A Modified Particle Swarm Optimization Technique for Economic Load Dispatch with Valve-Point Effect

Автор: Hardiansyah

Журнал: International Journal of Intelligent Systems and Applications(IJISA) @ijisa

Статья в выпуске: 7 vol.5, 2013 года.

Бесплатный доступ

This paper presents a new approach for solution of the economic load dispatch (ELD) problem with valve-point effect using a modified particle swarm optimization (MPSO) technique. The practical ELD problems have non-smooth cost function with equality and inequality constraints, which make the problem of finding the global optimum difficult when using any mathematical approaches. In this paper, a modified particle swarm optimization (MPSO) mechanism is proposed to deal with the equality and inequality constraints in the ELD problems through the application of Gaussian and Cauchy probability distributions. The MPSO approach introduces new diversification and intensification strategy into the particles thus preventing PSO algorithm from premature convergence. To demonstrate the effectiveness of the proposed approach, the numerical studies have been performed for three different test systems, i.e. six, thirteen and forty generating unit systems, respectively. The results shows that performance of the proposed approach reveal the efficiently and robustness when compared results of other optimization algorithms reported in literature.

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Particle Swarm Optimization, Economic Load Dispatch, Non-Smooth Cost Functions, Valve-Point Effect

Короткий адрес: https://sciup.org/15010441

IDR: 15010441

Текст статьи A Modified Particle Swarm Optimization Technique for Economic Load Dispatch with Valve-Point Effect

Published Online June 2013 in MECS

Most of power system optimization problems including economic load dispatch (ELD) which have complex and nonlinear characteristics with heavy equality and inequality constraints. The objective of the ELD of electric power generation is to schedule the committed generating unit outputs so as to meet the required load demand at minimum operating cost while satisfying all unit and system equality and inequality constraints. Several classical optimization techniques such as lambda iteration method, gradient method, Newton’s method, linear programming, Interior point method and dynamic programming have been used to solve the basic economic dispatch problem [1]. These mathematical methods require incremental or marginal fuel cost curves which should be monotonically increasing to find global optimal solution. In reality, however, the input-output characteristics of generating units are non-convex due to valve-point loadings and multi-fuel effects, etc. Also there are various practical limitations in operation and control such as ramp rate limits and prohibited operating zones, etc. Therefore, the practical ELD problem is represented as a non-convex optimization problem with equality and inequality constraints, which cannot be solved by the traditional mathematical methods.    Dynamic programming method [2] can solve such types of problems, but it suffers from so-called the curse of dimensionality. Over the past few decades, as an alternative to the conventional mathematical approaches, many salient methods have been developed for ELD problem such as genetic algorithm [3, 4], improved tabu search [5], simulated annealing [6], neural network [7, 8], evolutionary programming [9]-[11], and particle swarm optimization [14]-[17].

Recently, Kennedy and Eberhart suggested a particle swarm optimization (PSO) based on the analogy of swarm of bird and school of fish. In PSO, each individual makes its decision based on its own experience together with other individual’s experiences [12]. The individual particles are drawn stochastically towards the position of present velocity of each individual, their own previous best performance, and the best previous performance of their neighbors. It was developed through simulation of a simplified social system, and has been found to be robust in solving continuous non-linear optimization problems [13]. The main advantages of the PSO algorithm are summarized as:  simple concept, easy implementation, and computational efficiency when compared with mathematical algorithm and other heuristic optimization techniques.

In this paper, a novel approach is proposed to solve the non-smooth ELD problem with valve-point effect using a MPSO technique. The application of Gaussian and Cauchy probability distributions into the PSO is a useful strategy to ensure convergence of the particle swarm algorithm. Feasibility of the proposed MPSO method has been demonstrated on three different test systems, i.e. six, thirteen, and forty generating unit systems. The results obtained with the proposed method were analyzed and compared other optimization results reported in literature.

  • II.    Economic Load Dispatch Formulation

    2.1    Economic Load Dispatch (ELD) Problem

The objective of an ELD problem is to find the optimal combination of power generations that minimizes the total generation cost while satisfying equality and inequality constraints. The fuel cost curve for any unit is assumed to be approximated by segments of quadratic functions of the active power output of the generator. For a given power system network, the problem may be described as optimization (minimization) of total fuel cost as defined by (1) under a set of operating constraints.

nn

Ft =Z F (Pi) = ZkP 2 + bipi + Ci) i=1                 i=1                                          (1)

F

Where T is total fuel cost of generation in the system ($/hr), ai , bi , and ci are the cost coefficient of the i th generator, Pi is the power generated by the i th unit and n is the number of generators.

The total generation cost is minimized subjected to the following constraints:

Power balance constraint,

P

Generation capacity constraint,

n

Pd =Z Pi - Plos.

i = 1

where Pi, min and Pi, max are the minimum and maximum power output of the i th unit, respectively. PD is the total load demand and PLoss is total transmission losses. The transmission losses PLoss can be calculated by using B matrix technique and is defined by (4) as, nnn

  • p, = У У pb p + У b.p + b^

  • 2.2    ELD Problem Considering Valve-Point Effects

Loss                  i ij j             0i i00

i=1  j=1

where B ij is coefficient of transmission losses.

For more rational and precise modeling of fuel cost function, the above expression of cost function is to be modified suitably. The generating units with multivalve steam turbines exhibit a greater variation in the fuel-cost functions [15]. The valve opening process of multi-valve steam turbines produces a ripple-like effect in the heat rate curve of the generators. These “valvepoint effects” are illustrated in Fig. 1.

The significance of this effect is that the actual cost curve function of a large steam plant is not continuous but more important it is non-linear. The valve-point effects are taken into consideration in the ELD problem by superimposing the basic quadratic fuel-cost characteristics with the rectified sinusoid component as follows:

n

F t = E F ( P )

i = 1

n

=z i=1

aP + bP + C + v| e , x sin ( f. X ( P ,m,n

P i

where FT is total fuel cost of generation in ($/hr) including valve point loading, ei , fi are fuel cost coefficients of the i th generating unit reflecting valvepoint effects.

Fig. 1: Valve-point effect

  • III.    Particle Swarm Optimization

    3.1    Overview of Particle Swarm Optimization

    The PSO method was introduced in 1995 by Kennedy and Eberhart [12]. The method is motivated by social behaviour of organisms such as fish schooling and bird flocking. PSO provides a population-based search procedure in which individuals called particles change their position with time. In a PSO system, particles fly around in a multi dimensional search space. During flight each particles adjust its position according its own experience and the experience of the neighboring particles, making use of the best position encountered by itself and its neighbors.

In the multidimensional space where the optimal solution is sought, each particle in the swarm is moved toward the optimal point by adding a velocity with its position. The velocity of a particle is influenced by three components, namely, inertial, cognitive, and social. The inertial component simulates the inertial behavior of the bird to fly in the previous direction. The cognitive component models the memory of the bird about its previous best position, and the social component models the memory of the bird about the best position among the particles. The particles move around the multi-dimensional search space until they find the optimal solution. The modified velocity of each agent can be calculated using the current velocity and the distance from Pbest and Gbest as given below.

W = W max

where,

^

( (W max

к

^

w.

min

Iter max

x Iter

Vk + 1

W X Vk + C X r X (Pbestk - X)+ C2 Xr x(Gbestk -X)

WW max ,    min

initial and final weights

Iter

max

maximum iteration number

Iter

current iteration number

where,

V ik

velocity of individual i at iteration k

X ik

W

position of individual i at iteration k inertia weight

The approach using (7) is called “inertia weight approach (IWA)”. Using the above equation, a certain velocity, which gradually gets close to Pbest and Gbest can be calculated. The current position (searching point in the solution space), each individual moves from the current position to the next one by the modified velocity in (6) using the following equation:

xk+1

= x k + V k + 1

C 1 , C 2

acceleration coefficients

where,

Pbest k

best position of individual i at iteration k

Gbestk

x i + 1

k+1

current position of individual i at iteration

best position of the group until iteration k

r1,r2

V k + 1

random numbers between 0 and 1

velocity of individual i at iteration k+1

In this velocity updating process, the acceleration coefficients C 1 , C 2 and the inertia weight W are predefined and r 1 , r 2 are uniformly generated random numbers in the range of [0, 1]. In general, the inertia weight W is set according to the following equation [13]:

Fig. 2 shows the concept of the searching mechanism of PSO using the modified velocity and position of individual based on (6) and (8) if the value of W, C 1 , C2, r1, and r2 are 1.

The process of implementing the PSO is as follows:

Step 1: Create an initial population of individual with random positions and velocity within the solution space.

Step 2: For each individual, calculate the value of the fitness function.

Step 3: Compare the fitness of each individual with each Pbest. If the current solution is better than its Pbest, then replace its Pbest by the current solution.

Step 4: Compare the fitness of all individual with Gbes t. If the fitness of any individual is better than Gbest , then replace Gbest .

Step 5: Update the velocity and position of all individual according to (6) and (8).

Step 6: Repeat steps 2-5 until a criterion is met.

  • 3.2    Modified Particle Swarm Optimization

Coelho and Krohling [18] proposed the use of truncated Gaussian and Cauchy probability distribution to generate random numbers for the velocity updating equation of PSO. In this paper, new approaches to PSO are proposed which are based on Gaussian probability distribution ( Gd ) and Cauchy probability distribution ( Cd ). In this new approach, random numbers are generated using Gaussian probability function and/or Cauchy probability function in the interval [0, 1].

The Gaussian distribution ( Gd ), also called normal distribution is an important family of continuous probability distributions. Each member of the family may be defined by two parameters, location and scale: the mean and the variance respectively. A standard normal distribution has zero mean and variance of one. Hence importance of the Gaussian distribution is due in part to the central limit theorem. Since a standard Gaussian distribution has zero mean and variance of value one, it helps in a faster convergence for local search.

Here the Cauchy distribution Cd , is used to generate random numbers in the interval [0, 1], in the social part and Gaussian distribution Gd , is used to generate random numbers in the interval [0, 1] in the cognitive part. The modified velocity equation (6) is given by

' WV + C G ()( Pbest i - X ) "

C 2 C d ()( Gbestk - X )       ,

K =

2 - ф - ^ф 2 - 4 ф

where Ф = C i + C 2 , Ф >  4 .

The convergence characteristic of the system can be controlled by ф . In the constriction factor approach (CFA), ф must be greater than 4.0 to guarantee stability. However, as ф increases, the constriction factor K decreases and diversification is reduced, yielding slower response. Typically, when the constriction factor is used, ф is set to 4.1 (i.e. C 1 , C 2 = 2.05) and the constant multiplier K is thus 0.729.

  • IV.    Results and Discussion

To verify the feasibility of the proposed method, three different power systems were tested: (1) 6-unit system with valve-point effects and transmission losses, (2) 13-unit system with valve-point effects and transmission losses are neglected and (3) 40-unit system with valve-point effects and transmission losses are neglected.

Test Case 1: 6-unit system

The system consists of six thermal generating units with valve point effects. The total load demand on the system is 1263 MW. The parameters of all thermal units are presented in Table 1 [14], followed by coefficient matrix Bi j losses.

The obtained results for the 6-unit system using the MPSO method are given in Table 2 and the results are compared with other methods reported in literature, including GA, PSO, PSO-LRS, NPSO, and NPSO-LRS [19]. It can be observed that MPSO can get total generation cost of 15,441 ($/hr) and power losses of 12.216 (MW), which is the best solution among all the methods. Note that the outputs of the generators are all within the generator’s permissible output limit.

Test Case 2: 13-unit system

This system consists of 13 generating units and the input data of 13-generator system are given in Table 3 [10]. In order to validate the proposed MPSO method, it is tested with 13-unit system having non-convex solution spaces. The 13-unit system consists of thirteen generators with valve-point loading effects and have a total load demands of 1800 MW and 2520 MW, respectively.

The best fuel cost result obtained from proposed MPSO and other optimization algorithms are compared in Table 4 and Table 5 for load demands of 1800 MW and 2520 MW, respectively. In Table 4, generation outputs and corresponding cost obtained by the proposed MPSO are compared with those of DEC-SQP, NN-EPSO, and EP-EPSO [20]. The proposed MPSO provide better solution (total generation cost of 17517.0118 $/hr) than other methods while satisfying the system constraints. In Table 5, generation outputs and corresponding cost obtained by the proposed MPSO are compared with those of GA-SA, EP-SQP, and PSO-SQP [20].

The proposed MPSO provide better solution (total generation cost of 24019.8924 $/hr) than other methods while satisfying the system constraints. We have also observed that the solutions by MPSO always are satisfied with the equality and inequality constraints by using the proposed constraint-handling approach.

Test Case 3: 40-unit system

This system consisting of 40 generating units and the input data for 40-generator system is given in Table 6 [10]. The total demand is set to 10,500 MW.

The obtained results for the 40-unit system using the MPSO method are given in Table 7 and the results are compared with other methods reported in literature, including PSO, PPSO, and APPSO [21]. It can be observed that MPSO can get total generation cost of 121,649.20 $/hr, which is the best solution among all the methods. These results show that the proposed methods are feasible and indeed capable of acquiring better solution.

The optimal dispatches of the generators are listed in Table 7. Also note that all generators’ outputs are within its permissible limits.

Table 1: Generating units capacity and coefficients (6-units)

Unit

min

i   (MW)

max

i   (MW)

a

b

c

e

f

1

100

500

0.0070

7.0

240

300

0.035

2

50

200

0.0095

10.0

200

200

0.042

3

80

300

0.0090

8.5

220

200

0.042

4

50

150

0.0090

11.0

200

150

0.063

5

50

200

0.0080

10.5

220

150

0.063

6

50

120

0.0075

12.0

190

150

0.063

0.0017  0 . 0012  0.0007 - 0.0001 - 0.0005 - 0.0002

0.0012  0 . 0014  0.0009  0.0001 -0.0006 -0.0001

0.0007  0 . 0009  0.0031  0.0000 -0.0010 -0.0006

B j =

- 0.0001  0 . 0001  0.0000  0.0024 -0.0006 - 0.0008

- 0.0005 -0 . 0006 -0.0010 -0.0006  0.0129 -0.0002

_- 0.0002 -0 . 0001 -0.0006 -0.0008 -0.0002  0.0150 _

BOi = 1.0e-3 *[- 0.3908 - 0.1297 0.7047 0.0591 0.2161 - 0.6635]Boo = 0.0056

Table 2: Comparison of the best results of each methods (P D = 1263 MW)

Unit Output

GA

PSO

PSO-LRS

NPSO

NPSO-LRS

MPSO

P1 (MW)

474.8066

447.4970

447.4440

447.4734

446.9600

447.1874

P2 (MW)

178.6363

173.3221

173.3430

173.1012

173.3944

173.5060

P3 (MW)

262.2089

263.0594

263.3646

262.6804

262.3436

260.9553

P4 (MW)

134.2826

139.0594

139.1279

139.4156

139.5120

144.0583

P5 (MW)

151.9039

165.4761

165.5076

165.3002

164.7089

163.2156

P6 (MW)

74.1812

87.1280

87.1698

87.9761

89.0162

86.2934

Total power output (MW)

1276.03

1276.01

1275.95

1275.95

1275.94

1275.216

Total generation cost ($/hr)

15,459

15,450

15,450

15,450

15,450

15,441

Power losses (MW)

13.0217

12.9584

12.9571

12.9470

12.9361

12.2160

Table 3: Generating units capacity and coefficients (13-units)

Unit

P min (MW)

P max (MW)

a

b

c

e

f

1

0

680

0.00028

8.10

550

300

0.035

2

0

360

0.00056

8.10

309

200

0.042

3

0

360

0.00056

8.10

307

200

0.042

4

60

180

0.00324

7.74

240

150

0.063

5

60

180

0.00324

7.74

240

150

0.063

6

60

180

0.00324

7.74

240

150

0.063

7

60

180

0.00324

7.74

240

150

0.063

8

60

180

0.00324

7.74

240

150

0.063

9

60

180

0.00324

7.74

240

150

0.063

10

40

120

0.00284

8.60

126

100

0.084

11

40

120

0.00284

8.60

126

100

0.084

12

55

120

0.00284

8.60

126

100

0.084

13

55

120

0.00284

8.60

126

100

0.084

Table 4: Comparison of the best results of each methods (P D = 1800 MW)

Unit power output

DEC-SQP [20]

NN-EPSO [20]

EP-EPSO [20]

MPSO

P1 (MW)

526.1823

490.0000

505.4731

425.0980

P2 (MW)

252.1857

189.0000

254.1686

182.5087

P3 (MW)

257.9200

214.0000

253.8022

133.5717

P4 (MW)

78.2586

160.0000

99.8350

162.4450

P5 (MW)

84.4892

90.0000

99.3296

153.9582

P6 (MW)

89.6198

120.0000

99.3035

113.9438

P7 (MW)

88.0880

103.0000

99.7772

133.8305

P8 (MW)

101.1571

88.0000

99.0317

104.7926

P9 (MW)

132.0983

104.0000

99.2788

85.6033

P10 (MW)

40.0007

13.0000

40.0000

66.7367

P11 (MW)

40.0000

58.0000

40.0000

60.8971

P12 (MW)

55.0000

66.0000

55.0000

77.3235

P13 (MW)

55.0000

55.0000

55.0000

99.2915

Total power output (MW)

1800

1800

1800

1800

Total generation cost ($/h)

17938.9521

18442.5931

17932.4766

17517.0118

Table 5: Comparison of the best results of each methods (P D = 2520 MW)

Unit power output

GA-SA [20]

EP-SQP [20]

PSO-SQP [20]

MPSO

P1 (MW)

628.23

628.3136

628.3205

590.3875

P2 (MW)

299.22

299.0524

299.0524

322.2105

P3 (MW)

299.17

299.0474

298.9681

319.4067

P4 (MW)

159.12

159.6399

159.4680

170.7089

P5 (MW)

159.95

159.6560

159.1429

136.4957

P6 (MW)

158.85

158.4831

159.2724

157.6274

P7 (MW)

157.26

159.6749

159.5371

128.8908

P8 (MW)

159.93

159.7265

158.8522

131.4204

P9 (MW)

159.86

159.6653

159.7845

158.3310

P10 (MW)

110.78

114.0334

110.9618

117.6114

P11 (MW)

75.00

75.0000

75.0000

92.3914

P12 (MW)

60.00

60.0000

60.0000

75.2367

P13 (MW)

92.62

87.5884

91.6401

119.2817

Total power output (MW)

2520

2520

2520

2520

Total generation cost ($/h)

24275.71

24266.44

24261.05

24019.8924

Table 6: Generating units capacity and coefficients (40-units)

Unit

P min (MW)

P max (MW)

a

b

c

e

f

1

36

114

0.00690

6.73

94.705

100

0.084

2

36

114

0.00690

6.73

94.705

100

0.084

3

60

120

0.02028

7.07

309.54

100

0.084

4

80

190

0.00942

8.18

369.03

150

0.063

5

47

97

0.01140

5.35

148.89

120

0.077

6

68

140

0.01142

8.05

222.33

100

0.084

7

110

300

0.00357

8.03

287.71

200

0.042

8

135

300

0.00492

6.99

391.98

200

0.042

9

135

300

0.00573

6.60

455.76

200

0.042

10

130

300

0.00605

12.9

722.82

200

0.042

11

94

375

0.00515

12.9

635.20

200

0.042

12

94

375

0.00569

12.8

654.69

200

0.042

13

125

500

0.00421

12.5

913.40

300

0.035

14

125

500

0.00752

8.84

1760.4

300

0.035

15

125

500

0.00708

9.15

1728.3

300

0.035

16

125

500

0.00708

9.15

1728.3

300

0.035

17

220

500

0.00313

7.97

647.85

300

0.035

18

220

500

0.00313

7.95

649.69

300

0.035

19

242

550

0.00313

7.97

647.83

300

0.035

20

242

550

0.00313

7.97

647.81

300

0.035

21

254

550

0.00298

6.63

785.96

300

0.035

22

254

550

0.00298

6.63

785.96

300

0.035

23

254

550

0.00284

6.66

794.53

300

0.035

24

254

550

0.00284

6.66

794.53

300

0.035

25

254

550

0.00277

7.10

801.32

300

0.035

26

254

550

0.00277

7.10

801.32

300

0.035

27

10

150

0.52124

3.33

1055.1

120

0.077

28

10

150

0.52124

3.33

1055.1

120

0.077

29

10

150

0.52124

3.33

1055.1

120

0.077

30

47

97

0.01140

5.35

148.89

120

0.077

31

60

190

0.00160

6.43

222.92

150

0.063

32

60

190

0.00160

6.43

222.92

150

0.063

33

60

190

0.00160

6.43

222.92

150

0.063

34

90

200

0.00010

8.95

107.87

200

0.042

35

90

200

0.00010

8.62

116.58

200

0.042

36

90

200

0.00010

8.62

116.58

200

0.042

37

25

110

0.01610

5.88

307.45

80

0.098

38

25

110

0.01610

5.88

307.45

80

0.098

39

25

110

0.01610

5.88

307.45

80

0.098

40

242

550

0.00313

7.97

647.83

300

0.035

Table 7: Comparison of the best results of each methods (P D = 10,500 MW)

Unit power output

PSO [21]

PPSO [21]

APPSO [21]

MPSO

P1 (MW)

113.116

111.601

112.579

113.9971

P2 (MW)

113.010

111.781

111.553

112.6517

P3 (MW)

119.702

118.613

98.751

119.4255

P4 (MW)

81.647

179.819

180.384

189.0000

P5 (MW)

95.062

92.443

94.389

96.8711

P6 (MW)

139.209

139.846

139.943

139.2798

P7 (MW)

299.127

296.703

298.937

223.5924

P8 (MW)

287.491

284.566

285.827

284.5803

P9 (MW)

292.316

285.164

298.381

216.4333

P10 (MW)

279.273

203.859

130.212

239.3357

P11 (MW)

169.766

94.283

94.385

314.8734

P12 (MW)

94.344

94.090

169.583

305.0565

P13 (MW)

214.871

304.830

214.617

365.5429

P14 (MW)

304.790

304.173

304.886

493.3729

P15 (MW)

304.563

304.467

304.547

280.4326

P16 (MW)

304.302

304.177

304.584

432.0717

P17 (MW)

489.173

489.544

498.452

435.2428

P18 (MW)

491.336

489.773

497.472

417.6958

P19 (MW)

510.880

511.280

512.816

532.1877

P20 (MW)

511.474

510.904

548.992

409.2053

P21 (MW)

524.814

524.092

524.652

534.0629

P22 (MW)

524.775

523.121

523.399

457.0962

P23 (MW)

525.563

523.242

548.895

441.3634

P24(MW)

522.712

524.260

525.871

397.3617

P25 (MW)

503.211

523.283

523.814

446.4181

P26 (MW)

524.199

523.074

523.565

442.1164

P27 (MW)

10.082

10.800

10.575

74.8622

P28 (MW)

10.663

10.742

11.177

27.5430

P29 (MW)

10.418

10.799

11.210

76.8314

P30 (MW)

94.244

94.475

96.178

97.0000

P31(MW)

189.377

189.245

189.999

118.3775

P32 (MW)

189.796

189.995

189.924

188.7517

P33 (MW)

189.813

188.081

189.714

190.0000

P34 (MW)

199.797

198.475

199.284

120.7029

P35 (MW)

199.284

197.528

199.599

170.2403

P36 (MW)

198.165

196.971

199.751

198.9897

P37 (MW)

109.291

109.161

109.973

110.0000

P38 (MW)

109.087

109.900

109.506

109.3405

P39 (MW)

109.909

109.855

109.363

109.9243

P40 (MW)

512.348

510.984

511.261

468.1694

Total generation cost ($/h)

122,323.97

121,788.22

122,044.63

121,649.20

  • V.    Conclusion

This paper presents a new approach for solving ELD problems with valve-point effect using a modified particle swarm optimization (MPSO) technique. The MPSO technique has provided the global solution in the 6-unit, 13-unit, and 40-unit test system and the better solution than the previous studies reported in literature. The application of Gaussian and Cauchy probability distributions in MPSO is a powerful strategy to improve the global searching capability and escape from local minima. Also, the equality and inequality constraints treatment methods have always provided the solutions satisfying the constraints. Although the proposed MPSO algorithm had been successfully applied to ELD with valve-point loading effect, the practical ELD problems should consider multiple fuels as well as prohibited operating zones. This remains a challenge for future work.

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