© The Institution of Engineering and Technology
Unified power flow controller (UPFC) is one of the multipurpose flexible AC transmission system devices which controls the transmission line parameters independently and simultaneously. This study presents a novel power flow controlling method based on terminal sliding mode control (TSMC) method using UPFC. The proposed controller has the advantages of finite-time convergence and chattering-free properties. A chattering-free state variable controller is designed and employed to address the problems of reference tracking, robustness against uncertainties and disturbances performance of the proposed controller is compared with an existing sliding mode controller (SMC) and a PI controller. Chattering phenomena and discontinuity of the sliding mode controller are also eliminated. Another objective of the proposed control scheme is to use only locally-measurable states, and to avoid remote long distance measurements. An adaptive observer is used to estimate the receiving end bus voltage, to avoid the data transfer problems over long distances, and to fulfil advantages such as fault detection and isolation. The presented observer could also be used to estimate the measurable states of the system. Simulation results demonstrate the efficiency of the proposed controllers. It is shown that the convergence time of the proposed TSMC is lower than those of the SMC and PID controllers’. Stability of the proposed controllers is mathematically proved. The performance of the presented adaptive observer, in the noisy environment, is also evaluated by simulation. Finally, simulation results of the suggested controllers under transient states and faulty conditions are presented.
References
-
-
1)
-
S. Yu ,
X. Yu ,
B. Shirinzadeh ,
Z. Man
.
Continuous finite-time control for robotic manipulators with terminal sliding mode.
Automatica
,
11 ,
1957 -
1964
-
2)
-
16. Robles-Aguirre, F., Fridman, L., Canedo, J.M., Loukianov, A.G.: ‘Super-twisting sliding mode control for unified power flow controller in power systems’. IEEE, Int. Conf. on Electrical Engineering, Computing Science and Automatic Control, 2008, pp. 56–61.
-
3)
-
G. Besancon ,
J. De León-Morales ,
O. Huerta-Guevara
.
On adaptive observers for state affine systems.
Int. J. Control
,
581 -
591
-
4)
-
12. Ilango, G.S., Nagamani, C., Aravindan, D.: ‘Independent control of real and reactive power flows using UPFC based on adaptive back stepping’. TENCON IEEE Region 10 Conf., 2008.
-
5)
-
S. Tiwari ,
R. Naresh ,
R. Jh
.
Neural network predictive control of UPFC for improving transient stability performance of power system.
Appl. Soft Comput.
,
8 ,
4581 -
4590
-
6)
-
S.A. Taher ,
S. Akbari ,
A. Abdolalipour ,
R. Hematti
.
Design of robust decentralized control for UPFC controller based on structured singular value.
Amer. J. Appl. Sci.
,
10 ,
1269 -
1280
-
7)
-
3. Gyugyi, L.: ‘A unified power flow control concept for flexible AC transmission systems’, IEEE Proc., 1992, 139, (4), pp. 323–331.
-
8)
-
28. Huerta, H., Loukianov, A.G., Canedo, J.M.: ‘Robust multimachine power systems control via high order sliding modes’, Electr. Power Syst. Res., 2011, 81, pp. 1602–1609 (doi: 10.1016/j.epsr.2011.03.014).
-
9)
-
H. Alasooly ,
M. Redha
.
Optimal control of UPFC for load flow control and voltage flicker elimination and current harmonics elimination.
Comput. Math. Appl.
,
926 -
943
-
10)
-
18. Januszewski, M., Machowski, J., Bialek, J.W.: ‘Application of the direct Lyapunov method to improve damping of power swings by control of UPFC’, IEE Proc. GT&D, 2004, 151, (2), pp. 252–260.
-
11)
-
M.M. Farsangi ,
Y.H. Song ,
M. Tan
.
Multiobjective design of damping controllers of FACTS devices via mixed H2/H∞ with regional pole placement.
Int. J. Electr. Power Energy Syst.
,
5 ,
339 -
346
-
12)
-
24. Boyra, M., Thomas, J.L., Benchaib, A.: ‘Robust control of UPFC for MV distribution grid interconnection under unbalanced conditions’. Proc. 14th European Conf. on Power Electronics and Applications (EPE), Birmingham, 2011, pp. 1–10.
-
13)
-
A. Zangeneh ,
A. Kazemi ,
M. Hajatipour ,
J. Jadid
.
A Lyapunov theory based UPFC controller for power flow control.
Electr. Power Energy Syst.
,
302 -
308
-
14)
-
6. Shotorbani, A.M., Ajami, A., Aghababa, M.P., Hosseini, S.H.: ‘Direct lyapunov theory-based method for power oscillation damping by robust finite-time control of unified power flow controller’, IET GT&D, 2013, 7, (7), pp. 691–699.
-
15)
-
36. Atassi, A.N., Barbara, S., Khalil, H.K.: ‘A separation principle for the control of a class of nonlinear systems’, IEEE Trans. Autom. Control, 2001, 46, (5), pp. 742–746 (doi: 10.1109/9.920793).
-
16)
-
T.T. Ma
.
P–Q decoupled control schemes using fuzzy neural networks for the unified power flow controller.
Int. J. Electr. Power Energy Syst.
,
748 -
758
-
17)
-
34. Ogata, K.: ‘Modern control engineering’ (Prentice Hall, New Jersey, 3rd edn.), 1997.
-
18)
-
29. Chiu, C.: ‘Derivative and integral terminal sliding mode control for a class of MIMO nonlinear systems’, Automatica, 2012, 48, pp. 316–326 (doi: 10.1016/j.automatica.2011.08.055).
-
19)
-
H. Shayeghi ,
H.A. Shayanfar ,
S. Jalilzade ,
A. Safari
.
COA based robust output feedback UPFC controller design.
Energy Convers. Manage.
,
2678 -
2684
-
20)
-
X.H. Yu ,
Z.H. Man
.
Multi-input uncertain linear systems with terminal sliding-mode control.
Automatica
,
3 ,
389 -
392
-
21)
-
G.S. Ilango ,
C. Nagamani ,
A.V.S.S.R. Sai ,
D. Aravindan
.
Control algorithms for control of real and reactive power flows and power oscillation damping using UPFC.
Electr. Power Syst. Res.
,
595 -
605
-
22)
-
11. Lu, B., Ooi, B.T.: ‘Unified Power Flow Controller (UPFC) under Nonlinear Control’. Proc. Power Conversion Conf. (PCC-Osaka), 2002, vol. 3, pp. 1118–1123.
-
23)
-
17. Ajami, A., Shotorbani, A.M., Aagababa, M.P.: ‘Application of the direct Lyapunov method for robust finite-time power flow control with a unified power flow controller’, IET GT&D, 2012, 6, (9), pp. 822–830.
-
24)
-
1. Song, Y.H., Johns, A.T.: ‘Flexible AC transmission systems (FACTS)’. IEE Power and Energy Series 30, London, UK, 1999.
-
25)
-
S.P. Bhat ,
D.S. Bernstein
.
Continuous finite-time stabilization of the translational and rotational double integrators.
IEEE Trans. Autom. Control
,
5 ,
678 -
682
-
26)
-
S.G. Nersesov ,
W.M. Haddad ,
Q. Hui
.
Finite-time stabilization of nonlinear dynamical systems via control vector Lyapunov functions.
J. Franklin Inst.
,
819 -
837
-
27)
-
19. Hong, Y., Wang, H.O., Bushnell, L.G.: ‘Adaptive Finite-Time Control of Nonlinear Systems’. Proc. American Control Conference, 2001, vol. 6, pp. 4149–4154.
-
28)
-
33. Yu, X., Man, Z.: ‘Fast terminal sliding-mode control design for nonlinear dynamical systems’, IEEE Trans. Circuit Syst., 2002, 49, pp. 261–264 (doi: 10.1109/81.983876).
-
29)
-
Y. Hong ,
J. Huang ,
Y. Xu
.
On an output feedback finite-time stabilization problem.
IEEE Trans. Autom. Control
,
2 ,
305 -
309
-
30)
-
5. Sayed, M.A., Takeshita, T.: ‘All nodes voltage regulation and line loss minimization in loop distribution systems using UPFC’, IEEE Trans. Power Electron., 2011, 26, (6), pp. 1694–1703 (doi: 10.1109/TPEL.2010.2090048).
-
31)
-
H. Wang ,
Z. Han ,
Q. Xie ,
W. Zhang
.
Finite-time chaos synchronization of unified chaotic system with uncertain parameters.
Commun. Nonlinear Sci. Numer. Simul.
,
2239 -
2247
-
32)
-
G. Bastin ,
M.R. Gevers
.
Stable adaptive observers for nonlinear time-varying systems.
IEEE Trans. Autom. Control
,
7 ,
650 -
658
-
33)
-
C.M. Yam ,
M.H. Haque
.
A SVD based controller of UPFC for power flow control.
Electr. Power Syst. Res.
,
76 -
84
-
34)
-
30. Chen, M., Chen, C., Yang, F.: ‘An LTR-observer-based dynamic sliding mode control for chattering reduction’, Automatica, 2007, 453, pp. 1111–1116 (doi: 10.1016/j.automatica.2006.12.001).
-
35)
-
27. Hsueh, Y., Su, S.: ‘Sliding PI controller designs with integral sliding surface for a class of nonlinear systems’. IEEE Int. Conf. on Systems Man and Cybernetics (SMC), Istanbul, 2010, pp. 1198–1203.
-
36)
-
35. Brezinski, C.: ‘Computational Aspects of Linear Control (Numerical Methods and Algorithms)’ (Kluwer Academic Publishers, 2002), pp. 58–62.
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-gtd.2013.0637
Related content
content/journals/10.1049/iet-gtd.2013.0637
pub_keyword,iet_inspecKeyword,pub_concept
6
6