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Application of Symbiotic Organisms Search Algorithm to solve various economic


load dispatch problems

Conference Paper · August 2016


DOI: 10.1109/INISTA.2016.7571840

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Application of Symbiotic Organisms Search
Algorithm to Solve Various Economic Load Dispatch
Problems
Ugur Guvenc, Serhat Duman, M. Kenan Dosoglu H. Tolga Kahraman
Department of Electrical and Electronics Engineering Department of Software Engineering
Düzce Universty Karadeniz Technical University
Düzce, Turkey Trabzon, Turkey
ugurguvenc@duzce.edu.tr
Cemal YÕlmaz
Yusuf Sonmez Department of Electrical and Electronics Engineering
Department of Electrical Technology Gazi Universty
Gazi University Ankara, Turkey
Ankara, Turkey
ysonmez@gazi.edu.tr

Abstract—This paper proposes the application of Symbiotic generating units and variables are continuous. But in practice,
Organisms Search (SOS) Algorithm to solve the various some operational characteristics of a power system such as
Economic Load Dispatch (ELD) problems. Both classical ELD valve point effects, prohibited operating zones and ramp rate
problem which has smooth fuel cost function and nonconvex limits occur and thence they must be taken into account to
ELD problem which has nonconvex and discontinuous fuel cost solve more realistic ELD problem. This situation modifies the
function due to considering of some practical constraints like mathematical model of the problem and thus it becomes
valve point effects, ramp rate limits and prohibited generating nonconvex and discontinuous. Although some techniques like
zones have been solved in the study. Three different test cases dynamic programming (DP) [4] or quadratic programming [5]
have been used to show the efficiency and reliability of the
have been presented by researchers in order to solve such a
proposed algorithm. 38-unit test system has been used for
classical ELD and 3-unit and 15-unit test systems have been used
type of ELD problem, they produce appropriate results for
for nonconvex ELD problem. Results have been compared to small-scale systems.
various heuristic methods reported before in the literature and In order to eliminate negativities of classical methods,
they show that proposed algorithm converges to the global many physical or biological-inspired heuristic algorithms or
optimum in early iterations and can produce superior results artificial intelligence techniques have been proposed to solve
than others in the solution of ELD problems which have both the nonconvex ELD problem. They can be listed as non-
smooth and nonconvex and discontinuous fuel cost function.
iterative “Ȝ-logic based” algorithm [6] genetic algorithm [7],
Keywords—symbiotic organisms search; economic load
particle swarm optimization (PSO) [8], simulated annealing
dispatch; nonconvex fuel cost function (SA) [9], differential evolution (DE) [10], tabu search (TS)
[11], firefly algorithm [12], bacterial foraging optimisation
(BFO) [13], ant colony optimization (ACO) [14], Hopfield
I. INTRODUCTION model [15], continuous quick group search optimizer (QGSO)
One of the most important problems in power system [16], neural networks [17] and artificial immune system (AIS)
operation area is the Economic Load Dispatch (ELD). ELD [18]. All of these models aim to approximate to the global
aims to schedule power outputs of generating units to meet the optima of a given fitness function for an optimization problem.
load demand by minimizing fuel cost function while satisfying Although they produce effective results and show a good
some equality and in equality system constraints [1]. In the convergence in solution of the nonconvex ELD problem, there
classical ELD problem, mathematical formulation of the fuel are some drawbacks of them due to their own structure. The
cost function is described as simple linear or quadratic form. In main disadvantage of these individual methods can be declared
early years, classical mathematical computations such as as they suffer from premature convergence in local optimum
lambda iteration [1], base point and participation factors [2], due to large-scaled or heavily constrained problems [10, 19,
and the gradient method [3] have been used by researchers to 21].
solve the this smooth type of classical ELD problem. Fast
There are many efforts in the literature to overcome
convergence with high accuracy is the key feature of these
disadvantages declared above via improved or hybrid models
methods. However, they can only show this effective
produced by combining at least two individual algorithms.
implementation in the case of the fuel cost function of
Improved PSO [19], Self-tuning hybrid differential evolution
978-1-4673-9910-4/16/$31.00 ©2016 IEEE
(self-tuning HDE) [20], combined a special class of ant colony
optimization called API and a real coded genetic algorithm
( (
Fi (Pi ) = ai + bi Pi + ci Pi 2 + d i × sin ei × Pi min − Pi )) (3)
(GAAPI) [21], local random search (LRS) integrated with new In this paper, total fuel cost functions are minimized
PSO (NPSO-LRS) [22], self-organizing hierarchical particle subjected to following constraints.
swarm optimization (SOH_PSO) [23], simulated annealing like
particle swarm optimization (SA-PSO) [24], harmony search • Power balance constraint
(HS) based hybrid models [25], string structure through GA Total power generation is equal to sum of the load demand
[26], adaptive–variable population–PSO [27] and particle (Pd) and total power loss (PLoss) in transmission lines.
swarm optimization with time varying acceleration coefficients
[28] are such type models used for solving nonconvex ELD N
problem and obtained robust results. ¦P = P
i =1
i d + PLoss (4)
In this paper, Symbiotic Organisms Search (SOS)
algorithm has been applied for solving the classical ELD and PLoss is calculated as follows.
nonconvex ELD problem with some practical constraints such
N N N
PLoss = ¦¦ Pi Bij Pj + ¦ B0i Pi + B00
as valve point effects, prohibited operating zones and ramp rate
limits. SOS is a new robust and powerful metaheuristic (5)
i =1 j =1 k =1
optimization algorithm which is produced by inspiring the
symbiotic mutual effects between organisms to survive and where Bij is the loss coefficient ( i-th and j-th element of the
spread in the ecosystem by Cheng and Prayogo in 2014 [29]. B-matrix) and B00 is the loss coefficient constant.
The main advantage of the SOS versus other optimization
methods is declared in [29] that algorithm operations don’t • Capacity of power generation constraint
require specific algorithm parameters. Due to this characteristic The power output of each unit is limited with a minimum
of the algorithm, it has high possibility to find the global Pimin and maximum value Pimax.
optimal solution. In order to validate the proposed algorithm
for solving ELD problem, it has been tested on 38-unit test Pi min ≤ Pi ≤ Pi max (6)
system for classical ELD and on 3-unit and 15-unit tests
systems for ELD with nonconvex and discontinuous fuel cost. • Ramp rate limits
Obtained results have been compared with other methods
reported before in the literature and SOS produces better Due to power output of generating units cannot be set
results than those. immediately while increasing or decreasing; ramp rate limits
are taken into account for reflecting the actual operational
situations in the solution of ELD problem. According to this
II. MATHEMATICAL FORMULATION constraint, operating range of each unit must be limited by their
The aim of the ELD problem is minimizing the total fuel ramp rate limits. This inequality constraint for the power
cost of all generating units while satisfying some practical generation of units is can be described as follows [25, 30].
constraints such as valve-point effects, prohibited operating
zones and ramp rate limits. The general ELD problem is given ( ) (
max Pi min , Pi o − Ridown ≤ Pi ≤ min Pi max , Pi o + Riup (7) )
in Eq. (1) considering a power system with N number
generating units. In the classical ELD problem the fuel cost where Pio is the previous output of the i-th unit. Ridown and Riup
function is defined as smooth quadratic type to simplify the are ramp-down and ramp-up limits of the i-th unit.
solution process. Such a type fuel cost function can be defined Prohibited operating zone
as in Eq. (2).
Prohibited operating zones which stems from some errors
N
in generating units or their components like pumps or boilers,
min f T = ¦ Fi (Pi ) (1) etc. should be taken into account in the solution of practical
i =1 ELD problem [23]. Thus this feature makes the problem
discontinuous and can be described as follows.
Fi (Pi ) = ai + bi Pi + ci Pi 2 (2)

where ft is the total fuel cost for demanded power ­ Pi Min ≤ Pi ≤ Pi ,L1 ½
generation in $/h, Pi is the power output of i-th generating unit °° °°
in MW, ai, bi and ci are cost coefficients of i-th unit. Fi(Pi) is Pi ∈ ® PiU, j −1 ≤ Pi ≤ Pi ,Lj ¾ j = 2,3,...POZ i (8)
fuel cost of i-th generating unit ° U Max °
°¯ Pi , POZi ≤ Pi ≤ Pi °¿
The smooth fuel cost function does not fully reflect the
practical ELD because it doesn’t cover the ripple effects in where POZi is the number of prohibited operating zones of
heat-rate curve rising from opened valves of large turbine i-th unit, Pi,jL and Pi,jU are lower and upper limits of k-th
generators, namely valve-point effects. This effect causes operating zones of i-th unit. Fig. 1 shows fuel cost curve with
nonconvex and discontinuous fuel cost function by adding prohibited operating zone in the economic load dispatch.
sinusoidal components. Such a type fuel cost function can be
described as follows.
solution of the ELD problem, attributes numbers are equal to
number of generators in the test system. The attributes are
generated randomly in between the minimum and maximum
power limits of related generating unit outputs as follows.

B. Determining of problem parameters


In this step, SOS parameters such as organism number and
maximum iteration number and system parameters such as
number of generating units, maximum and minimum limits of
units, total power demand, B-coefficients matrix to compute
the transmission loses and fuel cost function coefficients are
determined.

Fig. 1. Fuel cost curve with prohibited operating zone C. Representation of ecosystem
It is supposed that ‘m’ is the number of organisms
(eco_size) in the ecosystem. According to the Table 1, the
III. SYMBIOTIC ORGANISIMS SEARCH ALGORITHM AND ecosystem ‘E’ could be represented by matrix form as in Eq.
IMPLEMENTATION TO ECONOMIC LOAD PROBLEM (9) and (10). Each row at matrix in Eq. (9) shows the attributes
SOS algorithm is a novel population-based stochastic (number of generators) of an organism and represents one
technique produced by Cheng and Prayogo in 2014 [29]. It candidate solution (total fuel cost value) to the corresponding
iteratively uses an ecosystem of organisms for the optimization ELD problem. Each row at matrix in Eq. (10) shows the fitness
of nonlinear functions in search space in the process of seeking value of a candidate solution and is used to search for the fittest
the best solution. An ecosystem, a population of organisms, is a organism.
typical example of symbiosis relationships in nature. SOS
attempts to simulate the phenomenon of ecosystem. In the ª a1[0,1] a 2[0, 2] a3[0,3] ... a n[0,n ] º
ecosystem, each organism searches for reliance-based « . . . . . »»
relationships. There are three types of relationship: mutualism, «
commensalism, and parasitism which are known as symbiosis. E[m,n ] = « . . . . . » (9)
« »
As species evolve, symbiotic relationships would help « . . . . . »
organisms adapt to their environment. Symbiosis is used to «a m[m,1] am[m, 2 ] a m[m,3] ... am[m, n ] »
describe a relationship between any two organisms with ¬ ¼
different species. Mutualism is a symbiotic relationship
between two different species in which plays a key role in ª u[0 ] º
ecology. Two distinct organisms cooperate and each benefiting « . »
from the relationship. Commensalism is a symbiotic « »
relationship between two different species in which one species U [m ,1] = « . » (10)
obtains food or other benefits from the other without either « »
harming or benefiting the latter. Parasitism is a non-mutual « . »
symbiotic relationship between two different species when one «u[m −1] »
organism, called the parasite, benefits while a second, the host, ¬ ¼
is harmed. The SOS algorithm operates by iteratively Depending on values of attributes, which is given in Eq.9,
generating a population of solutions called the ecosystem the fitness value <u> of each organism is determined by a
where each solution is representative of an organism. fitness function. Fitness values are obtained from Eq. (2) for
Implementation of SOS algorithm to solve the both classical ELD and Eq. (3) for ELD with valve point effects.
classical ELD and nonconvex and discontinuous ELD with Prohibited operating zones and ramp rate limits are also
prohibited operating zones is explained with steps of the considered. After the computation of fitness values of all
algorithm. organisms in the ecosystem, evaluation of organisms is done
via choosing the best fitness value having minimum value
among them. Then, it is defined as Xi for implementation of the
A. Create initial ecosystem
SOS operator.
The ecosystem is a population of organisms. In the SOS
algorithm, firstly, the organisms are created. In the solution D. Mutualism operator
process, power outputs of generating units correspond to an
organism. Each organism is a solution candidate for ELD An organism in ecosystem is assigned randomly to Xj,
problem. An attribute vector is randomly generated for each where XjXi.
organism in the ecosystem. Input parameters of problem Mutual relationship vector (Mutual_Vector) are generated
determine the number of attributes in organism. Attributes are by using Eq. (11). In the first iteration, Xi=Xbest.
correspond to power output of the generator for solving of
ELD problem. An organism is described with a set of attribute Mutual _ Vector = (X i + X j ) 2 (11)
values <a1, a2, a3,…, an> and a fitness value <u> . In the
Identify the best solution, Xbest depending on the fitness proposed algorithm have been compared other methods
values (in U[m,1]) of organisms. The organism is selected as Xbest reported before in the literature. Test cases and comparative
which has the lowest minimum fitness value of the ecosystem. results are explained below.
Modify organism Xi and Xj depending on the mutual
relationship rules by using Eq. (12) and (13). BF1 and BF2 are A. Test Case 1
numeric coefficients and randomly determined as 1 or 2. 38-unit test system is examined in this case to solve the
classical ELD subjected only power balance constraint.
X inew = X i + rand (0,1) × ( X best − Mutual _ Vector × BF1 ) (12) Transmission loses are considered and required data have been
obtained from [6] for both loses and generating units. Proposed
X jnew = X j + rand (0,1) × ( X best − Mutual _ Vector × BF2 ) (13) algorithm is run 30 times for load demand 6000 MW. Obtained
results from SOS are given in Table I and compared other
The fitness value is calculated for the new organisms Xinew techniques reported in [28]. Minimum total fuel cost is
and Xjnew. If new organisms are fitter than the previous then 9417235.824 $/h and obtained by using SOS by fully meet the
replace the previous. Otherwise reject the operations and keep total load demand as seen in Table I. Minimum, average and
the previous organisms. maximum results are compared also in Table II. The
convergence curve of the proposed algorithm for this test case
E. Commensalism operator is shown in Fig. 2. Proposed algorithm can converge to global
An organism in the ecosystem is assigned randomly to Xj, optimum in early iterations.
where XjXi.
Organism Xj is used to modify organism Xi by using Eq. TABLE I. THE RESULTS OF THE SOS ALGORITHM FOR TEST CASE 1

(
X inew = X i + rand (− 1,1) × X best − X j ) (14) Unit
PG1
SOS
426.6233
Unit
PG20
SOS
272.0000
PG2 426.7440 PG21 272.0000
The fitness value is calculated for the new organism Xinew. PG3 429.5964 PG22 260.0000
If the new organism is fitter than the previous organism, then it PG4 429.5944 PG23 130.6586
replaces that previous. Otherwise reject the operations and PG5 429.6530 PG24 10.0000
keep the previous organism. PG6 429.6709 PG25 113.2955
PG7 429.5751 PG26 88.1219
F. Parasitism operator PG8 429.7184 PG27 37.4812
PG9 114.0006 PG28 20.0000
An organism in ecosystem is assigned randomly to Xj, PG10 114.0000 PG29 20.0000
where XjXi. PG11 119.8296 PG30 20.0000
PG12 127.0494 PG31 20.0000
Parasite vector (Parasite_Vector) is created by mutating Xj. PG13 110.0000 PG32 20.0000
Random attributes of Xj are used to mutate with a range PG14 90.0000 PG33 25.0000
between given lower and upper bounds. PG15 82.0000 PG34 18.0000
PG16 120.0000 PG35 8.0000
Fitness value of Xj is calculated. If the fitness value of PG17 159.5680 PG36 25.0000
Parasite_Vector is fitter than Xj then replace organism Xj with PG18 65.0000 PG37 21.7616
Parasite_Vector. Otherwise, keep Xj and delete PG19 65.0000 PG38 21.0581
Parasite_Vector. Total Power (MW) 6000
Total Cost ($/h) 9417235.824
G. Stop
TABLE II. COMPARISON OF THE RESULTS FOR TEST CASE 1
A termination criteria is determined to stop the iteration. If
one of the termination criteria is satisfied then the best Minimum Average Maximum
Method
($/h) ($/h) ($/h)
organism (depending on the fitness value), Xbest is accepted for
optimum solution; otherwise return to step 3 and start the next SPSO[28] 9543984.777 - -
iteration. PSO_Crazy[28] 9520024.601 - -
New PSO[28] 9516448.312 - -
IV. EXPERIMENTAL RESULTS
PSO_TVAC[28] 9500448.307 - -
In this paper, SOS algorithm is proposed to solve classical
ELD and nonconvex ELD with valve point effects. Some BBO[31] 9417633.638 - -
operational constraints such as prohibited operating zones and SOS 9417235.824 9417236.284 9417237.15
ramp rate limits are taken into account for nonconvex ELD.
Effectiveness of the proposed method has been verified on
various test systems. 38-unit test system is used for classical
ELD and 3-unit and 15-unit test systems are used for ELD with
valve point effects. Experiments have been done by using a
2.63 GHz Pentium IV personal computer with 512 MB-RAM
and MATLAB program package. Results obtained from
6 TABLE IV. COMPARISON OF THE MIN., AVERAGE, MAX. RESULTS FOR
x 10 TEST CASE 2
10.1
SOS
Method Min. ($/h) Average($/h) Max. ($/h)
10
GA[1] 8197.87 8438.18 8802.65
DE[1] 8189.29 8232.15 8405.68
9.9
HDE[1] 8189.26 8208.10 8353.38
Fuel Cost ($/hr)

9.8 Self-tuning HDE[1] 8129.26 8201.78 8262.20


SOS 8189.2633 8189.4220 8189.6858
9.7
8198
9.6 SOS
8197

9.5 8196

8195

Fuel Cost ($/hr)


9.4
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
8194
Iteration
8193
Fig. 2. Convergence curve of the SOS algorithm for the test case1
8192

B. Test Case 2 8191

Nonconvex ELD problem is examined on 3-unit test system 8190


in this case. Transmission loses, valve point effects, prohibited
operating zones, ramp rate limits and other constraints declared 8189
0 50 100 150 200 250 300 350 400
in problem formulation section are taken into account in Iteration
solving process. All required data for test system are taken
from [20]. Proposed algorithm have been tried 30 times to
Fig. 3. Convergence curve of the SOS algorithm for the test case 2
satisfy the total power demand 835 MW. Results obtained from
SOS are presented in Table III by comparing other methods
declared in [20]. It can be seen that in Table III, SOS algorithm C. Test Case 3
can produce the minimum fuel cost 8189.26 $/h along with The test system having 15-unit has been used in this case.
HDE and Self-tuning HDE. Minimum, average and maximum All constraints declared in Section 2 and transmission loses
produced results are also given in Table IV. According to this have been considered in solution of the non-convex ELD
table, SOS has the minimum fuel cost value along with HDE problem. Generators data, constraints data and B-coefficients
and Self-tuning HDE. Convergence curve of the proposed are taken from [8]. Proposed algorithm has been run 30 times.
method for this test case is illustrated in Fig. 3. SOS can Total load demand is 2630 MW. It can be seen in Table V that
converge fast to global optima as seen in this figure. proposed algorithm produces minimum fuel cost value by
32704.4495 $/h. Minimum, average and maximum fuel cost
TABLE III. COMPARISON OF RESULTS FOR TEST CASE 2 values are compared to between SOS and other methods
reported in Table VI. Convergence curve of the SOS algorithm
Self-tuning
Units GA[20] DE[20] HDE[20] HDE SOS
for this case is shown in Fig 4. According to this figure, SOS
[20] can converge to minimum value in early iterations.
PG1 402.4026 399.1984 399.1993 399.1993 399.1993
TABLE V. THE RESULTS OF THE SOS ALGORITHM FOR TEST CASE 3
PG2 324.5534 324.4048 324.3994 324.3995 324.3995
Unit SOS Unit SOS
PG3 110.0535 113.4125 113.4171 113.4170 113.4171
PG1 455.00 PG9 58.98
Total PG2 380.00 PG10 160.00
837.0097 837.0158 837.0159 837.0159 837.0159
Power (MW) PG3 130.00 PG11 80.00
Ploss 2.0097 2.0158 2.0159 2.0159 2.0159 PG4 130.00 PG12 80.00
Total Cost PG5 170.00 PG13 25.00
8197.87 8189.29 8189.26 8189.26 8189.2633 PG6 460.00 PG14 15.00
($/h)
PG7 430.00
PG15 15.00
PG8 71.67
Total Power (MW) 2660.66
Ploss (MW) 30.66
Total Cost ($/h) 32704.4495
TABLE VI. COMPARISON OF RESULTS FOR TEST CASE 3 results it has been seen that proposed method searches the
optimum point in a narrow bandwidth near the global optima.
Method Min. ($/h) Average($/h) Max. ($/h)
GA [8] 33113.0000 33228.0000 33337.0000
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