Optimization of Power System Stabilizers Relying On Particle Swarm Optimizers
Optimization of Power System Stabilizers Relying On Particle Swarm Optimizers
Optimization of Power System Stabilizers Relying On Particle Swarm Optimizers
Abstract
A classical lead-lag power system stabilizer is used for
demonstration in this paper. Initially single first-order
phase compensation block is considered. The stabilizer
parameters are selected in such a manner to damp the
rotor oscillations. The problem of selecting the stabilizer
parameters is converted to a simple optimization problem
with an eigen value based objective function and it is
proposed to employ simulated annealing and particle
swarm optimization for solving optimization problem.
The objective function allows the selection of the
stabilizer parameters to optimally place the closed-loop
eigen values in the left hand side of the complex s-plane.
The effectiveness of the stabilizer tuned using the best
technique, in enhancing the stability of power system.
The performance of the system is analyzed by using both
the techniques. Stability is confirmed through eigen
value analysis and simulation results and suitable
heuristic technique will be selected for the best
performance of the system. 1
Keywords: Rotor oscillations, Power system stability,
Robust control, Simulated Annealing, Particle swarm
optimization.
1. Introduction
During changes in operating conditions, oscillations of
small magnitude and low frequency often persist for long
period of time and in some cases even present limitations
on power transfer capability. Power system stabilizer
(PSS) is designed to damp the low frequency oscillations
of power system [1].
PSS is used to add damping to the generator rotor
oscillations by controlling its excitation using auxiliary
stabilizing signals. The widely used conventional power
system stabilizer (CPSS) is designed using the theory of
2. Controller Design
Damping torque is produced to overcome rotor
oscillation. The action of a PSS is to extend the angular
stability limits of a power system by providing
supplemental damping to the oscillation of synchronous
machine rotors through the generator excitation [4].
TPSS
= K
VS
X (t ) = Ak X (t ) + Bk U (t ) ; k = 1,2,3,... N (1)
.
Where, X(t) Rn is the state vector and X(t) Rm is
the control vector.
Very often, the closed-loop modes are specified to have
some degree of relative stability. In this case closed-loop
eigen values are constrained to lie to the left of a vertical
line corresponding to a specified damping factor. A
necessary and sufficient condition for the set of plants in
equation (1) to be simultaneously relatively stabilizable
with a single control law is that the eigen values of the
closed-loop system lie in the left-hand side of a vertical
line in the complex s-plane. This condition motivates the
following approach for determining the parameters of the
PSS.
Select the parameters of the PSS to minimize the
following objective function:
VS
K STAB
Gain
sTW
1 + sTW
Washout
1 + sT1
1 + sT2
Phase Compensation
where k,i is ith closed loop eigen value of the kth plant
and is relative stability factor. Subject to the constraints
that finite bounds are placed on the stabilizer parameters.
In this paper instead of N number of plants, singlemachine-infinite-bus system is considered.
The objective function can be modified as,
J = max{Re( k ) + }
4. System Model
In this steady single-machine-infinite-bus power system
is considered [6]. The supplementary stabilizing signal
considered is one proportional to speed [7].A widely used
conventional PSS is considered throughout the study.
The transfer function of PSS with single phase
compensation block is
3. Problem Formulation
In this section, the eigen value-based objective function
used to robustly select the PSS parameters [5], and the
8
VS
sTW 1 + sT1
= K STAB
r
1 + sTW 1 + sT2
PSS
K4
Ga
Ge
Efd
+
Tm
G fd
Gf
K2
K6
377
- Te +
Gm
r S
+
K1
+
+
)) / C p ) rand (0,1)
VS
Vref +
K5
5. Simulated Annealing
Simulated Annealing [8] is an optimization technique
that simulates the physical annealing process in the field
of combinatorial optimization. Annealing is the physical
process which involves heating up of a solid until it melts,
followed by slow cooling down by decreasing
temperature. Thermal equilibrium at any temperature T
i.e temperature of solid is maintained as constant for a
period of time, is given by Boltzmann distribution. It
gives the probability of the solid being in an energy state
i with energy Ei at temperature T as,
Ei
Pi = k e T
where k is Boltzmanns constant. The analogy between a
physical annealing process and a combinatorial
optimization problem is based on the following,
Solutions obtained for optimization problem are
equivalent to configurations of a physical
system
The cost of a solution is equivalent to the energy
of a configuration.
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7. Simulation Results
In this part of the study, a single machine is connected to
infinite bus through a transmission line, and operating at
different loading conditions [11], is considered. The
linearized model of this system, voltage regulator and
exciter included [6] is considered.
The constants K1 to K6 , with the exception of K3 , which
is only a function of the ratio of impedance, are
dependent on the actual real power (P) and reactive
power (Q) loading as well as the excitation levels in the
machine.
The operating points are selected based on the different
loading conditions. The simultaneous damping
enhancement of the is demonstrated by considering five
different loading conditions.
The operating points were selected randomly as follows:
( Po , Qo ) = (0.9, 0.3); (0.8, -0.1); (0.5,0.5); (0.6, -0.2);
(1.0, 0.6)
The eigen values are found by transferring the transfer
function of the system data into state model.
The eigen values of the system at the five operating
points considered, with out PSS are,
1. 0.4981 6.6288i, -33.6805, -17.3597
2. 0.7513 7.3702i, -11.5526, -39.9942
3. 0.0283 5.3580i, -25.0504 9.1822i
4. 0.1936 6.9157i, -10.7786, -39.6528
5. 0.5410 6.1171i, -21.6341, -29.4919
From the eigen values it is clear that the system is
unstable due to its location in the right half of the
s plane.
Plot for System w ithout PSS
0.25
0.2
0.15
0.1
0.05
0
-0.05
-0.1
-0.15
-0.2
0.5
1.5
2.5
3.5
4.5
Time (sec)
10
0.04
0.04
0.03
0.03
0.02
0.01
0
-0.01
0.02
0.01
0
-0.01
-0.02
-0.02
-0.03
-0.03
-0.04
-0.04
10
15
20
25
10
15
20
30
25
30
35
40
Time (sec)
Time (sec)
0.03
0.025
0.02
0.015
0.01
0.005
0
-0.005
-0.01
-0.015
Time (sec)
0.02
0.015
0.01
0.005
0
-0.005
-0.01
0.02
-0.015
Time (sec)
0.025
0.015
0.01
0.005
0
0.015
-0.005
0.01
Time (sec)
0.005
-0.005
0.02
Time (sec)
0.02
0.015
0.01
0.005
-0.005
4
Time (sec)
11
Loading
Condition
( Po , Qo )
0.02
0.015
Simulated
Annealing
Settling
Time
in Sec.
Peak
Amp.
Particle Swarm
Optimization
Settling
Time
in Sec.
Peak
Amp.
0.01
0.9, 0.3
20.8
0.0443
4.51
0.0236
0.8, -0.1
4.6
0.0313
6.32
0.0211
0.5, 0.5
5.58
0.0287
4.92
0.0275
0.6, -0.2
3.96
0.0272
5.06
0.0218
1.0, 0.6
4.09
0.0324
4.99
0.026
0.005
0
-0.005
-0.01
Time (sec)
0.02
0.015
0.01
0.005
8. Conclusion
Time (sec)
0.025
0.02
0.015
0.01
0.005
-0.005
Time (sec)
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APPENDIX III
PARTICLE SWARM OPTIMIZATION
Appendix I
System Data
1
2HS +KD ;
sK f
Gf =
1 + sTF ;
Gm =
KA
sTA + 1 ;
K3
G fd =
1 + sT ' do K 3
GA =
Ge =
1
sTE + 1 ;
re = 0.02 ;
xe = 0.4
+ c 2 r2 ( x *j*,k (t 1) x j ,k (t 1))
9. References
[1] M.A. Abido, Robust design of multi machine power
system stabilizers using simulated annealing, IEEE
transactions on Energy Conversion, Vol.15, No.3,
Sep. 2000.
[2] E.V. Larsen and D.A. Swann, Applying Power
System Stabilizers: Parts I, II, and III, IEEE
transactions on Power Apparatus and Systems,
vol.PAS-100, pp. 3017-3046, 1981.
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