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Bindeshwar Singh .R et al. / International Journal of Engineering Science and Technology

Vol. 2(5), 2010, 980-992

Prevention of Voltage Instability by Using

FACTS Controllers in Power Systems: A

Literature Survey

Bindeshwar Singh, Research Scholar, Kamla Nehru Institute of Technology, Sultanpur-228118, U.P., India,N. K. Sharma, Raj KumarGoel Institute of Technology, Ghaziabad, U.P., India.

A. N. Tiwari, Madan Mohan Malviya Engineering College, Gorakhpur-273010, U.P., India.

ABSTRACT-This paper presents exhaustive review of various concept of voltage instability, main causes of

voltage instability, classification of voltage stability, dynamic and static voltage stability analysis techniques,

modeling, shortcomings, in power systems environments. It also reviews various current techniques/methods for

analysis of voltage stability in power systems through all over world. Authors strongly believe that this survey

article will be very much useful to the researchers for finding out the relevant references in the field of voltage

instability in power system environments.

Keywords- Voltage Stability, Voltage Security, Voltage Instability, Voltage Collapse, FACTS, FACTS

Controllers, SVC, TCSC, SSSC, STATCOM, UPFC, IPFC, Power Systems.

I.INTRODUCTION

RECENTLY, several network blackouts have been related to voltage collapses. This phenomenon tends to occur

from lack of reactive power supports in heavily stressed conditions, which are usually triggered by system

faults. Therefore, the voltage collapse problem is closely related to a reactive power planning problem including

contingency analyses, where suitable conditions of reactive power reserves are analyzed for secure operations of

power systems. In the conventional reactive power planning problem, two kinds of constraints have been used.

They are voltage feasibility constraints which guarantee bus voltage within permissible limits, and voltage

stability constraints which guard the system against voltage collapse.

Traditionally, the objective of the reactive power (VAR) planning problem is to provide a minimum number of

new reactive power supplies to satisfy only the voltage feasibility constraints in normal and post-contingency

states. Various researches have been carried out for this subject [1] and [2]. Recently, due to a necessity to

include the voltage stability constraints, a few researches have been reported concerning new formulations

considering the voltage stability problem [3] and [4], which provides more realistic solutions for the VAR

planning problem. However, the obtained solutions are sometimes too expensive since they satisfy all of thespecified feasibility and stability constraints. In [5], a new formulation and solution method are presented for

the VAR planning problem including FACTS devices, taking into account the issues just mentioned. TCSC and

SVC are used to keep bus voltages and to ensure the voltage stability margin.

In recent years, voltage instability has been responsible for several major network collapses. Voltage stability is

concerned with the ability of a power system to maintain acceptable voltage at all buses in the system under

normal conditions and after being subjected to a disturbance. A system enters a state of voltage instability when

a disturbance, increase in load demand, or change in system condition causes a progressive and uncontrollable

decline in voltage. The main factor causing voltage instability is the inability of the power system to meet the

demand for reactive power.

Voltage stability problems normally occur in heavily stressed systems. While the disturbance leading to voltage

collapse may be initiated by a variety of causes, the underlying problem is an inherent weakness in the power

system. In addition to the strength of transmission network and power transfer levels, the principal factors

contributing to voltage collapse are the generator reactive power/voltage control limits, load characteristics,

characteristics of reactive compensation devices, and the action of voltage control devices such as transformerunder load-tap changers (ULTCs).

Power system stability has been recognized as an important problem for its secure operation since 1920s [6, 7].

Result of the first laboratory tests on miniature systems were reported in 1924 [8]; the first field tests on the

stability on a practical power system were conducted in 1925 [9, 10].Traditionally, the problem of stability has

been one of maintaining the synchronous operation of generators operating in parallel, known as rotor angle

stability. The problem of rotor angle stability is well understood and presented in literatures [11]-[15]. With

continuous increase in power demand, and due to limited expansion of transmission systems, modern power

system networks are being operated under highly stressed conditions. This has been imposed the threat of

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maintaining the required bus voltage, and thus the systems have been facing voltage instability problem [16]-

[18].

Due to increase in power demand, modern power system networks are being operated under highly stressed

conditions. This has resulted into the difficulty in meeting reactive power requirement, especially under

contingencies, and hence maintaining the bus voltage within acceptable limits. Voltage instability in the system,

generally, occurs in the form of a progressive decay in voltage magnitude at some of the buses. A possible

outcome of voltage instability is loss of load in an area, or tripping of transmission lines and other elements by

their protective systems leading to cascaded outages and voltage collapse in the system [18, 19]. Voltagecollapse is the process by which the sequence of events, accompanying voltage instability, leads to a blackout or

abnormally low voltages in a significant part of a power system [15, 20, 21]. Several incidences of voltage

collapse have been observed, in past few decades, in different parts of the world. Some of the incidences of

voltage collapse are [15, 21, 22]:

New York State Pool disturbance of September 22, 1970. Jacksonville, Florida system disturbance of September 22, 1977. Zealand, Denmark system disturbance of March 2, 1979. Longview, Washington area system disturbance of August 10, 1981. Central Oregon system disturbance of September 17, 1981. Belgium system disturbance of August 4, 1982. Florida system disturbance of December 28, 1982. Western French system disturbance of December 19, 1978 and January 12, 1987. Northern Belgium system disturbance of August 4, 1982. Northern California system disturbance of May 21, 1983. Swedish system disturbance of December 27, 1983. Japanese system disturbance of July 23, 1983. Northeast United States system disturbance of June 11, 1984. England system disturbance of May 20, 1986. Miles City HVDC links, May and July 1986. Tokyo system disturbance of July 23, 1987. IIIinois and Indiana system disturbance of July 20, 1987. Mississippi system disturbance of July 28, 1987. South Carolina system disturbance of July 11, 1989. Western France system disturbance of February 3, 1990 and November 1990. Baltimore and Washington D.C. system disturbance of July 5, 1990. Western System Co-ordination Council (WSCC) interconnected system (North America) disturbance of

July 2, 1996. Sri Lanka Power System disturbance of May 2, 1995. Northern Grid disturbance in Indian Power System of December 1996. North American Power system disturbance of August 14, 2003. National Grid System of Pakistan disturbances of September 24, 2006.Voltage instability has been major concern in power systems, especially in planning and operation, as there has

been several major power interruptions associated with this phenomenon, is presented in several literatures.

Voltage instability due to the lack of the ability to foresee the impact of contingencies is one of the main reasons

for the recent and worst North American Power interruptions on August 14 th, 2003. Hence, electric power

utilities around the world have been devoting a great deal of efforts in voltage stability assessment and the

enhancement of stability margin. Major contributory factors to voltage instability are power system

configuration, generation pattern and load pattern. Power system network can be modified to alleviate voltage

instability or collapse by adding reactive power sources i.e. shunt capacitors and/or Flexible AC Transmission

System (FACTS) devices at the appropriate locations. There are various types of FACTS devices available for

this purpose, namely Static Var Compensator (SVC), Thyristor controlled series Capacitor (TCSC), StaticSynchronous series compensator (SSSC), Static Synchronous Compensator (STATCOM), Unified Power Flow

Controller (UPFC) and Interlink Power Flow Controller (IPFC).

This paper is organized as follows: Section II discusses the classification of voltage stability. Section III

discusses the various causes of voltage instability. Section IV discusses the shortcomings of a literatures survey.

Section V discusses the Bifurcation and voltage stability. Section VI discusses the prevention of voltage

instability. Section VII presents the review of various techniques/methods for placement and Coordination of

FACTS controller in multi-machine power systems from voltage stability point of view. Section VIII presents

the summary of the paper. Section VIV presents the conclusions of the paper.

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II. CLASSIFICATION OF VOLTAGE STABILITY

Voltage instability in the power system occurs due to incapability of power system to supply loads under

disturbances. Disturbances may be either large or small in nature. Accordingly, voltage stability can be

classified in following two subcategories:

Large-disturbance voltage stability refers to the systems ability to maintain steady voltages following largedisturbances such as system faults, loss of generation, or circuit contingencies. Determination of large-

disturbance voltage stability requires the examination of non-linear response of power system. The studyperiod of interest may extend from a few seconds to tens of minutes.

Small- disturbance voltage stability refers to the system ability to maintain steady voltage under smalldisturbances such as incremental change in system load. With appropriate assumptions, system equations

can be linearized for analysis. The time frame of interest for voltage stability problem may vary from a few

seconds to tens of minutes. Therefore, voltage stability may be either short-term or long-term phenomenon.

Short-term voltage stability involves dynamic of fast acting load components such as induction motors,electronically controlled loads, and HVDC converters. The study period of interest is in the order of several

seconds, and analysis requires solution of appropriate different equations; this is similar to analysis of rotor

angle stability.

Long-term voltage stability involves dynamics of slower acting equipments such as tap-changingtransformers, thermostatically controlled loads and generator current limiters. The study period of interest

may extend to several or many minutes and long-term simulations are required for analysis of system

dynamic performance [23]-[25].

III. PRINCIPAL CAUSES OF VOLTAGE STABILITY PROBLEMS

Some of the causes for occurrence of voltage instability are

Different in Transmission of Reactive Power Under Heavy Loads. High Reactive Power Consumption at Heavy Loads. Occurrence of Contingencies. Voltage sources are too far from load centers. Due to unsuitable locations of FACTS controllers. Poor coordination between multiple FACTS controllers. Presence of Constant Power Loads. Reverse Operation of ON Load Tap-Changer (OLTC).VI. SHORTCOMINGS OF A LITERATURES SURVEY

One of the major causes of voltage instability is the reactive power limits of the power systems. The many

literatures have proposed solutions for this problem, by using suitable location of Flexible AC Transmission

Systems (FACTS) and proper coordination between FACTS controllers to improve voltage stability of the

power systems. Hence, improving the systems reactive power handling capacity via Flexible AC transmission

System (FACTS) device is a remedy for prevention of voltage instability and hence voltage collapse.

The several literatures are proposed the different methods/techniques for placement of FACTS controllers, and

coordination of FACTS controllers, one of the shortcomings of such methods is that they only consider the

normal state of system. However, voltage collapses are mostly initiated by a disturbance (e.g. the outage of a

line, or fault on system or generation unit, or increased in load demand). So to locate FACTS devices,

consideration of contingency conditions is more important than consideration of normal state of system and

some approaches are proposed to locate of FACTS devices with consideration of contingencies, too presented in

the many literatures.

V. BIFURCATION AND VOLTAGE STABILITY

The qualitative change in behaviour of system is known as bifurcation. Out of different types of bifurcations, the

phenomenon of voltage instability may be attributed to occurrence of Saddle-node-bifurcation (a static

bifurcation) and Hopf bifurcation (a dynamic bifurcation).

The behaviour of a power system can be described by a set of differential-algebraic equations (DAE) written, in

a general form as:

),,( uyxfx

(1)

),,(0 uyxg (2)

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Where, x is a vector of dynamic variables, y, is a vector of algebraic variables and u is a vector of parameters.

Linearization of these equations around an operating point ),,( 000 uyx provides a linearized model of the DAE

system as,

y

x

DC

BAx

0(3)

If D is nonsingular, the set of DAE in equation (3) can be reduced to a set of differential equations given by:

xCBDAx

)(1

The eigen values of the reduced Jacobian matrix, A undergoes changes for any variation in the parameters u.

With variation in parameters u one of the eigen values of reduced Jacobian matrix, A may reach origin resulting

in Saddle-node-bifurcation or one pair of the complex eigen values of the reduced system Jacobian matrix may

reach the imaginary axis resulting in Hopf bifurcation.

A. Saddle- Node Bifurcation and Static Voltage InstabilityA saddle-node bifurcation is the disappearance of system equilibrium as parameters change slowly. The saddle-

node bifurcation has been shown as point SNB in the voltage (V) vs. loading factor )( curve in figure 1. In

figure 1, there are two voltage solutions before saddle-node bifurcation point SNB, for certain loading factor.

The upper voltage solution corresponds to normal behaviour of power system and represents stable solution.

The lower voltage solution represents unstable solution as all controllers designed for voltage control fail and a

progressive decay of voltage occurs. At the saddle-node bifurcation point SNB only one voltage solution occurs

and beyond SNB no solution exists. Thus the system can be loaded up to point SNB. Therefore, point SNB is

also called maximum loadability point. The shape of V curve looks like nose and point SNB looks like tipof the nose. Hence, V curve is also called nose curve and point SNB is called nose point. The saddle-nodebifurcation occurs due to slow and gradual increase in loadings and may result in static voltage instability. The

horizontal distance between the base case operating point and saddle-node bifurcation point (the distance AB in

figure 1) is called static voltage stability margin or static loading margin. The power system may be represented

by static model and static load flow equations may be solved at different loadings to determine saddle-node

bifurcation point SNB. At point SNB, the sensitivity /V becomes infinity and Newton Raphson LoadFlow Jacobian becomes singular.

AB= Static voltage stability margin (Static loading margin)

AC= Oscillatory voltage stability margin (Dynamic loading margin)

Voltage (V)

HB

SNB

A C B

Loading Factor )(

Figure 1: IIIustration of Saddle-node Bifurcation and Hopf Bifurcation

B. Hopf Bifurcation and Oscillatory voltage Instability

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Voltage collapse in a power system, resulting from voltage instability, has been reported to occur mostly due to

saddle-node bifurcation [26]. A power system cannot be loaded beyond saddle-node bifurcation point, since the

system equilibrium disappears at this point. One of the eigen values of the system state matrix becomes zero at

the saddle-node bifurcation point. While most of the practical cases of voltage instability have been due to

occurrence of the saddle-node bifurcation, the possibility of voltage collapse taking place due to Hopf

bifurcation cannot be ruled out [27]. There are few incidences of severe voltage collapse taking place due to

occurrence of Hopf bifurcation, which include Western System Coordination Council (WSCC) disturbance of

August 10, 1996 [28] and Sri Lankan Power System disturbance of May 2, 1995 [22]. The consequences weresevere. In the WSCC system, approximately 7.5 million customers were interrupted from continuous supply. In

the Sri Lankan case, it took about an hour to bring the system back to normal, following a nationwide 30

minutes blackout.

With increase in system loading factor the Hopf bifurcation occurs when one pair of complex eigen values of

the system

VI. PREVENTION OF VOLTAGE INSTABILITY

Some of the prevention of voltage instability by following :

Placement of Series and Shunt Capacitors. Installation of Synchronous Condensers. Placement of FACTS Controllers. Coordination of Multiple FACTS Controllers. Under-Voltage Load Shedding. Blocking of Tap-Changer Under Reverse Operation. Generation Rescheduling.VII. SENSITIVITY BASED, OPTIMIZATION BASED AND ARTIFICIAL INTELLIGENCE

TECHNIQUES FOR VOLTAGE STABILITY ANALYSIS

A. By Placement of FACTS Controllers in Power SystemsReferences [29], classify three broad categories such as a sensitivity based methods, optimization based method,

and artificial intelligence based techniques for placement of FACTS controllers from different operating

conditions viewpoint in multi-machine power systems.

1) Sensitivity Based Methods:There are various sensitivity based methods such as a modal or eigen-value and index analysis. A structure

preserving energy margin sensitivity based analysis has been addressed for determine the effectiveness of

FACTS devices to improve transient stability of a power system in [30]. A new method called the Extended

Voltage Phasors Approach (EVPA) has been suggested for placement of FACTS controllers in power systems

for identifying the most critical segments/bus in power system from the voltage stability view point in [31]. A

residues based approach has been proposed for allocation of FACTS controllers in power system to enhance the

system stability [32]-[33]. A sensitivity based approach has been proposed for placement of FACTS controllers

in open power markets to reduce the flows in heavily loaded lines, resulting in an increased loadability, low

system loss, improved voltage stability of the network, reduced cost of production and fulfilled contractual

requirement by controlling the power flows in the network in [34]-[35]. A sensitivity based approach called Bus

Static Participation Factor (BSPF) has been proposed for determine the optimal location of static VAR

compensator (SVC) for voltage security enhancement in [36]. In [37], a sensitivity analysis method has been

proposed for determine the optimal placement of static VAR compensator (SVC) for voltage securityenhancement in Algerian Distribution System. Reference [38], presents a sensitivity based approach has been

proposed for optimal placement of UPFC to enhance voltage stability margin under contingencies. Reference

[39], suggested a Trajectory Sensitivity Analysis (TSA) technique for the evaluation of the effect of TCSC

placement on transient stability. In [40], a sensitivity based technique used for determine the minimum amount

of shunt reactive power (VAr) support which indirectly maximizes the real power transfer before voltage

collapse is encountered. Sensitivity information that identifies weak buses is also available for locating effective

VAr injection sites. A new approach based on sensitivity indices has been used for the optimal placement of

various types of FACTS controllers such as TCSC, TCPAR and SVC in order to minimize total system reactive

power loss and hence maximizing the static voltage stability in [41].

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2) Optimization Based Methods:This section reviews the optimal placement of FACTS controllers based on various optimization techniques

such as a linear and quadratic programming, non-linear optimization programming, integer and mixed integer

optimization programming, and dynamic optimization programming. A non-linear optimization programming

techniques has been proposed for optimal network placement of SVC controller in [42] and a Benders

Decomposition technique has been used for these solutions. A mixed integer optimization programming

algorithm has been proposed for allocation of FACTS controllers in power system for security enhancementagainst voltage collapse and corrective controls, where the control effects by the devices to be installed are

evaluated together with the other controls such as load shedding in contingencies to compute an optimal VAR

planning [43]. In [44], a mixed integer non-linear optimization programming algorithm is used for determine the

type, optimal number, optimal location of the TCSC for loadability and voltage stability enhancement in

deregulated electricity markets. A mixed integer optimization programming algorithm has been used for optimal

location of TCSC in a power system in [45]. Chang and Huang et al. showed that a hybrid optimization

programming algorithm for optimal placement of SVC for voltage stability reinforcement [46]. Orfanogianni

and Bacher et al. suggested an optimization-based methodology is used for identify key locations of TCSC and

UPFC include the nonlinear constraints of voltage limitation, zero megawatt active power exchange, voltage

control, and reactive power exchange in the ac networks [47].

3) Artificial Intelligence Based Techniques:This section reviews the optimal placement of FACTS controllers based on various Artificial Intelligence based

techniques such as a Genetic Algorithm (GA), Expert System (ES), Artificial Neural Network (ANN), Tabu

Search Optimization (TSO), Ant Colony Optimization (ACO) algorithm, Simulated Annealing (SA) approach,

Particle Swarm Optimization (PSO) algorithm and Fuzzy Logic based approach. A genetic algorithm has been

addressed for optimal location of phase shifters in the French network to reduce the flows in heavily loaded

lines, resulting in an increased loadability of the network and a reduced cost of production [48]. A genetic

algorithm has been addressed for optimal location of multiple type FACTS controllers in a power system. The

optimization are performed on three parameters; the location of the devices, their types and their values. The

system loadability is applied as measure of power system performance. Four different kinds of FACTS

controllers are used as models for steady state studies: TCSC, TCPST, Thyristor Controlled Voltage Regulator

(TCVR) and SVC in order to minimizing the overall system cost, which comprises of generation cost and

investment cost of FACTS controllers [49]. A stochastic searching algorithm called as genetic algorithm has

been proposed for optimal placement of static VAR compensator for enhancing voltage stability in [50].

Reference [51], genetic algorithm (GA) and particle swarm optimization (PSO) has been proposed for optimal

location and parameter setting of UPFC for enhancing power system security under single contingencies.

Reference [52], a genetic algorithm (GA) has been proposed for optimal choice and allocation of FACTS

devices such as UPFC, TCSC, TCPST, and SVC in deregulated electricity market. A Tabu Search algorithm has

been addressed for optimal placement of FACTS controllers such as TCSC, TCPST, UPFC, and SVC in multi-

machine power systems [53]-[54]. References [55], [56], a novel optimization based methodology such as a

simulated annealing has been proposed for optimal location of FACTS devices such as TCSC and SVC in order

to relive congestion in the transmission line while increasing static security margin and voltage profile of power

system networks. In [57], the Goal Attainment (GA) method based on the SA approach is applied to solving

general multi-objective VAR planning problems by assuming that the Decision Maker (DM) has goals for each

of the objective functions. The VAR planning problem involves the determination of location and sizes of new

compensators considering contingencies and voltage collapse problems in a power system. Rashed et al.

suggested a Genetic Algorithm (GA) and PSO techniques for optimal location and parameter setting of TCSC to

improve the power transfer capability, reduce active power losses, improve stabilities of the power network, and

decrease the cost of power production and to fulfill the other control requirements by controlling the power flow

in multi-machine power system network [58]. In [59], a Particle Swarm Optimization (PSO) technique has been

addressed for optimal location of FACTS controllers such as TCSC, SVC, and UPFC considering systemloadability and cost of installation. In [60], an Ant Colony Optimization (ACO) algorithms has been addressed

for the planning problem of electrical power distribution networks, stated as a mixed non-linear integer

optimization problem, is solved using the Ant Colony System (ACS) algorithm. The ACS methodology is

coupled with a conventional distribution system load flow algorithm and adapted to solve the primary

distribution system planning problem. A Graph Search Algorithm has been addressed for optimal placement of

fixed and switched capacitors on radial distribution systems to reduce power and energy losses, increases the

available capacity of the feeders, and improves the feeder voltage profile [61]. In [62], the theory of the normal

forms of diffeomorphism algorithm has been addressed for the SVC allocation in multi-machine power system

for power system voltage stability enhancement. Luna and Maldonado et al. has been addressed a new

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methodology is based on the evolutionary strategies algorithm known as Evolution Strategies (ES) for optimally

locating FACTS controllers in a power system for maximizes the system loadability while keeping the power

system operating within appropriate security limits [63]. In [64], a knowledge and algorithm based approach is

used to VAR planning in a transmission system. The VAR planning problem involves the determination of

location and sizes of new compensators considering contingencies and voltage collapse problems in a power

system. Fang and Ngan et al. [65] suggested an augmented Lagrange Multipliers approach for optimal location

of UPFC in power systems to enhances the steady state performance and significantly increase the loadability of

the system. Hao et al. [66] has been proposed an improved evolutionary programming technique for optimallocation and parameters settings of UPFCs to maximize the system laudability subject to the transmission line

capability and specified voltage level.

B. By Coordination of FACTS Controllers in power SystemsReferences [29], classify three broad categories such as a sensitivity based methods, optimization based method,

and artificial intelligence based techniques for coordination of FACTS controllers from different operating

conditions viewpoint in multi-machine power systems.

1) Sensitivity Based Methods:There are various sensitivity based methods such as a modal or eigen-value analysis, and index method. A new

methodology has been addressed for the solution of voltage stability when a contingency has occurred, using

coordinated control of FACTS devices located in different areas of a power system. An analysis of the initial

conditions to determine the voltage stability margins and a contingency analysis to determine the critical nodes

and the voltage variations are conducted. The response is carried out by the coordination of multiple type

FACTS controllers, which compensate the reactive power, improving the voltage stability margin of the critical

modes [67]. In [68], an eigen-value sensitivity based analysis approach has been addressed for the evaluation

and interpretation of eigen-value sensitivity, in the context of the analysis and control of oscillatory stability in

multi-machine power systems. In [69], a projective control method has been addressed for coordinated control

of TCSC and SVC for enhancing the dynamic performance of a power system. Tan and Wang et al. showed that

an adaptive non-linear coordinated design technique for coordinated design of series and shunt FACTS

controllers such as a Static Phase Shifter (SPS) and a Static VAR Compensators (SVC) controller in power

systems environments for enhance the transient stability of the power system [70]. A non-linear technique has

been proposed for robust non-linear coordinated excitation and SVC control for power systems for enhance the

transient stability of the power systems [71]. Canizares and Faur et al. presented the steady-state models with

controls of two FACTS controllers, namely SVC and TCSC, to study their effect on voltage collapse

phenomena in power system to increase system loadability [72]. In [73], a new electricity trading arrangement

has been addressed for the coordination of power flow control in a large power system, managing transmission

constraints to meet the security standards against the back ground of this open market structure. An automatic

control and coordination of power flow could be formulated as a multi-variable system design problem. The

coordinated power flow control should address the following points such as elimination of interaction between

FACTS controllers, ensuring system stability of the control process, security transmission system for both pre

and post fault, and achieving optimal and economic power flow. In [74], a new real and reactive power

coordination method has been proposed for UPFC to improve the performance of the UPFC control. In [75], a

new methodology has been proposed for transmission network voltage regulation through coordinated automatic

control of reactive power. A new method has been suggested for the potential application of coordinated

secondary voltage control by multiple FACTS voltage controllers in eliminating voltage violations in power

system contingencies in order to achieve more efficient voltage regulation in a power system. The coordinated

secondary voltage control is assigned to the SVCs and Static Compensators (STATCOM) in order to eliminate

voltage violations in power system contingencies [76]. A new methodology has been proposed for decentralized

optimal power flow control for overlapping area in power systems for the enhancement of the system security

[77].

2) Optimization Based Methods:This section reviews the coordination of FACTS controllers based on various optimization techniques such as a

linear and quadratic programming, non-linear optimization programming, integer and mixed integer

optimization programming, and dynamic optimization programming. In [78], a new method based on the

optimization method is called non-linear optimization programming technique has been addressed for tuning the

parameters of the PSS for enhancing small-signal stability. Lei et al. suggested a sequential quadratic

programming algorithm for optimization and coordination of FACTS device stabilizers (FDS) and power system

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stabilizers (PSS) in a multi-machine power system to improve system dynamic performance [79]. Feng et al.

suggested a comprehensive approach for determination of preventive and corrective control strategies to contain

voltage collapse in stressed power systems [80]. An immune-based algorithm has been addressed for optimal

coordination of local physically based controllers in order to presence or retain mid and long term voltage

stability [81]. In [82], a new methodology has been proposed for coordinated control of FACTS devices in

power system for security enhancement. Najafi and Kazemi et al. [83] suggested an optimization based

technique for coordination of PSSs and FACTS damping controllers in large power systems for dynamic

stability improvement. In [84], an optimization based approach has been suggested for power systemoptimization and coordination of FACTS controllers to significant transient stability improvement and effective

power oscillation damping.

3) Artificial Intelligence Based Techniques:This section reviews the coordinated control of FACTS controllers based on various Artificial Intelligence based

techniques such as genetic algorithm (GA), expert system (ES), artificial neural network (ANN), tabu search

optimization, ant colony optimization algorithm, simulated annealing approach, particle swarm optimization

algorithm, and fuzzy logic based approach. In [85], a genetic algorithm based on the method of inequalities has

been addressed for the coordinated synthesis PSS parameters in a multi-machine power system in order to

enhance overall system small signal stability. Sebaa and Boudour et al. [86] has been suggested a genetic

algorithm for coordinated design of PSSs and SVC-based controllers in power system to enhance power system

dynamic stability. Reference [87], a tabu search algorithm has been addressed for robust tuning of power system

stabilizers in multi-machine power systems, operating at different loading conditions. Reference [88], a Particle

Swarm Optimization (PSO) Algorithm has been suggested for coordinated design of a TCSC controller and PSS

in power systems for enhancing the power system stability. In [89], a simulated annealing based algorithm has

been addressed for PSS and FACTS based stabilizers tuning in power systems. The design problem of PSS and

FACTS based stabilizes is formulated as an optimization problem. An eigen value based objective function is

used to increase the system damping. Then SA algorithm is employed to search for optimal stabilizer

parameters. Different control schemes have been proposed in and tested on a weakly connected power system

with different disturbances loading conditions and parameter variations. Etingov et al. suggested an emergency

control system based on the ANN technique for finding a coordinated control system action (load shedding,

generation tripping) to prevent the violation of power system stability [90]. In [91], a fuzzy set theory based

algorithms has been suggested for coordinate stabilizers so as to increase the operational dynamic stability

margin of power system for TCSC and UPFC in power system environments. A fuzzy logic based method is

used for decentralized coordination of FACTS devices for power system stability enhancement in [92]. A fuzzy

logic based method has been used for coordinated control of TCSC and UPFC in power systems to increase the

operational dynamic stability margin of power system [93]. Reference [94], a load flow control technique has

been proposed for coordinated control of FACTS controllers in power system for enhancing steady dynamic

performance of power systems during normal and abnormal operation conditions.

VIII.SUMMARY OF THE PAPER

The following tables give summary of the paper as:

A. Methods/Techniques for Placement of FACTS controllers

1) Methods/Techniques point of view

Methods/Techniques Total No. of Literatures Reviews

out of 37 Literatures

% of Literatures Reviews out of 37

Literatures

Sensitivity based methods 12 32.43

Optimization based methods 06 16.22

AI-based techniques 19 51.35

2) Different Types of FACTS controllers point of view

Different types of FACTS

controllers

Total No. of Literatures Reviews out

of 37 Literatures


Literatures

Series FACTS Controllers 15 40.54

Shunt FACTS Controllers 12 32.43

Series-Shunt FACTS

Controllers

10 27.03

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From above tables it is concluded that the 32.43% of total literatures are reviews based on sensitivity methods,

16.22% of total literatures are reviews based on optimization programming and the 51.35% of total literatures

are reviews on AI based techniques regarding with placement of FACTS controllers in multi-machine power

systems for voltage stability enhancement point of view. It is also concludes that the 40.54% of total literatures

are reviews carryout from series FACTS controllers, 32.43% of total literatures are reviews carryout from Shunt

FACTS controllers, 27.03% of total literatures are reviews carryout from series-shunt FACTS controllers for

voltage stability and security enhancement point of view in power system networks.

B.Methods/Techniques for Coordination of FACTS controllers

1) Methods/Techniques point of view

Methods/Techniques Total No. of Literatures Reviews

out of 28 Literatures


Literatures

Sensitivity based methods 11 39.29

Optimization based methods 07 25.00

AI-based techniques 10 35.71

2) Different Types of FACTS controllers point of view

Different types of FACTScontrollers Total No. of Literatures Reviews outof 28 Literatures % of Literatures Reviews out of 28Literatures

Series FACTS Controllers 10 35.71

Shunt FACTS Controllers 12 42.86

Series-Shunt FACTS

Controllers

06 21.43

From above tables it is concluded that the 39.29% of total literatures are reviews based on sensitivity methods,

25.00% of total literatures are reviews based on optimization programming, and the 35.71% of total literatures

are reviews on AI based techniques regarding with coordination of FACTS controllers in multi-machine power

systems for voltage stability enhancement point of view. It is also concludes that the 35.71% of total literatures

are reviews carryout from series FACTS controllers, 42.86% of total literatures are reviews carryout from Shunt

FACTS controllers, 21.43% of total literatures are reviews carryout from series-shunt FACTS controllers for

voltage stability and security enhancement point of view in power system networks.

Finally it is concluded that the maximum research work carryout from voltage stability and security point of

view by using different types of FACTS controllers such as series, shunt, and series-shunt FACTS controllers

regarding with placement and coordination of FACTS controllers in multi-machine power systems.

VIV.CONCLUSIONS

In this paper an attempt has been made to reviews, various concept of voltage instability, main causes of voltage

instability, classification of voltage stability, dynamic and static voltage stability analysis techniques, modeling,

shortcomings, in power systems environments.

Voltage instability has been considered as a major threat to present power system networks due to their stressed

operation. Voltage stability is the ability of a power system to maintain bus voltages within acceptable limits.

Depending upon nature of disturbance (large or small) voltage stability may be classified into two categories:

large-disturbance voltage stability and small-disturbance voltage stability. Depending on time frame, voltage

stability may be classified into short-term voltage stability and long-term voltage stability. The phenomenon ofvoltage instability has been attributed to occurrence of Saddle-node bifurcation and Hopf bifurcation. Most of

the researchers have considered voltage stability as static phenomenon which may be attributed to occurrence of

Saddle-node bifurcation. However, oscillatory voltage instability has also been reported in several literatures

which may be attributed to occurrence of Hopf bifurcation.

The prevention against voltage instability include placement of series and shunt capacitors, installation of

synchronous condensers, placement of PACTS controllers, coordination of FACTS controllers, under voltage

load shedding, blocking of reverse operation of OLTCs and generation rescheduling using optimal reactive

power dispatch. Placement of FACTS controllers and coordination of FACTS controllers has been found to be

quite effective in voltage stability margin enhancement.

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ACKNOWLEDGMENT

The authors would like to thanks Dr. S. C. Srivastava, and Dr. S. N. Singh, Indian Institute of Technology,

Kanpur, U.P., India, and Dr. K.S. Verma, and Dr. Deependra Singh, Kamla Nehru Institute of Technology,

Sultanpur, U.P., India, for their valuables suggestions regarding placement and coordination techniques for

FACTS controllers form voltage stability, and voltage security point of view in multi-machine power systems

environments.

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BIOGRAPHIES

Bindeshwar Singh was born in Deoria, U.P., India, in 1975. He received the B.E. degree in electrical engineering from the Deen Dayal ofUniversity of Gorakhpur, Gorakhpur, U.P., India, in 1999, and M. Tech. in electrical engineering (Power Systems) from the Indian Institute

of Technology (IITR), Roorkee, Uttaranchal, India, in 2001. He is now a Ph. D. student at Uttar Pradesh Technical University, Lucknow,

U.P., India. In 2001, he joined the Department of Electrical Engineering, Madan Mohan Malviya Engineering College, Gorakhpur, as an

Adoc. Lecturer. In 2002, he joined the Department of Electrical Engineering, Dr. Kedar Nath Modi Institute of Engineering & Technology,Modinagar, Ghaziabad, U.P., India, as a Sr. Lecturer and subsequently became an Asst. Prof. & Head in 2003. In 2007, he joined the

Department of Electrical & Electronics Engineering, Krishna Engineering College, Ghaziabad, U.P., India, as an Asst. Prof. and

subsequently became an Associate Professor in 2008. Presently, he is an Assistant Professor with Department of Electrical Engineering,

Kamla Nehru Institute of Technology, Sultanpur, U.P., India, where he has been since August2009. His research interests are in Placement

and Coordination of FACTS controllers in multi-machine power systems and Power system Engg.Mobile: 09473795769, 09453503148

Email:[email protected] ,[email protected]

Nikhlesh Kumar Sharma received the Ph.D. in electrical engineering from the Indian Institute of Technology, Kanpur, in 2001. Currently,

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Vol. 2(5), 2010, 980-992

he is a Director with, Raj Kumar Goel Engineering College, Pilkhuwa, Ghaziabad, U.P., India, where he has been since June2009. His

interests are in the areas of FACTS control and Power systems.

Mobile: 09654720667, 09219532281

Email: [email protected]

A.N.Tiwari received the Ph.D. in electrical engineering from the Indian Institute of Technology, Roorkee, in 2004. Currently, he is an Asst.

Prof. with Department of Electrical Engineering, Madan Mohan Malviya Engineering College, Gorakhpur,U.P., India, where he has beensince June1998. His interests are in the areas of Electrical Drives and Application of Power Electronics.

Mobile: 09451215400

Email:[email protected]

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