Design of Load Frequency Controllers for Interconnected Power Systems

By: Ezzedeen Abdulla Shehada and Ashraf Mohammed Abu Ghazzeh

Supervisor: Dr. Khaled Ellithy
Department of Electrical Engineering
College of Engineering
Fall 2008

Abstract
An optimal controller using linear quadratic regulator technique, a controller based on pole-placement technique and a proportional integral have been designed for load frequency control for interconnected power areas. The proposed controllers have been designed to improve the dynamic performance of the system
frequency and the tie line power flow under any disturbance such as a sudden load change in the power areas. MATLAB/SIMULINK programs have been developed to determine the gains for the proposed deigned controllers and perform the time-domain simulations. The time-domain simulations results have been performed
to demonstrate the effectiveness of the proposed controllers. The simulation results show that the designed decentralized optimal controller is the best one among the proposed controllers in that it provides good damping and reduces the overshoot.

Design of Load Frequency Controllers

Introduction Design of LFC using Optimal Control Theory -4
x 10 Frequency deviation of Area 1 with Decentralized Optimal LFC

The disturbance matrix : Original and Desired Eigen values 2

df Optimal
1 df without Optimal
Load frequency control (LFC) is one of the major T
x 10
-4
df response due to 1% sudden load change in area one
0
-4
x 10 df response due to 1% sudden load change in area one
The optimal controller is designed to minimize the
1 2 0

requirements in providing reliable and quality operation in 2H

dw2 I ACE

0 0 0 0 0 0 0 0

I ACE
PI ACE -0.2 dw2 PI ACE quadratic performance index of the following form -1
1

Frequency deviation
1

interconnected power systems. The primary objectives of 0 1

0
J (x Qx u Ru )dt
0 0 0 0 0 0 T T -2
2H 2 0 -0.4

the LFC are to regulate the frequency to the nominal value -1 -0.6
-3

u u1 u2 is the input vector.

0
and to maintain the interchange power between control T
-2 -0.8 For linear systems with quadratic performance index, -4

dw [pu]
dw [pu]
areas at scheduled values by adjusting the MW output Known as Linear Quadratic Regulator (LQR), The optimal
-5

-1
Pole-Placement Gains
PL PL1 PL 2 is the disturbance to the system.
-3 -6
power of the selected generators so as to accommodate T
-1.2
Control Law is given by: -7
-4
changing in load demands. 0 2
f 4 6 8 10 12

u * (t ) R 1 B' p(t ) x *
Time-sec
-5 -1.4
under sudden load change in area 1 in system with

Design of Proportional Integral LFC -6 -1.6 Decentralized Optimal LFC of Area 1

-7
0 5 10 15 20 25 30 35
-1.8
40 0 5 10 15 20 25 30 35 40 Where P is determined by solving the following Riccati -5
x 10 Frequency deviation of Area 2 with decentralized Optimal LFC
The Proportional Integral (PI) controller gains Ki & Kp for Time [sec] Time [sec]
equation
f under sudden load change in area 1 in f
under sudden load change in area 1 Optimal

both power area systems have been determined to in system with PI controller in Area
PA AT P PBR 1 BT P Q 0
ACE only
system with PI controller in Area 1
2 0

improve the transient response of the two area frequency

Frequency deviation
deviations under any disturbance such as change of the Design of LFC using Pole-Placement Technique Decentralized Optimal LFC Gains -5

load demand.
The problem is to find the state feedback-gains (K) of the -10
The state-space equations of the linear time-invariant of pole placement LFC such that
the two area f

u( t ) Kx( t )
-15

x Ax Bu PL 0 2 4 6 8 10 12
Time-sec
This allows all poles of the closed-loop system to be placed
y Cx in any desirable locations
under sudden load change in area 1 in system with
Decentralized Optimal LFC of Area 2

x(t) is the state variables vector. Comparison Between the Designed Controllers
( + 1)( + 2)( + n)
x(t ) f1 Pm1 PV 1 PC 1 Ptie f 2 Pm2 PV 2 PC 2
= n + an-1 n-1 + + a1 + a0=0 2
x 10
-4
Frequency deviation in area 1 due to different LFCs

1
The system matrix A is given by The characteristic equation for the closed-loop system
0

Frequency deviation-pu
-1
D1

1
0 0
1
0 0 0 0


|I A + BK| -2
2H1

2H1
1 1
2H1

= n + (n-1+Kn) n-1 + + (1+K2) + (0+K1) =0 -3
f

0
T1 T1
0 0 0 0 0 0
-4
R1 K p1 1
R 0
1 1
0 0 0 0 0


The gain vector K is obtained by equating the coefficient
g1 g1
-5

1 g1

the two equations. ACE

K1 1 K1
0 0 0 0 0 0 0 -6 Optimal
Pole-Placement
SIMULINK Block Diagram of Pole-Placement LFC of two area power system -7

A Ps 0 0 0 0 Ps 0 0 0 Participation Matrix 2
x 10
-4
Frequency deviation of Area 1 with Pole-Placement LFC
-5
x 10 Frequency deviation of Area 2 with Pole-Placement LFC 0 2 4 6
Time-sec
8 10 12

df Pole-Placement under sudden load change in area 1 in system with

1 D2 1 df Pole-Placement
0 0 0 0 0 0 v ki wki 1 df Integral df Integral
Different LFC of Area 1
Pki
2H 2 2H 2 2H 2
0
1 1 n

v ki wki
0


0 0 0 0 0 0
T2 T2
0

Overshoot and time to reach zero steady state
R2 K p 2 1 1 -1
1 i 1
for all designed LFC

Frequency deviation
Frequency deviation

0 0 0 0 0 0
-5
R2 g 2 g2 g2
-2
0 0 0 0 K2 K22 0 0 0

-3
-10

-4

The input matrix B is given by -5 -15

-6
T
1
0 0
G1
0 0 0 0 0 0 -7
0 2 4 6 8 10
-20
12 0 2 4 6 8 10 12
B
0 0 0 0 0 0 0
1
0 Block Diagram of LFC of two area power f
under sudden
Time-sec
load change in area 1 in system with
under
f
Time-sec
sudden load change in area 1 in system with SIMULINK Block Diagram of decentralized

G2
optimal LFC of two area power system
system with PI controller Pole-Placement LFC of Area 1 Pole-Placement LFC of Area 2

Conclusion Acknowledgements
Three load frequency controllers have been proposed to improve the damping and to reduce the overshoot of the frequency and tie-line power deviations
for the interconnected two power areas and also to keep the interchanged power at the scheduled value. The authors would like to thank their supervisor Dr. Khaled Ellithy and Department of Electrical Engineering. Thanks also go to Qatar Foundation-
The computer simulations results showed that the proposed decentralized optimal load frequency controller is a more effective tool for improving the Undergraduate Research Experience Program (UREP) for the support and to engineer Ahmed Abdul-Qadder from the National Control Center-Kahramaa. The
dynamic performance of the two power areas compared to the PI and pole-placement controllers. authors also wish to express their thanks to their family.

Moreover, the proposed decentralized optimal controller type is relatively simple and suitable for practical on-line implementation.