-

IEEE Transactions on Energy Conversion, Vol. 3, No. 1, March 1988

33

AUTOPIATIC GENERATIOK CONTROL FOR HYDRO SYSTEMS

G. L . Kusic, IEEE Senior I4ember

J . A. S u t t e r f i e l d , I E E E Merrber

A. R. Caprez, I E E E I.leniber

J . L . Haneline, I E E E Non-Member

B. R . Bergman, !EKE Non-Member

ADVANCED CONTROL SYSTEMS, INC. Atlanta, Georgia 30362 ABSTRACT Modern Automatic Generation Control ( A G C ) i s implemented with d i g i t a l computers t h a t periodically sample t i e l i n e real power flows, l i n e frequency, and genera t o r power outputs. These analog signals are usually measured two second periodically and combined with desired interchange t o obtain the Area Control Error (ACE). The ACE d i g i t a l quantity i s allocated t o regulating hydro turbines and transmitted via t e l e metry t o the remote terminal units (RTU). The RTUs convert the raise/lower megawatts ( M W ) into timed relay contact closures t o the governor which r e s u l t in wicket gate open/close movement t o change the generator o u t p u t power. The o u t p u t power of each generator i s monitored by the d i g i t a l AGC which closes a feedback loop around the governor-turbine-generator t o assure the desired power level i s attained. This paper describes the feedback loop design, which i s e s s e n t i a l l y a sampled-data control. Additional feedback loops due to the ACE and load regulation are a l s o analyzed. A method i s presented f o r allocating water usage between reservoirs on a generator command-time basis. The theore t i c a l designs are verified by on-line measurements presented in the paper. I . INTRODUCTION

CITY OF TACOMA Light Division Tacoma, Washington 98411 s i t e s i s by means of dedicated microwave links. The remainder of the 32 RTU's are o r will be linked by microwave and telephone l i n e s . An additional d a t a link t o Bonneville Power i s a l s o employed. The purpose of the d i g i t a l AGC system i s t o assign power generation t o the individual generating units ( a t o t a l o f 18 u n i t s a t 6 s i t e s ) t o regulate the area, meet the desired interchange schedule, a s s i s t i n regulating the system frequency and a l l o c a t e water consumption among the s i x generating s i t e s . The basic control signal i s the ACE:

ACE = z P t i e ( i ) - Ps + 10B ( f - f , ) + T.C. i where the foliowing d e f i n i t i o n s are used:

P t i e ( i ) = Power flow on t i e l i n e i , b o t h a r e a s , MW

P, = Net scheduled interchange power, MW

B = frequency bias s e t t i n g , MW/.1 Hertz

f , f S = Actual and scheduled frequencies, Hertz

T.C.

Time correction, M W , derived from the seconds of time e r r o r multiplied by a number, MW/sec

An AGC and hydro a l l o c a t o r were implemented as part of

the Energy Management System of the City o f Tacoma, Washington Light Division ( T C L ) . The power network of TCL consists of the greater Tacoma load area of s i x hydro generating plants (18 generators) with a t o t a l generating capacity of 760 MW. Four of the generating plants are i n the v i c i n i t y of Tacoma, while the Mossyrock and Mayfield s i t e s are remotely located. The system i s interconnected with the Northwest Power Pool via s i x i n t e r t i e s . TCL also owns a share of the P r i e s t Rapids hydro f a c i l i t y which i s currently scheduled as blocks of power and not used t o regulate the Tacoma a rea. The energy control center i s located in Tacoma and employs three operator consoles with dual CRTs, l i g h t pens, and keyboards as the man/machineinterface. One of the consoles i s used f o r generation/transmission a n d another f o r d i s t r i b u t i o n . The t h i r d console i s used f o r training and programmer system maintenance. Six additional CRTs used as engineer's terminals are in the control center. A 16-bit computer in a redundant backup configuration provides the computational support and performs the Supervisory Control and Data Acquis i t i o n (SCADA) functions. Ccnimunication between the energy control center and the RTUs a t the generating

Different operating moaes such as f l a t frequency control, f l a t t i e s , e t c . use portions of the ACE equation. Operating experience of TCL indicated t h a t periodically allocating the ACE signal every 8 seconds t o control the hydro generators would surpass the area regulation c r i t e r i a of the North American Electric P e l i a b i l i t y Council ( N E R C ) . The 8 second command time takes i n t c consideration the load a n d interconnection behavior, governor action, a n d hydro generator response. The command time i s a basic design parameter for the AGC, a n d in part determines the time-share computational requirements of the d i g i t a l computer. The AGC d i g i t a l code computes ACE every 2 seconds, and executes generator control every 8 seconds. However, between these integer points, the interim time i s used f o r normal Supervisory Control and Data Acquisition (SCADA) functions o r the computer i s i d l e .

CENERATOR
OUTPUT POWER.

87 C 234-8 Y A p a p e r recommended a n d a p p r o v e d hy t h e I E E E Power G e n e r a t i o n Committee of t h e IEEE Power E n x i n e e r i n g S o c i e t y Ear p r e s e n t a t i o n a t t h e I E E E / P E S 1987 I J i n t p r Y e e t i n g , Yew O r l e a n s , T,ouisiana, " e b r u a r y 1 - 6 , 1987. Y a n u s c r i p t s u h m i t t e d 9 u g u s t 2 7 , 1986; made a v a i l a h l e f o r p r i n t i n g December 1 0 , 1986.

FIGURE 1

M A J O R DYNAMIC E L E M E N T S OF A HYDRO G E N E R A T O R

0885-8969/88/0300-0033$01 1988 IEEE .WO

34

11.

BASIC LOOP FOR AGC

The d i g i t a l AGC e s t a b l i s h e s a r e f e r e n c e o r d e s i r e d s e t p o i n t power o u t p u t f o r a g e n e r a t o r and compares t h e measured o u t p u t w i t h t h i s v a l u e , s e n d i n g c o r r e c t i v e r a i s e / l o w e r s i g n a l s t o t h e g o v e r n o r v i a t h e RTU. The g o v e r n o r o f t h e t u r b i n e g e n e r a t o r d r i v e s an e l e c t r o h y d r a u l i c servomechanism t h a t opens o r c l o s e s t h e w i c k e t gates. T v ) m a j o r dynamic elements o f a h y d r o turbine-generator a r e shown i n F i g u r e 1, where t h e K terms a r e g a i n s , t h e T terms a r e t i m e c o n s t a n t s , and S i s the Laplace transform variable. The speed r e g u l a t i o n mechanisms f o r TCL a r e p r i m a r i l y centrifugal flyball type w i t h adjustable linkage (droop) i n t o t h e e l e c t r o - h y d r a u l i c s e r v o system. Several r e c e n t designs a r e magnetic r e l u c t a n c e pickup with electronic circuits. The w a t e r column t i m e c o n s t a n t o f F i g u r e ( I ) depends upon t h e head o f w a t e r . The g a i n s and t i m e c o n s t a n t s a l s o v a r y f o r d i f f e r e n t hydro units. F o r each h y d r o g e n e r a t o r , t h e g a i n s and t i m e c o n s t a n t s o f t h e g o v e r n o r and h y d r a u l i c servomechanisms, as i n s t a l l e d , were s e t t o y i e l d " s u i t a b l e " responses f o r a power change command. The " s u i t a b l e " response, r e g a r d l e s s o f t h e MW c a p a c i t y o f t h e g e n e r a t o r , i s a smooth exponential t r a n s i t i o n ( f i r s t order time constant) from t h e p r e v i o u s power t o t h e new power l e v e l w i t h o u t o s c i l l a t i o n o r overshoot. T h e r e f o r e , f o r AGC d e s i g n purposes, t h e c o m p l e t e h y d r o t u r b i n e - g e n e r a t o r is c h a r a c t e r i z e d b y an i n p u t - o u t p u t r e l a t i o n s h i p . The i n p u t i s a momentary c o n t a c t c l o s u r e o f t h e r e l a y w h i c h a p p l i e s 5125 VDC t o t h e g o v e r n o r m o t o r , and t h e o u t p u t i s t h e g e n e r a t o r o u t p u t power. A t y p i c a l i n p u t - o u t p u t t e s t measurement i s shown i n F i g u r e 2, b e f o r e t h e response was a d j u s t e d t o s a t i s f y t h e AGC d e s i g n In F i g u r e 2, t h i s h y d r o u n i t e x h i b i t s an requirements. 11.3 second t i m e c o n s t a n t ( t i m e t o r e a c h .632 o f t h e t o t a l change) and has an e q u i v a l e n t g a i n o f 11.7/3.37 = 3.27 MW/second o f c o n t a c t c l o s u r e . B o t h t h e g a i n and response t i m e o f t h e u n i t v a r y w i t h t h e s t e a d y - s t a t e o u t p u t power l e v e l and f o r r a i s e compared t o l o w e r commands. However, t h e range o f v a r i a t i o n i s cons i d e r e d i n t h e AGC d e s i g n .

i n F i g u r e 3. The c l o s e d op c o n t r o l i s t h e n a n a l y z e d as a sampled-data system(% w i t h t h e d i g i t a l computer n u m e r i c a l p r o c e s s r e p r e s e n t e d b y li ( z ) and t h e h y d r o t u r b i n e - g e n e r a t o r and r e l a y r e p r e s e h e d b y H 2 ( z ) where H ( z ) and h ( z ) a r e d i g i t a l t r a n s f e r f u n c t i o n s i n terms 0 ) z = exp(i3S). The b l o c k d i a g r a m t o t h e l e f t o f t h e d o t t e d l i n e i n F i g u r e 3 r e p r e s e n t s d i g i t a l computer code e x e c u t e d e v e r y e i g h t seconds. The RTU and communication channel converts the raise/lower signal from the d i g i t a l computer i n t o r e l a y c o n t a c t c l o s u r e t i m e . The r e l a y , i n t u r n , a p p l i e s +125 v o l t s t o a DC s e r v o m o t o r w h i c h i s p a r t of t h e e l e f i r o h y d r a u l i c s e r v o and o p e n s / c l o s e s t h e hydro w i c k e t gates.
H (t)C-FAH2(*)

D C MOTOR, INTEORATOR.SERV0

AND

DESIRE0

_I
UNIT OUTPUT POWER

__--

AGC IN DIGITAL COMPUTER

,t+ -I

HYDRO GENERATOR

I
FIGURE 3 DlQlTAL CONTROL

OF A H Y D R O G E N E R A T I N G U N I T

p _ _ _ _ _ -

i t 1 o r d e r t o a n a l y z e t h e b a s i c c o n t r o l l o o p , a sampled d a t a f o r m u l a t i o n o r Z-Transform must be o b t a i n e d f o r t h e loop. The c o n t i n u o u s elements o f servomechanism and u n i t a r e c o n v e r t e d t o t h e Z - T r a n s f o r m H 2 ( z ) as:

GENERATOR OUTPUT POWER

where T = 8 seconds, t h e s a m p l i n g t i m e and T i s t h e u n i t ' s response. U s i n g f r e q u e n c y domain b l o c k d i a g r a m c o n c e p t s , t h e c l o s e d l o o p response i s :

which i s a sequence of n u m e r i c a l v a l u e s i n t i m e . Because H ( 2 ) i s a p e r i o d i c a l l y e x e c u t e d d i g i t a l code, any c o m b h a t i o n o f p r e s e n t ana p a s t t i m e h i s t o r y samples, P ( t ) , o r p r e s e n t apd p a s t t i m e h i s t o r y o f i n p u t , PD(?), may be used t o c o n s t r u c t t h e d i g i t a l sequence. One e f f e c t i v e t o f H,(z) compensation i s t o c a n c e l t h e d i g i t a l p o l e Y f P o f e q u a t i o n 2 due t o t h e dominant t i m e c o n s t a n t w i t h a d i g i t a l z e r o :

40

50

1 RAISE
FIGURE 2

PULSE, 3.37 SECONDS

U N A D J U S T E D RESPONSE MEASURED FOR CUSHMAN UNIT 8 2 1 where T ' i s a n e s t i m a t e c f t h e u n i t dominant t i n e c o n s t a n t . T h i s i s o f t e n c a l l e d "model d-forward" o r " a t i c i p a t i o n " o r s e r i e s compensation Note t h a t z-' r e p r e s e n t s t h e p r e v i o u s d i g i t a l sample. T h e r e f o r e , e q u a t i c n ( 4 ) as app1:ed t o t h e b l o c k d i a g r a m o f F i g u r e 3 rieans: Multiply by K t h e p r e s e n t d i f f e r ce between d e s i r e d ar,d a c t u a P ' u n i t power minus

The b a s i c l o o p a r o u r d each g e n e r a t i n g u n i t I S s t u d i e d i n terms o f t h e v a r i a b l e r a i s e / l o w e r r e l a y c o n t a c t t i m e which i s a p u l s e - w i d t h moduldted c o n t r o l , b u t t h e p r i n c i p l e s o f Servo l o c p d e s i g n a r e c l e a r , and t h e n e c e s s a r y compensation E a s i l y d e r i v e d i f t h e r e l a y c l o s u r e i s t r e a t e d as a s a r i p l e - a n d - h o l d d e v i c e as shown

($7 .

35
t i m e s t h e p r e v i o u s ( 8 seconds dgo) d i f f e r e n c e and t r a n s m i t t h i s as a r a i s e / l o w e r p u l s e . The B m u l t i p l i e r i s used t o i n v e s t i g a t e v a r i a t i o n s i n T o r i n o t h e r words, t h e mismatch between compensation and " p l a n t " . The e f f e c t o f l o o p g a i n i s i n v e s t i g a t e d b y v a r y i n g K L e t t h e i n h e r e n t g a i n i n t h e g o v e r n o r and h y r o u n i t combined w i t h K so t h a t K = .1?5KLK2. The p r o d u c t o f K K i s n o m i n d l i y 1.0 because t h e d i g i t a l code o f H i s i i %W w h i c h i s c o n v e r t e d t o a c o n t a c t c l o s u r e s i b n a l ! s e c t t o t h e RTU, and t h e H2 t r a n s f e r f u n c t i o n c o n v e r t s t h e c o n t a c t c l o s u r e t o MW. t h e b a s i c c o n t r o l loop. A dominant t i m e c o n s t a n t o f ~ 2 1 6has s t a b l e l o o p response f o r g a i n s up t o 10 t i m e s n o m i n a l , K = 1.25 ana C < E 2 1.0. Therefore, a l l servomechapisms were a d j u s t e d t o s a t i s f y t h e T 2 16 second c r i t e r i o n . F i g u r e 4 shows t h e measured c l o s e d l o o p response of t h e Cushman U n i t 2 1 a f t e r i t s servomechanism was r e t a r d e d t o have an open l o o p d o c i n a n t t i m e c o n s t a n t o f 17.1 seconds. I n F i g u r e 4 , t h e d e s i r e d power s e t p o i n t was changed f r o m 13 t o 5 MW i n t h e d i g i t a l code t o i n t r o duce t h e s t e p i n p u t . Subsequent t e s t s i n c o r p o r a t e d t h i s u n i t i n t o t h e cotvplete AGC.
DISPATCH 13-I(MW)i

hi

The denominator o f e q u a t i o n ( 3 ) i s :

1 t ~ ~ ( 2 ) = 1 + K (z

- ~e -T/T)
2

[ ~ ( z - e - ~ l ' )- T(z-l)(l-e-T/T): (z-1) (z-e-T/T) (5) digital

-t

so t h e c h a r a c t e r i s t i c transfer function is:

polynomial

of

the

+ p(z) = z3 + ~ ' ( - l - e - ~ ' ~ K[T-~(l-e-~/')l)

y .

[Te-T/T

~(l-e-~'~)]

'iCUSHMAN + 2 1 1 OUTPUT POWER 71 (MW)

. . &
7.

---+

The respcnse o f t h e d i g i t a l t r a n s f e r f u n c t i o n i s s t a b l e if t h e zeroes o f t h y 2 ) c h a r a c t e r i s t i c p o l y n o m i a l l i e The c l o s e r t h e p o l e s g e t t o inside the u n i t c i r c l e u n i t c i r c l e , t h e l e s s t h e d y r m i c respcnse i s damped. Any r o o t s o f t h e c h a r a c t e r i s t i c p o l y n o m i a l o u t s i d e t h e u n i t c i r c l e r e p r e s e n t u n s t a b l e response.

51

---.
8 0 ( ~ ~ ~ ~ ~ ~

> a p .t -8
0 1 6

3*

4 8

6 4

FIGURE 4

MEASURED C L O S E D L O O P R E S P O N S E OF CUSHMAN UNIT + 2 1 AFTER ADJUSTMENT T O 'C=ll.l SECONDS, U, ~ 3 . 2 7 M W I S E C .

The r e s u l t s o f e v a l u a t i n g t h e c h a r a c t e r i s t i c p o l y n o m i a l f o r a h y d r o u n i t w i t h T = 105 seconds (rlossyrock U n i t 51) a r e shown i n T a b l e 1. The compensation mismatch i s v a r i e d and t h e l o o p g a i n i s v a r i e d t c s t u d y v a r i a t i o n s i n h y d r o u n i t parameters o r m i sniatch between cmpensat i o n and t h e u n i t . The g a i n I( = . I 2 5 i s nomirial. Observe t h a t t h e r c o t s o f t h e c h a r a c t e r i s t , i c p o l y n o m i a l always r e m a i n i n s i d e t h e u t i i t c i r c l e f o r t h e v a l u e s B I 1.0. Hence, a s t i b l e response i s expected. A mismatch o f B = 1.5 i s always u n s t a b l e . Exact Carpensation 3 = 1.0 G i n lmtll Iroot~) t 1 ]root11 I t 1 Iro0t31 j 3 m mZ K .I25 .018 .955 .955 .039 .924 .927 .500 .077 .934 .934 .235 .616 .927 .875 .139 .921 .921 .503 .503 .927 .602 .602 .927 1.250 .1% .921 .921 Underestimting T B=.5 Overestimting T B = 1.5 lmtll Iro0t21 Iro0t31

111.

ACE AND BASE LOAD DEVIATION (BLD) LOOPS

.063 .410 .534 .632

.718 .410 .534 .632

1.103 1.195 1.235 1.259

I n addition t o the basic turbine-generator loop o f the AGC, t h e r e a r e two a d d i t i o n a l feedback l o o p s due t o ACE and l o a d s h a r i n g . The ACE c o n t r o l l o o p has been ext e n s i v e i 8 , S j u d i e d i n terms o f an a r e a response f o r , as w e l l as t o sampled-data c o n t r o l s tinuous F i g u r e 5 i s a schematic b l o c k d i a g r a m showing t h e AGC K each sum t o w i t h ACE and BLD s h a r i n g . unity. F o r d e s i g n purposes h'$&e,"':t approximated t h a t g e n e r a t o r s o f t h e Tacoma AGC o p e r a t e i n t o an " i n f i n i t e bus" because t h e l a r g e s t dynamic d i s t u r b a n c e s c o n s i d e r e d a r e on t h e o r d e r o f 50 MW. The d i s t u r b a n c e s a r e s m a l l compared t o t h e 1100 MW l o a d o f TCL, and t h e h i g h MW c a p a c i t y N o r t h w e s t Power Pool absorbs t h e power swings. A c c o r d i n g l y , t h e f r e q u e n c y remains c o n s t a n t d e s p i t e t h e AGC dist.urbances ana t i e l i n e power i s t h e measurable o u t p u t v a r i a b l e f o r AGC d i s t u r b a n c e s .

FY:

Kyi

Table 1. Variation o f the Roots o f the Characteristic Polyncniial with Gain and Paraneter f o r T = 105 seconds, = 11.5 W/SK

A c o r r e s p o n d i n g a n a l y s i s was p e r f o r i m d f o r a u n i t w h i c h had a t i m e c o n s t a n t on t h e o r d e r o f X seconds w h i c h i s shown i n T a b l e 2. The r e s u l t s f o r t h i s u n i t a r e m a r g i n a l i r i t h e sense t h a t t h e g a i n i s l i m i t e d t o t h r e e Subsequenlly, i t w i l l be t i m e s nominal, K i .375. shown t h a t ii g a i n o f t h r c r i s e s s c r l l - i a i t o r a w e l l cfesiSntld AGC because o f o t h e r feedback p a t h s b e s i d e s

C m s - i d e r t h e s i c i p l e c a w where o n l y one h y d r o gencird-tor i s p e r f o r m i n g t h e ACE r e g u l a t i o n f o r t h e area. With the i n f i n i t e bus assumption, t h e ACE s i y n a l i s a c l o s e d l o o p around t h e u n i t a s shown i n F i g u r e 6.
If t h e v n i t under c o n t r o l h a s a d i g i t a l t r a n s f e r f u n c t i o n G(z) g i v e n i n e q c a t i o n ( 3 ) , t h e n i t i s e a s i l y seen t h a t t h e t r a n s f e r f u n c t i o n o f t h e ACE c o n t r o l l o o p

is:

L'ri&rest.irmt.ing T Exact Curpensdtion I)verestir,eting T B = .5 B = 1.0 B = 1.5 (din lmtl I lrootil jroot31 lrootll ImoiYllkx~Ijmtil Irwt2/I t 1 m3 K .125 .lo3 .m7 .5i4 .WI .462 .m .250 .140 .P3? .832 .38 .727 .iZ .611 .691 .h91 .375 .I55 ,970 .S7U .36u .E90 .890 . 9 . 2 .862 % a .W .162 1.094 1.094 .368 1.028 1.025 .E79 1.W 1 . W

.m

.w

The AGC, vhen c o n t r o l l i n g t i e l i r e f l o w , e f f t c t i v e l y increases the feedforwdrd gain o f the hydro gener$tor unit to GAJN = ( 1 + t:Ci)K
25

Tahle i. Variatim c f the Rmts ct' the Chanicteristic P c l y m i d l Gin and Parawter f o r T = 8 seconds.

b;ith

m n be d e r i v e d f r o m t h e c h a r a c t e r i s t i c p o l y n c n i a i o f equatiop ( 7 ) .

36

I I I I

FOR rc DROOP

E?

K B l

K13N
- *

BLD SHARE

c
%TOTAL
GENERATION

SAMPLERS

I
FIGURE 5

FREQUENCY

M U L T I P L E GENERATING UNITS UNDER AGC C O N T R O L W I T H A C E S H A R I N G AND B L D S H A R I N G (r-1.0 FOR TCL)

A a r e s u l t , the basic hydro generator loop must have s s t a b l e response f o r a t l e a s t twice a s much gain as determined from equation ( 3 ) . The gain K i s often made larger t h a n unity, a f t e r the point %here NERC performarice i s measured. The larger gain, adjusted on-line, improves the area regulation performance. Additional u n i t s on ACE control hsve additional feeaback paths on Figure 5 and ACE i s divided among them. When Rase Load Leviation ( E L D ) i s considered, the AGC computes the load variation on every command cycle:
P I

n; n , I
q T I E( T I E
A C E +-.-I ALLOCATION

REGULATING UNIT

LINE POWER)

BLD

z PDi
i=l

i =1 oi

(9)

-HYDRO I UNIT

f o r the N load regulating generators. P . and P . a r e , respectively the dispatch point and the & t u a l p8der o f unit i . A share of the B L D i s allocated t o each unit every 8 second cormand time. For thermal power s y s t e m , the share i s com t d rom the inverse slope of the heat r a t e b u t f o r the hydro u n i t s , the share o f the BLD between dispatch times i s computed from water usage participation f a c t o r s .

F I G U R E 6 A C E C O N T R O L AROUND A U N I T
QDAYLY = [.2,

curve^^^'^^^,

.5,

.3]

(10)

Among the three r i v e r systems, TCL employs a plant participation f a c t o r based upon the KSFD water content plus elevation of the s i x ponds, f o r example: PPPF

For T C L , there are two generdting s i t p s in tandem on each of the three r i v e r systems. The discharge r a t e of the upstremi plant can be greater t h a n the downstream plant, increasing the loher pond level aboue desired. Nany other constraints sucb i s c r i t i c a l pohervibration regions, power variations w i t h pond elevztion, sideflow and s p i l l considerations, e t c . are included i n the hydro allocdticn program. tlcwever, the G L I j shdre f a c t o r s s r e based upon a daily computed usage between the three river systems, f o r example:

[ .6, . 4 , . 3 7 , .63 , .52, .48]

(11 1

In equation 11, the f i r s t and second PPPFs, . 6 , and .4, are upstream and downstream s i t e s corresponding t G the . 2 r i v e r entry in QDAYLY. Other e n t r i e s of equations 10 and 11 i r e ordered correspondinyly. The F L C share o f unit i i s conlputed as:
J

ELDi

= (QDAYIYi)(PPPFi)lblPXi/X

J=1

PMAXj

(12)

37

where PMAX. i s t h e maximum power a v a i l a b l e (dependent on head) fAr u n i t i, and t h e PMAX. a r e a l l g e n e r a t o r s J o n - l i n e a t t h e same s i t e . is The power d i s p a t c h p o i n t f o r each g e n e r a t o r , P based upon QDAYLY and t h e PPPF t a b l e s , and comp&b by an a l l o c a t o r executed f o r t h e f o l l o w i n g f o u r c o n d i tions: Hydro A l l o c a t o r O p e r a t i o n 1) 10 minutes e l a p s e d s i n c e l a s t a l l o c a t i o n 2 ) BLD exceeds some t h r e s h o l d l e v e l 3 ) G e n e r a t i n g u n i t changes s t a t u s (on o r o f f - l i n e ) 4 ) O p e r a t o r demand Except f o r t h e e l a p s e d t i m e i n t e r v a l , t h e h y d r o a l l o c a t o r i s o p e r a t e d e x a c t l y t h e same as an economic d i s p a t c h program f o r thermal u n i t s . The BLD. f a c t o r s a r e recomputed each t i m e t h e h y d r o a l l o c a t o r i k run. BLD c o r r e c t i o n s f o r a g e n e r a t o r add a n o t h e r feedback When o n l y l o o p around t h e g e n e r a t o r t h r o u g h t h e AGC. one g e n e r a t o r i s c o n t r o l l i n g t h e power system, t h e AGC i s shown i n F i g u r e 7.

d i s t u r b a n c e , and v e r y l i t t l e g a i n margin. Figure 9 shows t h e c a l c u l a t e d response o f an 8 second and 105 second u n i t when p r o p o r t i o n a t e l y s h a r i n g b o t h BLD and ACE. The s u s t a i n e d o s c i l l a t i o n s i n t h e 8 second u n i t are objectionable.

M O S S Y R O C K UNIT #51 OUTPUT POWER

1,

TIME
40 I I I I
0 :SEC)

I
100

+
3
IO

200

FIGURE 8 CALCULATED RESPONSE FOR A SYSTEM L O A D DECREASE W I T H M O S S Y R O C K UNIT U51 IN ACE PLUS BLD REGULATION
UNIT '(=lo5
FIGURE 7
ONE G E N E R A T O R CONTROLLING A C E AND BLD

UNIT Z= 8
-25.0

OUTPUT POWER

The BLD loop 8-second periodically introduces c o r r e c t i v e s i g n a l s t o t h e h y d r o g e n e r a t o r s . When o n l y one u n i t i s BLD r e g u l d t i n g , t h e e f f e c t i v e g a i n i s :

-22.5

G A I N = ( 1 + KA + KB)K
where KB i s t h e BLD c c n t r i b u t i o n .
I t i s c l e a r t h a t K and K can each be as l a r g e a s t i n i t y , so t h e b a s i t h y d r o \ e n e r a t o r l c o p must have a g a i n m a r y i n o f a t l e a s t 3.0. T h i s i s a fundamental design c h a r a c t e r i s t i c .
d g e n e r a t o r w i t h slow respcnse, i t i s p o s s i b l e t o i n c r e a s e t h e l o o p g a i n u s i n g K, e q u a t i o n 4 and improve t h e r a t e o f response. F i g u r e 8 shows c a l c u l a t e d r e sponses f o r a T = 105 second t i m e c o n s t a n t g e n e r a t o r w i t h nominal arid i n c r e a s e d l c o p g a i n when t h i s gene r a t o r a l o n e i s c o n t r o l l i n g ACE dnd BLD.

-20.0

For

50

.17.5

-1 5 . 0

IV.

MULTIPLE UNITS UNDER AGC CONTROL

30

A number o f a p p r o x i m a t i o n s have been made t o a n a l y z e The each t u r b i n e g e n e r a t o r i n ACE ar!d BLD c o n t r o l . response o f i n d i v i d u a l u n i t s must be s a t i s f a c t o r y i.e. , damped, monotonic t r a n s i t i o n s f r o m one pcwer l e v e l t c another hecause sinal 1 iriaynitude d y r m i c terms as w e l l as t r a n s m i s s i o n network c o u p l i n g have Seen n e g l e c t e d . When m u l t i p l e i l n i t s a r e under c o n t r o l , (?dcti u n i t adds a d d i t i o n d l l o o p s ( F i g u r e 5 ) , sow of which c o u l d cause u n d e s i r a b l e b e h a v i o r . As an example, a T = E second response t i m e u r i i t when a l o n e i n ACE dnd P L D contro; has damped o s c i l l a t o r y b e h a v i o r dtie t o a

l 0
0

i 200

l
300

~ l 400

TIME (SECT-

FIGURE 9 CALCULATED RESPONSE O F 2 = 8 A N D T=105 UNITS SHARING A L O A D LOSS. RATIO O F BLD AND TIE F L O W SHARING IS 1 8 / 8 2 R E S P E C T I V E L Y .

38
MEASUREU ACE (MW)

-16.~

-20.-

X X

J
115.1 IO--

MOSSYROCK + 5 1 POWER ( M W )

-x-

105

x---y.-0

-+!--.x/

- -X-

- *- -

*- -x - -x,
80

- x- -t

,
40

-4 1 -3

FIGURE 1 0

MEASURED ACE RESPONSE W I T H CUSHMAN UNIT R 2 1 ( Y = 1 7 . 1 ) AND M O S S Y R O C K # 5 1 ('C=105) R E G U L A T I N G - 2 0 M W S T E P CHANGE. R A T I O O F B L D AND A C E SHARING IS 1 8 / 8 2 RESPECTIVELY.

Each generating u n i t o f the TCL system was checked f o r dynamic response on an individual b a s i s . A minimum time constant of T = 16 seconds over a l l operating power conditions was obtained by adjusting the damping o f the hydraul ic-mechanical servomechanism which drives the wicket gates. A a r e s u l t , any combination of s generators on control y i e l d s excellent AGC performance. One on-line measurement performed using together the " f a s t e s t " a n d "slowest" generators i s shown i n Figure 10. The "disturbance" used f o r the t e s t of Figure 10 was a computer-entered numerical o f f s e t of -20 MW. The disturbance was entered several seconds before the f i r s t AGC coininand time. Since Figure 10 i s an on-line rieasurement, there a r e continuous load disturbances which appear in t h e two second measured and smoothed ACE s i g n a l . The disturbances r e s u l t in continued raise/lower pulses being s e n t t o the u n i t s . Observe ir; Figure 10 t h a t the f a s t e r response unit i n i t i a l l y &sorbs more o f the 20 MW disturbance. The Mossyrock generator i s in a remote area while the Cushinan ljnit i s in the same v i c i n i t y as the TCL load, such t h a t the ACE signal represents the sum of t i e l i n e flows from the two d i s j o i n t dreas.

V.

CONCLUSIONS

This paper has presented the major concepts which a r e used t o design an AGC system f o r a hydro type of u t i l i t y . The basic loop t o control each hydro unit i s a sampled-data control system. The e f f e c t of the ACE regulation and load shar-ing on AGC design was shown. The s i m i l a r i t i e s between hydro ar;d thermal systems were pointed out. Experimental r e s u l t s were presented t o verify the theoretical calculations and methods developed in the

paper.
ACKPICWLEDGEIIENTS The authors wish t o thank the personnel of Tacoma City Light who participated in the i n s t a l l a t i o n and checkout of the Energy Management System, a n d who cooperated t o obtain extra t e s t material used in t h i s paper. Special contributors a r e Willard Freeman who formulated the water balance method, Max Enirick who supervised the unit pulse t e s t s a n d servomechanism adjustments, and Bill Barcus, in charge of dispatching a n d control rooni operations.

REFERENCES

EPRI (Electric Power Research Institute), " T r a n s i e n t - M i d t e r m S t a b i 1 it y Program", Research P r o j e c t 745, June 1979.
G.F. F r a n k l i n and J.D. Powell, " D i g i t a l C o n t r o l o f Dynamic Systems". Reading, Massachusetts: Addison-Wesley P u b l i s h i n g Company, Inc., 1980.
G.L. Kusic, " S t r u c t u r e and Sampled-Data Aspects o f AGC f o r Power Systems", I E E E Summer Power Meeting, Vancouver, B.C.: Paper A79 510-9, J u l y 1979. "Automatic Generation C o n t r o l Ewart, D.N., Performance Under Normal C o n d i t i o n s " , U.S. ERDA 1975. Conference 750867, Henriiker N.H., Wood, A.J. and Wollenberg, B.F., "Power Generation, O p e r a t i o n and C o n t r o l " , New York, N.Y.: John W i l e y and Sons, 1984 Deblello, F.P. and B ' R e l l s , "Automatic Generation C o n t r o l - P a r t 11, D i g i t a l C o n t r o l Techniques", Paper T72487-7, I E E E PAS-92, Mar/Apr 1973