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4, November 1990
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Abstract This paper presents the eigenvalue control The concept of eigenvalue control presented in this
strategy which utilizes an adaptive power system stabilizer paper provides methodology to circumvent these problems.
for the decentralized control of damping and frequency of In order to retain a reliable and widely accepted analog PSS,
electromechanical oscillations in power systems. The control the gain setting control of its parameters is proposed. The
procedure includes the complete identification of the decou- design is based on electromechanical eigenvalue assignment.
pled subsystem model in real-time from local measurements The identification of a power system linearized model which
only and the assignment of its estimated electromechanical tracks its operating conditions has been obtained by applying
eigenvalue by the change of stabilizer parameters. The the extended Kalman filtering technique to the problem of
robustness and efficiency of the proposed adaptive controller simultaneous state and parameter estimation. With such an
to enhance overall system stability are illustrated in several implementation of the hybrid (analog/digital) controller,
examples, including the three-machine power system model. direct control signals are not sent from the digital computer.
This preserves the robustness of the analog control system,
Keywords: Ele ctro me ehanic a1 ose illatio tzs, eigenvalues, while providing flexibility of the digital control. Moreover,
decentralized control, adaptive stabilization, system the coordination of such stabilizers in the multimachine
identification. power system can be directly realized through the developed
decentralized concept of power system stability control.
According to this concept, the adaptation of PSS parameters
INTRODUCTION is used to ensure an exact assignment of local electromechani-
cal eigenvalues to prescribed locations in the complex plane,
The occurrences of dynamic instability in real power so that the overall interconnected system exhibits some desir-
systems, due to poorly damped electromechanical oscillations, able properties in the continuously changing environment of
prompted a wide application of power system stabilizers its operating conditions.
(PSS) in order to prevent undesirable power transfer limita-
tions and to provide a secure.operation of a large intercon- PROBLEM STATEMENT AND
nected power system [1,2]. A power system stabilizer OVERALL APPROACH
operates through the exciter, generator and the transmission
system, whose open loop characteristics [3,4] fluctuate with A power system is a nonlinear, high order system which
changes in system load, generator schedule and network is continuously subjected to predictable and unpredictable
configuration. Therefore, the main obstacle to the efficient disturbances. Its general, continuous-time model is given by
exploiting of high PSS possibilities relates to its h e d tuning,
that must cope with varying conditions in the system. +
j , = I$(x,u) B, w (1)
With the progress in the microprocessor technology, the where x is the system state vector, U is the control input vec-
development of stabilizers based on adaptive or self-tuning tor and I$ is a vector-valued non-linear function. B, is the
control techniques becomes a feasible and promising way to input noise distribution matrix and w is the system noise vec-
overcome the above mentioned problem [5]. In these tech- tor which accounts for system modeling errors and distur-
niques, a model of the system to be controlled is continuously bances.
identified in real - time by a parameter identification method
and the control is calculated using a preselected strategy. The power system model (1) with the fifth order model
Although the studies of such digital controllers resulted in of the synchronous generator (see Appendix 1) was used for
the improvements of system dynamic properties [6,7], there the computer simulation of system measurements and
response. The load disturbances were simulated as random
are still doubts concerning its robustness and reliability dur-
components of generator electrical torque in the way of
ing an extended period of operation in strongly nonlinear
Monte Carlo technique. It is important to make a distinction
power systems. Also, up-to-date developments of these dev-
ices lack an approach to the coordination of their actions in between the nonlinear model ( l ) , used for the simulation,
the multimachine environment. and the linearized simplified model, used for the system
identification and control. The latter is the model suggested
for low frequency oscillation studies [I],given in Fig. 1 and
89 WM 175-1 PWRS A paper recommended and appreved described by
by t h e IEEE Power System Engineering Committee of the
LEEE Power Engineering Society f o r presentation a t the
A%,=Ai A% + CAij Axj + biAu,i i,j =1,2, ...,n (2)
j#i
IEEE/PES 1989 Winter Meeting, New York, New York,
January 29 - February 3, 1989. Manuscript submitted where A q is the i-th subsystem (controlled synchronous
J u l y 18, 1988; made available f o r printing machine) incremental state vector and Ausi is the scalar con-
December 1, 1988. trol input to the i-th machine exciter.
For the local identification process, mutual influences
between subsystems (CAijAxj in (2)) can be considered as
088.5-8950/90/1100-1118$01.00 0 1990 IEEE
1119
applied. 0.40
n
Now, both p and x are to be estimated in real-time from
the local noisy measurement data
Yk = Ck(Pk) xk +
vk = hk(Xk) vk +
(8)
where vk is the measurement noise vector a t the k-th sam-
pling instant with known covariance matrix Rk. The meas-
urement vector yk consists of
Pk+l Ik = 6 k (9)
xk+i Ik = A d k $k (10)
Pk+l Ik = Fdk6k FIk + Bdk Q B I k (11)
where the discrete-time transition matrices (with indices dk)
are derived in Appendiv 2.
After taking a new set of measurements Yk+l the
predicted composite state vector &+I Ik (9,lO) can be filtered.
A new, approximately minimum variance estimate of X is Fig. 4 Estimation of time-varying parameters
then obtained through an extended Kalman filter
(estimate drop in Fig. 3) and to reinitialize its stationary
level, which is endemic to the linearized reference model.
xk+l = xk+l Ik + Kk+l b k + l - hk+l (xk+l Ik)] (12) Such a monitoring of the incremental state vector could be
where used for the digital synthesis of different supplementary sta-
bilizing signals.
Kk+l = P k + l IkH;f+l(Hk+lPk+lIkH;f+l + Rk+l)-' (13) When the reference system model is not complete and
Hk+l = -
IX Xk+llk (14) the recursive on-line identification of its parameters is done,
only asymptotic unbiasedness is possible, because the true
and the error covariance update is estimation errors approach higher values than those theoreti-
cally predicted by Pk. This is the reason why the fast and
$k+1 = (I-Kk+lHk+l) Pk+l Ik(I-Kk+lHk+l)T + stable tracking process in Fig. 4 exhibits biases in the
identification of three characteristic parameters, among
+ Kk+lRk+lK~+l. (15) which k5 is relatively poorly estimated. Physically it can be
Now, the identiier is ready to repeat the whole previous pro- explained by the fact that this parameter (k5) dominantly
cedure starting from the composite state estimate propaga- describes the open loop damping characteristics of the
tion (9,lo). machine without PSS [3]. Since the damping is generally
very light (in this case it is even negative), it has little
Results of System Identification influence on the measurement data of the closed loop system.
Fortunately, the noted bias does not risk the adaptation of
In order to illustrate the tracking accuracy of the pro- PSS because parameters that are less observable tend also to
posed identifier, Figures 3 and 4 show the true and the have little effect on the monitoring and control of critical
estimated values of the states and parameters of a single electromechanical oscillations. This is illustrated in Fig. 5
machine i d n i t e bus power system [l]subjected to the ran- where the deviation of real and imaginary parts of the
dom load disturbances and one transmission line opening a t estimated electromechanical eigenvalue is shown in respect to
t-2 S. the off-line found values from the linearized power system
From Fig. 3 it is obvious that the nonlinear dynamic model (1). From Fig. 5 it can be concluded that the perfor-
estimation of machine internal states (6, Eh) is excellent, mances of the proposed dynamic identifier are satisfactory
until the sudden and major change occurs in the system for the electromechanical eigenvalue monitoring and control
operating point due to the one line tripping. However, the purposes.
identser is capable of recognizing the extent of the change
1121
purpose, the EMEV algorithm is rewritten in the reversible
REMEV algorithm. The REMEV control procedure for the
specified resonance condition (AT, = 0 , s =CY, +j@,) directly
evaluates the PSS amplitude and phase lead needed to realize
the desired electromechanical eigenvalue assignment (o=as,
w=p,) given in Fig. 2. The mathematical details of such a
noniterative control procedure for the adaptation of PSS
gains k, and a (which predestinate amount and direction of
eigenvalue shift) are given in Appendix 3.
The proposed scheme for the decentralized adaptive con-
trol of electromechanical oscillations in power systems, based
on the eigenvalue control strategy, is summarized in Fig. 6.
Control Computations
The EMEV algorithm uses a frequency - domain refer- Fig. 6 Block diagram of an adaptive power system stabilizer
ence model of the linearized subsystem (see Appendices 1 and
3), to calculate an exponential perturbation torque (ATx),
which has been hypothetically applied at an estimated com- In this control scheme, the determination of A, naturally
plex frequency ( s = a + j w ) to the generator rotor for the belongs to the higher hierarchical level of the system control.
given speed perturbation phasor (Aw=A% +jO). The The damping a, can be estimated according to relations in
approximative torque-to-speed transfer function, reduced to Fig. 2 or adopted in the usually secure range (-1 + -2 s-'),
the form: whereas the tolerated deviation of controlled mode frequency
around its natural value w, was chosen to be k5%.
Numerical Examples
is then used to calculate the subsystem response (a+j@)and The proposed adaptive PSS has been applied for the
update the excitation frequency (o=(Y, U=@), moving it control of electromechanical oscillations in several examples.
closer to a resonance condition. Such an iterative procedure The results for the one-machine to infinite bus power system
is stopped when the changes in the real and imaginary part [l]and the three-machine without infinite bus power system
of the searched electromechanical eigenvalue from the [13] are shown to illustrate controller properties.
preceding iteration do not exceed 0.01, which takes on the Figure 7 shows the time response of a hydrogenerator
average 3 iterations. This ensures at least the same accuracy load angle under continuous load variations (smaller than
of the estimated eigenvalue, which is sufficient for the control 0.05 P.u.) and network switching. Monitoring and control of
purposes and matches the performances of identifier (Fig. 5). electromechanical mode damping, during the opening and
From the above considerations, it directly holds that the reclosure of different transmission capacities
naturally versatile EMEV algorithm running "backward" can (AXN=+0.4 P.u., AXN=-O.2 P.u.) are shown in Fig. 8.
easily determine the PSS transfer function which ensures an The more severe disturbance is simulated in Fig. 9, where the
exact assignment of the local electromechanical eigenvalue to tie-line reactance (XN)is doubled at the fault clearance (after
the prescribed location in the complex plane. For such a 100 ms three phase short-circuit). The adaptation of PSS
1122
c
O.ML
6-60
(rad)
30. -
20. -
I O
a d a p t i v e PSS :I
-0.40
fixed PSS -------
0 2.0 4.0 a. 0
Load
I f i x e d PSS
1
s =sn1
M =7.0 s
Appendix 3
AE&) = -Dl(Ss)Aw(Ss)/k2
which requires
1
1125
DISCUSSION [11 C.E. Grund, R.V. Pohl, J. Reeve, "Control Design
of an Active and Reactive Power HVDC Modulation
C.E. GRUND AND J.J. SANCHEZ-GASCA, General System with Kalman Filtering," IEEE Transactions
Electric Company, Schenectady. New York: The paper on Power Apparatus and Systems, Vol. PAS-101, NO.
describes an interesting application of Kalman 10, October 1982.
filtering to the design of adaptive power system C2l C.E. Grund, E.M. Pollard, H.S. Patel, S . L .
stabilizers. As the paper concludes, the paper Nilsson, J. Reeve, "Power Modulation Controls for
demonstrates the technical feasibility of adaptive HVDC Systems," CIGRE Paper 14-03, Paris, 1984.
power system stabilization for the particular system C31 C . E . Grund, D.L. Carlson, L.P. Crane, S.E. Wright,
studied, namely, a three-machine test system. "Application of Advanced HVDC Modulation
Responses to the following questions would be Techniques to Large-scale Power Systems,"
appreciated. The demonstration of the parameter presented at the CIGRE Conference on AC/DC
identification algorithm covers parameters for a Transmission Interactions, Boston, September 1987.
single mode. Would the authors please discuss the
extension of their technique to the identification of Manuscript received February 17, 1989.
parameters of a multi-modal system. What impact would
this extension have on the computational load as well
as upon the sampling time used for the single mode
system.
In Equation 8 of the paper, a "known measurement O.P. Malik
covariance matrix Rk" is mentioned. Could the The University of Calgary
authors give the numerical values for Rk and how Calgary, Alberta, Canada
they were determined. The same questions also apply T2N 1N4
to the parameter covariance vector Q2. Also, the
assumptions made in Equation 6 for the time variation
in the parameter vector p would be appreciated. The discusser would like to congratulate the
The demonstration of controller performance authors for a very interesting paper describing the
compared to either no control or another type of application of a Kalman filter as a parameter
control is always interesting. However, the selection estimator. I would like the authors to clarify the
of the design parameters of the reference control are following points:
subject to engineering judgments, which, in turn, can
significantly affect the comparison. For instance, in The authors propose a hybrid approach whereby
the system responses given in Figure 7, comparison is the parameters of a conventional analog PSS are
made with a fixed PSS. Would the authors please modified using a digital part which computes the
discuss the design strategy used for the fixed PSS new parameters. What is the feasibility of the
parameters. For instance, the fixed PSS could be physical implementation of such a scheme.
designed for the low or high impedance tie line
operating condition or a compromise condition. Also, Results of simulation studies describe a
based on the time response of machine angle after 6s comparison of system performance between the
in Figure 7, the damping of the fixed PSS appears to proposed adaptive controller and a first order
be higher than that of the adaptive PSS considering fixed parameter PSS. The conventional fixed
the rate of decay of the oscillations rather than the parameter PSSs are generally of much better
amplitude. Yet, Figure 8 appears to indicate that the design with optimized parameters to match the
damping of the adaptive PSS is significantly higher system. Was any effort made to optimize the
than the fixed PSS. Would the authors care to explain fixed parameter PSS and if the authors have any
the difference. results for that case?
The first paragraph of the conclusions appears
consistent with the results of a feasibility study. The computed control is based on the specified
However, additional conclusions presented in the desired electromechanical eigen-value. If the
second paragraph appear more extensive, somewhat characteristics of the system to be controlled
inconSistent with the fact that only a three-machine are fully known, it is easy to assign the
system was studied. Would the authors care to desired eigen-value. However, for a system that
elaborate on the feasibility of applying their method is unknown and/or non-linear, it is not easy to
to large power systems. assign a proper value. This matter is further
The authors have undertaken the development of a complicated by the physical limits on control.
rather complex adaptive control strategy for power Thus whether an assigned eigen-value can be
system stabilizers. For this they should be achieved or not depends upon the operating
emended. It is quite reasonable, however, to assume condition of the system and the magnitude of the
that significant additional work may be necessary disturbance. If the desired control cannot be
before these techniques become applicable to realistic provided because of control limits, the
power systems. performance may in fact deteriorate. Would the
The discussors would like to point out that authors comment on the proper selection of the
significant contingency testing of a fixed parameter desired eigen-value?
Kalman filter L1.21 has shown a fixed PSS with state
estimation to be quite robust implying that parameter It may be of interest to the authors that
identification may not be required. Additionally, studies in the multi-machine environment with the
this technique has been applied to a digltal model of
a realistic power system 131 with promising results. self-tuning regulator of Ref. [7] of their paper were
However, this points to the need for comparative reported in Ref. [A].
evaluations of different control strategies, each with
its own advantages and disadvantages, on the same [A] S.J. Cheng, O.P. Malik and G . S . Hope, "Damping
realistic control design problem, which may be of Multi-Modal Oscillations in Power Systems
prohibitively costly. This is to say that many Using a Dual-Rate Adaptive Stabilizer", IEEE
different control design strategies may yield Trans. on Power Systems, Vol. PWRS-3(1), 1988,
equivalent performance and other considerations such pp. 101-108.
as complexity and reliability should also be included
in the comparison. Manuscript received February 13, 1989.
I
1126
D. OSTOJIC AND B. KOVACEVIC: We would like groups enable monitoring of all electromechanical oscilla-
to thank the discussers for their interest in our paper and tory modes which can appear in the system. Therefore, by
for their insight and questions which provide us an opor- using the chosen subsystem model (Fig.1 in the paper), it
tunity to elaborate on some of the aspects of our is the most dominant electromechanical oscillatory mode
approach to adaptive power system stabilization. We will which is identified a t given time in a multi-modal power
give our answers to each discusser separately. system. The eventual extension of the model would
Professor 0. P. Malik: The early instalations of require the change of the monitoring level, i.e. the intro-
control computers, used by industry, were operated in a duction of measurements from other sites. Apart from the
supervisory mode, either as an operator guide or as a set- substantial increase of computational load, the feasibility
point control [All. Therefore, we belive that before con- of such an approach could suffer from several factors.
sidering self-tuning direct digital controllers, it is useful to Among these are the impact of bad data and difficulties
check if an adaptive power system stabilizer with variable in performing a corresponding centralized control action
gain-setting (or gain scheduling) can maintain specified within the basically same time sample interval (order of
damping of critical electromechanical oscillations. This 50 to 100 ms).
approach was particulary motivated by the authors' The covariance matrix R has been approximated
intention to keep the robustness of an analog PSS and to with
provide a monitoring tool for supervising a power system
stability indicator such as an electromechanical eigen-
value. As a consequence, the proposed scheme is simple where q was the known variance of normally distributed,
for implementation and can be realized by using discrete zero-mean measurement noise. The noise with such statis-
changes of parameters of an analog PSS within the tics was artificially added to the ith measurement in
prespecified range of its values. Equation 8. In contrast to the covariance matrix R,
the system noise covariance matrix Q must be estimated
The initial tuning of an adaptive PSS in normal from the simulation studies. Furthermore, the system
operating conditions is the same as for a fixed PSS which noise statistics, which it represents, tend to vary with the
has been used for comparison of system responses. The major changes in the system operating point. Therefore,
applied tuning technique is described in [4]. The first in the presence of unknown system disturbances, it may
order PSS was sufficient to compensate the phase lag of be desirable to use a n adaptive estimntion technique for
an open loop system and to assign its electromechanical matching matrix Q during the system identification pro-
eigenvalues at the desired position in the complex s- cess (A3]. The main idea for the selection of matrix Q is
domain (see Fig.2, Fig.8 and Table 1 of the paper). It is to make the innovation sequence rk+l consistent with its
important to note that the EMEV-REMEV procedure theoretical covariance
(given in Appendix 3 of paper) can easily handle a higher
order PSS model, which will be required in systems with
higher order exciter models.
We agree with Professor Malik that the assignment
of electromechanical eigenvalues in an uncertin and non- The above relations have been used for the off-line
linear multimachine power system is a complex problem. analysis of the system noise statistics. However, it was
In the authors' opinion, it deserves attention since it noticed that the actual covariance of rk+l is larger than
could be a natural way to obtain the coordination its theoretical value (b.2) obtained from the Kalman
between adaptive stabilizers in power systems. A possible filter. This problem results from the discrepancies
approach is illustrated in Fig.A for a hypothetical three between the true non-linear power system model which
machine power system example. was used in simulation and the simplified reference model
upon which the filtering algorithm was based. The solu-
tion was to increase the matrix Q , which has the effect of
increasing P k + l l k and bringing the covariance of rk+l
System Control
closer to its actual value. Furthermore, it was assumed
Center Level that all states in the model (Equation 6) are driven by
white noise. Such a fictitious addition of process noise to
the system model, through the matrix Q, ensures nonzero
corresponding terms of the gain matrix (Equation
13), and the filter will always try to track the true system.
The question of the design strategy for fixed PSS has
Subsystem been already addresed. The small oscillations in Fig.7
Control Level after the line reclosure are because of the load variations
... which were added as a disturbance to the system in all
simulations (see for example time response in Fig.7 before
Fig. A. Scheme for a hierarchical eigenvalue control in t=2s). Finally, we would like to agree with the discussers
multimachine power system that further studies are needed to better uderstand the
relative merits of different adaptive control strategies in
In Fig. A the task of coordination of local adaptive PSSs large scale power systems. However, the substantial possi-
belongs to the system control center and can be con- bilities of these new techniques to improve power system
sidered as a secondary level of eigenvalue control. There- stability seems to be well recognized.
fore, the proper selection of the desired electromechanical
eigenvalues falls under the province of the decentralized
pole placement problem. Since the real-time solution of K. J. Astrom, "Adaptive Feedback Control," IEEE
this problem depends on a system state estimation [A2], Proceedings, Vol. 75, pp. 185-217, February 1987.
the adjusment of specified eigenvalues A, must be done P. Rousseaux, D. MalIieu, Th. Van Custem, and M.
with longer time samples than the local (primary) eigen- Ribbens-Pavella, 'Dynamic State Prediction and
value control (which is described in the paper). Hierarchical Filtering for Power System State Esti-
Drs. C. E. Grund and J. J. Sanchez-Gasca: mation, Automatica, Vol. 24, No. 5, pp. 595-618,
The modal observability and controllability of elec- 1988.
tromechanical oscillations in multimachine power systems R. K. Mehra, "On the Identification of Variances
determine the reasonable order of model for eigenvalue and Adaptive Kalman Filtering," IEEE Transac-
monitoring and control. In Ref.181 of the paper it was tions on Automatic Control, Vol. AC-15, pp. 175-
shown that the generators situated in the nuclei of modal 184, April 1970.