早稲田大学大学院 環境・エネルギー研究科
博 士 論 文 概 要 書
論 文 題 目
Robust Design of FACTS Wide-Area Damping Controller Considering Signal Delay for Stability Enhancement of
Power System
信号遅延を考慮した電力系統ロバスト安定化のための
FACTS 広域制動コントローラの
設計手法
申 請 者
劉 芳
Liu Fang
氏 名
研究科・研究指導
(課程内のみ) 環境・エネルギー研究科 環境・電力システム研究
2011 年 04 月
1
T h e o b j e c t i v e o f t h i s d o c t o r a l s t u d y i s t o s t u d y a d v a n c e d m o d e l i n g , c o n t r o l a n d o p t i m i z a t i o n t e c h n i q u e s f o r p o w e r s y s t e m s , a n d e m p l o y t h e s e t e c h n i q u e s t o i m p r o v e c o n t r o l p e r f o r m a n c e o f s y s t e m s a n d s t a b i l i t y o f p o w e r s y s t e m s . M o s t i m p o r t a n t l y, w e w i l l i n v e s t i g a t e t h e a p p l i c a t i o n o f r o b u s t c o n t r o l t h e o r y t o t h e d a m p i n g o f i n t e r - a r e a o s c i l l a t i o n s i n p o w e r s y s t e m s w i t h f l e x i b l e A C t r a n s m i s s i o n s y s t e m ( FA C T S ) d e v i c e s a n d a n e w r o b u s t c o n t r o l l e r f o r t h e s e d e v i c e s w i l l b e d e s i g n e d w i t h c o n s i d e r i n g t h e t i m e - d e l a y c h a r a c t e r i s t i c t o e n h a n c e t h e e f f i c i e n c y a n d s e c u r i t y o f t h e e l e c t r i c a l p o w e r n e t w o r k u s i n g i n w i d e - a r e a m e a s u r e m e n t s y s t e m ( WA M S ) .
T h e g e n e r a l c o n f i g u r a t i o n o f a m o d e r n p o w e r s y s t e m i s t h a t p o w e r s o u r c e s a n d l o a d s a r e w i d e l y d i s p e r s e d , w h i c h i s b e c o m i n g m o r e c o m p l e x . S i n c e t h e g e n e r a t o r s a n d l o a d s m a y b e h u n d r e d s o f m i l e s a w a y, i t i s a n i n e v i t a b l e t r e n d t h a t p o w e r n e t w o r k b e c o m e s i n t e r c o n n e c t e d m u l t i - a r e a p o w e r n e t w o r k .
A s f a r a s w e k n o w, I n o r d e r t o i m p r o v e t h e s t a b i l i t y a n d d y n a m i c p e r f o r m a n c e o f p o w e r s y s t e m s , s e v e r a l c o n t r o l m e a s u r e s a r e t a k e n t o r e s t r a i n t h e p o w e r o s c i l l a t i o n . F o r e x a m p l e , p o w e r s y s t e m s s t a b i l i z e r ( P S S ) i s p r o p o s e d f o r d a m p i n g l o w f r e q u e n c y p o w e r o s c i l l a t i o n ; FA C T S d e v i c e s a r e t y p i c a l l y i n s t a l l e d i n m a n y p o w e r s y s t e m s . H o w e v e r, d e l a y i s o f t e n i g n o r e d i n t h e s e c o n t r o l l e r s ’ d e s i g n s i n c e t h e c o n t r o l i s m a i n l y a p p l i e d i n l o c a l s y s t e m s w h e r e t h e c o m m u n i c a t i o n t i m e d e l a y i s v e r y s m a l l ( l e s s t h a n 1 0 m s ) c o m p a r e d t o t h e s y s t e m t i m e c o n s t a n t s . I n p r a c t i c e , t h e s e l o c a l c o n t r o l l e r s a r e e f f e c t i v e f o r l o c a l a r e a o s c i l l a t i o n s b u t n o t a l w a y s f o r i n t e r - a r e a o s c i l l a t i o n s . D u e t o t h e i n c r e a s e o f t h e s i z e a n d c o m p l e x i t y o f i n t e r c o n n e c t e d p o w e r n e t w o r k s i n c r e a s i n g , i t i s v e r y d i f f i c u l t t o k e e p t h e s t a b i l i t y o f m o d e r n p o w e r s y s t e m s .
T h e r e f o r e , i n o r d e r t o r e a l i z e t h e e f f e c t i v e a n d r e l i a b l e o p e r a t i o n o f p o w e r s y s t e m , i t i s n e c e s s a r y t o c a r r y o u t t h e w i d e - a r e a o r g l o b a l o p t i m a l c o n t r o l f o r s y s t e m s u n d e r t h e d e t e c t i o n o f r e a l - t i m e s y n c h r o n i z a t i o n s t a t u s .
W i t h t h e t e c h n i c a l d e v e l o p m e n t a n d c o s t r e d u c t i o n o f p o w e r e l e c t r o n i c s , m o r e a n d m o r e FA C T S d e v i c e s a r e b e i n g a p p l i e d i n t o p o w e r s y s t e m e s p e c i a l i n t o m o d e r n p o w e r s y s t e m t o w a r d s t o s m a r t g r i d . FA C T S d e v i c e s c a n c o n v e n i e n t l y a d j u s t n e t w o r k p a r a m e t e r s ( e . g . r e a c t a n c e ) f l e x i b l y a n d b e n e f i t
p o w e r f l o w o p t i m i z a t i o n , t r a n s m i t t e d p o w e r i n c r e a s e , b u s - v o l t a g e s t a b i l i t y e n h a n c e m e n t , a n d s o o n .
A t t h e s a m e t i m e , w i t h m o r e a n d m o r e a p p l i c a t i o n o f s y n c h r o n i z e d p h a s o r m e a s u r e m e n t ( P M U ) t e c h n o l o g y, WA M S t e c h n o l o g y a r e b e i n g a p p l i e d i n t o p o w e r s y s t e m , w h i c h i s a l s o o n e o b v i o u s t e c h n i c a l f e a t u r e o f t h e c o m i n g s m a r t g r i d . T h e r e f o r e , i t w o u l d b e w o n d e r f u l t o c o n s t r u c t WA M S - b a s e d FA C T S s u p p l e m e n t a r y w i d e a r e a d a m p i n g c o n t r o l s t r a t e g y, t h a t c o m b i n e s t h e q u i c k a n d f l e x i b l e c o n t r o l a b i l i t y o f FA C T S d e v i c e s a n d t h e g l o b a l m o n i t o r i n g a b i l i t y o f WA M S , t o p r e v e n t t h e l o w f r e q u e n c y o s c i l l a t i o n ( e s p e c i a l t h e i n t e r - a r e a o s c i l l a t i o n ) a n d e n h a n c e t h e g l o b a l s t a b i l i t y o f p o w e r s y s t e m .
S o h o w t o d e s i g n r o b u s t c o n t r o l o f FA C T S d a m p i n g c o n t r o l l e r f o r e f f i c i e n c y a n d s e c u r i t y o f t h e e l e c t r i c a l p o w e r n e t w o r k w i t h t i m e - d e l a y o f w i d e - a r e a s i g n a l s h a s a t t r a c t e d m o r e i n t e r e s t i n g a n d b e c o m e m o r e a n d m o r e i m p o r t a n t .
S i n c e t h e p o w e r s y s t e m w i t h FA C T S d e v i c e s c a n b e l i n e a r i z e d a s t h e d y n a m i c t i m e d e l a y s y s t e m b y d i r e c t f e e d b a c k l i n e a r i z a t i o n ( D F L ) t h e o r y, S o , d e s i g n i n g t h e FA C T S d a m p i n g c o n t r o l l e r s c a n b e d e s c r i b e d t o d e s i g n a f e e d b a c k c o n t r o l l e r t o m a k e t h e l i n e a r i z e d t i m e - d e l a y s y s t e m s t a b l e .
I n c o n t r o l t h e o r y f i e l d , r e s e a r c h o n t h e s t a b i l i t y o f t i m e - d e l a y s y s t e m s b e g a n i n t h e 1 9 5 0 s , i n c l u d i n g f r e q u e n c y - d o m a i n a p p r o a c h e s a n d t i m e - d o m a i n m e t h o d s . A n d t h e t i m e - d o m a i n m e t h o d s a r e v e r y i m p o r t a n t i n t h e s t a b i l i t y a n a l y s i s o f l i n e a r s y s t e m s . A m o n g t h e m , t w o c l a s s e s o f s u f f i c i e n t c o n d i t i o n s h a v e r e c e i v e d l o t s o f a t t e n t i o n : d e l a y - d e p e n d e n t c r i t e r i a a n d d e l a y - i n d e p e n d e n t c r i t e r i a . S i n c e t h e d e l a y - d e p e n d e n t s t a b i l i t y c r i t e r i a m a k e u s e o f i n f o r m a t i o n o n t h e s i z e o f d e l a y , w h i l e t h e d e l a y - i n d e p e n d e n t s t a b i l i t y c r i t e r i a d o n o t i n c l u d e s u c h i n f o r m a t i o n , t h e d e l a y - d e p e n d e n t c o n d i t i o n s a r e g e n e r a l l y l e s s c o n s e r v a t i v e t h a n t h e d e l a y - i n d e p e n d e n t o n e s e s p e c i a l l y w h e n t h e t i m e d e l a y s a r e s m a l l . S o f a r , t h r e e m e t h o d s o f s t u d y i n g d e l a y - d e p e n d e n t p r o b l e m s h a v e b e e n d e v i s e d : t h e d i s c r e t i z e d L y a p u n o v - K r a s o v s k i i f u n c t i o n a l m e t h o d , f i x e d m o d e l t r a n s f o r m a t i o n s , a n d p a r a m e t e r i z e d m o d e l t r a n s f o r m a t i o n s . B u t a l l o f t h e m
3
h a v e s o m e l i m i t a t i o n s . T h e d i s c r e t i z e d L y a p u n o v f u n c t i o n a l m e t h o d i s o n e o f t h e m o s t e f f i c i e n t a m o n g t h e m , b u t i t i s d i f f i c u l t t o e x t e n d t o t h e s y n t h e s i s o f a c o n t r o l s y s t e m . A n o t h e r m e t h o d i n v o l v e s a f i x e d m o d e l t r a n s f o r m a t i o n , w h i c h e x p r e s s e s t h e d e l a y t e r m i n t e r m s o f a n i n t e g r a l .
I n t h i s d i s s e r t a t i o n , t h e p r o p o s e d f r e e - w e i g h t i n g m a t r i c e s ( F W M s ) a p p r o a c h b a s e d o n t h e L y a p u n o v f u n c t i o n a l s t a b i l i t y t h e o r y i s u s e d t o h a n d l e w i t h t h e s t a b i l i t y / s t a b i l i z a t i o n p r o b l e m f o r t i m e - d e l a y p o w e r s y s t e m . F o r t h e c o n t r o l l e r s ’ d e s i g n p r o b l e m s , F W M s a p p r o a c h c a n r e d u c e t h e c o n s e r v a t i v e n e s s o f t h e d e s i g n e d c o n t r o l l e r c o m p a r e d w i t h t h e c o n v e n t i o n a l f i x e d m o d e l t r a n s f o r m a t i o n s m e t h o d s .
B e s i d e s , i n r e a l p o w e r s y s t e m s , u n c e r t a i n t i e s a n d e r r o r s a r e i n e v i t a b l e , s o r o b u s t c o n t r o l t h e o r i e s h a v e b e e n a p p l i e d t o p o w e r s y s t e m s t o e n s u r e t h a t a c e r t a i n l e v e l o f r o b u s t n e s s t o t h e s e e x t e r n a l d i s t u r b a n c e s c a n b e m a i n t a i n e d . T h u s , w e a l s o d e s i g n a n H∞ o u t p u t f e e d b a c k c o n t r o l l e r t o m a k e t h e p o w e r s y s t e m w i t h d i s t u r b a n c e s t a b l e a n d r o b u s t .
F i n a l l y , w e a n a l y z e t h e w i d e a r e a c o o r d i n a t e d r o b u s t d a m p i n g c o n t r o l s t r a t e g y o f m u l t i p l y F A C T S d e v i c e s f o r s t a b i l i t y e n h a n c e m e n t o f l a r g e - s c a l e p o w e r s y s t e m s w i t h c o n s i d e r i n g t i m e d e l a y o f w i d e - a r e a s i g n a l s .
T h i s d o c t o r a l r e s e a r c h w o r k s a i m s t o s t u d y t h e a s p e c t s o f s t a b i l i t y a n d c o n t r o l p r o b l e m i n l a r g e - s c a l e a n d c o m p l e x p o w e r s y s t e m s , a n d h o w t o e n h a n c e t h e c o n t r o l p e r f o r m a n c e o f s y s t e m s a n d s t a b i l i t y o f p o w e r s y s t e m s b y u s i n g t h e r o b u s t c o n t r o l t h e o r y a n d F A C T S d e v i c e s a n d o t h e r s . B y s i m u l a t i o n r e s u l t s , w e h a v e s u c c e s s f u l l y d e s i g n e d t h e p o w e r s y s t e m s t a b i l i z e r s ( P S S s ) a n d F A C T S w i d e - a r e a d a m p i n g c o n t r o l l e r s ( W A D C s ) t o e n h a n c e t h e e f f i c i e n c y a n d s e c u r i t y o f e l e c t r i c a l p o w e r n e t w o r k s .
Ｎｏ．１
早稲田大学 博士（工学） 学位申請 研究業績書
［査読論文、論文・口頭発表、著書、その他の分類別・年代の新しい順に記入してください］
氏 名 劉 芳 印
（ 2011年 04月 現在）
分 類 著者(申請者含む)、 題名、 発行掲載誌名/発表場所･巻号･頁、 発行/発表年月
査読論文
査読論文・
国際学会
査読論文
査読論文
著書
査読論文・
国際学会
1. Fang Liu, Ryuichi Yokoyama, Yicheng Zhou, Min Wu. Free-Weighting
Matrices-Based Robust Wide-Area FACTS Control Design with Considering Signal Time Delay for Stability Enhancement of Power Systems. IEEJ Transactions on Electrical and Electronic Engineering, 2011. (Accepted)
2. Fang Liu, Ryuichi Yokoyama, Yicheng Zhou, Min Wu. Design of Damping Controllers of Multi-FACTS Devices with considering Time-delay of Wide-area Signals, IEEE Trondheim Powertech 2011, June, 19-23, Trondheim, Norway, 2011.
(Accepted)
3. Fang Liu, Ryuichi Yokoyama, Yicheng Zhou, Min Wu. Oscillation Damping Effects of Power System Stabilizer with Eigenvalue Analysis Method. International Journal of Power and Energy Systems, 30(4), 241-247, 2010.
4. Fang Liu, Min Wu, Yong He, Ryuichi Yokoyama. New Delay-dependent Stability Criteria for T-S Fuzzy Systems with Time-varying Delay. Fuzzy Sets and Systems, 161(15), 2033-2042, 2010.
5. Fang Liu, Ryuichi Yokoyama, Yicheng Zhou, Min Wu. CHAPTER 4， <<Modeling, Simulation and Identification>>, 63-80, 2010, ISBN 978-953-307-136-7, Sciyo Publication.
6. Fang Liu, Ryuichi Yokoyama, Yicheng Zhou, Min Wu. TCSC Wide-Area Damping Controller to Enhance the Damping of Inter-area Oscillation for Power Systems with Considering the Time Delay of Wide-Area Signals. 2010 International Conference on Power System Technology (POWERCON2010), October，24-28, 2010, Hangzhou, China.
5
Ｎｏ．２
早稲田大学 博士（工学） 学位申請 研究業績書
［査読論文、論文・口頭発表、著書、その他の分類別・年代の新しい順に記入してください］
氏 名 劉 芳 印
（ 2011年 04月 現在）
分 類 著者(申請者含む)、 題名、 発行掲載誌名/発表場所･巻号･頁、 発行/発表年月
査読論文・
国際学会
査読論文
査読論文・
国際学会
国際学会
査読論文
査読論文
7. Fang Liu, Ryuichi Yokoyama, Yicheng Zhou, Min Wu. SVC Robust Additional Damping Controller Design for Power System with Considering Time-delay of Wide-area Signals. Ninth International Conference on Environment and Electrical Engineering (EEEIC2010), May 16-18, 2010, Prague, Czech.
8. Fang Liu, T. Niimura, Ryuichi Yokoyama, Yicheng Zhou, Min Wu. H∞ Controller Design for SVC to Enhance System Damping and Voltage Stability with Time-delay of Wide-area Signals. International Journal of Electronics, Electrical and Communication Engineering, 1(1), 51-60, 2009.
9. Fang Liu, Ryuichi Yokoyama, Yicheng Zhou, Min Wu. Study on Oscillation Damping Effects of Multi-Band Power System Stabilizer Arrangement with Eigenvalue Analysis Method. IASTED International Conference Modelling, Simulation, and Identification (MSI 2009), October 12-14, 2009, Beijing, China.
10. Fang Liu, Ryuichi Yokoyama, Yicheng Zhou, Min Wu. Reactive Power Compensation Characteristics of a New SVC for Industry Custom Power System.
International Conference on Power Systems Transients (IPST2009), June 2-6, 2009, Kyoto, Japan.
11. Fang Liu, Ryuichi Yokoyama, Yicheng Zhou, Min Wu. Overview of Wide-Area Damping Control and Method to Against Power System Oscillation with Consideration of time-delay. Power Engineering and Power Systems Engineering, IEE Japan, September 15-17, 2009, Tokyo, Japan.
12. Min Wu, Fang Liu, Peng Shi, Yong He, Ryuichi Yokoyama. Improved Free-Weighting Matrix Approach for Stability Analysis for Discrete-time Recurrent Neural Networks with Time-varying Delay. IEEE Trans on Circuits and Systems, II, 55(7), 690-694, 2008.
Ｎｏ．3
早稲田大学 博士（工学） 学位申請 研究業績書
［査読論文、論文・口頭発表、著書、その他の分類別・年代の新しい順に記入してください］
氏 名 劉 芳 印
（ 2011年 04月 現在）
分 類 著者(申請者含む)、 題名、 発行掲載誌名/発表場所･巻号･頁、 発行/発表年月
査読論文
査読論文
国際学会
中国学会
査読論文
査読論文
13. Min Wu, Fang Liu, Peng Shi, Yong He, Ryuichi Yokoyama. Exponential Stability Analysis for Neural Networks with Time-Varying Delay. IEEE Trans on Systems, Man and Cybernetics, Part B, 38(4), 1152-1156, 2008.
14. Fang Liu, Min Wu, Yong He. Further Improvement of Free-weighting Matrix Approach for The Stability Analysis of Neural Networks with Time-varying Delay.
Computing Technology and Automation, 1 (27), 1-6, 2008.(Chinese)
15. Fang Liu, Min Wu, Yong He, Yicheng Zhou, Ryuichi Yokoyama. New Delay-dependent Stability Criteria for T-S Fuzzy Systems with a Time-varying Delay. Proceedings of the 17th World Congress, the International Federation of Automatic Control. 254-258, July 6-11, 2008, Seoul, Korea.
16. Fang Liu, Min Wu, Yong He, Yicheng Zhou, Ryuichi Yokoyama. New Delay-dependent Stability Analysis and Stabilizing Design for T-S Fuzzy Systems with a Time-varying Delay. The 27th Chinese Control Conference (CCC08), 4, 340-344, July, 2008, Kunming, China.
17. Fang Liu, Min Wu, Yong He, Yicheng Zhou, Ryuichi Yokoyama. Delay-dependent Robust Stability Analysis for Interval Neural Networks with Time-varying Delay.
IEEJ Transactions on Electrical and Electronic Engineering, 6(4), 345-352, 2011.
18. Fang Liu, Min Wu, Yong He, Ryuichi Yokoyama. Improved Delay-dependent Stability Analysis for Uncertain Stochastic Neural Networks with Time-varying Delay. Neural Computing and Applications, 20, 441-449, 2011.
