Automatic Generation
Control (AGC)
by
Dr. Deependra Kumar Jha
ME (Power Systems), PhD (Electric Power System
Engineering)
Professor, Department of Electrical Engineering
School of Engineering & Technology, Galgotias
University
Outline
Purpose and Overview of AGC
Automatic
Generation
Control
(AGC)
System modeling: control block
diagram
AGC for single generator
AGC for 2 generators
AGC for multi generators
Area Control Error (ACE)
2
Purpose of AGC
To
maintain power balance in the
system.
Make sure that operating limits
are not exceeded: Generators limit
Tie-lines limit
Make
sure that system frequency
is constant (not change by load).
3
Overview of AGC
Load
is always changing.
To maintain power balance,
generators need to produce more
or less to keep up with the load.
When Gen < Load (Gen > Load),
generator speed and frequency
will drop (rise).
=> We use this generator speed
and frequency as control signals!
4
3 Components of AGC
Primary
control
Immediate (automatic) action to sudden change of
load.
For example, reaction to frequency change.
Secondary
control
To bring tie-line flows to scheduled.
Corrective actions are done by operators.
Economic
dispatch
Make sure that the units are scheduled in the most
economical way.
This
presentation covers only primary and
secondary control of AGC.
5
AGC for Single Area
System Modeling
Single Generator
Multi Generators, special case: two
generators
System Modeling: Turbine-Governor
Model
Small
signal analysis model, relating mechanical
power to the control power and the generator
speed.
1
R
-
PC
+
GM s
1
1 sTG 1 sTT
PM
PC = Small change in control setting power
Where
=
Small
change in governor synchronous speed
PM
=
Small
change in mechanical output power
R
= Regulation
constant
M s
=GTransfer
function relating mechanical power to control signals
Speed-Power Relationship
From
synchronous turbinegovernor: small signal analysis
model, P G s P 1
M
GM s
At
steady state (s1 0,
PM PC
1), we have
R
Static Speed-Power
From,
Curve
Slope = -R
1
PM PC
R
Primary control: Immediate
change corresponding to
sudden change of load
(frequency)
Secondary control: Change
in setting control power to
maintain operating
frequency.
The higher R (regulation),
the better.
2
1
PM
PC1 = PM 1
PC 2 = PM 2
Turbine and Generator Load
Model
Turbine
Model
YE ( s )
Generator
Kt
1 STt
Pg ( s )
load model
PD ( s )
-
Pg ( s )
Kp
1 STp
F ( s )
10
AGC for Single
closed loop power control system
Generator
as below.
1
R
PC
PD ( s )
Kg Kt
1 sTg 1 sTT
Pg ( s )
Kp
1 STp
F ( s )
11
AGC for Multi
Generators
Consider effect of
power flows in transmission lines,
and
loads at each bus
to mechanical power of each
generator.
This analysis assumes that every
bus is a generator bus.
12
Power Balance Equation at
Each
At eachBus
bus,
G1
G2
PGi PDi Pi
Where
PGi
PDi
Pi
V1
= Generator i power
= Load power at bus I
PD1
V2
P2
P1
= Power flow from bus i
Consider
small
changes,
PGi PDi Pi
V3
PD 3
PG 3
G3
13
PD 2
PGG12
Load Power Equation
PDi
(Assume
) that
PDi DLi i PLi DLi i PLi
Where
=PLiSmall change of load input
=P Small change of load power
Di
=iSmall change of voltage angle
Substitute
in power balance
equation,PGi PDi Pi
We
PGi DLi i PLi Pi
have
14
Mechanical Power of Each
Generator (
)
PGi
Linearized
equation relating
mechanical power to generator
power and generator
speed.
PMi M i i Di i PGi
Where
=
PMiSmall change in mechanical power of generator i
=
PGiSmall change in electric power of generator i
=
i small change in internal voltage angle of generator i
From,
PGi DLi i PLi Pi
We have
PMi M i i Di i DLi i PLi Pi
15
Generator Block Diagram
From,P M D D P P
Mi
i
i
i
i
Li
i
Li
i
1
We can write
i
~ PMi PLi Pi
where
~
Di Di DLi
PLi
PMi
M s D
i
i
1
M i s Di
1
s
Pi
16
AGC for Multi Generators: Block
Diagram
PCi
GMi s
GPi s
PLi
1
Ri
1
GPi s
~
M i s Di
PMi +
Pi
Change in tie-line
power flow
GMi s
1 sTGi 1 sTTi
17
Tie-line ModelP(i
From
power flow equation,
n
Pi Vi Vk Bik sin i k
k 1
Approximate at normal operating
condition, we have
n
Pi Bik i k
k 1
Then, for small change,
n
k 1
k 1
Pi Bik i k Tik i k
Where
Tik
is called stiffness or synchronizing power coefficient
18
Tie-Line Block Diagram
From
1
and
Pi Tik i k
s
n
k 1
We
have,Pi Tik i k
k 1
i
Pi
1
s
+
+
Tik
+
-
+
19
AGC for 2-Generator: Block
Diagram1
PL1
R1
PC1
+
GM 1 s
PM 1 +
P1 P12
-1
PC 2
+
GP1 s
GM 2 s
-
PM 2+
P2 P21
GP 2 s
1
+
T12
-
1
R2
PL 2
20
AGC for 2-Generator:
Static Speed-Power Curve
Load
increases.
Frequency drops.
Steady state is
reached when
frequency of both
generators is the
same.
2
1
+
= Change in
total load
PM
PM 1
PM 1 PM 2
PM 2
21
Steady State Frequency Calculation:
2 generators
From
~
~
PMi M i i Di i PLi Pi Di i PLi Pi
Consider
the frequency at steady
~
PM 1 D11 PL1 Ptie line
state,
~
PM 2 D2 2 PL 2 Ptie line
1
1 2 PM 1
R1
PM 2
1
R2
PL1 PL 2
1
1
~ ~
D1 D2
R1 R2
22
AGC for Multi Areas
Simplified Control Model
Area Control Error (ACE)
23
Simplified Control Model
Generators
are grouped into control areas.
Consider
An area as one generator in single area, and,
Tie-lines between areas as transmission lines
connecting buses in single area.
We can apply the same analysis to multiarea!!
However, we have to come up with
frequency-power characteristics of each
area.
Actual application of this model is for
power pool operation.
24
Power Pool Operation
Power
pool is an interconnection of
the power systems of individual
utilities.
Each company operates
independently, BUT,
They have to maintain
contractual agreement about power
exchange of different utilities, and,
same system frequency.
Basic
rules
Maintain scheduled tie-line capacities.
Each area absorbs its own load changes.
25
AGC for Multi Areas
During
transient period, sudden change of load
causes each area generation to react according
to its frequency-power characteristics.
This is called primary control.
This change also effects steady state frequency
and tie-line flows between areas.
We need to
Restore system frequency,
Restore tie-line capacities to the scheduled value, and,
Make the areas absorb their own load.
This is called secondary control.
26
Area Control Error (ACE)
Control
setting power of each area
needs to be adjusted corresponding
to the change of scheduled tie-line
capacity and change of system
frequency.
ACE measures this balance, and is
given by,
ACE1 P12 B1
ACE2 P21 B2
for two area case.
Where
Bi
1
Bi DLi
Ri
= Frequency bias setting of area i (>0) and
27
ACE: Tie-Line Bias Control
Use
ACE to adjust setting control PCi
power,
, of each area.
Goal:
To drive ACE in all area to zero.
To send appropriate signal to setting
controlPpower,
Ci
Use
integrator controller so that
ACE goes to zero at steady state.
28
AGC for 2-Area with Tie-line Bias Control: Block
Diagram
B1
+
1
ACE1
P+
1
R1
K PC1
1
s
+
12
-1
P21+
PM 1
ACE2
K PC 2
2
s
+
P1 P12
GM 2 s
-
GP1 s
-1
B2
GM 1 s
PL1
1
R2
PM 2
P2 P21
GP2 s
T12
-
PL 2
29
