CHAOS

e-ISSN: 2687-4539
RESEARCH ARTICLE
Vol.3 / No.2 / 2021 / pp.67-76
Theory and Applications https://doi.org/10.51537/chaos.975419
in Applied Sciences and Engineering

An Analysis of Power System Stability against

Hyperchaotic Noises and Blackouts
Hakan Öztürk ID α,∗,1

and Electronic Engineering, Faculty of Engineering and Natural Sciences, Istanbul Medeniyet University, Istanbul, Turkey, ∗ Electrical and
α Electrical

Electronics Engineering, Institute of Natural Sciences, Sakarya University, Sakarya, Turkey.

ABSTRACT This study investigates the power systems that involve various numbers of busbars. To prevent the KEYWORDS
disturbances and instabilities in the power systems, power system stabilizers and various control methods have Chaos theory
been used. A hyperchaotic blackout has been created by using an existing hyperchaotic system. Hyperchaotic Hyperchaos
voltage collapse and hyperchaotic disturbance have been injected to the test systems. The situations of the Power system
various power systems are illustrated under proposed hyperchaotic blackout and noise. The stability analysis stability
of the power system has been executed according to the dynamic features of hyperchaos. Power flow
Blackouts

INTRODUCTION Wang and Wang 2008; Li and Chen 2004; Li et al. 2005; Fonzin Fozin
et al. 2019; Rössler and Letellier 2020; Vaidyanathan et al. 2020; Rech
Power System Stabilizers (PSS) are used to damp low-frequency 2017) It is possible to reach hyperchaotic systems in many fields
oscillations in the range of 0.2 Hz to 2.5 Hz. The automatic voltage such as control theory (Fonzin Fozin et al. 2019), synchronization
regulator (AVR) improves the terminal voltage of the generator (Sajjadi et al. 2020; Tian et al. 2019), secure communication applica-
by controlling the amount of current supplied from the exciter to tions (Yu et al. 2019; Xiu et al. 2021) and image encryption (Yuan
the generator field winding. Thus, the generator excitation sys- et al. 2017; Liu et al. 2019; Zhu and Zhu 2020). The corresponding
tem maintains generator voltage and controls the reactive power topic of this study is power system stability. The recent state of its
flow using an automatic voltage regulator. It is mainly used to literature can be summarized by mentioning the following studies
dampen oscillations that occur during load changes in the power that optimizing the parameters of power systems (Huang et al.
system. It keeps the generator terminal voltage constant, so that 2017; Ahsan and Mufti 2020). The studies that improve the power
the voltage on the load side remains almost constant even if the system stability by proposing a novel whale optimization algo-
load changes with time. Therefore, the stability of the AVR system rithm (Kumar et al. 2021; Sahu et al. 2018), energy reshaping (Dong
would seriously affect the security of the power system. AVR helps et al. 2017), FACTS devices (Singh and Agnihotri 2018; Van Dai
to improve the steady-state stability of power systems, but tran- et al. 2017), UPFC Based on Neuro-Fuzzy Method (Jamal et al. 2017)
sient stability has become a problem for power system operators. and wide area fuzzy-2 logic based damping controller Sharma et al.
To improve system damping, the generator is equipped with a (2017) exist. The most of analyses about the power system stability
PSS, which provides an additional feedback stabilization signal in aim to enhance the stability of the test system by proposing novel
the excitation system (DELAVARİ and BAYAT 2015; Demello and control methods. However, relating analyses have been executed
Concordia 1969; Sauer and Pai 1998). under ordinary faults that have short time and are linear.
In the literature, large number of studies about the hyperchaos The chaos in power systems is basically investigated in (Yu et al.
that has been recently discovered exist. (Rossler 1979) first intro- 2003; Chiang et al. 1993) in the simple power systems. Amongst
duced the hyperchaotic systems and has enabled it to be used in the studies that includes chaos with power systems, Chen et al.
many studies such as this study. Various analyses were executed (2005) presented the bifurcation in a SMIB system. (Harb and
about the hyperchaos in the papers such as (Matsumoto et al. 1986; Abdel-Jabbar 2003) controlled bifurcation in a small power system.
Nangrani and Bhat (2018) proposed a fractional order controller,
Manuscript received: 29 July 2021, and Das et al. (2021) proposed a PID Sliding Mode Controller
Revised: 7 September 2021, for chaotic power systems. Previous studies have not elaborated
Accepted: 10 September 2021. the analyze of power systems and have not comprised sufficient
1
[email protected], [email protected] (Corresponding
benchmark. This study aims to make a more detailed analysis on
Author) the topic, and present a superior hyperchaotic situation.

CHAOS Theory and Applications 67

 This study basically recounts the corresponding power system DESIGN OF THE POWER SYSTEM BASED ON HYPER-
stabilizers in Section 2. The hyperchaotic system and how it is CHAOS
considered as a blackout are shown in Section 3. The hyperchaotic
The generic control model of PSS and AVR is seen in Figure 2. In
blackout is introduced in the test systems such as two-area model,
the control system, the reference is generally taken as 1 pu. The
Heffron-Philips model that involve infinite bus, single machine
PSS has used the rotor speed deviation of the generator. Automatic
infinite bus system in Section 4. The detailed stability analysis has
voltage regulator (AVR) regulates the excitation voltage of the
been made in section 5. Finally, the conclusions in the study have
exciter.
been presented in Section 6.

THE POWER SYSTEM STABILIZERS

The power system stabilizers have been used to add damping
to electromechanical oscillations and optimize the system. They
operate basically the production of electrical torque proportional
to the speed change through the generator’s excitation system.
The PSS is one of the supplementary controllers, which is often
applied as part of the excitation control system. Grid codes and
regulatory agencies are increasingly specifying PSS controls for
new generation and retrofit on existing units. In the excitation
system, PSS applies a signal creating electrical torques that damp
out power oscillations and it is the main function of the PSS. The
transfer function of the PSS (Ekinci and Hekimoglu 2018) is simply Figure 2 Conventional power system model
given as Eq. 1.

1 + sT1 The generic equations of the power system models have been
V (s) = K PSS ( )∆ω (s) (1) listed in Eq. 2 - 6. In Eq. 2, ∆w(t) represents the speed deviation,
1 + sT2
is loaded by hyperchaotic oscillator. In Eq. 6, reference voltage is
The PSS response control, part of the integrated generator con- consisted of a set of equations that given in Eq. 7 - 10.
trol system, provides an additional signal that can be added to the
Automatic Voltage Regulator (AVR) input. By adding the stabiliza- w(t) = w0 + ∆w(t) (2)
tion signal, the PSS should generate an electrical torque component
that counteracts the mechanical dynamics. The electrical torque Zt
1
component generated should be in phase with the generator rotor ∆w(t) = ( Tm − Te )dt − Kd ∆w(t) (3)
2H
speed deviations to be able to damp the oscillations. The main 0
structure of PSS has been shown as Figure. 1 and it has been used dδi
widely. = wi − wre f (4)
dt
dwi (− Di (wi − wre f ) + Pmi − PGi )
= (5)
dt Mi
dE f d
= (− E f d + Ka (Vre f + Vs − V ))/Ta (6)
dt
Where the w(t) is the speed or frequency, H is inertia constant
that is inversely proportional to noise, nomenclature T is the recip-
rocating torques, Kd is damping coefficient, δ is load angle, D is
damping factor, Pmi is real power generated, M is angular torque,
PGi is output electrical power of the generator, E f d is field voltage,
Vs is terminal voltage, Ka is gain of the excitation system, Eq. 2 - 6
are basic equations of power systems.
Figure 1 Block Diagram of PSS The PSS is implemented in power systems and is investigated
under various faults and disturbances. Reference voltage indicates
The generic configuration of the PSS in a power system is de- that the type of disturbance and fault. The reference voltage is
picted in Fig. 2. The PSS is not usually utilized as alone. In the replaced by an oscillator that is obtained from well-known Rossler
power systems, various control models and devices have been attractor (Rossler 1979) as follows:
accompanied the PSS. The AVR is the primary of these devices.
.
Flexible alternating current transmission system (FACTS), static Vre f 1 = −(Vre f 2 + Vre f 3 ) (7)
VAR compensator (SVC) and thyristor-switched reactor (TSR) are
amongst the mentioned devices. .
Additionally, numerous control methods such as decentralized Vre f 2 = Vre f 1 + αVre f 2 + Vre f 4 (8)
modal control, fuzzy logic control, PID control and adaptive fuzzy
.
sliding mode control have been developed. Hybrid methods are Vre f 3 = b + Vre f 1 Vre f 3 (9)
also proposed in terms of accordance and robustness. These meth- .
ods are also improved with metaheuristic optimization algorithms. Vre f 4 = −cVre f 3 + dVre f 4 (10)
Hence, power system stability has been aimed to improve by
means of the corresponding methods.

68 | Hakan Ozturk CHAOS Theory and Applications

 Reference voltages are given to the test system where α = 0.25,
b= 3, c=-0.5 and d=0.05. The initial conditions are set as Vre f 1 (0) =
−10, Vre f 2 (0) = −6, Vre f 3 (0) = 0 and Vre f 4 (0) = 10.1. Each
generator is supplied by hyperchaotic oscillator voltage instead of
normal reference voltage.
As a signal of noise, ∆w(t) is similarly replaced by the equations
of well-known Rossler attractor. Equation model of the power
system is basically transformed into follows:
Z
w1 ( t ) = w0 − (∆w2 + ∆w3 )dt (11)
Z Figure 3 Four machines or two-area test system (Sheikh and Star-
w2 ( t ) = w0 + (∆w1 + α∆w2 + ∆w4 )dt (12) rett 2015)
Z
w3 ( t ) = w0 + (b + ∆w1 ∆w3 )dt (13) Case 2 : Infinite Bus Power System
Z Heffron-Phillips model of the synchronous generator is a fourth-
w4 ( t ) = w0 + (−c∆w3 + d∆w4 )dt (14) order linear model with a third-order synchronous machine and
a first-order AVR. This model is suitable for the analysis of small
signals where a linear approximation is reasonable. Therefore, all
Zt input and output signals of this model have variations with a small
1
Z
∆w(t) = ( Tm − Te )dt + Kd (∆w2 + ∆w3 )dt (15) range around the nominal value represented by nomenclature
2H "Delta". The block diagram of the linear model is shown in Figure
0
4.
PROPOSED HYPERCHAOTIC BLACKOUT FOR THE CASES • Heffron-Phillips model is widely studied in small signal sta-
Case 1 : 11 Buses and 4 machines system bility analysis, also for off-line design of power system stabi-
lizers;
This system consists of two largely symmetrical areas connected by
• The parameters are mostly processed using the parameters of
two 230 kV lines twice 110 km long. Each has two identical rotary
synchronous generator and system variables at steady-state
generators with a rated power of 20 kV/900 MVA. The parameters
conditions;
of the synchronous machines are all the same except for the inertia,
• The model can be modified according to proposed control
which is H=6.5s for the area 1 machines and H=4s for the area 2
algorithm.
machines. The load flow in this case (with generator 2 as the slack
machine) is such that all generators in the system produce about
700 MW each. The loads are assumed to be constant impedance
load models throughout, with the loads for Area 1 and 2 being 976
MW and 1765 MW respectively. To improve the voltage profile,
capacitors were added in each area, can be seen in Figure 3.
This system is also referred as Kundur’s two-area system and
its features can be summarized as follows:

• Two loads are comprised to the test system at bus 7 and 9;

• Both areas have been provided with the fundamental fre-
quency 60 Hz;
• Two shunt capacitors are connected to bus 7 and 9;
• The system is consisted two similar areas connected by a
transmission line.;

Each generators of the system (G1, G2, G3, G4) in Figure 3 have
been connected with the 4-D hyperchaotic system (Sheikh and
Starrett 2015). The other parameters are not changed and power
system stabilizers are activated taking into account the cases.

CHAOS Theory and Applications 69

 PID(s)

DeltaTm

DeltaVref

Figure 4 The Heffron-Phillips Model that involve infinite bus

Case 3 : SMIB system STABILITY FINDINGS FOR THE CASES

Single machine-infinite bus system (SMIB) is a basic system that Stability refers to a power system’s tendency to create restorative
is consisted of a generator, a transformer, the transmission line, a forces that are equal to or larger than the disturbing forces in order
source, high impedance and infinite bus as Fig. 5. In this study line to preserve equilibrium. Problems with power system stability
reactance is taken as 100 ohm and 1000 VA synchronous machine are often classified into two categories: steady state and transient.
is selected. The main features of the test systems are denoted The ability of the power system to reestablish synchronism after
in Table 1. The excitation voltage of the machine is connected modest or slow shocks, such as a gradual power change, is referred
with hyperchaotic oscillator. It is aimed to consider under single to as steady-state stability. Dynamic stability is a subset of steady-
phase-hyperchaotic blackout. state stability. With the addition of automatic control mechanisms,
dynamic stability is concerned with tiny disruptions enduring for
a long time. Transient stability is concerned with the impacts of
large, sudden disruptions such as fault onset, line loss, and load
application or removal.

Results for Case 1

The mentioned tests for the cases have been realized in Matlab
Figure 5 SMIB system model Environment. The results of the test for two areas system have been
depicted in Figs. 6-11. The corresponding results are obtained from
the system that is injected with hyperchaotic voltage. Accordingly,
the balance of the speed deviation is not overly disturbed as it can
be seen in Fig. 6. In the generator voltages and load angle, the
oscillations that instantaneously increase with some time intervals
are occured as Figs. 7-8. Once PSS restorer is activated, the case can
be seen in Figs. 10-11. The power system stabilizers have increased
the magnitude of violent voltage swells and had a negative impact.
The power system stabilizers have caused to worsen small signal
stability, too.
For voltage stabilty evaluation, PV curve is obtained as Fig. 12.
In the first state, there is no points under the saddle point and the
system is stable. In Fig. 13 tornado type curve obtained instead of
nose curve as Power-Voltage characteristic has been shown. The
power-voltage characteristic in hyperchaotic blackout has included
large number of noses. It indicates that many critical eigen values
are found in power system.

70 | Hakan Ozturk CHAOS Theory and Applications

■ Table 1 Standart values for the test systems

Test Model Speed Deviation Voltage (V) Frequency (Hz) Power (VA)

Two-area system 0.0024 pu 20 kV 60 Hz 900 MVA

Infinite bus power system 0 rad/s 400 V 60 Hz -

SMIB system -0.0013 rad/s 220 V 60 Hz 1 kVA

■ Table 2 Noise characteristics of power systems for the cases

Speed deviation

Test Type/Model Hyperchaotic Blackout Damping Characteristic

Mean Value Maximum Value Mean Value Maximum Value

Two-area system (G1) 0.0509 pu 0.1769 pu 0.02765 pu 0.1164 pu

Two-area system (G2) 0.0520 pu 0.1816 pu 0.02836 pu 0.1181 pu

Two-area system (G3) 0. 3277 pu 0.4977 pu 0.2466 pu 0.4265 pu

Two-area system (G4) 0.3034 pu 0.4671 pu 0.2456 pu 0.4234 pu

Infinite bus system 0.0007 rad/s 0.2342 rad/s 0.0007 rad/s 0.169 rad/s

SMIB system -0.7211 rad/s 512 rad/s -0.6891 rad/s 128 rad/s

■ Table 3 Frequency stability of two-area system

Frequency (Hz)

Test Type/Model Hyperchaotic Blackout Damping Characteristic

Mean Value Maximum Value Mean Value Maximum Value

Two-area system (G1) 60 Hz 60.75 Hz 60 Hz 60.72 Hz

Two-area system (G2) 60.06 Hz 61.29 Hz 60.04 Hz 61 Hz

Two-area system (G3) 61.28 Hz 80.54 Hz 62.10 Hz 82.65 Hz

Two-area system (G4) 61.88 Hz 83.65 Hz 62.07 Hz 81.75 Hz

CHAOS Theory and Applications 71

 0.5
0.5 Generator1-2 Generator1-2
Generator3 Generator3-4
0.4
0.4 Generator4

0.3
0.3

0.2
0.2

0.1
0.1

0 0

-0.1
0 20 40 60 80 100 0 20 40 60 80 100
t t

Figure 6 Speed deviation of generators against hyperchaotic noise Figure 9 Speed deviation of generators against hyperchaotic noise
when PSS is activated

Figure 10 Generator voltages against hyperchaotic noise when PSS

Figure 7 Generator voltages against hyperchaotic noise is activated

200 Generator3
200 Generator3
150

100
100
50

0
0
-50

-100
-100
-150

-200
-200
0 20 40 60 80 100
0 20 40 60 80 100 t
t
Figure 11 Load angle of generator 3 against hyperchaotic noise
Figure 8 Load angle of generator 3 against hyperchaotic noise
when PSS is activated

72 | Hakan Ozturk CHAOS Theory and Applications

 1
PV curve for SMIB system

0.5
Voltage (pu)

-0.5

-1
-1 -0.5 0 0.5 1 1.5 2 2.5 3 3.5
Power (MW) 10-6
Figure 12 The standart P-V curve (Nose curve) for SMIB system

1.4

1.2

0.8
V (pu)

0.6

0.4

0.2
Generator 3
0
-3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5
P (pu)

Figure 13 P-V curve during hyperchaotic blackout

CHAOS Theory and Applications 73

 According to the results in Table 2, the stability of generator 3 blackouts have not caused to occur more oscillations in SMIB sys-
and generator 4 have been more reduced than that of generator tem. But it overly increased the peak value of the speed deviation
1 and generator 2. PSS could not be very effective for them. The as Table 2 and it reversed the direction of the oscillations in the
frequency values for the cases have been given in Table 3. In speed deviations. The PSS rarely had a negative effect on counter-
two-area system, generator 1 and generator 2 have been bordered acting the hyperchaotic blackout. The PSS sometimes increased
on stability. In generator 3 and generator 4, very high frequency the occurrence and magnitude of oscillations in speed deviation.
instability occurred . The PSS has not been very advantageous for
Electrical power in the SMIB system under hyperchaotic black-
the devastating blackouts.
out is shown in Fig. 17. The PSS has been damped noises and
improved power quality as it can be seen in Fig 18. However, the
Results for Case 2 instabilites in power could not be filtered completely. In both cases,
In the second case, infinite-bus model is used to analyze hyper- standard power of the power system has been run out in terms of
chaotic blackout characteristics. The generators showed more steady state stability.
oscillations than that of standart noises. Unlike standart noises
in power systems, very small and ineque oscillations have been
observed. The PID controlled PSS have filtered the small noises 80
Normal Conditions
in the generators. It can be seen by the variety between the Fig. 60 Hyperchaotic Blackout
Using PSS
14 and Fig. 15. However, high magnituded noises could not be 40
prevented.
20

0.3 0
Generators
-20
0.2
-40
(rad/sec)

-60
0.1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t
0

Figure 16 Speed deviation of the generator in a SMIB system that is

-0.1 excited by hypcerhaotic system

-0.2
0 10 20 30 40 50 60 70 80 90 100
time (sec)

100 Hyperchaotic Blackout

Figure 14 Speed deviation of generators against hyperchaotic noise
Pe of the Generator (W)

in infinite bus power system

50

0
0.2
Generators
0.15 -50

0.1 -100
(rad/sec)

0.05 0 10 20 30 40 50 60 70 80 90 100
t
0

-0.05
Figure 17 Electrical power in the generator under hyperchaotic
blackout condition
-0.1
2 Using PSS

-0.15
Pe of the Generator (W)

0 10 20 30 40 50 60 70 80 90 100
1
time (sec)

Figure 15 Speed deviation of generators against hyperchaotic noise 0

with PID controlled PSS in infinite bus power system

-1

Results for Case 3 -2

0 10 20 30 40 50 60 70 80 90 100
The third case is realized with the single synchronous machine un- t
der load. The corresponding power curves have been investigated
in depth. The assesment on the tests have been realized in terms Figure 18 Damping characteristic of electrical power in the gener-
of noise damping and power quality improvement. ator under hyperchaotic blackout condition
The speed deviation curves according to the cases are given in
Fig. 16. In line with various tests, it is found that hyperchaotic

74 | Hakan Ozturk CHAOS Theory and Applications

Summary Findings for Cases investigated whether it maintains against hyperchaotic blackouts.
As a result, the peak values of the well-known controllers against The mentioned analyzes have been realized in cases of nonchaotic,
the proposed blackout is summarized in Table 4. PSS and AVR hyperchaotic and hyperchaotic with controller. The effects of the
have slightly regulated the hyperchaotic noise in infinite bus. PID hyperchaotic blackouts in various systems have been presented.
controller has damp out the oscillations better than that of them. As a primary apparatus, the AVR could not immensely prevent
PID controlled PSS shows the best damping rate amongst the the devastating hyperchaotic noises. But, the AVR have showed
mentioned controllers. This inference is made given that infinite a great performance in providing voltage stability. The PSS have
bus system with hyperchaotic excitation. counteracted the amidst of hyperchaotic blackout in the power
In the SMIB system, the output voltages are shown in Fig. 19. systems. The hyperchaotic noise damping rate of the PSS has been
The normal effective system voltage is a 220 V. Against the hyper- close to of PID controller. However, the PID controlled PSS has
chaotic noise, AVR has provided a great voltage stability. After provided steady stability and small signal stability.
about 0.2 seconds of oscillation, AVR has provided steady stability.
PSS and PID has shown virtually same effects in terms of transient Conflicts of interest
stability. Even though the PID has provided more damping than The author declares that there is no conflict of interest regarding
that of PSS in the long term. The PSS is seen to cause the system the publication of this paper.
unstable in the very long term.
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