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

1
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)

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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).

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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!
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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.

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 AGC for Single Area
• System Modeling
• Single Generator
• Multi Generators, special case: two generators

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System Modeling: Turbine-Governor Model
 Small signal analysis model, relating mechanical power
to the control power and the generator speed.


1
R GM s 
PC - 1 PM
+ 1  sTG 1  sTT 
WhereP = Small change in control setting power
C
= Small
 change in governor synchronous speed
= Small
PM change in mechanical output power
= Regulation
R constant
M s 
=GTransfer function relating mechanical power to control signals

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Speed-Power Relationship
From synchronous turbine-governor:
small signal analysis model,
 1 
PM  GM s  PC   
 R 

At steady state (s → 0, GM s → 1), we

have 1
PM  PC  
R

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 Static Speed-Power Curve
  From,
Slope = -R 1
PM  PC  
R
0  Primary control: Immediate
2 change corresponding to sudden
1 change of load (frequency)
 Secondary control: Change in
setting control power to maintain
operating frequency.
PM 
The higher R (regulation), the
PC1 = PM 1 PC 2 = PM 2 better.

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 Turbine and Generator Load Model
Turbine Model
YE ( s ) Kt Pg ( s)
1  STt

Generator load model

PD ( s )
-
Kp F ( s )
Pg ( s ) +
1  STp

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AGC for Single Generator
closed loop power control system as
below.

1
R PD ( s )
PC - Kg Kt -
Kp
+ 1  sTg  1  sTT  +
Pg ( s ) 1  STp F ( s )

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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.

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Power Balance Equation at Each
Bus
 At each bus,
G1 G2
PGi  PDi  Pi
PGG12
Where V1 V2
PGi = Generator i power
PDi PD1 P1 P2 PD 2
= Load power at bus I
Pi = Power flow from bus i
 Consider small
changes, V3
PGi  PDi  Pi PG 3
PD 3
G3

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Load Power Equation ( PDi )
Assume that
PDi  DLi i  PLi  DLi i  PLi
Where
PLi = Small change of load input
PDi = Small change of load power
i = Small change of voltage angle
Substitute in power balance equation,
PGi  PDi  Pi
We have PGi  DLi i  PLi  Pi

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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
= ismall 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
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Generator Block Diagram
From, P  M   D   D   P  P
Mi i i i i Li i Li i

We can write i  1

~ PMi  PLi  Pi 
~ M s  D 
i i
where Di  Di  DLi

PLi   i

PMi - 1 1  i
+

-
M i s  Di s

Pi

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 AGC for Multi Generators: Block Diagram

Change in tie-line
Pi power flow
PCi PMi + - i
GMi s  GPi s 
+
- -
PLi
1
Ri

1 1
GPi s   GMi s  
 ~
M i s  Di  1  sTGi 1  sTTi 

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Tie-line Model ( Pi )
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 n
Pi   Bik  i   k    Tik  i   k 
k 1 k 1

Where Tik is called stiffness or synchronizing power coefficient

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Tie-Line Block Diagram
From 1
n
Pi   Tik  i   k  and
  
s
k 1

We have,
n
Tik
Pi   i  k 
k 1 s
i 1  i
s
Pi +
+
+ - +
+

Tik  k - +

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 AGC for 2-Generator: Block Diagram
1
R1 PL1
PC1 -
PM 1 +
GM 1 s  GP1 s  s
+ 1 1
- - +
P1  P12
T12
-1 -
P2  P21
PC 2 PM 2+ -
 2  2
GM 2 s  GP 2 s  s
+
- -
1 PL 2
R2
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 AGC for 2-Generator:
Static Speed-Power Curve
 Load increases. 
 Frequency drops.
 Steady state is reached 0
when frequency of both
 
generators is the same. 2
1
+ = Change in
total load
PM
PM 1 PM 1 PM 2 PM 2

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Steady State Frequency Calculation:
2 generators
From
~ ~
PMi  M i  i  Di i  PLi  Pi  Di i  PLi  Pi
Consider the frequency at steady state,
~
PM 1  D11  PL1  Ptieline
~ 1
PM 2  D2 2  PL 2  Ptie line PM 2   
1 R2
  1  2 PM 1   
R1
 PL1  PL 2
 
~ ~ 1 1 
 D1  D2   
 R1 R2 
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AGC for Multi Areas
 Simplified Control Model
 Area Control Error (ACE)

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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 multi-area!!
 However, we have to come up with frequency-
power characteristics of each area.
 Actual application of this model is for power
pool operation.

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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.
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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”.

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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 
 1
for two area case. Bi   DLi  
 Ri 
Where Bi = Frequency bias setting of area i (>0) and
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 ACE: Tie-Line Bias Control
Use ACE to adjust setting control power, PCi
, of each area.
Goal:
◦ To drive ACE in all area to zero.
◦ To send appropriate signal to setting control
power, PCi

Use integrator controller so that ACE goes

to zero at steady state.

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 AGC for 2-Area with Tie-line Bias Control: Block
Diagram
1
B1 1
R1 PL1
+ -
ACE1 K PC1 PM 1
 1 GM 1 s  + GP1 s  s
s + 1 1
P+12
- -
P1  P12 +
T12
-1 -1 -
P21+ P2  P21
ACE2 K PC 2 PM 2 - 2  2
 2 GM 2 s  + GP2 s  s
s +
+ - -
B2 1 PL 2
2 R2

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