2015 Conference on Power, Control, Communication and Computational Technologies for Sustainable Growth (PCCCTSG)

December11-12, 2015, Kurnool, Andhra Pradesh, India

Coordination of Intelligent Controllers for shunt and

series converters of UPFC
T. Murali Krishna,
Assistant Professor, Dept. of EEE, CBIT
Gandipet, Hyderabad, INDIA
tmurali5@gmail.Com
AbstractIn order to utilize the existing transmission line to
its full capacity Flexible AC Transmission system (FACTS) are
used. The power flow control is effective if all the elements of the
transmission line must be varied simultaneously or individually.
To achieve this, the key appropriate FACTS device is Unified
Power Flow controller (UPFC). The use of conventional
controllers delays the decision making process to take suitable
control action during dynamic conditions. In this paper a fuzzy
logic based controller is used to generate supplementary damping
signals and to control the shunt converter of IPFC. Two separate
neuro-controllers are used for series converter control. Hence
coordination between shunt and series converters of UPFC is
achieved. The results in MATLAB environment will explain the
performance of UPFC during step change of real and reactive
powers.
Keywords Co-ordination; FACTS; Fuzzy logic; Neural
network; UPFC

I. INTRODUCTION
The development in power electronic based controllers
enhanced the controllability of power systems. FACTS are the
one of the best solutions to solve the problem in the
limitations of constructing additional transmission lines so as
to meet the increased demand of electric power. The key
objective of FACTS is to get better the power transfer, thermal
and limit potential of present transmission lines near the
thermal limit and to effectively control the power flows in the
selected corridors. The regulating approach must take care of
dynamic variations of transmission line parameters
specifically bus voltage, line impedance and phase angle for
superior transmission system management through improved
transient power system constancy.
FACTS devices improve the steadiness of the power
system together by means of its dynamic regulation attributes
and regular make up potential. The major aim of FACTS
technology is to manage power flow and to enlarge the
transmitting capacity over an active transmission environment.
FACTS refer to structures with power electronic apparatus
like the Static Compensator (STATCOM), Static Synchronous
Series Capacitor (SSSC), Thyristor Controlled Series
Capacitor (TCSC) and phase angle shifter [1]. There are two
distinctly different approaches to realize the controllers of
FACTS devices which aim to address targeted transmission
system compensation and control problem. In Static VAr
Compensator (SVC) and Thyristor Controlled Series
Capacitor (TCSC), the capability to generate reactive power

978-1-4673-6890-2/15/$31.00 2015 IEEE

Dr. K.S.R. Anjaneyulu,

Professor, Dept. of EEE, JNTUA,
Anantapuramu, INDIA
ksralu@yahoo.co.uk
and exchange of real power are separated. If these are
employed for reactive power adjustment they are incompetent
to swap over real power with ac system. To exchange real
power, if SVC and TCSC are utilized, these are unable to
supply reactive power to the system. In case of STATCOM,
SSSC controllers have inherent capability of handling
exchange of both real and reactive powers with ac system
without ac condensers or large inductors. Here the real and
reactive power regulating methods are reliant.
But during dynamic disturbances such as short circuit
faults, sometimes there should be a controller to take care of
inherent exchange of real and reactive powers independently.
As a result the goal is to devise a regulator with separating
active and reactive powers for the duration of the process of
dynamic fault condition. UPFC is such a controller which can
independently or simultaneously control the exchange of real
and reactive powers with ac system, which in turn take care of
power flow control effectively to improve the power system
performance.The character of FACTS equipment is physically
moderately nonlinear. The execution of these devices may be
deteriorated whenever these are coupled to a power system.
Therefore to deal with the dynamic variations in power
system, nonlinear intellectual regulator based UPFC is
essential to be modelled.
II. UPFC
A modified control model called Unified Power Flow
Controller (UPFC) which improves the power flow[2]. The
UPFC is best appropriate for substantial control and high
speed recompense of ac transmission lines, supplying the
requisite practical elasticity to solve several problems in
power system. UPFC consists of all the features of
STATCOM, SSSC and phase shifter. It can individually or
instantaneously control the transmission line impedance,
phase angle and voltage. The fundamental theory of UPFC is
that, the phase angle affects flow of real power and the
magnitude of voltage affects flow of reactive power [3]. As a
result in transmission lines, to manage the real power flow the
series regulator of UPFC modifies the series injected voltage
angle, at the same time as the amount of series injected
voltage regulates the reactive power flow. Thus the real power
regulator can appreciably have an effect on the level of
reactive power flow. The reactive power regulator modifies
the value of series voltage added to the system which further
alters real power flow. Therefore these two regulators are
responding to others effects. For achieving the systems

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stability, self-governing control systems are realized with

conventional controllers that posses sluggish reaction times.

The block diagram of fuzzy logic based shunt converter is

shown in fig.2.

An interconnected electrical power system consists of

many variables. Consequently it is very complicated to
organize such system using conventional investigative
techniques. As the loading conditions are changing from time
to time, the functioning of power system changes continuously.
Such non-linear non-stationary power system can be
effectively controlled by artificial intelligence techniques like
neuro or fuzzy logic controllers [4]. If the inputs and outputs
are suitably selected, these controllers can respond accurately
to the dynamic changes. The interactions linking input and
output can be identified by the neural networks efficiently [5].
Hence artificial intelligent controllers are necessary in
improving power system performance [6].

The real and reactive power references are the two inputs
to the fuzzy controller. This controller provides four outputs.
First two outputs are the in-phase and quadratic parts of shunt
currents and the remaining two outputs are the supplementary
damping signals for real and reactive inputs of UPFC for
quick damping of rotor oscillations which are shown in fig.3.

III. SIMULATION OF UPFC

In this the fundamental frequency model of UPFC referred
in [7] is considered for simulation. In the present model the
value of series injected voltage is divided into two parts in
which one component is in-phase with the system bus voltage
used to control the reactive power and the other component
quadrates with the system bus voltage used to control the real
power through the line[8]. The phasor diagram of series
injected voltage is shown in fig.1.

Fig.3: Inputs & outputs of Fuzzy controller.

The triangular membership functions are considered for all

inputs and outputs. For defuzzification, centroid method is
used. Totally 15 rules are framed. For series controller two
separate neuro controllers are used for controlling d and q
components of series additional added voltage. The block
diagram shown in fig. 4 represents the control strategy used
for series converter.

Fig.4: Block diagram of series converter control circuit.

Fig.1. Phasor diagram of series injected voltage.

The modeled diagram of the proposed UPFC is

characterized which is given in fig.5. The supplementary
damping signals generated by shunt converter are connected to
the real and reactive power inputs of series converter.

Fig.2: Block diagram of shunt converter control circuit.

To maintain the bus voltage constant at Point of Common

coupling (PCC) and to generate supplementary damping
signals which will be added to real and reactive power
references, a fuzzy logic based shunt controller is designed.

Fig.5: Simulation diagram of proposed control circuit.

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Initially the real power reference is at 82MW. Then real

power is commanded to a sudden change of 8MW. The
variation in real and reactive powers is shown in fig.8 & fig.9.
The voltage variation during this change is depicted in fig.10.

Fig.6. Neuro-controller for q-axis component of injected voltage

Fig.9. Variation of reactive power during step increase in real power

Fig.7. Neuro-controller for d-axis component of injected voltage

The figures 6 and 7 represents the simulation diagrams of

series controller circuit which utilizes two separate neuro
controllers. The neural networks consist of one input neuron
six hidden layers and one output neuron. The network is
trained with trainlm function with 1000 epochs, 2000 training
samples with an interval of 0.01 second.
IV. RESULTS
The simulation is implemented on Western System Coordinating Council (WSCC) 9-bus system to check the
operational behaviour of the proposed UPFC. The operational
behaviour of the suggested UPFC is tested for step changes in
real and reactive powers.

Fig.8. Variation of real power during step increase in real power

Fig.10. Variation of bus voltage during step increase in real power

From the above waveforms shown in fig.8 , fig.9 and

fig.10, it is evident that without coordination between shunt
and series converters the real power cannot attain to its desired
value. The reactive power and voltage values are deviated
from their prescribed values. Whereas with coordination the
real, reactive powers and voltage values are near to the
prescribed values.

Fig.11. Variation of real power during step increase in reactive power

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be maintained more or less constant even during the change in

line flows. This coordination control between shunt and series
converters can also be used to improve the transient
performance of power system during dynamic fault
conditions.
REFERENCES
[1]
[2]

[3]
Fig.12. Variation of reactive power during step increase in reactive power

Then the UPFC is tested for a step variation in the reactive

power. Initially the reactive power is at 1.8 MVAr. A step
change of 6MVAr in reactive power is made at 5 second. The
variation in real and reactive powers is shown in fig.11 &
fig.12. The voltage variation during this change is depicted in
fig.13.

[4]
[5]

[6]

[7]

[8]

Higorani, N.G, Gyugi.L., Understanding FACTS Devices, JohnWiley&

Sons, Inc., Publication, IEEE Press, 2000, 432 pages
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D.R., Edris, A., 'The Unified Power Flow Controller: A New Approach
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P. K. Dash, S. Mishra, and G. Panda, A radial basis function neural
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Fig.13. Variation of bus voltage during step increase in reactive power

From the above waveforms shown in fig.11, fig.12 and

fig.13, it is evident that without coordination between shunt
and series converters the reactive power cannot attain to its
desired value. The increase in reactive power causes more
increase in real power and more reduction in bus voltage. The
reactive power and voltage values are deviated from their
prescribed values. With coordination between shunt and series
controllers, the deviation in real power is very less from its
prescribed value. Also the bus voltage value is near to the
prescribed values.
V. CONCLUSION
In this paper coordination between shunt and series
controllers of UPFC is discussed. From the above discussion it
is evident that the coordination between shunt and series
controllers improves the performance of UPFC. The changes
in real and reactive powers in the line will affect the bus
voltage if coordination between the controllers is absent. With
the coordination between the controllers the bus voltage will

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