HIERARCHICAL CONTROL - SMART TRANSMISSION GRIDS

HAROLD RENÉ CHAMORRO VERA

UNIVERSIDAD DE LOS ANDES

FACULTAD DE INGENIERÍA ELÉCTRICA Y ELECTRÓNICA

BOGOTÁ D.C.

2012
HIERARCHICAL CONTROL - SMART TRANSMISSION GRIDS

HAROLD RENÉ CHAMORRO VERA

TESIS DE MAESTRÍA PARA OPTAR AL TÍTULO DE

MAGÍSTER EN INGENIERÍA ÁREA: INGENIERÍA ELÉCTRICA

ASESOR

Ing. MARIO ALBERTO RÍOS MESÍAS. PhD

UNIVERSIDAD DE LOS ANDES

FACULTAD DE INGENIERÍA ELÉCTRICA Y ELECTRÓNICA

BOGOTÁ D.C.

2012
PROTOTIPO DE REDES INTELIGENTES PARA CONTROL JERÁRQUICO DE
SISTEMAS INTERCONECTADOS

HAROLD RENÉ CHAMORRO VERA

TESIS DE MAESTRÍA PARA OPTAR AL TÍTULO DE

MAGÍSTER EN INGENIERÍA ÁREA: INGENIERÍA ELÉCTRICA

ASESOR

Ing. MARIO ALBERTO RÍOS MESIAS PhD

UNIVERSIDAD DE LOS ANDES

FACULTAD DE INGENIERÍA ELÉCTRICA Y ELECTRÓNICA

BOGOTÁ D.C.

2012
 HIERARCHICAL CONTROL - SMART TRANSMISSION GRIDS

Harold René Chamorro Vera

Universidad de Los Andes

(Abstract)

The technological development and enhancement of new strategies related with

Wide Area Measurement and Control Systems (WAMCS) is playing a key role
with large interconnected power systems in order to assure stability under Low
Frequency Oscillations (LFO). In this thesis a hierarchical intelligent controller
scheme for multi-machine systems is presented with the purpose to maximise the
damping factor of intra-area and inter-area oscillations combining the principles of
Fuzzy Logic Control and aMulti-Agent Systems (MAS) architecture. The controller
designing takes advantage of the controllability and observability definitions to
obtain the optimal location of the local Power System Stabilizers (PSS) and the
Phasor Measurement Units (PMU) where the local PSS has been modelled with
fuzzy logic as well. An algorithm to measure the damping of any signal is
developed and used as PMU measurement in the tie-lines. The time-domain
response of the designed controller is tested in a power benchmark system
demonstrating its adaptability and performance.
To my mom
Research is to see what everybody else has seen, and to think what nobody else has thought.

~Albert Szent-Gyorgyi
 ACKNOWLEDGEMENTS

First of all and the most important thing is that I am deeply indebted to my
supervisor Prof. Mario Ríos for his support, motivation and inspiring discussions
throughout the years of my studies. He always had suggestions, answered my
numerous questions, and put forth the effort to help me progress. I benefited a lot
from his great research experience, technical advices and all courses he taught.

I am grateful to Dr. Mauricio Guerrero for helping me in my initial phase and for
getting me started in working on powersystems in the university.

It has been an honour to be associated with the Department of Electrical and

Electronics Engineering at Universidad de los Andes.

I would also like to extend my gratitude to Dr.Gustavo Ramos for his continuous
help and support. I believe that I have been truly blissful by working with him
over the past two years. I have benefited not only from his knowledge in power
quality area, but also from his keen personality. I wish him well in all his future
endeavours.

I would also like to thank my colleagues, for their valuable comments and
assistance, and wish them all the best of luck and brightest future. Special thanks
to Mr.CamiloOrdoñez who was not just a colleague but a brother who I will
always remember. His deep insights in the field of power systems and our long
and creative discussions have made this collaboration particularly fruitful. Without
him, many results couldn’t have been obtained and the part on power systems
would be significantly shorter and weaker.

Thanks and appreciation is given to Dr. Ricardo Moreno whose advice and
encouragement was always of great help. He helped me significantly with all my
questions about practically everything related to power systems and optimization.
Indeed, I have discussed most of my ideas first with him due to his invaluable
feedback.

Thanks go also to Dr. Oscar “Simon Dice” Gomez, who is not only the group’s
PSAT guru, but also for having time to answer my numerous questions about
power systems in general towards the study case.

I would like to send special thanks to Ms. Gloria Martinez, for helping me with any
administrative procedure or power system stability questions I had. She was more
than supportive all of the time.

I have been fortunate to come across many funny and good friends, without whom
life would be bleak and I cannot forget, – in particular Mr. Alfredo “Degenerati”
Tobón, Mr. Juan Alberto “Pulu”Ramirez, Mr.Juan David “Poli” Beltran, Mr.Juan
Carlos “Totuma” Díaz, Mr. Nelson “Gala” Barreraand Mr.JulioMonroy.
I would like to express my deepest appreciation to Ms. Manuela Medina, Ms.
Alejandra “LiaLios” Fajardo and Ms.Dayana Herrera. Their endless love, support
and encouragement were emotionally critical, without which my pursuit of a
master’s degree would not have been possible.

I present my appreciation to all of my professors and teachers from the department

and those from all other segments of life: Prof.Fernando Jimenez, Prof.Angela
Cadena, Prof. Alvaro Torres, Prof. NicanorQuijano and Prof. Alain Gauthier for
their help, discussions and advice.

For this research, some details are essential. Many people helped with this, for
which I would like to thank them whole heartedly, special thanks to Mr. Andres
“Iguazo” Leal and Ms. Ana MaríaOspina. Without their generosity there would be
nothing to work with.

I would also like to acknowledge Mr.Efren Martinez, Mr. Elkin “El-king” Cantor,
Mr. Diego “Fosforito” Salamanca, Mr. Jose Daza, Mr. Jaime Osorio, Mr. Cesar
Rodríguez, Mr. Daniel Blandón and Mr. Victor Melo for taking over the main work
load on power systems and collaborating with me on this topic.

I also express my gratitude to everyone in the IEEE Uniandes Student Branch.

These include, just tomention a few: Mr. Juan Sebastian Moya, Mr. Carlos
Quintero, Ms. Jessica Buritica, Mr. Jorge MarioGarzon, Ms. Diana Pardo, Ms. Paula
Florez, Mr. Gabriel Sanchez, Mr. Diego Campo and Mr. Nicolas Velasquez.
Looking back, the productive phase of my master’s degree was triggered by Mr.
Carlos Macana and Ms. Liz Catherine Hernandez, who suggested me to study and
introduced me to the field of Power Systems, affected and inspired me with their
creativity, taught me many things, and showed me how to focus on the important
aspects of research. I am deeply grateful for that.

Furthermore, I am grateful to collaborate and work with Mr. Andres Ovalle, Mr.
Andres Puentes and Mr. Jose Calderónachieving excellent results that got later
awarded and published.

I am also glad to have had the opportunity to work with the Power and Energy
Group in the University and to know their members who provided a great and
pleasant atmosphere and helped me achieve my goal.

Last but not least, I would also like to thank my mom for her never-ending
support, love, encouragement and prayers that helped me complete this work. She
gave me the opportunity to be here and pursue this degree and reminded me that
there is a life beyond the university. Nothing I can say, can thank her enough.

I would like to acknowledge that there is a greater power than me that made all of
this possible. Thanks God for all his wonderful blessings, without Him, none of
what I haveachieved would exist.
 TABLE OF CONTENTS
I. INTRODUCTION .................................................................................................................... 7
II. OBJECTIVES ......................................................................................................................... 11
4.1 General Objective ........................................................................................................ 11
4.2 Specific Objectives ....................................................................................................... 11
1. SMART TRANSMISSION GRIDS ............................................................................................ 12
1.1 Background .................................................................................................................. 12
1.2 Intelligence Requirement ............................................................................................ 13
1.3 Multi- Agents in Smart Transmission Grids ................................................................. 14
1.4 Thesis Statement ......................................................................................................... 15
1.6 Organisation of the thesis ............................................................................................ 16
2. PMU AND PSS LOCATION .................................................................................................... 17
2.1 Power System Proposed .............................................................................................. 18
2.2 Eigenvalue Analysis ...................................................................................................... 19
2.3 Participation Factors .................................................................................................... 20
2.4 Mode Shapes ............................................................................................................... 20
2.5 Controllability Analysis ................................................................................................ 21
2.6 Voltage Stability Analysis ............................................................................................. 23
3. ON-LINE MEASUREMENTS .................................................................................................. 26
3.1 Damping Algorithm Proposed ..................................................................................... 27
3.2 Relative Amplitude and Frequency Measurements .................................................... 30
3.3 Signal Dynamic Deviation ............................................................................................ 31
3.4 Algorithms Tests .......................................................................................................... 32
3.4.1 Damping Factor Measurement .................................................................................... 32
3.4.2 Frequency Measurement ............................................................................................ 33
3.4.3 Relative Amplitude Measurement ............................................................................... 34
4 MULTI-AGENT SYSTEM DESIGN ........................................................................................... 36
4.1 Application Design ....................................................................................................... 37
4.1.1 Knowledge Modelling .................................................................................................. 37
4.1.1.1 Local Control Model ..................................................................................................... 38
4.1.1.2 Supervisor Control Model ............................................................................................ 40
4.1.2 Tasks Roles ................................................................................................................... 43
4.1.2.1 User Access Task .......................................................................................................... 44

1
 4.1.2.2 Control task .................................................................................................................. 44
4.1.2.3 Measurement Task ...................................................................................................... 44
4.1.2.4 Coordination Task ........................................................................................................ 44
4.1.2.5 Bulletin Board Tasks ..................................................................................................... 46
4.1.3 Agent Specification ...................................................................................................... 46
4.1.3.1 Control Agent ............................................................................................................... 46
4.1.3.2 User Agent ................................................................................................................... 47
4.1.3.3 Monitor Agent ............................................................................................................. 47
4.2 Constraints ................................................................................................................... 47
5. MULTIAGENT SYSTEM APPLICATION AND STUDY CASE ..................................................... 48
5.1 Transient Stability ........................................................................................................ 49
5.2 Results and Discussion ................................................................................................. 53
6. CONCLUSIONS ..................................................................................................................... 55
7. FUTURE WORK .................................................................................................................... 56
8. REFERENCES ........................................................................................................................ 56

2
 LIST OF FIGURES

Fig. 1 Derived Power System [42] ............................................................................. 18

Fig. 2 Power System Proposed................................................................................... 19
Fig. 3 Mode Shape Mode 4 ......................................................................................... 21
Fig. 4 Mode Shape Mode 5 ......................................................................................... 21
Fig. 5 Controllability Mode 4 ..................................................................................... 22
Fig. 6 Controllability Mode 5 ..................................................................................... 22
Fig. 7 PSS and PMU Location .................................................................................... 23
Fig. 8 Voltage Stability Analysis ................................................................................ 23
Fig. 9 Stability Plane .................................................................................................... 24
Fig. 10 Damping Algorithm ....................................................................................... 27
Fig. 11 Damping Algorithm Embedded ................................................................... 28
Fig. 12 Damping and Relative Amplitude Measurement Block ........................... 29
Fig. 13 Damping Measurement ................................................................................. 29
Fig. 14 Frequency Measurement Simulink Diagram .............................................. 30
Fig. 15 Frequency Measurement Block ..................................................................... 31
Fig. 16 Signal Deviation Implementation ................................................................. 31
Fig. 17 Damping Measurement between areas 1 and 2.......................................... 32
Fig. 18 Damping Measurement between areas 1 and 3.......................................... 33
Fig. 19 Frequency Measurement between areas 1 and 2 ........................................ 33
Fig. 20 Frequency Measurement between areas 1 and 3 ........................................ 34
Fig. 21 Relative Amplitude Measurement between areas 1 and 2 ....................... 34
Fig. 22 Relative Amplitude Measurement between areas 1 and 3 ....................... 35
Fig. 23 Hierarchical Controller Concept ................................................................... 36
Fig. 24 Proposed Controller Scheme ......................................................................... 37
Fig. 25 Speed deviation and Power Active deviation Input Memberships
functions representation ............................................................................................. 39
Fig. 26 Output Membership Functions..................................................................... 39
Fig. 27 Takagi Sugeno Control Proposed ................................................................. 41
Fig. 28 Input Membership Functions of the Hierarchical Controller ................... 41

3
Fig. 29 Input Membership Functions of the Hierarchical Controller (Deviation)
........................................................................................................................................ 42
Fig. 30 Surface Control Associated............................................................................ 42
Fig. 32 Multi – Agent Framework ............................................................................. 48
Fig. 33 Simpower System Implementation .............................................................. 49
Fig. 34 Electrical Power Time Response of Generators (Local) ............................. 50
Fig. 35 Electrical Power Time Response of a Tie-line (Remote) ............................ 50
Fig. 36 Electrical Time Response in the Tie-lines with LC (Local Controllers) and
HC (hierarchical controllers) ...................................................................................... 51
Fig. 37 Electrical Time Response in the Tie-lines with LC (Local Controllers) and
HC (hierarchical controllers) ...................................................................................... 51
Fig. 38 Electrical Power Time Response of Generators with conventional PSS as
long as it is applied the Hierarchical Control .......................................................... 52
Fig. 39 Electrical Power Time response of Generators with the two fuzzy
controllers ..................................................................................................................... 52

4
 LIST OF TABLES

Table. I System Eigenvalues ....................................................................................... 19

Table. II Participation Factors .................................................................................... 20
Table. III Eigenvalue Analysis in Buses ................................................................... 24
Table. IV Decision Rules ............................................................................................. 40
Table. V Decision Rules .............................................................................................. 43
Table. VI Controller Comparison .............................................................................. 53

5
 GLOSSARY

AI: Artificial Intelligence

FACTS: Flexible AC Transmission Systems

FLC: Fuzzy Logic Control

LFO: Low Frequency Oscillations

MAS: Multi-Agent Systems

PMU: Phasor Measurement Unit

PSS: Power System Stabilizer

RFS: Remote Feedback Signals

SMT: Synchronised Measurement Technology

STG: Smart Transmission Grid

TSO: Transmission System Operator

WAMS: Wide Area Measurement Systems

WACS: Wide Area Control System

WAMCS: Wide Area Measurement and Control System

6
 I. INTRODUCTION

As a result to the migration to the new power systems concept known as

“Smart Grid” and conceived as the intelligent automation of electrical
transmission and distribution networks, many different initiatives have been
proposed, especially in small-signal stability area with the purpose to damp the
electromechanical oscillations to assure stable operation of interconnected
systems[1]-[3].

With the development of Wide Area Measurements and Control Systems

(WAMCS) and the technological improvements in the past three decades, the
use of Phasor Measure-ment Units (PMU) has become a reality [4][5], providing
of on-line measurements and bringing the opportunity to design real-time
controllers and algorithms with more accuracy and precision to get the
correspondent supervision of any power system, so that as a general rule, the
Smart Grid systems require the application of intelligent control systems in
order to face and solve the imminent problems related and to give some
autonomous decisions.

Intelligent control based on Artificial Intelligence (AI) and soft computing

techniques have played an important part in different systems solving several
problems in engineering. Fuzzy logic as a method of AI has been applied in
many electrical systems control-related with success [6][7][8].

The use of fuzzy logic in power systems is based on its inherent advantages like
its tolerance with imprecise data, its flexibility and adaptability and the
behavioural abstraction model of large systems capacity without mathematical
complex equations.

7
Concerning to Smart Grids, the applicability of Fuzzy Logic Control (FLC) has
been extended to multiple applications such as fault management [9], self-
healing and diagnose [10], load forecasting [11], and reconfiguration or
restoration [12]. Therefore, there is a high interaction between fuzzy systems
and Smart Grid systems, in which is required some kind of autonomous
decisions under disturbances or operation conditions.

In the framework of the Smart Transmission Grids it has contemplated some

control challenges, which refers to the control centres, their methodology and
the intelligence that can be provided to them and the smart measurements
involved [13].

One of the main problems in transmission levels concerns to the power

fluctuations of small magnitude and Low Frequency Oscillations (LOF) which
can limit the amount of power able to transfer [14], and producing instability
that can provoke outages or several damages along the interconnected systems.

The problem of LOF presented in large interconnected systems concerns in

general to different operative regions and involves different Transmission
System Operators (TSO). A disturbance event should be monitored by different
TSO supported by a communication infrastructure established [15], however, at
the moment the TSO are operated almost uncoordinated based on a Central-
TSO with the logistic actions to solve.

In order to mitigate these oscillations, the Power Systems Stabilizers were

developed as supplementary device that manipulate the injected excitation to
the synchronous machine [16][17].

8
Even though the conventional PSS has been tested and shown the attenuation
of the undesired LOF with good results, some improvements are necessary to
be done due the load variability and the different operation conditions [18]. In
that sense, different works related with PSS improvements using FLC have
been proposed with the objective to do some enhancements as diverse as self-
tunning[19], self-learning [20], comparing different control techniques [21] or
even comparing other defuzzification methods [22].

Consequently, many supervisory and hierarchical control architectures have

been presented in order to increase the performance of conventional PSS under
severe disturbances or high oscillatory systems [23] or coordinate them with
Flexible AC Transmission Systems (FACTS) in large systems where are required
[24].

Some new studies in supervisory-hierarchical controllers based FLC have been

proposed [25][26], two of them include PMU to measure remote signals [1], [27].

In addition, some current perspectives of WAMCS have shown the requirement

of coordinated layers or decision systems with different objectives and process
priorities, executing actions in the local controllers or process therein, which
implies changes in set-points or settings [28].

Along these lines, Muli-agent systems (MAS) have provided of cooperative,

coordination and communication features in different applications in power
systems [29] -[30], nevertheless these kinds of architectures have not been
investigated at all and require more research.

9
This document appears with the purpose to contribute to the evolution and
smartness initiative of power systems, especially in transmission systems,
proposing a Hierarchical Multi-Agent System based Fuzzy Logic Control
(HMASFLC) to increase the damping in the tie-lines and reducing the LOF at
minimum, involving Remote Feedback Signals (RFS), on-line measurements
and, local fuzzy controllers and measurements as well.

10
 II. OBJECTIVES

4.1 General Objective

To develop an appropriate hierarchical control methodology for the use in

smart grids with the purpose to assure the power system integrity associated
with the interconnections.

4.2 Specific Objectives

To establish and characterise a suitable power system for the action

control execution.

To plan the required action control according to the contingency and

stability analysis.

To study and compare different control strategies (classical, modern or

intelligent) that can be applied to the studiedpowersystem.

To determine a control technique and evaluate its performance in the

system before different goals.

To emulate the monitoring by PMU (Phasor Measurement Unit) and the

WAMCS concept to analyse whether the controller decisions area
appropriate.

11
 1. SMART TRANSMISSION GRIDS

1.1 Background

Different energy programs related with Smart Transmission Grids (STG) are
being developed around the world, some of them are briefly mentioned and
summarised as follows.

The IntelliGrid program, initiated by the Electric Power Research Institution

(EPRI), is to create the technical foundation for a smart power grid that links
electricity with communications and computer control to achieve tremendous
gains in the enhancements of reliability, capacity, and customer service [31][32].
This program provides methodologies, tools, and recommendations for open
standards and requirement-based technologies with the implementation of
advanced metering, distribution automation, demand response, and wide-area
measurement. The interoperability is expected to be enabled between advanced
technologies and the power system.

The SmartGrids program, formed by the European Technology Platform (ETP)

in 2005, created a joint vision for the European networks of 2020 and beyond
[33][34]. Its objective features were identified for Europe’s electricity networks
as flexible to customers’ requests, accessible to network users and renewable
power sources, reliable for security and quality of power supply, and economic
to provide the best value and efficient energy management.

A Federal Smart Grid Task Force was established by the U.S. Department of
Energy (DoE) under Title XIII of the Energy Independence and Security Act of
2007. In its 2030 Grid vision, the objectives are to construct a 21st-century
12
electric system to provide abundant, affordable, clean, efficient, and reliable
electric power anytime, anywhere [35]. The expected achievements, through
smart grid development, will not merely enhance the reliability, efficiency, and
security of the nation’s electric grid, but also contribute to the strategic goalof
reducing carbon emissions.

Remarkable research and development activities are also ongoing in both

industry and academia. References [36] and [37] present smart grids for future
power delivery. Reference [38] discusses the integration issue in the smart grid.
Specific technologies, such as smart metering infrastructure, are presented in
[39].

1.2 Intelligence Requirement

As a general requirement to improve the current transmission grid to the new

“Smart Grid” concept some developments are necessary to do in order to
achieve that smartness.

Intelligent technologies and human expertise will be incorporated and

embedded in the smart transmission grid. Self-awareness of the system
operation state will be available with the aidof online time-domain analysis
such as voltage/angular stabilityand security analysis. Self-healing will be
achieved to enhancethe security of transmission grid via coordinated protection
andcontrol schemes.

Smart sensing and measurementand advanced instrumentation technologies

will serveas the basis for communications, computing, control, andintelligence.

13
Intelligent technologies willenable fuzzy logic reasoning, knowledge discovery,
andself-learning, which are important ingredients integratedin the
implementation of the above advanced technologiesto build a smarter
transmission grid[13].

In the future controlcentre, the system-level information will be obtained

fromthe state measurement modules based on phasor measurementunits
(PMUs) [40],[41]. The PMU-based state measurement isexpected to be more
efficient than the present state estimationsince synchronized phasor signals
provide the state variables,in particular, voltage angles.

1.3 Multi- Agents in Smart Transmission Grids

The intelligent agents at transmission network devices or substations may

interact with neighbour agents to achieve broader information in order to make
improved decisions without extensive communication back to the control
center. In short, the actual control action will be a combination of local decisions
from the distributed intelligent agents, central decisions from the smart control
center, and the “regional” decision based on the information exchange among
peer substations and network devices. Each type of action shall have a different
response time and it’s the most efficient for a particular type of work. The actual
control process may require a few iterations among the three types of actions.

The objective is to contribute to the development of future monitoring, state

estimation and control applications based on synchronized phasor
measurements to improve power system security and increase utilization of the
transmission grid. The main focus will be on dynamic phenomena like voltage
14
stability and the damping of power oscillations over wide geographical areas,
where to locate sensors to improve the situational awareness (e.g. power
oscillations) as well as design and placement of actuators for improved
performance (e.g. stabilizing the oscillations)[13].

1.4 Thesis Statement

The objective of this research is to design, develop and implement a hierarchical

control system that assures stability in a power system interconnected. These
include the management and control algorithms withon-line measurements.

1.5 Research Goals

The focus of this thesis is the design of a hierarchical control applying remote
feedback signals used for the damping of LOF, inter-area oscillations in a power
systems proposed as well which is composed by 6-machine/ 3-areas. A
methodology based on eigenanalysis is derived to locate the local controllers in
the test system.

Also demonstrated is the resulting tie-line power transfer gain due to the
damped oscillations. Finally, time-domain simulations performed on the test
system will be employed to study the nonlinear response following large
disturbances.

15
 1.6 Organisation of the thesis

The remainder of this document is organised as follows: in chapter2, it is

analysed the study benchmark system and obtained the PSS and PMU location.
In chapter3, the on-line measurements algorithms are described and tested. In
chapter4 is shown the local controller and it is presented the hierarchical
controller design based multi-agents. In chapter5, it is compared the action of
the proposed hierarchical control strategy with the local controllers only.
Finally, the conclusions are presented and a future work is given.

16
 2. PMU AND PSS LOCATION

In the context of transmission grids, Small Signal Stability Analysis and in

particular, the analysis of inter-area oscillations becomes more and more
important. Many electric systems worldwide are experiencing increased
loading on portions of their transmission systems that can, and sometimes do,
lead too poorly damped, low frequency (0,2-0,8 Hz) inter-area oscillations. This
topic has been extensively addressed for long time in conjunction with power
systems for which the extension of the grid and the high level of power
transfers led to stability problems. Inter-area oscillations can severely restrict
system operations by requiring the curtailment of electric power transfers as an
operational measure. These oscillations can also lead to widespread system
disturbances if cascading outages of transmission lines due to oscillatory power
swings.

The eigenvalue analysis investigates the dynamic behaviour of a power system

under different characteristic frequencies (“modes”). In a power system, it is
required that all modes to be stable. Moreover, it is desired that all
electromechanical oscillations to be damped out as quickly as possible. The
results of an eigenvalue analysis are given as frequency and relative damping
for each oscillatory mode to make them easier to understand.

In addition, the modal analysis allows a much deeper view of a system by not
only interpreting the eigenvalues but by analysing the eigenvectors of a system,
which are automatically calculated during the modal analysis:

- The right eigenvector gives information about the observability of

oscillation.

17
 - The left eigenvector gives information about the controllability.

- The combination of right and left eigenvectors (residues) indicates the

controllers’ settings.

2.1 Power System Proposed

In order to study the control structure proposed it is derived a power system

from [42], with some modifications. The original system is presented inFig.1.

Fig.1 Derived Power System [42]

The system proposed is conformed by 3-areas; each of the areas has two
generators, and links with weak tie-lines. The generators are identical and
modelled with 6 state variables and the Automatic Voltage Regulators (AVR)
are also identical and represented by 2 state variables. The system is shown
inFig.2.

18
 Fig.2 Power System Proposed

2.2 Eigenvalue Analysis

There are many possibilities to locate the PSS along the AVR of the system and
the PMU as well. To face the problem of knowing the optimum site, it is applied
a well-known methodology based on the Small Signal Stabiliy Analysis (SSSA),
particularly the controllability analysis [43][45].

The eigenvalues of weak damping influence in a high way the dynamic stability
of power systems and the eigenvalues of lower frequencies deal with the inter-
area power oscillations. Table.I and Table.II show two dominant eigenvalues
and participation factors given by the analysis.

Table.I System Eigenvalues

. No. R. Part Im. Part Frequency Damp.

1 -0.58 6.99 1.12 8.3%
2 -0.69 6.89 1.10 8.5%
3 -0.61 6.64 1.06 9.1%
4 -0.26 4.75 0.76 5.5%
5 -0.23 4.17 0.66 5.4%

19
 2.3 Participation Factors

The participation factor element gives a measure of the kth state variable in aith
mode, and vice versa.
Table.II Participation Factors

No. G1 G2 G3 G4 G5 G6
1 33% 6% 2% 1% 47% 3%
2 2% 42% 21% 6% 2% 18%
3 7% 10% 35% 27% 3% 10%
4 0% 13% 12% 31% 0% 38%
5 36% 5% 5% 12% 27% 10%

FromTable.I, it can be seen that the oscillatory modes are mainly 4 and 5,
however from Table.II it is not totally clear where the PSS might be located.

2.4 Mode Shapes

The mode shape is the response of a particular oscillatory mode in the right
eigenvector.

When the Mode Shapes (MS) of the critical modes (4 and 5) are plotted (Fig.3
and Fig.4), it can be inferred that there is an inter-area oscillation due to
generators G2 and G6 against G3 and G4; in other words, area 1 vs. area 3. In
the other critical mode, generators G1 and G5 are oscillating against G4 and G6
mainly, so there is another inter-area oscillation (area 2 vs areas 1&3).

20
 Mode 4: 0.75658 Hz
0.08 Axis x
Axis y
0.06
Gen1
0.04 Gen2
Gen3
0.02 Gen4
Gen5
0 Gen6
-0.02

-0.04

-0.06

-0.08

-0.2 -0.15 -0.1 -0.05 0 0.05 0.1 0.15

Fig.3 Mode Shape Mode 4

Mode 5: 0.66342 Hz
0.08 Axis x
Axis y
0.06
Gen1
0.04 Gen2
Gen3
0.02 Gen4
Gen5
0 Gen6
-0.02

-0.04

-0.06

-0.08

-0.2 -0.15 -0.1 -0.05 0 0.05 0.1 0.15

Fig.4 Mode Shape Mode 5

To guarantee the observation of those modes in the mentioned areas the PMUs
are located in the correspondent tie-lines, especially in the buses 5 and 12.

2.5 Controllability Analysis

The controllability index of the system shows that the PSS might be located in
G1, G4 and G6 as it is depicted in Fig.5 and Fig.6.

21
 Controlability Mode 4
1.6

1.4

1.2

0.8

0.6

0.4

0.2

0
1 2 3 4 5 6
Machines

Fig.5 Controllability Mode 4

Controlability Mode 5
1.4

1.2

0.8

0.6

0.4

0.2

0
1 2 3 4 5 6
Machines

Fig.6 Controllability Mode 5

According to the analysis shown above, Fig.7 shows which of the PSS are
activated and where the PMU are placed.

22
 Fig.7 PSS and PMU Location

2.6 Voltage Stability Analysis

Once it is located the PMU and PSS, it is necessary to establish how it can be
critical a fault in any line in the system. In order to identify the most critical
line(s) of the power system, all possible single contingencies (n-1) are simulated,
obtaining that the outage of all lines caused the system instability. The voltage
stability shows that any disturbance in any line in the system can generate
instability (Fig.8).
1.1

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Loading Parameter (p.u.)

Fig.8 Voltage Stability Analysis

23
What is more thesystem shows a critical mode in bus 6 as it can be seen in Fig.9.
andTable.III.

0.8

0.6

0.4

0.2
Imag

-0.2

-0.4

-0.6

-0.8

-1
-200 0 200 400 600 800 1000
Real

Fig.9 Stability Plane

Table.III Eigenvalue Analysis in Buses

Eigevalue Most Associated Bus Real part

EigJlfr # 1 Bus 05 148,9455
EigJlfr # 2 Bus 12 96,48864
EigJlfr # 3 Bus 06 3,66359
EigJlfr # 4 Bus 07 56,24301
EigJlfr # 5 Bus 04 912,2962
EigJlfr # 6 Bus 13 766,825
EigJlfr # 7 Bus 14 630,2312
EigJlfr # 8 Bus 02 650,041
EigJlfr # 9 Bus 08 721,5046
EigJlfr #10 Bus 10 622,1418
EigJlfr #11 Bus 01 999
EigJlfr #12 Bus 03 999
EigJlfr #13 Bus 09 999

24
 Eigevalue Most Associated Bus Real part
EigJlfr #14 Bus 11 999
EigJlfr #15 Bus 15 999
EigJlfr #16 Bus 16 999

In the remainder of this document the fault considered is going to be located in

bus number 6 in order to analyse the system transient stability. Thus, a 500 ms
fault is simulated at in bus 6 (between areas 1 and 3), obtaining oscillations of
important magnitude in voltage and power.

25
 3. ON-LINE MEASUREMENTS

Real-time monitoring and identification of the characteristics of inter-area

oscillations, including damping factors and frequency oscillations, is a
prerequisite for applying corrective measures for system stabilisation in large
power systems. A wide area measurement (WAM) approach based on the use
of Synchronised Measurement Technology (SMT) leads to more efficient
damping of inter-area oscillations as well as two main functions: the first is to
collect, monitor, manage, and maintain the real-time synchronised phasor data
and real-time switching information uploads from the PMU measurement
substations; the second is to diagnose wide area faults, judge protection logic,
and issue control orders (such as tripping or blocking) to the control
substations[46].

In the last two decades, a number of solutions for online monitoring and
identification of power system oscillation modes were presented in scientific
literature. After detecting inter-area oscillations, damping and frequency
components are commonly determined by applying methods based techniques,
or approaches based on different parameter estimation methods.

Phasor estimation is an important issue that has been in continuous

development and some important advances have been done concerning
measuring power oscillations [47].

In this document are proposed and developed three real-time measurements

bearing in mind the implementation of control actions. These measurement
algorithms are presented in detail below.

26
 3.1 Damping Algorithm Proposed

Taking into account that this approach looks for a maximum damping in the
tie-lines, an algorithm is developed to measure the damping factor of any
signal, not only a power signal but supposing that the signal is already filtered,
as it can be seen in Fig.10.

Fig.10 Damping Algorithm

In order to test the algorithm it is simulated a typical signal in Simulink® with

the next characteristic equation (1), knowing the constant parameters.

(1)

where,

27
k= amplitude,

w= angular frequency,

This algorithm is embedded in Simulink blocks as it is shown in Fig.11.where it

is added a zero block crossing detector of the derivative signal knowing the
signal peaks and a the exact time when it happens.In addition, some delays are
added as well, in order to give some initial conditions to the whole variables in
the simulation.

This algorithm is able to measure the damping factor and the relative amplitude
(overshoot) however the last is not applied in this document.

Embedded
Scope1 MATLAB Function
Clock
0 t Overshoot
Zero ov er 2
1 du/dt Cnt maxmin
Crossing damp 1
Signal senal
Derivative Zero Crossing start_out Damping
start
ndatos_out
ndatos
promdatos_out
promdatos
t1_out
t1
t2_out
t2
b_out
b
amp1_out
amp1
amp2_out
amp2
ov _out
ov
dampingdelta1_out
delta1
dt1_out
dt1
amp3_out
amp3
amp4_out
amp4
t3_out
t3
t4_out
t4
delta2_out
delta2
c_out
c
f _out
f
dt2_out
dt2
h_out
h
amort_out
amort

Out1 In1
Out2 In2
Out3 In3
Out4 In4
Out5 In5
Out6 In6
Out7 In7
Out8 In8
Out9 In9
Out10 In10
Out11 In11
Out12 In12
Out13 In13
Out14 In14
Out15 In15
Out16 In16
Out17 In17
Out18 In18
Out19 In19
Out20 In20
Out21 In21

Subsystem

Fig.11 Damping Algorithm Embedded

28
The final simulink block implemented is presented in Fig.12 where there is an
input which is the signal and two outputs: the damping factor and the
overshoot. if { }

Action Port
Out1
Damping 1
1 Signal
Ov ershoot 2
In1
Subsystem1 Out2

Fig.12 Damping and Relative Amplitude Measurement Block

Fig.13 shows the signal introduced and the damping factor obtained which
corresponds with the data assigned.

14

12

10

6
Signal

-2

-4
0 1 2 3 4 5 6 7 8 9 10
Time(s)

0.1

-0.1

-0.2
Damping

-0.3

-0.4

-0.5

-0.6
0 1 2 3 4 5 6 7 8 9 10
Time(s)

Fig.13 Damping Measurement

29
 3.2 Relative Amplitude and Frequency Measurements

During the search of real-time measurements, other algorithms are developed

in order to study the most suitable measure keeping in mind the controller
action and objectives.

As it is mentioned and shown above, it is developed an algorithm able to

measure the relative amplitude, moreover, another measurement is
implemented and tested in simulink.

Taking into account the necessity to measure the frequency of a signal,

especially the low frequencies it is designed another embedded algorithm and
presented in simulink blocks (Fig.14).

Again this algorithm, takes advantage of the signal derivation and the zero
crossing to detect the peaks. The clock input plays a key role as well, giving the
time footprint in real time.

Display1
Embedded
MATLAB Function
Clock
0 t
f 1
Zero f
1 du/dt Cnt dato
Crossing t1s
Signals t1 conteo
Derivative Zero Crossing
t2s
t2

t3
t3s
Scope

Scope1 1/z
Unit Delay
2*pi
1/z
Constant Product Display2
Unit Delay1
1/z
Unit Delay2

Scope2

Fig.14 Frequency Measurement Simulink Diagram

30
The implemented block in simulink has one input (the signal) and one output
(the frequency) (Fig.15). if { }

Action Port

1 Signals f 1
In1 Out1
Subsystem

Fig.15 Frequency Measurement Block

Even though the algorithm provides a correct frequency measurement; in

general terms it does not give enough information to do a control action
because the frequencies associated to the electromechanical modes are too
similar and in a similar range.

3.3 Signal Dynamic Deviation

As it is shown below, another measurement is going to be included to the

correspondent control action that measures the signal deviation, and in this case
the damping factor deviation (Fig.16).

To achieve a measurement deviation it is built a simple block diagram to carry

out this achievement as a discrete function expressed as follows:

(2)

1 1
In1 Out1

1/z
Deviation

Fig.16 Signal Deviation Implementation

31
 3.4 Algorithms Tests

All the algorithms developed are tested in the power system implemented in
the PMU locations mentioned in Section II. The simulation is run including the
selected PSS. The next figures are organised following aspecialorder, in the first
row is presented the main measurement (damping, relative amplitude or
frequency), in the second row is shown their deviation and finally, the original
signal is presented.

3.4.1 Damping Factor Measurement

The damping algorithm recognises the negative damping as the increasing of

signal, for that reason appears different steps ofmeasurement. In other cases
even the signal seems to be in steady state the measurer indicates the minimal
changes in the damping and continuous changing as it can be seen in Fig.17 and
Fig.18.
Damping Factor

-1
Damping Factor Deviation

0 5 10 15 20 25 30 35 40 45 50
Time(s)
2

-2
0 5 10 15 20 25 30 35 40 45 50
Time(s)
500
Electrical Power

0
0 5 10 15 20 25 30 35 40 45 50
Time(s)

Fig.17 Damping Measurement between areas 1 and 2

32
 Damping Factor
1

-1
Damping Factor Deviation
0 5 10 15 20 25 30 35 40 45 50
Time(s)
2

-2
0 5 10 15 20 25 30 35 40 45 50
Time(s)
600
Electrical Power

400

200
0 5 10 15 20 25 30 35 40 45 50
Time(s)

Fig.18 Damping Measurement between areas 1 and 3

3.4.2 Frequency Measurement

Due to variations mentioned above, there are a lot of high frequency

components which the algorithm measure. It is necessary to remember that the
frequency measurements related with the electromechanical oscillations are in
the range of 0.1 to 2 Hz which are not clear because of the higher values of
frequency. This effect is shown Fig.19 and Fig.20.

100
Frequency

50

0
0 5 10 15 20 25 30 35 40 45 50
Electrical Power Frequency Deviation

Time(s)
100

-100
0 5 10 15 20 25 30 35 40 45 50
Time(s)
500

0
0 5 10 15 20 25 30 35 40 45 50
Time(s)

Fig.19 Frequency Measurement between areas 1 and 2

33
 100

Frequency
50

0
0 5 10 15 20 25 30 35 40 45 50
Electrical Power Frequency Deviation

Time(s)
100

-100
0 5 10 15 20 25 30 35 40 45 50
Time(s)
600

400

200
0 5 10 15 20 25 30 35 40 45 50
Time(s)

Fig.20 Frequency Measurement between areas 1 and 3

3.4.3 Relative Amplitude Measurement

Finally, the relative amplitude measurement shows an adequate response even

though the oscillations presented in the tie-lines.
Relavite Amplitude

400

200
Relavite Amplitude Deviation

0
0 5 10 15 20 25 30 35 40 45 50
Time(s)
500

-500
0 5 10 15 20 25 30 35 40 45 50
Time(s)
500
Electrical Power

0
0 5 10 15 20 25 30 35 40 45 50
Time(s)

Fig.21 Relative Amplitude Measurement between areas 1 and 2

34
 Relavite Amplitude
1000

500

Relavite Amplitude Deviation

0
0 5 10 15 20 25 30 35 40 45 50
Time(s)
500

-500
0 5 10 15 20 25 30 35 40 45 50
Time(s)
Electrical Power

600

400

200
0 5 10 15 20 25 30 35 40 45 50
Time(s)

Fig.22 Relative Amplitude Measurement between areas 1 and 3

35
 4 MULTI-AGENT SYSTEM DESIGN

A Multi-Agent System (MAS) is a system that consists of several coordinating

and computing entities called "agents". There are many definitions for an agent.
The agents may be software agents, such as computer programs or they may be
people like us. An agent might be working alone in an environment or it may
communicate, coordinate and share with other agents to achieve its assigned
goals[48].

The hierarchical control proposal based on MAS, use a mixed

centralized/distributed planning coordination scheme due to each agent has its
inner actions and besides, there is a central planner which conceives the
organization actions of the local agents [49]. As it can be seen in Fig.23, the
identified processes are associated to the local PSS which are governed by their
local supervisors and the upper layer commands the local controllers.

Fig.23 Hierarchical Controller Concept

36
 4.1 Application Design

In this step is defined the design process as refinement responsibilities

identified. Refinement is performed by mapping responsibilities to generalised
problems and choosing the most appropriate solution, refinement process
involves two steps:

1. Knowledge Modelling, and

2. Task Roles

4.1.1 Knowledge Modelling

Local
Measurement

FL-PSSn Vstab AVRn Gn

Local
Hierarchical Measurement
Takagi-Sugeno
Fuzzy Logic
(HTSFL) FL-PSSi Vstab AVRi Gi
PSS

Coeffient
weights
Remote
Measurement Power System
Network
Fig.24 Proposed Controller Scheme

The first stage in the application design process is the knowledge modelling.
This knowledge uses the agent roles defined by fuzzy control rules.

37
The proposed structure of control is based on a centralised TSO which receives
the Remote Feedback Signals (RMS) from a PMU located in the power network
and sends back some command signals to the correspondent local controller in
charge of the generators. In this case, the hierarchical control is based on Takagi
Sugeno Fuzzy control. Fig.24 depicts the proposed hierarchical controller
scheme.

4.1.1.1 Local Control Model

The fuzzy design is based on a previous design presented in detail in [50][51],

where it is explained and justified the membership functions, the fuzzy
inference and defuzzification method, so it is summarised and validated now in
order to test it with the hierarchical controller exposed below.

Input variables are the speed deviation and active power deviation. The
meanings of abbreviations are BN=Big Negative, MN=Medium Negative,
LN=Low Negative, Z=Zero, LP=Low Positive, MP=Medium Positive and
BP=Big Positive and all of them are trapezoidal functions. Fig.25shows the
input membership functions. These inputs have the same functions because are
dependant as it is expressed in (3):

(3)

38
 LN LP
BN Zero BP
MN MP
1

0.8
Degree of membership

0.6

0.4

0.2

-5 -4 -3 -2 -1 0 1 2 3 4 5
dw

Fig.25 Speed deviation and Power Active deviation Input Memberships

functions representation

The output membership function which is the AVR input is depicted in Fig.26.

BN MN LN BZ LP MP BP
LZ
1

0.8
Degree of membership

0.6

0.4

0.2

-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1

Vstab

Fig.26 Output Membership Functions

39
Fuzzy rules describe the controller output based on the speed deviation (Δw),
and active power deviation (ΔPa) inputs; there are (7x7) 49 rules according to
the ranges of the variables of the multimachine system [50]. The decision table
is shown in Table IV.

Table.IV Decision Rules

∆w/∆Pa BP MP LP Z LN MN BN

BN BZ LN MN MN BN MN BN

MN LP BZ LN MN MN BN BN

LN MP LP BZ LN LN MN BN

Z BP MP LP LZ LN MN BN

LP BP MP LP LP BZ LN MN

MP BP BP MP MP LP BZ LN

BP BP BP BP MP MP LP BZ

4.1.1.2 SupervisorControl Model

Keeping in mind that the idea of the hierarchical controller is to obtain the
maximum damping as it is possible and taking the damping algorithm
measurement presented above, it is designed a Takagi Sugeno approach which
commands the local PSS signals (Fig. 27).

The fuzzy inference system uses as antecedent the selected measurement of the
damping in the tie-lines and the damping deviation in order to get qualitative
information of the signal and to give more robustness to the controller. In
addition, dynamic pre-filters are used to obtain the damping deviation.
40
The linguistic labels associated to the damping are similar to the membership
functions of the local controllers, however for the damping deviation there is a
high variation with the next fuzzy subsets: BNC=Big Negative Change,
LNC=Low Negative Change, LPC=Low Positive Change, BPC= Big Positive
Change. The membership functions are presented in Fig.29 and Fig.29.

f(u)

Damping Factor (5) TSdpc

PSS1 (2)

(sugeno)

20 rules

f(u)

Damping Factor Deviation (4)

PSS2 (2)

Fig. 27TakagiSugeno Control Proposed

System TS p : 2 inputs, 2 outputs, 20 rules
d c

BN LN Z LP BP
1

0.8
Degree of membership

0.6

0.4

0.2

-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1

Dp

Fig.28 Input Membership Functions of the Hierarchical Controller

41
 BNC LNC LPC BPC
1

0.8

Degree of membership
0.6

0.4

0.2

-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1

DpDev

Fig.29 Input Membership Functions of the Hierarchical

Controller(Deviation)

The control surface associated is shown in Fig.30.

0.8

0.6
PSS1

0.4

0.2

0
1 -1
0.5 -0.5
0 0
-0.5 0.5
-1 1
Damping Factor Deviation
Damping Factor

Fig.30 Surface Control Associated

The output membership functions are adjusted finding the minimum error in
steady state and the minimum oscillation in transient state by trial and error
method using the toolbox FIS of Matlab®.

The rule base that represents the knowledge obtained from the behaviour of the
system is summarised in Table.V. The rule base of the controller is proposed

42
after getting a previous knowledge about the dynamic and steady state
behaviour of the system. The output of the fuzzy controller is to give weighted
factors with different scales according to the damping measurements which
indicates what local fuzzy controller should be adjusted, and based on that a
damping factor near to the unit is the best option and it happens when the
oscillations are mitigated. In the case that the damping measurement gives a
low factor, the hierarchical controller orders the most weighted action to the
local controllers.

A negative damping factor can appear, and it is presented when there are low
oscillations and change to high oscillations, which is the case of a fault and the
action is contemplated with the same high weight. In that order, the linguistic
labels are only positive in three scales: Small (S), Medium (M) and Large (L).

Table.V Decision Rules

∆dp/dp BN LN Z LP
BNC PL1 PL2 PM1 PS2 PL1 PL2 PL1 PL2
LNC PL1 PM2 PM1 PM2 PL1 PL2 PM1 PM2
LPC PM1 PS2 PL1 PM2 PL1 PL2 PM1 PL2
BPC PM1 PS2 PS1 PS2 PL1 PL2 PL1 PM2

4.1.2 Tasks Roles

Designing a multi-agent system for any system is based on certain rules, and
requires classification of component agents, their characteristics, extent of
influence and limitations. The idea behind any multi-agent system is to break
down a complex problem that being handled by a single entity into smaller
simpler problems handled by several entities. Based on the goals a multi-agent

43
system designed for WAMCS should be able to accomplish the following three
tasks.

4.1.2.1 User Access Task

To provide user gateway that make features of the Smart grid accessible to
humans. It includes responsibility of providing users with real-time
information of entities residing in the system, by displaying active power
measurements and the remote/local feedback signals and their status.

4.1.2.2 Control task

This task includes responsibilities of monitoring the active power in selected

buses of the main grid in ordert to detect their fluctuations and apply the
correspondant control actions.

4.1.2.3 Measurement Task

This task has the responsibility of monitoring active power buses, speed rotors
or frequency and controlling their (on-off) status.

4.1.2.4 Coordination Task

While task distribution is one of the important rules played by a multi-agent

system, there is no-need to distribute the activities as widely as possible. The
application of multi-agent systems can be more efficient if some agent's
activities are centralised. That provides efficient by:

44
- Reducing the number of messages exchanged among agents and

- Simplifyng the overall complexity of multi-agent system implementation

The central control has a typical hierarchical fuzzy structure based on the
observation system and derived from simulations to form knowledge base
consisting of if – then rules[52]. One advantage of using fuzzy rules is the
linguistic variables applied which is a straightforward way to describe a
behaviour system.

A fuzzy rule base is expressed as:

if<fuzzy proposition>, then<fuzzy proposition> (4)

The propositions are combinations of conditional, unconditional and assigned

statements, the relationship of these sets of rules, the nested loops and the
priority composition form the central control.

The fuzzy control levels specify three actions listed as follows:

1. The regulation of steady – state power error: an important aspect

proposed, is the requirement in the coordination of the voltage
stabilisation references changes when is required and involves the
primary control level explained above. Based on this desired
behaviour, the corresponding fuzzy rule is:
- if the speed deviation and active power deviation changed in a
PSSn, then change the voltage stabilisation and apply the fuzzy local
control rules.

45
 2. The secondary control target has to coordinate the whole PSS
involved at one set point or to adjust different set points.The overall
power and the comparison with the reference set point are measured
and then is assigned a weight according to the error difference
measurements in each PSS, determining how close are (over or down)
to the global speed set point and finally apply the local control. In
terms of fuzzy logic this rule can be written as:

- if the power measurement p in a unit tie-line is not damped then assign a

weight wd to increase or decrease the local settings.

4.1.2.5 Bulletin Board Tasks

This is a special task which represents a dynamic contact point through which
all entities share and retrieve information. This requires a decision support
system that would enable look-ahead optimal settings during both emergency
(when there is fault) and non-emergency conditions.

4.1.3 Agent Specification

In this step, specifications regarding agents belonging to the multi-agent system

are defined.

4.1.3.1 Control Agent

46
Control agent receives the power measurement from the measurement agent
and applies the most optimal control action possible and is responsible to
redistribute the local PSS actions.

4.1.3.2 User Agent

Provides the interface, monitor the power measurements and acctions. User
agent can re-define the control actions.

4.1.3.3 Monitor Agent

Gives the information to all the other agents and

4.2 Constraints

Constraints mean restricting the values of concepts to subsets of legal values.

No constraints need to be ascribed to concepts for the applications. Default
values for all concepts have been identified. The application does not require
any types to be related to the concepts.

47
 5. MULTIAGENT SYSTEM APPLICATION AND STUDY CASE

In this thesis, the smart transmission grid is developed in Matlab/Simulink

environment to demonstrate the proposed multi-agent system functionality.
The implementation of multi-agent systems is of core importance.

This chapter addresses the study case conducted to analyse the multi-agent
systems functionality of reducing the damping in the tie-lines of the power
system studied applying on-line measurements under a wide area
measurement and control framework (Fig.31).

Fig.31 Multi – Agent Framework

The system is implemented in Simpower® and simulated without the PSS signal
in any machine, a three phase fault point as a disturbance is inserted in bus 6,
which is in the middle of the areas 1 and 2, with duration of five cycles and then
it is cleared as it is shown inFig.32 .

48
 The case studies conducted for the demonstration of multi-agent system
functionalities. The results and description of the tests are presented and
discussed at next.

B1 B2

A aA A a A a aA A

B bB B b B b bB B

C cC C c C c cC C
Brk1 Line 1a Line 1b Brk2
D D
(110 km) (110 km)

C
A
B
E E
Fault
F F

Area 1 Area 2

Line 2-3
(110 km)1
Line 2
(220 km)
B4

aA
A
B bB
B3
C cC
aA
D
E bB
Control System
F cC
Line 2-3
Area 3 (110 km)

Fig.32Simpower System Implementation Double click here fo

Machines2

d_theta 5.1 Transient Stability

d_theta v s M6 (deg)
yellow=M1, Vps
magenta=M2, Pos. Seq.
w V_B1 & V_B2 (pu)
w (pu) cyan=M3,
P_B1->B2
red=M4 Activ e Power f rom
d_theta1 Machines
Green=M5 System B1 to B2 (MW)
System
Blue=M6
Machines1 Data
Pe

STOP

Fig.33 shows the time response of electrical power ofSelect

each machine and can be
Stop Phasors
Electrical Power a specific PSS model
Stop simulation Show Bode plot
Machine Yellow=M1 mag=M2 cyan=M3
if loss of synchronism by typing: of PSS
Signals red=M4 Green=M5 Blue=M6

seen clearly that the system presents a critical 01 (No

stability
PSS)
(MB-PSS) and inter-area Show results:
Step on vref
2 (Delta w PSS from Kundur) of M1
3 (Delta Pa PSS)
oscillations. 2 PSSmodel
Show results:
3-phase fault

PSS model Goto

49
 1.2
G1
G2
1 G3
G4
G5
Electrical Power (MW)

G6
0.8

0.6

0.4

0.2

0
20 25 30 35 40 45
Time(s)

Fig.33 Electrical Power Time Response of Generators (Local)

Fig.34 shows the oscillations in the tie-line which interconnects area 1 and 2.

280

260
Electrical Power (MW)

240

220

200

180

160

140
20 25 30 35 40 45 50
Time(s)

Fig.34 Electrical Power Time Response of a Tie-line (Remote)

Now the system is simulated with only two local PSS and with the hierarchical
control proposed and it is observed the power flow in the tie-lines which
interconnect the area 1 with 2 and area 2 with 3 respectively. Even the
oscillations are mitigated with the local PSS (in green and blue), the hierarchical

50
controller presented achieves a minimal oscillation after the first swing in both
cases (in blue and red), and the HPSS is more effective for inter-area damping.

400

350
Electrical Power (MW)

300

250

200

150

100
20 25 30 35 40 45 50
Time(s)

Fig.35 Electrical Time Response in the Tie-lines with LC (Local Controllers) and
HC (hierarchical controllers)

550

500
Electrical Power (MW)

450

400

350

300

250

200

150
20 25 30 35 40 45
Time(s)

Fig.36 Electrical Time Response in the Tie-lines with LC (Local Controllers) and
HC (hierarchical controllers)

The selection of local fuzzy controllers instead of conventional controllers is

based on its adaptability. A test is done while the hierarchical controllers are
used with both types of local PSS.

51
Fig.37 shows the power electrical measurements in generators when is used the
hierarchical controller and Fig.38 shows the same signals when is used the
fuzzy local controllers and the hierarchical control at the same time. It can be
seen that, when are used the fuzzy local controllers case those fluctuations are
reduced.

G1
0.9 G2
G3
G4
0.8 G5
Electrical Power (MW)

G6
0.7

0.6

0.5

0.4

0.3

0.2
25 30 35 40 45 50
Time(s)

Fig.37 Electrical Power Time Response of Generators with conventional PSS as

long as it is applied the Hierarchical Control

G1
G2
0.9
G2
G4
0.8 G5
Electrical Power(MW)

G6
0.7

0.6

0.5

0.4

0.3

20 25 30 35 40 45
Time(s)

Fig.38 Electrical Power Time response of Generators with the two fuzzy
controllers

52
The zoom in shown in Fig.39 Power Response Zoom in with Fuzzy Local
Control demonstrates the fuzzy controller performance reducing the power
fluctuations.

0.8
G1
G2
0.75 G2
G4
G5
0.7 G6
Electrical Power(W)

0.65

0.6

0.55

0.5

0.45

0.4
30 31 32 33 34 35 36 37 38 39 40
Time(s)

Fig.39 Power Response Zoom in with Fuzzy Local Control

5.2 Results and Discussion

In order to evaluate the dynamic response of the controller proposed, the

damping factor (ζ) measured and the settling time (st), are compared with the
local controller. Table IV the advantages of the hierarchical controller.

Table.VI Controller Comparison

Local Controllers Hierarchical Controller

ζ (%) 0.1 0.65

st (s) 15 8.33

Once the measurement agent detects the fault at t= 25s, the control agent
informs the user agent and the control agent, both of which exchange

53
information and determine the optimal weight and the amount of power to
stabiliser the power system. The control coordination agent sends a control
signal to the local control agent to change the settings.

The use of the hierarchical control achieves to maximise the damping factor in a
minimum time compared with the use of the local controllers only.

54
 6. CONCLUSIONS

The eigenvalue analysis is a traditional method for offline analysis of dynamic

properties of power systems. It is based on the assumed system model and the
classical methods of linear systems control theory. With the help of eigenvalues,
eigenvectors, and participation factors, the system characteristics can be
predicted. However, this hardly meets the severe requirements for efficient
monitoring of dynamically changed power systems possessing a high level of
uncertainty. The system topology and the states are dynamically changed. The
system parameters are not constant.

The hierarchical controller methodology based on Takagi Sugeno approach

involving on-line measurements demonstrates a suitable time response
obtaining a damping factor maximised.

The wide area on-line measurements proposed gives an advantage over the
local measurements in order to reduce the LOF in the main tie-lines involved
and can be easily embedded in software/hardware systems.

The adaptability of the fuzzy logic controllers in Smart Transmission Grids

provides to be a good solution for the next generation of control systems
involved.

55
 7. FUTURE WORK

This kind of control can be applied in larger systems however it is necessary to

reduce the computational time in terms of simulation and future
implementation.

A digital signal processing analysis can be required to reduce the external noise
in measurements in field system.

8. REFERENCES

[1] H.M. Behbehani, J. Bialek and Z. Lubosny, "Enhancement of Power

System Stability using Fuzzy Logic based Supervisory Power System
Stabilizer," in Proceedings of IEEE 2nd International Power and Energy
Conference, Johor Bahru, Malaysia, 2008

[2] A.R. Roosta, H. Khorsand and M. Nayeripour, "Design and Analysis of

Fuzzy Power System Stabilizer," in Proceedings of Innovative Smart Grid
Technologies Conference Europe, Gothemburg, Sweden, 2010

[3] D. Chun-xia and et al, "Decentralized Stabilizer Design for Model-

Uncertain Large Interconnected Power Systems based on WAMS," in
Proceedings of International Power Engineering Conference, Singapore,
2007

[4] I. Kamwa, R. Grondin and Y. Hebert, "Wide-area Measurement based

Stabilizing Control of Large Power Systems- A Decentral-

56
 ized/Hierarchical Approach," IEEE Transactions on Power Systems, ,
vol.16, no.1, pp.136-153, 2001

[5] W. Huaren, W. Qi and L. Xiaohui, "PMU-Based Wide Area Damping

Control of Power Systems," in Proceedings of Power System Technology
and IEEE Power India Conference, New Delhi, 2008

[6] S. Yong-Hua and A.T. Johns, "Applications of Fuzzy Logic in Power

Systems. III. Example Applications," Power Engineering Journal, vol.13,
no.2, pp.97-103, April 1999

[7] B.K. Bose, "Expert System, Fuzzy Logic, and Neural Network
Applications in Power Electronics and Motion Control," Proceedings of
the IEEE, vol.82, no.8, pp.1303-1323, Aug 1994

[8] R.W. Dunn, K.W. Bell and A.R. Daniels, "Fuzzy Logic and its Application
to Power Systems," in Proceedings of IEE Colloquium on Artificial
Intelligence Techniques in Power Systems, London, UK, 1997

[9] J.R. Aguero and A. Vargas, "Inference of Operative Configuration of

Distribution Networks using Fuzzy Logic Techniques-Part I: Real-time
Model," IEEE Transactions on Power Systems, vol.20, no.3, pp. 1551-
1561, 2005

[10] G. Acampora, V. Loia and A. Vitiello, "Exploiting Timed Automa-ta

based Fuzzy Controllers for Voltage Regulation in Smart Grids," in
Proceedings of IEEE International Conference on Fuzzy Systems, Taipei,
Taiwan, 2011

57
[11] T.Y. Kurniawan, "Electrical Load Time Series Data Forecasting using
Interval Type-2 Fuzzy Logic System," in Proceedings of IEEE
International Conference Computer Science and Information, 2010

[12] V. Loia, and A. Vaccaro, "A Decentralized Architecture for voltage

regulation in Smart Grids," in Proceedings of IEEE International
Symposium on Industrial Electronics, Gdańsk, Poland, 2011

[13] L. Fangxing and et al, "Smart Transmission Grid: Vision and

Framework," IEEE Transactions on Smart Grid, vol.1, no.2, pp.168-177,
2010

[14] Basler, M.J.; Schaefer, R.C.; , "Understanding Power-System Stability,"

IEEE Transactions on Industry Applications, Vol.44, no.2, pp.463-474,
2008

[15] R. Hoffmann, G. Krost, M. Rohner. "Displaying Operational Information

to Yield Situation Awareness in Case of System Splits of Large
Interconnected Grids" in CIGRÉ 2011, Bologna, pp. 277-283

[16] Kundur. P., Power System Stability and Control, McGraw-Hill, Inc., 1994

[17] Anderson,M., Fouad, A., Power System Control and Stability., John
Wiley & Sons 2003

[18] A. Murdoch, S. Venkataraman, R.A. Lawson, and W.R.Pearson, "Integral

of Accelerating Power Type PSS. I. Theory, Design, and Tuning
Methodology," IEEE Transactions on Energy Conversion, vol.14, no.4,
pp.1658-1663, 1999

58
[19] P. Hoang and K. Tomsovic, "Design and Analysis of an Adaptive Fuzzy
Power System Stabilizer ," IEEE Transactions on Energy Conversion,
vol.11, no.2, pp.455-461, 1996

[20] T. Abdelazim and O.P. Malik, "An Adaptive Power System Stabilizer
using On-line Self-learning Fuzzy Systems," in Proceedings of Power
Engineering Society General Meeting, Toronto, Ontario Canada, 2003

[21] A.M. Ghany, "Design of a Mixed H2/H∞ Robust PID Power System
Stabilizer with Fuzzy Adaptation and Simulated Annealing
Optimization," in Proceedings of International Middle-East Power
System Conference, 2008

[22] H.R. Chamorro and M.A. Rios, "PSS Fuzzy Controllers with New
Defuzzification Strategies for a Multimachine System," in Proceedings of
ANDESCON, Bogotá, Colombia, 2010

[23] H. Behbehani, Z. Lubosny and J.W.Bialek, "Survey of Supervisory Power

System Stabilizers for Enhancement of Power System Stability," in
Proceedings of Universities Power Engineering Conference, Brighton,
UK, 2007

[24] L. Zijian, Y. Jilai and S. Hong-Chun, "Coordination Control between PSS

and SVC Based on Fuzzy-Satisfactory Degree and MOEA," in
Proceedings of Asia-Pacific Power and Energy Engineering Conference,
Wuhan, China, 2009

[25] M. Vijayaraghavan and M.Y. Sanavullah, "A Supervisory Hierarchical

Fuzzy logic Controller for Power System Stabilizer," in Proceedings of
International Conference on Electronics Computer Technology,
Kanyakumari, India, 2011

59
[26] T. Hussein, A.L. Elshafei and A. Bahgat, "Design of a Hierarchical Fuzzy
Logic PSS for a Multi-machine Power System," in Proceedings of
Mediterranean Conference on Control & Automation, 2007

[27] H. Pei-Hwa, T. Ta-Hsiu and D. Shao-Chiang, "Power System Stabilizer

using Local and Remote Signals," in Proceedings of Annual Conference
on International Conference on Instrumentation Control and Information
Technology, Tokyo, Japan, 2008

[28] C. Rehtanz, "Autonomous Systems and Intelligent Agents in Power

System Control and Operation", Springer-Publisher, Chapter 2,3, 2003

[29] U. Ha ger, S. Lehnhoff, C. Rehtanz and H.F. Wedde, "Multi-Agent

System for Coordinated Control of Facts Devices" in Proceedings on
International Conference on Intelligent System Applications to Power
Systems, Curitiba, Brazil, 2009.

[30] U. Ha ger and et al. "Applicability of Coordinated Power Flow Control

based on Multi-Agent Systems" in Proceedings of Bulk Power System
Dynamics and Control Symposium, Buzios, Rio de Janeiro, Brazil 2010.

[31] EPRI Intelligrid [Online]. Available: http://intelligrid.epri.com/

[32] M. McGranaghan, D. Von Dollen, P. Myrda, and E. Gunther, “Utility

experience with developing a smart grid roadmap,” in Procedings of
IEEE PES General Meeting 2008, pp. 1–5.

[33] European SmartGrids Technology Platform, European Commission, 2006

[Online]. Available:

60
 http://ec.europa.eu/research/energy/pdf/smartgrids_en.pdf

[34] Towards smart power networks, European Commission, 2005

[Online].Available:
http://ec.europa.eu/research/energy/pdf/towards_smartpower_en.pd
f

[35] Office of Electric Transmission and Distribution, U.S. Dept. Energy,

“Grid 2030: A national version for electricity’s second 100 years,” July
2003
[36] T. F. Garrity, “Getting Smart,” IEEE Power Energy Mag., vol. 6, no. 2, pp.
38–45, Mar.–Apr. 2008.

[37] S. M. Amin and B. F. Wollenberg, “Toward a smart grid: Power delivery

for the 21st century,” IEEE Power Energy Mag., vol. 3, no. 5, pp. 34–41,
Sep.–Oct. 2005.

[38] J. R. Roncero, “Integration is key to Smart Grid management,” in Proc.

IET-CIRED Seminar Smart Grids for Distrib., Jun. 23–24, 2008, pp. 1–4.

[39] D. G. Hart, “Using AMI to realize the Smart Grid,” in Proc. IEEE PES
Gen. Meet. 2008, pp. 1–6.

[40] G. M. Huang and L. Zhao, “Measurement based voltage stability

monitoring of power system,” Power Syst. Eng. Res. Ctr., 2001 [Online].
Available:
http://www.pserc.wisc.edu/documents/publications/papers/2001_gen
eral_publications/indicator.pdf

61
[41] J. H. Chow, A. Chakrabortty, M. Arcak, B. Bhargava, and A. Salazar,
“Synchronized phasor data based energy function analysis of dominant
power transfer paths in large power systems,” IEEE Trans. Power Syst.,
vol. 22, no. 2, pp. 727–734, May 2007

[42] G.N. Taranto, J.H. Chow and H.A. Othman, "Robust Decentralized
Control Design for Damping Power System Oscillations," in Proceedings
of Conference on Decision and Control, 1994

[43] H, Yuan-Yih and C. Chern-Lin, "Identification of Optimum Location for

Stabiliser Applications using Participation Factors," IEE Proceedings C
Generation, Transmission and Distribution, vol.134, no.3, pp.238-244,
1987

[44] D.R. Ostojic, "Identification of Optimum Site for Power System Stabiliser
Applications," IEE Proceedings C Generation, Transmission and
Distribution, vol.135, no.5, pp.416-419, 1988

[45] L. Chun, R. Yokoyama and V.R. Silva, "Optimal Allocation and Design of
PSSs for Damping of Low-Frequency Oscillations in Multi-Regional
Interconnected Power System," in Proceedings of Transmission and
Distribution Conference and Exhibition: Asia and Pacific, 2005

[46] S. Chakrabarti, E. Kyriakides, B. Tianshu, C. Deyu, V. Terzija,

"Measurements get together," IEEE Power and Energy Magazine, vol.7,
no.1, pp.41-49, January-February 2009

[47] L. Angquist and C. Gama, "Damping Algorithm based on Phasor

Estimation," in Proceedings of Power Engineering Society Winter
Meeting, Columbus, Ohio USA, 2001

62
[48] L. Cristaldi, A. Monti, R. Ottoboni and F. Ponci, "Multiagent based Power
Systems Monitoring Platform: APrototype," in Proceedings of Power
Tech Conference, Bologna, 2003.

[49] J. Ferber. MultiAgent Systems: an Introduction to Distributed Artificial

Intelligence, Addison Wesley, Longman, 1999.

[50] M. Dobrescu and I. Kamwa. "A New Fuzzy Logic Power System
Stabilizer Performances" in Proceedings of Power Systems Conference
and Exposition, 2004. Oct. 2004

[51] D. Sabapathi, R. Dhanasekaran and R. Laksmipathy. “Design of Fuzzy

Based Power System Stabilizer for a Multimachine System”.
International Journal of Electric and Power Engineering, pp: 248-253,
2008

[52] H.R. Chamorro and G. Ramos "Microgrid Central Fuzzy Controller for
Active and Reactive Power Flow Using Instantaneous Power
Measurements" in Proceedings of Power and Energy Conference at
Illinois, Champaign-Urbana USA, 2011

63