Proceedings of the 14th International Middle East Power Systems Conference (MEPCON’10), Cairo University, Egypt, December 19-21,
2010, Paper ID 193.
ANFIS Based Synchro-Phasors Measurements for
Real-Time Estimation of Critical Clearing Time
Mohamed A. Ali Wael R. Anis
Department of Electrical Engineering
University of Benha
Cairo11925, Egypt
maw_fes@yahoo.com
Wagdy M. Mansour
Department of Electrical Engineering
University of Benha
Cairo11925, Egypt
wagdy_ibrahim2001@yahoo.com
Abstract- Critical Clearing Time (CCT) estimation in real-time is
considered a challenging computing problem. It could be
determined by calculating the Critical Clearing Angle (CCA)
using Equal Area Criterion (EAC) followed by time domain
simulation. This method is used for off-line simulation and is not
adequate for real-time estimation due to the wide range of power
system operating conditions. The estimation of the CCT in real-
time was also attempted using an energy function, but the
method did not achieve the desired accuracy. This paper focuses
on the development of a technique for estimating CCT in real-
time using Adaptive Neuro Fuzzy Inference Systems (ANFIS)
and Synchro-Phasors Measurement Units (SPMUs). The
technique can be used for transient stability assessment and
control in real-time under all operating conditions. The method is
tested on a Single Machine to Infinite Bus (SMIB) test system.
The paper also presents a comparative study for CCT estimation
using ANFIS, Artificial Neural Networks (ANN), or the exact
Time Domain Equal Area Criterion (TDEAC). The results of the
research confirm the effectiveness of the developed ANFIS over
other techniques for real-time estimation of CCT.
Index  Terms–  Critical  Clearing  Time,  ANFIS,  ANN,  Real‐time,  SPMUs.
Transient Stability.  Finally, the results of simulations implemented using TDEAC,
I. INTRODUCTION
Nowadays Phasor Measurement Units (PMUs) are capable of
tracking the dynamics of an electric power system in real-
time, and with modern telecommunication technologies,
utilities are becoming able to respond intelligently to an event
in progress [1,2]. By synchronized sampling of
microprocessor-based systems, phasor calculations can be
placed on a common reference [3,7,8] to achieve
Synchronized Phasor Measurment Units (SPMUs). The
magnitudes and angles of these phasors comprise the state of
the power system. An emerging application of this technology
is to track the state of the system immediately following a
transient event to select an appropriate remedial control action.
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Department of Electrical Engineering
University of Zagazig
Cairo11361, Egypt
wael.anis@ibec-egypt.com
Fahmy M. Bendary
Department of Electrical Engineering
University of Benha
Cairo11925, Egypt
fahmy_bendary@yahoo.com
On the other hand, many existing transient stability assessment
techniques are too complicated for real-time applications.
What is required is a computationally efficient way of
processing the real-time measurements to determine CCT
under the wide operation area of the power system [9-12].
The need for real-time CCT estimation is due to the wide
operating range of generators. Normally, there are relays
adjusted to trip before a pre-calculated CCT obtained from
off-line methods for certain operating conditions. However, if
there is any change in these operating conditions the relay
might trip falsely. Accordingly, it has become essential to
develop an adaptive algorithm to determine the CCT under the
full operating range and in real-time. This algorithm would
then be implemented into the relay to update the CCT
according to actual operating conditions.
In this paper two Artificial Intelligence (AI) techniques are
presented for developing the mentioned algorithm. The first, is
Artificail Neural Networks (ANN), and the second is Adaptive
Fuzzy Inference Systems. The two methods are based on
and Matlab toolboxes of ANN and ANFIS are presented to
demonstrate the effectiveness and the validity of the proposed
method.
II. PROPOSED ANFIS FOR REAL TIME CCT ESTIMATION
ANFIS is the major training routine for Sugeno-type fuzzy
inference systems. ANFIS use a hybrid learning algorithm to
identify parameters of Sugeno-type fuzzy inference systems. It
applies a combination of the least-squares method and the
back propagation gradient descent method for adjusting the
parameters defining membership functions of Fuzzy Inference
Systems (FIS) to emulate a given training data set. ANFIS can
also be invoked using an optional argument for model
validation. Because Sugeno is a more compact and The proposed ANFIS comprises 30 input Membership
computationally efficient representation than a Mamdani Functions (MFs) type ‘gbellmf’, linear output MF, training
system, the Sugeno system lends itself to the use of adaptive FIS using the ‘hybrid’ optimization method with 10 epochs for
techniques for constructing fuzzy models. These adaptive zero error tolerance. The average testing error is 0.0024. The
techniques can be used to customize the membership functions 30 ANFIS rules are listed below.
so that the fuzzy system best models the data. Mamdani's
fuzzy inference method is the most common methodology. IF (Pe is in1mf1) THEN (CCT is out1mf1)
However, In this paper, the so-called Sugeno or Takagi-
Sugeno-Kang method of fuzzy inference is implemented. It is IF (Pe is in2mf2) THEN (CCT is out2mf2)
similar to the Mamdani method in many respects. The first
two parts of the fuzzy inference process, fuzzyfying the inputs … up to the rule No. 30
and applying the fuzzy operator, are exactly the same. The
Referring to the proposed ANFIS structure shown in figure.2.
main difference between Mamdani and Sugeno is that the
Sugeno output membership functions are either linear or
constant. A typical rule in a Sugeno fuzzy model has the form:

If Input 1 = x and Input 2 = y, then Output is z = ax + by + c III. PROPOSED ANN FOR REAL TIME CCT ESTIMATION

For a zero-order Sugeno model, the output level z is a constant An ANN is characterized by its architecture, training or
(a=b=0). The output level z of each rule is weighted by the learning algorithms and activation functions. The architecture
firing strength wi of the rule. The final output of the system is describes the connections between the neurons. It consists of
the weighted average of all rule outputs, computed as: an input layer, an output layer and generally, one or more
N hidden layers in-between. Figure.3 illustrates one of the
(W i Zi) commonly used networks, namely, the layered feed-forward
FinalOutput i 1
N
(1) ANN with one hidden layer. The layers in these networks are
Wii 1
interconnected by communication links that are associated
with weights that dictate the effect on the information passing
A Sugeno rule operates as shown in figure.1.
through them. These weights are determined by the learning
algorithm.

Fig.1: Operation sequence of Sugeno rule

Fig.3: Typical layered feed-forward neural network with one hidden layer.

The output of node j in the hidden layer is given by

n
hj  g ( w ji X i  b j ) (2)
i 1

Fig.2: Proposed ANFIS structure And the output of the network by

 
 

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 n
y   woi h i (3)
i 1

where wji are the weights connecting the inputs to node j in the
hidden layer, bj is the bias to the node, and woi are the weights Fig.5: ANN based PMU for CCT estimation
from the hidden to the output layer. Depending on the learning
algorithm the ANNs can be categorized as:
• Fixed Weight ANNs: these do not need any kind of learning.

• Unsupervised ANNs: These networks are trained (weights

are adjusted) based on input data only. The networks learn to
Fig.6: ANFIS based PMU for CCT estimation
adapt using experience gained from previous inputs.

• Supervised ANNs: These are the most commonly used
ANNs. In these networks, the system makes use of both input
and output data. The weights and biases are updated for every
set of input/output data. The activation function relates the
output of a neuron to its input based on the neuron’s input
activity level. Some of the commonly used functions include:
the threshold, piece-wise linear, sigmoid, tangent hyperbolic,
and the Gaussian function [5]. The learning process of the
network involves using the input-output data to determine the
weights and biases. One of the techniques used to obtain these
parameters is the Back Propagation algorithm [5], [6]. In this
method, the weights and biases are adjusted iteratively to
achieve a minimum mean square error between the network
output and target value.
IV. ADAPTIVE TRIPPING ALGORITHM
A new adaptive tripping algorithm for real-time estimation of
CCT is presented. First, the CCT is estimated automatically by
calculating the electric power delivered by generator (Pe)
using the voltage and current measurements from PMU as
shown in fig. 7 and fig.8. Power is calculated using equation 4.
Real power losses through the step up transformer are
negligible.
Pe =real {   } (4)

Fig.7: Phasor measurement unit sample

Using the proposed ANFIS, CCT under the initial operating

condition was determined (to Fig. 9 elements in the dashed
boxes). The algorithm will then be repeated continuously to
check the changes in the operating conditions via PMU
measurements and to calculate in real-time the corresponding
CCT using the proposed ANFIS.

The algorithm is based on real-time measurements to estimate

Fig.4: Proposed ANN structure
The proposed ANN comprises two layers: one hidden layer,
and an output layer. The ANN structure is shown in figure.4.
Fig.5 and fig.6 respectively, show the implementation of the
constructed ANN and ANFIS respectively for real-time CCT
estimation.
the CCT of the generator in the real-time, rather than a fixed
tripping time as used in traditional relays which may be not
correct for any abnormal cases or different loading conditions.
So that, the algorithm is considered more reliable for tripping
critical generators in the real-time for any operating
conditions. Fig. 8 shows an adaptive tripping schematic
diagram applied to sample generator. Fig. 9 shows the
flowchart of the adaptive tripping algorithm.

 
 

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Fig.8: Adaptive tripping schematic diagram
Fig.9: Adaptive tripping algorithm flowchart
V. MODELING AND SIMULATION
The employed power test system is simulated using classical
model for synchronous machine representation. The power
system model is simulated using Matlab (version 7.0)
programs developed by the authors. The proposed ANFIS and
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ANN are developed by the authors using MATLAB toolboxes
of ANFIS and ANN.
Also, it is important to mention that, the SPMUs devices and
power system simulator is not available. Consequently, off-
line simulation is performed using TDEAC for two reasons.
The first one, to achieve the data that will be considered as the
SPMUs measurements, secondly, to calculate the reference
CCT to be used in the comparison.
VI. SIMULATION RESULTS
The power test system used in this paper is the Single Machine
to Infinite Bus (SMIB) with two parallel lines as shown in Fig.
10. A three phase short circuit is simulated to occur at the
generator HV bus. 1000 contingency cases (used as 1000
training cases) covering the generator operating range are
simulated. The ANN and ANFIS are trained using the
mentioned contingency cases which cover the full range of
operating conditions for the sake of achieving more accurate
results. The TDEAC solution is employed for determining the
exact CCT for the test cases.
Alternatively, the CCTs are estimated using the proposed
ANN and ANFIS. Table 1 shows a comparison between both
sets of results, and which were obtained under normal
operating load conditions.
Fig.11 shows a comprehensive comparison between the results
from TDEAC, ANFIS, and ANN over the whole range of test
points, while fig.12 shows a detailed (zoomed) portion of the
comparison characteristics covering 20 test points. Fig.13
shows the Percentage Error between ANFIS, and ANN
through the complete range of training and testing points.
CT
G
Tr
PT IBB
ANFIS PMU
To Relay Tripping
Algorithm
Fig.10: Test power system
 TABLE.1: Comprehensive comparison between ANN, and ANFIS for CCT
estimation under normal operating range

Pe EAC ANN ANFIS ANN ANFIS

(pu) Tcc (s) Tcc (s) Tcc (s) %Error %Error
0.1 1.1224 1.0909 1.1252 2.806486 0.249465

0.2 0.7166 0.7047 0.7167 1.66062 0.013955

0.3 0.5434 0.5373 0.5434 1.122562 0

0.4 0.4422 0.4380 0.4424 0.949796 0.045228

0.5 0.3684 0.3652 0.3685 0.868621 0.027144

0.6 0.3096 0.3070 0.3096 0.839793 0

0.7 0.2615 0.2593 0.2614 0.8413 0.038241

0.8 0.2219 0.2202 0.2220 0.766111 0.045065 Fig.13: Comprehensive comparison between ANFIS, and ANN through the
0.9 0.1895 0.1880 0.1895 0.791557 0 normal operating range

1.0 0.1629 0.1617 0.1629 0.736648 0

In actual operation, the generators may be overloaded if an
abnormal conditions occurrs or if the generator suffers any
disturbance. The CCT under these overloading conditions was
also determined using the proposed adaptive tripping
algorithm (as presented in this paper). The CCT is checked
using both ANN and ANFIS for 300 test case with various
overloading conditions. The results were then compared with
those obtained from TDEAC. The detailed comparison of
results as obtained from ANN and ANFIS for the test cases
under overload conditions are tabulated in Table 2. The
comparison of results is graphically depicted in figure.14.

TABLE.2: Comprehensive comparison between ANN, and ANFIS for CCT

estimation under overloading conditions

Pe EAC ANN ANFIS ANN ANFIS

(pu) Tcc (s) Tcc (s) Tcc (s) %Error %Error

Fig.11: Comprehensive comparison between TDEAC, ANFIS, and ANN 1.1 0.1393 0.1382 0.1393 0.789663 0
through all test samples
1.2 0.1210 0.1200 0.1210 0.826446 0

1.3 0.0952 0.0934 0.0954 1.890756 0.210084

Fig.12: Comprehensive comparison between TDEAC, ANFIS, and ANN Fig.14: Comprehensive comparison between ANFIS, and ANN through 300
through 20 test samples several overloading operating conditions

 
 

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By analysis of figure14 it can be concluded that the proposed
ANFIS is more accurate than the ANN. During the
overloading conditions, the percentage error is always less
than 0.21%. The proposed ANN clearly produces lower
accuracy and the percentage error increases from 0.737% at
full loading up to 1.891% at 30% overloading.
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[5] S. Haykin, “Neural Networks a Compressive Foundation”, IEEE

VII. CONCLUSION
An adaptive real-time tripping algorithm for critical generators
was developed. The algorithm is based on real-time
measurements to estimate the CCT of the generator in the real-
time, rather than a fixed tripping time which may be not
correct for any abnormal cases or different loading conditions.
So that, the algorithm is considered more reliable for tripping
critical generators in the real-time for any operating
conditions.
Also, a comparison between two developed tools for the
estimation of CCT in real-time was presented in this research.
One tool was ANFIS based while the other was ANN based.
Many test cases were implemented some of which covered the
operation of the system under normal loading conditions while
others covered operation under overloading conditions. The
results of the testing clearly that the ANFIS tool is more
accurate than the ANN tool under all loading conditions. The
developed techniques were proven successful based on the
simulation results using SMIB model, however, the adaptation
and validity of the techniques for multi-machine power system
models shall be presented elsewhere by applying a novel
technique known as Parallel Algorithms (PAs) [4].
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LIST OF ABBREVIATIONS

V Generator H.V bus voltage magnitude

I Generator H.V bus current magnitude
ϴv Generator H.V bus voltage angle
ϴi Generator H.V bus current angle
Generator H.V bus voltage phasor
  Generator H.V bus current phasor
CT Current transformer
PT Potential transformer
CB Circuit breaker

REFERENCES

[1] A.G. Phadke and J.S. Thorp, Computer Relaying for Power Systems,
John Wiley and Sons Inc., New York, 1988.

[2] A. G. Phadke, "Synchronized Phasor Measurements in Power

Systems", IEEE Computer Applications in Power, volume.6, N.02,

 
 

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