Dr.

Mohammadreza Modabbernia

By
Dr. Mohammadreza Modabbernia
Faculty member of The Technical and Vocational University (TVU)
Electrical and Computer Department

Under an Erasmus+ staff Mobility Program Hosted by University of Pitești, Pitești, Romania

November 2021
Dr. Mohammadreza Modabbernia
Dr. Mohammadreza Modabbernia
Dr. Mohammadreza Modabbernia
 Dr. Mohammadreza Modabbernia

• Load Machine Variation

• Changing the Speed and characteristics of the
Governor System
• Changing the Speed and characteristics of the
Exciting System
• Effects of Disturbances (such as loss of a
generator, removal of load, one phase or
three phase short circuit.
 Dr. Mohammadreza Modabbernia

Steady-State=concern with thesmall disturbances lasting for a long

 time.Such as a gradual increase in load.


Stability 
 Transient=Deal with the effects of large and sudden disturbances.
 Such as removal of load, loss of a power plant, output

 short circuit and so on.

In transient behavior, we have electromechanical oscillation.

The electromechanical oscillation is of two types in low
frequency:
1. Local-mode, typically in the 1 to 3-Hz range between a
remotely located power station and the rest of the system.
2. Inter-area oscillations in the range of less than 1 Hz.
Dr. Mohammadreza Modabbernia

In the single machine infinite-bus (SMIB) system,

only local oscillations are investigated.

Due to the complexity of the nonlinear dynamic

equations of the SMIB system, it is necessary to
linearize these nonlinear equations around an
operating point in order to design a controller to
stabilize the system.
Dr. Mohammadreza Modabbernia
Dr. Mohammadreza Modabbernia

NOTES:
Dr. Mohammadreza Modabbernia

The Result:
The cross-coupling between the LFC loop and AVR
loop is negligible and the load/frequency and excitation
voltage control are analyzed independently.

The Essential Problem:

The AVR and LFC systems have a few capabilities to
eliminate the transient oscillations (LFO)

The Solution:
Using power system stabilizing (PSS)
Dr. Mohammadreza Modabbernia
Dr. Mohammadreza Modabbernia
Dr. Mohammadreza Modabbernia
Dr. Mohammadreza Modabbernia
Dr. Mohammadreza Modabbernia
 Dr. Mohammadreza Modabbernia

 x1 = x 2

 2 M M ( q q (
 x= 1 T − E ' I − X − X ' I I − D x
q d d q)2 )

−1

 3x=
'
T do
(
x 3 − ( X d − X d' ) I d − E fd )

 y1 = x 2

 Vd = Re I d − X e I q +V B Sin ( x 1 )
 y= 2 V= V d 2 +V q 2
T Vq = X e I d + Re I q +V B Cos ( x 1 )
( Xe +Xq ) (
VB Xe +X q ) Cos ( x V B Re
Id = x 3− 1) − Sin ( x 1 )
∆ ∆ ∆
Re V B ( X e + X d' ) V R
Iq = x3 + Sin ( x 1 ) − B e Cos ( x 1 )
∆ ∆ ∆
∆ = Re 2 + ( X e + X q ) ( X e + X d' )
Dr. Mohammadreza Modabbernia
Dr. Mohammadreza Modabbernia

 -1 -K 4   1 
K T ' 0   0
' 
 x1   3 do
'
T do   x1   T do
 u1 
 x   0 0 ω 0   x 2  +  0 0  
 2     u 2 
 x3   -K 2  
-D ω 0   3   1
x
-K 1 0 
   2H 
 2H 2H 2H 
 x1 
 y 1   ∆ω   0 0 ω0 
 y  =  ∆V =   x 2 
 2  T   K 6 K5 0 
 x 3 

u1 =
∆T m u 2 =
∆E fd
Dr. Mohammadreza Modabbernia
 Dr. Mohammadreza Modabbernia

The K1 to K6 constants presented in the block diagram are defined as

follows:
Dr. Mohammadreza Modabbernia

K1 =
-1
∆ {I qo V B ( X d' -X q ) ( X q +X e ) Sin x 2o - Re Cos x 2o 
 

( )
+ V B  X d' -X q I do - x 1o  ( X d' +X e )Cos x 2o + Re Sin x 2o 
  }

K2=
1 
I qo ∆ - I qo ( X d' -X q )( X q +X e ) - Re ( X d' -X q ) I do + Re x 1o 
∆  

K3 =
∆
∆+ ( X d -X d' ) ( X q +X e )
Dr. Mohammadreza Modabbernia

V B ( X d -X d' )
K4 =
∆  ( )
 X q +X e Sin x 2o - Re Cos x 2o 


1 V do
K5 =  X q  Re V B Sin x 2o + V B Cos x 2o ( X d' +X e ) 
∆ VTo

( )
V qo
+ X d  Re V B Cos x 2o - V B X e +X q Sin x 2o  
'
 
VTo 
1 V do  V qo
( )
V qo
'
K6 =  Re X q - X d X q +X e  +
∆ VTo VTo  VTo

∆ = Re 2 + ( X e + X q ) ( X e + X d' )
 Dr. Mohammadreza Modabbernia

• Transfer Functions:
1 1 1
G1 = G2 = G3
( Ms + D ) s (1 + K 3Tdo′ s )
• Loops:
−K 1
L1 =
−K 1G1G 2 =
( Ms + D ) (1 + K 3 Tdo′ s )
K 2K 4
L2 K=
2 K 4G1G 2G 3
s ( Ms + D ) (1 + K 3 T do
′ s)

• Note: There are not exist two independent loops.

 Dr. Mohammadreza Modabbernia

• ∆ calculation
∆ = 1 − ( L1 + L 2 ) = 1 − ( −K 1G1G 2 + K 2 K 4G1G 2G 3 )
K1 K 2K 4
∆ = 1+ −
( Ms + D ) (1 + K 3 Tdo′ s ) s ( Ms + D ) (1 + K 3 Tdo′ s )
∆=
( ′ M )s 3 + (M
K 3 T do ′ D ) s 2 + ( D + K 1K 3 T do
+ K 3 T do ′ ) s + ( K 1 − K 2 K 3K 4 )
s ( Ms + D ) (1 + K 3 T do′ s)

• If the voltage deviation does not affect the frequency deviation and vice versa.

if K=
( K 3 Tdo′ M ) s 3 + ( M + K 3 Tdo′ D ) s 2 + ( D ) s
1 K=
2 K=
4 K=
5 0 ⇒=
∆
s ( Ms + D ) (1 + K 3 T do
′ s)
s ( Ms + D ) (1 + K 3 T do
′ s)
=∆ = 1
s ( Ms + D ) (1 + K 3 T do
′ s)
 Dr. Mohammadreza Modabbernia

• Forward paths calculation

1
M 11 =G1 = ⇒ ∆11 =1 − 0 =1
( Ms + D )
−K 2 K 3
M 12 =−K 2G1G 3 = ⇒ ∆12 =−
1 0=1
( Ms + D ) (1 + K 3 Tdo′ s )
K5
M 21 = K 5G1G 2 = ⇒ ∆ 21 =1 − 0 =1
s ( Ms + D )
K 3K 6  −K 1 
M 22 =K 3K 6G 3 = ⇒ ∆ 22 =1 − L1 =1 −  
(1 + K 3 Tdo′ s )  s ( Ms + D ) 
Ms 2 + Ds + K 1
∆ 22 =
s ( Ms + D )
 Dr. Mohammadreza Modabbernia

Y1 ∆ω( s ) M 11∆11
G=
11 = =
U 1 ∆T m ( s ) ∆
1

G11 =
( Ms + D )
( K 3 Tdo′ M ) s 3 + ( M + K 3 Tdo′ D ) s 2 + ( D + K 1K 3 Tdo′ ) s + ( K 1 − K 2 K 3K 4 )
s ( Ms + D ) (1 + K 3 T do′ s)
s (1 + K 3 T do
′ s)
G11 =
( K 3 Tdo′ M ) s 3 + ( M ′ D ) s 2 + ( D + K 1K 3 T do
+ K 3 T do ′ ) s + ( K 1 − K 2 K 3K 4 )

1
if K=
1 K=
2 K=
4 K=
5 0 ⇒ =
∆ 1 ⇒ G11
=
( Ms + D )
 Dr. Mohammadreza Modabbernia

Y1 ∆ω( s ) M 12 ∆12
G=
12 = =
U 2 ∆E fd ( s ) ∆
−K 2 K 3
( Ms + D ) (1 + K 3 T do
′ s)
G12 =
( K 3 Tdo′ M ) s 3 + ( M + K 3 Tdo′ D ) s 2 + ( D + K 1K 3 Tdo′ ) s + ( K 1 − K 2K 3K 4 )
s ( Ms + D ) (1 + K 3 T do′ s)
−K 2 K 3s
G12 =
( K 3 Tdo′ M ) s 3 + ( M + K 3 Tdo′ D ) s 2 + ( D + K 1K 3 Tdo′ ) s + ( K 1 − K 2K 3K 4 )

0
if K=
1 K=2 K=4 K=5 0 ⇒ =
∆ 1 ⇒ G =
12 = 0
1
 Dr. Mohammadreza Modabbernia

Y 2 ∆v t ( s ) M 21∆ 21
G=
21 = =
U 1 ∆T m ( s ) ∆
K5
s ( Ms + D )
G 21 =
( K 3 Tdo′ M ) s 3 + ( M + K 3 Tdo′ D ) s 2 + ( D + K 1K 3 Tdo′ ) s + ( K 1 − K 2 K 3K 4 )
s ( Ms + D ) (1 + K 3 T do′ s)
K 5 (1 + K 3 T do
′ s)
G 21 =
( K 3 Tdo′ M ) s 3 + ( M ′ D ) s 2 + ( D + K 1K 3 T do
+ K 3 T do ′ ) s + ( K 1 − K 2 K 3K 4 )

0
if K=
1 K=
2 K=
4 K=
5 0 ⇒ =
∆ 1 ⇒ G 21
= = 0
1
 Dr. Mohammadreza Modabbernia

Y2 ∆v t ( s ) M 22 ∆ 22
G=
22 = =
U 2 ∆E fd ( s ) ∆
K 3K 6
×
( Ms 2 + Ds + K 1 )

G 22 =
( ′ s)
1 + K 3 T do s ( Ms + D )
( K 3 Tdo′ M ) s 3 + ( M + K 3 Tdo′ D ) s 2 + ( D + K 1K 3 Tdo′ ) s + ( K 1 − K 2K 3K 4 )
s ( Ms + D ) (1 + K 3 T do
′ s)
K 3K 6 ( Ms 2 + Ds + K 1 )
G 22 =
( K 3 Tdo′ M ) s 3 + ( M ′ D ) s 2 + ( D + K 1K 3 T do
+ K 3 T do ′ ) s + ( K 1 − K 2 K 3K 4 )

KG
if K=
1 K=
2 K=
4 K=
5 0 ⇒ =
∆ 1 ⇒ G 22 =
(1 +TG s )
K 3K 6 ( Ms 2 + Ds + 0 ) K 3K 6
G 22 =
( K 3 Tdo′ M ) s 3 + ( M + K 3 Tdo′ D ) s 2 + ( D ) s (1 + K 3 Tdo′ s )
Dr. Mohammadreza Modabbernia
Dr. Mohammadreza Modabbernia

• First order linear transfer

function with a gain and
time constant
Dr. Mohammadreza Modabbernia

• First order linear transfer

function with a gain and
time constant
Dr. Mohammadreza Modabbernia

• First order linear transfer

function with a gain and
time constant
Dr. Mohammadreza Modabbernia

• ∆PC= Command change in power

• ∆Xe = Opening of steam valve
• ∆ω = frequency deviation
• TSG = Governor Time constant
• KSG = Governor Gain =1
• R = Speed regulation of governor
 Dr. Mohammadreza Modabbernia

By droop speed control, the power output of a generator

reduces as the line frequency increases. It works by
controlling the rate of power produced by the prime mover
according to the grid frequency.
With droop speed control, when the grid is operating at
maximum operating frequency, the prime mover's power is
reduced to zero, and when the grid is at minimum
operating frequency, the power is set to 100%, and
intermediate values at other operating frequencies.
This mode allows synchronous generators to run in
parallel, so that loads are shared among generators with the
same droop curve in proportion to their power rating.
Dr. Mohammadreza Modabbernia

∆Pt ( s ) 1
Gt ( s ) =
= • First order linear transfer
∆X e ( s ) 1 + TT s
function with a gain (equal
to 1) and time constant.
Dr. Mohammadreza Modabbernia
Dr. Mohammadreza Modabbernia
 Dr. Mohammadreza Modabbernia

Automatic Voltage Regulator (AVR) Simulation

Dr. Mohammadreza Modabbernia
Dr. Mohammadreza Modabbernia
 Dr. Mohammadreza Modabbernia

Robust controller designed for AVR system

Dr. Mohammadreza Modabbernia
 Dr. Mohammadreza Modabbernia

Load/Frequency Control (LFC) with PID Controller

• 1pu load disturbance at the

time of 10sec
 Dr. Mohammadreza Modabbernia

Simulation The AVR and LFC Systems Simultaneously

With 3rd Order Linear Model of the Generator
Dr. Mohammadreza Modabbernia
Dr. Mohammadreza Modabbernia
 Dr. Mohammadreza Modabbernia

Introducing a Controller instead of AVR+LFC+PSS

Dr. Mohammadreza Modabbernia
Dr. Mohammadreza Modabbernia
Dr. Mohammadreza Modabbernia 51