AutomaticGenerationControl

DrMSRMurty

AutomaticGenerationControl(AGC)
Automaticfrequencyregulationby governingsystemsofindividualturbine generatorsand AutomaticGenerationControl(AGC)orLoad frequencycontrol(LFC)systemofthepower system. InEnergyManagementsystem(EMS)atthe EnergyControlCenter(ECC)
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AGC
AGCcomponents Loadfrequencycontrol(LFC) EconomicDispatch(ED) InterchangeScheduling(IS) AGCisalsoreferredas SystemControl LoadDispatch
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GeneratorTurbineGovernorBehavior

Generation(MechanicalPower) Load(Electrical Power)imbalanceresultsinchangeinmachinespeed, frequencyandpowerflow Machineelectromechanicaldynamicsisdescribedby swingequation Asinglegeneratorandloadisanalyzedandthen generalizedtolargesystem

GeneratorTurbineGovernorBehavior
PmPl=M[d/dt]

Pl Pm

Forsmallchangesinparameters Pm Pl=M[d( )/dt]

GeneratorTurbineGovernorBehavior
Pm(s)

1/(Ms)

(s)

Pl(s) Asustainedload generationimbalancedwouldleadto acontinuouschangeinfrequency!!

Loadresponsetofrequencychange
ForRotatingcomponentsofloadtherealpowerincreases withfrequency Pl(s)= Pl(s)+D (s) Pl(s)nowisanincipientloadchange(amotorstarts) D (s)representstheresponsethattheadditionalloadcauses frequencytodrop,allmotorsslowdown,andsoloaddropsas D (s)

GeneratorTurbineGovernorBehavior
Pm(s) Pl(s)D (s) =sM (s) (s)=[ Pm(s) Pl(s)]/(Ms+D)

Pm(s)+ 1/(Ms+D) Pl(s) (s)

GeneratorTurbineGovernorBehavior
Pe Pl Pm Speed

Governor

DesiredGeneration

TheGovernor
Measuresspeed(frequency)andadjustsvalvesto changegeneration Frequencydrops=>Raisegeneration

GeneratorTurbineGovernorBehavior
Pe Pl Pm Speed

Governor

DesiredGeneration

GeneratorTurbineGovernorBehavior SteadyStateResponse
Usingenergybalance

Pl

D (1/R)=0 Steadystateerror

Load Load Generation ChangeResponseChangefrom Governor

= Pl/(D+1/R) TypicalR=0.05pu(5%factoryset) ForP=1,D=1,R=0.05=1/21= 0.0476pu

SingleTurbineGeneratorwithload
Forachangeinload,speed/frequency changes(withgenerationremaining unchanged): [Pm Pl]=M[d/dt ]RotorInertiaEquation
Turbine

Gen

Pl

Pm

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SpeedChangeduetoloadimbalance
Thegoverningsystem senseschangeinspeed andadjustssteamcontrolvalve(gate)sothat mechanicalpower(Pm)matcheswiththe changedload(Pl). Thechangeinfrequency()atsteadystate canbedescribedusingtheDROOPequationin termsofchangeinload(Pl)andafactorR calledspeedregulationordroop. = [Pl](R)Droopequation
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SingleTurbineGeneratorwithload
[Pm Pl]=M[d/dt ]RotorInertiaEquation = [Pl](R)Droopregulationequation

Turbine

Gen

Pl

Pm

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LOADDROPRESPONSE
Load

100%

Speed (%)

80%

100%

Speeddoesnotreturn To100%
Time(sec)

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ProportionalControl:Droop
Load Speederror SpeedReference + Proportional _ + Generation RotorInertia

Speed

Controlactionstopswhenthepowererrorhaszerovalue

Speederrorpresentatsteady state

Steadystate: Generation=Load,but Machinespeeddifferent fromSpeedsetpoint

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DroopCharacteristic
Speed(p.u) 0.04p.u or4% change 1.04 1.02 1.0

0.0

0.5 1.0p.uor 100%change

1.0 Power(p.u)

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NEEDFORSUPPLEMENTARYCONTROL
Speedvariationstopsbutatadifferentsteady value. Thespeedhoweverhastobebroughtbackto theoriginalvalueforwhichspeed/load referencehastobeadjustedeitherbythe operatororbyasupplementarycontrol systemcalled LoadFrequencyControl(LFC) system
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Pref Composite Governor Composite Turbine Power System Inertia

Total Elec. load Combined Mechanical Power

Frequency

BLOCK DIAGRAM SHOWING POWER SYSTEM FREQUENCY VARIATION

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Set point AUTOMATIC LOAD REQUENCY CONTROLLER Generator Other m/c Power + Turbine

Secondary regulation

To Other Machines

Total Load

Set point

Governor

GRID INERTIA

+
Frequency

Area Frequency

Total Generation Primary regulation

Fig 7 AUTOMATIC LOAD RFEQUENCY CONTROL SYSTEM

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Generation Signals (MW)

Frequency (f)

Telemetry -----.. Energy Management System (EMS) -Automatic Generation Control (AGC)

Set Point Electro Hydraulic Governor (EHG) TurbineGenerator (TG)

f Set Point Electro Hydraulic Governor (EHG) Set Point Electro Hydraulic Governor (EHG) f TurbineGenerator (TG)

f TurbineGenerator (TG)

SYSTEM CONTROL CENTER (SCC)

Set Point

System Frequency

Electro Hydraulic Governor (EHG)

TurbineGenerator (TG)

HYDRO POWER PLANTS

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LFC Implementation

Load Frequency Control

Frequency Measured At a central Location

~ every 4 sec

Tie line flows(MW)

Net Interchange Desired Frequency

ACE Filters

Allocation To Plants

Pref To Units ~ every 4 sec

Other Considerations Economic Dispatch Actual Unit Movement Minimum Movement Severity Unit Energy Balance Response Rate

Time error

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MultipleGeneratorsandAreas
Pe1 P1l Pm1 Area1orGen1 Pm2 TieLine Area2orGen2 Ptie jX Pl2 Pe2

Nowlookattwogeneratorsorareasconnectedbyalineornetwork IfloadchangesinanyareahowdofrequenciesandlinepowerPtiechange? Wewillwanttorestorebothtonominalvalue Asimplemodelforthelineisjustaseriesinductivereactance

MultipleGeneratorsandAreas Ptie
Pe1 jX P1l Pm1 Area1orGen1 QualitativeResponse Pm2 TieLine Area2orGen2

Pe2 Pl2

Loadincreaseinarea1 Area1frequencydrops Area1voltagephaseanglefallsbehindare 2 Ptie decreases(stabilizesArea1frequency,dragsdownarea2) Area2frequencydrops Bothgovernorsraisegeneration SteadystateachievedatalowerfrequencyandPtie Area1assistsArea2inmeetingtheloadincrease;frequencydropislower

AreaControlError(ACE)
TIELINE BIAS CONTROL.Inthiscontrolstrategy eachareaofaninterconnectedsystemtriesto regulateitsareacontrolerror(ACE)tozero, where:

Differencebetweentheactual(a)andthe scheduled(s)netinterchangeonthetielines. Systemnatural response coefficient

Frequencyerror

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ACEGeneration

ACE>0,DECREASEGeneration ACE<0,INCREASEGENERATION
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LoadFrequencyControl
Governorsensurethatfrequencyisrestoredtonear nominal Thishappensirrespectiveoflocationof load/generationchange ThepurposeofLFCistoreallocategenerationso
Systemwidefrequencyisrestored EachareameetsitsobligationLoad+Interchange

LoadFrequencyControl
Definition
AreaControlError(ACE) ACE= NetInterchange+ f NetInterchange=Interchangeerror =Scheduled Actual f= =frequencydeviation =frequencybias(puMW/pufrequency) Definitionissometimeswrittenwithnegativesignonbothterms

LoadFrequencyControl
BasicIdea
ACE>0decreasegeneration ACE<0increasegeneration

Assumeloadincreasesinoneareaonly
Frequencydropseverywheref<0 Interchangefromaffectedareadecreases NetInterchange<0 Interchangefromotherareasincreases NetInterchange>0 Affectedareahasnegativeace InotherareACEissmallorzero Affectedareaincreasesgeneration Othersstayput

LoadFrequencyControl
PropertiesofACE Aslongasonefrequencybias0 IfallareashaveACE=0 then =0 andall NetInterchange=0

DrivingACEtozerorestoresfrequencyand interchange

LoadFrequencyControl
PropertiesofACE Twoareas(lossignored) ACE1=NetInterchange+1 ACE2=NetInterchange+2 =(ACE1+ACE2)/(1+2) =0ifACE1=ACE2=0and1+20 ThenInterchangeerrorisalsozero 1

LoadFrequencyControl
PropertiesofACE Twoareas(lossignored) ACE1=NetInterchange+1 ACE2=NetInterchange+2 =(ACE1+ACE2)/(1+2) =0ifACE1=ACE2=0and1+20 ThenInterchangeerrorisalsozero Reasonablevaluesof1,2willwork 1

LoadFrequencyControl
PropertiesofACE Choosei=Di+1/Ri Ideally NetInterchange=(Di+1/Ri) Pli NetInterchange+Di+1/Ri) =Pli ACEi=PLi!!!!!!!! Since1/Ri>>DiweknowDi+1/Riprettywell ACEmeasuresarealoadchange shouldgiveusgoodcontrol 2

FromLFCtoEconomicAllocation
Economicdispatch MW LFCdistributesbasedonresponse Unitspickuploadcapacity

Governor ~seconds LFC ~minutes

Time

AGCScheme
FromGraingerandStevensonJr)

FromLFCtoEconomicAllocation
Economicdispatch MW Prefchanges

Coal

Gas

Time

TheEconomicdispatchproblem
Given Nunitsonline SystemLoad+Loss EqualsAreaNetGeneration NetInterchangewhen ACE~0 Determine MWallocation(Schedule)foreachUnit MinimizeFuelandVariableO&Mcost Constraints Aconstrained Unitcapacity,Reserves optimizationproblem

TheEconomicdispatchproblem
Minimize CT=C1(P1)+C2(P2)++CN(PN) P1+P2++PN=PT Pi
Pimin Pi Pimax i=1,2,,N

Ci(Pi)=Fuel+VariableO&Mcost($/H)uniti Pi=NetMWoutputUnitI Pimin,Pimax=MinandMaximumCapacityUniti

LoadVariationwithfrequency
Motorloadinparticularisaffectedbyfrequency Whenfrequencydrops,motorsslowdown, producelesswork,andconsumelessenergy Frequencydropsby1%,motorloadwilldrop3%. Nonmotorresistiveloadgenerallyremains constant. Thenetforbothoftheaboveisageneralruleof thumb: +/ 1%changeinfreq.=+/ 2%changeinload
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Deadband
Anadditionalfeaturedisplayedbygenerators. Deadband istheamountoffrequencychangea governormustseebeforeitstartstorespond. Deadband wasreallyanaturalfeatureofthe earliestgovernorscausedbygearlash(looseness orslopinthegearmechanism) Deadband servesausefulpurposebypreventing governorsfromcontinuouslyhuntingas frequencyvarieseversoslightly
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PolicyoftheNERC
Generatorswithnameplateratingsof10 MWormoremusthavegovernorsinstalled. Governorsshouldprovide5%droop. Deadband onallgovernorsmustbesetto +/ 0.036Hz(on60Hzsystem)

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FRC
FrequencyResponseorFrequencyResponse Characteristic(FRC)isthechangeinfrequency thatoccursforachangeinloadresource balanceinacontrolareaorinterconnection

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 Example: Ifageneratorof1,000MWislostsomewherein acontrolarea,frequencywilldecline. Theactualamountofdeclinewilldependon: Characteristicsoftheload(howmuchmotor load) Thetotalgovernorresponseavailable Numberofgeneratorsonline Theirrelativeloading Theirgovernorsettings
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Graphshowsfrequencyexcursions vs.generationloss

Linerepresentstheaverage frequencyresponseof1,500 MW/0.1Hz.

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Graphshowsfrequencyexcursions vs.generationloss 350eventsweretrackedinWECC from1994to2002 Linerepresentstheaverage frequencyresponseof1,500 MW/0.1Hz. Note:ThetotalFrequency ResponseinanInterconnection isthesumoftheresponses fromallcontrolareaswithinthe Interconnection

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 Asmentioned,FrequencyResponseCharacteristic(FRC)isthe actualresponseprovidedbycontrolareasforaparticularsetof events. ControlareasuseAutomaticGeneratorControl(AGC)systemsto meettheirminutetominuteobligationstoservetheirinternal load. Whenanexcursionhappensexternaltoacontrolarea,there shouldbeanimmediateoutflowfromthecontrolareatoarrest frequencydecline. Theoutflowitselfisfromloadrejectionandgovernor response. InordertopreventAGCfromfightingthisnaturalfrequency support,aBiastermisaddedtotheACEequation.

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