Proceedings of 5th International Symposium on

Intelligent Manufacturing Systems, May 29-31, 2006: 1202-1210

Sakarya University, Department of Industrial Engineering

GENETIC ALGORITHM BASED PI CONTROLLER FOR LOAD

FREQUENCY CONTROL IN POWER SYSTEMS

Ceyhun YILDIZ* A.Serdar YILMAZ* Mehmet BAYRAK**

*Kahramanmaraş Sütçü İmam University, Kahramanmaraş, Turkiye
** Sakarya University, Adapazarı, Türkiye

ABSTRACT
Frequency and generation control is the major problem in interconnected power networks. If
network frequency is changed over ±10%, units can leave from the synchronization with network.
These changes are to be impossible the network interconnection. To improve the constant
frequency, second level of automatic generation control scheme that is used to improve the
frequency fixing and called as secondary or supplementary control is the aim of this paper. So,
genetic algorithm is proposed in this study. It is shown from the computer simulations, proposed
method optimize the PI parameters and decrease the frequency oscillation.

Keywords: Load frequency control, genetic algorithm, generation control.

I. INTRODUCTION
Frequency is a major stability criterion for large-scale stability in multi area power
systems. To provide the stability, active power balance and constant frequency are
required. Frequency depends on active power balance. If any change occurs in active
power demand/generation in power systems, frequency cannot be hold in its rated value.
So oscillations increase in both power and frequency. Thus, system subjects to a serious
instability problem. To improve the stability of the power networks, it is necessary to
design a load frequency control (LFC) systems that control the power generation and
active power at tie lines. Because of the relationship between active power and frequency,
three level automatic generation controls have been proposed by power system researchers
[1, 2]. In interconnected power networks with two or more areas, the generation within
each area has to be controlled so as to maintain scheduled power interchange.

Load frequency control scheme have to be two main control loops. These are primary
control and secondary control [1]. This action is realized by turbine-governor system in the
plant. In this control level, only active power is balanced. However, maintaining the
frequency at scheduled value (e.g. 50 Hz) cannot be provided. Therefore, steady state
frequency error can occur forever. So this level does not enough for interconnected system.
In interconnected power systems, frequency must be equal at all areas. The second level of
generation control called as secondary or supplementary control is happened in large
power systems which include two or more areas. Active power is controlled at the tie line
between neighbor areas and there are central and local load control and distribution center.
Especially, large power plants join to frequency control due to the fact that high power
plants such as Atatürk Power Plant in Turkiye, lead the other plants. The final level of
generation control is economic dispatch among the all plants. The major aim of this control
is to maintain each unit’s generation at the most economic value [1, 2].

Up to now, there have been developed several controllers for load frequency control by
using novel and intelligent control techniques. These controllers have given good results in
load frequency control. In ref [3] layered neural networks for nonlinear control of power
system is applied. A Feed-forward neural network is proposed to control of the steam
turbine in this study. Another neural network (NN) controller is experienced in ref [4] by
using long training times and a great number of neurons. It is demonstrated the availability
of an adaptive optimal load frequency controller using NNs and fuzzy set theory in a two-
area power system in ref [5]. This control system is based on the pattern recognition
principle and in implementation on the parallel-distributed computational architecture of
NNs. Furthermore other controllers which are based on the optimization the parameters of
PI and PID have been proposed. In ref [6], PID parameters were changed using fuzzy
based gain scaling technique. Also fuzzy gain scheduling technique was applied to load
frequency control in [7-11]. Also dynamic wavelet neural network and fuzzy neural
network were experienced to design adaptive load frequency controllers in [12, 13]. In this
study, PI parameters are improved by using the genetic algorithms and developed PI
controller is applied to a two-area power system. Proposed controller successfully damps
the frequency oscillations and restores the system frequency.

II. LOAD FREQUENCY CONTROL IN TWO AREA NETWORKS

II.1. Major Principals of LFC

In multi area power networks the active power generation within each area should be
controlled so as to maintain scheduled power interchange [1]. Nowadays computer-aided
controllers realize this action. Simulated system seen in Figure 1 consists of an
interconnection of two power areas. Primary and secondary control loops are also
illustrated in Figure 2. Both of them are connected each other by a tie line. Power between
areas flows throughout the tie line. Control and balance of power flows at tie line are
required for supplementary frequency control. Also damping of oscillations at tie line is
another requirement for successful control of frequency and active power generation. For
the simulations, linearized mathematical model given in Figure 3 is used.

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 Area -1 Area -2
P12

X12

Fig.1 Interconnection between two areas

Secondary Control
Control Unit ∆f, ∆Ptie
(PI)
from other
slope areas

steam
w To

∼
valve network
Turbine

Primary Control

Fig.2 Principal Scheme for Primary and Secondary Control Levels

B1

1/R1

PL1
-
Proportional + - Governor + K P1
∆f1
Integral & 1 + sTP1
- -
+
Ptie T/s
-
+ +
Proportional + Governor + K P2
Integral ∆f2
& 1 + sTP 2
- -
PL2
1/R2
B2
Fig.3. Linearized Block Diagram of Two Area Power Systems

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II.2. Tie Line Power Interchange and Linearized Model

Consider the interconnected two area power system shown in Figure 1. Power areas are
connected each other via a transmission line called as tie line. Tie line reactance is
represented by X12. Equivalent circuit diagram without consider the dynamical oscillations
between machines in both areas is given in Fig.4.
P12

Xeq1 X12 Xeq2

∼ E1∠δ1 XT=Xeq1+X12+Xeq2
E 2∠ δ 2 ∼

Figure 4 Simplified Equivalent Diagram of Two Area Power System

Power flow from area 1 to area 2 throughout tie line is calculated by following equation.
E .E (1)
P12 = 1 2 .Sin (δ1 − δ 2 )
XT
After linearization, power change in tie line is found by Eq.2.
E 1 .E 2 (2)
∆P12 = T = .Cos(δ10 − δ 20 ).(∆δ 1 − ∆δ 2 )
XT
Above power flow deviation depends on frequency (∆f) and rotor angle deviation (∆δ) can
be calculated by Eq.3 and 4 in time domain and –s domain.
[
∆P12 = 2πT ∫ ∆f1.dt − ∫ ∆f 2 .dt ] (3)
2πT (4)
∆P12 (s) = [ ∆f1 (s) − ∆f 2 (s)]
s
Mathematical representation of two area power systems given in Figure 3 is modeled by
Eq.5 in this paper.
 = A.X + BU
X (5)
State variables are chosen as following form.
X = [∆f 1 ∆PM1 ∆X T1 ∆X G1 ∆X I1 ∆f 2 ∆PM 2 ∆X T 2 ∆X G 2 ∆X I 2 ∆Ptie] T (6)

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III. TUNING OF PI PARAMETERS BY USING GENETIC
ALGORITMA

III.1. Genetic Algorithms

Genetic algorithms are stochastic computational methods which are inspired from
evolution. They are used for optimization problems, scheduling applications and design
optimizations. Genetic algorithms encode a potential solution to a specific problem on a
chromosome-like data structure and apply recombination operators to these structures so as
to preserve critical information. It is available to reach good solutions by using a little
information. After the evaluation process, generated solution space is transformed to
another space which consists of the point or points that give good results. This
transformation is achieved by the genetic operators such as Selection, Crossover and
Mutation. Solutions consist of chromosomes. Each chromosome represents a possible
solution for the optimization of the problem and a value for some variables of the problem
called as “gene”. Genetic operators are natural processes and critical criterias affected to
these operators have to be defined during the creation of the algorithm [14-16]. The natural
selection of strings (chromosomes) is mimicked by selection operator. Hence, it is created
a new generation where the most suitable members are reproduced most frequently.
Crossover is the combination between chromosomes of the selected parent. After crossover
operation, new members are created. Crossover and genetic codes of new members are
given:

Parents Children
100011001 100010101
011010100 011011000

Mutation is the situation that unexpected genes are occurred in new generation members
Probability of mutation must be less than crossover. Its probability is one of the criterions
of evolution like probability of crossover. This criterion influences evolution results. There
is an example of mutation appeared in chromosome of child that consists binary coded
genes :

Child Child
100011101 100011001

Evaluation process can be summarized by the attached flow diagram in Appendix-A

III.2. Tuning of PI Parameters using GA

Genetic algorithms are used to minimize error criteria of PI (Proportional-Integral) in each

iteration. The integral square error (ISE) is used to define the PI controller’s error criteria.
This criterion is formulated in Eq. (6). At first, Physical system is represented as a set of
differential equations. Than these equations is used to evaluate the system responses. The
responses are calculated by using ISE equation.

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 T (6)
ISE = ∫ [r ( t ) − y( t )] 2 .dt
o

Where r(t) is the reference input and y(t) is the measured value. In each iteration, the
fitness values of each member are evaluated by the results of Eq.(6). These fitness values
are used to select best parents from population.

III.3 Computer Simulations

In computer simulations, frequency deviations are investigated due to changing in active

power generation of +10% in Area-1. Results are given in following figures comparatively.

It can be shown from the figures; proposed secondary controller damps the frequency
oscillations in both areas compared to integral controller in Figures 5 and 6. To achieve
this, power flow in tie line between areas is increased (Figure 7) and power balance in both
areas is provided. In first peak of the frequency cannot be damped due to governor control
time delay but than secondary controller activates and successfully decreases the peaks and
oscillations compared to integral controller.

Area 1
0.8  
Integral
Proposed
0.6

0.4
frequency deviation (pu)

0.2

­0.2

­0.4

 
0 10 20 30 40 50 60 70 80
time (sec)

Figure 5 Frequency deviation in Area-1 (10% decrease in power demand)

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 Area 2
 
Integral
Proposed
0.6

0.4
frequency deviation (pu)

0.2

­0.2

­0.4

 
0 10 20 30 40 50 60 70 80
time (sec)

Figure 6 Frequency deviation in Area-2 (10% decrease in power demand)

0.005  
Integral
0 Proposed

­0.005

­0.01

­0.015
Ptie (pu)

­0.02

­0.025

­0.03

­0.035

­0.04  
0 10 20 30 40 50 60 70 80
time (sec)

Figure 7 Tie lie power deviation between areas (10% decrease in power demand)

IV. CONCLUSION

In this paper, a PI controller which its parameters can be changed using genetic algorithm
is presented.

Genetic algorithm is an applicable method in power system in particular control and

stability. Load frequency control investigated in this study has recently come into question
in operation of interconnected power networks. Frequency is a sensitive parameter which
affects the system operation so it is controlled certainly. Therefore power utilities consider
the frequency and active power balance throughout their networks to sustain the
interconnection. In interconnection between national/continental networks, providing the

184
constant frequency between areas is a serious operational problem. Hence fast and no delay
decision-making mechanism have to be installed in network control units.

Genetic algorithm proposed in this study, is a modifiable and improvable method and it can
be obtained better results for load frequency control applications. In next studies, authors
will be kept on to get more sensitive and successful results.

V. REFERENCES

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[2] Wood AJ, and Wollenberg BF, “Power Generation Operation and Control”, 2nd
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[3] Beaufays F, Abdel-Magid Y, and Widrow B, Application of neural networks to load

frequency control in power systems, Neural Networks, vol. 7,pp. 1–194,1994.

[4] Chaturvedi DK, Satsangi PS, Kalra PK, Load frequency control: a generalized neural
network approach. Int J Electr Power Syst., vol. 21, pp. 6–415, 1999.

[5] Djukanovic M, Novicevic M, Sobajic DJ, Pao YP, Conceptual development of optimal
load frequency control using artificial neural networks and fuzzy set theory. Int J Eng Intell
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[6] Oysal Y, Köklükaya E, and Yılmaz, AS, Fuzzy PID controller design for load frequency
control using gain scaling technique, Powertech Conference Proceedings, Budapest,
Hungary 1999.

[7] Kocaarslan I., and Çam E, Fuzzy logic controller in interconnected electrical power
systems for load-frequency control , Int.J. of Electrical Power and Energy Systems, vol.
27, pp. 542–549, 2005.

[8] Çam E, and Kocaarslan I., Load frequency control in two area power system using
fuzzy logic controller, Energy Conversion and Management vol 46 pp. 233–243, 2005.

[9] Çam E, and Kocaarslan I., A fuzzy gain scheduling PI controller application for an
interconnected electrical power system, Electric power System Research, Electric Power
Systems Research vol. 73 pp 267–274, 2005.

[10] Chang CS, Fu W. Area load-frequency control using fuzzy gain scheduling of PI
controllers. Electric Power System Research, vol. 42, pp. 145–152, 1997.

[11] Talaq J, Al-Basri F. Adaptive fuzzy gain scheduling for load-frequency control. IEEE
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[12] Oysal Y, Yılmaz AS, and Köklükaya E, A dynamic wavelet network based adaptive
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[13] Yusuf Oysal, Ahmet Serdar Yilmaz, Etem Koklukaya,Adaptive Load Frequency
Control with Dynamic Fuzzy Networks in Power Systems, Lecture Notes in Computer
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[15] Whitley D,, A Genetic algorithm tutorial , statistics and computing Vol.4pp.65-85,
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Int. J. of Electric Power and Energy Systems, Vol.20, No.2, pp.89-98, 1998.

Appendix-A

Create initial
population

Select parents

Crossover and
mutation

Reproduction and
create new population

Create PI controller
using last population
and solve system

Measure fitness
values

Has
No criteria
achieved

Yes

Optimum
population

Fig. A.1 GA Flow Diagram

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