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power system
Prof. J. Nanda, B.E.E., Ph.D., and B.L. Kaul, B.E., M.E.
Abstract
This paper investigates the stability and optimum settings of conventional automatic generation controllers for an
interconnected power system having reheat steam plants. Effective application of the parameter-plane technique
for obtaining optimal controller setting and sensitivity analysis has been demonstrated. Rigorous sensitivity analysis
reveals that reserve of stability and optimum controller setting are sensitive to inertia constant, governor time
constant, turbine time constant and reheat coefficient and barely sensitive to base load condition, synchronising
coefficient and reheat time lag. The optimum controller setting, however, is hardly sensitive to the speed regulation
parameter whereas reserve of stability is quite sensitive to it. A significant part of this paper highlights the con-
dition for which it is possible to optimise the controller setting of an individual area, treating the rest of the system
as having infinite inertia. Analysis reveals that a reheat system has a slower response, providing smaller generation
rate and higher frequency and tie deviations when compared with a nonreheat system. Investigation reveals that in
a reheat system the optimum controller setting achieved without considering generation rate constraint becomes
unacceptable in the presence of generation rate constraint. Also, while accounting for generation rate constraint, a
relatively large value of governor speed regulation parameter can be well acceptable without significantly affecting
the quality of the system response.
List of principal symbols The present work highlights the above aspects while dealing with
Tg = speed governor time constant the a.g.c. problem. Classical control theory has been used, and
Tt optimisation of a conventional controller has been attempted in a
= turbine time constant
simple and elegant manner through the effective application of the
D = load frequency constant
parameter-plane technique.4 It is envisaged that the synthesis pro-
Kp = UD
cedure highlighted in this paper could be of practical significance for
H = inertia constant
realising an optimal conventional controller based on integral of a.c.e.
/ = nominal system frequency
The paper raises some significant points for investigation. First,
Tp = 2H/JD
R = speed regulation due to governor action although the Fosha—Elgerd controller2 provides a much better
dynamic response in the absence of generation rate constraint, no
0 = area frequency response characteristic (a.f.r.c.) 4 D + l/R
guarantee can be given that such a controller would also behave nicely
T\2 = synchronising coefficient
in the presence of generation rate constraint. It is quite likely that a
simple conventional integral controller may compete well with a more
Kr = reheat coefficient
complex Fosha—Elgerd-controller under realistic generation rate
Tr = reheat time constant
constraint. This needs careful investigation. Secondly, one would like
amax = maximum degree of stability
to explore the situation under which the controllers for individual
.ftie max = maximum tie-line power
areas can be optimised while treating the rest of the system as having
AFi = incremental frequency deviation in area 1
infinite inertia. This would help the individual basis, thereby greatly
APtiei i = incremental change in tie-line power outgoing from area 1
simplifying the mathematical model.
APg = incremental change in the generation
An attempt has been made to highlight the effect of change in
AXE = incremental change in the valve position
certain important system parameters, e.g. reheat coefficient, reheat
APc = incremental change in the speed changer position
time constant, speed regulation parameter, inertia constant, governor.
APg = d/dt{APg)
and turbine time constants and base loading condition, on the
B = frequency bias parameter
performance of the optimal controller. It has been demonstrated that
Kj = area control error integrator gain
the parameter-plane technique can be effectively used to bring out
this sensitivity analysis.
1 Introduction
Many investigations in the subject area of automatic gener-
ation control (a.g.c.) of interconnected power systems have been
reported in the past. Elgerd and Fosha,1 and Willems3 have used
classical control theory for optimising the area control error (a.c.e.)
integrator gain and the frequency bias. Based on modern optimal
control theory, Fosha and Elgerd2 have developed an optimal con-
troller that provides a better dynamic response. However, the draw-
backs with this optimal controller are that it has a complex structure,
is difficult for practical realisation and uneconomical as pointed out
by C.W. Ross.2 These investigations, while trying to apply sophisti-
cated control theory to the problem of a.g.c, have oversimplified the
power system model and thus have failed to appeal strongly to power
system engineers. The earlier work mostly consider two equal inter-
connected steam area systems having nonreheat turbines without
taking into account generation rate constraint. In a realistic situation
no two areas are equal in capacity. In addition, modern steam turbines
are of the reheat type. Thus the consideration of area capacity, reheat
nature of turbines and generation rate constraint are of extreme
practical significance when seeking an optimal controller for a.g.c. and
should not be ignored.
Fig. 1
Paper 8027P, first received 13th July 1977 and in revised form 16th January
1978 Stable zones
Prof. Nanda and Mr. Kaul are with the Department of Electrical Engineering, a l/Kj,B plane
Indian Institute of Technology, New Delhi—110029, India b Kj, B plane
either area must be zero, provided each area can accommodate its
own load change.
(c) An automatic generation controller providing a slow monotonic
type of response would be preferred to reduce wear and tear of
the equipment.
(d) Any area in need of power during emergency should be assisted
from other areas.
4 Analysis
A two-area system provided with the reheat type of thermal
plant is considered for investigation. The nominal system parameters
for the two-equal-area system are given in Appendix 7.1.
Optimal conventional (integral) controller
A conventional controller has a linear integral control strategy of
the form x10- 3 p.u.MW
Table 5
SENSITIVITY OF COST INDEX AND OPTIMAL SETTING TO VARIATION
IN/?
R Opt. /C; Cost
1-2 0-69 3-55 0-841
2-4 0-67 8-53 0-425
(nominal)
Fig. 3 3-6 0-62 16-77 0-286
Effect ofTg, Tt and Tn on the reserve of stability
0-6
1-" I \ lu ameter D (load frequency constant). Fig. 4 shows that the reserve of
stability is hardly sensitive to a wide change in the loading condition.
Table 6 also indicates that the optimum controller setting and the
corresponding cost are insensitive to a wide change in the operating
.table
a load condition.
05
tri
C
• fflv
4.1.4 Effect of Kr and Tr
0-4
^=5 0 Fig. 5 shows that the reserve of stability is somewhat sensi-
03
-^=2 0 tive to Kr, whereas it is hardly sensitive to Tr. Tables 7 and 8 show
that the optimal controller setting and the corresponding cost index
V D=
\^—00125(75°/. load) are quite sensitive to lower values of A"r(0-25 <A" r <0-5) than the
fi.9
higher values, but are hardly sensitive to changes in Tr.
-• ^^^VJ-V' 0 ° 0^8 3 (5(25°/.
° 0/ ° load
\J £.
000 1 )
load) The above studies bring out the effective application of the
0-1 parameter-plane technique to sensitivity studies, which is well sup-
ported by the much used i.s.e. technique.
00
2 0 40. 60 4.1.5 Area capacity effect
v \\\
E
On comparison of the two systems the following observations are
0-5 ^Tr =K).I5. J '" made:
0-4
\V A --Kr=10(nonreheat ) (a) a system with nonreheat turbines has a greater reserve of stability
(Fig. 5).
(b) a system with reheat turbines gives slower response and higher fre-
03 - \^ ^ S 1T"'° quency and tie power deviations when compared to a system with
nonreheat turbines.
(c) the maximum rate of generation for a reheat case is found to be
0-2 - less (nearly half for Kr = 0-5) than that of a nonreheat case.
- 1
X.
unstable
0-1 x10-2Hz
00
Fig. 5
Effect of Kr and Tr on the reserve of stability
30-
KT,=V0
x10-2p.u.MW
10
0-5
00
10
Fig. 6 Fig. 7
Effect ofPr2 and Kn on the optimal Kn setting Comparison of optimal responses for nonreheat and reheat cases
0
0 / P r , = 2000
Pr-i = 2000 optimum Kr settings (/ m i n )
Prl = 8 0 0 0 X — X— I B, = 0 Kj = 0-67 (reheat: Kr - 0-5, Tr = 100)
Prl = 20 000 Kj = 0-75 (nonreheat: Kr = 1 0 , Tr = 0-0)
x10-2Hz
g.r.c.=10°/o per min
Fig. 8
4-
Flow chart for considering g.r.c. in the system dynamics (for Kth
interval) 0
10 15
i = 1, 2 for a two-area system 4
8
xiO^Hz
x10' 2 Hz
i, .
0 15
U
8-
x10"3p.u. MW
x10-2p.u.MW
1-5
> 10
05
Fig. 9 00
10 15
System responses for various Kj in the presence of g.r.c. (reheat
thermal system) Fig. 10
— X —Kj= 0-67, B = (S (without g.r.c.) Comparison of system responses for integral and Fosha—Elgerd
optimal controllers in presence of g.r.c. (nonreheat thermal system)
-•-•- Kj = 0-1 ~ (Wlt18-rc- Fosha—Elgerd controller
K, = 0-025
- •- Integral (Kj = 0-7S)