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B. Sugiani (2210511256)
2011-2015
GITAM UNIVERSITY
Hyderabad Campus, Rudraram
CERTIFICATE
This is to certify that the project report entitled Implementation of PID
Controllers for Power System Stabilization being submitted by G.AVINASH
(2210511220), SUGIANI.B (2210511256), M.LALIT ANAND (2210511234),
CH.SAI PRAVEEN (2210511211) in partial fulfillment for the award of the
Degree of Bachelor of Technology in EEE (2011-2015) to the GITAM University
is a record of bonafide work carried out by her under my guidance and
supervision.
The results embodied in this project report have not been submitted to any
other University or Institute for the award of any Degree.
Guide: Mr. P SivaRamaKrishna
Dr. Chakravarthy M
Assistant Professor
HOD
Department, EEE
Department, EEE
GITAM UNIVERSITY,
GITAM UNIVERSITY,
HYDERABAD
HYDERABAD
ACKNOWLEDGEMENT
I humbly owe my gratitude and sincere regards to my respected guide Mr.
P. Sivaramakrishna, Assistant Professor, Electrical and Electronics Engineering
Department, GITAM University, Hyderabad under whose constant supervision,
meticulous guidance and encouragement, this work has been carried out to
completion. His valuable suggestions and keen interest throughout the
investigation have enabled me to make my work worthy of presentation.
I am grateful to Dr. Chakravarthy M, Head of Electrical and Electronics
Engineering department, GITAM University, Hyderabad for his support and
encouragement to carry out this dissertation work.
I express my deep sense of respect and gratitude to Prof. Siva Prasad N,
director of campus, GITAM University, Hyderabad for his constant
encouragement, continuous support and valuable suggestions.
Last but not the least, there are no words which can express my gratitude
towards My Parents for their constant support, unlimited patience, immense care,
faith in me and divine love towards me which made my dream come true.
G.AVINASH (2210511220),
B. SUGIANI (2210511256),
M.LALITANAND (2210511234),
CH. SAIPRAVEEN(2210511211)
DECLARATION
G. Avinash
B. Sugiani
M. Lalit Anand
(2210511220)
(2210511256)
(2210511234)
(2210511211)
ABSTRACT
In this work, we are implementing a PID controller for stabilization of power system. The
property of a system to return to an acceptable working condition following a transient is
called transient stability which is a major problem in power system. We are considering a
Single Machine Infinite Bus (SMIB) system with swing equation model. The control
technique is implemented using a linear controller called PID and the actuator used is
Controllable Series Capacitor (CSC). The CSC is modeled by using injection model. We are
considering a short circuit fault occurs at far end of the transmission line.
The control objective is to implement a controller in such a way that the system is going to
stable equilibrium point on occurrence of a fault. We are planning to implement the above
stated work on MATLAB/SIMULINK platform.
CONTENTS
Chapter 1:
1
Introduction
1-7
1.1
1.2
2
5
Chapter 2:
2
2.1
2.2
2.3
2.4
2.5
8-11
Modelling of SMIB system with Controllable Series Capacitor
Introduction
Synchronous machine dynamics
System Model
8
8
8
8
11
11
Chapter 3:
3
3.1
3.2
3.3
3.4
13-17
Implementation of PID controllers
Introduction
PDI Controllers
Effects of PID controllers
Ziegler Nicholas method for Tuning of PID controllers
13
13
13
14
14
Simulation results
Resulting graphs
18-22
18
18
Chapter 4:
4
4.1
23
Bibliography
24
LIST OF FIGURES
S.No Figure
number
Page
number
1.1
2.1
2.2
2.3
2.4
12
3.2
13
3.4.1
14
3.4.2
15
10
3.4.3
15
11
3.4.4
16
12
18
13
19
14
20
15
21
4
6
Chapter 1
Introduction:
The electrical energy is a primary prerequisite for economic growth. The demand for electrical
energy has greatly increased due to large-scale industrialization. Modern power system operates under
much stressed conditions because of growth in demand and deregulation of electric power system.
This leads to many problems associated with operation and control of power systems. The economics
of power generation has a major concern for the power utilities. Therefore, the power utilities always
need new technology to solve its problems. The complexity of power systems is continuously growing
due to the increasing number of generation plants and load demand. Power systems are becoming
heavily stressed due to the increased loading of the transmission lines and due to the difficulty of
constructing new transmission systems as well as the difficulty of building new generating plants near
the load centers. All of these problems lead to the voltage stability problem in the system. An
interconnected power system basically consists of several essential components. They are namely the
generating units, the transmission lines and the loads. During the operation of the generators, there
may be some disturbances such as sustained oscillations in the speed or periodic variations in the torque
that is applied to the generator. These disturbances may result in voltage or frequency fluctuation that
may affect the other parts of the interconnected power system. External factors, such as lightning, can
also cause disturbances to the power system. All these disturbances are termed as faults. When a fault
occurs, it causes the generators to lose synchronism. With these factors in mind, the basic condition
for a power system with stability is synchronism. Besides this condition, there are other important
conditions such as steady-state stability, transient stability, harmonic sand disturbance, collapse of
voltage and the loss of reactive power.
The stability of a system is defined as the tendency and ability of the power system to develop
restoring forces equal to or greater than the disturbing forces to maintain the state of equilibrium.
There are many major blackouts caused by instability of a power system which illustrates the
importance of this phenomenon. The stability has been acknowledged as an important problem for
secure system operation since the 1920s.
Damping of power system oscillation between interconnected areas is very important for the
system secure operation. Power System Stabilizer (PSS) is the most widely used device for resolving
oscillatory stability problems, and to enhance the power system damping. Traditionally, lead-lag
structures have been used as power system stabilizers. The PID controller is a well-established type
of controller and has been in use for a long time. Tuning PID controllers are traditionally tuned using
standard techniques such as the root locus, and classical PID controllers which tuned by Ziegler
Nichols methods.
This paper produces a design method for the stability enhancement of a single machine infinite
bus power system using PID-PSS which its parameters are tuned by Ziegler Nichols method. The
main advantage of this method is, it includes dynamics of whole process, which gives a more accurate
picture of how the system is behaving.
A typical modern power system is a high-order multivariable process whose dynamic response is
influenced by a wide array of devices with different characteristics and response rates. Stability is a
condition of equilibrium between opposing forces. Depending on the network topology, system
operating condition and the form of disturbance, different sets of opposing forces may experience
sustained imbalance leading to different forms of instability. In this section, we provide a systematic
basis for classification of power system stability.
Power system stability is essentially a single problem; however, the various forms of
instabilities that a power system may undergo cannot be properly understood and effectively dealt with
by treating it as such. Because of high dimensionality and complexity of stability problems, it helps to
make simplifying assumptions to analyze specific types of problems using an appropriate degree of
detail of system representation and appropriate analytical techniques. Analysis of stability, including
identifying key factors that contribute to instability and devising methods of improving stable
operation, is greatly facilitated by classification of stability into appropriate categories Classification,
therefore, is essential for meaningful practical analysis and resolution of power system stability
problems.
B. Categories of Stability
The classification of power system stability proposed here is based on the following considerations:
The physical nature of the resulting mode of instability as indicated by the main system variable in
which instability can be observed.
The size of the disturbance considered which influences the method of calculation and prediction of
stability.
The devices, processes, and the time span that must be taken into consideration in order to assess
stability.
Fig. 1 gives the overall picture of the power system stability problem, identifying its categories and
subcategories. The following are descriptions of the corresponding forms of stability phenomena.
Rotor angle stability refers to the ability of synchronous ma- chines of an interconnected power system
to remain in synchronism after being subjected to a disturbance. It depends on the ability to
maintain/restore equilibrium between electromagnetic torque and mechanical torque of each
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synchronous machine in the system. Instability that may result occurs in the form of in- creasing
angular swings of some generators leading to their loss of synchronism with other generators.
The rotor angle stability problem involves the study of the electromechanical oscillations inherent in
power systems. A fundamental factor in this problem is the manner in which the power outputs of
synchronous machines vary as their rotor angles change. Under steady-state conditions, there is
equilibrium between the input mechanical torque and the output electromagnetic torque of each
generator, and the speed remains constant. If the system is perturbed, this equilibrium is upset, resulting
in acceleration or deceleration of the rotors of the machines according to the laws of motion of a
rotating body. If one generator temporarily runs faster than another, the angular position of its rotor
relative to that of the slower ma- chine will advance. The resulting angular difference transfers part of
the load from the slow machine to the fast machine, depending on the power-angle relationship. This
tends to reduce the speed difference and hence the angular separation. The power-angle relationship is
highly nonlinear. Beyond a certain limit, an increase in angular separation is accompanied by a
decrease in power transfer such that the angular separation is increased further. Instability results if the
system cannot absorb the kinetic energy corresponding to these rotor speed differences. For any given
situation, the stability of the system depends on whether or not the deviations in angular positions of
the rotors result in sufficient restoring torques. Loss of synchronism can occur between one machine
and the rest of the system, or between groups of machines, with synchronism maintained within each
group after separating from each other.
The change in electromagnetic torque of a synchronous machine following a perturbation can
be resolved into two components:
System stability depends on the existence of both components of torque for each of the synchronous
machines. Lack of sufficient synchronizing torque results in aperiodic or non-oscillatory instability,
whereas lack of damping torque results in oscillatory instability.
For convenience in analysis and for gaining useful insight into the nature of stability problems,
it is useful to characterize rotor angle stability in terms of the following two subcategories:
Small-disturbance (or small-signal) rotor angle stability is concerned with the ability of the
power system to maintain synchronism under small disturbances. The disturbances are considered to
be sufficiently small that linearization of system equations is permissible for purposes of analysis
-Small-disturbance stability depends on the initial operating state of the system. Instability that may
result can be of two forms: i) increase in rotor angle through a non-oscillatory or a periodic mode due
to lack of synchronizing torque, or ii) rotor oscillations of increasing amplitude due to lack of sufficient
damping torque.
-In todays power systems, small-disturbance rotor angle stability problem is usually associated with
insufficient damping of oscillations. The a periodic instability problem has been largely eliminated by
use of continuously acting generator voltage regulators; however, this problem can still occur when
generators operate with constant excitation when subjected to the actions of excitation limiters (field
current limiters).
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B.3 Basis for Distinction between Voltage and Rotor Angle Stability:
It is important to recognize that the distinction between rotor angle stability and voltage stability is not
based on weak coupling between variations in active power/angle and reactive power/voltage
magnitude. In fact, coupling is strong for stressed conditions and both rotor angle stability and voltage
stability are affected by pre-disturbance active power as well as reactive power flows. Instead, the
distinction is based on the specific set of opposing forces that experience sustained imbalance and the
principal system variable in which the consequent instability is apparent.
Reduced network model (RNM): This is a simple mathematical model used to describe the dynamics
of a power system, and it is based on the following assumptions:
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Let Dk >0,Mk >0,PGk,Pk, be the damping constant, moment of inertia constant, power
injected into the system, and the mechanical power input, respectively, for the kth machine.
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synchronously rotating reference for the kth machine. Now the dynamics of the kth
generator is given by the swing equation as
Mkk+Dkk+PGkPk = 0.
(1.1)
th
By choosing k and k =k as the state variables the dynamics of k generator becomes can be written
as
= k
1
= ( )
(1.2)
Chapter 2
Modeling of Single Machine Infinite Bus (SMIB) system with
Controllable Series Capacitor (CSC)
2.1 Introduction
The power system is a high order complex nonlinear system. In order to simplify the analysis
and focus on one machine, the multi-machine power system is reduced to the single machine infinite
bus (SMIB) system. In the SMIB system, the machine of interest is modelled in detail while the rest
of the power system is equated with a transmission line connected to an infinite bus. As shown in
Figure 2.1, Single machine is connected to infinite bus system through a transmission line having
resistance and inductance
2.1
Where
J
is the total moment of inertia of the rotor mass in kgm2
Tm is the mechanical torque supplied by the prime mover in N-m
Te is the electrical torque output of the alternator in N-m
2.3
Defining the angular speed of the rotor as
We can write equation 2.3 as
2.4
We can therefore conclude that the rotor angular speed is equal to the synchronous speed only
when d / dt is equal to zero. We can therefore term d / dt as the error in speed. Taking
derivative of (2.3), we can then rewrite (2.1) as
2.5
Multiplying both side of (2.5) by m we get
2.6
Where Pm , Pe and Pa respectively are the mechanical, electrical and accelerating power in
MW.
We now define a normalized inertia constant as
2.7
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per unit
Where, Xl denote the effective reactance of the line in which the CSC is installed. Thus, Xl decides
the capacity of the transmission line to transfer the electrical power across the network. The injection
model of the CSC is derived in a single-phase positive sequence phasor frame and is given by
connected to the infinite bus or reference bus. The magnitude of the voltage and the frequency for
the infinite bus are assumed to be constant .The generator bus is numbered as 1 and the infinite
bus as 2. They are connected to each other through a series combination of the line reactance X12
And a CSC which is denoted by a reactance jXc . We use the following notation is the rotor angle
and is the rotor angular speed deviation with respect to synchronously
Where x= and x2= are the state variables is the input to the CSC, x1 the open loop reactance
between buses 1 and 2 and b1= . We assume that the Domain of operation is
Control objective:
The open loop operating equilibrium point for the system is given by x = (x1,0). We assume that
x is known to us and synthesize a control a law u in order to make the system (2.8) asymptotically
stable at x .
Chapter 3
Implementation of PID controller
3.1 Introduction
A controller is a device, historically using mechanical, hydraulic, pneumatic or electronic techniques
often in combination, but more recently in the form of a microprocessor or computer, which monitors
and physically alters the operating conditions of a given dynamical system. Typical applications of
controllers are to hold settings for temperature, pressure, flow or speed.
A system can either be described as a MIMO system, having multiple inputs and outputs, therefore
requiring more than one controller; or a SISO system, consisting of a single input and single output,
hence having only a single controller. Depending on the set-up of the physical (or non-physical)
system, adjusting the system's input variable (assuming it is SISO) will affect the operating parameter,
otherwise known as the controlled output variable. Upon receiving the error signal that marks the
disparity between the desired value (set point) and the actual output value, the controller will then
attempt to regulate controlled output behavior. The controller achieves this by either attenuating or
amplifying the input signal to the plant so that the output is returned to the set point. For example, a
simple feedback control system, such as the one shown on the right, will generate an error signal that's
mathematically depicted as the difference between the set point value and the output value, r-y.
S-S Error
Kp
Decrease
increase
Small Change
Decrease
ki
Decrease
increase
Increase
Eliminate
kd
Small Change
decrease
Decrease
Small Change
First Method. In the first method, we obtain experimentally the response of the plant to a unit step
input, as shown in Figure 3.4.1. If the plant involves neither integrator (~) nor dominant complexconjugate poles, then such a unit-step response curve may look S-shaped, as shown in Figure 3.4.2.This
method applies if the response to a step input exhibits an S-shaped curve. Such step-response curves
may be generated experimentally or from a dynamic simulation of the plant. The S-shaped curve may
be characterized by two constants, delay time L and time constant
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T. The delay time and time constant are determined by drawing a tangent line at the inflection point of
the S-shaped curve and determining the intersections of the tangent line with the time axis and line c(t)
= K, as shown in Figure 3.4.2.
Table 3.4.1 Ziegler-Nichols Tuning Rule Based on Step Response of Plant (First Method)
The transfer function C(s)/U(s) may then be approximated by a first-order system with a transport lag
as follows:
Ziegler and Nichols suggested to set the values ofKp, Ti, and Tdaccording to the formula
shown in Table 3.4.1.
Notice that the PID controller tuned by the first method of Ziegler-Nichols rules gives
Thus, the PID controller has a pole at the origin and double zeros at s = -1/L
Second Method. In the second method, we first set Ti = and Td = 0. Using the proportional control
action only (see Figure3.4.3), increase Kp, from 0 to a critical value Kcr at which the output first
exhibits sustained oscillations. (If the output does not exhibit sustained oscillations for whatever value
Kp, may take, then this method does not apply.) Thus, the critical gain
Kcr, and the corresponding period PCr, are experimentally
Table 3.4.2 Ziegler-Nichols Tuning Rule Based on Critical Gain Kc, and Critical Period PC, (Second
Method)
Notice that the PID controller tuned by the second method of Ziegler-Nichols rules gives
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Thus, the PID controller has a pole at the origin and double zeros at s = -4/Pcr. Note that if the system
has a known mathematical model (such as the transfer function), then we can use the root-locus method
to find the critical gain Kc, and the frequency of the sustained oscillations
wcr, where 2.rr/wC, = PC,. These values can be found from the crossing points of the root-locus
branches with the jw axis. (Obviously, if the root-locus branches do not cross the jw axis, this method
does not apply.)
Comments. Ziegler-Nichols tuning rules (and other tuning rules presented in the literature) have been
widely used to tune PID controllers in process control systems where the plant dynamics are not
precisely known. Over many years, such tuning rules proved to be very useful. Ziegler-Nichols tuning
rules can, of course, be applied to plants whose dynamics are known. (If the plant dynamics are known,
many analytical and graphical approaches to the design of PID controllers are available, in addition to
Ziegler-Nichols tuning rules.)
Chapter - 4
Simulation Results
8
We assume the following simulation parameters for the SMIB system as shown figure M= 100 ,
0.4
D=100, E=V=1(p u) , 1 =2.5(pu) ,-3 1. To assess the performance of the proposed control laws
we assume that a short circuit fault at the far end of the transmission line at the time t=1 s for a duration
of 0.1 s. We use the following system parameters for the lightly loaded condition The operating
equilibrium point is x=(0.4556, 0) and P = 1.1 (p u). The values of the tuning parameters are chosen
for PID controller P=0.5, I=0.5,D=0.005, for PI controller P=0.1,I=0.001,for PD controller
P=0.1,D=0.001.From the simulations, we can observe the following: The open loop system(i.e.
without controller) exhibits heavy and sustained oscillations in x1 and x2 as shown in figures by dotted
lines. The closed-loop system (using PID controller) oscillations decay at a faster rate and settle
quickly .Further, we can observe that, in the case of using PD controller and using PI controller.
PD CONTROLLER USING:
Figure 4.1
Figure 4.2
Figure 4.1 & Figure 4.2 Response of SMIB system With PD controller: Dotted Line (Without
Controller) Dashed line (with PD controller P=0.1,D=0.001 parameters)
USING PI CONTROLLER:
Figure 4.3
Figure 4.4
Figure 4.3 & Figure 4.4: Response Of SMIB system With PI controller: Dotted Line (Without
Controller) Dashed line (with PI controller P=0.1,I=0.001 parameters)
Figure 4.5
Figure 4.6
Figure 4.5 & Figure 4.6: Response Of SMIB system With PID controller: Dotted Line (Without
Controller) Solid Line (with PID controller, P=0.5, I=0.5, D=0.05 parameters)
Figure 4.7
Figure 4.8
Figure 4.7 & figure 4.8: Response of SMIB system with PID controller: Dotted line (without controller)
Dashed line (PI controller P=0.1, I=0.001), Solid line (with PID controller P=0.5, I=0.5, D=0.05)
parameters.
In this report we presented PID controller technique for stabilization of SMIB system with CSC
as actuator, and SMIB with CSC is modelled by using injection model.
From the simulation results we observed that using PI controller the system attains stability
within less time when compared to PD controller. But by using PID controller the system attains
stability within less time even when compared to PI controller.
Future scope:
The work proposed here could be extended to multi machine system (like two machine infinite
bus system TMIB) and we can also compare the proposed control technique with nonlinear controllers.
Bibliography
1. Nonlinear Control Synthesis for Asymptotic Stabilization of the Swing Equation using a
Controllable Series Capacitor via Immersion and Invariance by N S Manjarekar, R N Banavar
and R Ortega 47th IEEE Conference on Decision and control Cancun, Mexico, Dec. 9-11, 2008
2. A. Astolfi and R. Ortega, Immersion and Invariance: A New Tool for Stabilization and Adaptive
Control of Nonlinear Systems, IEEE Trans. on Automatic Control, vol. 48, pp. 590606, April
2003.
3. Y. Wang, D. J. Hill, R. H. Middleton, and L. Gao, Transient stability enhancement and voltage
regulation of power systems, IEEE Trans. on Power Systems, vol. 8, pp. 620627, May 1993.
4. P. Kundur, Power System Stability and Control. New York: McGraw-Hill, 1994.
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