Automatic Generation

Control (AGC)
by

Dr. Deependra Kumar Jha

ME (Power Systems), PhD (Electric Power System

Engineering)

Professor, Department of Electrical Engineering

School of Engineering & Technology, Galgotias
University

Outline

Purpose and Overview of AGC

Automatic
Generation
Control
(AGC)
System modeling: control block
diagram
AGC for single generator
AGC for 2 generators
AGC for multi generators

Area Control Error (ACE)

2

Purpose of AGC
To

maintain power balance in the

system.
Make sure that operating limits
are not exceeded: Generators limit
Tie-lines limit
Make

sure that system frequency

is constant (not change by load).
3

Overview of AGC
Load

is always changing.
To maintain power balance,
generators need to produce more
or less to keep up with the load.
When Gen < Load (Gen > Load),
generator speed and frequency
will drop (rise).
=> We use this generator speed
and frequency as control signals!
4

3 Components of AGC
Primary

control

Immediate (automatic) action to sudden change of

load.
For example, reaction to frequency change.
Secondary

control

To bring tie-line flows to scheduled.

Corrective actions are done by operators.
Economic

dispatch

Make sure that the units are scheduled in the most

economical way.
This

presentation covers only primary and

secondary control of AGC.
5

AGC for Single Area

System Modeling
Single Generator
Multi Generators, special case: two
generators

System Modeling: Turbine-Governor

Model
Small

signal analysis model, relating mechanical

power to the control power and the generator
speed.

1
R
-

PC
+

GM s
1
1 sTG 1 sTT

PM

PC = Small change in control setting power

Where

=
Small
change in governor synchronous speed

PM
=
Small
change in mechanical output power
R
= Regulation
constant

M s
=GTransfer
function relating mechanical power to control signals

Speed-Power Relationship
From

synchronous turbinegovernor: small signal analysis

model, P G s P 1
M

GM s

At

steady state (s1 0,

PM PC
1), we have
R

Static Speed-Power

From,
Curve
Slope = -R

1
PM PC
R

Primary control: Immediate

change corresponding to
sudden change of load
(frequency)

Secondary control: Change

in setting control power to
maintain operating
frequency.

The higher R (regulation),

the better.

2
1

PM
PC1 = PM 1

PC 2 = PM 2

Turbine and Generator Load

Model
Turbine

Model

YE ( s )

Generator

Kt
1 STt

Pg ( s )

load model

PD ( s )
-

Pg ( s )

Kp
1 STp

F ( s )

10

AGC for Single

closed loop power control system
Generator
as below.
1
R

PC

PD ( s )
Kg Kt
1 sTg 1 sTT

Pg ( s )

Kp
1 STp

F ( s )

11

AGC for Multi

Generators
Consider effect of
power flows in transmission lines,
and
loads at each bus

to mechanical power of each

generator.
This analysis assumes that every
bus is a generator bus.
12

Power Balance Equation at

Each
At eachBus
bus,
G1
G2
PGi PDi Pi

Where
PGi
PDi
Pi

V1

= Generator i power
= Load power at bus I

PD1

V2
P2

P1

= Power flow from bus i

Consider

small

changes,
PGi PDi Pi

V3
PD 3

PG 3
G3

13

PD 2

PGG12

Load Power Equation

PDi
(Assume
) that
PDi DLi i PLi DLi i PLi
Where
=PLiSmall change of load input

=P Small change of load power

Di
=iSmall change of voltage angle

Substitute

in power balance

equation,PGi PDi Pi
We

PGi DLi i PLi Pi

have

14

Mechanical Power of Each

Generator (
)

PGi

Linearized

equation relating
mechanical power to generator
power and generator
speed.

PMi M i i Di i PGi

Where
=
PMiSmall change in mechanical power of generator i
=
PGiSmall change in electric power of generator i
=
i small change in internal voltage angle of generator i

From,

PGi DLi i PLi Pi

We have

PMi M i i Di i DLi i PLi Pi

15

Generator Block Diagram

From,P M D D P P
Mi
i
i
i
i
Li
i
Li
i
1

We can write
i
~ PMi PLi Pi

where

~
Di Di DLi

PLi
PMi

M s D
i

i
1
M i s Di

1
s

Pi
16

AGC for Multi Generators: Block

Diagram
PCi

GMi s

GPi s

PLi

1
Ri

1
GPi s
~
M i s Di

PMi +

Pi

Change in tie-line
power flow

GMi s

1 sTGi 1 sTTi
17

Tie-line ModelP(i
From

power flow equation,

n
Pi Vi Vk Bik sin i k
k 1
Approximate at normal operating
condition, we have
n
Pi Bik i k
k 1
Then, for small change,
n

k 1

k 1

Pi Bik i k Tik i k
Where

Tik

is called stiffness or synchronizing power coefficient

18

Tie-Line Block Diagram

From

1
and

Pi Tik i k
s
n

k 1

We

have,Pi Tik i k
k 1

i
Pi

1
s

+
+

Tik

+
-

+
19

AGC for 2-Generator: Block

Diagram1
PL1

R1

PC1
+

GM 1 s

PM 1 +

P1 P12

-1

PC 2
+

GP1 s

GM 2 s
-

PM 2+

P2 P21

GP 2 s

1
+

T12
-

1
R2

PL 2
20

AGC for 2-Generator:

Static Speed-Power Curve
Load

increases.
Frequency drops.
Steady state is
reached when
frequency of both
generators is the
same.

2
1
+

= Change in
total load
PM

PM 1

PM 1 PM 2

PM 2

21

Steady State Frequency Calculation:

2 generators
From

~
~
PMi M i i Di i PLi Pi Di i PLi Pi

Consider

the frequency at steady

~
PM 1 D11 PL1 Ptie line
state,
~
PM 2 D2 2 PL 2 Ptie line
1
1 2 PM 1
R1

PM 2

1

R2

PL1 PL 2
1
1
~ ~
D1 D2
R1 R2
22

AGC for Multi Areas

Simplified Control Model
Area Control Error (ACE)

23

Simplified Control Model

Generators

are grouped into control areas.

Consider

An area as one generator in single area, and,

Tie-lines between areas as transmission lines
connecting buses in single area.

We can apply the same analysis to multiarea!!

However, we have to come up with
frequency-power characteristics of each
area.
Actual application of this model is for
power pool operation.
24

Power Pool Operation

Power

pool is an interconnection of
the power systems of individual
utilities.
Each company operates
independently, BUT,
They have to maintain
contractual agreement about power
exchange of different utilities, and,
same system frequency.

Basic

rules

Maintain scheduled tie-line capacities.

Each area absorbs its own load changes.
25

AGC for Multi Areas

During

transient period, sudden change of load

causes each area generation to react according
to its frequency-power characteristics.
This is called primary control.
This change also effects steady state frequency
and tie-line flows between areas.
We need to
Restore system frequency,
Restore tie-line capacities to the scheduled value, and,
Make the areas absorb their own load.

This is called secondary control.

26

Area Control Error (ACE)

Control

setting power of each area

needs to be adjusted corresponding
to the change of scheduled tie-line
capacity and change of system
frequency.
ACE measures this balance, and is
given by,
ACE1 P12 B1

ACE2 P21 B2

for two area case.

Where

Bi

1
Bi DLi
Ri

= Frequency bias setting of area i (>0) and

27

ACE: Tie-Line Bias Control

Use

ACE to adjust setting control PCi

power,
, of each area.
Goal:
To drive ACE in all area to zero.
To send appropriate signal to setting
controlPpower,
Ci

Use

integrator controller so that

ACE goes to zero at steady state.

28

AGC for 2-Area with Tie-line Bias Control: Block

Diagram
B1
+

1
ACE1

P+

1
R1

K PC1
1
s
+

12

-1
P21+

PM 1

ACE2

K PC 2
2
s
+

P1 P12

GM 2 s
-

GP1 s

-1

B2

GM 1 s

PL1

1
R2

PM 2

P2 P21

GP2 s

T12
-

PL 2

29