2011 International Conference on Recent Advancements in Electrical, Electronics and Control Engineering

Applications of FACTS Devices with Fuzzy

Controller for Oscillation Damping in AGC
S. K. Sinha
Deptt. of Electrical Engg.,
Galgotias University
Greater Noida, India
sinha.sanjay66@gmail.com

R. N. Patel

R. Prasad

Deptt. of EEE,
SSGI, Bhilai
Bhilai, C. G., India
ramnpatel@gmail.com

Deptt. of Electrical Engg.,

IIT, Roorkee
Roorkee, India
rpdeefee@iitr.ernet.in

AbstractIn this work applications of Flexible AC Transmission

System (FACTS) devices have been used in Automatic
Generation Control (AGC) to improve the performance such as
oscillation damping of transient response of power system in
deregulated environment. The oscillations in frequency, tie
power, generated power etc. are compared with conventional
integral controller and FACTS devices. The responses improve
further when Fuzzy controller is used in place of integral
controller with FACTS devices connected to the system.
Keywords-Automatic generation control; TCPS; SSSC; Tie line
power deviation; Fuzzy Logic Controller (FLC); Deregulation.

aij

NOMENCLATURE
= Area capacity ratio

bi = Frequency bias constants of area i

f
= Nominal frequency
f i = Deviation in frequency of area i
K ps = Power system gains
K i = Integral controller gains

PD =
Change in load
Pg = Incremental generation changeby a GENCO
Ptie =
Tie-line power deviation
Ri

= Governor speed regulation parameter

Tt

= Turbine time constant

Tps

= Power system time constant

Tg

= Governor time constant

I.
INTRODUCTION
Transmission systems are becoming more and more
heavily loaded and operated where the problem of
controllability such as system frequency stabilization in the
wake of load changes is being faced [1].The transmission
systems are undergoing a lot of changes with restructuring is
still in progress in many countries. Thus, transmission systems
must be flexible to take care of these changes and react to
more diverse generation and load patterns.Flexible AC
Transmission Systems (FACTS) is a technology that responds
to these needs and the FACTS devices can be used to improve
the power transfer capability and controllability of the system
thus improving the system performance especially the
damping of transient response oscillations. The role of FACTS

devices in Automatic Generation Control (AGC) of

interconnected power systems has been attempted by several
researchers [2-13] and further improvements are expected.
In this work AGC simulation study has been carried out to
show the effect of FACTS devices in damping oscillations in
various transient responses of thermal-thermal and hydrothermal restructured power systems. Three types of FACTS
devices have been used in this study for improvement in the
performance, mainly in damping the oscillations in the process
of AGC. The transient responses obtained using these FACTS
devices with conventional integral controller have been further
improved by replacing the integral controller with fuzzy
controller.
II.

APPLICATION OF FACTS DEVICES TO AGC

The following devices have been tried to improve the

transient response during automatic generation control of
power systems.
A. Thyristor Controlled Phase Shifter (TCPS)
Thyristor Controlled phase Shifter (TCPS) regulates real
power flow by shifting the phase angle between system
voltages and thus dampens the oscillations in system
frequency. A two area power system with TCPS in series with
tie line is shown in Fig. 1. From the figure and incremental
power model, the tie line power flow between area 1 and 2

Ptie12 can be written as [5]:

Figure 1. TCPS in a two area system.

V1V2
cos( 1 2 + )( 1 2 + )
(1)
X 12
where, V1 1 , V2 2 are sending end and receiving end
Ptie12 =

voltages respevtively and

line reactance.

978-1-4577-2149-6/11/$26.00 2011 IEEE

314

is the TCPS angle. x12

is the tie

2011 International Conference on Recent Advancements in Electrical, Electronics and Control Engineering

Taking synchronizing power T12 as:

T12 =

V1V2
cos(1 2 + )
X 12

and

1 = 2 f1dt and

2 = 2 f 2 dt
Now, the Laplace form of equation (1) can be written as:
2
Ptie12 ( s ) =
T12 (F1 ( s ) F2 ( s )) + T12 ( s )
(2)
s
where,

( s ) can be represented as [10-11]

(s) =

K
1 + T

Error

(3)

where, K and T are gain and time constant of TCPS.If

frequency deviation in area 1 is taken as error then expression
for Equation (3) can be written as:
K
(4)
( s ) = F1 ( s)
1 + T
Combining equation (2) and (4)
2
Ptie12 ( s) =

T12 ( F1 ( s ) F2 ( s)) + T12

K
1 + T

F1 ( s)

oscillation in the transient period is quickly damped out by the

response of SSSC [3]. From Fig. 2 , power flow equation can
be written as [4-5]:
P + jQ = V1 I *
(6)
The real part of the power will be:
P=

V1V2
V I*
Sin(1 2 ) VSSSC 1
XL
XLI

P = Ptie12 + PSSSC

(7)
(8)

PSSSC

is the active power controlled by SSSC,

where,
Ptie12
is the tie line power flow between the two area other
notations are as indicated in Fig. 2.
The incremental power is given by:

P = Ptie12 + PSSSC
The frequency stabilizer used in coordination with SSSC is
of second order lead-lag structure as shown in Fig. 3. The
frequency deviation of the concerned area is the input signal.
If frequency stabilizer is represented as K12 and SSSC time
constant is represented as TSSSC then the combined structure
can be shown as in Fig. 4.

(5)

Thus, a TCPS can be placed in series with the tie line between
the two area.

B. Static Synchronous Series Compensator (SSSC)

A Static Synchronous Series Compensator (SSSC) is a
solid state voltage sourced based series compensator,
originally proposed by Gyugyi in 1989. SSSC provides the
virtual compensation of transmission line impedance by
injecting controllable voltage in series with the transmission
line. SSSC can be used for frequency stabilization [3-5]. The
SSSC is located in series with the tie line between a two-area
interconnected power system. By utilizing the system
interconnection as the channel of power flow control of SSSC,
system frequency oscillations due to the inter-area mode can
be stabilized effectively. The configuration SSSC is shown in
Fig. 2. SSSC response is very fast when compared to the
primary control by governor. Hence SSSC and governor can
be easily coordinated.

Figure 2. SSSC in a two area system.

In case of sudden load disturbance, the frequency

Figure 3. Lead-lag frequency stabilizer in coordination with SSSC.

Figure 4. SSSC device coordinated with frequency stabilizer.

TSSSC, T2 and T4 have been taken as 0.05 S, 0.5 S and 0.5 S

respectively [3]. K, T1 and T3 have been computed using

Integral square error technique.

III.

FUZZY CONTROLLER

The Area Control Error (ACE) is main input required for

regulation of AGC [9]. ACE and ACE (which is derivative of
ACE in discrete mode) have been chosen as inputs to FLC.
Three numbers of triangular Membership Functions (MF) has
been used to study their impact on system dynamic
performance. The input variables to the Fuzzy Controller are
ACE and ACE (also referred in the paper as del_ACE)
respectively. Table I shows the rule base for three number of
membership function, which gives the best result for the
present problem. Defuzzification to obtain crisp value of FL
controller output is done by centre of maximum method [8].

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2011 International Conference on Recent Advancements in Electrical, Electronics and Control Engineering

Figure 5. Simulation model of a two area restruvctured power system.

TABLE I. RULE BASE FOR 3 NUMBER OF MEMBERSHIP FUNCTION
(del_ACE)
(ACE )

NL

ZE

PL

NL
ZE
PL

NL
NL
ZE

NL
ZE
PL

ZE
PL
PL

IV.

apf4 in the block diagram. The demand of a DISCO k is

denoted as cpfjk which shows the fraction of load contracted
by the DISCO k from a GENCO j. These signals carry
information about a GENCO following a load demanded by a
DISCO.
Simulation study of AGC of two area interconnected
system in deregulated environment has been done with the
following considerations. DISCOs contract with the GENCOs
according to the following DPM:

SYSTEMS INVESTIGATED

0.5
0.20
DPM =
0.0

0.30

A two area thermal-thermal system and a two area hydrothermal system has been simulated with the data given in
Appendix-1. The following section presents the salient results
obtained during the study.

A. Two Area Thermal-Thermal Restructured Power System

Fig. 5 shows the block diagram of a two area interconnected
power system in deregulated environment with TCPS
connected in series with the tie line. The contracted and uncontracted loads demanded by a DISCO are treated as local
loads to the area which the DISCO belongs. Un-contracted
loads are indicated as UCL1, UCL2, UCL3, and UCL4
respectively at the point of input to power system block. ACE
signals are distributed among them in proportion to their
participation in AGC and are indicated as apf1, apf2, apf3 and

0.25
0.25
0.25
0.25

0.0 0.30
0.0 0.0
1.0 0.7

0.0 0.0

Each DISCO demands 0.02 pu MW power from GENCOs

according to DPM matrix. GENCOs participate in AGC
according to the following area participation factors: apf1 =
0.75, apf2 = 0.25, apf3 = 0.50 and apf4 = 0.50.Un-contracted
loads are assumed to be zero.
The simulations have been carried out for three cases and
the responses obtained are compared. In the first case, no
FACTS device has been connected in the system and the
controller used is integral type. In the second case, different
FACTS devices viz. TCPS and SSSC, are connected one type
at a time with controller as integral type. In the third case, the
controller has been replaced by fuzzy type controller with one
type of FACTS devices connected to the system. Figs. 6 to 9

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2011 International Conference on Recent Advancements in Electrical, Electronics and Control Engineering

show the various response plots in two area restructured

system with and without different FACTS devices connected
to the system. These plots clearly show that the frequency, tie
line power flow and generated power by any GENCOs
improve in terms of damping of oscillations and reduction in
peak values with the use of TCPS and SSSC devices. These
responses further improved when the integral controllers in
both the areas are replaced by fuzzy controllers. In Fig. 6, the
change in frequency in area 1 has been compared with and
without TCPS, it is seen that peak values in either side of zero
as well as settling time reduce, and oscillations of frequency
response damps out considerably with TCPS connected to the
system. These performances are further improved with the use
of fuzzy controller in conjunction with TCPS. Frequency
responses in area 1 and tie line power deviation in the
presence of SSSC have been demonstrated by Fig. 7 and Fig. 8
respectively. In Fig. 9, the performance improvement in
terms of change in generated power by GENCO 2 has been
shown in presence of SSSC. In this plot there are significant
improvement in damping of oscillations and reduction in peak
values when SSSC is used.

-3

Change in Tie Line Power (pu M W)

delptie
delptieSSSC
delptieSSSCFZ

8
6
4
2
0
-2

Change in Generated Power by GENCO 2 (pu MW)

0.02
0.01
0
-0.01

8
Time (Sec)

10

12

14 15

0.025

0.015
X: 14
Y: 0.009008

0.01

0.005

-0.03

delpg2
delpg2SSSC
delpg2SSSCFZ

0.02

-0.02

8
Time (Sec)

10

12

14

Figure 9. Change in power generation in area-2 with SSSC.

-0.04

delf1
delf1TCPS
delf1TCPSFZ

-0.05
-0.06

8
Time (Sec)

10

12

14

In order to validate the graphical results of generated

power by different GENCOs, these values have also been
computed manually which are same as graphical results. The
calculated values are:
Pg 1 = 0 . 5 0 . 02 + 0 . 25 0 . 02 + 0 . 0 + 0 . 3 0 . 02

Figure 6. Frequency deviation in area-1 with TCPS.

= 0 . 021 puMW
Pg 2 = 0 .20 0 .02 + 0 .25 0 .02 + 0 .0 + 0 .0

0.03
Change in Frequenc y in A rea 1 (Hz )

Figure 8. Response of change in tie power with SSSC.

0.03
Change in Frequency in Area 1 (Hz)

x 10

10

= 0 .009 puMW
Pg 3 = 0.0 0 .02 + 0.25 0.02 + 1.0 0 .02 + 0.7 0.02

0.02

= 0 .039 puMW
Pg 4 = 0 .3 0 .02 + 0 . 25 0 .02 + 0 .0 + 0 .0

0.01
0

= 0 .011 puMW

-0.01

B.

-0.02
-0.03
-0.04

delf1
delf1SSSC
delf1SSSCFZ

-0.05
-0.06

8
Time (Sec)

10

12

14

Figure 7. Frequency deviation in area-1 with SSSC.

Two Area Hydro-Thermal System

A hydro-thermal interconnected power system whose
various parameters are given in appendix-1 has been
considered in simulation with these FACTS devices. Only few
results have been shown here due to space constraints. Figs.
10 and 11 compare the frequency deviation in area-1 with and
without FACTS devices. Here aslo responses obtained were
simialr to that of two area thermal thermal system. Damping in
oscillations have reduced in the presence of FACTS devices
and they further improve with fuzzy controller replacing
integral controller in each area of the power system.

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2011 International Conference on Recent Advancements in Electrical, Electronics and Control Engineering

APPENDIX-1
NOMINAL PARAMETERS OF THERMAL AND HYDRO SYSTEMS INVESTIGATED

Change in Frequency in Area 1 (Hz)

0.02

f = 60 Hz

Tg = 0.08 sec
-0.02

Tr = 10.0 sec
H1 = H2 = H3 = 5
sec
Pr1 = Pr2 = Pr3
=2000 MW
Ptie, max = 200 MW

-0.04

delf1
delf1TCPS
delf1TCPSFZ

-0.06

-0.08

10

20

30

40
50
Time (Sec)

60

70

Kr = 0.5

Change in Frequency in A rea 1 (Hz )

-0.02

-0.04

delf1
delf1SSSC
delf1SSSCFZ
0

10

20

30
40
Time (Sec)

50

60

70

Figure 11. Frequency deviation in area-1 with SSSC.

V.

Kd = 4.0
Ki = 5.0
Tw = 1.0 sec

REFERENCES

0.02

-0.08

Kp = 1.0

80

Figure 10. Frequency deviation in area-1 with TCPS.

-0.06

-3

D1 = D2 = 8.33*10 p.u. MW/ Hz

R1 = R2 = 2.4 Hz/p.u. MW
R3 = 4.8 Hz/p.u. MW
Tt = 0.3 sec

CONCLUSIONS

In this work FACTS devices have been used in Automatic

Generation Control to improve the transient response
performance of the power system in deregulated environment.
Simulation results with application of TCPS and SSSC used in
two area thermal-thermal and two area hydro-thermal
restructured power systems show that FACTS devices are very
effective in damping out deviations in frequency, tie-line
power flows and oscillations in generated power. They also
lead to reduction in peak deviation of these on either side of
zero. In some cases the settling time also reduces. Systems
with FACTS devices give better results as compared to those
of systems without these devices. When Fuzzy controller
replaces conventional integral controller, the transient
performance improves further.

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