International Journal of Engineering Research & Technology (IJERT)

ISSN: 2278-0181
Vol. 3 Issue 11, November-2014

Load Frequency Control of Two Area Power

System using PID Controller

M. Lokanatha1 K. Vasu 2
PG scholar, Department of EEE, Assistant professor, Department of EEE,
Madanapalle institute of Technology and science, Madanapalle institute of Technology and science,
Chittoor, A.P, India. Chittoor, A.P, India.

Abstract--Recently, PID controller is widely used for i.e. 50+5% HZ, the entire power system goes to blackout
different applications. In this project a particle swarm conditions and alternators comes to rest position.
optimization tuned Proportional Integral Derivative (PSO-
PID) controller has been proposed. The performance of the The power systems, frequency are dependent on active
proposed controller has been compared with the other power and voltage dependence on reactive power limit. The
classical controllers under different loading conditions. It is control power system is separated into two independent
shown the performance PID controller tuned with Particle
problems. The control of frequency by active power is
swarm algorithm was better than classical controller in terms
called as load frequency control (LFC) [3-4]. An important
of transient stability
task of LFC is to maintain the frequency deviation constant
Keywords: LFC, proportional integral controller, PSO-PID against due to continuous variation of loads, which is also
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controller- transient stability of LFC. referred as un- known external load disturbance. Power
exchange error is an important task of LFC. Generally a
I. INTRODUCTION power system consists of several generating units connected
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together; these generating units are inter-connected through

Modern days of the electrical power system are
tie-lines to become fault tolerant. This use of tie-line power
interconnected to neighboring power plants. Each power
creates a new error in the control problem, which is the tie-
plant to generate own electrical power generation, during
line power exchange error. Area controller error (ACE) is
maximum load conditions all plants share electrical power
play major role in interconnected power system and also
through Tie-line control. Because, if load demand of the
minimizing error functions of the given system. In this
plant increases [1-2]. This can be effect on the power angle
paper particle swarm optimization tuned PID controller is
delta, delta angle decreases due to speed of the generator
proposed and performance of the load frequency control on
decreases; speed is directly proportional to the frequency.
the two area power system and also performance of the
Hence the load demand is increase frequency of the system
proposed PSO-PID controller as compared to conventional
is decreases. Once frequency exceeds the within the limits
PI and PID controller.
II. MATHEMATICAL MODELING OF LFC

Control Control The power transfers from area 1 to area 2 are

Area 1 Area 2 V1 V 2
ptie12  sin( 1   2) ---------- (1)
V1, δ1, V2, δ2, X12
Ptie12, X12 Ptie21, X21
If the change in load demands of two areas there will be
incremental change in power angle.∆δ1 and ∆δ2 be the
Tie line incremental changes in δ 1 and δ 2 the Change in power is
X12=X21
Fig 1: Two Area power system Control block diagram

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 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
Vol. 3 Issue 11, November-2014

V1 V 2 For the two Area power systems is

ptie12  ptie12  sin[( 1   1)  ( 2   2)
X12 2H d
PG  PD  f  Bf  Ptie12
0
-- (2) f dt

V1 V 2
ptie12  cos( 1   2)(  1   2) ---- (3) 2 Hs d
X12 PG (s)  PD ( s )  f ( s )  Bf ( s )  Ptie12 ( s )
0
f dt
V1 V 2
T12  cos( 1   2) --- (4)
X12 * P1 PG1 ( s )  PD1 ( s )  PTie12 ( s )
f 1( s )  ----13)
2 H 1s
Ptie12 ( p.u )  T12 ( 1   2) --- (5) B1(
0
 1)
f B1
V1 V 2  k ps 
Pmax12  (1   2 ) ---- (6) f 1( s )  [ PG1 ( s )  PD1 ( s )  PTie12 ( s )]   - (14)
X12 1  sT p s 
P Where Kps=1/B1 and Tps= 2H/B1f0
T12  max12 cos( 1   2) --- (7) Similarly
P1
 k ps 
d f 2( s )  [ PG 2 ( s )  PD 2 ( s )  PTie21 ( s )]   ------ (15)
2п∆f  ----- (8) 1  sT p s 
dt
Incremental tie line power output of area1 A power system can be divided into various areas each area
f 1 f 2 connected into its neighboring areas through tie-lines.[7] Load
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Ptie12 ( P.U )  2T12 (  ) -------- (9) frequency control means to control the Active power and
s s
frequency kept constant while any load deviations occurring on
On taking Laplace transform on both side, then the power system
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2T12
Ptie 21 (s)  (  f 2(s)   f 1(s)) --- (10)
s

T21  a12T12 Then

2T21
Ptie 21 ( s )  ( f 1( s )  f 2( s )) --- (11)
s
According to swing equation [5].Let ∆P D is increases in
load at area 1 the power balance is

2H d
PG  PD  f  Bf ---- (12)
0
f dt
Where

H- Inertia constant, f0 – Nominal frequency,

Fig 2: Block diagram of two area interconnected power system with controller
∆f- change in frequency, B- Area parameter
Area control error plays a major role in interconnected N
power system, because controller input is Area control ACEi   Pij  Bi i --------------------- (16)
j 1
error.

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 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
Vol. 3 Issue 11, November-2014

Where ∆ω is the speed deviation

N is number of areas interconnected areas i, 1
Bi   Di ---------------------------------- (17)
Pij is the power deviation between areas i and j from the Ri
scheduled values.
Bi is frequency bias factor.

III. PARTICLE SWARM OPTIMIZATION

James Kennedy an American Social Therapist alongside

Russell C.Eberhart developed another evolutionary
computational strategy termed as Molecule Swarm
Advancement in 1995.The methodology is suitable for
taking care of nonlinear issue. The methodology is focused
around the swarm conduct, for example, flying creatures
discovering sustenance by rushing. An essential variety of
the PSO calculation satisfies desires by having a masses
(called a swarm) of candidate result (called particles).
These particles are moved around in the interest space
according to a few essential formulae. The advancements
of the particles are guided by their own particular specific
best known position in the request space and furthermore
the entire swarm's best known position. Modeling of
∆f1and ∆f2 applied on partial swarm optimization
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algorithm.

5 4 4 3
1.2 S  (1.072 S Kd  1.2 S Kp )  ( 2.06 S Kd
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3 3 2 2
10.72 KpS  1.2 S Ki )  ( 0.12 S Kd  2.06 S Kp
2
1.072 KiS )  0.12 KpS  2.06 KiS  0.12 Ki
f 1 
5 4
(60  35.28 Kd ) S  S (22.08 Kd  24.72 Kp
3
54.8)  S (42.43Kd  22.08 Kp  24.72 Ki
2
102.09)  S (2.472 Kd  42.43Kp  24.08 Ki 
80.6)  S (2.47 Kp  42.43KI  0.12)  2.472 Ki Fig 3: Flow chart of PSO algorithm

IV. SIMULATION AND RESULTS

The practical swam optimization tuned in proportional constant. The performance of the proposed controller has
integral derivative controller using design of LFC in two less peak value and quick settling time and improves the
area power system, the controller plays regulating power stability of the system
flow between different areas while holding frequency is
.

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 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
Vol. 3 Issue 11, November-2014

Fig 4: Frequency deviations of Area1 and Area2 with PI controller Fig 5: Frequency deviations of Area1 and Area2 with PID controller

Fig 6: Tie-line power deviation of PI controller

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Fig 7: Tie-line power deviation of PID controller

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Fig 8: Frequency deviations of Area1 and Area2 with

PSO-PID controller Fig 9: Tie-line power deviation of PSO-PID controller

From Fig 8 and 9 shows, PSO-PID controller using LFC very less then compared to the PI and PID controllers as
on the power system at change in power of Area1 is 25% shown in fig 4 and 5 as PI controller applied to LFC and fig
and change power of Area2 is 10% of the base load. The 6 and 7 shows to the PID controller applied to the LFC.
performances of PSO tuned proportional derivative Hence, the performances of PSO-PID controller using LFC
controller tuned in LFC as quick settling time [9] i.e. area1 of the power system, reduces the error and improve the
settling time is 18 sec and area2 settling time is 16 sec dynamic response of the system.
respectively. Peak overshoots of the area1 and area2 has

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 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
Vol. 3 Issue 11, November-2014

Fig 10: Comparison of Frequency in Area1 with PI, PID and PSO-PID
controllers Fig 11: Comparison of Frequency in Area2 with PI, PID and PSO-PID
controllers

From fig 10 and 11 shows, comparison of LFC of two area

power systems with proportional integral, proportional integral
derivative and practical swarm optimization tuned PID controller
at area1 25% of change in load and Area2 is 10% of change in
Load. By observing the wave forms of the following figures PSO
tuned proportional integral derivative controller has better
performance than that of the conventional PI and Conventional
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PID controller. The performance of the Rise time, peak time and
Fig 12: Comparison of Tie-line power with PI, PID and PSO- settling time of the given system summarized different types of
PID controllers
controllers.
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Table 1: summarized Area1 frequency deviation Table 2: summarized Area2 frequency deviations

Controller Rise time (s) Peak Settling Controller Rise Peak overshoot Settling
overshoot time(S) time (s) Time(s)
PI 0.0075 0.015 35 PI 0.0035 0.007 40
PID 0.0015 0.003 25
PID 0.006 0.012 20
PSO-PID 0.001 0.002 20
PSO-PID 0.0055 0.011 16

Case Study: Case 2: Change in Active power of Area1 is 25% and

Area2 is 10% with PSO-PID controller
Case 1: Change in Active power of Area1 is 10% and
Table 4: Valid proportional, integral and Derivative constants
Area2 is 0% with PSO-PID controller
are shown below
Table 3: Valid proportional, integral and Derivative % Area Kp Ki Kd
Change in Load
constants are shown below

% Area Kp Ki Kd 25% Area1 0.2816 0.8179 0.2610

Change in
Load
10% Area2 2.5306 2.5026 2.5475
10% Area1 0.1458 0.6458 1.5468
0% Area2 0.4121 0.5027 0.863

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 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
Vol. 3 Issue 11, November-2014

Fig 13: LFC on power system with PSO-PID controller at ∆PL1=10% Fig 14: LFC on power system with PSO-PID controller at ∆PL1=25%
and ∆PL2=0% of change in Active power. and ∆PL2=10% of change in Active power.

By comparing Fig 14 and Fig 15 shows, if change in increases peak overshoot, more no of oscillations and Fast
Active power of both areas+ 25% and +10% of the base settling time compare to change in Active power of 10%
load, the response of the frequency deviation curves to and 0% of the base load.

V. CONCLUSION: REFERENCES
1) “Modern Power Systems Control and Operation” Kothari, D
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In this paper, it can be concluded that practical swarm P and I J Nagrath, Power System Engineering, 2nd edn,
optimization tuned proportional integral derivative Tata ... Debs, A S, KAP, New York, 1988.
controller give optimal value for load frequency control on 2) “Power system analysis” by Haadi Sadat, Tata McGraw- ill
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the two area power system. The performance of the given company’s Inc. 1999
proposed controller has more accurate than that of the other 3) “Electrical Power System Analysis”. Front Cover ·
conventional PI and PID controller under different load Sivanagaraju, B. V. Rami Reddy. Firewall Media, Jan 1, 2007
conditions. - 345 pages.
4) “Power Generation, Operation and Control”, 3rd Edition
Therefore the proposed controller of two area Allen J. Wood, Bruce F. Wollenberg, Gerald B. Sheble ISBN:
power systems, the transient response was improved with 978-0-471-79055-6 656 pages October 2013
less peak overshoot and settling time .The performance and 5) “Tuning of PID controller using particle swarm optimization”
robustness of proposed controller was analyzed for Mahmud Iwan Solihin, Lee Fook Tack and Moey Leap Kean
different change in load disturbance. 2011
6) “Load frequency control using optimal PID controller for
Non-Reheated thermal power system with TCPS units”
A.R.Rajkumar, T.Jayabharathi,, june-2012.
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with conventional and fuzzy logic control” Nilay N.Shah,
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8) “Load frequency control of interconnected hydro power
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Khajuria, Jaspreet Kaur, oct. 2012.
9) “Load frequency control of two area power system using
different types of controller” Atul Ikhe and Anant Kulakarni,
sept.2013.

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