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Research Article
ISSN 1751-8687
Received on 9th December 2014
Revised on 16th June 2015
Accepted on 24th June 2015
doi: 10.1049/iet-gtd.2014.1176
www.ietdl.org
Department of Electrical and Computer Engineering, McGill University, 3480 University street, Montreal, QC, Canada, H3A 0E9
Institut de recherche dHydro-Qubec, 1800 Boulevard Lionel-Boulet, Varennes, QC, Canada, J3X 1S1
E-mail: dmitry.rimorov@mail.mcgill.ca
Abstract: Multi-band power system stabilisers (MB-PSSs) PSS4B (IEEE standard 421.5-2005) are advanced power system
damping controllers that have evident advantages over conventional PSSs in damping low-frequency oscillatory modes.
However, finding optimal settings for such controllers is challenging due to the increased complexity of the PSS4B
structure. This study describes a methodology for MB-PSS parameter optimisation based on an improved modal
performance index as a measure of the controllers stabilising effect. The tuning problem is formulated as a non-linear
constrained optimisation search method: proposed modal performance index is chosen as an objective function to be
minimised, while properly selected constraints ensure stability of the closed-loop system and robustness of the
proposed design. The methodology is demonstrated on a benchmark system that is based on an existing network.
Comparative analysis between the MB-PSSs with optimised settings and speed-based PSS1A-type stabilisers designed
using the conventional methods show the practicality and effectiveness of the proposed methodology. The
implemented approach has an advantage of being scalable and suitable for the model-based tuning of feedback
controller of general structure. Additionally, several performance metrics and non-linear simulations in the
ElectroMagnetic Transient Program (EMTP) software confirm superior characteristics of PSS4B.
Introduction
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tune each band separately using the root-locus technique and phase
compensation approach. The resulting settings contain negative
band gains and show poor performance during non-linear simulations.
In reality, exibility of the PSS4B in terms of large number of
parameters options and range available to ne tune the behaviour
to suit any specic context has the side effect of a more
complicated tuning irrespective of the approach adopted, with little
initial clue to what a good set of parameters may be.
To simplify the problem, the order of PSS4B can be deliberately
reduced by establishing simple relations between bands parameters
[2, 9]. Each band is represented as a band-pass lter that can be
described with just two parameters: band central frequency and
band central gain (Fig. 2).
This representation allows for a relatively straightforward but
somewhat crude design approach based on Bode plots: the
MB-PSS is tuned so that gain increase is ensured from low to high
band and the controller provides proper phase leading over the
range of frequencies [3].
Another set of methods that attracts the most attention regarding
MB-PSS parameter tuning is based on heuristic optimisation
algorithms. Authors in [10] propose a combination of culture,
particle swarm optimisation and co-evolutionary algorithms for
MB-PSS tuning problem. The integral of time multiplied absolute
error of the machine speed is used as an objective function. An
evolutionary particle swarm optimisation algorithm is used in [11]
to maximise the sum of the relative damping and uncertainties
robustness index. Sumanbabu et al. [12] use bacterial foraging
algorithm for simultaneous tuning of MB-PSSs in multi-machine
systems; same objective function as in [10] is implemented. A
methodology to simultaneously tune MB-PSSs using reduced
network equivalents and differential evolution optimiser is
proposed in [13]; weighted sum of speed deviations for different
operating conditions is used as an objective function. Yan-Feng
et al. [14] present a decentralised coordinated damping control
scheme that is based on Prony analysis identication and utilises
genetic algorithm to tune MB-PSSs and achieve uniform damping.
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2.1
Initial formulation
(1)
p
m
s ,v
R2ikj ,
Jk = C
k
k
(2)
i=1 j=1
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vk [i
Wi Jk ,
i [ low, int, high ,
(3)
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z ,v
C
k
k
1 z2k 2z2 vg T /
1z2k
k k
e
=
g
2z2k vk
(4)
vk [i
Wi
s ,v ,
C
k
i [ low, int, high (5)
Objective function
(6)
Constraints
k = 1, . . . , n,
(7)
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(8)
(9)
where G(s) and H(s) are plant and controller transfer functions,
respectively.
The peaks (i.e. innity norms) of the functions (8) and (9) are
related to the generalised concept of multi-variable gain and phase
margins [19]:
MS = S jv 1
MT = T jv 1
(10)
MS 2
(12)
MT 1.25
(13)
Upper boundaries are chosen to ensure the gain and phase margin
criteria [19, 22].
3.2.3 Design parameters limitations: In order to ensure
proper band frequency separation and gain limitation, the
following constraints are introduced for each band:
K(B)min K(B) K(B)max
(14)
(15)
3.4
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(16)
Proposed methodology
(11)
3.3
4.1
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For the purpose of the study, all four generators in the area have been
equipped with PSS4B tuned according to Fig. 4. Table 3 shows the
effects of the applied stabilisers on both local and inter-area modes.
Superior performance of PSS4B over PSS1A in damping both local
and inter-area modes can be readily seen.
PSS4B settings for all generators in the area can be found in
Table 2.
To elaborate on the comparative analysis between the
conventional PSS and PSS4B, numerical values for the robustness
metrics (10) and (11) are shown in Table 3. Additionally, a new
measure to quantify the controller energy is shown [19, 27]:
MU = H jv S jv 1
local
inter-area
No PSS
PSS4B
PSS1A (settings
from [26])
f, Hz
f, Hz
f, Hz
1.505
1.329
1.236
0.338
0.0069
0.034
0.042
0.108
1.524
1.138
1.039
0.526
0.318
0.226
0.261
0.436
1.49
1.256
1.158
0.311
0.123
0.168
0.191
0.359
(17)
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SPS4
CPS4
TPS4
GPS4
Low
Intermediate
High
FL
KL
TL5, TL11
TL6, TL12
FI
KI
TI5, TI11
TI6, TI12
FH
KH
TH5, TH11
TH6, TH12
0.025
0.025
0.02
0.025
25
15
12
9
0.193
0.085
0.1
0.145
0.049
0.017
0.005
0.005
0.33
0.433
0.22
0.3
36.4
30
27.86
10
0.17
0.034
0.1
0.1
0.0013
0.006
0.0015
0.006
8.5
5.02
4.8
5.49
55
63
55.18
17
0.046
0.118
0.17
0.04
0.01
0.0057
0.002
0.006
MT
MS
MU
PSS4B
PSS1A
PSS4B
PSS1A
PSS4B
PSS1A
4.3
1.47
1.198
1.59
1.2
1
1
2.04
1.369
1.05
0.876
0.88
0.37
1.07
0.777
1.05
0.37
160.2
238.94
423.8
29.5
293.63
2933.7
8714.4
806
SPS4
CPS4
TPS4
GPS4
Non-linear simulations
Fig. 7 Root-locus plot for the original and proposed modal performance indices
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Description
three-phase short circuit at the bus 407 (HV side of generator SPS4), cleared after ten cycles, no equipment outage
three-phase short circuit at the bus 408 (HV side of generator CPS4), cleared after ten cycles, no equipment outage
three-phase short circuit at the bus 410 (HV side of generator TPS4), cleared after ten cycles, no equipment outage
three-phase short circuit at the bus 405 (HV side of generator GPS4), cleared after ten cycles, no equipment outage
three-phase short circuit on the tie-line between buses 415 and 416 followed by line outage after ten cycles
generation loss following a fault
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Fig. 10 Average sum of generators speed responses following a generator loss: comparison between PSS1A and PSS4B
Conclusions
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Acknowledgments
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