Lecture 3

Primary ALFC

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Complete ALFC transfer function:
𝑘𝑔𝑠 1 𝑘𝑝𝑠
(−∆𝑓 ∙ 𝛽𝐺𝑇 ∙ ( )∙( ) − ∆𝑃𝐿 ) ∙ ( ) = ∆𝑓
1 + 𝜏𝑔𝑠 𝑠 1 + 𝜏 𝑇𝑅 𝑠 1 + 𝜏𝑝𝑠 𝑠

𝑘𝑔𝑠 1 𝑘𝑝𝑠 𝑘𝑝𝑠

(−∆𝑓 ∙ 𝛽𝐺𝑇 ∙ ( )∙( )∙( ) − ∆𝑃𝐿 ∙ ( )) = ∆𝑓
1 + 𝜏𝑔𝑠 𝑠 1 + 𝜏 𝑇𝑅 𝑠 1 + 𝜏𝑝𝑠 𝑠 1 + 𝜏𝑝𝑠 𝑠

𝑘𝑔𝑠 1 𝑘𝑝𝑠 𝑘𝑝𝑠

∆𝑓 + ∆𝑓 ∙ 𝛽𝐺𝑇 ∙ ( )∙( )∙( ) = −∆𝑃𝐿 ∙ ( )
1 + 𝜏𝑔𝑠 𝑠 1 + 𝜏 𝑇𝑅 𝑠 1 + 𝜏𝑝𝑠 𝑠 1 + 𝜏𝑝𝑠 𝑠
𝑘𝑔𝑠 1 𝑘𝑝𝑠 𝑘𝑝𝑠
∆𝑓 ∙ [1 + 𝛽𝐺𝑇 ∙ ( )∙( )∙( )] = −∆𝑃𝐿 ∙ ( )
1 + 𝜏𝑔𝑠 𝑠 1 + 𝜏 𝑇𝑅 𝑠 1 + 𝜏𝑝𝑠 𝑠 1 + 𝜏𝑝𝑠 𝑠

𝑘𝑝𝑠
(1 + 𝜏 𝑠 )
𝑝𝑠
∆𝑓(𝑠) = −∆𝑃𝐿 (𝑠)
𝑘𝑔𝑠 1 𝑘𝑝𝑠
1 + 𝛽𝐺𝑇 ∙ ( ) ∙( ) ∙(
[ 1 + 𝜏𝑔𝑠 𝑠 1 + 𝜏 𝑇𝑅 𝑠 1 + 𝜏𝑝𝑠 𝑠)]

Then, the complete primary ALFC is:

𝑘𝑝𝑠 ∙ (1 + 𝜏𝑔𝑠 𝑠) ∙ (1 + 𝜏 𝑇𝑅 𝑠)
∴ ∆𝑓(𝑠) = −∆𝑃𝐿 (𝑠) [ ]
(1 + 𝜏𝑔𝑠 𝑠) ∙ (1 + 𝜏 𝑇𝑅 𝑠) ∙ (1 + 𝜏𝑝𝑠 𝑠) + 𝛽𝐺𝑇 ∙ 𝑘𝑔𝑠 ∙ 𝑘𝑝𝑠
We may write as:
∴ ∆𝑓(𝑠) = −∆𝑃𝐿 (𝑠) ∙ 𝑇(𝑠)
Where, ALFC Transfer Function:
𝑘𝑝𝑠 ∙ (1 + 𝜏𝑔𝑠 𝑠) ∙ (1 + 𝜏 𝑇𝑅 𝑠)
𝑇(𝑠) [ ]
(1 + 𝜏𝑔𝑠 𝑠) ∙ (1 + 𝜏 𝑇𝑅 𝑠) ∙ (1 + 𝜏𝑝𝑠 𝑠) + 𝛽𝐺𝑇 ∙ 𝑘𝑔𝑠 ∙ 𝑘𝑝𝑠

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Steady – State of ALFC Loop:
If now there is a step change in load so that:
∆𝑃𝐿
∆𝑃𝐿 (𝑠) =
𝑠
Then, the steady-state frequency deviation ∆𝑓𝑠𝑠 can be obtained from the final
value theorem as:
∆𝑓𝑠𝑠 = 𝑙𝑖𝑚𝑠→0 𝑠∆𝑓(𝑠)
−∆𝑃𝐿
∆𝑓𝑠𝑠 = 𝑙𝑖𝑚𝑠→0 𝑠 [ ] 𝑇(𝑠)
𝑠
From Transfer Function equation, getting:

𝑘𝑝𝑠 ∙ (1 + 𝜏𝑔𝑠 𝑠) ∙ (1 + 𝜏 𝑇𝑅 𝑠)
∆𝑓𝑠𝑠 = 𝑙𝑖𝑚𝑠→0 (−∆𝑃𝐿 ) [ ]
(1 + 𝜏𝑔𝑠 𝑠) ∙ (1 + 𝜏 𝑇𝑅 𝑠) ∙ (1 + 𝜏𝑝𝑠 𝑠) + 𝛽𝐺𝑇 ∙ 𝑘𝑔𝑠 ∙ 𝑘𝑝𝑠
𝑘𝑝𝑠
∆𝑓𝑠𝑠 = (−∆𝑃𝐿 ) [ ]
1 + 𝛽𝐺𝑇 ∙ 𝑘𝑔𝑠 ∙ 𝑘𝑝𝑠
1
𝑎𝑠 𝑘𝑝𝑠 = 𝑎𝑛𝑑 𝑐𝑜𝑛𝑑𝑖𝑑𝑒𝑟 𝑘𝑔𝑠 ≅ 1, 𝑡ℎ𝑒𝑛
𝐷
1
∆𝑓𝑠𝑠 = (−∆𝑃𝐿 ) [ ]
𝛽𝐺𝑇 + 𝐷
If the system consists of two gen – set in parallel, then the change equals:
𝛽𝑇𝑜𝑡𝑎𝑙 = 𝛽𝐺1 + 𝛽𝐺2

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Dynamic Response of ALFC Loop:
The static response of the ALFC loop is important information about frequency
accuracy.
The dynamic response of the loop will inform about “tracking” ability and
stability of the loop.
Finding the dynamic response (for a step load) is quite straightforward. ALFC
Equation, contains [ 𝐺𝐺𝐿 ∙ 𝐺𝑇 𝑎𝑛𝑑 𝐺𝑔𝑠 ] each one has at least one time constant,
the denominator will be of third order, resulting in unwieldy algebra.
We can simplify the analysis considerably by making the reasonable assumption
that the action of the speed governor system plus the turbine time constants
are very small compared to generator time constant, then a first-order
approximation of the transfer function can be made by neglecting the dynamics
of the turbine and governor.
As Transfer Function equation, equals:
∆𝑓(𝑠) 𝑘𝑝𝑠 ∙ (1 + 𝜏𝑔𝑠 𝑠) ∙ (1 + 𝜏 𝑇𝑅 𝑠)
=[ ]
−∆𝑃𝐿 (𝑠) (1 + 𝜏𝑔𝑠 𝑠) ∙ (1 + 𝜏 𝑇𝑅 𝑠) ∙ (1 + 𝜏𝑝𝑠 𝑠) + 𝛽𝐺𝑇 ∙ 𝑘𝑔𝑠 ∙ 𝑘𝑝𝑠
Let 𝜏𝑔𝑠 ≅ 0 𝑎𝑛𝑑 𝜏 𝑇𝑅 ≅ 0 𝑎𝑛𝑑 𝑘𝑔𝑠 = 1, then:
∆𝑓(𝑠) 𝑘𝑝𝑠
=[ ]
−∆𝑃𝐿 (𝑠) (1 + 𝜏𝑝𝑠 𝑠) + 𝛽𝐺𝑇 ∙ 𝑘𝑝𝑠
∆𝑓(𝑠) 𝑘𝑝𝑠
=[ ]
−∆𝑃𝐿 (𝑠) 1 + 𝛽𝐺𝑇 ∙ 𝑘𝑝𝑠 + 𝜏𝑝𝑠 𝑠

𝑘𝑝𝑠
∆𝑓(𝑠) = −∆𝑃𝐿 (𝑠) ∙ [ ]
1 + 𝛽𝐺𝑇 ∙ 𝑘𝑝𝑠 + 𝜏𝑝𝑠 𝑠
For step load change ∆𝑃𝐿 , then

∆𝑃𝐿 𝑘𝑝𝑠
∆𝑓(𝑠) = − ∙[ ]
𝑠 1 + 𝛽𝐺𝑇 ∙ 𝑘𝑝𝑠 + 𝜏𝑝𝑠 𝑠

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 𝑘𝑝𝑠
(𝜏 )
∆𝑃𝐿 𝑝𝑠
∆𝑓(𝑠) = − ∙
𝑠 1 + 𝛽𝐺𝑇 ∙ 𝑘𝑝𝑠
( 𝜏𝑝𝑠 )+𝑠
[ ]
𝑘𝑝𝑠
𝑘𝑝𝑠 (𝜏 )
1 𝑝𝑠
∆𝑓(𝑠) = ∆𝑃𝐿 ( ) ∙ − ∙
𝜏𝑝𝑠 𝑠 1 + 𝛽𝐺𝑇 ∙ 𝑘𝑝𝑠
( 𝜏𝑝𝑠 )+𝑠
[ ]

𝑘𝑝𝑠 1
∆𝑓(𝑠) = −∆𝑃𝐿 ( ) ∙
𝜏𝑝𝑠 1 + 𝛽𝐺𝑇 ∙ 𝑘𝑝𝑠
𝑠 (( ) + 𝑠)
[ 𝜏𝑝𝑠 ]

1 𝐴 𝐵
= +
1 + 𝛽𝐺𝑇 ∙ 𝑘𝑝𝑠 𝑠 1 + 𝛽𝐺𝑇 ∙ 𝑘𝑝𝑠
𝑠 (( ) + 𝑠) (( ) + 𝑠)
𝜏𝑝𝑠 𝜏𝑝𝑠

Then,
𝜏𝑝𝑠 𝜏𝑝𝑠
𝐴= 𝑎𝑛𝑑 𝐵 = −
(𝐷 + 𝛽𝐺𝑇 ) (𝐷 + 𝛽𝐺𝑇 )

𝑘𝑝𝑠 1 1
∆𝑓(𝑠) = −∆𝑃𝐿 ( )∙ −
(1 + 𝛽𝐺𝑇 ∙ 𝑘𝑝𝑠 ) 𝑠 1 + 𝛽𝐺𝑇 ∙ 𝑘𝑝𝑠
(( 𝜏𝑝𝑠 ) + 𝑠)
[ ]
In time domain,
1+𝛽𝐺𝑇 ∙𝑘𝑝𝑠
𝑘𝑝𝑠 −(
𝜏𝑝𝑠
)𝑡
∆𝑓(𝑠) = −∆𝑃𝐿 ( ) ∙ [1 − 𝑒 ]
(1 + 𝛽𝐺𝑇 ∙ 𝑘𝑝𝑠 )

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From time domain, the steady-state frequency deviation at 𝑡 = ∞:
1+𝛽𝐺𝑇 ∙𝑘𝑝𝑠
𝑘𝑝𝑠 −(
𝜏𝑝𝑠
)∞
∆𝑓𝑠𝑠 = ∆𝑓(∞) = −∆𝑃𝐿 ( ) ∙ [1 − 𝑒 ]
(1 + 𝛽𝐺𝑇 ∙ 𝑘𝑝𝑠 )
𝑘𝑝𝑠 1
∆𝑓𝑠𝑠 = ∆𝑓(∞) = −∆𝑃𝐿 ( ) 𝑎𝑛𝑑 𝑤𝑒 ℎ𝑎𝑣𝑒 𝑘𝑝𝑠 =
(1 + 𝛽𝐺𝑇 ∙ 𝑘𝑝𝑠 ) 𝐷
1
∆𝑓𝑠𝑠 = −∆𝑃𝐿 ( )
(𝐷 + 𝛽𝐺𝑇 )
In Laplace transformation, by applying the final value theorem:
𝑘𝑝𝑠
(𝜏 )
∆𝑃𝐿 𝑝𝑠
∆𝑓𝑠𝑠 = lim[𝑠 ∆𝑓(𝑠)] = 𝑠 − ∙
𝑠→0 𝑠 1 + 𝛽𝐺𝑇 ∙ 𝑘𝑝𝑠
( 𝜏𝑝𝑠 )+𝑠
( [ ])
𝑘𝑝𝑠
(𝜏 )
𝑝𝑠 1
∆𝑓𝑠𝑠 = −∆𝑃𝐿 𝑎𝑛𝑑 𝑤𝑒 ℎ𝑎𝑣𝑒 𝑘𝑝𝑠 =
1 + 𝛽𝐺𝑇 ∙ 𝑘𝑝𝑠 𝐷
( 𝜏𝑝𝑠 )
[ ]
1
∆𝑓𝑠𝑠 = −∆𝑃𝐿 ( )
(𝐷 + 𝛽𝐺𝑇 )

Then, the droop operation is represented by the steady-state frequency

deviation, which called speed droop characteristics:
1
∆𝑓 = −∆𝑃𝐿 ( )
(𝐷 + 𝛽𝐺𝑇 )

Frequency
Speed-droop
characteristic
f0

fsys

Per unit output power

0.5 1.0

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The following characteristics input labelled "load reference set point", by
changing the load reference, the frequency at any desired unit output.

Nominal Speed at
0.5 pu output
f Nominal Speed for
e
Full Output

f
0

f
sys

Load frequency
reference setting Per unit output power
point for nominal
speed at no load 1.0
0.5

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