Stabilization of Multimachine Power Systems by Decentralized Feedback Control

Zhi-Cheng Huang
Department of Communications, Navigation and Control Engineering National Taiwan Ocean University
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Outline
Introduction Decentralized controller design Illustrative example Conclusions

Introduction
State-dependent impulse disturbance will be investigated Direct feedback linearization compensator will be proposed Boundedness of the system states will be guaranteed within the derived impulse intervals

Decentralized controller design

n

synchronous machines
Mechanical

equations

& i (t ) =

Di i (t ) + 0 ( Pmio Pei (t )) 0i H 0i H

&(t ) = i (t ) i

Decentralized controller design

Generator

electrical dynamics

0 ' & Eqi(t ) = ' [ E fi (t ) Eqi (t )] i Tdoi

Salient-pole synchronous generator

Decentralized controller design

Electrical equations
' ' Eqi (t ) = Eqi (t ) ( xdi xdi ) I di (t )

E fi (t ) = kci u fi (t )
Pei (t ) =
Qei (t ) =

E
j =0
n j =0

' ' qi (t ) Eqj (t ) sin(ij

(t ))

E
n

' ' qi (t ) Eqj (t ) cos(ij (t ))

I di (t ) =

E
j =0

' qj (t ) cos( ij (t ))

I qi (t ) =

E
j =0

' qj (t ) Bij

sin(ij (t ))

Eqi (t ) = xadi I fi (t )
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Decentralized controller design

The compensated multimachine power system model
&(t ) = i (t ) i
& i (t ) = Di i (t ) + 0 ( Pmio Pei(t )) 0i H 0i H
0
' Tdoi

& Pei (t ) =

Pei (t ) +

' Tdoi

v fi (t )

' + Eqi (t )
' Eqi (t )

' & Eqj (t ) Bij sin( ij (t ))

j =0
' & Eqj (t ) Bij cos( ij (t )) j (t )

where

j =0

Pei (t ) = Pei (t ) Pmio

' v fi (t ) = I qi (t )kci u fi (t ) + ( xdi ddi ) Iqi (t ) Idi (t )
' Pmio Tdoi Qei ( t) i ( t)
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Decentralized controller design

DFL compensating law
u fi (t ) = 0 ' {v fi (t ) + Pmio ( xdi xdi ) Iqi (t ) Idi (t ) kci I qi (t )
' +Tdoi Qei ( t )i ( t )}

where

except for the point I qi (t ) = 0 (which is not in the normal working region for a generator) 8

Generalized uncertain DFL compensated model

& xi (t ) = [ Ai + Ai (t )] xi (t ) + [ Bi + Bi (t )]v fi (t )
+

Decentralized controller design

N j =0

{0 G0 (t ) g0 ( xi , x j )} + ij ij ij

{ ijG ij (t ) g 0 ( x i , x j )} ij j = 0 0 0

where

known real constant matrices and controllable real time-varying parameter uncertainties interaction terms g0 ( xi , x j ), g 0 ( xi , x j unknown nonlinearity ) ij ij

0 ( xi , x j ), 0 ( xi , x constant with values either 1 or 0 ij ij j)

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Decentralized controller design

Assumption 1. (System Matrix Uncertainties)
Ai (t ) Bi (t ) = Li Fi (t ) E i 0 E0 i

with Lebesgue measurable element

FiT (t ) Fi (t ) I

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Decentralized controller design

Assumption 2. (Interaction functions)

G0 (t ) g0 ( xi , x j ) = M0 C0 (t ) 0 ( xi , x j ) g ij ij ij ij ij
G0 (t ) g 0 ( xi , x j ) = M 0 C0 0 ( xi , x j ) ij ij ij ij g ij
with Lebesgue measurable element
T T C0 (t )C0 (t ) I , C0 (t )C0 (t ) I ij ij ij ij

ij g0 ( xi , x j ) R0 xi (t ) + W0 x j (t ) ij ij
ij g 0 ( xi , x j ) R0 xi (t ) + W0 x j (t ) ij ij
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Decentralized controller design

Assumption 3. (impulse disturbance)
+ xi (tk ) = xi (tk ) + wi (tk , xi (tk )), t = k

where
xi (t ) = i (t ) i (t ) P (t ) ei
T

wi (tk , xi (tk ))the effect of state changing

wi (tk , xi (tk )) l ik xi (t k )
( wi (tk , xi (tk )) l ik xi (tk ) + xi 0 l ik xi (tk ) + h ) ik

with

xio = 0 0 Pmio , h ik =l

ik P mio

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An Illustrative Example
A three-machine example system is chosen to demonstrate the effectiveness of the proposed nonlinear decentralized controller

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An Illustrative Example
The excitation control input 0 E fi (t ) = limitations kciu fi (t ) 0 , i = 0 ,0 The generator #3 is an infinite bus and use the generator as the reference '
Eq 0= const. = 00

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An Illustrative Example System parameters

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An Illustrative Example

A three-machine power system

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An Illustrative Example
The DFL compensated model for the generators #1 and #2
( x0t ) = ( A0+ A0t ))x0t ) + (B0+ B0 t ))v 0 t ) ( ( ( f(
+G00sin(0 t ) 0 t )) + G00 0t ) + G00 0 t ) ( ( 0 0 ( 0 (

( x0 t ) = ( A0+ A0 t )) x0 t ) + ( B0+ B0 t ))v f0 t ) ( ( ( (

+G00sin(0(t ) 0t )) + G00 0t ) + G00 0(t ) ( 0 0 ( 0

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An Illustrative Example
with
0 0 0 ( A0= 0 0 0 0.0 A0 t ) = .00 00 0 0 0 00 , .00

0 0 0 000 0 0 0 t ) (

0 0 B0= 0 B0 t ) = 0 ( 0 00 , 0 t ) ( .00
0 0 0 ( A0= 0 0 00 0 .0 A0 t ) = .00 0 0 0 0 00 , . 0 0

0 0 0 000 0 0 0 t ) (

0 0 0 B0= B0 t ) = 0 ( 0 00 , 0 t ) ( .00

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An Illustrative Example
Assume
, , the operating point is (00Pmi 0) with

.0 Pm0 = 0 p.u. , Pm 0 = 0 p.u. .0 0 0

impulse disturbance is (0 with )

k = 0 (0 e k ) for .0 +

k 00 0

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An Illustrative Example
the DFL compensated power system model will be globally asymptotically stable by the linear local state feedback
0 u f 0 t) = ( { v f 0 t) . ( 0000 ( t) I d 0 t) +00Qe0 t) I q0 ( . ( I q0 t) ( ( 0 t) + Pm0 } 0
0 {v f 0 t ) 0 I q 0 t ) I d 0t ) + 0 Q e 0t ) 0t ) + Pm 0} ( .000 ( ( . 00 ( ( 0 Iq0 t) (

u f 0 t) = (

with
v f 0t ) = 00 (t ) + 00 (t ) 000 (Pe0t ) Pm0 ) ( . 0000 . 0000 . 0000 ( 0 0 0

v f 0 t) = 00 0 t ) + 00 0( t ) 000 ( Pe 0( t ) Pm 0 ) ( .0000 ( .0000 .0000 0

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Assumptions

An Illustrative Example

the impulse instant tk is chosen randomly between 0 and 0 sec sec .00 the impulse disturbance is in the form of
(tk , (tk )) = 0 ( )k (0 e k ) sin( (tk ) (tk ) .000 +

initial points
( ) .0 ( ) .0 0 0 = 0 rad , 0 0 = 0 rad/s , Pe0 0 = 0 p.u. , ( ) .0
' Eq0 0 = 0 p.u . ( ) .00
,

( ) .0 0 0 = 0 , 0 0 = 0 rad/s , Pe 0 0 = 0 p.u. , ( ) rad ( ) .0

' Eq 0 0 = 0 p.u. ( ) .00
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An Illustrative Example
0 (t) (rad)
i

0 0

0 time (sec)

0 0

0 0

(t) (rad/s)

0 -0 -0 0 00 . 0 time (sec) 00 . 00 . 0 -00 . 0 0 time (sec) 0 0 0 0 0 0 0 0

Fig. 1. The state responses with finite number of impulse disturbances

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P (t) (p.u.)

ei

An Illustrative Example
Consider the equidistant impulse
. 0 disturbance with = ik = 00 impulse disturbance The
wi (tk , xi (tk )) = 0 ( ) k sin( xi (tk ) +xio )( xi (tk ) +xio ) . 000

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An Illustrative Example
00 . (t) (rad) 0 00 . 0 0 0 (t) (rad/s) 0 -0 0 00 . P (t) (p.u.) 0 00 . 0 0 0 0 0 0 time (sec) 0 0 0 0 0 0
i i

0 0

0 0 time (sec)

0 0

0 0

0 0

ei

0 time (sec)

0 0

0 0

Fig. 0The state responses with impulse disturbances .

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Conclusions
The problem of decentralized control of multimachine power systems with state-jump disturbances has been explored A new synthesis algorithm for the direct feedback linearization compensator has been proposed Sufficient conditions have been derived such that the decentralized practical stability can be guaranteed The states of the uncertain multimachine power systems with equidistant or periodic impulse disturbance will attract into a bounded ball
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Q&A

The End
Thanks for your Attention
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