෎Ѣࡼᗕⶽ䰉᥻ࠊⱘ䋳㥋乥⥛᥻ࠊ

䘚䘘爨᧨庼㠖
ढ࣫⬉࡯໻ᄺ ᥻ࠊϢ䅵ㅫᴎᎹ⿟ᄺ䰶, ࣫Ҁ 102206
E-mail: wylo888@126.com

ᨬ 㽕: 䋳㥋乥⥛᥻ࠊ(LFC)ᰃֱ䆕կ⬉䋼䞣ঞ⬉࡯㋏㒳ᅝܼǃৃ䴴Ϣ㒣⌢䖤㸠ⱘϔ⾡䞡㽕ⱘ᠟↉DŽᴀ᭛ᦤߎ෎
Ѣࡼᗕⶽ䰉᥻ࠊ(DMC)ⱘPID᥻ࠊ఼䆒䅵ᮍ⊩ˈᑊᇚ݊ᑨ⫼ࠄ⬉࡯㋏㒳ⱘ䋳㥋乥⥛᥻ࠊ䯂乬DŽDMC᥻ࠊᮍ⊩᮴
䳔㹿᥻ᇍ䈵ⱘ䆺㒚᭄ᄺ῵ൟˈৃҹ߽⫼㋏㒳ⱘ䰊䎗ડᑨ㋏᭄䖯㸠᥻ࠊ䆒䅵ˈ䆒䅵䖛⿟ㅔऩˈৃপᕫ䕗ད᥻ࠊᬜ
ᵰDŽԚᰃˈ䞛⫼⒮ࡼӬ࣪ⱘDMC䳔㽕䕗ᔎⱘ䅵ㅫ໘⧚㛑࡯ˈ೼ᐌ㾘ߚᬷ᥻ࠊ㋏㒳(DCS)Ϟᅲ⦄ೄ䲒DŽЎℸˈᴀ
᭛߽⫼᮴㑺ᴳDMCⱘ䯁⦃ᔶᓣˈᇚ݊䖥ԐЎPID᥻ࠊ఼ˈᮍ֓݊Ꮉ⿟ᅲ⦄DŽ ӓⳳ㒧ᵰ㸼ᯢˈᴀ᭛ⱘᮍ⊩᥻ࠊᬜ
ᵰ㡃དˈϢӴ㒳ⱘPIDᮍ⊩Ⳍ↨ˈᡫ䋳㥋ᡄࡼᗻ੠剕Ầᗻ᳈ᔎDŽ
݇䬂䆡: 䋳㥋乥⥛᥻ࠊ, ࡼᗕⶽ䰉᥻ࠊ, PID᥻ࠊ,⬉࡯㋏㒳

Load Frequency Control for Power Systems via DMC

WANG Yulong, TAN Wen
School of Control and Computer Engineering, North China Electric Power University, Beijing 102206
E-mail: wylo888@126.com

Abstract: Load frequency control (LFC) is an important technique in providing good power quality and maintaining
safety, reliability and economics of power systems. This paper proposes a PID controller design method via dynamic
matrix control (DMC), and applies it to the load frequency control problems. DMC does not need a detailed mathe-
matical model of the controlled plant, and the controller design can be done using the step response of the system, which
is simple and can achieve good performance. However, receding horizon DMC needs certain burden of computation and
is not easy to implement in a conventional distributed control system (DCS). So this paper approximates DMC to a PID
controller utilizing its closed-loop form. Simulation results show that the proposed method can achieve good perfor-
mance compared with the traditional PID method, with better load disturbance rejection and robustness.
Key Words: Load frequency control(LFC), Dynamic model control (DMC), PID control, Power systems

ᑊϨℸᮍ⊩Ꮖ㒣೼䖥޴कᑈᴹᑓ⊯ᑨ⫼DŽԚᰃ䖥ᑈ
1 ᓩ㿔(Introduction) ᴹˈ⬅Ѣ⦄ҷ⬉࡯㋏㒳ⱘ໡ᴖ⿟ᑺ䍞ᴹ䍞催ˈӴ㒳ⱘ
䱣ⴔ៥೑⬉࡯Ꮦഎⱘ亲䗳থሩˈ⦄ҷ⬉㔥ऎඳ䯈 ᥻ࠊㄪ⬹䲒ҹ⒵䎇㋏㒳ᗻ㛑ˈ಴ℸ‫ܜ‬䖯ⱘᱎ㛑᥻ࠊㄪ
ⱘѦ㘨⿟ᑺг᮹Ⲟ๲ᔎˈⳂࠡ⬉㔥Ꮖথሩ៤Ў⬅໮Ͼ ⬹гᓔྟ㹿ᦤߎᑊϨᑓ⊯ഄᑨ⫼Ѣ䋳㥋乥⥛᥻ࠊⷨ
[2] [3-4]
᥻ࠊऎඳѦ㘨ᵘ៤ⱘ໮ऎඳѦ㘨㋏㒳DŽ⬉࡯㋏㒳ⱘЏ おЁDŽ↨བ῵㊞᥻ࠊ ǃ᳔Ӭ᥻ࠊㄪ⬹ ǃ㞾䗖ᑨ
[5] [6] [7]
㽕ӏࡵህᰃֱ䆕乥⥛੠⬉य़ⱘ〇ᅮˈ乥⥛ⱘᬍবЏ㽕 ᥻ࠊ ǃᱎ㛑᥻ࠊ ǃ剕Ầ᥻ࠊ ੠Ӵ㒳乘⌟᥻ࠊ
[8-10]
ձ䌪Ѣ᳝ࡳࡳ⥛ˈ㗠⬉य़ⱘব࣪߭Ϣ᮴ࡳࡳ⥛Ⳍ݇DŽ ˈ㱑✊䖭ѯᱎ㛑᥻ࠊᮍ⊩ৃҹপᕫ䕗དⱘࡼᗕડ
಴ℸˈ⬉࡯㋏㒳ⱘ〇ᅮ᥻ࠊ䯂乬ৃҹߚ㾷ЎϸϾ⣀ゟ ᑨˈԚᰃҪӀⱘ᥻ࠊ఼ϡᰃ䆒䅵䖛Ѣ໡ᴖህᰃ䰊᭄䖛
ⱘ᥻ࠊ䯂乬ˈϔϾᰃ᳝ࡳࡳ⥛੠乥⥛᥻ࠊˈ঺ϔϾᰃ 催ˈᎹϮᅲ䰙Ёᘏᰃ䲒ҹᑨ⫼DŽ
᮴ࡳࡳ⥛੠⬉य़᥻ࠊˈ݊Ё᳝ࡳࡳ⥛੠乥⥛᥻ࠊ㹿⿄ 乘⌟᥻ࠊᰃ䖥ᑈথሩ䍋ᴹⱘϔ㉏ᮄൟ䅵ㅫᴎᱎ
԰䋳㥋乥⥛᥻ࠊ(load frequency controlˈLFC)DŽᴀ᭛ 㛑᥻ࠊᮍ⊩DŽᅗϡ䳔㽕㹿᥻ᇍ䈵㊒⹂ⱘ᭄ᄺ῵ൟˈ㗠
ेᰃⷨお⬉࡯㋏㒳ⱘ䋳㥋乥⥛᥻ࠊ䯂乬DŽ ᰃ߽⫼᭄ᄫ䅵ㅫᴎⱘ䅵ㅫ㛑࡯ᅲᮑ೼㒓⒮ࡼӬ࣪ˈҢ
㞾ҢElgerd੠FoshaѢ1970ᑈ佪⃵ᦤߎ䋳㥋乥⥛ 㗠পᕫ㡃དⱘ᥻ࠊᬜᵰDŽ԰Ў乘⌟᥻ࠊㅫ⊩Пϔⱘࡼ
᥻ࠊ䯂乬[1]ҹᴹˈᏆ᳝ϡᇥᄺ㗙䖤⫼৘⾡᥻ࠊᮍ⊩ᇍ ᗕⶽ䰉᥻ࠊ(DMC)ㅫ⊩ˈ݊乘⌟ࡳ㛑෎Ѣᇍ䈵ⱘᓔ⦃
䋳㥋乥⥛᥻ࠊ䯂乬䖯㸠њ໻䞣ⱘⷨおDŽ೼䋳㥋乥⥛᥻ 䰊䎗ડᑨ῵ൟˈᓎ῵ㅔऩˈ䞛⫼⒮ࡼᓣ᳝䰤ᯊඳӬ࣪
ࠊⱘⷨおЁˈӴ㒳ⱘ᥻ࠊㄪ⬹Ў↨՟⿃ߚ᥻ࠊ(PI)ˈ ㄪ⬹ˈ਌ᬊњ⦄ҷ᥻ࠊ⧚䆎ⱘӬ࣪ᗱᛇˈᵕ໻ഄ๲ᔎ
њ㋏㒳ⱘ剕Ầᗻˈᑊ䞛⫼ᅲᯊড作᷵ℷᡔᴃˈৃҹঞ
ᯊ᳝ᬜഄ᷵ℷ಴῵ൟ༅䜡ǃᯊব੠⦃๗ᑆᡄㄝᓩ䍋ⱘ
ℸ乍Ꮉ԰ᕫࠄ⊇࣫ⳕ㞾✊⾥ᄺ෎䞥䌘ࡽ, 乍Ⳃᡍ‫ޚ‬ো: F2011502069

978-1-4673-5534-6/13/$31.00 2013
c IEEE 4183

Authorized licensed use limited to: Air University. Downloaded on July 17,2020 at 11:10:06 UTC from IEEE Xplore. Restrictions apply.
῵ൟ䇃ᏂDŽԚᰃ⬅ѢӴ㒳乘⌟᥻ࠊ఼ᰃ䱤ᓣᔶᓣˈϡ 㡖ᐌ᭄ˈ Δu Ў᥻ࠊ䞣ˈ Δf Ў乥⥛‫أ‬Ꮒˈ ΔPd Ў䋳㥋
ᮍ֓Ꮉ⿟ᑨ⫼DŽᴀ᭛ᇚ߽⫼DMCⱘᰒ⼎㸼⼎ˈᑊϨ ᡄࡼDŽ
ㄝᬜЎPID᥻ࠊ఼ˈ᳝ᬜഄ‫ܟ‬᳡њӴ㒳ᮍ⊩䆒䅵໡ᴖ
੠ϡᯧѢᎹϮᅲ⦄ⱘ㔎䱋DŽ 2.2 ໮ऎඳߚᬷ䋳㥋乥⥛᥻ࠊ㋏㒳῵ൟ (Decentra-
lized load frequency controller model for mul-
Ўњ偠䆕ᴀ᭛ᦤࠄⱘㅫ⊩೼⬉࡯㋏㒳䋳㥋乥⥛
ti-area)
᥻ࠊЁⱘ᳝ᬜᗻ੠Ӭ䍞ᗻ, ᴀ᭛ᇍऩऎඳ੠ಯऎඳⱘ
⬉࡯㋏㒳䖯㸠ӓⳳ, ᑊϢ෎Ѣ‫ݙ‬῵᥻ࠊⱘPID᥻ࠊ[11] ໮ऎඳѦ㘨⬉࡯㋏㒳བ೒ 2 ᠔⼎DŽ݊Ё↣Ͼऎඳ
䖯㸠ᇍ↨ˈӓⳳ㒧ᵰ㸼ᯢᴀ᭛ᦤࠄⱘᮍ⊩㛑໳Փ㋏㒳 ⱘ㒧ᵘབ೒ 3 ᠔⼎DŽ
㦋ᕫ᳈དⱘࡼᗕ⡍ᗻˈЏ㽕ԧ⦄೼䍙䇗䞣ᇣǃ䇗㡖ᯊ
䯈ⷁǃ剕Ầᗻ㛑དҹঞ‫݋‬᳝ᕜᔎⱘᡫᑆᡄ㛑࡯ˈᑊϨ
ㅫ⊩䆒䅵ㅔऩˈᯧѢᎹϮᅲ⦄DŽ

2 䋳㥋乥⥛᥻ࠊ῵ൟ(Load frequency control

model)
ᴀ䚼ߚЏ㽕ҟ㒡ऩऎඳ㋏㒳ⱘ㒓ᗻ῵ൟǃ໮ऎඳ
ߚᬷ䋳㥋乥⥛᥻ࠊ῵ൟDŽ

2.1 ऩऎඳ㋏㒳ⱘ㒓ᗻ῵ൟ(Linear model in one area) ೒ 2: ໮ऎඳѦ㘨⬉࡯㋏㒳㒧ᵘㅔ೒

佪‫ܜ‬㗗㰥⫼ऩϾথ⬉ᴎᦤկ⬉㛑ⱘऩऎඳ㋏㒳
῵ൟˈ⬉࡯㋏㒳ᰃϔϾ䴲ᐌ໡ᴖⱘ䴲㒓ᗻࡼᗕ㋏㒳ˈ
⬅Ѣ⬉࡯㋏㒳ℷᐌ䖤㸠ᯊҙҙ⍝ঞࠄ䋳㥋ⱘᨘࡼˈ಴
ℸ䗮ᐌⱘᮍ⊩ᰃ೼Ꮉ‫⚍މ‬䰘䖥㒓ᗻ࣪ˈ⫼㒓ᗻ࣪ⱘ῵
ൟᴹ㸼⼎䖤㸠⚍䰘䖥㋏㒳ⱘࡼᗕ῵ൟ[12]DŽऩऎඳ⬉
࡯㋏㒳ⱘ㒓ᗻ῵ൟབ೒1᠔⼎DŽ䆹㒓ᗻ࣪῵ൟࣙᣀϝ
Ͼ䚼ߚˈߚ߿Ў䇗䗳఼ǃॳࡼᴎ੠থ⬉ᴎDŽ݊Ёॳࡼ
+
ᴎজ᳝䴲‫⛁ݡ‬ᓣ≑䕂ᴎ੠‫⛁ݡ‬ᓣ≑䕂ᴎㄝϡৠ㉏
ൟDŽ‫⛁ݡ‬ᓣ≑䕂ᴎⳌ↨Ѣ䴲‫⛁ݡ‬ᓣ≑䕂ᴎˈ῵ൟ᳈ࡴ
#
໡ᴖˈ᥻ࠊ䲒ᑺг䕗໻ˈᴀ᭛ᇚᇍϸ⾡ᔶᓣⱘ≑䕂ᴎ
䛑ࡴҹⷨおˈҹ䖯ϔℹ䇈ᯢᴀ᭛ᦤࠄㅫ⊩ⱘ᳝ᬜᗻDŽ "

೒ 3: ऎඳiⱘ῵ൟ㒧ᵘ

೒ЁˈΔPtiei 㸼⼎ऎඳ i ⱘ㘨㒰㒓Ѹᤶࡳ⥛ˈBi 㸼

⼎ऎඳ i ⱘ乥⥛‫أ‬Ꮒᐌ᭄ˈ Δf i 㸼⼎ऎඳ i ⱘ乥⥛‫أ‬
೒ 1: ऩऎඳ㋏㒳㒓ᗻ῵ൟ ᏂDŽ Tij 㸼⼎ऎඳ i Ϣऎඳ j П䯈ⱘѦ㘨ᐌ᭄DŽ
೒1Ё৘Ͼ䚼ߚⱘ῵ൟབϟ˖ ϡৠѢऩऎඳ⬉࡯㋏㒳ˈҙҙ䳔㽕ֱ䆕乥⥛〇ᅮ
1 ेৃˈᇍѢ໮ऎඳѦ㘨⬉࡯㋏㒳ˈϡҙ㽕ֱ䆕↣Ͼऎ
䇗䗳఼῵ൟ˖ Gg = ඳⱘ乥⥛‫أ‬Ꮒ䖨ಲࠄ䳊ˈ㗠Ϩ㽕ֱ䆕㘨㒰㒓ⱘѸᤶࡳ
TG s + 1
⥛೼ᳳᳯؐDŽ᠔ҹᐌᐌ⫼ϔϾ໡ড়বব䞣üüऎඳ᥻
KP
থ⬉ᴎ῵ൟ˖ GP =  ࠊ‫أ‬Ꮒ(ACE)ᴹ‫ݐ‬乒Ϟ䗄ϸ⾡㽕∖DŽᇍѢऎඳ i ˈACE
TP s + 1 ᅮНЎ˖
ॳࡼᴎ῵ൟ˖1)䴲‫⛁ݡ‬ᓣ≑䕂ᴎ ACEi = ΔPtiei + Bi Δf i (1)
1 ߭ऎඳ i ⱘ᥻ࠊ⥛ৃ⫼ϟᓣ㸼⼎˖
Gt = 
TT s + 1 ui = − K i ( s ) ACEi (2)
2)‫⛁ݡ‬ᓣ≑䕂ᴎ 㱑✊䖥ѯᑈ໮ব䞣᥻ࠊᡔᴃᕫࠄњᕜ໻ⱘথ
cTr s + 1 ሩˈԚᰃᇍѢ໮ऎඳѦ㘨⬉࡯㋏㒳ⱘ䋳㥋乥⥛᥻ࠊ䯂
Gt = 
(Tr s + 1)(TT s + 1) 乬ˈⳂࠡᐌ⫼ⱘᰃߚᬷ᥻ࠊ㒧ᵘ[13]DŽ೼䆒䅵᥻ࠊ఼
݊Ё TG Ў䇗䗳఼ᯊ䯈ᐌ᭄ˈ Tp Ўথ⬉ᴎᯊ䯈ᐌ᭄ˈ ⱘᯊ‫׭‬ϡ㗗㰥㘨㒰㒓ⱘѸᤶࡳ⥛ˈ೼䖭⾡ᚙ‫މ‬ϟऎඳ
i ᠔ᔶ៤ⱘ᳔㒜᥻ࠊ⥛ৃ⫼ϟᓣ㸼⼎˖
K p Ўথ⬉ᴎ๲Ⲟˈ TT Ў≑䕂ᴎᯊ䯈ᐌ᭄ˈ Tr Ў‫ݡ‬
ui = − K i ( s ) Bi Δf i (3)
⛁఼ᯊ䯈ᐌ᭄ˈc Ў‫఼⛁ݡ‬๲ⲞDŽR Ў䇗䗳఼䗳ᑺ䇗

4184 2013 25th Chinese Control and Decision Conference (CCDC)

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3 ࡼᗕⶽ䰉᥻ࠊ᥻ࠊ఼䆒䅵(Controller de- d Τ = [1, 0," , 0] ( A′Τ QA′ + R ) A′Τ Q
−1

sign based on DMC)

ª a1 " 0 º
ЎњՓᕫߎⱘࡼᗕⶽ䰉᥻ࠊ఼‫݋‬᳝ᰒᓣⱘ㸼䖒 «a " a1 »»
ᔶᓣˈ䳔㽕Ңᯊඳ੠乥ඳϸᮍ䴶ᴹߚᵤDŽখ✻᭛⤂ A′ = « M
« # # # »
[12]ˈ佪‫ܜ‬ᇚDMCㄝᬜЎ‫ݙ‬῵᥻ࠊ(IMC)㒧ᵘˈᇐߎ « »
‫ݙ‬῵㒧ᵘЁ৘䚼ߚⱘӴ䗦ߑ᭄DŽ ¬ aP " aP − M +1 ¼ P×( M −1)

ᇍѢऩ䕧ܹऩ䕧ߎⱘ⏤䖥〇ᅮᇍ䈵ˈ‫؛‬ᅮᏆ㒣⌟ Q = diag ( q," , q ) ˈR = diag ( r ," , r ) ߚ߿ҷ㸼䇃

ᅮњ݊䰊䎗ડᑨⱘ䞛ḋؐЎ {ai } ˈḍ᥂Ӵ㒳᥻ࠊ⧚䆎 Ꮒᴗⶽ䰉੠᥻ࠊᴗⶽ䰉DŽ
ⱘᅲ⦄ᴵӊˈ⬅ {ai } ৃҹᕫࠄᇍ䈵ⱘ⢊ᗕぎ䯈ᦣ䗄˖ ᳔ৢˈᇍ㾖⌟఼ᮍ⿟(8)‫ خ‬Z বᤶˈৃᇚᯊඳЁ
ⱘDMCㅫ⊩䕀ᤶЎ乥ඳЁⱘIMC㒧ᵘˈ䕀࣪ৢⱘ㒧
x(k + 1) = Ax(k ) + bΔu ( k ) ½
¾ (4) ᵘབ೒5᠔⼎DŽ݊Ё৘䚼ߚⱘӴ䗦ߑ᭄བϟ˖
y ( k ) = c Τ x( k ) ¿ 1)ᇍ䈵῵ൟ˖
Ϟᓣⱘᅲ⦄ᴵӊЎ˖
GM ( z ) = a1 z −1 + (a2 − a1 ) z −2 + " + (aN − aN −1 ) z − N (9)
Τ i −1
c A b = ai , i = 1, 2," (5)
2)‫ݙ‬῵᥻ࠊ఼˖
བᵰা㗗㰥ᅲ⦄ᴵӊ(5)ˈ㗠ϡㅵ(4)ᰃ৺Ў᳔ᇣ࣪ˈ ds
߭ৃҹপ˖ GC (z) = (10)
1+ (b2 −1)z + (b3 −b2 )z−2 +"+ (bN −bN−1)z−(N−2)
−1

ª0 1 " 0 º
« # 0 " 0» 3)Ⓒ⊶఼˖
A=S =« » c2 +(c3 −c2)z−1 +"+(cN −cN−1)z−(N−2)
« # # " 1» GF (z) = (11)
« » ds (1+(h2 −1)z−1 +(h3 −h2)z−2 +"+(hN −hN−1)z−(N−1) )
¬0 0 " 1 ¼ N × N
4)খ㗗῵ൟ˖
ª1 º
ª a1 º «0» ­ 1, ቯؐប೙
°
b = a = «« # »» c=« » GW = ® 1 P (12)
«¬ aN »¼ N ×1
«# » ° d䯴 d1 z + " + d P z 䯵, 〓〽ប೙
« » ¯ s
¬0¼ N ×1
݊Ё˖
݊Ё b ⱘ‫ܗ‬㋴ᰃᇍ䈵䰊䎗ડᑨ㋏᭄ˈℸ㸼䖒ᓣϡձ N
䌪Ѣᇍ䈵ⱘ㒧ᵘDŽℸᯊ(4)ᓣবЎ˖ ds = ¦ d j
j =1
x(k + 1) = Sx( k ) + aΔu (k ) ½
¾ (6) N
y (k ) = c Τ x(k ) ¿ bi = ¦ d j ai + j −1 i = 1, 2," , N
j =1
⬅Ѣᅲ⦄ᯊᗑ⬹њᇍ䈵ⱘ㒧ᵘˈ᠔ҹ䖭⾡乘⌟⢊
N
ᗕⱘϡᅠܼৃ᥻ᗻᰃ䆹ᅲ⦄ⱘ㔎䱋DŽ䗮䖛⢊ᗕ㾖⌟఼ ci = ¦ d j hi + j −1 i = 1, 2," , N
䞡ᵘ乘⌟⢊ᗕ x(k ) ˈৃᕫࠄ䞡ᵘ㾖⌟఼˖ j =1

x (k + 1) = Sx(k ) + aΔu(k ) + h [ y(k + 1) − y (k + 1)]½ ᔧ i > N ᯊˈ ai = aN , hi = hN

¾ (7)
y (k + 1) = cΤ Sx(k ) + cΤ aΔu(k ) ¿
݊Ёˈ x Ϣ y ߚ߿Ў䞡ᵘⱘ⢊ᗕϢ䕧ߎˈ h Ў N 㓈
㾖⌟఼ড作৥䞣DŽ⬅ℸ䞡ᵘⱘ x (k ) পҷⳳᅲ⢊ᗕ
x(k ) ˈৃᕫࠄৃ㸠ⱘ乘⌟᥻ࠊ䯁⦃᥻ࠊ⥛˖
Δu ( k ) = d Τ [ w( k ) − GSx (k )] (8)
ᓣЁ˖
೒ 4: ࡼᗕⶽ䰉᥻ࠊⱘ‫ݙ‬῵㒧ᵘ
G = ª¬ I P× P # 0 p×( N − P ) º¼
⬅Ѣ䞛⫼ⱘᰃࡼᗕⶽ䰉᥻ࠊˈ᠔ҹ∖ߎⱘ᥻ࠊ఼
ᰃ⾏ᬷᔶᓣᑊϨ䰊⃵↨䕗催ˈЎњ֓ѢᎹϮᡔᴃҎਬ
⧚㾷੠ᑨ⫼ˈ៥ӀᇚϞ䗄‫ݙ‬῵᥻ࠊ఼䗮䖛ϟᓣㄝᬜЎ
Ӵ㒳᥻ࠊ఼˖
K = GC ( I − GM GC )
−1
(13)

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ᕫࠄӴ㒳᥻ࠊ఼ৢˈ䞛⫼᭛⤂[11]ᦤߎⱘᮍ⊩䖯ϔℹ ৃҹⳟߎˈ㋏㒳ࡼᗕᗻ㛑Ϣॳᴹⱘࡼᗕᗻ㛑↨䕗≵᳝
ᡞ᥻ࠊ఼䰡䰊Ўᅲ⫼ⱘPIDᔶᓣDŽ ᯢᰒⱘব࣪ˈ㸼ᯢњDMC2PID‫݋‬᳝㡃དⱘ剕Ầ⡍ᗻDŽ
ৃⶹҢㅫ⊩ⱘᔶ៤ᴹⳟˈ೼䆒䅵Ё䳔㽕䇗ᭈⱘখ 4
x 10
-3

᭄᳝6Ͼˈߚ߿ᰃ䞛ḋ਼ᳳTǃ῵ൟ䭓ᑺNǃӬ࣪ᯊඳ lower bound

Nominal parameters
2
Pǃ᥻ࠊᯊඳMǃ᥻ࠊᴗⶽ䰉Rҹঞ䇃Ꮒᴗⶽ䰉QDŽ upper bound

4 ӓⳳߚᵤ(Simulation analysis) -2

• f(Hz)
ᇚᴀ᭛ᦤࠄⱘ෎Ѣࡼᗕⶽ䰉᥻ࠊⱘPID᥻ࠊ఼ -4

ᑨ⫼Ѣऩऎඳ੠໮ऎඳѦ㘨⬉࡯㋏㒳䖯㸠ӓⳳDŽ -6

4.1 ऩ ऎ ඳ ⬉ ࡯ ㋏ 㒳 -- 䴲 ‫ ≑ ⛁ ݡ‬䕂 ᴎ (Non-reheat -8

steam turbine in one area) -10

佪‫ܜ‬㗗㰥‫݋‬᳝䴲‫≑⛁ݡ‬䕂ᴎⱘऩऎඳ⬉࡯㋏ -12
0 2 4 6 8 10 12 14 16 18 20

㒳ˈ῵ൟখ᭄བϟ[11]˖ Time(sec.)

TG = 0.08, TT = 0.3, K P = 120, TP = 20, R = 2.4  ೒6: খ᭄剕Ầᗻ偠䆕
‫؛‬ᅮ೼ t = 1s ᯊࠏˈऎඳফࠄⱘ䰊䎗䋳㥋ᡄࡼ
Ў˖ ΔPd = 0.01 p.u. DŽḍ᥂㄀ϝ䚼ߚ᥻ࠊ఼䆒䅵䖛⿟ 4.2 ऩऎඳ⬉࡯㋏㒳--‫≑⛁ݡ‬䕂ᴎ(reheat steam tur-
bine in one area)
(ϟ᭛ㅔ⿄˖DMC2PID)ˈᇚখ᭄䇗ᭈЎ˖
T = 0.1, N = 80, P = 20, M = 15, r = 0, q = 1 㗗㰥‫݋‬᳝‫≑⛁ݡ‬䕂ᴎⱘऩऎඳ⬉࡯㋏㒳ˈ῵ൟখ
᭄བϟ[11]˖
ৃᕫDMC2PID᥻ࠊ఼Ў˖
TG = 0.08, TT = 0.3, K P = 120, TP = 20, R = 2.4,
2.9414 
K ( s ) = 0.9881 +
+ 0.4131s (14) TR = 4.2, c = 0.35
s
᥹ϟᴹߚ߿䞛⫼DMP2PID੠෎Ѣ‫ݙ‬῵᥻ࠊⱘ ‫؛‬ᅮ೼ t = 1s ᯊࠏˈऎඳফࠄⱘ䰊䎗䋳㥋ᡄࡼ
PID⊩(ϟ᭛ㅔ⿄˖IMC2PID)[11]䖯㸠ӓⳳ↨䕗ˈ㒧ᵰ Ў˖ ΔPd = 0.01 p.u. DŽ䗮䖛DMC2PID䆒䅵ᮍ⊩ˈᇚখ
བ೒5᠔⼎DŽҢ೒Ёৃҹⳟߎ˖ᴀ᭛ᦤࠄⱘᮍ⊩䍙䇗 ᭄䇗ᭈЎ˖
䕗ᇣˈ䇗㡖ᯊ䯈䕗ⷁˈᑊϨ᳔໻乥⥛⊶ࡼҙҙ T = 0.06, N = 180, P = 20, M = 15, r = 0, q = 10 
0.008Hz ˈ᥻ࠊᬜᵰᯢᰒᬍ୘DŽ ৃᕫDMC2PID᥻ࠊ఼Ў˖
-3

2
x 10
4.2796
DMC2PID K ( s ) = 3.8248 +
+ 2.3801s (15)
0 IMC2PID s
-2 ӓⳳ㒧ᵰབ೒7᠔⼎ˈৃҹⳟߎᴀ᭛ᦤࠄⱘᮍ⊩
-4
ৃҹ㦋ᕫ᳈དⱘࡼᗕᗻ㛑ˈЏ㽕ԧ⦄೼䍙䇗ᯢᰒ‫ޣ‬
ᇣˈ䇗㡖ᯊ䯈ᯢᰒ㓽ⷁDŽ
• f(Hz)

-6
-3
x 10
2
-8 DMC2PID
0 IMC2PID
-10

-2
-12

-4
-14
0 2 4 6 8 10 12 14 16 18 20
• f(Hz)

Time(sec.) -6

-8
೒5:乥⥛‫أ‬Ꮒ(ᅲ㒓˖ᴀ᭛ᮍ⊩˗㰮㒓˖IMC2PID[11])
-10
ᇍ῵ൟখ᭄ϡ⹂ᅮ䖯㸠剕Ầᗻ偠䆕ˈ‫؛‬䆒῵ൟখ
-12
᭄೼f20%ⱘ㣗ೈ‫ݙ‬䖯㸠ব࣪˖
1 / TT ∈ [ 2.778, 4.167 ] ,1 / TG ∈ [10.417,15.625]
-14
0 5 10 15 20 25 30
Time(sec.)

1 / TP ∈ [ 0.042, 0.063] , K P / TP ∈ [ 4.800,9.600]
೒7: 乥⥛‫أ‬Ꮒ(ᅲ㒓˖ᴀ᭛ᮍ⊩˗㰮㒓˖IMC2PID[11])
1 / RTG ∈ [ 4.340,6.510]
ৠḋᇍ῵ൟখ᭄ϡ⹂ᅮ䖯㸠剕Ầᗻ偠䆕ˈ῵ൟখ
೼᥻ࠊ఼খ᭄ϡবⱘᚙ‫މ‬ϟˈᇍ῵ൟখ᭄೼Ϟ⬠ǃϟ
᭄ҡ೼f20%ⱘ㣗ೈ‫ݙ‬䖯㸠ব࣪ˈᇍ῵ൟ೼Ϟ⬠ǃϟ
⬠੠ᷛ⿄ᚙ‫މ‬ϟߚ߿䖯㸠ӓⳳˈབ೒7᠔⼎DŽҢ೒Ё

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⬠ҹঞᷛ⿄খ᭄ᚙ‫މ‬ϟ䖯㸠ӓⳳˈ㒧ᵰབ೒8᠔⼎ˈ ऎඳ䯈Ѧ㘨ᐌ᭄ T12 = T13 = T14 = T23 = T24 = T34 =
ৠḋৃ偠䆕ᴀ᭛ᦤࠄⱘᮍ⊩‫݋‬᳝䕗དⱘ剕ẦᗻDŽ 0.0707ˈ݊Ҫ῵ൟখ᭄খ㾕4.1੠4.2䚼ߚDŽ‫؛‬ᅮ˖
2
x 10
-3
1) ೼ t = 1s ᯊࠏˈऎඳ1ফࠄⱘ䰊䎗䋳㥋ᡄࡼЎ˖
ΔPd1 = 0.01 p.u. DŽ
lower bound
1 Nominal parameters
upper bound

0 2) ೼ t = 20s ᯊࠏˈऎඳ2ফࠄⱘ䰊䎗䋳㥋ᡄࡼ
-1
Ў˖ ΔPd 2 = 0.01 p.u. DŽ
3) ೼ t = 40s ᯊࠏˈऎඳ3ফࠄⱘ䰊䎗䋳㥋ᡄࡼ
• f(Hz)

-2

-3
Ў˖ ΔPd3 = 0.01 p.u. DŽ
-4
4) ೼ t = 60 s ᯊࠏˈऎඳ4ফࠄⱘ䰊䎗䋳㥋ᡄࡼ
Ў˖ ΔPd 4 = 0.01 p.u. DŽ
-5

-6
᥻ࠊখ᭄পЎ˖
0 5 10 15 20 25 30
Time(sec.)
 1)ǃ䴲‫≑⛁ݡ‬䕂ᴎ˖
Ti = 0.07, N i = 70, Pi = 20, M i = 14, ri = 0,
೒8: খ᭄剕Ầᗻ偠䆕
qi = 1(i = 1, 2)
4.3 ಯऎඳѦ㘨⬉࡯㋏㒳(Four-area interconnected 2)ǃ‫≑⛁ݡ‬䕂ᴎ˖
power system)
Ti = 0.07, N i = 190, Pi = 20, M i = 15, ri = 0,
㗗㰥೒9᠔⼎ಯऎඳѦ㘨⬉࡯㋏㒳DŽЎњՓ῵ൟ qi = 7(i = 3, 4)
᳈‫݋‬ᑓ⊯ᗻˈ៥Ӏ‫؛‬䆒ऎඳ1੠ऎඳ2ᰃ‫⛁ݡ‬ᓣ≑䕂
᳔ৢৃᕫऎඳ1੠2ⱘ᥻ࠊ఼Ў˖
ᴎˈऎඳ3੠ऎඳ4ᰃ䴲‫⛁ݡ‬ᓣ≑䕂ᴎDŽ
1.6827
K i ( s ) = 1.3514 + + 0.2788s (i = 1, 2) (16)
s
ऎඳ3੠4ⱘ᥻ࠊ఼Ў˖
4.7207
K i ( s) = 3.8041 + + 2.6748s (i = 3, 4) (17)
s
ӓⳳ㒧ᵰབ೒10੠11᠔⼎ˈ Ң೒10੠೒11ৃҹⳟ
ߎˈϢIMC2PIDᮍ⊩Ⳍ↨ˈᴀ᭛ᦤࠄⱘᮍ⊩ՓऎඳП
䯈ⱘ㗺ড়ᯢᰒ‫ޣ‬ᔅˈ↣Ͼऎඳⱘ䇗㡖ᯊ䯈ᯢᰒ䛑‫ޣ‬
ⷁˈᑊϨ৘Ͼऎඳⱘ㘨㒰㒓ࡳ⥛ಲࠄᳳᳯؐⱘ䗳ᑺ᳈
ᖿDŽ䆕ᯢᴀᮍ⊩ৃҹ᳝ᬜⱘֱ䆕᳈Ў໡ᴖⱘ໮ऎඳѦ
㘨⬉࡯㋏㒳ⱘ催ᗻ㛑㽕∖DŽ
೒9:ಯऎඳ⏋ড়≑䕂ᴎѦ㘨ᔶᓣ
-3 -3
x 10 x 10
5 5

0 0

-5 -5
• f1(Hz)

• f2(Hz)

-10 -10

-15 -15

-20 -20
0 10 20 30 40 50 60 70 80 0 10 20 30 40 50 60 70 80
Time(sec.) Time(sec.)
IMC2PID
DMC2PID
-3 -3
x 10 x 10
4 4

2 2

0 0

-2 -2
• f3(Hz)

• f4(Hz)

-4 -4

-6 -6

-8 -8

-10 -10

-12 -12
0 10 20 30 40 50 60 70 80 0 10 20 30 40 50 60 70 80
Time(sec.) Time(sec.)

೒10:ಯऎඳѦ㘨⬉࡯㋏㒳乥⥛‫أ‬Ꮒ (ᅲ㒓˖ᴀ᭛ᮍ⊩ˈ㰮㒓˖IMC2PID[11])

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 -3 -3
x 10 x 10
1 1

0.5 0.5

0 0

• Ptie1(MW)

• Ptie2(MW)
-0.5 -0.5

-1 -1

-1.5 -1.5

-2 -2

-2.5 -2.5

-3 -3
0 10 20 30 40 50 60 70 80 0 10 20 30 40 50 60 70 80
Time(sec.) Time(sec.)
IMC2PID
DMC2PID
-3 -3
x 10 x 10
1 1

0.5 0.5
• Ptie3(MW)

• Ptie4(MW)
0 0

-0.5 -0.5

-1 -1

-1.5 -1.5
0 10 20 30 40 50 60 70 80 0 10 20 30 40 50 60 70 80
Time(sec.) Time(sec.)

೒11:ಯऎඳѦ㘨⬉࡯㋏㒳㘨㒰㒓Ѹᤶࡳ⥛ (ᅲ㒓˖ᴀ᭛ᮍ⊩ˈ㰮㒓˖IMC2PID[11])
[5] C.T. Pan , C. M. Liaw,An adaptive controller for power
5 㒧䆎(Conclusion) system load-frequency control[J], IEEE Trans. Power Syst.,
vol. 4, no.1, pp.122-128, Feb.1989.
ᴀ᭛ᑨ⫼ࡼᗕⶽ䰉᥻ࠊⱘ‫ݙ‬῵㒧ᵘᔶᓣˈⷨおњ⬉ [6] A. Demiroren, N. S. Sengor, and H. L. Zeynelgil,Automatic
࡯㋏㒳ⱘ䋳㥋乥⥛᥻ࠊ䯂乬DŽ⬅Ѣᕫࠄⱘ催䰊᥻ࠊ఼䲒 generation control by using ANN technique.Elect[J],Power
ҹ೼Ꮉ⿟ᅲ䏉ЁⳈ᥹ᑨ⫼ˈ᠔ҹᴀ᭛䖯ϔℹᡞ催䰊᥻ Compon.Syst.,vol.29, no. 10, pp. 883-896, 2001.
ࠊ఼ㄝᬜЎњӴ㒳ⱘPIDᔶᓣDŽᡞ෎Ѣ乘⌟᥻ࠊᕫࠄⱘ [7] M.Azzam , Robust automatic generation control[J], Energy
Convers.Manage., vol.40, no.13, pp. 1413-1421, 1999.
PIDᑨ⫼Ѣऩऎඳ੠᳈Ў໡ᴖⱘ໮ऎඳѦ㘨⬉࡯㋏㒳ˈ
[8] ᴼ 㔵,߬ᯢ‫ܝ‬,ሜᖫമ,෎Ѣ MPC ㅫ⊩ⱘ⬉࡯㋏㒳䋳㥋乥
ӓⳳ㸼ᯢ˖ᴀ᭛ᦤࠄⱘᮍ⊩Փ㋏㒳䍙䇗‫ޣ‬ᇣˈડᑨࡴ
⥛᥻ࠊ[J] ,࣫ҀѸ䗮໻ᄺᄺ᡹,36(2),105-110,2012.
ᖿˈᡫᑆᡄ㛑࡯੠剕Ầᗻ᳈ᔎDŽ
[9] ᄨ㦆㢇,㔫໽⼹,ਈ᥋,෎Ѣ⢊ᗕᬊ㓽㑺ᴳⱘ῵ൟ乘⌟䋳㥋
乥⥛᥻ࠊ[J],Ё೑⬉ᴎᎹ⿟ᄺ᡹,27(7),18-22,2007.
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[11] Wen Tan,Unified tuning of PID load frequency controller
[2] ᄳ⼹㧡,Ѧ㘨⬉࡯㋏㒳ⱘ῵㊞⒥῵䋳㥋乥⥛᥻ࠊ[J],䭓᯹
for power systems via IMC[J], IEEE Trans,Power Syst., vol.
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