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1676
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static output feedback Another approach to pole motor speed which in phase with reference volt*
placement problem is to consider the potential of variations< For input signal. the transfer function
tiJnevar!ing periodic output feedback. It was shown of the stabilizer must compensate for the gain
by Clrammas:and Leondes [4
that a controllable and and plme of excitation system. the generator and
obser\able plant was discrete time pole aysipable by the power system. wludi collectively determine ttie
periodically time-var)ing piecewise constant output transfer function from the stabilizer output to the
feedback Since the feedback gains are pieceuk component of meclianical speed. This can be
constant. their method could be easily implemented modulated via excitation system [I].
and indicated a new possibility. Such a control
law can stabilize a mucli larger class of systems 2.2 PROCEDURE OF STABILIZER
than tlie staric output feedback [;]-[SI. In periodic
output feedback technique gain matrix is generally
IMPLEMENTATION
full [6]. Tlus results in the control input of each Implementation of a power system stabilizer implies
machine beins a function of outputs of all maclines. adjustment of its frequency characteristic and gain
Due to the geogaptucally distributed nature of to produce the desired damping of tlie system
power system and lack of communication system oscillations in the frequency range of 0.2 to 3.0 Hz.
(unavoidable delays). the decentralized control The transfer function of a generic power system
sdieme ma:- be more feasible than tlre centralized s t a b h e r may be e x p r e d as
control scheme. In d e c e n t r a l i i power system
stabilizei, ttie control input for eadi maclune sliould
be function of tile outbut of tliat macline only. ~ 2 i s
can be achieved by designing a decentralized PSS
using periodic output feedback technique in w1Lidi where E;, represents stabilizer gain and FLLT(s)
tlie gain matrix slrould have all off-diagonal terms represents combined transfer function of torsional
zero or very small compare to diagonal tem. In filter and input sibmal transducer.
t l h t.eclmique decentralized PSS for all machine The stabilizer frequency characteristic is adjusted
can be desibmed in one algorithm. W PSS can b by vxping the time constant T.*: T1.T2.T3 and T.1
applied simultaneously to ttie respecti\,e madline. It will b noted that the s t a b i i r transfer function
So the decentralized stabilizer design problem can includes the effect of b t l i the input signal transducer
b translated into a problem of diagonal output and filtering required to attenuate the stabiIiier
feedbad; gain matrix d e s i p for multi macline power gain at turbine-generator shaft torsional freqnencies
system. These effects. dictated by other consideration, must
This paper propom the design of a decetralized be considered in addition to the %lant" [3].
power sl-stem stabiier for multi machine system
using periodic output feedback. The brief outline of 3 MODELING OF A MULTI
tlie paper is as follon-s: Section n presents basics of
power systen stalilizer whereas Section III contains MACHINE SYSTEM
the modeling of muhi-macline system. Section IV
presents a brief review on decentralized periodic Analysis of practical power system invotves the
output feedback control metlrod. Section V contains simultaneous solution of equations consisting
tlre simulations of multi-madline potier system of synchronous machines and tlie associated
at different operating points with the proposed excitation system and prime mo\'ers. interconnecting
controller followed by the concluding section. transmission network. static and dynamic load
(motor) loads. and ottie devices suclr as HCDC
converters. static var compensators. "tie dynamics
2 REVIEW ON POWER of the macline rotor circuits. excitation systems:
SYSTEM STABILIZERS prime mo\rer and other devices are represented
by differential equations. The r e d & is tliat the
2.1 BASIC CONCEPT complete system model consists of large number of
ordinary differential and algebraic equations [9].
Bas:ic function of a power system stabilizer is to Clavsical niodel 1.0 is aysumed for sUmdironous
est,end stability limits by modulating generator macliines by neglecting damper ind dings In
excitation to provide damping to tire oscillation of addition. the following assumptions are made for
synchronous machine rotors relative to one another. simplicity [IO].
The oscillations of concern is typically occur in the 1. The lo& are represented by constant
frequency range-approximately 0.2 to 3.0 Ha. and impedances.
insufficient damping of these oscillation may limit 2. p n s i e n t s saliency is ignored by considering
ability to transmit powr. To provide damping. the xq= sa
stabilizer must produce a component of mechanical 3. hfechanical power is w n m e d to be constant.
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Q'
Figpre I: Block diagram of 4 hlacliine IO bus
p-5, = d B ( S , , - Sm*0).
I
pSme = -[-Di(Sm,
2H
- S&) Pm,+ - Pc,.
- -
4 ON PERIODIC OUTPUT U(kT)
u(kr+A)
FEEDBACK
u(kr) =Ky(kr)= :
4.1 FLEVIEW ON PERIODIC
OUTPUT FEEDBACK u(kr+r-A)
The problem of pole mignment by piecenise
LOllStdnt output feedbacl. tias studled by C
"l
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delays), the decentralized control scheme may be
more feavible than the Fentralized control sdieme.
r ) = *vz(kr) +ru.
z ( k ~ + Decentralized periodic output feedback control can
be achieved by making the off diagonal elements of
g(k)=Cr(C). ICo. I i l . ...... K3y-1 matrices zero.
where Non: tlie problem can be formulated in the
r = [@-IT. ....r] framework of Linear hiatrh Inequalities using
Eqns.(S)-(9) and the desired gain matrices can h
Applying periodic out.put feedback in Eqn.(J). i.e.. obtained.
Kg(kr) is substituted for u ( k ~ )the. closed loop
system becomes
5 NUMERICAL EXAMPLE
z(kr+r) =(9"+rKC)r(tr). (6)
The 4 madlines. 10 bus hiulti- hiadline Power
Tlie problem liav now taken tlie form of static
System data are considered for desibping periodic
output, feedback problem. Eqn.(B) suggest that an
output feedlmck controller uying Lhff approach of
output, injection matrix G be found such that
hiatlab softwaw. The single l i e diagram of the
system is shown in Fig.1. The maelline data. line
p((@ + GC) < 1. (6) data. A\= data and load flow are given in [IO].
diere p ( ) denotes. the spectral radius. By The a h v e multi-machine system is modelled
obsermbility one can clioose an output injection, us& Simulink Toolbox of Matlab and a Linear state
gain G to achie%reany desired self-conjugate set of space model is obtained for the same. Then discrete
eigenvalues for the closed loop matri. (0" GC) . + model is obtained for tlie sampling time r = 0.01 sec.
and from N Z I I it follows that one can find a Using the method discussed in Section 4
periodic output feedback gain wlucli realizes the stabilizing output injection gain matrix G (16x4)
output injection gain G by solving is obtained. Using LkD approach. Eqns.(&S)
are solved using different valuer of p to fmd tie
r K = G. (5) decentralized gain matrix K.
The decentralized periodic output feedback gain
for K.
matrix I< ( 16x4)is obtained av @\,en in appndkx B.
The controller obtained from the a h v e equation
The closed loop responses under tlie control lau:
nil1 give desired behavior: but might require
Eqn.(J) nitli tlus decentralized gain K for linearized
excessive control action. To reduce tliy effect we
model of all four machines are satisfactory and able
relax the condition that K esactly satisfy the above
to stabilize the outputs.
linear equation and include a constraint on the gain
The eigen values of (afi- +rKC) are found to h
K. Tllus we arrive a t the following in equations
within the unit circle as given in appendix B.
11ICI1 < PI
6 SIMULATION WITH NON
LINEAR MODEL
A simulink based b~odi.'diapamincluding a~ tile
[ $* y < 0 nonlinear block is generated. The slip of the
madline is talien ay output. Tlie output slip signal
with decentralized gain 1%-and a limiter is added
-p;I
[ (rK - G)T y - G ) ] <0 (9) to V,,! signal which is used to provide additional
damping. Tllis is used to damp out the small
In tiis form the L.hU Tool Bm Matlab can be used sibmal disturbances via modulating the generator
for syntliesis [II]. excitation. The output must be limited to prevent
the PSS acting to counter action of A\X.
4.2 DECENTRALIZED PERIODIC Simulation results of different b-nerators are
shown in Fig2 without controller and with controller
OUTPUT FEEDBACK and the same with fault are shown in Fig.3 without
In periodic output feedback for multi macline controller and with controller.
system. gain matrix is generally full [GI. Tlis
results in the control input of each machine being
a function of outputs of all machine% Due to the
ge~gaphicallydistributed nature of power system
and I d of communication system (unavoidable
1679
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2' ro4 GENERATOR <
-2'
2 .
n- in --nd.
6 a
l
10
GENERATOR 4
.
rim. h wlond.
6 8 ,o
1680
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7 CONCLUSION
The linearized model of multi-madune( 4 generators)
power system %it11 10 buses is constdered here. Tlie
slip si@ is talien a4 output. Tlie decentralized
periodic output feedLa& control is desiped and
applied to tlie linear as well as nonlinear system. The
siruulatiou here sl~o~vs that the decentralized periodic
output fedback control technique can be used to
design power system stabilizer for niulti-macline(
4 generators) paver s.%tem with 10 buses. The
control input for these generators are required of
small ma64tudes. The method is more general than
static output feedbark and also leads to decent,raliwd
.., .. .. control for multi-miline system . The decentralized
.. control can Le applied simultanmusly to tlie all
. ,
.. maclines. The input applied to each macllie is a
.._.
... ..~ .
_i.
. ., function of output of the respective madline. Thus
...
. ~.. ~..,
. . the applied control scheme is decentralized in nature.
.
References
[I] E.V.Larsen and D..A.Swann: a.%pplying Power
System Stabilizers Part- I: General Concepts”.
IEEE trans. on Power Appnmhrs and Syststenu:
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[6] T.L.Huang. S.C. Clien, T.U.Hyvang and (B.v + r* K * C) :
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Stabilizer Desip via Optimal SuMigen - +
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structure assi~pment”.Electric Power System +
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+
i.nonn, 0.01-i; O.O%;i, n.siii - 0 . o s i i . O.91iI) ]
[GI Rajeev’ Gupta. B. Bandyopdlyay and
h.hI.Kukami: -Design of Power System
Stabilizer for Multi-Madline Power System
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4684
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