IEEE INDICON 2015 1570173559

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A Comparison of Under Frequency Relay based and
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Frequency Response Model based Load shedding
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8 Scheme
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11 Pradeepti Lakra Mukesh Kirar
12 Electrical Engineering Department Electrical Engineering Department
13 M.A.N.I.T M.A.N.I.T
14 Bhopal, India Bhopal, India
15 pradeepti.lakra@gmail.com mukeshkirar@rediffmail.com
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18 AbstractThe power system in Industrial plants is An effective load-shedding scheme must be able to
19 continually prone to unforeseeable contingencies which cause minimize the load shedding amount and keep the
20 a disparity between power generated and the load demand. frequency trajectory within limits [4]. The plan should be
21 Such uncertainties make the system frequency to decay. In reliable, simple, efficient, fast and robust [10]. The
22 this work, frequency response due to load-generation spinning reserve must be taken into account as it directly
mismatch is simulated. To forestall this dramatic event, reflects the activation level of the turbine governors across
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under- frequency Load Shedding (UFLS) strategies are the system. It is important to lower the frequency decay
24 adopted. This paper focuses on the traditional Under
25 rate as soon as possible to give the spinning reserve
Frequency Relay based load shedding and the adaptive enough time to react. this is done through partial shedding
26 System Frequency Response (SFR) model based load of the total estimated shedding amount (only a part of Ptrip
27 shedding. SFR model is developed in MATLAB-SIMULINK.
is to be shed in the first step eg. 35% of trip), determined
28 Load shedding actions of both methods are simulated and
by the gradient curve [11]. Several conventional, adaptive
29 compared in a test system in ETAP software to comprehend
frequency response of an industrial system under transient and computational intelligence based load shedding
30 schemes are presented in [1-12]. In this paper, a
conditions.
31 comparison of the conventional under frequency relay
32 Keywordsunder frequency; relay setting; critical load; based load shedding scheme with the system frequency
33 load shedding response model based load shedding scheme is presented.
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I. INTRODUCTION Under frequency relays can be set to detect the decline
35 of frequency and react automatically [6]. Load shedding
36 For the steady-state operation of a power system, the program is designed for the maximum possible overload
37 total generation must be equal to the total loads and the condition [3] and frequency relays are set to cut-off
38 total loss. Industrial electrical systems exhibit similar predefined load groups at different frequency thresholds
39 problems to large systems. Contingencies such as Outage [5]. The number and amount of sheds are pre-decided
40 of generation units, load demand increase and tripping of through simulation studies and past [7]. This logic may
41 transmission lines are contingencies which can cause a prove to be efficient large distributed systems but fail in
42 disturbance in voltage and frequency that may cause industrial systems [5]. On the other hand, in the System
43 dangerous cascading effects [1, 2]. Large frequency Frequency Response model load shedding amount is
deviations can degrade load performance, overload directly proportional to the rate at which the frequency
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transmission lines, and even lead to system collapse [3]. threshold is reached [7]. The rate of change of frequency
45 Low-level imbalances can be taken over by the turbine
46 directly indicates the power deficiency [3, 7].
governors across the system. But for high-level
47 imbalances, turbine governor are too slow to react before II. SYSTEM DESCRIPTION
48 the frequency falls below an acceptable limit [4]. As De-
49 A test system in ETAP is used to analyze the load
energizing loads is costly as well as dangerous, therefore shedding schemes presented. A single-line diagram of a
50 [5], emergency load shedding is adopted [3]. This avoids a power generation and distribution system is shown in Fig
51 possible system collapse and restores system frequency by 1. There are 34 buses, 249 circuit breakers, and 186
52 maintaining load-generation balance [6]. A fall of cables. The system consists of three generating units rated
53 frequency below threshold limit is used as an indication of 20MW each at 11kV. The maximum generation is 60MW
54 risk for the system [7] and emergency load shedding limited to a minimum import of 40MW. Grid transformers
55 (ELS) action is triggered [5]. The minimum allowable GTR-01 and GTR-02 step down the voltage from the
56 frequency is imposed by the limitations of operation of 132kV utility ties to the 33-kV level and connect it to HT-
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system equipment. The elements that are more sensitive to 201 BusA2. Power generated is stepped up to 33kV
frequency drops are generators, auxiliary services and through transformers STR-1, STR-2, and STR-3.The
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steam turbines [7, 8, 9]. In general, a continuous steam power is distributed at a 33-kV level from two main
61 turbine operation should not be allowed below 47.5 Hz
62 receiving stations to 14 substations (SS-1to SS-14)
(50-Hz system base) [10]. through cables.
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978-1-4673-6540-6/15/$31.00 2015 IEEE

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 Fig 1. Single line diagram of an industrial system
TABLE 1. TOTAL INDUSTRIAL LOAD
Substation Number Load in MW
SS-1 7.8
SS-2,SS-7 19.5
SS-3, SS-8, SS-9 32.9
SS-4, SS-5, SS-6, SS-14 5.2
SS-10, SS-11, SS-12, SS-13 12.7
The voltage level is stepped down from 33kV to 6.6kV
in the substations. The total industrial load has been listed
in Table. 1. The MV load consists of 6.6 kV motors while
the LV motors below 110 kW are lumped together.
Normal operation of the system shows a stable frequency
of 50Hz. On the occurrence of contingency like three
phase fault or LG, LLG and LL fault, system frequency
decays at a high speed. Under frequency load shedding is
applied to restore the frequency to its acceptable limits. A
frequency of 47.5Hz is taken as the minimum allowable
frequency for the stable system. Simulation results are
shown in section V.
III. CONVENTIONAL UNDER FREQUENCY LOAD SHEDDING
RELAYS
Power plants are subjected to failure at low
frequencies. If governor actions cannot activate spinning
reserve quickly to restore the normal operating frequency,
protective frequency relays trip generation units [10-12].
Underfrequency load shedding relays are employed to
prevent tripping of the generation units by proper
coordination [2, 13]. It is the simplest automatic load
shedding program. The scheme requires the knowledge of
the rate of frequency decay for different magnitudes of
generation deficiencies which are coordinated with the
system's ability to increase power generation and
determine the severity of the possible emergencies [10].
The percent overload is given by equation (1).
Load shedding programs should drop minimum load
taking into account the permissible safe operation below
normal frequency [10]. The scheme does not require
sophisticated relays which generally do not give accurate
results [7]. For an industrial system, firstly load flow
analysis, short circuit analysis, and transient stability
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analysis through computer simulations for different load
conditions are carried out [1]. The design methodology
shed predetermined fixed load blocks at fixed system
frequency levels based on the instantaneous system
frequency with some intentional time delay. The total load
shedding amount assigned to all shedding stages is
calculated for the worst-case scenario of the maximum
loss of a generation using the load priority list [2]. To
prevent over and under load shedding which may further
lead to loss of generation, more stages and fewer loads
shed per stage should be preferred [13, 14]. A trial and
error procedure can be adopted to obtain the best
combination for the above procedure [15]. The required
data such as relays, circuit breakers, corresponding time
delays, the operational frequency value, and the priority
list of loads are specified by the user. Under frequency
relay based load shedding is designed in [10] as below.
1) Maximum possible overload determination:
Where, L : Anticipated overload factor
PTD, PG : Total Demand, Total Generation
2) Calculate Load shed amount:
Where, L : per unit overload
f : Minimum permissible frequency
d : Load reduction factor(1.2-7.8) [10]
f0 : Nominal frequency
3) Load shedding steps: The load shedding amount is
divided into 3-5 steps which increases the accuracy of the
scheme [15].
4) Relay settings: Relay setting are based on load
flow and stability studies. The calculations depend on
factors such as settling frequency, the number of steps,
operating speed of relays and breakers. Time delay is
given by the following equation,
Time=ROT+TDELAY+BOT (4)
Where, Time : Total clearing time
ROT : Relay operating time
TDELAY : Intentional time delay
BOT : Breaker operating time
 Fig 3. SFR Model block diagram
Fig 2. Optimized under frequency relay based load shedding
TABLE 2. NOMENCLATURE
5) Selection of load to be shed at each step: Lower
priority loads should be shed prior to higher priority loads. Km Gain factor
Fig 2 shows the requirements of an optimized under D Damping Factor
frequency relay based load shedding design. H Inertia Constant (2-8 sec)
TR Reheat time constant (7-11 sec)
IV. SYSTEM FREQUENCY RESPONSE MODEL
FH High-pressure power factor (0.2-0.3 sec)
Relay based scheme are prone to have inaccurate load
R Speed drop of regulation
sheds. Thus undesired damages and increased costs can be
seen [16]. No traditional schemes account changes in load, Pref Speed changer setting
system inertia, load composition, governor response
characteristics, or changes in system topology [17]. Large PP
disturbance results in high and quick frequency transient. + Pe
1
For small disturbances, traditional methods may shed
2Hs+ D
excessive amount of load [3, 4]. Therefore, a derivative of -
the frequency (df/dt) or Rate of Change of Frequency Pm
(ROCOF) is used which provides different load-shedding
alternatives [4, 16]. (df/dt) is an additional control variable Km (1+ FHTR s)
to improve UFLS [3]. Factors influencing the active R(1+ TR s)
power deficit Pdef are [6]:
Fig.4 Simplifies system frequency model
The mechanical power on the turbines just before
the injection of systems disturbance.
Pre and post-disturbance power consumed by the
load. Applying Laplace transform in equation (6) we get,
The reaction of turbine and governor to a
disturbance.
Where,
The system loading determines the frequency
curve steepness.
The voltage profile of the system.
The frequency response of a power system can be
studied through the system frequency response model
(Fig.3). The power imbalance between mechanical and
electrical power causes power to accelerate and thereby Considering the typical parameters in per unit,
frequency to increase () [18]. Equation (5) is obtained
from the reduced order SFR model (Fig 4) which gives the P = 0.1 FH = 0.33 TR = 7.5 GH = 0.9
size of the disturbance Pd . H = 4.5 R = 0.06 D=1
We can compute:
n = 0.4869, = 0.8159, r = 0.2815, 1 = 133.160
Where f : per unit on the base 50Hz 2 = 144.670, = -11.510, a = 5.0055
Pd : per unit on the total MVA The factors effecting the frequency behavior of a
system and the corresponding simulation results based on
Therefore, the initial value of the ROCOF is frequency response model are as below [18].
proportional to the size of disturbance [3, 4]. Using the
calculated change in power, the load is shed in steps and The time tm of maximum frequency deviation is
not in one stroke [7, 16]. Considering Pref = 0, a simplified same and does not depend upon different values of
block diagram (Fig.4) of the system frequency model can Pd. (Fig 5).
be obtained. The frequency response in per unit is given
by equation (6).

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 50.5
minimum allowable frequency (fmin) 48Hz.
Frequency in Hertz 50

49.5

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48.5 Pd=0.2 3) Obtain minimum non shedding overload

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Pd=0.4
Pd=0.6
Minimum non shedding overload Pmin is
47.5 Pd=0.8 calculated by substituting f and tm in equation 10.
Pd=1
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0 5 10 15 20 25 30 Load shedding amount is given by equation (12)
Time in seconds

Fig.5 Effect of disturbance power on frequency response

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The negative sign indicates load is reduced.
49.5
Finally, the load shedding is done with a preset time
Frequency in Hertz

49 interval. The major drawback of using the frequency-

H=3 response model for UFLS is as below [6]:
48.5 H=3.5

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H=4
H=4.5 The loads voltage dependence is not included.
H=5
47.5 The frequency gradient soon after the disturbance
0 5 10 15
Time in seconds
20 25 30 is measured with some time delay.
Fig.6 Effect of inertia constant on frequency response
The measuring instruments have certain time
It is observed that tm comes out to be around 2.77 constants and measuring uncertainties.
sec for all cases. Gathering enough information to use the SFR
Speed drop of regulation has no effect on the initial model runs into a series of difficulties [6].
rate of frequency decline. Thus governor valve If generators or large synchronous motors are
open should be rapid in case of sudden loss of disconnected during the disturbance, the inertia of
load. the system should be accordingly adapted [7].
The high value of inertia constant reduces the The model [7] has its own approximations, which
initial rate of frequency decline, maximum lead to a certain error.
deviation and increases time delay (Fig 6) [3, 19].
Equation (9) gives the equivalent inertia [6] V. SIMULATION RESULTS
constant The load shedding plan described in III and IV is
simulated in a three machine test industrial power system
in ETAP. A three phase fault occurs at 0.4 sec and the
CB4 and CB5 are opened at 1.5sec.
Heq : Equivalent inertia constant
Hi : Inertia constant of the ith unit Case 1: The worst possible overload of 38 MW,
only two out of three generators are working.
Si : Rated power of the ith generating unit
Case 2: Overload of 26 MW.
n : Number of all the generating units
A. Under Frequency Relay-based load shedding
The turbine output is delayed by the reheat time Under frequency relay based load shedding is
constant (TR). It affects the damping ratio () and designed for the worst condition. For a total generation of
natural undamped frequency (n) but not the initial 40MW and a total demand of 78MW, scheme is designed
slope or final value. using equations (2) and (3). The permissible settling
High-pressure fraction effects and can make the frequency is taken as 49.98 Hz. Table 3 shows relay
system overdamped. setting for case 1 when a three phase fault occurs in the
system. The simulation result is shown in section IV.
The effect of R and D is almost the same but the
effect of R dominates. Therefore, scheme can be summarized as below:

The closest generator to a source of disturbance The rate of frequency decay can be rapidly reduced
has the fastest response and the largest f / dt [3, 7]. in minimum time.

Load shedding based on SFR model is as below: TABLE 3. RELAY SETTING

1) Obtain system frequency response equation Traditional Frequency %load Time Load
under frequency threshold shed delay shed
Substituting the system parameters in equation (7), relay based load in
shedding MW
Step 1 49.58Hz 40% 0.1sec 15.2
Step 2 49Hz 30% 0.1sec 11.4
2) Determine maximum change in frequency f: Step 3 48.3Hz 30% 0.1sec 11.4
First shedding frequency (f1) should not be too close to
normal frequency and is selected as 49.5Hz while the

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 Inaccurate load shedding may occur to ensure
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frequency restoration. 19.5

Mechanical power (MW)

The under frequency relays for each step should be
distributed throughout the system [15]. 19

B. System Frequency Response Modle based Load 18.5

shedding
18 Relay based LS
The SFR model is developed in MATLAB- SFR based LS

SIMULINK (Fig 13) and tested in the described industrial 17.5

system in II. The SIMULINK model directly calculates

0 5 10 15 20 25 30
Time (sec)
the load shedding amount using equations (10)-(12). Fig 9. Mechanical power for case1
Frequency deviation has been limited within 4%.
VI. COMPARISION OF UNDER FREQUENCY RELAY BASED 51

LOAD SHEDDING WITH SYSTEM FREQUENCY RESPONSE 50.5

MODEL 50

Frequency (Hz)
Simulation results show variations in frequency for
49.5

case 1 (Fig 7) and case 2 (Fig 12) for both schemes. The 49

corresponding electrical power generated (Fig 8) and 48.5

Without LS

mechanical powers (Fig 9) are shown for case 1. Similarly 48

SFR based LS
Relay based LS

for case 2, electrical and mechanical power variations are 47.5

shown in Fig 11 and Fig 12 respectively. The amount of 47

load shedding for each case using both loads shedding 0 5 10 15
Time (sec)
20 25 30

scheme is shown in table 4. Fig 10. Under frequency load shedding for Case2
51

45
50.5

50 40
Frequency (Hz)

49.5 35
Electrical power

49 Relay based LS
30
SFR basedLS
48.5
25
48 Without LS
SFR based LS 20
47.5 Relay based LS

15
47
0 5 10 15 20 25 30
Time (sec) 10
0 5 10 15 20 25 30

Fig 7. Under frequency load shedding for Case1 Time (sec)

Fig 11. Electrical power generated for case 2

50

45 20

40 Relay base LS
Electrical power (MW)

SFR based LS
19.5
Mechanical power (MW)

35

30 19

25

18.5
20 Relay based LS
SFR based LS
15
18

10
0 5 10 15
Time (sec) 17.5
0 5 10 15 20 25 30

Fig 8. Electrical power generated for case 1 Time (sec)

Fig 12. Mechanical power for case2

Fig 13. SIMULINK System frequency response model

5
 TABLE 4. LOAD SHEDDING AMOUNT [2] Khaki, B.; Kouhsari, S.M., "Proper setting of underfrequency load
shedding relays in industrial plants," Environment and Electrical
Scheme Relay-based SFR model based Engineering (EEEIC), 2010 9th International Conference on , vol.,
Overload (MW) 38 26 38 26 no., pp.198,201, 16-19 May 2010
Total LS (MW) 38 38 39.576 27.156 [3] Bevrani, H.; Ledwich, G.; Ford, J.J., "On the use of df/dt in power
system emergency control," Power Systems Conference and
Thus possibility of over shedding occurs by relay Exposition, 2009. PSCE '09. IEEE/PES , vol., no., pp.1,6, 15-18
March 2009
based scheme. On the other hand, SFR model sheds
accurate loads and frequency reaches its stability limit at a [4] Rudez, U.; Mihalic, R., "Analysis of Underfrequency Load
Shedding Using a Frequency Gradient," Power Delivery, IEEE
much faster rate. Transactions on , vol.26, no.2, pp.565,575, April 2011
[5] Paolo Pinceti; Emergency load-shedding algorithm for large
TABLE 5. COMPARISON TO THE TWO SCHEMES industrial plants, Control Engineering Practice 10 (2002) 175181
Under-frequency relay based SFR model based [6] Jethwa, U.K.; Bansal, R.K.; Date, N.; Vaishnav, R.,
Algorithm [2, 19] designed based on Load shedding plan is designed "Comprehensive Load-Shedding System," Industry Applications,
worst possible impacts based on present power IEEE Transactions on , vol.46, no.2, pp.740,749, March-april 2010
overload [7] Delfino, B.; Massucco, S.; Morini, A.; Scalera, P.; Silvestro, F.,
The scheme incorporates time delay Immediate load shedding with "Implementation and comparison of different under frequency
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There for a drawback [14]. Meeting, 2001 , vol.1, no., pp.307,312 vol.1, 2001
The Overall plan has a slow The Scheme has a Faster [8] C. T. Hsu, Cogeneration system design for a high-tech science-
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14861492, Sep./Oct. 2003.
Incorrect or excessive load shedding Exact load shedding amount can [9] C. Concordia, L,H, Fink, G. Ponllikkas, Load shedding on an
may take place for conditions that be obtained. isolated system, IEEE Transactions on Power Systems, Vol. 10,
are not severe. No.3, August 1995, pp. 1467-1472
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simulation of hundreds of transient transient stability studies frequency relays for load shedding," Computer Applications in
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Threshold frequency setting for Load shedding plan uses the [12] Lokay, H.E.; Burtnyk, V., "Application of Underfrequency Relays
under frequency relay operation is instantaneous rate of frequency for Automatic Load Shedding," Power Apparatus and Systems,
predetermined and the load shedding change. IEEE Transactions on , vol.PAS-87, no.3, pp.776,783, March 1968
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more stages and fewer loads shed per calculated in a single step and July/Augnat 1998, pp,25-30
stage. 3-4 shedding steps [14] Shervin Shokooh; Tanuj Khandelwal; Dr. Farrokh Shokooh;
UFR based load shedding is simple A complex System frequency Jacques Tastet; Dr. JJ Dai, Intelligent Load Shedding Need for a
and cheap response model is required with Fast and Optimal Solution, IEEE PCIC Europe 2005
number of time constants
[15] IEEE Guide for the Application of Protective Relays Used for
Not required to adapt changes in A drawback: if generators or
Abnormal Frequency Load Shedding and Restoration, Power
inertia constant large synchronous motors are
Systems Relaying Committee of the IEEE Power Engineering
disconnected during the Society, 8 March 2007
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Under frequency relay based load shedding shed [18] P.M. Anderson, Power System Protection, IEEE Press Series on
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condition. SFR based load shedding has a much faster
operation than relay based scheme as no intentional time
delay is included. Also, overload shedding can be avoided
using SFR model. Simulation results show that SFR based
load shedding is much advantageous as compared to relay
based load shedding. Both the schemes are compared with
respect to frequency.
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