Adaptive Control with SSNN of UPFC System for the Compensation of Active and Reactive Power

Transcription

1 Reseach Jounal of Ale Scences, Engneeng an Technology 6(4): , 23 ISSN: ; e-issn: Maxwell Scenfc Oganzaon, 23 Subme: Ocobe 3, 22 Accee: Januay 3, 23 Publshe: June 2, 23 Aae Conol wh SSNN of UPFC Sysem fo he Comensaon of Ace an Reace Powe A Bouanane, 2 A Chake an M Amaa Deamen of Eleccal Engneeng, D Mouly Tahe Unesy of Saa, Algea 2 Deamen of Eleccal Engneeng, Ense Oan, Algea Absac: The focus of hs suy s he effeceness of he conolle s Unfe Powe Flow Conolle UPFC wh he choce of a conol saegy Ths Unfe Powe Flow Conolle (UPFC) s use o conol he owe flow n he ansmsson sysems by conollng he meance, olage magnue an hase angle Ths conolle offes aanages n ems of sac an ynamc oeaon of he owe sysem I also bngs n new challenges n owe eleconcs an owe sysem esgn To ealuae he efomance an obusness of he sysem, we oose a hyb conol combnng he conce of enfcaon neual newoks wh conenonal egulaos an wh he changes n chaacescs of he ansmsson lne n oe o moe he sably of he eleccal owe newok Wh s unque caably o conol smulaneously eal an eace owe flows on a ansmsson lne as well as o egulae olage a he bus whee s connece, hs ece ceaes a emenous qualy mac on owe sysem sably The esul whch has been obane fom usng MATAB an SIMUINK sofwae showe a goo ageemen wh he smulaon esul Keywos: Aae conol, EMAN newok, enfcaon, obusness, sably, Sae Sace Neual Newok (SSNN), UPFC sysem INTRODUCTION As he owe sysems ae becomng moe comlex, eques caeful esgn of he new eces fo he oeaon of conollng he owe flow n ansmsson sysem, whch shoul be flexble enough o aa o any momenay sysems conons The oeaon of an ac owe ansmsson lne, ae geneally consane by lmaon of one o moe newok aamees an oeang aables (Pac e al, 997) FACTS s a echnology nouce by Eleccal Powe Reseach Insue (EPRI) n he 8s (Naan an aszlo, 999) Is ncle ole s o Incease he ansmsson caacy of he ac lnes an o conol owe flow oe esgnae ansmsson lnes FACTS echnologes nole coneson an swchng of owe eleconcs n he ange of a few ens o few hune megawas (Gyugy, 992) New sol sae self commuang eces such as MOSFETs, IGBTs, GTOs an also ohe suable owe eleconc eces ae use as conolle swches n FACTS eces (Naan an aszlo, 2) The unesal an mos flexble FACTS ece s he Unfe Powe Flow Conolle (UPFC) UPFC s he combnaon of hee comensaos chaacesc; e, menence, olage magnue an hase angle, ha ae able o ouce a moe comlee comensaon Sen an Ke (23) comae fel esuls of he Inez UPFC ojec o an EMTP smulaon Thee ae no eals on he esgn of he conolles ulze, o he esence of any subances o unceanes Zhengyu e al (2) hae scusse fou ncal conol saeges fo UPFC sees elemen man conol an he macs on sysem sably Ma (23) emonsae he feasbly of usng a cenalze omal conol scheme usng an eoluonay ogammng algohm Sukuma (26) has use a Raal Bass Funcon Neual Newok (RBFNN) as a conol scheme fo he UPFC o moe he ansen sably efomance of a mulmachne owe sysem Schoe e al (2) hae oose a Fuzzy amng conolle In las yea s, he alcaon of neual newoks (NNs) fo aae conol has been a subjec of exense suy (Xe e al, 26; Chau e al, 25; Chau, 27; n e al, 26) The meho oose n hs suy s noel I combnes wo ffeen aoaches, namely nellgen echnques ha seem o wok bu o no oe a fomal oof an analycal echnques ha oe oofs une some esce conons an fo smle sysems These lmaons hae been a cenal ng foce behn he ceaon of hyb sysems (Henques an Douao, 999) whee wo o moe echnques ae combne n a manne ha oecomes he lmaons of nual echnques So, he hyb sysems ae moan when conseng he conol of he unfe owe low hough a ansmsson lne usng a PWM- Coesonng Auho: A Bouanane, Deamen of Eleccal Engneeng, D Moulay Tahe Unesy of Saa, Algea 739

2 Res J Al Sc Eng Technol, 6(4): , 23 Fg : Schemac agam of hee hases UPFC connece o a ansmsson lne base UPFC, because, s a comlex alcaon The esen suy nens o be a conbuon n hs econ I conses he alcaon of aae Conol, wh neual newoks n an elecc owe sysem Fg 2: Equalen ccu of UPFC hs ccu s base on smlfyng assumons n he fom of eal olage souces hen he ynamc equaons of he UPFC ae e no hee sysems of equaons: he equaons of he sees banch, he equaons of aallel banch an hose of he DC ccu By alyng Kchhoff laws eseaches wll hae he followng equaons fo each banch UPFC CONSTRUCTION The UPFC consss of wo olage souce conees; sees an shun conee, whch ae connece o each ohe wh a common c lnk (Gyugy, 992; Es e al, 996; Tuas, 999) Sees conee o Sac Synchonous Sees Comensao (SSSC) s use o a conolle olage magnue an hase angle n sees wh he lne, whle shun conee o Sac synchonous Comensao (STATCOM) s use o oe eace owe o he ac sysem, bese ha, wll oe he c owe eque fo boh nee Each of he banches consss of a ansfome an owe eleconc conee These wo olage souce conees shae a common c caaco (Xang e al, 22) The enegy song caacy of hs c caaco s geneally small Theefoe, ace owe awn by he shun conee shoul be equal o he ace owe geneae by he sees conee The eace owe n he shun o sees conee can be chosen neenenly, gng geae flexbly o he owe flow conol The coulng ansfome s use o connec he ece o he sysem Fgue shows he schemac agam of he hee hases UPFC connece o he ansmsson lne Conol of owe flow s achee by ang he sees olage, V S wh cean amlue V S an hase shf, φ o V s Ths wll ges a new lne olage Vc wh ffeen magnue an hase shf As he angle φ aes, he hase shf δ beween Vc an V also aes Mahemacal eesenaon of UPFC: The smlfe ccu of he conol sysem an comensaon of UPFC s shown n Fg 2 moelng of 74 The moelng of sees banch: The mahemacal moel s gen by he followng Eq (): sa sc sb sb sa sc ( - - ) () The ansfomaon of Pak ams o moel hs hee-hase sysem (a, b, c) n wo-hase (, q) as follows: x cos ( ω ) - sn ( ω ) 2 x a 2 x q = cos ( ω -2 ) sn ( ω -2 ) 2 x b 3 ω ω x o cos ( 2 ) sn ( 2 ) 2 x c (2) whee, x can be a olage o cuen In he case, he comonen x s no seen as he owe sysem s assume o be symmec Afe he ansfomaon of Pak, Eq () s exesse n he q efeence by he equaons: = ω = ω - - (3) The max fom of he q axs can be ewen as follows: sa ca ( - - b ) sb cb a ( - - ) sc cc ( - - ) c ( - - ) cq q c T

3 Res J Al Sc Eng Technol, 6(4): , 23 l = ω ω l l The moelng of he shun banch: The mahemacal moel of he UPFC shun s gen smlaly by he followng equaons: a b c a b c (4) Wh a ansfomaon Pak q eseaches hae he sysem of Eq (5): = ω q - c cq q - - a ca a ( - - ) b cb - - c cc c b - - c The UPFC sees an shun UPFC's ae encal n eey esec The commans use o se he nee ae he same fo he shun nee CONTROER DESIGN The objece of usng he UPFC Fg s o oe neenen conol of ace P an eace Q owe flow n he sysem fo fxe alues of Vs an V Ths can be achee by oely conollng he sees njece olage of he UPFC The olage, cuen an owe flow ae elae hough he followng equaons: Hee P V Q 2 V = 3 P V Q 2 V q = 3 = V 2 V 2 (8) (9) () The max fom s gen as follows: (5) The moelng of he UPFC connues banch: By assng on he ncle of balance of owe an neglecng he losses of he conees The Dc olage V c by he followng equaon: Hence q = ω q q cq q q Vc l = ω = C Vc e = ca sa cb sb cc sc e = a a b b c c ω l ( ) e e (6) whee, e = Ace owe absobe of he AC sysem P e = Ace owe njece by he shun nee AC sysem Alyng he Pak ansfomaon on Eq (6) eseaches obans: c 3 = C 2 c q l c cq q q - - cq c q q (7) 74 Once he ese ace P an eace Q owe efeence ae known, (8) can be use o eemne he coesonng an q axes cuen efeences fo he sees cone Smlaly (8) can also be use o calculae he efeence cuens of he shun conee bu he aables P, Q, V an V ae o elace by he esece senng en aables whenee aoae I may be menone hee ha he Dc lnk olage of he UPFC s o be ke a a consan alue n he ms of subances Ths can be achee by geneang an eo sgnal beween he ese Dc lnk olage an he acual alue The eo sgnal can be sen hough anohe PI conolle o oban a comman sgnal, whch s subsequenly ae o he ecengen owe efeence o e he senng en owe efeence Decoulng PI conol: Accong o he sysem of Eq (3) o (5), one can hae he sysem conans a coulng beween he eace an ace cuen The neacon beween cuen loos cause by he coulng em (ω) Fg 3 Ths exlans he eaon of eace owe wh esec o he efeence To euce he neacon beween he ace an eace owe, a ecoulng of he wo cuen loos s neee The funcon of ecoulng s o emoe he ouc ω an Iq conolle along he axs an ang he ouc em ω I an he conolle along he axs q The esgn of he conol sysem mus begn wh he selecon of aables o ajus an hen ha of he conol aables an he assocaon wh aables se Thee s aous ajusmen echnques well sue o he PI conolle Thee ae wo well-

4 Res J Al Sc Eng Technol, 6(4): , 23 Fg 3: Block agam of he UPFC conol (sees) (a) Table : The aamees of he PI conolle K K = 2 = 45 ω = 3459 ξ = 2 known emcal aoaches oose by Zegle an T fo eemnng he omal aamees of he PI conolle (Zegle an Nchols, 942) The meho Zegle-Nchols, use n he esen suy s base on a al conuce n close loo wh a smle analog ooonal conolle The gan K of he egulao s gaually ncease unl he sably lm, whch s chaaceze by a seay oscllaon an measue by choce of he Table Base on he esuls obane, he aamees of he PI conolle gen by Table (b) Fg 4: Answes of owes wh a PI-D SIMUATION RESUTS WITH PI-D UPFC Fgue 4 llusaes he behao of ace an eace owe, whee we see ha he conol sysem has a fas ynamc esonse o he foces each he seay saes afe a change n he efeence alues We also noe he esence of he neacon beween he wo comonens ( an q) These nfluences ae cause by he PWM nee s unable o ouce connuous sgnals neee by he ecoulng, hus nceasng he eo n he PI-D conolles To es obusness, eseaches ese he obusness fo a aaon of he eacance X 3% an I ha aaon on he ouu owe followng Followng hese changes, he ace an eace owe Fg 5 unego lage eaons moe o loss wh an oeflow a mes of gea change nsucons (Pef, Qef), whch means he efomance egaaon of he PI conolle, neee by he loss of sysem sably Reseaches smulae hs me by noucng eubaon Fg 6 uaon of 25 ms an amlue 5 o es agan s obusness an sysem sably The esonse of ace an eace owe a 3% of X coul be eece; he eo message gen by MATAB comman ncae he sauaon of he oe a nfny n he skes of he efeence sgnals One can check he esonse of he seo no only n connuaon bu also by ang a subance 742 (a) (b) Fg 5: Answes owes o change he eacance of 3%

5 Res J Al Sc Eng Technol, 6(4): , 23 Fg 7: Block agam of a feeback conol sae of he UPFC (a) Hs choce n he neual conol by sae sace s jusfe by he fac n acula he newok can be neee as a sae sace moel nonlnea eanng by back oagaon algohm sana s he law use fo enfcaon of he UPFC Sae Sace aae Neual conol (SSNN): The negaon of hese wo aoaches (Denaï an Allaou, 22) neual an aae conol n a sngle hyb sucue, ha each benefs fom he ohe, bu o change he ynamc behao of he UPFC sysem was ae agans a eacon calculae fom he sae eco (sae sace) Fg 7 The sae feeback conol s o conse he ocess moel n he fom of an equaon of sae: X () = Ax () Bu () () An obseaon equaon: (b) Y () = Cx () Du () (2) Fg 6: UPFC sysem eube o es sably ADAPTIVE NEURA CONTRO The nees n aae conol (Hngoan an Gyugy, 2) aeas manly a he leel of aamec eubaons, we ac on he chaacescs of he ocess o be conolle an subances affec he aables conol Ths suy esens he meho of ajusmen oose fo The UPFC, by faong he classcal aoach base on neual newoks Neual newoks hae shown gea ogess n enfcaon of nonlnea sysems Thee ae cean chaacescs n ANN (Nguyen an Wow, 99) whch asss hem n enfyng comlex nonlnea sysems Neual Newok s mae u of many nonlnea elemens an hs ges hem an aanage oe lnea echnques n moelng nonlnea sysems Neual Newok s ane (Chau, 27) by aae leanng, he newok leans how o o asks, efom funcons base on he aa gen fo anng The knowlege leane ung anng s soe n he synac weghs The sana Neual Newok sucues (fee fowa an ecuen) ae boh use o moel he UPFC sysem The man ask of hs suy s o esgn a neual newok conolle whch kees he UPFC sysem sablze Elman's newok (Xang e al, 22) sa hen laye newok s a ecuen newok, hus bee sue fo moelng ynamc sysems 743 whee, u () = The conol eco x () = The sae eco y () = The ouu eco of menson fo a scee sysem o he samlng ocess aamees Te a mes of Te samle k ae fomalze as follows: X ( ) = ARRx () B ur R() (3) Y () = CRRx () DRRu () (4) The ansfe funcon G (s) = Y (s) /U (s) of ou ocess UPFC can be wen as: (5) We euce he equaons of sae eesenaon of he UPFC: wh, ( ) G s = s x = x u y = x (6)

6 Res J Al Sc Eng Technol, 6(4): , 23 U () = e () -kx () e: X ( ) = [A - KB ] x () B e () (7) Y () = C x () (8) The ynamcs of he ocess coece by sae sace s esene base on he chaacesc equaon of he max [A - B K], whee K s he max sae sace conolle ocess The sysem s escbe n max fom n he sae sace: Fg 8: Newok Elman an sae sace x = A x B u y = C x D u whee, A = ω ω B = C = D = c u = y = x = cq [ ] T (9) layes When an nu-ouu aa s esene o he newok a eaon k uae eo a he ouu of he newok s efne as: E 2 ( y () y( ) 2 = ) (22) Fo all aa u (), y () e =, 2, N, he sum of uae eos s: E = N E = (23) A each eaon, he weghs ae mofe fo W we hae: IDENTIFICATION BASED NETWORK EMAN = ( y () y() ) y() (24) Pocess enfe (Zebae e al, 24; Xe e al, 26) wll be chaaceze by he moel sucue Fg 8, of hs oe an aamee alues I s heefoe, a coollay of he smulaon ocess fo whch usng a moel an a se of coeffcens o ec he esonse of he sysem The Elman newok (Xang e al, 22) consss of hee layes: an nu laye, hen laye an ouu laye The layes of nu an ouu nefee wh he exenal enonmen, whch s no he case fo he nemeae laye calle hen laye e, he newok nu s he comman U () an s ouu s Y () The sae eco X () fom he hen laye s njece no he nu laye Reseaches euce he followng equaons: X () = W X ( - ) W h U (-) (2) Y () = W o X () (2) whee, W h ; W & W o ae he wegh maces Equaons ae sana escons of he sae sace of ynamcal sysems The oe of he sysem eens on he numbe of saes equals he numbe of hen 744 = Fo W h e W : whee, T ( y () y() )x () h = = The lae we oban: x y() x() = y() x() T ( y () y() )W u() y() = y() x (25) (26) (27) The aaon of he wegh max base on he leanng gan s wen as: h () x () ( y () y() )W = X T x () x( ) ( ) W

7 Res J Al Sc Eng Technol, 6(4): , 23 Table 2: The aamees of he laboaoy UPFC moel V 22 V R 4 Ω V s 22 V R 8 Ω C 2 mf H Vc 28 V H Fg 9: Changng wegh (a) Fg : Esmaon eo W = η (28) Noe ha he efomance of he enfcaon s bee when he nu sgnal s suffcenly hgh n fequency o exce he ffeen moes of ocess The hee weghs W o, W an W h Whch ae esecely The maces of he equaon of sae of he ocess sysem (UPFC) (CA an B) became sable afe a ough me T = 3s an seeal eaons Fg 9 (Fo he Elman newok neuon ye s assume hough he eco s zeo (D = )) In onlne leanng Elman newok, he ask of enfyng an coecng same synhess ae one afe he ohe O coecon of he numecal alues of he aamees s one eeaely so he esmaon eo Fgue akes abou almos a secon ( = s) o conege o zeo o egulaon n usu (b) Robusness es: To check he obusness o he conolle, wo ess wee efome Fo each es we ae he aamees (Yu e al, 996) whch ae lse n Table 2 of he ansmsson lne bu he conolle emans unchange 745 (c) Fg : Neual aae conol (SSNN) owes P, Q an a (±25% X)

8 Res J Al Sc Eng Technol, 6(4): , 23 I can be seen ha he aaon of he eacance (±25%) has almos no nfluence on he ouu chaacescs of he UPFC sysem Fg To comae he esonses of ace an eace owe of UPFC sysem, Reseaches gae he hee cases Fg Whee (a) an (c) ae he esonses o changes (±25%) an (b) s he esonse of he sysem whou any change n eacance CONCUSION The enfcaon ocess wll be chaaceze by he moel sucue, s oe an aamee alues I s heefoe a coollay of he smulaon ocess whch uses a moel an a se of coeffcens o ec he esonse of he sysem The use of moe aance lowenfcaon neual newok can be eenable n he calculaon algohm of he oe Noe ha he efomance of he enfcaon of sysem aamees a neuon newok sa Elman newok wh hee layes As we hae aleay seen Noe ha he efomance of he enfcaon s bee when he nu sgnal s suffcenly hgh n fequency o exce he ffeen moes of ocess Neual aae conol by sae feeback (SSNN: Sae Sace Neual Newok) s a hyb conol base on he eesenaon of sysem saus UPFC was ese The efomance of he lae ae slghly egae, hs s may be ue o he elay cause by he algohm, canno be euce a wll, o may ue o he choce of he gan K of he close loo Fnally, he enfcaon ocess base on leanng of Elman neual newok, oes he ynamc behao of he ocess an o esmae he sysem ouu as s sae eco base on he nfomaon ha ae conol sgnal an he measue ouu The smulaon esuls of he oose conolle ae comae wh a conenonal PI conolle an s efomance s ealuae In hs suy, he senng an eceng en bus olages wee manane consan an he c lnk olage, ace an eace owes of he ansmsson lne wee conolle The obane esuls fom aboe case sues escbe he owe, accuacy, fas see an any oeshoo esonse of he oose conolle REFERENCES Chau, KW, 27 Relably an efomance-base esgn by afcal neual newok A Eng Sofwae, 38: Chau, KW, C Wu an YS, 25 Comason of seeal floo foecasng moels n Yangze Re J Hyol Eng, : Denaï, MA an T Allaou, 22 Aae fuzzy ecoulng of UPFC-owe flow comensaon 37h UPEC22, Seembe 9-, Saffoshes Unesy, UK Es, A, Gyug, T Reman an D Togeson, 996 The Unfe Powe Flow Conolle (UPFC) fo mulle owe ansmsson comensaon ETG- FACHBERICHT, 6: 6-78 Gyugy,, 992 Unfe owe flow conol conce fo flexble AC ansmsson sysems IEE Poc, 39: Henques, J an A Douao, 999 A hyb neualecoulng ole lacemen conolle an s alcaon Poceeng of 5h Euoean Conol Confeence (ECC99) Kalsuhe, Gemany Hngoan, NG an Gyugy, 2 Unesanng FACTS: Conces an Technology of Flexble AC Tansmsson Sysems IEEE Pess, NY n, JY, CT Cheng an KW Chau, 26 Usng suo eco machnes fo long-em schage econ Hyol Sc J, 5: Ma, TT, 23 Enhancemen of owe ansmsson sysems by usng mulle UPFCs on eoluonay ogammng Poceeng of IEEE Bologna Powe Tech Confeence, 4: Naan, GH an G aszlo, 999 Unesanng FACTS: Conces an Technology of Flexble AC Tnasmsson Sysems Wley-IEEE Pess Makeng, : ; Nguyen, D an B Wow, 99 Neual newoks fo self-leanng conol sysems IEEE Conol Sys Mag, (3): 8-23 Pac, I, P Zunko, D Poh an M Wenhol, 997 Basc conol of unfe owe flow conolle IEEE T Powe Sys, 2(4): Schoe, K, A Hasanoc an A Felach, 2 Fuzzy amng conol fo he Unfe Powe Flow Conolle (UPFC) Poceeng of Noh Ameca Powe Symosum Waeloo, Canaa, 2: Sen, KK an AJF Ke, 23 Comason of fel esuls an gal smulaon esuls of olagesouce conee-base facs conolles IEEE T Powe Dele, 8: 3-36 Tuas, C, 999 Powe Flow conol of sees comensae ansmsson lnes wh an UPFC Poceengs of Euoean Powe Eleconcs Confeence (EPE'99) ausanne, : - Xang,, C Guanong, C Zengqan an Z Yuan, 22 Chaofyng lnea Elman newoks IEEE T Neual Newo, 3(5): Xe, JX, CT Cheng, KW Chau an YZ Pe, 26 A hyb aae me-elay neual newok moel fo mul-se-ahea econ of sunso acy In J Enon Poll, 28:

9 Res J Al Sc Eng Technol, 6(4): , 23 Yu, Q, SD Roun, E Noum an TM Unelan, 996 Dynamc conol of a unfe owe flow conolle Poceeng of 27h Annual IEEE Powe Eleconcs Secalss Confeence (PESC '96) Reco Baeno, : Zebae, S, A Chake an A Felach, 24 Neual newok conol of he unfe owe flow conolle Poceeng of IEEE Powe Engneeng Socey Geneal Meeng, : Zhengyu, H, N Ynxn, CM Shen, FF Wu, C Shousun an Z Baoln, 2 Alcaon of unfe owe flow conolle n neconnece owe sysems-moelng, neface, conol saegy an case suy IEEE T Powe Sys, 5: Zegle, JG an NB Nchols, 942 Omum sengs fo auomac conolles Tans ASME, 64: