IOSR Journal of Electrical and Electronics Engineering (IOSR-JEEE)

e-ISSN: 2278-1676,p-ISSN: 2320-3331, Volume 11, Issue 5 Ver. II (Sep - Oct 2016), PP 10-21
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Improvement of Voltage Profile and Reducing Power System

Losses in Transmission System with Multiple TCSC Firing Angle
Control Model with Dragonfly Algorithm
Mr.A.Hema Sekhar1, Dr.A.Lakshmi Devi2
1
2

Research Scholar, Department of EEE, S.V. University College Of Engineering, Tirupati, India
Professor & HOD, Department of EEE, S.V. University College Of Engineering, Tirupati, India

Abstract: Now a day the transmission lines are operated under the heavily stressed condition, hence there is
risk of the consequent voltage instability. There is a multi-functional control device which can be effectively
control the load flow distribution and the power transfer capability is the flexible alternating current
transmission system (FACTS) Device. The FACTS device performance is depends upon its location and
parameters setting. These devices have been proposed as an effective solution for controlling power flow and
regulating bus voltage in electrical power systems, resulting in an increased transfer capability, low system
losses, and improve stability. However to what extent the performance of FACTS devices can be brought out
highly depends upon the location and the parameters of these devices. In this paper, we propose three
Evolutionary Optimization Techniques, namely Genetic Algorithm (GA), Particle Swarm Optimization (PSO)
and Dragonfly Algorithm (DA) to select the optimal location and the optimal parameter setting of TCSC, , firing
angle of TCSC and size of the TCSC which minimize the active power losses and improves the voltage profiles
in the power network, and compare their performances. To show the validity of the proposed techniques and for
comparison purposes, simulations are carried out on IEEE-14 bus power system.
Keywords: Power system, Transmission system, FACTS, TCSC, Firing Angle, Genetic Algorithm, Particle
Swarm Optimization & Dragonfly Algorithm.

I.

Introduction

Due to the ever increasing demand for the electrical power. The power network is more difficult to
operate and more insecure. On the other hand, Flexible AC transmission system (FACTS) device, which can
provide direct and flexible control of power transfer and are very helpful in the operation of power network. The
power system performance and the power system stability can be enhanced by using FACTS devices. These
devices also allow the increasing of the usable transmission capacity to its maximum thermal limits. By using
FACTS devices, it is also possible to control the phase angle, firing angle, the voltage magnitude at chosen
buses and /or line impedances of a transmission system. Among the FACTS devices, TCSC is one of the most
effective measures for increasing the transfer capability of the transmission system, enhancing the stability,
increasing voltage profile, reducing transmission losses and ameliorating the dynamic characteristics of power
system. However, to achieve the over mentioned benefits, the TCSC should be properly installed in the network
with appropriate parameters.
In the literature many people proposed different concepts about the placement and sizing of the TCSC,
GA, PSO and DA Algorithms.
Hadi Saadat Presented Real and Reactive Power flow equations in polar form by considering two bus
power system. A Jacobean matrix is then constructed and Newton Raphson method is used to solve these
equations[22].Ref.[1]-[5] Papers proposed in literatures for load flow analysis with incorporated FACTS
controllers in multimachine power systems from different operating conditions viewpoint. There are different
load flow analysis with incorporated FACTS controllers from different operating conditions in multimachine
power systems for optimal power flow control. The Newton Raphson Methods have been proposed in literatures
includes for different types of Modeling of Series FACTS controllers .Sahoo et.al (2007) proposed the basic
modeling of the FACTS devices for improving the system performance[6].Zhang, X.P et.al explains Jacobian
Matrix of Power flow Newton Raphson algorithm and Newton Raphson strong convergence characteristics [7].
About the modeling and selection of possible locations for the installation of FACTS devices have been
discussed by Gotham.D.J and G.T Heydt (1998) [8].Povh.D(2000) proposed the nice concepts of the modeling
of the power systems and the impact of the FACTS devices on the transmission network [9].Modelling of the
FACTS devices with various techniques with complete computer programming is proposed by Acha et.al.
[10].The impact of multiple compensators in the system was proposed by Radman.G and R.S Raje [11].The
important concepts of the power systems with different load flow was proposed by Stagg.G.W et.al(1968) [23].
Tong Zhu and Gamg Haung proposed(1999) the accurate points of the buses which were suitable for the FACTS
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Improvement Of Voltage Profile And Reducing Power System Losses In Transmission System With
devices installation [12].P.Kessal and H. Glavitsch(1986) proposed increase the transmission capability,
improvement of stability by installing FACTS devices in transmission network [13].Hingorani N.G et.al
presented about FACTS devices ,which are a family of high-speed electronic devices, which can significantly
increase the power system performance by delivering or absorbing real and/or reactive power [24]. Hugo
Ambriz-Perez et.al presented a novel power flow model for the Thyristor Controlled Series Compensator
(TCSC).The model takes the form of a firing angle-dependant, nodal admittance matrix that is then incorporated
in an existing Power flow algorithm [14]. Ref [15-17] papers proposed on the placement of the TCSC by using
genetic algorithm concepts. There are various stochastic search algorithms which have proved to be very
efficient in solving complex power system problems. PSO is a novel population based method which utilizes the
swarm intelligence generated by the cooperation and competition between the particle in a swarm and has
emerged as a useful tool for engineering optimization.[18-20]. S.Meerjaali (2015) proposed a new approach of
optimization by using Dragon fly algorithm [21].
In this paper, the optimal location for placement of FACTS device has been formulated as a problem,
and is solved using a new heuristic algorithm called the Dragonfly Algorithm. The Dragonfly Algorithm is used
for finding out the optimal locations and parameter settings of Thyristor Controlled Series Compensator (TCSC)
devices, to achieve minimum transmission line losses in the system. The Dragonfly Algorithm results are
compared with the results of the Genetic Algorithm (GA) and the Particle Swarm Optimization (PSO)
techniques.

II.

Power Flow Analysis

Power-flow or load-flow studies are important for planning future expansion of power systems as well
as in determining the best operation of existing systems. The principal information obtained from the powerflow study is the magnitude and phase angle of the voltage at each bus, and the real and reactive power flowing
in each line.
The power mismatch equations P and Q are expanded around a base point ((0),V(0)) and, hence,
the power flow NewtonRaphson algorithm is expressed by the following relationship

P
P
Q Q

P
V
V V
Q
V V
V

(1)

Where
P is the change of real power at the bus.
Q is the change of reactive power at the bus.

V is the change in voltage at the bus

is the change in angle at the bus
III.

Series Compensation

FACTS controllers can be broadly divided into four categories, which include series controllers, shunt
controllers, combined series-series controllers, and combined series-shunt controllers.
In series compensation, capacitors are connected in series with the transmission lines. This reduces the
transfer reactance between buses to which the line is connected, increases the maximum power that can be
transmitted, and reduces the effective reactive power losses. Although series capacitors are not usually
implemented for voltage control, they do contribute to improving the system voltage and reactive power
balance. The reactive power produced by a series capacitor increases with transferred power of the transmission
line. Examples of such controllers are Static Synchronous Series Compensator (SSSC), Thyristor-Switched
Series Capacitor (TSSC), Thyristor-Controlled Series Reactor (TCSR), Thyristor-Controlled Series Capacitor
(TSSC) .They can be effectively used to control current and power flow in the system and to damp oscillations
of the system.
1. Thyristor Controlled Series Capacitor (TCSC)
The basic conceptual TCSC [14] module constitutes of three components- a capacitor bank C, a bypass
inductor L and the bidirectional thyristors SCR1 and SCR2 as shown in Fig.1. In Fig.1 I c and IL represents
instantaneous values of the capacitor bank and inductor respectively I line is the instantaneous current of the
controlled transmission line, V is the instantaneous voltage across the TCSC. Also installed across the capacitor
is a circuit breaker, CB, for controlling its insertion in the line. In addition, the CB bypasses the capacitor if
severe fault or equipment-malfunction events occur. A current-limiting inductor, Ld, is incorporated in the
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Improvement Of Voltage Profile And Reducing Power System Losses In Transmission System With
circuit to restrict both the magnitude and the frequency of the capacitor current during the capacitor-bypass
operation.
An actual TCSC system usually comprises a cascaded combination of many such TCSC modules,
together with a fixed-series capacitor, CF. This fixed series capacitor is provided primarily to minimize costs.

Fig. 1: A Basic Module of TCSC

2. Operation of The TCSC (Firing Angle Power Flow Model)
The equivalent circuit of TCSC for firing angle model is shown in Fig. 2, which consists of an antiparallel connection of thyristors and the combination of inductor and capacitor. The thyristor combination is
fired at various angles to obtain the required power flow in the line. It has been in use for many years to increase
line power transfer as well as to enhance system stability. The firing angles () of the thyristors are controlled to
adjust the TCSC reactance in accordance with a system control algorithm, normally in response to some system
parameter variations. The TCSC can be controlled to work in capacitive zone. According to the operating
principle of the TCSC, it can control the active power flow for the line l (between bus- f and bus- t where the
TCSC is installed). The computation of the firing angle is carried out. However, such calculation involves an
iterative solution since the TCSC reactance and firing angle are nonlinearly related. The fundamental frequency
of XTCSC(1) equivalent reactance as a function of the TCSC firing angle is shown in fig. 2.

Fig. 2: fundamental frequency equivalent reactance XTCSC (1) of the TCSC module

X TCSC (1) X c C1{2( ) sin[ 2( )]} C2 cos 2 ( ){ tan[ ( )] tan( )}

(2)
Where

C1

X c X Lc

2
4 X LC
X L
Xc X L

Xc X L

(3)

C2

(4)

X LC

(5)

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Improvement Of Voltage Profile And Reducing Power System Losses In Transmission System With
1

X 2
c
XL

(6)

TCSC active and reactive power equations at bus k are

Pk VkVm Bkm sin( k m)

(7)

Qk V Bkk VkVm Bkm cos(k m )

(8)

2
k

Where

Bkk Bkm BT csc(1)

(9)

(10)
Where

TCSC

Pkm

reg
km

T csc

Pkm

is the active power mismatch for TCSC module.

T csc

is the incremental

change in the TCSC firing angle.

IV.

Genetic Algorithm

The goal of the optimization is to find the best location of a given number of FACTS devices in
accordance with a defined criterion. A configuration of FACTS devices is defined with three parameters: the
location of the devices, their types and their values. In order to take into account the three aforementioned
parameters in the optimization, a particular coding is developed. An individual is represented with three strings
of length, where is the number of devices to locate optimally. The first string corresponds to the individual
represents the values of the devices. It can take discrete values contained between 0 and 1; 0 corresponding to
the minimum value that the device can take and 1 to the maximum.
Genetic Algorithms were developed based on the evolutionary theories proposed by Darwin in the 19th
century. These algorithms are based on the Darwinian principle that the elements that are most suitable to their
environment have the highest probability of surviving and they are able to transmit their characteristics to their
offspring.
Genetic Algorithm is one of the most famous heuristic optimization technique which is based on
natural selection and genetics [15] [17].It is usually used to get the near optimal solution. In each generation a
new set of chromosomes with an improved fitness is generated by using the following genetic operators. i)
Selection ii) Cross Over iii) Mutation The initialization of chromosome structure of GA uses the rating and
location of FACTS devices. i) Selection: In this method tournament selection is used for the selection. In this
method tournament size chosen is 4. ii) Cross Over: It selects genes from the parent chromosomes and generates
a new offspring. Cross over is the process of taking two parents and generating from them an offspring. iii)
Mutation : It is performed after the cross over. It is used to prevent falling of all solutions into the local
optimum. In the case of binary encoding a few randomly chosen bits from 1 to 0 or from 0 to 1.With the firing
angles the size of the TCSC is calculated. The Objective of selection of optimal value of firing angle at required
location is minimization of losses

V.

Particle Swarm Optimization

Mr. Kennedy and Mr. Eberhart first introduced the PSO in the year of 1995 [18] [20] PSO has its
roots in artificial life and social psychology as well as in engineering and computer science. It utilizes a
population of individuals, called particles, which fly through the problem hyperspace with some given initial
velocities. In each iteration the velocities of the particles are stochastically adjusted considering the historical
best position of the particles and their neighborhood best position; where these positions are determined
according to some predefined fitness function. Then, the movement of each particle naturally evolves to an
optimal or at least near-optimal solution. In PSO algorithm, the particles fly in a multidimensional search space.
During the flight each particle adjust its position according its own experience, and the experience of the
neighboring particles, making use of the best position encountered by itself and its neighbors
In general, maximum number of iterations for termination of the search process and inertia weights is
set according to the following equation:
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Improvement Of Voltage Profile And Reducing Power System Losses In Transmission System With
w=wmax

W max W min

. iter

(11)

v(+1) = . () + 1. 1.( () () + 2. 2. (() () )

x(+1) = () + (+1)

(12)

The particles are initialized by the location of the buses and firing angles. The selection of the buses
and firing angles is carried out by minimization of the losses.

VI.

Dragonfly Algorithm (DA)

Dragonflies [21] are considered as small predators that hunt almost all other small insects in nature.
Nymph dragonflies also predate on other marine insects and even small fishes. The interesting fact about
dragonflies is their unique and rare swarming behaviour. Dragonflies swarm for only two purposes: hunting and
migration. The former is called static (feeding) swarm, and the latter is called dynamic (migratory) swarm.
The main objective of any swarm is survival, so all of the individuals should be attracted towards food
sources and distracted outward enemies. Considering these two behaviours, there are five main factors in
position updating of individuals in swarms as shown in Fig. 3.
According to Reynolds, the behaviour of swarms follows three primitive principles :
Separation, which refers to the static collision avoidance of the individuals from other individuals in the
neighbourhood.
Alignment, which indicates velocity matching of individuals to that of other individuals in neighbourhood.
Cohesion, which refers to the tendency of individuals towards the centre of the mass of the neighbourhood.

Fig. 3: Primitive behaviour of Dragonflies

Each of these behaviours is mathematically modeled as follows:
The separation is calculated as follows
N

Si X X j

(13)

j 1

where X is the position of the current individual,

Xj shows the position j-th neighbouring individual, and
N is the number of neighbouring individuals.
Alignment is calculated as follows:
N

Aj

V
j 1

(14)

where Vj shows the velocity of j-th neighbouring individual.

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Improvement Of Voltage Profile And Reducing Power System Losses In Transmission System With
The cohesion is calculated as follows:
N

Cj

X
j 1

(15)

where X is the position of the current individual, N is the number of neighbourhoods, and Xj shows the position
j-th neighbouring individual
Attraction towards a food source is calculated as follows:

Fi X X

(16)

where X is the position of the current individual, and X+ shows the position of the food source.
Distraction outwards an enemy is calculated as follows:

Ei X X

(17)

where X is the position of the current individual, and

X t 1 (sSi cCi fFi aAi eEi ) wX t

X shows the position of the enemy.

(18)

where s shows the separation weight, Si indicates the separation of the i-th individual, a is the alignment
weight,
A is the alignment of i-th individual, c indicates the cohesion weight, Ci is the cohesion of the i-th
individual, f is the food factor, Fi is the food source of the i-th individual, e is the enemy factor, Ei is the
position of enemy of the ith individual, w is the inertia weight, and t is the iteration counter.After calculating the
step vector, the position vectors are calculated as follows:
(19)
X t 1 X t X t 1
To improve the randomness, stochastic behaviour, and exploration of the artificial dragonflies, they are
required to fly around the search space using a random walk (Levy flight) when there is no neighbouring
solutions. In this case, the position of dragonflies is updated using the following equation:
(20)
X t 1 X t Levy( x) X t
The dragon flies are populated with the bus numbers of the system and the firing angles to the
switching device of the TCSC. The objective to finalize the optimal location with the suitable firing angle of the
TCSC is the minimizing of the losses.

VII.

Test Case

The proposed method is used to analyze the standard IEEE 14 bus transmission network. The
important parameters that can be determined by proposed methods are power flows, voltage profile of the buses,
real and reactive power losses.
1. IEEE 14 Bus System
The single line diagram of IEEE 14 bus system is shown fig. 4

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Improvement Of Voltage Profile And Reducing Power System Losses In Transmission System With

Fig. 4: Single line diagram of IEEE 14 bus system

Single TCSC Placement
The placement of single TCSC by using different optimizing techniques such as GA, PSO and DA is
implemented on IEEE 14 bus system. By placing TCSC at different locations of the transmission network the
real and re active power losses are reduced. With the reference of the table.1.The losses are greatly reduced by
dragonfly algorithm (DA),by placing the single TCSC. The real and reactive power losses without TCSC are
9.682 MW and 50.04 MVar .but in case of dragonfly algorithm (DA) the real and reactive power losses are
reduced to 9.222 MW and 49.08 MVar. The voltage profile, branch real and reactive power losses without
placing of TCSC and with the placing of single TCSC are shown in the figures 5,6,7,8 and 9 respectively.
2.

voltage profile with and without TCSC

1.1
without TCSC
with TCSC GA
with TCSC PSO
with TCSC DA

1.09

voltage magnitude in P.U

1.08
1.07
1.06
1.05
1.04
1.03
1.02
1.01
1

6
8
busnumbers

10

12

14

Fig. 5 : Comparative Voltage Profile for IEEE 14 bus system with TCSC
BRANCH REAL POWER LOSSES WITH AND WITHOUT TCSC
2.5
without TCSC
with TCSC(GA)
with TCSC(PSO)
with TCSC(DA)

Real Power Losses(MW)

1.5

0.5

-0.5

8
10
12
branch numbers

14

16

18

20

Fig. 6:Branch Real power losses of IEEE 14 bus with and without TCSC

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Improvement Of Voltage Profile And Reducing Power System Losses In Transmission System With
BRANCH REACTIVE POWER LOSSES WITH AND WITHOUT TCSC
12
without TCSC
with TCSC(GA)
with TCSC(PSO)
with TCSC(DA)

Reactive Power Losses(MVar)

10

-2
0

8
10
12
branch numbers

14

16

18

20

Fig. 7: Branch Reactive power losses of IEEE 14 bus with and without TCSC
TOTAL REAL POWER LOSSES WITH AND WITHOUT TCSC

Real power losses(MW) with and without TCSC

10
9
8
7
6
5
4
3
2
1
0

2
without TCSC

3
GA,PSO,DA with TCSC

Fig. 8 : Comparative analysis of Real power losses of IEEE 14 bus with and without TCSC
TOTAL REACTIVE POWER LOSSES WITH AND WITHOUT TCSC

Reactive power losses(MVar) with and without TCSC

60

50

40

30

20

10

2
without TCSC

3
GA,PSO,DA with TCSC

Fig.9: Comparative analysis of Reactive power losses of IEEE 14 bus with and without TCSC
Placement of Two TCSCs
With the inclusion of two TCSCs in the bus system then the power flows are further improved and
losses further are reduced which is shown in the table 1. The voltage profile, branch real and reactive power
losses without placing of TCSC and with the placing of two TCSC are shown in the figures 10, 11.12,13 and 14
respectively.
3.

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Improvement Of Voltage Profile And Reducing Power System Losses In Transmission System With
voltage profile with and without TCSC
1.1
without TCSC
with TCSC GA
with TCSC PSO
with TCSC DA

voltage magnitude in P.U

1.08

1.06

1.04

1.02

0.98
0

6
8
busnumbers

10

12

14

Fig.10: Voltage profile for IEEE 14 bus system with two TCSCs
BRANCH REAL POWER LOSSES WITH AND WITHOUT TCSC
2.5
without TCSC
with TCSC(GA)
with TCSC(PSO)
with TCSC(DA)

Real Power Losses(MW)

1.5

0.5

-0.5

8
10
12
branch numbers

14

16

18

20

Fig.11: Comparative analysis of Real power losses of IEEE 14 bus with and without two TCSCs
BRANCH REACTIVE POWER LOSSES WITH AND WITHOUT TCSC
12
without TCSC
with TCSC(GA)
with TCSC(PSO)
with TCSC(DA)

Reactive Power Losses(MVar)

10

-2
0

8
10
12
branch numbers

14

16

18

20

Fig. 12: Comparative analyses of Reactive power losses of IEEE 14 bus with and without two TCSCs

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Improvement Of Voltage Profile And Reducing Power System Losses In Transmission System With
TOTAL REAL POWER LOSSES WITH AND WITHOUT TCSC

Real power losses(MW) with and without TCSC

10
9
8
7
6
5
4
3
2
1
0

3
GA,PSO,DA with TCSC

without TCSC

Fig. 13: Comparative analyses of Real power losses of IEEE 14 bus with two TCSCs
TOTAL REACTIVE POWER LOSSES WITH AND WITHOUT TCSC

Reactive power losses(MVar) with and without TCSC

60

50

40

30

20

10

3
GA,PSO,DA with TCSC

without TCSC

Fig. 14: Comparative analyses of Reactive power losses of IEEE 14 bus with two TCSCs
Table 1: Comparative System Parameters of IEEE 14 bus with and without TCSC by using GA, PSO And DA
Parameters

Without
TCSC

With Single
TCSC(GA)

With Two
TCSC(GA)

With Single
TCSC(PSO)

9.402

With Two
TCSCs
(PSO)
1.018
at
bus 10
1.048
at
bus 2
9.222

With
Single
TCSC(DA)
1.0062 at
bus 13
1.048
at
bus 2
9.222

With Two
TCSCs
(DA)
1.02
at
bus 10
1.046 at
bus 2
8.922

Minimum
Voltage(p.u)
Maximum
Voltage(p.u)
Real power
losses(Mw)
Reactive
power
losses(Mvar)
Location of
TCSC
TCSC 1firing
angle(deg)
TCSC2 firing
angle(deg)
Size
of
TCSC1
(Kvar)
Size
of
TCSC2
(Kvar)

1.01 at
bus 3
1.09 at
bus 8
9.682

1.004
at
bus 13
1.05 at bus
2
9.422

1.016
bus 10
1.042
bus 2
9.282

1.0052
at
bus 13
1.05 at bus 2

50.04

49.48

48.2

49.44

48.14

49.08

48.08

----------

7-9 line

6-13 line
131.8

6-12 line
7-9 line
136.3

9-14 line

132.3

6-11 line
6-13 line
136.3

132.6

3-4 line
6-11 line
134.3

-------------------

------

127.3

------

126.3

------

122.6

----------

2.38

1.410

2.36

1.42

2.33

1.38

----------

------

0.983

------

0.973

------

0.963

at
at

From the above table, it is shown that without TCSC the Real and Reactive power losses are 9.682
MW and 50.04 MVar.In case of Genetic Algorithm for placing single TCSC the losses are Reduced i.e Real and
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Improvement Of Voltage Profile And Reducing Power System Losses In Transmission System With
Reactive power losses are 9.422 MW and 49.48 MVar and for two TCSCs 9.282 MW & 48.2 MVar.By
applying Particle Swarm Optimization (PSO) for placing single TCSC the Real and Reactive power losses are
further reduced to 9.402 MW and 49.44 MVar and by using two TCSCs the losses are 9.222 MW and 48.14
MVar.By applying Proposed method i.e Dragonfly Algorithm (DA) for placing single TCSC, the Real and
Reactive power losses are most further reduced to 9.222 MW and 49.08 MVar and by using two TCSCs the
losses are reduced to 8.922 MW and 48.08 MVar,So,The DA method gives better losses reduction as compared
to GA and PSO.

VIII.

Conclusion

The Firing Angle Model of Thyristor controlled series capacitor (TCSC) using GA,PSO and DA
methods has been implemented on IEEE 14 test system to investigate the performance of power transmission
line in absence of TCSC and presence of single and double TCSC devices. In this paper, Dragonfly Algorithm
has been proposed to analyze firing angle model of TCSC .The results obtained for above bus system using
proposed method with and without TCSC compared and observations reveal that the Real and Reactive power
losses are less with TCSC. The obtained results are supportive, and show that the TCSC is one of the most
effective series compensation devices that can significantly increase the voltage profile of the system. GA and
PSO methods were also presented to analyze the firing angle model of TCSC and the results are compared with
proposed method which is shown in tables 1. From this we can conclude that when the single and two TCSCs
are placed in the IEEE 14 bus system, The Dragonfly algorithm gives better voltage profile improvement and
better reduction in transmission line losses. Also the results indicate that the Dragonfly algorithm was an easy to
use and best optimization technique compared with the Genetic algorithm (GA) and the Particle Swarm
Optimization (PSO).

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