2010 International Conference on Industrial Electronics, Control and Robotics

An Adaptive Fuzzy Logic Based Power System Stabilizer

For Enhancement of Power System Stability
Kamalesh Chandra Rout*, Dr.P.C.Panda*,
* Electrical Engineering Department, National Institute of Technology, Rourkela,India
[email protected],

Abstract— This paper presents the performance of fuzzy logic damping, the stabilizers must produce a component of
based adaptive power system stabilizer (PSS) for stability electrical torque on the rotor which is in phase with speed
enhancement of Single Machine Infinite Bus power system. The variations. However, they give poor performance under
PSS is used to generate supplementary control signals for the different synchronous generator loading conditions. Dynamic
excitation system in order to damp the low frequency power
system oscillations. Here speed deviation and accelerated power stability is concerned with small disturbances lasting for a
are the two inputs to the fuzzy logic controller. The inference long time. A System is said to be dynamically stable, if the
mechanism of the fuzzy logic controller is represented by 49 if- oscillations do not acquire certain amplitude and die out
then rules. The performance of the fuzzy logic power system quickly. The parameters of CPSS are determined based on a
stabilizer (FLPSS) and without power system stabilizer was linearised model of the power system around a nominal
compared. The simulations were tested under different types of operating point where they can provide good performance.
conditions.
Since power systems are highly non-linear systems, with
Keywords— Dynamic stability, Power System Stabilizer, configurations and parameters that change with time, the
Single Machine Infinite Bus System, Fuzzy Sets and Logic CPSS design based on the linearised model of the power
system cannot guarantee its performance in a practical
operating environment [3]-[5] .
I. INTRODUCTION An appropriate selection of PSS parameters results in
satisfactory performance during system disturbances.

PSStype
may be used for damping system oscillations with any
of exciter: slow or fast; rotating or static. However,
the stabilizers are most effective in enhancing overall
Conventional PSS (CPSS) is widely used in existing power
systems and has made a contribution in enhancing power
system dynamic stability. Conventional power system
system stability when used with high initial response exciters, stabilizer improves system damping by designing it to provide
particularly thyristors exciters. Power systems are subjected to a generator power component in phase with speed at a
low frequency disturbances that might cause loss of particular oscillation frequency. To improve the performance
synchronism and an eventual breakdown of entire system. of CPSS, numerous techniques have been proposed for their
Low Frequency Oscillations (LFOs) include local plant design, such as simulated annealing, genetic algorithm, fuzzy,
modes, control modes, torsional modes induced by the neural networks and many other non-linear techniques. The
interaction between the mechanical and electrical modes of a rule-based fuzzy logic control methods are well known for the
turbine-generator system, and inter-area modes, which may be difficulty in obtaining and adjusting the parameters of the
caused by either high-gain exciters or heavy power transfers rules especially on-line. Recent research indicates that more
across weak tie-lines. The oscillations, which are typically in emphasis has been placed on the combined usage of fuzzy
the frequency range of 0.2 to 3.0 Hz, might be excited by the logic systems and other technologies such as neural networks
disturbances in the system or, in some cases, might even build
up spontaneously. These oscillations limit the power to add adaptability to the design [6]-[8].
transmission capability of a network and, sometimes, even The PSS is often required to enhance damping of a specific
cause a loss of synchronism and an eventual breakdown of the mode: either a local plant mode or an interarea mode of
entire system. For this purpose Power system stabilizers (PSS) oscillation. While this mode receives special attention, the
are used to generate supplementary control signals for the phase compensation should be designed so that the PSS
excitation system in order to damp these low frequency power contributes to damping over a wide range of frequency
system oscillations. [1][2]. covering both interarea and local modes of oscillation. The
The most widely used conventional PSS is the lead-lag PSS, basic function of a power system stabilizer (PSS) is to
where the gain settings are fixed at certain values which are generate a supplementary stabilizing signal, which is applied
determined under particular operating conditions to result in to the excitation system or control loop of the generating unit
optimal performance for that specific condition. To provide to produce a positive damping. Limitations of fixed parameter

978-1-4244-8546-8/10/$26.00 ©2010 IEEE 175

of conventional PSS has to lead advanced control schemes for control of the exciter. Terminal voltage transducer and load
such as self tuning, rule based PSS, and fuzzy logic control. compensator senses generator terminal voltage, rectifies and
For steady state operation, the system with fuzzy logic PSS filters it to dc quantity, and compares it with a reference which
settles down much faster than system with conventional PSS. represents the desired terminal voltage. In addition load
[9] - [10]. compensation can be provided. Power system stabilizer
In this Paper, the performance of the Single machine provides an additional input signal to the regulator to damp
Infinite Bus system with fuzzy power system stabilizer is power system oscillation. Some commonly used input signals
presented. Here speed deviation and accelerated power are the are rotor speed deviation, accelerating power and frequency
two inputs to the fuzzy logic controller. Performance is studied deviation. Limiter and protective circuits: these include a wide
for triangular membership functions of fuzzy sets and array of control and protective functions which ensure that the
compared with conventional lead-lag compensator. The capability limits of exciter and generator are not exceeded.
Common functions are field-current limiter, maximum
simulations are tested under different operating conditions in excitation limiter, under excitation limiter etc.
SIMULINK. Maintaining power system stability depends on speed of
fault clearing, excitation speed of response and forcing
capacity. Increasing forcing capability and decreasing
II. EXCITATION SYSTEM MODEL response time increases the margin of stability. The PSS
parameters should be chosen, along with the other control
From the power system view point, the excitation parameters of the excitation system, so as to enhance the
system should contribute to effective control of voltage and overall performance of the power system.
enhancement of system stability. It should be capable of
responding rapidly to a disturbance so as to enhance transient
stability, and of modulating the generator field so as to III. POWER SYSTEM STABILIZER MODEL
enhance small-scale stability. In this dissertation, excitation
control has been assumed for the purpose of analysis. The basic function of a power system stabilizer is to
Fundamentally, simplest excitation system consists of an extend stability limits by modulating generator excitation to
exciter only. The duty of an exciter is to provide necessary provide damping to the oscillation of synchronous machine
field current in rotor windings of alternator. When the rotors relative to one another. The oscillations of concern
excitation system also performs the task of maintaining the typically occur in the frequency range of approximately 0.2 to
terminal voltage of alternator constant, under varying load 3.0 Hz, and insufficient damping of these oscillations may
conditions, it incorporates voltage regulator also. limit ability to transmit power. To provide damping, the
stabilizer must produce a component of electrical torque,
which is in phase with the speed changes. The implementation
details differ, depending upon the stabilizer input signal
employed. However, for any input signal, the transfer function
of the stabilizer must compensate for the gain and phase of
excitation system, the generator and the power system, which
collectively determines the transfer function from the
stabilizer output to the component of electrical torque which
can be modulated via excitation system. A power system
stabilizer can be most effectively applied if it is tuned with an
understanding of the associated power characteristics and the
function to be performed by the stabilizer. Knowledge of the
modes of power system oscillation to which the stabilizer is to
provide damping establishes the range of frequencies over
which the stabilizer must operate. It is also desirable to
establish the weak power system conditions and associated
loading for which stable operation is expected, as the
adequacy of the power system stabilizer application will be
Fig.1. Block diagram of a Synchronous generator excitation system
determined under these performance conditions.

In the above figure, the exciter Provides dc power to the

synchronous machine field winding constituting the power
angle of the excitation system. The regulator processes and
amplifies input control signal to a level and form appropriate

176
 2010 International Conference on Industrial Electronics, Control and Robotics

Fig.2. PSS Structure

A “lead-lag” PSS structure is shown in Fig.2. The
output signal of any PSS is a voltage signal. Here it is Vs. This
particular controller structure contains a washout block, sTW/
(1+sTW), used to reduce the over-response of the damping
during severe events. Since the PSS must produce a Fig.3: Design Procedure of fuzzy logic controller
component of electrical torque in phase with the speed
deviation, phase lead blocks circuits are used to compensate The fuzzy logic control algorithm reflects the mechanism of
for the lag (hence, “lead-lag’) between the PSS output and the control implemented by people, without using any formalized
control action, the electrical torque. The number of lead-lag knowledge about the controlled object in the form of
blocks needed depends on the particular system and the tuning mathematical models, and without an analytical description of
of the PSS. The PSS gain KSTAB is an important factor as the the control algorithm. Here control strategy depends upon a set
damping provided by the PSS increases in proportion to an of rules, which describes the behavior of the controller. It
increase in the gain up to a certain critical gain value, after generally comprises four principle components: fuzzification
which the damping begins to decrease. All of the variables of interface, knowledge base, decision making logic and
the PSS must be determined for each type of generator defuzzification interface. In fuzzification, the value of input
separately because of the dependence on the machine variables are measured i.e. it converts the input data into
parameters. The power system dynamics also influence the suitable linguistic values. The knowledge base consists of a
PSS values. The determination of these values is performed by database and linguistic control rule base. The database
many different types of tuning methodologies. The signal provides the necessary definitions, which are used to define
washout is a high-pass filter that prevents steady changes in the linguistic control rules and fuzzy data manipulation in a
speed from modifying the field voltage. The value of the fuzzy logic controller. The rule base characterizes the control
washout time constant Tw should be high enough to allow policy of domain experts by means of a set of linguistic
signals associated with oscillations in rotor speed to pass control rules. The decision making logic has the capability of
unchanged, but not so high that it leads to large voltage stimulating human decision making based on fuzzy concepts.
excursions during system islanding conditions. From the The defuzzification performs scale mapping, which converts
viewpoint of the washout function, the value of Tw may be the range of values of output variables into corresponding
anywhere in the range of 1 to 20 seconds. The stabilizer gain, universe of discourse. If the output from the defuzzifier is a
KSTAB, has an important effect on damping of rotor control action for a process, then the system is a non-fuzzy
oscillations. The value of the gain is chosen by examining the logic decision system. There are different techniques for
effect for a wide range of values. The damping increases with defuzzification such as maximum method, height method, and
an increase in stabilizer gain up to a certain point beyond centroid method.
which further increase in gain results in a decrease in Choosing the proper linguistic variables formulating the
damping. Ideally, the stabilizer gain should be set at a value fuzzy control rules are very important factors in the
corresponding to maximum damping. performance of the fuzzy control system. Here the speed
deviation (Δω) and acceleration (ΔP) are chosen to be the
input signals of fuzzy PSS. The linguistic variables transform
IV. FUZZY LOGIC CONTROLLER
the numerical values of the input of the fuzzy controller to
fuzzy quantities. The number of these linguistic variables
The following Fig.3 Shows the block diagram of fuzzy logic specifies the quality of the control which can be achieved
controller. using the fuzzy controller. For the power system under study,
seven linguistic variables for each of the input and output
variables are used to describe them as shown below in Table 1.

NB NEGATIVE BIG
NM NEGATIVE MEDIUM
NS NEGATIVE SMALL
ZE ZERO

177
 PS POSITIVE SMALL V. SIMULATION RESULTS
PM POSITIVE MEDIUM In order to assess the PSS performance and robustness under
PB POSITIVE BIG wide range of operating conditions with various fault
disturbances and fault clearing sequences, the test system
depicted below is considered for analysis. The overall features
Table.1: Input and output linguistic variables of the proposed controllers are described based on a SMIB
model of power system. In Fig 6, a synchronous machine is
The two inputs: speed deviation and acceleration, result in connected to an infinite bus through a short transmission line.
49 rules for each machine. Decision table in 2 shows the result
of 49 rules, where a positive control signal is for the
deceleration control and a negative signal is for acceleration
control. The example of first rule is: “if speed deviation is NB
(negative big) AND acceleration is NB (negative big) THEN
PSS output of fuzzy U is NB (negative big)”.
Fig.6: Single Machine Infinite bus system
The nonlinear equations of the system are:
ௗఋ
ௗ௧ ஻ൌ ߱ െ ܵ௠ (1)
ௗௌ೘ ଵ
ௗ௧ ଶு
ൌ ሾെ‫ܵܦ‬௠ ൅ ܶ௠ െ ܶ௘ ሿ (2)
ௗா೏ᇲ ଵ
ௗ௧ ᇲ
்೜బ
ൌ ሾെ‫ܧ‬ௗᇱ ൅ ሺ‫ݔ‬௤ െ ‫ݔ‬௤ᇱ ሻ݅௤ ሿ (3)
Fig.4: Membership functions for input Δω and ΔP ᇲ
ௗா೜ ଵ
ௗ௧ ᇲ
்೏బ
ൌ ሾെ‫ܧ‬௤ᇱ ൅ ሺ‫ݔ‬ௗ െ ‫ݔ‬ௗᇱ ሻ݅ௗ ൅ ‫ܧ‬௙ௗ ሿ (4)
The stabilizer output is obtained by applying a particular
ௗா೑೏ ଵ
rule expressed in the form of membership function. Figure 4
ௗ௧ ்ೌ
ൌ ሾ‫ܭ‬௔ ൫ܸ௥௘௙ ൅ ܸ௦ െ ܸ௧ ൯ െ ‫ܧ‬௙ௗ ሿ (5)
shows the membership functions for input Δω and ΔP and
Fig.5 shows the membership function for output U.
1.6
1.5
1.4
1.3
n
ia
d
a
r
1.2
n
i
a
tl
e
1.1
d
1
0.9
0.8
0.7 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time in sec
Fig.5: Membership function for output U Fig 7 (a)
1.5

1.4
acc NB NM NS ZE PS PM PB
1.3
n
ia
d
speed
a
r
n
i
1.2
a
tl
e
dev. d
1.1
NB NB NB NB NB NM NS ZE
1
NM NB NB NM NM NS ZE PS

NB NM NS NS ZE PS PM
0.9 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
NS
time in sec
ZE NM NM NS ZE PS PM PB
Fig 7 (b)
PS NM NS ZE ZE PM PB PB

PM NS ZE PS PM PM PB PB Fig.7:Responses of generator when mechanical torque was

PB ZE ZE PM PB PB PB PB changed into 0.1[Pu] in light load, 7(a) without PSS,7(b) with
FLPSS
Table.2: Decision table of 49 rules

178
 2010 International Conference on Industrial Electronics, Control and Robotics

0.9 APPENDIX
0.8
0.7 a) Synchronous machine parameters : X = 1.82, X = d q

0.6 1.45, X ’ = 0.68, X ’ = 1.07,

d q

erw 0.5 T d0 ’ = 7.84, T q0 ’ = 0.51, Ra = 0.036, H = 3.82,

po 0.4 f = 60 hz
0.3
0.2 a) Excitation system parameters
0.1
00 0.5 1 1.5 2 2.5
time in sec
3 3.5 4 4.5 5 K A = 600, T A = 0.03, E fdmax = 4.0, E fdmin = -4.0
Fig 8 (a)
0.9 b) PSS saturation levels
0.8
0.7 V s max = 0.5, V s min = -0.5
0.6
erw 0.5
op
c) Transmission line (per circuit) parameters
0.4
0.3
R l = 0.073, X l = 0.625, B c = 0.14
0.2
0.1
00 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time in sec
Fig 8 (b) VII. REFERENCES
Fig.8: Responses of generator when mechanical torque was
changed into 0.1[Pu] in nominal load, 8(a) without PSS, 8(b) [1] N I Voropai and P V Etingov, “Application of Fuzzy Logic Power
System Stabilizers to Transient Stability Improvement in a Large
with FLPSS Electric Power System”, IEEE PowerCon 2002, pp. 1223-1227, Oct
2002.
[2] J. J. Dai and A. A. Ghandakly , “ An adaptive synchronous generator
stabilizer by generalized multivariable pole shifting technique, ” IEEE
Trans. Power Syst. , Vol. 7, pp. 1239-1244, Aug. 1992
VI. CONCLUSION [3] J Lu, M H Nehrir, Donald A. Pierre, “A Fuzzy Logic Based Adaptive
Power System Stabilizer for Multi-Machine System”, IEEE power
In this paper the fuzzy logic based adaptive power system engineering society summer meeting, vol.1, pp.111-115, July 2000.
stabilizer is introduced. Simulation result shows that for [4] N. Hosseinzadeh, A. Kalam, “A Rule-Based Fuzzy Power System
different operating conditions, the fuzzy logic power system Stabilizer Tuned by a Neural Network” , IEEE Transactions on Energy
stabilizer (FLPSS) has increased the damping of the system Conversion, Vol. 14, No. 3, 1999.
causing it to settle back to steady state in much less time than [5] M D. Ostojic and B. Kovacevic, “On the eigenvalue control of
electromechanical oscillations by adaptive power system stabilizer,”
the conventional power system stabilizer (CPSS) and it also IEEE Trans. Power Syst., vol. 5, pp. 1118–1126, Nov. 1990.
decreases the peak value. The FLPSS, though rather basic in [6] P Kundur, “Effective use of Power Stabilizers for Enhancement of
its control proves that it is indeed a good controller due to its Power System Reliability”, IEEE Power engineering society Summer
simplicity. The proposed controller provides a more robust meeting, vol. 1, pp. 96-103, July 1999.
control over a large excursion of the operating points versus an [7] A Babaei, S E Razavi , S A Kamali, A Gholami, “Performance
Improvement of Power System Stabilizer by Genetic Algorithm for One
optimal controller and lead-lag stabilizer. Machine Infinite Bus System”, IEEE UPEC 2007, sept 2007, pp. 344-
348.
[8] M. A. H. Hassan, O. P. Malik, G. S. Hope, “A Fuzzy logic based
stabilizer for a synchronous machine ”, IEEE Transactions on Energy
Conversion, Vol. 6, No. 3, September 1991.
[9] R.V. Larsen and D.A. Swann, Applying Power System Stabilizers, Part
I, II, III, IEEE Transactions on PAS, Vol. 100, No.6, June 1981.
[10] P. Kundur. “Power System Control and Stability”, New York: McGraw-
Hill, Inc., 1994, pp. 3-168, 699-825 and 1103-1166.

179