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I1
-K
s
G1
G1
K
1+sT
T1
T1
K
1+sT
1
1
R
|
1
turbine
governor
supplementary
control
function of
eq.(1)
SMES
controller
SMES
dynamics
ZOH
ACE
1
P
*
sm
1
Psm
1
p1
p1
K
1+sT
AP
L1
(s)
Equivalent
generator
-
+
+ +
+
-
-
12
2T
s
+
T
i
e
-
l
i
n
e
AP
12
(s)
Control area 1
function of
eq.(1)
SMES
controller
SMES
dynamics
ZOH
P
*
sm
2
Psm
2
Af
2
-
I2
-K
s
G2
G2
K
1+sT
T2
T2
K
1+sT
2
1
R
|
2
turbine
governor
supplementary
control
ACE
2
p2
p2
K
1+sT
AP
L2
(s)
Equivalent
generator
-
+
+ -
+
-
Control area 2
-
Fig. 1 Simulation model for the two-area power system
Af
1
Af
1
Af
2
AP
t1
AP
t2
AP
g1
AP
g2
Fig. 2: A non-linear turbine model with GRC
1
T
t
1
s
AP
g
AP
t
o
-o
+
-
22
III. Optimization of the Integral Gain, K
I
and
Frequency Bias Factors, | in Multi-Area
Power System
Figure 3 shows the frequency deviations for different
values of K
I
for a specific load change. It is observed that
a higher value of K
I
results in reduction of maximum
deviation of the system frequency but the system
oscillates for longer times. Decreasing the value of K
I
yields comparatively higher maximum frequency
deviation at the beginning but provides very good
damping in the later cycles. These initiate a variable K
I
,
which can be determined from the frequency error and its
derivative. Obviously higher values of K
I
is needed at the
initial stage and then it should be changed gradually
depending on the system frequency change.
Dynamic performance of the AGC system would
obviously depend on the value of frequency bias factors,
|
1
= |
2
=B and integral controller gain value, K
I1
=K
I2
=K
I
.
In order to optimize B and K
I
the concept of maximum
stability margin is used, evaluated by the eigen values of
the closed loop control system [7].
For a fixed gain supplementary controller, the optimal
values of K
I
and B are chosen, here, on the basis of a
performance index (PI) given in eq.(3) for a specific load
change. The Performance Index (PI) curves are shown in
Fig. 4 with considering governor dead-band (DB) and
generation rate constraints (GRC).
( )dt f w f w P P.I.
40
0
2
2 2
2
1 1
2
tie
)
+ + = (3)
Where, w
1
and w
2
are the weight factors. The weight
factors w
1
and w
2
both are chosen as 0.25 for the system
under consideration.
From Fig. 4, in the presence of DB & GRC it is observed
that the value of integral controller gain, K
I
= 0.28 and
frequency bias factors, B=0.15 which occurs at PI=
0.0363.
IV. Fuzzy Gain Scheduler PI Control
(FGSPI)
Figure 5 shows the membership functions for PI control
system with a fuzzy gain scheduler. The approach taken
here is to exploit fuzzy rules and reasoning to generate
controller parameters. The triangular membership
functions for the proposed FGSPI controller of the three
variables (e
t
, ce
t
, K
Ii
) are shown in Fig. 5, where
frequency error (e
t
) and change of frequency error ( ce
t
)
are used as the inputs of the fuzzy logic controller. K
Ii
(i=1,2) is the output of fuzzy logic controller. Considering
these two inputs, the output of gain K
Ii
is determined. The
use of two input and single output variables makes the
design of the controller very straightforward. A
membership value for the various linguistic variables is
calculated by the rule given by
( ) ( ) ( ) e ,ce =min e , ce
t t t t
(
(4)
The equation of the triangular membership function used
to determine the grade of membership values in this work
is as follows:
( )
( )
b-2 x-a
A x =
b
(5)
Where A(x) is the value of grade of membership, b is
the width and a is the coordinate of the point at which
the grade of membership is 1 and x is the value of the
input variables. The control rules for the proposed
strategy are very straightforward and have been
developed from the viewpoint of practical system
operation and by trial and error methods. The fuzzy rule
base for the FGSPI controller is shown in Table I.
The membership functions, knowledge base and method
of defuzzification determine the performance of the
FGSPI controller in a multi area power system as shown
in eq. (6).
0 2 4 6 8 1 0 1 2
- 8
- 6
- 4
- 2
0
2
4
6
x
- 4
T i m e i n s e c o n d
F
r
e
q
u
e
n
c
y
d
e
v
i
a
t
i
o
n
i
n
p
u
Fig. 3 Frequency deviation step response for different
values of K
I
K
I
=0
K
I
=1
0.1 0.2 0.3 0.4 0.5 0.6
0.035
0.036
0.037
0.038
0.039
0.04
0.041
0.042
0.043
0.044
Integral Gain (K
I
)
P
e
r
f
o
r
m
a
n
c
e
I
n
d
e
x
(
P
I
)
B=0.1
B=0.15
B=0.2
B=0.25
B=0.3
B=0.35
B=0.4
B=0.45
B=0.5
With GRC and Gov. Dead-band
K
I
=0.28 and B=0.15 at P.I.=0.0363
Fig. 4 The optimal integral controller gain, K
I
and
frequency bias factor, B with DB and GRC
33
n
u
j j
j=1
K =
n
Ii
j
j=1
_
_
(6)
Table I
Fuzzy Rule Base for FGSPI Controller
e
ce
NB NS Z PS PB
NB PB PB PB PS Z
NS PB PB PS Z Z
Z NS NS Z NS NB
PS Z Z NS PB NB
PB Z NS NB NB NB
V. Control System of SMES
The schematic diagram in Fig. 6 shows the configuration
of a thyristor controlled SMES unit, which is incorporated
in each control area of power system for LFC as shown in
Fig. 7. The converter firing angle controls the DC voltage
V
sm
appearing across the inductor to be continuously
varied between a wide range of positive and negative
values. The inductor is initially charged to its rated
current by applying a low positive voltage. Once the
current reaches the rated value, it is maintained constant
by reducing the voltage across the inductor to zero.
Figure 8 outlines the proposed simple control scheme for
SMES, which is incorporated in each control area to
reduce the instantaneous mismatch between demand and
generation. ACE
i
(i=1,2) in each control area is taken as
the control input signal for SMES. It is desirable to
restore the inductor current to its rated value as quickly as
possible after a system disturbance, so that the SMES unit
can respond properly to any subsequent disturbance. So
inductor current deviation is sensed and used as negative
feedback signal in the SMES control loop to achieve
quick restoration of current and SMES energy level.
VI. Simulation Results
To demonstrate the usefulness of the proposed controller,
computer simulations were performed using the
MATLAB environment under different operating
conditions. The system performances with gain scheduled
SMES and fixed gain SMES are shown in Fig. 9 through
Fig. 14. Three cases studies are conducted.
AI
sm
ACE
i
AV
sm
H
Fig. 8 SMES control system in each area
K
p
dc
sT 1
1
+
AV
sm
+
-
E
K
sm
E
I
sm0
AI
sm
I
sm
AP
sm
+
+
+
+
AP
sm
P
sm0
+
+
P
sm
E
P
*
sm
1
sL
3-| AC from
generator
terminal bus
V
sm
Fig. 6. SMES unit with 6-pulse bridge AC/DC
thyristor controlled converter
I
sm
(DC current)
L
s
m
S
u
p
e
r
c
o
n
d
u
c
t
i
v
e
c
o
i
l
1 3 5
4 6 2
Y/A
Transformer
[e
t
(x)]
NB NS Z PS PB
[de
t
(x)/dt]
NB NS Z PS PB
[K
Ii
(x)]
NB NS Z PS PB
Fig. 5 Membership functions for the fuzzy variables
-0.1 -0.05 0 0.05 0.1 e
t
(x)
1 0.75 0.32 0.01 0.001 K
Ii
(x)
-0.03 -0.15 0 0.15 0.03 de
t
(x)/dt
Tie Line
SMES
Unit
SMES
Unit
P
D1
+AP
D
P
D2
+AP
D
G
11
G
21
G
n1
G
12
G
22
G
n2
Area 1 Bus Area 2 Bus
Fig. 7 Configuration of SMES in a two-area power system
Load Load
1
1
1
44
Case I: a step load increase (AP
L1
=0.015 pu MW) in
area1.
In this case, it is seen from Fig. 9 that the tie-line power
deviation are reduced with the proposed gain scheduled
SMES controller and the deviations are negetive. Thus
sensing the input signal ACE
i
in the control areas SMES
provide sufficient compensation, and it is seen from Fig.
10 that SMES in area1 is discharging energy and SMES
in area2 is charging energy to keep the frequency
deviations in both areas minimum. From Fig. 10, it is also
seen that FGSPI controller of the loaded area determines
the integral gain K
I
to a scheduled value to resotore the
frequency to its nominal value, and FGSPI controller of
the unloaded area reamains unscheduled and selects the
critical value as its integral gain. Finally it is seen that the
damping of the system frequency is not satisfactory for
the fixed gain controller. But the proposed gain scheduled
supplementary controller significantly improves the
system performances.
0 5 1O 16
-8
-6
-4
-2
0
2
x 10
-3
Time in sec
T
i
e
p
o
w
e
r
d
e
v
i
a
t
i
o
n
Gain Scheduled SMES
Fixed gain SMES
Case II: the same step load increase in both areas.
In this case, the same load increase, P
L1
=P
L2
= 0.01 p.u
MW, is applied to both areas. It is seen from Fig. 11 that
the tie-line power deviation is zero. Thus SMES
compensation depends on Af
i
in both areas. As the load
change is same in both areas, the SMES in both areas
provide same compensation. Finally it is seen from Fig.
13 that FGSPI controller of both the loaded areas
determine the integral gain K
Ii
(i=1,2) to a scheduled
value to resotore the frequency to its nominal value. Due
to this, the damping of the system frequency is also
significantly improved with the proposed controller.
0 5 10 15
-1
0
1
Time in sec
T
i
e
p
o
w
e
r
d
e
v
i
a
t
i
o
n
Gain Scheduled SMES
Fixed gain SMES
Case III: the different step load increases are applied to
each Area.
In this case, as each area is loaded by the different
increase, each area adjusts their own load. Figure 12
shows the tie power deviation but the magnitude is small.
So the SMES controller in both areas dominated on Af
i
.
As AP
L1
=0.01 p.u MW & AP
L2
=0.015 p.u MW, it is seen
from Fig. 14 that SMES in area2 provided more
compensation than area1. Finally frequency deviations
restore to its nominal value with the gain scheduled
SMES controller.
0 5 10 15
-1
0
1
2
3
x 10
-3
Time in sec
T
i
e
p
o
w
e
r
d
e
v
i
a
t
i
o
n
Gain Scheduled SMES
Fixed gain SMES
-O.O3
-O.O2
-O.O1
O
P
r
e
q
u
e
o
c
y
d
e
v
e
a
L
l
o
o
Area 1
Gain Scheduled SMES
Fixed gain SMES
-O.O26
-O.O2
-O.O16
-O.O1
-O.OO6
O
Area 2
Gain Scheduled SM ES
Fixed gain SMES
O.2
O.4
O.6
O.8
1
K
l
V
a
r
l
a
L
l
o
o
O
O.6
1
O 6 1O 16
-6
-4
-2
O
2
P
c
m
,
V
w
)
1l me l o cec
O 6 1O 16
-1
-O.6
O
O.6
1
1.6
1l me l o cec
Fig. 10: System performances for a step load change P
L1
= 0.015 p.u MW in area-1 only [Case I]
Fig. 9 Performance of tie power deviation [Case I]
Fig. 11 Performance of tie power deviation [Case II]
Fig. 12 Performance of tie power deviation [Case III]
55
-O.O3
-O.O2
-O.O1
O
P
r
e
q
u
e
o
c
y
d
e
v
e
a
L
l
o
o
Area 1
Gain Scheduled SM ES
Fixed gain SM ES
-O.O3
-O.O2
-O.O1
O
Area 2
Gain Scheduled SM ES
Fixed gain SM ES
O
O.6
1
K
l
V
a
r
l
a
L
l
o
o
O
O.6
1
O 6 1O 16
-4
-2
O
2
P
c
m
,
V
w
)
1l me l o cec
O 6 1O 16
-4
-2
O
2
1l me l o cec
-O.O4
-O.O3
-O.O2
-O.O1
O
P
r
e
q
u
e
o
c
y
d
e
v
e
a
L
l
o
o
Area 1
Gain Scheduled SMES
Fixed gain SM ES -O.O4
-O.O3
-O.O2
-O.O1
O
Area 2
Gain Scheduled SMES
Fixed gain SMES
O.2
O.4
O.6
O.8
1
K
l
V
a
r
l
a
L
l
o
o
O
O.6
1
O 6 1O 16
-3
-2
-1
O
1
P
c
m
,
V
w
)
1l me l o cec
O 6 1O 16
-6
-4
-2
O
2
1l me l o cec
VII. Conclusions
The simulation studies are carried out on a two-area
power system considering DB and GRC to investigate the
impact of the proposed intelligently controlled SMES on
the power system dynamic performance. The results show
that the scheme is very powerful in reducing the
frequency and tie-power deviations under a variety of
load perturbations. On line adaptation of supplementary
controller gain associated with SMES makes the proposed
intelligent controllers more effective and are expected to
perform optimally under different operating conditions.
References:
[1] Benjamin NN, Chan WC.:Multilevel Load-frequency Control
of Inter-Connected Power Systems, IEE Proceedings, Generation,
Transmission and Distribution,1978; No.125: pp.521526.
[2] Nanda J, Kavi BL.:Automatic Generation Control of
Interconnected Power System, IEE Proceedings, Generation,
Transmission and Distribution, 1988; No.125(5): pp.385390.
[3] Das D, Nanda J, Kothari ML, Kothari DP.:Automatic
Generation Control of Hydrothermal System with New Area
Control Error Considering Generation Rate Constraint, Electrical
Machines and Power System 1990; 18:461471.
[4] Mairaj uddin Mufti, Shameem Ahmad Lone, Sheikh Javed Iqbal,
Imran Mushtaq:Improved Load Frequency Control with
Superconducting Magnetic Energy Storage in Interconnected Power
System, IEEJ Transaction, 2007, vol. 2,pp. 387-397.
[5] Benjamin NN, Chan WC.:Variable Structure Control of
Electric Power Generation, IEEE Transactions on Power
Apparatus and System 1982; 101(2):376380.
[6] Sivaramaksishana AY, Hariharan MV, Srisailam MC.:Design
of Variable Structure Load-Frequency Controller Using Pole
Assignment Techniques, International Journal of Control 1984;
40(3):437498.
[7] Tripathy SC, Juengst KP.:Sampled Data Automatic Generation
Control with Superconducting Magnetic Energy Storage, IEEE
Transactions on Energy Conversion 1997; 12(2):187192.
[8] M.R.I. Sheikh, S.M. Muyeen, Rion Takahashi, Toshiaki Murata
and Junji Tamura Improvement of Load Frequency Control with
Fuzzy Gain Scheduled Superconducting Magnetic Energy Storage
Unit, International Conference of Electrical Machine (ICEM, 08),
Conference CD, Paper ID-1026, 06-09 September, 2008, Portugal.
[9] C.T. Pan,C. M. Lian, An Adaptive Controller For Power
System Load-Frequency Control, IEEE Transactions on Power
System, Vol. 4, No. 1, February, 1988.
Fig. 13: System performances for a step load change P
L1
=P
L2
= 0.01 p.u MW in both areas [Case II]
Fig. 14: System performances for a step load change P
L1
=0.01 p.u MW in area1& P
L2
= 0.015 p.u MW in area2 [Case III]
66