International Journal on Electrical Engineering and Informatics - Volume 6, Number 4, December 2014

Variable Structure Fuzzy Gain Schedule Based Load Frequency Control

of Non-Linear Multi Source Multi Area Hydro Thermal System
K. R. M. Vijaya Chandrakala1, S. Balamurugan1, N. Janarthanan1, and B. Anand2
1
Department of EEE, Amrita School of Engineering, Amrita Vishwa Vidyapeetham, Coimbatore, India.
2
Department of EEE, Hindustan College of Engineering and Technology, Coimbatore, India.
krm_vijaya@cb.amrita.edu,

Abstract: The article focuses on the issues of Load Frequency Control (LFC) under
non-linear strategies in multi source multi area hydro thermal system. On practical
perspective dead band, boiler dynamics, reheat steam turbine along with hydro turbine
operating under two different area capacities are considered in the system. When
subjected to random load variations in both the areas, the system exhibits higher
oscillations. The speed governor matches the generation with the demand. The offset in
the area frequencies and tie-line power is removed by using secondary Proportional
Integral (PI) controller. The PI controller is tuned using Ziegler Nichols (ZN) and
Fuzzy Gain Scheduling (FGS) method. The influence of high Proportional (P) controller
gain during steady state and high Integral (I) controller gain during transient affects the
system performance. Variable Structure System (VSS) helps to switch from P to PI
controller during transient to steady state based on control error. The concept of VSS is
applied to Fuzzy Gain Scheduling (FGS) PI controller. The performance of the optimal
Variable Structure Fuzzy Gain Scheduled (VSFGS) controller under non-linear
environment is judged and validated using performance indices.

Keyword: Load Frequency Control, Multi Source Multi Area System, Hydro Thermal
System, Proportional Integral Controller, Fuzzy Gain Scheduling, Variable Structure
System Controller

1. Introduction
Power system control is the most significant task for its secure operation because of
dynamic variations in loads. The main objective of the LFC is to maintain the system
frequency and the power flow in the tie-line as per the contract made between the areas and to
do the generation scheduling optimally [1-3]. The frequency and tie-line power variations are
retrieved to nominal value with the help of speed governor in the control area. Speed governor
acts as primary controller matches the generation with the demand and fine tuning is carried
out by secondary controller. Practically, each area will have both hydro and thermal power
plant. Such system is named to be multi source multi area hydro thermal system [4]. The
researchers [5-9] failed to focus the LFC problem of Multi Source Multi Area (MSMA) system
considering the non-linearities such as, dead band, boiler dynamics and reheat steam turbine.
Moreover, LFC problem is dealt by various researchers, are based on equal area capacities and
with unit step load disturbance [10-13].
In practice, area capacities are not same and the system is subjected to random load
variations. Taking into account the impact of non-linearities in multi source multi area system
under unequal area capacities with random load variations is identified as the LFC problem in
this work. Conventionally, PI controller is used for controlling the tie-line power and frequency
oscillations along with the speed governor. In this paper, ZN method [14-16] and FGS [17-22]
are used for the PI tuning. In PI controller, P improves the transient response but weakens the
steady state. Similarly, I controller improves the steady state but spoils the transient behavior.
This problem is overcome by Variable Structure System (VSS) controller [23-25] which
switches between P to PI during transient to steady state period.

Received: August 12nd, 2014. Accepted: December 27th, 2014

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K. R. M. Vijaya Chandrakala, et al.

Integrating VSS with FGS forms VSFGS [26] controller. VSFGS is used for tuning the PI
controller of MSMA hydro thermal system considering non-linearities and unequal area
capacities when subjected to random load variations.
The paper is structured as follows: Section 2 deals with the modeling of multi source multi area
hydro thermal system with non-linearities, section 3 focuses on tuning methods adopted for the
PI controller, section 4 identifies the optimal controller based on performance indices.

2. Modeling of Multi Source Multi Area Hydro Thermal System including non-linearities
A. Modeling of Thermal System
Practically, non-linearities in thermal power plant are; dead band, boiler dynamics and
reheat steam turbine [9]. The mathematical model of thermal power plant furnished by IEEE
committee report and researchers [1],[2],[27] with the non-linearities is shown in Figure 1.

1
R1 PD1
Pg xE SFL PR PT
Pref 1 1 1 1 + sK rTr KP f
1+ sTH 1+ sTT 1 + sTr 1+ sTP

Figure 1. Transfer function model of thermal power plant with governor dead band, boiler
dynamics and reheat turbine

In thermal power plant, dead band results due to the function of overlapping of the valves
in the hydraulic relays, backlash effects and coulomb friction caused in different governor
linkages. It is the magnitude of the frequency deviation of the system which impinges the effect
of the dead band on the speed governor response [2], [9]. The speed governor dead band non-
linearity is deduced out of describing function approach [9].
In conventional thermal power plant, drum type boiler is basically used. As per the
requirement of the generation to meet with the demand, the turbine control valves are
controlled by means of immediate control action imparted by the boiler by sensing the change
in steam flow and the drum pressure. This type of control response imparted by the boiler leads
to long term dynamics.
Generally, researchers concentrate mostly on non-reheat steam turbine but in practice
reheat turbine is used. Reheat steam turbine is of second order type since it has different stages
due to high and low pressure steam [2], [9]. The transfer function of reheat steam turbine is
represented in Equation (1).

PG 1 + sK r Tr (1)
=
PR 1 + sTr

The turbine power output drives the generator which provides the electrical power to the
power system. The transfer function of the power system comprising of generator with load
disturbance is given in Equation (2) as;

K p1
PT PD1 = f1
1 + sT p1
(2)
B. Modeling of Hydro System
In this work, low head hydro power plant is taken into consideration for the study. The
transfer function model of hydro power plant as furnished by the IEEE committee report [27-
28] is shown in Figure 2.

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Variable Structure Fuzzy Gain Schedule Based Load Frequency Control

1
R2 PD2
PHg PHV PHT
K1 1 + sTR 1 sTW KP2 f 2
1 + sT1 1 + s T2 1 + 0.5sTW 1 + sTP 2

Figure 2. Transfer function model of hydro power plant.

The functioning of speed governor of hydro power plant is similar to that of steam power
plant. The transfer function of hydro governor [2] is given by Equation (3) as;

1 + sTR
PHV = PHg
1 + sT2
(3)
where;
K1 1
PHg = ( Pref 2 f 2 ) .
1 + sT1 R2
The reset time TR is given in Equation (4)
TR = [5.0 (TW 1.0)0.5]TW (4)

in which; TW is the water time constant whose value varies between 1sec to 4secs for low head
hydro turbines. T1 is transient droop time constant in sec which is given in Equation (5)
R (5)
T1 = TD TR
RPD
where;

RTD is the temporary droop which is given in Equation (6)

TW (6)
RTD = [2.3 (TW 1.0)0.15]
TM

in which TM is equal to 2H ; where H is Inertia constant.

Water is used as an inlet to drive the turbine which is controlled by hydro governor. The
transfer function of hydro turbine is given in Equation (7)

(1 sTW ) (7)
PHT = PHV
(1 + 0.5 sTW )

The transfer function of generator connected to power system with a provision to give load
disturbance is similar to that in thermal power system as furnished in Equation (2).

C. Modeling of Tie-line
The control areas are interconnected by means of a tie-line to improve the reliability and
stability of the system [3]. The power flow through the transmission line is expressed in
Equation (8) as;

2T (8)
Ptie12 = (f1 f 2 )
s

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K. R. M. Vijaya Chandrakala, et al.

D. Modeling of Multi Source Multi Area Hydro Thermal System

The transfer function model of multi source multi area hydrothermal system shown is
developed using the thermal model discussed in section 2.1, hydro model in section 2.2 and tie-
line model in section 2.3 and furnished in Figure 3.

1
R1

Pref 1 Pg PR PG
B1 1 1
1 + sTH 1 1+ sTT1

ACE K1 PHg 1 + sTR PHV 1 sTW PHT K P1 f1

1 + sT1 1 + sT2 1 + 0.5sTW 1 + sTP1
Pref 2
1 PD1
R2
Ptie12 2 T
s
1
R1
Pref 3 PHg PHV PHT
A12 A12
K1 1 + sTR 1 sTW
1 + sT1 1 + sT2 1 + 0.5sTW

ACE Pg PR
1 PG K P2 f 2
1
B2 1+ sTH1 1+ sTT1 1 + sTP 2
Pref 4
1
R2 PD 2

Figure 3. Transfer function model of multi source multi area hydro thermal system with
secondary controller including non-linearties with different area capacities Multi source multi
area system is designed to operate at a capacity of 2000 MW with nominal operating load in
area1 and area2 of 1250 MW and 750 MW respectively.

3. Secondary PI Controller Tuning Methods

When the system is subjected to disturbance, based on the error signal, the optimal
secondary PI controller tuned using the following methods will control the frequency and tie-
line power flow by adjusting the power reference setting of the governor.

A. Zeigler Nichols Method

In this method, the process is kept under closed loop P control, the gain of the P controller
at which the loop is at the threshold of instability is the ultimate gain (Kcu). Ultimate period (Tu)
is the time for one cycle during the period of sustained oscillations. PI controller is tuned using
these parameters Kcu and Tu [16]. The tuned values of Kp and Ki for the MSMA system shown
in Figure 3 are 0.27 and 0.135 respectively.

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Variable Structure Fuzzy Gain Schedule Based Load Frequency Control

B. Fuzzy Gain Scheduled PI Controller

The PI controller as discussed in the section 3.1 has fixed gain values irrespective of the
system changes. Depending on the system conditions, the PI controller gains Kp and Ki have to
vary. This is accomplished by scheduling the gain values of PI controller using Fuzzy Gain
Scheduling (FGS) [20-22]. The inputs to the FGS are ACE and derivative of ACE (ACE1). The
output of the FGS is Kp of P controller and Ki of I controller. Seven linguistic variables are
used for both the inputs and outputs namely Large Negative (LN), Medium Negative (MN),
Small Negative (SN), Zero (Z), Small Positive (SP), Medium Positive (MP) and Large Positive
(LP). LN and LP are of trapezoidal, where as the remaining are of triangular membership
functions. The rules of FGSPI [24] controller is furnished in Table 1.

Table 1. Fuzzy rules for scheduling Kp and Ki

ACE

LN MN SN Z SP MP LP
LN LP LP LP MP MP SP Z
MN LP MP MP MP SP Z SN
ACE1

SN LP MP SP SP Z SN MN
Z MP MP SP Z SN MN MN
SP MP SP Z SN SN MN LN
MP SP Z SN MN MN MN LN
LP Z SN MN MN LN LN LN

C. Variable Structure Fuzzy Gain Scheduled (PI) Controller

Based on error, VSS helps to switch between P to PI to uphold the predominance action of
P during transient period and PI during stead state only. This nullifies the effect of I controller
during transient period. VSS does the switching, based on the error signal and Fuzzy
incorporates conventional design (PI) and fine tune it to certain plant non-linearities due to
universal approximation capabilities. To adapt w.r.t varying system conditions, VSS is
integrated with the FGS to form VSFGS for faster switching control action. The functional
diagram of VSFGS [26] is represented in Figure 4. Kp and Ki values of PI controller are
decided by Fuzzy based on ACE and ACE1. Meanwhile, the VSS switches the PI controller
from P to PI based on ACE i.e. if ACE is greater than , then P controller alone will be in
action whose gain is decided by FGS. If ACE is less than equal to , then PI controller will
take the control action whose gains are scheduled by Fuzzy.

Pref

d
dt
Figure 4. Schematic diagram of Variable Structure Fuzzy Gain scheduling

VSFGS holds the system variations under varying conditions in control and improves the
controller flexibility when compared to the fixed gain imparted by conventional PI controller.

4. Simulation Results
Multi source multi area hydro thermal system shown in Figure 3 under non-identical area
capacities is simulated using MATLAB/Simulink [29]. The system is subjected to random load
variations. Preferably, three load disturbances are given at 0 sec, 40 sec and 80 sec at area 1,

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K. R. M. Vijaya Chandrakala, et al.

out of which, two is increase in demand and one is decrease in demand of 0.01 p.u. magnitude.
Similarly in area2, two load disturbances are given, out of which, one is decrease in demand at
20 sec and the other is increase in demand at 60 sec of 0.01 p.u. magnitude. ZN tuned PI gain
values as furnished in section 3.1, FGS rule as furnished in section 3.2 and VSFGS as
explained in section 3.3 is incorporated as secondary controllers and comparison response are
shown in Figure 5.

Figure 5. Comparison response of secondary controllers in multi source multi area hydro
thermal system with non-linearities under random load variations

From the response, it clearly states that ZN tuned PI controller removes the offset but
provides overshoots with longer settling time. To improve its adaptivity w.r.t system
conditions, FGS provided reduced peak value and faster settling time when compared to ZN
tuned PI. By switching between P to PI, VSFGS has much more evidently improved the system
response when compared to all the controllers retaining the system faster to its nominal value.
The controller performance is evaluated based on ISE, ITAE and ITSE performance indices
[30-31] whose values are furnished in Table 2 and shown in figure 6.

Table 2. Comparison of various controller performances of the system

Performance Indices ZN tuned PI controller FGS PI controller VSFGS
ISE 0.04858 0.006333 0.005687
ITAE 286.9 54.25 50.13
ITSE 4.209 0.5187 0.4633

Figure 6. Bar chart showing the performance indices

In practical prospective, from the performance indices, it clearly suffices that VSFGS
proves to be the best optimal secondary controller. It helps in controlling the area frequencies
and tie-line power variations of multi source multi area system effectively under non-
linearities, unequal area capacities subjected to random load variations.

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Variable Structure Fuzzy Gain Schedule Based Load Frequency Control

5. Conclusion
In this analysis, multi source multi area hydro thermal system with the non-linearities,
unequal area capacities subjected to random load variations was considered. The response of
VSFGS as secondary controller was compared with ZN tuned PI and FGS PI controller. The
transient frequency and tie-line power oscillations were effectively reduced using VSFGS and
thus retained the system stability at a faster rate. The performance of the controller was also
validated using performance indices ISE, ITAE and ITSE.

6. Appendix
Thermal Power Plant
R1 =Speed regulation of governor = 2 Hz/p.u. MW;
TH = Turbo governor time constant = 0.08 sec;
TT = Non-reheat turbine time constant = 0.3 sec;
K r = Reheat steam turbine gain constant = 0.333;
Tr = Reheat steam turbine time constant = 10 sec;
B1 = B2 = Frequency bias constant of area 1 and area 2 respectively = 0.425 p.u.MW/Hz;
PD1 = Change in load demand power in area 1 = 0.01 p.u.;
Pref 1 = Change in reference power of area 1 in p.u.;
Pref 4 = Change in reference power of area 2 in p.u.;
Pg = Change in governor power of the thermal power plant in p.u.;
S FL = Change in steam power flow imparted to the steam turbine in p.u.;
PR = Change in steam turbine power in p.u.;
PG = Change in reheat steam turbine power in p.u.;
f1 = Change in frequency of area 1 in Hz;
K p1 = Power system gain constant of area 1 = 80;
Tp1 = Power system time constant of area 1 = 16;
Hydro power plant
R2 = Speed regulation = 2.4 Hz/p.u. MW;
K1 = Hydro governor gain = 1;
T1 = Hydro governor time constant = 48.7 sec;
TR , T2 = Hydro power plant time constants = 5.0 sec, 0.513 sec;
TW = Water time constant = 1.0 sec;
PD 2 = Change in load demand power in area 2 = 0.01 p.u.;
Pref 2 = Change in reference power of area 1 in p.u.;
Pref 3 = Change in reference power of area 2 in p.u.;
f 2 = Change in frequency of area 2 in Hz;
K p 2 = Power system gain constant of area 2 = 133.33;

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K. R. M. Vijaya Chandrakala, et al.

Tp 2 = Power system time constant of area 2 = 26.67;

PHg = Change in hydro governor power in p.u.;
PHV = Change in hydraulic valve power in p.u.;
PHT = Change in hydraulic turbine power in p.u.;
Tie-line
A12 = Synchronizing power coefficient = -1;
T = Synchronizing coefficient =10% of area capacity = 0.1Cos 12 = 0.0707;
Ptie12 = Change in tie-line power between area 1 and area 2 respectively in p.u.;
s = Laplace transform operator;
ACE = Area Control Error;
ACE 1 = Rate of change of Area Control Error;
= Threshold value of the switch;
d
= rate of change w.r.t time;
dt
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K. R. M. Vijaya Ch handrakala boorn at Bangalorre, India. She obtained

o her B.
Tech.,, in Electricaal and Electroonics Engineering from NS SS college off
Engin
neering, Palakkkad, India. M.Tech.,
M in Pow wer Systems from Thrissurr
Colleg
ge of Engineerring, India. Shhe obtained heer Ph.D., Degrree from Annaa
Univeersity, Chennaii, India. Presenntly she is woorking as Assisstant Professorr
(SG) at Amrita Scchool of Engineering, Amrrita Vishwa Vidyapeetham,
V ,
Coimbbatore, India. Her area of innterest is Loadd Frequency control, Energyy
Manag gement, Soft computing
c techhniques and Smmart grid.

S. Ballamurugan boorn at Nagapaattinam, India. He completeed his B.E., inn

Electriical and Electrronics Engineeering from Annnamalai Univeersity, India byy
2001. M.E., in Power Systems froom same Univversity by 20011. He obtainedd
h.D., Degree frrom Anna Uniiversity, Chennnai, India by 2010.
his Ph 2 Presentlyy
he is working as Associate
A Proffessor at Amrrita School off Engineering,,
Amritaa Vishwa Vidyyapeetham, Coimbatore, Indiaa. His researchh interest areass
are Po
ower System Control,
C Soft coomputing technniques, Energyy management,,
Deregu ulation.

N. Jannarthanan waas born in Chennnai, India. Hee received his B.Tech

B Degreee
from Bharathidasan University, Inndia in 2000, M.E.,
M (power systems) from m
Annammalai Universiity, India in 20008. He is at present
p workinng as Assistantt
Professsor (Sr.Gr.) at Amrita school
s of Enngineering, Am mrita Vishwaa
Vidyaapeetham, Coiimbatore, India. Presently he h is also carrrying out hiss
Docto
oral Degree Research at Amriita Vishwa Viddyapeetham, Cooimbatore.

Anand d B. was bornn in Tirunelveeli District, Tamil Nadu Sttate, India. Hee
obtain
ned his B.Tech.., Degree in Ellectrical and Electronics Enggineering in thee
year 2001
2 from Government
G C
College of Enngineering, Tiirunelveli andd
Masterrs Degree wiith specializattion in Power Systems Enggineering from m
Annammalai Universitty, Chidambaraam, India in thhe year 2002. He
H got his Ph.D D
Degree from Anna University Chennai,
C Indiaa. At present he is servingg
Hinduustan College of Engineerinng and Technoology, Coimbaatore, India ass
Head of
o the Departm
ment of Electronnics and Instruumentation

794