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Abstract
This paper describes the Load Frequency Control (LFC) variations of random magnitude and duration. For
of two area interconnected reheat thermal system using satisfactory operation of a power system the frequency
conventional Proportional – Integral (PI) controller and should remain nearly constant. The frequency of a system
Fuzzy Logic Controller (FLC). The system is depends on active power balance. As frequency is a
incorporated with governor dead band, generation rate common factor throughout the system, a change in active
constraint non-linearities and boiler dynamics. The power demand at one point is reflected through out the
conventional PI controller does not yield adequate system. Mostly the boiler system effects and the governor
control performance with the consideration of non- dead band effects are neglected in the load frequency
linearities and boiler dynamics. To overcome this control studies for simplicity. But for the realistic
drawback Fuzzy Logic Controller has been employed in analysis of system performance, these should be
the system. The aim of FLC is to restore the frequency incorporated as they have considerable effects on the
and tie line power in very smooth way to its nominal amplitude and settling time of oscillations [9], [11].
value in the shortest possible time. Time domain
Due to unnecessary error in the past, conventional PI
simulations are used to study the performance of the
controller does not provide adequate control performance
power system. System performance is examined
with the consideration of non-linearities and boiler
considering 1% step load perturbation in either area of
dynamics. The difficulty in obtaining the optimum
the system.
settling time of previously said controller is mitigated by
using FLC, which gives the opportunity to describe the
Keywords: Area Control Error, Fuzzy Logic Controller,
control action in qualitative term and symbolic form.
Governor Dead Band, Load Frequency Control,
Literature survey shows that [8], [13-15] only a few
Proportional-Integral.
investigations have been carried out using FLC to LFC
with the consideration of non-linearities and boiler
1. Introduction dynamics. It has been discussed that the implementation
With an increasing demand for electric power, the of FLC has greatly improved the performance of the
electric power system becomes more and more controller “without negatively affecting the consumers’
complicated. Therefore the supply of electric power with quality of supply”. The remainder of the paper is
stability and high reliability is required. Normally, the organized as follows: Section (2) focuses on the transfer
power system operates in normal state which is function modeling of two area thermal system
characterized by constant frequency and voltage profile considering boiler dynamics and non-linearities for load
with certain system reliability. For a successful operation frequency control studies. Section (3) emphasizes on
of power system under abnormal conditions, mismatches conventional proportional-integral (PI) control strategies.
have to be corrected via supplementary control [4]. Section (4) discusses the proposed fuzzy logic controller.
Automatic Generation Control (AGC) or Load Frequency Finally section (5) and section (6) presents the simulation
Control is a very important issue in power system results and conclusion respectively.
operation and control for supplying sufficient and reliable
electric power with good quality. An interconnected 2. System Investigated
power system can be considered as being divided into The detailed block diagram modeling of two area thermal
control areas, which are connected by the tie lines. In power system, for load frequency control, investigated in
each control area, all generators are assumed to form a this study is shown in figure (1) [5], [6]. Here, area 1 and
coherent group. The power system is subjected to local 2 comprising reheat thermal system with governor dead
band, generation rate constraint non-linearities and boiler
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ICGST-ACSE Journal, ISSN 1687-4811, Volume 8, Issue III, January 2009
dynamics. The nominal parameters of the system are As the backlash nonlinearity is symmetrical about the
given in Appendix. Matlab version 7.3 has been used to 0
origin, F is zero. For the analysis in this paper,
obtain dynamic response such as frequency deviation in backlash of approximately 0.05% is chosen [1]. From the
area 1 (ΔF1), area 2 (ΔF2), tie line power deviation (ΔPtie), above equation, for simplification, neglect higher order
and change in steam flow in area 1 (ΔSf1), area 2 (ΔSf2), terms, the Fourier co-efficients are derived as N1=0.8 &
for 1% step load perturbation in either area of the system. N2=-0.2. By substituting the values in equation (3) the
transfer function for GDB is expressed as follows,
2.1 Governor Dead Band • 0.2 •
Governor Dead Band (GDB) is defined as the total F ( x, x) = 0.8 x − x (4)
magnitude of a sustained speed change within which π
there is no resulting change in valve position. The 2.2 Generation Rate Constraint
Backlash non-linearity tends to produce a continuous In practice, there exists a maximum limit on the rate of
sinusoidal oscillation with a natural period of about 2s change in the generating power. For thermal system a
[1]. The speed governor dead band has significant effect generating rate limitation of 0.1 p.u MW per minute is
on the dynamic performance of load frequency control considered, [10], [13] i.e.
system. Describing function approach is used to •
incorporate the governor dead band non-linearity [3]. The Δ P g ≤ 0.1 p.u. MW / min = 0.0017 p.u.MW / s (5)
hysteresis type of non-linearities is expressed as,
• 2.3 Boiler Dynamics
y = F ( x, x) rather than as y = F (x) (1) Figure (2) shows the model to represent the boiler
To solve the non-linear problem, it is necessary to dynamics [7]. Boiler is a device meant for producing
make the basic assumption that the variable x, appearing steam under pressure. The model is basically for a drum
in the above equation is sufficiently close to a sinusoidal type boiler. An oil/gas fired boiler system has been
equation, that is, employed in this study, since such boilers respond to load
demand changes more quickly than coal-fired units [1],
[3]. Drum type boiler is otherwise known as recirculation
x ≈ A Sin ω 0 t (2)
boiler which relies on natural or forced circulation of
where, A is amplitude of oscillation drum liquid to absorb energy from the hot furnace walls,
ω0 is frequency of oscillations called water walls for generating steam.
The boiler receives feed water which has been
ω 0 = 2πf 0 = π preheated in the economizer and provides saturated steam
As the variable function is complex and periodic outflow. Recirculation boiler make use of a drum to
function of time, it can be developed in a Fourier series separate steam flow from the recirculation water so that it
as follows, [3] can proceed to the super heater as a heatable vapour;
• N2 • hence recirculation boiler are referred to as drum type
F ( x, x) = F 0 + N1 x + x + ....... (3) boiler[2]. The changes in generations are initiated by
ω0 turbine control valves and the boiler controls respond
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ICGST-ACSE Journal, ISSN 1687-4811, Volume 8, Issue III, January 2009
with necessary control action, changes in steam flow and of the power system, a conventional model may not give
changes in throttle pressure, the combustion rate and satisfactory solution.
hence the boiler output.
0.00944
0.00943
0.00942
Performance Index J
0.00941
0.0094
0.00939
0.00938
0.00937
0.00936
0.00935
0 0.02 0.04 0.06 0.08
Kp (for Ki=0.25)
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ICGST-ACSE Journal, ISSN 1687-4811, Volume 8, Issue III, January 2009
Table I
Fuzzy Control Rules
ACE
NB NM NS ZO PS PM PB
NB PB PB PB PB PM PM PS
NM PB PM PM PM PS PS PS
NS PM PM PS PS PS PS ZO
ACĖ ZO NS NS NS ZO PS PS PS
PS ZO NS NS NS NS NM NM
PM NS NS NM NM NM NB NB
Figure 5(c): Tie line power deviation
PB NS NM NB NB NB NB NB
5. Simulation Results
Simulations were performed to a two area reheat thermal
system considering non-linearities and boiler effects. The
system is simulated for a step load disturbance of 1% on
area 2. Due to this, change in dynamic responses of the
system has been observed as shown in figure 5(a)-(e). It
is observed that the FLC exhibits relatively good
performances having very smaller overshoot and
transient frequency oscillations. The conventional PI
controller does not yield adequate control performance.
Simulation result concludes that FLC yields much
improved control performance than the conventional PI
controller.
Figure 5(d): Change in steam flow in area 1
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ICGST-ACSE Journal, ISSN 1687-4811, Volume 8, Issue III, January 2009
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ICGST-ACSE Journal, ISSN 1687-4811, Volume 8, Issue III, January 2009
K1= 0.85
K2= 0.095
K3= 0.92
Cb= 200
Td= 0
Tf= 10
Kib= 0.03
Tib= 26
Trb= 69
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