ICREISG-2020, February 14 – 15, 2020, Bhubaneswar India

Application of FPA based on PID controller for

LFC of two-area multi-source hydrothermal
Power system
Barada Prasanna Nayak Pratap Chandra Nayak Ramesh Chandra Prusty
Dept. of Electrical Engg. Dept. of Electrical Engg. Dept. of Electrical Engg.
VSSUT VSSUT VSSUT
Burla,India Burla,India Burla,India
[email protected] [email protected] [email protected]

Abstract— An LFC scheme basically includes an (megawatts) of the integrated Power system and supervise
appropriate control system for an interconnected energy the change of the power of the link line between the areas of
system, which has the capability to carry the frequencies control.
of each area and the link line back to the original The objectives of LFC scheme are:
setpoint values or even very close to the values 1. Maintainance of the needed frequency and the output
practically after load change. It is executed by using power in the integrated Power system.
ordinary controllers. But these conventional controllers 2. controlling of the deviation in link(tie) line power of
are raising some problems like; its operation is very the areas connected
laggy, the inherent nonlinearities of the different In a two-area interconnected power system, where the tie
components of the power system is not taken into line connects the two area, the area to be controlled is fed by
account . The advanced control system has many own area and the power flow. Meanwhile, a small load
superiority on top of the ordinary integral controller. perturbation can change the frequency of the areas
They are much quicker than ordinary controllers and connected , so that the flow of power through the tie line is
also offer a better stability response than integral affected. Therefore, the control system of each area needs
controllers. In this paper, the AI technique as FPA the information of the transient situation of all other areas to
together with the PID controller has been designed and regain the prespecified values of link line power and the
analyzed for LFC of multi-area Power systems. The control area frequency. Information about a control area can
optimal controller is able to give a better feedback and be found out by its output frequency and tie line gives the
can be used under various nonlinearities. To know the information about other connected areas. In a two-area
performance of the designed system ITAE has been used feeding system, the Area Control Error is given by:
as the objective function. ACE = (Bi Δ fi + Δ P tie)
Keywords: Automatic Generation Control(AGC);load
Where i = 1, 2 (No. of areas )
frequency control(LFC); integral time absolute
Bi = frequency bias,
error(ITAE);PID-controller
f = Prespecified frequency &
I. INTRODUCTION Ptie =Power flow in the tie line.
To reduce equipment damage, possible black outs & This Error is fed to the controller as input signal.
load shedding; active energy storage units such as fuel cell Therefore, the control of load frquency of a multi-area
play a vital role in reducing oscillations produced due to Power system generally includes a suitable control strategie,
load variation. In the case of an interconnected Power whereby the frequency of the areas can return to their
system, any unexpected change in load in areas connected, prespecified value or very close to their prespecified value,
leads to the change of the frequencies of the areas same for link line power when there is a unexpected load
connected and also a change of power flow in the link(tie) perturbation occurs.
line. The primary objectives of the LFC scheme is to Generally, today all power systems are linked to other
retain the actual frequency and the desired output power control areas and the problem of frequency control becomes
, a common venture.

978-1-7281-7034-3/20/$31.00 ©2020 IEEE

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 ICREISG-2020, February 14 – 15, 2020, Bhubaneswar India

The following are some basic operating principles of an mechanical governor based hydro and thermal units. In
interconnected energy system: addition, studied systems includes a HAE-FC unit in each of
1. In normal operating conditions, loads of each area its area.
should be supplied by its own source with the exception of
the specified portion of loads of other members, as mutually Given below the transfer functions of the units that has
agreed upon. been used in the studied model.
2. Every region should agree to adopt, organize and The block for ‘Power system’ is represented by:
monitor strategies and equipment that are beneficial for both
natural and abnormal conditions.
In this proposed work hydrogen aqua-electrolyzer is
combined with fuel-cell & hydrogen storage tank Which KPS =1/D
provides energy support to the power grid system to meet TPS = 2H/F0D
the demands of long-term and greater load demand [1] Here,
Several control strategies were used to create controllers to F 0 = the system's nominal frequency
achieve a better run-time response and careful selection of D =damping constan( initial loading/F0Pr )
the LFC controller in a specific case needs huge experience H= d inertia constant
because each and every controller has its advantages and P r = area rating.
disadvantages [3]. SOS is applied with fuzzy applied PID ‘Speed governor’ transfer function is given by:
controller for generation control of multi-area power
GSG (S) =
systems is done in[2].MFO applied fuzzy controller has
constructed in[4] and a comparatison between SOS & PSO TG = governor time constant
for fuzzy applied PID controller for AGC in an For the thermal plant turbine,the block can be written as,
interconnected system is done in [5]
Different type of optimization technique has been applied GT (S) =
in modern complex power system network such as Firefly
algorithm (FA) by S.M.Abd-Elazim in [6] and hybrid To quantify the effectiveness of the proposed approach,
gravitational search algorithm (GSA) and pattern search numerical values of all the required data are taken and
(PS) technique by Sahoo R.K. et al.[7].Saroj Pradhan et al. applied to the system. These values can be changed
in [10] also Dipayan guha et al.[8] demonstrates that according to the design and requirement of the system.
proposed Differential Search Algorithm (DSA) can readily Every area of the considered system has one non-reheat unit
improve performance of the system and can be applied to of rating 2000MW with an initial load of 1000MW.
actual frequency control problem. A search algorithm for a
B. Controller used
quasi-opposition harmonic algorithm covering optimal real
time control of the frequency of the load of a hybrid tidal- After introducing the action of the governor, the system
diesel generation system is shown in[9]. frequency is still different from the predetermined value; for
For automatic generation control (AGC), a new learning- various other control strategies, the frequency is required to
based teaching learning optimization algorithm (TLBO) return it to the predetermined value. Typically, for this work
with a 2-degree freedom of proportional-integral-derivative ordinary integral controllers are used. This type of control is
controller (2-DOF PID) is proposed by R.K.Sahu. et al. known as Secondary control (that works after the primary
[11]. Shabani .H. proposed a reliable PID controller applied control operation), that settles the frequency of the system to
to the imperialistic competitive algorithm(ICA) for its predetermined value or approaches it. In this model again
frequency control of the power systems [12]. Modified an conventional controller such as PID controller is used.
GWO method based on cascaded PI-PD controller for AGC
of power systems with plug-in electric vehicles is proposed
by Padhy.S et al. [13].

II. SYSTEM MODELLING

A. Study of the system
A system consisting of various sources is taken into
account and have been studied. This system is a
hydrothermal system with several sources, can be seen in
Fig.2. Every area of the considered system has one Fig.1. Structure of a PID controller

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 ICREISG-2020, February 14 – 15, 2020, Bhubaneswar India

1 1
1+ 1 1+ 1 ΔPtie12
1
R1 β1
1 1 1
1 1+ 1 1+ 1 1+ 1
R2

1 1+ 1
1− 1
1+ 1 1+ 1
1 + 0.5 1
2 12

1
ΔPtie12
R1
1 1
α12
1 1+ 2 1+ 2

R2
2
1 1+ 2 1− 2 1+ 2
1+ 2 1+ 2 1 + 0.5 2

β2
2 2 α12 ΔPtie12
1+ 2 1+ 2

Fig.2. Block diagram of the multi source hydrothermal system

• Here it gives best result for FPA but conventional III. PERFORMANCE INDEX
controllers have some drawbacks such as A performance index or quality standard (Js) is needed
1. They are very slow in work. according to the specifications that is wished for and for
the limitations present. The quality standard commonly
2. There is some internal non-linearity of the various used in the design of the controller are the Integral of
components in the Power system, which the ordinary squared error (ISE), Integration of time multiplied with
controller do ignore at times. Effect of Governor squared error (ITSE), Integration of absolute error (IAE),
Deadband, Generation Rate Limitations (GRC) and U and Integration of time multiplied with absolute error
re-heat type of turbines in conventional coal based (ITAE). Here, the ITAE standard is used to study and to
power plants are examples of non-linearities present adjust the gains of the controller ,to obtain simulated
within the system. results, since it gives the response with better settling time
3. Although constant change of load happens and less oscillations . ISE is the sum of the square of
through out the day, it varies the set point gradually. errors of the frequencies of all areas and all
This is commonly regarded as an internal property of a communication lines, as indicated in the equation for a
Power system. To obtain better results, the gain of the system with 2 areas. In this project ITAE criterion is used
controller must be repeatedly changed in accordance which is given by the equation :
with the change in the set point. And, this also needs to
be made sure that the gain value should result in a
Js = ITAE = (1)
better settling time and low oscillations . It is very
difficult to achieve this in practice. Thus, basically, the
conventional controller is known as a fixed type Here t is the time for simulation, and Tsim gives the
controller. This is only suitable for a particular range for simulation .It aims to reduce this ITAE to get
condition but for different operating point it is not better system performance in terms of shorter settling
suitable. time, peak undershoot & overshoots. The task of
designing a controller can be considered as the

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 ICREISG-2020, February 14 – 15, 2020, Bhubaneswar India

optimization problem, and the constraints are the limits

for the controller parameter.

Hence,
Minimize JS ,
subject to:

These 6 conrtoller gains have been optimized during the

optimization process ,after which executing the values of Fig.3. Flow chart for FPA algoritm
these gain gives us the better run time chracterstics.
FPA was introduced by Yang in 2012 that has been
IV. OPTIMIZATION TECHNIQUE showing advantages over other algorithms for generating
better solutions for real world problems , such as power
As we know, these soft computations deal with and energy, signal and image processing,
inaccuracy, unreliability & partial truth. It is trying to get communications, structural design, clustering and feature
practicality, reliability and cheaper solutions. Thus, it selection, global function optimization, computer gaming,
creates a scope for a significant number of machine and wireless sensor networking. To keep pace with the
learning methods. Because of this only, recent trends recent trends many variants of FPA has been evolved by
generally include evolutionary and intelligence-based modification ,hybridization & tuning .
algorithms and bio-induced computing, because soft
computing is more like biological processes.
V. RESULTS & DISCUSSION
Again, the addition of non conventional sources with
traditional power systems made the size cumbersome , The studied system is shown in the figure 2.1.
MATLAB/SIMULINK Software version R2016a has
changed its structurealso. Due to this increased size, the
been used for obtaining the results . In this work the
result of the conventional frequency control schemes can
not be used. conventional controllers such as proportional integral
Thus, for reliable control and transformation of the controller (PI), proportional integral derivative controller
system, various control approach using soft computing (PID) & multistage proportional integral derivative
controller (MPID) have been used. To get the maximized
technologies are fetching attention. Here are some of these
result intelligent optimization technique, flower
methods: Genetic algorithm, Particle Swarm
Optimization, Hybrid Firefly, Bacterial Foraging pollination algorithm (FPA) is used.
Algorithm, Quasi-opposition Search, Bats-inspired
Algorithm, Differential Evolution Algorithm, TLBO, For PI controllers gains are:
KP1 = -1.0386 , KP2 = -0.0333 , KI1 = -1.0386, KI2 = -
Artificial bee colony, Cuckoo Search, etc. In this work
1.2080
Flower Pollination algorithm are used.

Flower pollination algorithm (FPA): For MPID controllers gains are:

KP1 = 0.4641 , KP2 = -0.1068 , KI1 = -0.5933, KI2 =
1.3233 , KD1 = 0.3410 , KD2 = 0.1988
Flowering Algorithm (FPA) is a natural algorithm that
mimics the working of pollination of flowering plants.
An optimal plant propagation strategy includes the For PID controllers gains are:
survival of the fittest, as well as optimal plant propagation KP1 = -0.8423, KP2 = -0.5001, KI1 = -1.9898, KI2 =
in terms of numbers. These factors are the foundations of -1.9127, KD1 = -1.6782, KD2= -0.1029
FPA and are optimized.
.

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The comparison between these has been shown in the From the above table we can clearly identify that
below figures. frequency deviation in both the area as well as tie line
power deviation takes less settling time than both PI & PID
contollers.
The ITAE values that have been found for different
controllers for FPA algorithm is:
PI : 1.1842
PID : 0.6332
MPID : 7.1743
Other performance index such as IAE, ITSE,ISE & MSE
can also be used to evaluate the system performance.

VI. CONCLUSION

In this research work to do the study PI, PID & MPID

Fig.4. Frequency deviation in area-1 controllers have been used as the main controllers to
stabilize the power in tie line and frequency in both the
areas of a 2-area multisource hydro-thermal power
system.Different optimization technique such as FPA,
CSA, GA also used to compare the results of optimized
controller parameters. ITAE values also have been
recorded to for evaluation of the performance index.From
the obtained results we can find that for FPA algorithm
PID controller gives less settling time and very less
oscillation than that of PI & MPID controllers. It can be
confirmed by the graphs that are obtained for the
frequency deviation and tie-line deviation.

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Fig.5. Frequency deviation in area-2
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