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1
x
id
x
id
cv
id
2
where P
id
and P
gd
are pbest and gbest. Several modications have
been proposed in the literature to improve the PSO algorithm speed
and convergence toward the global minimum. One modication is
to introduce a local-oriented paradigm (lbest) with different neigh-
borhoods. It is concluded that gbest version performs best in terms
of median number of iterations to converge. However, Pbest version
with neighborhoods of two is most resistant to local minima. PSO
algorithm is further improved via using a time decreasing inertia
weight, which leads to a reduction in the number of iterations
[24]. Fig. 1 shows the owchart of the proposed PSO algorithm.
This new approach features many advantages; it is simple, fast
and easy to be coded. Also, its memory storage requirement is min-
imal. Moreover, this approach is advantageous over evolutionary
and genetic algorithms in many ways. First, PSO has memory. That
is, every particle remembers its best solution (local best) as well as
the group best solution (global best). Another advantage of PSO is
that the initial population of the PSO is maintained, and so there is
no need for applying operators to the population, a process that is
time and memory-storage-consuming. In addition, PSO is based on
constructive cooperation between particles, in contrast with the
genetic algorithms, which are based on the survival of the ttest.
3. Description of case study system
Fig. 2 shows a single-machine innite-bus (SMIB) power system
equipped with a UPFC. The synchronous generator is delivering
power to the innite-bus through a double circuit transmission
line and a UPFC. The UPFC consists of an excitation transformer
(ET), a boosting transformer (BT), two three-phase GTO based volt-
age source converters (VSCs), and a DC link capacitors. The four in-
put control signals to the UPFC are m
E
, m
B
, d
E
, and d
B
, where, m
E
is
the excitation amplitude modulation ratio, m
B
is the boosting
amplitude modulation ratio, d
E
is the excitation phase angle and
d
B
is the boosting phase angle.
3.1. Power system nonlinear model with UPFC
The dynamic model of the UPFC is required in order to study the
effect of the UPFC for enhancing the small-signal stability of the
power system. The system data is given in the Appendix A. By
applying Parks transformation and neglecting the resistance and
transients of the ET and BT transformers, the UPFC can be modeled
as [1012]:
v
Etd
v
Etq
_ _
0 x
E
x
E
0
_ _
i
Ed
i
Eq
_ _
m
E
cos d
E
v
dc
2
m
E
sind
E
v
dc
2
_ _
3
v
Btd
v
Btq
_ _
0 x
B
x
B
0
_ _
i
Bd
i
Bq
_ _
m
B
cos d
B
v
dc
2
m
B
sind
B
v
dc
2
_ _
4
_ v
dc
3m
E
4C
dc
cos d
E
sind
E
i
Ed
i
Eq
_ _
3m
B
4C
dc
cos d
B
sind
B
i
Bd
i
Bq
_ _
5
where v
Et
, i
E
, v
Bt
, and i
B
are the excitation voltage, excitation current,
boosting voltage, and boosting current, respectively; C
dc
and v
dc
are
the DC link capacitance and voltage. The nonlinear model of the
SMIB system as shown in Fig. 2 is described by [1]:
Evaluate the fitness of each particle
Optimal value of the damping controller parameters
Satisfying
stopping
criterion
Update pbest and gbest
End
Start
Select parameters of PSO:
N, C1, C2, C and w
Generate the randomly positions
and velocities of particles
Initialize, pbest with a copy of the
position for particle, determine gbest
Update velocities and positions
according to Eqs. (1, 2)
No
Yes
Fig. 1. Flowchart of the proposed PSO technique.
Fig. 2. SMIB power system equipped with UPFC.
2556 H. Shayeghi et al. / Energy Conversion and Management 50 (2009) 25542561
_
d x
0
x1 6
_
x P
m
P
e
DDx=M 7
_
E
0
q
E
q
E
fd
=T
0
do
8
_
E
fd
E
fd
K
a
V
ref
V
t
=T
a
9
where,
P
e
V
td
I
td
V
tq
I
tq
; E
q
E
0
qe
X
d
X
0
d
I
td
;
V
t
V
td
jV
tq
; V
td
X
q
I
tq
; V
tq
E
0
q
X
0
d
I
td
;
I
td
I
tld
I
Ed
I
Bd
; I
tq
I
tlq
I
Eq
I
Bq
From Fig. 2. we can have:
v
t
jx
tE
i
B
i
E
v
Et
10
v
Et
v
Bt
jx
BV
i
B
v
b
11
v
td
jv
tq
x
q
i
Eq
i
Bq
jE
0
q
x
0
d
i
Ed
i
Bd
jx
tE
i
Ed
i
Bd
ji
Eq
i
Bq
v
Etd
jv
Etq
12
where i
t
and v
b
, are the armature current and innite-bus voltage,
respectively. From the above equations, we can obtain:
i
Ed
x
BB
x
d
E
0
q
m
E
sind
E
v
dc
x
Bd
2x
d
x
dE
x
d
v
b
cos d
m
B
sind
B
v
dc
2
_ _
13
i
Eq
m
E
cos d
E
v
dc
x
Bq
2x
q
x
qE
x
q
v
b
sind
m
B
cos d
B
v
dc
2
_ _
14
i
Bd
x
E
x
d
E
0
q
m
E
sind
E
v
dc
x
dE
2x
d
x
dt
x
d
v
b
cos d
m
B
sind
B
v
dc
2
_ _
15
i
Bq
m
E
cos d
E
v
dc
x
qE
2x
q
x
qt
x
q
v
b
sind
m
B
cos d
B
v
dc
2
_ _
16
where,
x
q
x
q
x
T
x
E
_ _
x
B
x
L
2
_ _
x
E
x
q
x
T
_ _
x
Bq
x
q
x
T
x
B
x
L
2
x
qt
x
q
x
T
x
E
; x
qE
x
q
x
T
;
x
d
x
0
d
x
T
x
E
_ _
x
B
x
L
2
_ _
x
E
x
0
d
x
T
_ _
x
Bd
x
0
d
x
T
x
B
x
L
2
; x
Bd
x
0
d
x
T
x
E
; x
dE
x
0
d
x
T
;
x
BB
x
B
x
L
2
x
E
, x
B
, x
d
, x
0
d
and x
q
are the ET, BT reactance, d-axis reactance, d-axis
transient reactance, and q-axis reactance, respectively.
3.2. Power system linearized model
A linear dynamic model is obtained by linearizing the nonlinear
model round an operating condition. The linearized model of
power system as shown in Fig. 2 is given as follows:
D
_
d x
0
Dx 17
D
_
x DP
e
DDx=M 18
_
E
0
q
DE
q
DE
fd
=T
0
do
19
D
_
E
fd
K
A
Dv
ref
Dv DE
fd
=T
A
20
D_ v
dc
K
7
Dd K
8
DE
0
q
K
9
Dv
dc
K
ce
Dm
E
K
cde
Dd
E
K
cb
Dm
B
K
cdb
Dd
B
21
DP
e
K
1
Dd K
2
DE
0
q
K
pd
Dv
dc
K
pe
Dm
E
K
pde
Dd
E
K
pb
Dm
B
K
pdb
Dd
B
22
DE
0
q
K
4
Dd K
3
DE
0
q
K
qd
Dv
dc
K
qe
Dm
E
K
qde
Dd
E
K
qb
Dm
B
K
qdb
Dd
B
23
DV
t
K
5
Dd K
6
DE
0
q
K
vd
Dv
dc
K
ve
Dm
E
K
vde
Dd
E
K
vb
Dm
B
K
vdb
Dd
B
24
K
1
, K
2
, . . . , K
9
, K
pu
, K
qu
and K
vu
are linearization constants. The state-
space model of power system is given by:
_ x Ax Bu 25
where the state vector x, control vector u, A and B are:
x Dd Dx DE
0
q
DE
fd
Dv
dc
_
; u Dm
E
Dd
E
Dm
B
Dd
B
T
A
0 w
0
0 0 0
K
1
M
0
K
2
M
0
K
pd
M
K
4
T
0
do
0
K
3
T
0
do
1
T
0
do
K
qd
T
0
do
K
A
K
5
T
A
0
K
A
K
6
T
A
1
T
A
K
A
K
vd
T
A
K
7
0 K
8
0 K
9
_
_
_
_
;
B
0 0 0 0
Kpe
M
K
pde
M
K
pb
M
K
pdb
M
Kqe
T
0
do
K
qde
T
0
do
K
qb
T
0
do
K
qdb
T
0
do
K
A
Kvc
T
A
K
A
K
vde
T
A
K
A
K
vb
T
A
K
A
K
vdb
T
A
K
ce
K
cde
K
cb
K
cdb
_
_
_
_
The block diagram of the linearized dynamic model of the SMIB
power system with UPFC is shown in Fig. 3.
3.3. PSO-based output feedback controller design
A power systemcan be described by a linear time invariant (LTI)
state-space model as follows [28]:
_ x Ax Bu
y Cx
26
where x, y and u denote the system linearized state, output and in-
put variable vectors, respectively. A, B and C are constant matrixes
with appropriate dimensions which are dependent on the operating
point of the system. The eigenvalues of the state matrix A that are
called the system modes dene the stability of the system when
it is affected by a small interruption. As long as all eigenvalues have
negative real parts, the power system is stable when it is subjected
to a small disturbance. If one of these modes has a positive real part
the system is unstable. In this case, using either the output or the
state feedback controller can move the unstable mode to the left-
hand side of the complex plane in the area of the negative real parts.
An output feedback controller has the following structures:
u Ky 27
Substituting (27) into (26) the resulting state equation is:
H. Shayeghi et al. / Energy Conversion and Management 50 (2009) 25542561 2557
_ x A
C
x 28
where A
c
is the closed-loop state matrix and is given by
A
C
A BKC 29
By properly choosing the feedback gain K, the eigenvalues of
closed-loop matrix A
c
are moved to the left-hand side of the com-
plex plane and the desired performance of controller can be
achieved. The output feedback signals can be selected by using
mode observability analysis [22,23]. Once the output feedback sig-
nals are selected, only the selected signals are used in forming Eq.
(26). Thus, the remaining problem in the design of output feedback
controller is the selection of K to achieve the required objectives.
The control objective is to increase the damping of the critical
modes to the desired level. It should be noted that the four control
parameters of the UPFC (m
B
, m
E
, d
B
and d
E
) can be modulated in or-
der to produce the damping torque. In this paper, d
E
and m
B
are
modulated in order to damping controller design and are com-
pared with the classical PSS. The proposed controller must be able
to work well under all the operating conditions where the
improvement in damping of the critical modes is necessary. Since
the selection of the output feedback gains for mentioned UPFC
based damping controller is a complex optimization problem.
Thus, to acquire an optimal combination, this paper employs PSO
[26] to improve optimization synthesis and nd the global opti-
mum value of objective function. A performance index based on
the system dynamics after an impulse disturbance alternately oc-
curs in the system is organized and used to form the objective
function of the design problem. In this study, an Integral of Time
multiplied Absolute value of the Error (ITAE) is taken as the objec-
tive function. Since the operating conditions in power systems are
often varied, a performance index for a wide range of operating
points is dened as follows:
J
Np
i1
_
tsim
0
tjDx
i
jdt 30
where t
sim
is the time range of simulation and N
P
is the total number
of operating points for which the optimization is carried out. For
objective function calculation, the time-domain simulation of the
power system model is carried out for the simulation period. It is
aimed to minimize this objective function in order to improve the
system response in terms of the settling time and overshoots. The
design problem can be formulated as the following constrained
optimization problem, where the constraints are the controller
parameters bounds [25]:
Minimize J subject to:
K
min
1
6 K
1
6 K
max
1
K
min
2
6 K
2
6 K
max
2
31
Typical ranges of the optimized parameters are [0.01150] for
K
1
and [0.0110] for K
2
. The proposed approach employs PSO algo-
rithm to solve this optimization problem and search for an optimal
set of output feedback controller parameters. The optimization of
UPFC controller parameters is carried out by evaluating the objec-
tive cost function as given in Eq. (31), which considers a multiple of
operating conditions. The operating conditions are considered as:
Base case: P = 0.80 pu, Q = 0.114 pu and X
L
= 0.3 pu.
Case 1: P = 0.2 pu, Q = 0.01 and X
L
= 0.3 pu.
Case 2: P = 1.20 pu, Q = 0.4 and X
L
= 0.3 pu.
Case 3: P = 0.80 pu, Q = 0.114 pu and X
L
= 0.6 pu.
Case 4: P = 1.20 pu, Q = 0.4 and X
L
= 0.6 pu.
In this work, in order to acquire better performance, number of
particle, particle size, number of iteration, c
1
, c
2
, and c is chosen as
30, 2, 50, 2, 2 and 1, respectively. Also, the inertia weight, w, is lin-
early decreasing from 0.9 to 0.4. It should be noted that PSO algo-
rithm is run several times and then optimal set of output feedback
gains for the UPFC controllers is selected. The nal values of the
optimized parameters are given in Table 1.
4. Nonlinear time-domain simulation
To assess the effectiveness and robustness of the proposed con-
troller, simulation studies are carried out for various fault distur-
bances and fault clearing sequences for two scenarios.
D MS +
1
S
w
0
1
K
4
K
5
K
6
K
2
K
7
K
8
K
a
ST
ka
+ 1
/
3
1
do
ST K +
pd
K
vd
K
vu
K
qd
K
qu
K
cu
K
pu
K
9
1
K S +
ref
V
+
+
+
+
+
+
+
+
+
U
+
e
P
m
P
/
q
E
dc
V
Fig. 3. Modied HeffronPhillips transfer function model.
Table 1
The optimal parameter settings of the proposed controllers.
Controller K
1
K
2
PSS 118.05 0.5112
m
B
115.14 3.127
d
E
60.18 0.31
2558 H. Shayeghi et al. / Energy Conversion and Management 50 (2009) 25542561
4.1. Scenario 1
In this scenario, the performance of the proposed controller un-
der transient conditions is veried by applying a 6-cycle three-
phase fault at t = 1 s, at the middle of the one transmission line.
The fault is cleared by permanent tripping of the faulted line. The
speed deviation of generator at base case, case 2 and case 4 with
the proposed controller based on the d
E
, m
B
and power system sta-
bilizer (PSS) are shown in Fig. 4. It can be seen that the PSO-based
designed controller achieves good robust performance, provides
superior damping in comparison with the conventional PSS and
enhance greatly the dynamic stability of power systems.
4.2. Scenario 2
In this scenario, another severe disturbance is considered for
different loading conditions; that is, a 6-cycle, three-phase fault
is applied at the same above mentioned location in scenario 1.
The fault is cleared without line tripping and the original system
is restored upon the clearance of the fault. The system response
to this disturbance is shown in Fig. 5. It is also clear form the gure
that the proposed method has good damping characteristics for
low frequency oscillations and stabilizes the system quickly.
From the above conducted tests, it can be concluded that the d
E
based controller is superior to the m
B
based controller. To demon-
strate performance robustness of the proposed method, two per-
formance indices: the ITAE and Figure of Demerit (FD) based on
the system performance characteristics are dened as [27]:
ITAE 10; 000
_
5
0
tjDxjdt
FD 1000 OS
2
4000 US
2
T
2
s
32
where speed deviation (Dx), Overshoot (OS), Undershoot (US) and
settling time of speed deviation of the machine is considered for
evaluation of the ITAE and FD indices. It is worth mentioning that
the lower the value of these indices is, the better the system re-
sponse in terms of time-domain characteristics. Numerical results
of performance robustness for all system loading cases are listed
in Table 2. It can be seen that the values of these system perfor-
mance characteristics with the output feedback d
E
based controller
are much smaller compared to output feedback m
B
based controller
and PSS. This demonstrates that the overshoot, undershoot, settling
0 3 6
-6
0
6
x 10
-3
Time (sec)
0 3 6
-8
0
6
x 10
-3
Time (sec)
S
p
e
e
d
d
e
v
i
a
t
i
o
n
0 3 6
0
x 10
-3
Time (sec)
S
p
e
e
d
d
e
v
i
a
t
i
o
n
S
p
e
e
d
d
e
v
i
a
t
i
o
n
-6
6
(a) (b) (c)
Fig. 4. Dynamic responses for Dx in scenario 1 at: (a) base case (b) case 2 (c) case 4 loading; solid (d
E
based controller), dashed (m
B
based controller), dash-dotted (PSS) and
dotted (without controller).
0 3 6
-6
0
6
x 10
-3
Time (sec)
S
p
e
e
d
d
e
v
i
a
t
i
o
n
0 3 6
-4
0
x 10
-3
Time (sec)
S
p
e
e
d
d
e
v
i
a
t
i
o
n
0 3 6
-4
0
x 10
-3
Time (sec)
S
p
e
e
d
d
e
v
i
a
t
i
o
n
6 6
(a) (b) (c)
Fig. 5. Dynamic responses for Dx in scenario 2 at: (a) base case (b) case 2 (c) case 4 loading; solid (d
E
based controller), dashed (m
B
based controller), dash-dotted (PSS) and
dotted (without controller).
Table 2
Values of performance indices ITAE and FD.
Fault case Controller Base case Case 1 Case 2 Case 3 Case 4
ITAE FD ITAE FD ITAE FD ITAE FD ITAE FD
With tripping line PSS 50.25 80.50 94.09 188.73 61.05 79.40 75.02 73.11 83.42 75.62
m
B
70.89 130.4 90.41 151.62 84.61 122.39 73.34 46.18 63.11 84.48
d
E
46.10 37.55 22.41 16.13 48.33 39.01 41.57 21.68 46.15 23.32
Without tripping line PSS 56.44 90.87 92.21 190.06 58.48 96.28 55.55 82.82 56.87 79.43
m
B
50.35 63.01 42.65 60.32 55.98 70. 32 72.95 108.25 71.71 98.62
d
E
49.63 60.44 21.31 22.61 53.75 65.10 33.89 23.41 38.26 29.50
H. Shayeghi et al. / Energy Conversion and Management 50 (2009) 25542561 2559
time and speed deviations of the machine are greatly reduced by
applying the proposed control approach. Moreover, it can be con-
cluded that the d
E
based controller is the most robust controller.
5. Conclusions
The particle swarm optimization algorithm has been success-
fully applied to the design of robust output feedback UPFC based
damping controller. The design problem of the robustly selecting
output feedback controller parameters is converted into an optimi-
zation problem which is solved by a PSO technique with the time
domain-based objective function. Only the local and available state
variables Dx and DV
t
are taken as the input signals of each con-
troller, so the implementation of the designed stabilizers becomes
more feasible. The effectiveness of the proposed UPFC controller
for improving transient stability performance of a power system
are demonstrated by a weakly connected example power system
subjected to different severe disturbances under different operat-
ing conditions. The nonlinear time-domain simulation results
show that the oscillations of synchronous machines can be quickly
and effectively damped for power systems with the proposed con-
troller. The system performance characteristics in terms of ITAE
and FD indices reveal that the output feedback d
E
based damping
controller demonstrates its superiority than both output feedback
m
B
based controller and PSS at various fault disturbances and fault
clearing sequences.
Appendix A
The nominal parameters and operating condition of the system
are listed in Table 3.
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Hossein Shayeghi received the B.S. and M.S.E. degrees in Electrical Engineering
from KNT and Amirkabir Universities of Technology in 1996 and 1998, respectively
and the PhD degree in Electrical Engineering from Iran University of Science and
Technology (IUST), Tehran, Iran, in 2006. Currently, he is an Assistant Professor at
Technical Engineering Department of University of Mohaghegh Ardabili, Ardabil,
Iran. His research interests are in the application of Robust Control, FACTS Devices,
Articial Intelligence to load forecasting, power system control design, planning
and power system restructuring. He is a member of Iranian Association of Electrical
and Electronic Engineers (IAEEE) and IEEE.
Heidarali Shayanfar received the B.S. and M.S.E. degrees in Electrical Engineering
in 1973 and 1979, respectively. He received his PhD degree at Electrical Engineering
from Michigan State University, U.S.A., in 1981. Currently, he is a Full Professor in
Electrical Engineering Department of Iran University of Science and Technology,
Tehran, Iran. His research interests are in the Application of Articial Intelligence to
power system control design, Dynamic Load Modeling, Power System Observability
Table 3
System parameters.
Generator M 8 MJ=MVA T
0
do
5:044s X
d
1 pu
Xq 0:6 pu X
0
d
0:3 pu D 0
Excitation system Ka 10 Ta 0:05 s
Transformers X
T
0:1 pu X
E
0:1 pu
X
B
0:1 pu
Transmission line X
L
1 pu
Operating condition P 0:8 pu V
b
1:0 pu
Vt 1:0 pu
DC link parameter V
DC
2 pu C
DC
1 pu
UPFC parameter m
B
0:08 d
B
78:21
d
E
85:35
m
E
0:4
K
s
= 1 T
s
= 0.05
2560 H. Shayeghi et al. / Energy Conversion and Management 50 (2009) 25542561
studies and Voltage Collapse. He is a member of Iranian Association of Electrical and
Electronic Engineers and IEEE.
Saieed Jalilizadeh received the PhD degree in Electrical Engineering from Iran
University of Science and Technology (IUST), Tehran, Iran, in 2006. Currently, he is
an Assistant Professor at Technical Engineering Department of Zanjan University,
Zanjan, Iran. His research interests are power system contingency analysis and
power system planning.
Amin Safari is a M.S. student in Electrical Engineering at the Zanjan University,
Zanjan, Iran. His areas of interest in research are application of FACTS Devices and
Articial Intelligence based optimization technique to power system control.
H. Shayeghi et al. / Energy Conversion and Management 50 (2009) 25542561 2561