Energy Conversion and Management 43 (2002) 18531863

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Ecient fuzzy logic loadfrequency controller

M.K. El-Sherbiny, G. El-Saady *, Ali M. Yousef
Electrical Engineering Department, Faculty of Engineering, Assiut University, Assiut, Egypt Received 7 March 2001; accepted 15 June 2001

Abstract This paper investigates an application of the fuzzy logic technique for designing the loadfrequency control system to damp the frequency and tie line power oscillations due to dierent load disturbances. The proposed fuzzy loadfrequency controller, called a two layered fuzzy controller, consists of two layers. The rst one is called the precompensator, which is used to generate and update the reference value of area control error (ACE), while the second one, called feedback fuzzy logic controller, makes the ACE decay to zero at steady state. The simulated power system consists of an integral control, two area loadfrequency power system. The proposed two layered fuzzy logic controllers are designed for each area. The studied power system is subjected to a wide range of load disturbances to validate the eectiveness of the proposed controller. Moreover, a comparison between the power system frequency error responses using the conventional integral control system only and the proposed fuzzy controller is reported and obtained. The digital results prove the power of the present two layered fuzzy loadfrequency controller over the conventional one in terms of fast response with less overshoot and small settling time. 2002 Elsevier Science Ltd. All rights reserved.
Keywords: Power systems; Fuzzy logic; Loadfrequency control system

1. Introduction Loadfrequency control (LFC) is important in electric power system design and operation. Moreover, to ensure the quality of the power supply, it is necessary to design a LFC system, which deals with the control of loading of the generator depending on the frequency. The conventional proportional plus integral controller is probably the most commonly used. It is well known that power systems are non-linear and complex, where the parameters are a function of the operating point, and the loading in a power system is never constant. Further, the two area power system,
*

Corresponding author. E-mail address: gaber1@yahoo.com (G. El-Saady).

0196-8904/02/$ - see front matter 2002 Elsevier Science Ltd. All rights reserved. PII: S 0 1 9 6 - 8 9 0 4 ( 0 1 ) 0 0 1 2 6 - 1

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composed of steam turbines controlled by integral control only, is sucient for all load disturbances, and it does not work well. Also, the non-linear eect due to governor deadzones and generation rate constraint (GRC) complicates the control system design. Further, if the two area power system contains hydro and steam turbines, the design of LFC systems is important. There are dierent control strategies that have been applied, depending on linear or non-linear control methods [16]. With the advent of fuzzy logic theory, various applications for it have been established [79]. It is considered that the fuzzy logic control system works well with non-linear systems. The present paper utilizes the fuzzy logic control technique called a two layered fuzzy control to design the LFC system for two area power systems. The proposed technique is added to the integral control LFC system as a supplementary signal to improve the power system stability and response characteristics. Also, the non-linear eect due to governor deadzones or GRC are considered [912]. The types of turbines employed in the two area power system, whether steam steam or steamhydro, are studied with the proposed fuzzy logic control technique. The essential feature of the present fuzzy logic technique is that it uses the area control error (ACE) to improve the transient response by designing a feedforward fuzzy compensator and also uses a steady state error forced to zero by building a feedback fuzzy logic controller (FLC). The eect of adding the proposed two layered FLC on the power system response characteristics with dierent two area power systems, taking into consideration the non-linear eects, are studied after applying dierent load disturbances. 2. Two area loadfrequency control model The system investigated comprises an interconnection of two areas. The linearized mathematical model of the rst order system is represented by state variable equations as follows. 2.1. Model-1 (Steam turbines) [10] The linearized mathematical model of the system shown in Fig. 1 is represented by state variable equations as follows:

Fig. 1. Block diagram of LFC of two area power system with governor deadzone and GRC (thermalthermal system).

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Df1 1=Tp1 Df1 kp1 =Tp1 DPg1 kp1 =Tp1 DPtie kp1 =Tp1 DPd1 DPg1 1=Tr1 DPg1 DPr1 1=Tr1 Kr1 =Tt1 Kr1 =Tt1 DXE1 DPr1 1=Tt1 DXE1 1=Tt1 DPr1 DXE1 1=R1 Tg1 Df1 1=Tg1 DXE1 1=Tg1 DEx1 1=Tg1 DUp1 DEx1 KE1 B1 Df1 DPtie
Df2 1=Tp2 Df2 kp2 =Tp2 DPg2 kp2 =Tp2 a12 DPtie kp2 =Tp2 DPd2

DPg2 1=Tr2 DPg2 DPr2 1=Tr2 Kr2 =Tt2 Kr2 =Tt2 DXE2 DPr2 1=Tt2 DXE2 1=Tt2 DPr2 DXE2 1=R2 Tg2 Df2 1=Tg2 DXE2 1=Tg2 DEx2 1=Tg2 DUP 2 DEx2 KE2 B2 Df2 a12 DPtie DPtie 2pT12 Df1 Df2 2.2. Model-2(SteamHydro turbines) [11,12] The linearized mathematical model of the system shown in Fig. 2 is represented by state variable equations as follows: Df1 1=Tp1 Df1 kp1 =Tp1 DPg1 kp1 =Tp1 DPtie kp1 =Tp1 DPd1 DPg1 1=Tr1 DPg1 DPr1 1=Tr1 Kr1 =Tt1 Kr1 =Tt1 DXE1 DPr1 1=Tt1 DXE1 1=Tt1 DPr1 DXE1 1=R1 Tg1 Df1 1=Tg1 DXE1 1=Tg1 DEx1 1=Tg1 DUp1 DEx1 KE1 B1 Df1 DPtie
Df2 1=Tp2 Df2 kp2 =Tp2 DPg2 kp2 =Tp2 a12 DPtie kp2 =Tp2 DPd2

DPg2 DPg2 1=0:5Tw 1=0:5T2 TR =0:5T1 T2 DXE2 1=0:5Tw 1=0:5T2 TR =0:5T1 T2 R2 Df2 DPr2 1=T1 DPr2 1=R2 T1 Df2 1=T1 DEx2 1=T1 DUp1 DXE2 1=T2 DXE2 DPr2 1=T2 TR =T1 T2 TR =T1 T2 R2 Df2 DEx2 KE2 B2 Df2 a12 DPtie DPtie 2pT12 Df1 Df2

3. Two layered fuzzy logic controller description The application of fuzzy logic theory to design an automatic controller has received considerable interest in recent years [8,9] because the fuzzy logic technique treats with plants not having a precise mathematical model. The conventional feedback FLC does not give good transient response, and it may result in steady state errors. The proposed two layered FLC compensates

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Fig. 2. Block diagram of LFC of two area power system with governor deadzone and GRC (hydro-thermal system).

Fig. 3. Proposed two layered FLC.

these defects and gives fast responses without large overshoot and/or undershoot. Moreover, the steady state error reduces to zero. The present FLC consists of two layers. The rst layer, called the precompensator, is used to update and modify the reference value of the output signals to damp the oscillation in a very fast time. The other layer is called the feedback FLC, and it is used to reduce the steady state error to zero. Fig. 3 depicts the block diagram of the proposed two layered FLC.

4. Design of two layer fuzzy logic controller for the system investigated Fig. 4 shows the integral control, two area LFC system with the proposed fuzzy controller for each area. The input signals to the precompensator are the ACE and its change, while the output signal is the control error. The second layer of the proposed fuzzy controller has two input signals,

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Fig. 4. The proposed two layered FLCs with two area power system.

Fig. 5. Three stages of FLC e: error, de: change of error, l: membership degree.

namely the output signal of the precompensator and its change. It is well known that the FLC consists of three stages, namely fuzzication, control rules inference engine and defuzzication [7], as shown in Fig. 5.

5. Digital simulation results To validate the eectiveness of the proposed fuzzy controllers, the power system under study is simulated and subjected to dierent load disturbances. The power system frequency deviations are obtained. Further, various types of turbines (steam and hydro) are simulated. Moreover, the nonlinear elements, in terms of GRC and governor limiter, are included in the simulation. Also, a comparison between the power system responses using the conventional integral control system and the proposed FLC is studied as follows. 5.1. Using model-1 without non-linear eect Figs. 68 show the frequency deviations and tie line power responses of the two area power system due to a load disturbance of 0.05 p.u. applied on area-1 with and without (integral control only) the proposed FLC.

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Fig. 6. Frequency deviation response of area-1 due to 0.05 p.u. load disturbance in area-1 of the two area power system without non-linear eect (Integral integral control, Fuzzy-2 proposed fuzzy control).

Fig. 7. Frequency deviation response of area-2 due to 0.05 p.u. load disturbance in area-1 of the two area power system without non-linear eect (Integral integral control, Fuzzy-2 proposed fuzzy control).

5.2. Using model-1 with non-linear eect The characteristic of governor deadzones with deadzones D is described by the function [8]: 8 < mv d Dv 0 : mv d if v P d if d 6 m 6 d if m 0 d

_ The block diagram of the plant model with GRC given by DPg 6 0:0017 p.u. MW/s is shown in Figs. 1 and 2. The frequency deviations and tie line power responses using the conventional integral and proposed two layered fuzzy controllers due to load disturbance of 0.05 p.u. is shown in Figs. 911.

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Fig. 8. Tie line power deviation response due to 0.05 p.u. load disturbance in area-1 of the two area power system without non-linear eect (integral integral control, fuzzy-2 proposed fuzzy control).

Fig. 9. Frequency deviation response of area-1 due to 0.05 p.u. load disturbance in area-1 of the two area power system with non-linear eect (integral integral control, fuzzy-2 proposed fuzzy control).

Fig. 10. Frequency deviation response of area-2 due to 0.05 p.u. load disturbance in area-1 of the two area power system with non-linear eect (integral integral control, fuzzy-2 proposed fuzzy control).

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Fig. 11. Tie line power deviation response due to 0.05 p.u. load disturbance in area-1 of the two area power system with non-linear eect (integral integral control, fuzzy-2 proposed fuzzy control).

5.3. Using model-2 without non-linear eect Figs. 1214 show the frequency deviations and tie line power responses of the two area power system due to a load disturbance of 0.05 p.u. applied on area-1 with and without (integral control only) the proposed FLC.

5.4. Using model-2 with non-linear eect The same non-linearity as in model-1 (GRC and governor deadzones) are included. The frequency deviations and tie line power responses when a load disturbances of 0.05 p.u. is applied to area-1 with and without (integral control only) the proposed FLC are shown in Figs. 1517. The digital simulation results prove the eectiveness of the proposed two layered FLC over only the conventional integral control system in terms of fast response with less overshoot and/or undershoot.

Fig. 12. Frequency deviation response of area-1 due to 0.05 p.u. load disturbance in area-1 of the steamhydro two area power system without non-linear eect (integral integral control, fuzzy-2 proposed fuzzy control).

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Fig. 13. Frequency deviation response of area-2 due to 0.05 p.u. load disturbance in area-1 of the steamhydro two area power system without non-linear eect (integral integral control, fuzzy-2 proposed fuzzy control).

Fig. 14. Tie line power deviation response due to 0.05 p.u. load disturbance in area-1 of the steamhydro two area power system without non-linear eect (integral integral control, fuzzy-2 proposed fuzzy control).

Fig. 15. Frequency deviation response of area-1 due to 0.05 p.u. load disturbance in area-1 of the steamhydro two area power system with non-linear eect (integral integral control, fuzzy-2 proposed fuzzy control).

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Fig. 16. Frequency deviation response of area-2 due to 0.05 p.u. load disturbance in area-1 of the steamhydro two area power system with non-linear eect (integral integral control, fuzzy-2 proposed fuzzy control).

Fig. 17. Tie line power deviation response due to 0.05 p.u. load disturbance in area-1 of the steam-hydro two area power system with non-linear eect (integral integral control, fuzzy-2 proposed fuzzy control).

6. Conclusions The present paper introduces a new controller for damping quickly the power system frequencies and tie line power error oscillation and reducing their errors to zero. The proposed controller is called a two layered FLC. The power system investigated comprises an interconnection of two areas LFC system. Dierent types of turbines are simulated and the non-linear eects are studied. Moreover, the power system is subjected to dierent disturbances, and also, a comparison between the power system responses using the conventional integral controller and the proposed fuzzy controller is presented and obtained. The digital simulation results prove and show the eectiveness of the power of the proposed two layered FLC over the conventional integral controller through a wide range of load disturbances. The superiority of the proposed fuzzy controller is embedded in the sense of fast response with less overshoot and/or undershoot and less settling time.

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Appendix A. Model-1 Nominal parameters of the thermal systems investigated [10]: Kp1 Kp2 120 Hz/p.u MW, Tp1 Tp2 20 s, D1 D2 0:00833 p.u. MW/Hz, R1 R2 2:4 Hz/p.u. MW, Tg1 Tg2 0:2 s, Tt1 Tt2 0:3 s, Kr1 Kr2 1=3, DPd1 0:05 p.u. MW, B1 B2 0:425, DPd2 0:0, Tr1 Tr2 20 s, T12 0:0707 s.

Appendix B. Model-2 Nominal parameters of the hydro-thermal systems investigated [12]: f 60 Hz, R1 R2 2:4 HZ/per unit MW, Tg 0:08 s, Tr 10:0 s, Tt 0:3 s, TR 5 s, D1 D2 0:00833 Mw/Hz, T1 48:7 s, T2 0:513 s.

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