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Review Damping of Power System Oscillations Using Coordinated Control of PSS and FACTS Devices

A. N. Hussain, S. F. Siraj & M. A. Rashid School of Electrical Engineering, University Malaysia Perlis, Perlis, Malaysia alinasser1974@yahoo.com; Abstract
The utility companies would need to meet the growing demand of electrical power in an open transmission access scenario with minimal environmental impact. The optimization of transmission line for power transfer has become of great importance. The power transfer in the integrated power system is impeded by transient stability, voltage stability, and small signal stability. These constraints limit a full utilization of available transmission line, the demand for electric power has rapidly increased and is expected to. This necessitates the power systems to be operated close to their stability limits. Furthermore, some power systems are interconnected through the long distance tie lines in order to transfer or exchange a large amount of electric power. As a result of all the factors, mentioned power system oscillation will occur; if not well damped, these oscillations will be growing in magnitude until loss of synchronism results. oscillation. Although, the damping ratio of FACTS controllers often is not their primary function, the capability of FACTS based stabilizers to increase oscillation damping characteristics has been recognized[3]. However, possible interaction between PSSs and FACTS based stabilizers, may deteriorate much of their contributions, and may even cause adverse effect on damping of system oscillations. Therefore, coordinated design of PSSs and FACTS based stabilizers is a necessity, both to make use of the advantages of the different stabilizers and to avoid the demerits accompanied with their operation.

2. Methodology
The main aim of this research work objective is to design controller that coordinates between the power system stabilizers (PSS) and Flexible AC Transmission system Devices (FACTS). Third control methods are proposed for designing power system oscillation damping controller: The first method is based Genetic Algorithm (GA) is utilized to search for optimum controller parameter settings. That optimize a given eigen value based objective function and then to damp oscillations. The second method is optimal pole shifting technique (OPS) , based on modern control theory for multiinput and multi-output systems for shifting one real pole or two complex conjugate poles. The third method combining optimal pole shifting technique with genetic algorithm technique. The proposed methods are used for designing damping controller for the following five systems: i. Single machine infinite bus system with Thyristor Controlled Series Capacitor (TCSC) ii. Single machine infinite bus system with Thyristor Controlled Phase Shifter (TCPS). iii. Single machine infinite bus system with Static Var Compensator (SVC).

1. Introduction
In order to damp these oscillations and increase system stability, the installation of power system stabilizer (PSS) is effective. PSSs have been used for many years to add damping to electromechanical oscillations. To date, most major electric power system plants in many countries are equipped with PSS. However, PSSs suffer a drawback of being liable to cause great variations in the voltage profile and may not be able to suppress oscillations resulting from severe disturbances, especially those three phase faults, which may occur at the generator terminals [1-2]. Recently, FACTS based stabilizer has appeared offering an alternative way in damping power system

iv.

Single machine infinite bus system with Static Synchronous Compensator (STATCOM). v. Single machine infinite bus system with Unified Power Flow Controller (UPFC).

3. Literature review
The problem of power system stability and control has been extensively discussed and developed by many researches. Because the complexity of the structure of power system, a wide variety of models have been used and several control techniques have been proposed. Literature survey of relevant topics related to power system stabilizers and FACTS damping control design is presented next.

3.1. Power system stabilizer (PSS)


Power system stabilizer provides an additional input signal to the regulator to damp power system oscillations. Some commonly used input signals are rotor speed deviation, accelerating power, and frequency deviation. Figure (1) shows the functional block diagram of a typical excitation control system for a large synchronous generator [4].

authors used frequency domain methods to develop a speed-based PSS to compensate this negative impact on damping torque caused by the excitation system and demonstrated the effectiveness through analog simulation. Kunder et al. [6], provided the analytical work and systematic method to determine PSS parameters for large power generation in practical power system. The basic PSS design idea in this reference is based on the stabilizer proposed by Demello and Concordia [5]. However, the phase characteristics were obtained using a multi machine eigenvalue program instead of a single machine model. This work emphasized enhancement of overall system stability, and the authors considered simultaneous damping of inter area and local modes and discussed the performance of the PSS under different system conditions. In addition to small signal stability performance, the authors also tested the transient stability performance of the PSS and the performance during system islanding. The authors also demonstrated the importance of appropriate choice of washout time constant, stabilizer output limits, and other excitation system control parameters. The authors claimed that the frequency response method, used to compensate the lag between the excitation input and the electrical torque was fairly robust. Hsu and Cheng, [7], proposed a power system stabilizer (PSS) based on fuzzy set theory, in which speed deviation and acceleration were chosen as the input signals to the fuzzy stabilizer. A classical mamdani type fuzzy system was used to build a mapping relationship from inputs to control output. A seven by seven rule table was employed, and all the membership functions were determined based on the authors experience and no optimization on these membership functions was considered in their paper. The proposed PSS was tested on a two machine, nine bus system including an infinite bus. The reported results showed better damping as compared with a conventional lead lag PSS. H optimization techniques have been applied to robust PSS design problem [8]. Although H controller can guarantee robustness, they have several demerits. Optimal H controllers are of the same order as the plant. Hence, when H is applied to large power system, a good quality reduced model of the system is a necessity. Also H controllers achieve their goal which is undesirable in excitatation control. In addition, weighting function need to be selected with care.

Figure 1. Functional block diagram of a synchronous


generator excitation control system

The early PSS designs were based on a single machine infinite bus power system model. Demello and Concordia [5] analyzed the nature of the low frequency electro-mechanical oscillations in power systems. They were the first to explain the phenomena of oscillation by the concepts of synchronous and damping torques, and stated that lack of adequate damping torque is the cause of oscillation or instability. They developed a linearized model of a synchronous generator and its excitation system connected to an infinite bus in the form of a block diagram. Based on this block diagram, the authors came up with expressions of torques and thus revealed the effect of excitation system on stability. Normally, the AVR actions increase the synchronizing torque and decrease the damping torque inadvertently. Based on this understanding, the

3.2. FACTS devices


In general, the FACTS controllers comprise the following control schemes [59-60]: Steady state power flow control. Transient control for improving the first swing stability. Power Oscillation Damping (POD) control to damp the power systemoscillation. If the FACTS devices consist of the three control schemes above, a switching control strategy must be used to coordinate between the different controllers. The resulting signal will then go through a signal lag block representing the thyristor firing and other delays. Finally there is a limiter before final signals exit. The general block diagram of FACTS controller is shown in Figure 2. Various approaches were proposed to design damping controllers for different FACTS devices. Larsen et al. [9], tried to represent each electromechanical swing mode in terms of model decomposition.

Figure 2. Block diagram for the FACTS controller In this reference, the impact of the synchronizing and damping components of torque on each electromechanical mode of oscillation in a multi machine system is determined by decomposing the system variables into their modal components. Chen and Pahalawath, [10], presented a state feedback controller for TCSC by using a pole placement technique. However, the controller requires all system state. This reduces its applicability in real life power system. Rahim and Nassimi [12] presented optimum feedback strategies for both SVC and exciter controls. The proposed controller requires some or all states to be measurable or estimated. Moreover, it leads to a centralized controller for multi machine power systems, which reduces its applicability and reliability. Wang and Swift, [11] have discussed the damping torque contributed by SVC, TCSC and TCPS, where several important points have been analyzed and confirmed through simulations. However, all

controllers were assumed proportional, and no efforts have been done toward the controller design. On the other hand, it is necessary to measure the electromechanical mode controllability to assess the effectiveness of different controllers. Hus and Luor [12] designed a PI controller for TCSC with the gain of the PI controller tuned online by a neural network. The proposed controller was tested on a one machine infinite bus system, and it demonstrated by simulation better damping performance over fixed parameter PI controller over a wide range of operating conditions. Li and Zon [13], presented a comparative study of two damping controllers, i.e., the power system stabilizer (PSS) and the STATCOM damping controller used proportional integral derivative (PID) controller for the proposed damping schemes to improve the damping of electromechanical modes. The parameters of the proposed controllers were solved by left shifting modes to approach desired locations on the complex plane using a unified approach based on modal control theory. The simulation result showed that the STATCOM controller renders better damping performance than the PSS. In this reference, no efforts have been done towards the coordinated design of the PSS and STATCOM stabilizer. Dash and Mishra [14], presented a hybrid fuzzy logic proportional plus conventional integral controller for FACTS devices in a 3 machine power system. The controller used an incremental fuzzy logic controller in place of the proportional term in a conventional PI controller, and provides a wide variation of controller gains in a nonlinear manner. Simulation results of the three machine system validate the effectiveness of the new control strategy in enhancing the damping of oscillations. Son and Park [15] applied the linear Quadratic Gaussian technique to the design of TCSC damping controller. The optimal Hankel norm approximation technique was used for obtaining a low order power system model, and a controller was designed based on the reduced order model. The authors also discussed the application of the loop transfer recovery technique to preserve the robustness of the designed damping controller. The 3 machine 9 bus system was used here to verify the performance of the control strategy. Even though those methods showed good results on a 3 machine 9 bus system, due to the matrix size problem, they were not applied to higher order systems. Wang and Li [16] investigated the interaction between the STATCOM AC and DC voltage control installed in a power system. A case study of negative interaction

leading to system instability has been reported. It is believed this is the first time that the issue of interaction between STATCOM AC and DC voltage control has been addressed. The authors proposed a decoupled multivariable sampled regulator for coordinated control of STATCOM AC and DC voltage so as to overcome a potential negative interaction. On the other hand, it is observed that the STATCOM with voltage controller alone is not sufficient to damp all system oscillation. Dang et al. [17] proposed a PI based approach for the dynamic control of UPFC. The authors tested two damping schemes for UPFC: one is voltage modulation in voltage control of the shunt element and the other is power modulation in constant power control of series element. With this control strategy, the active and reactive power flow control was achieved as well as the damping of system oscillations. However, researchers have not investigated coordination of UPFC controllers. Panda et al. [18] proposed a multi objective Genetic Algorithm to tune the parof a thyristor controlled series compensator (TCSC) for powerystem stability improvement. Pareto method type of selection is used in the multi objective GA approach, which gives a set of solutions from which the best one can be chosen according to the requirements and needs. The parameters of the TCSC controller are optimally tuned by minimizing the time Domain based multi objective function, in which the deviations in the oscillatory rotor angle, rotor speed, and accelerating power of the generator are involved. Taher et al. [19] designed robust control for the UPFC controllers including power flow and DC voltage regulator , using a H loop shaping design via normalized Coprime factorization approach, where loop shape refers to magnitude of the loop transfer function L=GK as function of frequency . The proposed method was applied to typical SMIB power system installed with an UPFC with various loads conditions, and compared with conventional method (classical PI controller). The simulation results showed that the proposed method has an excellent capability in damping power system oscillations and enhance power system stability compared to classical controller. However, the proposed method involved trial and error approach in choosing the weighting matrix W.

[2] A.T. Al Awami, M.A. Abido and Y.L. Abdel Magid, "Power system stability enhancement using unified power flow controllers", Electric power energy system, 29,2007. [3] J. Chow, J. Sanchez, H. Ren and S.Wang, "Power system damping controller design using multiple input signals", IEEE Control Systems Magazine, 20, 2000. [4] Kundur P., Power System Stability and Control, Torento, Ontario, 1994. [5] E.P. Demello and C. Concordia, "Concepts of ynchronous machine stability as affected by excitation control", IEEE Trans. Power System, PAS-88, 1969. [6] P. Kundur, M. Klein, G.J. Rogers and M.S. Zywno, "Application of power system stabilizers for enhancement of overall system stability", IEEE Trans. On Power Systems, 4, 1989, pp. 614. [7] Y.Y. Hsu and C.H. Cheng, "Design of fuzzy power system stabilizer for multi machine power systems," IEE proceeding, 137, 1990. [8] M. Klein, L.X. Le., G.J. Rogers, S. Fairokhpay and N.J. Balu, "H damping controller design in large power systems", IEEE Trans. On Power Systems, 10, 1995, pp.158. [9] E.V. Larson, J.J. Sanchez-Gasca and J.H. Chow, "Concepts for design of FACTS controller to damping power swings", IEEE Trans. on Power Systems, 10, 1995 , pp. 948. [10] X-Chen and N. Pahalawaththa, "Control series compensation for improving the stability of multi machine power system", IEE, Proceeding, 142, 1995, pp.361. [11] H.F. Wang and F.J. Swift, "Unified model for the analysis of FACTS devices in damping power oscillations", IEEE Trans. on Power Delivery, 13, 1998. [12] Y.Y. Hsu and T.S. Luor, "Damping of power system oscillations using adaptive thyristor - controlled series compensators tuned by artificial neural networks", IEE Proceedings, 1998, pp. 137. [13] W. Li and T.Y. Zon "Stabilization of generator oscillations using PID STATCON damping controllers and PID power system stabilizers", IEEE Engineering Society , Winter Meeting , 1999 , pp. 616. [14] T.K. Mok, Y. Ni and F.F. Wu, "Design of fuzzy damping controller of UPFC through genetic algorithm", IEEE Power Engineering Society Summer Meeting, 2000, pp. 1889.

4. References
[1] B. Pal and B. Chaudhuri, "Robust control in power systems", Springer Science and Business Media, Inc 2005.

[15] K.M. Son, and J.K. Park, "On the robust LQG control of TCSC for damping power system oscillations", IEEE Trans. on Power Systems, 15, 2000, pp. 1306. [16] H.F. Wang and F. Li., "Multivariable sampled regulators for the co-ordinate control of SATACOM AC and DC Voltage", IEE Proceeding Gener. Trans. Distrib., 147, 2000, pp.93. [17] L.Y. Dong , L. Zhang, and M.L. Crow, "A new control strategy for the unified power flow controller", IEEE Power Engineering Society Winter Meeting , 2002, pp. 273. [18] S. Panda, R.N. Ratel and N.P. Padly, "Power system stability improvement by TCSC controller employing a multi-objective genetic algorithm approach", Inter. Journal of intelligent technology, 2006, pp.266. [19] S.A. Taher, S. Akbari, A. Abdolalpour and R. Hematti, "Design of robust UPFC controller using H control theory in electric power system", American Journal of Applied Sciences, 2008, pp. 980.

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