REAL POWER - FREQUENCY

CONTROL
 Basics of speed governing mechanism and
modeling - speed-load characteristics – load
sharing between two synchronous machines
in parallel - control area concept - LFC
control of a single-area system - static and
dynamic analysis of uncontrolled and
controlled cases - two-area system –
modeling - static analysis of uncontrolled
case - tie line with frequency bias control -
state variable model - integration of
economic dispatch control with LFC.
Fundamentals of Speed Governing System
Steam

Lower
Speed changer
XC
XB XD
To Turbine
Raiser l2 l3 XE
l1
XA l4
Steam valve
Pilot valve

High pressure Main piston

Speed Governor
oil

Hydraulic amplifier
Fundamentals of Speed Governing System

The system consists of following

components
Fly ball governor
Hydraulic amplifier
Linkage mechanism
Speed changer
 Fundamentals of Speed Governing System
• Fly ball speed governor:
– This is the heart of the system which senses the change in
speed(frequency).
– As the speed increases the fly ball move outwards and the
point B on linkage mechanism moves downwards. The
reverse happens when the speed decreases.
• Hydraulic amplifier:
– It consists of pilot value and main piston.
– Low power level pilot value movement is converted into
high power level pilot value.
– This is necessary in order to open or close the steam value
against high pressure system.
 Fundamentals of Speed Governing System
• Linkage mechanism:
– A,B,C is a rigid link pivoted at CDE in another rigid kink
pivoted at D.
– This link mechanism provides a movement to control value
in proportion to the change in speed.
• Speed Changer:
– It provides a steady state power output setting for the
turbine.
– Its downward movement opens the upper pilot value so that
more steam is admitted to the turbine under steady state
condition.
– The reverse happens for upward movement of speed
changer.
Speed Governor modal
 The governor compensates for changes in the shaft speed
 changes in load will eventually lead to a change in shaft
speed
 change in shaft speed is also seen as a change in system
frequency
Turbine model
 The prime mover driving a generator unit may be a steam
turbine or a hydro turbine.
 The models for the prime mover must take account of the
steam supply and boiler control system characteristics in the
case of steam turbine on the penstock for a hydro turbine
 The dynamic response of steam turbine in terms of changes in
generator power output ΔPG to change in steam valve opening
ΔXE
 Generator load or Power system model
 To develop the mathematical model of an isolated generator, which is only
supplying local load and is not supplying power to another area,
 Suppose there is a real load change of ΔPD .
 Due to the action of the turbine controllers, the generator increases its output
by an amount ΔPG .
 The net surplus power (ΔPG - ΔPD ) will be absorbed by the system in two
ways.
 By increasing the kinetic energy in the rotor at the rate

 As the frequency changes, the motor load changes being sensitive to

speed, the rate of change of load w.r.t frequency f
Generator load or Power system model
Model of Load frequency control of single area

Speed Governor Turbine Power system

Complete Block diagram representation of LFC

Speed-Load characteristics
 The isochronous governors cannot be used when there are two
or more units connected to the same system since each generator
would have to precisely the same speed setting.
 For stable load sharing between two or more units operating in
parallel, the governors are provided with a characteristics so that
the speed drops as the load in increased.
Percent speed regulation or droop:
The value of R determine the steady state speed versus load
characteristics of generating unit. The ratio of speed
deviation(Δω) or frequency deviation (Δf) to change in
valve/gate position (ΔY) or power output (ΔP) is equal to R.
Speed-Load characteristics
 Speed-Load characteristics
The parameter R is referred to as speed regulation or
droop. It can be expressed in percent as
 Load sharing between two synchronous machine in parallel
 If two or more generators with drooping governor characteristics
are connected to a power system, there will be a unique frequency
at which they will share a load change
 They are initially at nominal frequency f0,with outputs P1 and P2.
 When a load increases ΔPL causes the units to slow down, the
governors increase output until they reach a new common
operating frequency f’.
 The amount of load picked up by each unit depends on the droop
characteristics:
 Load sharing between two synchronous machine in parallel
 Hence

 If the percentage of regulation of the units are nearly equal, the change in
the outputs of each unit will be nearly in proportion to its rating

Load sharing by parallel units with drooping characteristics

Control Area
 Definition
It is defined as a power system, a part of a system or
combination of systems to which a common generation
control scheme is applied.
The electrical interconnection within each control area is
very strong as compared to the ties with the neighboring
areas.
All the generators in a control area swing in coherently or it
is characterized by a single frequency
It is necessary to be considered as many control area as
number of coherent group.
 Control Area
AGC problem of a large interconnected power system
has been studied by dividing a whole system into a
number of control areas.
In normal steady state operation, each control area of a
power system should try to compensate for those
demand in power.
Simultaneously, each control area of a power system
should help to maintain the frequency and voltage
profile of the overall systems.
Load Frequency Control of Single area
system

Speed Governor Turbine Power system

Complete Block diagram representation of LFC

- Uncontrolled case
or
Primary control loop
 Complete Block diagram representation of LFC
-Controlled case
or
Integral control loop

Speed Governor Turbine Power system

Integral controller

Primary LFC loop

Secondary or Supplementary LFC loop controller

TWO AREA SYSTEM OR MULTI AREA
SYSTEM
Tie-line Model
TWO AREA SYSTEM
 Tie-line Model
 Consider two areas each with a generator
the two areas are connected with a single transmission line
 the line flow appears as a load in one area and an equal but
negative load in the other area
 the flow is dictated by the relative phase angle across the
line, which is determined by the relative speeds deviations
 let there be a load change ΔPL1 in area 1
 to analyze the steady-state frequency deviation, the tie-flow
deviation and generator outputs must be examined
Tie-line Model
Tie-line Model
Tie-line Model
TIE - LINE CONTROL
TIE - LINE CONTROL
TIE - LINE CONTROL
SYSTEM