Short Term Multi Chain Hydrothermal Scheduling Using Modified Gravitational Search Algorithm

International Journal of Advanced Research in Technology, Engineering and Science (A Bimonthly Open Access Online
Journal) Volume2, Issue3, May-June, 2015.ISSN:2349-7173(Online)
Short term Multi Chain Hydrothermal

Scheduling Using Modified Gravitational Search
Algorithm
Saurabh Sharma1, Dr. Nitin Narang2
Abstract: This paper proposes the modified Gravitational

search algorithm (GSA) to solve short term multi chain
hydrothermal scheduling problem while satisfying all
operational and physical constraints. The effect of the valve
point loading has been considered. Gravitational search
algorithm is based on the Newtons law of gravitation. All
objects attract each other and global movement is towards
the heavier masses .However GSA has certain randomness
in search direction resulting in the weak local search ability.
In modified GSA, a time varying maximum velocity equation
is used which controls the exploration and improves the
convergence rate which strengthens its local search ability
and the quality of the hydrothermal solution.
Keywords: Gravitational search algorithm, hydrothermal

scheduling, valve point loading, activemass, passive mass
1. Introduction
The hydrothermal scheduling is an important step in planning
and operation of the power system. Operating cost of the
thermal plant is very high whereas the operating cost of the
hydro plants is very low as compared with the thermal plants.
Hence the integration of the hydro plants and the thermal
plants is done on the same grid which becomes more
economical [1]. The hydrothermal scheduling has been an area
of interest for many years by the researchers. In past,
hydrothermal scheduling problem has been solved by the
classical mathematical optimization methods such as dynamic
programming[2],networkflow[3],lagrangianrelaxation[4],mixe
dintegerprogramming[5],interior point method[6] and newton
raphson method[7].These above optimization technique uses
certain assumptions to make problem more traceable .The
disadvantage of the classical optimization technique is
computational time increases with increase in the
dimensionality of the problem. Heuristic optimization
technique such as evolutionary programming [8-9], simulated
annealing [10-12], differential evolution [13], artificial neural
network[ 14-16] and genetic algorithm[17-20] has been
usedby the researchers because of their ability to determine
almost global optimal solution for short term hydrothermal

scheduling with operating constraints.
Recently, an artificial intelligence based optimization
technique known as gravitational search algorithm is proposed
by Rashedi et al, in 2009 [21]. Gravitational search algorithm
is based on law of gravitation .In GSA, agents are objects and
its performance is based on the masses .All agents attracts
each other and the global movement is towards the heavier
masses. Many researchers has applied the gravitational search
algorithm on problems such as Reactive power dispatch
problem [22], Optimal sizing and suitable placement for DG
in distribution system [23], Solving thermal unit commitment
(UC) problem [24] etc. because it provides better results
when it is compared with other heuristic optimization
techniques.
In GSA, constant maximum velocity is used to direct the
global search. At the beginning all agents are at the large
distance from the global optimum solution. Hence a large
magnitude of velocity is required to globally search the
solution space (exploration). When the global solution is
found, small velocity is required (exploitation) to search the
result locally .Hence a time varying maximum velocity is
required. Based on the above discussion ,modified GSA is
proposed in which time varying maximum velocity is used to
direct the global search exploration in early stages and local
optimization at the final stages [25].
In this paper, modified GSA [25] has been applied to the short
term multi chain hydrothermal problem. The proposed
algorithm has been applied on the test system and test result
obtained has been compared with other heuristic optimization
techniques.
2. Nomenclature
is the total fuel cost of the thermal unit ($)
, , , , are the cost curve coefficient of the
unit.
is the output power of the
interval k.
the
thermal
thermal unit in the sub-
and
are the lower and upper generating limits of
thermal unit.
N and M are the number of the thermal unit and hydro

units.
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Page 1

is the hydro power generated of the
hydro unit in The hydrothermal power is related to the reservoir water head
and water discharge rate which in turn is the function of the
the sub-interval k in (MW).

storage. Hydrothermal power of the
hydro unit in multi
and are the power demand and transmission line chain hydrothermal system [27] is given by :
losses in the sub-interval k in (MW).
and
are the lower and upper limits of the
hydro power generated in (MW).
= '(
+ '*
+ '+
+ ',
+ '-
+ '. (3)
Various constraints related to short term multi chain

hydrothermal scheduling is gives as :
and
represents minimum and maximum storage
limit of the reservoir of reservoir j.
(i) Real power balance constraint
and
are the minimum and maximum limit of the
water discharge rate of reservoir j.
The total active power generation from the hydro and thermal
plant should be equal to the total transmission line losses plus
total load demand at each time interval over the scheduling
period.
and
represents initial and final storage volume
of the reservoir j.
+0
;(
G;(
(H J )(4)
and!
represents the inflow and spillage of the
reservoir j in the sub-interval k.
(ii) Thermal generator limit constraint
"# is the water transport delay from the $th to the jth
reservoir .
The inequality constraint for thermal power for each interval

is represented as:
%& represents the number of the upstream reservoir above

the jth reservoir.
'( , '* , '+ , ', , '- , '. represents the power generation
coefficient of the hydro power plant j.
and
represents water discharge and storage of the
hydro plant j in the sub-interval k.
T scheduling period.
3. Problem formulation of the short term multi chain

hydrothermal scheduling
The objective of the hydro thermal scheduling is to minimize
the total fuel cost of the thermal unit while satisfying all the
thermal and hydraulic constraint. Total fuel cost of the thermal
unit considering the effect of valve point effect [26] is given
by:
:
;( ;(
+ 2 sin(
))2 (1)
Reservoir volume is related to the previous interval water

storage in the reservoir with current storage and the delay in
the water transport from the upstream reservoir. Reservoir
volume [27] of the
reservoir in multi chain hydrothermal
system is given by:

<(
( M , H J )(5)
(iii) Hydro generator limit constraint

The inequality constraint of the hydro power for each interval
is represented as

( O , H J ) (6)
(iv) Reservoir storage volume constraint
r is the external penalty factor.
= 00
BC
+ 0=
#;(
#, > ?@
+!
The inequality constraint for volume of the reservoir for each

interval is represented as

( O , H J )(7)
(v) Water discharge rate limit constraint

The inequality constraint for the water discharge for each
interval is represented as

( O , H J )(8)
(vi) Initial and end reservoir storage volume constraint

The volume of water to be discharged from each reservoir
should meet the limits represented as:
#, > ?@ A (2)
( O , H J)(9)
Page 2

=
( O , H J ) (10)
(a) If hydro generation has violated its maximum
limits
CONSTRAINT HANDLING
(i)
= (
:;(
F
G;(
(H J )(11)
where,
represents the error generated from
mismatch of demand .
the
Error generated from the mismatch of the final storage

volume is represented as:

V W = (
) (12)
where, V W represents the error generated from the

mismatch of the final storage volume
of the reservoir
Equality constraint handling is done by the penalty
method in which a high exterior penalty
multiplied
with the equality constraints are added to the total fuel
cost.
(ii) Inequality Constraint:
In short term multi chain
hydrothermal scheduling, inequality constraint is related
to the reservoir storage volume inequality mentioned in
equation (7) and hydro generation inequality mentioned
in equation (6)
Error generated from the reservoir storage volume
inequality is represented as follows :
(a) If the reservoir storage limit has violated its
maximum limits
V
W =(
W =(
) (14)
(b) If the reservoir storage limit has violated its

minimum limits
X YZ =(
) (16)
Inequality constraint handling is also done by the

penalty method in which a high exterior penalty
multiplied with the inequality constraints are added to
the total fuel cost.
Overall objective function formed is by adding all the
errors with their penalties and fuel
cost is calculated
as :
+ [ (
Objective =
*
*
V W + V W
*
X YZ )
(17)
Using a global search technique, objective function

converges to a feasible solution such that all errors are
reduced to zero.
4.Modified Gravitational Search Algorithm
Gravitational search algorithm
is a novel heuristic
optimization technique proposed by E.Rashidet al in
2009[21].GSA is inspired from the Newtons theory that :
Every particle attract each other with a gravitational force
which is directly proportional to the product of their mass and
inversely proportional to the square of distance between them.
In GSA agents/solutions vectors are considered as objects and
their performance are measured by their masses. All objects
attract each other via gravity forces and these force produces a
global movement of all objects towards the heavier masses.
Heavier mass has the bigger attraction force. Hence it is close
to the global optimum. The steps of the GSA are as follows:
Step 1:
Initializing the agents

Position of the N number of agents is defined as
where ,] represents the position of the

" dimension.
agent in the
Step 2 : fitness evaluation

Fitness evaluation is performed by calculating the
best and worst fitness of all agents at each iteration
Error generated from the hydro generation inequality is

represented as follows:
(15)
\ = (] ( , ] * . . ] , . . ] ) , i N (18)
(13)
where , V W represent the error from the

reservoir storage volume inequality .
(b) If the reservoir storage limit has violated its
minimum limits
V
where, X YZ represents the error generated

from the hydro generation inequality
Equality Constraint: In short term multi chain

hydrothermal scheduling, equality constraint is related
to demand and the final storage volume of the reservoir.
Error generated from the mismatch of demand is
represented as follows:
X YZ =(
In short term multi chain hydrothermal scheduling there are

two types of constraints namely equality constraint and
inequality constraint.
For the minimization problem:
Page 3
à(a) = min
a (a)(19)
Velocity and the position of the agents at next
iteration (t+1) are computed based on the following
cd[à(a) = max
a (a)(20)
equations:
a represents the fitness value of the jth agent at
iteration t , à(a) f" cd[à(a) represents the best and
the worst value of the fitness at iteration t.
y (a + 1) = [ f" y (a) +
] (a + 1) = ] (a) + y (a + 1) (29)
The best value of the fitness at final iteration is the

global fitness and the position at the global fitness
gives the global solution.
Gravitational constant G is computed at iteration t .

(>
/i )
(21)
Go and a are initialized at the beginning. IT is the

total number of iteration.
Step 4: Calculation of masses:

Gravitational and inertia masses for agents are
calculated at iteration t.
O = Oj = O = O , M (22)
k (a) =
l ? ( )>mZYn ( )
(23)
n ( )>mZYn ( )
O (a) = o
?(
@pq
@(
(24)
Maiand Mpi are the active and passive gravitational

masses respectively, while Mii is the inertia mass of
the ith agent.
Step 5: Calculation of the acceleration
(a) =
Acceleration and force of theith agents at the

" dimension at iteration t is computed as :
(a) =
(a)/O (a)(25)
n , t
[ f"
(a) (26)
where, Fi (t) is the total force acting on i agent at

" dimension . Kbest is the set of first K agents /
solution vector with the biggest mass and best fitness
value. The value of the Kbestdecreases linearly with
time and it lasts with 2% of the total agents.
Fijd(t)
is computed as the following equation:

(a) = g(a). uOj (a)
O (a)
+ w . =] (a) ] (a)A (27)
% (a)
(a)is
the acting on agent i from agent j at dth

dimension andtth iteration. Rijd(t) is the Euclidian
distance between two agents i and j at iteration t. G(t)
is the gravitational constant at the same iteration while
is small constant.
Step 6: Update the Velocity and positions of agents:
In Gravitational search algorithm, by adjusting the velocity,

each agent moves in every dimension of the search space
.Hence velocity is considered as the stochastic variable which
helps in creating the uncontrolled trajectory which may result
in oscillation and divergence. In order to control the
divergence and oscillation, magnitude of the velocity is kept
within the limits as:
y
(30)
and
are the
yrepresents the velocity of the agents .
minimum and maximum limits of the velocity. If the limits of
velocity are too large, agent may diverge and move away from
the global solution.
For any heuristic optimization technique, there should be a
balance between exploration and exploitation. Exploration is
related to the global search of the optimum solution whereas
exploitation is related to the local search of the optimum
solution around the best solution found so far. In GSA in order
to provide a balance between exploration and exploitation a
time varying maximum velocity equation [25] is proposed
which is given as :
Y
th
(28)
Step 7: Repeat steps 2 to 6 till maximum iterations is reached
Step 3: Gravitational constant (G) computation:
g(a) = gZ
(a)
= z1 = A {
(31)
Where, h is a small positive constant and

maximum velocity limit of the agent given as:
R
= ([ f") (]
),
is the initial
0 [ f" 1 (32)
During initial iterations , magnitude of the

will be large to
aid initial global search .With increase in the iteration ,
decreases resulting in the decrease of the oscillation and
narrowing the search space to exploit the search space near the
global optimum solution obtained so far and obtain a better
result.
5. Modified GSA for short term multi chain hydrothermal
problem
Modified GSA is applied to the short term multi chain
hydrothermal system considering all the equality and
Page 4
the errors generated calculated using the equation
inequality constraints .The steps of the modified GSA for the
(17)
short term multi chain hydrothermal system is given as:
Step 1:
Read the value of all the parameters related to the

proposed algorithm.
Step 2:
Initializing the agents

For hydrothermal problem, hourly discharge of the
hydro plant and thermal power are
the
masses in GSA which are generated within the
limits of all the agents.
Position of the N number of agents is defined as
\ = (] ( , ] * . . ] , . . ] ) , i N
Calculation of the best and worst value of the

objective function
Best and the worst value of the objective function
is calculated using the equation (19)
and (20)
respectively
Step 9:
Gravitational constant (G) computation.

Gravitational constant G at each iteration is
computed using the equation (21).
Step 10: Masses of the agents calculation.
(33)
where,] represents the position of the

the " dimension.
Step 8 :
Gravitational and inertia masses at each iteration

for each agent are calculated using the equation
(23) and (24) respectively.
agent in
Step 3: Storage Reservoir Volume

The inertia mass, active and the passive
gravitational mass is calculated using the equation
(22).
After generating the value of the hourly discharge,

storage reservoir volume is
calculated using the
equation (2) of all the agents.
Step 11: Calculation of total force and acceleration

If storage reservoir volume violates the limits in
equation (7) and (10), errors are generated and
calculated using equations (12) ,(13) and (14).
Total force acting on the agent is calculated using

equation (26) which is the sum of all
forces
acting on the agent from other agents calculated
using the equation (27).
Step 4: Hydro Generation
Acceleration of each agent is calculated using the

equation (25).
Using the value of the hourly discharge and the

storage reservoir volume, hydro
generation is
calculated using equation (3) of all the agents.
Step 12: Update the Velocity of agents.

If hydro generation violates the limits in equation
(6), an error is generated and
calculated using
equation (15) and (16).
Step 5:
Step 13: Update the maximum velocity.
Calculation of total active power

Total active power generation is the sum of the
thermal power and the hydro power. If the total
active power doesnt meet the load demand an
error is generated and is calculated using equation
(11).
Step 6:
The limits of the maximum velocity is updated

using equation (31) at each iteration
Step 14: Update the position of agents
The position of each agent is updated using
equation (29) at each iteration.
Fuel cost calculation

Using the value of the thermal power generated,
fuel cost of all the agents are calculated using
equation (1)
Step 7 :
The velocity of each agent is updated using equation

(28) at each iteration.
Step 15: Termination Criteria

Step 3 to Step 14 are repeated till maximum
iteration is reached
Objective function calculation

Objective function of the short term hydrothermal
scheduling is the sum of the total fuel cost and all
Page 5
6. Simulation Results
To show the feasibility and the performance of the proposed
algorithm a hydrothermal test system is considered. The entire
scheduling is done for 1 day which is divided into 24 subintervals each of one hour.
Table 3: Optimal thermal power (MW)

hour
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
Test system 1: Test system 1 considers four hydro and one

thermal unit .The effect of the valve point loading has been
taken into account [27]. Here the value of the Go is set at 100
and the value of | is set at 10.The cost obtained from the
modified GSA and its comparison with other techniques is
given in the table 1.The value of the hourly optimal discharge
and thermal generation obtained from the proposed modified
GSA are given in the table 2 and table 3 , respectively.
Table 1:Comparison of performance for Test system I
Method
Total Fuel cost ($)
EP [28]
DE [29]
MDE [30]
Modified GSA
45,063
43,500
43,453.41
43,187.35
Tables 2:Optimal Hydro discharge ( 10, k+ /[ )

Hours
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
15.00000
7.741878
9.063057
7.222637
10.81896
6.025651
6.584641
8.876327
5.000000
8.067608
9.656791
7.611928
8.530442
8.833406
5.000000
5.242000
7.873648
9.844106
12.94111
7.438490
5.000000
6.914324
10.05420
5.593803
6.380216
6.127137
6.000000
9.211754
8.308612
15.00000
6.000000
7.001813
6.000000
6.492505
8.994154
10.31491
9.834167
10.05970
8.734971
8.143178
6.000000
7.505754
11.70983
8.743860
8.351403
7.055479
7.989974
11.98293
21.76493
16.52188
30.00000
30.00000
18.18455
17.03451
16.30436
10.00000
11.82406
16.34866
19.65199
13.06398
10.00000
15.72884
18.99945
22.24895
21.39999
13.55602
10.00000
11.29366
24.41783
14.60961
22.51139
11.36578
6.000000
7.166268
20.00000
9.293217
16.44901
12.46996
6.000000
8.103184
13.75654
11.52512
17.19444
13.80042
11.11599
9.902826
20.00000
16.71718
13.97698
16.61875
20.00000
20.00000
17.30429
13.71422
20.00000
9.357272
65.30096
114.9043
20.16628
115.4323
42.10610
101.5505
121.0696
152.3698
141.3338
148.7389
175.0000
175.0000
113.9981
152.4073
136.7294
175.0000
43.84827
143.8378
56.99209
61.29788
77.81171
20.00000
102.2584
74.87452
112.6858
113.7876
138.8529
208.9137
111.0754
180.9172
128.5594
199.9361
215.9384
300.0000
137.2964
121.0098
180.6778
192.7614
152.6310
192.0546
237.4568
122.2969
175.8959
225.8264
193.2939
193.5592
206.9004
152.3453
262.4066
237.7427
183.5240
50.00000
127.2563
155.6982
415.3844
299.9550
335.4787
227.1463
320.8501
409.3224
393.8761
268.4440
258.0800
272.8169
363.9460
384.0608
319.2439
280.6039
228.9878
217.6121
78.16014
188.6315
7. Conclusion
In this paper modified Gravitational search algorithm has been
presented for the scheduling of the hydrothermal system
having four hydro units and three thermal units. The result
obtained from the modified GSA has been compared with
other evolutionary algorithm in the literature. It is observed
from the obtained result that modified GSA performs better
than other evolutionary algorithm in the literature.
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First Author: Mr. Saurabh Sharma (B.Tech)

, obtained his Bachelor Degree in Electrical and
Electronics engineering from Uttaranchal Institute of
Technology, Dehradun. He is currently perusing his
Masters Degree in Power System from Thapar
University, Patiala
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Second Author : Dr.Nitin Narang (PhD) is

an
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system optimization.
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Short Term Multi Chain Hydrothermal Scheduling Using Modified Gravitational Search Algorithm

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International Journal of Advanced Research in Technology, Engineering and Science (A Bimonthly Open Access Online

Journal) Volume2, Issue3, May-June, 2015.ISSN:2349-7173(Online)

Short term Multi Chain Hydrothermal

Abstract: This paper proposes the modified Gravitational

Keywords: Gravitational search algorithm, hydrothermal

almost global optimal solution for short term hydrothermal

thermal unit in the sub-

N and M are the number of the thermal unit and hydro

All Rights Reserved 2015 IJARTES

Various constraints related to short term multi chain

(i) Real power balance constraint

(ii) Thermal generator limit constraint

The inequality constraint for thermal power for each interval

%& represents the number of the upstream reservoir above

3. Problem formulation of the short term multi chain

Reservoir volume is related to the previous interval water

(iii) Hydro generator limit constraint

(iv) Reservoir storage volume constraint

r is the external penalty factor.

All Rights Reserved 2015 IJARTES

The inequality constraint for volume of the reservoir for each

(v) Water discharge rate limit constraint

(vi) Initial and end reservoir storage volume constraint

Error generated from the mismatch of the final storage

where, V W represents the error generated from the

(b) If the reservoir storage limit has violated its

Inequality constraint handling is also done by the

Using a global search technique, objective function

Initializing the agents

where ,] represents the position of the

Step 2 : fitness evaluation

Error generated from the hydro generation inequality is

All Rights Reserved 2015 IJARTES

where , V W represent the error from the

where, X YZ represents the error generated

Equality Constraint: In short term multi chain

In short term multi chain hydrothermal scheduling there are

For the minimization problem:

The best value of the fitness at final iteration is the

Gravitational constant G is computed at iteration t .

Go and a are initialized at the beginning. IT is the

Step 4: Calculation of masses:

Maiand Mpi are the active and passive gravitational

Step 5: Calculation of the acceleration

Acceleration and force of theith agents at the

where, Fi (t) is the total force acting on i agent at

is computed as the following equation:

the acting on agent i from agent j at dth

All Rights Reserved 2015 IJARTES

In Gravitational search algorithm, by adjusting the velocity,

Step 7: Repeat steps 2 to 6 till maximum iterations is reached

Step 3: Gravitational constant (G) computation:

Where, h is a small positive constant and

During initial iterations , magnitude of the

Read the value of all the parameters related to the

Initializing the agents

Calculation of the best and worst value of the

Gravitational constant (G) computation.

Step 10: Masses of the agents calculation.

where,] represents the position of the

Gravitational and inertia masses at each iteration

Step 3: Storage Reservoir Volume

After generating the value of the hourly discharge,