4857i mE with POD -28.394044.3029i -5.0295 -1.05772.4857i -0.0890 -0.0321 0.0000

0.0 5 0.0 4 0.0 3 a

0.0 2 c

b c

(rad/sec)

0.0 2 0 -0 .0 2

(rad/sec)
0 0 .1 0.2 0 .3 0 .4 0 .5 T im e ,s 0 .6 0 .7 0 .8 0 .9 1

0.0 1 0 -0 .01

-0 .0 4 -0 .0 6

-0 .02 -0 .03 0

0 .1

0 .2

0.3

0.4

0.5 Time ,s

0.6

0.7

0.8

0.9

Fig.5: Dynamic response of linearized SMIB system with a. control signal mB b. mB with POD c. mB with optimized POD Table1: Eigen value analysis of linearized SMIB system Control signal mB -10.439943.9897i -0.0000 -0.0341 -1.05772.4857i mB with POD -53.404232.3424i -4.2221 -1.05772.4857i -0.0730 -0.0279 0.0000

Fig.7: Dynamic response of linearized SMIB system with a. control signal B b. B with POD c. B with optimized POD Table 3: Eigen value analysis of linearized SMIB system Control signal B -10.777744.0800i 0.0000 -0.0341 -1.05772.4857i B with POD -99.2811 -49.9138 -4.0941 -1.05772.4857i -0.0721 -0.0178 -0.0000

4). Dynamic performance of the system with control signal E Fig. 8 shows that POD ensures better performance with less settling time. Also, in the coordinated action of E and POD, when the value proportional and integral setting are optimized, transient response is significantly improved and hence gives the better result. This observation is validated by Table 4 in which coordinated action of UPFC with POD, all the eigen values are driven into the negative real part of axis.
0.05 0.04 0.03 0.02 b a

0.1 0.08 0.06 0.04 0.02 c 0 -0.02 -0.04 a

(rad/sec)

0.06

(rad/sec)

0.01 0 -0.01 -0.02 -0.03

-0.06 0 0.1 0.2 0.3 0.4 0.5 0.6 Time,s 0.7 0.8 0.9 1

Fig.8: Dynamic response of linearized SMIB system with a. control signal E b. E with POD c.. E with optimized POD
0 0.1 0.2 0.3 0.4 0.5 Time,s 0.6 0.7 0.8 0.9 1

Fig.6: Dynamic response of linearized SMIB system with a. control signal mE b. mE with POD c. mE with optimized POD

Table 4: Eigen value analysis of linearized SMIB system Control signal E -9.991043.8651i -0.0000 -0.0339 -1.05772.4857i E with POD -29.831645.0741i -4.0792 -1.05772.4857i -0.0783 -0.0293 0.0000

[2]Y.H.Song,, A.T.Johns, Flexible AC transmission systems(FACTS), IEE Power and Energy series, London, 30,1999. [3]Wang H. F, Damping function of unified power flow controller, IEE Proc. C Gener. Trans. Distrib., 146, (1), 1999, pp 81-87. [4]N.Tambey & M. L. Kothari, Damping of power system oscillations with unified power flow controller (UPFC), IEE Proc. Gen. Tran .& Distr,.Vol.150, No.2, March 2003, pp 129-140. [5] S.N.Dhurvey,V.K.Chandrakar, Damping Of Power System Oscillations With Coordinated Tuning Of UPFC and POD, Asian Power and Energy System, IASTED, Thailand, 2nd-4th April 2007, pp 270-275.

Appendix-A A.1. Generator M=2H=0.1787,Tdo1=5.044, Vb=1 p.u. A.2. Excitation system Ka=50.0, Ta=0.05 A.3.Constants K1=0.9849, K2=4.0896, K3=2.4422, K4=0.1792,K5=-0.0476, K6=0.3514, K7=-0.2697, K8=0.2061, K9=0.0397 A.4. Unified Power Flow Controller Parameters Kpb=0.6667, Kqb=0.0821, Kvb=-0.0036, Kcb=-0.0582 Kpe=1.u, Kqe=0.5803, Kve=-0.0036, Kce=0.6206 Kpb=-0.0089, Kqb=-0.5388, Kvb=-0.0029, Kcb=0.0175 Kpe=0.3800, Kqe=-1.0858, Kve=0.5468, Kce=-0.0696, Kpd=0.01931, Kqd=-0.5388, Kvd=0.2730, , Kp=1, Ki=0.5 A.5.Controllability indices mB=0.0133, E=0.1916, mE=0.4013 , B=0.00036 For Damping controller mB KDC=41.1419, T1s=0.2860, T2s=0.2082 For Damping controller mE KDC=14.8813, T1s=0.3383, T2s=0.1761 For Damping controller B KDC=182.4410, T1s=0.2266, T2s=0.2694 For Damping controller E KDC=18.0960, T1s=0.2296, T2s=0.2516

VII. CONCLUSION In this paper, the relative effectiveness of Unified Power Flow Controller (UPFC) control signals (mB, B, mE, E) in damping low frequency oscillations has been examined using linearized power system model of Single Machine Infinite Bus (SMIB) system for analyzing the UPFC in coordination with Power Oscillation Damping Controller (POD). These control signals gives the significant improvement in performance of system for damping of power system oscillations. Investigations have revealed that UPFC control signals mB and B shows robust performance over other signals. Optimized system parameters further improves the transient response of the system. The proposed controller fulfils the main objective of this paper. Time domain analysis and eigen value analysis results validated the performance of various UPFC control strategy under variation of system parameters. Optimized results of control signals mB and B in coordination with POD shows that oscillations are completely damped. ACKNOWLEDGEMENTS Authors are deeply indebted to Dept. of Electrical Engg., G. H. Raisoni College of Engineering for their constant support. REFERENCES
[1]N. G. Hingorani, L. Gyugyi, Understanding FACTS: concepts and technology of flexible ac transmission systems, IEEE Power Engineering Society, IEEE press, Delhi 2001.