INDIAN INSTITUTE OF TECHNOLOGY, MADRAS 600 036 DEC.27-20 Optimal Placement of TCSC for Static and Dynamic Voltage Security Enhancement M.K. Verma and § Abstract—This paper presents a sensitivity based approach (0 determine optimal location of ‘Thyristor Controlled Series Compensator (TCSC) for voltage security enhancement. The proposed approach of TCSC placement computes sensitivity of system loading factor with respect to line reactance, derived from reactive power balance equation. This sensitivity factor has been ine Static Participation Factor (LSPF). Th sensitivity of the most critical eigen value with respect to bus voltage angles has been utilized to calculate proposed Line Dynamic Participation Factor (LDPF). LSPF and LDPF have been combined to obtain Line Hybrid. Participation Factor (LHPF), which have been computed for the system intact case critical cont id used for selecting the optimal site for the TCSC The effectiveness ofthe proposed approach of TCSC placement has been validated on an IEEE test system with respect to enhancement of the static as well as dynamic voltage stability margins Index Terms Voltage security, TCSC, Optimal placement, ding, margin enhancement. L Ivtropuction JOLTAGE collapse, as a consequence of voltage instability has been a matter of great concern for researchers and utilities since last two decades, Out of several preventive and corrective measures suggested in literature 10 protect power system networks against such failures, the placement of FACTS controllers [1] has been established as an effective means in improving the system stability including the voltage stability. However, due to high cost of the FACTS devices, itis important to optimally place these controllers in the system, A lineatized dynamical analysis utilizing bus participation factors corresponding to the critical cigen value has been suggested in [2] for SVC placement. This method used modal transformation considering only Q-V Jacobian and ignores P-V coupling. However, this assumption may not be true near saddle-node-bifureation point (maximum loadability point). A combined staticidynamic procedure, based on the use of a continuation power flow, an optimal power flow and an eigen. value analysis, has been suggested in [3] for placement of SVC and TCSC. Ref. [4] has suggested a ‘method to determine critical voltage bus that needs Q-support and critical angle bus needing P-support based on the largest MK. Verma (emsil) mkxems@iiikae in) is with the Depatinent of Eletcal Enginering, Marcour Butler Technological Insitute Kanpu INDIA snd S.C. Srivastava (e-mail: sevith sein) is wt the Dapurent of letra! Engineering Indian Insite of Teshooloay Kant. INDIA, Telgpone: “91512-25076, Fax: “91-S12-2500065, cenity in the left and the right eigen vectors corresponding to zero eigen value at the voltage collapse point. The eritical voltage bus has been considered for SVC placement. The placement of TCSC has been considered in a main line feeding the most critical angle bus. However, no specilic criterion has been developed for identification of the main line. The sensitivity of reactive power transmission loss to the bbus reactive power injection, line reactance and phase-shift has been proposed in [5] to determine the optimal site for the SVC, TCSC and TCPAR, respectively. The impact of STATCOM on the system loading margin enhancement has been presented in (6]. However, no specific criterion has been suggested 10 find optimal placement of the STATCOM. Identification of the most critical bus and fine using extended voltage phasor approach has been suggested in [7] for placement of SVC, TCSC and STATCOM. The eigen values of the system at the maximum loading condition have been ‘examined with and without these controllers. An approach 10 enhance dynamic loading margin by SVC installation has been suggested in [8]. However, the placement of SVC has ‘been considered arbitrarily and statie model of loads has been considered, In most of the work, the placement of FACTS controllers thas been considered for the intact system. Very limited efforts have been made to study the impact of these controllers and their placement under contingencies. Placement of multiple FACTS controllers such as combination of SVC and TCSC thas been suggested in [9] using a genetic algorithm to enhance loading margin under severe contingencies. However, results presented in [9] show smaller enhancement in loading margin using SVC-TCSC combination as compared to use of only SVC. This may be duc to non-optimal placement of TCSC in the system. A fuzzy-logic based voltage control utilizing multiple FACTS controllers has been suggested in [10] for efficient voltage regulation under contingencies. The paper claims additional benefit of enhancement in voltage stability margin. However, control of bus voltages may not always enhance the maximum loadability of the system. In most of the literature, FACTS placement has been considered either for static voltage stability margin enhancement or dynamic voltage stability margin enhancement. Very litle effort seems to have been made for enhancement of static and dynamic voltage stability margins, simultaneously. This paper proposes a new approach for the sment of TCSC which considers improvement in both c and dynamic voltage stability margins. The impact of placement on voltage stability margins have be studied for the intact case as well as under severe outage24 Tl Power System Monet, In order to study the static and dynamic behavior of the power system network, its different components have been ‘modeled as described below: A. Generator Model A two-axis flux decay dynamic model [15] has been used jn this work. The dynamic equations for an i”” machine are given by; © -XidallyEisXylgdla-D(-2,) Q) Ty Eu =-By Wg XM +B ° Wty Me a) B. Exciter Model In this work, IEEE Type DC-I exeiter [16] has been used. It represents a field controlled DC commutator exciter with continuously acting voltage regulator. The dynamic equations forthe exciter are given by: Ty Et = (Key + 8B NE ee +e @ K, Tanah Kae ea ae-F) © T. Kr) Tr Rp 4-{52\ ey 0 CC. Induction Motor Load Model A third order induction motor load model [17] has been used. The dynamic equations for such load at bus-i are given ee ®) Typos ms, ) Eas 9) My Omi cD) ‘The notations in equations (1}44), (5}(7) and (8)-(10) are standard and same as those used in [15], [16] and [17] respectively D. Dynamic Model of TCSC In this paper, TCSC has been represented as a first order ‘dynamic model as in [18]. The block diagram of this model is shown in figure-1. In this figure, AXoy = Reference setting of the TCSC [NATIONAL POWER SYSTEMS CONFERENCE, NPSC 2004 These ~ Time constant of the TCSC Np = Supplementary reactance input tothe TCSC Kooy = Gain ofthe supplementary controller T,, T, = Time-constants ofthe supplementary controller lz ~ Reference power flow through the line in which TCSC is placed P= Power flow through the line in which TCSC is placed In the present work, Xj has been taken as a capacitive reactance providing 50% compensation to the line reactance. Tresc has been taken as 15 msee [18]. The parameters T;, T> and Kyp has been adjusted to result inthe maximum enhancement in the dynamic loading margin (ihe distance between the Hopf bifurcation point and the base case ‘operating point) for the intact case and severe outage cases. key 7 Xie 2 Tre x ~ a9 ‘ (ars) o Pie ; Figure Black diagram showing 8 TCSC dynamic model ‘The supplementary controller transfer function shown in figure-1 may be broken into two parts as shown in figure-2. From figure-2, the dynamic equations of the TCSC can be written as: r yok Etta] ay rh % a2) le Px, Figure-2. Block diagram ofthe TCSC dynamic model with lemate representation ofthe supplementary controller IL. MernopoLocy ‘TCSC should be placed in a line which produces maximum enhancement in static loading margin (the distance between the saddle-node-bifurcation point and the base case operating point) and dynamic loading margin (the distance between the Hopf bifurcation point and the base case operating point). A method has been proposed in this work, which computes static and dynamic participation factors and thereafter, bybrid participation factors for different lines. The line having ‘maximum value of hybrid participation factor for the intact cease and critical contingency cases have been selected as the candidate line for TCSC placement.INDIAN INSTITUTE OF TECHNOLOGY. MADRAS 600036 DEC. 27-30 A. Line Static Participation Factor (LSPF) ‘The reactive power demand QD, st « busi, in a general form [11], can be written as: DD =OD p+ AK Sabi Where, .OD,.= Reactive power demand at busi atthe base case A= Loading factor common to all the buses Ki = Constant multiplier showing the rate of change of Toad at the th bus = Power factor angle of the increased load Sua. MVA base value used for scaling to the equivalent MVAR toad increase ‘The reactive power injection Q; at bus-i, can be given by: 2,-06,-00, (y) Where, OG, = Reactive power generation at bus-i ‘The transmitted reactive power QT, at the bus-i can be expressed as: <3) on, us) LHW Y, sins, -¥,-0,) a Where ¥.28 ~Complex voltage at bus-i V,£8 =Complex voltage at bus-j ¥,20,=G, + jB,,~ij" element of the bus admittance sate ‘n= Total number of buses in the system From (13), (14) and (15), reactive power balance equation at the bus-i ean be writen as 06-004 17KSssaind= SUV SING, 4,-4) ‘ (16) i DUH Ysint5-6,-0,) ‘ “The linear sensitivity of loading factor (A) with respect 10 line reactance (say X, of a line-k connected between buses i and j) has been considered as the Line Stale Pencpation factor (LSPF). In order to obtain an approximate relationship o this sensitivity fhctor, serie resistance of the lie hasbeen neglected, Wit this assumption, the reactive power balance ‘equation (16) can be written as, QGAQD,5+AK pS saseSi0$,) V2) Bys-D Wx) +S Thsinl6 60 2) a7) 12] a4,-SWx) Where, shunt admittance at bus-i Yous = Gs +3B ‘The expression for the sensitivity factors has been obtained by partially differentiating (17) with respect to Xi; and neglecting the sensitivity terms relating change in complex voltages with respect to line reactanees. This produces, oA Vy coal 5 Oy Ko Sranusind, 7 Heeb} Where, eactive power flow through line is is assumed to be from bus-j to bus The Line Static Participation Factors (LSPF), given by (18), have been calculated for each of the lines for the intact case and siatic as well as dynamic voltage stability based critical contingency cases at a stressed point close 10 the saddle-node-bifurcation point (maximum loadabilty_ point), ‘The saddlesnode-bifureation points have been obtained by continuation power flow software package UWPFLOW [12] The static voltage stability based critical contingencies have been identified using a Modified Reactive Support Index (MRSI) [13], defined for a contingency MRSI, = SY m, (Qi -9';) Where, cas) (9) Reactive power generation of j" source (with Q-limits open) following contingency-i at the pre-contingency nose point Q,'= Reactive power generation of j* source following contingency: at the pre-contingeney base point ighing factor associated with j* Q-source Total number of reactive power sources ‘The dynamie voltage stability based critical contingencies have been obtained by a performance index, termed as, Critical Damping Index (CDI) defined for contingeney-i a: cor, Set Saa 00) Son Damping ratio associated with the ertcal eigenvalue at the post-contingeney operating point A Sona; = Damping ratio associated with the critical eigen value at the postecontingency operating point B B. Line Dynamic Participation Factor (LDPF) ‘The participation factors of different states corresponding, 10 the critical mode (cigen value) have been computed as suggested in [14] and expressed as: Pu = Suu en Where, ‘Ps, = Participation factor of the k" state corresponding to the i mode (eigen value) ,,~ki'* element ofthe right eigen vector matrix 4, = ik" element of the let eigen vector matrix ‘The participation factors of bus voltage angles corresponding to critical eigen values at Hopt bifurcation point have been computed for the system intact case as well as for the critical contingencies. The absolute value of the difference in angle participation factors of the buses connected to the two ends of a transmission line has been considered as the Line Dynamic Participation Factor (LDPE). To obtain the Hopf bifurcation point, system loadings have been increased Uill one pair of the system Jacobian matrix becomes purely imaginary. The DAE system for this study consisted of16 differential equations (1)-(12) and load flow equations {algebraic equations) of power system at different loadings. C. Line Hybrid Participation Factor (LHPF) In order to achieve simultaneous enhancement in static Joading margin (the distance between the saddle-node- bifurcation-point and the base operating point) and dynamic Toading margin (the distance between the Hopf bifurcation point and the base point), a Line Hybrid Participation Factor (LHPF) has been proposed in this paper. This participation factor for a line-k has been defined as: LUPE, = (NMRSI,).(LSPF,) + (NCDI,).(NLDPF, ) 2) Normalized Modified Reactive Support Index for Participation Factor for formalized Critical Damping Index for contingency-i {ormalized Line Dynamic Participation Factor for line-k NMRSI, and NCDI, in (22) represent relative weightage of static and dynamic participation faetors, respectively. Thus the proposed LH/PF considers the relative weightage of LSPF and LDPF ofa contingency-i as per its relative severity from static and dynamic aspects, respectively. The normalization of MRSI, LSPP, CDI and LDPF (in general form expressed as X) has been done using: arr 9 A 3) Where, ae XT" = Normalized value of X A = Maximum value of X XW = Miniroum value of X ‘The above normalization of MRSI, CDI, LSPF and LDPF ‘causes variations of these quantities between O and 1 Line Hybrid Participation Factors (LHPFs) have been computed forthe system intact case and severe outage eases ‘The line having maximum value of LHPF for different cases have been selected as candidate lines forthe TCSC placement. The static and dynamic loading margins have been computed forthe intact case and the critical contingency cases after the TCSC placement in each of the selected lines. The optimal location of TCSC has been considered in a line producing maximum enhancement in static and dynamic loading margins for the majority of critical contingencies. An additional criterion for placement of TCSC, in this work, has been that it should not be placed in a line connecting two generator buses For computation of static and dynamic loading margins, real power output of generators (PG), real power demand (PD) and. reactive power demand (QD) have been varied using: PG, =PG5 (142) en PD,=PD' (142) es) QD,=QD! (144) (26) Where, PG’, PD!,QD" are real power output of generator and real and reactive power loads at bus-j at a base operating point G00) [NATIONAL POWER SYSTEMS CONFERENCE, NPSC2004 IV. Case Sruptes The proposed method for the placement of TCSC has been applied to IEEE 14 bus system (shown in figure-3). This system has five generators (at buses 1-5) and 20 transmission lines (including 3 transformer) The static voltage stability based critical contingencies ‘wore identified using MRSI based contingency ranking method proposed in [13]. The outage of lines 1-2, 2-4, 18, 6-1, 83 (a transformer), 9-8, 2-9 and 9-6 (a transformer) were found to be the most eritieal contingencies in order of theit relative severity. The dynamic voltage stability based critical contingencies were identified using CDI based ranking, as ‘defined in (20). This identified critical contingencies as outage of lines 1-2, 8-3 (a transformer, 1 9, 9-8, 2-5 and 3- 11 in the order of ther elative severity The Line Static Participation Factors (LSPF), 2%, were ‘computed for all the lines (excluding lines’ connected 10 generators at both the ends) for the infaet case and critical contingency cases using (18) at a loading value close to the sddle-node-bifureation point. The. saddle-node-bifurcation points were obiained using UWPELW package [12]. The line ‘dynamic participation factors (LDPF) were computed using (21) for all the lines (excluding lines connected to generators at both the ends) for the intact case and eritical contingency cases at the Hopf bifurcation poin’s. The MRSI, CDI, LSPF ‘and LDPF were normalized using (23) and the line hybrid participation factors (LHPF) were computed using (22). The LLHPF value for two most sensitive lines foreach of the severe ‘outage cases and the intact system ease are given in Table-L It is observed from Table-I that line 1-8 has maximum value of LHP for the outage of lines 1-2, 9-8, 2-9 and transformer 9- 6. Line 2-8 has maximum value of LHF for the outage of Jines 1-8 and 6-7. Line 4-9 has maximum value of LHPE for the inact case and for the outage of lines 2-4, 2-8, 3-11 and transformer 3-11 outage. The static loading margins were computed for the intact ease and under static voltage stability based critical contingency cases, without TCSC in the system, and with ‘TCSC placed in line 1-8, 2-8 and 4-9, respectively, using the software package UWPFLOW. The static loading margins are given in Table-Il lis observed from this table that the placement of TCSC in line 1-8 causes maximum enhancement in static loading margin for most of the critical contingency cases. ‘The dynamic loading margins were computed for the intact case and the dynamic voltage stability based critical contingency cases, without TCSC in the system, and with ‘TCSC placed in line 1-8, 2-8 and 4-9, respectively. In order to obtain Hopf bifurcation, starting from the base case, loads ‘were gradually increased in the step of 0.01p.u. and the set of differential equations given by (}-{12) and algebraic ‘equations (load flow equations) were solved at each of the system loadings until one pair of complex eigen values of the system slate matrix became purely imaginary. The dynamic loading margins for different cases are given in Table-IIL. It is ‘observed from this table that the TCSC placement in fine 1-8 results in the maximum enhancement in dynamic loading margin for majority of the dynamic voltage stability basedINDIAN INSTITUTE OF TECHNOLOGY. MADRAS 600036 DEC. 27-30 1 critical contingencies. Hence, line 1-8 has heen selected as the ‘optimal location for the placement of TCSC. ‘PARLE MI IMPACT OF TCSC PLACEMENT ON DYNAMIC LOADING MARGIN - IEEE 14 BUS SYSTEM » Tine omaas ‘Dynamic toading margin . feses Without With ICSC] Wath TOSC resc_| inlets | wlino2s . 246 280 26 0 3 t 05) | Nologt » 7 Ta ie 26 . 24 2 \ it h 228 232 7+ 232 238 . 236 29 Figure 3. IEEE 14 bus system TABLEL LUPE VALUE FOR TWO MOST SENSITIVE LINES (UEEE [4 BUS SYSTEM) Tinsoitage | Mod] CHP] Secondo | HPF fses | severe line severe line Tmactsysten [9 oe Te] Oe {No outsgs) 1 Te 06 Tar 4) ‘or Loo oe ose a8 ae D5 0.306 ro} ox D585 Ls O35 467 is 0301 0.300 Ls oe are + D6 ‘.100 Fa 4) 075 058 TABLE IMPACT OF TCSC PLACEMENT ON STATIC LOADING MARGIN - IEEE 14 BUS SYSTEM ‘The voltage profiles for the most c system and line 24 outage cases, without TCSC and with TCSC placed in line 1-8, are shown in figures 4 and 5, respectively. It is observed from Table-LI and figures 4 and $ that the TCSC placement in line 1-8 causes considerable enhancement in state loading margins, irs Tose. + Mes ine 1 Figure. Voltage profile ofthe most rita bus forthe IEEE. 14 bus ita system (ne outage) “Tas racrs = Mn TOS ie 1 [Tine cata] Siac ing mara cscs | Without | Wi TeSc [With | WabTCSC ESC | intinetss | Tescin | inline+9 line 28 Taisen | ORT ToT os oa (No outage 12 = oa = a 2 Ta aa war a6 1 030 050 058 050 er Ds Ose ast 052 a3 Ds Os se 053 95) Dt 07 056, st 38 66 oT 086. 068 29 0.8 as 073 os Figure 5, Volige profile ofthe most rial bs or he outage of Hine 24 in Load tow diverged TEE 18 bs system18 [NATIONAL POWER SYSTEMS CONFERENCE. NPSC 2004 Few critical eigen values of the system state-matrix, ‘computed for, case (i) at the Hopf bifurcation point without ‘TCSC and ease (ii) atthe same value of the loading point as in the previous case with TCSC placed in line 1-8, are given in Table-IV for the system intact case and under outage of line 1- 2 and transformer 8-3. It is observed from Table-IV that the placement of TCSC in line 1-8 shifts the most eritical eigen value towards left in the complex plane, and thus enhances the dynamic stability of the system. TABLEIV FW CRITICAL EIGEN VALUES WITH AND WITHOUT TeSC IEEE 16 BLS SYSTEM) Ong ae Fo Gaia cea Tan Coxe Tact gnen [0120905305556] OTERO TAO Moonee) | prone j09000 [omy TN soe | RTT SOR ‘ognnns.9172¥ DatageatTag [1301 0.00000 | TERIA 2 SU T1TTi<0 46047 —| 0.135950, 0000 0-048) [Faroe nana — [nso s08 ‘.09001.68069" |=. 10090. 0000 Daag | OT TS SOT 185395026808 uansfomner | -honaejo4sse3 | 1.128.000 (0-033) F“atoons 868" | i0Twos ona S011. 000" * Most rica eigenvalue V. ConcLUSION ‘This paper has presented a new sensitivity based approach, for the optimal placement of the TCSC to enhance static and dynamic voltage security of the power _ system, simultaneously. The sensitivity of loading factor with respect to line reactance has been considered as static participation factor for the line. The absolute value of the difference in voltage angle participation factors of the buses connected at the two ends of the line, corresponding to the eritical eigen values at Hopf bifurcation point, has been considered as the dynamic participation factor of the line. The static and dynamic participation factors of the line has been combined and a hybrid participation factor has been defined which also considers the relative weightage of the static and the dynamic participation factors. The optimal placement of the TCSC has bbeen decided based on the proposed line hybrid participation factor value, From the case studies carried out on IEEE 14 bus system, the proposed approach of TCSC placement has been found to be quite effective in enhancing the static as well as dynamic voltage stability margins. REFERENCES LI}. 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S, Abad Zaid and M, Taleb, “Suuctusl modsing of small and large fndution machines, IEBE Trans on Energy Conversion, Vol. 8, NO. 3 1p 529-535, September 1991 [1S], John J. Paserba, Nicholas W, Miller, Einar V. Larson, Rihaed J. Pio, A thyristor conyolled series compensation mods Yor power sytem slab analy, IEEE Trane on Power Deliver, Vol. 10, NO. 3. PP TATL-LYTR July 1995, VII. Broorapuies M. K. Verma (b'1968) recived B. Teel. degree in Eleecal Engineering fiom REC: Rourkela (iia) in 1989 and [Link], degre for BIT, Sine (India) in 1984. Presey be i a ically member in Fletical Eng. Dept at arcou Ble Tecnologia! Insite, Kanpur nia) He carrying tis D. hess at Idi fstnce of Technoloyy, Kanpur (nda). His esearch inlrets ince voltage ability & volage security analysis nd appiaton SEFACTS contller. S.C. Srivastava (1955) received [Link], deste in Eleetricl Enginesrng fiom Banaras Hinds University, Varanasi (Indi) in 1976 and PD. depres from Indian tastiute of Technology, New Deli (India). Pesenly he 1s a Professor in Electrical Eng. Depa nda Institute of Technology, Kanpur (Unda) His rescuch interes include energy megemcnt system, power System optimization, sate estimation, security analis, voltage ably tnalyss and power stem resuucturing. He sa follow ofthe Indian National ‘Academy of Engineering (NAB), Insiation of Engineers (Ini) & TETE. (Unda) and sonar member IEEE,