Particle Swarm Optimization Based Energy Optimized Dynamic Voltage Restorer

P.Ajay-D-Vimal Raj, S.Senthil Kumar, J.Raja, M.Sudhakaran, and T.G.Palanivelu

with nonlinear characteristics are highly interconnected with wide geographical distribution. This demands the optimization of a complex objective function under few practical constraints. Hence power system network optimization involves maximization or minimization of objective function under certain constraints. The operation of a modern power system has to incorporate in its mission a strategy that serves to derive the maximum benefits of an improved performance and enhanced reliability. The power grid networks have been analyzed using conventional and enumerative techniques for delivering the bulk power, reliably and economically, from power plants to the consumers. Though well-developed, these conventional approaches dealt with the local optima. Besides their limitations to handle mixed variables, these enumerative techniques have relied on special convergence properties and evaluation of auxiliary functions [1]-[2]. Mathematically well-defined objective and constraint functions and their derivatives must therefore be developed in order to land at a global optimum in a search procedure. In order to alleviate the problems associated with traditional strategies, intelligence techniques are also explored. The operations of energy management systems can be further optimized through particle swarm optimization (PSO) an innovative monitoring, protection and control scheme. PSO is similar to genetic algorithm in a sense that the system is initialized with a population of random solutions. PSO serves Index Terms-- Dynamic Voltage Restorer, Particle swarm as a simple and powerful tool for solving optimization optimization, Power quality. problems [3]-[4]. Choi et al. [5] have developed various voltage control I. INTRODUCTION strategies for dynamic voltage restoration with minimum THE optimization is the best way of doing things, energy injection. It has made use of instantaneous phase obviously is of great interest in the practical world of advance and progressive phase advance methods for voltage engineering. In recent years, for power system management, restoration, thereby reducing energy injection. The simulation results of a single phase example have revealed the efficacy of many important decisions are made by describing the system the proposed method for balanced and unbalanced voltage under study as precisely and quantitatively as possible, selecting some measures of system effectiveness, and then sags. Alexander Domijan et al. [6] have addressed the seeking the state of the system which gives the most desirable potential problems related to power quality devices (PQDs) solution to the criteria. Modern electric power systems built such as an advanced static VAR compensator, a dynamic voltage restorer and a high-speed transfer switch. Its performance has been modeled using ATP-EMPTP P.Ajay-D-Vimal Raj and Dr.M.Sudhakaran are with the Department of techniques. Comparison between simulation results and field Electrical and Electronics Engineering, Pondicherry Engineering College, measurements of individual PQDs for different system Puducherry-605014.(E-mail: ajayvimal@yahoo.com) S.Senthil Kumar and J.Raja are with the Department of Electrical and conditions and faults have been presented. Electronics Engineering, Sri Manakula Vinayagar Engineering College, Haque et al. [7] have proposed a method to determine the Puducherry-605107(avs_senthil gyahoo.co.in) exact amount of voltage injection required to systematically Dr.T.G.Palanivelu, Principal, Pondicherry Engineering College, correct a specific voltage drop with minimum active power Puducherry-605014. injection. The technique of correcting the voltage drop or sag by a DVR with minimum active power injection has been 978-1-4244-1762-9/08/$25.00 2008 IEEE tested for lower and higher voltage drops. Mahinda Vilanthgamuna et al. [8] have built a new phase advance

Abstract-- Implementation of Particle Swarm Optimization (PSO) application for solving the optimization problem in the field of electric power system is proposed. PSO is a powerful tool for optimizing multidimensional discontinuous nonlinearity problems. The optimization problem in power system like minimization of energy capacity of a dynamic voltage restorer is identified and analyzed in the proposed work. The growing interest in power quality has led to a variety of devices designed for mitigating power disturbances, primarily voltage sags. Among several devices, a Dynamic Voltage Restorer (DVR) is a novel custom power device proposed to compensate for voltage disturbances in a distribution system. The compensation capability of a DVR depends primarily on the maximum voltage injection ability and the amount of stored energy available within the restorer. A novel PSO based Phase Advancement Compensation(PAC) strategy is proposed in this work for optimizing the energy storage capacity of the DVR in order to enhance the voltage restoration property of the device. The proposed algorithm is tested on a sample three phase system for various levels of sag in a particular phase. The proposed algorithm identifies the required value of phase advancement angle corresponding to minimum power injection from the energy storage element such as a capacitor or a battery. The results of swarm intelligence based DVR are compared with the conventional DVR techniques and is found encouraging.

compensation strategy for DVR in order to enhance the voltage restoration property of the device. Supply voltage amplitude and phase detection scheme as well as phase advance determination schemes have been included. The efficacy of the proposed method has been compared with conventional in-phase injection technique in terms of energy saving and dynamic performance.
A new topology based on Z-source inverter for the DVR has been proposed by Mahinda Vilanthgamuna et al. [9]. It has served to enhance the capability of the DVR through better utilization of the stored energy. The simulation results have revealed that the disturbance caused by sag has been effectively compensated utilizing buck-boost capability of the Z-source inverter. T. Jauch et al. [10] have demonstrated the in-phase voltage injection technique where the load voltage is assumed to be in-phase with the presag voltage for the DVR control. N.A Samara et al. [11] have incorporated the DVR into a distribution network and analyzed the performance of DVR for highly sensitive industrial loads based on reactive power compensation.

Liie
=

Sup1ly
Load

Storage
I
I

PWNM

unit

hwerie
DC Lk

~~~~~~~'DVR

A PSO-based phase advancement compensation strategy for a balanced fault test case is presented in this paper. The Fig. 1. Schematic block diagram of power distribution system compensated by strategy aims to optimize the energy storage capacity of the a DVR. DVR in order to enhance the voltage restoration property of the device. The approach identifies the required value of phase A schematic diagram of the DVR incorporated into a advancement angle corresponding to minimum power distribution network is shown in the Fig. 1. Vs is the supply injection from the energy storage element such as a capacitor voltage, VI is the incoming supply voltage before or a battery. compensation, V2 is the load voltage after compensation, Vdv, is the series injected voltage of the DVR and I is the line II. OVERVIEW OF DVR current. DVR consists of an injection transformer in which the secondary winding of the transformer is connected in series with the distribution line. Also a voltage-source pulse width The dynamic voltage restorer is a custom power device for series connection into a distribution line. When connected in modulation inverter bridge is connected to the primary of the series between a source and a load, the DVR can control the injection transformer and the energy storage device is voltage applied to the load by injecting a voltage of arbitrary connected at the dc-link of the inverter bridge. The inverter amplitude, phase and harmonic content into the line. This bridge output is filtered in order to mitigate the switching enables the voltage seen by the load to be compensated to a frequency harmonics generated in the inverter. The series injected voltage of the DVR, Vdvr, is synthesized by desired magnitude in the face of upstream disturbances. modulating pulse width of the inverter-bridge switches. The The DVR is capable of supplying and absorbing both real injection of an appropriate Vdvr, in the face of upstream and reactive power. In many cases, small disturbances can be voltage disturbances demands a certain amount of real and restored through the exchange of reactive power only. For reactive power requirement from the DVR. larger disturbances, it is necessary for the DVR to supply real III. OFF-LINE STRATERGIES FOR DVR power to the load. The reactive power exchanged is generated by the inverter without any energy storage devices. The real The fallowing strategies were adopted for the inverter power exchange requires energy storage. Therefore, the DVR topology to be implemented in the DVR. should be provided with a storage device in the form of a battery or a capacitor bank. When the line returns to normal 1. PWM inverter following a disturbance, the stored energy is replenished from 2. Z-Source inverter the distribution system by the DVR. 3. 11 level diode clamped multilevel inverter 4. 11 level cascaded multilevel inverter

Extensively used in present DVR control is the so called inphase voltage injection technique and phase advance compensation technique.
A. In-Phase Voltage Injection Technique
In this technique the load voltage is assumed to be in-phase with the presag voltage by injecting AC voltage in series with the incoming three phase network [10] and [1 1]. This strategy is applied to both balanced and unbalanced voltage sags. However, this method does not take into account the phase Fig. 2. Equivalent Circuit of Level cascaded multilevel inverter. shift of the voltage disturbances. Therefore the power needed to inject from the DVR energy storage unit into the For describing the operation principle of cascaded multilevel inverter, it depends on the some of the input voltages in each distribution system was maximum. Hence this technique does stage. The phase output voltages are synthesized by the sum of not take into account the minimization of the energy required four inverter output. Each inverter level can generate three to achieve a required voltage restoration. For sags of long different voltage outputs. The output voltage of the inverter is duration, this could result in poor load ride-through capability. The steady state active power injection from the DVR almost sinusoidal and it has less than 5% total harmonic when using the in-phase voltage injection technique is given distribution with each of the H- bridges switching only at fundamental frequency. Each H-bridge units generates a quasi as follows, square wave form by phase shifting its positive and negative p inphase phase leg switching timings. It should be noted that each Cos(( +6 ) (1) Vj switching device always conduct for 180 degree regardless of the pulse width of the quasi square wave form of a H-bridge. where V2 is the balanced output voltage, This switching method makes all of the switching device I is the balanced load current, current stresses equal. A 11 Level Cascaded Multilevel It is the load power factor angle, Inverter had a good performance compare to other inverters VI is the source side voltage, like PWM Inverter, Z Source Inverter, diode clamped inverter 6 is the supply voltage phase angle, in Dynamic Voltage Restorer for compensation of the voltage subscript j represents jth phase and j =1, 2, 3. in a three phase distribution system during a sag condition. The source voltage under sag condition and the corrected Similarly, the steady state reactive power injection from the voltage supplied from the proposed DVR is shown in the DVR when using the in-phase voltage injection is given as figures 3 and 4 respectively. follows, Qinphase = 3V, ISin(D) - E VlI (2) 6 Q i Ii)
11

3V2ICos((I@)-ZV1-I

dvr

jSin((

-)

Vj

B. Phase Advance Compensation (PAC) Technique

Fig. 3. Source voltage under fault condition.

400
300 -j..

20 f. . ...JK.. )\. . 'K ..'..

-200

.I..

....9

-400-.

0.1
0

0.2

0.3

0.4

0.5

0.;
11

Time offset:

Time in secs

Fig. 4. Simulated result of the DVR at recovery from fault condition using level cascaded comparator.

As was recognized by many researchers, the compensation correction capability of the restorer concentrates to improve the voltage quality by adjusting the voltage magnitude, wave shape, and phase shift during the occurrence of voltage sag.

The function of the DVR shown in Fig. is to ensure that load voltage disturbances can be compensated effectively and the disturbance is transparent to the load. The corresponding phase diagram describing the electrical conditions during the voltage sag compensated by PAC scheme is depicted in Fig.5 where only the affected phase is shown for clarity. Let I, (D, 6 and ac represent the load current, load power factor angle, supply voltage phase angle, and load voltage advance angle, respectively. Unlike the in-phase voltage injection technique considered in [10] and [11], the PAC technique [8] is realized by the adjustment in load voltage advance angle ac. One major advantage of the proposed scheme is that less real power needs to be injected from DVR energy storage unit into the distribution system. Compared to the conventional in-phase injection method, the phase advance compensation scheme permits the DVR to help the load ride through more severe voltage sags. However, the advancement of load voltage advance angle ac at the beginning of compensation as well as the restoration of phase angle at the end of sag must be carried out gradually in order not to disturb or interrupt the operation of sensitive loads.
any

II. Minimum Power Operation

Fig. 5. Phasor diagram of power distribution system during sag.

The power flow calculation of the DVR under the phase advance compensation technique [8] is considered as follows. I. D VR Power Flow If Pin and Pout are the input power from the source and the load power, respectively, then

Pin

E: Vli 1I Cos ((I)-ocX + 6i)

Vj

(3)

The real power and reactive powers supplied by the DVR depends on the nature of voltage disturbance experienced as well as the direction of the DVR injected voltage with reference to the presag voltage. Pdvr depends on the advance angle oc for a given 6 and VI, as shown in Fig.2. Based on the values of ac used, the minimum value of Pdvr can be negative. This implies that the real power is being absorbed by DVR. However, there is no technical and economical advantage by operating this way during the sag period, the DVR should be exporting energy to support the load instead of drawing more power from the source. A negative Pdvr may even aggravate the sag situation. A larger energy storage facility will be required to cater for the absorbed power for no obvious technical advantage. The possibility of operating at Pdvr= 0 during sag is an interesting proposition. The following analysis is therefore carried out to explore this possibility by determining the corresponding value of load voltage advance angle oc for such an operation. Case 1- Operation at Pdvr= 0, from equation (6)

3V21Cos(($)- Vlj I Cos($D -ca+ 6)=0

Vj

(11)

Pout

V2' I Cos ($)

vj
=

(4)
V2)

Assume a balanced Load (Ij I) and a balanced output voltage (V2 Pout = 3 V2 I Cos ($)

Let X= E VI Cos (6), Y = V 1sin (6), then, following 1 some simple manipulations, the phase advance angle oc that corresponds to Pdw,= 0 is given by

(5)
tCopt= c)
SI

Let Pdvr be the real power supplied by the DVR,

3V2Cos(+C)

(12)

then from (3) and (5), Pdvr = Pout - Pin

=dvr=3V2ICos

(d)- Z Vj

Vlj Ij

Cos

()

6j)

(6)

Similarly if Q in and Qout be the input reactive power from the source and load respectively, then

where D = tan-1(Y/X), it can be seen from the expressions already shown that for balanced sags, D = 6 and (Copt is the optimum value of phase advancement angle for minimum power operation. The necessary condition for the existence of ac opt is given by (X2 + y2 )0 5 > 3V2Cos(($) (13)

Qin = ZVijIjSin( - a +6)

Vj

(7)
(8)

Qout
Q dvr

= E
Vj

V2j 1Sin(($) = 3V21 Sin($)

-

Reactive power supplied by DVR will be

=

Qout

Qin

(9)

Qdvr
power

=3V2ISin(D)-ZV1ljj Sin($D-O+6 Vj

(10)

Thus, voltage correction with zero power injection is possible only if the condition imposed by the above equation is satisfied. If the voltage sag is so severe that equation (13) cannot be satisfied, then the optimum value of load voltage advance angle ac can be calculated by setting dPdvr /d oc = 0 . At this operating point, the DVR supplies minimum real power to the external system to keep V2= 1 p.u. Case 2- Optimal operation when Pdvr > 0: As

I.

O, use equation (6) and set dPdvr/dc

0. This means that

From (6) and (10) it is obvious that the control of real and reactive power exchange between DVR and distribution system is possible only with the adjustment of the phase angle oc for a given value of 6, (I, VI, V2.

ZV1,Sin((Ds-a+6) = 0 Vj

Lopt

iP+f3

(14)

The corresponding DVR injection real power requirement under OCopt control strategy is given as

= -Pt 3V2Icos(D)-I VljIcos(D-caop

Vj

+6

j)

(15)

3. Initialize iteration loop, particle position and the particle velocity. 4. Calculate the input power flow of each phase (Pin, Pm-2, Pm3), the total power flow (Tpm ) and the power from DVR (P dvr) for each particle. 5. Compare each particles evaluation value, Pdvr, with its pbest. The best evaluation value among the pbest is denoted as gbest. 6. Update the inertia weight W as given by [3]

IV. PARTICLE SWARM OPTIMIZATION

PSO is a population based stochastic optimization technique developed by Dr. Kennedy and Dr. Eberhart [3]. A population of particles exists in the n-dimensional search space. Each particle has a certain amount of knowledge, and will move about the search space based on this knowledge. The particle has some inertia attributed to it and so it will continue to have a component of motion in the direction it is moving. It knows where in the search space, it will encounter with the best solution. The particle will then modify its direction such that it has additional components towards its own best position, pbest and towards the overall best position, gbest.
V. PROBLEM FORMULATION

(18) itermax where 'Itermax' is the maximum number of iterations and 'Iter' is the current iteration number. 7. Modify the velocity V of each particle according to[3]

Wmax Wmin * iter

If V>Vm'X then V = Vmax If V<Vmln then V= Vmln

8.

V[ ]=V[ ]+q*rand[ ]* (pbest[ ]-presenf ])+ C2 *rand ( )*(gbest[ ]-present ])

(19)

Modify the position of each particle according to [3]

A powerful PSO based phase advancement compensation strategy is developed for optimizing the energy storage capacity of the DVR in order to enhance the voltage restoration property of the device A. Objective function The proposed work aims at minimizing the objective function designed to optimize the energy injection from the energy storage element of the DVR such as a capacitor or a battery. The mathematical model is changed to the following generalized objective function which is given as
Minimize Pdvr = Pout Pin
-

present[ ]=present[ ]+v[ ]

If a particle violates its position limits in any dimension, set its position at the proper limit. 9. Each particle is evaluated according to its updated position. If the evaluation value of each particle is better than the previous pbest, the current value is set to be pbest. If the best pbest is better than gbest, the value is set to be gbest. 10. If the stopping criteria is satisfied then go to Step 12. Otherwise, go to Step 4. 11. The particle that generates the latest gbest is the optimal value.
VI. SIMULATION RESULTS

(16)

where Pdvr is the real power supplied by the DVR, Pin and Pout are the input power from the source and the load power, respectively. Subjected to

Load voltage advance angle constraint, in which Load voltage advance angle (ac) during each compensation strategy should be within the permissible range

-180< c< 180

B. Algorithm of the Proposed Method

(17)

(1/0,1/ -120 0,0.4 -2400), respectively. Assume a 2-MVA, 0.85 (lag) power factor load at 22 KV. The load power factor angle can be readily evaluated and is found to be 1. Input the parameters of the system such as three 31.78. Under presag conditions, each phase supplies 566.7 phase voltage magnitude and angles, supply side KW. During in-phase injection technique, power supplied voltage angle (6), time duration of voltage sag, load from the phases is 566.7 KW, 566.7 KW, and 226.6 KW, side power factor angle (0) and number of iterations. respectively, while the DVR will supply the balance power of 340 KW. The source-side input power for the three phases 2. Specify the lower and upper boundaries of load with the phase advancement compensation is 666.6 KW, voltage advance angle (ac). 666.6 KW, and 266.6 KW, respectively, and hence the

The result of the analysis for the proposed PSO based phase advancement compensation (PSO-PAC) strategy is illustrated with the following case. Under the proposed PSOPAC method, DVR uses the power from the source-side healthy phases to minimize active power supply from the stored energy source. As an illustration, consider a singlephase sag occurring in a balanced three phase system where the are post-sag voltages

remaining 100 KW is supplied from the DVR storage device. The reactive power obtained from the DVR is 210.671 KVAr at the load voltage advance angle oc value of 151.7833. Therefore, from the above results it is clear that with the PAC method, the healthy phases of the source provide more energy thus reducing the energy storage burden on the DVR storage device. However, there is a significant increase in reactive power supplied by the DVR. A reactive power of 1054 KVAr is supplied by the DVR with the PAC scheme while 210 KVAr is supplied with in-phase injection technique. The results of the analysis shown above are considered for the typical arrangement as shown in Fig. 1 where the sensitive load is assumed to have a power factor of 0.85 lag and the presag load voltage and current are at 1 p.u. The voltage sag is considered as 60% sag on any one phase of the three phase system. Using the proposed PSO based PAC scheme, it can be seen that the DVR can restore the voltage sag by reduced real Here the real power power. supplied from DVR is 99.906 KW for a balanced sag level of 60 %. It is observed that the amount of real power obtained in three phases are 666.71 KW, 666.71 KW, 266.68 KW, respectively, and the total power supplied to the load is 1600.1 KW. The corresponding value of optimized energy is 832.5511 Watt-hours. The optimum phase advance angle obtained using the proposed method is 151.7883. The reactive power from DVR is 1053.6 KVAr and the line current is 52.48638 A. Hence the proposed PSO based PAC scheme finds the optimum phase advancement angle which is almost close to that of the angle found by the conventional PAC scheme. This indicates the correctness of the proposed method.
TABLE I COMPARISON OF RESULTS OF THE PROPOSED METHOD WITH PAC AND INPHASE INJECTION SCHEME

resulting in a more economical restorer in terms of compact design.

a more

VII. CONCLUSION The mechanism of restoring voltage using series injection technique has been considered. The technique involves power injection from the energy storage device within the restorer to the ring main distribution system. In the case of balanced voltage sags the energy required to implement voltage restoration can be reduced by injecting a voltage having phase advancement with respect to the source voltage. A new PSO based PAC scheme is proposed for a DVR controlled by a 11 level multilevel cascaded inverter to identify the required phase angle advancement corresponding to minimum energy injection. The proposed method is tested and is simulated for a 3 phase load with balanced single phase sag and a considerable reduction in the stored energy has been achieved using the proposed scheme. The proposed scheme finds application in improving power quality of distribution systems and reducing the energy supplied from the DVR to correct a given voltage sag. The proposed approach may be implemented as a decision support tool for an efficient energy
management system.

VIII. REFERENCES
[1] [2] [3]
D. P. Kothari and J. S. Dhilon, "Power system optimization", (book), Prentice-Hall India, 2004. Loi Lei Lai, "Intelligent system applications in power engineering", (book), John Wiley & Sons Ltd., 1998. J. Kennedy and R. Eberhart, "Particle swarm optimization", in Proceedings of IEEE International Conference on Neural Networks (ICNN'95), Perth, Australia, Vol. IV, pp. 1942-1948, 1995. J. Kennedy and R. Eberhart, "Swarm intelligence", (book), Morgan Kaufmann, 2001. S. S. Choi, B. H. Li and D. M. Vilathgamuwa, "Dynamic voltage restoration with minimum energy injection," IEEE Transactions Power Systems, Vol. 15, No. 1, pp. 51-57, February 2000. Jr. Alexander Domijan, Alejandro Montenegro, Albert J. F. Kern and Kenneth E. Mattern, "Custom Power Devices: An Interaction Study", IEEE Transactions on Power Systems, Vol. 20, No. 2, pp. 11 1 1-1 1 18, May 2005. M. H. Haque, "Voltage Sag Correction by Dynamic Voltage Restorer with minimum Power Injection", IEEE Power Engineering Review, pp. 56-58, 2001. D. Mahinda Vilathgamuwa, A. A. D. Ranjith Perera and S. S. Choi, "Voltage sag compensation with energy optimized dynamic voltage restorer", IEEE Transactions on Power Delivery, Vol. 18, No. 3, pp. 928-936, July 2003. D. Mahinda Vilathgamuwa, H. M. Wijekoon, and S. S. Choi, "A Novel technique to compensate voltage sags in multiline distribution system-The interline dynamic voltage restorer", IEEE Transactions on Industrial Electronics, Vol.53, No. 5, pp. 1603-161 1, October 2006. T. Jauch, A. Kara, M. Rahmani and D. Westermann, "Power quality ensured by dynamic voltage correction", ABB Rev., Vol. 4, 1998. N. A. Samra, C. Neft, A. Sundaram and W. Malcolm, "The distribution system dynamic voltage restorer and its applications at industrial facilities with sensitive loads", in Proceeding of Power Conversion Intell. Motion Power Quality, Long Beach, CA, September 1995.

[4]
[5] [6]

Elements

Pinl

In-phase Injection Scheme 566.699KW

566.699KW 226.679KW
1360.079KW 1700.099KW 340.019KW

Phase-Advance Compensation Scheme (PAC)

666.705 KW 666.705KW 266.682KW
1600.093KW 1700.099KW 100.005KW

Proposed PSO based Phase A ane

Phase Advance CompensatOon

666.71 KW

[7]

Pin2

666.71KW 266.68KW
1600.1KW 1700.099 Watts 99.906KW

[8]

min3
Tpin
Pout

[9]

Pdv,
Energy

[10]

2833.491 Watt-hr

833.375 Watt-hr

832.5511 Watt-hr
[11]

From the above comparison it is clear that PSO based PAC scheme requires minimum power for a 60 % voltage sag in any one phase lasting for 30 ms for a input voltage of 22 KV and saves around 94 W. Based on the above analysis, it can be seen that the amount of storage energy can be reduced, thus