Improvement of Load Frequency Control With Fuzzy

Gain Scheduled SMES Unit Considering Governor

Dead-Band and GRC
M.R.I. Sheikh, S.M. Muyeen, R. Takahashi, Toshiaki Murata and Junji Tamura
Kitami Institute of Technology, 165 Koen-cho, Kitami, Hokkaido, 090-8507, Japan
Email: sheikh@pullout.elec.kitami-it.ac.jp
Abstract - Since a Superconducting Magnetic Energy
Storage (SMES) unit with a self-commutated converter is
capable of controlling both the active and reactive power
simultaneously and quickly, increasing attention has been
focused recently on power system stabilization by SMES
control. In this study, a fuzzy gain scheduled supplementary
control scheme with SMES unit is proposed and applied to
Automatic Generation Control (AGC) in power system for
the improvement of Load Frequency Control (LFC). The
performances of the system for load changes in the areas in
the interconnected power system are studied. The computer
simulation of the interconnected power system shows that
SMES unit with the proposed gain scheduled supplementary
controller can perform a more effective primary frequency
control for multi area power system.
I. Introduction
Automatic generation control is a very important subject
in power system operation for supplying sufficient and
reliable electric power with quality. Frequency variations
in interconnected power systems can cause large-scale
serious instability problems. LFC is one of control
schemes to provide the stable and reliable operation in
multi-area power systems. For stable operation, constant
frequency and active power balance must be provided. To
improve the stability of the power networks, it is
necessary to design LFC systems that control the power
generation and active power on tie-lines. In an
interconnected power system, as the load demand varies
randomly, the area frequency and tie-line power
interchange also vary. The objective of LFC is to
minimize the transient deviations in these variables and to
ensure their steady state values to be zero. The LFC by
only a governor control of synchronous generators
imposes a limit on the degree to which the deviations in
frequency and tie-line power exchange can be minimized.
However, as the fundamental purpose of LFC is solving
the problem of an instantaneous mismatch between the
generation and demand of active power, the incorporation
of a fast-acting energy storage device in the power system
can improve the performance under such conditions. But
fixed gain controllers based on classical control theories
are presently used. They are not sufficient for the case
with changing operating point during a daily cycle [14]
and also not suitable for all operating conditions.
Therefore, variable structure controller [57] has been
proposed for AGC. For designing controllers based on
these techniques, the perfect model is required which has
to track the state variables and satisfy system constraints.
Therefore it is difficult to apply these adaptive control
techniques to AGC in practical implementations. In multi
area power system, if a load variation occurs at any one of
the areas in the system, the frequency related with this
area is affected first and then that of other areas are also
affected from this perturbation through tie-lines.
In this study, the same gain scheduled controller is used to
implement AGC in the interconnected system having two
areas including SMES units when a step load perturbation
occurs in one or both areas. In the model system, each
area in the interconnected system includes steam reheat
turbines and generation rate constraints. We reported a
work [8] for LFC by fuzzy gain scheduled SMES.
However, in our previous study [8] the governor dead-
band (DB) and generation rate constraints (GRC) were
not considered. In the present work effect of boiler system
and governor DB and GRC are also considered, by which
the worst situation of power system can be considered.
When a small load disturbance in any area of the
interconnected system occurs, tie-line power deviations
and power system frequency oscillations continue for a
long duration. To damp out the oscillations in a short
time, automatic generation control including a SMES unit
with the proposed gain scheduled supplementary
controller is used. The basic objective of the
supplementary control is to restore balance between each
area load and generation for a load disturbance. This is
met when the control action maintains the frequency and
the tie-line power interchange at the scheduled values.
The supplementary controller with integral gain K
Ii
is
therefore made to act on area control error, which is a
signal obtained from tie-line power flow deviation added
to frequency deviation weighted by a bias factor |.
n
ACE = P + f
i tie, i j i i
j=1
_
(1)
where the suffix i refer to the control area and j refer to
the number of generator.
Using fuzzy logic, the integrator gain (K
Ii
) of
supplementary controller is so scheduled that it
compromise between fast transient recovery and low
overshoot in dynamic response of the system. It is seen
that with the addition of gain scheduled supplementary
controller, a simple controller scheme for SMES is
sufficient to improves effectively the damping of the
oscillations after the load deviation in one or both of the
areas in the interconnected system.
5th International Conference on Electrical and Computer Engineering
ICECE 2008, 20-22 December 2008, Dhaka, Bangladesh
978-1-4244-2015-5/08/$25.00 (c)2008 IEEE 11
II. Integration of SMES with Two-Area
Power System
Figure 1 shows the two-area power system with SMES
unit used in the analyses. Two areas are connected by a
weak tie-line. When there is a sudden rise in power
demand in a control area, the stored energy is almost
immediately released by the SMES through its power
conversion system (PCS). As the governor control
mechanism starts working to set the power system to the
new equilibrium condition, the SMES coil stores energy
back to its nominal level. Similar action happens when
there is a sudden decrease in load demand. Basically, the
operation speed of governor-turbine system is slow
compared with that of the excitation system. As a result,
fluctuations in terminal voltage can be corrected by the
excitation system very quickly, but fluctuations in
generated power or frequency are corrected slowly. Since
load frequency control is primarily concerned with the
real power/frequency behavior, the excitation system
model will not be required in the approximated analysis.
This important simplification paves the way for
constructing the simulation model shown in Fig. 1.
All the governors have dead-band which affects the
stability of the system and produces a continuous
sinusoidal oscillation of natural period. So effects of
governor dead-band are studied in relation to AGC. The
limiting value of dead-band is specified as 0.06%. Also
in practical steam turbine, due to thermodynamic and
mathematical constraints, there is a limit to the rate at
which its output power (dP
t
/dt) can be changed. This limit
is referred to as Generation rate constraint (GRC). In
practice, there exists a maximum limit on the rate of
change in the generating power of a steam plant. In the
presence of GRC, the dynamic responses of the system
experience larger overshoots and longer settling time
compared to the case without considering the GRC.
Hence, if the load change are too fast under transient
conditions, then system nonlinearities will prevent its
achievement. Moreover, if the parameters of the
controller are not chosen properly, the system may
become unstable. So considering these, the GRC is taken
into account by adding a limiter to the turbine as shown in
Fig. 2, with a value of 0.1 p.u. MW/min [9] as shown in
eq.(2). This is a typical value up to 3.4 MW/second. All
parameters are same as that used in [8].
P =0.1 p.u.MW/min=0.0017p.u.MW/sec=
generation

(2)
I1
-K
s
G1
G1
K
1+sT
T1
T1
K
1+sT
1
1
R
|
1
turbine
governor
supplementary
control
function of
eq.(1)
SMES
controller
SMES
dynamics
ZOH
ACE
1
P
*
sm
1
Psm
1
p1
p1
K
1+sT
AP
L1
(s)
Equivalent
generator
-
+
+ +
+
-
-
12
2T
s
+
T
i
e
-
l
i
n
e
AP
12
(s)
Control area 1
function of
eq.(1)
SMES
controller
SMES
dynamics
ZOH
P
*
sm
2
Psm
2
Af
2
-
I2
-K
s
G2
G2
K
1+sT
T2
T2
K
1+sT
2
1
R
|
2
turbine
governor
supplementary
control
ACE
2
p2
p2
K
1+sT
AP
L2
(s)
Equivalent
generator
-
+
+ -
+
-
Control area 2
-
Fig. 1 Simulation model for the two-area power system
Af
1
Af
1
Af
2
AP
t1
AP
t2
AP
g1
AP
g2
Fig. 2: A non-linear turbine model with GRC
1
T
t
1
s
AP
g
AP
t
o
-o
+
-
22
III. Optimization of the Integral Gain, K
I
and
Frequency Bias Factors, | in Multi-Area
Power System
Figure 3 shows the frequency deviations for different
values of K
I
for a specific load change. It is observed that
a higher value of K
I
results in reduction of maximum
deviation of the system frequency but the system
oscillates for longer times. Decreasing the value of K
I
yields comparatively higher maximum frequency
deviation at the beginning but provides very good
damping in the later cycles. These initiate a variable K
I
,
which can be determined from the frequency error and its
derivative. Obviously higher values of K
I
is needed at the
initial stage and then it should be changed gradually
depending on the system frequency change.
Dynamic performance of the AGC system would
obviously depend on the value of frequency bias factors,
|
1
= |
2
=B and integral controller gain value, K
I1
=K
I2
=K
I
.
In order to optimize B and K
I
the concept of maximum
stability margin is used, evaluated by the eigen values of
the closed loop control system [7].
For a fixed gain supplementary controller, the optimal
values of K
I
and B are chosen, here, on the basis of a
performance index (PI) given in eq.(3) for a specific load
change. The Performance Index (PI) curves are shown in
Fig. 4 with considering governor dead-band (DB) and
generation rate constraints (GRC).
( )dt f w f w P P.I.
40
0
2
2 2
2
1 1
2
tie
)
+ + = (3)
Where, w
1
and w
2
are the weight factors. The weight
factors w
1
and w
2
both are chosen as 0.25 for the system
under consideration.
From Fig. 4, in the presence of DB & GRC it is observed
that the value of integral controller gain, K
I
= 0.28 and
frequency bias factors, B=0.15 which occurs at PI=
0.0363.
IV. Fuzzy Gain Scheduler PI Control
(FGSPI)
Figure 5 shows the membership functions for PI control
system with a fuzzy gain scheduler. The approach taken
here is to exploit fuzzy rules and reasoning to generate
controller parameters. The triangular membership
functions for the proposed FGSPI controller of the three
variables (e
t
, ce
t
, K
Ii
) are shown in Fig. 5, where
frequency error (e
t
) and change of frequency error ( ce
t
)
are used as the inputs of the fuzzy logic controller. K
Ii
(i=1,2) is the output of fuzzy logic controller. Considering
these two inputs, the output of gain K
Ii
is determined. The
use of two input and single output variables makes the
design of the controller very straightforward. A
membership value for the various linguistic variables is
calculated by the rule given by
( ) ( ) ( ) e ,ce =min e , ce
t t t t
(

(4)
The equation of the triangular membership function used
to determine the grade of membership values in this work
is as follows:
( )
( )
b-2 x-a
A x =
b
(5)
Where A(x) is the value of grade of membership, b is
the width and a is the coordinate of the point at which
the grade of membership is 1 and x is the value of the
input variables. The control rules for the proposed
strategy are very straightforward and have been
developed from the viewpoint of practical system
operation and by trial and error methods. The fuzzy rule
base for the FGSPI controller is shown in Table I.
The membership functions, knowledge base and method
of defuzzification determine the performance of the
FGSPI controller in a multi area power system as shown
in eq. (6).
0 2 4 6 8 1 0 1 2
- 8
- 6
- 4
- 2
0
2
4
6
x
- 4
T i m e i n s e c o n d
F
r
e
q
u
e
n
c
y

d
e
v
i
a
t
i
o
n

i
n

p
u

Fig. 3 Frequency deviation step response for different
values of K
I
K
I
=0
K
I
=1
0.1 0.2 0.3 0.4 0.5 0.6
0.035
0.036
0.037
0.038
0.039
0.04
0.041
0.042
0.043
0.044
Integral Gain (K
I
)
P
e
r
f
o
r
m
a
n
c
e

I
n
d
e
x

(
P
I
)

B=0.1
B=0.15
B=0.2
B=0.25
B=0.3
B=0.35
B=0.4
B=0.45
B=0.5
With GRC and Gov. Dead-band
K
I
=0.28 and B=0.15 at P.I.=0.0363
Fig. 4 The optimal integral controller gain, K
I
and
frequency bias factor, B with DB and GRC
33
n
u
j j
j=1
K =
n
Ii

j
j=1
_
_
(6)
Table I
Fuzzy Rule Base for FGSPI Controller
e
ce
NB NS Z PS PB
NB PB PB PB PS Z
NS PB PB PS Z Z
Z NS NS Z NS NB
PS Z Z NS PB NB
PB Z NS NB NB NB
V. Control System of SMES
The schematic diagram in Fig. 6 shows the configuration
of a thyristor controlled SMES unit, which is incorporated
in each control area of power system for LFC as shown in
Fig. 7. The converter firing angle controls the DC voltage
V
sm
appearing across the inductor to be continuously
varied between a wide range of positive and negative
values. The inductor is initially charged to its rated
current by applying a low positive voltage. Once the
current reaches the rated value, it is maintained constant
by reducing the voltage across the inductor to zero.
Figure 8 outlines the proposed simple control scheme for
SMES, which is incorporated in each control area to
reduce the instantaneous mismatch between demand and
generation. ACE
i
(i=1,2) in each control area is taken as
the control input signal for SMES. It is desirable to
restore the inductor current to its rated value as quickly as
possible after a system disturbance, so that the SMES unit
can respond properly to any subsequent disturbance. So
inductor current deviation is sensed and used as negative
feedback signal in the SMES control loop to achieve
quick restoration of current and SMES energy level.
VI. Simulation Results
To demonstrate the usefulness of the proposed controller,
computer simulations were performed using the
MATLAB environment under different operating
conditions. The system performances with gain scheduled
SMES and fixed gain SMES are shown in Fig. 9 through
Fig. 14. Three cases studies are conducted.
AI
sm
ACE
i
AV
sm
H
Fig. 8 SMES control system in each area
K
p
dc
sT 1
1
+
AV
sm
+
-
E
K
sm
E
I
sm0
AI
sm
I
sm
AP
sm
+
+
+
+
AP
sm
P
sm0
+
+
P
sm
E
P
*
sm
1
sL
3-| AC from
generator
terminal bus
V
sm
Fig. 6. SMES unit with 6-pulse bridge AC/DC
thyristor controlled converter
I
sm
(DC current)
L
s
m
S
u
p
e
r
c
o
n
d
u
c
t
i
v
e

c
o
i
l


1 3 5
4 6 2
Y/A
Transformer
[e
t
(x)]
NB NS Z PS PB
[de
t
(x)/dt]
NB NS Z PS PB
[K
Ii
(x)]
NB NS Z PS PB
Fig. 5 Membership functions for the fuzzy variables
-0.1 -0.05 0 0.05 0.1 e
t
(x)
1 0.75 0.32 0.01 0.001 K
Ii
(x)
-0.03 -0.15 0 0.15 0.03 de
t
(x)/dt
Tie Line
SMES
Unit
SMES
Unit
P
D1
+AP
D
P
D2
+AP
D
G
11
G
21
G
n1
G
12
G
22
G
n2
Area 1 Bus Area 2 Bus
Fig. 7 Configuration of SMES in a two-area power system
Load Load
1
1
1
44
Case I: a step load increase (AP
L1
=0.015 pu MW) in
area1.
In this case, it is seen from Fig. 9 that the tie-line power
deviation are reduced with the proposed gain scheduled
SMES controller and the deviations are negetive. Thus
sensing the input signal ACE
i
in the control areas SMES
provide sufficient compensation, and it is seen from Fig.
10 that SMES in area1 is discharging energy and SMES
in area2 is charging energy to keep the frequency
deviations in both areas minimum. From Fig. 10, it is also
seen that FGSPI controller of the loaded area determines
the integral gain K
I
to a scheduled value to resotore the
frequency to its nominal value, and FGSPI controller of
the unloaded area reamains unscheduled and selects the
critical value as its integral gain. Finally it is seen that the
damping of the system frequency is not satisfactory for
the fixed gain controller. But the proposed gain scheduled
supplementary controller significantly improves the
system performances.
0 5 1O 16
-8
-6
-4
-2
0
2
x 10
-3
Time in sec
T
i
e

p
o
w
e
r

d
e
v
i
a
t
i
o
n
Gain Scheduled SMES
Fixed gain SMES
Case II: the same step load increase in both areas.
In this case, the same load increase, P
L1
=P
L2
= 0.01 p.u
MW, is applied to both areas. It is seen from Fig. 11 that
the tie-line power deviation is zero. Thus SMES
compensation depends on Af
i
in both areas. As the load
change is same in both areas, the SMES in both areas
provide same compensation. Finally it is seen from Fig.
13 that FGSPI controller of both the loaded areas
determine the integral gain K
Ii
(i=1,2) to a scheduled
value to resotore the frequency to its nominal value. Due
to this, the damping of the system frequency is also
significantly improved with the proposed controller.
0 5 10 15
-1
0
1
Time in sec
T
i
e

p
o
w
e
r

d
e
v
i
a
t
i
o
n

Gain Scheduled SMES
Fixed gain SMES
Case III: the different step load increases are applied to
each Area.
In this case, as each area is loaded by the different
increase, each area adjusts their own load. Figure 12
shows the tie power deviation but the magnitude is small.
So the SMES controller in both areas dominated on Af
i
.
As AP
L1
=0.01 p.u MW & AP
L2
=0.015 p.u MW, it is seen
from Fig. 14 that SMES in area2 provided more
compensation than area1. Finally frequency deviations
restore to its nominal value with the gain scheduled
SMES controller.
0 5 10 15
-1
0
1
2
3
x 10
-3
Time in sec
T
i
e

p
o
w
e
r

d
e
v
i
a
t
i
o
n
Gain Scheduled SMES
Fixed gain SMES
-O.O3
-O.O2
-O.O1
O
P
r
e
q
u
e
o
c
y

d
e
v
e
a
L
l
o
o


Area 1
Gain Scheduled SMES
Fixed gain SMES
-O.O26
-O.O2
-O.O16
-O.O1
-O.OO6
O
Area 2


Gain Scheduled SM ES
Fixed gain SMES
O.2
O.4
O.6
O.8
1
K
l

V
a
r
l
a
L
l
o
o
O
O.6
1
O 6 1O 16
-6
-4
-2
O
2
P
c
m
,
V
w
)
1l me l o cec
O 6 1O 16
-1
-O.6
O
O.6
1
1.6
1l me l o cec
Fig. 10: System performances for a step load change P
L1
= 0.015 p.u MW in area-1 only [Case I]
Fig. 9 Performance of tie power deviation [Case I]
Fig. 11 Performance of tie power deviation [Case II]
Fig. 12 Performance of tie power deviation [Case III]
55
-O.O3
-O.O2
-O.O1
O
P
r
e
q
u
e
o
c
y

d
e
v
e
a
L
l
o
o


Area 1
Gain Scheduled SM ES
Fixed gain SM ES
-O.O3
-O.O2
-O.O1
O
Area 2


Gain Scheduled SM ES
Fixed gain SM ES
O
O.6
1
K
l

V
a
r
l
a
L
l
o
o
O
O.6
1
O 6 1O 16
-4
-2
O
2
P
c
m
,
V
w
)
1l me l o cec
O 6 1O 16
-4
-2
O
2
1l me l o cec
-O.O4
-O.O3
-O.O2
-O.O1
O
P
r
e
q
u
e
o
c
y

d
e
v
e
a
L
l
o
o


Area 1
Gain Scheduled SMES
Fixed gain SM ES -O.O4
-O.O3
-O.O2
-O.O1
O
Area 2


Gain Scheduled SMES
Fixed gain SMES
O.2
O.4
O.6
O.8
1
K
l

V
a
r
l
a
L
l
o
o
O
O.6
1
O 6 1O 16
-3
-2
-1
O
1
P
c
m
,
V
w
)
1l me l o cec
O 6 1O 16
-6
-4
-2
O
2
1l me l o cec
VII. Conclusions
The simulation studies are carried out on a two-area
power system considering DB and GRC to investigate the
impact of the proposed intelligently controlled SMES on
the power system dynamic performance. The results show
that the scheme is very powerful in reducing the
frequency and tie-power deviations under a variety of
load perturbations. On line adaptation of supplementary
controller gain associated with SMES makes the proposed
intelligent controllers more effective and are expected to
perform optimally under different operating conditions.
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Fuzzy Gain Scheduled Superconducting Magnetic Energy Storage
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Fig. 13: System performances for a step load change P
L1
=P
L2
= 0.01 p.u MW in both areas [Case II]
Fig. 14: System performances for a step load change P
L1
=0.01 p.u MW in area1& P
L2
= 0.015 p.u MW in area2 [Case III]
66