Discovery

ANALYSIS

The International Daily journal

ISSN 2278 5469
EISSN 2278 5450
2015 Discovery Publication. All Rights Reserved

Stability Analysis of SMIB System Incorporating the

Genetic Algorithm based TCSC Controller
Publication History
Received: 23 August 2015
Accepted: 20 September 2015
Published: 14 October 2015

Page

144

Citation
Umre BS, Rajesh V, Vijitha U, Koteswara Raju D, Archana Patil. Stability Analysis of SMIB System Incorporating the Genetic
Algorithm based TCSC Controller. Discovery, 2015, 43(199), 144-150

Stability Analysis of SMIB System Incorporating

the Genetic Algorithm based TCSC Controller
BS Umre
Associate professor
bsumre@rediffmail.com

V Rajesh
U Vijitha
PG Scholar
PG Scholar
rajesh.vusala@gmail.com

D Koteswara Raju, Archana Patil

Research scholar

Keywords--- Genetic algorithm (GA); Thyristor Controlled

Series Capacitor (TCSC); Single Machine Infinite Bus
(SMIB); optimization.

Nomenclature

Rotor angle of synchronous generator in rad

B
Rotor speed deviation in rad/sec
Sm
Generator slip in p.u.
Smo
Initial operating slip in p.u.
H
Inertia constant
D
Damping coefficient
Tm
Mechanical power input in p.u.
Te
Electrical power output in p.u.
Efd
Excitation system voltage in p.u.
Tdo
Open circuit d-axis time constant in sec
Tqo
Open circuit q-axis time constant in sec
xd
d-axis synchronous reactance in p.u.
xd
d-axis transient reactance in p.u.
xq
q-axis synchronous reactance in p.u.
xq
q-axis transient reactance in p.u.
XC
Nominal reactance of the fixed capacitor C
XP
Inductive reactance of inductor L connected in
parallel with C.

Conduction angle of TCSC

Firing angle of TCSC

k
Compensation ratio, k = sqrt(XC / XP)
I.
INTRODUCTION
Now-a-days, the power system engineers are
facing many challenges to satisfy the increased load
with highest reliability, security and also with minimum
transmission expenditure. However, the environmental
------------------------------------------------------------------------Intentionally left blank-----

and geographical conditions provide many difficulties in

construction of new generating stations and
transmission lines. In such situations, it is necessary to
maximize the power transfer capability with existing
network without losing the stability of the power
system. The stability analysis of the power system was
presented in [1].
With the introduction of the FACTs devices [3]
in the existing network such as TCSC, STATCOM,
UPFC etc., we can achieve the maximum power transfer
capability through the same existing network. The
analysis of SMIB system installed with FACTs devices
have been discussed in [4]-[5].
From [1], the form of instability may be either
(or) of rotor angle deviation (local or global in nature),
voltage deviation at the bus or frequency instability.
Small disturbance rotor angle stability problems are
usually associated with rotor angle oscillations of single
power plant against rest of the power system. In general,
the duration of small signal stability study, is of the
order of 10 to 20 second following a small
disturbance[1].
As we know, Phillips-Heffron model has been
used for years, for the stability analysis of SMIB system
being subjected to a small disturbance. This linear
model of Phillips-Heffron gives better results also been
used for designing the conventional power system
stabilizers (PSS). Even though, these models are very
powerful tools for power engineers for analysis of
dynamic behaviour of synchronous generator, suffers
from few drawbacks like failed to capture the complex
dynamic oscillations especially during large signal
disturbances.
These difficulties invite the introduction of
FACTs controllers in the line for desired performance.
But we should keep in mind one point that, a controller
with appreciable performance for small signal condition
may fail during the major disturbances. Now, let us
focus on the applications of TCSC, member of FACTs
controller family. TCSC serves as the short circuit
current limiter, scheduling power flow, damping the
power system oscillations and improving the power
system stability and for mitigating the sub-synchronous
resonance (SSR) [3]. All these achieved by the
reactance adjustment of TCSC, which is a complex
process.
In [6], Genetic Algorithm (GA) based
optimal tuning of TCSC controller and also the

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Abstract---This paper presents a systematic procedure for

modeling and time-domain simulation of synchronous
generator (with field winding and one damper on q-axis)
subjected to a three-phase fault on the transmission line.
The thyristor controlled series capacitor (TCSC, a FACTs
controller) was installed in series with the line in the
single-machine-infinite-bus system, and the dynamic
behaviour of this SMIB system was analysed by simulation
results. Genetic algorithm based TCSC and design
parameters of this controller circuit also presented. The
effectiveness of the genetic algorithm based TCSC
controller is justified via the simulation results presented.

145

Department of Electrical Engineering

Visvesvaraya National Institute of Technology
Nagpur-440010, Maharastra, India

A.

Power system under study

Synchronous Generator

Synchronous generator with its associated

control is the major component of the power system that
determines its dynamic behaviour. It is often adequate
to ignore the prime-mover controls if the major
objectives of dynamic analysis are to predict system
stability.
It is the best example that a synchronous
machine connected to infinite bus to illustrate the
dynamics of synchronous generator. This example
duplicates, a remote power station connected to a load
centre through a long transmission line.
B.

Assumptions / Approximations

As we know the power station is a multimachine system, it was quite acceptable that, for
disturbances external to the power station, the
generators can be represented by an equivalent machine.
It is possible to ignore the dynamics of the
other machines than the one under study. This leads to
the representation of external system for a generator by
its Thevenins equivalent circuit.
C.

Synchronous machine model description

1. Classical model (Model 0.0)

2. Field circuit only (Model 1.0)
3. Field circuit with one equivalent damper on qaxis (model 1.1)
4. Field circuit with one equivalent damper on daxis
(a) Model 2.1 (one damper on q-axis)
(b) Model 2.2 (two dampers on q-axis)
5. Field circuit with two equivalent damper
circuits on d-axis
(a) Model 3.2 (with two dampers on q-axis)
(b) Model 3.3 (with three dampers on q-axis)
It is to be noted that in the classification of the
machine models, the first number indicates the number
of windings on the d-axis while the second number
indicates the number of windings on the q-axis. With
constraints on data availability and for study of large
systems, it may be adequate to use model (1.1) if the
data is correctly determined.
D.

One-line diagram of SMIB system with TCSC

The above considered synchronous generator is

connected to the infinite bus via a double circuit
transmission line and in series with a TCSC as shown in
Vt

Eb0

jX L

jX TH
TCSC

jXT

Gen

jXL
Infinite
bus

below fig 1. Notations have their own nomenclature.

Fig 2: SMIB system with TCSC
E.

Thyristor controlled series capacitor

TCSC is a versatile FACTs controller and is

very popular for reactance controlling in the line. TCSC
is nothing but the combination of a series capacitor and
a thyristor controlled reactor (TCR). Its basic module is
as shown in fig 2. The net reactance offered by the
TCSC depends on the firing angle given to the
thyristors. So based on , TCSC will operate in three
major modes. Let us limit our focus to the mathematical
ILine

XC
IC

ILine

T1

ITCR
Fig 1. Synchronous Machine

XP
T2
VC (t)

146

II.

Depending on the degree of detail used, the

number of rotor windings and corresponding state
variables can vary from one to six. In a report published
in 1986 by an IEEE Task Force, following models are
suggested based on varying degrees of complexity.

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procedure for modelling and simulation of SMIB

system was presented.
Now, the major part of the controller parameter
design is the parameter tuning towards the optimal
solution. This can be achieved by number of
conventional techniques like Eigen value assessment,
direct search, simulated annealing, and mathematical
programing etc. Because of their robustness and
convergence in finding an optimal solution close to a
global minimum, GA is a powerful tool to solve such
optimization problems among all the conventional
methods. GA uses different search procedures based on
the mathematical functions and fitness function. The
controller circuit parameters of TCSC in the present
study are derived with GA technic [2].
This paper is organized as follows. Section II,
presents the components of SMIB system and Section
III gives equations for time-domain simulation. Results
are given in section IV, followed by conclusion.

model of TCSC.
III
Fig 3: Basic module of a TCSC
The net reactance offered by the TCSC is given
by the equation:
( )
=
+

( +
(

) (

( /2) [ tan 2
1)

4
(

tan

]
2

(1)
It is evident from the above equation that for a
particular range of , the TCSC may enter into resonant
region. So care should be taken to avoid this by
operating the TCSC in the safe region [3].

Modeling of SMIB system

The synchronous generator considered above is

represented by model 1.1, i.e with one field circuit on
d-axis and one equivalent damper on q-axis gives the
following governing equations [7].
Stator equations
+

=
=

(2)
(3)

Rotor mechanical equations

=(

Introduction to Genetic Algorithm (GA)

GA enables you to solve a variety of both

constrained and unconstrained optimization problems
that lie outside the scope of conventional optimization
problems that are complex and difficult to solve. GA is
based on natural selection, the process that drives
biological evolution. The genetic algorithm repeatedly
modifies a population of individual solutions. At each
step, the genetic algorithm selects individuals at random
from the current
No population to be parents and uses them
to produce the children for the nextYes
generation. Over
successive generations, the population "evolves" toward
an optimal solution which is shown below in fig 4.

)
2

(4)

(5)

= (

) +

+(

Electrical torque
=

(6)
(7)
(8)

+( )

(9)

The algebraic equations of simplest external network

=
+ cos
(10)
=
sin
(11)
From (2), (3) & (10), (11)

START

Specify the parameters for

=
Generate Initial population

B.
Time-domain simulation
Find the fitness of each individual in
the current population

(12)

(13)

Structure of TCSC controller

The commonly used TCSC based damping

controller to control the XTCSC() is as shown in below
fig 4. It resembles a mathematical model that offers
Max

o +

Gen > Max.

Gen

STOP

Apply GA operations :
Selection, Cross-over, Mutation

Fig 4: computational sequence of GA

XTCSC ()

1
1+

Output

Min

1+
1+

1+
1+

Two stage
Lead-lag block

1+

Wash out
block

Gain

linearity between its input and output [2].

Input

147

Gen = Gen + 1

Page

F.

A.

Development of simulink model

Fig 5: GA based TCSC controller

currents id and iq for SMIB system with & without

TCSC.

In the above block diagram, the time constants

T1, T2, T3, T4 and the controller gain KT are to be
determined from GA. The main function of the TCSC
controller is to adjust XTCSC() during disturbances from
(=o+) which further caused by for the
improvement of power system stability.
C.

Objective function

Compared to all other alternatives, TCSC

based controller design gives better results. It has been
presented here that, GA based parameter tuning for the
above LL structured TCSC controller uses the Integral
of Time Multiplied Absolute value of the Error (IATE)
as an objective function. The objective function is
defined as follows.

. | ( )|

Where (t) is the speed deviation following a

disturbance and tsim is the simulation time.
D.

Fig 6: Load angle and speed deviation

With-out TCSC

Optimized TCSC controller parameters using GA

In the present study, a washout time constant of

TWT = 10sec is used. The following parameters are
determined through the GA toolbox in MATLAB and
are given below.
Gain
KT
32.6247
Time constants T1T
0.1464
T2T
0.1402
T3T
0.1235
T4T
0.1524

IV
A.

Simulation Results

Parameter design through GA toolbox

Construct the simulation block diagram in the

MATLAB/SIMULINK model and run it with the
specified values of controller lies with-in the range (i.e
KT-min < KT < KT-max , etc..). Evaluate the objective
function J for each step. With GA operations (like
cross-over, mutation etc..), select the current population
to produce children for next step. Repeat the process till
the objective function arrives at its global minimum and
those parameters of controller at global minimum will
be the optimum parameters.

Fig 7: Load angle and speed deviation

with TCSC

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Fig. 6 - 13 shows the variation of load angle

, speed deviation , electromagnetic torque Te,
generator terminal voltage Vt, and d-axis, q-axis

148

Consider a three-phase fault at the mid-point of

the transmission line at t=60 sec, and observe the SMIB
system performance with & without GA based TCSC
controller through the results given below.

Fig 9: Electromagnetic Torque Te

with TCSC

Fig 11: Terminal Voltage Vt

With TCSC

Fig 12: d-axis current id , q-axis current iq

With-out TCSC

149

Fig 10: Terminal Voltage Vt

With-out TCSC

Fig 13: d-axis current id , q-axis current iq

With TCSC

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Fig 8: Electromagnetic Torque Te

With-out TCSC

The simulation results presented above shows

that, compared to conventional controller circuits, the
suggested GA based TCSC controller improves the
stability of the SMIB system with model 1.1. Also the
investigations in the present study supports that, the
optimal tuning of the controller parameters is not a
complex task through GA toolbox. In the present study,
the power system oscillations are effectively suppressed
after the installation of TCSC controller in the system.
Hence, we can conclude that GA based TCSC controller
is helpful in stability analysis particularly during
contingencies / large disturbances.

Appendix
Generator data :
Xd = 1.93, Xq = 1.77, Xd = 0.23, Xq = 0.5
Td0 = 5.2 s, Tq0 = 0.81 s, H=3.74. Eb=1.0
Excitation system :
KA = 400, TA = 0.025, -6.0 < Efd < +6.0
Transmission line data :
Rl = 0, Xl = 0.8125, XT=0.1364, XTHE = 0.1363
TCSC controller :
TTCSC = 15ms, o = 142o , XTCSCo = 0.62629,
K = 2, TW = 10 s

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Conclusion

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