Psoc Agc (Zub)
Psoc Agc (Zub)
Psoc Agc (Zub)
& Control
Fall-2020
School of Electrical Engineering & Computer
Science (SEECS)
Automatic Generation Control (AGC)
1
Automatic Generation Control
(AGC)
• In a power system, both active and reactive power
demands are never steady and they continually change
with the rising or falling trend.
• Steam input to turbo generators or water input to
hydro-generators must, therefore, be continuously
regulated to match the active power demand,
• Failing which the machine speed will vary with
consequent change in frequency
• It is highly undesirable.
• The maximum permissible change in frequency is ±2%.
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Automatic Generation Control
(AGC)
• Also, the excitation of the generators must be continuously
regulated to match the reactive power demand otherwise,
the voltages at various system buses may go beyond the
prescribed limits
• Automatic generation and voltage regulation equipment is
installed on each generator.
• The controllers are set for a particular operating condition
and they take care of small changes in load demand
• Without exceeding the limits of frequency and voltage.
• As the change in load demand becomes large, the
controllers must be reset either manually or automatically.
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Automatic Generation Control
(AGC)
4
Automatic Generation Control
(AGC), Need of Constant Frequency
• All the AC motors require constant frequency supply so
as to maintain speed constant.
• In continuous process industry, change in frequency
affects the operation of the process
• It is necessary to maintain frequency constant for
synchronous operation of various units in the power
system network.
• Frequency affects the amount of power transmitted
through interconnecting lines.
• Electrical clocks will lose or gain time if they are driven by
synchronous motors, and the accuracy of the clocks
depends on frequency and also the integral of this
frequency error is loss or gain of time by electric clocks
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Basic Turbine-Generator
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Basic Turbine-Generator
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Basic Turbine-Generator
• To bring the rotational speed back to an acceptable
value and the torques to equality so that the energy
balance is restored at the desired speed.
• This process must be repeated constantly on a power
system because the loads change constantly.
• There are many generators supplying power into the
transmission system, some means must be provided
to allocate the load changes to the generators.
• To accomplish this, multiple layers of control systems
are connected to the generator units.
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Basic Turbine-Generator
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Generation Control System
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Generation Control System
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LOAD FREQUENCY CONTROL
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LOAD FREQUENCY CONTROL
• Where I is the moment of inertia of the rotating part
and ω the angular speed of the rotating part
• If KE reduces, ω decreases; then the speed falls,
hence the frequency reduces.
• The change in frequency Δf is sensed and through a
speed-governor system, it is fed back to control the
position of the inlet valve of the prime mover, which is
connected to the generating unit.
• It changes the input to the prime mover suitably and
tries to bring back the balance between the real-
power input and output.
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LOAD FREQUENCY CONTROL
• Hence, it can be stated that the frequency variation is
dependent on the real-power balance of the system.
• The LFC also controls the real-power transfer through
the interconnecting transmission lines by sensing the
change in power flow through the tie lines
• Prime movers driving the generators are fitted with
governors
• Governors sense the change in a speed control
mechanism to adjust the opening of steam valves in
the case of steam turbines and the opening of water
gates in the case of water turbines
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GOVERNOR CHARACTERISTICS OF A
SINGLE GENERATOR
The
characteristics
of a typical
governor of a
steam turbine
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GOVERNOR CHARACTERISTICS OF A
SINGLE GENERATOR
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GOVERNOR CHARACTERISTICS OF A
SINGLE GENERATOR
R is taken as Hz per MW
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GOVERNOR CHARACTERISTICS OF A
SINGLE GENERATOR
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GOVERNOR CHARACTERISTICS OF A
SINGLE GENERATOR
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GOVERNOR CHARACTERISTICS OF A
SINGLE GENERATOR
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ADJUSTMENT OF GOVERNOR CHARACTERISTIC
OF PARALLEL OPERATING UNITS
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PARALLEL OPERATING UNITS
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PARALLEL OPERATING UNITS
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PARALLEL OPERATING UNITS
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PARALLEL OPERATING UNITS
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PARALLEL OPERATING UNITS
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PARALLEL OPERATING UNITS
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PARALLEL OPERATING UNITS
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PARALLEL OPERATING UNITS
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Load as a function of frequency (load damping)
Governor and load characteristic curve intersection
43
Generator Model
Basic relationships are
I Tnet
44
Generator Model
rotational speed (radsec)
rotational acceleration
phase angle of a rotating machine
Tnet net accelerating torque in a machine
Tmech mechanical torque exerted on the machine by the turbine
Telec electrical torque exerted on the machine by the generator
Pnet net accelerating power
Pmech mechanical power input
Pelec electrical power output
I moment of inertia for the machine
M angular momentum of the machine
45
Generator Model
• Consider a single rotating machine.
• Assume that the machine has a steady speed of 𝜔0 and
phase angle 𝛿0 .
• Due to various electrical or mechanical disturbances, the
machine will be subjected to differences in mechanical
and electrical torque, causing it to accelerate or
decelerate.
• We are interested in the deviations of speed, ∆𝜔 and
deviations in phase angle, ∆𝛿 from nominal
• The phase angle deviation, ∆𝛿 is equal to the difference in
phase angle between the machine as subjected to an
acceleration of 𝛼 and a reference axis rotating at exactly
𝜔0
46
Generator Model
• If the speed of the machine under acceleration is
𝜔 = 𝜔0 + 𝛼𝑡
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Generator Model
• The deviation from nominal speed, ∆𝜔 may then be
expressed as
48
Generator Model
• Then relate the deviations in mechanical and electrical
power to the deviations in rotating speed and mechanical
torques.
• The relationship between net accelerating power and the
electrical and mechanical powers is
49
Generator Model
Then
Using Equation
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Generator Model
Using above equations
Assume
51
Generator Model
As shown in Equation the net torque is related to the
speed change as follows
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Generator Model
This can be expressed in Laplace transform operator
notation
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Generator Model
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Load Model
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Load Model
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Load Model
Including this in the block diagram results
57
Load Model
An isolated power system with a 600-MVA generating
unit having an M of 7.6 pu MW/pu frequency/sec on a
machine base. The unit is supplying a load of 400 MVA.
The load changes by 2% for a 1% change in frequency
• Set up the block diagram of the equivalent generator
load system.
• Everything will be referenced to a 1000 MVA base.
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Load Model
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Load Model
Suppose the load suddenly increases by 10 MVA (or 0.01
pu); that is,
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Prime-Mover 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 a steam turbine, or the
penstock characteristics for a hydro turbine
• The model for a non reheat turbine, shown in Figure
relates the position of the valve that controls emission
of steam into the turbine to the power output of the
• turbine, where
63
Prime-Mover Model
64
Governor Model
• Suppose a generating unit is operated with fixed
mechanical power output from the turbine.
• The result of any load change would be a speed change
sufficient to cause the frequency-sensitive load to
exactly compensate for the load change
• This condition would allow system frequency to drift
far outside acceptable limits. This is overcome by
adding a governing mechanism that senses the
machine speed, and adjusts the input valve to change
the mechanical power output to compensate for load
changes and to restore frequency to nominal value
65
Governor Model
• Mechanism used rotating “flyballs” to sense speed and
to provide mechanical motion in response to speed
changes.
• Modern governors use electronic means to sense
speed changes and often use a combination of
electronic, mechanical, and hydraulic means to effect
the required valve position changes. The simplest
governor, called the isochronous governor, adjusts the
input valve to a point that brings frequency back to
nominal value.
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Governor Model
• If we simply connect the output of the speed-sensing
mechanism to the valve through a direct linkage, it
would never bring the frequency to nominal.
• To force the frequency error to 0, one must provide
what control engineers call reset action. Reset action is
accomplished by integrating the frequency (or speed)
error, which is the difference between actual speed
and desired or reference speed
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Governor Model
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Governor Model
• The speed-measurement device’s output, w, is compared with a
reference, wref, to produce an error signal, ∆w.
• The error, ∆w, is negated and then amplified by a gain KG and
integrated to produce a control signal, ∆Pvalve,
• Which causes the main steam supply valve to open (∆Pvalve position)
• when ∆w is negative. If, for example, the machine is running at
reference speed and the electrical load increases, w will fall below
wref and ∆w will be negative.
• The action of the gain and integrator will be to open the steam valve,
causing the turbine to increase its mechanical output, thereby
increasing the electrical output of the generator and increasing the
speed w.
• When w exactly equals wref, the steam valve stays at the new
position
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Governor Model
• The isochronous (constant speed) governor cannot be used if two or
more generators are electrically connected to the same system since
each generator would have to have precisely the same speed setting
• To be able to run two or more generating units in parallel on a
generating system, governors are provided with a feedback signal
that causes the speed error to go to 0 at different values of generator
output
• This can be accomplished by adding a feedback loop around the
integrator
• Also insert a new input, called the load reference
• The value of R determines the slope of the characteristic. R
determines the change on the unit’s output for a given change in
frequency.
70
Governor Model
• Common practice is to set R on each generating unit so that
a change from 0 to 100% i.e., rated) output will result in the
same frequency change for each unit.
• As a result, a change in electrical load on a system will be
compensated by generator unit output changes
proportional to each unit’s rated output.
• If two generators with drooping governor characteristics
are connected to a power system, there will always be a
unique frequency, at which they will share a load change
between them. This, showing two units with drooping
characteristics connected to a common load.
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Governor Model
• The two units start at a nominal frequency of f0. When a
load increase, ∆PL, causes the units to slow down, the
governors increase output until the units seek a new,
common operating frequency, f ′.
• The amount of load pickup on each unit is proportional
to the slope of its droop characteristic.
• Unit 1 increases its output from P1 to P1′, unit 2
increases its output from P2 to P2′ such that the net
generation increase, P1′ − P1 + P2′ − P2, is equal to ∆PL.
• The actual frequency sought also depends on the load’s
frequency characteristic as well.
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Speed Droop
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Governor Model
• The use of power electronic controls has decreased the
inertia contribution from the demand.
• Thus, the system inertia has decreased.
• Also, newer turbines are reduced in weight, further
reducing the system inertia
• “load reference set point.” By changing the load reference,
the generator’s governor characteristic can be set to give
reference frequency at any desired unit output.
• The basic control input to a generating unit as far as
generation control is concerned is the load reference set
point.
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Governor Model
• By adjusting this set point on each unit, a desired unit
dispatch can be maintained while holding system frequency
close to the desired nominal value
• This is the boundary between response capability and
economic allocation by economic dispatch
• A steady-state change in ∆P valve of 1.0 pu requires a value
of R pu change in frequency, ∆w.
• R is equal to pu change in frequency divided by pu change
in unit output. That is,
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Governor model with speed droop
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Governor model with speed droop
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Governor , prime mover, and
rotating mass
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Governor , prime mover, and
rotating mass
Suppose that this generator experiences a step increase
in load
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Model of generation, governor, prime
mover, and rotating inertia
Suppose that this generator experiences a step increase
in load
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Model of generation, governor, prime
mover, and rotating inertia
The steady-state value of ∆w(s) may be found by
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Model of generation, governor, prime
mover, and rotating inertia
DPL
D 1
R1 R12 R1n D
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Tie line model
The power flowing across a transmission line can be
modeled using the DC load flow method
Tie flow modeled using linear power flow model
1
Ptieflow (1 2 )
X tie
This tie flow is a steady-state quantity. For purposes of analysis
here, perturb Equation to obtain deviations from nominal flow
as a function of deviations in phase angle from nominal.
84
Tie line model
Then
1
DPtieflow (D1 D2 )
X tie
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Tie line model
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Model of interconnected control areas
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Tie line model
• We have an interconnected power system broken into two areas
each having one generator
• The areas are connected by a single transmission line.
• The power flow over the transmission line will appear as a
positive load to one area and an equal but negative load to the
other, or vice versa, depending on the direction of flow
• The direction of flow will be dictated by the relative phase angle
between the areas, which is determined by the relative speed
deviations in the areas.
• The tie power flow is defined as going from area 1 to area 2;
therefore, the flow appears as a load to area 1 and a power
source (negative load) to area 2
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Tie line model
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Tie line model
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Tie line model
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Tie line model
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Example
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Example
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Example
• The total changes in generation is 98.814 MW, which is
1.186 MW short of the 100 MW load change.
• The change in total area load due to frequency drop
would be
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Generation Control
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Supplementary Control Action
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Supplementary Control Action
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Supplementary control
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Tie-Line Control
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Tie-Line Control
Assume both systems have equal generation and load
characteristics (R1 = R2, D1 = D2) and, further, assume
system 1 was sending 100 MW to system 2 under an
interchange agreement made between the operators
103
Tie-Line Control
• let system 2 experience a sudden load increase of 30
MW.
• Since both units have equal generation characteristics,
they will both experience a 15 MW increase,
• The tie line will experience an increase in flow from 100
MW to 115 MW.
• Thus, the 30 MW load increase in system 2 will have
been Satisfied by a 15 MW increase in generation in
system 2, plus a 15 MW increase in tie flow into system
2.
104
Tie-Line Control
• This would be fine, except that system 1 contracted to
sell only 100 MW, not 115 MW, and its generating costs
have just gone up without anyone to bill the extra cost
• What is needed at this point is a control scheme that
recognizes the fact that the 30 MW load increase
occurred in system 2 and, therefore, would increase
generation in system 2 by 30 MW while restoring
frequency to nominal value.
• It would also restore generation in system 1 to its output
before the load increase occurred.
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Tie-Line Control
• Such a control system must use two pieces of
information: the system frequency and the net power
flowing in or out over the tie lines.
• Such a control scheme would, of necessity, have to
recognize the following.
1. If frequency decreased and net interchange power
leaving the system increased, a load increase has
occurred outside the system.
2. If frequency decreased and net interchange power
leaving the system decreased, a load increase has
occurred inside the system.
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Tie-Line Control
This can be extended to cases where frequency increases.
We will make the following definitions.
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Tie-Line Control
• We define a control area to be a part of an
interconnected system within which the load and
generation will be controlled as per the rules
• The control area’s boundary is simply the tie-line points
where power flow is metered.
• All tie lines crossing the boundary must be metered so
that total control area net interchange power can be
calculated
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Rules of
tie line
control
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Tie-Line Control
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Area Control error or ACE
This represents the shift in the area’s generation required to
restore frequency and net interchange to their desired
values.
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Area Control error or ACE
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Area Control error or ACE
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Area Control Error
ACE1 DPnetint1 B1D ACE 2 DPnetint 2 B2 D
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Area Control Error
ACE1 DPnetint1 B1D
ACE 2 DPnetint 2 B2 D
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Generation allocation using
participation factors
Pides Pibase pfi DPtotal
DPtotal Pnewtotal Pibase
all
gen
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Generator control loop
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AGC system
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AGC Features
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Purpose of the NERC Control
Performance Standards
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