PSO Optimized PID Controller for Interconnected multi-area Power system with and without HVDC link under Open Market System

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395 -0056
Volume: 04 Issue: 03 | Mar -2017 www.irjet.net p-ISSN: 2395-0072
© 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 945
PSO Optimized PID Controller for Interconnected multi-area Power
system with and without HVDC link under Open Market System
Emad Ali Daood1, A.K. Bhardwaj2
¹²(Department of Electrical Engineering, SSET, SHIATS, Allahabad, U.P, India)
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Abstract – This work presents Load Frequency
Control (LFC) of multi -area interconnected thermal
power systems incorporate with reheat turbine. Area
1, area 2 and area 3 are interconnected using normal
HVAC tie line. In this investigation HVDC link is
connected in parallel with HVAC tie line and
performance of AC/DC tie line is compared with
ordinary HVAC tie line. The dynamic performance of
the system is observed with conventional PI controller.
Optimal values of proportional and integral controller
gain values are tuned using Particle Swarm
Optimization technique. Time domain simulation is
utilized to study the behavior of system with 1% of
step load disturbance given in either area of the
system. Finally, simulation result indicates that the
system with HVDC link yield better controlled response
in terms of settling time and overshoot
Key Words: Three area power system, LFC, HVDC
link, PSO, Open Market System,PID
I. Introduction
Energy is important, which is used in our day to day
life from ancient days. Different kinds of energies
used are mechanical, thermal, electrical etc. Out of all
energies electrical energy is preferred due to various
advantages. Because electrical energy can be easily
transported from one place to another, easily
converted into other forms of energy, easily
controlled and regulated to match requirements and
also the losses during transportation is mini-mum.
Due to the advancement in technology the power
consumption is increasing continuously and power
demands on the power system are never steady and
it varies continuously [9-11]. Change in active power
affects the system frequency and variation in reactive
power causes the changes in magnitude value of
voltage. Therefore to maintain the steady state
operation of power system is necessary to control
both active and reactive power.
Load frequency control (LFC) method is used to
control the frequency of large interconnection of
power system [9-11]. This provides reliable electric
power with good quality to consumers. Because
quality and reliability of power is very much
important for sensitive loads such as hospitals,
processing plants (semiconductor, food, rayon and
fabrics) and data processing. To produce more
power, power systems are interconnected. Here
thermal power plants are interconnected. Generally
thermal plants respond to rapidly changing loads
without difficulty and this plant, not only produces
electric power, but also generates steam for different
industrial purposes. It occupies less space compared
to Hydro electric plants. Interconnection of power
plants provides maximum advantages over
individual power plant operation. The
interconnection between power systems can highly
improve the continuity, security and integrity of
power supply, reduce the cost of energy per unit and
improves the reliability of supply to the consumers.
Due to increased size of power system, the
complexity is increased. So the stability of the power
system should be maintained. In this paper, stability
of the power system is maintained by the
conventional PI controller. In addition to the HVAC
tie line HVDC link is connected in parallel. Due to this
parallel HVAC tie line and HVDC link the settling time
and oscillations are reduced and the system
performance is improved [3-6].
The main objectives of the present work are:
 To model the simulink model of three area
interconnected thermal power systems with
re-heat turbine.
 To study the effects of HVDC link parallel
with HVAC tie line in multi-area thermal
power systems.
 To optimize the integral and proportional
controller gains using integral time absolute
error technique with and without HVDC link.

 To compare the dynamic performances of
reheat thermal power systems with and
without HVDC link
II. THREE AREA POWER SYSTEMS
The LFC investigated system consists of three
generating units of equal size, area 1, 2 and 3
comprising a reheat thermal power system. Here
conventional PI controller act as a supplementary
controller. The block diagram representation of three
area power systems with PI controller is shown in
fig.1. [1-2,5-6]. MATLAB version 7.5(R2007b) has
been used to obtain the frequency deviation in area1,
area3, tie line power flow deviation in area 1, area 3
and area control error in area 3 with 1% of step load
perturbation in area 1.
Figure1. Three Area interconnected Power system with
HVDC link
a). HVDC link
HVDC link is used to transmit electric power for long
distance. With HVDC system the elimination of the
effect of line reactance and no charging current
makes it possible to have stability without any
consideration of the line length [5]. HVDC is also
preferred for underground and submarine cable
transmission over long distance at high voltage. In
case of AC cable the temperature rises due to
charging current forms a limit for loading. That is
beyond certain limit AC cable cannot be used due to
thermal limit and the HVAC interconnection between
the power systems produces many problems
particularly in case of long distance transmission [3,
7-8]. By the use of HVAC lines, large oscillations are
produced which make frequent tripping and
increases fault current level. These problems reduce
the overall system dynamic performance.
When the HVDC link is used in parallel with the
HVAC line, the above problems are reduced and the
dynamic performance of the system is also improved.
The important features of HVDC transmission lines
are fast controllability of line power and
improvement of transient stability in HVAC lines.
HVDC system has three basic parts such as AC to DC
converter station, transmission line and DC to AC
converter station. Converters used in both ends are
much expensive and HVDC transmission system is
economical for long distances and also converters
produce a lot of harmonics which may cause
interference with communication lines requiring
filters which increase the cost. The transfer function
model of HVDC link is given by
b). OPEN MARKET SYSTEM
In the Open Market system there are several GENCOS
and DISCOS, a Disco has the freedom to have a
contract with any Genco for transaction of power. A
Disco may have a contract with a Genco in another
control area. Such transactions are called “bilateral
transactions.” All the transactions have to be cleared
through an impartial entity called an independent
system operator (ISO). The ISO has to control a
number of so-called “ancillary services”, one of which
is AGC.
Figure2: Block Diagram of Three area Open Market System
Figure 2, shows the Three area Open market system
where G1, G2, G3 represents the GENCOS in the
control area and D1, D2 represents the
corresponding DISCOS. Area1 comprises of three

GENCOs with thermal power system of reheat and
hydro turbine combinations and two DISCOs, Area2
comprises of two GENCOs with hydro and thermal
(reheat turbine) combination and one DISCO, Area3
consists of two GENCOs with hydro and thermal
(reheat turbine) combination and two DISCOs.
c). Open Market System with HVDC link
In the open market environment the vertically
integrated utility (VIU) power system no longer
exists. Deregulated system consists of GENCOs,
DISCOs, transmission companies and independent
system operators (ISO). However the common goal is
to keep frequency constant. The deregulated system
contains two areas. Each area contains two
generators and also two discos as shown in fig.3.
Figure 3: Configuration of Three-Area Power system With
HVDC link.
The power system is assumed to contain a hydro and
a thermal unit in all the three areas therefore each
area includes two GENCOs and also two DISCOs as
shown in Fig. 3
III.PARTICLE SWARM OPTIMIZATION
PSO is a stochastic heuristic population based
optimization method, which is based on swarm
intelligence. It is originated by idea comes from the
research on the bird and fish flock movement
behaviour. PSO algorithm is first given by Kennedy
and Eberhart in 1995 [12-13]. This algorithm is
widely used for so many applications because of its
easy implementation and only few parameters need
to be tuned.
Basic idea of PSO is while the birds in search of food
from one place to another, there will always a bird
that is moving close to food very well or having
information of good food. Then birds will eventually
flock to the place where food can be found, their
movement is inspired by their best known position
as well as flock best known position. As far as PSO
algorithm is concerned, each bird position is
compared to the best known position of swam as
well as their best known position, and the birds’ next
move from one place to another root for
development of the solution, good position is equal
to most optimist solution [13].
( ) ( ) ( )
( ( ) ( ))
( ) ( ( ) ( ))
( ) ( ) ( )
Where , iter = iteration number
i=particle index, m = Dimension, Velocity of ith
particle in mth dimensions, ith particle in mth
dimensions, Swarm Global best position of ith
particle in mth dimension, Particle best position of
ith particle in mth dimension, w Momentum,
Acceleration constants Random numbers with
uniform distribution [0, 1]
a) Tuning of PID controller using PSO
In this work, tuning or optimization of PID controller
is done through PSO optimization. After 10 runs the
best values of found by PSO optimization for PID
tuning. The acceleration constants C1, C2 and w
values selected for present algorithm is 1.2, 0.12 and
0.9 respectively.
IV. Results and Experimentation
a) Comparison of Three-Area interconnected
power system under open market system with and
without HVDC Link using PSO-PID controller:
For the open market system, a restructured system is
designed with two GENCO’s, two DISCO’s. Here in
figure 4 each area has two generators and two
turbine. And the subsystem DPM is the complete
implementation of the Disco partition matrix, which
gives the details of the participation of DISCO’s in
contract with GENCO’s.

Fig 4: SIMULINK model of Three–Area Interconnected
power system with HVDC link using PSO-PID under open
market system.
Table1: Settling Time comparison using PSO-PID controller with
and without HVDC link under open market system
Configuration Area
1(sec)
Area 2
(Sec)
Area
3(sec)
With EHVAC link only 7 7 7
With EHVAC/HVDC
link 5.5 5.5 5.5
Table 2: Deviation comparison of Change in frequency (∆f) using
PSO-PID controller with and without HVDC link under open market
system
Configuration Area
1(p.u.)
Area 2
(p.u.)
Area
3(p.u.)
With EHVAC link
only
0.007 0.007 0.008
With
EHVAC/HVDC link
0.004 0.004 0.004
Table 1 and 2 shows the comparison between with
and without HVDC link under open market system
simulation results on the basis of settling time and
overshoot. Here from tables it can be seen that the
settling time in case of HVDC link is very less around
5.5 seconds where as in case of only EHVAC it is 7
seconds.
Figure 5, 6 and 7 illustrates the comparison of
frequency deviations of all the three areas with and
without HVDC link under open market system where
on x-axis it’s the simulation time and on y-axis it is
the ∆f (frequency deviation).
Fig 5: With and Without HVDC Link Area1 delta-F using
PSO-PID under open market system.
Fig 6: With and Without HVDC Link Area2 delta F using
Fig 7: With and Without HVDC Link Area3 delta F using
Figure 5, 6 and 7 displays the graph of the analysis
under open market system using PSO-PID controller.
The overshoot in case of HVDC link is quite less in
open market case as well. And the settling time is

also 1.5 seconds less when it is compared with the
without HVDC link output plot. The addition of HVDC
link in the open market system also where we have
two GENCO’s and two DISCO’s in each areas have
immensely improved the quality of the system
dynamics.
V. CONCLUSIONS
The following summaries are the noteworthy
contribution of this work:
 In this work simulink model of three area inter
connected power system under open market
system is modelled and performance of system is
obtained with 1% of step load disturbance given in
area 1.
 The proposed model of HVDC link is implemented
in the interconnected Hydro-thermal-Hydro power
systems.
 The optimal conventional controller gain values are
obtained by using Particle Swam Optimisation with
and without considering HVDC link in open market
system.
 Investigation reveals that, the system yields more
controlled and fast settled response when HVDC
link is taken into an account.
VI. REFERENCES
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[3]R.Thottungal, P.Anbalagan, T.Mohanaprakash,
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[4] Ibraheem, P.Kumar and S.Ahmad, “Dynamic
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[5] B.Anand, “load frequency control of hydro-hydro
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[7] Srujana.A, Jayaram kumar S.V, “A noval hvdc
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PSO Optimized PID Controller for Interconnected multi-area Power system with and without HVDC link under Open Market System

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PSO Optimized PID Controller for Interconnected multi-area Power system with and without HVDC link under Open Market System