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Electric Power Systems Rescarch 42 (1997) 145-152
RESEClRCH
Abstract
This paper presents a new approach to study the area load frequency control (LFC) problem using fuzzy gain scheduling of
proportional-integral (PI) controllers. The control scheme adopts a formulation for the area control error which always guarantees
zero steady state time error and inadvertent interchange. The proposed control has been designed for a four-area interconnected
power system with control deadbands and generation rate constraints. Simulation results confirm the designed control
performance of the proposed controller. 0 1997 Elsevier Science S.A.
NB NM NS ZO PS PM PB
X = ACENn or AACENn
Fig. 1. Simplified diagram of an interconnected system Fig. 3. Membership functions for ACEN,(k) and AACEN,(k).
C.S. Chang, W. Fu /Electric Power Systems Research 42 (1997) 145-152 147
Table 1
Fuzzy tuning rules for Kb
Big
AACEN,(k)
I
NB NM NS ZO PS PM PB
NB B B B B B B B
NMS B B B B B S
NS S S B B B S S
ACEN,(k) ZO S S S S S S S
PS S S B B B S S
x = I$,’ or K,’ PMS B B B B B S
PB B B B B B B B
Fig. 4. Membership functions for KD and K;
The function approach described is used to incorpo- In the proposed scheme, PI parameters are deter-
rate governor deadband nonlinearity [13]. It has been mined based on the current ACEN, and its first differ-
found that the backlash nonlinearity tends to produce a ence AACEN,. It is also assumed that &., and Ki are in
continuous sinusoidal oscillation with a natural period the prescribedranges[Kp,min,&,,,J and [Kl,rnin,~1,,,,1,
of about 2 s. An approximate Fourier series solution respectively. The appropriate ranges are determined
has been developed as follows [13]: experimentally for each area. For convenience, K,, and
K1 are normalized into a range between zero and one by
F(x, i) = 0.8x - g i
71 the following linear transformation:
where the above Fourier coefficients stand for a back-
lash of 0.05%.
In practice, there is a maximum limit to the rate of
change in generation power of a steam plant [14]. A
typical value of the generation rate constraint for a The parameters Kb and K; are determined by a set of
large reheat-type thermal unit is considered to be 3%/ fuzzy rules of the form
min, while for hydro units a typical value for raising the
if ACEN,(k) is Ai and AACEN,(k) is Bi,
generation rate would be 4.5%/s (270%/min) and 6%/s
(360%/min) for lowering the generation rate [8]. Here, a then Kb is C, and K; is Di i = 1,2 ,..., n. (7)
value of 3%/min is used for the reheat-type thermal
units and 4.5%/s for the hydro unit. Here, A, B,, C, and Di are fuzzy sets on the correspond-
ing supporting sets. The membership function (MF)
sets for ACEN,(k) and AACEN,(k) are shown in Fig.
3. The proposed fuzzy gain scheduling controller 3, in which N, P, ZO, S, M, B, NB and NM represent
respectively negative, positive, approximately zero,
Gain scheduling is an effective way of controlling small, medium, big, negative big, and negative medium.
systems whose dynamics change non-linearly with oper- The fuzzy sets C, and Di can be either Big or Small and
ating conditions [4]. It is normally used when the are characterized by the membership functions shown
relationship between the system dynamics and operat- in Fig. 4, where the grade of the membership functions
ing conditions are known, and for which a single linear p and the variable x ( = Kb or K;) have the following
time-invariant model is insufficient. In this paper, we relation [4]:
use this technique to schedule the parameters of the PI
controller according to change of the new area control Table 2
error ACEN, and AACEN, as depicted in Fig. 2. Fuzzy tuning rules for K;
AACEN,(k)
NB NM NS ZO PS PM PB
NB S S S S S S S
NMS S B B B S S
NS S B B B B B S
ACEN,(k) ZO B B B B B B B
PS S B B B B B S
PMS S B B B S S
1 al
PB S S S S S S S
Fig. 5. Example of a desired step response.
148 C.S. Chang, W. FM /Electric Power Systems Research 42 (1997) 145-152
0 O-
~-0.02 -5..
2
-0.04 -10.
r-----l :‘-
ij-q"
-0.06 jr-- -15
0 50 100 0 50 100
Fig. 6. 1% step load increase in area 1: (a) AF,; (b) AF2; (c) AF,; (d) BP,,, ,; (e) E,; (f) I,. (-. proposed controller; ..., fixed PI controller.)
psrnall(~) = - t In x or xsma&) = e ~ 4V for Small integral gain K; respectively, in which B stands for Big,
and S for Small.
pgig(x) = - a ln(1 - X) or X,&L) = 1 - e -‘+ for Big
The value of the ith rule in Eq. (7) ,uuiis obtained by
(8) the product of the MF values of ACEN,(k) and
The fuzzy rules in Eq. (7) may be extracted by AACEN,(k):
experience. Here we derive the rules experimentally
based on the step response of the process. Fig. 5 shows pi = .P~[ACWA~)I. P~WACW,,(~)I (9)
an example of a desired time response. At the begin- where pJACEN,(k)] is the MF value of the fuzzy set
ning, i.e., around a,, we need a big control signal, so Ai according to the value of ACEN,(k), and
the PI controller should have a large proportional gain pi[AACEN,(k)] the MF value of the fuzzy set Bj
to improve the system response, but a small integral according to the value of AACEN,(k). Based on ,ui, the
gain to prevent overshoot [7]. Therefore, the rule values of Kb and K; for each rule are determined from
around a, should be their corresponding membership functions.
From the membership functions in Fig. 3, we can see
if ACEN,(k) is NB and AACEN,(k) is ZO,
that:
then Kb is Big and K; is Small.
Around point a2 in Fig. 5 we need a small control iI,= (10)
signal, so the PI controller should have a small propor-
tional gain to reduce to system oscillations, but a big Then, defuzzification yields the following:
integral gain to eliminate the steady-state error. Then,
the following fuzzy rule is taken.
if ACEN,(k) is ZO and AACEN,(K) is PS,
then Kb is Small and K; is Big.
(11)
Thus, a set of rules, as shown in Tables 1 and 2, may where Kp,i is the value of Kb corresponding to the grade
be used to adapt the proportional gain Kj, and the ,U~for the ith rule, and K;,, is obtained in the same way.
C.S. Chang, W. Fu /Electric Power Systems Research 42 (1997) 145-152 149
-0.1 -0.1
0 50 100 0 50 100
5x1o-3
3 i
a d
-5-F
I
\
-10 -10
0 50 100 0 50 100
Fig. 7. 1% step load increase in areas 1 and 3: (a) AF,; (b) AF3; (c) Pt,, ,; (d) Pt,, ,,. (-, proposed controller; ..., fixed PI controller.)
0.05, 0.05
k :k’ -
:”
0 O-
5 i
d d
-0.05
-0.1 -0.05
-0.1’ - ’ I
0 50 100 0 50 100
(0) Set (b) Sec.
0.1 , 1
-0.1 ’ I -151
0 50 105 0 50 100
Cc) SK. (d) 5.32.
0.02 ,
I
0
i ; -5
d d
-10
-0.01 ’ I
0 50 100
(e) Sec.
-0.1
i
d
-0.2
L7
(h) SK.
Fig. 8. 1% step load increase in areas 1 and 3, 1% step load decrease in area 2: (a) AF,; (b) AF2; (c) AF,; (d) AP,, ,; (e) AP,,,>; (f) AP,,,,; (g) E,;
(h) I,. (-, proposed controller; -, fixed PI controller.)
J
0.115
/
0.11
0.105
/
0.1
0.095 , I / I I
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0 .04
J&I
Fig. 10. Performance index J =f(K,,) for various values of K,,: I, I&, = 0.0; 2, Kp, = 0.02; 3, Kp, = 0.04; 4, Kp, = 0.06; 5, Kp, = 0.08; 6,
K,,, = 0.10; 7, Kp, = 0.12.
Appendix C. Nomenclature
Area KP K
ACE, area control error of area i
1 0.08 0.02 ACENi new area control error of area i
2 0.1 0.02 Apt, i incremental change in aggregate tie-line
3 0.1 0.02 power of area i
4 0.2 0.06 AF, incremental frequency change of area i
Bi frequency bias constant of area i
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