AutomaticGenerationControl:

Modeling

PurposeofAGC
Tomaintainpowerbalanceinthesystem.
Makesurethatoperatinglimitsarenot
exceeded:
Generatorslimit
Tielineslimit

Makesurethatsystemfrequencyisconstant
(notchangebyload).

OverviewofAGC
Loadisalwayschanging.
Tomaintainpowerbalance,generatorsneed
toproducemoreorlesstokeepupwiththe
load.
WhenGen<Load(Gen>Load),generator
speedandfrequencywilldrop(rise).
=>Weusethisgeneratorspeedandfrequency
ascontrolsignals!
3

3ComponentsofAGC
Primarycontrol
Immediate(automatic)actiontosuddenchangeofload.
Forexample,reactiontofrequencychange.

Secondarycontrol
Tobringtielineflowstoscheduled.
Correctiveactionsaredonebyoperators.

Economicdispatch
Makesurethattheunitsarescheduledinthemosteconomicalway.

Thispresentationcoversonlyprimaryandsecondarycontrol
ofAGC.

AGCforSingleArea

SystemModeling
SingleGenerator
MultiGenerators,specialcase:two
generators

SystemModeling:TurbineGovernorModel
Smallsignalanalysismodel,relatingmechanicalpowertothe
controlpowerandthegeneratorspeed.

1
R

PC

Where

GM s
1
1 sTG 1 sTT

PM

=Smallchangeincontrolsettingpower
=Smallchangeingovernorsynchronousspeed
PC
=Smallchangeinmechanicaloutputpower

=Regulationconstant
PM
=Transferfunctionrelatingmechanicalpowertocontrolsignals
R

GM s
6

SpeedPowerRelationship
Fromsynchronousturbinegovernor:small
signalanalysismodel,
1

PM GM s PC
R

GM s

Atsteadystate(s0,1),wehave
1
PM PC

StaticSpeedPowerCurve

From,

1
PM PC
R

Slope=R

Primarycontrol:Immediate
changecorrespondingtosudden
changeofload(frequency)
Secondarycontrol:Changein
settingcontrolpowertomaintain
operatingfrequency.
ThehigherR(regulation),the
better.

2
1

PM
PC1 = PM 1

PC 2 = PM 2

SystemModeling:GeneratorModel
Thismodelrelatesmechanicalpowerto
powerangle,ignorechangeofvoltage.
PM

1
Ms 2 Ds T

i i

Notethatpowerangleisnotvoltageangle(
V
jX
V
)
+
G
i

Ei i

AGCforSingleGenerator
Since 0 ,wecandraw
closedlooppowercontrolsystemasbelow.

s
1
R

PC

1
1 sTG 1 sTT

PM

1
Ms 2 Ds T

10

AGCforMultiGenerators
Considereffectof
powerflowsintransmissionlines,and
loadsateachbus

tomechanicalpowerofeachgenerator.
Thisanalysisassumesthateverybusisa
generatorbus.

11

PowerBalanceEquationatEachBus
Ateachbus,
PGi PDi Pi

G1

V1
Where PGi =Generatoripower
PDi =LoadpoweratbusI
Pi =Powerflowfrombusi

PD1

G2

PG 2

PG1

P2

P1

V2

PD 2

Considersmallchanges,

PGi PDi Pi

V3
PG 3

PD 3
G3

12

PDi
LoadPowerEquation()

Assumethat
PDi DLi i PLi DLi i PLi
Where

PLi =Smallchangeofloadinput
PDi =Smallchangeofloadpower
i =Smallchangeofvoltageangle

Substituteinpowerbalanceequation,
PGi PDi Pi

Wehave

PGi DLi i PLi Pi

13

MechanicalPowerofEachGenerator()
PGi
Linearizedequationrelatingmechanicalpowerto
generatorpowerandgeneratorspeed.
PMi M i i Di i PGi
Where

PMi

=Smallchangeinmechanicalpowerofgeneratori
PGi
=Smallchangeinelectricpowerofgeneratori
i =smallchangeininternalvoltageangleofgeneratori

From,
Wehave

PGi DLi i PLi Pi

PMi M i i Di i DLi i PLi Pi

14

GeneratorBlockDiagram
From, PMi M i i Di i DLi i PLi Pi
1

Wecanwrite i M i s D~i PMi PLi Pi

~
where Di Di DLi
PLi
PMi

i
1
M i s Di

1
s

Pi
15

AGCforMultiGenerators:BlockDiagram

PCi

GMi s

GPi s

PLi

1
Ri

1
GPi s
~
M i s Di

PMi +

Pi

Changeintielinepower
flow

GMi s

1 sTGi 1 sTTi
16

Pi
TielineModel()

Frompowerflowequation,
n
Pi Vi Vk Bik sin i k
k 1

Approximateatnormaloperatingcondition,
n
wehave
Pi Bik i k
k 1

Then,forsmallchange,
n
n
Pi Bik i k Tik i k
k 1

k 1

Tik
Whereiscalledstiffnessorsynchronizingpowercoefficient
17

TieLineBlockDiagram
From

Pi Tik i k

1

s

and

k 1

Wehave,

Pi

Tik
Pi i k
k 1 s
i
1
s
+
+

Tik

18

AGCfor2Generator:BlockDiagram
Governor1sense
speed,tryto
mechanicalpower

1
R1

GM 1 s

PC1

PM 1 +

PC 2

Governor2sense
speed,tryto
mechanicalpower

GP1 s

Steadystate:New
(lower)system
Frequency

PL1

P1 P12

Transferpower12
1

GM 2 s

PM 2+

Frequency1

+
Dierentphaseangle

P2 P21

G P 2 s

T12

Frequency2

1
R2

PL 2

Load

19

AGCfor2Generator:
StaticSpeedPowerCurve
Loadincreases.
Frequencydrops.
Steadystateisreached
whenfrequencyofboth
generatorsisthesame.

2
1
+

=Changein
totalload
PM

PM 1

PM 1 PM 2

PM 2

20

SteadyStateFrequencyCalculation:
2generators
~
~
PMi M i i Di i PLi Pi Di i PLi Pi

From
Considerthefrequencyatsteadystate,

~
PM 1 D11 PL1 Ptie line
~
PM 2 D2 2 PL 2 Ptie line
1
1
1 2 PM 1
PM 2
R2
R1
,
,and

But,
Then,

PL1 PL 2

~ ~
1
1
D1 D2
R1 R2

21

Notethat
Insinglearea multigeneratorscase,wehave
notdiscusshowtosystematicallybringback
thenewsteadystatefrequencybyadjusting
controlpower.
Wewilldiscussthisinthefollowingsection.

22

AGCforMultiAreas
SimplifiedControlModel
AreaControlError(ACE)

23

SimplifiedControlModel
Generatorsaregroupedintocontrolareas.
Consider
Anareaasonegeneratorinsinglearea,and,
Tielinesbetweenareasastransmissionlines
connectingbusesinsinglearea.

Wecanapplythesameanalysistomultiarea!!
However,wehavetocomeupwithfrequency
powercharacteristicsofeacharea.
Actualapplicationofthismodelisforpowerpool
operation.
24

PowerPoolOperation
Powerpoolisaninterconnectionofthepower
systemsofindividualutilities.
Eachcompanyoperatesindependently,BUT,
Theyhavetomaintain
contractualagreementaboutpowerexchangeof
differentutilities,and,
samesystemfrequency.

Basicrules
Maintainscheduledtielinecapacities.
Eachareaabsorbsitsownloadchanges.
25

AGCforMultiAreas
Duringtransientperiod,suddenchangeofloadcauseseach
areagenerationtoreactaccordingtoitsfrequencypower
characteristics.
Thisiscalledprimarycontrol.
Thischangealsoeffectssteadystatefrequencyandtieline
flowsbetweenareas.
Weneedto
Restoresystemfrequency,
Restoretielinecapacitiestothescheduledvalue,and,
Maketheareasabsorbtheirownload.

Thisiscalledsecondarycontrol.
26

AreaControlError(ACE)
Controlsettingpowerofeachareaneedsto
beadjustedcorrespondingtothechangeof
scheduledtielinecapacityandchangeof
systemfrequency.
ACEmeasuresthisbalance,andisgivenby,
ACE1 P12 B1
ACE2 P21 B2

fortwoareacase.
Where

Bi =Frequencybiassettingofareai(>0)and

1
Bi DLi
Ri

27

ACE:TieLineBiasControl
PCi
UseACEtoadjustsettingcontrolpower,,
ofeacharea.
Goal:

TodriveACEinallareatozero.
Tosendappropriatesignaltosettingcontrol
power,

PCi

UseintegratorcontrollersothatACEgoesto
zeroatsteadystate.
28

AGCfor2AreawithTielineBiasControl:Block
Diagram
1
B1
+

ACE1=0

ACE1

P+
12

1
Governor1sensespeed,
trytomechanicalpower
R

PL1

K PC1
1
s
+

G M 1 s

PM 1

ACE2<0

B2

K PC 2
2
s
+

G M 2 s

Governor2sensespeed,
1
trytomechanicalpower
Governor2sense
speed,tryto
mechanicalpower

GP1 s

P1 P12Dierentphaseangle +
T12

Transferpower12
Se ngcontrolpower2

ACE2

Frequency1
Frequency1

Transferpower12

1
P21+
+

Governor1sensespeed,
trytomechanicalpower

R2

PM 2

Dierentphaseangle

P2 P21

G P 2 s

PL 2 Load2

Frequency2
Frequency2

Steadystate:
MaintainFrequency
Setcontrolpower2>0
29

AGCfor2AreawithTielineBiasControl:
StaticSpeedPowerCurve
Loadinarea2increases.

Frequencyofbotharea
drops.
ACEmakesControlpowerof0
area2increases.

Steadystateisreached
whenfrequencyisbackat
theoperatingpointand
generatorinarea2takeits
ownload.

2
2
1
+

=Changeinload2

PM
PM 1

PM 1 PM 2

PM 2 PM 2

PM 1
30

Example
Twoareasystem,
A

PGA0 PLA0 1000 MW

RA 0.015 rad per sec/MW

PGB0 PLB0 10,000 MW

DLA DLB 0

RB 0.0015 rad per sec/MW

PLA 10 MW

Findchangeinfrequency,ACE,and
appropriatecontrolaction.
31

Example:FrequencyCalculation
From,

PMA DLA A PLA PAB PLA PAB

PMB DLB B PLB PBA PBA

And,
And,

1 2
1
P
RA

Wehave,
PLA

1
P
RB

A
M

1
1

RA RB

B
M

10
1
1

0.015 0.0015

0.0136 rad per sec

32

Example:ACECalculation
First,findPAB from
1
1
P

0.0136 0.9091 MW
RA
0.015
PMA PLA PAB PAB PMA PLA 9.091 MW
A
M

PBA PAB 9.091 MW

Then,
ACE A PAB

1
1
0.0136 10 MW
9.091
0.015
RA
1
1
0.0136 0 MW
9.091
ACEB PBA
0.0015
RB
33

Example:ControlAction
ACEindicateseachareaactiontothechange
ofload.
ACEofareaBiszero,thismeansthatnothing
shouldbedoneinareaB.
ACEofareaA<0,thismeansthatareaA
shouldincreasethesettingcontrolpowerby
(10)=10MWtocoveritsownload.

34