Damping Controller Design in Offshore Wind Power Plants to Improve Power System Stability Using Fractional Order PID Controllers Based on Optimized Exchange Market Algorithm
Subject Areas : Renewable energy
Naser Taheri
1
,
Hamed Orojlo
2
,
Faramarz Ebrahimi
3
1 - Department of Electrical Engineering-Technical and Vocational University, Tehran, Iran
2 - Department of Mechanical Engineering- Technical and Vocational University, Tehran, Iran
3 - Sama Technical and Vocational College- Quchan Branch, Islamic Azad University, Quchan, Iran
Keywords: voltage source converter, High voltage direct current, Offshore wind Power plants, fractional order PID, exchange market algorithm,
Abstract :
In this paper, the design of damping supplementary controller in VSC HVDC transmission systems, which is the interface of Offshore Wind Power Plant (OWPP) with the main power system, is studied. First, it is shown that the speed-power curve in a wind turbine affects the damping of oscillation and electromechanical modes of the power system, and depending on the operating conditions of the turbine, the extent of this effect varies. Then, to improve the dynamic stability of the power system, the use of an optimized supplementary controller in the VSC HVDC system will be proposed. The proposed controller is added as an additional loop to the converter control circuits in VSC HVDC and will amplify the damping torque in the generators by correcting the damping coefficient of the system oscillation modes. In addition, a solution is provided to use the supplementary controller in the most optimal path, so that the most controllability on the oscillation modes and the least interference with other channels between the input-output signals are provided. To design the proposed controller, a fractional order PID controller will be used whose coefficients are adjusted through an optimized exchange market algorithm. The optimization of the algorithm is done by using mutation and crossover operators in the genetic algorithm with the aim of avoiding bats being trapped at local extremum. The simulation results show that the method proposed in this paper not only improves the dynamic stability of the power system but also strengthens the voltage profile.
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[3] M.S. Alam, M.A.Y Abido, "Fault ride through capability enhancement of a large-scale PMSG wind system with bridge type fault current limiters", Advances in Electrical and Computer Engineering, vol. 18, no. 1, pp. 43-50, Feb. 2018 (doi:10.4316/AECE.2018.01006).
[4] C.P. Ion, I. Serban, "Self-excited induction generator based microgrid with supercapacitor energy storage to support the start-up of dynamic loads", Advances in Electrical and Computer Engineering, vol. 18, no. 2, pp. 51-60, May. 2018 (doi:10.4316/AECE.2018.02007).
[5] C.A. Evangelista, A. Pisano, P. Puleston, E. Usai, "Receding horizon adaptive second-order sliding mode control for doubly-fed induction generator based wind turbine", IEEE Trans. on Control Systems Technology, vol. 25, no. 1, pp. 73-84, May. 2016 (doi: 10.1109/TCST.2016.2540539).
[6] M. Toulabi, S. Bahrami, A.M. Ranjbar, "An input-to-state stability approach to inertial frequency response analysis of doubly-fed induction generator-based wind turbines", IEEE Trans. on Energy Conversion, vol. 32, no. 4, pp. 1418-1431, April 2017 (doi: 10.1109/TEC.2017.2696510).
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[9] A. Moharana, R.K. Varma, R. Seethapathy, "SSR alleviation by STATCOM in induction-generator-based wind farm connected to series compensated line", IEEE Trans. on Sustainable Energy, vol. 5, no. 3, pp. 947-957, April 2014 (doi: 10.1109/TSTE.2014.2311072).
[10] A. Hamidi, J. Beiza, E. Babaei, S. Khanmohammadi, " Adaptive controller design based on input-output signal selection for voltage source converter high voltage direct current systems to improve power system stability", Journal of Central South University, vol. 23, no. 9, pp. 2254-2267, Sept 2016 (doi: 10.1007/s11771-016-3283-x).
[11] X. Zeng, T. Liu, S. Wang, Y. Dong, B. Li, Z. Chen, "Coordinated control of MMC-HVDC system with offshore wind farm for providing emulated inertia support", IET Renewable Power Generation, vol. 14, no. 5, pp. 673-683, May. 2019 (doi: 10.1049/iet-rpg.2019.0505).
[12] B. Yang, T. Yu, X. Zhang, L. Huang, H. Shu, L. Jiang, "Interactive teaching–learning optimiser for parameter tuning of VSC-HVDC systems with offshore wind farm integration", IET Generation, Transmission and Distribution, vol. 12, no. 3, pp. 678-687, Oct. 2017 (doi: 10.1049/iet-gtd.2016.1768).
[13] P. Kou, D. Liang, Z. Wu, Q. Ze, L. Gao, "Frequency support from a DC-grid offshore wind farm connected through an HVDC link: A communication-free approach", IEEE Trans. on Energy Conversion, vol. 33, no. 3, pp. 1297-1310, Sept. 2018 (doi: 10.1109/TEC.2018.2814604).
[14] G.S. Lee, S.H. Kwon, S.I Moon, "DC current and voltage droop control method of hybrid HVDC systems for an offshore wind farm connection to enhance ac voltage stability", IEEE Trans. on Energy Conversion, vol. 36, no. 1, pp. 468-479, Mar. 2020 (doi: 10.1109/TEC.2020.3005777).
[15] K. Xu, Z. Zhang, Q. Lai, J. Han, X. Yin, W. Liu, "Study on fault characteristics and distance protection applicability of VSC-HVDC connected offshore wind power plants", International Journal of Electrical Power and Energy Systems, vol.133, Article Number: 107252, Dec. 2021 (doi: 10.1016/j.ijepes.2021.107252).
[16] H.J. Bahirat, B.A. Mork, "Operation of dc series–parallel connected offshore wind farm", IEEE Trans. on Sustainable Energy, vol. 10, no. 2, pp. 596-603, April 2019 (doi: 10.1109/TSTE.2018.2839712).
[17] F. Rong, G. Wu, X. Li, S. Huang, B. Zhou, "All-DC offshore wind farm with series-connected wind turbines to overcome unequal wind speeds", IEEE Trans. on Power Electronics, vol. 34, no. 2, pp. 1370-1381, Feb. 2019 (doi: 10.1109/TPEL.2018.2834965).
[18] J. Zhang, K.J. Li, W. Liu, K. Sun, Z. Liu, "Grid side reactive power support strategy for MMC-HVDC connected to the wind farms based on unloading resistor", Electric Power Systems Research, vol. 193, Article Number: 107010, April 2021 (doi: 10.1016/j.epsr.2020.107010).
[19] Y.A. Sultan, S.S. Kaddah, A.A Eladl, "VSC‐HVDC system‐based on model predictive control integrated with offshore wind farms", IET Renewable Power Generation, vol. 15, no. 6, pp. 1315-1330, April 2021 (doi: 10.1049/rpg2.12109).
[20] D.N. Huu, "A novel adaptive control approach based on available headroom of the VSC-HVDC for enhancement of the ac voltage stability", Energies, vol. 14, no. 11, 3222, May. 2021 (doi: 10.3390/en14113222).
[21] H.Y. Mahmoud, H.M. Hasanien, A.H. Besheer, A.Y. Abdelaziz, " Hybrid cuckoo search algorithm and grey wolf optimiser-based optimal control strategy for performance enhancement of HVDC-based offshore wind farms", IET Generation, Transmission and Distribution, vol. 14, no. 10, pp. 1902-1911, Mar. 2020 (doi: 10.1049/iet-gtd.2019.0801).
[22] H. Erol, "Stability analysis of pitch angle control of large wind turbines with fractional order PID controller", Sustainable Energy, Grids and Networks, vol. 26, Article Number: 100430, June 2021 (doi: 10.1016/j.segan.2021.100430).
[23] M. Safaei, S. Hosseinia, M. Hosseini Toodeshki, "A general method for designing fractional order PID controller", Journal of Intelligent Procedures in Electrical Technology, vol. 3, no. 12, pp. 25-34, Jul. 2013 (in Persian).
[24] P. Shah, S. Agashe, "Review of fractional PID controller", Mechatronics, vol. 38, pp. 29-41, July 2016 (doi: 10.1016/j.mechatronics.2016.06.005).
[25] M. Gheisarnezhad, H. Mojallali, "Fractional order PID controller design for level control of three tank system based on improved cuckoo optimization algorithm", Journal of Intelligent Procedures in Electrical Technology, vol. 5, no. 20, pp. 55-66, Feb. 2015 (in Persian).
[26] M. Saadatmand, B. Mozafari, G.B. Gharehpetian, S. Soleymani, "Optimal coordinated tuning of power system stabilizers and wide‐area measurement‐based fractional‐order PID controller of large‐scale PV farms for LFO damping in smart grids", International Trans. on Electrical Energy Systems, vol. 31, no. 2, e12612, Jan. 2021 (doi: 10.1002/2050-7038.12612).
[27] N. Ghorbani, G. Babaei, " Exchange market algorithm", Applied Soft Computing, vol. 19, pp. 177-187, June. 2014 (doi: 10.1016/j.asoc.2014.02.006)
[28] N. Ghorbani, E. Babaei, "The exchange market algorithm with smart searching for solving economic dispatch problems", International Journal of Management Science and Engineering Management, vol. 13, no. 3, pp. 175-187, Nov. 2017 (doi: 10.1080/17509653.2017.1365262).
_||_[1] N. Shafaghatian, A. Kiani, N. Taheri, Z. Rahimkhani, S.S. Masoumi, "Damping controller design based on FO-PID-EMA in VSC HVDC system to improve stability of hybrid power system", Journal of Central South University, vol. 27, no. 2, pp. 403-417, April 2020 (doi: 10.1007/s11771-020-4305-2).
[2] G.P. Prajapat, N. Senroy, I.N. Kar, "Wind turbine structural modeling consideration for dynamic studies of DFIG based system", IEEE Trans. on Sustainable Energy, vol. 8, no. 4, pp. 1463-1472, Oct. 2017 (doi: 10.1109/TSTE.2017.2690682).
[3] M.S. Alam, M.A.Y Abido, "Fault ride through capability enhancement of a large-scale PMSG wind system with bridge type fault current limiters", Advances in Electrical and Computer Engineering, vol. 18, no. 1, pp. 43-50, Feb. 2018 (doi:10.4316/AECE.2018.01006).
[4] C.P. Ion, I. Serban, "Self-excited induction generator based microgrid with supercapacitor energy storage to support the start-up of dynamic loads", Advances in Electrical and Computer Engineering, vol. 18, no. 2, pp. 51-60, May. 2018 (doi:10.4316/AECE.2018.02007).
[5] C.A. Evangelista, A. Pisano, P. Puleston, E. Usai, "Receding horizon adaptive second-order sliding mode control for doubly-fed induction generator based wind turbine", IEEE Trans. on Control Systems Technology, vol. 25, no. 1, pp. 73-84, May. 2016 (doi: 10.1109/TCST.2016.2540539).
[6] M. Toulabi, S. Bahrami, A.M. Ranjbar, "An input-to-state stability approach to inertial frequency response analysis of doubly-fed induction generator-based wind turbines", IEEE Trans. on Energy Conversion, vol. 32, no. 4, pp. 1418-1431, April 2017 (doi: 10.1109/TEC.2017.2696510).
[7] Y. Zhang, J. Hu, J. Zhu, " Three-vectors-based predictive direct power control of the doubly fed induction generator for wind energy applications", IEEE Trans. on Power Electronics, vol. 29, no. 7, pp. 3485-3500, Sept. 2013 (doi: 10.1109/TPEL.2013.2282405).
[8] J.J. Justo, F. Mwasilu, J.W Jung, "Doubly-fed induction generator based wind turbines: A comprehensive review of fault ride-through strategies", Renewable and Sustainable Energy Reviews, vol. 45, pp. 447-467, May. 2015 (doi:10.1016/j.rser.2015.01.064).
[9] A. Moharana, R.K. Varma, R. Seethapathy, "SSR alleviation by STATCOM in induction-generator-based wind farm connected to series compensated line", IEEE Trans. on Sustainable Energy, vol. 5, no. 3, pp. 947-957, April 2014 (doi: 10.1109/TSTE.2014.2311072).
[10] A. Hamidi, J. Beiza, E. Babaei, S. Khanmohammadi, " Adaptive controller design based on input-output signal selection for voltage source converter high voltage direct current systems to improve power system stability", Journal of Central South University, vol. 23, no. 9, pp. 2254-2267, Sept 2016 (doi: 10.1007/s11771-016-3283-x).
[11] X. Zeng, T. Liu, S. Wang, Y. Dong, B. Li, Z. Chen, "Coordinated control of MMC-HVDC system with offshore wind farm for providing emulated inertia support", IET Renewable Power Generation, vol. 14, no. 5, pp. 673-683, May. 2019 (doi: 10.1049/iet-rpg.2019.0505).
[12] B. Yang, T. Yu, X. Zhang, L. Huang, H. Shu, L. Jiang, "Interactive teaching–learning optimiser for parameter tuning of VSC-HVDC systems with offshore wind farm integration", IET Generation, Transmission and Distribution, vol. 12, no. 3, pp. 678-687, Oct. 2017 (doi: 10.1049/iet-gtd.2016.1768).
[13] P. Kou, D. Liang, Z. Wu, Q. Ze, L. Gao, "Frequency support from a DC-grid offshore wind farm connected through an HVDC link: A communication-free approach", IEEE Trans. on Energy Conversion, vol. 33, no. 3, pp. 1297-1310, Sept. 2018 (doi: 10.1109/TEC.2018.2814604).
[14] G.S. Lee, S.H. Kwon, S.I Moon, "DC current and voltage droop control method of hybrid HVDC systems for an offshore wind farm connection to enhance ac voltage stability", IEEE Trans. on Energy Conversion, vol. 36, no. 1, pp. 468-479, Mar. 2020 (doi: 10.1109/TEC.2020.3005777).
[15] K. Xu, Z. Zhang, Q. Lai, J. Han, X. Yin, W. Liu, "Study on fault characteristics and distance protection applicability of VSC-HVDC connected offshore wind power plants", International Journal of Electrical Power and Energy Systems, vol.133, Article Number: 107252, Dec. 2021 (doi: 10.1016/j.ijepes.2021.107252).
[16] H.J. Bahirat, B.A. Mork, "Operation of dc series–parallel connected offshore wind farm", IEEE Trans. on Sustainable Energy, vol. 10, no. 2, pp. 596-603, April 2019 (doi: 10.1109/TSTE.2018.2839712).
[17] F. Rong, G. Wu, X. Li, S. Huang, B. Zhou, "All-DC offshore wind farm with series-connected wind turbines to overcome unequal wind speeds", IEEE Trans. on Power Electronics, vol. 34, no. 2, pp. 1370-1381, Feb. 2019 (doi: 10.1109/TPEL.2018.2834965).
[18] J. Zhang, K.J. Li, W. Liu, K. Sun, Z. Liu, "Grid side reactive power support strategy for MMC-HVDC connected to the wind farms based on unloading resistor", Electric Power Systems Research, vol. 193, Article Number: 107010, April 2021 (doi: 10.1016/j.epsr.2020.107010).
[19] Y.A. Sultan, S.S. Kaddah, A.A Eladl, "VSC‐HVDC system‐based on model predictive control integrated with offshore wind farms", IET Renewable Power Generation, vol. 15, no. 6, pp. 1315-1330, April 2021 (doi: 10.1049/rpg2.12109).
[20] D.N. Huu, "A novel adaptive control approach based on available headroom of the VSC-HVDC for enhancement of the ac voltage stability", Energies, vol. 14, no. 11, 3222, May. 2021 (doi: 10.3390/en14113222).
[21] H.Y. Mahmoud, H.M. Hasanien, A.H. Besheer, A.Y. Abdelaziz, " Hybrid cuckoo search algorithm and grey wolf optimiser-based optimal control strategy for performance enhancement of HVDC-based offshore wind farms", IET Generation, Transmission and Distribution, vol. 14, no. 10, pp. 1902-1911, Mar. 2020 (doi: 10.1049/iet-gtd.2019.0801).
[22] H. Erol, "Stability analysis of pitch angle control of large wind turbines with fractional order PID controller", Sustainable Energy, Grids and Networks, vol. 26, Article Number: 100430, June 2021 (doi: 10.1016/j.segan.2021.100430).
[23] M. Safaei, S. Hosseinia, M. Hosseini Toodeshki, "A general method for designing fractional order PID controller", Journal of Intelligent Procedures in Electrical Technology, vol. 3, no. 12, pp. 25-34, Jul. 2013 (in Persian).
[24] P. Shah, S. Agashe, "Review of fractional PID controller", Mechatronics, vol. 38, pp. 29-41, July 2016 (doi: 10.1016/j.mechatronics.2016.06.005).
[25] M. Gheisarnezhad, H. Mojallali, "Fractional order PID controller design for level control of three tank system based on improved cuckoo optimization algorithm", Journal of Intelligent Procedures in Electrical Technology, vol. 5, no. 20, pp. 55-66, Feb. 2015 (in Persian).
[26] M. Saadatmand, B. Mozafari, G.B. Gharehpetian, S. Soleymani, "Optimal coordinated tuning of power system stabilizers and wide‐area measurement‐based fractional‐order PID controller of large‐scale PV farms for LFO damping in smart grids", International Trans. on Electrical Energy Systems, vol. 31, no. 2, e12612, Jan. 2021 (doi: 10.1002/2050-7038.12612).
[27] N. Ghorbani, G. Babaei, " Exchange market algorithm", Applied Soft Computing, vol. 19, pp. 177-187, June. 2014 (doi: 10.1016/j.asoc.2014.02.006)
[28] N. Ghorbani, E. Babaei, "The exchange market algorithm with smart searching for solving economic dispatch problems", International Journal of Management Science and Engineering Management, vol. 13, no. 3, pp. 175-187, Nov. 2017 (doi: 10.1080/17509653.2017.1365262).