> Nuraddeen Magaji and Dr.

Mohd Wazir bn Mustapha

LQR Tuning of Power System Stabilizer for Damping Oscillations

N. Magaji, and M, Wazir, Mustafa. Faculty, of Electrical Engineering University Teknologi Malaysia

Abstract Power System Stabilizers (PSS) are added to excitation systems to enhance the damping

during low frequency oscillations. In this paper, the design of PSS for single machine connected to an infinite bus using optimal control techniques is considered. A method for shifting the unstable openloop poles to optimum positions is presented. In each step of this approach, I solve a first-order or a second-order linear matrix Lyapunov equation for shifting unstable pole. This presented method yields a solution, which is optimal with respect to a quadratic performance index. The attractive feature of this method is that it enables solutions to complex problem to be easily found without solving any non-linear algebraic Riccati equation. The gain feedback is calculated one time only and it works over wide range of operating conditions. A comparison between the effect of the PSS based on conventional approach, and the proposed Linear Quadratic Regulator (LQR ) is reported using MATLAB/SIMULINK for simulation.

Index Terms K-constants, LQR, SMIB, PSS and Power system oscillations. I. INTRODUCTION Power systems experience low-frequency oscillations due to disturbances. These low frequency oscillations are related to the small signal stability of a power system. The phenomenon of stability of synchronous machine under small perturbations is explored by examining the case of a single machine connected to an infinite bus system (SMIB). The analysis of SMIB [1] gives physical insight into the problem of low frequency oscillations. These low frequency oscillations are classified into local mode, inter area mode and torsional mode of oscillations. The SMIB system is predominant in local mode low frequency oscillations. These oscillations may sustain and grow to cause system separation if no adequate damping is available. In recent years, modern control theory has been applied to PSS design problems. These include optimal

Te = K1 + K 2 Ed q
> Nuraddeen

d 2 Magaji K 3 Dr. Mohd Wazir bn Mustapha and t K3K 4

fd 0 3 ' d0 3
'

1-k 6

(1)

control, adaptive control, variable structure control, and intelligent control. (2) Despite the potential of modern control techniques with different structures, power system utilities still (3) prefer the conventional lead-lag PSS structure. The reasons behind that might be the ease of on-line tuning (4) and the lack of assurance of the stability related to some adaptive or variable structure techniques. The main objective of this paper is to evaluate a control technique, to design a damping controller for power system stabilizer (PSS). This paper uses LQR control approach to design a PSS [2]. An expression for synchronizing and damping torque coefficients with optimal controller is established.

II. SYSTEM

INVESTIGATED

A single machine-infinite bus (SMIB) system is considered for the present investigations. A machine connected to a large system through a transmission line may be reduced to a SMIB system, by using Thevenins equivalent of the transmission network external to the machine. Because of the relative size of the system to which the machine is supplying power, the dynamics associated with machine will cause virtually no change in the voltage and frequency of the Thevenins voltage (infinite bus voltage). The Thevenin equivalent impedance shall henceforth be referred to as equivalent impedance (i.e. Re+jXe). The synchronous machine is described as the fourth order model. The two-axis synchronous machine representation with a field circuit in the direct axis but with out damper windings is considered for the analysis. The equations describing the steady state operation of a synchronous generator connected to an infinite bus through an external reactance can be Linearized about any particular operating point as follows(eq:1-4):
2

Tm - Te = 2H

'

E ' =

1 + sTd' K

E -

1+sT K

Vt = K 5 + K 6 Eq

The K-constants are given in appendix. The interaction between the speed and voltage control equations of the machine is expressed in terms of six constants k loading as well as the excitation levels in the machine. .[3] These constants with the exception of k , which is only a function of the ratio of impedance, are dependent upon the actual real and reactive power

K 2 0 f 0 E1 w d q -D M 0 -( A ) > Nuraddeen Magaji and Dr. Mohd Wazir bn Mustapha A= ) ( -1 T' do -K4
TA ) - (K Conventional APSS K5

(5)
3

(6) comprising cascade connected lead networks with generator angular speed deviation

-1 TA

(w) as input signal has been considered. Fig.1 shows the Linearized model of the single machine infinite 0
0 bus (SMIB) connected to large system which is linearized around the operating points. (7) B= 0 , x = From the transfer function block diagram, the following state variables are chosen for single A system. The Linearized differential equations can be written in the form state space form as T

machine

X (t) = Ax(t) + Bu(t) y = [ ]T

Where
X t = E q E B -K M 0 0 K
T

(8)

0 M TA K 6 - 1 K 3 T ' do

(9)

K EFD

System state matrix A is a function of the system parameters, which depend on operating conditions. Control matrix B depends on system parameters only. Control signal u is the PSS output. From the operating conditions and the corresponding parameters of the system considered, the system eigenvalues are obtained.
III.

CONVENTIONAL PSS AND DESIGN CONSIDERATIONS

The exciter considered here is only having the gain of KA and the time constant of TA. The typical PSS consists of a washout function, a phase compensator (lead/lag functions), and a gain. It is well known that the performance of the PSS is mostly affected by the phase compensator and the gain. Therefore, these are the main focus of the tuning process. Two first order phase compensation blocks are considered. If the degree of compensation required is small, a single first-order block may be used. Generally small under compensation is preferable so that the PSS does not contribute to the negative synchronizing torque component. Washout function (T ) has the value of anywhere in the range of 1 to 20 seconds [4, 10]. The main considerations are that it should be long enough to pass stabilizing signals at the frequencies of interest