INTERNATIONAL

JOURNAL OF
International Journal of Engineering, Science and Technology ENGINEERING,
MultiCraft
Vol. 3, No. 10, 2011, pp. 12-19 SCIENCE AND
TECHNOLOGY
www.ijest-ng.com
www.ajol.info/index.php/ijest
 2011 MultiCraft Limited. All rights reserved

Big bang-big crunch based optimized controller for automatic generation

control and automatic voltage regulator system
Cheshta Jain1*, H.K. Verma2, L.D. Arya3
1*
Department of Electrical Engineering, MITM, Indore, INDIA
2
Department of Electrical Engineering, Shri G.S.I.T.S, Indore, INDIA
1*
Department of Electrical Engineering, Shri G.S.I.T.S, Indore, INDIA
*
Corresponding Author: e-mail: cheshta_jain194@yahoo.co.in,

Abstract

In modern power system one of the major problems is to control generator output frequency with excitation voltage at a
specified level. Automatic generation control (AGC) maintains system frequency, where as automatic voltage regulator (AVR)
controls the terminal voltage of synchronous generator when subjected to load perturbation. This paper presents a Big Bang- Big
Crunch based optimum gains of controllers to maintain both system frequency and voltage magnitude. The proposed method,
have shown better performance over particle swarm optimization (PSO) and differential evaluation (DE) optimization method
for AGC-AVR system.

Keywords: Automatic generation control, Automatic voltage regulator, Big Bang-Big Crunch optimization, particle swarm optimization,
differential evolution. .

DOI: http://dx.doi.org/10.4314/ijest.v3i10.2

1. Introduction

Automatic generation control mainly refers to real time frequency control loop to match the area generation changes
corresponding to change in area load in order to meet tie-line flows and to maintain frequency at nominal value. Another control
loop, usually assumed to be decoupled from above control loop, of the generator excitation system maintains generators voltage
and reactive power flow. To simplify the overall controller design, the interaction between the frequency and voltage control loop
is usually neglected in most of the studies. In an interconnect power system load frequency control and automatic voltage regulator
equipment are installed for each generator. This paper presents a study of interaction between exciter AVR with frequency control
loop of AGC.
The controller of AGC and AVR are set for a particular operating condition. Many investigations in the area of AGC of isolated
and interconnected power system have been reported in the past but they have not considered the effect of AVR. (Dabur et al.
2011) proposed AGC-AVR for multi-area power system with demand side management. Their paper mainly focused on reduction
of total load demand during period on peak demand to maintain security of system but the selection of optimum gains of
controllers is not explained. A number of different approaches such as classical optimal, Genetic algorithm, fuzzy logic, artificial
neural network etc. for selection of controller parameters have been (Nindul, 2008) applied on AGC without AVR. Some authors
have applied particle swarm optimization (PSO) to optimize controller gains more effectively and efficiently than classical. Recent
research papers identified some deficiency in PSO performance (Arya et al., 2011). Premature convergence of PSO is overcome by
differential evaluation (DE) algorithm (Arya et al., 2011). A new computational technique Big Bang-Big Crunch (BB-BC) is
available and this has been successfully applied on some areas of engineering. This paper proposes optimization of proportional
plus integral plus derivative controller for voltage regulator and integral controller for load frequency control by use of Big Bang-
Big Crunch (BB-BC) optimization algorithm. Integral controller has ability to return a system to its set point and generation is
13 Jain et al. / International Journal of Engineering, Science and Technology, Vol. 3, No. 10, 2011, pp. 12-19

adjusted automatically to restore the system frequency to the nominal value. The PID controller of AVR improves the dynamic
response with minimum steady state error.
BB-BC is a new algorithm relies on one of the evolutionary theories of universe namely the Big Bang theory and Big Crunch
theory. According to these theories, if the gravitational energy is greater than the energy generated by Big Bang the expansion of
universe stop (Kripka et al, 2008), which is followed by a contraction. This will reduce the universe to a single point.
In view of the above, the following are the main objective of the proposed work.
• Obtain optimized gains of controller for both AGC and AVR system.
• Obtain dynamic response of AGC-AVR system to show the effect of coupling between them by using MATLAB
software.
• Compare the performance of BB-BC algorithm to the PSO and DE algorithm.
The rest of the paper is organized as follows: Section 2 describes BB-BC algorithm. In section 3 the AGC-AVR system model is
developed and implement BB-BC based controller in section 4. Section 5 shows the results with detailed discussions and
conclusion is drawn in section 6.

2. Overview of Big Bang- Big Crunch Optimization

The Big Bang- Big Crunch optimization is a heuristic population based evolutionary method. This method is developed by
(Osman and Eskin, 2006) which can easily handle multidimensional problem with very fast convergence. This algorithm is based
on the formation of Universe stated by Big Bang theory. According to this theory the Universe was once a sphere with infinite
radius and density. Due to several internal forces, the existed mass is exploded massively called Big-Bang and billions of particles
moving outwards. Once particles start spreading, a gravitational force arises which depends on masses of two bodies considered
and distance between them. As expansion takes place the gravitational force on each particle decreases and kinetic energy of
expansion dissipated rapidly (Potuganti, 2011).
Because of expansion gravitational energy between particles overcomes the kinetic energy resulting particles are shrinking. At
this stage all particles collapse in to a single particle called Big-Crunch. This algorithm work through a simple cycle of stages as:
Stage 1 (Big Bang phase): The initialization in this phase is similar to other evolutionary method. An initial population of
candidate is generated randomly over the entire search space as:

() ()

 () =
() () +
 . (
() −
() ) (1)

Where,
k=1, 2, 3…….. no of parameters and i=1, 2,…..population size.
xi(min) and xi(max)are upper and lower limit of ith candidate.
The working of Big Bang phase is explained as energy dissipation. Randomness in the initialization is same as the energy
dissipation in nature, but this dissipation creates disordered from ordered particles and use this randomness to create new solution
candidate (disorder or chaos). The number of individuals in the population must be big enough in order not to miss the global
point.
Stage 2 (Big Crunch phase): Big Crunch phase come as a convergence operator. This phase has only one output named as center
of mass. The center of mass is the weighted average of candidate solution as (Yesil et al, 2010):
()
 
∑ ! 
 =

 ! (2)
∑ !

Where,
Xcom is position of the center of mass.
xik is position of ith candidate in N dimensional search space.
fi is fitness function value of ith candidate.
Pop is number of candidate population.
Stage 3 (generate new population): Big Bang phase is normally distributed around center of mass. The new candidate around the
center of mass is calculated by adding or subtracting a normal random number as:
)*+.,(-(./0) 1-(.23) )

"# = $.  + (1 − $ )
&"'( +
(")*( '("4
(3)
Where,
α is parameter limiting the size of search space.
β is parameter controlling the influence of the global best solution xbest on the location of new candidate solution. The best
solution xbest influence the direction of search (Yesil et al, 2010).
14 Jain et al. / International Journal of Engineering, Science and Technology, Vol. 3, No. 10, 2011, pp. 12-19

Stage 4 (selection or recombination): Now apply selection criterion. Selection determines that, whether the new candidate is
suitable for next iteration or not. The value of fitness function of current generation (f (xinew)) is compared with the previous fitness
function (f (xi)) of corresponding individual. If the fitness functions to newly generated candidate have lower value than previous
one then former candidate replaced by new generated candidate as:

4)"67'

 4)"67' 89 9(
 ) ≤ 9(
 "# )

 "-( (")*( = 5 <

 "# 89 9(
 "# ) < 9(
 4)"67' )
(4)

As the search space is contracted with new iteration the algorithm arrives at the optimum point very fast.

3. AGC-AVR System Model

Nowadays loads are continuously changing. If the load on the system is increased the speed of turbine is reduced before the
governor can adjust the input of steam to the new load. As the change in output of system become smaller, the position of governor
moves to set point to maintain a constant speed in automatic generation control (AGC). On the other hand, the generator excitation
system control generator voltage and reactive power flow using automatic voltage regulator (AVR) (Hadi saadat, 2002). Modern
excitation system uses ac generators with rectifiers. The interaction between AGC and AVR is weak but they affect both system
frequency and generator voltage due to load change. However, the AVR loop is faster than AGC loop. Therefore, AVR dynamics
settle before they make themselves in slower AGC system.
This paper studied on coupling effect by extending the linear AGC to include the excitation system. The real power transfer over
the line is:

|?! ||?@ |
== B8C
A
(5)

This is the product of the synchronizing power coefficient (Ps) and the change in the power angle (∆δ). Now include
small effect of voltage on real power as:

∆=)"*E = =' ∆C + F1GH

(6)
Where, K1 is the change in electrical voltage for a small change in stator emf and Vf is output of generator field. Also,
including the small effect of rotor angle on generator terminal voltage as:

∆G( = F2∆C + F3GH

(7)
Where, K2 is the change in the terminal voltage for a small change in the rotor angle at constant stator emf, and K3 is the
change in the terminal voltage for a small change in stator emf at a constant rotor angle. Now finally modify the generator field
output as:

K
GH = (MN'O
L
(G − F4∆C)
) "L
(8)
Where, Ve is exciter output voltage, KG is a generator gain constant, and TG is generator time constant. The value of all the gains,
time constants and constants are given in appendix.
The complete transfer function model of AGC-AVR is shown in fig 1.
15 Jain et al. / International Journal of Engineering, Science and Technology, Vol. 3, No. 10, 2011, pp. 12-19

∆PL
- -
- + ∆δ
-
Governor Turbine system
+ Ps
+
K1 K2
K4

- + Vt
Vref Ve
PID + K3 +
+ Vf
- Amplifier Exciter Generator Field

Sensor

Fig.1 transfer function model of AGC-AVR system.

4. Big Bang Big Crunch Based Optimization of Controller Gains

In tuning of controller gains, the common performance criterion are integral square error (ISE), integral weight square error
(ITSE) etc. but minimizing using these criterion results in a small overshoot with long settling time. Because of these reasons, this
paper proposed undershoot, steady state error and settling time based performance criterion as:

^
Q8RSBB 9TUVR8W = XYZ4 + SBB[. 1000] + (_B . 100)2 + (RB )2 (9)

4.1 Implementation of Algorithm:

step1 Set system data (given in appendix), select value of α, β and number of population, number of maximum iteration.
step2 Set iteration count c=1 and randomly initialize candidate solution (xi = x1, x1, ….xN) for gains of controller within limits
using eq.1.
step3 Run AGC-AVR model and calculate performance parameter for each ith candidate solution.
step4 Calculate fitness function using eq. 9 for all candidate solution and best fitness value.
step5 Find the center of mass using eq. 2 (Big Bang phase).
step6 Calculate new candidate around center of mass (eq. 5).
step7 Apply selection criterion (eq. 4) and set c=c+1.
step8 If maximum number of iteration reached then stop otherwise go to step 3.
The flow chart of BB-BC computational procedure is shown in fig.2.
16 Jain et al. / International Journal of Engineering, Science and Technology, Vol. 3, No. 10, 2011, pp. 12-19

start

Read system data, set max. no. of iteration, population size etc.

Generate initial population randomly using eq.1.

Run AGC-AVR system and calculate fitness function using eq.9

Calculate center of mass using eq.2.

c=c+1
Generate new candidate solution using eq.3.

Apply selection criterion using eq. 4.

Gen < max. iteration

Obtain system dynamic response

End

Fig. 2 BB-BC optimization power flow chart

5. Result and Discussion

The proposed BB-BC algorithm is tested on AGC-AVR system for one percent step load perturbation and compared with other
heuristic algorithm like particle swarm optimization and differential evaluation algorithm using MATLAB software. All methods
are performed with five trials under the same performance criteria and number of individual to compare their efficiency. Fig.3
depicts the plot of fitness function value corresponding to best value against number of iteration. The BB-BC algorithm based
solution converged very fast with minimum value. Fig.4 and Table 1 shows that the computational time and fitness function of the
BB-BC algorithm is lowest in comparison to those of the other methods. Fig.5 and 6 shows the BB-BC based controller gains give
better optimal performance compared with other algorithms for change in system frequency and terminal voltage of generator field
respectively. Table-2 shows the proposed algorithm based optimal gains results in a minimum overshoot, steady state error and
settling time.
17 Jain et al. / International Journal of Engineering, Science and Technology, Vol. 3, No. 10, 2011, pp. 12-19

best fitness by PSO best fitness by DE

best fitness by BB-BC

Fig. 3 comparison of convergence characteristics

Fig.4 characteristics of computation time

Step Response
0.02

-0.02 w bbbc
w pso
w DE
-0.04
Amplitude

-0.06

-0.08

-0.1

-0.12

-0.14

-0.16
0 5 10 15 20 25
Time (sec)

Fig.5 Comparative dynamic response of change in system frequency

18 Jain et al. / International Journal of Engineering, Science and Technology, Vol. 3, No. 10, 2011, pp. 12-19

Step Response
2

1.8

1.6 vt_PSO
vt_DE
1.4 vt_BBBC

1.2
Amplitude

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)

Fig.6 response of change in voltage magnitude of generator field

Table-1 Optimal controller gains and best fitness function.

Algorithm PID Controller Gains of AVR Integral Gain Fitness Execution
of AGC function time
KP KI KD KI
PSO 0.0973 0.0527 0.0198 0.5360 394.9181 58.848052
DE 0.0509 0.0511 0.2040 0.1079 391.0559 140.608386
BB-BC 0.0824 0.0694 0.0887 0.0109 252.5015 51.005986

Table-2 comparison of performance parameters

Algorithm System performance parameters
Settling time(Sec.) Overshoot Undershoot Steady state error
PSO 18.8075 0.002 -0.0615 0.00677
DE 12.8059 0.0044 -0.1407 0.009778
BB-BC 11.3081 0.0021 -0.1066 0.0012

6. Conclusion

In this paper a combined MATLAB model of AGC and AVR is used to study the interaction of AVR loop with AGC loop. Big
Bang-Big Crunch algorithm is used to obtain the optimum design of controllers for AGC and AVR system. The relative merit of
BB-BC for search of global optimum point with many local optima over PSO and DE algorithm is established through efficient
and reliable results obtained in this paper following a step load change in a control area. The proposed algorithm involved few
control parameters compared to other heuristic methods shown the convergence speed better than PSO and DE with the same
design parameter.

Nomenclature
∆w = Frequency deviation.
∆PL = Load change.
D= ∆PL / ∆w
R = Governor Speed regulation parameter.
Th = Speed governor time constant.
Tt = Speed turbine time constant
TP = Power system time constant.
Te = Exciter time constant.
TG = Generator field time constant.
Ts = Sensor time constant.
KP = Power system gain.
19 Jain et al. / International Journal of Engineering, Science and Technology, Vol. 3, No. 10, 2011, pp. 12-19

H = Inertia constant.
Us = Undershoot
Mp = Overshoot
ts = Settling time.
tr = Rise time.
ess = Steady state error.

Appendix

Nominal parameters of AGC-AVR system (Elgerd, 2001): Parameters for BB-BC algorithm:
H= 5 seconds Initial population= 20
D= 8.33×10-3P.U. MW/Hz Maximum iteration= 100
R=2.4 Hz/P.U. MW β=0.5, α=0.1.
Th=80 ms Parameters for DE algorithm:
Tt=0.3 seconds Initial population= 20
Kp=120HzP.U. MW Maximum iteration= 100
Tp=20 seconds Scaling factor F= 0.5
Ps=0.145P.U. MW/Radian Crossover probability (CR) = 0.98
KH=KT=Ke= 1. Parameters for PSO algorithm:
KA=10, TA=0.1. Initial population= 20
Te=0.4. Maximum iteration= 100
KG=0.8, TG=1.4. Wmax= 0.6, Wmin= 0.1
Ks=1, Ts=0.05. C1= C2= 1.5
K1=1, K2=-0.1, K3=0.5, K4=1.4.

References

Dabur P., Yadav N., Tayel V.K., 2011. MATLAB design and simulation of AGC and AVR multi area power system and demand
side management, International Journal of Computer Electrical Engineering, Vol. 3, No. 2.
Sinha N., Lai L.L., Rao V.G., 2008. GA optimized PID controllers for automatic generation control of two-area reheat thermal
system under deregulated environment, Proceedings of. IEEE International Conference on Electric Utilizes Deregulation and
Restructuring and Power Technologies, pp. 1186-1191.
Arya L.D., Verma H. K. and Jain C., April 2011. Differential evolution for optimization of PID gains in automatic generation
control, International Journal of Computer Science and Application.
Osman K.E., Ibrahim Eksin, 2006. New optimization method: Big Bang-Big Crunch, Elsevier, Advances in Engineering
Software Vol. 37, pp. 106-111.
Potuganti Prudhvi, 2011.A complete copper optimization technique using BB-BC in a smart home for a smarter grid and a
comparison with GA, IEEE ConferenceCCECE.
Moacir Kripka and Rosana Maria Luvezute Kripka, (2008) “Big Crunch Optimization Method”, International Conference on
Engg. Optimization 01-05 June 2008.
Engin Yesil, Leon Urbas, 2010. Big Bang- Big Crunch Learning Method for Fuzzy Cognitive Maps”, world Academy of
Science, Engg and Technology, 7.
Hadi Saadat; 2002. Power System Analysis, Mc Graw- Hill, New Delhi.
Nasser Jaleeli, Donald N. Ewart, Lester H. Fink; 1992. Understanding automatic generation control, IEEE Transaction
on Power System, Vol. 7, No. 3, Pages: 1106-1122.
Vaibhav Donde, M.A.Pai, and Ian A.Hiskens; 2001.Simulation and optimization in an AGC system after deregulation, IEEE
Transactions on Power Systems, Vol.16, No -3.
Kaveh and H. Abbasgholiha, 2010. Optimization design of steel sway frames using big bang- big crunch algorithm, Asia Journal
of Civil Engg. Vol. 12, no. 3, pp. 293-317.
Das S.and Suganhan P.N. 2011. Difrential evolution: A survey of the state of the art, IEEE trans. on Evolutionary Computation,
Vol. 15, No. 1.
Storn R, , Price K., 1995. Differential evolution –A simple and efficient adaptive scheme for global optimization over continuous
spaces, Technical report TR-95-012, March 1995,ftp.ICSI.Berkeley.edu/pub/techreports, tr-95-012.
Gaing Z.-L., 2004. A particle swarm optimization approach for optimum design of PID controller in AVR system, IEEE
Trans. Energy Conversion, Vol. 19, pp. 384-391.
Elgerd O.I., 2001. Electric energy system theory an introduction, McGraw Hill Co..
20 Jain et al. / International Journal of Engineering, Science and Technology, Vol. 3, No. 10, 2011, pp. 12-19

Biographical notes

Cheshta Jain received M.E from Shri G.S.I.T.S, Indore India in 2007. She is a Asst. Professor in the Department of Electrical and Electronics, MITM, Indore,
India. Presently she is pursing Phd from S.G.S.I.T.S Indore, India. Her research interests include power system restructuring, power system optimization & control.

Dr. H. K. Verma is a professor in the Department of Electrical Engineering, shri G.S.I.T.S Indore, India. He has more than 20 years of experience in teaching and
research. His current area of research includes Power system, control system, Drives, Optimization and Neural Networks. He has published more than fifteen
papers in referred international journals. He has also presented more than fifty research articles in national and international conferences. He is a member of ISTE
and IE (India).

Dr.L.D Arya is a professor in the Department of Electrical Engineering, shri G.S.I.T.S Indore, India. He has more than 35 years of experience in teaching and
research. His current area of research includes Power system stability, Voltage stability, Voltage Security, Optimization and Neural Networks. He has published
more than seventy five papers in referred international journals. He has also presented more than hundred research articles in national and international conferences.
He is a Fellow member of IE (India).

.
Received December 2011
Accepted May 2012
Final acceptance in revised form October 2012