Power Control AGC1

ELEN 460:Power System Control and Operation:
Automatic Generation Control (AGC)

1
Power System Control and Operation:
2
Outline
Read chapter 11: 11.0-11.6.
Homework: 11.2, 11.6
System modeling: control block diagram
AGC for single generator
AGC for 2 generators
AGC for multi generators
Area Control Error (ACE)
3
Purpose of AGC
To maintain power balance in the system.
Make sure that operating limits are not
exceeded:-
Generators limit
Tie-lines limit
Make sure that system frequency is constant
(not change by load).
4
Overview of AGC
Load is always changing.
To maintain power balance, generators need to
produce more or less to keep up with the load.
When Gen < Load (Gen > Load), generator
speed and frequency will drop (rise).
=> We use this generator speed and frequency
as control signals!
5
3 Components of AGC
Primary control
Immediate (automatic) action to sudden change of load.
For example, reaction to frequency change.
Secondary control
To bring tie-line flows to scheduled.
Corrective actions are done by operators.
Economic dispatch
Make sure that the units are scheduled in the most economical
way.
This presentation covers only primary and secondary
control of AGC.
6
AGC for Single Area
System Modeling
Single Generator
Multi Generators, special case: two
generators
7
System Modeling: Turbine-Governor Model
Small signal analysis model, relating mechanical power
to the control power and the generator speed.

Where = Small change in control setting power
= Small change in governor synchronous speed
= Small change in mechanical output power
= Regulation constant
= Transfer function relating mechanical power to control signals
e A
C
P A
M
P A
( )( )
T G
sT sT + + 1 1
1
( ) s G
M
R
1
+
-
e A
C
P A
M
P A
( ) s G
M
R
8
Speed-Power Relationship
From synchronous turbine-governor: small
signal analysis model,

At steady state (s 0, 1), we have
( )
|
.
|
\
|
A A = A e
R
P s G P
C M M
1
e A A = A
R
P P
C M
1
( ) s G
M
9
Static Speed-Power Curve
From,

Primary control: Immediate
change corresponding to
sudden change of load
(frequency)
Secondary control: Change in
setting control power to
maintain operating frequency.
The higher R (regulation), the
better.
e A A = A
R
P P
C M
1
e
Slope = -R
1 M
P
2 M
P
1 C
P
2 C
P
M
P
= =
1
2
0
e
10
System Modeling: Generator Model
This model relates mechanical power to power
angle, ignore change of voltage.

Note that power angle is not voltage angle ( )
T Ds Ms + +
2
1 M
P A
o A
G
i i
V u Z
+
-
i i
E o Z
s
jX
i i
V u Z
i i
u o =
11
AGC for Single Generator
Since , we can draw
closed loop power control system as below.
o e o e u e

A = A + = =
0
e A
C
P A
( )( )
T G
sT sT + + 1 1
1
R
1
+
-
T Ds Ms + +
2
1 M
P A
o A
s
12
AGC for Multi Generators
Consider effect of
power flows in transmission lines, and
loads at each bus
to mechanical power of each generator.
This analysis assumes that every bus is a
generator bus.
13
Power Balance Equation at Each Bus
At each bus,

Where = Generator i power
= Load power at bus I
= Power flow from bus i
Consider small changes,
i Di Gi
P P P + =
Gi
P
Di
P
i
P
i Di Gi
P P P A + A = A
2 G
P
G1 G2
1 G
P
3 D
P
1 D
P
2
V
1
V
3
V
G3
2 D
P
3 G
P
2
P
1
P
14
Load Power Equation ( )
Assume that

Where = Small change of load input
= Small change of load power
= Small change of voltage angle
Substitute in power balance equation,

We have
Li i Li Li i Li Di
P D P D P A + A = A + A = A o u

Di
P A
i
u
A
Li
P A
Di
P A
i Li i Li Gi
P P D P A + A + A = A o
i Di Gi
P P P A + A = A
15
Mechanical Power of Each Generator ( )
Linearized equation relating mechanical power
to generator power and generator speed.

Where = Small change in mechanical power of generator i
= Small change in electric power of generator i
= small change in internal voltage angle of generator i
From,
We have
Gi i i i i Mi
P D M P A + A + A = A o o

Mi
P A
Gi
P A
i
o A
Gi
P A
i Li i Li Gi
P P D P A + A + A = A o
i Li i Li i i i i Mi
P P D D M P A + A + A + A + A = A o o o

16
Generator Block Diagram
From,
We can write
where
( )
( )
i Li Mi
i i
i
P P P
D s M
A A A
+
= A
~
1
o
i Li i Li i i i i Mi
P P D D M P A + A + A + A + A = A o o o

Li i i
D D D + =
~
i i
D s M +
1
s
1
+
-
-
Mi
P A
Li
P A
i
o A
i
o e

A = A
i
P A
17
AGC for Multi Generators: Block Diagram

( ) s G
Mi
i
R
1
+
-
( ) s G
Pi
i
e A
Mi
P A
Li
P A
Ci
P A
i
P A
+
-
-
( )
( )
i i
Pi
D s M
s G
~
1
+
= ( )
( )( )
Ti Gi
Mi
sT sT
s G
+ +
=
1 1
1
Change in tie-line
power flow
18
Tie-line Model ( )
From power flow equation,

Approximate at normal operating condition, we
have

Then, for small change,

Where is called stiffness or synchronizing power coefficient
i
P A
( )
=
=
n
k
k i ik k i i
B V V P
1
sin u u
( )
=
~
n
k
k i ik i
B P
1
u u
( ) ( )

= =
A A = A A ~ A
n
k
k i ik
n
k
k i ik i
T B P
1 1
u u u u
ik
T
19
Tie-Line Block Diagram
From and

We have,
( )
=
A A = A
n
k
k i ik i
T P
1
u u
e u A = A
s
1
( )
=
A A = A
n
k
k i
ik
i
s
T
P
1
e e
s
1
+
+
+
ik
T
i
P A
i
u A i
e A
+
-
+
- +
-
k
u A
20
AGC for 2-Generator: Block Diagram
( ) s G
M2
2
1
R
+
-
( ) s G
P2
2
e A
2 M
P A
2 L
P A
2 C
P A
21 2
P P A = A
+
-
-
2
o A
s
-
( ) s G
M1
1
1
R
+
-
( ) s G
P1
1
e A
1 M
P A
1 L
P A
1 C
P A
12 1
P P A = A
+
-
-
1
o A
s
+
-1
12
T
Load
Frequency 2
Different phase angle
Transfer power 12
Frequency 1
Governor 2 sense
speed , try to
mechanical power
Governor 1 sense
speed , try to
mechanical power
Steady state: New
(lower) system
Frequency
21
AGC for 2-Generator:
Load increases.
Frequency drops.
Steady state is reached
when frequency of both
generators is the same.
e
1 M
P
2 M
P
+ Ae
M
P
1
2
0
e
+ = Change in
total load
1 M
P'
2 M
P'
22
Steady State Frequency Calculation:
2 generators
From
Consider the frequency at steady state,

But, , ,and
Then,
i Li i i i Li i i i i Mi
P P D P P D M P A + A + A = A + A + A + A = A e e e
~ ~
line tie L M
P P D P

A + A + A = A
1 1 1 1
~
e
line tie L M
P P D P

A A + A = A
2 2 2 2
~
e
2 1
e e e A = A = A
e A = A
1
1
1
R
P
M
e A = A
2
2
1
R
P
M
|
|
.
|
\
|
+ + +
A A
= A
2 1
2 1
2 1
1 1 ~ ~
R R
D D
P P
L L
e
23
Note that
In single area- multi generators case, we have
not discuss how to systematically bring back the
new steady state frequency by adjusting control
power.
We will discuss this in the following section.
24
AGC for Multi Areas
Simplified Control Model
Example 11.5
25
Simplified Control Model
Generators are grouped into control areas.
Consider
An area as one generator in single area, and,
Tie-lines between areas as transmission lines
connecting buses in single area.
We can apply the same analysis to multi-area!!
However, we have to come up with frequency-
power characteristics of each area.
Actual application of this model is for power pool
operation.
26
Power Pool Operation
Power pool is an interconnection of the power
systems of individual utilities.
Each company operates independently, BUT,
They have to maintain
contractual agreement about power exchange of
different utilities, and,
same system frequency.
Basic rules
Maintain scheduled tie-line capacities.
Each area absorbs its own load changes.
27
AGC for Multi Areas
During transient period, sudden change of load causes
each area generation to react according to its frequency-
power characteristics.
This is called primary control.
This change also effects steady state frequency and tie-
line flows between areas.
We need to
Restore system frequency,
Restore tie-line capacities to the scheduled value, and,
Make the areas absorb their own load.
This is called secondary control.
28
Control setting power of each area needs to be
adjusted corresponding to the change of
scheduled tie-line capacity and change of
system frequency.
ACE measures this balance, and is given by,

for two area case.
Where = Frequency bias setting of area i (>0) and
e A + A =
1 12 1
B P ACE
e A + A =
2 21 2
B P ACE
i
B
|
|
.
|
\
|
+ =
i
Li i
R
D B
1
29
ACE: Tie-Line Bias Control
Use ACE to adjust setting control power, , of
each area.
Goal:
To drive ACE in all area to zero.
To send appropriate signal to setting control power,
Use integrator controller so that ACE goes to
zero at steady state.
Ci
P A
Ci
P A
30
AGC for 2-Area with Tie-line Bias Control:
Block Diagram
( ) s G
M2
2
1
R
+
-
( ) s G
P2
2
e A
2 M
P A
2 L
P A
2 C
P A
21 2
P P A = A
+
-
-
2
o A
s
-
( ) s G
M1
1
1
R
+
-
( ) s G
P1
1
e A
1 M
P A
1 L
P A
1 C
P A
12 1
P P A = A
+
-
-
1
o A
s
+
-1
12
T
-1
+
+
+
+
s
K
2
s
K
1
1
e A
2
e A
12
P A
21
P A
1
B
2
B
1
ACE
2
ACE
Load 2
Frequency 2
Transfer power 12
Frequency 1
Governor 2 sense
speed , try to
mechanical power
Governor 1 sense
speed , try to
mechanical power
ACE 2 < 0
ACE 1 = 0
Setting control power 2
Frequency 2
Governor 2 sense
speed , try to
mechanical power
Transfer power 12
Governor 1 sense
speed , try to
mechanical power
Frequency 1
Steady state:
Maintain Frequency
Set control power 2 > 0
31
AGC for 2-Area with Tie-line Bias Control :
Load in area 2 increases.
Frequency of both area
drops.
ACE makes Control
power of area 2
increases.
Steady state is reached
when frequency is back
at the operating point and
generator in area 2 take
its own load.
e
1 M
P
2 M
P
+ Ae
M
P
1
2
0
e
+
= Change in load 2
1 M
P'
2 M
P'
2
1 M
P' '
2 M
P' '
32
Example 11.5
Two-area system,

Find change in frequency, ACE, and appropriate
control action.
A B
MW 1000
0 0
= =
A
L
A
G
P P MW 000 , 10
0 0
= =
B
L
B
G
P P
sec/MW per rad 015 . 0 =
A
R sec/MW per rad 0015 . 0 =
B
R 0 = =
B
L
A
L
D D
MW 10 = A
A
L
P
33
Example 11.5: Frequency Calculation
From,

And,
And,

We have,
2 1
e e e A = A = A
AB
A
L AB
A
L A
A
L
A
M
P P P P D P A + A = A + A + A = A e
BA BA
B
L B
B
L
B
M
P P P D P A = A + A + A = A e
e A = A
A
A
M
R
P
1
e A = A
B
B
M
R
P
1
sec per rad 0136 . 0
0015 . 0
1
015 . 0
1
10
1 1
=
+
=
|
|
.
|
\
|
+
A
= A
B A
A
L
R R
P
e
34
Example 11.5: ACE Calculation
First, find from

Then,
( ) MW 9091 . 0 0136 . 0
015 . 0
1 1
=
= A = A e
A
A
M
R
P
MW 091 . 9 = A A = A A + A = A
A
L
A
M AB AB
A
L
A
M
P P P P P P
MW 091 . 9 = A = A
AB BA
P P
AB
P A
( ) MW 10 0136 . 0
015 . 0
1
091 . 9
1
= + = A + A = e
A
AB A
R
P ACE
( ) MW 0 0136 . 0
0015 . 0
1
091 . 9
1
= + = A + A = e
B
BA B
R
P ACE
35
Example 11.5: Control Action
ACE indicates each area action to the change of
load.
ACE of area B is zero, this means that nothing
should be done in area B.
ACE of area A < 0, this means that area A
should increase the setting control power by
(-10) = 10 MW to cover its own load.

Power Control AGC1

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ELEN 460:Power System Control and Operation:

Automatic Generation Control (AGC)

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