Improvement Of Synchronizing And Damping Torque Coefficients Based LQR Power System Stabilizer

Ali M. Yousef M. K. El-Sherbiny Alimy l@,vahoo.com sherbiny@,aun.eun.eg Electrical Engineering Department Faculty of Engineering Assiut University Assiut,Egypt
I. Abstract
Design of power system stabilizer for enhancement power system stability is proposed. Formula for the effect of the proposed PSS on the synchronizing and damping torque coefficients is obtained .To study the power and effectiveness of the proposed linear quadratic regulator (LQR) power system stabilizer , a sample power system in a linearized model is simulated and subjected to different operating conditions. The power system dynamic responses after applying a variety of operating points with the proposed PSS stabilizer are plotted. Further, the effect of connecting the proposed power system stabilizer on synchronizing and damping torque coefficients is tabulated . A comparison between the effect of the power system stabilizer based on either pole assignment approach, the proposed LQR stabilizer in terms of either power system responses or its eigenvalues due to different external power system disturbances is reported. The whole digital simulation results prove the effectiveness and super-priority of the proposed stabilizer upon the pole placement controller in sense of fast damping response with small overshoots / undershoots and less settling time. Key-Words : Power Systems, LQR Control, Power System Stabilizer. the optimal performance . Alternative adaptive control techniques have been proposed to overcome such problems [7-101 . However, most adaptive controllers are designed on the basis of a linear model and parameter identification of the system model in realtime which is a time consuming task. The present paper uses LQR control approach to design a power system stabilizer[9]. An expression for synchronizing and damping torque coeficients with robust controller is established.

111. Studied Power System Modeling

The linearized model of the studied power system consisted of synchronous machine connected to infinite bus bar through transmission line is represented in a block diagram as shown in Fig.1. Its state space formulation can be expressed as follows [lo]:

A6 =w o ~ w (1) A ' - 1 K , A - D A- ~ , ~ I ~ ) ~ K

A 4

(2)

11. Introduction
Improved dynamic stability of power system can be achieved through utilization of supplementary excitation control signal [l-41 . The controller which generates this supplementary signal is called power system stabilizer PSS .The conv&tional lead-lag power system stabilizer PSS is widely used . Other types such as proportional-integral and proportional-integralderivative PSSs have been proposed [5-61 . However, the gain settings of these stabilizer are determined based on the linearized model of the power system around a nominal operating point to provide optimal performance at this point. While the power systems are highly nonlinear and the operating conditions can vary over a wide range as a result of load changes , line outages, and unpredictable major disturbances such as three-phase faults. Consequently , these stabilizers no longer ensure

1 AEFD=-(--KAK,A6-K,K,AE'g T A
-hEFD

(4)

+Kau)

In a matrix form as follows:

x(t)= A X ( t ) + Bu(t)

(5)

0-7803-8575-6/04/$20.00 02004 IEEE 753

X = A X Bu. The matrix N is set to zero when omitted. Also returned are the Riccati equation solution S and the closed-loop eigenvalues E: SA+ A'S - (SB + N ) R-' (B'S + N ' ) E
= EIG

ATe

+ Q = 0,
(8)

( A- B *K )

K=[ HI H2 H3 H4].

V. Effect Of The LQR-PSS On Synchronizing And Damping Torque Coefficients

Fig. (1) shows the block diagram of sample power system under study. From the figure, the electric torque relation can be expressed as follows: AT, = K , A + K , A E ~ ~ where; K A E = l K , A ~- } ~ {A E ~ ~ 1+ST
(9)

Figure 1 Block diagram of power system under study

0 -k, M

WO

-D M
0

A=

&
T'do

-k, 0 M -1 1 -k,T'do T'do

(10)

T = K,T&,
By adding the LQR control signal defined in equation (7), the feedback gain K defiend as:

K=[%

H 2

H3

H41

Using thyristor type excitation, where, its transfer function can be expressed by

G, =- K A 1 + STA
The parameters and coefficients of A matrix and B vector are defined in ref. [ 10 1. where; KA is the excitation gain , TA is time constant of excitation system The following equation is obtained
,

D.

Proposed Lqr Power System Stabilizer

6Efd = G,(K5A6 + K,AE;

Substituting
U

+U)

by equation (9) yields the following

The feedback gain of the closed loop system design by The design of the power system stabilizer based on linear-quadratic regulator LQR control for continuous-time systems as follow: [K, S, El = LQR (A, B, Q, R, N) (7) calculates the optimal gain matrix K such that the statefeedback law U=-Kx minimizes the cost function

K K,AJ+K,AEi + H , A J + AEfd = A 1+ STA H, A@ + H3AEi+ H,AE,

(11)

After some algebraic manipulation the following equation is obtained

J = Integral (X'QX u'Ru Subject to the state dynamics

+ 2 * X'Nu)dt

754

: AEfd .

= -

KA I + STA

(Ks +HI)AS+(K6+H3)AE +H2Au 4

1--

a, + S a , (bo + b2S2)+ S b, where;

U,
1

j66

KAH4

1+ STA

=K,K3(K4
=K2
K 3 (K4TA

+ KSKA -K4KAH4 + K A H l )
+K A H 2 )

(12) and by substituting in equation (lo), the following yields :

=-

K3
I+ST

bo =(1+ K 3 K 6 K A K A H 4+ K 3 K A H 3 ) b, = T + TA- T K A H 4 b, =T.TA

To determine the damping and synchronizing torque coefficient , the s factor is substituted by j w a, + j w a, (bo - b,w2) + j w b,

-K4A8-

KA -

(K5

+ H , ) A 6 + ( K 6 + H 3 ) U E+ H 2 A m 4
KAH4

+ STA

(1--

+ STA

ATe =

1 + ST,

1 1

j4b

ao(bo- b 2 w 2 ) + w 2 u , b , K, (bo- b 2 w 2 ) 2 w 2 b : + aobl - a , ( b , - b 2 W 2 ) jwAS (bo-b,W2)2 +W2b:

(1------H 4 ) K A 1+ ST,
where;

{ ( K , + H , )AS + H,AO)

ATe = K s AS+K, Am where; Ks is a synchronizing torque coeffecient. K,, is a damping torque coeffecient.

A=&*K *(K6 +H 3 ) 1+ST (1----K A H 4 ) 1+ ST,

then,

K (A) l+STA

To evaluate the Ks and & over a wide range of input frequency oscillation, the following analysis is obtained.
V. 1. Ks and K,, at lower frequency wt <<1:

: AE; = (-- K3 K,As-----~_* .

1+ST

K l+ST

The synchronizing torque coefficient with LQR control can be expressed by the following equation:

K (A\
1 + ST,

( ( K , +H,)AS+H,Aw))l(l+ A )

(1------- 4 ) KAH 1+ ST,

(13) Substitute Am =SAS. Where, S is the Laplace transform factor. The relation between can be estimated Substitute the value of hE& in equation (9), the deviation of the electrical torque as a function of delta deviation can be obtained as follows:

= K , - K2K,(K4 +K,KA -K4KAH4 KAHl) (1 + K 3 K 6 K A K A H 4+ K 3 K A H 3 ) (14) While the synchronizing torque coefficient without proposed LQR controller can be found by putting the Hs equal zero .The following equation gives the synchronizing torque coefficient .

A ! ;and Ad I?

K , =K,-K2

K 3 (K4

+K5

KA

1+ K 3 K 6 K A

(15)

Moreover, the damping torque coefficient can be calculated with proposed LQR controller as follows:

755

or;
Kd = K2K3 I + K ~ K ~ K K A H ~+ K ~ K A H ~ - A

0 -.1317 -.2356 15.47

377 0 0 -.1104 0 -.463 0 -194.81

0 0
.1667 -16.667

( K 4 + K A K ~ K ~ K A H+ ~ A ~ ~ ~ ) ( T +TTKA H q ) K A I + K ~ K ~ K K A H ~+ K ~ K A H ~ - A

and also vector B is obtained as follows

-( K ~ T AK A H ) + ~

B=[O 0 0 25/0.06]T
(16) torque The assumption in Eqn.(7) are matrix N=O and matrix R=l and also

Without LQR controller, the damping coefficient can be written as follows:

K2K3

{(Kq +KAK~)(T+TA)
1+ K 3 K 6 K A

r400 0 0 01

Kd =

1+ K ~ K ~ K A

- K4TA

(17) V.2. Ks and I<d at higher frequency wt >>1: The synchronizing torque coefficient at higher frequency with LQR controller can be calculated as : Solving Eqs.( lo), ( 1I), the Riccati equation S is:

p40

K, =K,

1 + -(ao m2b2

a1b1 ) b 2

580 90 580 4.7*105 -4080 90 -4080 170

0 0

0'

0 0 0

Without LQR controller, the Ks is determined by putting H's equal zero and the results can be obtained bY

K , =Kl - K2K3K4 W2T2

Moreover, the damping torque coefficient K,, with LQR controller is obtained as

The matrix S is a positive definite Also, the optimal gain matrix K calculate as: K=[ HI H2 H3 H4]. K = [14.45 -658.9 26.89 0.971 (18)

K,

=+= a
0

K2K.3

(K4TA

+KA

H2)

b 2

W ~ T~ T

Without LQR controller, the I is expressed by &

Fig. (2) depicts the power system model in a block diagram with different power system stabilizers for comparison. Using the value of feedback gain vector K obtained in equation (18) , the dynamic stability of the linearized studied power system subjected to load disturbances is simulated on the computer using Matlab program Package .For pole placement technique, the eigenvalues of the power system at nominal values is to be shifted to left hand far from imaginary axis , by using Matlab function (place) to find the feedback

VI. Digital Simulation Results

Choosing the machine parameters and nominal operating point as ;

signal as:
K = [ 0.0762 6.1025 -0.2464 0.03901. Figs. 3,4 and 5 show the speed deviation responses due to load disturbances of 0.01 p.u. without and with PSSs ( either based on poleplacement approach or proposed LQR approach ) at different operating points. To validate the effectiveness of the proposed LQR- PSS , a three-phase short circuit at machine terminal is applied. The terminal voltage deviation responses is plotted in Fig..6 . The digital simulation results prove the robustness of the proposed PSS in terms of fast damping with system uncertainties defined in parameter and operating point changes. Table (1) display the eigenvalues analysis at different controller. The result of synchronizing and damping torque coefficients are tabulated in Table (2 ).

X, = 1.6;X, = 1.55;X i = 0.32; X , = 0.4p.u .;M = 10; W , = 377; Tdo = 6; D = 0; ' P = 1p.u.;Q = 0.25p.u.; K A = 25; TA= 0.06s
The design of the proposed LQR PSS is established as follows, The nominal A matrix given in eqn.(6) is evaluated as :

756

power system
& AVR

Figure 2 Schematic Diagram Of Power System Model With Different Power System Stabilizers

Figure 5 Angular Velocity Deviation Due To 0.01 P.U Load Disturbance With, Without LQR And Pole-Placement Control At Heavy Load (P=1.2 ,Q=O.8 P.U.) AndKA=25, TA=0.06

1.5

x104

d e ~ l a oforniga in p U a1 P=l .Q=.25 p.u. n

D
P

0.5

0
-0.5
1

D.

Terminal mltage d e v i a t i o n

-1.5

0.5

1.5

2 2.5 lime in Sec.

35

Figure 3 Angular Velocity Deviation Due To 0.01 P.U Load Disturbance Without And With LQR And Pole-Placement PSS At Nominal Load(P=l.O ,Q=.25 P.U.) And KA=25,TA=0.06 Sec.

10'

deviation of omga in p.u. at P O 2,Q=0 p.u

Tinre in S e c .

Figure 6 Terminal Voltage Deviation Response In P.U. Due To Load turbance Of .01 P.U. And During Three-phase Short Circuit For 80 Msec. At Nominal Loading Condition With Lqr

tim? in Sec.

Figure 4 Angular Velocity Deviation Due To 0.01 P.U Load Disturbance With And Without LQR And Pole-Placement Control At Light Load (P=.2 ,Q=O P.U.) And Ka=25 ,TA=0.06 Sec.

757

Table 1 The Eigenvalues Analysis At Different Controller With The Different Operating Point.

PSS in terms of improvement of damping of the power system oscillations. Also, improvement the synchronizing and damping torque coefficients compared to pole placement based PSS.

Load case

Without

Pole placement

LQR

control

control

control
-0.68+7.6j -0.68-7.6j -4 16.91 -3.2 -1.25+7.3j -1.25-7.3j -416.92 -2.5 -0.981+4.73j -0.981- 4.73j -4 16.91 -1.81+6.93j -1.81-6.93j -416.95 -1.35

VIII. Rerefences
P.Kundur, Power system and control Book McCraw - HillJnc. 1994 R.H. Miller Power system opertion Book McGraw-Hill, Inc,1983 Ali M. Yousef Efficient methods for enhancing power system operations Ph.D thesis, Faculty of engineering, Assiut university, Assiut, Egypt

P-12, Q=.8 p.u. (heavy load) P=l ,Q=.25 p.u. (normal ioad) P=.2 ,Q=O P.U (light load) P=l -.25 1eadp.f ,Q=

0.0018+8.006 0.0018-8.006j -14.0012 -3.132 -.0363+7.007j -O.O363-.007j -14.295 -2.76 -.1313+4.826j -0.1313-4.82j -13.95 +.102+6.316j

-0.0389+8.009j -0,0389-8.009j -13.98 -3.19 -0.13+7.007j -0.13-7.007j -14.255 -2.76 -0.189+4.808j -0.189- 4.808j -13.93 +.0083+6.3j +.0083-6.3j -14.96 -2.365

2003
E.V.Larsen and D.A. Swann,Applying power system stabilizers, Part 1;General Concepts, IEEE Trans. on power apparatus and systems,Vol.PAS100, No.6,June,1981 ,pp. 3017-3024. E.V.Larsen,and,D.A.Swann ,Applying power system stabilizers , Part I1 , Performance objectives and tunning concepts , IEEE Trans. on power apparatus and systems,Vol.PAS- 100, No.6,June,1981 ,pp. 3025-3033. [6] E.V.Larsen and -D.A. Swann,Applying power system stabilizers, Part 1II;Practical Consideration, IEEE Trans. On power apparatus and systems,Vol.PAS-100, No.6,June,l981 ,pp. 30343046. [7] D.C. Lee, R.E. Beaulieu, and J.R.R.Service,A power system stabilizer using speed and electrical power input-design and field experience, IEEE Trans. on Power Apparatus and Systems ,Vol. PAS-100, No.9, Sept. 1981,pp.415 1-4155. [8] P.Kundur, M.Klein,G.I.Rogers, and M.S.Zywno,Application of power system stabilizer for enhancement of overall system stability, IEEE on Power Systems, Vo1.4,No.2, May 1989,pp.614-626. [9] MATLAB Math Library Users Guide, by the Math Works. Inc., 1999. [lo] M. K. El-Sherbiny and A. M. El-Serafi Analysis of Dynamic Performance of saturated Machine and Analog Simulation, IEEE Trans. PAS, Vol. PAS-101, No.7 July.

+. 102-6.316j
-14.9 -2.433

Table 2 Synchronizing And Damping Torque With And Without LQR Controller .
1.orrd ruse W/O

Ks
Pole-pl ,5377 1.215
1 QR
W/O

Kd

PolePlc .07 ,2336 ,199 .427

LOR
10.2 22.5 19.0 21.4

P=.2,Q=O P=l, Q=.25 P=1.2, Q=..8 P=l, Q=-.25

,5623 1.27

.I49 .32

.024 ,009 -.007 -.076

1.719 1.206

1.65

,860 ,091

1.1

VII.. Conclusions
Design of power system stabilizer PSS based on LQR approach is introduced. The proposed PSS has robustness control property with power system operating points change and its parameters variation and uncertainty. Moreover, an expression for both the synchronizing and damping torque coefficients of the studied power system with proposed LQR- PSS are derived and obtained. To validate the effective of the proposed LQR-PSS, a simple power system consisting of synchronous generator connected to infinite bus through transmission line subjected to different input disturbances is simulated. A comparison between the dynamic power system responses using pole placement based PSS and proposed LQR- PSS is reported. The digital results show the power of the proposed LQR-

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