Vol. 05, Issue 09,September2020 Available Online: www.ajeee.co.in/index.php/AJEEE THE LOW FREQUENCY OSCILLATIONS OF MULTI-MACHINE POWER SYSTEM WITH
COORDINATED CONTROL SCHEME OF PSS AND INTEGRATION OF FACTS DEVICES:- A REVIEW
1Chandan Kumar
IES College of Technology, Bhopal, M.P.
2Asst. Prof. Rahul Malviya IES College of Technology, Bhopal, M.P.
Abstract:- Nowadays, the continuous growth in power demand leads to expansion of the Power System network which makes the existing system more sensitive and prone to instability. An important issue associated with the stability of multi-area power system is low-frequency electromechanical oscillations from the multi-machine system. Generally, Power System Stabilizer (PSS) is used to compensate low-frequency electromechanical oscillation of Interconnected Power System, but local PSS does not have global observance and controllability of inter-area low-frequency oscillation because of the control signal of local PSS and generated a local signal. So next resolution is Flexible AC Transmission System (FACTS) device with a supplementary controller that are used for effective damping of low-frequency electromechanical oscillations of interconnected Power System and to improve Power System stability. This thesis work presents Coordination control of PSS and FACTS Devices to damp out low-frequency electromechanical oscillation. In this research study, we use different FACTS Devices like Static VAR Compensator (SVC), Static Synchronous Series Compensator (SSSC), Static Synchronous Compensator (STATCOM), and Unified Power Flow Compensator (UPFC) to damp out low frequency electromechanical oscillation from a Multi-machine Power System and improve the stability of Interconnected Power System. Analysing result of all FACTS devices on simulation, we found that UPFC gives a better response. Due to reactiveness, FACTS device like UPFC are considered and assessed for their damping controller design. In this research, we studied the implementation of supplementary Power Oscillation Damping (POD) Controller to control UPFC. POD Controller is designed to improve the dynamic performance of interconnected Power System under the transient condition to stabilize Power System. Some simulation results are carried out on Kundur Two area Four Machine systems under small disturbances. From simulation result, it reveals that the proposed controller damp-out low- frequency electromechanical oscillations effectively to improve Power System stability under small disturbance.
1. INTRODUCTION
This chapter contributes a brief introduction of entire research work. In this chapter researcher deliberate about the background and motivation of research work. Objectives of research, problem specification and problem statement of the research are emphasized in this chapter. Additionally this chapter discussed about the methodology, technology overview, expected outcomes, limitation of research, and benefits of the research.
1.1 Background and Motivation for This Research
Due to continuous strengthening of electric power demand, power systems operate very close to their stability limit. Dramatically Increase in load is also a type of disturbance.
Progressive electrical power system can reach up to the stressed condition comfortably as compare to ancient time. Under such condition, occurrence of any disturbance and contingency may lead to oscillations with negative damping or poorly damped which produce hazardous effect in power grid.
With augmented electric power demand of this modern era, the negative damping inter-area low frequency oscillations or poorly damped oscillation become a biggest problem for power system engineers [2-4]. Throughout the world, such type of inter-area oscillations affects the power grid whose frequency lies between 0.1 Hz to 1 Hz and sometimes these inter-area oscillations causes blackout or brown out [5-6].
Vol. 05, Issue 09,September2020 Available Online: www.ajeee.co.in/index.php/AJEEE Table 1: List of inter-area oscillations
S.No. Area Frequency (Hz)
a)
Hydro- Quebec 0.6b)
Western North American Interconnection 0.2c)
Brazil 0.15-0.25d)
UCTE/CENTREL interconnection in Europe 0.19-0.36Eastern Canada and US observed the 0.4 Hz of oscillations in 2003 in several post- contingency stages [13]. In the year of 2000 and 1996, during summer time there was two famous WECC experienced unstable low frequency inter-area oscillations under the condition of outage of four 400 kV lines[10]. The 2012 blackout in India was also associated with inter-area oscillations [14].
Table 2: Low frequency oscillations in Indian power system Case
No.
Date Location Transmission Line
Frequency Damping 1. Jan 28, 2014 Solapur-
Raichur
765 kV 0.2 Hz -Ve
2. May 06, 2014 New and SR grid
--- 0.2 Hz -3% and it
increases to 8 % 3. Jan 01, 2015 Solapur-
Raichur
765 kV 0.2 Hz -Ve
[Source– POSOCO: Report on low frequency oscillations in Indian power system, March 2016]
The traditional method to damp out or subsided such type of inter- area oscillations for negative damping ratio or with low damping, a conventional method is used.In this conventional method, we used a Power System Stabilizer (PSS) at each generator and controlling signal for these PSS are itsown generator signal, called local signal. But these types of controllers may not always able to damp out such type of inter-area oscillations due to lack of global observation.
Nowadays, a non-linear control technique approach gains more and more attention because, linear control system technique applied for one operating point. But in practical cases operating points are usually not fixed. In recent years, smart grid plays an important role in power system stability and control. The synchrophasor technology based Wide Area Management System (WAMS) provide synchronised and time stamped voltage and current phasor in real time from power system with the help of Phasor Measurement Unit (PMU).
These measurements signal have better controllability/observability for power system stability and can be effectively utilised to design a Wide Area Damping Controller (WADC) to damped out such type of oscillation or sprees their effect from power grid.
Literature review is core of research work. The actual motivation of the research and the idea towards research are the outcomes of literature review.
2. LITERATURE REVIEW
Literature review is coreof research work. The actual motivation of the research and the idea towards research are the outcomes of literature review. The researcher has been through in depth of some latest research papers including some classical papers. Most of the research papers included here are all referred journal papers. Some of the classical papers published in nineties are also undertaken for literature review. This chapter also discuss about the identified research gap and problem statement of the research.
Various related literature such as IEEE transactions, other journals and proceedings of various national and international conferences were reviewed Weiss [2015]
constructed a reduced-order model of the Western Electricity Coordinating Council (WECC) power system using mathematically derived parameters from real Synchrophasors data.
These parameters include inter and intra-area impedances, inertias, and damping factors for aggregate synchronous generators representing five geographical, and yet coherent, areas of WECC.
Vol. 05, Issue 09,September2020 Available Online: www.ajeee.co.in/index.php/AJEEE Wide-area feedback consisting of phase angle and frequency measurements from Phasor Measurement Units (PMUs) in the other areas is used to design this controller. The objective is to damp the inter-machine oscillation modes of the reduced-order model, which in the full-order system corresponds to inter-area oscillations. The controller input is chosen via statistical variance analysis, and its parameters are tuned to improve the damping factors of the slow modes.
The model is implemented in a real-time digital simulator, and validated using a wide range of disturbance scenarios. The closed-loop system is observed to be highly robust to all of these disturbances as well as the choice of operating points. Detailed experimental analyses of the capacity of the SVC to satisfy the damping specifications of supplementary control are also presented via multiple contingencies. The results are promising in aiding damping of inter-area modes in WECC, especially at a time of increasing penetration of wind and other renewable resources. In this work, researcher also used Coordinated Control of PSS and Comparison FACTS Devices to damp out low frequency oscillation and improve Power System Stability.
Pan [2015] explores the electric torque analysis (ETA) method in the two machine system and the criteria of stability. An online coordination scheme of SVC-based Wide-Area Damping Controller (WADC) to maximize the damping ratio of the inter-area mode with the transient stability constraints is presented. The scheme is treated as an optimization issue and a Plant Growth Simulation Algorithm (PGSA) is employed to search for the optimal controller parameters. A 2-area 4-machine Kundur‟s benchmark system is used to verify the effectiveness and advantages of the proposed scheme for online applications. In the research work Coordinated Control of PSS and Comparison of FACTS Devices to improve Power System Stability.
Pradhan [2015] proposed a wide area damping controller, used global signal as a feedback for FACTS or HVDC to damp out the inter-area oscillation. According to author of this paper, global feedback signals may have better damping effect than local feedback signal. But, in this paper, a composite control strategy is used, which uses both local and global signal to damp out or supress the local mode oscillation or inter-area oscillation and improved robustness. In this dissertation work Coordinated Control of PSS and Comparison of FACTS Devices to improve Power System Stability.
Khadanga [2015] proposed a novel approach to enhance the power system stability to damp out the negative damping or weak damping inter-area oscillations including signal delay effect by using coordination control of PSS and SSSC and the parameters of the proposed controller optimised by Gravitational Search Algorithm (GSA), GA and PSO and Compare these results with hybrid of PSO and GSA. To validate this research work, author include various time-delay in controller signal and given both in single machine as well as multi-machine power system under different loading condition and system configuration.
Form the results it can be easily observed that, the proposed hybrid PSO-GSA controller, easily damp out the negative as well as weak damping power system oscillations over a wide range of disturbance. In this research work researcher used coordination control of PSS and Comparison of FACTS Devices to improve Power System Stability.
Yao [2014] proposed a new approach for the synthesis of Wide Area Damping Controller (WADC) for FACTS devices considering the adverse effect time delay of wide area signal. In this paper researcher introduces the delay margin as an additional performance index. For feedback input signal researcher used the geometric measure method and phase compensation part of the WADC designed by residue method.
The delay margin is calculated by a Lyapunov stability criterion and LMIs based on the reduced-order model of large-scale power system excluding the WADC. The gain of the controller is the key parameter related to delay margin. In this dissertation, researcher does not consider the delay adverse effect, but designed a coordination control of PSS and Comparison of FACTS Devices to improve Power System Stability.
Padhy [2014] Network uncertainties, such as time-varying delays, packet losses, packet disorder, seriously deteriorate the performance and stability of any network based control system. To address this issue, a systematic approach has been suggested in this paper to compensate for the network latency in the application of synchrophasors assisted wide area control for the Static Var Compensator (SVC). The power oscillation modes are estimated online in presence of packet drop in a communication network. The modes are
Vol. 05, Issue 09,September2020 Available Online: www.ajeee.co.in/index.php/AJEEE The time delay has been compensated by predicting the dynamics of the delayed measurement signal. A network control system model has been developed incorporating the Phasor Measurement Units (PMUs), event driven communication network and network buffers to mimic the response of a real time communication based control. The wide-area stabilizing controller has been designed based on Takagi-Sugeno (TS) fuzzy approach. The performance of the proposed delay compensation scheme has been tested on 39-bus New England system. In this research work, coordination control of PSS and Comparison of FACTS Devices to improve Power System Stability.
Wivutbudsiri [2014] present a robust controller for power system damping improvement, with Thyristor Controlled Series Capacitor (TCSC) based on fuzzy logic control design and controlled signal obtained from Phasor Measurement Units (PMUs). In this paper author placed, two PMUs at the generator buses which is located at faraway in different areas. As a result of this, weak or low frequency inter-area oscillation can be detected more obviously.
The control signal obtained by Phasor Measurement unit issued as feedback input for proposed TCSC damping controller. The fuzzy controller designed for TCSC is based on PMUs wide area signal. Author, simulated some results to validate the effectiveness of proposed controller and also compared their results for conventional lead-lag damping controller. From simulation results it is reveal that, a significant improvement of damping performance and robustness can be obtained by using fuzzy controller. In this research work, coordination control of PSS and Comparison of FACTS Devices to improve Power System Stability is focused.
Laopromsukon [2014] proposed the application of a Static Synchronous Series Compensator (SSSC) with Fuzzy Logic Controller (FLC) to damp out the inter-area oscillations from power system. The proposed FLC is applied to SSSC and effeteness of controller tested on Kundur‟s two-area four-machine power system. From the simulation results, it can be concluded that the proposed control method can improve the stability and robustness of a wide-area power system better than the conventional lead-lag controller. In this dissertation work, coordination control of PSS and Comparison of FACTS Devices to improve Power System Stability is focused.
Yao [2014] proposed a new approach for WADC controller using FACTS devices, considering the effect of communication delay in wide area signals. The proposed approaches select the feedback signal by using geometric measure method and phase composition block design by residue method for WADC. The delay margin is calculated by a Lyapunov stability criterion and LMIs based on reduced-order model of large-scale power system excluding the WADC.
The gain of WADC is the key factor related to the delay margin and damping performance: the increase of the gain of WADC will reduce the delay margin while increasing the damping ratio of the critical inter-area oscillation mode.In this dissertation researcher designed coordination control of PSS and Comparison of FACTS Devices to improve Power System Stability.
Zhang [2013] demonstrated design of wide area power system damping controller by considering resiliency either in communication system or physical system to counter act communication failure. In the paper the location of SVC has been selected to strongly influence the relevant inter-area mode of oscillations by computing bus participation factor at nominal operating condition of the power system. In this research work, coordination control of PSS and Comparison of FACTS Devices to improve Power System Stability.
Modi [2011] demonstrate the three different approaches for feedback signal selection for power system wide area damping controller to damp out the inter-area oscillations with negative damping ratio or low damping ratio. These three methods are: residue, controllability/observability, and hankel singular value approach. Out of these methods residue and hankel value based signal selection are based over controllability/observability approach.
Further researcher found that residue and hankel value based method signal selection performs similarly in small two-area power system. However, hankel value based signal selection performs outstanding in medium scale system. In this research work of thesis, researcher usedcoordination control of PSS and Comparison of FACTS Devices to improve Power System Stability.
Vol. 05, Issue 09,September2020 Available Online: www.ajeee.co.in/index.php/AJEEE Panda [2007] present the single machine infinite bus with TCSC to improve the power system stability and the parameters of the proposed controller are optimised by Genetic Algorithm. This paper also indicates the concept of the damping controller for the power system stability improvement and soft computing technique is used to tune the controller parameters. In this research work coordination control of PSS and Comparison of FACTS Devices to improve Power System Stability is focused.
2.1 Identified Research Gap
'Based on the literature reviewed in the above sections, the researcher found the following research gap:-
Large inter connected power system over long distance connected with weak tie-line and high gain exciter, introduce the inter-area oscillations under small disturbance which could increase leading to brown out or black out. Therefore, the research gap is to minimize the oscillation due to small disturbances for which there could be various approaches.
2.2 Problem Statement
Based on the in depth literature review undertaken by the researchers the research gap was identified and the following problem statement was formulated:-
“A coordinated Control Scheme of PSS and Comparison of FACTS Devices to Improve Power System Stability”
3. PROPOSED TECHNOLOGY ADAPTED
This chapter provides a detail insight of mathematical modelling of entire power system that is useful for analysis and control design for further study of this dissertation. The power system modelling briefs about mathematical modelling of synchronous generator, governor, excitation system, Automatic Voltage Regulator(AVR), Power System Stabilizer(PSS) and load modelling different type of FACTS devices with detail description of SVC (Static VAR Compensator), STATCOM (Static Synchronous Compensator),SSSC (Static Synchronous Series Compensator ) and UPFC( Unified Power Flow Controller). This chapter also included about the introduction of power system stability, small signal stability analysis and general concept of Wide Area Damping Controller (WADC).
3.1 Power System Components
In this section, the different components of power system adopted in this research are discussed.
3.2 Synchronous Machine Modelling
All the generators of the test system (G1 to G4) are represented by a sub transient model [20] with four equivalent coils on the rotor using the IEEE convention. Besides the field coil, there is one equivalent damper coil in the direct axis and two in the quadrature axis. The mechanical input power to the generator is assumed to be constant during the disturbances such as a 3-phase fault, obviating the need for modelling the prime-mover.
The differential equations governing the sub-transient dynamic behaviour of the generator 𝒊 is given by:
𝒅𝜹𝒊
𝒅𝒕 = 𝝎𝒊− 𝝎𝒔 (𝟑. 𝟏) 𝒅𝝎𝒊
𝒅𝒕 = 𝝎𝒔
𝟐𝑯[𝑻𝒎𝒊− 𝑫 𝝎𝒊− 𝝎𝒔 − 𝑿𝒅𝒊" − 𝑿𝒍𝒔𝒊
(𝑿𝒅𝒊′ − 𝑿𝒍𝒔𝒊)𝑬𝒒𝒊′ 𝑰𝒒𝒊− 𝑿𝒅𝒊′ − 𝑿𝒅𝒊"
(𝑿𝒅𝒊′ − 𝑿𝒍𝒔𝒊)𝝍𝟏𝒅𝒊𝑰𝒒𝒊− 𝑿𝒒𝒊" − 𝑿𝒍𝒔𝒊
(𝑿𝒒𝒊′ − 𝑿𝒍𝒔𝒊)𝑬𝒅𝒊′ 𝑰𝒅𝒊 + 𝑿𝒒𝒊′ − 𝑿𝒒𝒊"
(𝑿𝒅𝒊′ − 𝑿𝒍𝒔𝒊)𝝍𝟐𝒒𝒊𝑰𝒅𝒊+ 𝑿𝒒𝒊" − 𝑿𝒅𝒊" 𝑰𝒒𝒊𝑰𝒅𝒊 (𝟑. 𝟐) 𝒅𝑬𝒒𝒊′
𝒅𝒕 = 𝟏
𝑻𝒅𝒐𝒊′ −𝑬𝒒𝒊′ − 𝑿𝒅𝒊− 𝑿𝒅𝒊′ −𝑰𝒅𝒊− (𝑿𝒅𝒊′ − 𝑿𝒅𝒊′′
𝑿𝒅𝒊′ − 𝑿𝒍𝒔𝒊 𝟐 𝝍𝟏𝒅𝒊− 𝑿𝒅𝒊′ − 𝑿𝒍𝒔𝒊 𝑰𝒅𝒊− 𝑬𝒒𝒊′ + 𝑬𝒇𝒅𝒊 (𝟑. 𝟑)
Vol. 05, Issue 09,September2020 Available Online: www.ajeee.co.in/index.php/AJEEE 𝐝𝐄𝐝𝐢′
𝐝𝐭 = 𝟏
𝐓𝐪𝐨𝐢′ −𝐄𝐝𝐢′ − 𝐗𝐪𝐢− 𝐗𝐪𝐢′ −𝐈𝐪𝐢− (𝐗𝐪𝐢′ − 𝐗𝐪𝐢′′
𝐗𝐪𝐢′ − 𝐗𝐥𝐬𝐢 𝟐 𝛙𝟐𝐪𝐢− 𝐗𝐪𝐢′ − 𝐗𝐥𝐬𝐢 𝐈𝐪𝐢− 𝐄𝐝𝐢′ 𝐝𝛙𝟏𝐝𝐢
𝐝𝐭 = 𝟏
𝐓𝐝𝐨𝐢′′ −𝛙𝟏𝐝𝐢+ 𝐄𝐪𝐢′ + 𝐗𝐝𝐢′ − 𝐗𝐥𝐬𝐢 𝐈𝐝𝐢 (𝟑. 𝟑) 𝐝𝛙𝟐𝐪𝐢
𝐝𝐭 = − 𝟏
𝐓𝐪𝐨𝐢′′ −𝛙𝟐𝐪𝐢+ 𝐄𝐝𝐢′ − 𝐗𝐪𝐢′ − 𝐗𝐥𝐬𝐢 𝐈𝐪𝐢 (𝟑. 𝟒) For 𝐢 = 𝟏, 𝟐, 𝟑, … . . 𝐦 𝐰𝐡𝐞𝐫𝐞,
𝐦 = Total number of generators,
𝛅𝐢= Generator rotor angle,
𝛚𝐢= Rotor angular speed,
𝐄𝐪𝐢′ = Transient emf due to field flux linkage,
𝐄𝐝𝐢′ = Transient emf due to flux linkage in q-axis damper coil,
𝛙𝟏𝐝𝐢= Sub- transient emf due to flux linkage in d-axis damper,
𝛙𝟐𝐪𝐢= Sub- transient emf due to flux linkage in q-axis damper,
𝐈𝐝𝐢=d-axis component of stator current,
𝐈𝐪𝐢=q-axis component of stator current,
𝐗𝐝𝐢,𝐗𝐝𝐢′ , 𝐗𝐝𝐢′′ = Synchronous, transient and sub-transient reactance, respectively along d-axis,
𝐗𝐪𝐢,𝐗𝐪𝐢′ , 𝐗𝐪𝐢′′ = Synchronous, transient and sub-transient reactance, respectively along q-axis,
𝐓𝐝𝟎′ , 𝐓𝐝𝟎′′ = d-axis open circuit transient and sub-transient time constant, respectively,
𝐓𝐪𝟎′ , 𝐓𝐪𝟎′′ =q-axis open circuit transient and sub-transient time constant, respectively.
4. RESEARCH METHODOLOGY
Activities that have been done methodically, complete literature review and achieve the desired result. It also concludes the entire work to pursuit power system stability.
4.1 Purpose of the Research
The purpose of this research is to design a WADC based on Comparison of FACTS Devices like SVC, STATCOM, SSSC, and UPFC to damp-out the inter-area oscillations in large power system and to improve Power System Stability.
4.2 Sources of Information
Before formulating the problem a comprehensive literature survey was undertaken as discussed in chapter-2. Fundamental books corresponding power system, FACTS devices, and miscellaneous reports on grid disturbance in India were reviewed.
4.3 Technology Adapted
Components of power system used in this dissertation are represented by their mathematical model and components are synchronous generators, excitation system, transformer, governor, transmission line, PSS, load, SVC, STATCOM, SSSC, UPFC, POD and technology which discussed in detail in chapter-3. Using all these components, Kundur‟s two area four machines has been developed in MATLAB 2010a (Sim Power System using Simulink library).
4.4 Software Programing
Analysing results, undertaken in MATLAB 2010a for the designing and implementation of WADC.
5. CONCLUSION AND FUTURE SCOPE
This chapter is an attempt to summaries and conclude the entire research. Although the research in this dissertation accomplished in manner. But by this experience it was realized that no research work ends. This work will have to continue and therefore the future scope of work also given here so that other researcher could continue to contribute to the expending body of knowledge.
Vol. 05, Issue 09,September2020 Available Online: www.ajeee.co.in/index.php/AJEEE 5.1 Conclusion Drawn From the Research
In this report, a coordinated control of a power system stabilizer with Comparison of FACTS Devices. To observe our simulation result UPFC gives better result Compare of other FACTS Devices like SVC, SSSC, and STATCOM. Due to this Reactive FACTS device, such as UPFC are considered and assessed for their damping controller design. In this research study, we also implemented supplementary POD Controller to control the UPFC and improve the performance of Power System under transient condition.
The time domain simulation of a non-linear system is carried out in MATLAB 2010a software package. The performance of above optimization techniques is compared on Kundur two area four machine weakly connected power system under small disturbances.
The simulation results show that the test system dynamics performance and over all damping effect are enhanced by simultaneous tuning of PSS and proposed controller.
Therefore, coordinated control of PSS, FACTS based proposed damping controller (UPFC- POD) provides better damping of power system oscillations and improve Power System stability.
5.2 Scope of Future Work
Research and development are a non-stopping process. For any research work carried out, there is always a possibility of further improvement and lot many avenues are opened for further investigation. The future work that can be carried out in the area of power system stability improvement with FACTS controllers has been identified and listed as given below.
The Simulink based power system design can be extended with other generalized FACT devices like TCSC and IPFC.
The system investigation can extended the same co-ordination technique for large multi machine system ( 16 machine 68 bus power systems)
The control parameters of coordinated controller are optimized using advanced optimization techniques.
The coordinated controller can be validated in Real- Time using RTDS (Real-time design and simulator)
So far this chapter provided the conclusion about the entire dissertation. The future scope of the research has also been provided in this chapter.
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