Optimal Power Flow Incorporating FACTS

Devices- Bibliography and Survey

Abdel-Moamen M. A Narayana Prasad Padhy

and voltage level optimization. In case of active power OPF,

Absfracz- In the present day scenario private power the main conventional control variables are MW generations
producers an? increasing rapidly to meet the increase demand based on minimum generation cost. If some predefined
due to heavily loaded customers. In this above process, the transmission line powq flows are controlled at specified
existing transmission lines are over loaded and lead to unstable
values, it may cost higher with the generation schedule. OPF
system. Overloading may also due to transfer of cheap power
h m generator bus to load bus. New transmission lines or algorithms are among the tools present in many Energy
FACTS devices on the existing transmission system can Management Systems (EMS) and their usefulness is
eliminate transmission over loading, but FACTS devices are increasingly being recognized by power utilities due to
preferred in the modem power systems based on its overall increased presence of independent power producers
performance combined with deregulation of the power industry. Hence
For last two decades researchers developed new algorithms there is an urgent need for optimal and sophisticated power
and models lor power flow and optimal power flow
incorporating FACTS devices so that cheap power can he made flow control i.e., solution to OPF incorporating FACTS
available to the customers without violating system stability. devices.
Still research is in progress to meet the present day congestion The Flexible AC Transmission System (FACTS) is a
management problem with help of FACTS devices efficiently. transmission system which use reliable high-speed thyristor
The purpose of this survey is to collect information from the based high-speed controllable elements such as SVC, TCSC,
previous literatures and to support researchers in the above Geld and UPFC etc. are designed based on state of the art
to carry out further research. Therefor+ the authors presented a
complete bibliography and survey on the area of optimal power developments in power semiconductor devices. Issues
flow incorporating FACTS devices up to date. include increased utilization of existing facilities such as
secure system operation at higher power transfers across
Index Terms- Optimal Power Flow, FACTS device$ existing transmission lines which are limited by stability
constraints, the development of control designs for FACTS
I. ~ O D L J C I ' I O N devices, and determination of functional performance

T ,possibility of operating the power system at the

rmnimal cost while satisfying specified transmission
requirements for FACTS components.
The reactive power compensation of AC transmission
constraints and security constraints is one of main current systems using fixed series or shunt capacitors can solve some
issues in stretching transmission capacity by the use of of the above problems associated with AC networks.
controllable flexible AC transmission system (FACTS). The However the slow nature of control using mechanical
conventional OPF program must undergo some changes such switches (circuit breaker) and limits on the frequency of
as inclusion of new control variables belonging to FACTS switching imply that faster dynamic controls are required to
devices and the corresponding load flow solutions to deal overcome the above mentioned problems. Hammons and
with the above said problem. Lim [53]presented a review literature, which addresses the
The objective of an Optimal Power Flow (OPF) algorithm application of FACTS, concepts for the improvement of
is to find the steady-state operation point of a generation- power system utilization and performance. Recent
transmission system, which minimizes a pre-specified cost developments involving deregulation and restructuring of the
function and meets a set of operational and/or security power industry is feasible only if the operation of AC
constraints. For optimal active and reactive power dispatch transmission systems is made flexible by introducing FACTS
the objective function that is total generation cost and other devices and the analysis of OPF tool must incorporate
objectives may include minimization of transmission losses FACTS devices. Therefore, a complete bibliography and
survey on OPF with FACTS have been discussed and
presented in this paper.
A b d e l - M m n M.A and N a ~ a y mPrasad Padhy. are with the Depamrmnt
ofElectrical Engineering, Indian lnstifute of Technology, Rmrkee - 241667,
hdia ([email protected] [email protected] )

0-7803-81 10-6/03/$17.00 02003 IEEE 669

 n. GENERALCONCEaS OF FACTS DEVICES whereas only the magnitude of the current is controllable
Flexible AC Transmission System (FACTS) is a parameters [8,12,34, 100-112, 1221.
technology-based concept that can provide a full dynamic
control over active and reactive power flow on transmission III. GENERAL
R E V E W OF OPTIMAL POWER FLOW
systems based on the key control variables such as The optimal power flow (OPF) is important software in
transmission line impedance, phase angle and voltage. It the energy management system (EMS). OPF was born in
also provides the needed corrections of transmission 1962 [14] and took a long time to become a successful
functionality in order to fully utilize existing transmission algorithm that could be applied in every days use.
system and therefore, minimizing the gap between the Over the last three decades, many successful OPF
stability and thermal levels. techniques have been developed such as, the generalized
The concept of FACTS and FACTS controllers was first reduced gradient method [3, 221, linear programming
defined by Hingorani, 1988 [58]-[601 they are high power solution [4, 1291, quadratic programming [7, 91, 1141, the
electronics devices used to control the power flow and Newton method [13, 37, 83, 1301, the P-Q decomposition
enhance stability, have become, not only common words in approach [124], the Interior Point Method (IPM) [82-141],
the power industry, but they have started replacing many Genetic Algorithm (GA) [16, 116, 1341, Evolutionary
mechanical control devices. They are certainly playing an Programming [72, 1481 etc. After obtaining !he OPF
important and a major role in the operation and control of solution, the implementation of the optimal control variahles
modem power systems. will bring the system to the “optimum” state.
Static VAR Compensator (SVC) is an important FACTS Carpentier [15] has presented an interesting classificat.ion
device already widely in operation. It can be considered as a of OPF algorithms based on their solution structure, and then
first generation FACTS controller and uses Thyristor compared the numerical results from the best-known
controllers. It is a shunt reactive compensation controller programs of each group and compared the performances of
consisting of a combination of fixed capacitor or Thyristor- numerous commercial optimal power flow progr:uns
switched capacitor in conjunction with Thyristor-controlled available in 1985, based on a wide range of solution
reactor (FC-TCR) [6,20,35,48]. SVC has been in operation methodologies. The author draws many valid conclusions
for approximately 30 years. from the analysis, also distinguishing between solution
Thyristor controlled series compensator (TCSC) is a methodologies and the state of their implementations.
second-generation FACTS controller, which control the An excellent literature survey of the different techniques
effective line reactance by connecting a variable reactance in has been found in the paper by Huneault and Galieana
series with line. The variable reactance is obtained using FC- published in 1991 [@I. Though it does not discuss the
TCR combination with mechanically switched capacitor interior point method (IF’M), it does include and discussed
sections in series [I, 20,33,75, 80, 113, 1501. references over 150 papers on optimal power flow. Momoh
Static synchronous series compensator (SSSC) is a solid et al. [91-921, presented a review of selected optimal power
state voltage source inverter, injects an almost sinusoidal flow literature up to 1993. They described all solutions using
voltage, of variable magnitude, in series with a transmission nonlinear, quadratic programming, Newton. linear
line. This injected voltage is almost in quadrature with the programming, and interior point methods. These above
line current [52,87, 1231. methods that are capable of handling constraints including
Static synchronous compensators (STATCOMs) are GTO transmission line flow limits can be upgraded by
(gate tum-off type thyristor) based SVCs. Compared with incorporating FACTS devices constraints into the problem.
conventional SVCs they do not require large inductive and Perhaps the existing algorithms are usually confined to
capacitive components to provide inductive or capacitive specific power systems cases that do not offer great freedom
reactive power to high voltage transmission systems. An in objective functions or the types of constraints that may be
additional advantage is the higher reactive output at low used. Hence It is important to select more general and
system voltages where a STATCOM can be considered as a reliable algorithms, which are capable of dealing new
current source independent from the system voltage. constraints arising from FACTS devices
STATCOMs have been in operation for approximately 5
years [52,901. FACTS DEVICES
IV. O P ~ M A LPOWER FLOW INCORP~RATTNG
Gyugyi [50-51] explained the basic smcture of the unified Various algorithms have been reported to solve power
power flow controller (WFC) concept, where he presented flow and optimal power flow (OPF) for power systems
that the UPFC consists of two controllable elements, a equipment with various FACTS devices. New control
voltage source, inserted in series with the line. And a current variables and control objective equations are usually added
source, connected in shunt with the line. Both the magnitude in conventional power flow equations. Several papers have
and the angle of inserted voltage are controllable parameters, been published in dealing with OPF incorporating FACTS

670
devices or power flow controls. flow equation and FACTS control equations.
Taranto et al. [I331 have proposed a decomposition Ge and Chung L42-431 described. a method to incorporate
method for representing FACTS devices in optimal power the power flow control needs of FACTS in studying the
flow (OPF) model. The proposed approach was fust optimal active power flow problem. They used the linearized
proposed to solve the optimal active power flow dispatch (DC)network model [3] and three types of FACTS devices
problem incorporating FACTS devices. This methodology is (TCSC, TCPS and UPFC) were considered. The proposed
based on mathematical decomposition and network method was tested on the 30-bus, IEEE test system.
compensation techniques. A linearzed network model (DC Dusan [23] presented that FACTS controller can
power flow) was used. This method can deal with the essentially improve long-distance ac transmission. This
representation of series compensators and phase shifters, but technology has been extended by a large number of further
this method did not consider the specified line flow FACTS elements, which can be effectively used for load
constraints. flow control in power system. Edris et al. [25-271, have
Noroozian and Anderson [98] have proposed a method demonstrated the development and implementation of
for solving the power flow control problem incorporating FACTS technology at transmission locations in the US.The
FACTS devices based on decomposition and locally installed FACTS controllers have provided new possibilities
measurable variables. This method can be used for series- and unprecedented flexibility aiming at maximizing the
connected FACTS devices to damp power swing. However, utilization of transmission assets efficiently and reliability.
this method did not combine the OPF problem with the Chung et al. [I71 represented an optimal active OPF with
power flow control problem; hence the solution probably FACTS devices by a load-equivalent model. The proposed
may not be the overall optimal solution. method was tested on the 5 and 30-bus. IEEE test system.
Gyugyi et aL[49] proposed UPFC for control both the Fuerte et al. [34-371 proposed simultaneous methods to solve
transmission real power and independently, the reactive the combined set of power flow equations and FACTS
power flows at the sending and the receiving end of the control equations. These methods are robust, but it is time
transmission lines. The UPFC provides flexibility for AC consuming to rewrite existing programs and it is not easy to
power transmission control and therefore it automatically estimate the initial values of the FACTS control variables.
counteract power oscillations and can adept almost Billinton et al. [11-12] presented power system reliability
instantaneously to new P and Q demands to enhance the enhancement using a thyristor controlled series capacitor
transient behavior of the system and optimize its Ambriz-Perez et al. [5-6] solved the OPF incorporating
performance under transmission contingency conditions. UPFC using Newton’s method, leading to highly robust
Hiyama, ef al. [611, presented an application of a fuzzy iterative solutions. Padhy et al. [ 1021 have presented a new
logic control scheme for TCSC module to enhance overall hybrid model for OPF incorporating FACTS devices to
stability of electric power systems and also to increase the overcome the classical optimal power flow algorithm. In the
maximum power transmission through the existing AC proposed model load demands, generation outputs, and cost
transmission lines. Galiana et al. [38-391 proposed to of generation are treated as fuzzy variables.
systematically evaluate the impact of FACTS on the steady h and Ahur [80-81] presented a systematic procedure to
state .behavior of power systems through the concept of place and operate TCSCS in a power system. First the
generalized security regions and through scalar measure of “Single Contingency Sensitivity (SCS)” criterion for a given
these regions obtained from optimal power flow (OPF) branch flow is defined. This criterion is then used to develop
simulation. Nabavi and Iravani [94] proposed a way to a branch’s prioritizing index in order to rank branches for
handle LJPFC with power flow algorithms by removing the possible placement of TCSCS. Finally, optimal settings for
UPFC and assigning the ends of UPFC by the P-Q bus or P- TCSC parameters are determined for important
V bus. contingencies. IEEE 14-bus test system was used to
Noroozian et aL[99-101] have dealed with optimal power demonstrate the proposed approach.
flow(0PF) control in electric power system by using of Fang and Ngan [30-31] presented the optimal location of
unified power flow controller(UPFC), thyristor controlled unified power flow controllers using the method of
series capacitor (TCSC), and thyristor controlled phase augmented Lagrange multipliers. Chung and Li [I61
shifter transformer (TCPS). The capability of LJPFC in OPF presented an improved genetic algorithm (GA) to solve
application was demonstrated and compared with that of a optimal power flow (OPF) problems in power system with
phase shifting transformer (PST). The proposed control law flexible AC transmission systems (FACTS). Two types of
was tested on the 300-bus, 60 machine of Nordel system. FACTS devices are considered. Thyristor controlled phase
Gotham and Heydt U471 presented the modeling of FACTS shifter (TCPS) and thyiistor controlled series compensator
devices for power flow studies and the role of that modeling (TCSC) are used to control power flow. In the solution
in the study of FACTS devices. Also they proposed a process, GA coupled with full AC power flow, selects the
simultaneous method to solve the combined set of power best regulation to minimize the total generation fuel cost and

67 1
keep the power flows within their secure limits. The flow and optimal power flow solutions incorporating FACTS
optimization process with GA is presented with case study devices. We however conclude that FACTS controllers can
examples of an IEEE test system to demonstrate its essentially improve and optimize long-distance ac
feasibility and effectiveness. transmission power and hence improve the performance of
modem power systems. FACTS devices are currently in
v. PRACTICAL APPLICATIONSAND FuTLlRE PROSPECTS various stages of maturity such as SVCs, STATCOMs and
From the FACTS viewpoint, future prospects are mostly TCSCs, are commercially available and others are either in
dependable on a number of practical applications of the the development or demonstration stages such as WFCs and
FACTS-controllers. Expecting increased number of their SSSCs. So it is suggested that solutions of power Ilow and
installations, raised concem appears within their co- optimal power flow must be developed incorporating
ordination in overall planning and operational procedures. advanced facts devices.
Systems with several FACTS devices are to be analyzed.
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IX. BIOGRAPHIES
Abdel-Moameo M. Abdel-Rahim received the
B. Sc. degree and the M. Sc. degree in Electrical
Engi-g from Assuit University, Egypt in 1991
and 1998. respectively. He joined Aswan High
Institute of Energy as an k&mt Lecturer,
Aswan, Egypt in 1993. He is currently waking
towards the Ph.D. degree at the depvtment of
Electrical Engineering, Indian Instihdt of
Technology. Rwrkee, India. His research interests
include power system ermomics, Optimal Power Flow (OPF) and FACTS

Narayana Prasad Paaby obtained his Degree

in Electrical Engineering and Mastels in Power
System Engineering with Distinction in 1990
and 1993, respectively. In 1997, he obtained his
Ph.D. degree in Electrical Engineering from
ARna University, Chennai, India. He joined
Bula lnstimte of Technology & Science(B1TS)
as an Assism1 Professor, Elechical Engineering
D e p m n t in 1997. He is presently w o r h g as
, Assistant Professor in the DeparuMnt of
Elecoical Engineering. Indian Institute of Technology, Rmrkee. He taught
c a m e in Basic Elecmcal Engineering, Power System d Artificial
Intelligence. His field of interest is Power System Privatization. Resmcolring
and Deregulation, Artificial intelligence Applications to Power System
Operation and Optimization Problem, FACTS.

676