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10 1080@15325008 2017 1348404
10 1080@15325008 2017 1348404
To cite this article: Wen Tan, Shuaibing Chang & Rong Zhou (2017): Load Frequency Control of
Power Systems with Governor Deadband (GDB) Non-linearity, Electric Power Components and
Systems, DOI: 10.1080/15325008.2017.1348404
Download by: [Gothenburg University Library] Date: 16 November 2017, At: 02:51
Electric Power Components and Systems, 0(0):110, 2017
Copyright C Taylor & Francis Group, LLC
ISSN: 1532-5008 print / 1532-5016 online
DOI: 10.1080/15325008.2017.1348404
CONTENTS
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1. INTRODUCTION
In power systems, frequency stability is an important index
of power quality. Any sudden load perturbation can cause the
deviation of tie-line exchanges and the frequency fluctuations.
Therefore, to ensure the power quality, a load frequency con-
trol (LFC) system is required. The goal of LFC is to return the
frequency to its nominal value and minimize the unscheduled
tie-line power flows between interconnected control areas [1].
With the increase in size and complexity of modern power
systems, the system oscillation might propagate into wide area
resulting in a wide-area blackout. So, advanced control meth-
ods were applied in LFC; see [2, 3] for a review of control
methods in LFC. Improved performance might be expected
Keywords: load frequency control, electric power system, governor from the advanced control methods; however, these methods
deadband (GDB), active disturbance rejection control, anti-GDB scheme
Received 20 October 2016; accepted 14 June 2017 require either information on the system states or an efficient
Address correspondence to Wen Tan, School of Control and Computer on-line identifier, and thus, it may be difficult to apply them in
Engineering, North China Electric Power University, Zhuxinzhuang, Dewai, practice.
Beijing 102206, China. E-mail: wtan@ieee.org
Color versions of one or more of the figures in the article can be found online
Thus, attention has been paid to the tuning of proportional-
at www.tandfonline.com/uemp. integral-derivative (PID)-type LFC. Reference [4] proposed a
1
2 Electric Power Components and Systems, Vol. 0 (2017), No. 0
robust PID load frequency controller design method based on Kp Electric system gain (Hz/puMW)
maximum peak resonance. References [5, 6] proposed to tune Tp Electric system time constant (sec)
a PID load frequency controller via an internal model control Tt Turbine time constant (sec)
technique. It was shown that with two tuning parameters, the Tg Governor time constant (sec)
R Speed regulation due to governor action (Hz/puMW)
method can achieve good performance for power systems with
f Incremental frequency deviation (Hz)
non-reheat, reheat, and hydro turbines. Pd Load disturbance (puMW)
Recently, an active disturbance rejection control (ADRC) PG Incremental change in generator output (puMW)
method was applied to the LFC problem [7, 8]. The method XGV Incremental change in governor valve position
aims to reject the disturbance by providing its estimation Gg (s) Transfer function of speed governor
through an extended observer; thus, external disturbance can Gt (s) Transfer function of turbine
be rejected more quickly. Furthermore, just like the PID con- Gp (s) Transfer function of electric system
troller, the scheme is only needed to tune two parameters, so Gc (s) Transfer function of load frequency controller
it is easy to be understood by practical control engineers. The TABLE 1. Nomenclature
Downloaded by [Gothenburg University Library] at 02:51 16 November 2017
Standards for large steam-turbine speed governors. It is known tem and then try to reject it effectively using a simple con-
that the backlash non-linearity tends to give a continuous sinu- trol law. ADRC assumes that the control engineer has very
soidal oscillation with a natural period of about 2 sec. There- little knowledge of the controlled plant and the external dis-
fore, a backlash of approximately 0.05% is chosen for all the turbance, except the relative order p and the high-frequency
simulations [13]. In this case, the Fourier coefficients for the gain b0 of the plant, i.e., it is assumed that the controlled plant
non-linear function of deadband are as follows: is of the following model:
N1 N2
= 0.8 and = 0.2 (4) y(p) (t ) = b0 u(t ) + f (y(t ), u(t ), d(t )) (7)
k k
So, a linear approximation of the backlash non-linearity of where f(y, u, d) is the combination of the unknown internal
width D = 0.05% is as follows: dynamics of the system and the external disturbance, and is
0.2 assumed to be unknown and is denoted as the generalized
F (x, x) = 0.8x x (5) disturbance.
Let
This linear approximation is used by most of the existing
literature in the load frequency controller design [1321]. z = Aoz + Bou + Eoh
(8)
For a more accurate stability analysis, a describing func- y = Coz
tion analysis should be used instead of using just the linear denote the state-space model of (7), where
approximation (5). The describing function of deadband with
width D is as follows [12, 13]: 0 1 0 0
0 0 1 0
N (A) = Nr + jNi (6)
Ao = ... ... ... . . . ...
where 0 0 0 1
k 2D 0 0 0 0
Nr = + arcsin 1 (p+1)(p+1)
2 A T
Bo = 0 0 b0 0 (p+1)1
2D D D 1/2 T
+ 2 1 1 Eo = 0 0 0 1 (p+1)1
A A A
4k D D Co = 1 0 0 0 1(p+1) (9)
Ni = 1 , AD
A A
z = [z1 z2 zp z p + 1 ]T is the state vector of the system,
To analyze the stability of LFC systems with GDB, we sep-
z1 := y, z2 = y, . . . , z p = y(p1) , z p+1 = f (y, u, d )
arate the non-linearity from the rest of the system and put the
(10)
system into the structure, as shown in Figure 2.
and h(t ) := f (t ).
The Nyquist stability criterion can then be used to deter-
An ESO can be used to estimate the states of the plant and
mine the stability of the system with non-linearity. If Gn (j)
the generalized disturbance:
does not encircle 1/N(A), the system will be stable; if Gn (j)
encircles 1/N(A), the system will be unstable; if Gn (j) z = Aoz + Bou + Lo (y y)
(11)
intersects with 1/N(A), the system will exhibit a limit cycle. y = Coz
4 Electric Power Components and Systems, Vol. 0 (2017), No. 0
If Lo is chosen such that Ao Lo Co is stable, then the states When there is no GDB, the LFC system can be controlled
z1 (t ), . . . , z p (t ) will approximate the output y(t) and its deriva- by a third-order LADRC and the performance can be tuned
tives y(t ), y(t ), . . . , y(p1) (t ), and z p+1 (t ) will approximate the via the controller bandwidth c and the observer bandwidth
generalized disturbance f(y, u, d). o [7, 8]. However, with the GDB, the performance of
With the states of the plant and the generalized disturbance LFC might be limited, as demonstrated in the following
estimated, the state-feedback control law can be chosen as fol- example.
lows:
k1 (r(t ) z1 (t )) + + k p (r(p1) (t ) z p (t )) z p+1 (t ) Example 1. Consider a single-area power system with the
u(t ) = following parameters [6]:
b b
=: Ko (r(t ) z(t )) (13)
Kp = 120, Tp = 20, Tt = 0.3, Tg = 0.08, R = 2.4
where r(t ) is a generalized reference signal composed of the (17)
reference signal r(t) and its derivatives
r(t ) = [r(t ) r(t ) r(p1) (t ) 0]T (14) According to [8], a third-order LADRC is used for load fre-
quency control and the parameters of the third-order LADRC
and can be chosen as follows:
Ko = [k1 k2 kp 1]/b0 (15) b0 = 250, c = 3, o = 30 (18)
is the state-feedback gain.
When there is no GDB, the response of the LFC system is
In summary, a pth-order linear active disturbance rejection
shown in Figure 5 for a step load Pd = 0.01 at t = 10. It is
controller (LADRC) has the following state-space form:
z = Aoz + Bou + Lo (y Coz)
(16)
u = Ko (r z)
Its structure is shown in Figure 3. It is obvious that LADRC
has an observer-based state-feedback control structure, and
has two sets of gains to tune: Lo , the observer gain for ESO,
and Ko , the controller gain. For simplicity, the tuning of these
two gains is reduced to two tuning parameters: c , the con-
troller bandwidth, and o , the observer bandwidth. Details can
be found in [23].
3. EFFECT OF GDB
LFC for a single-area power system with GDB is shown in
Figure 4, where Gc (s) is the load frequency controller and 1/R FIGURE 5. Responses of the single-area power system under
represents the droop characteristics. LADRC.
Tan et al.: Load Frequency Control of Power Systems with Governor Deadband (GDB) Non-linearity 5
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NG p
f = Pd
N + G p Gt GgN (Gc + 1/R)
G p
FIGURE 9. Observer-based anti-windup scheme for Pd (24)
LADRC. 1 + G p Gt Gg (Gc + 1/R)
Tan et al.: Load Frequency Control of Power Systems with Governor Deadband (GDB) Non-linearity 7
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can diminish the amplitude of the limit cycle. The response as in the single-area power systems. The local load frequency
of the system with the error-compensation-based anti-GDB controller takes the form:
scheme is almost the same as that without GDB, while the
response of the system with observer-based anti-GDB scheme ui = Gci (s)Bi fi (27)
is slightly sluggish due to the reconstruction.
Example 3. Consider a two-area power system with GDB
shown in Figure 13. The two areas are assumed to be the
5. MULTI-AREA POWER SYSTEMS same with reheated turbines, and the parameters are as fol-
lows [19]:
For multi-area power systems, load frequency controllers
need to maintain the scheduled tie-line exchange power flow 1 120
Ggi = , G pi = ,
besides the frequency, so a composite variable, area control 0.2s + 1 20s + 1
error (ACE), is used as the feedback variable in multi-area 1 20/3s + 1
Gti =
power systems instead of the frequency in single-area power 0.3s + 1 20s + 1
systems. For Area #i, ACE is defined as follows: Ri = 2.4, Bi = 0.425, T12 = 0.0707 (i = 1, 2) (28)
Reference [6] proposed a decentralized controller design The responses of the two-area system under LADRC with
method for multi-area power systems by ignoring the tie-line GDB for a step load Pd = 0.01 at t = 1 are shown in
power flow, i.e., assuming that Ptie i = 0(i = 1, . . . , n), then Figure 14. It is observed that the system has an acceptable
the load frequency controller for each area can be designed dynamic performance but there is a limit cycle after 70 sec. To
Tan et al.: Load Frequency Control of Power Systems with Governor Deadband (GDB) Non-linearity 9
6. CONCLUSION
In this paper, the effect of GDB on the LFC system was
first analyzed. It was shown that the LFC system controlled
by LADRC can avoid entering the limit cycle by decreas-
ing the controller bandwidth and/or observer bandwidth of
LADRC, which will degrade the disturbance rejection perfor-
mance. To maintain the disturbance rejection performance of
the original LADRC, two anti-GDB schemes were proposed,
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FUNDING
This work was supported by the National Natural Science
Foundation of China under Grant 61573138.
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