CENERATOR CONTROL AND PROTECTION

Automatic Voltage Regulators

CENERATOR CONTROL AND PROTECTION
Outline
Basics of a Practical AVR
Control Functions
Per-Unitization
AVR Control Configurations
CENERATOR CONTROL AND PROTECTION
Basics of a Practical AVR
AVR for small generators
Microcontroller based
Inputs
Voltage sensing
Current sensing
External voltage adjustment
Auxiliary input (+/- 3Vdc)
Operating Power
CENERATOR CONTROL AND PROTECTION
Basics of a Practical AVR
Internal Adjustments
Voltage
Droop
Stability
Under frequency knee / slope
Outputs
Exciter field voltage
CENERATOR CONTROL AND PROTECTION
AVR Block Diagram
Power Stage
Microcontroller
1 or 3 Ph Voltage Adj
Sensing
UF Adj
1 or 5 A
CT Input
Stability Cap/Res
External
Volts Adj
Feedback
+/- 3 Vdc
Aux Input
Power Supply
Droop Adj
Firing Control
Stability Adj
Output Input
To Exciter Shunt / PMG
CENERATOR CONTROL AND PROTECTION
Control Functions
Voltage Control
Droop Compensation
V/Hz Compensation
Over Excitation Shutdown
Loss of Sensing Protection
Build up from Residual
Internal Adjustments
CENERATOR CONTROL AND PROTECTION
Control Functions
External Adjustments
Auxiliary Input
Regulation Accuracy
Temperature Drift
Operating Temperature Range
CENERATOR CONTROL AND PROTECTION
Per-Unitization
Goal is to set the gain for each block to
1 except the controller block
The gain of each block is determined by
dividing the output by the input for that
block
The gains for the blocks are combined
together and the result appears in the
controller block
CENERATOR CONTROL AND PROTECTION
Per-Unitization
CENERATOR CONTROL AND PROTECTION
DC Gain Adjustment
CENERATOR CONTROL AND PROTECTION
New Per-Unit Model
CENERATOR CONTROL AND PROTECTION
Algorithm
Once we determine the overall loop gain,
we compensate for it by introducing Kg,
with the inverse of the loop gain
Once we have done this, now the PID
controller gains reflect what is really
happening in the loop
CENERATOR CONTROL AND PROTECTION
AVR Control Configurations
Control configurations are different for static
excited versus rotary excited generators
Static excited generators use:
Pure gain
Lag/lead network
PI controller
Rotary excited generators use:
Lag/lead and lead/lag networks
Rate feedback controller
PID controller
CENERATOR CONTROL AND PROTECTION
AVR Control Configurations
Design of a rotary excited generator
controller
Tg = 4s, Te = 1s
Mo < 10%
ts < 1s
ess < 0.5%
CENERATOR CONTROL AND PROTECTION
AVR Control Configurations
Pure gain will not achieve our goal
. sec 4 . 6
4 4
= =
n
s
w realpart
t

CENERATOR CONTROL AND PROTECTION

Pure Gain
-1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
Root Locus
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
CENERATOR CONTROL AND PROTECTION
Lead / Lag Controller Design
Lag/Lead controller, also known as transient gain
reduction
)
*
1
)(
*
1
(
)
1
)(
1
(
) ( ) (
2 1
2 1
T
s
T
s
T
s
T
s K
s G s G G
C
C Lag Lead

+ +
+ +
= =
CENERATOR CONTROL AND PROTECTION
Lead / Lag Controller Design
Parameters K
C
, T
1
and alpha make up
the lead portion
T
2
and beta make up
the lag portion
6 . % 10
2
1
*
= < =

e M
O
7 . 6 . sec 1
*
4
= < =
n
n
s
w
w
t

CENERATOR CONTROL AND PROTECTION

Lead / Lag Controller Design
The desired closed
loop poles are given
by
36 . 5 4 1 * *
2
j w j w s
n n
= =
CENERATOR CONTROL AND PROTECTION
Lead / Lag Controller Design
We place the lead
compensator zero to
cancel the exciter
pole and use the
angle condition for
the overall system to
determine the lead
controller as:
) 75 . 7 (
) 1 ( *
) (
+
+
=
s
s K
s G
C
Lead
CENERATOR CONTROL AND PROTECTION
Lead / Lag Controller Design
The magnitude
condition is used to
calculate gain, Kc
The results are as
follows:
1 | ) ( |
36 . 5 4
=
+ = j s Plant Lead
s G G
) 25 . )( 75 . 7 (
75 . 42
) 1 4 )( 1 )( 75 . 7 (
) 1 ( 171
) (
+ +
=
+ + +
+
=
s s s s s
s
s G G
P Lead
CENERATOR CONTROL AND PROTECTION
Lead / Lag Controller Design
Step response of rotary excited generator with
lead compensator
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
0.2
0.4
0.6
0.8
1
1.2
1.4
System: G1cl
Peak amplitude: 1.05
Overshoot (%): 9.54
At time (sec): 0.599
System: G1cl
Settling Time (sec): 0.889
CENERATOR CONTROL AND PROTECTION
Lead / Lag Controller Design
Some observations:
Response shows a significant steady state error
Transient spec of < 10% overshoot and <1s settling
time are met
Steady state error is approx 5%
% 5 . 4 045 .
22 1
1
) ( lim 1
1
1
1
0
= =
+
=
+
=
+
=

s G G K
e
P Lead
s
P
ss
CENERATOR CONTROL AND PROTECTION
Lead / Lag Controller Design
Spec requires steady state error <0.5%
We will use the lag controller, with a beta of 10 to
achieve the steady state error spec.
The value of T2 is chosen based on the following
conditions:
1 | ) ( |
36 . 5 4

+ = j s Lag
s G

0 | ) ( 3
36 . 5 4
< <
+ = j s Lag
s G
CENERATOR CONTROL AND PROTECTION
Lead / Lag Controller Design
The chosen lag
compensator
becomes:
) 02 . (
) 2 . (
) (
+
+
=
s
s
s G
Lag
CENERATOR CONTROL AND PROTECTION
Lead / Lag Controller Design
The resulting open
loop transfer
function becomes:
The steady state
error is calculate by:
) 25 . )( 02 . )( 75 . 7 (
) 2 . ( 75 . 42
) ( ) (
+ + +
+
= =
s s s
s
s G G s G G G
P C P Lag Lead
% 45 .
220 1
1
) ( lim 1
1
1
1
0
=
+
=
+
=
+
=

s G G K
e
P C
s
P
ss
CENERATOR CONTROL AND PROTECTION
Lead / Lag Controller Design
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
0.2
0.4
0.6
0.8
1
1.2
1.4
System: G12cl
Peak amplitude: 1.08
Overshoot (%): 8.97
At time (sec): 0.6
System: G12cl
Settling Time (sec): 0.874
CENERATOR CONTROL AND PROTECTION
PID Controller Design
PID controller
represented by:
( )
s
I Ps Ds
Ds
s
I
P s G
C
+ +
= + + =
2
CENERATOR CONTROL AND PROTECTION
PID Controller Design
Plant described by:
1/(4s + 1)(s +1)
Denominator rewritten as:
(4s + 1)(s +1) = 4s
2
+5s +1 = 4 * [s
2
+1.25s +0.25]
PID controller numerator re-written as:
Ds
2
+ Ps + I = D * [s
2
+ (P/D)s + (I/D)]
For pole-zero cancellation we set:
P/D = 1.25; I/D = 0.25
CENERATOR CONTROL AND PROTECTION
PID Controller Design
We can now choose the value of D to set the loop
gain. It is easy to see that D = 20 will place the
third closed-loop pole at s=-5 as shown by the
following:
G(s) Gc(s) =
D[s
2
+1.25s +0.25] / 4s[s
2
+1.25s +0.25] = -1
D/4s = -1
s=-5 for D=20
CENERATOR CONTROL AND PROTECTION
PID Controller Design
Pole-Zero cancellation design results in the
following PID values:
20
5 20 * 25 . 0 25 . 0
25 20 * 25 . 1 25 . 1
=
= = =
= = =
D
D I
D P
CENERATOR CONTROL AND PROTECTION
PID Controller Design
The resulting peak overshoot and settling time
will be as follows:
0 =
o
M
sec 8 . 0 2 . 0 * 4 = =
ss
t
CENERATOR CONTROL AND PROTECTION
PID Controller Design
0 0.2 0.4 0.6 0.8 1 1.2
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
CENERATOR CONTROL AND PROTECTION
Summary
Basics of a Practical AVR
Control Functions
Per-Unitization
AVR Control Configurations
CENERATOR CONTROL AND PROTECTION
QUESTIONS?