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Electric Power Systems Research 101 (2013) 3648

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Electric Power Systems Research


journal homepage: www.elsevier.com/locate/epsr

Multi-band power system stabilizer design by using CPCE algorithm


for multi-machine power system
Amin Khodabakhshian , Reza Hemmati, Majid Moazzami
Department of Electrical Engineering, University of Isfahan, Isfahan, Iran

a r t i c l e

i n f o

Article history:
Received 29 November 2012
Received in revised form 24 March 2013
Accepted 25 March 2013
Available online 19 April 2013
Keywords:
Multi-band power system stabilizer
CPCE algorithm
Cultural algorithm (CA)
PSO algorithm
Co-evolutionary algorithm (CEA).

a b s t r a c t
Synchronous generators are generally equipped with power system stabilizers (PSS) to damp out low
frequency oscillations. Among different types of PSSs it has been recently shown that the new advanced
stabilizer, called multi-band PSS (MB-PSS), has a better performance to cope with all global, inter area
and local modes. All different types of PSSs are mainly designed based on one operating point of the
system using a linear model. However, power system is inherently nonlinear and its operating conditions
frequently change and the PSS performance may deteriorate. This paper develops a new design for MB-PSS
in which the parameters are tuned by using a new Meta-heuristic optimization algorithm based on the
combination of culture algorithm, particle swarm optimization (PSO) and co-evolutionary algorithms.
In this new culture-PSO-co evolutionary (CPCE) algorithm, the characteristics of all three mentioned
algorithms are combined and a new strong optimization technique is obtained. The proposed MB-PSS is
tested on a multi-machine power system and results are compared with PSO-based MB-PSS (PSO-MBPSS) and conventional MB-PSS (C-MB-PSS). Simulation results conrm the effectiveness of the proposed
optimization tuning method for improving the power system dynamic stability.
2013 Elsevier B.V. All rights reserved.

1. Introduction
Nowadays, modern power systems can reach the stressed conditions more easily than the past for the sake of increasing power
demand. Therefore, it is necessary to increase power system stability margin by using supplementary controllers. PSS is a common
cost-effective method to provide the auxiliary control signal for the
AVR system of synchronous generators to enhance electromechanical oscillations damping and to improve dynamic stability [1,2].
The parameters of CPSS are generally tuned by using a linearized
model. However, power system topology and loadings continuously change and in these conditions the CPSS cannot perform
efciently for damping all modes, especially inter-area oscillations
[3]. In order to overcome this drawback and to have a robust PSS,
several researches have been carried out in recent years. These
studies are usually categorized in two groups; (i) presenting a new
method for tuning CPSS parameters and (ii) presenting a new structure for PSS.
The rst group of studies presents a new method for PSS coefcient tuning to guarantee having enough damping for power

Corresponding author. Tel.: +98 3117934548.


E-mail addresses: aminkh@eng.ui.ac.ir, aminkh@yahoo.com
(A. Khodabakhshian), reza.hematti@eng.ui.ac.ir (R. Hemmati),
m moazzami@eng.ui.ac.ir (M. Moazzami).
0378-7796/$ see front matter 2013 Elsevier B.V. All rights reserved.
http://dx.doi.org/10.1016/j.epsr.2013.03.011

system oscillations in a wide range of operating conditions. Classic


control methods based on leadlag controllers [4], non linear [5,6]
and adaptive control algorithms [7,8], robust control approaches
[911], articial intelligent [1,8,12] and meta-heuristic optimization methods [1318] are the common approaches in the rst
category. The second group presents a new PSS structure such as
classic PID-base PSS [10], fuzzy logic-based PID PSS [19], algebraicbased PSS [20], multi-input PSS [17,18,21] and MB-PSS [22,23] to
improve the PSS performance.
In Ref. [1] a systematical approach for tuning the parameters of
a fuzzy logic PSS by using differential evolution algorithm (DEA) is
presented. This method is developed to minimize the overshoot of
the rotor angle response. A new recurrent adaptive control (RAC)
scheme has been proposed in Ref. [8]. RAC is inspired based on
the similarity of adaptive control system and recurrent neural
networks (RNNs). An adaptive PSS based on fuzzy logic has been
reported in Ref. [12] in which its parameters are tuned online by
using neural networks.
Meta-heuristic and evolutionary computation based methods
recently attract more attention for solving optimization problems
in power system. Bacterial foraging algorithm (BFA) and particle
swarm optimization (PSO) [13], chaotic optimization algorithms
(COA) [14], ant colony optimization [15] and genetic algorithm (GA)
[17] with a high degree of adaptation and robustness have been
common approaches to overcome the deciencies of CPSS tuning.
Two classical bio-inspired PSO and BFA algorithms are presented

A. Khodabakhshian et al. / Electric Power Systems Research 101 (2013) 3648


Table 1
System loading conditions.

in Ref. [13] for the simultaneous design of multiple optimal PSSs


in a two-area four-machine power system. In this structure, both
algorithms have used time domain data from the PSCAD/EMTDC
models for the online optimization of PSS coefcients. The COA
based on Lozi map is employed in Ref. [14] for eigenvalue and time
domain-based objective functions for tuning PSS coefcients in a
multi-machine power system. In Ref. [15] a novel mixed-integer
ant direction hybrid differential evolution algorithm is proposed
for PSS design in multi-machine systems.
A robust PID-based PSS is proposed in Ref. [10]. In this study
a constrained structure of Lyapunov function and generalized
static output feedback gain matrix are used. Iterative linear matrix
inequality (ILMI) is employed for optimal tuning of controller
parameters. A hybrid fuzzy PID PSS has been investigated in Ref.
[19]. The fuzzy logic is used for on-line tuning of PID parameters. An algebraic method for assembling and the coordination of
PSSs is reported in Ref. [20]. The coordination of PSS parameters
is carried out based on state-space representations and different
operating scenarios. For this purpose, a combined non linear time
domain simulations and a constrained optimization method have
been considered.
The CPSS is usually designed based on one input signal which
can be speed or active power changes. However, it has been shown
that by applying more input signals to PSS its damping ability can
be increased [17,18]. In Ref. [17] a comparative study for different
types of PSSs such as CPSS, IEEE PSS2B, PSS3B and PSS4B models
is carried out. In this study the rotor speed variation  and generator electric power Pe or torque Te are two input signals [17]. A
three dimensional PSS (3D-PSS) with employing rotor speed deviation , rotor acceleration a and load angle deviation  input
signals has been also studied in Ref. [18].
Power system oscillations may contain low, intermediate and
high frequency sub-signals. The conventional PSSs including CPSS,
PSSS2B and PSS3B have only one frequency band for passing the
stabilizing signal. Therefore, a PSS which can separately deal with
each frequency part is more suitable. In this regard, MB-PSS was
introduced as a new type of dual input stabilizer model in IEEE Std.
421.5 [22,23]. This PSS utilizes three low, medium and high pass lters to cover a wide range of oscillations with different frequencies
for more effective damping of all global, inter area and local modes.
Motivated by this desirable structure of MB-PSS and also coping
with nonlinearities and time varying conditions of power system
this paper proposes a new MB-PSS design in which its parameters are tuned by using CPCE algorithm. This new optimization
technique contains the characters of three different optimization
methods and leads to a better optimal solution [24]. Fast convergence in nding optimal solution, avoiding falling into local
minima and nding more accurate solution are the main adjectives of this new algorithm [24]. The proposed CPCE-MB-PSS is
evaluated against PSO-MB-PSS and C-MB-PSS in a multi-machine
power system. Simulation results clearly show the effectiveness of

BUS 1
T1

BUS 2

Light load

Nominal load

Heavy load

Total active power is


decreased by 20%
Total reactive power is
decreased by 15%

Nominal active
power
Nominal reactive
power

Total active power is


decreased by 20%
Total reactive power is
decreased by 15%

the proposed method for damping power system oscillations and


improving dynamic stability.
2. Illustrative test system
To show the effectiveness of the proposed method for improving
power system dynamic stability, a two-area four-machine power
system is considered as the case study [4]. The single line diagram of
this system is shown in Fig. 1. The nominal system parameters are
available in Ref. [4]. All generators have been originally equipped
with CPSS. However, for current study, the type of PSS changes to
the proposed PSS model as depicted in Fig. 1. To study the system performance, three loading conditions are considered as heavy,
nominal and light and are listed in Table 1.
2.1. Dynamic model of the system
A two-axis, three-order model is employed for simulating all
generators. The power system can be modelled by a set of nonlinear
differential equations as Eq. (1).
x = f (x, u)

(1)
[, , Eq ]

In Eq. (1) x =
is state variables and u represents the
vector of the PSS output signals. This nonlinear dynamic model can
be rewritten as Eq. (2).

.
(Pm Pe D)

i =

i = 0 ( 1)

(2)

(Eq + Efd )

Eq i =


Tdo

E = Efd + Ka (Vref Vt )
.

fdi

Ta

where shows per unit rotor speed. i and i are rotor angle and
rotor speed of generator ith (pu). Pm and Pe represent mechanical
input power and electrical output power in terms of p.u. Xd is the
per unit transient reactance of d axis. Also Eq and Efd are per unit
values of the internal voltage behind xd and equivalent excitation
 , T and K are the time constant of the
voltage respectively. Tdo
a
a
excitation circuit (s), regulator time constant (s) and regulator gain
respectively.

BUS 3

BUS 4

BUS 5

Line 3

Line 1

37

BUS 6

Line 6

T4

Line 5

Line 2
T2

T3

G1

Line 4

G4

G2
New PSS

G3
Load

New PSS

Load

New PSS
New PSS

Fig. 1. The single-line diagram of two-area four-machine power system [4].

38

A. Khodabakhshian et al. / Electric Power Systems Research 101 (2013) 3648

ref

Speed
Sensor

+
actua l

Overall Gain

Wash-out

U PSS

1 + sT3
1 + sT4

1 + sT1
1 + sT2

sTW
1 + sTW

KPSS

Lead-Lag 1 Lead-Lag 2

Limiter

Fig. 2. CPSS block diagram.

3. Power system stabilizer


3.1. Conventional power system stabilizer
The CPSS structure is depicted in Fig. 2, where the generator
speed is usually used as the input signal [4]. The CPSS is mathematically formulated as follows:
UPSS = KPSS

STW 1 + ST1 1 + ST3



1 + STW 1 + ST2 1 + ST4

(3)

where  is the speed deviation in p.u. The CPSS consists of a


washout lter and a dynamic compensator [4]. The UPSS output signal is fed to the excitation system as a supplementary input signal.
The high pass washout lter is employed to reset the steady state
offset in the PSS output. The value of time constant (Tw ) is usually
xed and is considered as 10 s in this study. Also T1 T4 and KPSS
show the time constants and the gain of two stages leadlag compensator respectively. Then, the design problem will be to obtain
KDC and T1 T4 .
3.2. Multi-band PSS
Fig. 3 shows MB-PSS 4B structure based on multiple working frequency bands. This gure comprises three separate low,
intermediate and high-frequency bands. These signals are used for
damping the global, inter area and local modes. A differential band
pass lter, a gain and a limiter are used in each band. The nal
block signal is limited by the nal VSTmin /VSTmax limiter. For capturing different frequency dynamics of local and torsional modes,
two speed transducers have been used. According to Fig. 3, rst the

KL1

KL11 + sTL1
1 + sTL 2

1 + sTL / R
1 + sTL

rotor speed deviation passes from a speed transducer and LI is


created. This signal is fed to the low and intermediate bands. Also,
by passing Pe from speed transducer H is available and is fed
to the high-frequency band. Fig. 4 shows the concept of capturing
LI and H .
Six parameters must be tuned in MB-PSS 4B lters. These parameters include symmetrical band pass lters at the center frequency
FL , FI , FH and the peak magnitude of the frequency responses with
three gains KL , KI , and KH . Therefore, MB-PSS4B with a exible
multi-band transfer function structure provides more degree of
freedom for achieving a robust PSS over a wide frequency ranges
in different power system contingency conditions. As mentioned
before, a new optimization method is used to adjust the PSS parameters. This method is described in the next section.
4. Hybrid CPCE algorithm
CPCE is a hybrid meta-heuristic optimization algorithm for using
the advantages of PSO, CA and CEA [24]. Fig. 5 shows the main structure of this algorithm in which a new co-evolutionary mechanism
between two cultural algorithms is built. Then, PSOs are introduced
into the framework of the cultural algorithm in the sub spaces of
Belief spaces 1 and 2, and Population spaces 1 and 2.
A set of individuals which are called shared global belief space
(SGBS) (into the co-evolutionary mechanism) are employed for the
coordination of populations knowledge and experience. In each
generation of the algorithm, all sub-belief spaces 1 and 2 particles
are collected together into the SGBS. Then, the excellent particles of
SGBS are kept and the bad ones are replaced by reinitialized particles. The Affect operations are used in SGBS for two sub-population

1 + sTL5
1 + sTL6

LF Band
VL max

VS LL

KL

V1

Speed
transducer

KL2

KL17 + sTL 7
1 + sTL8

1 + sTL
1 + sTL*R

1 + sTL11
1 + sTL12

Kl1

sTW l
1 + sTW l

1 + sTl / R
1 + sTl

1 + sTl5
1 + sTl6

VL min

L l

IF Band
Vl max

Pe

Speed
transducer

Kl2

sTW l
1 + sTW l

1 + sTl
1 + sTl*R

1 + sTl11
1 + sTl12

KH1

sTW H
1 + sTW H

1 + sTH / R
1 + sTH

1 + sTH5
1 + sTH6

+
Vl min

VS LH

KH

sTW H
1 + sTW H

1 + sTH
1 + sTH*R

1 + sTH11
1 + sTH12

Fig. 3. MB-PSS IEEE 4B block diagram [20].

VH max

+
-

VH min

VST

HF Band

KH2

VS

Ll

Kl

V2

VST max

+
VS

VST min

A. Khodabakhshian et al. / Electric Power Systems Research 101 (2013) 3648

VL max

KL

L I

L I

VL min

FL

V Im ax
KI

V Im in

39

+
+ +
+

VST max

VSTab

VST min

Speed
transducer

VH max
KH

VH min

Fig. 4. The idea of capturing different frequency signal in MB-PSS IEEE 4B.

spaces 1 and 2. Now, the experiences of two sub-population spaces


in each generation are exchanged. Details of the CPCE algorithm are
introduced in the following subsections.
4.1. Structure and details of CPCE algorithm
In this algorithm N particles are used for searching in a Ddimensional space of optimization problem. These particles are
divided to two equal parts. These two parts are divided again to
N11 , N12 , N21 and N22 particles using Eq. (4).

N = (N11 + N12 ) + (N21 + N22 )

N11 + N12 = N21 + N22

k
k
vk+1
= wvkid + c1 r1 (pkid xid
) + c2 r2 (pkgd xid
)
id

(5)

k+1
k
xid
= xid
+ vk+1
id

(6)

k represent the velocity and the posiIn Eqs. (5) and (6) vkid and xid
tion of ith particle respectively and w is inertia weight, c1 and c2
are acceleration coefcients, r1 and r2 are two random numbers distributed in (0, 1). Also pkid shows the position with the best tness

found so far by the ith particle and called pbest, pkgd is the position
with the best tness found so far by all particles in the population,
usually called gbest.

N11

(4)

BR1 =

N12

N
21

BR2 =

swarm. For updating particles in each generation for each space,


PSO operations are employed using Eqs. (5) and (6).

4.2. Cultural operations


Two cultural-algorithm-populations implement cultural Accept
and Affect operations in each generation of the algorithm.

N22

Particles N11 and N21 are used for searching in Belief space 1
(B1 ) and (B2 ) respectively. Also N12 and N22 particles are utilized
for searching in Population spaces 1 (P1 ) and 2 (P2 ). The ratios
between the numbers of particles in sub-spaces of B1 , P1 , B2 and P2
are determined by using BR1 and BR2 coefcients. These coefcients
are generally in the range of 0.40.5. Each space contains a particle

4.2.1. Accept operations


Accept operation is implemented according to the value of Acp,
which is the probability of accept operation in each generation.
If rand Acp, for P1 and B1 , the worst particle in B1 (B2 ) will be
replaced by the best particle in P1 (P2 ).

Shared global beliefspace

Share

Share

Affect ( )

Evolve ( )
Evaluate ( )

Evolve ( )

BeliefSpace 1

BeliefSpace 2

Evaluate ( )

Affect ( )
Affect ( )

Evaluate ( )

Communication
Protocol

Accept ( )

Affect ( )

Population Space 1

Communication
Protocol

Population Space 2
Evolve ( )

Evolve ( )

Exchange Experiences

Fig. 5. Block diagram of CPCE algorithm.

Accept ( )

Evaluate ( )

40

A. Khodabakhshian et al. / Electric Power Systems Research 101 (2013) 3648

4.2.2. Affect operations


It is supposed that Afp represents the probability of Affect operation and Afn is a nonnegative integer parameter. Affect operation
is performed considering the value of Afp in each generation. If
rand Afp, for P1 and B1 , the bad Afn particles in P1 (P2 ) will be
replaced by the excellent Afn particles in B1 (B2 ). For exchanging
the useful knowledge and experience of swarms in each cultural
algorithm-population, PSO swarms are associated with each other
based on the Accept and Affect operations.

and P2 are exchanged. Each step is described in the following subsections.

4.3. Co-evolutionary mechanism between two cultural


algorithms

Velocities and positions of each particle in SGBS are set arbitrarily. Now SGBS is updated after cultural operations of two
cultural-algorithm-populations in each generation according to
Section 4.2. Two steps for updating SGBS are needed. First a new
SGBS is created including B1 and B2 particles. Then, the excellent

In this step, rst SGBS is designed. Then, Affect operations from


SGBS to P1 and P2 are performed. Finally experiences between P1

4.3.1. Design of the SGBS


There are N0 particles in the SGBS and are determined by using
Eq. (7).
N0 = N11 + N21

(7)

Start

Generate the initial spaces and parameters


P1, B1, P2, B2, SGBS,
Acp, Afp, Afn, SAfp, SAfn1, SAfn2, Eep, EEn

Rand<Afp

No

Yes
Randomly generate the initial population with
N particles

Rand<Afp

No

Yes

The excellent Afn particles in B1 replace the


bad Afn particles in P1

Evaluate the population

Rand<SAfp

The SAfn1 excellent particles in SGBS replace


the bad SAfn1 particles in P2
The SAfn2 reinitialized particles in SGBS
replace the other bad SAfn2 particles in P2

No
Rand<EEp

No

Yes
Update the velocity and position for population

Rand<Acp

The excellent Afn particles in B2 replace the


bad Afn particles in P2

No

Yes
The EEn excellent particles in P1 replace the
bad EEn particles in P2
The EEn excellent particles in P2 replace the
bad EEn particles in P1

Put the particles in B1 and B2 together and get


new SGBS

Yes
The best particle in P1 replaces the worst
particle in B1

Stopping criteria is
met?
Fitness (xi)<TV

No
Yes

Yes

End

No
Rand<Acp

Reinitialize the ith particle xi and evaluate its


fitness

Yes
The best particle in P2 replaces the worst
particle in B2

No
Rand<SAfp

Yes
The SAfn1 excellent particles in SGBS replace
the bad SAfn1 particles in P1
The SAfn2 reinitialized particles in SGBS
replace the other bad SAfn2 particles in P1

Fig. 6. The CPCE owchart.

No

A. Khodabakhshian et al. / Electric Power Systems Research 101 (2013) 3648

particle is reserved and the bad ones are replaced by reinitialized


particles. Let TV be the mean tness value of particles in SGBS.
TV =

N0

tness(x )
i

i=1

N0

(8)

TV threshold value is used for reserving or reinitializing. In Eq.


(8), xi and tness(xi ) are the ith particle in SGBS and its tness
value respectively. The value of tness(xi ) is evaluated by using
the objective function considered for optimization problem. Then
for each particle in SGBS if tness(xi ) TV, the ith particle (xi ) will
be reserved or reinitialized.
4.3.2. Affect operations from SGBS to P1 and P2
Affect operation from SGBS to P1 and P2 is implemented in each
generation based on the probability value of SAfp. Let SAfn1 and
SAfn2 be the mean values of two nonnegative integer numbers. For
SGBS and P1 (P2 ), if rand SAfp, bad SAfn1 particles in P1 (P2 ) will
be replaced by the best particles of SAfn1 in SGBS. Also other bad
SAfn2 particles in P1 (P2 ) are replaced by the reinitialized particles
of SAfn2 in SGBS.
4.3.3. Experience exchanging operation between P1 and P2
After Affect operations from SGBS to P1 and P2 , experience
between P1 and P2 is exchanged in each generation. It is supposed that the probability of implementing operation of experience
exchange is EEp. Also EEn is the number of particles joined in
this operation. Now for P1 and P2 , if rand EEp, the bad particles of EEn in P2 (P1 ) will be replaced by the best particles of
EEn in P1 (P2 ). This co-evolutionary mechanism associates two
cultural-algorithm-populations with each other. Useful knowledge
and experience are exchanged between multi-swarms to guide
other swarms to achieve a better optimal solution. For this purpose, the randomly reinitialized particles are also placed into the
population. The owchart of CPCE algorithm is shown in Fig. 6.
5. Design methodology
CPCE method is used for tuning the MB-PSS parameters on the
test system given in Section 2. For this purpose, rst the objective
function is dened.

41

5.1. Objective function


The integral of time multiplied absolute error (ITAE) is used as
the objective function [25]. This index is shown in Eq. (9).
J=

M=4 

i=1

(t ri )dt

(9)

It is evident that the controller with lower ITAE will be better


than the other ones. Parameter M represents the number of power
system machines in the system. Therefore, the design procedure
can be formulated as a constrained optimization problem of minimizing the ITAE which is subject to Kimin < Ki < Kimax and Timin <
Ti < Timax . The Ki and Ti represent all gains and time constants
shown in Fig. 3.
5.2. PSS tuning
The CPCE algorithm is carried out to tune the proposed MBPSS parameters. All four generators are equipped with MB-PSS and
PSSs are simultaneously tuned. In order to have less computations
for tuning, the MB-PSS structure is rearranged as shown in Fig. 7
and also parameters T2 , T4 , T6 and T8 are xed as 0.01. Each MB-PSS
contains 21 parameters and all four PSSs have 84 parameters which
should be simultaneously tuned. In the simulation, the setting
parameters of the CPCE algorithm are given in Table 2. It should be
noted that CPCE algorithm is run several times and then the optimal
set of parameters are selected. In the optimization process, different
disturbances such as three-phase fault, single phase short circuit,
the step change in the reference mechanical power and the step
change in the reference voltage are applied. After the simulation
of different disturbances and also different setting parameters of
algorithm, the nal result which has the lowest objective function
(ITAE) is chosen as the nal solution. The optimum values of parameters obtained by using CPCE are shown in Table 3. The parameters
which have not been presented are chosen as the values given in
Ref. [26], such as the parameters of speed transducer, washout and
limiters. The proposed CPCE-MB-PSS is compared with PSO-MBPSS and C-MB-PSS. The PSO-MB-PSS parameters are tuned by using
PSO method and the objective function is also considered as Eq. (9).
The setting parameters of PSO are shown in Table 4. The optimum

Fig. 7. MB-PSS IEEE 4B block diagram.

42

A. Khodabakhshian et al. / Electric Power Systems Research 101 (2013) 3648

Table 2
Parameter settings of CPCE algorithm.
Population size

P1

B1

P2

B2

Afp

Afn

Acp

SAfp

SAfn1

SAfn2

EEp

EEn

60

20

10

20

10

0.4

0.4

0.1

0.1

Table 3
MB-PSS parameters by using CPCE.
T1

T3

T5

T7

K1

K2

G1

High pass section


Intermediate pass section
Low pass section

0.011
0.005
0.591

0.005
0.01
0.01

0.834
0.657
0.005

0.01
0.01
0.01

1.00
1.50
9.40

1.00
2.32
1.17

1.00
2.72
3.18

G2

High pass section


Intermediate pass section
Low pass section

0.01
0.005
0.01

0.914
0.01
0.005

0.005
0.01
0.526

0.01
0.079
0.01

1.93
1.00
2.37

1.00
2.82
1.31

1.00
1.31
1.01

G3

High pass section


Intermediate pass section
Low pass section

0.01
0.01
0.01

0.005
0.005
0.005

0.01
0.01
0.01

0.803
0.005
0.005

4.73
1.55
1.00

1.00
1.00
1.93

1.00
1.67
1.70

G4

High pass section


Intermediate pass section
Low pass section

0.01
0.847
0.01

0.005
0.01
0.005

0.01
0.647
0.01

0.005
0.01
0.005

1.36
1.07
1.00

1.27
1.00
1.17

1.00
2.78
1.00

Table 4
Parameter settings of PSO algorithm.

Table 6
MB-PSS parameters based on Fig. 3.

Population size

c1

c2

Parameter

Value

60

Linearly decreasing from 0.9 to 0.4

High and intermediate


speed transducer
Low speed transducer
VLmax
VLmin
VImax
VImin
VHmax
VHmin
VSTmax
VSTmin
KL11
TL1
TL2
KL17
TL7
TL8
TWH
TW1

(0.0017s + 1)/(0.00013s2 + 0.018s + 1)

values of the PSO-MB-PSS parameters are shown in Table 5. Also,


the C-MB-PSS parameters can be found in Ref. [26]. The other MBPSS parameters such as washout and transducer parameters are
presented in Table 6.
6. Simulation results
The simulation results are carried out on the test system given in
Section 2. In order to get clear results, rst CPCE-MB-PSS and PSOMB-PSS are compared. Then, the CPCE-MB-PSS and C-MB-PSS are
evaluated. Also, in order to have a comprehensive study, four different disturbances are considered as disturbance 1: 5% step increase
in reference voltage of generator 1; disturbance 2: 10 cycle threephase short circuit in the middle of line 3; disturbance 3: 10% step
change in load of bus 3 (area 1) for three different loading conditions and; disturbance 4: line 3 is disconnected at second 1 and
will be reconnected after 1000 ms. It should be noted that in load
change scenario (disturbance 3), the load is increased at second 5
and then is driven back to the nominal load at second 45.

(80s2 )/(s3 + 82s2 + 161s + 80)


0.075
0.075
0.15
0.15
0.15
0.15
0.25
0.25
1
1.67
2
1
2
2.4
0.012
1

6.1. Comparing CPCE-MB-PSS and PSO-MB-PSS


In this section, the CPCE-MB-PSS and PSO-MB-PSS are studied. Table 7 shows the ITAE for both MB-PSSs. It is seen that the
CPCE-MB-PSS has got a lower ITAE index than the other MB-PSS.

Table 5
MB-PSS parameters by using PSO.
T1

T3

T5

T7

K1

K2

G1

High pass section


Intermediate pass section
Low pass section

0.011
0.005
0.6992

0.006
0.01
0.011

0.1751
0.206
0.005

0.011
0.01
0.01

1.47
5.50
13.39

3.93
4.86
1.54

3.40
2.19
2.13

G2

High pass section


Intermediate pass section
Low pass section

0.005
0.005
0.005

0.01
0.012
0.01

0.01
0.081
0.05

0.005
0.01
0.0098

1.00
3.90
2.34

3.80
1.80
2.24

3.13
1.00
3.76

G3

High pass section


Intermediate pass section
Low pass section

0.6793
0.294
0.01

0.01
0.01
0.005

0.005
0.1046
0.01

0.01
0.011
0.05

1.00
1.00
1.00

1.66
1.00
1.00

4.25
1.91
1.83

G4

High pass section


Intermediate pass section
Low pass section

0.01
0.01
0.1479

0.05
0.05
0.01

0.01
0.01
0.005

0.05
0.05
0.01

1.82
1.22
7.52

4.45
1.60
3.77

4.38
1.00
2.99

A. Khodabakhshian et al. / Electric Power Systems Research 101 (2013) 3648

1.0006
1.0004

1.0002

1.0002

Spped G1(pu)

1.0004

0.9998
0.9996

0.9998
0.9996

0.9994

0.9994

0.9992

0.9992

0.999

7
8
Time(s)

10

11

12

13

14

0.999

15

10

7
8
Time(s)

10

11

12

13

14

14

15

1.0006

1.0004
1.0002

Spped G1(pu)

1
0.9998
0.9996
0.9994
0.9992
0.999
0.9988

7
8
Time(s)

11

12

13

14

15

Fig. 8. G1 speed following disturbance 1 (solid: CPCE-MB-PSS; dashed: PSO-MB-PSS). (A) Light, (B) nominal and (C) heavy.

A 1.0002

1.0002

1.0001

Spped G2(pu)

1.0001

0.9999

0.9998

0.9999

0.9998

0.9997

0.9997

0.9996

0.9996

0.9995

0.9995
0

7
8
Time(s)

C
Spped G2(pu)

Spped G1(pu)

1.0006

Spped G2(pu)

43

10

11

12

13

14

15

7
8
Time(s)

10

11

12

1.0005

0.9995

0.999

7
8
Time(s)

10

11

12

13

14

15

Fig. 9. G2 speed following disturbance 1 (solid: CPCE-MB-PSS; dashed: PSO-MB-PSS). (A) Light, (B) nominal and (C) heavy.

13

15

44

A. Khodabakhshian et al. / Electric Power Systems Research 101 (2013) 3648

A 1.005

1.005

1.004

1.004

1.003

1.003

Spped G3(pu)

Spped G3(pu)

1.002

1.002
1.001
1

1.001
1
0.999

0.999

0.998

0.998
0.997

0.997

5
Time(s)

0.996

10

5
Time(s)

10

10

1.005
1.004

Spped G3(pu)

1.003
1.002
1.001
1
0.999
0.998
0.997

5
Time(s)

10

Fig. 10. G3 speed following disturbance 2 (solid: CPCE-MB-PSS; dashed: PSO-MB-PSS). (A) Light, (B) nominal and (C) heavy.

1.005

1.004

1.004
1.003

1.003

Spped G4(pu)

1.002

1.001
1
0.999

1.001

0.998
0.999

0.997
0.996

0.998

10

`1

Time(s)

Time(s)

1.003
1.002

Spped G4(pu)

Spped G4(pu)

1.002

1.001
1
0.999
0.998
0.997

5
Time(s)

10

Fig. 11. G4 speed following disturbance 2 (solid: CPCE-MB-PSS; dashed: PSO-MB-PSS). (A) Light, (B) nominal and (C) heavy.

A. Khodabakhshian et al. / Electric Power Systems Research 101 (2013) 3648

45

Table 7
The values of performance index (ITAE).
Disturbance 1

CPCE-MB-PSS
PSO-MB-PSS

Disturbance 2

Light

Nominal

Heavy

Light

Nominal

Heavy

0.2699
0.4032

0.1582
0.2287

0.3475
0.7105

0.9913
1.3782

0.6870
0.7202

0.7341
1.0971

By changing the operating condition to heavy loading, the CPCEMB-PSS gives a more suitable performance and shows the robust
characteristics.
The simulation results are depicted in Figs. 812. Figs. 8 and 9
show the responses under disturbance 1 and Figs. 10 and 11 show
the responses under disturbance 2. The results for disturbance

1.002

3 are shown in Fig. 12 for generator 2. Also, each gure contains


three loading conditions. The ability of CPCE-MB-PSS in damping
of oscillations following different disturbances and under different
loading conditions can be easily seen in these gures. The proposed
CPCE-MB-PSS greatly enhances power system stability and damps
out the oscillations. The simulation results demonstrate that the

1.001

1.0015
1.0005

1.001

Spped G2(pu)

Spped G2(pu)

1.0005
1
0.9995
0.999

0.9995

0.999

0.9985
0.9985

0.998
0.9975

10

20

30

40
Time(s)

50

60

70

80

10

20

30

0.998

10

20

30

50

60

70

80

40
Time(s)

50

60

70

80

1.002
1.0015
1.001

Spped G2(pu)

1.0005
1
0.9995
0.999
0.9985
0.998
0.9975

40
Time(s)

Fig. 12. G2 speed following disturbance 3 (solid: CPCE-MB-PSS; dashed: PSO-MB-PSS). (A) Light, (B) nominal and (C) heavy.

1.0003

1.0005

1.0002

Spped G1(pu)

Spped G2(pu)

1.0001

0.9999
0.9998

0.9995

0.9997
0.9996
0.9995

15

25

35
Time(s)

45

55

65

75

0.999

15

25

35
Time(s)

45

55

65

75

Fig. 13. Generators speed in the nominal operating condition following disturbance 1 (solid: CPCE-MB-PSS; dashed: C-MB-PSS). (A) G1 (B) G2 .

46

A. Khodabakhshian et al. / Electric Power Systems Research 101 (2013) 3648

D 1.005

C 1.006
1.004
1.002

Spped G3(pu)

Spped G4(pu)

1
0.998
0.996

0.995

0.994
0.992
0.99
0.988

15

25

35
Time(s)

45

55

65

0.99

75

15

25

35
Time(s)

45

55

65

75

Fig. 14. Generators speed in the nominal operating condition following disturbance 2 (solid: CPCE-MB-PSS; dashed: C-MB-PSS). (C) G3 (D) G4 .

1.005

1.0025
1.002

1.004

1.0015

1.003

Spped G1(pu)

Spped G3(pu)

1.001
1.002
1.001
1

1.0005
1
0.9995

0.999

0.999

0.998
0.997

0.9985

5
Time(s)

10

0.998

5
Time(s)

10

Fig. 15. Generators speed under nominal operating condition following disturbance 4 (solid: CPCE-MB-PSS; dashed: C-MB-PSS). (A) G1 (B) G3 .

High pass
filter

High pass
PSS

Intermediate
pass filter

Intermediate
pass PSS

Low pass
filter

Low pass
PSS

Fig. 16. Separation of MB-PSS output signals.

A. Khodabakhshian et al. / Electric Power Systems Research 101 (2013) 3648

47

PSS Frequency Response


50

dB

40
30
20
10
-2
10

10

-1

10

10

10

Degrees

400
200
0
-200
-2
10

10

-1

10
Frequency (Hz)

10

10

Degrees

20
10
0
-10
-20
-2
10

10

-1

10

10

Frequency (Hz)

Fig. 17. Bode diagrams (solid: MB-PSS; dashed: CPSS).

PSO-MB-PSS performance goes to uctuations under heavy operating condition, while the CPCE-MB-PSS performance is not affected
by changing the system operating condition.
6.2. Comparing CPCE-MB-PSS and C-MB-PSS
In this section the CPCE-MB-PSS and C-MB-PSS are compared. It
should be mentioned that all three methods (CPCE-MB-PSS, PSOMB-PSS and C-MB-PSS) could be evaluated at the same time and
results could be depicted in one gure. However, since the results
of C-MB-PSS are larger than other methods, gures will not be clear.
In this case, the simulation results are depicted in Figs. 1315.
Fig. 13A and B shows the responses under disturbance 1 and Fig. 14A
and B show the responses under disturbance 2. Also, different loading conditions are considered. Fig. 15 also represents the results for
the case of disturbance 4. It is to be noted that in this case since the
load of bus 3 is supplied through line 2 and the load of bus 4 is
procured through line 5, system will be stable.
The results demonstrate the superior performance of the proposed CPCE-MB-PSS for all cases where the oscillations are damped
out very fast and the magnitude of oscillations is very low in comparison with C-MB-PSS.
6.3. Comparing CPCE-MB-PSS and CPSS
In the previous sections different MB-PSSs were compared. It
is useful to study the internal performance of the MB-PSS and the
results are also compared with the CPSS. The CPSS parameters are
given in [26]. Fig. 16 shows the injected signal by each section of
MB-PSS installed on G1 as an example. It can be seen from Fig. 16
that each section injects its relative stabilizing signal. Thus, this PSS
injects a stronger signal than CPSS and naturally performs better.
Also, the bode diagrams of CPSS and MB-PSS are depicted in Fig. 17.

These gures clearly show that the bandwidth of MB-PSS is wider


than CPSS conrming its superiority performance. In low frequencies, the MB-PSS performs with a suitable magnitude, while the
CPSS magnitude is very low. Thus, The MB-PSS is able to perform
much better performance under a wider range of frequencies and
it can inject a stronger stabilizing signal.

7. Conclusions
In this paper, a multi-band PSS was successfully tuned by using a
new optimization method and simulated. A multi-machine power
system containing different loading conditions was considered to
evaluate the proposed MB-PSS. This new algorithm was executed
several times to nd out the best solution. To show the ability of
the proposed CPCE-MB-PSS, it was compared with PSO-MB-PSS and
C-MB-PSS. A complete comparison between MB-PSS and CPSS was
also performed and discussed. The simulation results demonstrated
the ability of MB-PSS in damping oscillations under different disturbances and loading conditions.

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