CHAPTER 3

STEADY STATE VOLTAGE STABILITY ENHANCEMENT

OF POWER SYSTEM BY PROPER PLACEMENT OF
FACTS DEVICES

3.1 INTRODUCTION

Stability of power system is very important aspect that has to be considered for the power
system designing and operation. The system operators should know the power system
stability limits to take necessary action to make it stable. The power system should be
operated so that power and bus voltages lie within range irrespective of changes in load
[8]. Reactive power changes cause voltage instability in power system [9].The maximum
load a bus can afford depends upon the reactive power that it receives from the system
[16]. Real and reactive losses become very high when the system is operating at the
maximum load. In that case the system can be made stable by reducing the reactive
power load or providing a source of reactive power like capacitors or FACTS devices at
the right place before the system reaches the point of voltage collapse [133]. FACTS
controllers provide fast and reliable control over voltage magnitude, angle and line
impedance. FACTS controllers improve the system stability without any change in
generation or system parameters [19, 40, 52].UPFC (Unified Power Flow Controller)
gives better voltage control as compared to SVC (Static Var Compensator) and
STATCOM (Static Synchronous compensator).

Various indicators are proposed to study the voltage stability margin of the system. The
knowledge about the voltage instability can be determined with the help of these
indicators [14]. Various methods have been suggested for voltage stability analysis such
as Eigen values of Jacobian matrix, L index, P-V curve, etc. Various voltage collapse
indicators are used to determine the voltage stability [85,110,152].The indices calculated
for stability analysis can be referred to a bus or line determining the most unstable bus or
line of a system [125,131,132,152].

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Optimal Location of FACTS device is very important for the rapid and successful
operation because of high cost and circuit complexities [70, 79]. In this Chapter the best
location of UPFC and SVC is obtained for steady state voltage stability enhancement of
an IEEE 14 bus power system. The simulation is done on Power System Analysis Tool-
box(PSAT) in MATLAB and optimal location is found out by Continuation Power Flow
(CPF) and stability Indices, Voltage Collapse Proximity Index(VCPI) and Fast Voltage
Stability Index(FVSI). The bus having lowest voltage is the critical bus and the line
having largest value of index for maximum permissible load with respect to a bus is the
most critical line referred to that bus. It is found that by properly placing UPFC and SVC,
loadability margin of the system has been increased considerably leading to improvement
of voltage stability and stability index value decreases at each reactive load with the
insertion of the device at right place.

3.2 CONTINUATION POWER FLOW

The conventional power flow has a problem in the Jacobian matrix which becomes
singular at the voltage stability limit. This problem can be overcome by using
continuation power flow. Figure 3.1 shows the predictor corrector scheme used in
continuation power flow.

From the Newton- Raphson, load flow equations can be written as:

n
Pi   YijViV j cos( i   j   ij )  0 (3.1)
j 1

n
Qi   YijViV j sin(i   j  ij )  0 (3.2)
j 1

The new load flows equations consist of load factor (λ) are expressed as:

PLi  PL 0   ( K Li S base cos i ) (3.3)

QLi  QL 0   ( K Li Sbase sin i ) (3.4)

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 Fig 3.1: The predictor – corrector scheme

Where
PL0,QL0 =original load at bus i, active and reactive power respectively
KLi = multiplier to designate the rate of load change at ith bus as λ changes
S∆base= a given quantity of apparent power which is chosen to provide appropriate scaling
of λ
F(δ,V,λ)=0 (3.5)
Then the active power generation term can be modified to
PGi = PG0(1+ λKGi) (3.6)
Where
PG0= the initial value of active power generation
PGi = the active power generation at bus i
KGi = the constant of changing rate in generation

To solve the problem, the continuation algorithm starts from a known solution and uses a
predictor-corrector scheme to find subsequent solutions at different load levels.

3.3 METHODOLOGY

The method used to find the weakest bus and critical line of the system is CPF, Modal
analysis and VCPI index.

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3.3.1 CONTINUATION POWER FLOW

The graph obtained between the bus voltage and the loading factor λ by Continuation
Power Flow is known as P-V curve. It determines the loadability margin i.e. the margin
between the voltage collapse point and current operating point.

3.3.2 MODAL ANALYSIS

The Eigen values of reduced Jacobian matrix are used to find the stability of system. The
eigenvectors are calculated for each bus and the bus having maximum value of
eigenvector is the weakest bus of the system.

3.3.3 VCPI (VOLTAGE COLLAPSE PROXIMITY INDEX)

Source Z s 

Zr
Load

Fig 3.2 Electrical Network

Fig. 3.2 shows a network having a generator, transmission line and load. Where Φ is the
load angle and θ is the line impedance angle.
Z s = line impedance
Zr = load impedance

ta n   Q r / Pr

With the increase in load, current decreases. This leads to voltage drop at the receiving
end

Vs
I
[(Zs cos  Zr cos)2  (Zssin  Zr sin)2] (4.7)

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 Vs
Vr Zr IZr / Zs
[1  (Zr / Zs )2  2(Zr / Zs )cos(   )] (4.8)

Power at the receiving end

Pr  Vr I cos  (4.9)
And

Qr  Vr I sin  (4.10)
Therefore

Vs 2 / Z s
Pr  Zr / Z s cos 
1  ( Zr / Z s )2  2( Zr / Z s ) cos(   ) (4.11)

And

Vs 2 / Z s
Qr  Z r / Z s sin 
1  ( Z r / Z s ) 2  2( Z r / Z s ) cos(   ) (4.12)

The maximum real and reactive powers are given as

Vs 2 cos 
Pr (max) 
Zs 4cos2 (   ) / 2 (4.13)

Vs2 sin
Qr (max) 
Zs 4cos2 (  ) / 2 (4.14)

VCPI index is calculated as

VCPI (1) = Real power transferred/ Maximum power that can be transferred

VCPI (2) = Reactive power transferred/ Maximum reactive power that can be transferred

VCPI (1) and VCPI (2) give the same value for a particular load.

3.3.4 FVSI (FAST VOLTAGE STABILITY INDEX)

It is calculated by using reactive power flow as [125]

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 4 Z 2Q j
FVSI  (4.15)
Vi

Where

Qj is the reactive power at the receiving end

Vi is the sending end voltage

The value of index evaluated close to 1 indicates that the particular line is close to
instability point.

The critical bus is determined by finding out the maximum permissible load on the bus.
The most critical bus in the system is the bus which can bear smallest maximum load.

3.4 MODELING OF FACTS DEVICES

3.4.1 MODELING OF UPFC

Fig. 3.3 UPFC Controller

The UPFC has two voltage source converters operated through a common DC terminal.
Series converter is used to inject an AC voltage and phase angle in series with the
transmission line. Reactive power is injected or absorbed by the shunt converter
depending on the requirement based on the variation in load.

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The active and reactive power equations can be written as
At bus k

Pk  Vk 2Gkk  VkVm Gkm cos( k   m )  Bkm sin( k   m )  

VkVcr Gkm cos(k   cr )  Bkm sin(k   cr )  

VkVvr  Gvr cos(k   vr )  Bvr sin( k   vr )  (4.16)

Qk  Vk 2 Bkk  VkVm Gkm sin( k   m )  Bkm cos( k   m )  

VkVcr Gkm sin(k   cr )  Bkm cos( k   cr )  

VkVvr  Gvr sin( k   vr )  Bvr cos( k   vr )  (4.17)

At bus m

Pm  Vm 2Gmm  VkVm Gmk cos( m   k )  Bmk sin( m   k )

VmVcr Gmm cos( m   cr )  Bmm sin( m   cr )  (4.18)

Qm  Vm 2Gmm  VkVm Gmk sin( m   k )  Bmk cos( m   k )

VmVcr Gmm sin( m   cr )  Bmm cos( m   cr ) (4.19)

Series converter

Pcr  Vcr 2Gmm  VcrVk [Gkm cos( cr   k )  Bmk sin( cr   k )] 

VmVcr [Gmm cos( cr   m )  Bmn sin( cr   m )] (4.20)

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Qcr  Vcr 2 Bmm  VcrVk [Gkm sin( cr   k )  Bmk cos( cr   k )] 

VmVcr [Gmm sin( cr   m )  Bmn cos( cr   m )] (4.21)

Shunt converter

Pvr  Vcr 2Gvr  VvrVk [Gvr cos( vr   k )  Bvr sin( vr   k )] (4.22)

Qvr  Vvr 2 Bvr  VvrVk [Gvr sin( vr   k )  Bvr cos( vr   k )] (4.23)

3.4.2 MODELING OF SVC

SVC is a shunt connected Static Var generator/load whose output is adjusted to exchange
capacitive or inductive current so as to maintain or control specific system variable.
Typically the power system control variable is terminal bus voltage. There are two basic
configuration of SVC, one is fixed capacitor (FC) and thyristor controlled reactor (TCR)
and other one is thyristor switched capacitor (TSC) and TCR configuration.
In the limit of minimum or maximum susceptance, SVC behaves like a fixed capacitor or
an inductor.

Fig. 3.4 SVC firing angle Model Fig. 3.5 SVC total Susceptance Model

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3.5 STUDY SYSTEM

The IEEE 14 bus system modeled in PSAT software is shown in Fig 3.6.It consists of 5
generators, 14 transmission lines, 11 static loads and 4 transformers.

Fig 3.6 IEEE 14 bus System

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3.6 SIMULATION RESULTS

Steady state voltage stability analysis has been done using CPF and line indicators.

3.6.1 STEADY STATE VOLTAGE STABILITY

The system under study is IEEE 14 bus system and the simulation is carried out in
PSAT/MATLAB software. The best location of UPFC for the improvement of voltage
profiles and steady state margin is found using P-V curves, modal analysis, eigenvectors
and stability indices. Simulation results show that the insertion of UPFC at the optimal
location enhances the steady state voltage stability limits. UPFC parameters are shown in
appendix A.

3.6.2 P.V CURVES

The variation of bus voltages with loading factor is obtained for IEEE 14 bus system
using CPF and it is found that bus 14 is the most insecure bus of the system. The P-V
curve for the lowest three voltages is shown in Fig. 3.7.

Fig. 3.7 P-V curve for lowest three voltages without FACTS

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3.6.3 MODAL ANALYSIS

Fig. 3.8 shows the Eigen values for different buses at a loading factor of 0.5. This figure
shows that the bus having highest value of Eigen-vector is the weakest bus.

Fig 3.8 Eigen values for loading factor 0.5

Simulation results show that the bus no 14 is the weakest bus of the system and the
optimal location of SVC is bus 14.

3.6.4 STABILITY INDICES CALCULATION AND RECOGNITION OF

CRITICAL LINES

PSAT software in MATLAB is used to find the stability indices of an IEEE 14 bus
system to show effectiveness of FACTS controllers for voltage profile improvement and
increase in loading margin. The reactive power load is increased at one bus, keeping all
other loads fixed from base to maximum allowable load. The stability index of every line
is computed with the assumption that the real and reactive powers loading of all other
buses remain constant. The line having maximum value of stability index is the most
critical line with respect to that bus. Table 3.1 present VCPI and FVSI indices for the
most stressed lines.

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 Table 3.1 Index values without FACTS

Load p.u Line VCPI(voltage FVSI(Fast voltage

collapse proximity stability index)
index)

Q1 4=0.9 13-14 0.869 0.956

9-14 0.746 0.749

Q10 =0.948 11-10 0.363 0.389

9-10 0.241 0.258

Q12 =0.855 6-12 0.598 0.410

13-12 0.379 0.431

It is clear from table 3.1 that the line between bus 13 to 14 is the most critical line with
respect to bus 14, line 11 to 10 is the most critical line with respect to bus 10 and line 6 to
12 is the most critical line referred to bus 12 as the stability indices are high in these lines
for critical loads.

Fig 3.9 VCPI index without FACTS Fig 3.10 FVSI index without FACTS

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Fig.3.9 and Fig 3.10 indicate the variation of VCPI and FVSI index values with the
reactive load variation for the most stressed lines without FACTS devices. It is clear form
the above figure that line 13-14 is the most critical line and bus 14 is the critical bus.

Table 3.2 depicts the insertion of UPFC at various locations indicating that optimal
location of UPFC to reduce the VCPI and FVSI index for the highly stressed lines is
between 9 &14 and bus 14 is the optimal location of SVC for steady state voltage
stability enhancenment.Insertion of FACTS device reduces the indices between the
stressed lines and improves the voltage at the critical bus. Fig.3.11-3.13 indicate the
variation of VCPI index with and without the insertion of UPFC for most stressed lines.
Fig 3.14 and Fig 3.15 show the variation of VCPI and FVSI index with UPFC for the
most stressed lines.Table 3.3 shows the active and reactive power losses with FACTS
devices placed at optimal location. Table 3.4 shows the voltage profile without and with
FACTS devices showing that voltages at the buses have been improved considerably with
the insertion of FACTS devices.Fig 3.16 and Fig 3.17 give the P-V curve with SVC and
UPFC respectively which clearly indicates that with the insertion of FACTS at proper
location loadability of the system is increased considerably leading to the improvement of
stability of power system.

Table 3.2 Index values with the insertion of FACTS devices

Load
p.u. Line VCPI FVSI
UPFC UPFC UPFC UPFC UPFC UPFC
(9-14) (9-10) (12-13) (9-14) (9-10) (12-13)

Q14 13-14 0.654 0.864 0.791 0.688 0.946 0.941

Q10 11-10 0.352 0.404 0.374 0.374 0.349 0.401

Q12 6-12 0.593 0.595 0.591 0.493 0.413 0.49

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 Table 3.3 System losses

Losses System losses (p.u) System losses (p.u) System losses(p.u)

without FACTS With UPFC with SVC
Active losses 0.294 0.134 0.292
Reactive 0.6157 0.473 0.5009
losses

Fig 3.11 VCPI index value of line 13-14 without and with UPFC

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Fig 3.12 VCPI index value of line 10-11 without and with UPFC

Fig 3.13 VCPI index value of line 6-12 without and with UPFC

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Fig 3.14 Variation of VCPI index with UPFC

Fig 3.15 Variation of FVSI with UPFC

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 Fig. 3.16. P-V curve for lowest three voltages with SVC

Fig 3.17 P-V curve for lowest three voltages with UPFC

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 Table 3.4 Voltage Magnitude and Angles of IEEE 14 bus System

Bus Voltage Angle Voltage Angle Voltage Angle

No magnitude (rad)without (p.u) (rad) with (p.u) (rad)
(p.u) without FACTS with UPFC with with SVC
FACTS UPFC SVC

1 1.06 0 1.06 0 1.06 0

2 1.045 -0.135 1.045 -0.087 1.045 -.354

3 1.01 -0.331 1.01 -0.222 1.01 -0.0331

4 0.9977 -0.263 1.0117 -0.178 1.0022 -0.264

5 1.0024 -0.227 1.0159 -0.152 1.0041 -0.227

6 1.07 -0.379 1.07 -0.250 1.07 -0.376

7 1.034 -0.353 1.048 -0.231 1.042 -0.355

8 1.09 -0.353 1.09 -0.231 1.09 -0.355

9 1.011 -0.401 1.046 -0.259 1.027 -0.402

10 1.010 -0.404 1.054 -0.262 1.023 -0.405

11 1.034 -0.395 1.0468 -0.288 1.041 -0.393

12 1.046 -0.401 1.0545 -0.264 1.052 -0.399

13 1.0362 -0.403 1.0498 -0.265 1.047 -0.405

14 0.9956 -0.428 1.0282 -0.2767 1.045 -0.444

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3.7 CONCLUSION

Steady state voltage stability enhancement of IEEE 14 bus system by optimal location of
FACTS devices using PSAT software is done. The stability indices are used to identify
the critical line referred to a bus. Optimal location of UPFC and SVC in the system
increases the loadability margin and reduces the line stability indices at critical lines
increasing the system stability. Continuation Power Flow is done using PSAT/MATLAB
software and the results obtained are quite satisfactory and accurate. PSAT software is
very user friendly and it is very easy to model a system using PSAT for steady state and
transient stability analysis as compared to other power system analysis software like
ETAP, PST.

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