2019 Innovations in Power and Advanced Computing Technologies (i-PACT)

Analysis of SSR with SSSC using FPA based

Voltage Controller
S Venkateswarlu∗, Srikanth Velpula† , M. Janaki‡ ,and R. Thirumalaivasan§
∗†‡§ Schoolof Electrical Engineering, Vellore Institute of Technology, Vellore, India 632 014.
Email: ∗ venkateswarlu.s@vit.ac.in, † srikvelpula@gmail.com, ‡ janaki.m@vit.ac.in, § thirumalai22@gmail.com

Abstract—This paper presents, the SSR characteristic analysis the eigenvalue analysis and transient simulation under large
of the system with combined active and passive series compensa- disturbance. The results show that the voltage controller (Type-
tion methods to increase secure loading, stability and fast control 1 control) with fixed reactive control mode of SSSC shown
of power in the transmission line. The hybrid compensation is
done by considering SSSC (an active FACTS device) and fixed better performance in reducing the network resonant frequency
series capacitor (passive compensation) method. Also, the Flower along with improved power transfer capability of line.
Pollination Algorithm is adopted in designing of the SSSC with
Type-1 controller based on the damping torque analysis. The II. M ODELLING OF SSSC
SSR analysis is carried out using damping torque, eigenvalue
and transient simulation methods which show the effectiveness of
SSSC in the elimination of torsional interaction at the operating
+ Ei i
point. The SSSC with Type-1 controller shows better performance
in reducing the network resonant frequency along with improved
power transfer capability of line.
Index Terms—FACTS, Static Synchronous Series Compensator
(SSSC), Damping torque, Eigenvalue, Flower Pollination Algo-
rithm (FPA), Subsynchronous Resonance (SSR).
VSC
I. I NTRODUCTION
i Vdc

T
HE vast investigation on SSR is reported after the event
of shaft failure at Mohave in 1970 and 1971, conse-
quently [1]- [8]. Utilization of FACTS devices with fixed
series compensation is proven in reducing the risk of SSR [4]-
[11]. The main concern in the FACTS devices is the proper
tuning of controller parameters. The previous research has
proposed various meta heuristic and evolutionary optimization
techniques to optimize the controller parameters of the SSSC
[5]- [10]. In which, the Genetic Algorithm [5]- [8], Fuzzy
Logic control [9], Gradient Descent Method [10] are adopted
to tune the controller parameters of SSSC.
In this paper, the Flower Pollination Algorithm (FPA) is
adopting to tune the SSSC voltage controller parameters.
The FPA is based on natural pollination in flowers and is
proposed by Xin-she-yang in the year 2012 [12]- [14]. In
this algorithm, the process of pollination takes place through
biotic cross pollination and abiotic self pollination. Among
the two pollination processes, the biotic cross pollination is
considered as global pollination. The best features of FPA
are the global survey and local manipulation in the same
iteration and randomness in every iteration by way of abiotic
pollination. Hence, the optimization using FPA can ensure the
global minimum or maximum of the problem.
This paper presents the SSR characteristic analysis and sim-
ulation of a active and passive series compensation with SSSC.
The objective of this paper is to design the SSSC with Type-
1 controller using FPA. The performance of the SSSC with
optimized voltage controller parameters is validated through
dc
+
Bc
Gc
Fig. 1. Schematic diagram of SSSC [15].
Rs Xs
+
E φ+γ
i i φ
Fig. 2. SSSC equivalent circuit [6].
The schematic diagram of the SSSC is shown in Fig. 1
[15]. It comprises of a coupling transformer, Voltage Source
Converter (VSC) and DC link capacitor.
In Fig. 2, the converter output voltage magnitude and phase
angle is represented by E i and ∠φ+γ along with the coupling
transformer resistance Rs and reactance Xs respectively. Here,
φ is the phase angle of line current and γ is the angle by which
the fundamental component of converter output voltage leads
the line current.
A. Modelling of SSSC in D-Q Reference Frame
The output voltage of converter in D-Q reference frame is
represented as

978-1-5386-8190-9/19/$31.00 ©2019 IEEE 1

 2019 Innovations in Power and Advanced Computing Technologies (i-PACT)

q Here, Mk is the modulation index and Vdc is the dc capacitor

Ei =
2
i + Ei
ED Q
2
(1) voltage.
By varying dead angle (βse ), the modulation index can
Here, D-Q components of the injected voltage E i are repre- be changed and hence the magnitude of the converter output
sented by ED
i
and EQ
i
respectively and are defined as follows: voltage is controlled. And the dc link voltage Vdc is maintained
constant by phase angle γ. From the dc voltage controller,
i
ED = Mk Vdc sin(φ + γ) (2) the real voltage reference EP (se)(ref ) is calculated and the
reactive voltage reference ER (se)(ref ) is kept constant.
In Fig. 3, the phase angles γ and βse are calculated from
i
EQ = Mk Vdc cos(φ + γ) (3)
the reference values of EP (se)(ref ) and ER (se)(ref ) and
Where Mk is modulation index. are given as
The modulation index is the function of dead angle βse for
−1 ER(ref )
 
a three-level converter is given as γ = tan (7)
Mk = pρ√cosβse EP (ref )
Where p = 4π6 for a 24-pulse converter. q 
EP2 (ref ) + ER(ref
2
ρ is the SSSC interfacing transformer transformation ration. βse = cos−1 
)
 (8)
In the control perspective, it is convenient to represent the pρVdc
real voltage (EP ) and reactive voltage (ER ) as components of
the E i . The real voltage (EP ) being in phase and the reactive III. M ETHODS OF SSR A NALYSIS
voltage (ER ) in quadrature with the line current (I). SSR is characterized into self excitation and torsional am-
plification. The methods of SSR analysis are presented in the
i
ER = E D i
cos φ − EQ sin φ (4) following subsections [1], [16].
A. Damping Torque Analysis
EP = i
ED sin φ + i
EQ cos φ (5) The component of electrical torque which is in-phase with
the speed of the generator rotor is called as damping torque.
Here, ER with positive sign represents the inductive op-
The relation between electrical and mechanical system is
eration where as the active power drawn by the SSSC is
shown in Fig. 4.
represented by EP with positive sign.
The dc side capacitor is calculated by the dynamic equation
as ∆Tm + ∆ Sm
Σ Mechanical System
dVdc ωb ωb G c G (s)
= − Idc − Vdc (6) −
dt Bc Bc
∆Te
Where Idc = −[Mk sin(φ + γ)ID + Mk cos(φ + γ)IQ ]
ωb = 2πfb , (fb − base frequency) Electrical System
Bc = Capacitive susceptance KH (s)
Gc = conductance to represent the converter losses.
Fig. 4. Interaction between mechanical and electrical system [1].
B. SSSC Voltage Controller
The schematic representation of the type-1 controller is The damping torque is given as
shown in Fig. 3 [15].
 
∆Te (jω)
Tde (ω) = < = < [H(jω)]k=1 (9)
∆Sm (jω)
Vdcref + E p(se)(ref) The positive damping torque damps the oscillations of the
+
Σ kp Σ γ generator rotor. The generator rotor speed is denoted by ∆Sm
− + Calculation
of γ and β se
p.u and the electrical torque is denoted by ∆Te p.u.
1 ki
E R(se)(ref)
The electrical damping torque (Tde ) is calculated from the
1 + s Tmd s β se generator internal bus and it is given by [11]
 
V YQD ω0
dc Tde = < + YQQ ∗ E 2 (10)
jω
Fig. 3. Type-1 controller of SSSC [15].
Where Tde is the electrical damping torque
YQD and YQQ are the admittance functions in D-Q frame
The magnitude and phase angle (γ) of the SSSC converter
ω0 is the operating frequency and
output voltage is controlled with type-1 controller. The mag-
E is the generator internal bus voltage.
nitude of the converter output voltage is represented as
At any frequency if the damping torque is negative and if
|E i | = Mk Vdc that particular frequency is close to any of the torsional mode

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 2019 Innovations in Power and Advanced Computing Technologies (i-PACT)

frequency then the corresponding torsional mode is expected Start

to be unstable [16]- [17].

B. Eigenvalue Analysis Set the Population size, switch probability, maximum number of iterations
and range of variables
The eigenvalue analysis requires detailed model consisting
Differential Algebraic Equations (DAE) of the entire system.
Then, the eigenvalues of linearized system are computed for Randomly generate population which contains n solutions,
evaluate all and find the current best
interpretation from its state matrix at an operating point. This
method indicates that whether the system is stable or not
From the initial values, obtain the minimum Fitness function
by looking into the real part of eigenvalues. The system
become unstable if any of the eigenvalue has positive real
part. Therefore, this analysis can be used to judge the system For every iteration (t)
stability quickly and also provides the damping of all modes
[18]. Yes No
rand < P?
C. Transient Simulation
The time domain simulation of the system with large
disturbance is carried out to verify the results of damping Generate a new solution using the Generate a new solution using the
torque and eigenvalue methods. The oscillatory response of the global search operator local search operator
system with time shows the instablity of the system. However,
this method takes large simulation time and require detailed New updated pollen to be calculated
representation of the system.

IV. A PPLICATION OF FPA TO D ESIGN SSSC CONTROLLER Updated best Fitness pollen

A. Introduction to Flower Pollination Algorithm

The inspiration for the evolutionary meta-heuristic optimiza- Check for the criterion?
No
tion technique FPA is the pollination process in flower species.
The FPA impersonate the pollination process of flowers. The
Yes
basic objective of the pollination in flower species is to
endure the fittest production. An advantage of FPA is that Obtain the best Fitness pollen
the extensive search of pollinators over the distances which
explore a wide range of search space. Abiotic and biotic Stop
are the two different pollination process takes place in the
flower pollination. The abiotic pollination refers to local or Fig. 5. FPA Flowchart.
self pollination and the biotic is referred as the global or
cross pollination. The pollinators carrying pollens obey the
deviation shows/reflects the improved damping of torsional
rule of Levy flights. The litheness of FPA is that it can be
mode.
applicable to either single or multi objective functions. At last
Hence, the objective function is framed such that to min-
the ultimate purpose of FPA is to acquire the vigorous and
imize the deviation of actual damping torque from reference
fittest reproduction of species. The rules of FPA optimization
damping torque and is given as,
used in this work are taken from literature [12]- [14] and the
flow chart of FPA is shown in Fig. 5. X
Sum Squared Error(E) = e2 (11)
B. Formulation of Objective Function ω

Where
The design of SSSC converter control necessitates the tun-
ing of its controller parameters Kp , Ki . In this, the selection e = Tde (ref ) − Tde (ω)
of controller parameters is done on the basis of damping
ω is varied in the range of 0-300 rad/sec.
torque analysis using FPA. The primary objective of the
Tde (ref ) and Tde (ω) are the reference and actual damping
optimization process is to check the system eigenvalues and
torque respectively.
if real part of all eigenvalues is negative then the process
The objective function E is the sum of square of the
considers that the system is stable at an operating point. The
difference between the reference damping torque and actual
next is to perform damping torque analysis of the system and
damping torque, while maintaining the stability of the system.
is compared with reference damping torque (Tde (ref )) to
Hence, the problem of optimization is framed to
calculate the deviation of actual damping torque (Tde (ω))
from reference damping torque (Tde (ref )). The minimum Minimize E

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 2019 Innovations in Power and Advanced Computing Technologies (i-PACT)

Based on the condition that A. SSR Analysis without and with SSSC
Real part of all eigenvalues < 0 1) Damping Torque Analysis: This method is carried out
for the frequency range of 10-360 rad/sec by neglecting the
The reference damping torque is chosen as a small positive dynamics of mechanical system. The variation in electrical
value in order to reduce the peak of the negative damping damping for case-1 and case-2 is shown in Fig. 7.
torque. The parameters considered for FPA are shown in
Table I. The tuned gains of SSSC voltage controller (Type- 10
1 control) parameters using FPA are Kp = 0.018649, Ki = 3.
0
TABLE I

T de in p.u
PARAMETERS CONSIDERED FOR FPA
-10
Case study - 2
Parameter Value
Population Size 20 -20
Switch Probability 0.2 Case study - 1
Number of iterations 40
-30
0 50 100 150 200 250 300
Frequency ( m) in rad/sec

V. S YSTEM D ESCRIPTION AND SSR A NALYSIS Fig. 7. Damping torque without and with inclusion of SSSC.

In this work we considered the modified IEEE FBM with From the Fig. 7, in case study-1 it can be observed that
the inclusion of SSSC. The system diagram represented in the peak negative of damping torque is around the frequency
Fig. 6 comprises multi-mass turbine-generator and series com- of 127 rad/sec. This frequency is very close to the natural
pensated long transmission line incorporated with SSSC. From torsional mode-2 and severe torsional interactions may occur at
[1], the knowledge and information of the electromechanical the operating point. Whereas, in case study-2 the peak negative
system’s model are referred. value of damping torque is notably decreased and it occurs
The initial operating conditions and assumptions made for around the frequency 150 rad/sec. It is clear that for case
this analysis are given by study-2, the frequency at which the negative peak occurs is
(1) 0.9 p.u power is transmitted by the generator to the not close to any of the torsional mode frequency. Hence, the
transmission line. system with the inclusion of SSSC is expected to be stable.
(2) The mechanical power input is assumed to be constant.
(3) The overall series compensation is considered as 0.6 p.u. TABLE II
The analysis without and with SSSC are considered as case E IGENVALUES OF THE SYSTEM WITHOUT AND WITH SSSC
study-1 and case study-2, respectively. Torsional Case - 1 : Without SSSC Case - 2 : With SSSC
In Case study-1, the overall compensation is done by fixed Mode (Xc = 0.6 p.u) (Xc = 0.45 p.u
and XSSSC = −0.15 p.u)
capacitor alone, and in Case study-2, the fixed capacitor
provides 0.45 p.u of overall compensation and 0.15 p.u is 0 −1.8598 ± j 8.9590 −1.3893 ± j 8.1625

achieved by SSSC. 1 −0.1505 ± j 99.450 −0.1949 ± j 99.136

2 0.2437 ± j 127.00 −0.0626 ± j 127.05
3 −0.6385 ± j 160.43 −0.5663 ± j 160.24
Eb 0
Vg θ g i 4 −0.3639 ± j 202.82 −0.3669 ± j 202.81
+ 5 −1.8504 ± j 298.17 −1.8504 ± j 298.17
Rl Xl Xc X sys Network mode
Generator
Rt Xt Infinite
Bus Sub −4.2916 ± j 126.93 −4.5299 ± j 149.94
VSC super −5.7250 ± j 626.75 −5.2075 ± j 583.06
i Vdc SSSC
dc
+
bc 2) Eigenvalue Analysis: In this analysis the detailed model
g of system is considered and linearized with respect to the
c
(a) operating point. The eigenvalues are tabulated in Table II
ω
Te without and with inclusion of SSSC. From the Table II in
HP IP LPA LPB GEN EXC case-1 (without SSSC), the eigenvalue corresponding to the
(b) torsional mode-2 has positive real part and hence the system
is unstable. Whereas in case study-2 (with inclusion of SSSC),
Fig. 6. Modified IEEE FBM with inclusion of SSSC [16], [17]. all the eigenvalues have negative real parts which indicates a
stable system and no risk of SSR.

4
 2019 Innovations in Power and Advanced Computing Technologies (i-PACT)

clear that the transient simulation obeys the observations made

0.8
section torque in p.u
in the damping torque and eigenvalue analysis methods.
0.75
VI. C ONCLUSION
LPA - LPB

0.7

0.65
In this work, the SSR analysis is carried out with hybrid
compensation. The SSSC voltage controller parameters are
0.6
tuned using Flower Pollination Algorithm based on damping
0.55 torque analysis. The eigenvalue, damping torque and transient
0 5 10 15
Time in sec
simulation methods are used to analyze the SSR characteristics
1.5 of the system without and with inclusion of SSSC. The
1.45 damping torque and eigenvalue analysis with inclusion of
Rotor angle in rad

SSSC show that the system is stable and the peak value
1.4
of negative damping torque is reduced significantly. Also, it
1.35 can be observed that from the transient simulation method,
1.3
the oscillations in rotor angle and shaft torque LPA-LPB
gradually decreases with time. The results show that the
1.25
0 5 10 15 torsional interaction is eliminated at the operating point with
Time in sec inclusion of SSSC.
Fig. 8. Step response of sectional torque LPA - LPB and rotor angle for case R EFERENCES
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0.75
section torque in p.u

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1.4
1.35
1.3
1.25
0 5 10
Time in sec
Fig. 9. Step response of sectional torque LPA - LPB and rotor angle for case
study - 2.
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the system is carried out to verify the observations made
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Fig. 9, respectively.
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 2019 Innovations in Power and Advanced Computing Technologies (i-PACT)

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