IEEE - International Conference On Advances In Engineering, Science And Management (ICAESM -2012) March 30, 31, 2012

528

Damping of Power System Oscillations Using Unified Power Flow

Controller
D.Jananisri\ Student Member IEEE, M.Kalyanasundaram2 and B.Gopinath3, Member IEEE
I

PG Scholar, Power Systems Engineering,

Assistant Professor, EEE,

3Assistant Professor& Head, EEE

Vivekanandha College of Engineering for Women, Namakkal, Tamilnadu, India.

Email : idjananisri@gmail.com.2bmkalyan@gmail.com.3gops_engr@yahoo.co.in

Abstract-This paper presents an approach for the

determination

of

the

optimal

parameters

and

placement of UPFC as the major concern is to

ensure

the

full

potential

of utilization

in

the

transmission network. Voltage source model is

utilized to study the behaviour of the UPFC in
regulating the active, reactive power and voltage
profile. This model is incorporated in Newton
Raphson algorithm for load flow studies. This
paper proposes particle swarm optimization for
the exact real power loss minimization including
UPFC.

Installing

parameters

will

UPFC
eliminate

with
or

such

optimal

minimize

the

overloaded lines and the bus voltage violations

under critical contingencies. The implementation
of loss minimization for the optimal location of
UPFC was tested with IEEE-14 bus system.

Index Terms - Flexible ac transmission systems

(FACTS),

Loss

Optimization

minimization,
(PSO),

Unified

Particle
Power

Swarm
Flow

Controller (UPFC)
I. Introduction

Flexible AC transmission system IS an

evolving technology based solution to help electric
utilities fully utilize their transmission assets. The
problem of voltage stability is one of the major
concerns in the operation of the power system.
As power through the AC transmission line is
a function of line impedance, voltage magnitude and
phase angle between the sending end and receiving
end voltages, FACTS devices can be utilized to
change the power flow by changing the parameters of
the network. Among the available FACTS devices,
UPFC controls all the power system parameters
simultaneously [9]. Thus the power transmission

capabilities can be improved and loss can be

minimized. In this paper voltage source model of
UPFC is incorporated in Newton Raphson algorithm
in order to investigate the control of power flow.
The optimal placement of UPFC improves the
voltage stability margin along with the loss
[3].In
mInImIzation
general,
conventional
optimization methods are unable to locate the global
optimum but only locate the local optimum. The
premature convergence of genetic algorithm [13]
degrades the performance and reduces its search
capability, by which it leads a higher property of local
minimum. The Particle Swarm Optimization (PSO)
can generate high quality solutions within short time
with a high global searching ability at the beginning
of iteration and the local search at the end of the
iteration [5]. Therefore, in this paper PSO is used for
loss minimization incorporating UPFC.
The voltage stability enhancement and loss
minimization is evaluated for IEEE-14 bus system
incorporating UPFC at its optimal location obtained
using PSO technique.
The results indicate that PSO is capable of
undertaking a global search with a faster
convergence.
II. Unified Power Flow Controller

The model of UPFC is shown in fig.1. A

controllable series voltage source Vse is placed
between nodes i and j and in series with the line
reactance Xs. The two voltage source converters of
the UPFC, connected through a D.C link can be
modeled as two ideal voltage sources, one connected
in series and the other in shunt between the two buses
[10, 6]. The output of the series voltage source Vse
and 8se are controllable magnitude and angle between
the limits Vsemax ::; Vse ::; Vsemin and 0 ::; 8se ::; 21t
respectively and of the shunt voltage source is Vsh

ISBN: 978-81-909042-2-3 2012 IEEE

IEEE - International Conference On Advances In Engineering, Science And Management (ICAESM -2012) March 30, 31, 2012

and 8sh controllable between the limits Vshmax ::;Vsh

::;Vshmin and 0 ::; 8sh ::; 2n. Fig. 1 shows the voltage
source model of UPFC. Zse and Zsh are the
impedances of the two coupling transformer one
connected in series and other in shunt between the
line and the UPFC.
f\" jQ.
Busk

-.

t----c:::::J----{i

The DC link capacitor voltage Vde remains constant.

Hence the active power supplied to the shunt
converter Psh must be equal to the active power
demanded by the series converter Pse at the DC link.
Then the following equality constraint has to be
guaranteed.
(5)
From Fig.1 and by (1), (2), (3 ) for the series and
shunt sources the power equations ofUPFC can be
written as:
Pse= V2seGmm+VseVk(GkmCOs(8se-8k)

+ Bmmsin(8se-8k))

Fig.l Voltage source model ofUPFC

III. Mathematical Representation of UPFC

The two ideal voltage sources of the UPFC can

be mathematically represented as:
(1)
(2)
UPFC is connected between two buses k and m in the
power system [6]. Applying the kirchoff's current
and voltage laws for the network in Fig. 1 gives:

[ [
J
k

1m

where

_
-

YSe+YSh

-Yse

-Yse

-Yse

Yse

Yse

Yse= IIZse

529

I:
0 J Vse

-Ys

Vsh (3)

and Ysh=IIZsh.

The UPFC converters are assumed lossless in this

voltage sources model. This implies that there is no
absorption or generation of active power by the two
converters for its losses and the active power
demanded by the series converter at its output is
supplied from the AC power system by the shunt
converters via the common D.C link [1]. The
elements of transfer admittance matrix can be put as:

Ymm = Gmm+jBmm = Yse

(4)

(6)

Psh = -V2ShGSh+VSI,vk(GShcos(8sh-8k)
(7)
IV. Implementation of UPFC in Newton Raphson
Power Flow Algorithm

The algorithm for solving a power flow problem

embedded with UPFC is implemented by using the
MATLAB programming. The Newton Raphson load
flow algorithm incorporating the UPFC is shown by
flow chart in Fig. 2. The input system data includes
the basic system data needed for conventional power
flow calculation consisting of the number and types
of buses, transmission line data, generation and load
data, location of UPFC and the control variables of
UPFC i.e., the magnitude and angles of voltage
output Vse and Vsh of two converters[14]. The UPFC
power equations are combined with the network
equations to give equation (8):
E>i

jQi =

2:r-YiVjYij < (

ij - 00

&j)

P:i""

jQi

(8)

Where Pi'+ jQ'i = active and reactive power flow due

to UPFC between the bus k and m.
Pi+ jQi = active and reactive power at the ith bus.
Vi <6i = voltage and angle of ith bus.
Vj<6j = voltage and angle of jlh bus.
Yij =admittance of the transmission line between the
bus i and j.
The above eq. (8) is linearised with respect to
the variables of the network and the UPFC. The
power flow constraint of the UPFC is included in the
jacobian. The inclusion of these variables increases

ISBN: 978-81-909042-2-3 2012 IEEE

IEEE - International Conference On Advances In Engineering, Science And Management (ICAESM -2012) March 30, 31, 2012

the dimension of the jacobian. The power equations

are mismatched until convergence is achieved. A
scalar multiplier is used to control the updating of
variables to ensure that they converge in an optimal
way to the solution point. Fig.2 [16] shows the
flowchart of load flow model by Newton Raphson
algorithm incorporatingUPFC.

Read system data

Form admittance matrix

Let 5,=0 where i=],2,.,.,n; Vj=O where i=],2,

.,ill

530

optimization problems that are partially irregular,

noisy, change over time, etc.
PSO optimizes a problem by having a
population of swarm of particles and moving these
particles around in the search-space according to
simple mathematical formulae over the particle's
position and velocity. Each particle's movement is
influenced by its local best known position and is also
guided toward the best known positions in the search
space, which are updated as better positions. This is
expected to move the swarm toward the best
solutions.

for PQ

A. PSO Algorithm Description and Flowchart

Initialize iteration count k=O

- Position of current particle.

X[]
- Velocity of particle I at iteration.
V[]
Pbest[] - best position of particle I upto the
current iteration.
Gbest[] - best overall position found by the
particle upto the current iteration
cl , c2- Learning factors
rl , r2- Random numbers between 0 and 1
W - Weight function

Find P,X & Qjkwhcrc i=l , .. " n with

Find l>.Pi &l>.Q; for power flows in UPFC connected

Step1: Initialization of condition for each particle:

Initial searching points and velocities are randomly
generated within their limits. pbest is set to each
initial searching points. The best evaluated values
among the pbest are set to gbest.
Fig.2 Flowchart for load flow by NR with UPFC
v. Particle Swarm Optimization Technique

PSO is originally attributed to Kennedy,

Eberhart and Shi and was first intended for simulating
social behaviour as a stylized representation of the
movement of organisms in a bird flock or fish school.
The algorithm was simplified and it was observed to
be performing optimization.
PSO is a metaheuristic as it makes few or no
assumptions about the problem being optimized and
can search very large spaces of candidate solutions.
More specifically, PSO does not use the gradient of
the problem being optimized, which means PSO does
not require that the optimization problem be
differentiable as is required by classic optimization
methods such as gradient descent and quasi-newton
methods. PSO can therefore also be used on

Step 2: Evaluation of searching point of each particle.

The objective function is evaluated for each particle.
If the value is better than the current pbest of the
particle, the pbest value will be replaced by the
current value. If the pbest value is better than the
current gbest, gbest will be replaced by the best value
and the best value is stored.
Step3: Updating each search points:
After finding the two best values, the current
searching particle is updated using the following
equations (1), (2) and (3 ) respectively.
v[] v[] + cl * randO * (pbest[] - present[]) + c2 *
(1)
randO * (gbest[] - present[])
max
Weight function, w W -( (Wmax-Wmin)/itermax)* iter
(2)
(3 )
present[] present[] + v[]
=

Step 4: Terminate condition:

ISBN: 978-81-909042-2-3 2012 IEEE

IEEE - International Conference On Advances In Engineering, Science And Management (ICAESM -2012) March 30, 31, 2012

If the current iteration number reaches the pre

determined maximum iteration number the process
is terminated else the process proceeds to step 2.

c:

START

---r-

S;illsnt.:lt

results of power loss in the proposed system. The

optimal location for incorporating UPFC is found
using PSO technique as 2-5. Table I shows the test
results of the proposed system. From the simulation
results it is concluded that the system voltages have
been improved and the losses are reduced when
UPFC is installed.
For a load change (of about 20% increase in
load) in the same bus no.2, fig.8, 9 and 10 indicates
the convergence of voltage, theta and loss occurs at
29th, 6ih and ih iteration respectively. The results
indicate that with the proposed UPFC, the system
losses are reduced from 13.516MW to a value of
about 11.8531MW. Fig.l l indicates the power loss
comparision with and without incorporating UPFC.

SlU:":CS!'.

i
()

Fig.3 Flowchart of PSO algorithm

.
Table I Parameters 0f 0pf
l 1mlzat IOn techmque
S.No
1

Parameters

Inertia weight
Wmin & Wmax

Value
0.4,0.9

Constant, C1

Constant, C2

Number of iterations

100

Rand 1

0-1

Rand 2

Fig. 4 IEEE 14 Bus system

2
2

Table II Test results of 14bus test system

Specified data:For Bus no:2, Vsp-l045p u, PG;=lOMW, QG;=l24MVar,
PI;2I.7MW, QI;12 7 MVar, Qm;" - 40 MVar, Qm",50 MVar

0-1

Calculated results

VI. Results and Discussions

IEEE 14-bus system has been considered for

studies as shown in fig.3.Bus data are given in table I.
Load flow study was performed for the base case (full
load level) system state.
For a load change (of about 10% increase in
load) in bus no.2, figA and 5 shows that the
convergence of voltage occurs at 30th iteration to a
value of about 0.050 p.u and the angle (8) converges
at 34th iteration to a value of 1310 respectively. The
loss minimization is carried out using particle swarm
optimization algorithm. The PSO algorithm is made
to run for 100 iterations. The results indicate that
value of loss, Ploss which is the objective function,
gradually converges to an optimal value of 12.002
MW at 3rd iteration. Fig.7 shows the comparative

531

Load

Best

Best

Best Biin

change

connected

Vijn p,u

(degree)

.6.PliMW

bus

PlossMW

Without

With UPFC

UPFC

23.87
2-5

0.05

131

13.7136

12.0022

2-5

0.05

131

13.8359

11.8531

2604

ISBN: 978-81-909042-2-3 2012 IEEE

IEEE - International Conference On Advances In Engineering, Science And Management (ICAESM -2012) March 30, 31, 2012

532

...: \
\
...

'.

J ." . ...

""Fig.

." \ r '\!W" -- I
..

,:.

--

.'\

..

--

..

Fig.l l Loss Vs Iteration

5 Voltage Vs Iteration
--

I
\

_
"'_IY __ .,,_,
------I,-. .. ___ _

..

'"

_ .

..

'"

...

Fig.l 2 Power Loss Comparision

Fig.6 Theta (8) Vs Iteration
VII. Conclusion
\
\

PSO has been utilized to search for the

optimal controller parameter settings that optimize
the objective function. The effectiveness of the
proposed method was demonstrated through
computer simulation using an IEEE 14 bus, 5
generator power system associated with a single
UPFC. Results show that the real power loss and
voltage violation have been greatly reduced after
optimization using the proposed method. Also, the
simulation results demonstrate that PSO can be
successfully applied to practical power system. For
large power systems PSO could have a significant
advantage compared to the exhaustive and other
methods, by giving better solutions with less
computational effort. This paper presents an
improvement in the loss minimization and voltage
stability enhancement of power system through the
transmission line with UPFC when compared to the
system without UPFC.
Future work involves employing new control
strategies based on artificial intelligence such as
neuro-fuzzy that take advantages of its strengths to
enhance the dynamic performance of the system.

.. '\
Fig.7 Loss Vs Iteration
- .. ..... ---
------'

Fig.8 Power Loss Comparision

Fig.9 Voltage Vs Iteration

References

f
J

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Fig.l O Theta Vs Iteration

IEEE Transactions on Power Delivery, VoL25, No.4, October

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ISBN: 978-81-909042-2-3 2012 IEEE

IEEE - International Conference On Advances In Engineering, Science And Management (ICAESM -2012) March 30, 31, 2012

533

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ISBN: 978-81-909042-2-3 2012 IEEE