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Tuning A PID Controller For A Digital Excitation Control System PDF
Tuning A PID Controller For A Digital Excitation Control System PDF
PID Control
The present day digital regulator utilizes a PID
controller in the forward path to adjust the
response of the system. For main field excited
systems, the derivative term is not utilized. The
proportional action produces a control action
proportional to the error signal. The proportional
gain affects the rate of rise after a change has
been initiated into the control loop. The integral
action produces an output that depends on the
integral of the error. The integral response of a
continuous control system is one that continuously
changes in the direction to reduce the error until
the error is restored to zero. The derivative action
produces an output that depends on the rate of
change of error. For rotating exciters, the
derivative gain is used which measures the speed
of the change in the measured parameter and
causes an exponentially decaying output in the
direction to reduce the error to zero. The
derivative term is associated with the voltage
overshoot experienced after a voltage step
change or a disturbance. The basic block diagram
of a PID block utilized in the automatic voltage
regulator control loop is shown in Figure 3. In
addition to PID block, the system loop gain (KG)
provides an adjustable term to compensate for
variations in system input voltage to the power
converting bridge. When performance is
measured, the voltage rise time is noted at the
10% and 90% level of the voltage change. The
faster the rise time, the faster the voltage
response [5]
Introduction
Todays digital excitation systems offer numerous
benefits for performance improvements and
tuning over its analog voltage regulator
predecessor. The analog voltage regulators
commonly used a rate feedback control to provide
voltage regulation stability. Potentiometers,
screwdrivers, and voltmeters were the common
tools used to calibrate the operating system, but
today, digital excitation systems are tuned very
precisely with the aid of a laptop computer and
data is recorded into a file for future performance
comparison in the form of an oscillography record.
VC
KG
KP
-VRLMT / V
P
VR
VRLMT / VP
KI
s
sKD
1 + sTD
Conclusion
The pole placement and the pole-zero cancellation
methods for designing PID controllers for excitation
systems are presented. The sensitivity of the two
designs to various uncertainties and parameter
variations are presented. Using the pole zero
cancellation method of tuning PID gains, commissioning
can be accomplished very quickly with excellent
performance results.
References
[1] Design Experience with PID Controllers for voltage
regulation of synchronous generator, Submitted for
publication in the IEEE Transactions on Energy
Conversion, 2004, K. Kim, M. J. Basler, and A.
Godhwani.
[2] Commissioning and Operational Experience with a
Modern Digital Excitation System Accepted for
publication in the IEEE Transactions on Energy
Conversion, Vol. 13, No. 2, June 1998, K. Kim, A.
Godhwani, M. J. Basler, and T.W. Eberly.
[3] Application of Static Excitation Systems for
Rotating Exciter Replacement, Presented at IEEE
Pulp and Paper 1997, R.C. Schaefer.
[4] Steam Turbine Generator Excitation System
Modernization, Presented at IEEE Pulp and Paper
1995, R.C. Schaefer.
[5] IEEE Std 421.2-1990, IEEE Guide for Identification,
Testing, and Evaluation of the Dynamic
Performance of Excitation Control Systems.
[6] Voltage Versus Var/Power Factor Regulation on
Hydro Generators, Presented at IEEE/PSRC,
1993, R.C. Schaefer.
[7] IEEE Std 421.4 2004, IEEE Guide for Specification
for Excitation Systems.
[8] Voltage Regulator Influence on Generator Stability,
Presented at Basler Electric Power Control and
Protection Conference, 2003, R.C. Schaefer.
[9] Voltage Regulator with Dual PID Controllers
Enhance Power System Stability, Hydro Vision
Conference, July/Aug, 2002, R.C. Schaefer, K. Kim
and M. J. Basler.
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