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Stability Analysis of SMIB System Incorporating the

Genetic Algorithm based TCSC Controller

Publication History
Received: 23 August 2015
Accepted: 20 September 2015
Published: 14 October 2015

Citation
Umre BS, Rajesh V, Vijitha U, Koteswara Raju D, Archana Patil. Stability Analysis of SMIB System Incorporating the Genetic
Algorithm based TCSC Controller. Discovery, 2015, 43(199), 144-150

144
Page
Stability Analysis of SMIB System Incorporating
the Genetic Algorithm based TCSC Controller
BS Umre V Rajesh U Vijitha D Koteswara Raju, Archana Patil
Associate professor PG Scholar PG Scholar Research scholar
bsumre@rediffmail.com rajesh.vusala@gmail.com
Department of Electrical Engineering
Visvesvaraya National Institute of Technology
Nagpur-440010, Maharastra, India

Abstract---This paper presents a systematic procedure for and geographical conditions provide many difficulties in
modeling and time-domain simulation of synchronous construction of new generating stations and
generator (with field winding and one damper on q-axis) transmission lines. In such situations, it is necessary to
subjected to a three-phase fault on the transmission line. maximize the power transfer capability with existing
The thyristor controlled series capacitor (TCSC, a FACTs
network without losing the stability of the power
controller) was installed in series with the line in the
single-machine-infinite-bus system, and the dynamic system. The stability analysis of the power system was
behaviour of this SMIB system was analysed by simulation presented in [1].
results. Genetic algorithm based TCSC and design With the introduction of the FACTs devices [3]
parameters of this controller circuit also presented. The in the existing network such as TCSC, STATCOM,
effectiveness of the genetic algorithm based TCSC UPFC etc., we can achieve the maximum power transfer
controller is justified via the simulation results presented. capability through the same existing network. The
analysis of SMIB system installed with FACTs devices
Keywords--- Genetic algorithm (GA); Thyristor Controlled have been discussed in [4]-[5].
Series Capacitor (TCSC); Single Machine Infinite Bus From [1], the form of instability may be either
(SMIB); optimization. (or) of rotor angle deviation (local or global in nature),
voltage deviation at the bus or frequency instability.
Nomenclature Small disturbance rotor angle stability problems are
δ Rotor angle of synchronous generator in rad usually associated with rotor angle oscillations of single
ωB Rotor speed deviation in rad/sec power plant against rest of the power system. In general,
Sm Generator slip in p.u. the duration of small signal stability study, is of the
Smo Initial operating slip in p.u. order of 10 to 20 second following a small
H Inertia constant disturbance[1].
D Damping coefficient As we know, Phillips-Heffron model has been
Tm Mechanical power input in p.u. used for years, for the stability analysis of SMIB system
Te Electrical power output in p.u. being subjected to a small disturbance. This linear
Efd Excitation system voltage in p.u. model of Phillips-Heffron gives better results also been
Tdo’ Open circuit d-axis time constant in sec used for designing the conventional power system
Tqo’ Open circuit q-axis time constant in sec stabilizers (PSS). Even though, these models are very
xd d-axis synchronous reactance in p.u. powerful tools for power engineers for analysis of
xd’ d-axis transient reactance in p.u. dynamic behaviour of synchronous generator, suffers
xq q-axis synchronous reactance in p.u. from few drawbacks like failed to capture the complex
xq’ q-axis transient reactance in p.u. dynamic oscillations especially during large signal
XC Nominal reactance of the fixed capacitor C disturbances.
XP Inductive reactance of inductor L connected in These difficulties invite the introduction of
parallel with C. FACTs controllers in the line for desired performance.
σ Conduction angle of TCSC But we should keep in mind one point that, a controller
α Firing angle of TCSC with appreciable performance for small signal condition
k Compensation ratio, k = sqrt(XC / XP) may fail during the major disturbances. Now, let us
focus on the applications of TCSC, member of FACTs
I. INTRODUCTION controller family. TCSC serves as the short circuit
Now-a-days, the power system engineers are current limiter, scheduling power flow, damping the
facing many challenges to satisfy the increased load power system oscillations and improving the power
145

with highest reliability, security and also with minimum system stability and for mitigating the sub-synchronous
transmission expenditure. However, the environmental resonance (SSR) [3]. All these achieved by the
-------------------------------------------------------------------- reactance adjustment of TCSC, which is a complex
process. In [6], Genetic Algorithm (GA) based
Page

-----Intentionally left blank-----

optimal tuning of TCSC controller and also the
procedure for modelling and simulation of SMIB Depending on the degree of detail used, the
system was presented. number of rotor windings and corresponding state
Now, the major part of the controller parameter variables can vary from one to six. In a report published
design is the parameter tuning towards the optimal in 1986 by an IEEE Task Force, following models are
solution. This can be achieved by number of suggested based on varying degrees of complexity.
conventional techniques like Eigen value assessment,
direct search, simulated annealing, and mathematical 1. Classical model (Model 0.0)
programing etc. Because of their robustness and 2. Field circuit only (Model 1.0)
convergence in finding an optimal solution close to a 3. Field circuit with one equivalent damper on q-
global minimum, GA is a powerful tool to solve such axis (model 1.1)
optimization problems among all the conventional 4. Field circuit with one equivalent damper on d-
methods. GA uses different search procedures based on axis
the mathematical functions and fitness function. The (a) Model 2.1 (one damper on q-axis)
controller circuit parameters of TCSC in the present (b) Model 2.2 (two dampers on q-axis)
study are derived with GA technic [2]. 5. Field circuit with two equivalent damper
This paper is organized as follows. Section II, circuits on d-axis
presents the components of SMIB system and Section (a) Model 3.2 (with two dampers on q-axis)
III gives equations for time-domain simulation. Results (b) Model 3.3 (with three dampers on q-axis)
are given in section IV, followed by conclusion.
It is to be noted that in the classification of the
II. Power system under study machine models, the first number indicates the number
of windings on the d-axis while the second number
A. Synchronous Generator indicates the number of windings on the q-axis. With
constraints on data availability and for study of large
Synchronous generator with its associated
systems, it may be adequate to use model (1.1) if the
control is the major component of the power system that
data is correctly determined.
determines its dynamic behaviour. It is often adequate
to ignore the prime-mover controls if the major
D. One-line diagram of SMIB system with TCSC
objectives of dynamic analysis are to predict system
stability. The above considered synchronous generator is
It is the best example that a synchronous connected to the infinite bus via a double circuit
machine connected to infinite bus to illustrate the transmission line and in series with a TCSC as shown in
dynamics of synchronous generator. This example
duplicates, a remote power station connected to a load Vt‫ے‬ϴ Eb‫ے‬0
centre through a long transmission line. jX L
jX TH
TCSC
B. Assumptions / Approximations jXT
Gen jXL
As we know the power station is a multi- Infinite
machine system, it was quite acceptable that, for bus
disturbances external to the power station, the below fig 1. Notations have their own nomenclature.
generators can be represented by an equivalent machine.
It is possible to ignore the dynamics of the Fig 2: SMIB system with TCSC
other machines than the one under study. This leads to
the representation of external system for a generator by E. Thyristor controlled series capacitor
its Thevenin’s equivalent circuit. TCSC is a versatile FACTs controller and is
very popular for reactance controlling in the line. TCSC
C. Synchronous machine model description is nothing but the combination of a series capacitor and
a thyristor controlled reactor (TCR). Its basic module is
as shown in fig 2. The net reactance offered by the
TCSC depends on the firing angle given to the
thyristors. So based on α, TCSC will operate in three
major modes. Let us limit our focus to the mathematical

XC ILine
ILine IC
146

T1
ITCR
Page

XP
Fig 1. Synchronous Machine
T2
VC (t)
model of TCSC.
III Development of simulink model
Fig 3: Basic module of a TCSC
The net reactance offered by the TCSC is given A. Modeling of SMIB system
by the equation:
The synchronous generator considered above is
( ) represented by model 1.1, i.e with one field circuit on
( + ) d-axis and one equivalent damper on q-axis gives the
= − following governing equations [7].
( − )
σ
4 ( /2) [ tan 2 − tan
2
] Stator equations
+ + ′ − = (2)
( − ) ( − 1)
(1) − ′ − = (3)
It is evident from the above equation that for a
particular range of α, the TCSC may enter into resonant Rotor mechanical equations
region. So care should be taken to avoid this by + =( − ) (4)
operating the TCSC in the safe region [3].
2
ℎ =
F. Introduction to Genetic Algorithm (GA)
= ( − ) (5)
GA enables you to solve a variety of both 2 = − ( − ) + − (6)
constrained and unconstrained optimization problems
that lie outside the scope of conventional optimization ′ = − +( − ′ ) + (7)
problems that are complex and difficult to solve. GA is ′ = − − − ′ (8)
based on natural selection, the process that drives
biological evolution. The genetic algorithm repeatedly Electrical torque
modifies a population of individual solutions. At each = ′ + ′ +( ′ − ′ ) (9)
step, the genetic algorithm selects individuals at random
from the current
No population to be parents and uses them
to produce the children for the nextYes generation. Over The algebraic equations of simplest external network
successive generations, the population "evolves" toward =− + cos (10)
an optimal solution which is shown below in fig 4. = − sin (11)

From (2), (3) & (10), (11)

START
= (12)
( )

Specify the parameters for

= (13)
( )
Generate Initial population

B. Structure of TCSC controller

Time-domain simulation
The commonly used TCSC based damping
controller to control the XTCSC(α) is as shown in below
Find the fitness of each individual in fig 4. It resembles a mathematical model that offers
the current population
Max
σo XTCSC (α)
σ o + ∆σ 1
Gen = Gen + 1 Σ
+ 1+
Output
Gen > Max. STOP + Min
Gen
∆σ

1+ 1+ ∆ω

1+ 1+ 1+ K
147

Apply GA operations : Input

Selection, Cross-over, Mutation Two stage Wash out Gain
Lead-lag block block
Page

Fig 4: computational sequence of GA linearity between its input ∆ω and output ∆σ [2].
 Fig 5: GA based TCSC controller currents id and iq for SMIB system with & without
TCSC.
In the above block diagram, the time constants
T1, T2, T3, T4 and the controller gain KT are to be
determined from GA. The main function of the TCSC
controller is to adjust XTCSC(α) during disturbances from
σ (=σo+∆σ) which further caused by ∆ω for the
improvement of power system stability.

C. Objective function
Compared to all other alternatives, TCSC
based controller design gives better results. It has been
presented here that, GA based parameter tuning for the
above LL structured TCSC controller uses the Integral
of Time Multiplied Absolute value of the Error (IATE)
as an objective function. The objective function is
defined as follows.

= . |∆ ( )|
Where ∆ω(t) is the speed deviation following a Fig 6: Load angle δ and speed deviation ∆ω
disturbance and tsim is the simulation time. With-out TCSC

D. Optimized TCSC controller parameters using GA

In the present study, a washout time constant of
TWT = 10sec is used. The following parameters are
determined through the GA toolbox in MATLAB and
are given below.
Gain KT 32.6247
Time constants T1T 0.1464
T2T 0.1402
T3T 0.1235
T4T 0.1524

IV Simulation Results

A. Parameter design through GA toolbox

Construct the simulation block diagram in the
MATLAB/SIMULINK model and run it with the Fig 7: Load angle δ and speed deviation ∆ω
specified values of controller lies with-in the range (i.e with TCSC
KT-min < KT < KT-max , etc..). Evaluate the objective
function “ J ” for each step. With GA operations (like
cross-over, mutation etc..), select the current population
to produce children for next step. Repeat the process till
the objective function arrives at its global minimum and
those parameters of controller at global minimum will
be the optimum parameters.

Consider a three-phase fault at the mid-point of

the transmission line at t=60 sec, and observe the SMIB
system performance with & without GA based TCSC
controller through the results given below.
148

Fig. 6 - 13 shows the variation of load angle

‘δ’, speed deviation ∆ω, electromagnetic torque Te,
generator terminal voltage Vt, and d-axis, q-axis
Page
Fig 8: Electromagnetic Torque Te Fig 11: Terminal Voltage Vt
With-out TCSC With TCSC

Fig 12: d-axis current id , q-axis current iq

Fig 9: Electromagnetic Torque Te With-out TCSC
with TCSC

Fig 10: Terminal Voltage Vt

With-out TCSC
149
Page

Fig 13: d-axis current id , q-axis current iq

With TCSC
 V Conclusion 5. H.F.Wang “A Unified Model for the Analysis of
FACTS Devices in Damping Power System
The simulation results presented above shows Oscillations—Part III: Unified Power Flow
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