Modeling and simulation Voltage

and Frequency Variations

Out line:

• Introduction.
• Automatic Voltage Regulator (AVR).
• Load Frequency Controller (LFC).
• LFC Model for Two Areas Power System.
• LFC for Three Areas Power System.
• Combining AVR with LFC system.
• Conclusion.
Introduction:

• An electrical power system consists of

many elements connected to form
complex system capable of generating,
transmitting and distributing electrical
energy over a large geographical area.
Introduction:

• Power system stability requires a well designed

controllers to regulate system
variations.

• Voltage and frequency control actions needed to

maintain system operating conditions.

• Automatic Generation Control actions take effect.

Introduction:

• Automatic Generation Control (AGC) is

the name given to a control system having
three major objectives:
1.Hold system frequency at a specified value
(50Hz in UAE).
2. To maintain the correct value of
interchange power between control areas.
3. To maintain each unit's generation at the
most economic value.
Introduction:

• Automatic Generation Control has more

advantages, such as:
• Increase Generation Ability by connecting
two or more areas together.
• Improve ability of load variation recovery.
• More efficient for detecting and fixing
power faults.
Power Generation Mechanism:

• Mechanical energy provide the needed

motion (rotational) to produce electrical
power.
• Generated using thermal energy such as
steam, natural gas and nuclear and the little
rest by hydro-mechanical such as water
falls energy or wind.
Elements Of AGC efficiency:

• Load Frequency Controller (LFC).

• The Automatic Voltage Regulator (AVR).

Aims of the project:

• Design and simulate AVR.

• Design and simulate LFC.
• Design and simulate LFC for two areas power
system.
• Design and simulate LFC for three areas power
system.
• Combining AVR with LFC.
• Control the power of different areas.
Automatic Voltage Regulator
(AVR)
 Introduction for the AVR system:
• What is the AVR system?

• Why we need the AVR system?

• Where its connect in the power system?

• What elements its consist of?

 The AVR system:

• Make the system efficient.

• Consist of sensor, amplifier, exciter and generator.

• Deals with the reactive power.

 The AVR system:

• This is diagram for AVR system and it shows where it is

connected in the generation system
Modeling and Simulation:

Simple AVR System:

Transfer function relating the generator terminal voltage
Vt(s) to the reference voltage Vref(s) is:
 What is Happening in the AVR system?

• The amplifier comes first in the AVR system to

amplify the error signal.
• Then the error signals alter the exciter and
consequently the generator.
• The sensor sense the voltage output and send it to
the transducer and the transducer send in the
signal after comparing it to the amplifier.
PID (proportional-integral-derivative):

The transfer function of a PID controller is:

:Advantages of PID

- Fast response and small error (due to the proportional gain).

.Reduced steady-state error (due to the integral gain) -

- Reduced overshoot (due to the derivative gain).

:Disadvantages of PID

.There is no formal way to determine the best PID gains -

Delta V :Simple AVR Model Simulink

Delta V

Time (s) Time (s)

Input signal (Step Function) Output response from model

.Steady State error = 1 – 0.96 = 0.04

.Overshoot = 1.09 – 1 = 0.09

.Settling Time = 4s
AVR with PID Controller:
 Delta V

Delta V
Time (s)
Time (s)

Case 1( Kd=0.1,Ki=0.1,Kp=1). Case 2( Kd=0.5,Ki =0.5,Kp=0.5).

Delta V

Delta V

Time (s) Time (s)

.Case 3( Kd=0.2,Ki=0.5,Kp= 3) Case 4( Kd=1,Ki=3,Kp=4).

Steady State Error Settling Time (s) Overshoot Kp Ki Kd Cases

0.001 3 0.003 1 0.1 0.1 1

0.4 10 0.4 0.5 0.5 0.5 2

0.01 4 0.4 3 0.5 0.2 3

0.01 5 0.17 4 3 1 4

The case 1 is the best case because it has less time

.settling, less overshoot and less steady state error
Load Frequency
Control (LFC)
Load Frequency Control (LFC):

• The main problems of control in the large

power system are:
• Active Power.
• Reactive Power.
• Active power control is closely related to
frequency control.
• The frequency has an inverse relationship
with the load that is changing continually.
Load Frequency Control (LFC):

• Feedback.
• Sensor.
• Frequency fixed.
• Frequency of UAE power system = 50 Hz
Load Frequency Control (LFC):

• Analysis of LFC :
High load (Air conditions, machines)  High pressure on
system  Decreasing in frequency of the load (< 50 + 0.05Hz) 
System is unstable.

To return the value of load frequency to its normal:

1) The output will multiply with the value of K G (speed regulation) then,
multiply it with governor delay.
2) There will be a command which tells control valve to control the
pushing of fuel.
3) More mechanical power to turbine  More electrical power 
Frequency of the load will increase to its normal value  System is
stable.
Load Frequency Control (LFC):

• Model of LFC:
 Load Frequency Control (LFC):
• Modeling & Simulation:

Typical LFC Model

Name TCV TT K D

Value 0.2 sec 0.5 sec 0.8 20

constant values in LFC

 Load Frequency Control (LFC):

• Frequency response of LFC:

Delta f (Hz)

Time (sec)

• It is not stable.
 Load Frequency Control (LFC)
• Improvement of LFC:
• Adding PID controller to the LFC.

PID Controller. PID parameters effects (Ki, Kd, Kp)

 Load Frequency Control (LFC):

• Model of LFC after adding PID Controller:

Simulink diagram for LFC with PID control system

 Load Frequency Control (LFC):
• LFC response with different values of PID
parameters:
Delta f (Hz)

Delta f (Hz)
Time (sec) Time (sec)

LFC response for (Kp = 1, Ki = 1, Kd = 1) LFC response for (Kp = 1, Ki = 0.3, Kd = 1)

 Load Frequency Control (LFC):
• LFC response with different values of PID
parameters:
Delta f (Hz)

Delta f (Hz)

Time (sec) Time (sec)

LFC response for (Kp = 1, Ki = 0.3, Kd = 0.6) LFC response for (Kp = 2, Ki = 0.8, Kd = 1.1)
 Load Frequency Control (LFC):
• The output result of undershoot, settling time and steady-
state error for different values of PID parameters:

Kp Ki Kd Undershoot Settling time Steady- state error

1 1 1 -0.012 >10 -0.002

1 0.3 1 -0.014 11 -0.0015

1 0.3 0.6 -0.015 10 -0.0011

2 0.8 1.1 -0.009 6 -0.0001

- Last value of PID controller parameter is the best

one.
LFC Model for Two Areas Power System:
∆Pd1
∆Pd2

∆Pt12

Area 1 Area 2

∆Pt21
∆f1
∆f2

∆f1 = f1 – fo ∆f2 = f2 – fo

∆f1
∆Pd1
Two areas power system ∆f2
∆Pd2
∆Pt12
LFC Model for Two Areas Power System:

LFC Model for two areas without integral controller

 LFC Model for Two Areas Power System:
:Outputs figures (∆f1, ∆f2, ∆Pt12)

Delta f (Hz)
Delta f (Hz)

Time (sec) Time (sec)

f1∆ f2∆
Delta f (Hz)

Pt12∆
Time (sec)

The system is not stable.

LFC Model for Two Areas Power System :

LFC Model for two areas with Integral Controller

 LFC Model for Two Areas Power System :
For (ki1 = 0.02 & ki2 = 0.01):
:Figures for outputs (∆f1, ∆f2, ∆Pt12) with Integral Controller
Delta f (Hz)

Delta f (Hz)
Time (sec)
Time (sec)

f1∆ f2∆
Delta f (Hz)

Time (sec)

∆Pt12
 LFC Model
LFC Model forareas
for Two Two Areas Power System :
For (ki1 = 0.1 & ki2 = 0.02):
Delta f (Hz)

Delta f (Hz)
Time (sec) Time (sec)

f1∆ f2∆
Delta f (Hz)

Time (sec)

∆Pt12
 LFC Model for Two Areas Power System :
For (ki1 = 0.42 & ki2 = 0.019):
Delta f (Hz)

Delta f (Hz)
Time (sec)
Time (sec)

f1∆ f2∆
Delta f (Hz)

Time (sec)
∆Pt12

The system is stable because output results go to the reference point.

Two Areas with Um Al Naar Substation:
 Two Areas with Um Al Naar Substation :

• Studying cases of LFC system of two area:

- Case 1: Area 1 and 2 are in the normal situation. (∆P1=0 & ∆P2=0) .

- Case 2: Area 1 is overloaded to more than 10% of the normal limit, i.e. a step load
disturbance of 0.1. Area 2 is in the normal situation. (∆P1 = 0.1& ∆P2 = 0) .

- Case 3: Areas 1 and 2 are overloaded to more than 10% of the normal limit, i.e. load
disturbances of 0.1 for each area. (∆P1 = 0.1& ∆P2 = 0.1) .

- Case 4: Area 1 and 2 are overloaded to more than 10% and 20% of the normal
limit, i.e. load disturbances of 0.1 and 0.2 respectively. (∆P1 = 0.1& ∆P2 = 0.2) .
 Two Areas with Um Al Naar Substation :

Case 1: Area 1 and 2 are in the normal situation. (∆P1=0 & ∆P2=0)

Two-area system ( Area 1 ) Two-area system ( Area 2 )

1 1

0.8 0.8

0.6 0.6

0.4 0.4

0.2 0.2

Delta f (Hz)
Delta f (Hz)

0 0

-0.2 -0.2

-0.4 -0.4

-0.6 -0.6

-0.8 -0.8

-1 -1
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
Time (s) Time (s)

.Response for area 1 when ∆P1 = 0 and ∆P2 = 0 .Response for area 2 when ∆P1 = 0 and ∆P2 = 0
 Two Areas with Um Al Naar Substation :

Case 2: (∆P1=0.1 & ∆P2=0)

-3 -3 Two areas system (Area 2)

x 10 Two areas system (Area 1) x 10
0 2

-1
0
-2

-3 -2

-4

w(t) (Hz)
w(t) (Hz)

-4
-5

-6 -6

-7
-8
-8

-9 -10
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
Time (sec) Time (sec)

.Response for area 1 when ∆P1 = 0.1 and ∆P2 = 0 .Response for area 2 when ∆P1 = 0.1 and ∆P2 = 0
 Two Areas with Um Al Naar Substation :

Case 3: (∆P1=0.1 & ∆P2=0.1)

Two-area system ( Area 1 ) Two-area system ( Area 2 )

0.02 0

0 -0.002

-0.02 -0.004

Delta f (Hz)
Delta f (Hz)

-0.04 -0.006

-0.06 -0.008

-0.08 -0.01

-0.1 -0.012
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
Time (s) Time (s)

.Response for area 1 when ∆P1 = 0.1 and ∆P2 = 0.1 .Response for area 2 when ∆P1 = 0.1 and ∆P2 = 0.1
 Two Areas with Um Al Naar Substation :

Case 4: (∆P1=0.1 & ∆P2=0.2)

Two-area system ( Area 1 ) Two-area system ( Area 2 )

0.01 0

-0.01 -0.005

-0.02

-0.03 -0.01

Delta f (Hz)
Delta f (Hz)

-0.04

-0.05 -0.015

-0.06

-0.07 -0.02

-0.08

-0.09 -0.025
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
Time (s) Time (s)

.Response for area 1 when ∆P1 = 0.1 and ∆P2 = 0.2 .Response for area 2 when ∆P1 = 0.1 and ∆P2 = 0.2
LFC Three Areas
Power System
 Three-Area Power System:

Area1
ΔPt13
ΔPt12
ΔPt31
ΔPt21

ΔPt23

Area2 Area3
ΔPt32
 Simple Block Diagram for 3-area Power
System:

Inputs Variables Outputs

ΔPd1 Δf1

ΔPd2 Δf2

ΔPd3 Δf3
Area Power System 3 ΔPt12

ΔPt23

ΔPt13
Three Area LFC system:
 Output from LFC Three Area System:

Δf1 (Hz)

Time (sec)

Output from Area-1

 Output from LFC Three Area System:

Δf2 (Hz)

Time (sec)

Output from Area-2

 Output from LFC Three Area System:

Δf3 (Hz)

Time (sec)

Output from Area-3

Combining AVR with
LFC System
 Combining AVR with LFC System:

• The connection between the AVR and the LFC

systems only represented in some constants
K1, K2…etc.
• The main concentration in AGC system is the
LFC part more than the AVR system.
• If the LFC system wasn’t stable the AGC
system will not be stable
Simulation of the AGC system:
Simulation:
 :Result by using MATLAB

Kp=0.1, Ki=0.2 and Kd=0.009

The response of the AGC the LFC part The response of the AGC the AVR part

Overshoot = 0.16 Overshoot = 0.185

Response Time = 12 s
Response Time = 3.5 s
Steady state error = 0 Steady state error = 0
The response of the AVR and LFC system
separately:

AVR LFC
From the previous example:

• If the LFC system is not stable the

AGC system is stable.
• If the AVR system wasn’t stable it not
meant to be that the AGC system isn’t
stable.
Conclusion:

• The purpose of AGC is the tracking of load

variations while maintaining system frequency, net
tie-line interchanges, and optimal generation levels
close to specified values.
• AGC has more advantages than the previous
technique such as, increasing generation ability,
improve ability of load increase recovery, more
efficient for detecting and fixing power faults,
saving time.
Conclusion:

• LFC is used to regulate the output power of each

generator at prescribed levels while keeping the
frequency fluctuations within pre-specified limits.
• The study of AVR
• show what is the important of the proportional-
integral-derivative action (PID) controller.
• The LFC system is much slower than the AVR due
to the mechanical inertia constant in LFC.
Conclusion:

• If the LFC system is not stable the AGC

system is not stable.
• If the AVR system wasn’t stable it not
mean that the AGC system isn’t stable.
 Thank You For Your Listening

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