Negesse Final Thesis 11111

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Communication System Engineering thesis
2020-08-11
MODELING AND SIMULATION OF

FUZZY BASED AGC AND AVR WITH
PSS TO IMPROVE SYNCHRONOUS
GENERATOR SPEED DEVIATION OF
HYDROPOWER PLANT (CASE STUDY
ON TANA BELES HYDROELECTRIC
PLANT )
NEGESSE, LEUL BELAY
http://ir.bdu.edu.et/handle/123456789/12801
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BAHIR DAR UNIVERSITY
BAHIR DAR INSTITUTE OF TECHNOLOGY
SCHOOL OF RESEARCH AND POSTGRADUATE STUDIES
FUCULITY OF ELECTRICAL AND COMPUTER ENGINEERING
MODELING AND SIMULATION OF FUZZY BASED AGC AND AVR

WITH PSS TO IMPROVE SYNCHRONOUS GENERATOR SPEED
DEVIATION OF HYDROPOWER PLANT
(CASE STUDY ON TANA BELES HYDROELECTRIC PLANT )

BY
NEGESSE LEUL BELAY
ADVISOR: DR. TASSEW TADIWOSE
August 11, 2020

Bahir Dar, Ethiopia
MODELING AND SIMULATION OF FUZZY BASED AGC AND AVR WITH PSS TO IMPROVE SYNCHRONOUS GENERATOR SPEED
MODELING AND SIMULATION OF FUZZY BASED AGC AND AVR

WITH PSS TO IMPROVE SYNCHRONOUS GENERATOR SPEED
(CASE STUDY ON TANA BELES HYDROELECTRIC)

BY
NEGESSE LEUL BELAY
A thesis submitted to the school of Research and Graduate Studies of Bahir Dar Instituteof
Technology, BDU in partial fulfillment of the requirements for the degree of master inPower
System Engineering in the Faculty of Electrical and Computer Engineering.
Advisor:
Dr. Tassew Tadiwose
August 11, 2020

Bahir Dar, Ethiopia
~ ~
MODELING AND SIMULATION OF FUZZY BASED AGC AND AVR WITH PSS TO IMPROVE
SYNCHRONOUS GENERATOR SPEED DEVIATION OF HYDROPOWER PLANT
DECLARARION
I, the undersigned, declare that the thesis comprises my own work. In compliance
withinternationally accepted practices, I have acknowledged and refereed all materials used in
thiswork. I understand that non-adherence to the principles of academic honesty and
integrity,misrepresentation/ fabrication of any idea/data/fact/source will constitute sufficient
ground fordisciplinary action by the University and can also evoke penal action from the
sources whichhave not been properly cited or acknowledged.
Name of the student: Negesse Leul Belay Signature _____________

Date of submission: ________________
Place: Bahir Dar
This thesis has been submitted for examination with my approval as a university advisor.
Advisor Name: Dr. Tassew Tadiwose
Advisor‟s Signature: ______________________________
MSc. Thesis on Power System Engineering i

MSc. Thesis on Power System Engineering ii

ACKNOWLEDGEMENTS
First I wish to give my deep gratitude to Dr. Tassew Tadiwose who is, my supervisor, for his
direction and inspirational guidance towards my thesis study. The motivation, encouragement,
understanding and concessional privilege of easy access to facilities are gratefully appreciated.
Secondly, I give my gratitude to my coo- advisor, Ato. Birhanu Zelalem for his willingness and
giving help when we ask any assistance and motivation for my study. I would also give thanks
for Electrical Engineers at Tana Beles hydroelectric power system who gave me the data resource,
Mr. Danial and Woldemariam for their kindness and willingness. I also acknowledge with thanks
to Electrical and computer Engineering department members, and societies for their sincerity
encouragement and contributions during the proposal. I wish to appreciate the efforts of both the
academic and technical staff of the Department of Electrical and Computer Engineering, Bahir
Dar university (IOT) for their willing disposition in the course of this Post Graduate program.
Finally, I would like to give acknowledgement to my parents for their moral motivation support
to start my education in MS.c program.
MSc. Thesis on Power System Engineering iii

ABSTRACT
Power systems operation become more important as the load demand increases. Therapid
increase in load demand forces power systems to operate near critical limits. The aimof power
systems operation is to serve energy with acceptable voltage and frequency. In case of power
system any small sudden load change in between generation and demand causes the system
frequency to deviate from preset value. In Tana Beles HEP, synchronous generators have a
default operating set point of ± 4% frequency deviation but practically at peak load hour the
generators trip its circuit breaker. To minimize the problem, the operators, lower the generator
frequency setting point to ±8% (46 Hz – 54 Hz).In a network, a drop in frequency could result
in high magnetizing currents in induction motors and synchronous generators. This leads to the
outage of generating units of Tana Beles HEP and will ultimately lead to total blackout of the
whole system of the plant.The main purpose of the AGC is to balance the total system
generation against system load and losses so that the desired frequency and power interchange
systems are maintained. The role of an AVR is to hold the terminal voltagemagnitude of the
generator at a specified levelwhich in turn, maintainsbus voltage.Power system stabilizers
modeled to enhance the damping of power system oscillations in order to maintain the reliable
operation of the grid. The conventional controllers are very slow in operation, ignores the
nonlinearities of different power system component, unable to decide the gain of the integrator
setting based on changes.So, FLC-PID has advantages over conventional PI or PID alone. They
are much faster than integral controllers and also they give better stability response. So, this
thesis work has been modeledand developed simulation of PSS and FLC-PID based AGC and
AVR. The output power, speed and rotor angle deviation and generator terminal voltage is
shown inMATLAB/Simulink.The simulation is carried out by AGC and AVR with (PID), (PID
and PSS), (Fuzzy-PID) and(Fuzzy-PID and PSS). So, the Fuzzy-PID controller is highly
improved the settling time while PSS controller is highly improved the damping oscillation.
Thus, Fuzzy-PID based AGC and AVR with PSS is improved both damping amplitude
oscillation overshoot,settling time and, steady state error of the system.
MSc. Thesis on Power System Engineering iv

Key words: -Automatic Generation Control, Automatic Voltage Regulator, PID Controller,
Fuzzy Logic Controller, Power System Stabilizer
Table of Contents
ACKNOWLEDGEMENTS ......................................................................................................... III
ABSTRACT ................................................................................................................................. IV
LIST OF FIGURE.......................................................................................................................VII
LIST OF TABLES ....................................................................................................................... IX
ABBREVIATIONS AND SYMBOLS ......................................................................................... X
CHAPTER ONE ............................................................................................................................ 1
1. INTRODUCTION ..................................................................................................................... 1
1.1. Background ...................................................................................................................... 1
1.2. Statement of the problem ................................................................................................. 4
1.3. Objectives of the study ..................................................................................................... 5
1.3.1. General Objective ........................................................................................................ 5
1.3.2. Specific Objective ........................................................................................................ 5
1.4. Methodology .................................................................................................................... 5
1.5. Scope of Work .................................................................................................................. 6
1.6. Organization of the Thesis ............................................................................................... 6
CHAPTER TWO ........................................................................................................................... 7
2. LITERATURE REVIEW .......................................................................................................... 7
2.1. Literature Review ............................................................................................................. 7
2.2. Theoretical Concepts of Synchronous Generator Voltage and Frequency Control ....... 12
2.2.1. Concept of Automatic Generation Control ................................................................ 12
2.2.2. Automatic Voltage Regulator (AVR) ........................................................................ 17
2.3. Combined AGC and AVR for Generator Control System ............................................. 19
2.3.1. Conventional Control of AGC and AVR ................................................................... 20
2.3.2. Power system stabilizers ............................................................................................ 22
2.3.3. Fuzzy Logic controller based AGC ........................................................................... 23
CHAPTER THREE ..................................................................................................................... 25
MSc. Thesis on Power System Engineering v

3. MODELING OF THE SYSTEM ............................................................................................ 25

3.1. Modelling of Automatic Generation Control (AGC) ..................................................... 26
3.1.1. Modeling of Hydro Turbine ....................................................................................... 27
3.1.2. Modeling of Hydro Governor .................................................................................... 31
3.1.3. Modeling of Generator ............................................................................................... 32
3.2. Modeling of AVR ........................................................................................................... 36
3.2.1. Amplifier model ......................................................................................................... 37
3.2.2. Exciter Modeling ....................................................................................................... 39
3.2.3. Generator Field Model ............................................................................................... 40
3.2.4. Sensor Model ............................................................................................................. 41
3.2.5. Excitation System Stabilizer ...................................................................................... 42
3.3. Design of PID Controller ............................................................................................... 42
3.3.1. AGC System with PID Controller ............................................................................. 45
3.3.2. AVR System with PID controller .............................................................................. 46
3.4. Combined AGC and AVR loops .................................................................................... 47
3.5. Design and Modeling of PSS ......................................................................................... 49
3.6. Fuzzy Logic Controller Design ...................................................................................... 53
CHAPTER FOUR ........................................................................................................................ 62
4. SIMULATION RESULTS AND DISCUSSIONS ................................................................. 62
4.1. Tana Beles Hydro governor and Excitation System Data .............................................. 62
4.2. Simulation Block Diagram ............................................................................................. 64
4.2.1. PID based AGC and AVR Simulink Diagram ........................................................... 64
4.2.2. PSS and PID based AGC and AVR Simulink Diagram ............................................ 65
4.2.3. FLC - PID Based AGC and AVR Simulink Diagram ............................................... 66
4.2.4. PSS and FLC - PID Based AGC and AVR Simulink Diagram ................................. 67
4.3. Matlab Simulation Results and Discussions .................................................................. 68
CHAPTER FIVE ......................................................................................................................... 74
5. CONCLUSION AND RECOMMENDATION ...................................................................... 74
5.1. Conclusion ...................................................................................................................... 74
5.2. Recommendation ............................................................................................................ 75
MSc. Thesis on Power System Engineering vi

5.3. Future Work ................................................................................................................... 75

REFERENCES ............................................................................................................................ 76
APPENDIX .................................................................................................................................. 81
LIST OF FIGURE
Figure 2.1. Block diagram of load frequency control [14] ......................................................... 15
Figure 2.2. Primary &Secondary ALFC Control Loop ............................................................... 16
Figure 2.3. Block diagram of automatic voltage regulator .......................................................... 18
Figure 2.4. Schematic diagram of LFC and AVR [15] ................................................................ 20
Figure 2.5. PID governor including pilot servo dynamics [37] ................................................... 21
Figure 2.6. Block diagram of conventional power system stabilizer (PSS) [41]......................... 23
Figure 2.7. Block diagram fuzzy-logic control system [12, 14] .................................................. 24
Figure 3.1. The Schematic representation of LFC system ........................................................... 27
Figure 3.2. Overall System of Hydropower plant ........................................................................ 28
Figure 3.3. The turbine model...................................................................................................... 31
Figure 3.4. Block diagram representation of the governor .......................................................... 32
Figure 3.5. Block Diagram Representation of Generator ............................................................ 33
Figure 3.6. Block diagram of load. .............................................................................................. 34
Figure 3.7. Generator and Load Block Diagram .......................................................................... 34
Figure 3.8. Simplified Block diagram representation of the generator and load ......................... 34
Figure 3.9. Block diagram representation of the ALFC .............................................................. 35
Figure 3.10. Block diagram representation of the AGC .............................................................. 36
Figure 3.11. Block diagram of Automatic voltage regulator ....................................................... 37
Figure 3.12. Block Diagram Representation of Comparator, Amplifier ..................................... 38
Figure 3.13. Block Diagram Representation of Comparator, Amplifier and Exciter .................. 40
Figure 3.14. Generator field block diagram ................................................................................. 41
Figure 3.15. Block Diagram Representation of AVR Loop [14, 44] .......................................... 41
Figure 3.16. Block diagram of AVR with feedback stabilizer .................................................... 42
Figure 3.17. Block diagram of PID .............................................................................................. 43
MSc. Thesis on Power System Engineering vii

Figure 3.18. AGC System with PID Controller .......................................................................... 46

Figure 3.19. AVR System with PID Controller ........................................................................... 47
Figure 3.20. Over all block diagram of combined AGC and AVR ............................................ 49
Figure 3.21. Block Diagram of PSS............................................................................................. 50
Figure 3.22. Washout Circuit ....................................................................................................... 50
Figure 3.23. Block diagram of Phase Compensation Design Technique Characteristic Equation
of the Mechanical Loop ............................................................................................................... 51
Figure 3.24. Block diagram of Lead-Lag PSS ............................................................................. 52
Figure 3.25. Over all block diagram of combined AGC and AVR with PSS.............................. 53
Figure 3.26. Basic structure of Fuzzy Logic Controller .............................................................. 54
Figure 3.27. Fuzzy inference block of the thesis ......................................................................... 57
Figure 3.28. Membership functions of Proportional (Input I) ..................................................... 58
Figure 3.29. Membership functions of Integral (Input II) ........................................................... 58
Figure 3.30. The control signal membership function ................................................................. 59
Figure 3.31. Rule Editor............................................................................................................... 60
Figure 3.32. Fuzzy Rule Viewer .................................................................................................. 61
Figure 4.1. Simulink diagram of PID based AGC and AVR ....................................................... 64
Figure 4.2. Simulink diagram of PSS and PID based AGC and AVR ........................................ 65
Figure 4.3. Simulink diagram of FLC- PID based AGC and AVR ............................................. 66
Figure 4.4. Simulink diagram of PSS and FLC-PID based AGC and AVR ................................ 67
Figure 4.5. Electrical output power deviation .............................................................................. 68
Figure 4.6. Generator rotor speed deviation ................................................................................ 70
Figure 4.7. Generator rotor angle deviation ................................................................................. 71
Figure 4.8. Generator terminal voltage ........................................................................................ 72
Figure A.0.1 Tana Beles Excitation system circuit diagram ....................................................... 81
MSc. Thesis on Power System Engineering viii

LIST OF TABLES
Table 3.1 Generally the Effects of increasing a parameter independently [45]........................... 44

Table 3.2 Controller Constants [45]............................................................................................. 45
Table 3.3. If then rule for AGC for the Parameter of Speed Governor ....................................... 57
Table 4.1. Tana Beles Hydro Governor Data .............................................................................. 62
Table 4.2. Excitation system Data ............................................................................................... 63
Table 4.3. Power system Stabilizer Data ..................................................................................... 63
Table 4.4. Summary of Output Power Deviation ........................................................................ 69
Table 4.5. Summary of Speed Deviation ..................................................................................... 70
Table 4.6. Summary of Rotor Angle Deviation ........................................................................... 72
Table 4.7. Summary of Terminal Voltage ................................................................................... 73
Table B.1. Tana Beles Electrical Rated Data for Generator, Manufacturer (VA TECH) ........... 82
MSc. Thesis on Power System Engineering ix

ABBREVIATIONS AND SYMBOLS

AGC Automatic generation control
AVR Automatic voltage regulator

FLC Fuzzy logic controller
ALFC Automatic Load frequency controller
D Damping torque coefficient
DSM Demand side management
F Nominal frequency of the system
FGSPIC Fuzzy gain scheduled Proportional-Integral controller
FOPID Fractional-order PID
G Gate position
Gc Phase lead compensator in PSS
Ge Phase lag compensator
GWh/y Giga watt hour per year
H Inertia constant
HEP Hydroelectric power
HZ Herz
I Integrator
IMC Internal model control
Ka Amplifier gain
Kc Compensation time constant
Ke Exciter gain
Kf Feedback gain
Ki Supplementary control gain
Kr Sensor gain constant
Kp, KI, KD Proportional-Integral-Derivative gain constant respectively
Kstab Stabilizer gain in power system stabilizer
Ku Water velocity proportionality constant
L Length of the conduit
MSc. Thesis on Power System Engineering x

l Number of linguistic labels for each input variables

Le Inductance of exciter field
LFC Load frequency controller
Matlab Matrix library
MF Membership Function
MW Mega watt
NL Negative large
NM Negative medium
NS Negative small
P Active power
PD Proportional Derivative
PI Proportional integral
PID proportional- integral- derivatives
PIDF Proportional-Integral-Derivative filter
PL Positive large
PM Positive medium
PS Positive small
PSS Power system stabilizer
PT Potential transformer
R Number of rules
Re Resistance of exciter field
Rt Governor transient droop
Ta Amplifier time constant
TD Lead compensator time constant
Te Exciter time constant
Tf Feedback time constant
TG Lag compensator time constant
Tg Time constant of the speed governor
TM Mechanical torque
Tr Sensor time constant
MSc. Thesis on Power System Engineering xi

Tw Washout time constant

U The water velocity
Ve Voltage error
Vf generator field voltage
VR Amplifier output voltage
Vs Sensor output voltage
VSM Voltage stability margin
Vt generator terminal voltage
ZR Zero
∆f Frequency deviation of the system
∆P Change in power
∆Pe Change in electrical power output
∆PL Change in load demand
∆Pm Change in mechanical power output
∆Pref Reference set power
∆Pv Change in turbine output
∆ω Rotor speed deviation
∆δ Measure of change in rotor angle
Ω Generator rotor angle
δ Rotor angle
ρ Mass density of water
ωs Synchronous speed
ωn Undamped natural frequency of the mechanical
ζ Damping ratio
MSc. Thesis on Power System Engineering xii

MODELING AND SIMULATION OF FUZZY BASED AGC AND AVR WITH PSS TO IMPROVE SYNCHRONOUS GENERATOR SPEED
CHAPTER ONE
1. INTRODUCTION
1.1. Background
Power systems operation become more important as the load demand increases. For effective
operation of the power system, the power generated should change in accordance with the load
perturbations. In an interconnected system, every subsystem is required to regulate the power
output of its installed generators in response to changes in system frequency and/or establish
interchange with other areas within predetermined limits[1].The rapid increase in load demand
forces power systems to operate near critical limits due to economic and environmental
constraints. The objective in power systems operation is to serve energy with voltage and
frequency to consumers at minimum cost. One of the most serious problems in a large inter
connected power system is to maintain the change of voltage and frequency profile in a definite
limit.
The terminal voltage and speed of a synchronous generator are two important quantities on
which the operation depends, and special means are necessary to control them if the best
operatingconditions are to be obtained. The voltage and speed of a generator operating by itself
can be fully controlled by an excitation regulator actuated by a voltage feedback and a turbine
governor actuated by a speed feedback[2].
The main purpose of system generation control is to balance the system generation against the
load and losses so that the desired frequency and power interchanges between neighboring
systems are maintained. The two main control loops of a generation are Load Frequency
Controller (LFC) and Automatic Voltage Regulator (AVR). The turbine fed by controllable rate
of steam and the Automatic Generation Control method deals with frequency through the LFC
loop and with voltage through the AVR loop, where the main purposes of these controllers are to
maintain levels of voltage and frequency at the acceptable values. The main goal of LFC and
AVR in the power systems is to protect the balance between production and consumption and to
maintain zero steady state errors in an interconnected power system.
In order to keep the power system in normal operating state, a number of controllers are used in
practice. Because of the inherent nonlinearities in system components and synchronous
machines, most of the automatic generation controllers are primarily composed of an integral
MSc. Thesis on Power System Engineering 1

controller. The integrator gain is set to a level that compromise between fast transient recovery
and low overshoot in the dynamic response of the overall system. This type of controller is slow
and does not allow the controller designer to take into account possible non-linearity in the
generator unit. Hence the PID controller will be used for the stabilization of the frequency in the
AGC problems[3].
Application of power system stabilizer (PSS) as a supplementary modulation controller in the

excitation systems has been the conventional means to enhance the damping of low or high
frequency oscillations. The PSS which act as supplementary modulation controller in the
excitation system of generator produces a component of electrical torque on the rotor in
proportion to and in phase with deviations in rotor speed[4].The main objective of power system
stabilizer is to achieve improvement in stability by providing damping oscillations of
synchronous machine[5]. ThePSS is very important, that it try to reject the oscillation from the
power network and to stop the effect at the rotor speed or angle. Because the signals of PSS and
AVR arefeedback controllers, it is important to confirm that they need to be designed together
inorder to optimize the power feedback control system and to complete the aim of dampingout
the rotor angle oscillation and the aim of voltage regulation with each other[6].
Fuzzy controllers are increasingly being accepted by engineers and scientists alike as a viable
alternative for classic controllers. Fuzzy controllers closely imitate human control process.
Human responses to stimuli are not governed by transfer function and neither are those from
fuzzy controllers[7]. Fuzzy logic control is one of the control algorithm based on a linguistic
control strategy, which is being derived from expert knowledge into an automatic control
strategy[8]. Fuzzy gain scheduling of PID controllers has been proposed to solve power system
problems, and developed different fuzzy rules for the proportional and integral gains separately.
Two performance criteria were utilized for the comparison of the proposed Fuzzy based AGC
controller with the conventional PID controller. First, settling times and overshoots. Later, the
steady state error was calculated to compare. The comparison results suggest that the overshoots
and settling time with the proposed Fuzzy - AGC controller was better than the rest.
All these objectives can be achieved by proper planning, operation and control of power
generation and transmission systems. Electrical energy is considered as superior to all other

forms due to its, convenient and efficient transformation, easy to control, cleanness, greater
flexibility and versatile form. It finds innumerable uses in home, industry, agriculture, transport,
defense, aviation, public center, etc. Electrical energy is not only for doing desired activities but
also to improve quality of life of the people.
Tana Beles hydroelectric power plant isthe second largest power plant which is the sources of
electricity in Ethiopia. It is situated on the shores of Lake Tana, in Amhara regional state
Ethiopia with latitude = 11.8196, longitude = 37.1, about 370 km north of Addis Ababa. The
main portion of the works of the Beles Multipurpose Project is located underground and is
constituted by: The Headrace tunnel (11.8 Km long) conveying water from Lake Tana to the
pressure shaft, the underground Powerhouse accommodating four Francis turbine-generator units
with the capacity to generate 115 MW each, the Tailrace tunnel (7.2 Km long) discharging the
water into the Beles River (11.8 + 7.2) Km long. The power plant has a total installed power of
460 MW and an estimated production of 1720 GWh/y.
The study finally leads to a scheme which enables to control Tana Beles Hydro Electric power
plant with a capacity of 460 MW and also expected to provide water for the irrigation of 140000
hectares. To meet electricity requirements for customers, stable the electric sector is of great
importance since the decisions to be taken involving the commitment of large resources, with
potentially serious Power system stability is part of a more general problem in energy and
economic development planning. Its objective is to determine a minimum cost strategy for long-
range expansion of the generation, transmission and distribution systems. The electricity power
system is often subjected to various disturbances, caused by for example, fault activating,
capacitor switching, large load changing, transmission line switching, etc. These disturbances if
not properly handled, can cause stability problems on the power system. With appropriate
operations on power system controls such as correct circuit breaker operations and proper
generator excitation controls, the disturbed power system can either regain the pre-disturbance
operating state or reach a new stable operating state after the disturbances. During the dynamic
process in which the power system changes from one operating state to another after
disturbances, the generator voltage and generator speed may operate in a low frequency
oscillation.

As a standard practice, the generator terminal voltage would be maintained within ±5% of its
rated voltage, the generator speed should be controlled within ±0 .2 % of its rated speed and kept
it nearly constant and if there is any generator speed oscillation that should be damped. Poor
generator excitation control would result in over voltages or under voltages. The overvoltage
usually causes severe problems. The problems of frequency oscillation, overvoltage, and under
voltage etc. caused by disturbances occurred on the power system are investigated in this
research. An exhaustive investigation is carried out on the control of power system generator
excitation for enhancement of the power system stability. The power system generator terminal
voltage could drop substantially during a large disturbance such as a three-phase fault occurring
on or near the generator bus. During the fault, the flow of the electrical power to the power
system is interrupted, and the generator rotor speed is accelerated by the input mechanical power.
The protection circuit in the power system will normally operate to clear the fault. The generator
is then reconnected to the power system and recovers the power supply to the system. This
recovery often results in some post-fault oscillations caused by the energy stored in the generator
rotor during the period of the fault. The damper windings on the generator rotors can be used to
control these oscillations. The generator excitation control provides, in general, a better control
in terms of cost and control effectiveness.
1.2. Statement of the problem

During the dynamic process the power system changes from one operating state to another after
disturbances, the generator voltage and generator speed may operate in a low or high frequency
oscillation. On Tana Beles hydroelectric power plant, synchronous generators have a default
operating set point of ±4% frequency deviation but at peak load hour the generators trip the
circuit breakers. This will lead to the outage of generating units of Tana Beles HEP and will
ultimately leads to total blackout of the whole system of the plant. To minimize the problem, the
operators or Engineers lower the generator frequency setting point to ±8% (46 Hz – 54 Hz). In a
network, a drop in frequency could result in high magnetizing currents in synchronous
generators. This high frequency deviation has a great impact on the life of the generator
units.Poor generator excitation control would result in over voltages or under voltages. The
overvoltage usually causes severe problems. The problems of frequency oscillation, rotor angle

oscillation, power deviation, overvoltage or under voltage (voltage profile) in per unit, caused by
disturbances occurred on the power system have been investigatedin this thesis work.
1.3. Objectives of the study
1.3.1. General Objective
The general objective of this thesis is to model and simulateof fuzzy based AGC and AVR with
PSS to improve synchronous generator speed deviationat Tana Beles hydroelectric power plant.
1.3.2. Specific Objective
This thesis has the following specific objectives:

 To model PSS using Matlab/Simulink which will suppress the damped oscillation and
makes system stable quickly.
 To develop fuzzy based automatic generation control (Fuzzy-PID) and AVR.
 To simulate the controller modeling block diagram in Matlab/Simulink software.
 To analyze results by comparing the AGC and AVR and AGC and AVR with PSS
finally, Fuzzy-PID based AGC and AVR with PSS and without PSS.
1.4. Methodology
To accomplish this thesis work successfully different methodologies have been used as follows:
 Literature Review: Published materials about power system stability and its controller
and stabilizer by using fuzzy logic with PID controller based automatic generation
control (AGC) and AVRwith PSS have been studied.
 Data collection: The data required for Tana Beles hydroelectric power systems have
been collected from the stakeholder Engineers in the plant.
 Data analysis: The generation system has been analyzed from the collected data using
Matlab/Simulink.
 Design and simulation: The generator frequency and Voltage control system have been
modeled and the simulation have been carried out using Matlab/Simulink.
 Conclusion and recommendations weremade based on simulation results.

1.5. Scope of Work

The scope of thethesis has been implemented to model and simulate fuzzy-PID based automatic
generation control and AVR with PSS to improve speed deviation of synchronous generator on
Tana Beles HEP plan by using Matlab/software.
1.6. Organization of the Thesis

This thesis work consists of five chapters. Based on this, chapter one explains the introduction of
the thesis, statement of the problem and the objective of the study. Chapter two contains different
literatures reviews about the hydropower generationcontrol system. Chapter three
includesModeling of AVR, PSS and Fuzzy PID based AGC. Chapter four presents simulation
results and discussions by comparing and contrasting of AGC and AVR, with and without PSS
and Fuzzy.Finally, the conclusions, recommendation for future work are included in chapter five.

CHAPTER TWO
2. LITERATURE REVIEW
While study about the literature and theoretical concept of this thesis, there are a few things need
to be understand. There are theconcepts of AGC, AVR,PID, Fuzzy logic control and PSS to
improve the synchronous generator frequency and voltage profile.
2.1. Literature Review

Yüksel (2011),has studied Fuzzy PI Control with Parallel Fuzzy PD Control forAutomatic
Generation Control of a Two-AreaPower Systems.This paper presents an efficient method based
on a modified fuzzy PI control with parallel fuzzy control for automatic generation control
(AGC) of a two-area power system. In this paper, typical responses to real powerdemand are
illustrated using the latest simulation technique available by the MATLAB/SIMULINK
program[9].
Parveen Dabur, Naresh Kumar Yadav and Vijay Kumar Tayal (2011), have proposed
Matlab Design and Simulation of AGC andAVR for Multi Area Power System and DemandSide
Management.Theprimary purpose of the AGC is to balance the total systemgeneration against
system load and losses so that the desiredfrequency and power interchange with neighboring
systemsare maintained. In this paperDemand side management (DSM) scheme is alsoconsidered.
DSM isnormally used to reduce the total load demand of powersystems during periods of peak
demands in order to maintainthe security of the system[10].
T R Shyama, R Satheesh Kumar and V Shanmugasundaram (2012), This work presented the
Fuzzy Gain Scheduledproportional-integral controller (FGSPIC) parameters of LoadFrequency
Control (LFC) and Automatic Voltage Regulator(AVR) for two area interconnected power
system. The system with its control method is going to implementin MATLAB software. Also, a
conventional proportional andintegral (PI) controller was used to control the same for
theperformance comparison[11].
Vinod Kumar Thota (2014),has proposed Multi-Area Power System Using FuzzyLogic Based
LFC and AVR. TheAutomatic Generation Control (AGC) is driven by the scheduled frequency

and the schedulenet interchange of the controlled entity. Due to the weak coupling relationship
between AVRand LFC, the voltage and frequency are regulated separately. This paper focuses
on Fuzzylogic based LFC and AVR control scheme to restore the balance between load
andgeneration[12].
Aditi Gupta, Amit Chauhan and Rintu Khanna (2014), This paper presents the combined
control for singlearea power system including automatic voltage control by usingautomatic
voltage regulator (AVR) and automatic frequencycontrol by using automatic load frequency
control (ALFC). Thepaper shows the coupling effects between the two loops, whichare studied
by extending the linearized ALFC system toincorporate the excitation system. A proportional
integral gaincontroller is included in the AVR loop and conventional integralcontroller in ALFC
loop so that system responses become betterin terms of peak deviations and settling time[13].
Vivek Nath and D.K Sambariya (2015), have been studied about Analysis of AGC and AVR
for Single Areaand Double Area Power System Using FuzzyLogic Control.The AGC is used for
balancing system generation against system loadand losses. Further the role of the AVR is used
to maintain terminal voltage of the synchronous generator in order tokeep the bus bar voltage in
a tolerable limit. By using MATLAB software of version R2010a, the analysis of
frequencydeviation and voltage variation with time is done for a single area system[14].
Ashok singh, Rmeshwar singh, and Rekha kushwah (2015), have proposedAutomatic Voltage
Regulator and Automatic LoadFrequency Control of Electrical Power Plant withOptimal Tuning
Controller PID.This paper deals with an optimal tuned of without controller, Proportional
Integral Derivative (PID) controllerand Ziegler-Nichols tuned controller for both Automatic
Voltage Regulation (AVR) and Load Frequency Control (LFC). The simulation results of
theproposed Ziegler-Nichols tuned with compared PID tuned and without tuned controller[15].
Abhilash M G, Frenish C Francis and Parvathy P (2015), have presented Design and
Simulation of AGC and AVR for a Multi Area InterconnectedSystem. This work deals with the
automatic generation control of interconnected thermal systems withcombination of the
automatic voltage control and load Management. In this particular work thermalunit is
considered with three area concept. System performance has been evaluated at various loading

disturbances. Load management is normally used to reduce the total load demand of power
systems duringperiods of peak demands in order to maintain the security of the system[16].
Chandrashekar.M.J., and Dr. R Jayapal (2015), presents the combination of

automaticgeneration control (AGC) with automatic voltage regulatorcontrol (AVR) and the
implementation of PI, PID and fuzzylogic controller for two area system.The fuzzy controller
isimplemented in order to control the area control error calculationof AGC & excitation of AVR,
which determines the deficit orextra generation that has to be corrected[17].
Orosun. M. M, Orosun R. O. and Adamu S. S (2016),have Studied about Modeling and

Simulation of Automatic Generation Control System forSynchronous Generator with Model
Predictive Controller. In this study, automatic generation control system was used to control the
real and reactive power of a power system in order tokeep the system in the steady
state.Significant improvements were observed in the overshoot/undershoot and settling timeof
the power system indicating the potential advantages[18].
Priyanka Andhare and Naveen Asati (2016),are discussed aboutPID Controlled Automatic
Voltage Regulator with Load FrequencyControl.Change in real power mainly affects the system
frequency and reactive power is mainlydependent on the changes in voltage magnitude. Reactive
power is less sensitive to changes in frequency.So, the real power and reactive power are
controlled separately. Real power and frequency are controlled bythe Load Frequency Control
(LFC) and the reactive power and voltage magnitude are controlled by theAutomatic Voltage
Regulator (AVR)[19].
Amir Sharifan (2016), has Assessed the Modeling Effects of PSS and Governor on Voltage
Stability ofPower System. In this paper, the modeling effects of PSS and governor on voltage
stability of power system by appliedaccurate dynamic model of power system. This model
consists of the detailed models for the synchronous machines,automatic voltage regulators
(AVRs), Prime mover and speed governor, Power system stabilizer (PSS) is used forvoltage
stability assessment.Voltage stability assessment is done by calculation of voltage stability
margin (VSM)[20].

Jitendra kumar, and Dr. D. K. Tanti (2016), This paper presented performance analysis of
different type of conventional and intelligent controllers forAGC and AVR system. The purpose
of AGC controller is to maintain zero steady state error in frequencydeviation. The role of AVR
is to hold terminal voltage magnitude of the generator at a preset value. In thispaper, simulation
of AGC and AVR has been carried out using PID, IMC, FLC and FLC-IMC inMATLAB
environment and the simulation results have been presented. Also, a comparative analysis
ofdifferent conventional and intelligent controllers has been done[21].
Ghazanfar Shahgholian (2017), the main objective of this paper is modelling and analysis of
the effects of the power system stabilizer (PSS) forload frequency control (LFC) system in
hydro-electric power plant to damp the frequency oscillations due to different loaddistributions.
LFC is the mechanism by which the energy balance is maintained. PSS is used to increase the
system positivedamping. The results of small signal stability analysis have been represented
employing eigenvalue as well as time domainresponse[22].
Rajendra Fagna (2017), has studied Load Frequency Control of Single Area Thermal
PowerPlant Using Type 1 Fuzzy Logic Controller.In this paper, a type 1 Fuzzy controller
iscomposed for solving change in load frequency problem of single areathermal power system.
The performances of type 1 fuzzy controller have been demonstrated for comparing the
performances ofother published paper PID controller such as Ziegler Nichols method[23].
Modu M. Ibrahim, Jibril D. Jiya and Idakwo O. Harrison(2017),have discussed Modelling

and Simulation of Automatic VoltageRegulator System.For obtaining efficient stability and good
regulation ofdifferent devices in power system and industrial applications,automatic voltage
regulators (AVR) are increasingly used.However, AVR without any controller will provides
slowresponses due to disturbance and may cause instability[24].
Nitesh Thapa, Nilu Murmu, Aditya Narayan,and Birju Besra (2017), have presented
automatic voltage regulator and automatic loadfrequency control in two-area power system.In
operation of power system, the main purpose is to maintain a good quality and reliable electric
powersupply. The ALFC system maintain the frequency i.e.regulation of real power and the

AVR system maintain the regulation of reactive power of each area and tieline power flow
within the specified tolerance[25].
Manjit Bahadur Singh, Manoj Kumar Debnath, Shreeram Choudhury, Sanjeeb Kumar
kar (2019), have presented Design and Application of PID-PID Dual LoopController for Load
Frequency Control. Spider Monkey Optimization (SMO) tuned PID-PIDdual loop controller is
proposed for Load Frequency Control(LFC) for dual area power systems in this paper[26].
Binod Kumar Sahu, and Pradeep Kumar Mohanty (2019),have presentedDesign and
implementation of Fuzzy-PIDController with Derivative Filter for AGC oftwo-area
interconnected Hybrid Power System. This paper concerns withautomatic generation control
(AGC) of an interconnected twoarea hybrid power system. Design andimplementation of suitable
controllers for AGC of above hybridpower system is a challenging job for operational and
designengineers. Various control schemes proposed in this paper areconventional PID & PID
controller with derivative filter (PIDF)and fuzzy-PID controller without (fuzzy-PID) and with
derivativefilter (fuzzy-PIDF) to achieve improved performance of AGCsystem in terms of
frequency profile[27].
Deepak Kumar Lal and Ajit Kumar Barisal (2019),this paper presentedcombined load
frequency and terminalvoltage control of power systems using mothfame optimization
algorithm.Stability of nominal frequency and voltage level in an electric power system is the
primary control issue of practicing engineers. As the system performance can beimproved with
selecting suitable controller, an attempt has been made to designfractional-order PID (FOPID)
controller for combined frequency and voltage controlproblems[28].
Based on the above literature review this thesis has been studied about modeling of Fuzzy-PID
based AGC and AVR with PSS on Tana Beles hydroelectric power plant. It also deals with the
simulation result and discussion of automatic generation control (AGC) and automatic voltage
control (AVR) with PSS and Fuzzy-PID to balance the total system generation against system
load and losses, to hold terminal voltage magnitude and frequency of synchronous generator at a
specified level, to damping the oscillation system of response of the site.

2.2. Theoretical Concepts of Synchronous Generator Voltage and Frequency

Control
The main function of a power system isto supply the real and reactive power demand withgood
quality in terms of constancy in voltage andfrequency. Furthermore, for interconnected
powersystem the tie-line power flow between utilities mustbe maintained within prescribed
limits. It is in fact impossible to maintain both active andreactive power without control which
would result invariation of voltage and frequency levels[16].For effective operation of thepower
system, the power generated should change inaccordance with the load perturbations. In an
interconnectedsystem, every subsystem is required to regulate both active and reactive power of
its installed generators in response to changes insystem frequency and terminal voltage of a
synchronous generator at a specifiedlevel[29, 1]. Changes in real power affect mainly the
systemfrequency, while reactive power is less sensitive tochanges in frequency and is mainly
dependent on changes a voltage magnitude[9]. To cancel the effect of load variation and to keep
frequency and voltage level constant a control system is required. Though the active and reactive
powers have a combined effect on the frequency and voltage, the control problem of the
frequency and voltage can be separated.
The speed governor in thegenerating stations is to adjust the frequency and real powerand hold
their values at the specified limits. In other handeach generator in the generating station is
equipped with anexcitation control to regulate the voltage magnitude andreactive power at the
nominal values.The frequency control and voltage control is possiblesimultaneously and
independently because there isnegligible cross coupling between the LFC block and theAVR
block. The reason for negligible cross couplingbetween the blocks is due to the fact that the time
constantof the excitation system is much smaller than the timeconstant of the prime mover and
also the transient ofexcitation system decay much faster and does not affectthe LFC dynamic[29,
1].Voltage control is achieved through AVR and frequency control can beaccomplished through
LFC and AGC.
2.2.1. Concept of Automatic Generation Control

Power systems consist of control areas representing a coherent group of generators i.e.
generators which swing in unison characterized by equal frequency deviations.Automatic

generation control is synonymous with load frequency control of power system. As the load of
the system changes continuously the generation isadjusted automatically to restore the frequency
tonominal value[30]. Automatic generation control is to provide control signals to regulate the
real power output of various electric generators within a prescribed area in response to changes
in system frequency and tie-line loading so as to maintain the scheduled system frequency and
established interchange with other areas.The most important task of AGC is to maintain the
frequency constant against the varying active power loads, which is also referred as unknown
external disturbance[16].Thegeneration is adjusted the active power and frequency automatically
by Automatic GenerationControl (AGC) to restore the frequency to the nominal value as
thesystem load changes continuously[31].Automatic Generation control (AGC) maintains the
frequency constant byadjusting the speed of the prime mover of a generating station[14].
Many control strategies for Load Frequency Control in electric power systems have been
proposed by researchers over the past decades. This extensive research is due to fact that LFC
constitutes an important function of power system operation where the main objective is to
regulate the output power of each generator at prescribed levels while keeping the frequency
fluctuations within pre-specifies limits.
Typically, AGC is structured in three stages[32]:
 Primary control was achieved by the speed governors ofthe power production parts,
which provide automaticact immediately for rapid changing in load orfrequency. During
this way, system frequency variationis larger than the dead band of the governor
velocityand result would adjustment unit power production.Thus, primary controls
transients were in the time-scaleof seconds.
 Secondary control repair frequency to its nominalimportance and keeps production,
exchange amongareas using regulating selected generators productivity.Thus, secondary
controls transients were in minutes‟order.
 Tertiary control was an economic dispatch thatemployed for system, leading carefully as
possible, thenreturned safety stages if required.
Theoperation objectives of the LFC controllerare to maintain reasonably uniform frequency, to
divide the load betweengenerators, and to control the tie-line interchange schedules. The change
infrequency and tie-line real power aresensed, which is a measure of the changein rotor angle δ,

i.e. the error ∆δ to becorrected. The error signal, i.e. ∆f and ∆Ptie are amplified, mixed, and
transformed into areal power command signal ∆Pv, which is sent to the prime mover, therefore,
bringschange in the generator output by anamount ∆Pgwhich will change the values of∆f and
∆Ptie within the specific tolerance[18, 25].
The AGC system composes ofthree main components which are speed governor, turbine and
generator[21].
Hydraulic Speed Governor: The governing system is a system that regulates the turbine‐
governor speed and hence thefrequency and the active power in response to load variation. The
turbine governor regulatesthe inlet of water into a turbine, which in turn rotates the generator to
produce electricity[33]. In order to keep a required generatedfrequency of 50Hz, the rotation
speed has to be kept constant.The turbine governor obtains information from the existingvelocity
of the turbine and then regulates water stream tomaintain the turbine speed at the accurate level.
In thiscontrol structure, the pipes scheme is fixed by servo valvecontrolled using a servo motor.
Actually coding ability ofservo schemes performs it additional adjustable for different control
requests. Most commonly employed situation controlby using a servo motor because of
regulation of armaturevoltage charge the field constantly[32].
The primary speed/load control function involves feeding back speed error to control the gate
position. In order to ensure satisfactory and stable parallel operation of multiple units, the speed
governor is provided with a droop characteristic. The purpose of the droop is to ensure equitable
load sharing between generating units[34].
Hydraulic turbine: Hydraulic turbines derive the potential energy of the fluid into kinetic
energy and a conversionof kinetic energy, or both kinetic and potential energy, into useful work.
Hydraulic turbinesderive power from the force exerted by water as it falls from an upper to a
lower reservoir[33].The performance of a hydraulic turbine is influenced by characteristics of the
water column feeding the turbine; this include the effects of water inertia, water compressibility,
and pipe wall elasticity in the penstock. The effect of water inertia is to cause changes in turbine
flow to lag behind changes in turbine gate opening. The effect of elasticity is cause travelling
waves of pressure and flow in the pipe[34].
The mechanical power is produced by a turbine and delivered to a synchronous generator serving
different users. The frequency of the current and voltage waveform at the output of the generator

is mainly determined by the turbine input. It is also affected by changes in user power demands
that appear, therefore, as electric perturbations.
Electrical Generator:Synchronous generators are the main source of electric energy in power
systems. The electric generator converts the mechanical energy of the turbine into electrical
energy. The synchronousgenerators comprise of two synchronously rotating fields, one is
produced by the rotor driven atsynchronous speed and excited by dc current and the other is
produced in the stator windings by the threephase armature currents. The dc current for the rotor
windings is provided by excitation systems. Nowdays the system uses ac generators with rotating
rectifiers known as brushless excitation system. Theexcitation system maintains generator
voltage and controls the reactive power flow[25]. The principal control mechanism of the
generator is theexciter-regulator which sets and stabilizes the output voltage. The speed of the
generator is determined bythe turbine selection, except when geared with a speed increaser. In
general, for a fixed value of power, adecrease in speed will increase the physical size and cost of
the generator.The location and orientation of the generator is influenced by factors such as
turbine type and turbineorientation.
Generator Unit
Valve To Power Network
Steam
Turbine G
∆Pv ∆Pg
Valve Control
Mechanizm
∆Ptie
Load
Frequency
Frequency
Sensor
Control
Figure 2.1. Block diagram of load frequency control[14]
where,
∆PV = is the change in valve output power command signal input to the prime mover.
∆Ptie = is the change in tie-line real power.
∆Pg = is the change in generator output power.

Primary Loop of ALFC:The circuit primarily controls the hydro valve leading to the turbine. A
speed sensorthat senses thespeed of the turbine. This is compared with a reference speed,
governor whose main activity isto control the speed of the steam by closing and opening of the
control valve i.e. if thedifferential speed is low, then the control valve is opened to let out the
steam at high speed,thereby increasing turbine‟s speed and vice versa. The control of speed in
turn controls thefrequency.
Secondary ALFC:The circuit involves a frequency sensor that senses the frequency of the bus
bar and compare itwith tie line power frequencies in the signal mixer. The output of this is an
area control error(ACE)which is sent to the speed changer through integrator. The speed changer
gives the referencespeed to the governor. Integral controller is used to reduce the steady state
frequency change tozero. After this part of the circuit, is the introduction of the primary ALFC
loop whose functionhas already been described[35].
Figure 2.2. Primary &Secondary ALFC Control Loop

2.2.2. Automatic Voltage Regulator (AVR)

Thegenerator reactive powers are controlled by field excitation.The primarymeans of generator
reactive power control is the generatorexcitation control using automatic voltage regulator
(AVR).The role of an AVR is to hold the terminal voltagemagnitude of synchronous generator at
a specified level[31]. The AVR loop is assigned to control the magnitude of theterminal voltage
of the generator which in turn, maintainsbus voltage manipulating the reactive power output.
Theprocess involves continuous sensing of the terminal voltage,its rectification, smoothening
and comparison with a presetdc reference. Then this compared result “error voltage”,
afteramplification and shaping, is used to control the alternatorfield excitation[29, 1].The AVR is
achieved by the excitation mechanism. The main objective of an excitation system is to control
the field current of the generator. Therefore, the field current is controlled in order to regulate the
voltage of a generator.
The automatic voltage regulator (AVR) loop controls the magnitude of the terminal voltage V.
The latter voltage is continuously sensed, rectified, and smoothed. This dc signal, being
proportional to V is compared with a dc reference Vref. The resulting error voltage after
amplification and signal shaping serves as the input to the exciter which finally delivers the
voltage Vfto the generator field wingding.
Anincrease in the reactive power load of the generator leads to a drop in the magnitudeof the
terminal voltage. This drop in the magnitude of the terminal voltage is sensedthrough a potential
transformer (PT), this voltage is rectified and compared to a dcset point signal. The compared
voltage amplified (error signal) is then amplifier andsent to the exciter which controls the exciter
field, and increases the exciter terminalvoltage, which results in the increase of the generated
e.m.f. The reactive powergeneration is increasing to anew equilibrium, raising the terminal
voltage to thedesired value[36].

Ecxiter
+
V ref VE +
Ʃ Amplifier VR Vf G
- - -
-
Vs
Stabilizer
Rectifier
Figure 2.3. Block diagram of automatic voltage regulator
Regulator (Amplifier): compares the required field current with the existing excitationcurrent
and amplifies input control signals to a level and form appropriate forcontrol of the exciter
Exciter: It is a source of dc power that feeds the field winding of thesynchronous generator and
is called the current of the field, where it controlsthe amount of magnetic flux and therefore the
voltage.
Generator: The Synchronous machine generated e.m.f is a function of the
machinemagnetization curve, and its terminal voltage is dependent on the generator load. Inthe
linearized model, the transfer function relating the generator terminal voltage toits field.
Stabilizer: provides an additional input signal to the regulator to damp power system oscillations
of the network in transient situations andstabilize the voltage at a given value. Some commonly
used input signals arerotor speed deviation, accelerating power, and frequency deviation.
Rectifier:senses generatorterminal voltage, rectifies and filters it to dc voltage quantity and
compareswith a reference which represents the desired terminal voltage. In additional,load (line
drop or reactive) compensation may be provided if it is desiredto hold constant voltage at some
point electrically remote from the generatorterminal[36].
The loop is not a single one as in the case of the AVR. A relatively fast primary loop responds to
a frequency signal which is an indirect measure of power output balance. Via the speed governor

and the control valves the hydro flow is regulated with the aim of matching the power output to
relatively fast load fluctuations. Thus, tending to maintain the output power balance this primary
loop performs indirectly poor speed or frequency control.
The small changes in active power is dependent on internal machine angle δ and is independent
of bus voltage while bus voltage depends on machine excitation (reactive generation Q) and is
independent of machine angle δ. Change in the angle δ is caused by momentary change in
generator speed. Therefore, load frequency and excitation voltage controls are not interactive for
small changes and can be modeled and analyzed independently. Furthermore, excitation voltage
control is fast acting in which the major time constant encountered is that of a generator field
while the power frequency control is slow acting with major time constant contributed by the
turbine and generator moment of inertia. This time constant is much larger than that of the
generator field. Thus the transients in excitation voltage control disappear much faster and do not
affect the dynamics of power frequency control.
2.3. Combined AGC and AVR for Generator Control System

In an interconnected power system, load frequency control (LFC) and AVR equipment are
installed for each generator system[15].The AVR and AGC Loops are not in the reality sense
nointeracting, cross coupling does exist and can some timetroublesome. There is little if any
coupling from AGC toAVR loop, but interaction exist in the opposite direction. The
controlaction in the AVR loop affect the magnitude of generatedemf. As the internal emf
determines the magnitude ofreal power. It is clear that changes in AVR loop must felt inAGC
loop[10].
The controllers are set for a particularoperating condition and take care of small changes in load
demand to maintain the frequency and voltage magnitude within the specified limits. Small
changes in real power are mainly dependent on changes rotor angle δ and, thus, the frequency f.
Thereactive power is mainly dependent on the voltage magnitude (i.e. on the generator
excitation). Change in angle δ is caused bymomentary change in generator speed. Therefore,
load frequency and excitation voltage controls are non-interactive for smallchanges and can be
modeled and analyzed independently. Furthermore, excitation control is fast acting while the
powerfrequency control is slow acting since, the major time constant contributed by the turbine

and generator moment of inertia-timeconstant is much larger than that of the generator field.
Thus, the cross-coupling between the LFC loop and the AVR is negligible,and the load
frequency and excitation voltage control are analyzed separately[15].
Excitation Automatic Voltage

System Regulator(AVR)
Voltage
Sensor
Generator Field
Steam
Turbine G
∆Pv
∆Pg, ∆Qg
Valve Control
Mechanizm
∆Ptie
∆PC Load Frequency Frequency
Control(LFC) Sensor
Figure 2.4. Schematic diagram of LFC and AVR[15]
where,
∆PV = is the change in valve output power command signal input to the prime mover.
∆Ptie = is the change in tie-line real power.
∆Pg = is the change in generator output power.
∆PC = is the change in power frequency control (∆Ptie and∆Pg) or ACE.
2.3.1. Conventional Control of AGC and AVR

The conventional control strategy for the problem of AGCis to take the integral of area control
error as the controlsignal. The uncontrolled system issubjected to a steady state error for a step
load change, and toreduce this steady state error, a negative feedback signal fromthe frequency
deviation is introduced.The proportional integral (PI) control approach issuccessful in achieving
zero steady-state error in thefrequency of the system, but exhibits relatively poor
dynamicperformance as evident by large overshoot and transientfrequency oscillations.
Moreover, the transient settling time isrelatively large. Fixed integral gain controllers have
beenproposed for nominal operating conditions but they fail toprovide best control performance

over a wide rangeoff-nominal operating conditions[31]. A PID controller isused to improve both
the transient and steady stateperformances. The PID controller is applied separately to theLFC
block and the AVR block of the AGC system. Thiscontroller with its three term functionality
covering treatmentto both transient and steady state responses, offers thesimplest yet most
efficient solution to many real worldcontrol problems[29, 1].
The “three term” functionalities of the PID controllerare highlighted by the following[10, 31]:
 The proportional term: - providing an overallcontrol action proportional to the error
signalthrough the all-pass gain factor.
 The integral term: - reducing steady state errors through low frequency compensation
by anintegrator.
 The derivative term: -improving transientresponse through high frequency
compensationby a differentiator.
Governors with proportional control not alwaysdeliver the optimal performance, so there are
othertypes of governors which include proportional integral (PI) and proportional-integral
derivative(PID) control. PI control is specialcase of PID control when KD=0. When using
PIcontrol, transfer functions are gI =Kp +KI/SandhI= Rp. When comparing the resulting
frequencyresponse characteristics with previous proportionalcontrol, it is apparent that both
governors achieve thesame objective, transient droop increase. Tuning objectives are: Transient
droop, and .[37]
Kp
+
+ + K i 1 Gate
ω˳ s + (1  sTA ) 2
- +
-
ω
Kd s
Rp
Figure 2.5. PID governor including pilot servo dynamics[37]

2.3.2. Power system stabilizers

Dynamic stability of the power system determined by the ability of generators respond of
dynamic loadfluctuation in relatively small (5%). Load fluctuation that occurs suddenly and
periodically can‟t be well respondedby generator so that it can affect the stability of dynamical
systems.This response causes the frequency oscillation in the long term and cause a decrease in
the transfer ofpower to the electric power system. This problem can be covered by using
additional equipment called PowerSystem Stabilizer (PSS)[38].
Also, there are many oscillations are occurred in power systems and they usually are applied
bythe power network. There are three different oscillations occur in power generators
andtransmission networks. They are local mode oscillations, inter unit oscillations, and inter area
oscillations. These frequency oscillations, maybe letthe AVR to react and exporting the
oscillation to rotor angle of the synchronous generatorthat may result in serious outcomes such
astripping the unit from the grid.Practically, the AVR without external support is not suitable to
treat the oscillation.Perhaps the AVR can be a cause of the problem to rotor angle oscillation.
Oftentimes rotorangle oscillation can be minimized by the damping torque. So, it is very
important to raise thedamping torque or damping ratio of the closed-loop system to minimize the
rotor angleoscillation. The rotor angle oscillation is the result of rotor speed change. ThePSS is
very important, that is try to reject the oscillation from the power network and tostop. Because
the signals of PSS and AVR arefeedback controllers, it is important to confirm that they need to
be designed together inorder to optimize the power feedback control system and to complete the
aim of dampingout the rotor angle oscillation and the aim of voltage regulation with each other.
Using PSS andAVR with each other, closed-loop system damping ratio can be increased and the
rotorangle oscillation can be minimized[6].
The power system stabilizer uses to control the excitation system so as toimprove power system
dynamic performance. Commonly used input signals to the power systemstabilizer are shaft
speed, terminal frequency and power. Power system dynamic performance isimproved by the
damping of system oscillations. The excitation system models of synchronous generator and
indicated that excitation current is provided by excitation system and usually consists of AVR,
exciter, measuring elements, power system stabilizer, limiting and protective unit[39].

Electromechanical oscillations of power system are damped by compensator as shown. It

consists of anamplifier block of gain constant KC, a block having a washouttime constant Tw and
lead-lag compensators with timeconstants TD and TG. The gain and the lead-lag compensatortime
constants are to be selected for optimal performance overa wide range of operating conditions.
The transfer function ofconventional PSS is[40],
Tw s 1TD s 2
GL (s)  Kc ( )
1Tws 1TG s
Lead- Lag Block

Wash-out filter (Phase Compensator)
Gain VPSSMAX
Rotor Speed
Deviation sT w 1  sT1 1 sT3
KPSS
∆ω 1  sT w 1  sT2 1 sT4 VPSS

VPSSMIN
Figure 2.6. Block diagram of conventional power system stabilizer (PSS)[41]
2.3.3. Fuzzy Logic controller based AGC

Conventional PI and PID controllers generally do not work well for nonlinear systems, higher
order and time-delayed linear systems, complex and indefinite systems that have no precise
mathematical models. In contrast to conventional control techniques, fuzzy logic control (FLC)
is best utilized in complex ill-defined processes that can be controlled by a skilled human
operator without much knowledge of their underlying dynamics. The basic idea behind FLC is to
incorporate the "expert experience" of a humanoperator in the design of the controller in
controlling a process whose input – output relationship is described by collection of fuzzy
control rules involving linguistic variables rather than a complicated dynamic model[16].
Fuzzy logic has two different meanings. In a narrow sense, fuzzy logic is a logical system, which
is an extension of multivalued logic. However, in a wider sense fuzzy logic (FL) is al- most
synonymous with the theory of fuzzy sets, a theory which relates to classes of objects with un-
sharp boundaries in which membership is a matter of degree. In this perspective, fuzzy logic in
its narrow sense is a branch of FL. Even in its more narrowdefinition, fuzzy logic differs both in
concept and substance from traditional multivalued logical systems[12].The Fuzzy logic
controller is based on a logical system called fuzzy logic.Fuzzy logic controller is one of the
intelligent controller for controlling the load frequency of power system. Fuzzy logic controller

not only improves the dynamic performance but also reduces the steady state error[23]. AGC
Problem was resolved by a combined stage fuzzy-PID controller in a deregulated power
framework dependent on the two sided approach conspire[26].
Any fuzzy logic system involves the following steps[27].
 Fuzzyfication: - It is the process of conversion of crisp inputinto a linguistic variable with
the help of membershipfunctions.
 Interface engine: - It transforms the fuzzy input to fuzzyoutput by the help of if-then type
fuzzy rules.
 Defuzzification: - It is the process of conversion of fuzzyoutput into crisp. There are
many defuzzification processes;one of the most common methods is center of
gravitytechnique.
Fuzzy Logic Control
Data Base
Yr Fuzzy Y
Ʃ e Fuzzification Defuzzification Control Unit
Inference U(t)
Rule
Base
Figure 2.7.Block diagram fuzzy-logic control system[12, 14]
In this thesis work the conventional PID controllers in the hydro governor is replaced with FLC-
PID based AGC and their performance is analyzed for various operating conditions. Also, AGC
and AVR loops of a single area is considered for implementation and separate fuzzy rules are
designed for intelligent control of frequency. It has better adaptability towards changes in load
and regulation than the conventional controllers thereby providing improved performance with
respect to peak overshoot, settling time and oscillations.

CHAPTER THREE
3. MODELING OF THE SYSTEM

Due to continuous variation in load demand and the presence of different types of loads with
different characteristics, the voltage and frequency of hydropower systems may not be constant.
Therefore, the voltages and frequency of hydropower systems should be kept at scheduled
values. To keep these parameters at the scheduled values, the hydropower systems should be
controlled. In a power system, usually, voltage and frequency are controlled separately. Voltage
is maintained by control of reactive power of the synchronous generator with the voltage
regulator while frequency is maintained by balancing generation and demand of active power.
The balance between generation and demand is achieved in two different ways, by controlling
either the mechanical input power or the load connected to the synchronous generator.
The main objective of power system operation and control is to maintain continuous supply
ofpower with an acceptable quality, to all the consumers in the system. The system will be
inequilibrium, when there is a balance between the power demand and the power generated. As
thepower in AC form has real and reactive components: the real power balance; as well as
thereactive power balance is to be achieved.
There are two basic control mechanisms used to achieve reactive power balance (acceptable
voltage profile) and real power balance (acceptable frequency values). The former is called
theautomatic voltage regulator (AVR) and the latter is called the automatic load frequency
control(ALFC) or automatic generation control (AGC)[42].
For control system design and modeling, mathematical model of eachsystem component is
needed. There are two approaches of mathematical models. The first technique is state variable
method it is preferable for both non-linear and linearsystems. The second approach is transfer
functionitis simpler andapplicable for linear system only.The transfer function approach has
taken some assumptions andapproximations to linearize the non-linear model.
In this thesis the basic components of AGC and AVR are modeled using the transfer function
approach.

3.1. Modelling of Automatic Generation Control (AGC)

Automatic generation control (AGC) consists of two major and several minor functionsthat
operate online in real time to adjust the generation against load at minimum cost.The major
functions are load frequency control and economic dispatch, each of whichis described below.
The minor functions are reserve monitoring, which assures enoughreserve on the system,
interchange scheduling which initiates and completesscheduled interchanges and other similar
monitoring and recording functions.
Automatic Load frequency control (ALFC) has to achieve three primary objectives, which
arestated below in priority order:
a. To maintain frequency at thescheduled value
b. To maintain net power interchanges with neighboring control areas at the
scheduledvalues
c. To maintain power allocation among units at economically desiredvalues(ED).
The AGC is used to control the frequency deviation by maintaining the real power balance in the
system. In order to understand the mechanism of frequency control, consider a small step
increase in load. The initial distribution of the load increment is determined by the system
impedance and the instantaneous relative generator rotor positions. The energy required to
supply the load increment is drawn from the kinetic energy of the rotating machines. As a result,
the system frequency drops. The distribution of load during this period among the various
machines is determined by the inertias of the rotors of the generators partaking in the process.
After the speed or frequency fall due to reduction in stored energy in the rotors has taken place,
the drop is sensed by the governors and they divide the load increment between the machines as
determined by the droops of the respective governor characteristics. Subsequently, secondary
control restores the system frequency to its normal value by readjusting the governor
characteristics.The main components of LFC are Governor, hydro turbine and mass inertia
(generator and load).

Figure 3.1.The Schematic representation of LFC system
3.1.1. Modeling of Hydro Turbine

The BELES hydroelectric power plant consists of four vertical shaft Francis turbines. The
Francis turbine is coupled to a Generator and it is equipped with a pressure oil supply system for
distributor regulation with a control system for controlling the spherical valve located at turbine
inlet with a control system operated through an electronic governor. The hydro turbine and its
governor are normally combined together for representation. However, sometimes the output of
turbine governor is the derivative of gate position which does not match the input of the turbine.
The turbine will extract energy from the flowing water and turn it into mechanical energy that
turns the generator to create electrical energy.
The representation of thehydraulic turbine and water column in stability study is usually based
on the following assumptions:
 The hydraulic resistance is negligible.
 The penstock pipe is inelastic and the water is incompressible.
 The velocity of the water varies directly with the gate opening and with theSquare root of
the net head.
 The turbine output Power is proportional to the product of head and volumeflow.

Figure 3.2. Overall System of Hydropower plant
The turbine and penstockcharacteristics are determined by three basicequations relating to the
following[43]:
 Velocity of water in the penstock
 Turbine output power (mechanical Power)
 Acceleration of water column
The velocity of the water in the penstock is expressed as
U  KU GH (3.1)
where H=be the height from the gate to the water level in the reservoir also called as head,
U=the water velocity and KU =is a constant of proportionality.
G=the gate position (full open means full rated mechanical power input to the hydro
turbine and full close means nil power to the hydro turbine).

If there is a small change in the velocity of water it can be expressed as a sum of linear changes
in the gate position and head as
U U
U  H  G (3.2)
H G
The partial derivatives in equations (3.2) should be evaluated at an initial operating condition
from which speed of the water changed by a small amount. The initial speed of water, for a given
initial gate position Go and head Ho, is given as
U0  KUG0 H0 (3.3)
Hence, equation (3.3) can be written as

1
U  KU G0H  KU H0 G (3.4)
2 H0
Equation (3.4) can be normalized by dividing it with equation (3.3)
U H G
  (3.5)
U0 2H0 G0
U ̅ represents the
Let be represented as a normalized value as ̅ . Similarly, ̅ and
U0
normalized values of small changes in head and gate positions. So,equation 3.5 can be written as
1
U  H  G (3.6)
2
The turbine mechanical power is proportional to the product of pressure head and flow and
hence, with proportionality constant K p
Pm  Kp HU (3.7)
Again a small change in Pm can be expressed in a normalized form with the initial Condition
Pm0  Kp H0U0 , as
Pm  H  U 1.5H  G (3.8)

From Newton‟s second law (Force=Mass × acceleration), the acceleration in water column due
to change in water head at the turbine can be written as
dU
(LA)  Aag H (3.9)
dt

Where, , L, A are the mass density of water, length of the conduit and area of the pipe
respectively. agis the acceleration due to gravity. LArepresents the mass ofthe water in conduit
and ag H represents the incremental force. To normalize equation (3.9) divide both sides by
Aag H0U0 . After rearranging the normalized equation (3.9) is written as

LU0 d U H dU
( )  or Tw  H (3.10)
ag H0 dt U0 H0 dt
LU0
Where, Tw 
ag H0
Twin seconds as its units which can be verified from equation (3.10). It is called as water starting
time and it the time required for a head H0to accelerate the water to a velocity U0.
If equation (3.10) is converted in to Laplace domain then
TwSU(s)  H(s) (3.11)
Substituting, H  2(U  G) , in equation (3.10) andrearranging leads to

1
U(s)  G(s) (3.12)
1
1 TwS
2
From equation (3.5) and (3.7) it can be observed that
Pm  3U  2G (3.13)

Substituting equation (3.13) in (3.12) and eliminating ∆U lead to
Pm 1TwS K
  t (3.14)
G 1 0.5TwS 1 STt
where,
∆Pm = Mechanical power/the change in the turbine output
∆G = gate position=∆PV(s) is the change in valve output (due toaction).

The turbine can be modeled as a first order lag as shown below
∆Pv(s) Kt ∆Pm(s)
1+sTt
Figure 3.3.The turbine model
3.1.2. Modeling of Hydro Governor
The basic function of a governor is to control speed and/or load. The primary speed/load control
feedback speed error to control the gate position to maintain rated frequency. The speed
controlmechanism includes equipment such as relays, servomotors, pressure or power
amplifyingdevices, levers and linkages between the speed governor and governor‐controlled
gates. Thespeed governor normally actuates the governor‐controlled gates that regulate the water
inputto the turbine through the speed control mechanism.
Hydro turbine governing systems are strongly influenced by the effects of water inertia and, asa
result, two servomotors are used to provide the required force to move the control gate. Thefirst
pilot servomotor, low power, operates the distributor or relay valve of the second maingate
servomotor, high‐power. The pilot servomotor has a pilot valve that is controlled either bya
mechanical governor or by an electronic regulator. The output of the speed‐sensing devices isthe
deviation from the reference speed.
The gate valve position or the input of the turbine is calculated as
K 1
Pv  ( g ) (Pref  ) (3.15)
1Tg S R
Where Kg = is the gain of speed governor and its value is 1.
Tg = is the time constant of the speed governor system

R =is the permanent droop or the speed regulator
 =is the speed deviation
Pref =∆Pgis the reference set power, and  /R is the power given by governor
speed characteristic.

∆Pg(s) K g ∆Pv(s)
∆Pg(s) ∆Pv(s) +- 1  sT
K g g
1  sT g Governor
∆ω(s)
1
Governor
R
Primary loop
Figure 3.4. Block diagram representation of the governor
3.1.3. Modeling of Generator
The generator and the electrical load constitute the power system. The valve and the hydraulic
amplifier represent the speed governing system. A change in the rotor angle δ results in change
in real power, which ultimately affects the frequency. Under normal operating conditions, the
relative position of the rotor axis and the resultant magnetic field axis are fixed. The angle
between these axis is known as the power angle or torque angle. During sudden load disturbance,
rotor will decelerate or accelerate with respect to synchronously rotating air gap emf, and a
relative motion begins. The equation describing this relative motion isknown as swing equation.
The swing equation of a synchronous machine is given by,
2H d 2
 Pm  Pe (3.16)
s dt2
Where,
∆Pm – ∆Pe = Increment in power input to the generator
H= Inertia constant
∆Pm= Mechanical power output
∆δ= Measure of change in frequency
ωs= Synchronous speed
Expressing speed deviation in per unit, Equation (3.16), can berewritten as,
d

s 1
 (P  Pe )
dt 2H m

With speed expressed in per unit, without explicit per unit notation is,
d 1
 (P  Pe ) (3.17)
dt 2H m
Taking Laplace transformation,
1
(S)  (P (S)  Pe (S)) (3.18)
2HS m
The block diagram representation of Equation (3.18) is shown inFigure 3.5.
∆Pm(s) 1 ∆ω(s)
+-
2 Hs
Mass Inertia
∆Pe(s)
Figure 3.5. Block Diagram Representation of Generator
In general, power system loads are a composite of a variety of electrical devices. For resistive
loads, such as lighting and heating loads, electrical power is independent of frequency. In the
case of motor loads, such as fans and pumps, the electrical power changes with frequency due to
changes in motor speed.
The load on the system is composite consisting of a frequency independent component and a
frequency dependent component. The overall frequency-dependent characteristic of a composite
load may be expressed as
Pe  PL  D (3.19)
where
∆PL=is the non-frequency sensitive load change,
D∆ω =is thefrequency sensitive load change,
D= is expressed as percent change in loaddivided by percent change in frequencyand itis
called frequency characteristic of the load (also called as damping constant)

∆PL(s) ∆Pe(s)
++
D∆ω(s)
Figure 3.6. Block diagram of load.
Using equations (3.18) and (3.19), transfer function model of load and generator can beformed
and are shown in Figures. Figure shows the simplified transfer functionmodel of combination of
alternator and load.
∆PL(s)
- 1 ∆ω(s)
∆Pm(s) + 2 Hs
-
Mass Inertia
Figure 3.7. Generator and Load Block Diagram
∆PL(s)
1
-
∆Pm(s) + 2 Hs  D
∆ω(s)
Mass Inertia
Figure 3.8. Simplified Block diagram representation of the generator and load
In the absence of a speed governor, the system response to a load change is determined by the
inertia constant and the damping constant. The steady-state speed deviation is such that the
change in load is exactly compensated by the variation in load due to frequency sensitivity.
The combined block diagram of hydro turbine, governor and generator of hydroelectric power
plant is shown in figure 3.9.

∆PL(s)
∆Pref(s)
+
∆Pg(s) 1 ∆Pv(s) 1  sT w ∆Pm(s) - 1
+
- 1  sT g 1  0 .5 sT w 2Hs D ∆ω(s)
Generator and
Governor Turbine
Load
1
R
Speed Droop
Figure 3.9. Block diagram representation of the ALFC
AGC Control (Supplementary ALFC Loop)
The ALFC block as shown in Figure 3.9is known as primary control loop ofhydro-alternator.
The primary ALFC loop achieves the primary goal of real power balance by adjusting the turbine
output ΔPm to match the change in load demand ΔPL. All the participating generating units
contribute to the change in generation. But a change in load results in a steady state frequency
deviationΔf[35].In an interconnected power system, the action of theALFC i.e. primary control
loop may not be sufficient enough to regain the nominal systemfrequency. Therefore, in addition
to primary control loop an additional control is also requiredcalled secondary control loop (the
supplementary loop) which is equipped with an integral controllerwhich makes the frequency
deviation zero. The integralcontroller monitors the mean error over a specific time period and
produces necessary controlactions to reduce the steady state error in frequency. In this process
the generation of power isadjusted automatically for any load perturbation and the nominal
frequency is re-established.
The scheme of restoration of frequencyof ALFC with the supplementary loop is known as
automatic generation control (AGC)[35]. AGCin interconnected power system distributes the
loads economically among various stations,individual generators and systems. Sometimes due to
sudden and large change in loading condition, AGC schemeis bypassed and nominal frequency is
restored by load shedding which is known as emergencycontrol scheme. An isolated power
system equipped with AGC is shown in Figure 3.10.

∆PL(s)
∆Pref(s)
+
∆Pg(s) 1 ∆Pv(s) 1  sT w ∆Pm(s) - 1
+
- 1  sT g 1  0 .5 sT w 2Hs D ∆ω(s)
Generator and
Governor Turbine
Load
1
+
+
R
Speed Droop
Ki
s
Supplementary loop
Figure 3.10. Block diagram representation of the AGC
3.2. Modeling of AVR

Automatic Voltage Regulator (AVR) system is used in synchronous generator to hold the
magnitude of the terminal voltage at a specified level. It is necessary to provide constancy of the
alternator terminal voltage during normal small and slow changes in the load. The Voltage
regulator controls the exciter output, such that the terminal voltage of the AC generator equals
the desired voltage, often called the reference voltage.
The voltage of the generator is proportional to the speed and excitation (flux) of the generator.
The speed being constant, the excitation is used to control the voltage. Therefore, the voltage
control system is also called as excitation control system or AVR.The excitation control is one
of theimportant factors in the transient study of power system analysis.When a
disturbance occurs, the excitation controller can moderate the controlsignal quickly and
provide good damping of oscillations in the system.
An important partof the AVR consists of amplifiers, exciter, excitation voltage limiter, generator,
and transducers[38].The block diagram of synchronous generator with automatic voltage
regulator is:

Exciter Generator Load

Ve +
V ref +
Amplifier VR Vf G
G
- - ∆P∆Q
- -
P.T
Stabilizer
Rectifier
Figure 3.11.Block diagram of Automatic voltage regulator
The mathematical model andtransfer functions can be to linear taking into account thetime
constant and ignoring saturation or other nonlinear. All the loops are designed to operate around
a normal state withsmall variable excursions. Thus the loops may be modeled with
linear,constant coefficient differential equations and represented with linear transferfunctions.
The comparator compares the measured signal voltage against the reference voltage (Vref).
Thedifference between two these two signals produce an error voltage Ve called error signal [44].
The Comparator Modeling is, the error signal Ve  Vref  V the Laplace transformation of this
equation is
Ve (s)  Vref (s)  V(s) (3.20)
3.2.1. Amplifier model
The comparator continuously compares the referencevoltage (Vref) and actual output
voltage (Vt) and generates avoltage error signal, which is fed to the amplifier.The

excitation system amplifier may be a magnetic amplifier,rotating amplifier, or modern

electronic amplifier[13]. Transfer function of an amplifier is modelled by a gain and a time
constant given by,
VR  KaVe (3.21)
Laplace transformation of the above equation yields
VR (s)  KaVe (s) (3.22)
This equation implies instantaneous amplifier response. But in reality, the amplifier will have a
time delay that can be represented by a time constant Ta. Then VR (s) and Ve (s) are related as
Ka
VR (s)  V (s) (3.23)
1 sTa e
The amplifier is represented by a gain Ka and a time constant Ta and the transfer function is
VR (s) K
TRA   a (3.24)
Ve (s) 1 sTa
where, VR =is amplifier output voltage
Ve =is Voltage error
Ka = is amplifier gain in the range of (10 to 400)
Ta =is amplifier time constant in the range of (0.02 to 0.1)
The block diagram corresponding to equations of comparator and amplifier is shown below.
Comparator
Vref Ve Ka VR
+
- 1  sT a
Amplifier
V
Figure 3.12. Block Diagram Representation of Comparator, Amplifier

3.2.2. Exciter Modeling

For the alternators, the excitation is provided by a device (another machine or a static device)
called exciter. The exciter is the main component in the AVR loop. It delivers DC power to the
alternator field. It must have adequate power capacity (in the low MW range for large alternator)
and sufficient speed of response (rise time less than 0.1 sec.)
The output voltage of the exciter is a nonlinear function of the field voltagebecause of the
saturation effects in the magnetic circuit. Thus, there is nosimple relationship between the
terminal voltage and the field voltage of theexciter. A reasonable model of a modern exciter is a
linearized model, whichtakes into account the major time constant and ignores the saturation or
othernonlinearities.
The exciter receives the amplified error signal from theamplifier and excites the
alternator field to control flux andhence controls the terminal voltage[13]. It is to be
noted that error voltage Ve  Vref  V . Assume that for some reason the terminal voltage of the
main generator decreases. This will result in decrease in the terminal voltage V . This
immediately results in an increased “error voltage” Ve which in turn, causes increased values of
VR , ie and V f . Higher setting of Vref also will have the same effect of increasing the terminal
voltage. The modeling of the exciter field is as follows.

d
VR  Reie  Le i (3.25)
dt e
Where,
ie = exciterfield current
Re =resistance of exciter field
Le =is inductance of exciter field
By taking small change both sides
d
VR  Re (ie )  Le (i ) (3.26)
dt e

The exciter field current ie produces voltage V f , which is the rectified armature voltage of the
exciter.
Then,
Vf  K1ie (3.27)
where K1 is the rectified armature volts per ampere of exciter field current. Taking Laplace
transformation of the above two equations and eliminating ie (s) , the transfer function of a
modern exciter may be represented by the single time constant Te and a gain Ke
Vf (s) K
 e (3.28)
VR (s) 1 sTe
Using the transfer function of the exciter, the block diagram of the exciter is,
Comparator
Vref Ve Ka VR Ke Vf
+
- 1  sT a 1  sTe
Amplifier Exciter
V
Figure 3.13. Block Diagram Representation of Comparator, Amplifier and Exciter
3.2.3. Generator Field Model
The synchronous machine generated emf is a function of the machine magnetization curve, and
its terminal voltage is dependent on the generator load. As the terminal voltage equals to internal
emf minus the voltage drop across the internal impedance, it is clear that the relationship
between exciter field voltage ( V f )and generator terminal voltage ( Vt )depends on the generator
loading. The simplest possible relationship exists at low or zero loading in which case the
terminal voltage ( Vt ) approximately equals to internal emf E. In the linearized model, the
transfer function relating the generator terminal voltage to its field voltage can be represented by
a gain Kg and a time constant Tg and the transfer function is

Vt (s) K
 g (3.29)
Vf (s) 1 sTg
The constants are depending on the load, and they can be vary in the range of Kg (0.7 to 1) and
Tg (1 to 2) from full load to zero load. The block diagram of generator field is shown in Figure
3.14,
Vf Kg Vt
1  sTg
Generator
Figure 3.14. Generator field block diagram
3.2.4. Sensor Model

The voltage is sensed through a potential transformer and, in one form, it is rectified through a
bridge rectifier[36]. The sensor is modeled by a simple first order transfer function, is given by
Vs (s) K
 r (3.30)
Vt (s) 1 sTr
where,
Vs =is sensor output voltage
Kr = is sensor gain constant its value is 1
Tr =is Sensor time constant its value is varying in the range of (0.001 to 0.06)
Comparator
Vref Ve Ka VR Ke Vf Kg Vt
+
1  sT a 1  sTe
-
1  sTg
Exciter Generator
Amplifier
V
Kr
Vs 1  sTr
Sensor
Figure 3.15. Block Diagram Representation of AVR Loop[14, 44]

3.2.5. Excitation System Stabilizer

Excitation systems, especially using DC and AC exciters, compriseelements with significant
time delays. The relative stability of the excitationsystem can be increased by introducing a
controller which would add a zeroto the AVR open-loop transfer function as shown in Figure
3.16.
Comparator
Vref Ve Ka VR Ke Vf Kg Vt
+
1  sT a 1  sTe 1  sTg
-
Exciter Generator
Amplifier
V Kf
+
+ 1  sT f Feedback
Stabilizer
Kr
1  sT r
Sensor
Figure 3.16. Block diagram of AVR with feedback stabilizer
Feedback parameters K f and T f are tuned properly to obtain asatisfactory response and to
improve dynamic performance of the system. Forsmall value of amplifier gains, the step
response of AVR is not satisfactory and for higher values the response is unbounded. Hence the
relative stabilityis increased by introducing a controller in the feedback path of the system.
3.3. Design of PID Controller

Proportional Integral Derivative combinations of PID has advantages and disadvantages so that
this controller can be used as needed. In the electric power system PID controller can be used to
cope with large load changes and sudden.Proportional control results in decreaseof rise time but
also results in oscillatory performance.Integral control reduces the steadystate error to

zero.Derivative control reduces the oscillations by providingproper damping which results in

improved transient performance and stability[3].
Determination of the proportional, integral and derivative constants of the controller is called the
tuning-in process. A PID controller often has logic, sequential functions, selectors and simple
function blocks combined to build a complex automation system. The control depends on the
dynamic response of the plant. In PID control, the actuating signal consists of a proportional
error signal added to the integral and derivative of the error signal. The equation for a PID
controller for a second order systemis illustrated as[32]:
t
U(t)  Kpe(t)  KI  e(t)dt  Kd
de(t)
} (3.31)
0 dt
The transfer function of a PID controller can be written as[3]:
Ms Ki Kd s2  Kp s  Ki
GPID(s)   Kp   Kd s  (3.32)
E(s) s s
Where,Kp = the proportional constant, to reduce the rise time.
Ki = the integral constant, to eliminate the steady-state error.
Kd = the derivative constant, to reduce the overshoot and settling time.
S = the pole of the system in the complex plane.
Kp
E(s) Ki + M(s)
+
s +
Kd s
Figure 3.17. Block diagram of PID
The PID was an essential element of early governors and excitation system, and it became the
standard tool when process control emerged. Nowadays more than 95% of the control loops in
process control are PID type. The controller can be represented in different forms, depending on
the type of process.

A PID controller corrects the error difference between a measured process variable and the
desired input or reference point or set point by calculating and giving as output a correction that
adjusts the process accordingly [45].
Table 3.1 Generally the Effects of increasing a parameter independently[45]
Parameter Rise Time Overshoot Settling Steady State Stability

Time Error
Kp Decrease increase Small change decrease Degrade(reduce)
Ki Decrease increase increase Eliminate degrade
Kd Minor decrease decrease No effect in Improve if Kd
change theory small
Tuning methods for PID controllers: With tuning objectives, the tuning methods for PID
controllers can be grouped according to their nature and usage. The most important tuning
method is described below.
Ziegler- Nicholas Rules for Controller Tuning Method: The process to be control is shown in
figure. Under pure proportional control, the system is asymptotically stable in the range 0≤ Kp<
Kc, and goes unstable in the oscillatory manner where Kp> Kc. The following steps are done:
a. Increase the gain Kp from 0 to Kc (decrease the proportional band Xp until the process
starts to oscillate). At this critical gain Kc, the closed loop system is marginally stable so
any gain adjustments must be carried out with extreme care. (if the output does not
exhibit sustained oscillations for whatever for whatever value Kp may take, then this
method does not apply).
b. Note the value Kc and the period of oscillation T.
c. The recommended settings of Kp, Td and Ti, are given below in table for different types
of controller design.

Table 3.2Controller Constants[45]
Type of controller Kp Ti Td
Proportional 0.5Kc infinity 0
Proportion- Integral 0.45Kc 0.83T 0
Proportion-Integral-
Derivative 0.6Kc 0.5T 0.125T
As the transfer function model of the plant is available, Routh‟s array may be used to establish
the critical gain Kc and the corresponding period of oscillation. The procedure is:
 Find the system‟s closed loop characteristic equation under pure proportional control.
 From the Routh‟s array and establish the critical gain Kc that produces an all zero row. If
the system goes unstable in an oscillatory manner, the all zero row will be the row
associated with s1, the auxiliary equation will be second order and there will be no roots
of the remainder polynomial with positive real part. The system should remain stable for
all positive values of Kp below the critical value.
 Use the auxiliary polynomial to find the period of oscillation T and apply the
recommended settings given above in table.
3.3.1. AGC System with PID Controller
The design of a controller will requireproper selection of PID constants so that the frequency and
tie-line power willvanish and the oscillations in frequency will be minimum. The deviation in
frequency response is due to the increase in demandof the consumers. If the output is higher than
the demand, the machine willtend to increase in speed, and the frequency will rise, and vice
versa. Hencethe control engineers take appropriate action in tuning the gain constants
bymonitoring the rise or fall in frequency. The gain constants of the controllerdepend on the
amount of loads predicted for that machine. The loadprediction is based on the demand of the
particular machine obtained duringthe particular period. In short, PID controller is included in
design of AGC toenable the turbine-governor system to take corrective action immediately
afterthe load. The redesigned model of AGC with PID controller is shown inFigure 3.17.

∆PL(s)
∆Pref(s) ∆Pg(s) 1 ∆Pv(s) 1 sTw ∆Pm(s) - 1

+ PID +
- 1  sT g 1 0.5sTw 2Hs D ∆ω(s)
Generator and
Governor Turbine
Load
1
+
+ R
Speed Droop
Ki
s
Supplementary loop
Figure 3.18. AGC System with PID Controller
3.3.2. AVR System with PID controller

The Automatic Voltage Regulator is designed to control the voltageand reactive power flow. For
the stable electrical power service, it isimportant to develop an AVR for a synchronous generator
with a highefficiency and a fast response. In addition to AVR,an additional controller is also
required to quickly restore the system nominal voltage. Due toits simplicity and robustness, the
PID controller is employed in AVR system to enhance thesystem dynamics.
The voltagemagnitude is controlled by varying the excitation of the field. The terminalvoltage is
sensed, rectified and compared with the reference signal. A PID controllercalculates an "error"
value as the difference between a measured terminalvoltage and a desired or reference voltage.
The error signal is amplified and sent to theexciter, which in turn change the excitation of the
field. The controllerattempts to minimize the error by adjusting the process control inputs to
theexciter. By tuning the gain constants Ki, Kp and Kd in the PID controlleralgorithm, the
controller can provide suitable control action designed formaintaining the generated voltage.
PID controller enables the AVR toact immediately for compensating the required amount of
exciter current andthereby maintaining the output voltage of the generator. Hence, theapplication
of PID controller in the control loop drives the exciter outputimmediately and improves dynamic

response as well as reduces the steadystate error. The block diagram of practical higher-order
AVR system with aPID controller is shown in Figure 3.19.
Comparator VR Vf
Vref Ka Ke Kg Vt
+ PID
- 1  sT a 1  sTe 1  sTg
Ve
Amplifier Exciter Generator
Kf
+
+ V 1  sT f Feedback
Stabilizer
Kr
1  sT r
Sensor
Figure 3.19.AVR System with PID Controller
3.4. Combined AGC and AVR loops

A combined model includes automatic generation control and AVR system. This model can be
used to show the mutual effect between AGC and AVR loops and depict the slight change in
response of turbine output power in the steady state.
Due to the weak coupling relationshipbetween the AGC and AVR systems, thefrequency and
voltage were controlledseparately[18], since excitation control of generator have small time
constant contributed by field winding, where AGC loop is slow acting loop having major time
constant contributed by turbine and generator moment of inertia.Practically these two are not
non- interacting, the interaction exists but in opposite direction. Since AVR loop affect the
magnitude of generated e.m.f, this e.m.f determines the magnitude of real power and hence AVR
loop felt in AGC loop.
The coupling effects show as asmall change in the electrical power ∆Pe,which is the product of
the synchronizingpower coefficient PS and the change in thepower angle ∆δ. Taking into account
thesmall effect of voltage on real power, thefollowing linearized equation is obtained.
Pe  Ps   K2E (3.33)
Where, K2 = is change in electrical power for small change in stator e.m.f

Ps=is synchronizing power coefficient[10].

Generally,
K1  n1 (ado  Laqsido )  m1 (ado  Ladsiqo ) (3.34)
K2  n2 ( ado  Laqsido )  m2 (ado  Ladsiqo ) (3.35)
where,
EB (XTq sin0  RT cos0 )
m1 
D
EB (RT sin0  XTq cos0 )
n1 
D
XTqLads
m2 
D(Lads  Lfd )
RT Lads
n2 
D(Lads  Lfd )
Taking into account the small effect of rotor angle upon the generator terminal voltage is,
Vt  K5  K6 E (3.36)
Where K5 is change in terminal voltage for small change in rotor angle at constant stator e.m.f
and K6 is change in terminal voltage for small change in stator e.m.f at constant rotor angle.
Finally, modifying the generator field transfer function to include effect of rotor angle, the stator
e.m.f is,
Kg
E (V  K4 ) (3.37)
1Tg f
where,
EB ((Lads)XTq sin0  RT cos0 )
K4 
(Lads  Lfd )D
The constants K1, K2, K3, K4and K6 are usually positive; however, K5 may take either positive or
negative value depending on the impedance RE + jXE.

Figure 3.20. Over all block diagram of combined AGC and AVR
3.5. Design and Modeling of PSS

Additional control signal for the excitation system and governor on the generator can add extra
damping andimprove the performance of the power system. PSS has a very significant
contribution to maintain stability of powersystem and improve system performance by providing
additional signals to the excitation system[38].PSS is a feedback controller, part of the control
system for a synchronous generator, which acts through the excitation system, adding a signal to
modulate the field voltage. Damping of high frequency oscillations is one of the most interesting
and challenging tasks in power industry. These are caused by the introduction of low gain, high
time constant automatic voltage regulators and transmission of bulk power over long
transmission lines. Application of power system stabilizer (PSS) as a supplementary modulation
controller in the excitation systems has been the conventional means to reduce the damping of
high frequency oscillations.

With addition of a power system stabilizer (PSS) as a supplementary controller to the AVR, this
combined generator excitation control, if proper designed, could eliminate any negative effects
on the damping of the post-fault oscillation. The control signal for the PSS is either the speed
deviation (∆ωr), or the electric power (P), or the system frequency (f) as additional feedback
signals for introducing a damping torque control component. The speed signal is the most
commonly used[45].
A. Structure and tuning of PSS
It consists of a signal washout block, phase compensation block and a gain block. The output
signal of any PSS is a voltage signal, noted here as VPSS(s), and added as an input signal to the
AVR/exciter
phase
∆ω compensation Out put = VPSS
washout
Kstab
Figure 3.21. Block Diagram of PSS.
Gain block:The Gain determines the level of damping provided with the PSS. Gain of the
stabilizer Kstab is determined by tuning the PSS.
Washout Circuit:The washout circuit is provided to eliminate steady-state bias in the output of
PSS which will modify the generatorterminal voltage. The PSS is expected to respond only to
transient variations in the input signal and not to the dc offsets in the signal. This is achieved by
subtracting from it the high frequency components of the signal obtained by passing the signal
through a high pass filter.
Figure 3.22. Washout Circuit

The washout circuit acts essentially as a high pass filter and it must pass all frequencies that are
of interest. For local modes the time constant Tw can be chosen in the range of 1 to 2. For inter
area modes the Tw must be chosen in the range of 10 to 20. A recent study has shown that a
value of Tw =10 is necessary to improve damping of the inter area modes.
Phase Compensation Block:The PSS is also constituted by a Phase Compensation algorithm by
using lead lag filters. The phase difference between the excitation system input and the resulting
electrical torque is compensated using cascaded lead lag filters[45].
B. Phase Compensation Design Technique
Phase compensation technique consists of adjusting the stabilizer parameters to compensate for
the phase lags through the generator excitation system, and power system such that the torque
changes in phase with speed changes. This is the most straightforward approach, easily
understood and implemented. The phase lag depends on the operating point and the system
parameters. The algorithm for computing the PSS parameters is as follows:
Step 1:Obtain ωnfrom the mechanical loop:
The characteristic equation of the mechanical loop can be written as:
(3.38)
Figure 3.23. Block diagram of Phase Compensation Design Technique Characteristic Equation of the Mechanical Loop
Where ωbis the system frequency in rad/s and ωnis the undamped natural frequency of the
mechanical mode and is given below:
b K1
n  (3.39)
M

Step 2: Compute phase lag Ge between U (output) and Tm of the loop to be compensated by
PSS. Ge(s) is the transfer function of PSS
Step 3: Design of phase lead lag compensator: The transfer function of phase lead lag
compensator Gc is
(1 sT1)(1 sT2 )
Gc  (3.40)
(1 sT3 )(1 sT4 )
For the full compensation Ge  Gc  1800
The PSS parameters to be optimized are T1-T4 and Kstab. Considering two identical cascade lead-
lag networks for PSS. T1= T3 and T2=T4 and hence the problem reduces to that of optimization of
Kstab, T1 and T2 only. Tw = 10s has been chosen commonly. One lead lag block is used for
compensating about 50○ of phase lag and accordingly lead lag blocks are chosen. The PSS
parameters T1 and T2 are chosen so as to fully compensate the phase lag as follows:
Let β is the phase lag compensated by one block, then
T2 
1
where, a 
1 sin and T =aT , |a|<1
n a 1sin
1 2
Step 4: Gain setting: The amount of damping introduced depends on the gain of PSS transfer
function at that frequency. Ideally, the gain should be set at a value corresponding to maximum
damping. The desired PSS gain Kstabis computed from
2n M
Kstab  (3.41)
Gc Ge
Where ζ is the desired damping ratio
Figure 3.24. Block diagram of Lead-Lag PSS

Figure 3.25. Over all block diagram of combined AGC and AVR with PSS
The block diagram of power system stabilizer as shown in Figure 3.25 in which change in
therotor speed from steady state value used as stabilizing input for the PSS. The amount by
which
PSS offer damping depends upon steady state gain offered by transfer function of PSS at the
oscillatingfrequency. This damping signal is added to the excitation system with voltage terminal
signal[5].
3.6. Fuzzy Logic Controller Design
The conventional controller is unable to give proper dynamic response when compared with
intelligent controller[14]. Conventional proportional integral derivative (PID) controller is
widely used in many industrial applications due to its simplicity in structure and ease of design.
However, it is difficult to achieve the desired control performance in the presence of unknown

nonlinearities, time delays, disturbances as well as changes in system parameters. Consequently,

several PID models have been suggested so as to solve these effects on the performance of the
PID controllers. One such method is based on fuzzy logic technique which is considered much
more appropriate when precise mathematical formulation is infeasible or difficult to achieve[46].
In this thesis the analysis of AGC with Fuzzy-PID is done. Fuzzy logic (FL) controller is one of
the most successful operations of fuzzy set theory. Itsmajor features are the use of linguistic
variables rather than numerical variables. Fuzzysystems are easily upgraded by adding new rules
or new features to improve performance.FLC areformed by simple rule based on “If x and y then
z”. These rules are defined by taking help fromperson‟s experience and knowledge about the
system behavior. The correct combinations ofthese rules improve the performance of the system.
The general structure of FLC isrepresented in figure below.
Knowledge base
Fuzzification Defuzzification
Interfase Interface
Decision
Making Logic
Controlled
System
Figure 3.26. Basic structure of Fuzzy Logic Controller
Fuzzy logic controller as shown in the Figure 3.10, consists of four major functional
blocks;Fuzzification, Knowledge base, Inference mechanism, and Defuzzification[14].
Fuzzification Interface: The numeric input-variable measurements are transformed
byFuzzification part into the fuzzy linguistic variable, which is a clearly defined boundary with
acrisp.In fuzzification, the precise numerical values obtained by measurements are converted to
membership values of the various linguistic variables. The degree to which a fuzzy number

belongs to a set or not is called Membership Function (MF).Degree of membership plays an

important role in designing a fuzzy controller. In fuzzy-AGC the universe of discourse of the
input state variable MF is -a to +a or 0 to 1.
Knowledge base (Rule base): the knowledge base consists of data base with necessary linguistic
definitions and rule setrelating the input variables to desired control actions.It provides all the
necessary definitions for the fuzzification process such as membership functions, fuzzy set
representation of the input-output variables and the mapping functions between the physical and
fuzzy domain. A fuzzy systemknowledge base consists of fuzzy IF-THEN rules and membership
functions characterizing the fuzzy sets[3].The rule base should cover all the possible
combinations of input value. Rule conditions are joined by using minimum intersection operator.
The rules of a FLC give the controller its intelligence, since the rules are developed based on the
expert knowledge obtained from the experienced operator. The combinatorial explosion in rules
is given by:
where, R = Number of rules, l = Number of linguistic labels for each input variable and n
= Number of input variables.
Decision-making: The decision-making process makes use of acceptance, ambiguity,inaccuracy
and fuzziness approaching human reasoning in the decision-making process to offera very
satisfactory performance, which does not need mathematical model.
Defuzzification Interface: The mathematical procedure of converting fuzzy values into crisp
values is known as defuzzification. Defuzzification plays a great role in a fuzzy logic based
control system design, since it converts fuzzy set into a numeric value without losing any
information. The performance of FLC depends on the defuzzification process, since the system
under control is determined by the defuzzified output. Centre of gravity method is used, because
of its computational speed and accuracy in real time control. The output fuzzy variable is
converted into a crisp value by centroid method.
The controlled plant in this thesis represents the AGC. The purpose of design fuzzy controller is
to guarantee the desireresponse of the plant output.The main objective in the controller design is
to develop an intelligent FLC X that takes care of the response characteristics of the plant output
Y.The FLC with a rule viewer which will be select from the library of the fuzzy toolbox in

MATLAB. It is regarded as a nonlinear static function that maps controller inputs into controller
outputs. The inputs to the system can change the state of the system, which causes variations in
the response characteristics. The task of the controller is then to take corrective action by
providing a set of inputs that ensures the desired frequency response of Beles Hydropower
synchronous generator units.
In fuzzy-PID based AGC design, the desired effect is to keep the output frequency of the
generator at its rated value under varying loads and faults. From this desired objective the rules
are derived for every combination of input state variables in order to obtain desired output
variable. As the number of rule increases, the computational efficiency and robustness of the
system will also be improved. Fuzzy rule bases are developed using a conjunctive relationship of
the antecedents in the rules.
The fuzzy-PID based control system is designed to control the real power and frequency of the
synchronous generator at Tana Beles hydroelectric power system. The controller uses two input
state variables and one output control variable.
The membership functions for inputs are proportional(P) and integral(I) parameters of PID
forMamdani fuzzy system. To obtain the fuzzified values from the crisp inputs,
triangularmembership functions are used which is simplest compared to other membership
functions.The output from the inference system is given tothe control signal. This control signal
acts as the input signal to the speed governor of AGC of the synchronous generator.
The input and output variables in the proposed controller have 7 linguistic variables. These are
large negative (LN),medium negative (MN), small negative (SN), very small (ZR), small
positive (SP), mediumpositive (MP) and large positive (LP). These variables are characterized by
memberships in thesimulation study. Fuzzy control rules are constructed by using the
controlexperience of operator having experiences about automaticgeneration control of the
interconnected power system[17].The number of rules is 49 and they are totally used in the
control algorithm inorder to cover the entire practical domain inputs and outputs. In addition, all
rules have similarweights to keep consistency between rules.

Table 3.3. If then rule for AGC for the Parameter of Speed Governor
P/I LP MP SP ZR SN MN LN
LP NB NB NM NM NS NS ZR
MP NB NM NM NS NS ZR PS
SP NM NM NS NS ZR PS PS
ZR NM NS NS ZR PS PS PM
SN NS NS ZR PS PS PM PM
MN NS ZR PS PS PM PM PB
LN ZR PS PS PM PM PB PB
Figure 3.27. Fuzzy inference block of the thesis

Figure 3.28. Membership functions of Proportional (Input I)
Figure 3.29. Membership functions of Integral (Input II)

Figure 3.30. The control signal membership function
In this thesis the intersection of the input values that is related to the output is achieved with an
„AND‟ operation and are of IF-THEN type as follows.

Figure 3.31. Rule Editor

Figure 3.32. Fuzzy Rule Viewer
As the input frequency signal of P and I is varying between -0.5 to 0.5 the output controlled
signal also varies and this frequencyor power error signal approaches to zero and sends as input
command signal to the governor. So, the rule viewer shows the mapping of the input variables of
P and I for 7 membership functions with AND gate to Shaw the error of the output controlled
signal.

CHAPTER FOUR
4. SIMULATION RESULTS AND DISCUSSIONS

The thesis simulation result has been compared and contrasted withAGC and AVR, AGC and
AVR with PSS, Fuzzy based AGC and AVR and finally Fuzzy based AGC and AVR with PSS
to improve speed deviation of synchronous generator on Tana Beles Hydropower plant. The
MATLAB/simulation shows the output power deviation, speed deviation, rotor angle deviation
and generator terminal voltageon Tana Beles HEP plant.
4.1. Tana Beles Hydro governor and Excitation System Data
Tana Beles hydroelectric power plant are connected to an infinite bus through a double circuit
transmission line. The generator data of the plant are three-phase generator rated output of 133
MVA, generator terminal voltage of 15 kV, speed of 375 rpm, over speed of 590 rpm is
connected to a 400 kV network through a Delta -YN in LV (15 KV) side and star with neutral in
HV (400 KV) side of transformer. The system starts in steady state with the generator supplying
115 MW (0.865 pu) of active power, reactive power of 87.8 Mvar (0.66pu) and Field voltage Vf
of 307 V.
Table 4.1. Tana Beles Hydro Governor Data
Parameters Parameter Ranges Parameter Data

Governor Time constant 0.2-0.4 second 0.4 second
Governor Gain constant 1-10 1
Turbine Time Constant 0.03-0.05 0.05
Turbine Gain Constant 1
Generator Inertia constant 6
Generator Damping Constant 1
Primary loop droop (RP) 0.03-0.06 0.05
Supplementary loop droop (RT) 0.05
PID Controllers Kp, Ki, Kd ---------- 0.8, 0.72, 0.96
respectively

Table 4.2. Excitation system Data
Parameters Parameters Range Parameter Data Value
Regulator amplifier gain (Ka) 10-400 20
Regulator amplifier Time constant (Ta) 0.02-0.1second 0.05 second
Exciter Constant (Ke) 1-400 1
Exciter Time constant Te 0.5-1second 0.5
Generator Constant (Kg) 0.7-1 1
Generator time constant (Tg) 1.0-2.0 second 2
Feedback stabilizer circuit gain (KF) 0.05
Feedback stabilizer Time constant (TF) 0.02 second
Sensor Gain constant (KR) 1 1
Sensor Time constant (TR) 0.001-0.06 second 0.02 second
Table 4.3. Power system Stabilizer Data
Parameters Parameter Value
Stabilizer Gain Constant (Kstab) 20
Washout Time Constant (Tw) 1.5 second
Lead Time Constants T1=0.03
T3=0.06 second
Lag Time Constants T2=2 second
T4=4.5 second

4.2. Simulation Block Diagram
4.2.1. PID based AGC and AVR Simulink Diagram
The simulation block diagram of AGC and AVR are show in Figure 4.1. AGC and AVR are
connected by the constants which are K1, K2 K3, K4, K5 and K6.
Figure 4.1. Simulink diagram of PID based AGC and AVR

4.2.2. PSS and PID based AGC and AVR Simulink Diagram
The simulation diagram of PSS and PID based AGC and AVR are show in Figure 4.2. The
power system stabilizer input signal is connected with the speed deviation of the governor of the
generator and the output signal is connected with the step input of the AVR.
Figure 4.2. Simulink diagram of PSS and PID based AGC and AVR

4.2.3. FLC - PID Based AGC and AVR Simulink Diagram
The Simulink diagram of FLC-PID based AGC and AVR is shown in Figure 4.3. The fuzzy logic
controller (FLC) inputs are the proportional and the integral of PID controller and the output of
FLC and the derivative of the PID controller are connected to the speed governor of the
generator.
Figure 4.3. Simulink diagram of FLC-PID based AGC and AVR

4.2.4. PSS and FLC - PID Based AGC and AVR Simulink Diagram
The Simulink diagram of the PSS and FLC-PID based AGC and AVR is shown in Figure 4.4.
Figure 4.4. Simulink diagram of PSS and FLC-PID based AGC and AVR

4.3. Matlab Simulation Results and Discussions
The simulation results of Tana Beles Hydroelectric Power Generation are electrical output power
deviation, speed deviation, rotor angle deviation and generator terminal voltage.
I. Output Power Deviation of Tana Beles Hydroelectric Power generation
a: AGC and AVRb: Existing (AGC and AVR with PSS)
c: AGC and AVR with FLCd: AGC and AVR with PSS and FLC
Figure 4.5. Electrical output power deviation
From the simulation result as shown in Figure 4.5 the generator output active power deviation is
shown. Figure 4.5a is the simulation result of output power deviation of AGC and AVR with
PID. The output power deviation oscillation is varied from -0.3 to 0.36 and the settling time is
reached at 13second. Figure 4.5b is the simulation result of output power deviation of AGC and
AVR with PID and PSS. The output power deviationoscillation is varied from -0.24 to 0.29 and
settled after 21second. Figure 4.5c is the simulation result of output power deviation of AGC and

AVR with FLC-PID. The output power deviation oscillation is varied from -0.3 to 0.27 and
settled at 10 second. Figure 4.5d is also the simulation result of output power deviation of AGC
and AVR with PSS and FLC-PID. The output power deviation oscillation is varied from -0.2 to
0.18 and reaches to the settling time at 11second.
Table 4.4. Summary of Output Power Deviation
Type of Controller Oscillation Settling time in Second

AGC and AVR with PID -0.3 to 0.36 13
AGC and AVR with PSS and PID -0.24 to 0.29 21
AGC and AVR with FLC-PID -0.3 to 0.27 10
AGC and AVR with PSS and FLC-PID -0.2 to 0.18 11
II. Speed Deviation of Tana Beles Hydroelectric Power System

a: AGC and AV b: Existing (AGC and AVR with PSS)

c: AGC and AVR with FLC d: AGC and AVR with PSS and FLC
Figure 4.6. Generator rotor speed deviation
From the simulation result as shown in Figure 4.6the generator speed deviation is carried out.
Figure 4.6a is the simulation result of speed deviation of AGC and AVR with PID. The speed
deviation of the oscillation is varied from -0.015 to 0.017 and the settling time is after 12second.
Figure 4.6b is the simulation result of speed deviation of AGC and AVR with PID and PSS. The
speed deviation (oscillation) is varied from -0.013 to 0.015 and settled at 20second. Figure 4.6c
is the simulation result of speed deviation of AGC and AVR with FLC-PID. The speed deviation
is varied from -0.015 to 0.013 and reaches to settle after 9 second. Figure 4.6d is also the
simulation result of speed deviation of AGC and AVR with PSS and FLC-PID. The speed
deviation oscillation is varied from -0.01 to 0.007 and settled at 11second.
Table 4.5. Summary of Speed Deviation
AGC and AVR with PID -0.015 to 0.017 12
AGC and AVR with FLC-PID -0.015 to 0.0.013 9

III. Rotor Angle Deviation of Tana Beles Hydroelectric Power System
a: AGC and AVR b: AGC and AVR with PSS
Figure 4.7. Generator rotor angle deviation
From the simulation result as shown in Figure 4.7the generator rotor angle deviation is carried
out. Figure 4.7a is the simulation result of rotor angle deviation of AGC and AVR with PID. The
rotor angle deviation is varied from -0.01 to 0.05 and reach to nominal value (0.049) at
15second. Figure 4.7b is the simulation result of rotor angle deviation of AGC and AVR with
PID and PSS. The rotor angle is varied from -0.01 to 0.05 and reaches to nominal value (0.049)
and the settling time at 13second. Figure 4.7c is the simulation result of rotor angle deviation of
AGC and AVR with FLC-PID. The rotor angle deviation is varied from -0.002 to 0.017 and
reach to nominal value (0.016) at 9 second. Figure 4.7d is also the simulation result of rotor
angle deviation of AGC and AVR with PSS and FLC-PID. The rotor angle deviation is varied
from -0.002 to 0.018 and reach to nominal value (0.015) at a settling time of 11second.

Table 4.6. Summary of Rotor Angle Deviation
AGC and AVR with PID -0.01to 0.05 15
AGC and AVR with FLC-PID -0.002 to 0.017 9
IV. Generator Terminal Voltage of Tana Beles Hydroelectric Power System
a: AGC and AVR b: Existing (AGC and AVR with PSS)
Figure 4.8. Generator terminal voltage
From the simulation result as shown in Figure 4.8the generator terminal voltage is carried out.
Figure 4.8a is the simulation result of terminal voltage of AGC and AVR with PID. The terminal

voltage is varied from 0 to 0.97 and reach to rated value (0.95) at 8 second. Figure 4.8b is the
simulation result of terminal voltage of AGC and AVR with PID and PSS. The terminal voltage
is varied from -0.02 to 1.05 and reach to rated value (0.95) at 10second. Figure 4.8c is the
simulation result of terminal voltage of AGC and AVR with FLC-PID. The terminal voltage is
varied from 0 to 0.98 and reach to rated value (0.96) at 6 second. Figure 4.8d is also the
simulation result of terminal voltage of AGC and AVR with PSS and FLC-PID. The terminal
voltage is varied from -0.02 to 0.98 and reach to rated value (0.96) at 9 second.
Table 4.7. Summary of Terminal Voltage
Type of Controller Oscillation Settling time(Second)
AGC and AVR with PID 0 to 0.97 8
AGC and AVR with FLC-PID 0 to 0.98 6
In general, based on the above results PSS controller reduces the amplitude of the oscillation and
FLC-PID reduces the settling time. AGC and AVR with PSS and FLC-PID reduces both
oscillation amplitude,overshoot, oscillation frequency and settling time. So, the output power
deviation and speed deviation are quickly reach nominal point for AGC and AVR with PSS and
FLC-PID. The rotor angle deviation is reduced in both oscillation amplitude and settling time
and also the terminal voltage fluctuation is reduced in both oscillation and settling time and
quickly reach to nominal point under AGC and AVR with PSS and FLC-PID.

CHAPTER FIVE
5. CONCLUSION AND RECOMMENDATION
5.1. Conclusion
This thesis, investigated Modeling and simulation of Fuzzy-PID based AGC and AVR with PSS
to improve synchronous generator speed deviation of hydropower plant (Tana Beles Hydropower
Plant). Basically, this thesisfocuses on the synchronous generator speed deviation and generator
terminal voltage improvement using Fuzzy-PID based AGC and AVR with PSS.This thesis have
been modeled Fuzzy-PID based AGC and AVR with PSS using mathematical analysis and in
MATLAB/Simulink. The MATLAB simulation is carried out by AGC and AVR with PID, with
PID and PSS, with Fuzzy-PID and with Fuzzy-PID and PSS.The simulation result shows output
power deviation, speed deviation, rotor angle deviation and generator terminal voltage. The
existing system of Tana Beles Hydropower Plant synchronous generator frequency and generator
terminal voltage control system is PID based AGC and AVR with PSS.
Due to the connection of Fuzzy-PID based AGC and AVRis seen that the output power deviation
(damping oscillation and settling time are improved by 6.8% and50% respectively), the speed
deviation (damping oscillation and settling time are improved by 13.3% and 60% respectively),
the rotor angle deviation (damping oscillation and settling time are improved by 68.33% and
37.5% respectively) and generator terminal voltage (damping oscillation and settling time are
improved by 3% and 53.33% respectively) from existing system.
Due to the connection of Fuzzy-PID based AGC and AVR with PSS is seen that the output
power deviation (damping oscillation and settling time are improved by 37.93% and 40%
respectively), the speed deviation (damping oscillation and settling time are improved by 53.3%
and 44% respectively), the rotor angle deviation (damping oscillation and settling time are
improved by 66.67% and 31.25% respectively) and generator terminal voltage (damping
oscillation and settling time are improved by 3% and 40% respectively) from the existing
system.

Generally, Fuzzy-PID controller is highly improved the settling time while PSS controller is
highly improved the damping oscillation or overshoot. Thus, Fuzzy-PID based AGC and AVR
with PSS is improved the damping oscillation, overshoot, settling timeand steady state error of
the system.
5.2. Recommendation
Therefore, I recommended that Tana Beles hydroelectric power systems should use Fuzzy-PID
based AGC and AVR to maintain the steady frequency or speed, generator terminal voltage and
control the tie line power and use PSSto damp the oscillation of the synchronous generator and
finally it enablesto reducethe settling time of the system to increase the life span of generation
units and minimize the cost of transmission line.
5.3. Future Work
The recommended future works are explained in the following areas:
 The design of the Fuzzy-PID AGC and AVR with PSS developed in this thesis workare
recommended to be deployed and tested in the real hydroelectric power system network.
 To improve synchronous generator speed deviation, the settling time of the system and
the overshoot of the oscillation of the generator units of hydroelectric power system, it is
recommended to be design and model artificial intelligent optimizationmethods, such as
Artificial Neural Network(ANN)and Particle Swarm Optimization (PSO) based AGC and
AVR with PSS for further investigation.
 In this thesis, Fuzzy-PID AGC and AVR with PSS is developed for single area network
(Tana Beles Hydropower plant), but it is recommended to be further investigated for two
or multi area network to synchronize the grid voltage, the tie line power and frequency of
the power system.
 To testthe stability of the overall responseof the simulation result on Tana Beles HEP
plant it is recommended to show using root locus analysis method.

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APPENDIX
Appendix A
Tana Beles Excitation system circuit diagram
Figure A.0.1 Tana Beles Excitation system circuit diagram

Appendix B
Table B.1. Tana Beles Electrical Rated Data for Generator, Manufacturer (VA TECH)
Types of constriction IM 8425 (W41)

Rated Output 133MVA
Rated Voltage 15KV
Voltage Limits ±10%
Rated Current 5119.2A
Rated Power Factor 0.90
Rated Frequency 50Hz
Rated Speed 375 1/min
Over Speed 590 1/min
Direction of Rotation clockwise
Thermal Classification of Function Stator/Rotor F/F
Standard IEC 34 respectively EN 60034
Site Altitude 1460m
Static Excitation, connected to the generator connector (Slip rings)
Rated Field Voltage 307V

Rated Field Current 921A

Appendix C
Derivation of K-constants and initial condition.
Xq  xd E E cos0 P0Vt0
K1  iq0 E0 sin0  q0 0 iq0 
xe  xd xe  xq (P0 xq )2  (Vt20  Q0 xq )2
E0 sin0 Vq0  Vt20  vt20

K2 
xe  xd
Vd 0  iq0 xq
Xd  xe
K3  Q0  xqiq20
xe  xd id0 
vq0
Xq  xd
K4  E sin0 Eq0  Vq0  id0 xq
xe  xd 0
E0  (Vd0  iq0 xe )2  (Vq0  xeid0 )2

Xq Vd0 x V
K5  E0 cos0  d q0 E0 sin0
xe  xd Vr0 xe  xd Vr0
(Vd0  xeiq0 )
0  tan1
(Vq0  xeid0 )
Xe Vd 0
K6 
xe  xd Vr0

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MODELING AND SIMULATION OF

NEGESSE, LEUL BELAY

MODELING AND SIMULATION OF FUZZY BASED AGC AND AVR

(CASE STUDY ON TANA BELES HYDROELECTRIC PLANT )

ADVISOR: DR. TASSEW TADIWOSE

August 11, 2020

MODELING AND SIMULATION OF FUZZY BASED AGC AND AVR

(CASE STUDY ON TANA BELES HYDROELECTRIC)

August 11, 2020

Name of the student: Negesse Leul Belay Signature _____________

Place: Bahir Dar

Advisor Name: Dr. Tassew Tadiwose

Advisor‟s Signature: ______________________________

MSc. Thesis on Power System Engineering i

MSc. Thesis on Power System Engineering ii

MSc. Thesis on Power System Engineering iii

MSc. Thesis on Power System Engineering iv

MSc. Thesis on Power System Engineering v

3. MODELING OF THE SYSTEM ............................................................................................ 25

MSc. Thesis on Power System Engineering vi

5.3. Future Work ................................................................................................................... 75

MSc. Thesis on Power System Engineering vii

Figure 3.18. AGC System with PID Controller .......................................................................... 46

MSc. Thesis on Power System Engineering viii

Table 3.1 Generally the Effects of increasing a parameter independently [45]........................... 44

MSc. Thesis on Power System Engineering ix

ABBREVIATIONS AND SYMBOLS

AVR Automatic voltage regulator

MSc. Thesis on Power System Engineering x

l Number of linguistic labels for each input variables

MSc. Thesis on Power System Engineering xi

Tw Washout time constant

MSc. Thesis on Power System Engineering xii

MSc. Thesis on Power System Engineering 1

Application of power system stabilizer (PSS) as a supplementary modulation controller in the

MSc. Thesis on Power System Engineering 2

MSc. Thesis on Power System Engineering 3

1.2. Statement of the problem

MSc. Thesis on Power System Engineering 4

1.3. Objectives of the study

1.3.1. General Objective

1.3.2. Specific Objective

This thesis has the following specific objectives:

MSc. Thesis on Power System Engineering 5

1.5. Scope of Work

1.6. Organization of the Thesis

MSc. Thesis on Power System Engineering 6

2.1. Literature Review

MSc. Thesis on Power System Engineering 7

MSc. Thesis on Power System Engineering 8

Chandrashekar.M.J., and Dr. R Jayapal (2015), presents the combination of

Orosun. M. M, Orosun R. O. and Adamu S. S (2016),have Studied about Modeling and

MSc. Thesis on Power System Engineering 9

Modu M. Ibrahim, Jibril D. Jiya and Idakwo O. Harrison(2017),have discussed Modelling

MSc. Thesis on Power System Engineering 10

MSc. Thesis on Power System Engineering 11