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power systems have been reported over the past six decades
Abstract—The design of Automatic Generation Control (AGC) [1-5].
system plays a vital role in automation of power system. This paper A number of control strategies have been employed in the
proposes Hybrid Neuro Fuzzy (HNF) approach for AGC of two-area design of load frequency controllers in order to achieve better
interconnected reheat thermal power system with the consideration of
dynamic performance. Among the various types of load
Generation Rate Constraint (GRC). The advantage of proposed
controller is that it can handle the system non-linearities and at the frequency controllers, the most widely employed is the
same time the proposed approach is faster than conventional conventional proportional integral (PI) controller [8, 9].
controllers. The performance of HNF controller has been compared Conventional controller is simple for implementation but takes
with that of both conventional Proportional Integral (PI) controller as more time and gives large frequency deviation. A number of
well as Fuzzy Logic Controller (FLC) both in the absence and state feedback controllers based on linear optimal control
presence of Generation Rate Constraint (GRC). System performance
theory have been proposed to achieve better performance
is examined considering disturbance in each area of interconnected
power system. [10.11]. Fixed gain controllers are designed at nominal
operating conditions and fail to provide best control
Keywords—Automatic Generation Control (AGC), Dynamic performance over a wide range of operating conditions. So, to
Response, Generation Rate Constraint (GRC), Proportional Integral keep system performance near its optimum, it is desirable to
(PI) Controller, Fuzzy Logic Controller (FLC), Hybrid Neuro-Fuzzy track the operating conditions and use updated parameters to
(HNF) Control, MATLAB/SIMULINK. compute the control. Adaptive controllers with self-adjusting
gain settings have been proposed for LFC [13-15].
I. INTRODUCTION AGC approaches may be classified into two categories as
follows:
M EGAWATT frequency control or Automatic Generation
Control (AGC) problems are that of sudden small load
perturbations which continuously disturb the normal operation
1. Energy storage system: Examples are pumped storage
system, superconducting magnetic energy storage system,
of an electric energy system. The analysis and design of battery energy storage system etc. [6, 7].
Automatic Generation Control (AGC) system of individual 2. Control strategy: This category focuses on the design of
generator eventually controlling large interconnections an automatic generation controller to achieve better
between different control areas plays a vital role in automation dynamic performance [8-15].
of power system. The purpose of AGC is to maintain system Literature survey shows that only a few investigations have
frequency very close to a specified nominal value to maintain been carried out using FLC [16, 18]. Among the
generation of individual units at the most economical value aforementioned controllers, the most widely employed one is
and to keep the correct value of the line power between the fixed gain controller, like integral controller or PI
different control areas. Many investigations in the area of controller due to its low cost and high reliability in operation.
Load Frequency Control (LFC) problem of interconnected Fixed gain controllers are designed at nominal operating
points and may no longer be suitable in all operating
conditions. For this reason, some authors have applied the
_____________________________________________ variable structure control [19, 20] to make the controller
insensitive to the system parameter changes. However, this
Gayadhar Panda is working as Professor in the Department of Electrical
and Electronics Engineering, National Institute of Science and Technology, method requires the information of the system states, which
Berhampur, Orissa, INDIA. (e-mail: p_gayadhar@ryahoo.co.in). are very difficult to predict and collect completely.
Sidhartha Panda is working as Professor in the Department of Electrical In view of the above discussion, the following are the main
and Electronics Engineering, National Institute of Science and Technology,
Berhampur, Orissa, INDIA. (.e-mail: panda_sidhartha@rediffmail.com ). objectives of the present work:
Cemal Ardil is with National Academy of Aviation, AZ1045, Baku, 1. To apply hybrid neuro-fuzzy (HNF) controller for the
Azerbaijan, Bina, 25th km, NAA (e-mail: cemalardil@gmail.com). automatic generation control and tested for the two area
interconnected system with and without GRC.
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World Academy of Science, Engineering and Technology 52 2009
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World Academy of Science, Engineering and Technology 52 2009
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World Academy of Science, Engineering and Technology 52 2009
rules. From the rule table, the rules are manipulated as 5. Load the training data collected in Step.1 and generate the
follows; if the ACE is NB, and its derivative is NB then output FIS with gbell MF’s.
is NB. 6. Train the collected data with generated FIS upto a
particular no. of Epochs.
D. Defuzzyfication
The reverse of Fuzzification is called Defuzzification. The IV. SIMULATION RESULTS
use of Fuzzy Logic Controller (FLC) produces required output
The proposed scheme utilizes sugeno-type fuzzy inference
in a linguistic variable (fuzzy number). According to real system controller, with the parameters inside the fuzzy
world requirements, the linguistic variables have to be inference system decided by the neural-network back
transformed to crisp output. Centre of gravity method is the propagation method [22]. The ANFIS is designed by taking
best well-known defuzzification method and used in this ACE and rate of change of ACE as inputs. The
research work. Sugeno type of defuzzification method is MATLAB/SIMULINK model of two-area reheat thermal
adopted in this work. It obtains the center of area occupied by system with HNF controller is shown in Fig. 4.
the fuzzy set. It is given by the expression: Figs. 5 and 6 show the dynamic response of a two area
reheat thermal system of HNF controller, FLC and
conventional PI controller with and without GRCs for 1% step
X
³ P ( x) xdx (4) load perturbation in area 1. In all the Figs. the response with
³ P ( x)dx conventional PI controller is shown with dotted lines (legend
PI), the response with conventional Fuzzy logic controller is
E. Steps to design HNF Controller shown with dashed lines (legend FC) and the response with
proposed HNF controller is shown with solid lines (legend
1. Draw the Simulink model with FLC and simulate it with HNF). It can be seen from Figs. 5 and 6 that even with GRCs
the given rule base. the system remains stable and that the responses with and
2. The first step to design the HNF controller is collecting without GRCs are not much different. The simulation results
the training data while simulating with FLC. prove that the designed HNF controller is robust in its
3. The two inputs, i.e., ACE and d(ACE)/dt and the output operation and gives a superb damping performance both for
signal gives the training data. frequency and tie line power deviation compare to its
4. Use anfisedit to create the HNF .fis file. conventional PI as well as FLC counterpart. Besides the
simple architecture of the controller it has the potentiality of
implementation in real time environment.
Fig. 4. Block diagram of two-area reheat thermal system with HNF controller simulated in Matlab
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World Academy of Science, Engineering and Technology 52 2009
0.02
0.05
0
0
-0.02
' f1 (pu)
-0.05
' f1 (pu)
-0.04 -0.1
-0.06 -0.15
PI
FC
FC
-0.2 HNF
-0.08 HNF
PI
0 5 10 15 20 25 30
0 10 20 30 40 50
Time (sec) Tim (sec)
(a) Frequency deviation in Area-1 neglecting GRC (a) Frequency deviation in Area-1 with GRC
0.1
0.02
0.01 0.05
0 0
' f2 (pu)
-0.01
' f2 (pu)
-0.05
-0.02
-0.03 -0.1
-0.04 PI
-0.15
FC FC
-0.05
HNF HNF
-0.06 -0.2
PI
0 5 10 15 20 25 30
Time (sec) 0 10 20 30 40 50
Time (sec)
(b) Frequency deviation in Area-2 neglecting GRC
(b) Frequency deviation in Area-2 with GRC
0
0
-0.05
-0.1
-0.2
-0.15
' PTIE (pu)
-0.2
-0.4
-0.25
-0.3 -0.6
-0.35 PI
FC
FC
-0.4 -0.8 HNF
HNF
PI
-0.45
0 10 20 30 40 50
0 20 40 60 80 100
Time (sec)
Time (sec)
(c) Tie-line power deviation neglecting GRC
(c) Tie-line power deviation with GRC
Fig. 5. Dynamic response of Two-area reheat thermals system
Fig. 6. Dynamic response of Two-area reheat thermals system with
without consideration of generation rate constraint (GRC)
generation rate constraint (GRC)
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World Academy of Science, Engineering and Technology 52 2009
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