Load Frequency Control Optimization Using PSO Based Integral Controller
Load Frequency Control Optimization Using PSO Based Integral Controller
Load Frequency Control Optimization Using PSO Based Integral Controller
Abstract:This paper presents Automatic Generation Control In June 2017 secondary control has been introduced
(AGC) of a power system using integral controller. In the present where both 500MW units of Dadri stage-II power plant are
day power systems, it has become absolutely essential to maintain being operated under AGC.
the quality of the power generated indicating the need of a robust
system that can handle parameter uncertainties neglecting
In an isolated power system, functions carried out by a
disturbances. Although,extensive research has been done in load frequency controller can be summarized as;
thisarea, design of an efficient and robust system still remains 1. To improve the robustness of the system to parameter
one of the important issues that need to be addressed. Hence in variations.
this paperan integral controller has been designed for a single- 2. To reduce state deviations in frequency to zero as a
area thermal power system without reheat turbine. The optimum result of step load disturbance.
controller gain is obtained by Particle Swarm Optimization (PSO)
based on Integral of Absolute Error (IAE) and Integral of Square
So far numerous techniques have been used by
Error (ISE) criterion. The second part of the investigation researchers to address the AGC problem. Recent literature
includes robustness testing of the designed controller against study reveals extensive use of variety of optimization
different load conditions and plant parameter variations. The algorithms and a wide range of controllers varying from
results obtained are compared to those obtained by other control conventional controllers to modern controllers such as fuzzy
methodologies presented in the recent literature. The results of logic based controllers, integral double derivative
the simulation validate the superiority of the approach in terms of
improvement in the transient response and robustness to plant
controllers, optimal controllers, adaptive and self-tuning
parameter variations. controllers that have been used for dealing with the load
Keywords:AGC, single-area thermal power plant, frequency control problem [5], [6], [7], [8], and [9].
optimization, robustness, PSO. Fractional order Proportional Integral Derivative (PID)
controller has been used by Sondhi and Hote[4] wherein the
I. INTRODUCTION parameters of the controller were optimized using the
In India the main source of power generation is thermal integral error criterion. The design was also tested for
power plant. Nearly 54% of the total energy in India is robustness. As per the author’s claim, the fractional order
generated by coal fired thermal power plants. A power controller provides superior disturbance rejection and better
generation system as a whole can be subjected to various stability for a larger range of parameter variations compared
kinds of disturbances such as sudden increase in load to nominal controllers. Tan [5] has proposed a Proportional
demand during peak hours. At the same time there are Integral Derivative(PID) controller for a single-area thermal
various non-linearities introduced in the system due to power system. The gains of the controller were tuned by a
variation in system parameters. All this can result in two-degree-of-freedom Internal Model Control (IMC)-PID
deviation in the supply frequency thus deteriorating the tuning method. To check for robustness of the design, two
quality of the power generated[1]. Also modern power extreme cases of parameter variations were considered.
systems are complex and interconnected, so that disturbance However the robust performance was found to be inferior to
in one area can affect the other area. Similarly modeling the performance of a state-feedback controller.
errors due to increased complexity of a power system can In practice, due to nonlinear nature of power systems
further degrade the quality of power delivered by the power and approximations made by reducing the order of the
system. Taking into account all these possibilities, it has models, the mathematical models representing the plants are
become necessary to develop a robust system that can tackle valid only within a restricted operating range. In the event of
all these problems and still maintain the supply quality [2]. operating conditions fluctuations, the control scheme should
The technique used for maintaining the supply be able to adopt to changed system parameters. Under such
frequency in spite of the disturbances is named as AGC [3]. situations, evolutionary computational techniques are found
Unlike other countries such as England, USA and Australia, to provide a better solution. Prasad [10] has implemented
we do not have reserve provision for contingency condition AGC using a PID controller, optimizing the controller gains
due to imbalance between load and generation. Hence a using PSO. The designed controller was found to be robust
frequency associated regulatory method identified as in spite of changes in the system parameters. Duman[2] has
unscheduled interchange is practiced [4]. investigated Gravitational Search Algorithm (GSA) for
optimizing the proportional and integral gains of
Proportional Integral (PI) controller and PID controller
gains. The achievement of the executed technique was
Revised Manuscript Received on February 01, 2020. analyzed after comparison with that of the conventional PI
VandanaDhawane, Department of Instrumentation Engineering in D. controller and the technique was found to be superior.
V.V. P.F’s Dr. VithalraoVikhePatil College of Engineering, Ahmednagar.
Dr. Rajankumar S. Bichkar, Principal in Vidya Pratishtan’s
Kamalnayan Bajaj Institute of Engineering and Technology, Baramati,
Pune.
Published By:
Retrieval Number: E6749018520/2020©BEIESP Blue Eyes Intelligence Engineering
DOI:10.35940/ijrte.E6749.038620 & Sciences Publication
97
Load Frequency Control Optimization using PSO Based Integral Controller
Shiva and Mukherjee [1] have employed Quasi- II. DYNAMIC MODELOFASINGLE-AREA
Oppositional Harmony Search algorithm for Load THERMAL POWER SYSTEMWITH INTEGRAL
Frequency Control (LFC) of a single-area thermal power CONTROLLER
system. The controller used was PID controller with ISE as
The model of a single-area thermal power system in
the objective function. The result analysis showed
terms of system dynamics is shown in Fig. 1. As shown each
improvement in the values of the objective function.
block is represented by its equivalent transfer function.
Shrikant and Yadaiah[11] have used Teaching-Learning
There are two inputs to the system, ∆ (load disturbance)
Based Optimization (TLBO) algorithm to tune observer and
and ∆ (reference power setting) in p.u. MW. The system
controller gains. The simulation results involving parameter
has a single output ∆f in Hz which represents the power
variations,sudden load disturbances and model uncertainties
system frequency deviation which is the variable of interest
justify the efficacy of the approach.
to us.R signifies the droop characteristic or speed regulation
The use of evolutionary algorithms has shown
in Hz/p.u. MW. The equations representing transfer
improvement in the performance of a power system from
function for governor, turbine and power system are
frequency control point of view. During the analysis of
represented by (1) to (3)
some studied optimization techniques, we have encountered
a number of limitations. One of the extensively used recent
techniques is Bacterial Foraging Optimization Algorithm = (1)
(BFOA). The technique relies upon chemotactic movement
of the virtual bacteria. The accuracy of the solution obtained (2)
by BFOA is affected by delaycaused in attaining the global
optimum solution as the bacteria move in random direction
in the search spaceas shown by Nanda [12]. Similarly Ant (3)
Colony Optimization (ACO) technique has a complex
theoretical analysis. Moreover in ACO,probability .
distribution can change for each iteration. In contrast PSO -∆
is simple to implement, its convergence rate is fast and the ∆ ∆
∆f
algorithm can be easily implemented through programming
[7]. In addition, researchers have further enhanced the
capabilities of PSO by introducing variants of the basic
version of PSO to make it more effective.
Apart from conventional control techniques,
researchers have explored various advanced control
techniques such as fractional order PID controller, fuzzy
logic controller, adaptive controller, and internal model
controller. Most of the above mentioned methods are
effective in achieving the desired objectives, but they suffer
from a major drawback of implementation complexity. On
the other hand, integral controller is easy to implement and
has only a single tuning parameter, hence preferred for this
purpose. The integral control action is characterized by zero
steady state error and hence the controller suits our
requirement as the main aim of our research is to drive the
frequency deviation to zero.
The results manifested in the paper clearly
Fig. 1. Dynamic model of a single area thermal power
authenticate the disturbance rejection capability of the
plant
system while simultaneously improving the transient
response of the system. The basic outcomes of this paper
can be stated as; From above equations, it can be noted that and
represent power system, governor and turbine time constants
1. An integral controller is suggested for AGC of a respectively in seconds. Similarly ∆ ,∆ and ∆ represent
single-area thermal power system without reheat turbine. incremental changes in governor valve position in p.u. MW,
2. The parameters of the said controller are optimized generator output in p.u. MW and step load perturbation in
by PSO algorithm using the IAE and ISE criteria. p.u.MW. representsgain of the power system in Hz/p.u.
3. The robustness of the identified approach is verified MW.The system model can be expressed by the following
by variation in system parameters. transfer function:
Published By:
Retrieval Number: E6749018520/2020©BEIESP Blue Eyes Intelligence Engineering
DOI:10.35940/ijrte.E6749.038620 & Sciences Publication
98
International Journal of Recent Technology and Engineering (IJRTE)
ISSN: 2277-3878, Volume-8 Issue-6, March 2020
G(S)= (4)
= (5)
= (6)For an
Published By:
Retrieval Number: E6749018520/2020©BEIESP Blue Eyes Intelligence Engineering
DOI:10.35940/ijrte.E6749.038620 & Sciences Publication
99
Load Frequency Control Optimization using PSO Based Integral Controller
At every iteration, each particle changes its velocity and rejection for different load conditions as well as for
attains a new position as expressed by the following robustness.
equations:
A.Uncompensated Systemwith LoadVariations:
=ω. + . [ - ]+ . [ - ](7) The problem of frequency regulation in a single–area
power system with non-reheat turbine dynamics and without
= + (8) integral controller is considered. For execution of the
proposed technique, Intel® CORETM i3processor is used. The
Where , are the position and velocity of particle iat system is simulated in MATLAB2014b environment. The
iteration krespectively; iis the index of the particle;ω system parameters are; = 120, = 20, = 0.3, = 0.08,
indicates the inertia constant and is in general in the range [0 and R=2.4. A step load perturbation of varying magnitude is
1]; and are coefficients in the range [0 2]; and are applied to the system, and response plot for frequency
random values generated during each velocity update; variation is plotted. The PSO parameters considered are;
is the local best position of each particle attained so far population size = 40, maximum number of iterations = 100,
based on its own best position. is the global best ω=1, = = 2.0. As can be observed from the response
position achieved depending upon the swarm’s experience. shown in fig.3, the step load increase results in drop in the
The terms in (7) and (8) can be defined according frequency. The final steady state value at which the
to the task they perform: frequency stabilizes is determined by the regulation R of the
1. The first term ω. represents inertia component and its governor and the magnitude of step load change. We have
function is to maintain the particle search in one direction. considered three variations for step load change and
2. The second term . [ - ] is called as cognitive corresponding frequency deviations for uncompensated
component and it indicates the ability of the particle to system are expressed in Table I.
remember its local best position. The particle has the
tendency to return to the area of search space in where it
enjoys high individual fitness. The cognitive component
decides the step size of the particle with which it moves
towards its local best position .
3. The third term . [ – ] is called as social
component and it tends to move the particle towards the area
in the search space where the swarm has highest fitness. The
coefficient decides the step size of the particle in finding
the global best position
As per (8), each particle’s position is updated by
using its previous position and new velocity. Thus a search
process is renewed and initiated over the changed search Fig.3.Frequency deviation step response
space in order to investigatethe global optimum solution. foruncompensated system for load variations
The process is repeated until the algorithmiterates
throughmaximum number of iterations or the desired fitness
value is reached. Thus regeneration of the swarm through Table-I: Static variations in frequency with step load
indefinite velocity term and the ability of interpreting the change for uncompensated system
search process produce highlyefficient operation to find the Sr. No. Load Variation Static error in
frequency(Hz)
global optimum solution. A restricted search space is the
only major constraint of the PSO algorithm. This problem 1 10% -0.235
can be overcome by use of extended boundaries for the 2 30% -0.7058
search space but at the cost of increased computation time. 3 50% -1.1764
Hence more information about the search space boundaries
will help to overcome the limitation. B.System withIntegral Controller
In this section the effectiveness of PSO with integral
IV. SIMULATION RESULTS AND EVALUATION controller is tested for disturbance rejection and robustness.
In the present study we consider an isolated single-area For this, an objective function is considered as a test
thermal power system without reheat turbine, supplying a criterion for testing the computational efficiency of the
load. The simulation studies are considered for two cases. In proposed PSO algorithm. In this paper Integral of Square
the first part of the simulation, we consider the Error (ISE) and Integral of Absolute Error (IAE) are
uncompensated system or the system without integral selected as objective functions. The mathematical
controller as represented by transfer function (5) and study expressions are expressed as:
the dynamic behavior of the system for varying load
disturbances. In the second part of the simulation, we
consider the system assisted by an integral controller as
described by (6). The system is tested for disturbance
Published By:
Retrieval Number: E6749018520/2020©BEIESP Blue Eyes Intelligence Engineering
DOI:10.35940/ijrte.E6749.038620 & Sciences Publication
100
International Journal of Recent Technology and Engineering (IJRTE)
ISSN: 2277-3878, Volume-8 Issue-6, March 2020
≤ ≤ (11)
In the present work, thecontroller gain lies within 0 to 5.0 Fig.5. Frequency deviation step response for a system
and the optimized value obtained is 4.9986. Assessment of with integral controller with nominal system parameters
with IAE as objective function
the proposed technique is carried out related to the transient
response performance specifications and sensitivity to the
parameter variations. With the secondary control action
initiated by the integral controller, the system successfully
drives the frequency deviations to zero resulting from step
load changes as seen from Fig. 4. To verify the transient
performance of the system, a step load perturbation of 0.01
p.u. is applied. Under the influence of the disturbance, the
system frequency deviation response is plotted shown in
Fig. 5 and Fig. 6 taking into account IAE and ISE as error
criteria respectively.For asserting the superiority of the
proposed approach, we compare the transient response Fig.6. Frequency deviation step response for a system
parameter such as settling time and integral error indices with integral controller with nominal system parameters
with those reported in the recent literature. with ISE as objective function
Fig. 4. Frequency deviation step response for system Fig. 7. Frequency deviation step response for a system
with integral controller for different load variations with integral controller with 50% upper bound system
parameters with IAE as objective function
Similarly to test for robustness of the applied controller
scheme, ± 50% uncertainty is added in all the system
parameters, i.e., = [60, 180], = [10,30], = [0.15,
0.45], = [0.04, 0.5] and R= [1.2, 3.6]. The results
tabulated in Table II, compares the performance of the
applied control scheme with the methodologies
implemented by other researchers.As can be seen from
Table II, the efficiency of the applied technique is verified
by value of objective functions.From the observations
tabulated in Table II, the values of the IAE performance
index obtained are better than those obtained by Sondhi and
Hote[3], [20] and Saxena and Hote[21] for nominal system Fig. 8. Frequency deviation step response for a system
parameters.Similarly improved results are obtained for with integral controller with 50% upper bound system
lower and upper bound system parameters than obtained by parameters with ISE as objective function
Sondhi and Hote[3] and Saxena and Hote[21] considering
IAE as the objective function.The objective functions are
indicative of the controller optimality. From the values of
the IAE criterion obtained for nominal as well as lower and
upper bound system parameters, it can be asserted that the
Published By:
Retrieval Number: E6749018520/2020©BEIESP Blue Eyes Intelligence Engineering
DOI:10.35940/ijrte.E6749.038620 & Sciences Publication
101
Load Frequency Control Optimization using PSO Based Integral Controller
Published By:
Retrieval Number: E6749018520/2020©BEIESP Blue Eyes Intelligence Engineering
DOI:10.35940/ijrte.E6749.038620 & Sciences Publication
102
International Journal of Recent Technology and Engineering (IJRTE)
ISSN: 2277-3878, Volume-8 Issue-6, March 2020
9. G. Ray, AN. Prasad, and GD. Prasad, “A new approach to the design 33. J. Talaq, F. Al-Basri, “Adaptive fuzzy gain scheduling for load
of robust load frequency controller for large scale power systems,” frequency control,” IEEE Tranactions on Power Systems, vol. 14,
Electrical Power Systems, vol. 51, 1999, pp. 3-22. 1999, pp. 145- 150.
10. B. Prasad, C. D. Prasad, and G. P. Kumar, “Effect of load parameter 34. V. P. Singh, N. Kishor and P. Samuel, “Impact of demand response
variations on AGC of single area thermal power system in presence for frequency regulation in two-area thermal power system,”
of integral and PSO-PID controllers,” Conference on Power, Control, International Transaction on Electrical Energy Systems, vol. 27,
Communicational Technologies for Sustainable Growth, Kurnool, 2017, pp. 1-23.
Andhra Pradesh, Dec 2015. 35. R. Roy, P. Bhatt, and S. P. Ghoshal, “Evolutionary computation
11. M. V. Shrikant, &Yadaiah, Narri. ,” An AHP based optimized tuning based three-area automatic generation Control,” Expert Systems
of modified active disturbance rejection control: An application to with Applications, vol. 37, 2010, pp. 5913-5924.
power system load frequency control problem.” ISA Transactions, 36. Q. K. Pan, P. N. Suganthan, M. F. Tasgetiren, and J. J. Liang, “A self-
Vol.81, 2018, pp. 286-305. adaptive global best harmony search algorithm for continuous
12. J. Nanda, S. Mishra, and L. C. Saikia,”Maiden application of bacterial optimization problems,”AppliedMaths Computing, vol. 216, 2010, pp.
foraging based optimization technique in multi area automatic 830-848.
generation control,” IEEE Transaction on Power System, vol. 24, 37. S. R. Khuntia, S. Panda, “Simulation study for automatic generation
2009, pp. 602-609. control of a multi-area power system by ANFIS approach,” Applied
13. W. Ai-Saedi, S. Lachowicz, D. Habibi and O. Bass, “Power quality Soft Computing, vol. 12, 2012, pp. 333-341.
enhancement in autonomous microgrid operation using Particle
Swarm Optimization,” Electrical Power and Energy Systems, Vol. 42,
2012, pp. 139-149.
AUTHORS PROFILE
14. V. P. Singh, S. Mohanty, N. Kishotr and P. Ray, “Robust H- infinity
load frequency control in hybrid distributed generation system,” VandanaDhawane, has received B. E. (Instrumentation)
Electrical Power and Energy Systems, vol. 46, 2013, pp. 294-305. and M. E. (Instrumentation &Control) in 1998 and 2006
15. X. Sui, Y. Tang, H. He, and J. Wen, “Energy-storage-based low- respectively fromPravaraRural Engineering College, Loni.
frequency oscillation damping control using Particle Swarm She has been with the Department of Instrumentation
Optimization and heuristic dynamic programming,” IEEE Engineering in D. V.V. P.F’s Dr. VithalraoVikhePatil
Transactions on Power Systems, vol. 29, 2014, pp. 2539-2547. College of Engineering, Ahmednagar. Her research
16. X. C. Zhao, “A perturbed particle swarm algorithm for numerical interest includes control theory, electrical system analysis & control and
optimization,” Applied Soft Computing, Vol.10, 2010, pp. 119-124. advanced control engineering.
17. A. Nikabadi, M. M. Ebadzadeh& R. Safabaksh” A novel particle
swarm optimization with adaptive inertia weight,” Applied soft Dr. Rajankumar S. Bichkar, has received B.E.
computing, Vol. 11, 2011, pp. 3658-3670. (Electronics) in 1986 and ME (Electronics) in 1991 from
18. W. F. Gao, S. Y. Liu & L.L. Hauang ,)” Particle swarm optimization SGGS Institute of Engineering &Technolgy, Nanded,
with chaotic opposition- based population initialization and stochastic India and Ph.D. from IIT Kharagpur in 2000. He is
search technique,” Commun Nonlinear Sci Number Simul 17(11), presently working asaPrincipal in
2012, pp. 4316-4327. VidyaPratishtan’sKamalnayan Bajaj Institute of
19. S. G. Thakur, A. Patra,” Load frequency control in single-area with Engineering and Technology, Baramati, Pune. He has a total teaching
traditional Zeigler-Nichols PID tuning controller,” International jr. of experience of more than 33 years and has successfully guided six Ph.Ds.
research in advent technology, Vol. 2, E-ISSN: 2321-9637. His research interest includes Evolutionary Computation, Wireless Senor
20. S. Sondhi, Y. V. Hote, “ Fractional order PID controller for perturbed Networks and Image Processing. He has contributed 60 research papers
load frequency control using Khartinov’s theorem,” Electrical Power and also hasauthored two books.
and Energy Systems, vol. 78, 2016, pp. 884-896.
21. S. Saxena, Y. Hote, “Load frequency control in power systems via
internal model control scheme and model-order reduction,” IEEE
Transactions on Power Systems,” vol. 28, 2013, pp. 2749-2757.
22. S. Saxena, “Load frequency control strategy via fractional-order
controller and reduced- order modeling,” Electrical power and energy
systems, 104, 2019, pp. 603-614
23. P. Kundur, Power System Stability and Control. McGraw-Hill, 2016,
pp. 128-136.
24. O. I. Elgard, Electric Energy Systems Theory: An Introduction.
McGraw-Hill, 1976, pp. 315-344.
25. R. T. Byerly, O. Aanstad, D. H. Berry, R. D. Dunlop, D. N. Ewart, B.
M. Fox, L. H. Johnson, and D. W. Tschappat, IEEE committee report
on dynamic models for steam and hydro turbines in power system
studies, Dec 1972, PP. 1904-1915. Available: https://www.ieee.org.
26. W. W. Price, H-D. Chiang, H. K. Clark, C.Concordia, D. C. Lee, J. C.
Hsu, S. Ihara, C. A. King, C. J. Lin, Y. Mansour, K. Srinivasan, C. W.
Taylor and E. Vaahedi, IEEE task force on,” Load representation for
dynamic performance analysis,” IEEE Transactions on Power
Systems, vol.8, 1993, PP. 472-482
27. Notification by Central Electricity Regulatory Commission for
amending unscheduled interchange charges and related matters, L-
1(1)/2011-CERC, 2012, pp. 1-14.
28. Report of the committee on spinning reserve by Central Electricity
Regulatory Commission New Delhi, 2015, pp. 1-56.
29. C. E. Fosha, O. I. Elgard,” The megawatt frequency control problem,
a new approach via optimal control theory,” IEEE Transaction, vol.
89, 1970, pp. 563-577.
30. A. Ahuja, S. Narayan and J. Kumar, “Robust FOPID controller for
load frequency control using ParticleSwarm Optimization,” Power
India International Conference (PIICON), 2014.
31. D. Zhang, Z. Gao,” A robust decentralized load frequency controller
for interconnected power systems,” ISA Transactions, vol. 52, 2012,
pp. 410-419.
32. S. Ghoshal, “Optimizations of PID gains by Particle Swarm
Optimizations in fuzzy based automatic generation control,”
Electrical Power Systems, vol. 72, 2004, pp. 203-212.
Published By:
Retrieval Number: E6749018520/2020©BEIESP Blue Eyes Intelligence Engineering
DOI:10.35940/ijrte.E6749.038620 & Sciences Publication
103