WARM WELCOME

TO
ALL
1
 Presentation on Comprehensive Exam

CONTROL STRATEGY FOR SMART MICROGRID

October, 2018
Supervised by : Presented by :
Dr. Shuma Adhikari Dr. Nidul Sinha(Co-Guide) Badal Kumar
(Asst. Professor, EED) & (Professor, EED) Ph.D, 2nd Sem.
NIT, Manipur NIT, Silchar (17404002)
2
 CONTENTS
 Introduction
 Literature Survey & Motivation
 Objective of the Proposed Work
 Modeling of DGS
 Tuning of PID Controller in DGS
 Mathematical Simulation Model
 Results & Discussions
 Merits of Proposed Work
 Project Plan for Next Semester
 Step by step learning & Practical
approach to understand proposed
work
 Appendix
 References
3
 INTRODUCTION
Objectives of Power System:
i)The cost of the electrical energy per unit should be minimum.
ii)The rated voltage & RATED FREQUENCY has to be supply to the consumers.
iii)surplus(more than requirement)amount of power should be required.
iv)The faulty section must be isolated at faster rate.
v)stable generator should be available under fault condition without loosing synchronism.
vi)Flexible power transfer must be available.

From the research topics that have been mentioned above, our Projects deals with Load
frequency Control. 4
Introduction Contd…
Reasons For Maintaining System Frequency Constant
Following are the reasons for keeping a strict limit on the system frequency variation.
1. In electrical transformer core is saturated at low frequency.
V  4.44 f m N
(1)
() m
1

f ()

From the above equation it is clear that if frequency is decreases above limit then flux of transformer core is
saturated.
2)Performance of motor are affected. Because electric motor speed are proportional to frequency.
3)Hysteresis loss is frequency dependent, it changes with frequency variation.
4)Efficiency of thermal plant are affected by change in frequency. Because ID,FD and PA fans are running by
motor.
5)Turbine blades are damaged due to higher speed OR frequency.
5
Introduction Contd…
Today world is very much concerned to reduce greenhouse gas emission.
To reduce pollution from electrical power sources the world is now marching towards usage of
“RENEWABLE ENERGY SOURCES”.
These sources being Small in capacity are mostly connected at the “DISTRIBUTED VOLTAGE
LEVEL”.
I. Conventional Sources.
There are 2 types of ENERGY SOURCES: II. Non-conventional/Renewable energy sources(RES)

I. Conventional Sources
a)Hydro b)Nuclear c)Polluting fossil fuel(Coal & Diesel etc)
 Nowadays it has become a tough task to meet the requirements due to increasing demand as well as
Environmental constraints.
 Our engineers & policy makers are looking New concept of generation known as “Distributed Generation(DG)”
 “DGs are small capacity generators ,preferably uses RES, located at dispersed locations.”
6
Introduction Contd…
II. Renewable Energy Sources(RES)
It includes: “Wind, solar, diesel generator & fuel cell as
power generating sources”.
(i)Primary sources:
&
a)Wind
b)Solar photo voltaic cell(PV) “Battery, fly wheel and aqua electrolyzer as
energy storage element”.
(ii)secondary sources:
a)Diesel generator “Power generating source in DG are called
b)Natural gas
as distributed energy resources(DER)”
c)Bio gas
d)Fuel cell
e)Aqua electrolyzer RES indirectly reduces transmission &
f)Battery distribution losses since the sources are
g)Fly wheel around the load.
7
Introduction Contd…
Microgrid & Smart Microgrid
AC-Bus

WIND DFIG AC/DC DC/AC CUSTO-

Distribution system having small MER
LOADS

scale energy sources is called as a DC/DC

SOLAR WITH DC/AC
microgrid or active distribution MPPT

network.
DIESEL

They may also be isolated and GENERATOR

Fly
Wheel
operate autonomously.
BATTER
DC/AC
Y
AC/DC

DC/DC DC/AC

Where, FUEL
CELL HYDROGEN AQUA
ELECTRO-
STORAGE LYZER
MPPT-Maximum power point tracking
DFIG-Doubly fed induction generator Figure.1: Detailed Block Diagram of Microgrid[1,2]
8
Introduction Contd…
Smart Microgrid
Microgrid having central controller, Communication link

automation and monitoring unit is Communication link

called smart microgid. RES

(Wind,Solar)

Here all the power sources are Microgrid

central
agent. So, multi agent system (MAS) controller

Diesel CB
concept with agents being connected RES<PL0 Generator Load:PL0

over internet. RES>PL0

CB
MAS provide intelligent energy Controllers
Fuel Cell

Communication link
control and management system in Aqua
CB
Microgrid
Frequency
microgrid Monitoring
Unit
Electrolyzer

In the field of smart microgrid

Battery
which makes the system more and
more reliable in all terms
i.e(Generation, Transmission & Communication link

Distribution) Figure.2: Block Diagram of Smart Microgrid[11] 9

 LITERATURE SURVEY & MOTIVATION
A. Mondal et al.[3]& P. C. Sekhar et al.[4] -2018 discussed the realization of emerging potential of
distributed generation, a system approach i.e.microgrid considers generations and associated loads as a
subsystem. This approach involves evolutionary control of distributed generation and hence reduces the
need for central dispatch. During disturbances by islanding generation and loads, local reliability can be
made higher. However it is always appreciated if we can tune the controller parameters optimally or near
to optimally. Moreover, a nonlinear power system model would have been taken into account and
analysed The current implementation of microgrid incorporates sources with loads, permits for intentional
islanding and use available waste heat of power generation systems.

B.Kumar et al. [5,6]-2017 have proposed an automatic generation control (AGC) scheme pertaining to
distributed generation system (DGS) This scheme has been interconnected with the power system. In this,
tuneable parameter of controllers were set by LDR & Tyreus Luyben method and the performances were analysed.
10
Mallesham. G. et al[11][14]-2012 we get to know about the distributed generation system, microgrid and
smart microgrid with multi agent system. Using the transfer function of components of microgrid and
designing the controller we get to know about the frequency control of isolated microgrid.

Motivation
With the help of literature survey done above it is observed that the main concern in power system
is frequency stabilization. Different approaches have been proposed by many researcher and
scientist to control the deviation in power system parameters. Literature suggested that with the help
of controller we can maintain the system frequency within nominal value in microgrid. The idea for
project is to design compensator and frequency droop parameter that will overcome the following :

1. High Transient period

2. Maximum overshoot 11
 OBJECTIVE OF PROPOSED WORK
WIND PW A more realistic modeling of a DGS for the
ENERGY
study of frequency regulation in DGS.
SOLAR
PS Including the important parameters P-f
ENERGY
droop characteristics for different sources in
DGS.
+
- Controller
?
Diesel Generator,
Fuel Cell, Battery
+ + Hybrid Power
System
Co- ordination of fuel-cell, aqua electrolyzer
energy storage
system -
with hydrogen storage tank.
-
+ Aqua
Electrolyzer
Systematic tuning of secondary controllers
, Fly Wheel parameters used with different DGS sources by
Load conventional method: Proportional plus
integral plus derivative (PID)
Frequency Regulation For frequency regulation, PID controller
?
design by Astrum-Hagglund method.
Figure.3: Block Diagram of DGS[5,6] 12
 MODELLING OF MICROGRID
WIND PW
ENERGY

PS Wind and solar energy(Primary

SOLAR
ENERGY sources) is uncontrollable source.
So, we take constant values for
+ this.
Diesel Generator, + +
- Hybrid Power
Controller Fuel Cell, Battery
energy storage
System All the secondary
system - - sources(Diesel generator , Fuel
+ Aqua
Electrolyzer
cell, Aqua electrolyzer, BESS and
, Fly Wheel Fly wheel) are controllable
Load sources. So, It have transfer
function.
Frequency Load also contains Constant
Regulation values.
Figure.4: Block Diagram of DGS[5,6] 13
 TUNING OF PID CONTROLLER IN DGS
The objective of the controllers is to regulate the power output of secondary sources, to
minimize the frequency deviation by generating appropriate control signals and hence to
enhance the performance of the DGS.

AH Method for Tuning of PID Controller

In the present work SISO toolbox is used for PID tuning (PID controller is used
because there is a need to improve both transient and steady state response).

To generate this compensator Ziegler-Nichols Close loop is used as a tuning algorithm
with AH as tuning preference.
14
Tuning of PID controller Contd…
In Classical method values of all the parameters (Kp, Ki, Kd and frequency bias) have been considered
from the previous literature [14].

TABLE 1
VALUES OF PID CONTROLLERS GAINS USING CLASSICAL METHOD
DGS Components Frequency bias
Kf Kp Ki Kd

Diesel Generator 4 0.0397 0.0756 3.3084

Aqua Electrolyzer 0.2 0.35 0.03 0.07

Fuel Cell 2 0.1220 0.2154 3.1608

Battery 0.1 0.4188 0.01666 0.01

Fly wheel 0.1 0.3654 0.01666 0.01

15
Tuning of PID controller Contd…
In AH method we are taking frequency regulation parameter is same as classical method but Kp, Ki and Kd
values calculated from tuning preference Astrum-Hagglund method from MATLAB(SISO toolbox)[21].
TABLE 2
VALUES OF PID CONTROLLERS GAINS USING AH METHOD
DGS Frequency bias AH AH AH
Components
Kf Kp Ki Kd
Diesel 4 0.0995 0.0070 0.3106
Generator
Aqua 0.2 1.479 4.5389 0.0992
Electrolyzer
Fuel Cell 2 0.1848 0.0482 0.161

Battery 0.1 3.379 0.1305 0.099

Fly wheel 0.1 3.379 0.1305 0.099

16
MATHEMATICAL SIMULATION MODEL
solar Wind Load

1 1 83.33
PID(s)
20s+1 2s+1 16.67s+1

PID Control l er Del ay 0-0.8 Di esel generator Hybri d

Power system
-K- Gai n

1
PID(s)
0.2s+1
PID Control l er1 0-0.2 Aqua El ectrol yzer

Gai n1
-K-

1
PID(s)
4s+1
PID Control l er2 0-0.3 Fuel Cel l

-K- Gai n2

1
PID(s)
0.1s+1
PID Control l er3 -0.5- +0.5 Battery energy
storage system
-K- Gai n3

1
PID(s)
0.1s+1
PID Control l er4 -0.5- +0.5. Fl y Wheel

-K- Gai n4

Figure.5: SIMULINK Block Diagram of the Microgrid in MATLAB. 17

 RESULTS & DISCUSSIONS
Case 1-The load is increased from 0.6 pu. to 0.66 pu. and the wind(0.3 pu.) and solar power(0.3 pu.)
sources are kept constant for the time period of 10 sec.( Time Domain Analysis).

Time T=0 sec T=10 sec

Wind power 0.3 p.u. 0.3 p.u.

Solar power 0.3 p.u. 0.3 p.u.

Load demand 0.6 p.u. 0.66 p.u.

Figure.7:Power Deviation of DGS

Figure6.:Frequency Deviation of DGS Figure.8:Contribution of Diesel Generator Power 18in DGS

Results & Discussion Contd…
Case 2: The load is increased from 0.6 to 0.68 pu. Wind and solar power sources are decreased from 0.28 pu.
And 0.26 pu. Respectively at 10 sec. (Time Domain Analysis)
Time T=0 sec T=10 sec

Wind power 0.3 p.u. 0.28 p.u.

Solar power 0.3 p.u. 0.26 p.u.

Load demand 0.6 p.u. 0.68 p.u.

Figure.9: Frequency Deviation of DGS

Figure.11,12:Contribution of Fuel cell, BESS & Fly

Figure.10: Power Deviation of DGS wheel in DGS 19
 MERITS OF PROPOSED WORK
A comparison of AH and classical PID based approaches shows the superiority of
proposed AH and classical PID for two different cases. Thus the AH based PID controller
has better dynamic response i.e., quick in operation, reduced error magnitude and minimized
frequency transients.
The most important contribution of the research work presented in this work is
1.Modeling of Microgrid.
2.Tuning of controller parameter gain using AH technique.

20
 PLAN FOR NEXT SEMESTER
In place of controller I have used
WIND PW
ENERGY 1. Load Disturbance Rejection based PID
Controller[published in 2016-IEEE coference,
SOLAR
P S Banglore Section]
ENERGY
2. Tyreus-Luyben basd PID Technique[2017]
+ 3. Astrum Hagglund based PID Controller
Diesel Generator, + +
- Controller
Fuel Cell, Battery
Hybrid Power [communicated]
? System
energy storage
system -
We will Use in future
-
+ Aqua Set Point Tracking based PID Controller,
Electrolyzer
, Fly Wheel
2/3 degree of freedom fractional order PID Controller,
Load Bacterial Foraging optimization, Flower Pollination
Algorithm, H-infinity PID Controller, Ant lion
Optimizer algorithm based PID controller, Sliding
Frequency Regulation
?
mode controller, Artificial Neural Network based
controller, Biogeography based optimization
Figure.13: Block Diagram of DGS[5,6] techniques, Genetic Algorithm based PID controller
etc.
In place of Frequency regulation, Design of P-F Droop based on Bode plot Stability Criterion 21
Plan for Next Semester Contd…
Modified Microgrid
solar Wind Load AC-Bus

WIND DFIG AC/DC DC/AC CUSTO-

MER
83.33
PID(s)
1 1
16.67s+1
LOADS
20s+1 2s+1
PID Controller Delay 0-0.8 Diesel generator Hybrid
Power system
-K- Gain
DC/DC
SOLAR WITH DC/AC
MPPT
1
PID(s)
0.2s+1
PID Controller1 0-0.2 Aqua Electrolyzer

Gain1
-K-
DIESEL
GENERATOR
1
PID(s)
4s+1
Fly
PID Controller2 0-0.3 Fuel Cell Wheel
-K- Gain2
BATTER
DC/AC
Y
1
PID(s)
0.1s+1
AC/DC
PID Controller3 -0.5- +0.5 Battery energy
storage system
-K- Gain3
DC/DC DC/AC
FUEL
1 AQUA
PID(s) CELL HYDROGEN
0.1s+1 ELECTRO-
PID Controller4 -0.5- +0.5. Fly Wheel
STORAGE LYZER
-K- Gain4

Figure.14: SIMULINK Block Diagram of the Microgrid in MATLAB. Figure.15: Basic Block Diagram of Microgrid[1,2]
22
Plan for Next Semester Contd…
Smart Microgrid Communication link

Microgrid having central controller, Communication link

automation and monitoring unit is RES

(Wind,Solar)

called smart microgid. Microgrid

central

Here all the power sources are agent.

controller

Diesel CB
RES<PL0 Generator Load:PL0
So, multi agent system (MAS) concept
with agents being connected over RES>PL0
CB
internet. Fuel Cell

Controllers

Communication link
MAS provide intelligent energy Monitoring
Aqua
CB
Microgrid
Frequency
Electrolyzer
control and management system in Unit

microgrid
Battery

In the field of smart microgrid which

makes the system more and more Communication link

reliable in all terms i.e(Generation,

Transmission & Distribution) Figure.16: Block Diagram of Smart Microgrid[11]
23
 STEP BY STEP LEARNING & PRACTICAL
APPROACH TO UNDERSTAND PROPOSED
MODEL
solar Wind Load

PID(s)
1 1 83.33
16.67s+1
• All the microgrid component is
20s+1 2s+1

-K- Gain
PID Controller Delay 0-0.8 Diesel generator Hybrid
Power system
being either electrical system or
PID(s)
1
0.2s+1
mechanical system.
PID Controller1 0-0.2 Aqua Electrolyzer

Gain1
-K-

PID(s)

0-0.3
1
4s+1
• In above simulink model all
PID Controller2 Fuel Cell

-K- Gain2
microgrid components having its
PID(s)

-0.5- +0.5
1
0.1s+1
transfer function.
PID Controller3 Battery energy
storage system
-K- Gain3

PID(s)

PID Controller4 -0.5- +0.5.

1
0.1s+1
Fly Wheel
• Transfer function is a mathematical
-K- Gain4
representation of any real time
existing system. 24
Figure.17: SIMULINK Block Diagram of the Microgrid in MATLAB.
Practical Understanding Contd…
TRANSFER FUNCTION
The transfer function of LTI System may be defined as ratio of laplace transform of output to laplace transform of
input under the assumption that system initial condition are zero.
I (t ) R  3 L  2H 1
I ( s)
Vo ( s ) C*S
 (5)
Vi ( s ) 1
R * I ( s)  S * L * I ( s)  I ( s)
C*S
Vi (t ) C  1F Vo (t )
Vo ( s) 1
 (6)
Vi ( s) ( R * C ) S  ( L * C ) S 2  1

Figure.18: Simple Electrical RLC Series Circuit[12,13] put the value of R,L and C in above equation
dI (t ) 1
Vi (t )  R * I (t )  L
dt

C  I (t )dt (2) Vo ( s )

1 (7)
Apply Laplace transform Vi ( s ) 3S  2S 2  1
1
Vi ( s )  R * I ( s )  S * L * I ( s )  I ( s ) (3) Vo (s) 1 1 1
C*S   * (8)
1 Vi (s) (1  2S )(1  S ) (2S  1) (S  1)
Vo ( s )  I (s) (4)
C*S
25
Above system is a example of electrical system only. If system will be mechanical translational or mechanical rotational then we
can also able to convert into transfer function very easily.
Practical Understanding Contd…
Mechanical System are classified into 2 types:
1. Mechanical Translational System
2. Mechanical Rotational System b. Damper Element unit: NS/m or Kg/Sec (Friction)
1. Mechanical Translational System X1 F X2

v1 v2
Input= Force (F)
Output=Linear displacement(x), Linear Velocity (v)
a. Mass Element [ unit: NS2/m or Kg]
Damper(B)

Figure.20: Basic Diagram of Damper element[12,13]

Displacement(x)
Ideally both are moving but practically one is static
Mass(M) Velocity(v)
(cylinder) and second is only moving
d (10)
F  B (v  v )  B ( x  x )
Force(F)
1 2 1 2
dt
dx
Figure.19:Basic Diagram of Mass element[12,13] F  Bv  B (11)
dv d x 2 dt
F  M  M (9)
dt dt 2 Where; v=v1-v2 & x=x1-x2 26
Practical Understanding Contd…
c. Spring Element(Stiffness) [unit: N/m or Kg/Sec2] 2. Mechanical Rotational System
X1 X2 Input= Torque (T)

v1 v2
Output=Angular displacement(ϴ), Angular Velocity (ω)
a. Inertia Element
F Angular
Displacement


Inertia(J)
Spring(K) 
Angular Torque(T)
Velocity

Figure.21:Basic Block of Spring element[12,13]

F  K  (v1  v2 )dt  K ( x1  x2 ) (12)

Figure.22:Basic Block of Inertia element[12,13]
F  K  vdt  Kx (13)
d d 2
T  J  J (14)
Where; v=v1-v2 & x=x1-x2 dt dt 2
27
Practical Understanding Contd…
b. Torsional Damper Element (Friction) c. Torsional Spring Element (Stiffness)

T1 1 1 2 2 T2
Damper(B)
 
T Spring(K)
Figure.23:Basic Diagram of Damper element[12,13]
d Figure.24:Basic Diagram of Spring element[12,13]
T  B(1   2 )  B (1   2 ) (15)
dt
Rotate only one side practically
d
T  B  B (16)
dt
Where; T  K  dt  K
  1   2 (17)

&
  1   2
28
Practical Understanding Contd…
ANALOGOUS SYSTEM
 The Analogous Equivalents of mechanical elements are known as analogous system.
2. Mechanical Rotational System
1. Mechanical Translational System 


Displacement(x)

Velocity(v)
T1
Damper(B) F2
K
T3 J Torque(T)
Mass(M)
Force(F)
F1
Spring(K)
F3
B T2

Figure.25:Block diagram of translational system[12,13] Figure.26:Block diagram of Rotational system[12,13]

F  F1  F2  F3 T  T1  T2  T3 (21)
(18)
d
F  M
dv
 Bv  K  vdt (19) T  J  B  K  dt (22)
dt dt
d 2 d
F  M
d 2x
 B
dx
 Kx (20) T  J 2
 B  K (23)
dt 2 dt dt dt 29
Practical Understanding Contd…
3. Electrical System(voltage Source) 4. Electrical System(Current Source)

L
i R
I1 I2
I3

V1
I
V2 R L v
V3
C
V AC C

Figure.27:Circuit Diagram of Voltage Source System[12,13] Figure.28:Circuit Diagram of Current source system[12,13]
I  I1  I 2  I 3 (27)
V  V1  V2  V3 (24)
dv v 1
di 1 I C    vdt (28)
C 
V  L  iR  i.dt (25) dt R L
dt
d
i 
dq
q  ch arg e  v   Flux 
dt
dt
d 2 1 d 
V  L
d 2q
 R
dq

q I C   (29)
dt 2 dt C
(26) dt 2 R dt L
30
Practical Understanding Contd…
Comparing Equation 19,22,25,&28 and 20, 23, 26 & 29. we can say that this term is analogous with each other

Analogous Mechanical Mechanical Electrical Voltage Electrical Current

System Translational Rotational System source System Source System
System
INPUT: Force (F) Torque (T) Voltage or EMF (V) Current Source (I)

Elements: Mass (M) Inertia (J) Inductor (L) Capacitor (C)

Damper (B) Damper (B) Resistor (R) Conductance (G=1/R)

Spring (K) Spring (K) Elastance (1/C) Inverse of Inductor

(1/L)
OUTPUT: Velocity (v) Angular Velocity (ω) Current (i) Voltage (v)

Displacement (x) Angular Displacement Charge (q) Flux (φ)

(θ)
Table.1: Analogy for Electrical & Mechanical System[12]
1. L & C are Charge storing Elements.
2. M, J and K are known as Conservative Elements. 31
Practical Understanding Contd…
PRACTICAL UNDERSTANDING OF CONTROLLLER
WIND PW
solar Wind Load
ENERGY

SOLAR
PS PID(s)
1
20s+1
1
2s+1
83.33
16.67s+1

PID Controller Delay 0-0.8 Diesel generator Hybrid

ENERGY Power system
-K- Gain

1
+ PID(s)
0.2s+1
0-0.2
Diesel Generator, + + PID Controller1 Aqua Electrolyzer

- Controller
Fuel Cell, Battery
Hybrid Power -K-
Gain1

? System
energy storage
1
system - -
PID(s)
4s+1

+ Aqua
PID Controller2 0-0.3 Fuel Cell

-K- Gain2

Electrolyzer
, Fly Wheel 1
PID(s)
0.1s+1
Load PID Controller3 -0.5- +0.5 Battery energy
storage system
-K- Gain3

1
PID(s)
0.1s+1
PID Controller4 -0.5- +0.5. Fly Wheel

Frequency Regulation -K- Gain4

Figure.29:Block Diagram of DGS[5,6] Figure.30:SIMULINK Block Diagram of the Microgrid in MATLAB

32
Practical Understanding Contd…
COMPENSATOR
Compensator in control system are used for improving the performance specifications. i.e. the
transient and steady state response characteristics.
There are 3 Types of compensator:
1. Lead Compensator
2. Lag Compensator
3. Lead – Lag (or) Lag- Lead Compensator
 Lead compensator is used for improving the transient state response or speed of response of
the system.
 Lag Compensator is used for improving the steady state response characteristics of the
system i.e. elimination of steady state error between input and output.
 Lead-Lag compensator is used for improving both transient and steady state response
characteristics. It exhibits both lead and lag characteristics in its frequency response.
33
Practical Understanding Contd…
Lead-compensator
In terms of filtering property it acts
Where,
as High pass filter (HPF).
KP= Proportional Gain
In terms of controller it is similar to KD= Derivative Gain
P+D controller. s = Laplace operator
Cm1= Lead Compensator
It reduces rise time.
It increases peak overshoot. 1/Cs

It increases band width. I(s)

It increases stability.

Equation for lead compensator in R1
R2
terms of proportional and derivative Vi ( s ) Vo (s )
gain is represented by

Cm1 ( s)  K P  K D s (30) Figure.31.Circuit Diagram of Lead

Compensator[11] 34
Practical Understanding Contd…
Transfer function of lead compensator is j

Vo ( s)  (1  T1 s)
 (31)
Vi ( s) 1  T1 s

1

1

Where,
 =Attenuation constant= R2
R1  R2
1
T1 T1

Figure.32.Pole Zero plot of Lead Compensator[11]

T1 =Time Constant=R1C

1 1 Note: Addition of zero in a

s  & s
T1 T1
system transfer function in
The lead compensator provides phase
lead at high frequencies this shifts the pole
terms of compensator represents
to the left, which enhances the lead compensator.
responsiveness & stability of the system.
35
Practical Understanding Contd…
Lag-Compensator
In terms of filtering property it acts as Where,
Low pass filter (LPF). KP= Proportional Gain
KI= Integral Gain
In terms of controller it is similar to P+I s = Laplace operator
controller. Cm2= Lag Compensator

It Increases rise time. I(s)

It reduces peak overshoot. R1

It reduces band width.

R2

It reduces stability. Vi (s) Vo (s)

Equation for lead compensator in terms

of proportional and derivative gain is 1/Cs

represented by
KI
Cm 2 ( s )  K P  (32) Figure.33.Circuit Diagram of Lag Compensator[11]
s 36
Practical Understanding Contd…
Transfer function of lead compensator is j

Vo ( s ) (1  T2 s )
 (33)
Vi ( s ) 1   T2 s
Where,   
1 R1  R2 1 1
= = 1 T2  T2
 R2
Figure.34.Pole Zero plot of Lead Compensator[11,12]
T2 =Time Constant=R2C

s 
1
 T2
& s
1 • Note: Addition of pole in a
T2
system transfer function in
The lag compensator provides phase lag
at low frequencies this shifts the pole to the
terms of compensator
right, which reduces the steady state error. represents lead compensator.
37
Practical Understanding Contd…
Lead-Lag Compensator
In terms of filtering property it acts Where,
as Band reject filter (BRF). KP= Proportional Gain
KI= Integral Gain
In terms of controller it is similar to KD= Derivative Gain
s= Laplace operator
P+I+D controller.
Cm3= Lead-Lag Compensator

Equation for lead-lag compensator in 1/C1s

terms of proportional, derivative and

integral gain is represented by I(s)

R1
R2

KI Vi (s) Vo (s)
Cm 3 ( s )  K P   K D s (34)
s 1/C2s

Figure.35.Circuit Diagram of Lead- Lag Compensator[11,12]

38
Practical Understanding Contd…
Transfer function of lead-lag compensator is j

Vo ( s )  (1  T1 s ) (1  T2 s )
 (35)
Vi ( s ) 1  T1 s 1  T2 s
Where, 1
 
1

1

1

 =Attenuation constant= R2
R1  R2
1  T1 T1 T2  T2

Figure.36.Pole Zero plot of Lead-Lag Compensator[11,12]

T1 =Time Constant=R1C

1 1 In the above figure, in s-domain analysis, lag compensator is

s  & s
T1 T1 observed nearer to the origin as it provides phase lag at low
1 R1  R2 frequency which reduces the steady state error. Lead
= = 1
 R2 compensator provides phase lead at high frequencies and
therefore it is observed at a distance from the origin. This shifts
T2 =Time Constant=R2C
the pole to the left, which enhances the responsiveness and
1 1 stability of the system.[11,12]
s  & s
 T2 T2 39
Practical Understanding Contd…
Real Time Understanding to know the compensator:-
Let us consider an Open loop transfer function is 10
S ( S  1)
10  (38)
G(S )  (36) 1
10
S ( S  1) S ( S  1)

Its characteristics equation is: 10

 (39)
S2  S  10
R(S ) 10 C (S )
Compairing with standard equation of senond order transfer function
I/P S ( S  1) O/P
n 2
T .F  (40)
S2  2n S   n2
1 1
So, n  10  3.1628    0.1581  0.16
H 1 2 n 2 10
 n

Figure.37: Control System[27]  is small(↓) so, Mp e 1 2 =increases(↑)

So, it is not desirable.
C (S ) G(S ) We know that the range of ξ should be 0.3 to
 (37)
R( S ) 1  G ( S ) H ( S ) 0.7(optimum values) for Underdamped case(ξ<1) .
40
Practical Understanding Contd…
So, our requirement: ξ=0.5 & n  3
 ( S  1)( 0.9)  10
Now, close loop transfer function should be  ( S  3)  S ( S  1) . (44)
 
C (S ) 9 9
 2  (41)
R( S ) S  2  0.5  3  32 S 2  3S  9
Zero at s=-1 & Pole at S=-3
So, Open loop transfer function will be
9
G(S ) 
S ( S  3) (42)

10 3 1
? S ( S  1)

H=1 Figure.39:Lead compensator pole zero plot[27]

Figure.38:Compensated System[27]
If ()  Compensate()  Lead _ Compensator
10 9
G(S )  
S ( S  1) S ( S  3)
(43) If ()  Compensate()  Lag _ Compensato
41
r
Practical Understanding Contd…
PRACTICAL IMPLEMENTATION OF FREQUENCY REGULATION
WIND PW
solar Wind Load
ENERGY

SOLAR
PS PID(s)
1
20s+1
1
2s+1
83.33
16.67s+1

PID Controller Delay 0-0.8 Diesel generator Hybrid

ENERGY -K- Gain

Power system

1
PID(s)
+ PID Controller1 0-0.2
0.2s+1
Aqua Electrolyzer
Diesel Generator, + +
- Controller
Fuel Cell, Battery
Hybrid Power -K-
Gain1

System
energy storage 1
PID(s)
system - - PID Controller2 0-0.3
4s+1
Fuel Cell
+ Aqua -K- Gain2

Electrolyzer
, Fly Wheel PID(s)
1
0.1s+1
PID Controller3 -0.5- +0.5 Battery energy
Load -K- Gain3
storage system

1
PID(s)
0.1s+1
PID Controller4 -0.5- +0.5. Fly Wheel

-K- Gain4
Frequency Regulation
?

Figure.40:Block Diagram of DGS[5] Figure.41:SIMULINK Block Diagram of the Microgrid in MATLAB

42
Practical Understanding Contd…
METHODS OF FREQUENCY CONTROL
1. Speed Governing Control(ALFC) 2. Load Regulation 3. Pumped Storage Plant
1. Automatic Load Frequency Control/ Speed Governing control

Figure.42: Schematic Diagram Of Automatic Load Frequency Control[18,19] 43

Practical Understanding Contd…
From the figure shown above we observe that, Governing Valve Internal Structure
Steam from
1) If f g  f ref  f E  0  constant valve opening Boiler

position.
2) If f g  f ref  f E 0  close valve until f E  0 Manual
Speed (Pc ) Close
Changer
Steam to

3) If f g  f ref  f E 0  open valve until fE  0 Lower Open

Turbine

C
Raise
B
D

f  50Hz A E

PG  PD
Pilot
Piston
Amplitude

PG  PD R S

f  50 Hz Q

Fly Ball Governor Main

(Speed Governor) High Piston

PG  PD Pressure
Oil

f  50 Hz
Hydraulic Amplifier
(Speed Control Mechanism)

Time
Figure.44:Block Diagram of Turbine speed Governing System[19]
44
Figure.43: Graphical Representation of Change in Frequency[20]
Practical Understanding Contd…
AREA FREQUENCY CONTROL (AFC) In flat frequency control method, Load changes of bus
bar A is supplied by the generator G2 which is
There are 3 Methods of Area Frequency Control: connected to bus bar B through the tie- line and vice
versa to maintain constant frequency. In this method tie
1. Flat frequency control
2. Flat tie-line OR Tie-bias control line may be over loaded.
3. Parallel Frequency Control(Practical Methods)
In flat tie line method, the changes in the load demand
of A and B bus bars responding by the Generator G1 &
PTie PTie G2 respectively without over loading of tie line for
maintaining constant frequency.
G1AC AC
G2
Parallel frequency control is the most practical method
A Tie-line B
for controlling the frequency. If load changes either A or
Tr. Line
B bus bars both the generators are simultaneously
LOAD A LOAD B Responding for supplying (meeting) the load demand
Figure.45: Block Diagram of Two Area Frequency Control[18] and hence constant frequency is maintained. 45
Practical Understanding Contd…
PTIE
In the Figure shown above,
ACE

Kg, Kt, Kp Gains of the governing valve, turbine and

Pc f diesel generators
PD
R
f Tg, Tt, Tp Time constant/delay of the governing
valve, turbine and Diesel generator

And PC : Manual speed changer

Figure.46: Mathematical Block diagram of ALFC
/Speed Govn. Control[19]
f
Area control error (ACE) for each area consist of linear : Automatic speed changer
R
combination of frequency and tie line error, as given below
f
ACE  Pc  PTie  (45) PTie : Change in Tie-line power
R
f
ACE  PTie  [PC  const.] (46)
R b : Frequency bias coefficient
1
ACE  PTie  b.f (b   ) (47) 46
R
Practical Understanding Contd…
2. Speed Regulation Parameter (R) or Droop
From the frequency power curve the negative slope represents the speed regulation parameter. It is
defined as “The ratio of change in frequency to that of change in power”. Its unit is Hertz per Mega
Watt.
f (48)
R HZ / MW

FREQUENCY
P

 f 2  f1
 (49)
P2 P1

f2
f1
Where; R = speed regulation parameter
P2
f = speed regulation constant
P1

Note: A drooping character of the generator

is expressed as a speed regulation constant (f )
in terms of % R per unit value. POWER
Figure.47: Graph of P-F Droop Characteristics[19]
47
Practical Understanding Contd…
Shearing of Loads in Parallel Generators:
In case of parallel generator with
Ideal generator different ‘droop characteristics’ ,The
Frequency(f)

(Const. speed)

lowest percentage generators shares

0%
maximum loads.
fn
2%
If a “0%” or “constant speed ”
4% generator is connected in parallel to
6% other generators with 2%,4%,6% etc
160 240 500
Power(P) characteristics then the constant speed
Figure.48: Graph of Load Shearing of Generator[19] generator shares the entire load changes.
48
Practical Understanding Contd…
Mathematical Expression for Frequency Deviation f  Due to Sudden
Load Change PD  And Wi = H.G (53)
We know that
Where, H=Inertia constant of generator in MW sec/MVA
Kinetic Energy: W  N  f2 2
(50) G= Rating of Generator in MVA

W  PD  Td
2
W  f  And, (54)
 n   n  (51)
Wi  fi 
1 Where,
f n  Wn  2 W = Change in Kinetic Energy
    (52)
f i  Wi 
PD =Change in Load Demand/ Load Loss
Where,
Wi =Initial kinetic energy of generator Td = Time Delay (lag) of Governing System
Wn = New kinetic energy of generator So,
Wn  Wi  W (55)
fi = Initial Frequency of generator
f n = New Frequency of generator Wn  Wi  PD  Td (56)
49
Practical Understanding Contd…
Finally,
Case 3: Frequency Deviation
Wn  HG  PD  Td  (57)
Change in frequency is obtained by taking the
Putting the value of equation (57) and (53) in difference of obtained new frequency and initial frequency.
equation (52)
We get, f  f n  f i (60)

Case 1: Sudden Load Demand(frequency Decreases) Mathematical Expression for Area Frequency Deviation
in terms of change in load demand is
1
 H .G  (PD )Td  2
PD
f n  fi  
(58)
f  (61)
 H .G   1
  
Case 2: Sudden Load Loss(frequency Increases)  R
1
Where P % change in P
 H .G  (PD )Td  2  
f
fn  fi  
(59) % change in f

 H .G  =Damping Parameter
R =Speed Regulation Parameter 50
Practical Understanding Contd…
3. Pumped Storage Plant
Other Generating
Station
G
Upstream
tank
D
A
M Loads
LOADS
Pen Control
Gen
Stock valve
motor

Turbine
pump

Down streem
Tank

Figure.49:Block Diagram for pumped Storage plant for frequency regulation[19] 51

Power(KW)
Pumped storage plant containing Upstream and
downstream tanks during peak load period.
Peak Load
Time
Water is sending from upstream tanks to the to
the down stream tank through the turbine to meet
the peak load demand.

Off Peak Load Time The water is stored in the downstream tank during
off peak load period.

Water is sending back from the downstream tank

to the upstream tank and the water is stored to
Time
24 Hrs
meet the next day peak load demand.
11 AM 3PM

During this operation the turbine is working as a

Figure.50:Graph of Peak load- time period[19] PUMP. And generator is working as a MOTOR.
52
 APPENDIX
1. Nominal Parameter of the Microgrid[5] 2. Rating of microgrid
f sys  50Hz . Tae  0.2 sec. source and load [5]
Wind power source(300 KW) Solar
Pbase  1MVA TBESS  0.1sec.
Power source(300 KW)
D  0.012 MW / Hz . T fw  0.1sec . Load(600KW)
H  5 sec . K dg  K dt  K ae  1 Diesel Generator(400 KW)
Tdg  2 sec . Fuel Cell(200 KW)
K fc  K BESS  K fw  1 Aqua Electrolyzer(100 KW)
Tdt  20sec.
Battery(30 KWh) and
T fc  4 sec .
Fly Wheel(30 KWh).
53
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THANK YOU
&
Any Queries
???
58