IJEEE, Vol. 3, Issue 4 (Aug 2016) e-ISSN: 1694-2310 | p ... REGULATION OF STATCOM BY ADJUSTING PI COEFFICIENTS WITH FUZZY LOGIC CONTROLLER ... A. Adaptive PI and FLC control block

International Journal of Electrical & Electronics Engineering 48 www.ijeee-apm.com

IJEEE, Vol. 3, Issue 4 (Aug 2016) e-ISSN: 1694-2310 | p-ISSN: 1694-2426

VOLTAGE REGULATION OF STATCOMBY ADJUSTING PI COEFFICIENTS

WITH FUZZY LOGIC CONTROLLER1Satish Reddy N, 2Manjunath S, 3Prakash R, 4Anguraja R

Department of Electrical and Electronics Engineering, Don Bosco Institute of Technology, Bengaluru, [email protected], [email protected], [email protected],

[email protected]

Abstract: To make the power system stable STATCOM’s(Static Synchronous Compensators) are utilized so as togive quick and effective Reactive Power. We havedifferent control techniques such as trial and errormethod, trade of performance and also by theirapplicability to obtain a Proportional-Integral (PI) gainsfor STATCOM which are very slow and time consuming.The main purpose of using a set of Adaptive PI controlleras well as Fuzzy Logic Controller is that previousmethods which we are using are not so effective forvarious operating points. We use this Adaptive PIcontroller mainly because the controller gain can be selfadjusted and also gives the required response paying littlemind to change in the working condition. We can also useAdaptive PI controller as a Plug-and-Play device for theworking of STATCOM. FLC is utilized to minimize theresponse time of the system under disturbance. Byproviding reactive power support we can regulate thevoltage under different working conditions, such as,Change in Transmission system, change in load, changein control gains, severe disturbance, and two disturbanceeffects. By using MATLAB/SIMULINK programmingwe can reproduce complete system.

Index Terms: Adaptive control, plug and play, FuzzyLogic Controller, Proportional-integral (PI) controller,Reactive power compensation, STATCOM, Voltagestability.

I. INTRODUCTIONIn a present power system to control real and reactivepower Flexible AC Transmission Systems (FACTS) areused as a power hardware device for the better of currentsystem. They are also used for upgrading the transientdependability as well as decreasing the disturbanceobtained in the Transmission by s u i t a b l e reactivepower control. For reactive power control in thetransmission system Static synchronous compensator(STATCOM) is broadly utilized as dynamic shuntcompensator. VSC built STATCOM bring been handledto control, control system movement throughout thoseissue state could a chance to be used should make controlabout course of action about multi-level system and asingle machine transmission system. The analystshave proposed various propelled controladvancements in enhancing security of power system

steadiness for STATCOM.For the protection and desire of power structures voltagequality plays a key role. For Gate Turn-off Thyristors (GTO)maintaining reactive power organization, StaticCompensators (STATCOM) acts as a most wanted device,which helps to grab more energy for a perfect base in lastdecade [ 1 ] . Generally speaking, it isi m p o s s i b l e to perform experimentation studies bythe utility engineers to seek out proper parameters once afresh out of the plastic new STATCOM is associated with aSTATCOM [2]-[9]. Further, despite those certainty that theorganization expands need aid tuned on suit of reinforcementthe foreseen circumstances, execution might similarly bedissatisfactory once a significant change of the power systemstates happens, concerning illustration once an offering willbe overhauled alternately resigns starting with organization.In any case of the possibility that those control addition needbeen fit those foreseen situations, execution might beenallowed from illusions. The point when an amazing changein the system states happen [10]. Those cautiously might achance to be at present that’s only tip on the more regrettablewhether such a transform on transformation toponomymaybe due to an likelihood [11]. In this manner, theSTATCOM alternately Static Compensator control modeldoesn’t perform great indeed as to the practically some pieceobliged [12]. A little however confined when investigationsin composing the recognized STATCOM PI controller gainsutilized within demonstrating indications of change overhaulvoltage in count will upload an vital separation frommoderate tuning [13][14]. For example, in [15]-[17] LinearQuadratic Regular (LQR) control needs aid suggested byutilizing simple perfect control technique. Parallel should[15]-[17] those last expand of the static compensator stateenter control ondeed going depend upon a planner’s choice.Should tune PI controller increment an Fuzzy based PIcontroller will be utilized.To select the real as well as deterministic increases it is leftfor architect’s selection [18]-[20]. In the populance eludedthe request methodologies are joined for those increments ofcontroller. Make the concerning illustration it may, thismethodology a great amount often over not obliges an longworking period assess a controller increase [21]. Anexchange – off execution as additionally arranged qualitiesfor working states must chance to be settled for aimed forcreators essential initial movement. Along this line,exceptionally profitable comes about wouldn’t accomplish

www.ijeee-apm.com International Journal of Electrical & Electronics Engineering 49

under a specific attempting condition. Not whatsoeverlike starting with this secret words work, the point whenthe framework operating state transforms a controlsystem ought make recommended that guarantee anquick additional enduring needed response. In thissystem we use Fuzzy Logic Controller and it is havingthree inputs and one output. To satisfy minimumerror, the input and output gains for Fuzzy LogicController (FLC) are tuned and also by changingthe gain as well as by changing other parametersbest output response is tuned and these parametersshould be changed such that minimizing the errorsignal. Rule-based system should be applied to obtainthe required output and by studying the performance ofthe STATCOM the Rule-base for Fuzzy LogicController FLC is designed. For voltage regulation ofSTATCOM we use adaptive PI controller which isshown in our project. Moreover the control parameterhas the ability to self-balance during severe disturbancescontinuously by applying this technique in this powersystem model. When a disturbance occurs in the systemat a point the PI control parameters of the STATCOMare continuously pointed at every instant and are madeto tune continuously by using the reference voltage. Andthis is why we call STATCOM a Plug-and-Play device.To minimize the time response and also efficiency ofthe system increases by using FLC.

This paper proposes the voltage regulation ofSTATCOM using Fuzzy Logic Controller as well asAdaptive PI Controller. The rest of the paper isorganized as follows: Section II presents theSTATCOM Model and its control along with the blockof FLC Controller. The Flow chart for Adaptive PIcontroller and its procedure are described in detail in thesection III. The output parameters are shown in thesection IV. The simulation test results are demonstratedin Section V, and the conclusion is given in Section VI.

II. STATCOM MODEL AND CONTROLA STATCOM model along with the Fuzzy LogicController (FLC) is used. The FLC controller andnonlinear controller are similar to each other. To define E,∆E1 & ∆E2, Nine fuzzy sets or linguistic variables areused as Inputs and we use nine for output signal. It isbetter to use Fuzzy logic controller rather thanconventional PI controller so as to get advanced level ofautomation by incorporating expert knowledge and italso strong nonlinear control. Here, instead of usingconventional PI controller fuzzy logic controller is used.FLC consists of three inputs and an output. By trial anderror method input and output gains of FLC are tunedso as to minimize the error, and also by changing thegain and other parameters we can tune the best outputresponse. We can minimize the error signal by changingthe parameters. A rule-based system must be applied so asto obtain the desired result. By observing the performanceof the STATCOM the rule base for FLC is designed.

Fig. 1 Block diagram of STATCOM model with fuzzy logic controller(FLC).

A. Adaptive PI and FLC control block of STATCOMWe might not reach the particular and satisfactory responsewithin the facility by implementing an idea of plannedadaptive PI cont ro l technique by us ing fixed PIcontrol parameters once the ability system operativecondition (e.g. transmissions) changes. Appropriate adaptivePI control technique is conferred.Here Specified Response and to avoid activity trial-and-error studies to search out appropriate parameters for PIcontrollers once a replacement STATCOM is put in in anexceedingly facility. The self-adjustment of PI controlparameters i s g o i n g t o complete by using this adjectivePI control technique. The fig 1 represents a bl0ock diagramfor both combined Adaptive PI as well as FLC of aSTATCOM. BY observing fig 1 we came to know that themeasured voltage, and hence the measured current and also theq-axis reference voltage and q-axis reference current aremeasured in per unit values. Kpv and Kiv represent theproportional and integral components of the transformergains square measure. Similarly, the gains and represent theproportional and integral components, severally, of the presentregulator. Here the allowable voltage Kd is set to zero (0)during this system. The kp_v, ki_v, kp_i and ki_i can be set toassociate unpredictable initial price like merely one. Herewe use delinear graphical record in addition to this we usealternative curves for a long time because specified steady-state voltage is reached from the measured voltage returns ina specific period of time. The method of the adaptivevoltage-control technique for STATCOM is represented asfollows.

Fig: 2 Block Diagram of Adaptive PI and FLC (Proposed System)

1) The bus voltage Vm(t) is measured in real time.2) After measuring the bus voltage over time, Vm (t) to

compare with vnn. By observing the specific referencevoltage curve, here we have to adjust the kp−I and


ki−I values dynamically, because to match thespecified reference voltage we have to create ameasured voltage, and hence q- axis referencecurrent is obtained.

3) Here Iqref is made to compare with the q-axiscurrent Iq. To reduce the error the parameters kp−I andki−I are made to adjust by using the similarmanagement technique which we have already used inthe outer loop. After this a proper angle is found andalso STATCOM dc voltage is changed such that itprovides the reactive power in a plenty amount so as tokeep the bus voltage at the particular worth.

For Reactive power generation capability of theSTATCOM it is mandatory to know the present,Imaxand Imin, the angle αmaxand αmin square to boundduring this manner. Reactive power to be injected tothe STATCOM is reached only when the maximumor minimum limits are reached.

Here the inner loop management and outer loopmanagement are similar, so we use a technique toregulate PI controller gains mechanically in the boundaryof outer loop is mentioned during this section forillustrative functions. Here for inner loop we use thesame analysis as we used it to outer loop.For the fast response of time and also dynamicperformance of a system we use another controller calledFuzzy Logic Controller in addition to the Adaptive PIcontroller. The main purpose of using FLC is PIcontroller is tuned and this gives the voltage sourceconverter a gate signal.Fuzzy Logic Controller consists of mainly three parts: (1)Fuzzification (2) Inference Engine (3) DeFuzzification.

In Fuzzification, fuzzy inputs are transformed from crispinputs, which are termed as domain transformation. Theinputs which are measured from the sensors and sent forprocessing to the control system are the Crisp inputs, suchas temperature, pressure etc.

Interface Engine mostly consists of two parts such asFuzzy Rule Base and Fuzzy implementation. IF THENRules are more predominantly used in the rule base block.Consider NB is an error and PB refers to an adjustment inan error then obtained output NB represents theadjustment in KP. Rule sets are prepared by applying theabove method. The above rules are then made toformulate in a member function editor. Fuzzyimplementation methods are used to recognise theoutputs of Fuzzy sets.

Output fuzzy region is situated when fuzzy implication iscompleted. The obtained output from the above method isa non-fuzzy value so we need defuzzification process isneeded. By using this defuzzification process here againwe are converting Fuzzy values into a crisp data values.We obtain Iq by using Tuned Kp and Ki values bydefuzzification process and these are made totransformation from abc to dq0. For synchronizationpurpose we use PLL (Phase Locked Loops) and finallywe obtain the firing angle.

III. FLOW CHART OF OPERATING PROCEDURE FORADAPTIVE PI CONTROLLER IN STATCOM.

A prototype is designed using MATLAB 2012a version forimproving the performance of D-STATCOM; The figuregiven below shows the control strategy of STATCOM.

Fig. 3. Adaptive PI control algorithm flowchart.

A. Flowcharts of the Adaptive PI control procedureThe process for adaptive PI control method begins at start.The bus voltage Vm is made to sample with a desired ratein a line. Then Vm is compared with. If Vm = 1.0 P.U.,i s f o u n d then it is not necessary to alter any knownparameters Kp_V(t),Ki_V(t),Kp_I(t)and Ki_I(t).The powersystem is running in a good condition. On the otherside, if we found Vm ≠ 1.0 P.U, then from here theadaptive PI control method begins.

1. By using the equation (1) reference voltage is comparedfrom the measured voltage. Thereafter, adjustment is donewithin the transformer block (outer loop) for Kp_V(t) andarea unit.(2) Fro m the ab o ve we can ge t t he I q re fup da ted v ia cur r en t e lec t r i ca l c i rcu i t which i sa s sho wn b e lo w in the f igure 3 .

Vref(t) =Vss-(Vss-Vm(t))e-t/T .......................... (1)

…….. (2)

……………. (3)3. Then, the obtained Iqref is made to compare with the

Iq i.e., measured q-current. Thus the gains such as















…….. (2)

















…….. (2)




Kp_I(t)and Ki_I(t)area unit are made to adjust whichis supported in (4) and (5). Thereafter α is made tocalculate and also for output an electrical circuit isneeded. By taking these information we can inject thereactive power to the STATCOM.

…………..(4)

…………………….(5)

4. Here in the next step |ΔV(t)| should be less than thetolerance threshold VЄ at intervals, and i t s ho u ldb e ave r y s ma l l va l ue whic h ma y b e o f0 .0 0 01 P .U otherwise it will go on adjusting the KpKi values till it get the desired output.

IV. ALL VALUES OF ALL PARAMETERS

Original Control

Lowest Voltage after Distbaurnce 0.9938 p.u.

Time (sec) when V= 1.0 0.4095 Sec∆ reach V = 1.0 0.2095 SecVar Amount at Steady State 97.76 MVarTime to reach Steady State Var 0.4095 Sec

Performance comparison for the original systemparameters

FOR STATCOM:

Rated Power = 100MVArRated Voltage = 138KVInterface Inductor (L) = 2.86mHResistance (Rs) = 0.0898 ΩFor Power Transformer (Y/Y):Rated Voltage 220 kV/33 kVRated Power: 300 MVAThree Phase Load Load 1:P = 100 MWQ = 80 MVAr

V. SIMULATION RESULT WAVEFORM OFFUZZY LOGIC CONTROLLER (FLC)

Fig. 4 Studied system

Assuming that there is the need with constantly perform thevoltage – control method, that is commonly those case,afterward the strategy returns of the measured bus voltage.Otherwise, the voltage-control strategy stops (i.e, theSTATCOM control may be deactivated) in the system re-enactment outline indicated clinched alongside fig. 6, An100-MVAR STATCOM will be authorized with an 48- pulseVSC also associated with an 500-kv bus. This might a chanceto be the nature test STATCOM system clinched alongsideMATLAB/SIMULINK library, and each person machinesused in the re-enactment square measure dynamic models.Here, that eye mat is moved on the STATCOM controlexecution. Previously, bus voltage regulation mode. Insidethe unique model the compensating sensitive energy influencewhat is more in this way regulation velocity square measurebasically anguish from PI controller parameters inside thetransformer what is more thusly the current control. Those tobegin with controller may be compared with the arrangedadaptive PI control model. Accept the steady- state voltage,Vss=1.0 P.U.

A. Change of PI Control Gains:In this case, for the original control the PI controller gains arechanged to KP_V = 1, KI_V = 1, KP_I = 1, KI_I = 1and theother system parameters remain unchanged.Before disturbance the dynamic control gains are independentof the initial values, and hence it doesn’t depends on thepostfault situations.Model can be designed which is based on the Fuzzy control,and hence the results are shown in Fig, respectively. Here thedotted line represents PI controller i.e., “……” lines. The dashline represents adaptive PI controller i.e., “-------“”””” lines.Here the perfect line represents the Fuzzy controller lines.

Fig.5 Results of Change in voltage and Reactive power with changed PIcontrol gains

(b) Change in α for change in Gain

Fig.5 Results of (a) voltages and output reactive power (b) Change in α withchanged PI control gain.



…………..(4)

…………………….(5)



Original Control




FOR STATCOM:











…………..(4)

…………………….(5)



Original Control




FOR STATCOM:










B. Change of Transmission Network:As in the original model here also the PI controller gainsremain constant. Here we have to switch off the line 1 ata point of 0.2s to represent a different network whichleads to scheduled transmission maintenance. We needto design the model for adaptive PI control model suchthat it reacts automatically to the changes occurred in thetransmission network. T he g ive n b e lo w f ig ure ssho ws the results for the initial transients instantlyafter 0.2 s lead to an over absorption by theSTATCOM, whereas the combination of FLCalong with the adaptive PI controller which givessmoother and faster response, as shown in Fig 6.

Fig. 6 (a) Results of Voltages and Reactive Power with change oftransmission network

(b) Results to Change in Transmission Networks for α

C. Two Consecutive Disturbances:

Here in this case, voltage decreases from 1.0 to 0.989 p.u.where a disturbance occurred 0.2s and this situationcreates at substation A and line 1 is made to switch offat 0.25 s. The results are shown in fig 7; it is obviousthat we can achieve very fast response from the actualone by using the adaptive PI control and during thesecond disturbance it makes the system voltage to dropmuch less than the actual one. Starting at 0.25s it is0.006p.u. for the proposed adaptive control and whereasfor the previous method the major voltage drop for thesecond disturbance event to the original control is

0.012 p.u.

Fig.7 (a) Results of Voltages and Reactive Power with Two ConsecutiveDisturbance

Fig.7 (b) Results of α with two consecutive disturbances

D. Change of Loads:In this case, actual controller gains are kept constant such asKp_V=12, Kp_I=5, Ki_V=3000, and Ki_I=40 the only change inthis case in Bus 1 is load changes from 300 MW to 400MW. The figure given below shows the results of voltagewaveform and reactive power waveform during simulation.

Fig. 8 (a) Results of Voltages and Reactive Power for change in loads


Fig.8 (b) Results of α for change in loads.

E. Simulation Results for Severe Disturbance

The figure given below shows the result of voltagewaveform and reactive power waveform duringsimulation. The outputs of simulation model in thesevere disturbances are given below. At this condition asevere disturbance which occurs at 0.2s makes thevoltage to drop to 0.6 p.u. from 1.0 p.u. near thesubstation A. And, disruption should be cleared at 0.25sec. Because of this extreme of STATCOM limit, thevoltage won't do a reversal for 1 P.U. later than arigorous drop in the voltage decreasing towards 0.6 P.U.The voltage will be carried back to 1.0 P.U. by usingFLC, so as to get quicker and smooth from the previousone.

Fig:9 (a). Simulation Result of Voltage and Current Waveforms forSevere Disturbance

(b) Simulation Result for Severe Disturbances of α

VI. CONCLUSIONThe main aim of this proposed system is to construct acircuit so as to improve the transient control at a 33KVnetwork. Here we use a FLC controller for a STATCOM asa part of controlling. In the writing, w e h a v ed i s c u s s e d a b o u t t h e d i f f e r e n t c o n t r o lm e t h o d s o f a S T A T C O M w h i c hi n c l u d e s s e v e r a l u s e s o f P Ic o n t r o l l e r s . Previously we use to get the PI gainsby using several methods such as trial and error method,by extreme studies as well as tradeoff execution. Thus, ata given working point the control parameters for the idealexecution may not be successful. Consequent to theconventionality it is self-governing and also for STATCOMoperation it has the ability to work as a "plug and play". Tocheck the benefits of the proposed system we have contrastedthe adaptive PI controller and normal PI controller ispretuned. F r o m t h e a b o v e o u t p u t u n d e rd i f f e r e n t o p e r a t i n g c o n d i t i o n s i t g i v e s ar e l i a b l y g o o d e x e c u t i o n f o r a d a p t i v e P Ic o n t r o l l e r . Such as, distinctive introductory controlincreases, change of the load, and change of thetransmission system, two successive disturbances, and alsosevere disturbance.

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AUTHORSSatish Reddy N – Received B.E inElectrical and Electronics Engineeringfrom Navodaya Institute of Technology,Raichur. Currently he is pursuingM.Tech in Power System Engineeringfrom Don Bosco Institute oftechnology. His research interests

include Power System, Renewable Energy, FACTS.E-mail id: [email protected]

Manjunath S – Received B.E inElectrical and Electronics Engineeringfrom BNMIT, Bangalore, M.Tech inPower System Engineering fromGhousia College of Engineering,Ramanagara. He is currently workingas Assistant Professor in Don BoscoInstitute of Technology. His research

interests include Power System, Renewable Energy,Micro grids, Smart grids, FACTS.E-mail id: [email protected]

Prakash R – Received B.E inElectrical and Electronics Engineeringfrom Basaveshwara College ofEngineering, Bagalkot, M.E in PowerSystem Engineering from WalchandCollege of Engineering, Sangli andPh.D in Power System Engineeringfrom Visvesvaraya Technological

University, Belgaum. He is currently working as Head ofthe Department in Don Bosco Institute of Technology.His research interests include Power System, RenewableEnergy, Microgrids, Smart grids.E-mail id: [email protected]

Anguraja R – Received B.E inElectrical and Electronics Engineeringfrom Bharathidasan University,Tiruchirapalli and M.Tech in HighVoltage Engineering from SASTRAUniversity, Thanjavur and doing Ph.Din High Voltage Engineering. He is

currently working as Associate Professor in Don BoscoInstitute of Technology. His research interests include PowerSystem, Renewable Energy and High Voltage Engineering.E-mail id: [email protected]

Documents

IJEEE, Vol. 3, Issue 4 (Aug 2016) e-ISSN: 1694-2310 | p ... REGULATION OF STATCOM BY ADJUSTING PI COEFFICIENTS WITH FUZZY LOGIC CONTROLLER ... A. Adaptive PI and FLC control block