Beruflich Dokumente
Kultur Dokumente
a
School of Electrical, Electronics and Communication Engineering, Galgotias University, Greater Noida, India
b
Department of Electrical Engineering, Motilal Nehru National Institute of Technology, Allahabad, India
Keywords: This paper presents a new control strategy to minimize mismatch between the generations and loads in the wind
Load frequency control integrated power system. This in turn enhances the integration level smoothly and reduces frequency deviation
Variable-speed wind turbine-generator systems in the system. The proposed control strategy is able to establish better dynamic response and provide better
Non-linear sliding mode control coordination between conventional two-area and wind power systems. The said objective is achieved by de-
Linear matrix inequality
signing a non-linear sliding mode control in two-area thermal system, in addition with droop control and
modified pitch angle control for wind generator to provide frequency support. The proposed controller has
ability to vary closed-loop system damping property according to uncertainties and load disturbances and thus
ensures asymptotic stability. The wind power output and frequency regulation remain insensitive to gusts,
changes in wind speed and as well as inertia. Several simulations are performed on two-area with wind in-
tegration and IEEE 39 bus system to illustrate the effectiveness of the proposed controller design.
1. Introduction generation and can lead to power system oscillations [5–7]. The un-
certainty in the wind power output, inertia reduction and its effect on
The technical and economic growth is affecting the energy demand the load frequency control (LFC) has been discussed in [8–17]. There-
all over the world. The impact on environment and reduction of fossil fore, a supplementary control scheme is designed for doubly-fed in-
fuel reserve capacity are two major factors affecting the substantial duction generator (DFIG) power converters such that effective inertia
growth of energy industry. Due to commercially viable nature of re- contributed by these wind generators to the system is increased [18].
newable energy, more attention is being given on utilization of re- Their study is also validated against sudden wind speed change in the
newable energy resources. Wind energy is expected to supply a sub- form of wind gust downs and wind ramp downs. The advantage of
stantial part of energy demand worldwide in future. Several large smoothing of wind power fluctuations before admitting the wind power
offshore wind farms have been already installed and integrated to into the grid has been also investigated in [19], which in turn enhanced
power network. In the United States by 2030, 40% of total energy is the frequency stability in power system.
expected to be produced from wind energy farms [1]. The frequency stability is interrelated to power balance in the
With large scale development of wind farms, the grid frequency electrical system. Thus, UK and Ireland have already considered and
stability and power system operation becomes more challenging. Due to developed a controlled way of participation of wind power in primary
randomness and non-dispatchable features of wind power, the fre- frequency control [20]. The wind turbines are not always operated to
quency stability in the region gets affected [2]. The contribution of extract the maximum available power from wind. Several authors have
wind generators are either small or zero towards frequency stability designed additional controllers based on inertia [9,14,18], droop [10]
[3]. Modern wind farms are mostly decoupled from the grid frequency and de-loading [21] control schemes. The coordination control between
due to interface via power electronic converters; such wind farms do the automatic generation control (AGC) of power plants and the wind
not contribute to the power system inertia. Only, all rotating generators farms is discussed in [22].
and motors that are connected synchronously to the electrical network The above reported studies [10,13,15,19–22] have designed and
provide apparent inertia and play a significant role to support fre- investigated different control schemes using conventional controller,
quency stability [4]. Therefore, the apparent inertia of the power i.e. PI, PID, etc. without satisfactorily addressing the existence of fre-
system is decreased with high penetration of variable renewable quency oscillations. These oscillations might propagate into wide area
⁎
Corresponding author at: School of Electrical, Electronics and Communication Engineering, Greater Noida, India.
E-mail address: sheetla.prasad@galgotiasuniversity.edu.in (S. Prasad).
https://doi.org/10.1016/j.ijepes.2018.11.005
Received 13 June 2018; Received in revised form 4 October 2018; Accepted 6 November 2018
Available online 15 November 2018
0142-0615/ © 2018 Elsevier Ltd. All rights reserved.
S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33
Fig. 1. LFC scheme for wind integrated conventional two-area thermal power system.
and reduce the frequency stability in the region. Thus, wind farms in- turbine non-linearities, generator uncertainty and wind speed ran-
tegration not only injects additional fluctuations to the already variable domness are fully compensated using robust SMC [28].
nature of frequency deviation, but also decreases frequency stability by However, the LFC in wind integrated power system raises following
reducing the system inertia and the regulation capability [10,21]. The challenges; (i) Reduction of total inertia in relative terms and (ii) lack of
authors [23] have emphasized on the control design at individual level coordination among generation resources including wind system.
to maintain the frequency and tie-line power schedule with neigh- Due to intermittency in the wind velocity, thermal generation plant
bouring control areas at nominal value. Hence, the penetration level in integrated to wind farm undergo frequency deviations, resulting into
wind integrated power system affects the frequency regulation and it requirement of governor action. This in turn increases the wear and tear
can be described in two ways. First, reduction of total system inertia, in of actuators in governor.
relative terms, caused by the asynchronous power conversion and In the context of above challenges, the proposed design of SMC
second, due to lack of coordination of their generations in frequency results to achieve insensitiveness of LFC on plant uncertainty and dis-
support. Hence, to reduce the frequency deviations in face of high wind turbances. The main objective of the paper is to reduce the frequency
power penetration; there is a need to apply robust control algorithms to deviations through minimization of power mismatch between genera-
coordinate the generations among different resources. tion and disturbances (load/wind variation), even in presence of high
In the past, to provide robustness in the system, several researchers wind power penetration level. The desired characteristics of power
have proposed different variants of sliding mode controller for wind plant can be obtained using proper selection of non-linear switching
system and wind integrated power system [24,26–28]. A coordinated surface. Robustness of the system can effectively deal with plant para-
distributed model predictive control for LFC is proposed to provide meter uncertainty, load variation and plant non-linearities such as
robust stability and performance [24]. Several maximum power point generation rate constraints (GRC). The proposed non-linear switching
tracking based control schemes [6,25,26] are reported to extract max- surface varies the damping ratio/ratios of the closed-loop system from
imum power from wind. The authors [27] have estimated all pertur- its initial low value to final desired value whenever disturbance occurs
bations of doubly-fed induction generator (DFIG) using robust state in the system. The chattering is minimized via variation in feedback
feedback control to extract maximum power smoothly. The wind gains [31]. As discussed later, the non-linear sliding mode control
20
S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33
improves the robustness and performance of the system. The con- k = rank (Bu ) and z = [[z1](n k)×k [z2 ]k × k ]T and represented as:
tribution of this paper is summarized as follows:
z1 A11 A12 z1 0 D1
= z2 + u+ Pd
z2 A21 A22 Bu 2 0
1. Design of non-linear SMC scheme on thermal plant and wind system.
2. Non-linear function is defined to vary the system damping ratio/ y = CTcr z = [C1 C2 ] z (6b)
ratios from low to high whenever power signal and frequency de-
viation occurs.
2.2. Wind turbine system
3. Control of thermal and wind power generation against uncertainties
in wind speed turbulence and power system.
The basic variable-speed wind turbine-generator system (VS-WTGS)
4. Optimized wind power capture using MATLAB function “fminsearch”
is considered (see upper dashed box in Fig. 1). The mechanical torque of
in addition droop control and modified pitch angle control at the
WTGSs produced from wind energy is transmitted via the shaft to the
time of frequency deviation.
generator rotor. The generator produces an electrical torque. Any dif-
5. Demonstration on robustness and improved transient and steady
ference between the mechanical torque and the electrical torque de-
state response simultaneously at desired level.
termines whether the mechanical system accelerates, decelerates or
remains at constant speed. Thus, the mechanical power is considered as
Remaining sections of the paper is organized as follows; Section 2
net output power of wind system.
describes briefly the modeling of two-area power system and wind
The aerodynamic model of the WTGS is represented by well-known
system, followed by non-linear SMCs design in Section 3. The objective
Cp ( , ) curve that depends on the blade design and is described by the
function optimization is described followed by formulation of proposed
wind turbine manufacturer [29].Cp is known as power coefficient. The
control strategy in Section 4. The Lyapunov’s stability analysis for both
tip-speed-ratio is given as:
systems is included in Section 5. The effectiveness of proposed scheme
in maintaining the frequency regulation is analyzed and discussed in tR
=
Section 6. Lastly, the conclusions drawn from the presented study are vw (7)
given in Section 7.
where, t is rotor speed (rad/sec), R is the blade length (m) and vw is
wind speed (m/sec). In this study, the mathematical approximation of
2. System configurations
the curve fitting used for the 3.6 MW wind turbine is taken from [25].
2.1. Two-area thermal power system where, ij coefficients are given in [29] and is chosen in the range of
2 < < 13 for suitable curve fitting of the Cp . The mechanical (aero-
The traditional linearized model consists of governor; turbine-gen- dynamic) power is extracted from the mechanical torque TM for a given
erator unit, rotating mass and load. The conventional two-area power Cp and calculated as:
system is shown in Fig. 1. The dynamic model of non-reheat type tur- PM = t TM (9)
bine-governor system is considered. The generated wind power is Cp ( , )
considered as a positive disturbance in this control model. The equa- Moreover, Cq ( , ) = , then mechanical torque is calculated
tions that govern the dynamics of two-area are as follows: where, i, as:
j = 1, 2. R3Cq ( , ) vw2
TM = 0.5 (10)
1 K pi K pi K pi
fi (t ) = f (t ) + Pmi (t ) Pij (t ) Pdi (t ) The aerodynamic torque will drive the wind turbine at speed t . The
Tpi i Tpi Tpi Tpi (1) low speed torque Tls acts as braking torque on the rotor, while the
generator is driven by high speed torque Ths and braking electromotive
1 1
Pmi (t ) = Pmi (t ) + Pvi (t ) torque Tgref . To increase rotor speed, gear box ratio ng is used to obtain
Tchi Tchi (2)
generator speed r while the low-speed torque is augmented. The shaft
dynamics are represented as two-mass system given as [30]:
Ei (t ) = KEi Bi fi (t ) + KEi Pij (t ) (3)
2Ht t = TM Dt t Dtg ( t r) Ttg
Pij (t ) = 2 T1 ( fi (t ) f j (t )) (4) Ttg = Ktg ( t r)
21
S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33
Table 1
Nomenclature of variables/parameters for i area and i j , where i = j = 1, 2.
x w = Aw x w + B w Tgref + Dw TM Remark 1. The matrix pair (Ac , Buc ) of power system should be
controllable. Then it implies that the pair (Ac11 , Ac12 ) is also
y¯w = Cw x w (12a)
controllable in regular form [31].
The wind system state variables are given in Table 1. The dimen-
sions of variables x w Rnw , ȳw Rmw , TM Rrw , u w = Tgref Rkw are
3.2. Non-linear function selection
considered to “nw” state, “mw” output, “rw” load disturbance and “kw”
input vectors respectively and given in Appendix A.2.
After state transformation, the non-linear switching surface is de-
Similarly, WTGS state Eq. (12a) is also converted into regular form
signed. The dynamic performance and robustness during the reaching
using transformation matrix Twcr . The transformation matrix Twcr is
phase against the uncertainties is guaranteed by selection of non-linear
calculated similarly as described above for thermal plant and re-
switching surface. The selection of non-linear function is not unique as
presented as:
discussed in [31] and it is given as:
zw1 Aw11 Aw12 zw1 0 Dw 1
= zw2 + T ref + TM z c1 (t )
zw2 Aw21 Aw22 B w2 g 0 c (t ) = sc z c (t ) = [ sc1 sc 2 ]
z c 2 (t ) (15)
yw = Cw Twcr zw = [Cw1 Cw2 ] zw (12b)
where, sc1 = diag (s1, s w1) , sc2 = I3 are non-linear switching surface and
K c = diag (K , Kw ) is the feedback gain for concatenated system. The
3. Selection of non-linear switching surface and design of terms s1 = K linear T
(y ) A12 P , K Rn × (n k) , (y ) Rm × m are
non linear
optimized power coefficient sub-part of non-linear switching surfaces, state feedback gain and non-
linear function for two-area power system with y as function of fre-
A separate selection of non-linear switching surface is considered for quency deviation and s w1 = K w T
w (yw ) Aw12 Pw ,
linear non linear
each conventional two-area thermal power system and wind system. Kw Rnw × (nw kw ) , Rmw × mw are sub-part of non-linear
w (yw )
The concatenation and non-linear function selection are discussed as: switching surfaces, state feedback gain matrices and non-linear function
for wind system with yw is wind power error (Pgopt Pg Pgdemand) . The
3.1. System concatenation variables y and yw are used to vary damping ratio/ratios of two-area
and wind system respectively. Thus, non-linear function for conven-
The state Eqs. (6b) and (12b) are now concatenated to make simple tional two-area power system is selected as:
analysis for better understanding of non-linear SMC design and re- (y ) = diag ( (16)
1 (y2 ), 2 (y2 )) and = diag ( 1, 2)
presented as: 2
where, i (yi ) = 1 e 1 (e i
e , where, i, j = 1,2.
(1 ((yi x 0)/(rs x 0 )) ) 1)
z c1 (t ) = Ac11 z c1 (t ) + Ac12 z c 2 (t ) + Dc1 (t ) where, x 0 is initial condition of frequency deviations, rs is a small
z c 2 (t ) = Ac 21 z c1 (t ) + Ac 22 z c 2 (t ) + Buc 2 uc (t ) + Dc 2 (t ) non-negative scalar and c = diag ( , w ) is a tuning parameter.
yc (t ) = [Cc1 Cc 2 ] z c (t ) (13) Similarly, Eq. (10) in terms of non-linear function for wind system is
given as:
where, z c = [ z c1 z c 2 , z c1 = [ z1 zw1 z c 2 = [ z2 zw2 are the states of
]T ]T , ]T
¯ 2
the concatenated system; z1 and z2 , zw1 and zw2 are the states of the w (yw ) = we
kyw (17)
conventional and wind system with proper dimensions respectively.
where, k̄ is a small non-negative scalar and c = diag ( , w ) is a tuning
The concatenated system matrices are given in Appendix A.3. The
parameter that determines the positive-definite matrices
overall state representation of state Eq. (13) is given as:
Pc = diag (P , Pw ) for the system (14) via linear matrix inequality (LMI)
z c = Ac z c + Buc uc + Dc optimization.
yc = Cc z c (14) The overall non-linear function for wind integrated thermal system
is given as:
where, z c = [ x x w ]T R (n+ nw ) , = [ Pd TM ]T R (m + mw ) ,
uc = [u u w ]T R (k + kw ) and yc = [ y y¯w ]T R(r + ww ) are the states, c (yc ) = diag ( (y ), w (yw )) (18)
disturbance, input and output of the overall system (14) respectively. It is important to note that the selection of non-linear functions is
Ac11 A c12 Dc1
The matrices are Ac = R(n + nw ) , Dc = R (m + mw ) , not unique and any function having the following characteristics can be
Ac 21 A c 22 Dc 2
considered in the design [31].
0
Buc = R (k + kw ) and Cc = [Cc1 Cc 2 ] R (r + rw ) . Aforementioned
• Changes
B uc 2
general system matrices are considered in the following sections. from 0 (or a very low negative value) to c as the
22
S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33
frequency deviation and power error occurs in the system (as shown
in Fig. 1), where c > 0
• Differentiable with respect to time in order to ensure existence of the
sliding mode
where, limit of the tip-speed ratio, pitch angle are chosen as min = 2,
max = 13
, max = 30o . The performance objective function is solved
using “fminsearch” using MATLAB® optimization toolbox to obtain op-
timized power coefficient within the range of Cpmax = 0.4288 and
Cpmin = 0.2880 . The graph of tip-speed-ratio vs Cp for different values of
is shown in Fig. 2(a).
23
S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33
linear term c (yc ) approaches an intermediate value between zero to inequality, using Schur complement as:
− c . The overall system damping ratio now increases from low value
cI Mc
( c1) to final damping ratio ( c2 ) using non-linear switching surface, >0
where, c 2 > c1. On this condition, the value of the non-linear function MTc cI (30)
reaches − c . This leads to system dynamics to damp out with minimum The equivalent controller is derived when dynamic trajectory satisfy
under/over-shoots. On attaining the desired final damping ratio ( c2 ), = 0 . Differentiating (15) and its substitution give
c (t)
c (yc ) starts to decrease from non-positive intermediate value to zero. In
the next step, corresponding damping ratio also starts to reduce from c (t ) = sc1 z c1 (t ) + sc1 z c1 (t ) + z c 2 (t ) = 0 (31)
final damping ratio ( c2 ) to low damping ratio ( c1) with minimum Substituting (13) into (31) and after simplification gives
settling time. Therefore, closed-loop system operates at low damping
ratio ( c1) with feedback gain K c . Thus, proposed non-linear SMC has uc 2eq = Buc 2 [(sc1 Ac11 + Ac 21 + sc1) z c1 (t ) + (sc1 Ac12 + Ac 22 ) z c 2 (t )
ability to achieve minimum over/under-shoots and reduced settling + (sc1 Dc1 + Dc 2) (t )] (32)
time simultaneously with minimum chattering effect.
Substituting (32) into (13) and after simplification, gives
The non-linear function varies with the wind power error and fre-
quency deviations. Hence, further, the discussion is divided into two z c1 (t ) = Ac11 z c1 (t ) + Ac12 z c 2 (t ) + Dc1 (t )
subsections with system having (i) both wind power error and fre- z c 2 (t ) = (sc1 A c11 + sc1) z c1 (t ) sc1 Ac12 z c 2 (t ) sc1 Dc1 (t )
quency deviation as zero and (ii) wind power error due to frequency Equivalent dynamic equation is obtained using (20) and (13):
deviation or wind uncertainty or both.
T
z c1 (t ) = ((A c11 K c Ac12 ) + c (yc ) A c12 Ac12 Pc ) z c1 (t ) + Dc1 (t ) (33)
i. Whenever, the wind power error and frequency deviation in con-
The stability of the system (33) is proved by Theorem 1.
ventional system is zero, then c (yc ) becomes zero. In otherwords,
(y ) and w (yw ) are also zero. Thus, state Eq. (20) becomes: Theorem 1. If (Ac11 K c A c12 ) is stable and c (yc ) is defined by (18), then
system (33) is stable. Consider the Lyapunov’s function for the system (33)
z c1 (t ) = (Ac11 Ac12 K c ) z c1 (t ) + Dc1 (t ) (22)
to be defined as:
The feedback gain K c is designed through pole assignment [31] to
V (z ) = z cT1 (t ) Pc z c1 (t )
ensure that (A c11 A c12 K c) is Hurwitz matrix. The initial value of low-
damping ratio of both systems is considered as those of dominant poles. After differentiation, substitution and simplification, it gives
To ensure the stability of Eq. (22), the following constraints should be
satisfied. V (z ) = z cT1 (t )((Ac11 K c Ac12 )T Pc + Pc (Ac11 K c Ac12 )
T
+2 c (yc ) A c12 Ac12 Pc ) z c1 (t ) +2 z cT1 (t ) Pc Dc1
Pc > 0
[(Ac11 A c12 K c )T Pc + Pc (Ac11 Ac12 K c )] < 0 (23) The non-linear function is a negative function with negative final
value and above equation is represented as:
ii. Whenever, the wind power error exists either due to frequency de- V (z ) z cT1 (t ) Qz c1 (t ) + 2 Pc Dc1 z cT1 (t )
viation or due to the wind speed uncertainty or both then, c (yc )
increases from zero to some non-positive intermediate value (zero to V (z ) z c1 (t ) [ µ z c1 (t ) + 2 Pc Dc1 ]
− c ), and increases the overall damping ratios of the systems to
where, is the maximum bound in disturbance and overall
final damping ratios. Then, Eq. (21) can be written as:
system state trajectories enter into bounded region with radius
z c1 (t ) = (Ac11 Ac12 K c T
c A c12 Ac12 Pc ) z c1 (t ) + Dc1 (t ) (24) ((2 Pc Dc1 )/ µ) . Therefore, V (z ) < 0, this proves asymptotic stability
of the system Eq. (33).
The system (24) decides the final damping ratios ( 2 ) and written as: Thus, stability of system (33) is decided by the positive definite
T matrix Pc and non-linear functions c (yc ) . Pc is obtained by solving both
z c1 (t ) = (Ac11 Ac12 (K c + c Ac12 Pc )) z c1 (t ) + Dc1 (t ) (25)
LMIs (23) and (30) simultaneously. The positive definite matrix Pc is
Suppose the desired feedback gains are Fc = diag (F , Fw ) , where, F obtained via the LMI optimization and given as:
and Fw are final feedback gains at final damping ratio for conventional Choose Pc at given c to minimize c such as:
system and wind system respectively. Then, the gain matrix is written
Pc > 0
as:
[(Ac11 A c12 K c )T Pc + Pc (Ac11 Ac12 K c )] < 0
T
Fc = K c + c Ac12 Pc (26) cI Mc
>0
The above equation becomes: MTc cI (34)
Fc Kc
AcT12 Pc =0 Remark 3. The switching gains vary in a small range from initial
c (27)
feedback gain K c (low damping ratio/ratios) to final feedback gain
To ensure the stability of the overall system (13), the matrix Pc needs Fc (high damping ratio/ratios). The small range is decided by final value
to satisfy (23) and (27) simultaneously. However, it may not always be of non-linear function. Thus, the gain always remains within the range
possible for the matrix Pc to satisfy constraints (23) and (27) simulta- and the magnitude of chattering in the control signal reduces. Hence,
neously. Then constraints (27) may be relaxed as [35]: the wear and tear problem in governor valve actuator is minimized.
Mc c (28)
5.1. Convergence of the control law
where, Mc = diag (M , Mw ) ; c = diag ( , w) and for a sufficient small,
c > 0 where,
The two-area thermal power plant and WGTS plant is represented
Fc Kc by Eq. (14) in Section 3. The convergence of the overall system (14) is
Mc = AcT12 Pc
c (29) proved by Theorem 2.
The above constraint equation can be converted to a linear Theorem 2. The system (14) is guaranteed to be asymptotically stable with
24
S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33
Table 2
Parameters of Non-linear SMC
Parameter Thermal Power Plant WTGS
Desired System Pole Locations (low damping ratio/ratios) −3.5, −5.8, −3 + 2.9690i, −3–2.9690i, −5.6145, −4.8238, −7 −1.0, −3.0
Final value of non-linear function 1 = 2 = 100 ¯
w = 10, k = 0.04
Controller terms 4 0 0.002 0 w = 0.04 , w = 0.03
= =
0 4 0 0.003
d c (yc ) u
uc = Buc12 scT Ac z c AcT12 Pc sc1 + ¯c sc + sign (sc ) = u The performance of proposed control strategies are evaluated via
dt w
simulations in MATLAB®. Each area of the two-area power system is
modelled as two equivalent generators and corresponding parameters
(
Bu21 sT Az
d (y ) T
dt
A12 Ps1 + ¯s + ¯ sign (s ) ) of two-area power system and each wind system units are given in
Bw21 ( swT Aw zw
d w (yw ) T
dt
Aw12 Pw s w1 + ¯ w sw + w sign (s w ) ) (35)
Appendix A. The control parameters of the non-linear sliding mode
controller for two-area power system and WTGS are selected as dis-
where, ¯c = diag ( ¯, ¯ w ) , = diag ( ¯, w ), ¯ > 0, ¯ w > 0 , ¯ Pd and cussed in Section 6 and given in Table 2.
T ref
. The above control laws force the trajectories of the system (14) Following simulations are performed to demonstrate the effective-
w g
to slide from any initial condition to the sliding surface in finite time and ness of the proposed control schemes:
remains on it thereafter.
A. Implementation of non-linear SMC in conventional thermal system
Proof. Select a quadratic function as without WTGS.
v = 0.5 T
c c (36) B. Performance of control strategy-I in WTGS integrated thermal
system.
Its time derivative, C. Performance of control strategy-II in WTGS integrated thermal
v= T
c c (37) system.
D. Validation of robustness of control strategy-II for variation in wind
From (15), Eq. (37) becomes speed and random load disturbances.
v= T
c [sc1 z c1 + z c 2 + sc1 z c1] (38) E. Comparison of the control strategy-II (non-linear SMC) and Integral
SMC [33].
Substituting (13) and (15), in (38) and after solving it gives F. Effectiveness of control strategy-II at the time of reduced system
d c (yc ) inertia and in presence of GRC.
T
v= c scT Ac z c AcT12 Pc sc1 + (sc1 Dc1 + Dc 2) + Buc 2 uc G. Validation of the control strategy-II on IEEE 39 bus system.
dt
Using (35), in the above equation: All the above cases discussed are simulated at random load dis-
T turbance applied in conventional power system and wind speed profile
v c [ c sign ( c ) + (sc1 Dc1 + Dc 2 ) ]
for wind system as shown in Fig. 3. Wind speed profile consists of 50 sec
v T
c sign ( c ) min ( ) c
2 + c ( sc1 Dc1 + Dc 2 ) data set of full-field turbulent wind that is generated using the “Class-A
Kaimal” turbulence spectra. It has a mean value of 10 m/s [32].
where, min ( ) is the minimum Eigen value of .
1
If the condition; c > [( sc1 Dc1 + Dc 2 ) ] is satisfied
min ( )
A. Non-linear SMC applied in conventional power system
then < | c| for some > 0 . This is known as the reachability
condition which ensures finite time convergence. This completes the
The designed non-linear SMC is applied in conventional two-area
proof. □
power system and the variation in frequency deviation; tie-line power
deviation and generator power deviation in area-1 are given in Fig. 4 at
5.2. Summary of the proposed control design steps random load disturbance. It clearly depicts that the frequency deviation
settles down quickly in less than 2 sec. The tie-line power deviation
Detailed design of the proposed approach is summarized in the obtained using non-linear SMC does not have any sustained oscillation.
following steps: Thus, it may be said that the non-linear SMC improves both over/
under-shoots and as well as settling time simultaneously with minimum
Step (1) Obtain the state-space model in regular form using trans- chattering in the control signal. Hence, it is evident that the proposed
formation from the linear model of the systems and test the con- controller effectively meets the robust performance against un-
trollability condition as given in Remark 1. certainties.
Step (2) Choose K c such that (Ac11 Ac12 K c ) has stable eigenvalues
and the dominant poles have low damping ratio.
B. Performance of control strategy-I in WTGS integrated thermal system
Step (3) Obtain performance coefficient by solving performance
objective function (19) using “fminsearch” solver in MATLAB® op-
In this subsection, the effect of wind power integration in conven-
timization toolbox within the range.
tional power system is illustrated using proposed control strategy-I. The
Step (4) Design real symmetric positive-definite matrix Pc by solving
non-linear SMCs are obtained for both systems using the LMI optimi-
the LMI (35) using “feasp” and “mincx” solvers in MATLAB® Robust
zation problem (31) in MATLAB® toolbox. The frequency deviations,
Toolbox [35] with proper selection of non-linear function and its
tie-line power and generator power deviation in area-1 are shown in
final value.
Fig. 5. It is evident that the maximum frequency deviations in area-
Step (5) Use non-linear switching surface (15), to obtain non-linear
1increases from zero to nearly ± 0.01 Hz and frequency perturbations
SMC (35).
get introduced due to wind power integration. These frequency
25
S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33
deviations lead to increased tie-line power exchange between two- So, the said control strategy is modified by inclusion of droop loop with
areas, which deteriorate the system stability. SMC in the wind system. As a result, the wind output power can be
smoothened. The frequency deviation, tie-line power deviation and
wind output power are shown in Fig. 6. It is evident that the maximum
C. Performance of control strategy-II in WTGS integrated thermal system frequency deviation in area-1 remains in the range of ± 0.005 Hz against
± 0.01 Hz as observed in control strategy-I. Thus, it improves the power
As discussed in the previous subsection, the control strategy-I is not system dynamics. It also reduces the oscillations in frequency and tie-
capable to sufficiently damp out the frequency deviation (see Fig. 5).
26
S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33
Fig. 5. fi , Ptie , and Pm1 response of conventional two-area power system with control strategy-I.
Fig. 6. fi , Ptie , and Pm1 response of conventional two-area power system with control strategy-II.
Fig. 7. Tip-speed-ratio, pitch angle, optimized generator speed and power coefficient responses.
line power which indicates that net level of synchronous power reserves evident that proposed control scheme reduces the train-drive and blade
in the system is effectively improved. Hence, proposed control strategy- mechanical stress of the wind system. The control signals for wind in-
II enhances the stability of wind integrated power system. The tip- tegrated power system with control strategy-I (Subsection B) and pro-
speed-ratio, optimized wind output power, generator speed reference; posed control strategy-II (Subsection C) and required torque control
optimized power coefficient and pitch angle responses of wind system signal with both strategies are shown in Fig. 8. It is evident that for
are shown in Fig. 7. The variations in these variables lie within the almost same control effort the deviation in frequency is significantly
constrained limits of the objective function defined in eqn. (31). It is reduced using proposed control strategy-II (Fig. 6) against control
27
S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33
strategy-I (Fig. 5). Moreover, the wind speed response in the case of control strategy-II provides better coordination between conventional
control strategy-II has significantly reduced oscillations as compared to two-area power system and wind system.
control strategy I. The above study indicates the superior performance
of control strategy-II with reduced oscillations, over/under-shoot and E. Comparison of control strategy-II (non-linear SMC) and integral SMC
settling time of frequency deviation.
In this subsection, the effectiveness of the proposed non-linear SMC
D. Robustness of proposed control strategy-II based control strategy-II is compared with integral SMC [33] based
control strategy-II in both thermal and wind systems. The responses of
Further, to test the robustness of the proposed control strategy-II, a proposed non-linear SMC based control strategy-II are compared with
step variation in wind speed pattern as shown in Fig. 9 is applied. The integral SMC [33] based control strategy-II as shown in Fig. 11. It is
variations in pitch angle, optimized power coefficient and wind output evident that the proposed non-linear SMC reduces the oscillations,
power are given in Fig. 9. The frequency deviation, tie-line power de- over/under-shoots and settling time as compared to integral SMC. Thus,
viation, generator power deviation in area-1 and control effort signals the proposed scheme has significantly improved the frequency stability.
are illustrated in Fig. 10. It is clear that even for step change in wind The non-linear SMC based control strategy-II maintains robust perfor-
profile (high to low value), the variation of response lies in desired mance and grid stability by minimizing the effects of various un-
range. certainties and disturbances. Hence, the non-linear SMC is the most
The deviation in frequency and tie-line power remains minimum. It suitable controller for use in the proposed control strategy-II.
is evident that the variation in wind speed has negligible effect on
system variables due to the robustness of the non-linear SMC. It can be F. Effectiveness of control strategy-II under reduced system inertia and in
seen that the proposed control strategy-II provides sufficient robustness presence of GRC
against wind turbulence uncertainties and random load disturbance.
When the wind speed drops below the cut-in speed, frequency and tie- In this subsection, impact of changes in inertia constant on the
line power deviations reduces to zero scale. In other words during this proposed control strategy is analyzed on the basis of study [2]. Due to
period, the impact of wind output power is not observed due to the penetration of WTGS, 25% and 40% reduction in system inertia is ap-
action of SMC applied in conventional power system. Thus, proposed plied in both thermal areas and results are illustrated in Fig. 12. The
Fig. 9. Step change wind field pattern, pitch angle, optimized power coefficient and wind output power responses.
28
S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33
Fig. 10. Control strategy-II responses of wind integrated conventional power system at step change in wind profile.
wind penetration level affects the system inertia. It is clear that pro- constraint (GRC) in thermal power system. The GRC limits defined in
posed control strategy-II has less impact on the variable oscillations; [31] is considered. Fig. 13 illustrates the dynamic response of closed-
over/under-shoots and settling time. Thus, proposed control strategy is loop system in presence of GRC. The closed-loop system dynamics have
also applicable for future extra power demand from wind system. oscillation in the presence of GRC and reachability conditions in the
Further, the scheme is analyzed with inclusion of generation rate non-linear SMC. The variations in frequency deviations are observed to
Fig. 11. Comparison with non-linear SMC and Integral SMC [33].
29
S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33
30
S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33
Fig. 14. IEEE 39 Bus System responses using proposed control strategy-II.
H. Performance index performed well in extraction of smoothened optimized wind power. The
non-linear SMC was used to increase the damping ratios of the system
The integral square error is calculated for frequency deviation in whenever, any perturbation occurred and achieved reduced frequency
area-1 of the above simulations (A-F) and shown in Table 4. It is evident oscillations with small over/under-shoots against wind speed turbu-
that the control strategy-II performs satisfactorily even in high wind lence uncertainties, inertia reduction and GRC non-linearity in the
power penetration and able to provide coordination among power power system. Additionally, in study, the performance of non-linear
generations against load disturbance, including GRC in order to reg- SMC was compared with integral SMC and also validated on IEEE 39
ulate frequency deviation. bus system. The designed control signal provided reduced chattering
effect, signifying minimum wear-out of actuators (governor) in steam
7. Conclusion turbine. The control strategy-II provided better coordination between
conventional two-area and wind systems.
The study presented a non-linear SMC for load frequency regulation In future, the proposed control strategy-II will be analyzed con-
for variable speed wind system integrated in conventional power sidering communication network properties towards frequency reg-
system. The designed non-linear SMC (control strategy-II) with inclu- ulation using the Lyapunov-Krasovskii function approach.
sion of droop loop and modified pitch angle control for wind system
31
S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33
Table 4
Integral square error.
Simulation Integral square error (ISE) Simulation Integral square error (ISE)
−06
A 3.7101 × 10 D 3.8730 × 10−05
B 0.0045 E 0.0025
C 6.3291 × 10−04 F 0.0033 (25%), 0.0129 (40%)
Appendix A
A.1. Two-area power system matrices and parameters are given as in [31]
1 K p1 K p1
Tp1
0 Tp1
0 0 0 0 0
Tp1
1 K p2 K p2
0 Tp2
0 0 0 0 0
Tp2 Tp2
1 1 zeros (7, 2)
0 0 Tch1 0 0 0 0 0 Bu = 1 1
Tch1 diag ( T , )
g1 Tg 2
1 1
0 0 0 Tch2
0 0 0 0 Kp K p2
Tch2 1
A= , D = diag ( Tp1 , Tp2 )
K1 B1 0 0 0 0 0 K E1 0 0
zeros (7, 2)
0 K2 B2 0 0 0 0 KE 2 0 0
I2
2 T1 2 T1 0 0 0 0 0 0 0 C=
zeros (7, 2)
1 1 1
R1 Tg1
0 0 0 0 0 0
Tg1 Tg1
1 1 1
0 R2 Tg2
0 0 0 0 0
Tg2 Tg2
Table A1
Power system parameters
Area Tch TG Kp Tp R B KE T1
Rated capacity:3.5 MW; number of blades:3; blade diameter:104 m; wind speed (variable): 8–13 m/sec; cut-in wind speed: 5 m/sec; cut-out wind
speed: 27 m/sec; mechanical shaft system (on 3.6 MW base): Ht = 2.49 sec; Hg = 0.9 sec; Dt = Dg = 0 ; Dtg = 1.5; Ktg = 296.7 pu. opt = 6.212 pu;
base = 1.335 pu; Cp = 0.4288 pu; r = 1.33 pu; rmin = 0.7 pu; Cp_ max = 0.4288; Cp_ min = 0.288 i, j coefficients of Cp are given Table 4–7 in [28].
opt max
The matrices are calculated as: Ac11 = diag (A11 , Aw11) , Ac12 = diag (A12 , Aw12 ) , Ac 21 = diag (A21 , Aw21 ) , Ac 22 = diag (A22 , Aw22 ) ,
Dc1 = diag (D1, zeros (1, 2)) , Dc 2 = diag (zeros (2, 2), Dw2) , Buc 2 = diag (Bu2, B w2) , Cc1 = diag (C1, Cw1) and [Cc 2 = diag (C2, Cw2)].
32
S. Prasad et al. Electrical Power and Energy Systems 107 (2019) 19–33
requirements in Great Britain with increasing wind generation. Int J Electr Power 2007;22(3):783–91.
Energy Syst 2014;73:377–88. [20] Díaz-González Francisco, Hau Melanie, Sumper Andreas, Gomis-Bellmunt Oriol.
[4] Yingcheng Xue, Nengling Tai. Review of contribution to frequency control through Participation of wind power plants in system frequency control: review of grid
variable speed wind turbine. Renewable Energy 2011;36:1671–7. coder requirements and control methods. Renew Sustain Energy Rev
[5] Wang Ye, Silva Vera, Lopez-Botet-Zulueta Miguel. Impact of high penetration of 2014;34:551–64.
variable renewable generation on frequency dynamics in the continental Europe [21] Moutis Panayiotis, Papathanassiou Stavros A, Hatziargyriou Nikos D. Improved
interconnected system. IET Renew Power Gener 2016;10(1):10–6. load-frequency control contribution of variable speed variable pitch wind gen-
[6] Attya AB, Hartkopf T. Penetration impact of wind farms equipped with frequency erators. Renewable Energy 2012;48:514–23.
variations ride through algorithm on power system frequency response. Int J Electr [22] Cao J, Wang H, Qiu J. Frequency control strategy of variable-speed constant-fre-
Power Energy Syst 2012;40:94–103. quency doubly-fed induction generator wind turbines. Automat Electr Power Syst
[7] Conto J. Grid challenges on high penetration levels of wind power. Proceedings 2009;33(13):78–82.
IEEE Power and Energy Society General Meeting. 2012. p. 1–3. [23] Kundur P. Power system stability and control. New York: McGraw-Hill; 1994.
[8] Bevrani H, Ghosh A, Ledwich G. Renewable energy sources and frequency regula- [24] Liu Xiangjie, Zhang Yi, Lee Kwang Y. Coordinated distributed MPC for load fre-
tion: survey and new perspectives. IET Renew Power Gener Sep. 2010;4(5):438–57. quency control of power system with wind farms. IEEE Trans Ind Electron
[9] Li Yujun, Zhang Zeren, Yang Yong, Li Yingyi, Chen Hairong, ZhengXu. Coordinated 2017;64(6):5140–50.
control of wind farm and VSC–HVDC system using capacitor energy and kinetic [25] Yang Bo, Tao Yu, Shu Hongchun, Zhang Yuming, Chen Jian, Sang Yiyan, et al.
energy to improve inertia level of power systems. Int J Electr Power Energy Syst Passivity-based sliding-mode control design for optimal power extraction of a PMSG
2014;59:79–92. based variable speed wind turbine. Renewable Energy 2018;119:577–89.
[10] Margaris Ioannis D, Papathanassiou Stavros A, Hatziargyriou Nikos D, Hansen Anca [26] Yang Bo, Yilin Hu, Huang Haiyan, HongchunShu, Tao Yu, Jiang Lin. Perturbation
D, Sørensen Poul. frequency control in autonomous power systems with high wind estimation based robust state feedback control for grid connected DFIG wind energy
power penetration. IEEE Trans Sustain Energy 2012;3(2):189–200. conversion system. Int J Hydrogen Energy 2017;42(33):20994–1005.
[11] Díaz-González Francisco, Hau Melanie, Sumper Andreas, OriolGomis-Bellmunt. [27] Yang Bo, Jiang Lin, Wang Lei, Wei Yao QHWu. Nonlinear maximum power point
Coordinated operation of wind turbines and flywheel storage for primary frequency tracking control and modal analysis of DFIG based wind turbine. Int J Electr Power
control support. Int J Electr Power Energy Syst 2015;68:313–26. Energy Syst 2016;74:429–36.
[12] Wanga Caixia, McCalley James D. Impact of wind power on control performance [28] Yang Bo, Tao Yu, Shu Hongchun, Dong Jun, Jiang Lin. Robust sliding-mode control
standards. Int J Electr Power Energy Syst 2013;47:225–34. of wind energy conversion systems for optimal power extraction via nonlinear
[13] Aziza Asma, Oo Aman Than, Stojcevski Alex. Analysis of frequency sensitive wind perturbation observers. Appl Energy 2018;210:711–23.
plant penetration effect on loadfrequency control of hybrid power system. Int J [29] Miller NW, Price WW, Sanchez-Gasca JJ. Dynamic modeling of GE 1.5 and 3.6 wind
Electr Power Energy Syst 2018;99:603–17. turbine-generators. Schenectady, NY, USA: GE-Power Systems Energy Consulting;
[14] Johan M, Jan P, de HaanSjoerd WH. Inertial response of variable speed wind tur- 2003.
bines. Electr Power Syst Res 2006;76(11):980–7. [30] Liu Y, Wu QH, Zhou XX. Co-ordinated multi loop switching control of DFIG for
[15] Yin Xiu-xing, Lin Yong-gang, Li Wei, Ya-jing Gu, Lei Peng-fei, Liu Hong-wei. Sliding resilience enhancement of wind power penetrated power systems. IEEE Trans
mode voltage control strategy for capturing maximum wind energy based on fuzzy Sustain Energy 2016;7(3):1089–99.
logic control. Int J Electr Power Energy Syst 2015;70:45–51. [31] Prasad S, Purwar S, Kishor Nand. H-infinity based non-linear sliding mode con-
[16] Ullah NR, Thiringer T, Karlsson D. Temporary primary frequency control support by troller for frequency regulation in interconnected power systems with constant and
variable speed wind turbines-potential and applications. IEEE Trans Power Syst time-varying delays. IET Gener, Transm Distrib 2016;10(11):2771–84.
2008;23(2):601–12. [32] Mann J. Wind field simulation. Probab Eng Mech 1998;13(4):269–82.
[17] Ahmadi H, Ghasemi H. Maximum penetration level of wind generation considering [33] Pan Yongping, Yang Chenguang, Pan Lin, Haoyong Yu. Integral sliding mode
power system security limits. IET Gener, Transm Distrib 2012;6(11):1164–70. control: performance: modification and improvement. IEEE Trans Ind Inform 2018.
[18] Gautam Durga, LalitGoel, Ayyanar Raja, Vittal Vijay, Harbour Terry. Control https://doi.org/10.1109/TII.2017.2761389.
strategy to mitigate the impact of reduced inertia due to doubly fed induction [34] Bevrani H. Robust power system frequency control. 2nd ed. Springer; 2014.
generators on large power systems. IEEE Trans Power Syst 2010;26(1):214–28. [35] Boyd S, Ghaoui EL, Feron E, et al. LMI in systems and control theory. Philadelphia:
[19] Changling L, Far HG, Banakar H, Keung PK, Boon-Teck O. Estimation of wind pe- SIAM; 1994. version 5.2.
netration as limited by frequency deviation. IEEE Trans Energy Conversion
33