Preprints of the 3rd IEEE conference on
Energy Internet and Energy System Integration
November 8-10, 2019. Changsha, China
Load Frequency Control Strategy for Wind Power
Grid-connected Power Systems Considering Wind
Power Forecast
Shen Yang-Wu
Department of power system Department of power system
technology center technology center
State Grid Hunan Electrical Power State Grid Anhui Electrical Power
Company Limited Research Institute Company Limited Research Institute
Changsha,China
shenyangwu@126.com maoxun@whu.edu.cn
Wang Yang-Guang Cui Ting
Power Dispatching and Department of power system
Control Center technology center
State Grid Hunan Electrical State Grid Hunan Electrical
Power Company Limited Power Company Limited
Changsha,China Research Institute
51616901@qq.com Changsha,China
cuiting0245@163.com
Abstract—Due to the strong random of wind power, the
much higher request is put forward for the power system load
frequency control. Taking the interconnected power grid with
wind power as the research object, the load frequency control
strategy based on the wind power prediction by Kalman filter
is proposed to reduce the influence in the system frequency
caused by wind power. The Kalman filter algorithm is used to
predict the wind power at first. Then, the forecasted wind
power is employed for the load frequency controller design.
Furthermore, the load frequency control model interconnected
power system is established. This control scheme is applied to a
four-area power system considering three areas integrated
wind power. The simulation results which are carried on
MATLAB/Simulink, show that the proposed load frequency
control strategy based on Kalman filter wind power prediction
can effectively reduce the frequency fluctuation and keep the
system frequency fluctuation in a small range. Simulation
results also show its outperformances when compared with the
conventional PID based load frequency control.
Keywords—wind power, Kalman filter algorithm, wind power
forecast, load frequency control
I. INTRODUCTION
Because of the strong volatility and uncertainty of wind
power, wind power will inevitably effect the stability and
safety of power system operation [1-3]. Maintaining
frequency stability is based on active power balance, and the
intermittent wind power integration has a significant
influence on the dynamic characteristics of system
frequency. Therefore, large-scale wind power integration
will pose a greater challenge to load frequency control (LFC)
of interconnected power systems [4].
In recent years, the frequency control strategy of wind
power integration has been studied. Some researchers use
978-1-7281-3137-5/19/$31.00 ©2019 IEEE
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Mao Xun Pi Ao
Department of power system
technology center
State Grid Hunan Electrical Power
Company Limited Research Institute
Anhui,China Changsha,China
799451360@qq.com
Wang Ding Zuo Jian
Department of power system Department of power system
technology center technology center
State Grid Hunan Electrical State Grid Hunan Electrical
Power Company Limited Power Company Limited
Research Institute Research Institute
Changsha,China Changsha,China
wangding@hust.edu.cn 5350060@qq.com
artificial intelligence algorithm to optimize the parameters of
PID load frequency controller and enhance the frequency
control effect. For example, the parameters of PID
controllers are optimized by neural network algorithm in [5].
It not only makes LFC have the universal applicability of
PID control, but also improves the adaptive capacity of LFC.
However, this neural network optimization method is easy to
fall into the local optimal solution. Reference [6] adds energy
storage devices in the wind farm to balance wind power
fluctuation. Although the introduction of energy storage unit
can significantly reduce the fluctuation of wind power, it
increases the construction difficulty and investment costs.
Reference [7] introduces frequency control links within wind
turbines to adjust the active output of wind turbines and
participate in system frequency adjustment. However, this
method requires wind turbine to meet the demand of reserve
capacity by load reduction. Therefore, it cannot guarantee the
maximum power point tracking (MPPT) of wind turbines,
and reduces the utilization rate of wind power. Reference [8]
studies the frequency improvement effect of the frequency
modulation by using the traditional unit speed governor and
the automatic generation device when the wind power is
connected to the grid, but the frequency regulation capability
of system's units is limited. Accordingly, to maximize the
utilization of wind power and maintain frequency stability, it
is necessary to make full use of the frequency regulation
capability of the existing interconnected power system. The
research and design of intelligent load frequency controllers
is an effective solution to this problem [9].
In this paper, a multi-area interconnected power system
with wind power integration is taken as the research object.
First, wind power is forecasted by Kalman filter algorithm,
and then the load frequency controller is designed based on
the predictive value of wind power. Meanwhile, the phase
compensation is introduced into this controller to improve
the dynamic response of frequency. Finally, a load frequency
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control strategy considering wind power forecast is proposed 1.5

Wind power (p.u.)

and applied to the four-area interconnected power system
with wind power integration. Simulation results based on
MATLAB/Simulink verify the effectiveness of this strategy. 1.0

II. WIND POWER FORECAST BASED ON KALMAN FILTER

0.5
A. Wind Power Forecast Model Based on Kalman Filter
Based on the Kalman filter algorithm, a wind farm power
forecast model is constructed. According to the state 0 2 4 6 8 10 12 14 16 18 20
equation, the wind power of the next moment is forecasted t(s)
by the current wind power. Assuming that the wind power of The original wind power
the current time t is known, the forecast wind power Py The forecasted wind power
( t + Δt /t) can be expressed as: Fig. 1. The original wind power curve and the forecasted wind power
curve.
Py( t + Δt /t) = At Pz(t/t) (1)

where, Py (t + Δt / t ) is the wind power at t + Δt time βi 1/Ri

ACEi PLi
forecasted by the wind power at t time, also known as one-  
1 Pgi 
 Ui 1 Xei 1 fi
step forecast power. Pz(t/t) is the optimal estimation at t &RQWUROOHU
1 + sTgi 1 + sTti
  M i s + Di
time. At is the state transition matrix. After obtaining the  
n
wind power at t + Δt time, the corresponding covariance is ¦ Tij
updated. j =1, j ≠ i

2π 

Cy(t+t/t) = At Cz(t/t) AtT+Q (2) Ptiei s n



where, Cy(t+  t/t) is the corresponding covariance of
Py (t + Δt / t ) . Q is the process noise covariance of the
system.
Similarly, the measurement power at t+ǻt time can be
obtained. Combined with one-step forecast power and the
measurement power, the optimal estimation power of t+ǻt
time can be obtained as below according to the Kalman filter
algorithm:
Pz(t+t/t+t) =Py(t+t/t)+
Kgt+Ƹt [Pc(t+t)-Ht+ x(t+t/t)t] (3)
where, Pz(t+t/t+t) is the optimal estimation power of
t+ǻt time. Kgt+Ƹt is Kalman gain. Ht+Ƹt is the measurement
matrix. x(t + Δt / t ) is the state matrix.
Similarly, update its corresponding covariance:
Cy(t+t/t+t)=[I- Kgt+Ƹt Ht+t] Cy(t+t/t) (4)
The Kalman gain Kgt+Ƹt is:
K gt +Δt = C y (t ++t / t ) H t [ H t + +t C y (t ++t / t ) H tT+ +t + R] (5)
where, R is measurement noise covariance.
B. Verification of Wind Power Forecast Results
Considering convergence speed and combined with
engineering practice [10], the initial values are selected as:
x(0/0)= x0ǃCy(0/0)=10I. Let R=1 and Q=1. A set of wind
power datas in [11] is forecasted by Kalman filter algorithm.
The original wind power curve and the forecasted wind
power curve are shown in Fig. 1.
The result of Fig. 1 verifys the validity and feasibility of
Kalman filter algorithm in wind power forecast.
¦
j =1, j ≠i
Tij Δf j
Fig. 2. LFC model of multi-area power system.
 U
PID controller

The forecasted
wind power
-1 e jθ
Fig. 3. Load frequency controller considering wind power forecast.
III. LOAD FREQUENCY CONTROL STRATEGY
CONSIDERING WIND POWER FORECAST
A. Multi-area Load Frequency Control System Model
LFC systems can be expressed as a linear model when
the load change is not significant. Fig. 2 shows the ith control
area model of the multi-area power system LFC model.
As shown in Fig. 2, each area is composed of governor,
turbine, generator-load model, tie-line and load frequency
controller. Tgi is the governor time constant of the ith area.
βi is the frequency deviation coefficient of area i. Ri is the
governor regulation constant of area i. Di is the load damping
coefficient of area i. Mi is unit inertia constant. Tti is turbine
time constant. ACE is area control error. fi is frequency
error. PL is load disturbance. Xei is the change of valve
adjustment position, and  Ptie is the power exchange
deviation between two areas.
B. Design of Load Frequency Control Strategy
Considering Wind Power Forecast
This paper proposes a LFC strategy considering wind
power forecast for the frequency fluctuation caused by wind
power integration. This strategy makes use of wind power
forecasted in advance to adjust the output power of the

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synchronous generator in order to reduce the influence of 0

X: 0.2Hz
wind power fluctuation on the system frequency.
-45 Y: 34.9°

Phase(deg)
The controller proposed in this paper is composed of
traditional fixed-value PID controller and a specific signal, -90
which is contained by phase inversion and compensation of
the forecasted wind power. The controller block diagram is -135
shown in Fig. 3.
-180 -2 -1 0 1 2
In this paper, the active power of wind power is regarded 10 10 10 10 10
as a load in the power system. The controller applies the Frequency(Hz)
inverted power output of the forecasted wind power as a
control command input of the generator, so that the generator Fig. 5. Phase-frequency response curve of generator transfer function in
can output the inverted power corresponding to the wind single-area system.
power, and the inverted power and the wind power are
superimposed to offset the power fluctuation after wind It can be determined that the lag phase generated by the
power integration. Therefore, the frequency fluctuation generator transfer function with the wind power frequency
caused by the wind power can be reduced. 0.2Hz is 34.9°. Therefore, the compensation phase angle of
the compensation phase link added in the load frequency
C. The Design of the Phase Compensation Link controller is 34.9°. By introducing the phase compensation
The transfer function of governors and turbines can be link e jθ , the control command is input in advance to
equivalent to a first-order inertia link, which can be compensate the phase lag caused by the inertia link of the
expressed as follows respectively: generator.

1 IV. SIMULATION ANALYSIS

Gg ( s ) = (6)
1 + sTgi To verify the effectiveness of the load frequency control
strategy considering wind power forecast in the
1 interconnected power system, this paper carries out a
Gt ( s ) = (7) MATLAB/Simulink simulation study of the four-area LFC
1 + sTti
system shown in Fig. 2 when i=4. The structure diagram of
Generators respond according to the control power the four-area interconnected system is shown in Fig. 6, and
command of the load frequency controller. However, the the system parameters are shown in Table 1.
output power of generators has a certain phase lag relative to
The wind power is integrated to area 1, 2 and 4
the control power command. Therefore, it is necessary to
respectively. The actual wind power values and wind power
determine the phase lag angle according to its phase
forecast values for area 1, 2 and 4 are shown in Fig. 1, Fig. 7
frequency response characteristics and the fluctuation
and Fig. 8 respectively.
frequency of wind power. As shown in Figure 3, the phase
compensation link e jθ is added to the inversion signal of
forecasted wind power in the load frequency controller. It 12
Ptie Control area 2 Ptie23
makes the power control command advance to the generator
to compensate for its lag phase, so as to minimize frequency
fluctuation and improve the dynamic response of frequency. Ptie24
Control area 1 Control area 3
Ptie31
The design method of the phase compensation link is
introduced in the example of the forecasted wind power
shown in Fig. 1 integrated to the single-area system. Assume 14
Ptie Control area 4 Ptie34
that the governor time constant and the turbine time constant
of the single-area system are 0.2 s and 0.3 s, respectively.
The spectrum analysis by fast Fourier transformation (FFT) Fig. 6. The four-area interconnected system.
is used to determine its frequency, and the spectrum analysis
result is shown in Figure 4.
×104 TABLE I. FOUR-AREA SYSTEM PARAMETERS

1.5 Area i 1 2 3 4 Unit

Amplitude

Ri 2.4 2.7 2.5 2 Hz/pu

1.0
ȕi 0.425 0.425 0.425 0.425 pu/Hz
0.5 Tgi 0.08 0.072 0.07 0.085 s

Tti 0.3 0.33 0.35 0.375 s

0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 Mi 1/6 2/9 4/25 3/23 pu/s
Frequency(Hz)
Di 1/120 1/112.5 1/125 1/115 pu/Hz
Fig. 4. The spectrum analysis of wind power.
Tij 0.545 0.545 0.545 0.545 pu/Hz

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1.0 0.3
Wind power(p.u.) 0.2
0.8

Frequency deviation(Hz)
0.1
0.6 0.0
0.4 -0.1

0.2 -0.2
-0.3
0 2 4 6 810 12 14 16 18 20 -0.4
t(s) -0.5
Actual wind power -0.6
Forecasted wind power 0 2 4 6 8 10 12 14 16 18 20
t(s)
Fig. 7. Actual wind power and forecasted wind power in area 2. PID Proposed LFC strategy

1.0 Fig. 10. Frequency deviation of area 2.

Wind power(p.u.)

0.8 0.2
0.6 0.1

Frequency deviation(Hz)
0.4 0.0

0.2 -0.1

-0.2
0 2 4 6 8 10 12 14 16 18 20
t(s) -0.3
Actual wind power
Forecasted wind power -0.4

Fig. 8. Actual wind power and forecasted wind power in area 4. -0.5
0 2 4 6 8 10 12 14 16 18 20
t(s)
The spectrum analysis of the wind power fluctuations in PID Proposed LFC strategy
area 1, 2 and 4 is performed through FFT. It is found that the
Fig. 11. Frequency deviation of area 3.
frequency of the wind power fluctuation in area 1, 2 and 4
are concentrated at 0.2 Hz, 0.15 Hz and 0.25 Hz, 0.6
respectively.
Frequency deviation(Hz)

0.4
According to the phase frequency response characteristic
of the wind power fluctuation frequency and the generator 0.2
function in each area, the lag angle caused by the generator
transfer function can be determined. On this basis, the 0.0
compensation phase angle θi of the phase compensation link
-0.2
e jθ i in the controller is obtained. The compensation phase
values of area 1, 2 and 4 are 31.4°, 20.1° and 33.8° -0.4
respectively. -0.6
0 2 4 6 8 10 12 14 16 18 20
0.4 t(s)
0.3 PID Proposed LFC strategy
Frequency deviation(Hz)

0.2
0.1
Fig. 12. Frequency deviation of area 4.
0.0
The simulation results shown in Fig. 9 to Fig. 12 indicate
-0.1
that the control effect of the traditional PID controller is
-0.2
easily influenced by wind power fluctuation after wind
-0.3
power is connected. The frequency deviation in each area is
-0.4
relatively significant, which exceeds the frequency
-0.5 fluctuation standard (±0.2Hz). Therefore, it cannot guarantee
0 2 4 6 8 10 12 14 16 18 20
t(s) that the system frequency is within safe operation range.
PID Proposed LFC strategy However, when adopting the LFC strategy proposed in this
Fig. 9. Frequency deviation of area 1.
paper, the frequency deviation in each area is significantly
reduced, and the frequency control effect of each area is
In Fig. 4, when three areas of the four-area effectively improved. Meanwhile, the frequency dynamic
interconnected system are connected with wind power, the response of each area is obviously better than the
load frequency control strategy considering wind power conventional PID control strategy, and the proposed LFC
forecast is adopted in all wind power integration areas, area strategy can maintain frequency fluctuation in a smaller
1, area 2 and area 4. Under the same condition, the range.
simulation results are compared with the results of the The above simulation results prove that the proposed
interconnected system controlled by PID controller, shown in LFC strategy considering wind power forecast has a better
Fig. 9 to Fig. 12. control effect. In the case of multi-area wind power
integration, each area can obtain better frequency dynamic
response.

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V. CONCLUSION
In this paper, a LFC strategy considering wind power
forecast is proposed to solve the LFC problem of wind power
grid-connected power systems. In this strategy, the
forecasted wind power by the Kalman filter algorithm is
inverted to compensate the phase lag caused by the dynamic
link of the generator in this area. The compensated inverted
signal is used as the output command signal of the load
frequency controller, which can effectively offset the power
fluctuation generated after the wind power is integrated and
reduce the frequency fluctuation. Meanwhile, This strategy
can effectively compensate the shortages of traditional PID
controller in wind power gird-connected power systems, and
improve the dynamic response of frequency. Based on the
simulation results of the four-area interconnected power
system, the effectiveness of the proposed control strategy is
verified.
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