International Journal of Emerging Technology and Advanced Engineering

Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 8, August 2012)

An Overview of AGC Strategies in Power System

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Naimul Hasan
Through the years, unit output control loops were added to AGC, and power plant computers that control unit output and digital governors were also added to the overall control scheme but the basic goal of performing area closed loop control has remain unchanged. The AGC schemes have evolved over the past six decades. This is based on tie-line load bias control concept, and there are two variables of interest namely, frequency and tie-line power exchanges. Their variations are weighted together by a linear combination to a single variable called ACE. The continuous advancement in the design and implementation of AGC strategies has enabled power engineers to deal AGC problem more efficiently and effectively. II. AN OVERVIEW OF AGC SCHEMES

Department of Electrical Engineering, Jamia Millia Islamia, New Delhi, India

Abstract This paper presents a comprehensive literature review of the Philosophies of automatic generation control (AGC) of power systems. The Present article is aimed to highlight the various control and structural aspects of AGC used in the power systems. The AGC schemes based on power system models and control strategies are reviewed. The work on AGC incorporating parallel AC/HVDC links as system interconnection has also been reviewed. Also in this paper work reported in the literature in the area of automatic generation control has been reviewed critically. Keywords Adaptive control, EHVAC/DVDC transmission links Interconnected power systems, Optimal Control, Suboptimal control.

I.

INTRODUCTION

The concept of AGC was first developed through a control loop meant only for a control area. The control objective was to drive measured control area net interchange to a given scheduled value and to raise and lower contact closures according to actuating signal through governor speed changer motor was the control mechanism. The same raise or lower pulse was simultaneously broadcasted to each unit on control area even though the duration of each pulse could manually be adjusted to recognize individual size and/or ability to regulate. Generation was blindly raised or lowered to force net interchange to the desired value. If unit generation output was telemetered to the dispatch office, it was trended on a strip chart and used for area load calculation but not used for any unit oriented control loop. To complete the design of this early area controller, a frequency dependent bias for the scheduled net interchange was developed that modeled the change in actual area net interchange caused by area governor response and load change due to deviation from nominal frequency. This allowed AGC (supplementary control) to position unit governor speed changers so that when system frequency returned to nominal, the areas generation and load and hence actual interchange would adjust to the proper level via the governor control; i.e., without need for additional supplemental control. This area tie-line bias control mechanism has been in constant use ever since with slight modifications for continuous time error correction.

Although there is a heap of research papers available in the literature relating AGC problem of power systems. They dealt various aspects of AGC schemes demonstrating the superiority of one scheme over the others. However, there are few notable contributions of the early stages of AGC, which have set the landmarks in the development of AGC schemes. Therefore, it becomes necessary to cite their contributions separately here. Perhaps, Cohn [1-6] was the first to propose the scheme for the control of bulk power transfer in interconnected power systems based on tie-line bias control strategy, particularly the considerations for deciding the frequency bias setting and techniques for time error and inadvertent interchange correction for large multi area power system. Later in [7], he has presented a comprehensive study on; extensive growth and expansion of interconnected electric power systems, the related need to regulate generation in the constituent areas, and the power flow between them and equitable, reliable and economic system and area operation pertaining to the evolution of AGC. Concordia and Kirchmayer [8,9] and Concordia et al. 10[17] have analyzed the AGC problem of two area hydrothermal power systems. They have also studied the effect of governor dead band [10] and the effect of variation of several parameters on dynamic performance of the system.

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Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 8, August 2012) Quazza [11] has proposed an approach for transient analysis of interconnected power systems and design of frequency and tie line power regulators. C. W. Ross [12] reported a comprehensive direct digital load frequency controller for power systems. The AGC regulator design techniques using modern control theory enable the power engineers to design optimal control system with respect to given performance criteria. Elgerd and Fosha were the first to present their pioneering work on optimal AGC regulator design using this concept [28]. Carpentier [13] has added new dimensions in potential applications of modern control theory in AGC as opposed to conventional methods. A paper consisting of informative and pioneering ideas relating to AGC problem of power systems was reported by N. Jaleeli et. al. [14]. III. DEVELOPMENTS IN CONTROL SYSTEM DESIGN CONCEPTS These techniques known as robust control are a combination of modern state space and classical frequency domain techniques. Other advanced techniques in control, such as optimal and adaptive control, are also formulated in state space. More recent trends in the science have been towards intelligent control systems that tend to use both the ideas of conventional control as well as methods such as fuzzy logic, Petri nets, search and genetic algorithms and neural networks. Following these developments in control systems, many AGC schemes have been proposed in the literature as their applications to power systems. IV. CLASSICAL CONTROL BASED AGC SCHEMES

The developments in the area of AGC of interconnected power systems have been augmented through the developments in control system designs. Most of the AGC designs are based on the application of techniques developed in the area of control system designs. These developments in the area of control system designs are as follows; The first era of classical control theory, which deals with the techniques developed before 1950. Classical control embodies such methods as Root Locus, Bode, Nyquist and Routh-Harwitz. These methods have in common the use of transfer functions in the complex frequency domain, emphasizes on the graphical techniques, the use of feedback, and the use of simplifying assumptions to approximate the time response. A major limitation of classical control methods was the use of single-input, single-output (SISO) methods. Also the use of transfer functions and frequency domain limited to linear timeinvariant systems. The second era of control systems is known as an era of modern control which refers to state-space model based methods developed in the late 1950s and early 1960s. In modern control, system models are directly written in the time domain. Analysis and design are also carried out in the time domain. State space model based methods removed the limitations of classical control. Modern control provided a lot of insight into system structure and properties, but it masked other important feedback properties that could be studied and manipulated using classical control. During the third era of the 1970s and 1980s, a number of methods have emerged that were considered to provide solutions to uncertainty problem of the systems.

A fundamental concept in classical control is to describe closed-loop properties in terms of open-loop properties, which are either known or easy to measure. For instance, Nyquist, Bode, and Root Locus plots are the examples of classical control concept, which are drown based on openloop transfer function. Due to the interaction of the control loops in a multivariable system, each single-input/singleoutput (SISO) transfer function can have acceptable properties in terms of step response and robustness, but the coordinated control action of the system may not be acceptable. In literature, a limited work has been reported concerning AGC of interconnected power systems using classical control theory [15-27]. Also the load frequency control system is investigated using root locus techniques by J. E. Van Ness [15] and W. R. Barcelo [16]. O. I. Elgerd and C. E. Fosha had presented a work on AGC which was essentially concerned with the classical approach to determine the optimum integrator gains for ACEs 18[26]. Willems [20] has proposed the classical approach to determine optimum parameter values of conventional load-frequency regulation of interconnected power systems. Kwatny, et al. [21] have identified some important issues regarding AGC. T. Hiyama [22] has proposed a method for designing a discrete-time load frequency controller based on conventional tie-line bias control strategy of a two area reheat thermal system considering generation rate constraint. In [23], M. L. Kothari et. al. have discussed some aspects of sampled data AGC system of two-area interconnected power system based on the classical control approach. Later, in [24] they have studied AGC problem of an interconnected power system in continuous and discrete-mode using classical control theory.

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Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 8, August 2012) V. AGC SCHEMES BASED ON MODERN CONTROL CONCEPTS Therefore, the idea of sub-optimal AGC regulator design was evident to circumvent this problem. Many aspects of sub-optimal AGC regulator designs for power systems have been considered in the publications [42, 56, 64-71]. In [72], authors have proposed a suboptimal controller design technique such that the proportional part of the regulator is a linear function of a smaller number of states of the system plus integral function of the area control error (ACE). The proposed suboptimal control law was obtained by eigenvalues grouping technique and has shown the feasibility of the design technique of the sub-optimal regulator for load frequency control of power system consisting of non-reheat reheats thermal turbines. S. S. Choi [74] discussed a design of an LFC using the feedback of only the directly measurable system state variables. Suboptimal AGC regulators based on decentralized control strategy are also proposed in the literature to circumvent the limitations imposed by AGC regulator designs based on centralized control strategy. P. Kumar et. al. [70] designed AGC regulators for hydrothermal power system based on decentralized control strategies. O. P. Malik et. al. [71] presented a sub-optimal load-frequency control for hydrothermal power systems. The authors have shown that the sub-optimal control with feedback of some, but not all, of the remote area state variables is a feasible alternative to the optimal control, whereas local control without feedback of any remote state variable is inadequate for stabilizing the system. A sub-optimal control method using the areadecomposition technique to the multi-area power system LFC is presented by Yoshibumi in [69]. Sub-optimal AGC schemes have also been reported using the concept reduced order modeling of the system. Elangovan et al. [64] proposed a method by which a suboptimal control policy of a given linear system is derived using its simplified model whose order is less than that of the original system. The AGC of a multi-area interconnected power system using reduced order model has also been investigated in [73]. 5.3 Centralized and Decentralized AGC Schemes In early days, automatic generation control of power systems was dealt with control strategies based on centralized control strategy [11, 18, 28, 34, 38,39, 42,43, 52, 56, 61, 65, 72, 75, 76]. The tie-line bias control scheme was implemented assuming that each area may be considered in isolation so that the area control could be decided on the basis of response characteristics of the area decoupled from the other areas.

The modern power systems are multi-input and multioutput type systems. The classical control theory, which is capable to handle single-input and single-output systems, becomes entirely powerless for such systems. One of the developments in the field of modern control theory is in the direction of its application in optimal control. The AGC regulator design techniques using modern control theory enable the power engineers to design optimal AGC with respect to a given performance criteria. In literature, volumes of research articles are reported using various aspects of modern control concepts. 5.1 Optimal AGC Schemes The application of modern control theory for designing the more efficient AGC controllers for an interconnected power system has been the subject of many publications over the past three decades. Considerable interest has been shown during the last three decades through application of modern linear optimal control theory for arriving at more efficient AGC regulators for interconnected power systems. Elgerd and Fosha were the first to present their pioneering work on optimal AGC regulator design using this concept [28]. Since then, a wide variety of research articles on optimal AGC of power systems have been witnessed [18, 21 29-60]. An advanced version of load frequency control law based on optimal control strategy was developed by Glover and Schweppe [61]. The derived control law was found capable to reduce transient frequency oscillations and also the number of control signals sent to powerhouses. A linear model of an interconnected power system in discrete mode incorporating dead band dynamics was used for the investigation. H.G. Kwatny et. al. [62] have proposed an optimal tracking approach for the design of load-frequency control system. The optimal control law is linearly proportional to all system states as well as integral of area control error. A new design procedure for load frequency control which satisfies all classical requirements, as well as some additional requirements on the feedback control structure is given by Geromel, et al. [63]. 5.2 Sub-Optimal AGC Schemes The implementation of optimal control requires the measurement of all the state variables of the system, which may not always be possible in practice and such regulators impose practical problems in implementation.

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Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 8, August 2012) The main limitation of the works presented on AGC considering centralized control strategy is the need to exchange information among control areas spread over distantly connected geographical territories along with their increased computational and storage complexities [44, 73, 77-79]. A wide range of research papers on decentralized AGC control strategy for large scale power systems with continuous and discrete time system models have appeared in the literature [45,48, 50, 53, 70,71,82, 80-94]. A decentralized AGC regulator has been proposed by Elemetwally and Rao 40 [48] assuming a constrained structure with a minimum error excitation concept. A decentralized sub-optimal load frequency controller considering minimum error excitation principle for a twoarea hydrothermal power system is proposed in [88] by O. P. Malik et al. 5.4 Intelligent AGC Schemes A number of research articles are reported in literature regarding the applications of neural networks in power system control [95-110]. In the recent past, many studies exploiting fuzzy logic concept in AGC regulator design dealing with various aspects of fuzzy logic concept have been appeared in literature [111-128].The frequency error and the change in frequency error are considered as inputs. J. Talaq et. al. [129] have proposed an adaptive fuzzy gain scheduling scheme for conventional PI and optimal AGC regulators. The development of AGC schemes using ANN and fuzzy set theory to utilize the novel aspects of both in single hybrid AGC system design for power systems has also been mooted by researchers through articles [130136]. Another intelligent technique, genetic algorithms (GAs) are the most popular and widely used to solve complex non-linear optimization problems like other computational intelligent systems such as neural networks and fuzzy systems. In [137-142] the applications of GAs for AGC of two-area interconnected power systems are reported. 5.5 Other AGC Schemes Besides the AGC schemes which have been overviewed above in this chapter, there are many other important AGC schemes which are reported in the literature 143-157[219233]. In following paragraphs, the important and remaining AGC schemes are reviewed in brief. Most of the AGC schemes presented so far have been formulated considering linear power system models. However, like other physical systems, power systems are also highly non-linear in nature. AGC schemes incorporating the system non-linearities in overall system modeling are reported in literature [144,147, 151-155]. One of the most important non-linearities in AGC of power systems is the presence of generation rate constraints (GRC). A due space has been given by researchers in this area also. A considerable number of articles have been reported to propose AGC schemes for power systems incorporating GRCs [19, 23,24, 159, 160,146,149]. The researchers [158] have reported their work for the dynamic stability analysis of a two-area power system consisting of non-reheat turbines. They have studied the damping effect on frequency and tie line power oscillations by varying the load characteristics and excitation stabilizer parameters. Recently the application of superconducting magnetic energy storage [136] and capacitive energy storage [154] devices to improve AGC performance has been proposed. Investigations carried by Tripathi et al [153, 154] revealed that improved dynamic performance of the system could be achieved by simultaneous control of steam turbine and energy storage device. However, due to limited energy storage capacity, cost and complicated control, these devices may play very limited role in AGC of large interconnected power systems. REFERENCES
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