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Enhancement of Stability of SMIB Using ZN-PID and LQR-PSS As Affected by Excitation Control
Enhancement of Stability of SMIB Using ZN-PID and LQR-PSS As Affected by Excitation Control
Abstract—This paper presents the study of steady state operating point after the fault is cleared. The detail stability,
stability of a synchronous machine connected to infinite bus transient stability and synchronism are reported in [2].
(SMIB) through external reactance under small disturbance. The power systems itself is non-linear and the stability
The automatic voltage regulator (AVR) a part of the is studied by linearising the system model as reported in [3-
excitation control improves the steady-state stability of the
4]. The concept of synchronous machine as affected by
power system but fails at high gain. Power system stabilizer
(PSS) a supplementary controller added with AVR improves excitation controller and the phenomenon of stability of
the synchronizing torque and reduces the oscillations of rotor synchronous machine under small perturbations in the case
angle and speed deviation. Proper response is achieved by PID of SMIB has been proposed in [2]. In order to maintain
controller. However, in this report, the desired response is stability of a system, controllers can be designed. One such
found by proper tuning of PID controller using Ziegler- classical controller is a PID controller.PID controller is
Nichols methods. Further, the PSS is designed and widely used because of its simple structure and robust
implemented using linear optimal controller called Linear performance even in a wide range of operating conditions.
Quadratic Regulator and helps in improving the system Unfortunately, it is difficult to tune the parameters of PID
stability.
because of problems like high order, time delays and non-
Keywords- Single machine infinite bus (SMIB), Power system linearization. The first method used for tuning was
stabilizer (PSS), Automatic voltage regulator (AVR), Linear proposed by Ziegler and Nichols.
quadratic regulator (LQR), Proportional Integral Derivative In the late 1950s and in the early 1960s most of the new
controller (PID), Zeigler-Nichols (ZN). generating units that are added to the electric utility systems
were equipped with continuously acting voltage regulators
[5]. These units constitute a larger percentage of generating
I. INTRODUCTION
capacity so it became important that the voltage regulator
The power system is a large network consisting of action had a detrimental impact upon the dynamic stability
alternators with excitation control and governing control (or, more accurately, steady state stability) of the power
connected through infinite bus, transmission lines with its system. An oscillation of small magnitude and low
accessories and synchronous motors and condensers frequency often exists for long periods of time and in some
[1].The synchronous machines are important components cases it can hamper power transfer capability. Therefore,
of power systems and maintain synchronism. The ability of Power system stabilizers were developed to provide
the power system is to supply the power continually as damping to these oscillations via modulation of the
demanded by load in presence of disturbances to satisfy generator excitation. In the past five decades the PSS have
both reliability and security as far as planning and operating been frequently used to provide the desired system
is concerned. For any small initial deviations due to gradual performance under condition that requires stabilization.
change of load, the system equilibrium point’s changes and Stability of synchronous generator depends on a number of
oscillation stays for some periods and then it regains its factors like the setting of automatic voltage regulator
original equilibrium points and maintains stability. Such (AVR). Many generators are designed with high gain, fast
stability is called dynamic stability. However, large acting AVRs in order to enhance large scale stability to
disturbances (event disturbances) such as sudden change in hold the generator in synchronism in the power system
bus, load and generation power or change of system during large transient fault conditions. But high gain
configuration due to line switching and fault particularly excitation systems decrease the damping torque of
three-phase short-circuits (during lightning) at the generator generator. A supplementary excitation controller referred to
bus implies transient instability. A system is said to be as PSS has been added to synchronous generators to
transiently stable when the post disturbance equilibrium counteract not only the effect of high gain AVRs, but also
point converges to the pre-disturbance steady state other sources of negative damping [6].
The equation (Eq. (10)-Eq. (11)), is called the swing The Heffron-Phillips constants are-
equation and it describes the rotor dynamics for a K1 = ΔTe Δδ ]E ' Change in electrical torque for a change
synchronous machine (generating/motoring).It presents a q
second-order differential equation where the damping term in rotor angle with constant flux linkages in the d axis.
(proportional to dδ dt ) is absent because it is a lossless ]
K 2 = ΔTe ΔE q' δ Change in electrical torque for change d-
machine and the torque of damper winding is ignored. This axis flux linkages with constant rotor angle
assumption leads to pessimistic results in transient stability K3 = Impedance factor
analysis-damping helps to stabilize the system. Damping
must be considered in a dynamic stability study. Since the K 3 = xd' + xe xd + xe For the case where the external
electrical power Pe depends upon the sine of angle impedance is a pure reactance x e
δ (Pe = Pmax Sinδ ) the swing equation is a non-linear 1 ΔEq
'
infinite bus system through a transmission line having in rotor angle for constant '
Eq
resistance re and inductance x e as shown in Fig. 1.
K 6 = Δet ΔE q
'
] δ
Change in terminal voltage with change
'
in Eq for constant rotor angle
T d' 0 Field open circuit time constant
Tdz' = K 3Td' 0 Field time constant under load
Fig. 1. One machine to infinite bus system
The values of field circuit and the exciter shown in the
previous figure is shown in the figure given below-
In order to find the model of a SMIB, the following
state space equations are taken-
•
Δδ = ω 0 Δ ω
( )
• 1
Δω = − K1 Δδ − K 2 ΔE q' '
M
1 ⎛⎜ ΔE q' ⎞
•
ΔE q' = ' − K 4 Δδ − + ΔE fd ⎟
Td 0 ⎜⎝ K3 ⎟
⎠
( )
• 1
ΔE fd = − K e K5 Δδ − Ke K 6 ΔEq' − ΔE fd + Ke u
Te
Fig. 3. Single machine supplying an infinite bus through external
The Heffron –Phillips model of single machine infinite impedance including effects of voltage regulator-excitation system.
bus system [8] is shown in Fig. 2.
The simulink model for Heffron-Philips model with
PID or PSS is shown in the figure given below-
Kp Kd ⎡ 0 ω 0 0 ⎤
Controller Kp Ti = Td = ⎢ K1 K2 ⎥
Kp
Ki
⎢− M 0 −
M
0 ⎥
⎢ 1 ⎥⎥
P
0.5* K u
-
0 A = ⎢ − K4 0 −
1
⎢ T do' K 3 T d' 0 T d' 0 ⎥
PI
0.45* K u 1.2 K p / Pu 0 ⎢K K − KeK6 −1 ⎥
⎢ e 5 0 ⎥
PID
0.6* K u 2Kp Pu K u * Pu /8 ⎣⎢ T e Te T e ⎦⎥
2015 IEEE Power, Communication and Information Technology Conference (PCITC)
Siksha ‘O’ Anusandhan University, Bhubaneswar, India.
1
⎡ Ke ⎤
B T = ⎢0
(radian)
0 0 ⎥
angle
0
⎣ Te ⎦
-1
C = [0 0]
0 1 2 3 4 5 6 7 8 9 10
time(seconds)
1 0 0.02
speed
0
Field voltage
2
(per unit)
Results Using ZN-PID 0
3
-2
0 1 2 3 4 5 6 7 8 9 10
time(seconds)
2.5
Fig. 9. Change in angle, speed, and field voltage respectively
2
(radian)
angle
0
0 5 10 15 20 25 30 35 40 VII. MACHINE SPECIFICATIONS
time (seconds)
Fig. 6. Change in angle
-3
TABLE IV: TABLE SHOWING MACHINE SPECIFICATION
x 10
10
Parameters Values
8 Pt 0.5
6
Vt 1.0
4
xe 0.4
speed
2
re 0
0
Ke 25
-2
Te 0.05
-4
-6
f 60 Hz
0 5 10 15 20 25 30 35 40
0.8
(per unit)
0.6 xq 1.55
0.4
x d' 0.32
0.2
t d 0d 6
0
(All are in pu, unless otherwise stated)
-0.2
0 5 10 15 20 25 30 35 40
time (seconds) TABLE V: TABLE SHOWING THE VALUES FROM K 1 TO K 6
Fig. 8. Change in field voltage
Constants Values
Results Using LQR-PSS K1 0.9340
K2 1.0186
K3 0.3600
K4 1.3053
K5 0.05
K6 0.4512
2015 IEEE Power, Communication and Information Technology Conference (PCITC)
Siksha ‘O’ Anusandhan University, Bhubaneswar, India.
VIII. CONCLUSION
The results obtained in the presented work indicate that
the power system parameters can be fixed through different
approaches mentioned in the literature. Design of PID using
Ziegler-Nicholas method is done. Design of power system
stabilizer PSS based on LQR control is introduced which
improves damping and also improves the eigen values of
the system. The synchronizing and damping torques
coefficients is improved with LQR control than the system
without controller.
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