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Automatic Voltage Regulators: Generator Control and Protection
Automatic Voltage Regulators: Generator Control and Protection
e M
O
7 . 6 . sec 1
*
4
= < =
n
n
s
w
w
t
s G G K
e
P Lead
s
P
ss
GENERATOR CONTROL AND PROTECTION
Lead / Lag Controller Design
Spec requires steady state error <0.5%
We will use the lag controller, with a beta of 10 to
achieve the steady state error spec.
The value of T2 is chosen based on the following
conditions:
1 | ) ( |
36 . 5 4
+ = j s Lag
s G
o o
0 | ) ( 3
36 . 5 4
< <
+ = j s Lag
s G
GENERATOR CONTROL AND PROTECTION
Lead / Lag Controller Design
The chosen lag
compensator
becomes:
) 02 . (
) 2 . (
) (
+
+
=
s
s
s G
Lag
GENERATOR CONTROL AND PROTECTION
Lead / Lag Controller Design
The resulting open
loop transfer
function becomes:
The steady state
error is calculate by:
) 25 . )( 02 . )( 75 . 7 (
) 2 . ( 75 . 42
) ( ) (
+ + +
+
= =
s s s
s
s G G s G G G
P C P Lag Lead
% 45 .
220 1
1
) ( lim 1
1
1
1
0
=
+
=
+
=
+
=
s G G K
e
P C
s
P
ss
GENERATOR CONTROL AND PROTECTION
Lead / Lag Controller Design
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
0.2
0.4
0.6
0.8
1
1.2
1.4
System: G12cl
Peak amplitude: 1.08
Overshoot (%): 8.97
At time (sec): 0.6
System: G12cl
Settling Time (sec): 0.874
GENERATOR CONTROL AND PROTECTION
PID Controller Design
PID controller
represented by:
( )
s
I Ps Ds
Ds
s
I
P s G
C
+ +
= + + =
2
GENERATOR CONTROL AND PROTECTION
PID Controller Design
Plant described by:
1/(4s + 1)(s +1)
Denominator rewritten as:
(4s + 1)(s +1) = 4s
2
+5s +1 = 4 * [s
2
+1.25s +0.25]
PID controller numerator re-written as:
Ds
2
+ Ps + I = D * [s
2
+ (P/D)s + (I/D)]
For pole-zero cancellation we set:
P/D = 1.25; I/D = 0.25
GENERATOR CONTROL AND PROTECTION
PID Controller Design
We can now choose the value of D to set the loop
gain. It is easy to see that D = 20 will place the
third closed-loop pole at s=-5 as shown by the
following:
G(s) Gc(s) =
D[s
2
+1.25s +0.25] / 4s[s
2
+1.25s +0.25] = -1
D/4s = -1
s=-5 for D=20
GENERATOR CONTROL AND PROTECTION
PID Controller Design
Pole-Zero cancellation design results in the
following PID values:
20
5 20 * 25 . 0 25 . 0
25 20 * 25 . 1 25 . 1
=
= = =
= = =
D
D I
D P
GENERATOR CONTROL AND PROTECTION
PID Controller Design
The resulting peak overshoot and settling time
will be as follows:
0 =
o
M
sec 8 . 0 2 . 0 * 4 = =
ss
t
GENERATOR CONTROL AND PROTECTION
PID Controller Design
0 0.2 0.4 0.6 0.8 1 1.2
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
GENERATOR CONTROL AND PROTECTION
Summary
Basics of a Practical AVR
Control Functions
Per-Unitization
AVR Control Configurations
GENERATOR CONTROL AND PROTECTION
QUESTIONS?