International

PROCEEDINGS OF WORLD ACADEMY Journal of ENGINEERING

OF SCIENCE, Electrical and Electronics Engineering 3:9
AND TECHNOLOGY 2009
VOLUME 31 JULY 2008 ISSN 1307-6884

Study of PSS Effect on Automatic Generation

Control System Using Hephron-Philips Model
I. Kheirizad, A. A. Jalali, S. M. Moghaddas Tafreshi, M. H. Varahram, and A. Mohammadi

 lines, called ‘tie line’, which allow the flow of active power
Abstract—This paper presents effects of Power System Stabilizer
(PSS) on a power system. This uses Automatic Generation Control
(AGC) to maintain the frequency at rated value and retain the correct
power transfer between areas of a large power system. At first,
differential equations of Automatic Generation Control (AGC) are
augmented to equations of Hephron-Philips model of power system
and then Power System Stabilizer (PSS) equations will be adjected to
previous equations to complete the power system modeling.
Subsequently state equations of each step will be used to study PSS
effects on power system by analysis of simulation results.
from an area to another when required. The main requirement
of the AGC system is to ensure that the following functions
are performed.
(i) The frequencies of the various bus voltages and currents
are maintained at near specified nominal values. (ii) The tie-
line power flows among the interconnected areas are
maintained at specified levels. (iii) The total power
requirement on the system as a whole is shared by the
individual generators in an economically optimum fashion.

Keywords—AGC, Hephron-Philips Model, PSS effect. II. HEPHRON-PHILIPS MODEL OF POWER SYSTEM
I. INTRODUCTION It is assumed that the power system has two control areas
and each area is modeled by one-machine infinite-bus and a
O WING to the fact that power system extension is
unavoidable, power system stability against turbulences,
which increase due to extension of power system, is the main
local load on the generator bus (Fig. 1).Two areas are similar
and interconnected using a tie-line T12 (Fig. 2).

concern of power system engineers. Stability of power system

is depended on ability of power system controllers to damp
electromechanical oscillations. Another problem is the power
transfer between interconnected areas of a large power
system, indeed in a large power system all areas respond to
the oscillations that produce because of one area fault. AGC
serves to fulfill three important functions. To understand the
nature of these functions it may be noted that, for a proper Fig. 1 Each area model
management and control, a large scale power system is
divided into number of control areas. The generators within
each area swing in unison in response to a change in the load
demand on the system and may therefore be represented by a
single equivalent generator. The power output of equivalent
machine is equal to the sum of the power outputs of all the
machines within the concerned area. It is also possible to find
an equivalent inertia and an equivalent damping constant to be
associated with the single generator representing the area. The Fig. 2 Two interconnected areas
various areas are generally interconnected using transmission
State equations of each area are:
Iraj Kheirizad is with Islamic Republic of Iran Broadcasting, at Power .
Generation and Distribution Department, Tehran Iran P. O. Box:19395-3333, G Z 0 .Z
(phone: +982122166342, fax: +982122052014; e-mail:
.
kheirizad@gmail.com).
Ali Akbar Jalali is with Science and Technology University.
Z ( Pm  Pe  DZ )0
Seyed .Masoud .Moghaddas Tafreshi, is with K.N.Toosi University of .  E q  E fd
technology, Tehran Iran (tafreshi@eetd.kntu.ac.ir). Eq
Mohammad Hadi Varahram is with Ministry of Science Research and Tdo
Technology, Tehran, Iran (e-mail: hadi_varahram@yahoo.com). . 1 K
Amir Mohammadi is with Azad University of Aliabad and Islamic E fd  E fd  A (Vt 0  Vt ) (1)
Republic of Iran Broadcasting, at Power Generation and Distribution TA TA
Department ,Tehran, Iran (e-mail: amir1361mohammadi@yahoo.com).

PWASET VOLUME 31 JULY 2008 ISSN 1307-6884 576

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 International
PROCEEDINGS OF WORLD ACADEMY Journal of ENGINEERING
OF SCIENCE, Electrical and Electronics Engineering 3:9
AND TECHNOLOGY 2009
VOLUME 31 JULY 2008 ISSN 1307-6884

And

Vt Vt2 ( X dt  X q )
Pe Eq SinG  Sin 2G
Xd 2. X d' X q

Eq Vt  jX d' i d  jX q ( ji q )
(2)

And by linearization
.
'G Z 0 'Z
. Kt K
'Z  'G  2 'E q
M M
. K4 1 1 (3)
' Eq  'G  'E fd  'E q
Tdo Tdo K 3Tdo
. KA K K 1
'E fd U E A 6 'E q 'E fd
TA TA TA
X [ 'Z 'G 'E 'E fd ] is state variable and U g 0,
matrix equation is: Fig. 3 Hephron-Philips model

ª K1 K º
«0 M  2 0 »
ª'Z º M ª'Z º
«  » «Z 0 0 0 »« »
«'G » « b » 'G
1 »« »
«'Ec » « 0  K4  1 «'Ec »
« q» « Tdoc K3Tdoc Tdoc »« q »
«'E fd » « KK KK 1 »«'E »
¬ ¼ « 0  A 5  A 6  »¬ fd ¼
«¬ TA TA TA »¼
(4)
Fig. 3 shows Hephron-Philips model of power system.

III. MODEL OF TWO AREAS POWER SYSTEM BY AGC

Fig. 4 shows AGC of two areas power system, while power
system modeled by one differential equation and Hephron-
Philips model is ignored. TP1 at Fig. 4 is the first area of power
system time constant, Tt , Tg are the turbine and governor time
constants respectively. R is the governor droop and B is the
frequency bias coefficient. Area Control Error shows changes
in power generation of each area to retain frequency and Fig. 4 Hephron-Philips with AGC model
transmitted power via tie-line between interconnected areas at
rated values. . K P1 K 1 K
' Z1 'G  P1 'Pt1  'Z1  P1 'Pd1
Equation (5) shows linear equations of two areas. T p1 T p1 T p1 T p1
. 1 1
Equation (6) – see appendix - shows matrix equation of ' P t1 'Pg1  'Pt1
Hephron-philips model of two areas power system by Tt1 Tt1
Automatic Generation Control for each area. . 1 1 1
' P g1 'PC1  'Z1  'Pg1
T g1 R1T g1 T g1
.
' Pa  K t 'G  K 1b1 'Z1
.
' Pa  K t 'G  K 1b1 'Z1

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PROCEEDINGS OF WORLD ACADEMY Journal of ENGINEERING
OF SCIENCE, Electrical and Electronics Engineering 3:9
AND TECHNOLOGY 2009
VOLUME 31 JULY 2008 ISSN 1307-6884

. K P2 K K TABLE I
1
'Z2 'G  P 2 'Pt 2  'Z 2  P 2 'Pd 2 POWER SYSTEM EIGENVALUES
T p2 T p2 T p2 T p2
Power system Power system Power system
. 1 1 Eigenvalues with Eigenvalues with Eigenvalues without
' Pt2 'Pg 2  'Pt 2 AGC & PSS AGC AGC and PSS
Tt 2 Tt 2
. 1 1 1
' P g2 'PC 2  'Z 2  'Pg 2 -19.6277 + 1.7119i 10.4168 + 3.2939i -18.7361
Tg 2 R2T g 2 Tg 2
-19.6277 - 1.7119i -10.4168 - 3.2939i -4.5854 + 7.5170i
.
' Pa  K t 'G  K1b2 'Z 2 (5) -19.6335 + 1.7131i -10.3900 + -4.5854 - 7.5170i
3.2617i
-19.6335 - 1.7131i -1.1426 + 4.3490i
IV. POWER SYSTEM STABILIZER MODEL -10.3900 - 3.2617i
PSS adds two independent variables to Hephron-philips -4.5581 + 8.1445i -1.1426 - 4.3490i
equations. Matrix equation of completed model of each power -0.1128 + 4.9865i
system area is shown by 7: -4.5581 - 8.1445i -0.3370
-0.1128 - 4.9865i
K K -4.6362 + 8.0863i
ª º
«0  1  2 0 0 0» 0.2923 + 4.9855i
M M -4.6362 - 8.0863i
ª'Z º «Z 0 0 0 0 0 »ª'Z º 0.2923 - 4.9855i
« » «b »
K 1 1 « »
«'G »
-0.8278 + 4.0971i
«0  4  0 0 »«'G » -0.1289
«'Ec » « c
Tdo K3Tdo Tdoc
c »
«'Ec » -0.8278 - 4.0971i
« q» « KK KK 1 KA »« q »
«'Efd» «0  A5  A6  0 » -0.1289
« » « TA TA TA TA »«'Efd» -1.3438 + 3.9693i
«X5 » « K K 1 »«X » -0.0914
«0  1  2 0  0 »« 5 » -1.3438 - 3.9693i
« » M M TA
«¬UE »¼ « »«¬UE »¼ -0.0914
«0 KCK1T1 KCK2T1 KC T1 1» -0.1102 + 0.0160i
 0 (1 ) 
«¬ MT 2 MT2 T2 T T2»¼ 0.0000
(7) -0.1102 - 0.0160i
0.0000
Equation (6) and (7) are used to constitute complete model -0.1102 + 0.0160i
of two areas power system which both of areas use PSS and
automatic generation control is used to retain frequency for -0.1102 - 0.0160i
desired value. Fig. 5 shows complete model of two areas
power system that its matrix equation (not shown) has 18 state 0.0000
variables.
0.0000
V. SIMULATION RESULTS
As discussed in previous sections, two areas are completely
similar and noise signal added to second area as a step
PSS to each area of power system, all of eigen values have
function. (See appendix for simulation parameters).for
negative real part that shows power system will be stable and
analogous among different conditions, whole system eigen
by decreasing of real part of eigen values, system damping
values are presented in Table I. Three different conditions are
will be increased. In the other word by adding PSS,
attended: power system without AGC & PSS, power system
responsibility rate of power system increases and power
without PSS and power system with both of AGC & PSS. As
system oscillations will be damped more quickly. Figs. 6 and
seen in Table I at the second condition (power system has
(7) emphasize on these results. Fig. 6 shows first and second
only AGC as a controller), a pair of eigen values have positive
area įȦ response to input noise to the second area. It is
real part that result non-stability of power system. By adding
obvious that first area oscillation has larger amplitude than
second area but the oscillation damps are quicker than second
area. Frequency bias coefficient of both areas can be changed
to eliminate first area response and there is no oscillation at
įȦ.

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PROCEEDINGS OF WORLD ACADEMY Journal of ENGINEERING
OF SCIENCE, Electrical and Electronics Engineering 3:9
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VOLUME 31 JULY 2008 ISSN 1307-6884

Fig. 7 Complete model of two areas power system with PSS & AGC

Fig. 7 shows both areas įȦ response to input noise to the

Fig. 5 Two areas įȦ following input changes to second area
without PSS
second area while PSS is installed on both of them. It can be
seen that both system response to the input noise more quickly
and the amplitude of frequency oscillations decreases
extremely.
VI. CONCLUSION
Figs. 6, 7 and Table I show that Power System Stabilizer
(PSS) increases power system stability and the rate of both
areas responses. According to Fig. 6, oscillation will be
finished after 250 ms of input changes to second area;
however it takes only 50 ms at Fig. 7. It shows that oscillation
damping is 5 time faster by the power system with PSS. The
second important observation is that maximum amplitude of
first and second area oscillation by the PSS is only 75% and
12% without PSS.

APPENDIX A

1) Power system parameters:

Xd=0.973, Xq=0.55, XPd=0.19, Z=-0.034+0.997i,

Y=0.249+0.262i, M=9.26, Ka=50, Ta=0.05, Tdo=7.76,
f=60, D=8, Tt=13, Tg=7, DR=0.1, T12=0.5, BY=1/DR+D

2) Equation (6)

Fig. 6 Two areas įȦ following input changes to second area

with PSS

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PROCEEDINGS OF WORLD ACADEMY Journal of ENGINEERING
OF SCIENCE, Electrical and Electronics Engineering 3:9
AND TECHNOLOGY 2009
VOLUME 31 JULY 2008 ISSN 1307-6884

ª 1 K P1K1 T12 K P1 K P1K2 K P1 T12 K P1 º

« T 
TP1

ZbTP1

TP1
0
TP1
0 0 0 
ZbTP1
0 0 0 0 0 »
« P1
»
« Zb 0 0 0 0 0 0 0 0 0 0 0 0 0 »
« K 1 1 »
« 0  4  0 0 0 0 0 0 0 0 0 0 »
ª'Z1 º Tdoc K3Tdoc Tdoc
« » ª'Z º
«  » « 0 K K K K 1 1
«'G1 »  A 5  A 6  0 0 0 0 0 0 0 0 0 0 »« »
« TA TA TA » «'G1 »
«'E c » « »« c »
1 1
« q1 » « 0 0 0 0  0 0 0 0 0 0 0 0 » «'Eq1 »
«'E fd1 » « Tt1 Tt1 » «'E fd1 »
« » « 1 1 1 »
«'Pt1 » « 0 0 0 0  0 0 0 0 0 0 0 » «'Pt1 »
«  » « »
« R1Tg1 Tg1 Tg1 »«
«'Pg1 » « T12 K I T12 » «'Pg1 »
»
«  » «  K I b1  0 0 0 0 0 0 0 0 0 0 0 »
«'PC1 » «
Zb Zb
»«
«'PC1 »
«'Z 2 » T12 K P 2 K P 2 K1 T12 K P 2 KP2 K2 KP2 »
« 1  0 0 0 0 0 0    0 0 0 » «'Z2 »
« » « TP 2 » «'G »
«'G2 » ZbTP 2 TP 2 ZbTP 2 TP 2 TP 2
« 0 0 0 0 0 0 0 Zb 0 0 0 0 0 0 »«
2
»
«  » « » «'Eqc 2 »
«'Eqc 2 » « 0 K 1 1
«'E » 0 0 0 0 0 0 0  4  0 0 0 » «'E »
« Tdoc K3Tdoc Tdoc » « fd 2 »
« fd 2 » « » «'P »
«'P » K K K K 1
« 0 0 0 0 0 0 0 0  A 5  A 6  0 0 0 »« t 2 »
« t2 » « TA TA TA » «'Pg 2 »
«'Pg 2 » « 1 1 »
«

» « 0 0 0 0 0 0 0 0 0 0 0  0 » «¬'PC 2 »¼
¬«'PC 2 ¼» « Tt 2 Tt 2 »
« 0 1 1 1 »
« 0 0 0 0 0 0  0 0 0 0 
R2Tg 2 Tg 2 Tg 2 »
« »
« 0 T12 K I T12 K I
 0 0 0 0 0  K I b2 0 0 0 0 0 »
«¬ Zb Zb »¼

REFERENCES
[1] Allen J. Wood, Bruce F. Wollenberg, “Power Generation, Operation &
control”, Tarbiat Modarres University Press 1992.
[2] Prof.P.Sh.Kundur, “Power system stability and control”, Tarbiat
Modarres University Press 1992.
[3] M.Karrari, “Power System Dynamics and Control”, Amirkabir
University of Technology Press 2003.

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