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Frequency Control in Power Systems-Part I

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40 views12 pages

Frequency Control in Power Systems-Part I

Uploaded by

Pandara panika
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Power System Frequency

Control
Part I – Frequency Control in an
Isolated Power System

W. D. Prasad

Reference: H. Saadat, “Power System Analysis”, McGraw-Hill


P. Kundur, “Power System Stability and Control”, McGraw-Hill
Introduction
• Objective: generate and deliver power in an interconnected power system as
economically and reliably while maintaining the frequency and voltage within
permissible limits.
Real power change (P) System frequency (f)
Reactive power change (Q) Voltage magnitude (|V|)

• Load Frequency Control (LFC) loop controls P and f.


• Automatic Voltage Regulator (AVR) loop regulates Q and |V|

• Controllers are set for a particular operating condition and take care of small
changes in load demand to maintain the f and |V| within the specified limits.

• The cross-coupling between LFC and AVR loops is negligible. The two loops can
be analyzed independently.
Load Frequency Control (LFC)
• Objectives: maintain reasonably uniform frequency.
divide the load between the generators
control the tie-line interchange schedules

[H. Saadat, “Power System Analysis”]


Modeling for Frequency Control
• Generator Model:
Swing equation under small-disturbances:
2𝐻 𝑑 2 ∆𝛿
= ∆𝑃𝑚 − ∆𝑃𝑒
𝜔0 𝑑𝑡 2
1 𝑑 ∆𝛿
∆𝜔 =
𝜔0 𝑑𝑡
𝑑 ∆𝜔 1
= ∆𝑃𝑚 − ∆𝑃𝑒
𝑑𝑡 2𝐻
1
𝑠∆𝜔 𝑠 = ∆𝑃𝑚 𝑠 − ∆𝑃𝑒 𝑠
2𝐻

∆𝑃𝑚 𝑠 + 1 ∆𝜔 𝑠
- 2𝐻𝑠

∆𝑃𝑒 𝑠
Modeling for Frequency Control
• Load Model:
• The load on a power system consists of variety of electrical devices.
• Loads can be modeled in different ways: constant power, constant current,
constant admittance, ZIP, frequency-sensitive load
• Load-frequency characteristics can be approximated by;
∆𝑃𝑒 = ∆𝑃𝐿 + 𝐷∆𝜔
∆𝑃𝐿 = 𝑛𝑜𝑛 − 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 𝑠𝑒𝑛𝑠𝑖𝑡𝑖𝑣𝑒 𝑙𝑜𝑎𝑑 𝑐ℎ𝑎𝑛𝑔𝑒
𝐷∆𝜔 = 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 𝑠𝑒𝑛𝑠𝑖𝑡𝑖𝑣𝑒 𝑙𝑜𝑎𝑑 𝑐ℎ𝑎𝑛𝑔𝑒
𝑃𝑒𝑟𝑐𝑒𝑛𝑡 𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝑙𝑜𝑎𝑑
𝐷=
𝑃𝑒𝑟𝑐𝑒𝑛𝑡 𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦
∆𝑃𝐿 𝑠

- 1
∆𝑃𝑚 𝑠 + ∆𝜔 𝑠
- 2𝐻𝑠

𝐷
Modeling for Frequency Control
• Prime Mover Model:
• Source of mechanical power, prime mover, may be hydraulic turbines or steam
turbines in conventional power systems.
• The turbine model relates changes in mechanical power output ∆𝑃𝑚 to
changes in valve position ∆𝑃𝑉 .
• Different turbine types vary widely in characteristics.

1
∆𝑃𝑉 𝑠 ∆𝑃𝑚 𝑠
1 + 𝜏𝑇 𝑠

1st Order nonreheat steam turbine

∆𝑃𝑚 𝑠 1
𝐺𝑇 𝑠 = =
∆𝑃𝑉 𝑠 1 + 𝜏𝑇 𝑠
Modeling for Frequency Control
• Governor Model:
Scenario – Load increase from the steady-state value ∆𝑃𝐿 > 0
• 𝑃𝑒 > 𝑃𝑚 → ∆𝑃𝑚 < 0
• Power deficiency is supplied by the kinetic energy stored in the rotating system.
• The turbine speed and the generator frequency fall due to reduction in kinetic
energy.
• Change in speed is sensed by the turbine governor and adjusts the turbine
input valve to change the mechanical power output to bring the speed to a new
steady-state value.
• Watt governor
• Earliest governor.
• Senses the speed by means of rotating flyballs and provides mechanical
motion in response to speed changes.
https://www.youtube.com/watch?v=B01LgS8S5C8
Governor Steady-State Speed Characteristics
Governor droop mode operation

• Slope of the curve represents the speed regulation.


∆𝜔
𝑅=
∆𝑃
Load Sharing by Parallel Units
• If two or more generators with dropping characteristics are connected to a power
system, there will be a unique frequency at which they will share a load change.

𝑓 (𝐻𝑧) 𝑓 (𝐻𝑧)

𝑓0
∆𝑓
𝑓′

𝑃 𝑃
𝑃1 𝑃′1 𝑃2 𝑃′2

Unit 1 Unit 2
∆𝑓 ∆𝑓
∆𝑃1 = 𝑃′1 − 𝑃1 = , ∆𝑃2 = 𝑃′2 − 𝑃2 =
𝑅1 𝑅2
∆𝑃1 𝑅2
=
∆𝑃2 𝑅1
Governor Representation
• The speed governor mechanism acts as a comparator.
1
∆𝑃𝑔 𝑠 = ∆𝑃𝑟𝑒𝑓 𝑠 − ∆𝜔 𝑠
𝑅

• The governor command is transformed through the amplifier to the turbine to


change the valve position.

1
∆𝑃𝑉 𝑠 = ∆𝑃 𝑠 [𝒂𝒔𝒔𝒖𝒎𝒆 𝒂 𝒇𝒊𝒓𝒔𝒕 𝒐𝒓𝒅𝒆𝒓 𝒓𝒆𝒍𝒂𝒕𝒊𝒐𝒏𝒔𝒉𝒊𝒑]
1 + 𝜏𝑔 𝑠 𝑔

∆𝑃𝑔 𝑠 1
∆𝑃𝑟𝑒𝑓 𝑠 + ∆𝑃𝑉 𝑠
- 1 + 𝜏𝑔 𝑠

1
∆𝜔 𝑠
𝑅
Load – Frequency Control Block Diagram of an
Isolated Power System
∆𝑃𝐿 𝑠

∆𝑃𝑔 𝑠 ∆𝑃𝑉 𝑠
∆𝑃𝑟𝑒𝑓 𝑠 ∆𝑃𝑚 𝑠 -
1 1 ∆𝜔 𝑠
+ + 1
- 1 + 𝜏𝑔 𝑠 1 + 𝜏𝑇 𝑠 2𝐻𝑠 + 𝐷

1
𝑅

• Assume constant reference power ∆𝑃𝑟𝑒𝑓 → 0

∆𝜔 𝑠 1 + 𝜏𝑔 𝑠 1 + 𝜏 𝑇 𝑠
=
−∆𝑃𝐿 𝑠 2𝐻𝑠 + 𝐷 1 + 𝜏𝑔 𝑠 1 + 𝜏 𝑇 𝑠 + 1 𝑅
Load–Frequency Control of an Isolated Power System

• Assume a step load change.


∆𝑃𝐿
∆𝑃𝐿 𝑠 =
𝑠
1 + 𝜏𝑔 𝑠 1 + 𝜏 𝑇 𝑠 ∆𝑃𝐿
∆𝜔 𝑠 = −
2𝐻𝑠 + 𝐷 1 + 𝜏𝑔 𝑠 1 + 𝜏 𝑇 𝑠 + 1 𝑅 𝑠

• Steady-state value of ∆𝜔 = ∆𝜔𝑠𝑠


∆𝜔𝑠𝑠 = lim ∆𝜔 𝑡 = lim 𝑠∆𝜔 𝑠
𝑡→∞ 𝑠→0
1
∆𝜔𝑠𝑠 = −∆𝑃𝐿
𝐷+1 𝑅

• When several generators with governor speed regulations 𝑅1 , 𝑅2 , ⋯ , 𝑅𝑛 are


connected to the system, the stead-state deviation in frequency is given by;
1
∆𝜔𝑠𝑠 = −∆𝑃𝐿
𝐷 + 1 𝑅 + 1 𝑅 + ⋯+ 1 𝑅
1 2 𝑛

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