-A local multimachine control system with simplified output feedback

undisturbed by both primary and local power systems' fluctuations

Kei Ohtsuka (Akita University)

Yasuo Morioka (The Kansai Electric Power Co.,

Inc.)

Abstract-A multimachine control system is investigated to

enhance the stability of a local multimachine power system
connected to a large-scale primary power system.
The control system is designed on the basis of the modern
control theory.
The system,is first designed in the form of state feedback. For
much easier applications, a practical extension to a control
system with simplified output feedback is investigated.
The control system is further characterized by the follwings:
The system is effective in controlling the disturbance from the
primary power system, although the system based on the
conventional design is occasionally disturbed by the primary
power system's fluctuations. A decentralized control system
is so designed that each machine control system can be
designed independently from the others, and realized one by
one in the local power system.

This leads to a weak point of this type of power control system

that its performance is occasionally disturbed by some
fluctuations in the primary power system.
This p a p e r concentrates first o n designing a local
multimachine control system characterized by no effect from
the primary system's fluctuations, second on having the control
system decentralized so that each machine control system can
be designed and implemented independently from the others,
and third on extending the control system with state feedback
to the one with simplified output feedback for much easier
applications.
The control system is investigated by using an example of a
local power system with two machines. It is demonstrated by
computer simulations that the proposed control system is
effective and robust in enhance the stability of the local
multimachine power system even when the primary power
system's fluctuations exist.
It is also demonstrated that the proposed control system is
effective in the stability enhancement even when some
changes within the local power system happen.

I. INTRODUCTION
A large number of power system engineers are interested in
stability enhancement in large-scale interconnected power
systems. The authors made a study on a multimachine control
system based on the modem control theory to enhance the
stability of a longitudinal power system in Japan[']. However,
the control system must in advance be verified by performing
experiments in a local power system connected to a large-scale
primary power system. This paper investigates a multimachine
control system to enhance the stability of a local multimachine
power system.
Most modern control theory-based designs of the machine
control system have been proposed on the assumption of an
infinite-scale primary power sy~teml'1-1~~1.

11. DESIGN OF LOCAL MULTIMACHINE CONTROL

SYSTEM

<2.1> Local power system

Fig.1 shows an example of a local power system, which
includes two machines.
Each machine is connected through each transformer and a
each tieline to a local node. The local node is further connected
through a primary tieline to a large-scale primary power
system.
The following approaches can generally be applied to local
power systems including even more than three machines.

<2.2> Local multimachine control system

The conventional design of each machine control system has
been cam'ed out assuming that the primary power system is
infinite in size. It is however supposed in this study that the
primary system involves some fluctuations. The local
multimachine control system must be designed so as to have
no influence from the primary power system. It is then

0-7803-4754498/$10.00

0 1998 IEEE

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necessary to investigate where and how the fluctuations in the

primary power system are detected.
The fluctuations at the local node as an alternative to those in

-a-1

<2.6> Design of each machine control system

Each machine control system can be designed independently
from the others.
It follows that the extended system equations including the
fluctuations at the local node are represented as
?=AX+BU+CW
(12)

. . . - (1)

(3)

(4)
(5)
* (6)

' '

'

...-

(2)
'
*

- *

"**O

where eq', U , 6 ,Pm, Pmm, Vt. and Te denote X'd backward

voltage, rotor angular velocity, rotor phase angle, mechanical
output, governor output, terminal voltage, and electric power,
respectively, E1 and i denote internal voltage and current,
respectively, lower suffixes of d and q denote direct and
quadrature axes, res3ectively, r d o ' , r m , r g , and Z g g
denote inverse time constants of field, inertia, high pressure
turbine, and govemoi, respectively and k, D, and 00denote
output ratio of high pressure turbine, damping coefficient and
base angular velocity, respectively.

ZSDX

...
X=[Aeq,Aw,A6,APm,APmm,AUo,A 601' -

'

U=[ A U,A Ug] ',

The results of the pi evious study['] were used for reference

data in this study.
Fig3 shows the fluctuations of voltage and phase angle AVs,
A 6 s caused by a disturbance of 3LOC in a longitudinal
power system.

...

[Ziti

model is required for designing each

The
machine control system.
The fluctuation of phase angle A e 0 affects on the local
power system's stabili .y much larger than that of voltage Avo.
The model is then mepresented by the 2nd order dynamic
model as follows.

AX

Zi-i

Ad

*
*

ZAv[

...

t BvAUi,

(18)

...

AXi+i=Xiti-xi
* (19)
AUi+i=Ui+i-Ui,
* * * -GO)
where denotes a set point of
The performance index J of the LQI control theory is
expressed by the following quadratic

z.

]"[

ziti-z
AXtl]tAUiTRvAU)

(21)

where Qv and Rv denote the weighting matrices for the state

and input vectors, respectively.
The LQI optimal control law is then @en in the form of

Ui = Ui-i -K
which minimizes the LQI performance index J.

(8)
'

+ [Ldl

AX

i-0

);b= Aoxo + Cow0

XO = [Awo, A 001'

-A E d[]

Axit,

j=T{rX+'
Zi+i-z

<2.S> Mathematica model of local node's fluctnations

(13)
(14)
(15)

Then the discrete-time linearized system equations are given

by
Xiti=AdXi+13dUi+CdWi
* (16)
zi=Ddxi.
(17)
The LQI control design is introduced to these system
equations.
Both equations are combined as

zi -zs

<2.4> Primary pow r system's fluctuations

(10)

where W O denotes disturbance vector generating A 60,and T

and denote time constant and damping factor, respectively.
These values of T and a are given by referring to the
fluctuations in the Primary Power system.

The mathematical model of each machine is represented by

...

1 1 0
0 1

<2.3> Mathematical model of each machine

' '

in Fig.2. This leads t 3 some merits in designing the control

system: The fluctuations at the local node can be detected by
using the electric power output of each machine. The system
can be proposed in tht; form of a decentralized control system.
Each machine control system can be designed independently
from the others and realized one by one in the local power
system.

Cq' = Tdo' (Uf - El )

& = T m (kPm-Te -D (0-1 ))
6 =wo(o--11)
i m = r g (pmm - - P m )
pg-ppmm)
P"=rgg
Vt = (Vtd2 t Vtq2 )"*
Te = id Vtd t iq Vlq,

(9)
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...

(22)

111. SIMULATION RESULTS

<2.7> Detection of local node's fluctuations

Each machine control system employs the LQI optimal control
law, which includes the fluctuations of A W O and A 8 o at the
local node. In this study, these fluctuations are detected by
using the electric power Te and the phase angle 6 for each
machine. The fluctuations A 8 o and A W O are given by the
following linearized relations.
A e o = A s + hooATe
(23)
A Go = hol A W O + ho2 A e o .
(24)

...-

...-

<2.8> Extension to output feedback

Each machine control system is designed as shown in the
previous sections. The control system is in the form of state
feedback. For much easier applications of the system, an
extension had better be done to a control system with output
feedback.
1t.follows from the above relations that

...

(25)

...

(27)

The control system had better be designed supposing that the

governor is ineffective.
APmm+O
* (3
APmkO.
(29)
It follows from (2) that

...
...

Ah=h41APm+h42ATe+h43AW.

(30)

Then the rotor angular velocity A W is determined by

AGgh42ATe.

...

(31)
It is noted that the state variables Aeq', A W , A 6 , A 00and
A 8 0 in the LQI control law (22) can be replaced by the
controlled variables AVt and ATe and their integrals.
Therefore, the LQI control law with state feedback shown in
(22) is reduced to the following LQI control law with output
feedback.

<3.1> Control system with output feedback

The (2 X 4) gain matrix K' of the LQI control system with
output feedback is reduced from the (2 X 9) gain matrix K of
the system with state feedback. In this study, several gains
were selected among k'll...k'14,k'Zl...k'28
in K' by
sensitivity analysis, which keep effectiveness in improving the
control performance. These gains for each machine were k'll,
k'12, k'13, k22 and k24.
The following values were chosen: For G1, k'11=40, k12=5,
k'13=0.1, k'22=0.2 and k'24=0.0002. For G2, k'l1=40,
k'12=20, k'13=0.1, k'22=0.2, k24=0.0002.

<3.2> Control of disturbance by primary system's

fluctuations
Fig.4 shows a result of the proposed local multimachine
control system with output feedback. Fig.5 shows the one of
the system based on the conventional control design assuming
the infinite-size primary power system.
The primary power system's fluctuations were assumed to be
four times as large as those shown in Fig.3 considering the
worst case. It is seen by comparing both results of Fig.4 and
Fig.5 that the proposed system is very effective in controlling
the disturbance by the primary power system.
<3.3> Control performance in local system's changes

In the previous section, it was demonstrated how the control

performance was not disturbed by the primary system
fluctuations. In this section, it was investigated how the
performance is affected by sudden changes within the local
power system.
A disturbance of lcct open and reclose (after 50 cycles) at G1
terminal was taken as a sudden change in the local power
system.
Fig.6 shows a result of the proposed control system. Fig.7
shows a result of the system based on the conventional control
design assuming the infinite-size primary power system. It was
illustrated that both control systems have good performance.
This is because the disturbance arises not from the primary
power system, but within the local power system.

IV. CONCLUSIONS
X=[ AVt, ATe]'
Z=[ A Vt, ATe]'
U=[ A U,A Ug]'.
The gain matrix K' is also reduced from K.

...
...

(33)
(34)
* (35)

A multimachin control system was investigated for stability

enhancemente of a local multimachine power system
connected to a large-scale primary power system, The control
system was designed so as to be very effective in controlling
the disturbance from the primary power system, although the
system based on the conventional control design was affected
by the disturbance. For much easier applications of the system,

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-.

an extension was nvestigated to a control system with output

feedback, and furlher, with simplified output feedback.
It was demonstiated by computer simulations that the
proposed control :iystem with simplified output feedback was
effective and rot ust in stability enhancement in the local
multimachine poiver system even when the primary power
system's fluctuations existed and, of course, even when sudden
changes within thtLlocal power sustem happened.

Xe1

Lord node

powc

xsz

-I

Fig. l. W multiaachioe power system

WO, e a

Fig. 2. Log1 multimachine power system

"Neural network-based self-organizing

ransient stability of multimachine power
S. Vol. EC-10, NO. 2, ~ ~ 3 3 9 - 3 41995
7,
ine control system design

1 verification of fuzzy
enhanced adaptive neural network
systems", IEEE Trans. Vol. EC-12,

control scheme fo

Fig. 3. Primary power system's fludualions

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6
stcm

a=0.208

AVt

ATe
-0.100

,"my

.m
....

cr=0.200

a=0.200

AVt

ATe

-.

-0.100

AVt

*
(a)

No. 2 machine

Fik 6 P m p m d walml sysiem wilh simplified output feedback

when disturbed by

sudden l o e l system change

0.025

AVt

T=0.300
a=0.200

,+
T

0.025

-0.025 1

-0.025
0.100

(a) No. 1 machine

0.025

: :A

1
*

(a) No. I machine

T=0.300
a=0.200

AVt
-0.025

T=0.300

T=0.300
a=0.200

AV t

k
A

__ - -

-0.025

-0.100

-0.1m
(a) No. 2 machine

(a) No. 2 machine

Fig. 5. Convealional multivariable malml sydem when disturbed by primary syslem's

fluctuation

Fig. 7. Gaveatioaai malfinriable malrol .yslem when disturbed by sudden local

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syslem chroge